CN107461565B - Camera in a kind of pipeline - Google Patents

Camera in a kind of pipeline Download PDF

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Publication number
CN107461565B
CN107461565B CN201710633504.0A CN201710633504A CN107461565B CN 107461565 B CN107461565 B CN 107461565B CN 201710633504 A CN201710633504 A CN 201710633504A CN 107461565 B CN107461565 B CN 107461565B
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CN
China
Prior art keywords
gear
axis
central
driving
central axis
Prior art date
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Active
Application number
CN201710633504.0A
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Chinese (zh)
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CN107461565A (en
Inventor
何家骥
文华平
罗志农
梁惠群
周韶英
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangzhou Shipyard International Co Ltd
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Guangzhou Shipyard International Co Ltd
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Priority to CN201710633504.0A priority Critical patent/CN107461565B/en
Publication of CN107461565A publication Critical patent/CN107461565A/en
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Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28Constructional aspects
    • F16L55/30Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00Details of television systems
    • H04N5/222Studio circuitry; Studio devices; Studio equipment ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, TV cameras, video cameras, camcorders, webcams, camera modules for embedding in other devices, e.g. mobile phones, computers or vehicles
    • H04N5/225Television cameras ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, camcorders, webcams, camera modules specially adapted for being embedded in other devices, e.g. mobile phones, computers or vehicles
    • H04N5/2251Constructional details
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00Uses or applications of pigs or moles
    • F16L2101/30Inspecting, measuring or testing
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00Details of television systems
    • H04N5/222Studio circuitry; Studio devices; Studio equipment ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, TV cameras, video cameras, camcorders, webcams, camera modules for embedding in other devices, e.g. mobile phones, computers or vehicles
    • H04N5/225Television cameras ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, camcorders, webcams, camera modules specially adapted for being embedded in other devices, e.g. mobile phones, computers or vehicles
    • H04N2005/2255Television cameras ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, camcorders, webcams, camera modules specially adapted for being embedded in other devices, e.g. mobile phones, computers or vehicles for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscope, borescope

Abstract

The present invention discloses camera in a kind of pipeline, including driving snake, bracket, driving device and photography assembly, and driving snake has opposite first end and second end;Bracket is circle, and the axle center of bracket is connect with first end, and the periphery of bracket is arranged at intervals with several idler wheels contacted with the inner wall of pipeline;Driving device is connect with second end, and torsion can be transferred to bracket by driving snake by driving device, and the length direction with driving arm along pipeline moves;Photography assembly is located at side of the bracket far from driving device, and connect with the axle center of bracket.Camera in pipeline of the invention, it may be implemented photography assembly being delivered to predetermined position, it is observed by inner surface of the photography assembly to pipeline, object to be transported can also be placed on to the front of the direction of motion of bracket, object to be transported is transported to target position by bracket, compared with prior art, it does not need to carry out pipeline dismounting or cutting process, a large amount of human and material resources and time can be saved.

Description

Camera in a kind of pipeline
Technical field
The present invention relates to pipe-line system technical field of operation, and in particular to camera in a kind of pipeline.
Background technique
The pipe-line systems such as ship, industry are many kinds of, there is all size latus rectum, and pipeline is having many bends or curves, and material is had nothing in common with each other. Positions certain in pipeline can be checked in pipeline production, installation and maintenance, it cannot be completely by manually being done to pipeline the inside Reason when needing to observe pipeline inner case, using endoscopic observation or can only tear the processing of the other methods such as pipe open.
The length of some pipelines is larger, and bend pipe quantity is more, when needing to check the inner surface of pipeline, if using endoscope, Due to the running gear for not having to assist endoscope mobile, endoscope can only be pushed forward mobile using push rods such as plastic tubes, but nothing Method passes through greater number of bend pipe position, can only remove pipeline section for bend pipe position and handle;If right using pipe method is torn open It can directly be removed in the pipeline using connections such as the pipeline such as flanges that is detachably connected, but if being butt welding or casing freezes company The pipeline connect then needs to cut down processing, when especially surrounding has the blocking of other objects, also to remove surrounding objects, need to spend Biggish human and material resources, and expend the longer working time.
Summary of the invention
The purpose of the present invention is to provide cameras in a kind of pipeline, predetermined position can be moved in pipeline and to pipe The inner surface in road carries out camera shooting inspection.
To achieve this purpose, the present invention adopts the following technical scheme:
Camera in a kind of pipeline is provided, comprising:
Driving snake, the driving snake have opposite first end and second end;
Bracket, the bracket are circle, and the axle center of the bracket is connect with the first end, the outer weekly interval of the bracket It is provided with several idler wheels contacted with the inner wall of pipeline;
Driving device, the driving device are connect with the second end, and the driving device can pass through the driving snake Torsion is transferred to the bracket, to drive the bracket to move along the length direction of the pipeline;
Photography assembly, the photography assembly are located at side of the bracket far from the driving device, and with the bracket Axle center connection.
