CN110307443B - Circular pipeline inner wall detection device - Google Patents
Circular pipeline inner wall detection device Download PDFInfo
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- CN110307443B CN110307443B CN201910621777.2A CN201910621777A CN110307443B CN 110307443 B CN110307443 B CN 110307443B CN 201910621777 A CN201910621777 A CN 201910621777A CN 110307443 B CN110307443 B CN 110307443B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
- G01N2021/9548—Scanning the interior of a cylinder
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- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention relates to a circular pipeline inner wall detection device which comprises two walking assemblies, two supporting assemblies, a cleaning assembly and a detection assembly, wherein the walking assemblies are symmetrically arranged at two ends of the detection device, the two supporting assemblies are respectively adjacent to the two walking assemblies, the cleaning assembly and the detection assembly are positioned between the two supporting assemblies, the walking assemblies, the supporting assemblies, the cleaning assembly and the detection assembly are connected through universal joints, each walking assembly comprises a walking shell, a walking arm, a walking guide rod, a walking sliding disc and a walking support rod, each supporting assembly comprises a supporting shell, a supporting rod and a supporting wheel, each cleaning assembly comprises a cleaning shell, a cleaning motor and a cleaning head, and each detection assembly comprises a detection shell, a detection camera and a detection motor. The invention aims to solve the problem that the corrosion condition of the inner wall of a pipeline cannot be accurately detected, and provides a circular pipeline inner wall detection device.
Description
Technical Field
The invention relates to the technical field of pipeline detection equipment, in particular to a circular pipeline inner wall detection device.
Background
In industrial production, liquid and gas are often required to be transmitted through pipelines, most of the transmitted substances are corrosive, the inner wall of the pipeline can be corroded continuously, leakage can be caused when the pipeline is corroded seriously, production is affected, and the environment is polluted.
At present mostly explore the corruption condition in the pipeline through the robot of crawling that has the camera, for example, the utility model discloses a camera is installed to the one end of the robot of crawling that is the publication number CN207064964U, the name is "a pipeline endoscope long distance robot of crawling", this camera can only the axial look over the place ahead, can't effectively look over radial inner wall, even if the camera can rotate, the distance between camera and the pipeline inner wall difference is different, can't accurately judge the corruption condition.
In addition, the utility model having the publication No. CN203376522U entitled "a push rod type tube endoscope apparatus" discloses a lens holder comprising a tubular holder body and a plurality of legs, wherein the holder body is coaxial with the tube, but it can only detect a straight tube, but most of the tube is turned during actual tube transportation, so the practicability is not strong.
Disclosure of Invention
The invention aims to solve the problem that the corrosion condition of the inner wall of a pipeline cannot be accurately detected, and provides a circular pipeline inner wall detection device.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a circular pipeline inner wall detection device comprises walking assemblies, two supporting assemblies, a cleaning assembly and a detection assembly, wherein the walking assemblies are symmetrically arranged at two ends of the detection device, the two supporting assemblies are respectively adjacent to the two walking assemblies, the cleaning assembly and the detection assembly are positioned between the two supporting assemblies, and the walking assemblies, the supporting assemblies, the cleaning assembly and the detection assembly are connected through universal joints;
the walking component consists of a walking shell, a walking arm, a walking guide rod, a walking sliding disc and a walking support rod, the walking shell is a hollow cylindrical shell, a plurality of walking grooves are uniformly distributed on the circumference of the circumferential side wall of the walking shell, the walking guide rod is fixedly arranged in the walking shell along the length direction of the walking shell, the central axis of the walking guide rod is superposed with the central axis of the walking shell, the walking sliding disc is sleeved on the walking guide rod in a sliding manner, a walking spring is arranged between the walking sliding disc and the walking shell, the walking spring is sleeved on the walking guide rod, a walking arm and a walking support rod are arranged in the walking groove of each walking shell, one end of the walking arm is hinged with the walking shell, the other end of the walking arm is provided with a walking wheel, one end of the walking support rod is hinged with the walking sliding disc, the other end of the walking support rod is hinged with the middle part of the walking arm, a walking motor is arranged in the walking arm, and the walking motor is in transmission connection with the walking wheel;
the supporting assembly comprises a supporting shell, supporting rods and supporting wheels, the supporting shell is a hollow cylindrical shell, the supporting rods are uniformly arranged on the circumference by taking the central axis of the supporting shell as the circle center, the lower ends of the supporting rods are connected with the supporting shell in a sliding and rotating mode, and the upper ends of the supporting rods are connected with the supporting wheels in a rotating mode;
the cleaning assembly consists of a cleaning shell, a cleaning motor and a cleaning head, and the cleaning motor drives the cleaning head to rotate along the circumferential outer wall of the cleaning shell;
the detection assembly is composed of a detection shell, a detection camera and a detection motor, and the detection motor drives the detection camera to rotate along the outer wall of the circumference of the detection shell.
