A positioning device for pressure pipeline inspection

Abstract

This utility model relates to the technical field of pressure pipeline inspection equipment, and discloses a positioning device for pressure pipeline inspection. It includes a walking positioning mechanism and a sampling mechanism. The walking positioning mechanism includes a drive assembly and several linked positioning robotic arms connected thereto. The sampling mechanism includes a connecting rod, one end of which is connected to the walking positioning mechanism, and the other end is equipped with a sampling camera. A first servo motor drives a lead screw to rotate, causing the connecting seat to move, which in turn drives a hinge rod to drive a second linkage rod to perform horizontal expansion or contraction motion, ensuring that the moving wheel maintains close contact with the inner wall of the pressure pipeline of different diameters. A third servo motor drives a sleeve to rotate, fine-tuning the angle of the sampling camera, providing reliable data support for the quality assessment and defect detection of the pressure pipeline. This solves the problems of traditional crawling robots being unable to be applied to pressure pipelines of different diameters and unable to effectively perform comprehensive inspection of the pipeline interior.

Description

Technical Field

[0001] This utility model belongs to the technical field of pressure pipeline inspection equipment, specifically, it relates to a positioning device for pressure pipeline inspection. Background Technology

[0002] Pressure pipelines are all pipelines subjected to internal or external pressure, regardless of the medium inside. They are part of a piping system used for transporting, distributing, mixing, separating, discharging, metering, controlling, and stopping fluid flow. They consist of pipes, fittings, flanges, bolted connections, gaskets, valves, other components or pressure-bearing parts, and supports, forming an assembly. During long-term use, pressure pipelines are susceptible to various defects due to factors such as media corrosion, external impacts, and temperature changes, which can seriously affect their safety and reliability. Therefore, regular inspection of pressure pipelines is crucial, with the detection of surface cracks and weld surfaces being the core. Cracks are considered "invisible killers" of pipelines, potentially leading to serious accidents such as pipeline rupture; weld surfaces are weak points in pipeline connections, and poor welding quality can cause leaks and other problems. Timely detection and treatment of these defects ensure the strength of pressure pipelines during use, protecting production safety and the safety of personnel and property. Since the outer surface of the pipeline is directly exposed, inspectors can easily make preliminary judgments and conduct detailed inspections of defects such as cracks and corrosion using visual observation, magnifying glasses, and non-destructive testing instruments, providing accurate information for subsequent maintenance and repair.

[0003] However, pipeline interior inspection faces numerous challenges. The interior space of pipelines is often enclosed or semi-enclosed, with limited light penetration and narrow spaces, preventing inspectors from directly entering for detailed observation. Even in larger diameter pipelines, personnel face safety risks upon entry, such as oxygen deficiency and poisoning from toxic gases. To address this issue, specialized crawling robots have been designed. These robots can penetrate deep into pipelines, using onboard cameras and sensors to perform comprehensive inspections of the pipeline's inner walls and transmit data in real-time to an external control terminal, providing inspectors with detailed internal information. However, traditional crawling robots have significant limitations in practical applications. Due to the large differences in pipeline diameters, traditional crawling robots are typically designed for a specific diameter range. When encountering pipelines with varying diameters, their fixed size and locomotion mechanism cannot adapt to changes in pipeline space. In smaller diameter pipelines, the robot may be unable to enter due to its large size or its movement may be hindered; in larger diameter pipelines, insufficient driving force or poor stability may lead to slippage or deviation, resulting in inaccurate or incomplete inspections. This fails to meet the needs of multi-diameter pipeline inspection and limits its widespread application in the field of pressure pipeline inspection.

[0004] Based on this, the present invention proposes a positioning device for pressure pipeline inspection to solve the problems existing in the prior art. Utility Model Content

[0005] In view of this, the main objective of this utility model is to provide a positioning device for pressure pipeline inspection, so as to solve the problem that traditional crawling robots cannot be applied to pressure pipelines of different diameters and cannot effectively conduct all-round inspection of the pipeline interior.

