CN108340983A - The climbing robot and operating method safeguarded for Nuclear piping detection - Google Patents
The climbing robot and operating method safeguarded for Nuclear piping detection Download PDFInfo
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- 230000009194 climbing Effects 0.000 title claims abstract description 28
- 238000001514 detection method Methods 0.000 title claims abstract description 13
- 238000011017 operating method Methods 0.000 title claims abstract 3
- 230000007246 mechanism Effects 0.000 claims abstract description 91
- 230000003028 elevating effect Effects 0.000 claims abstract description 13
- 239000000758 substrate Substances 0.000 claims description 20
- 230000008878 coupling Effects 0.000 claims description 19
- 238000010168 coupling process Methods 0.000 claims description 19
- 238000005859 coupling reaction Methods 0.000 claims description 19
- 230000000630 rising effect Effects 0.000 claims description 13
- 210000000078 claw Anatomy 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000000926 separation method Methods 0.000 claims 1
- 239000003638 chemical reducing agent Substances 0.000 description 15
- 238000007689 inspection Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 9
- 238000012423 maintenance Methods 0.000 description 7
- 230000001066 destructive effect Effects 0.000 description 4
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- 238000010586 diagram Methods 0.000 description 3
- 230000005855 radiation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000002493 climbing effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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Abstract
Description
技术领域technical field
本发明涉及攀爬设备领域，具体涉及用于核电管道检测维护的攀爬机器人及操作方法。The invention relates to the field of climbing equipment, in particular to a climbing robot and an operation method for nuclear power pipeline inspection and maintenance.
背景技术Background technique
随着核电厂运行时间的增加，各种规格管道外表面需要定时检查和维护，有些还涉及到管道的焊缝检查。这些部位处在辐射区域，人员应该尽量减少工作时长，面对垂直管道需要检测的时候，需要开发一种攀爬机器人替代人工，对核电管道进行自动攀爬检测。With the increase of the operating time of nuclear power plants, the outer surfaces of pipes of various specifications need to be inspected and maintained regularly, and some of them also involve the weld seam inspection of pipes. These parts are located in the radiation area, and personnel should minimize the working hours. When facing vertical pipelines that need to be inspected, it is necessary to develop a climbing robot to replace manual labor to perform automatic climbing inspections on nuclear power pipelines.
虽然在，CN 204472948 U中公开了一种丝杠移动型爬杆机器人，但是此机器人结构复杂适应性较差。Although CN 204472948 U discloses a lead screw mobile type pole-climbing robot, the robot has complex structure and poor adaptability.
在ZL200620088771.1中公开了一种气体驱动的爬杆机器人，此种机器人的动力源为气动，动力源的获取不便，导致其运行不稳定，无法适应远程控制的攀爬要求。A gas-driven pole-climbing robot is disclosed in ZL200620088771.1. The power source of this robot is pneumatic, and it is inconvenient to obtain the power source, resulting in unstable operation and unable to adapt to the climbing requirements of remote control.
发明内容Contents of the invention
本发明的目的是克服现有技术的不足而提供一种用于核电管道检测维护的攀爬机器人及操作方法，此机器人能够用于核电厂垂直管道外壁的攀爬，方便检测人员远程控制进而对有辐射性的管道外壁进行检测，保证了作业人员的安全性。The purpose of the present invention is to overcome the deficiencies of the prior art and provide a climbing robot and operation method for nuclear power pipeline inspection and maintenance. The outer wall of the pipeline with radiation is detected to ensure the safety of the operators.
为了实现上述的技术特征，本发明的目的是这样实现的：用于核电管道检测维护的攀爬机器人，它包括用于夹紧管道的上层夹持机构和下层夹持机构，所述上层夹持机构和下层夹持机构之间通过用于驱动其升降的升降机构相连。In order to achieve the above-mentioned technical characteristics, the purpose of the present invention is achieved in this way: the climbing robot used for nuclear power pipeline inspection and maintenance includes an upper clamping mechanism and a lower clamping mechanism for clamping the pipeline, the upper clamping The mechanism is connected with the lower clamping mechanism through a lifting mechanism for driving its lifting.
