CN115479178A - Pipeline crawling device and pipeline detection system - Google Patents

Abstract

The invention discloses a pipeline crawling device and a pipeline detection system in the technical field of pipeline internal detection, and the pipeline crawling device comprises at least two advancing mechanisms, wherein at least three driving wheels are uniformly distributed on the circumference of each advancing mechanism, and the driving wheels can be radially folded and unfolded to be abutted against the inner walls of pipelines with different pipe diameters; and the connecting mechanism is connected between the two adjacent travelling mechanisms and is used for transmitting the axial acting force between the two adjacent travelling mechanisms, and the connecting mechanism can be elastically bent along the radial direction so as to enable the travelling mechanisms to pass through the bent pipeline. The crawling device has the advantages that the short machine body structure is easy to pass through the bent pipe and the long machine body structure is easy to pass through the three-way pipe, and the probability that the crawling device is clamped in a pipeline can be greatly reduced; meanwhile, the crawling device is matched with a driving wheel which can be radially folded and unfolded on the advancing mechanism, so that the crawling device can be suitable for internal detection of pipelines with different pipe diameters.

Description

Pipeline crawling device and pipeline detection system

Technical Field

The invention relates to the technical field of pipeline internal detection, in particular to a pipeline crawling device and a pipeline detection system.

Background

The in-pipeline detection refers to the operation of crawling in the pipeline by using a detector, detecting and recording the damage conditions of deformation, corrosion and the like of the inner wall of the pipeline in real time, and accurately positioning. Various defects and damages can be found in advance through detection in the pipeline, the danger degree of each pipeline section can be known, accidents can be effectively prevented and reduced, the maintenance fund of the pipeline is saved, and the method is an important measure for ensuring the safety of the pipeline.

The pipeline internal inspection is mostly performed by adopting an endoscopic probe for sectional inspection, but the method can only be used for pipelines which can be segmented, and for pipelines which cannot be segmented and have a plurality of elbows and tee joints, the method can only be used for inspecting by adopting a flow resistance method or a method for cutting a pipeline section which possibly has abnormal pipe sections.

At present, various pipeline crawling devices for pipeline internal inspection exist in China, for example, a panoramic detection robot for elbow passing and powered centering is disclosed in a patent with the publication number of CN 210514118U; the device realizes the detection of pipelines with different pipe diameters by arranging the power wheels which can be radially folded and unfolded, and brings convenience to the detection in the pipelines; however, in practical application, the detection robot has the following defects:

1. the machine body structure is a single rigid structure and is easily blocked by a pipeline elbow when the machine body moves forwards; the smaller the radius of curvature of the elbow to be passed through, the smaller the available range of required fuselage lengths, such as 1.5D elbows

Within the range, the power wheel can be ensured to be tightly attached to the inner pipe wall of the elbow to generate driving force when passing through the elbow; that isThat is, the longer the body structure, the more easily it is locked by the elbow.

2. The machine body is driven by front and rear 2 groups of power wheels, the friction between the power wheels and the pipe wall is increased by increasing pressure, so that the machine body is driven to move forward, and the support radius of the power wheels is generally between 90 and 120 degrees; when a non-upward tee joint is passed, the support legs of the first group of power wheels are easily suspended, the suspension of a single support leg can cause the stress and direction of the head of the machine body to be changed into the direction of a branch of the tee joint, so that the machine body is inclined, the power wheels in the branch direction and the opposite direction in the front-end power wheel group lose driving force, the power wheels in the branch direction and the back-end direction lose driving force, the integral driving force loses 37.5% -66%, the inclination of the machine body is further worsened due to the deviation of the driving direction, and finally the machine body is clamped at the tee joint and cannot continue to advance; and meanwhile, the shorter the machine body structure is, the easier the driving wheel loses driving force, and then the machine body structure is blocked by the three-way pipe.

3. Fuselage power mainly derives from the frictional force that power wheel and pipe wall produced, and when there is the reducing pipeline section (radial size grow), the pressure of power wheel to the pipe wall diminishes, and the frictional force that power wheel and pipe wall produced also diminishes, and the drive power of fuselage also diminishes, and then leads to the unable free passage of fuselage, leads to the fuselage card to die when serious.