[0006] To achieve the above objectives, the technical solution of this utility model is implemented as follows:

[0007] A positioning device for pressure pipeline inspection includes a walking positioning mechanism and a sampling mechanism connected to each other, wherein the sampling mechanism is located at the rear end of the walking positioning mechanism;

[0008] The walking positioning mechanism includes a drive component and several linkage positioning robotic arms connected thereto. The linkage positioning robotic arms are located on the outside of the drive component, and a moving wheel is provided at the end of the linkage positioning robotic arm. The moving wheel is in contact with the inner surface of the pressure pipe.

[0009] The sampling mechanism includes a connecting rod, one end of which is connected to a walking and positioning mechanism, and the other end is rotatably equipped with a sampling camera.

[0010] In a preferred embodiment, the walking positioning mechanism further includes a first positioning cylinder and a second cylinder connected to each other, the second cylinder being located at the end away from the sampling mechanism, and a connecting plate being provided between the first positioning cylinder and the second cylinder.

[0011] In a preferred embodiment, the drive assembly includes a first servo motor, a connecting seat, and a lead screw;

[0012] The first servo motor is located on one side of the second positioning cylinder and is connected to the second positioning cylinder through a motor positioning plate;

[0013] One end of the lead screw is connected to the first servo motor, and the other end movably passes through the connecting plate and extends to the inside of the first positioning cylinder.

[0014] The connecting seat is movably disposed inside the first positioning cylinder, and the first positioning cylinder is provided with a central hole for threaded connection with the lead screw.

[0015] In a preferred embodiment, the drive assembly further includes a plurality of guide rods, which are disposed through the connecting seat, with one end of the guide rod fixedly connected to the connecting plate and the other end fixedly connected to the connecting end plate through the side wall of the first positioning cylinder.

[0016] In a preferred embodiment, the positioning robotic arm further includes a hinge, a first linkage, and a second linkage;

[0017] One end of the hinge rod is connected to the connecting seat, and the other end passes through the side wall groove of the first positioning cylinder and is hinged to the middle of the second linkage rod.

[0018] The first linkage rod is symmetrically hinged to both ends of the second linkage rod, and is connected to the first positioning cylinder and the second positioning cylinder respectively.

[0019] In a preferred embodiment, the end of the first linkage rod near the first servo motor is rotatably connected to the first hinge support on the outer surface of the second positioning cylinder.

[0020] In a preferred embodiment, the end of the first linkage rod near one end of the connecting end plate is rotatably connected to a second hinge support on the outer surface of the first positioning cylinder.

[0021] In a preferred embodiment, the two ends of the second linkage are hinged to the middle of the first linkage, and a movable wheel is provided at the other end of the first linkage, the movable wheel being connected to a second drive motor located outside the first linkage.

[0022] In a preferred embodiment, the connecting end plate is further provided with a connecting lug plate, which is connected to the connecting rod by a pin.

[0023] In a preferred embodiment, the sampling mechanism further includes a third servo motor and a sleeve;

[0024] The third servo motor is fixedly mounted on the connecting rod, and a drive gear is provided at the drive end of the third servo motor. The drive gear meshes with the driven gear provided on the outer surface of the sleeve.

[0025] The sleeve is rotatably mounted on the outside of the connecting rod, and an electric telescopic rod is provided on the outer surface of the sleeve to connect with the sampling camera.

[0026] Compared with the prior art, this utility model provides a positioning device for pressure pipeline inspection, which has the following advantages:

[0027] 1. The positioning robotic arm uses a first servo motor to drive a lead screw, causing the connecting seat to move left and right. This, in turn, drives a hinge rod to move a second linkage rod horizontally, expanding or contracting. The first linkage rod then moves in tandem. This mechanical linkage structure allows the moving wheels to automatically adjust their position according to pressure pipes of different diameters, ensuring close contact with the inner wall of the pipe. This guarantees that the device can move stably and perform inspection work in pressure pipes of various diameters, greatly improving the applicability of the device.