Further, the walking arm includes the arm body, driving shaft and driven shaft, arm body one end is provided with the U-shaped groove, the other end is provided with the hinge hole, and the arm body middle part is provided with the motor storehouse of indent, and the U-shaped inslot transverse rotation of the arm body is provided with the driven shaft, the fixed registrate of driven shaft middle part is in walking wheel, and transverse rotation is provided with the driving shaft in the motor storehouse of the arm body, the fixed walking motor that is provided with, the driving shaft is connected with the driven shaft transmission, the walking motor passes through worm gear mechanism and is connected with the driving shaft transmission.
Furthermore, one end of each arm body, close to the U-shaped groove, of each arm body is provided with a concave gear bin, the two ends of each driving shaft and the two ends of each driven shaft are located in the gear bins of the arm bodies, a plurality of transmission gears are arranged in the gear bins in an array rotating mode along the length direction of the arm bodies, the adjacent two transmission gears are meshed with each other, and the two transmission gears at the two ends are respectively fixedly arranged at the end portions of the driving shafts and the driven shafts.
Further, motor storehouse department of the arm body and the gear storehouse department of the arm body are provided with top cap and side cap respectively, the shape of top cap corresponds with the shape in the motor storehouse of the arm body, and top cap upper surface and arm body upper surface parallel and level, the shape of side cap corresponds with the shape in the gear storehouse of the arm body, and the side cap surface and arm body side parallel and level.
Further, the circumference equipartition has a plurality of to support the groove on the support shell circumference lateral wall, along supporting the fixed support guide arm that is provided with of shell length direction in the support shell, the axis that supports the guide arm coincides with the axis that supports the shell, and the slip cap has two to support the sliding tray on supporting the guide arm, supports and is provided with supporting spring between the terminal surface of sliding tray and support shell, supporting spring overlaps on supporting the guide arm, the bracing piece is located the support inslot that supports the shell, and every supports the inslot and all is provided with two sets of bracing pieces, and the lower extreme of two sets of bracing pieces is articulated with two support sliding trays respectively, and the upper end all is connected with supporting wheel rotation.
Further, clean the shell including the coaxial first fixed plate that cleans, the second that cleans that sets up cleans the fixed plate, clean the fixed column and clean the rotation shell, clean fixed column both ends respectively with first fixed plate and the second that cleans fixed plate fixed connection, clean the cross-section of rotation shell and be ring shape, clean the rotation shell and be located first clean fixed plate and second clean between the fixed plate and overlap and close on cleaning the fixed column, clean rotation shell circumference array on the outer wall of circumference be provided with a plurality of cleaning head.
Further, the second cleans fixed plate internal fixation and is provided with and cleans the motor, cleans the fixed driving gear that is provided with in the pivot of motor, and the second cleans the fixed plate and rotates on being close to the terminal surface that cleans the rotation shell and be provided with a plurality of and clean driven gear, clean and fixedly on the inner wall of rotation shell and be provided with and clean the ring gear, clean the driving gear and clean driven gear all with clean the ring gear meshing.
Further, the detection shell comprises a first detection fixing plate, a second detection fixing plate, a fixed conductive column and a detection rotating shell which are coaxially arranged, two ends of the fixed conductive column are respectively and fixedly connected with the first detection fixing plate and the second detection fixing plate, the detection rotating shell is positioned between the first detection fixing plate and the second detection fixing plate, the detection rotating shell is a hollow cylindrical shell with one open end, a camera positioning groove is arranged on the circumferential side wall of the detection rotating shell, a rotating conductive sleeve is coaxially and fixedly arranged in the detection rotating shell, the rotating conductive sleeve is rotatably sleeved on the fixed conductive column, a camera fixing shell is arranged at the camera positioning groove of the detection rotating shell, the camera fixing shell is in a circular arc shape corresponding to the shape of the camera positioning groove of the detection rotating shell, a detection camera is fixedly arranged in the middle of the camera fixing shell, and an electric push rod is fixedly arranged in the detection rotating shell, the telescopic end of the electric push rod is fixedly connected with the camera fixing shell.
Further, the second detects the fixed plate internal fixation and is provided with the detection motor, and the fixed detection driving gear that is provided with in the pivot that detects the motor, the fixed driven gear that has closed to the one end fixed cover that the second detects the fixed plate of rotation conducting sleeve, detect driven gear and detection driving gear meshing.