As a preferred technical solution of camera in pipeline, the bracket includes spaced first support And second support, the first support include the first central axis and the first support sheet that first central axis periphery is arranged in Body, the first support ontology can be rotated around the axis of first central axis, the second support include the second central axis and The second support ontology of second central axis periphery is set, and the second support ontology can be around the axis of second central axis Line rotation;
The photography assembly includes connecting shaft and the camera that is movably arranged in the connecting shaft;
The driving snake includes spaced first driving snake and the second driving snake, first central axis One end is by first driving snake and second center axis connection, the other end and the connection axis connection, and described second The one end of central axis far from first central axis is connect by second driving snake with the driving device.
As a preferred technical solution of camera in pipeline, the periphery of first central axis passes through the first tooth Wheel group is connect with the first support ontology, and the periphery of second central axis passes through second gear group and the second support sheet Body connection, the quantity of the gear of the first gear group are odd number, and the quantity of the gear of the second gear group is even number.
As a preferred technical solution of camera in pipeline, along the radial direction of first central axis, described One gear set successively includes the first central gear, the first intermediate gear and first gear shell, and first central gear is solid Dingan County is mounted in the periphery of first central axis and engages with first intermediate gear, the inner circumferential tool of the first gear shell There is the internal tooth being meshed with first intermediate gear, the outer of the first gear shell is arranged in the first support ontology Week;
Along the radial direction of second central axis, the second gear group successively includes the second central gear, the second center tooth Wheel, third intermediate gear and second gear shell, second central gear are fixedly mounted on the outer of second central axis Week is simultaneously engaged by second intermediate gear with the third intermediate gear, and the inner circumferential of the second gear shell has and institute The gear that third intermediate gear is meshed is stated, the periphery of the second gear shell is arranged in the second support ontology.
As a preferred technical solution of camera in pipeline, first intermediate gear passes through in described first The axle sleeve of mandrel is fixed, and the first resigning area is provided between the axle sleeve of first central axis and first central axis;
Second intermediate gear and the third intermediate gear are fixed by the axle sleeve of second central axis, and described The second resigning area is provided between the axle sleeve of two central axises and second central axis;
The driving device includes control unit, and the control unit has first position and the second position, when the control unit When positioned at the first position, first central gear is located at first resigning area, and second central gear is located at institute The second resigning area is stated, so that first central gear is separated with first intermediate gear and second central gear It is separated with second intermediate gear;When the controlling position is when the second position, first central gear with it is described The engagement of first intermediate gear, second central gear are engaged with second intermediate gear.
It is described along the direction close to the photography assembly as a preferred technical solution of camera in pipeline First position successively includes the first sub- position and the second sub- position, and first resigning area successively includes the first resigning subregion and Two resigning subregions, second resigning area successively include third resigning subregion and the 4th resigning subregion;
The photography assembly further includes connector, the connection sleeve for being movably arranged on the connecting shaft periphery and is mounted on It is described connection sleeve periphery positioning ring, the periphery of the connecting shaft and be located at the connection sleeve far from the first support Side is provided with rotation seat, and one end of the connector is connect with the camera, and the other end passes through the first pin shaft and described turn Dynamic seat rotation connection, the positioning ring can be rotated around the axis of the connection sleeve relative to the connection sleeve, and described fixed Position ring is sequentially connected by connecting rod and the camera;
The described connection one end of sleeve far from the rotation seat is fixedly connected with the axle sleeve of first central axis, the company Spindle and the first central axis selective connection;When the controlling position is when the first sub- position, first center Gear is located at the first resigning subregion, and second central gear is located at the third resigning subregion, so that in described first Heart gear is separated with first intermediate gear and second central gear is separated with second intermediate gear, and institute It states connecting shaft and first central axis is disconnected;When the controlling position is when the second sub- position, first center Gear is located at the second resigning subregion, and second central gear is located at the 4th resigning subregion, so that in described first Heart gear is separated with first intermediate gear and second central gear is separated with second intermediate gear, and institute Connecting shaft and first center axis connection are stated, the camera is turned to around the axis both clockwise of first pin shaft close to institute State positioning ring.
As a preferred technical solution of camera in pipeline, described connecting rod one end by the second pin shaft with it is described Positioning ring connection, the other end are connect by third pin shaft with the connector, and the third pin shaft is described adjacent to the camera Axis of the axis of first pin shaft, second pin shaft and the third pin shaft parallel and perpendicular to the connecting shaft, the control When portion processed is located at the second sub- position, the driving device drives the connecting shaft to be directed away from relative to the connection sleeve The direction of the first support is mobile, so that the camera rotates.
As a preferred technical solution of camera in pipeline, the driving device further include motor and with institute The hollow shaft of the output axis connection of motor is stated, the hollow shaft is connect with second driving snake, the hollow shaft peripheral hardware It is equipped with hollow shaft sleeve, the length direction on the hollow shaft sleeve along the hollow shaft offers pulling hole, one end of the control unit Be selectively inserting in the pulling hole with the hollow axis connection, to push the hollow shaft to move along its length.