[0028] 2. The third servo motor can drive the sleeve to rotate, and combined with the telescopic function of the electric telescopic rod, it can further fine-tune the angle of the sampling camera to ensure accurate sampling and analysis of the inner surface of the pipeline, providing reliable data support for the quality assessment and defect detection of pressure pipelines.

[0029] 3. The second drive motor powers the rotating wheels, providing the power for the device's movement within the pipeline. The excellent contact between the wheels and the pipeline's inner wall, along with their flexible rotation, allows the device to move freely forward, backward, and turn within the pipeline, enabling comprehensive inspection of its interior. Furthermore, the seamless coordination between the device's various mechanical components ensures smooth and stable movement, allowing it to quickly reach various inspection points within the pipeline and improving inspection efficiency. This solves the problems of traditional crawling robots being unable to be applied to pressure pipelines of different diameters and effectively perform comprehensive inspections of the pipeline's interior. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0031] Figure 1 This is a diagram showing the usage status of the positioning device for pressure pipeline inspection according to this utility model;

[0032] Figure 2 This is a schematic diagram of the walking positioning mechanism of this utility model;

[0033] Figure 3 This is a schematic diagram of the drive assembly and positioning robotic arm of this utility model;

[0034] Figure 4 This is a schematic diagram of the structure of the drive component of this utility model;

[0035] Figure 5 This utility model Figure 1 A magnified view of a portion of point A in the middle.

[0036] [Explanation of Key Component Symbols]

[0037] 1. Pressure pipeline; 2. First servo motor; 3. Lighting lamp; 4. First positioning cylinder; 5. Connecting rod; 6. Moving wheel; 7. Third servo motor; 8. Second cylinder; 9. Sleeve; 10. Electric telescopic rod; 11. Connecting ear plate; 12. Second drive motor; 13. Motor positioning plate; 14. First linkage rod; 15. Second hinge support; 16. Hinge rod; 17. Slide groove; 18. Connecting plate; 19. First hinge support; 20. Connecting seat; 21. Guide rod; 22. Lead screw; 23. Second linkage rod; 24. Connecting end plate; 25. Drive gear; 26. Driven gear; 27. Sampling camera; 28. Camera. Detailed Implementation

[0038] The structure of the positioning device for pressure pipeline inspection will be further described in detail below with reference to the accompanying drawings and embodiments of this utility model.

[0039] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0040] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments as described in this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0041] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0042] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0043] As per the instruction manual Figures 1-5 As shown, this utility model provides a technical solution:

[0044] A positioning device for inspecting pressure pipelines is capable of autonomous movement within a pressure pipeline 1 to perform inspection work on the internal surface of the pressure pipeline 1. It includes a walking positioning mechanism and a sampling mechanism connected to each other, with the sampling mechanism located at the rear end of the walking positioning mechanism.

[0045] The walking and positioning mechanism includes a drive assembly and several linked positioning robotic arms connected to it. The linked positioning robotic arms are mounted on the outside of the drive assembly. A movable wheel 6 is mounted at the end of each linked positioning robotic arm, and the movable wheel 6 contacts the inner surface of the pressure pipe 1. In actual use, by adjusting the extension and retraction of the linked positioning robotic arms through the drive assembly, the movable wheel 6 can always maintain contact with the inner surface of the pressure pipe 1, thereby driving the entire device to move inside the pressure pipe 1 through the rotation of the movable wheel 6.

[0046] The sampling mechanism includes a connecting rod 5, one end of which is connected to a walking and positioning mechanism, and the other end is rotatably mounted with a sampling camera 27. After the device moves to a suitable position, the sampling camera 27 can dynamically sample the inner surface of the pressure pipe 1. The sampling camera 27 can be rotated to adjust the shooting angle, thereby comprehensively and accurately obtaining relevant information about the inner surface of the pressure pipe 1, providing reliable data support for subsequent pressure pipe quality assessment and defect detection.