所述上层夹持机构和下层夹持机构采用相同的结构。The upper clamping mechanism and the lower clamping mechanism adopt the same structure.
所述上层夹持机构包括基板，所述基板上固定安装有电机连接板和多根L形连接板，所述L形连接板之间支撑安装有两根丝杠，所述丝杠之间通过联轴器相连，两根所述丝杠上都通过丝杠传动配合安装有对称布置的夹板，所述夹板穿过滑杆，并构成滑动配合，所述滑杆支撑安装在相邻两块L形连接板之间，两根所述丝杠的中间位置安装有从动齿轮，所述从动齿轮与夹紧动力装置相连。The upper clamping mechanism includes a base plate on which a motor connecting plate and a plurality of L-shaped connecting plates are fixedly installed, and two lead screws are supported and installed between the L-shaped connecting plates, and the lead screws pass through The couplings are connected, and the two lead screws are equipped with symmetrically arranged splints through the screw drive. The splints pass through the slide bar and form a sliding fit. The slide bar is supported and installed on two adjacent L Between the shaped connecting plates, a driven gear is installed in the middle of the two lead screws, and the driven gear is connected with the clamping power device.
所述夹紧动力装置包括安装在电机连接板上的电机，所述电机与减速器相连，所述减速器的输出轴安装有主动齿轮，所述主动齿轮与从动齿轮啮合传动。The clamping power device includes a motor installed on the motor connection plate, the motor is connected with a reducer, the output shaft of the reducer is equipped with a driving gear, and the driving gear is engaged with a driven gear for transmission.
两根所述丝杠的螺纹方向相反。The thread directions of the two leading screws are opposite.
所述夹板的头部设置有弧形抱爪，所述弧形抱爪的内壁固定有防滑橡胶层。The head of the splint is provided with an arc-shaped claw, and an anti-slip rubber layer is fixed on the inner wall of the arc-shaped claw.
所述升降机构包括步进电机，所述步进电机固定在上层夹持机构的基板上，所述步进电机的输出轴通过联轴器与升降丝杠相连，所述升降丝杠上通过丝杠传动配合安装有丝杠滑块，所述丝杠滑块固定安装在下层夹持机构的基板上，所述上层夹持机构的基板底部固定安装有多根升降滑杆，所述升降滑杆穿过下层夹持机构的基板，并构成滑动配合。The lifting mechanism includes a stepping motor, the stepping motor is fixed on the base plate of the upper clamping mechanism, the output shaft of the stepping motor is connected with the lifting lead screw through a coupling, and the lifting lead screw is passed The rod transmission is equipped with a lead screw slider, and the lead screw slider is fixedly installed on the base plate of the lower clamping mechanism, and a plurality of elevating slide bars are fixedly installed on the bottom of the base plate of the upper layer clamping mechanism, and the elevating slide bar Passes through the base plate of the underlying clamping mechanism and forms a sliding fit.
所述升降滑杆的底部末端安装有防脱螺钉。An anti-off screw is installed at the bottom end of the lifting slide bar.
攀爬机器人上安装有无损探伤仪。A non-destructive flaw detector is installed on the climbing robot.