As a preferred technical solution of camera in pipeline, the hollow shaft is passed by axis and described second Dynamic flexible axle connects, and shifting block is fixed on the axis, and one end of the control unit is provided with the card being engaged by clamping with the shifting block Slot.
As a preferred technical solution of camera in pipeline, the periphery fixation of the output shaft of the motor is set It is equipped with first gear, the periphery of the hollow shaft is provided with second gear, and the first gear is engaged with the second gear.
Beneficial effects of the present invention: camera in pipeline of the invention, driving device can drive driving snake to rotate, and The torsion of driving snake is transferred to bracket, to make bracket that photography assembly be driven to transport in pipeline along the length direction of pipeline It is dynamic, photography assembly is delivered to predetermined position to realize, is observed by inner surface of the photography assembly to pipeline, can also be incited somebody to action Object to be transported is placed on the front of the direction of motion of bracket, is transported object to be transported to target position by bracket, And movement of the bracket in pipeline is not influenced by pipe shape.Camera applies to pipeline in pipeline in the present invention Inner surface observation does not need to carry out pipeline dismounting or cutting process, can save a large amount of human and material resources and time.
Detailed description of the invention
Fig. 1 is the decomposition diagram of camera in the pipeline of the embodiment of the present invention.
Fig. 2 is sectional view along A-A in Fig. 1.
Fig. 3 is B-B direction cross-sectional view in Fig. 1.
Fig. 4 is the enlarged drawing of the part I in Fig. 1.
Fig. 5 is the enlarged drawing of the part II in Fig. 1.
Fig. 6 is the enlarged drawing of the part III in Fig. 1.
Fig. 7 is the first usage state diagram of the photography assembly of the embodiment of the present invention.
Fig. 8 is the second usage state diagram of the photography assembly of the embodiment of the present invention.
Fig. 9 is the structural schematic diagram of the pipeline inter-process device of the embodiment of the present invention.
In figure:
1, pipeline;
100, driving snake;110, the first driving snake;120, the second driving snake;
200, bracket;210, first support;211, the first central axis;212, first support ontology;213, the first centre tooth Wheel;214, the first intermediate gear;215, first gear shell;216, the first idler wheel;220, second support;221, the second center Axis;222, second support ontology;223, the second central gear;224, the second intermediate gear;225, third intermediate gear;226, Two gear housing;227, the second idler wheel;
300, driving device;310, control unit;320, motor;330, hollow shaft;331, long hole;340, hollow shaft sleeve; 341, pulling hole;350, axis;351, convex key;352, shifting block;360, first gear;370, second gear;
410, the first resigning area;420, the second resigning area;
500, photography assembly;510, connecting shaft;520, camera;530, connector;540, sleeve is connected;550, it positions Ring;560, rotation seat;570, connecting rod.
Specific embodiment
To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments.
In the description of the present invention, it is to be understood that, the orientation or positional relationship of the instructions such as term "inner", "outside" is base In orientation or positional relationship shown in the drawings, it is merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion Signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this The limitation of invention.
In addition, term " first ", " second ", " third ", " the 4th " are used for description purposes only, and should not be understood as instruction or It implies relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " second ", " are defined as a result, Three ", the feature of " the 4th " can explicitly or implicitly include one or more of the features.
In the description of the present invention unless specifically defined or limited otherwise, term " fixation ", " connection " should do broad sense reason Solution, for example, it may be being fixedly connected, may be a detachable connection, or integral;It can be mechanical connection, be also possible to electricity Connection;Can be directly connected, can also indirectly connected through an intermediary, can be two components interiors connection or two The interaction relationship of component.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition Concrete meaning in invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature second feature "upper" or "lower" It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through it Between other characterisation contact.Moreover, fisrt feature the "upper" of second feature include fisrt feature second feature just Top and oblique upper, or first feature horizontal height is merely representative of higher than second feature.Fisrt feature is in the "lower" of second feature It is directly below and diagonally below the second feature including fisrt feature, or is merely representative of first feature horizontal height less than second feature.
As shown in Figure 1 to 9, camera includes: driving snake 100, driving snake 100 in pipeline provided in this embodiment With opposite first end and second end;Bracket 200, bracket 200 are circle, and the axle center of bracket 200 is connect with first end, bracket 200 periphery is arranged at intervals with the idler wheel that several inner walls with pipeline 1 contact;Driving device 300, driving device 300 and second End connection, torsion can be transferred to bracket 200 by driving snake 100 by driving device 300, with driving arm 200 along pipeline 1 Length direction movement;Photography assembly 500, photography assembly 500 are located at side of the bracket 200 far from driving device 300, and and bracket 200 axle center connection.In the present embodiment, the periphery of bracket 200 is provided with the idler wheel being in rolling contact with the inner wall of pipeline 1, bracket 200 are connect by driving snake 100 with driving device 300, and driving device 300 can drive driving snake 100 to rotate, and will transmission The torsion of flexible axle 100 is transferred to bracket 200, so that bracket 200 be made to drive photography assembly 500 in pipeline 1 along the length of pipeline 1 Photography assembly 500 is delivered to predetermined position to realize by direction movement, by the camera shooting of photography assembly 500 to the inner surface of pipeline 1 It is observed.In the present embodiment, object to be transported can also be placed on to the front of the direction of motion of bracket 200, pass through branch Frame 200 transports object to be transported to predetermined position, and movement of the bracket 200 in pipeline 1 be not by the shadow of 1 shape of pipeline It rings.Camera applies to the inner surface observation of pipeline 1 in pipeline in the present invention, do not need to carry out pipeline 1 to remove or Cutting process can save a large amount of human and material resources and time.