[0047] In a preferred embodiment, such as Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the walking positioning mechanism also includes a first positioning cylinder 4 and a second cylinder 8 connected to each other. The second cylinder 8 is located at the end away from the sampling mechanism, and a connecting plate 18 is provided between the first positioning cylinder 4 and the second cylinder 8.

[0048] Specifically, the drive assembly includes a first servo motor 2, a connecting seat 20, and a lead screw 22. The first servo motor 2 is fixedly installed on one side of the second positioning cylinder 8 and is fixedly connected to the first positioning cylinder 8 through a motor positioning plate 13. One end of the lead screw 22 is connected to the first servo motor 2 through a coupling, and the other end movably passes through the connecting plate 18 and extends to the inside of the first positioning cylinder 4. The connecting seat 20 is movably disposed inside the first positioning cylinder 4 and has a central hole on the first positioning cylinder 4 for threaded connection with the lead screw 22. The rotation of the first servo motor 2 drives the lead screw 22 to rotate, thereby driving the connecting seat 20 to move left and right. The connecting seat 20 is provided with a connecting support that connects to the positioning robotic arm, that is, the left and right movement of the connecting seat 20 drives the positioning robotic arm to contract and expand.

[0049] More specifically, the drive assembly also includes several guide rods 21. The guide rods 21 are disposed through the connecting seat 20, and one end of the guide rod 21 is fixedly connected to the connecting plate 18, providing a stable starting support point for the entire guide structure. The other end of the guide rod 21 is fixedly connected to the connecting end plate 24 through the side wall of the first positioning cylinder 4. It is used to guide the movement of the connecting seat 20 through the guide rods 21 during use, effectively avoiding the connecting seat 20 from deviating or shaking during the movement, thereby ensuring the stability of the movement of the connecting seat 20 and ensuring that the drive assembly can work normally and efficiently.

[0050] More specifically, an illumination lamp 3 and a camera 28 are also provided on the outside of the motor positioning plate 13. The illumination lamp 3 plays a key role in the entire detection device. When the device is inside a pressure pipeline for detection, the light inside the pipeline is often insufficient. At this time, the illumination lamp 3 can be turned on to effectively illuminate the inside of the pipeline. The camera 28 is used to record the position of the device inside the pipeline. It can obtain the specific position information of the device inside the pipeline in real time, which facilitates the operator to accurately control and monitor the device, ensuring that the detection work is carried out smoothly and orderly.

[0051] Specifically, the positioning robotic arm also includes a hinge rod 16, a first linkage rod 14, and a second linkage rod 23. One end of the hinge rod 16 is connected to the connecting seat 20, and the other end passes through the side wall groove 17 of the first positioning cylinder 4 and is hinged to the middle of the second linkage rod 23. During use, the hinge rod 16 drives the second linkage rod 23 to move, performing a horizontal expansion motion. The first linkage rod 14 is symmetrically hinged to both ends of the second linkage rod 23. The end of the first linkage rod 14 near the first servo motor 2 is rotatably connected to the first hinge support 19 on the outer surface of the second positioning cylinder 8; the end of the first linkage rod 14 near the connecting end plate 24 is rotatably connected to the second hinge support 15 on the outer surface of the first positioning cylinder 4, thus fixing the end of the first linkage rod 14.

[0052] More specifically, the two ends of the second linkage rod 23 are hinged to the middle of the first linkage rod 14, and a movable wheel 6 is provided at the other end of the first linkage rod 14. The movable wheel 6 is connected to a second drive motor 12 located outside the first linkage rod 14. In practical applications, the rotation of the second drive motor 12 drives the movable wheel 6 to rotate accordingly, thereby achieving precise adjustment of the position of the device within the pressure pipeline 1, ensuring that the device can reach the required detection position and complete the corresponding work task.