任意一项所述用于核电管道检测维护攀爬机器人的操作方法，它包括以下步骤：Any one of the operation methods for nuclear power pipeline inspection and maintenance climbing robot, it includes the following steps:
Step1：初始状态下，机器人上层夹持机构和下层夹持机构的夹板均夹紧管道，且上层夹持机构和下层夹持机构在升降机构调节范围内距离最近，此后执行以下步骤；Step1: In the initial state, the splints of the upper clamping mechanism and the lower clamping mechanism of the robot clamp the pipe, and the distance between the upper clamping mechanism and the lower clamping mechanism is the closest within the adjustment range of the lifting mechanism, and then perform the following steps;
Step2：上层夹持机构中的电机反转，带动减速器驱动主动齿轮旋转，通过齿轮啮合带动从动齿轮旋转，由于从动齿轮安装在两丝杠轴上，两丝杠通过联轴器连接，且两螺纹相反，两夹板相向运动松开被检查管道；Step2: The motor in the upper clamping mechanism reverses, drives the reducer to drive the driving gear to rotate, and drives the driven gear to rotate through gear meshing. Since the driven gear is installed on the two lead screw shafts, the two lead screws are connected through a coupling. And the two threads are opposite, and the two splints move toward each other to loosen the pipeline to be inspected;
Step3：升降机构中的步进电机正转，带动升降丝杠旋转，由于升降滑杆与下层夹持机构中的基板滑动连接，丝杠滑块固定在基板上，上层夹持机构整体上升，上升一定高度后，步进电机停止转动，上层夹持机构停止上升，防脱螺钉防止上层夹持机构和下层夹持机构分离；Step3: The stepping motor in the lifting mechanism rotates forward, driving the lifting screw to rotate. Since the lifting slider is slidingly connected with the base plate in the lower clamping mechanism, the lead screw slider is fixed on the base plate, and the upper clamping mechanism rises as a whole. After a certain height, the stepper motor stops rotating, the upper clamping mechanism stops rising, and the anti-loosening screw prevents the upper clamping mechanism from separating from the lower clamping mechanism;
Step4：上层夹持机构中的电机正转，带动减速器驱动主动齿轮旋转，通过齿轮啮合带动从动齿轮旋转，由于从动齿轮安装在两丝杠轴上，两丝杠通过联轴器连接，且两螺纹相反，两夹板相对运动夹紧被检查管道；Step4: The motor in the upper clamping mechanism rotates forward, drives the reducer to drive the driving gear to rotate, and drives the driven gear to rotate through gear meshing. Since the driven gear is installed on the two lead screw shafts, the two lead screws are connected through a coupling. And the two threads are opposite, and the two splints move relative to each other to clamp the inspected pipeline;
Step5：下层夹持机构中的电机反转，带动减速器驱动主动齿轮旋转，通过齿轮啮合带动从动齿轮旋转，由于从动齿轮安装在两丝杠轴上，两丝杠通过联轴器连接，且两螺纹相反，两夹板相向运动松开被检查管道；Step5: The motor in the clamping mechanism of the lower layer reverses, drives the reducer to drive the driving gear to rotate, and drives the driven gear to rotate through gear meshing. Since the driven gear is installed on the two screw shafts, the two screw shafts are connected through a coupling. And the two threads are opposite, and the two splints move toward each other to loosen the pipeline to be inspected;
Step6：升降机构中的步进电机反转，带动升降丝杠旋转，由于升降滑杆与下层夹持机构中的基板(4滑动连接，丝杠滑块固定在基板上，下层夹持机构整体上升，上升一定高度后，步进电机停止转动，下层夹持机构停止上升；Step6: The stepper motor in the lifting mechanism is reversed to drive the lifting screw to rotate. Since the lifting slider is slidably connected with the substrate (4) in the lower clamping mechanism, the screw slider is fixed on the substrate, and the lower clamping mechanism rises as a whole , after rising to a certain height, the stepper motor stops rotating, and the lower clamping mechanism stops rising;
Step7：下层夹持机构中的电机正转，带动减速器驱动主动齿轮旋转，通过齿轮啮合带动从动齿轮旋转，由于从动齿轮安装在两丝杠轴上，两丝杠通过联轴器连接，且两螺纹相反，两夹板相对运动夹紧被检查管道；Step7: The motor in the lower clamping mechanism rotates forward, drives the reducer to drive the driving gear to rotate, and drives the driven gear to rotate through gear meshing. Since the driven gear is installed on the two lead screw shafts, the two lead screws are connected through a coupling. And the two threads are opposite, and the two splints move relative to each other to clamp the inspected pipeline;
Step8：重复Step 2~ Step 7，则机器人会沿着被检查管道不断爬升直到到达指定位置后停止。Step8: Repeat Step 2~Step 7, then the robot will continue to climb along the inspected pipeline until it reaches the specified position and then stop.