Bracket 200 can be the structure of flexible deformable, so that when bracket 200 moves in pipeline 1, if pipeline When 1 bending occurs, internal diameter becomes smaller, bracket 200 also can be moved smoothly in pipeline 1.
Preferably, bracket 200 includes spaced first support 210 and second support 220, and first support 210 includes First central axis 211 and the first support ontology 212 that 211 periphery of the first central axis is arranged in, first support ontology 212 can be around the The axis of one central axis 211 rotates, and second support 220 includes the second central axis 221 and 221 periphery of the second central axis is arranged in Second support ontology 222, second support ontology 222 can be rotated around the axis of the second central axis 221;Photography assembly 500 includes connecting Spindle 510 and the camera 520 being movably arranged in connecting shaft 510;Driving snake 100 includes that spaced first transmission is soft One end of axis 110 and the second driving snake 120, the first central axis 211 passes through the first driving snake 110 and the second central axis 221 Connection, the other end are connect with connecting shaft 510, and the one end of the second central axis 221 far from the first central axis 211 is soft by the second transmission Axis 120 is connect with driving device 300.By the way that two brackets are arranged, the power of whole device can be increased.In the present embodiment, branch Frame 200 is not limited to setting two, and quantity can be designed according to the size of pipeline 1.Due between two brackets by the The connection of one driving snake 110, second support 220 are connect by the second driving snake 120 with driving device 300, driving device 300 Power (torsion) can be transferred to second support 220 by the second driving snake 120, second support 220 passes through the first transmission again Power is transferred to first support 210 by flexible axle 110, and two brackets advance or retreat simultaneously, conveyed camera 520 with realizing To predetermined position.
In the present embodiment, the first driving snake 110 and the second driving snake 120 include Flexible Transmission shaft body and setting In the flexible protective casing of flexible drive axle body peripheral.
In the present embodiment, the first central axis 211, the second central axis 221, the first driving snake 110 and the second driving snake 120 all have opposite first end and second end, wherein first end is close to driving device 300, and second end is far from driving device 300, first end is provided with concave auxiliary connection, and second end is provided with a convex auxiliary connection, the first central axis 211 and the second center Axis 221 is hollow structure, and concave auxiliary connection and convex auxiliary connection are installed in the first central axis 211 and the second central axis 221 Inside, and fixed by snap ring.Between first central axis 211 and the first driving snake 110, the first driving snake 110 and second Connected respectively by concave auxiliary connection and convex between central axis 221 and between the second central axis 221 and the second driving snake 120 Secondary cooperation is connect to be attached.
As a kind of preferred embodiment of the present invention, the rotation side of first support ontology 212 and second support ontology 222 To on the contrary, for example, the first driving snake 110 drive first support ontology 212 rotate in the counterclockwise direction when, first support 210 The first driving snake 110 is reacted on, i.e. first support 210 has reaction force to the first driving snake 110, at only one In the case where first support 210, if the reaction force is greater than the torsion of the first driving snake 110, which can turn It is motionless, and second support ontology 222 is rotated in the clockwise direction, reaction force of the second support 220 to the first driving snake 110 First support ontology 212 can be offset to the reaction force of the first driving snake 110, so that first support ontology 212 be made smoothly to turn It is dynamic.
Wherein, the periphery of the first central axis 211 is connect by first gear group with first support ontology 212, the second center The periphery of axis 221 is connect by second gear group with second support ontology 222, and the quantity of the gear of first gear group is odd number, The quantity of the gear of second gear group is even number, to guarantee the rotation side of first support ontology 212 and second support ontology 222 To opposite.
Preferably, along the radial direction of the first central axis 211, first gear group successively includes in the first central gear 213, first Between gear 214 and first gear shell 215, the first central gear 213 be fixedly mounted on the periphery of the first central axis 211 and with The engagement of first intermediate gear 214, the inner circumferential of first gear shell 215 have the internal tooth being meshed with the first intermediate gear 214, the The periphery of first gear shell 215 is arranged in one rack body 212;Wherein, first is provided on the axle sleeve of the first central axis 211 Pinion mounting holes, the first intermediate gear 214 are installed in the first gear mounting hole, and first gear shell 215 passes through two axis The outside for being installed on the axle sleeve of the first central axis 211 is held, and is fixed respectively by cover board.Along the radial direction of the second central axis 221, Two gear sets successively include the second central gear 223, the second intermediate gear 224, third intermediate gear 225 and second gear shell Body 226, the second central gear 223 are fixedly mounted on the periphery of the second central axis 221 and by the second intermediate gear 224 and thirds Intermediate gear 225 engages, and the inner circumferential of second gear shell 226 has a gear being meshed with third intermediate gear 225, and second The periphery of second gear shell 226 is arranged in frame ontology 222.Wherein, second gear is offered on the axle sleeve of the second central axis 221 Mounting hole, the second intermediate gear 224 and third intermediate gear 225 are installed in the second gear mounting hole, second gear shell 226 are installed on the outside of the axle sleeve of the second central axis 221 by two bearings, and are fixed respectively by cover board.