Furthermore, the fixed conductive column is hollow and cylindrical, and consists of a plurality of fixed conductive blocks, a plurality of fixed insulating layers and two fixed positioning blocks, wherein the fixed conductive blocks and the fixed insulating layers are arranged at intervals, the number of the fixed insulating layers is one more than that of the fixed conductive blocks, the fixed positioning blocks are arranged at two ends of the fixed conductive column, and the fixed conductive blocks, the fixed insulating layers and the fixed positioning blocks are adhered into a whole;
the rotation conducting sleeve is hollow cylinder shape, rotates the conducting sleeve and rotates conducting block, a plurality of rotation insulating layer and two rotation locating block by a plurality of and constitute, rotate conducting block and rotation insulating layer interval setting, the quantity that rotates the insulating layer is more one than the quantity that rotates the conducting block, and the quantity that rotates the conducting block equals the quantity and the one-to-one of fixed conducting block, rotate the locating piece setting at the both ends that rotate the conducting sleeve, rotate conducting block, rotation insulating layer and rotate the locating piece and paste as an organic wholely, and two rotation locating pieces correspond and rotate with two fixed positioning pieces respectively and are connected, and the radial fixation is provided with the spring thimble in the rotation conducting block, the fixed section and the rotation locating piece fixed connection of spring thimble, the flexible section of spring thimble supports to fixed conducting block.
Through the technical scheme, the invention has the beneficial effects that:
when the detection camera rotates, the distance between the detection camera and the inner wall of the pipeline is equal, the image is stable when the inner wall of the pipeline is checked through the detection camera, and the overlooking condition of the inner wall of the pipeline can be accurately judged.
A plurality of walking support rods in the walking assembly are driven by the same walking sliding disc, so that a plurality of walking arms are synchronously opened and closed; two supporting sliding discs in the supporting component drive a plurality of groups of supporting rods to open and close synchronously; ensuring that the invention is coaxial with the pipe when the invention is in the pipe.
The detection assembly is internally provided with a fixed conductive column and a rotating conductive sleeve, a conducting wire is positioned in the fixed conductive column and is connected with each fixed conductive block, the rotating conductive block on the rotating conductive sleeve is connected with the corresponding fixed conductive block through a spring thimble, and the rotating conductive block is connected with the detection camera, so that the connection of the conducting wire and the detection camera is realized; when the detection camera rotates, the conductive column and the conducting wire are fixed and do not rotate, and the rotating conductive sleeve and the detection camera synchronously rotate, so that when the detection camera rotates by 360 degrees, the conducting wire cannot be wound along with the rotation of the detection camera, and the applicability of the invention is improved.
Drawings
Fig. 1 is a schematic structural diagram of a circular pipeline inner wall detection device of the present invention.
Fig. 2 is a schematic structural diagram of a walking assembly of the circular pipeline inner wall detection device of the invention.
Fig. 3 is a structural cross-sectional view of a walking assembly of the circular pipeline inner wall detection device of the invention.
Fig. 4 is a schematic structural diagram of a traveling arm of the circular pipeline inner wall detection device of the invention.
FIG. 5 is a cross-sectional view of the traveling arm of the circular pipeline inner wall inspection device of the present invention.
FIG. 6 is a schematic structural diagram of an arm of the circular pipe inner wall detection device of the present invention.
Fig. 7 is a schematic structural diagram of a support assembly of the circular pipeline inner wall detection device of the invention.
FIG. 8 is a sectional view showing the structure of a supporting member of the circular pipe inner wall inspection device according to the present invention.
Fig. 9 is a schematic structural diagram of a cleaning assembly of the circular pipeline inner wall detection device of the invention.
FIG. 10 is a sectional view showing the construction of a cleaning assembly of the circular duct inner wall inspection device according to the present invention.
FIG. 11 is a second sectional view of the cleaning assembly of the circular pipe inner wall inspection device according to the present invention.
Fig. 12 is a schematic structural diagram of a detection assembly of the circular pipeline inner wall detection device of the invention.
FIG. 13 is a sectional view of the detecting assembly of the circular pipe inner wall detecting device of the present invention.
FIG. 14 is a second structural sectional view of the detecting assembly of the circular pipe inner wall detecting device of the present invention.
Fig. 15 is a structural cross-sectional view of a fixed conductive column of the circular pipeline inner wall detection device according to the present invention.
Fig. 16 is a structural sectional view of a rotary conductive sleeve of the circular pipe inner wall detection device of the present invention.
Fig. 17 is a schematic connection diagram of the fixed conductive column and the rotating conductive sleeve of the circular pipeline inner wall detection device according to the present invention.
The reference numbers in the drawings are as follows: 1 is a traveling unit, 2 is a supporting unit, 3 is a cleaning unit, 4 is a detecting unit, 5 is a universal joint, 101 is a traveling case, 102 is a traveling arm, 103 is a traveling guide, 104 is a traveling slider, 105 is a traveling strut, 106 is a traveling spring, 107 is a traveling motor, 108 is a traveling wheel, 1021 is an arm body, 1022 is a driving shaft, 1023 is a driven shaft, 1024 is a transmission gear, 1025 is a top cover, 1026 is a side cover, 201 is a supporting case, 202 is a supporting rod, 203 is a supporting wheel, 204 is a supporting slider, 205 is a supporting spring, 206 is a supporting guide, 301 is a cleaning case, 302 is a cleaning motor, 303 is a cleaning head, 304 is a cleaning driving gear, 305 is a cleaning driven gear, 306 is a cleaning ring gear, 3011 is a first cleaning fixing plate, 3012 is a second cleaning fixing plate, 3013 is a cleaning fixing post, 3014 is a cleaning rotating case, 401 is a detecting case, 402 is a detecting camera, 403 is a detecting driving gear, 404 is the detection driven gear, 405 is electric putter, 406 is the detection motor, 4011 is first detection fixed plate, 4012 is the second detection fixed plate, 4013 is fixed conductive pillar, 4014 is the detection rotation shell, 4015 is the rotation conducting sleeve, 4016 is the camera fixed shell, 40131 is fixed conducting block, 40132 is fixed insulating layer, 40133 is fixed locating piece, 40151 is the rotation conducting block, 40152 is the rotation insulating layer, 40153 is the rotation locating piece, 40154 is the spring thimble.