[0053] In a preferred embodiment, such as Figure 1 , Figure 2 and Figure 5As shown, the sampling mechanism also includes a third servo motor 7 and a sleeve 9. The third servo motor 7 is fixedly mounted on the connecting rod 5, and a drive gear 25 is provided at the drive end of the third servo motor 7. The drive gear 25 meshes with a driven gear 26 provided on the outer surface of the sleeve 9. The sleeve 9 is rotatably mounted on the outside of the connecting rod 5 via ball bearings, so that the sleeve 9 can be driven to rotate by the rotation of the third servo motor 7 during use. An electric telescopic rod 10 is also provided on the outer surface of the sleeve 9. The sampling camera 27 is located at the piston rod end of the electric telescopic rod 10, and is used to adjust the position of the sampling camera 27 by the telescopic action of the electric telescopic rod 10. In actual use, the position of the sampling camera 27 can be flexibly adjusted by the telescopic action of the electric telescopic rod 10, so that it can adapt to the detection requirements of pressure pipes 1 of different diameters, ensuring accurate and effective sampling and detection work in pressure pipes of different specifications.

[0054] Specifically, the connecting end plate 24 is also provided with a connecting ear plate 11, which is connected to the connecting rod 5 by a pin.

[0055] The usage process and operating principle of the positioning device for pressure pipeline inspection described in this utility model include:

[0056] Usage Procedure: Place the pressure pipeline inspection positioning device at the inlet of the pressure pipeline 1 to be inspected and start it. First, the first servo motor 2 rotates, driving the lead screw 22 to rotate, causing the connecting seat 20 to move left and right under the guidance of the guide rod 21. This, in turn, drives the second linkage rod 23 to perform horizontal expansion or contraction through the hinge rod 16. The first linkage rod 14 then moves in tandem, ensuring that the moving wheel 6 is in close contact with the inner wall of the pressure pipeline 1. Next, the second drive motor 12 starts, driving the moving wheel 6 to rotate, moving the device inside the pipeline to the inspection position. Once in position, the third servo motor 7 drives the sleeve 9 to rotate, adjusting the orientation of the electric telescopic rod 10. The electric telescopic rod 10 then extends and retracts to adjust the position of the sampling camera 27, aligning it with the inspection point. Simultaneously, the illumination lamp 3 illuminates the inside of the pipeline, the camera 28 records the device position, and the sampling camera 27 samples and analyzes the inner surface of the pipeline, completing the inspection.

[0057] Operating Principle: This device achieves its detection function based on mechanical linkage and motor drive principles. In the drive assembly, the first servo motor 2 provides power and is connected to the connecting seat 20 via a lead screw 22, converting rotational motion into linear motion. The guide rod 21 ensures motion stability. The positioning robotic arm, through the hinge linkage of the hinge rod 16, the first linkage rod 14, and the second linkage rod 23, converts the movement of the connecting seat 20 into the expansion or contraction of the moving wheels 6 to adapt to different pipe diameters and achieve movement. The sampling mechanism relies on the third servo motor 7 to drive the sleeve 9 to rotate, changing the angle of the electric telescopic rod 10. The extension and retraction of the electric telescopic rod 10 adjusts the position of the sampling camera 27 to meet different detection requirements. The lighting lamp 3 solves the problem of light inside the pipeline, and the camera 28 assists in positioning. All components work together to complete the pressure pipeline inspection.

[0058] It should be noted that, in the above description, the pressure pipe 1, the first servo motor 2, the lighting lamp 3, the third servo motor 7, the electric telescopic rod 10, the second drive motor 12, the sampling camera 27, and the camera 28 are all existing technologies known to those skilled in the art. When using them, the models and power supply methods of the first servo motor 2, the lighting lamp 3, the third servo motor 7, the electric telescopic rod 10, the second drive motor 12, the sampling camera 27, and the camera 28 can be selected according to actual needs. Their specific details belong to the prior art and will not be elaborated here.

[0059] All content not described in detail in this specification is prior art known to those skilled in the art, and the model parameters of each component are not specifically limited; conventional equipment can be used. Control elements not mentioned in this technical solution are prior art and are therefore not shown in the figures, and will not be described further here.