In the present embodiment, first support ontology 212 includes that several inclined rings are located at the first of 215 periphery of first gear shell The inclined direction of supporting plate, several first support plates is identical, and its one end far from first gear shell 215 is provided with the first rolling Wheel 216, the inclined direction of first support plate is opposite with the rotation direction of first support 210;Second support ontology 222 includes several Inclined ring is located at the second support plate of 226 periphery of second gear shell, and the inclined direction of several second support plates is identical, and it is remote One end from second gear shell 226 is provided with the second idler wheel 227, inclined direction and the second support 220 of second support plate Rotation direction is opposite;First support plate and second support plate are flexible board.The inclination side of first support plate and second support plate To with its rotation direction on the contrary, and first support plate and second support plate are flexible board, be adapted to not in rotation process With caliber, in the case where caliber is relatively shorter than the diameter of bracket 200, first support plate and second support plate can be in tube wall Pressure deformation is generated, to match with caliber, to keep its movement in pipeline 1 more smoothly.
First idler wheel 216 and the second idler wheel 217 can be removable with first support ontology 212 and second support ontology 222 respectively Connection is unloaded, different idler wheels can be replaced when in use in this way, to realize different operations.For example, replacement peripheral zone has hairbrush Idler wheel, may be implemented clean tube wall operation, replacement have frosted layer idler wheel, tube wall can be beaten Mill, derusting.
As further preferred embodiment of the present invention, the inner wall of the first idler wheel 216 and pipeline 1 is in rolling contact, and the The side that the axis of one idler wheel 216 is directed away from driving device 300 is obliquely installed;The inner wall of second idler wheel 227 and pipeline 1 rolls Contact, and the axis of the second idler wheel 227 is obliquely installed towards the side close to driving device 300, the inclined design of two idler wheels The mobile power of corresponding rack body can be increased separately.
Wherein, the first intermediate gear 214 is fixed by the axle sleeve of the first central axis 211, and the axle sleeve of the first central axis 211 The first resigning area 410 is provided between the first central axis 211;Second intermediate gear 224 and third intermediate gear 225 pass through the The axle sleeve of two central axises 221 is fixed, and the second resigning area is provided between the axle sleeve of the second central axis 221 and the second central axis 221 420;Driving device 300 includes control unit 310, and control unit 310 has first position and the second position, when control unit 310 is located at When first position, the first central gear 213 is located at the first resigning area 410, and the second central gear 223 is located at the second resigning area 420, So that the first central gear 213 is separated with the first intermediate gear 214 and the second central gear 223 and the second intermediate gear 224 Separation;When control unit 310 is located at the second position, the first central gear 213 is engaged with the first intermediate gear 214, the second center Gear 223 is engaged with the second intermediate gear 224.310 property of can choose of control unit controls the first central gear 213 and allows positioned at first Position area and the second central gear 223 are located at the second resigning area 420, so that movement of two brackets in pipeline 1 be made to stop.