Detailed Description
The invention is further described with reference to the following figures and detailed description:
as shown in fig. 1 to 17, the detection device for the inner wall of the circular pipeline comprises two walking assemblies 1, two supporting assemblies 2, two cleaning assemblies 3 and two detection assemblies 4, wherein the walking assemblies 1 are symmetrically arranged at two ends of the detection device, the two supporting assemblies 2 are respectively adjacent to the two walking assemblies 1, the cleaning assemblies 3 and the detection assemblies 4 are positioned between the two supporting assemblies 2, and the walking assemblies 1, the supporting assemblies 2, the cleaning assemblies 3 and the detection assemblies 4 are connected through universal joints 5;
the walking assembly 1 comprises a walking shell 101, walking arms 102, walking guide rods 103, a walking sliding disc 104 and walking support rods 105, wherein the walking shell 101 is a hollow cylindrical shell, a plurality of walking grooves are uniformly distributed on the circumferential side wall of the walking shell 101, the walking guide rods 103 are fixedly arranged in the walking shell 101 along the length direction of the walking shell 101, the central axis of the walking guide rods 103 is overlapped with the central axis of the walking shell 101, the walking sliding disc 104 is sleeved on the walking guide rods 103 in a sliding manner, a walking spring 106 is arranged between the walking sliding disc 104 and the walking shell 101, the walking spring 106 is sleeved on the walking guide rods 103, a walking arm 102 and a walking support rod 105 are arranged in each walking groove of the walking shell 101, one end of each walking arm 102 is hinged with the walking shell 101, the other end of each walking support rod 105 is provided with a walking wheel 108, one end of each walking support rod 105 is hinged with the walking sliding disc 104, the other end of each, a walking motor 107 is arranged in the walking arm 102, and the walking motor 107 is in transmission connection with a walking wheel 108;
the supporting assembly 2 is composed of a supporting shell 201, a supporting rod 202 and a supporting wheel 203, the supporting shell 201 is a hollow cylindrical shell, the supporting rods 202 are uniformly arranged on the circumference by taking a central axis of the supporting shell 201 as a circle center, the lower end of the supporting rod 202 slides and is rotatably connected with the supporting shell 201, and the upper end of the supporting rod 202 is rotatably connected with the supporting wheel 203;
the cleaning assembly 3 is composed of a cleaning shell 301, a cleaning motor 302 and a cleaning head 303, wherein the cleaning motor 302 drives the cleaning head 303 to rotate along the outer wall of the circumference of the cleaning shell 301;
the detection assembly 4 comprises a detection shell 401, a detection camera 402 and a detection motor 406, and the detection motor 406 drives the detection camera 402 to rotate along the outer wall of the circumference of the detection shell 401.
In order to enable the walking motor 107 to drive the walking wheel 108 to rotate, in this embodiment, the walking arm 102 includes an arm body 1021, a driving shaft 1022 and a driven shaft 1023, one end of the arm body 1021 is provided with a U-shaped groove, the other end of the arm body 1021 is provided with a hinge hole, a motor cabin which is concave inwards is arranged in the middle of the arm body 1021, the driven shaft 1023 is transversely arranged in the U-shaped groove of the arm body 1021 in a rotating manner, the middle of the driven shaft 1023 is fixedly sleeved in the walking wheel 108, the driving shaft 1022 is transversely arranged in the motor cabin of the arm body 1021 in a rotating manner, the walking motor 107 is fixedly arranged, the driving shaft 1022 is in transmission connection with the driven shaft 1023; one end that arm body 1021 both sides are close to the U-shaped groove is provided with the gear storehouse of indent, the both ends of driving shaft 1022 and driven shaft 1023 all are located the gear storehouse of arm body 1021, rotate along arm body 1021 length direction array in the gear storehouse and are provided with a plurality of drive gear 1024, adjacent two intermeshing between the drive gear 1024, two drive gear 1024 at both ends are fixed the tip that sets up at driving shaft 1022 and driven shaft 1023 respectively.