[0060] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the scope of protection of the present utility model.

Claims

1. A positioning device for inspecting pressure pipelines, characterized in that, It includes a walking positioning mechanism and a sampling mechanism that are interconnected, with the sampling mechanism located at the rear end of the walking positioning mechanism; The walking positioning mechanism includes a drive component and several linkage positioning robotic arms connected thereto. The linkage positioning robotic arms are located on the outside of the drive component, and a moving wheel (6) is provided at the end of the linkage positioning robotic arm. The moving wheel (6) is in contact with the inner surface of the pressure pipe (1). The sampling mechanism includes a connecting rod (5), one end of which is connected to the walking and positioning mechanism, and the other end is rotatably equipped with a sampling camera (27). The walking positioning mechanism also includes a first positioning cylinder (4) and a second cylinder (8) connected to each other. The second cylinder (8) is located at the end away from the sampling mechanism, and a connecting plate (18) is provided between the first positioning cylinder (4) and the second cylinder (8). The positioning robotic arm also includes a hinge (16), a first linkage (14), and a second linkage (23). One end of the hinge rod (16) is connected to the connecting seat (20), and the other end passes through the side wall groove (17) of the first positioning cylinder (4) and is hinged to the middle of the second linkage rod (23). The first linkage rod (14) is symmetrically hinged to both ends of the second linkage rod (23), and is connected to the first positioning cylinder (4) and the second cylinder (8) respectively.

2. The positioning device for pressure pipeline inspection as described in claim 1, characterized in that, The drive assembly includes a first servo motor (2), a connecting seat (20), and a lead screw (22). The first servo motor (2) is located on one side of the second cylinder (8) and is connected to the second cylinder (8) through the motor positioning plate (13); One end of the lead screw (22) is connected to the first servo motor (2), and the other end moves through the connecting plate (18) and extends to the inside of the first positioning cylinder (4); The connecting seat (20) is movably disposed inside the first positioning cylinder (4), and the first positioning cylinder (4) is provided with a central hole for threaded connection with the lead screw (22).

3. A positioning device for pressure pipeline inspection as described in claim 2, characterized in that, The drive assembly also includes several guide rods (21), which pass through the connecting seat (20) and are fixedly connected to the connecting plate (18) at one end and to the connecting end plate (24) at the other end through the side wall of the first positioning cylinder (4).

4. A positioning device for pressure pipeline inspection as described in claim 3, characterized in that, The end of the first linkage rod (14) near the first servo motor (2) is rotatably connected to the first hinge support (19) on the outer surface of the second cylinder (8).

5. A positioning device for pressure pipeline inspection as described in claim 4, characterized in that, The end of the first linkage rod (14) near one end of the connecting end plate (24) is rotatably connected to the second hinge support (15) on the outer surface of the first positioning cylinder (4).

6. A positioning device for pressure pipeline inspection as described in claim 4, characterized in that, The two ends of the second linkage rod (23) are hinged to the middle of the first linkage rod (14), and a moving wheel (6) is provided at the other end of the first linkage rod (14). The moving wheel (6) is connected to the second drive motor (12) located outside the first linkage rod (14).

7. A positioning device for pressure pipeline inspection as described in claim 3, characterized in that, The connecting end plate (24) is also provided with a connecting ear plate (11), which is connected to the connecting rod (5) by a pin.

8. A positioning device for pressure pipeline inspection as described in claim 1, characterized in that, The sampling mechanism also includes a third servo motor (7) and a sleeve (9); The third servo motor (7) is fixedly mounted on the connecting rod (5), and a drive gear (25) is provided at the drive end of the third servo motor (7). The drive gear (25) meshes with the driven gear (26) provided on the outer surface of the sleeve (9). The sleeve (9) is rotatably mounted on the outside of the connecting rod (5), and an electric telescopic rod (10) is provided on the outer surface of the sleeve (9) and connected to the sampling camera (27).

Images