4. Because of the needs inspection pipeline is longer, the device of crawling generally adopts wired power supply's form to ensure that the device of crawling operates normally, but when the pipeline can only be by same end business turn over, the cable hinders the device of crawling easily in the in-process that moves back and moves back, still can lead to sometimes preventing that the power failure safety device is inefficacy, the reliability reduces.

5. The power of the crawling device depends on the torque of the motor, when the size of the machine body is fixed, the motor is limited by the size of the machine body, the torque cannot be increased by increasing the coil and the like, and further the power limitation exists; the size of the body also limits the number of motors used.

6. The fuselage adopts the integral structure, and the device damages the maintenance comparatively complicacy.

Disclosure of Invention

In view of this, the present invention provides a pipeline crawling device to solve the technical problem that the conventional pipeline crawling device is easy to be stuck.

The technical scheme adopted by the invention is as follows: a pipeline crawling apparatus, comprising:

the device comprises at least two advancing mechanisms, at least three driving wheels are uniformly distributed on the circumference of each advancing mechanism, and the driving wheels can be radially folded and unfolded to be abutted against the inner walls of pipelines with different pipe diameters;

and the connecting mechanism is connected between two adjacent travelling mechanisms and is used for transmitting the axial acting force between the two adjacent travelling mechanisms, and the connecting mechanism can be elastically bent along the radial direction so as to enable the travelling mechanisms to pass through the bent pipeline.

Further, the traveling mechanism includes:

a middle body shell;

the number of the thrust discs is two, and the distance between the two thrust discs is adjustable;

one end of the transmission rod is hinged with one of the thrust discs, and the other end of the transmission rod is rotationally connected with the driving wheel;

and one end of the supporting rod is hinged with the other thrust disc, and the other end of the supporting rod is rotationally connected with the transmission rod.

Furthermore, the supporting rod can elastically stretch out and draw back along the axial direction or elastically bend along the radial direction, so that the driving wheel of the travelling mechanism can automatically fold and unfold in the radial direction.

Furthermore, the thrust disc comprises a fixed thrust disc and a movable thrust disc, the fixed thrust disc is fixedly sleeved on one end part of the middle body shell, and the movable thrust disc is axially movably sleeved on the other end part of the middle body shell; the middle body shell is in threaded connection with a manual disc, an elastic connecting piece is arranged between the manual disc and the movable thrust disc, and the driving wheel of the advancing mechanism is passively folded and unfolded in the radial direction through the movement of the manual disc on the middle body shell.

Furthermore, a steering engine is arranged in the middle body shell, a rotating part of the steering engine extends to the outside of the middle body shell, a tensioning rope is arranged between the rotating part and the movable thrust disc, one end of the tensioning rope is fixedly connected with the movable thrust disc, and the other end of the tensioning rope is wound on the rotating part.

Further, the crawling device further comprises a driving mechanism, and the driving mechanism comprises:

a gear plate rotatable about an axis of the central housing;

the chain wheel chain group is arranged on the transmission rod and comprises two chain wheels, one chain wheel is arranged on a rotating shaft of the driving wheel, and the other chain wheel is arranged on a hinge shaft of the transmission rod hinged with the thrust disc;

and two ends of the transmission shaft are provided with first bevel gears, one of the first bevel gears is in meshing transmission with the gear disc, and the other first bevel gear is in meshing transmission with the second bevel gear on the hinged shaft.

Further, the connection mechanism includes:

a connecting body having a hollow structure;

the connector, the connector sets up in the both ends of connector axis direction, be equipped with on the connector and can dismantle the helicitic texture who is connected with advancing mechanism.

Further, the connecting body includes a spring.

Another object of the present invention is to provide a pipeline inspection system, which includes the above pipeline crawling apparatus, and further includes:

the detection module is connected to the first end of the pipeline crawling device;

the cable control device is used for winding and unwinding the cable;

the control host is used for controlling the advancing state of the pipeline crawling device;

the first end of the cable is electrically connected with the second end of the pipeline crawling device, the second end of the cable is electrically connected with the control host, and the middle of the cable is wound on the cable control device.

Furthermore, the detection module comprises a camera and a light supplement lamp, and the light supplement lamp is arranged around the camera.