The product structure is optimized, the transmission structure of the arm body 1021 is sealed in the arm body 1021, in the embodiment, a top cover 1025 and a side cover 1026 are respectively arranged at the motor bin of the arm body 1021 and the gear bin of the arm body 1021, the shape of the top cover 1025 corresponds to that of the motor bin of the arm body 1021, the upper surface of the top cover 1025 is flush with the upper surface of the arm body 1021, the shape of the side cover 1026 corresponds to that of the gear bin of the arm body 1021, and the outer surface of the side cover 1026 is flush with the side surface of the arm body 1021.
In order to open and close the support rods 202 synchronously and ensure that the support rods are coaxial with the pipeline, in this embodiment, a plurality of support grooves are uniformly distributed on the circumference of the circumferential side wall of the support shell 201, a support guide rod 206 is fixedly arranged in the support shell 201 along the length direction of the support shell 201, the central axis of the support guide rod 206 is coincident with the central axis of the support shell 201, two support sliding discs 204 are slidably sleeved on the support guide rod 206, a support spring 205 is arranged between the support sliding discs 204 and the end surface of the support shell 201, the support spring 205 is sleeved on the support guide rod 206, the support rods 202 are positioned in the support grooves of the support shell 201, two groups of support rods 202 are arranged in each support groove, the lower ends of the two groups of support rods 202 are respectively hinged with the two support sliding discs 204, and the upper ends of the.
In order to enable the cleaning motor 302 to drive the cleaning head 303 to rotate and enable a lead to pass through the axis of the cleaning assembly 3, in this embodiment, the cleaning shell 301 includes a first cleaning fixing plate 3011, a second cleaning fixing plate 3012, a cleaning fixing column 3013 and a cleaning rotating shell 3014 which are coaxially arranged, two ends of the cleaning fixing column 3013 are respectively and fixedly connected with the first cleaning fixing plate 3011 and the second cleaning fixing plate 3012, the section of the cleaning rotating shell 3014 is in a ring shape, the cleaning rotating shell 3014 is located between the first cleaning fixing plate 3011 and the second cleaning fixing plate 3012 and is sleeved on the cleaning fixing column 3013, and a plurality of cleaning heads 303 are circumferentially arranged on the circumferential outer wall of the cleaning rotating shell 3014; a cleaning motor 302 is fixedly arranged in the second cleaning fixing plate 3012, a cleaning driving gear 304 is fixedly arranged on a rotating shaft of the cleaning motor 302, a plurality of cleaning driven gears 305 are rotatably arranged on an end face, close to the cleaning rotating shell 3014, of the second cleaning fixing plate 3012, a cleaning gear ring 306 is fixedly arranged on an inner wall of the cleaning rotating shell 3014, and the cleaning driving gear 304 and the cleaning driven gears 305 are both meshed with the cleaning gear ring 306.
Further optimize product structure, make detection motor 406 drive detection camera 402 rotate and the wire passes from the axis of detecting subassembly 4, and detect camera 402 and can stretch out and draw back, in this embodiment, detect shell 401 including coaxial first detection fixed plate 4011 that sets up, second detection fixed plate 4012, fixed conductive pillar 4013 and detection rotation shell 4014, fixed conductive pillar 4013 both ends respectively with first detection fixed plate 4011 and second detection fixed plate 4012 fixed connection, detect rotation shell 4014 and lie in first detection fixed plate 4011 and second detection fixed plate 4012, detect rotation shell 4014 and be the hollow cylindrical casing of one end open-ended, be provided with the camera constant head tank on the circumference lateral wall of detection rotation shell 4014, detect and be provided with in the rotation shell 4014 coaxial fixed and rotate conductive sleeve 4015, it rotates the cover to close on fixed conductive pillar 4013 to rotate conductive sleeve 4015, it is provided with camera fixed shell 4016 to detect rotation shell 4014's camera constant head tank, the camera fixing shell 4016 is in an arc shape corresponding to the shape of a camera positioning groove of the detection rotating shell 4014, a detection camera 402 is fixedly arranged in the middle of the camera fixing shell 4016, an electric push rod 405 is fixedly arranged in the detection rotating shell 4014, and the telescopic end of the electric push rod 405 is fixedly connected with the camera fixing shell 4016; the fixed detection motor 406 that is provided with in second detection fixed plate 4012, the fixed detection driving gear 403 that is provided with in the pivot of detection motor 406, the fixed detection driven gear 404 that has been closed to the one end of second detection fixed plate 4012 of rotation conducting sleeve 4015, detection driven gear 404 and the meshing of detection driving gear 403.