Along the direction close to photography assembly 400, first position successively includes the first sub- position and the second sub- position, and first Resigning area 410 successively includes the first resigning subregion and the second resigning subregion, and the second resigning area 420 successively includes third resigning subregion With the 4th resigning subregion;
Photography assembly 500 further includes connector 530, the connection sleeve 540 for being movably arranged on 510 periphery of connecting shaft and peace Mounted in the positioning ring 550 for connecting 540 periphery of sleeve, the periphery of connecting shaft 510 and positioned at connection sleeve 540 far from first support 210 side is provided with rotation seat 560, and one end of connector 530 is connect with camera 520, the other end by the first pin shaft with Rotation seat 560 is rotatablely connected, and positioning ring 550 can be rotated around the axis of connection sleeve 540 relative to connection sleeve 540, and be positioned Ring 550 is sequentially connected by connecting rod 570 and camera 520;Connect sleeve 540 one end and the first center far from rotation seat 560 The axle sleeve of axis 211 is fixedly connected, 211 selective connection of connecting shaft 510 and the first central axis;When control unit 310 is located at the first son When position, the first central gear 213 is located at the first resigning subregion, and the second central gear 223 is located at third resigning subregion, so that the One central gear 213 is separated with the first intermediate gear 214 and the second central gear 223 is separated with the second intermediate gear 224, And connecting shaft 510 and the first central axis 211 are disconnected;When control unit 310 is located at the second sub- position, the first central gear 213 Positioned at the second resigning subregion, the second central gear 223 is located at the 4th resigning subregion, so that in the first central gear 213 and first Between the separation of gear 214 and the second central gear 223 separated with the second intermediate gear 224, and connecting shaft 510 and the first center Axis 211 connects, and camera 520 is turned to around the axis both clockwise of the first pin shaft close to positioning ring 550, camera 520 with connect Initial angle between sleeve 540 is 90 °.When control unit 310 is located at the second position, among the first central gear 213 and first Gear 214 engages, and the second central gear 223 is engaged with the second intermediate gear 224, and driving device 300 is driven by driving snake 100 During dynamic bracket 200 is moved along the length direction of pipeline 1, since the axle sleeve of the first central axis 211 is fixed, take the photograph As first 520 relative position during transportation remains unchanged;When camera assembly 500 is transported to predetermined position, bracket 200 Movement in pipeline stops, when control unit 310 is moved to the second sub- position by the first sub- position, the first central gear 213 It is separated with the first intermediate gear 214, the second central gear 223 is separated with the second intermediate gear 224, the first central axis 211 and company Spindle 510 connects, and connecting shaft 510 is pushed to move relative to connection sleeve 550 along the direction for being directed away from first support 210, To drive camera 520 to be rotated clockwise to it with the angle connecting between sleeve 540 less than 90 °, and driving device 300 is logical Cross the second driving snake 120, the first driving snake 110 is drivingly connected axis 510 and camera 520 and rotates, make camera 520 can be with Different position and angle are compareed, comprehensive camera shooting is carried out to the inner surface of pipeline 1.
In the present embodiment, the first driving snake 110, the second driving snake 120, the first central axis 211, the second central axis 221 and connecting shaft 510 be hollow shaft, can be used as the channel of the signal wire of camera 520.
570 one end of connecting rod is connect by the second pin shaft with positioning ring 550, and the other end passes through third pin shaft and connector 530 Connection, third pin shaft is adjacent to camera 520, and the axis of the first pin shaft, the second pin shaft and third pin shaft is parallel and perpendicular to connection The axis of axis 510, when control unit 310 is located at the second sub- position, driving device 300 is drivingly connected axis 510 relative to connection sleeve 540 are directed away from the direction movement of first support 210, so that camera 520 rotates.
Driving device 300 further includes motor 320 and the hollow shaft 330 with the output axis connection of motor 320, hollow shaft 330 connect with the second driving snake 120, are provided with hollow shaft sleeve 340 outside hollow shaft 330, along hollow shaft on hollow shaft sleeve 340 330 length direction opens up pulling hole 341, and one end of control unit 310 is selectively inserting to connect in pulling hole 341 with hollow shaft 330, To push hollow shaft 330 to move along its length.
The length of pulling hole 341 is corresponding with the moving distance of control unit 310, i.e., when control unit 310 is moved to first position, Control unit 310 is placed exactly in one end of pulling hole 341, and when control unit 310 is moved to the second position, control unit 310 is placed exactly in The other end of pulling hole 341.In other embodiments, the length of pulling hole 341 may be arranged as the moving long greater than control unit 310 Degree.As a kind of preferred embodiment of the present invention, hollow shaft 330 is connect by axis 350 with the second driving snake 120, is blocked Shifting block 352 is fixed on axis 350, one end of control unit 310 is provided with the card slot being engaged by clamping with shifting block 352.Preferably, shifting block There is gap, so that 350 smooth rotation of axis between 352 and the inner wall of hollow shaft sleeve 340.The pipeline inter-process of the present embodiment When device is run, needs to take off control unit 310, when pipeline inter-process device is out of service, control unit 310 can be inserted Enter in pulling hole 341 and be clamped with shifting block 352, control unit 310 can be manually controlled and be moved to first position or the second position, thus Selective start and stop first support 210 and second support 220.
Length direction on the axial wall of hollow shaft 330 along hollow shaft 330 offers long hole 331, sets on the inner wall of axis 350 It is equipped with convex key 351, axis 350 is set in outside hollow shaft 330 by the cooperation of convex key 351 and long hole 331, and control unit 310 passes through Mounting hole 341 is fixedly connected with convex key 351, and control unit 310 can drive convex key 351 to move along the length direction of long hole 331.Long hole 331 have opposite first end and second end along its length, and control unit 310 drives convex key 351 to be moved to the of long hole 331 When one end, the first central gear 213 is located at the first resigning area, and the second central gear is located at the second resigning area 420, to make two Bracket stops at rotation in pipeline 1, when control unit 310 drives convex key 351 to be moved to the second end of long hole 331, the first centre tooth Wheel 213 is engaged with the first intermediate gear 214, and the second central gear 223 is engaged with the second intermediate gear 224.
Wherein, axis 350 is provided with concave auxiliary connection far from one end of driving device 300, passes with by setting second The convex auxiliary connection of dynamic 120 one end of flexible axle matches, with the second driving snake of connection 120 and axis 350.