本发明有如下有益效果：The present invention has following beneficial effect:
1、此机器人丝杠和滑杆具有一定的长度，可以适应管径50-150mm管道的爬升，此机器人升降丝杠和升降滑杆具有一定的长度，每次升降的长度可调，夹板上安装有弧形抱爪，所述弧形抱爪上粘贴有防滑橡胶层，防止机器人夹紧管道时与管道发生相对滑动。1. The screw and slide rod of this robot have a certain length, which can adapt to the climbing of pipes with a diameter of 50-150mm. The lifting screw and slide rod of this robot have a certain length, and the length of each lifting is adjustable. There is an arc-shaped claw, and a non-slip rubber layer is pasted on the arc-shaped claw to prevent the robot from sliding relative to the pipe when it clamps the pipe.
2、通过所述的上层夹持机构和下层夹持机构能够夹紧核电管道，工作过程中，通过电机驱动减速器，通过减速器带动主动齿轮，通过主动齿轮带动从动齿轮，再由从动齿轮驱动丝杠，通过丝杠带动夹板相对运动，进而保证夹板将管道夹紧。再由两层夹持机构交替夹紧配合升降机构实现攀爬动作。2. The nuclear power pipeline can be clamped by the upper clamping mechanism and the lower clamping mechanism. During the working process, the reducer is driven by the motor, the driving gear is driven by the reducer, the driven gear is driven by the driving gear, and the driven gear is driven by the driven gear. The gear drives the lead screw, which drives the relative movement of the splint through the lead screw, thereby ensuring that the splint clamps the pipe. Then the two-layer clamping mechanism alternately clamps and cooperates with the lifting mechanism to realize the climbing action.
3、通过所述的升降机构工作过程中，通过步进电机带动升降丝杠，再由升降丝杠带动升降丝杠滑块，最终通过升降丝杠滑块带动下层夹持机构整体上升，进而实现攀爬运动。3. During the working process of the lifting mechanism, the stepping motor drives the lifting screw, and then the lifting screw drives the lifting screw slider, and finally drives the lower clamping mechanism to rise as a whole through the lifting screw slider, and then realizes Climbing.
4、通过安装在升降丝杠末端的防脱螺钉能够防止限制机器人升降范围，防止机器人下层夹持机构脱离。4. The anti-loosening screw installed at the end of the lifting screw can prevent the limit of the robot's lifting range and prevent the lower clamping mechanism of the robot from detaching.
附图说明Description of drawings
下面结合附图和实施例对本发明作进一步说明。The present invention will be further described below in conjunction with drawings and embodiments.
图1为本发明的整体结构示意图。Figure 1 is a schematic diagram of the overall structure of the present invention.
图2为本发明的夹持机构示意图示意图。Fig. 2 is a schematic diagram of the clamping mechanism of the present invention.
图3为本发明的升降机构示意图。Fig. 3 is a schematic diagram of the lifting mechanism of the present invention.
图中：上层夹持机构1、升降机构2、下层夹持机构3、基板4、夹板5、丝杠6、电机7、减速器8、主动齿轮9、从动齿轮10、联轴器11、L形连接板12、滑杆13、电机连接板14、弧形抱爪15、步进电机16、升降滑杆17、升降丝杠18、升降丝杠滑块19、防脱螺钉20。In the figure: upper clamping mechanism 1, lifting mechanism 2, lower clamping mechanism 3, base plate 4, splint 5, lead screw 6, motor 7, reducer 8, driving gear 9, driven gear 10, coupling 11, L-shaped connecting plate 12, slide bar 13, motor connecting plate 14, arc-shaped holding claw 15, stepping motor 16, lifting slide bar 17, lifting screw 18, lifting screw slider 19, anti-off screw 20.
具体实施方式Detailed ways
下面结合附图对本发明的实施方式做进一步的说明。Embodiments of the present invention will be further described below in conjunction with the accompanying drawings.