In order to prevent the lead from winding with the detection camera 402 when the detection camera 402 rotates, in this embodiment, the fixed conductive post 4013 is hollow cylindrical, the fixed conductive post 4013 is composed of a plurality of fixed conductive blocks 40131, a plurality of fixed insulating layers 40132 and two fixed positioning blocks 40133, the fixed conductive blocks 40131 and the fixed insulating layers 40132 are arranged at intervals, the number of the fixed insulating layers 40132 is one more than that of the fixed conductive blocks 40131, the fixed positioning blocks 40133 are arranged at two ends of the fixed conductive post 4013, and the fixed conductive blocks 40131, the fixed insulating layers 40132 and the fixed positioning blocks 40133 are adhered into a whole; the rotating conductive sleeve 4015 is hollow cylinder, the rotating conductive sleeve 4015 is composed of a plurality of rotating conductive blocks 40151, a plurality of rotating insulating layers 40152 and two rotating positioning blocks 40153, the rotating conductive blocks 40151 and the rotating insulating layers 40152 are arranged at intervals, the number of the rotating insulating layers 40152 is one more than that of the rotating conductive blocks 40151, the number of the rotating conductive blocks 40151 is equal to that of the fixed conductive blocks 40131 and corresponds to one another, the rotary positioning blocks 40153 are arranged at two ends of the rotary conductive sleeve 4015, the rotary conductive block 40151, the rotary insulating layer 40152 and the rotary positioning block 40153 are adhered into a whole, the two rotary positioning blocks 40153 correspond to and are rotatably connected with the two fixed positioning blocks 40133 respectively, a spring thimble 40154 is fixedly arranged in the rotary conductive block 40151 in the radial direction, the fixed section of the spring thimble 40154 is fixedly connected with the rotary positioning block 40153, and the telescopic section of the spring thimble 40154 abuts against the fixed conductive block 40131.
The cleaning motor 302 and the detection motor 406 in the embodiment are 24V direct current speed reducing motors with models of 25-370 produced by Shenzhen Yongtai motor, the walking motor 107 is a 24V speed reducing motor with a brand of gold medal and a model of JBG37-3530, the detection camera 402 is a 24V high-definition night vision waterproof camera with a brand of Rayan view and a model of YS-HE20, and the electric push rod 405 is a 24V micro telescopic rod with a brand of Song dynasty and a model of SL-50 MM.
In this embodiment, the number of the traveling grooves of the traveling case 101 and the number of the supporting grooves of the supporting case 201 are three.
When the device is used for detecting the inner wall of a pipeline, the device is placed in the pipeline, the walking sliding disc 104 and the supporting sliding disc 204 are driven by the walking spring 106 and the supporting spring 205 to enable the walking arm 102 and the supporting rod 202 to be supported upwards, the walking arm 102 and the supporting rod 202 respectively support the walking wheel 108 and the supporting wheel 203 to the inner wall of the pipeline, and the walking support rods 105 in the walking assembly 1 are driven by the same walking sliding disc 104 to enable the walking arms 102 to be opened and closed synchronously; two supporting sliding discs 204 in the supporting component 2 of the invention drive a plurality of groups of supporting rods 202 to open and close synchronously; the walking speed of the walking component 1 at the head end is slightly higher than that of the walking component 1 at the rear end, so that the pipeline is in a tensioned state during running, and the pipeline is ensured to be coaxial with the walking component 1 when the pipeline is in the pipeline.
The detection camera 402 is coaxial with the pipeline, when the detection camera 402 rotates, the distance between the detection camera 402 and the inner wall of the pipeline is equal, and the overlooking condition of the inner wall of the pipeline can be accurately judged by stabilizing an image when the inner wall of the pipeline is checked through the detection camera 402; when the key point is needed to be checked, the electric push rod 405 pushes the camera fixing shell 4016 and the detection camera 402, so that the detection camera 402 is close to the inner wall of the pipeline.
The conducting wire is arranged in the wire through hole, when the conducting wire passes through the detection assembly 4, the conducting wire is positioned in the fixed conducting posts 4013 and is connected with each fixed conducting block 40131, the rotating conducting block 40151 on the rotating conducting sleeve 4015 is connected with the corresponding fixed conducting block 40131 through the spring thimble 40154, the rotating conducting block 40151 is connected with the detection camera 402, and the connection between the conducting wire and the detection camera 402 is realized; when the detection camera 402 rotates, the fixed conductive post 4013 and the conducting wire do not rotate, and the rotating conductive sleeve 4015 and the detection camera 402 rotate synchronously, so that when the detection camera 402360 rotates, the conducting wire cannot be wound along with the rotation of the detection camera 402, and the applicability of the invention is improved.
In addition to the technical features described in the specification, the technology is known to those skilled in the art.
The above-described embodiments are merely preferred embodiments of the present invention, and not intended to limit the scope of the invention, so that equivalent changes or modifications in the structure, features and principles described in the present invention should be included in the claims of the present invention.