Motor 320 is connect by two gears with hollow shaft 330, and specifically, the periphery of the output shaft of motor 320 is set It is equipped with first gear 360, the periphery of hollow shaft 330 is provided with second gear 370, and first gear 360 is nibbled with second gear 370 It closes.When motor 320 rotates forward, the output shaft of motor 320 drives first gear 360 to rotate forward, and first gear 360 drives the second tooth 370 reversion of wheel drives the second central axis 221 and the so that hollow shaft 330 be made to invert under the action of the second driving snake 120 The reversion of two central gears 223, the second intermediate gear 224 rotate forward therewith, and third intermediate gear 225 inverts therewith, second gear shell Body 226 drives second support ontology 222 to rotate forward therewith, and at the same time, the reversion of the second central axis 221 is soft by the first transmission Torsion is passed to the first hollow shaft 211 by axis 110, and the first hollow shaft 211 inverts together with the first central gear 213, in first Between gear 212 rotate forward therewith, first gear shell 215 drive first support ontology 212 rotate forward therewith, two brackets are in pipe at this time It is moved in road 1 along the direction far from driving device 300.When motor 320 inverts (it is similar when principle is rotated forward with it, herein no longer Repeat), two brackets move in pipeline 1 along the direction close to driving device 300.
In the present embodiment, there are two bearings, two bearings to be located at for setting between hollow shaft sleeve 340 and hollow shaft 330 Second gear 370 is along the both ends of the length direction of hollow shaft 330, so that the rotation of hollow shaft 330 is more smoothly.
In the present embodiment, hollow shaft sleeve 340 includes the first axle sleeve for installing first gear 360 and second gear 370 With the second axle sleeve for installing hollow shaft 330, pulling hole 341 is arranged on the second axle sleeve.
For the liquefied cargo system of chemical tanker, pipeline generally uses stainless steel tube butt welding to connect, and needs in building course Soldered inner surface is checked, if being promoted camera to carry out observation with general endoscope using plastic tube and being needed to consume Take the more time, and can not by bending angle larger or several bent angles position, pipeline cannot be checked completely.Make With when camera, the efficiency to pipe-line system internal check can be improved in pipeline of the invention, to 800 weld seams of every ship, Each weld seam reduces by 0.5 hour man-hour calculation, can reduce by 400 working hours, improves working efficiency.
Camera can apply the internal check with pipelines such as industry, building, roads in pipeline of the invention, can facilitate Inner surface camera shooting is carried out to the pipeline of various shape, various length to check, and reduces the dismounting to pipeline, is reduced to surrounding enviroment Influence, reduce unnecessary damage and waste, improve working efficiency and economic benefit.Camera structure letter in the pipeline It is single, connection is combined by component pattern and is used, easy to use, maintenance is simple.Since the equipment for pipeline inner part is without electricity Device component mitigates equipment weight itself, and the environment that can be used for having oil gas etc. inflammable and explosive, has wide range of applications.
It is to be understood that above-mentioned specific embodiment is only that presently preferred embodiments of the present invention and institute's application technology are former Reason, within the technical scope of the present disclosure, variation that anyone skilled in the art is readily apparent that or Replacement, should be covered by the scope of protection of the present invention.
Above by specific embodiment, the present invention is described, but the present invention is not limited to these specific implementations Example.It will be understood by those skilled in the art that various modifications, equivalent replacement, variation etc. can also be done to the present invention.But this A little transformation, all should be within protection scope of the present invention without departing from spirit of the invention.In addition, present specification and power Some terms used in sharp claim are not limitation, it is only for convenient for description.