实施例1：Example 1:
如图1-3，用于核电管道检测维护的攀爬机器人，它包括用于夹紧管道的上层夹持机构1和下层夹持机构3，所述上层夹持机构1和下层夹持机构3之间通过用于驱动其升降的升降机构2相连。所述上层夹持机构1和下层夹持机构3采用相同的结构。通过采用上述攀爬机器人能够用于核电管道的检测和维护，在工作过程中，通过远程控制上述机器人，能够顺利的攀爬核电管道，进而保证了操作人员的安全。As shown in Figure 1-3, the climbing robot used for inspection and maintenance of nuclear power pipelines includes an upper clamping mechanism 1 and a lower clamping mechanism 3 for clamping the pipeline, and the upper clamping mechanism 1 and the lower clamping mechanism 3 They are connected by a lifting mechanism 2 for driving their lifting. The upper clamping mechanism 1 and the lower clamping mechanism 3 adopt the same structure. The above-mentioned climbing robot can be used for inspection and maintenance of nuclear power pipelines. During the working process, by remotely controlling the above-mentioned robots, the nuclear power pipelines can be smoothly climbed, thereby ensuring the safety of operators.
进一步的，所述上层夹持机构1包括基板4，所述基板4上固定安装有电机连接板14和多根L形连接板12，所述L形连接板12之间支撑安装有两根丝杠6，所述丝杠6之间通过联轴器11相连，两根所述丝杠6上都通过丝杠传动配合安装有对称布置的夹板5，所述夹板5穿过滑杆13，并构成滑动配合，所述滑杆13支撑安装在相邻两块L形连接板12之间，两根所述丝杠6的中间位置安装有从动齿轮10，所述从动齿轮10与夹紧动力装置相连。工作过程中，电机7正转时，两夹板5夹紧管道，反转时，两夹板5松开，进而实现管道的夹紧作业。Further, the upper clamping mechanism 1 includes a base plate 4, on which a motor connecting plate 14 and a plurality of L-shaped connecting plates 12 are fixedly installed, and two wires are supported and installed between the L-shaped connecting plates 12. rod 6, the said lead screws 6 are connected by a coupling 11, and two said lead screws 6 are equipped with symmetrically arranged splints 5 through lead screw transmission, said splints 5 pass through the slide bar 13, and Form a sliding fit, the slide bar 13 is supported and installed between two adjacent L-shaped connecting plates 12, and a driven gear 10 is installed in the middle of the two lead screws 6, and the driven gear 10 is clamped with The power unit is connected. During the working process, when the motor 7 rotates forward, the two splints 5 clamp the pipe, and when the motor 7 rotates in the reverse direction, the two splints 5 are loosened, thereby realizing the clamping operation of the pipe.
进一步的，所述夹紧动力装置包括安装在电机连接板14上的电机7，所述电机7与减速器8相连，所述减速器8的输出轴安装有主动齿轮9，所述主动齿轮9与从动齿轮10啮合传动。Further, the clamping power device includes a motor 7 installed on the motor connecting plate 14, the motor 7 is connected with a reducer 8, the output shaft of the reducer 8 is equipped with a driving gear 9, and the driving gear 9 Mesh transmission with driven gear 10.
进一步的，两根所述丝杠6的螺纹方向相反。通过采用相反的螺纹保证了在丝杆6转动时，保证两块夹板5能够相对运动，进而夹紧核电管道。Further, the thread directions of the two lead screws 6 are opposite. By adopting opposite threads, it is ensured that when the screw mandrel 6 rotates, the two splints 5 can move relative to each other, thereby clamping the nuclear power pipeline.
进一步的，所述夹板5的头部设置有弧形抱爪15，所述弧形抱爪15的内壁固定有防滑橡胶层。进而对被检查管道提供缓冲，同时橡胶材料为机器人在管道外壁爬行提供足够摩擦力。Further, the head of the splint 5 is provided with an arc-shaped claw 15 , and an anti-slip rubber layer is fixed on the inner wall of the arc-shaped claw 15 . In turn, it provides cushioning for the inspected pipeline, and at the same time, the rubber material provides enough friction for the robot to crawl on the outer wall of the pipeline.