Claims (8)
1. The circular pipeline inner wall detection device is characterized by comprising two walking assemblies (1), two supporting assemblies (2), two cleaning assemblies (3) and two detection assemblies (4), wherein the walking assemblies (1) are symmetrically arranged at two ends of the detection device, the two supporting assemblies (2) are respectively adjacent to the two walking assemblies (1), the cleaning assemblies (3) and the detection assemblies (4) are positioned between the two supporting assemblies (2), and the walking assemblies (1), the supporting assemblies (2), the cleaning assemblies (3) and the detection assemblies (4) are connected through universal joints (5);
the walking assembly (1) is composed of a walking shell (101), walking arms (102), walking guide rods (103), a walking sliding disc (104) and walking support rods (105), the walking shell (101) is a hollow cylindrical shell, a plurality of walking grooves are evenly distributed on the circumferential side wall of the walking shell (101), the walking guide rods (103) are fixedly arranged in the walking shell (101) along the length direction of the walking shell (101), the central axis of each walking guide rod (103) is coincident with the central axis of the walking shell (101), the walking sliding disc (104) is sleeved on the walking guide rods (103) in a sliding mode, a walking spring (106) is arranged between the walking sliding disc (104) and the walking shell (101), the walking spring (106) is sleeved on the walking guide rods (103), one walking arm (102) and one walking support rod (105) are arranged in each walking groove of the walking shell (101), one end of each walking arm (102) is hinged to the walking shell (101), The other end of the walking support rod (105) is hinged with the walking sliding disc (104), the other end of the walking support rod is hinged with the middle part of the walking arm (102), a walking motor (107) is arranged in the walking arm (102), and the walking motor (107) is in transmission connection with the walking wheel (108);
the supporting assembly (2) is composed of a supporting shell (201), supporting rods (202) and supporting wheels (203), the supporting shell (201) is a hollow cylindrical shell, the supporting rods (202) are uniformly arranged on the circumference by taking the central axis of the supporting shell (201) as the circle center, the lower end of each supporting rod (202) is connected with the supporting shell (201) in a sliding and rotating mode, and the upper end of each supporting rod is connected with the corresponding supporting wheel (203) in a rotating mode;
the cleaning assembly (3) consists of a cleaning shell (301), a cleaning motor (302) and a cleaning head (303), wherein the cleaning motor (302) drives the cleaning head (303) to rotate along the outer wall of the circumference of the cleaning shell (301);
the detection assembly (4) consists of a detection shell (401), a detection camera (402) and a detection motor (406), and the detection motor (406) drives the detection camera (402) to rotate along the outer wall of the circumference of the detection shell (401);
detect shell (401) including the first detection fixed plate (4011), the second detects fixed plate (4012), fixed conductive pillar (4013) and detect rotation shell (4014) of coaxial setting, fixed conductive pillar (4013) both ends detect fixed plate (4012) and second with first detection fixed plate (4011) and second respectively, detect rotation shell (4014) and be located between first detection fixed plate (4011) and second detection fixed plate (4012), detect rotation shell (4014) and be one end open-ended hollow cylindrical casing, be provided with the camera constant head tank on the circumference lateral wall that detects rotation shell (4014), detect rotation shell (4014) internal coaxial fixed be provided with and rotate conductive cover (4015), rotate conductive cover (4015) and rotate the registrate on fixed conductive pillar (4013), the camera constant head tank department that detects rotation shell (4014) is provided with camera fixed shell (4016), camera fixed shell (4016) are the constant head tank that corresponds with the shape that detects the rotation shell (4014) that rotates the camera The detection camera (402) is fixedly arranged in the middle of the camera fixing shell (4016) in an arc shape, the electric push rod (405) is fixedly arranged in the detection rotating shell (4014), and the telescopic end of the electric push rod (405) is fixedly connected with the camera fixing shell (4016);
the fixed conductive column (4013) is in a hollow cylindrical shape, the fixed conductive column (4013) consists of a plurality of fixed conductive blocks (40131), a plurality of fixed insulating layers (40132) and two fixed positioning blocks (40133), the fixed conductive blocks (40131) and the fixed insulating layers (40132) are arranged at intervals, the number of the fixed insulating layers (40132) is one more than that of the fixed conductive blocks (40131), the fixed positioning blocks (40133) are arranged at two ends of the fixed conductive column (4013), and the fixed conductive blocks (40131), the fixed insulating layers (40132) and the fixed positioning blocks (40133) are adhered into a whole;
the rotary conductive sleeve (4015) is in a hollow cylindrical shape, the rotary conductive sleeve (4015) is composed of a plurality of rotary conductive blocks (40151), a plurality of rotary insulating layers (40152) and two rotary positioning blocks (40153), the rotary conductive blocks (40151) and the rotary insulating layers (40152) are arranged at intervals, the number of the rotary insulating layers (40152) is one more than that of the rotary conductive blocks (40151), the number of the rotary conductive blocks (40151) is equal to that of the fixed conductive blocks (40131) and corresponds to one, the rotary positioning blocks (40153) are arranged at two ends of the rotary conductive sleeve (4015), the rotary conductive blocks (40151), the rotary insulating layers (40152) and the rotary positioning blocks (40153) are pasted into a whole, the two rotary positioning blocks (40153) correspond to two fixed positioning blocks (40133) and are connected in a rotating mode respectively, a spring thimble (40154) is arranged in the rotary conductive block (40151) in an radial direction, a fixed section of the spring thimble (40154) is fixedly connected with the rotary positioning blocks (40153), the telescopic section of the spring thimble (40154) is abutted to the fixed conductive block (40131).