Claims (5)

1. camera in a kind of pipeline characterized by comprising
Driving snake, the driving snake have opposite first end and second end;
Bracket, the bracket are circle, and the axle center of the bracket is connect with the first end, the outer weekly interval setting of the bracket There are several idler wheels contacted with the inner wall of pipeline;
Driving device, the driving device are connect with the second end, and the driving device can will be turned round by the driving snake Power is transferred to the bracket, to drive the bracket to move along the length direction of the pipeline;
Photography assembly, the photography assembly are located at side of the bracket far from the driving device, and the axis with the bracket Heart connection;
The bracket includes spaced first support and second support, and the first support includes the first central axis and setting First support ontology in first central axis periphery, the first support ontology can turn around the axis of first central axis Dynamic, the second support includes the second central axis and the second support ontology that second central axis periphery is arranged in, and described the Two rack bodies can be rotated around the axis of second central axis;
The photography assembly includes connecting shaft and the camera that is movably arranged in the connecting shaft;
The driving snake includes spaced first driving snake and the second driving snake, one end of first central axis By first driving snake and second center axis connection, the other end and the connection axis connection, second center The one end of axis far from first central axis is connect by second driving snake with the driving device;
The periphery of first central axis is connect by first gear group with the first support ontology, second central axis Periphery is connect by second gear group with the second support ontology, and the quantity of the gear of the first gear group is odd number, institute The quantity for stating the gear of second gear group is even number;
Along the radial direction of first central axis, the first gear group successively include the first central gear, the first intermediate gear with And first gear shell, first central gear be fixedly mounted on the periphery of first central axis and with described first among Gear engagement, the inner circumferential of the first gear shell have an internal tooth being meshed with first intermediate gear, and described first The periphery of the first gear shell is arranged in frame ontology;
Along the radial direction of second central axis, the second gear group successively includes the second central gear, the second intermediate gear, Three intermediate gears and second gear shell, second central gear are fixedly mounted on the periphery of second central axis and lead to It crosses second intermediate gear to engage with the third intermediate gear, the inner circumferential of the second gear shell has and the third The periphery of the second gear shell is arranged in the gear that intermediate gear is meshed, the second support ontology;
First intermediate gear is fixed by the axle sleeve of first central axis, and the axle sleeve of first central axis with it is described The first resigning area is provided between first central axis;
Second intermediate gear and the third intermediate gear are fixed by the axle sleeve of second central axis, in described second The second resigning area is provided between the axle sleeve of mandrel and second central axis;
The driving device includes control unit, the control unit have first position and the second position, when the controlling position in When the first position, first central gear is located at first resigning area, and second central gear is located at described the Two resigning areas, so that first central gear is separated with first intermediate gear and second central gear and institute State the separation of the second intermediate gear;When the controlling position is when the second position, first central gear and described first Intermediate gear engagement, second central gear are engaged with second intermediate gear;
Along the direction close to the photography assembly, the first position successively includes the first sub- position and the second sub- position, described First resigning area successively includes the first resigning subregion and the second resigning subregion, and second resigning area successively includes third resigning point Area and the 4th resigning subregion;
The photography assembly further includes connector, the connection sleeve for being movably arranged on the connecting shaft periphery and is mounted on described Connect sleeve periphery positioning ring, the periphery of the connecting shaft and be located at the connection side of the sleeve far from the first support It is provided with rotation seat, one end of the connector is connect with the camera, and the other end passes through the first pin shaft and the rotation seat Rotation connection, the positioning ring can be rotated around the axis of the connection sleeve relative to the connection sleeve, and the positioning ring It is sequentially connected by connecting rod and the camera;
The described connection one end of sleeve far from the rotation seat is fixedly connected with the axle sleeve of first central axis, the connecting shaft With the first central axis selective connection;When the controlling position is when the first sub- position, first central gear Positioned at the first resigning subregion, second central gear is located at the third resigning subregion, so that first centre tooth Wheel is separated with first intermediate gear and second central gear is separated with second intermediate gear, and the company Spindle and first central axis are disconnected;When the controlling position is when the second sub- position, first central gear Positioned at the second resigning subregion, second central gear is located at the 4th resigning subregion, so that first centre tooth Wheel is separated with first intermediate gear and second central gear is separated with second intermediate gear, and the company Spindle and first center axis connection, the camera are turned to around the axis both clockwise of first pin shaft close to described fixed Position ring.
2. camera in pipeline according to claim 1, which is characterized in that described connecting rod one end by the second pin shaft with Positioning ring connection, the other end are connect by third pin shaft with the connector, the third pin shaft adjacent to the camera, Axis of the axis of first pin shaft, second pin shaft and the third pin shaft parallel and perpendicular to the connecting shaft, institute Controlling position is stated when the second sub- position, the driving device drives the connecting shaft relative to the connection sleeve direction Direction far from the first support is mobile, so that the camera rotates.
3. camera in pipeline according to claim 1, which is characterized in that the driving device further include motor and With the hollow shaft of the output axis connection of the motor, the hollow shaft is connect with second driving snake, the hollow shaft It is provided with hollow shaft sleeve outside, the length direction on the hollow shaft sleeve along the hollow shaft offers pulling hole, the control unit One end is selectively inserting in the pulling hole and the hollow axis connection, to push the hollow shaft to move along its length.
4. camera in pipeline according to claim 3, which is characterized in that the hollow shaft passes through axis and described the Two driving snakes connect, and shifting block are fixed on the axis, one end of the control unit is provided with and the shifting block is engaged by clamping Card slot.
5. camera in pipeline according to claim 3, which is characterized in that the periphery of the output shaft of the motor is solid Surely it is provided with first gear, the periphery of the hollow shaft is provided with second gear, and the first gear is nibbled with the second gear It closes.
CN201710633504.0A 2017-07-28 2017-07-28 Camera in a kind of pipeline Active CN107461565B (en)

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CN201710633504.0A CN107461565B (en) 2017-07-28 2017-07-28 Camera in a kind of pipeline
PCT/CN2017/108841 WO2019019461A1 (en) 2017-07-28 2017-10-31 In-pipe photographing device

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CN107166135B (en) * 2017-06-30 2019-04-19 广船国际有限公司 A kind of pipeline inter-process device

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US5749397A (en) * 1992-12-01 1998-05-12 Molaug; Ole Pipe tractor
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