进一步的，所述升降机构2包括步进电机16，所述步进电机16固定在上层夹持机构1的基板4上，所述步进电机16的输出轴通过联轴器与升降丝杠18相连，所述升降丝杠18上通过丝杠传动配合安装有丝杠滑块19，所述丝杠滑块19固定安装在下层夹持机构3的基板4上，所述上层夹持机构1的基板4底部固定安装有多根升降滑杆17，所述升降滑杆17穿过下层夹持机构3的基板4，并构成滑动配合。通过升降机构2中的步进电机16反转，带动升降丝杠18旋转，由于升降滑杆17与下层夹持机构3中的基板4滑动连接，丝杠滑块19固定在基板4上，所以下层夹持机构1整体上升，上升一定高度后，步进电机16停止转动，下层夹持机构1停止上升，同时防脱螺钉20能防止上层夹持机构1和下层夹持机构3分离。Further, the lifting mechanism 2 includes a stepping motor 16, the stepping motor 16 is fixed on the base plate 4 of the upper clamping mechanism 1, and the output shaft of the stepping motor 16 is connected to the lifting screw 18 through a coupling connected, the lifting lead screw 18 is fitted with a lead screw slider 19 through screw transmission, and the lead screw slider 19 is fixedly installed on the base plate 4 of the lower clamping mechanism 3, and the upper clamping mechanism 1 A plurality of elevating sliding rods 17 are fixedly mounted on the bottom of the substrate 4 , and the elevating sliding rods 17 pass through the substrate 4 of the lower clamping mechanism 3 to form a sliding fit. The stepper motor 16 in the lifting mechanism 2 is reversed to drive the lifting screw 18 to rotate. Since the lifting slide bar 17 is slidably connected with the substrate 4 in the lower clamping mechanism 3, the screw slider 19 is fixed on the substrate 4, so Lower floor clamping mechanism 1 overall rises, and after rising certain height, stepper motor 16 stops rotating, and lower floor clamping mechanism 1 stops rising, and anti-off screw 20 can prevent upper floor clamping mechanism 1 and lower floor clamping mechanism 3 from separating simultaneously.
进一步的，攀爬机器人上安装有无损探伤仪。通过所述的无损探伤仪能够对管道进行无损探伤检测。Further, a non-destructive flaw detector is installed on the climbing robot. The non-destructive flaw detection can be carried out on the pipeline through the non-destructive flaw detector.
实施例2：Example 2:
任意一项所述用于核电管道检测维护攀爬机器人的操作方法，它包括以下步骤：Any one of the operation methods for nuclear power pipeline inspection and maintenance climbing robot, it includes the following steps:
Step1：初始状态下，机器人上层夹持机构1和下层夹持机构3的夹板5均夹紧管道，且上层夹持机构1和下层夹持机构3在升降机构2调节范围内距离最近，此后执行以下步骤；Step1: In the initial state, the splints 5 of the upper clamping mechanism 1 and the lower clamping mechanism 3 of the robot clamp the pipe, and the distance between the upper clamping mechanism 1 and the lower clamping mechanism 3 is the closest within the adjustment range of the lifting mechanism 2, and then execute The following steps;
Step2：上层夹持机构1中的电机7反转，带动减速器8驱动主动齿轮9旋转，通过齿轮啮合带动从动齿轮10旋转，由于从动齿轮10安装在两丝杠6轴上，两丝杠通过联轴器11连接，且两螺纹相反，两夹板5相向运动松开被检查管道；Step2: The motor 7 in the upper clamping mechanism 1 reverses, drives the reducer 8 to drive the driving gear 9 to rotate, and drives the driven gear 10 to rotate through gear meshing. Since the driven gear 10 is installed on the two screw shafts 6, the two screw The bars are connected by a coupling 11, and the two threads are opposite, and the two splints 5 move toward each other to loosen the pipeline to be inspected;