2. The circular pipeline inner wall detection device of claim 1, wherein the walking arm (102) comprises an arm body (1021), a driving shaft (1022) and a driven shaft (1023), one end of the arm body (1021) is provided with a U-shaped groove, the other end of the arm body (1021) is provided with a hinge hole, the middle of the arm body (1021) is provided with a concave motor cabin, the U-shaped groove of the arm body (1021) transversely rotates to form the driven shaft (1023), the middle of the driven shaft (1023) is fixedly sleeved in the walking wheel (108), the motor cabin of the arm body (1021) transversely rotates to form the driving shaft (1022), the walking motor (107) is fixedly arranged, the driving shaft (1022) is in transmission connection with the driven shaft (1023), and the walking motor (107) is in transmission connection with the driving shaft (1022) through a worm and gear mechanism.
3. The circular pipeline inner wall detection device according to claim 2, wherein one end of each arm body (1021) close to the U-shaped groove is provided with a concave gear bin, two ends of the driving shaft (1022) and the driven shaft (1023) are located in the gear bins of the arm bodies (1021), a plurality of transmission gears (1024) are arranged in the gear bins in an array rotation mode along the length direction of the arm bodies (1021), two adjacent transmission gears (1024) are meshed with each other, and the two transmission gears (1024) at the two ends are fixedly arranged at the end portions of the driving shaft (1022) and the driven shaft (1023) respectively.
4. The circular pipeline inner wall detection device as claimed in claim 3, wherein a top cover (1025) and a side cover (1026) are respectively arranged at the motor bin of the arm body (1021) and the gear bin of the arm body (1021), the shape of the top cover (1025) corresponds to that of the motor bin of the arm body (1021), the upper surface of the top cover (1025) is flush with that of the arm body (1021), the shape of the side cover (1026) corresponds to that of the gear bin of the arm body (1021), and the outer surface of the side cover (1026) is flush with that of the side face of the arm body (1021).
5. The circular pipeline inner wall detection device according to claim 1, a plurality of supporting grooves are uniformly distributed on the circumferential side wall of the supporting shell (201), supporting guide rods (206) are fixedly arranged in the supporting shell (201) along the length direction of the supporting shell (201), the central axis of the support guide rod (206) is coincident with the central axis of the support shell (201), two support sliding discs (204) are slidably sleeved on the support guide rod (206), a support spring (205) is arranged between the support sliding discs (204) and the end face of the support shell (201), the supporting spring (205) is sleeved on the supporting guide rod (206), the supporting rods (202) are located in supporting grooves of the supporting shell (201), two groups of supporting rods (202) are arranged in each supporting groove, the lower ends of the two groups of supporting rods (202) are hinged to the two supporting sliding discs (204) respectively, and the upper ends of the two groups of supporting rods are rotatably connected with the supporting wheels (203).
6. The circular pipeline inner wall detection device according to claim 1, wherein the cleaning shell (301) comprises a first cleaning fixing plate (3011), a second cleaning fixing plate (3012), a cleaning fixing column (3013) and a cleaning rotating shell (3014) which are coaxially arranged, two ends of the cleaning fixing column (3013) are respectively and fixedly connected with the first cleaning fixing plate (3011) and the second cleaning fixing plate (3012), the cross section of the cleaning rotating shell (3014) is in a circular ring shape, the cleaning rotating shell (3014) is located between the first cleaning fixing plate (3011) and the second cleaning fixing plate (3012) and is sleeved on the cleaning fixing column (3013), and a plurality of cleaning heads (303) are circumferentially arranged on the circumferential outer wall of the cleaning rotating shell (3014).
7. The circular pipeline inner wall detection device according to claim 6, wherein a cleaning motor (302) is fixedly arranged in the second cleaning fixing plate (3012), a cleaning driving gear (304) is fixedly arranged on a rotating shaft of the cleaning motor (302), a plurality of cleaning driven gears (305) are rotatably arranged on the end face, close to the cleaning rotating shell (3014), of the second cleaning fixing plate (3012), a cleaning gear ring (306) is fixedly arranged on the inner wall of the cleaning rotating shell (3014), and the cleaning driving gear (304) and the cleaning driven gears (305) are both meshed with the cleaning gear ring (306).
8. The circular pipeline inner wall detection device according to claim 1, wherein a detection motor (406) is fixedly arranged in the second detection fixing plate (4012), a detection driving gear (403) is fixedly arranged on a rotating shaft of the detection motor (406), a detection driven gear (404) is fixedly sleeved at one end of the rotating conductive sleeve (4015) close to the second detection fixing plate (4012), and the detection driven gear (404) is meshed with the detection driving gear (403).
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