Step3：升降机构2中的步进电机16正转，带动升降丝杠18旋转，由于升降滑杆17与下层夹持机构3中的基板4滑动连接，丝杠滑块19固定在基板4上，上层夹持机构1整体上升，上升一定高度后，步进电机16停止转动，上层夹持机构1停止上升，防脱螺钉20防止上层夹持机构1和下层夹持机构3分离；Step3: The stepper motor 16 in the lifting mechanism 2 rotates forward, driving the lifting screw 18 to rotate. Since the lifting slider 17 is slidingly connected with the substrate 4 in the lower clamping mechanism 3, the screw slider 19 is fixed on the substrate 4, The upper clamping mechanism 1 rises as a whole, and after rising to a certain height, the stepper motor 16 stops rotating, the upper clamping mechanism 1 stops rising, and the anti-loosening screw 20 prevents the upper clamping mechanism 1 from separating from the lower clamping mechanism 3;
Step4：上层夹持机构1中的电机7正转，带动减速器8驱动主动齿轮9旋转，通过齿轮啮合带动从动齿轮10旋转，由于从动齿轮安装在两丝杠6轴上，两丝杠通过联轴器11连接，且两螺纹相反，两夹板5相对运动夹紧被检查管道；Step4: The motor 7 in the upper clamping mechanism 1 rotates forward, drives the reducer 8 to drive the driving gear 9 to rotate, and drives the driven gear 10 to rotate through gear meshing. Since the driven gear is installed on the 6 shafts of the two lead screws, the two lead screws Connected by a coupling 11, and the two threads are opposite, and the two splints 5 move relative to each other to clamp the inspected pipeline;
Step5：下层夹持机构3中的电机7反转，带动减速器8驱动主动齿轮9旋转，通过齿轮啮合带动从动齿轮10旋转，由于从动齿轮安装在两丝杠6轴上，两丝杠通过联轴器11连接，且两螺纹相反，两夹板5相向运动松开被检查管道；Step5: The motor 7 in the clamping mechanism 3 of the lower layer reverses, drives the reducer 8 to drive the driving gear 9 to rotate, and drives the driven gear 10 to rotate through gear meshing. Since the driven gear is installed on the 6 shafts of the two lead screws, the two lead screws Connected by a coupling 11, and the two threads are opposite, and the two splints 5 move toward each other to loosen the pipeline to be inspected;
Step6：升降机构2中的步进电机16反转，带动升降丝杠18旋转，由于升降滑杆17与下层夹持机构3中的基板(4滑动连接，丝杠滑块19固定在基板4上，下层夹持机构1整体上升，上升一定高度后，步进电机16停止转动，下层夹持机构1停止上升；Step6: The stepper motor 16 in the lifting mechanism 2 is reversed to drive the lifting screw 18 to rotate. Since the lifting slide bar 17 is slidingly connected with the substrate (4) in the lower clamping mechanism 3, the screw slider 19 is fixed on the substrate 4 , the lower clamping mechanism 1 rises as a whole, and after rising to a certain height, the stepping motor 16 stops rotating, and the lower clamping mechanism 1 stops rising;
Step7：下层夹持机构3中的电机7正转，带动减速器8驱动主动齿轮9旋转，通过齿轮啮合带动从动齿轮10旋转，由于从动齿轮安装在两丝杠6轴上，两丝杠通过联轴器11连接，且两螺纹相反，两夹板5相对运动夹紧被检查管道；Step7: The motor 7 in the lower clamping mechanism 3 rotates forward, drives the reducer 8 to drive the driving gear 9 to rotate, and drives the driven gear 10 to rotate through gear meshing. Since the driven gear is installed on the 6 shafts of the two lead screws, the two lead screws Connected by a coupling 11, and the two threads are opposite, and the two splints 5 move relative to each other to clamp the inspected pipeline;
Step8：重复Step 2~ Step 7，则机器人会沿着被检查管道不断爬升直到到达指定位置后停止。Step8: Repeat Step 2~Step 7, then the robot will continue to climb along the inspected pipeline until it reaches the specified position and then stop.
上述实施例用来解释说明本发明，而不是对本发明进行限制，在本发明的精神和权利要求的保护范围内，对本发明做出的任何修改和改变，都落入本发明的保护范围。The above-mentioned embodiments are used to illustrate the present invention, rather than to limit the present invention. Within the spirit of the present invention and the protection scope of the claims, any modification and change made to the present invention will fall into the protection scope of the present invention.
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