The invention has the beneficial effects that:

1. according to the crawling device, the plurality of short-sized travelling mechanisms are connected through the connecting mechanism capable of radially and elastically bending and transmitting the axial acting force, so that the crawling device has the advantages that the short machine body structure is easy to pass through a bent pipe and the long machine body structure is easy to pass through a three-way pipe, and the probability that the crawling device is clamped in a pipeline can be greatly reduced; meanwhile, the crawling device is matched with a driving wheel which can be radially folded and unfolded on the advancing mechanism, so that the crawling device can be suitable for internal detection of pipelines with different pipe diameters.

2. The support rod rotatably connected with the transmission rod can elastically stretch axially or bend radially, so that when the pipe diameter of the pipeline changes, the driving wheel can automatically fold and unfold under the action of the elastic restoring force of the support rod, the driving wheel and the inner wall of the pipeline keep higher pressure, and proper friction force exists between the driving wheel and the inner wall of the pipeline, so that the driving wheel keeps better driving force.

3. The steering engine is arranged in the middle body shell, the tensioning rope is arranged between the rotating part of the steering engine and the movable thrust disc, the tensioning rope is extended and shortened through rotation of the rotating part of the steering engine, and the driving wheel can be controllably folded and unfolded in the radial direction through cooperation of the manual disc and the elastic connecting piece.

4. The transmission mechanism for transmitting power to the driving wheels is arranged on the fixed thrust disc, the transmission mechanism can realize synchronous and same-speed driving of a single driving motor to the plurality of driving wheels, and the driving motor is arranged between the fixed thrust disc and the movable thrust disc, so that the volume of the device is favorably reduced, and the application range of the device is expanded.

5. The crawling device has a pipe diameter self-adaption function, radial folding and unfolding of the driving wheel on the crawling device are achieved through a passive mode and an active mode, and the crawling device can be better adapted to pipe diameter changes of pipelines; the plurality of advancing mechanisms are respectively controllable, and when the pipe diameter changes in the advancing process, the advancing mechanisms can respectively change to better advance in the pipeline.

6. The detection system adopts a modular design, and can conveniently disassemble and assemble each module according to actual needs, thereby greatly enhancing the field fault processing capability.

7. The detection system is provided with the cable control device, the automatic winding and unwinding of the cable is realized through the cable control device, and the cable is prevented from causing obstacles to the advancing of the crawling device; when the power of the crawling device is invalid, the crawling device can be pulled out through traction force carried by the cable control device, and the crawling device is prevented from becoming a foreign body of the pipeline.

Drawings

FIG. 1 is a schematic structural view of a crawling apparatus of the present invention;

FIG. 2 is a schematic view of the traveling mechanism of the present invention;

FIG. 3 is one of the schematic structural views of the traveling mechanism of the present invention;

FIG. 4 is a second schematic view of the travel mechanism of the present invention;

FIG. 5 is a schematic structural view of the transmission mechanism of the present invention;

fig. 6 is a schematic structural diagram of the detection system of the present invention.

Description of reference numerals:

10-a travel mechanism;

11-a drive wheel;

12-the mid-torso shell;

13-a thrust disc; 131-a fixed thrust disc; 132-a movable thrust disc;

14-a transmission rod;

15-support bars;

16-a manual tray;

17-an elastic connection;

18-a steering engine; 181-a rotating part;

19-a tensioning rope;

20-a connection mechanism;

21-a linker;

22-a connector;

30-a drive mechanism;

31-a gear wheel;

32-sprocket chain set;

33-a drive shaft;

34-a first bevel gear;

35-an articulated shaft;

36-a second bevel gear;

37-a drive motor;

40-a detection module;

41-a camera;

42-a light supplement lamp;

50-a cable control device;

60-a cable;

70-control the host computer.

Detailed Description

The following describes embodiments of the present invention in further detail with reference to the accompanying drawings. These embodiments are merely illustrative of the present invention and are not intended to limit the present invention.

In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.

Embodiment, as shown in fig. 1 to 5, a pipe-crawling apparatus, comprising:

the device comprises at least two advancing mechanisms 10, wherein at least three driving wheels 11 are uniformly distributed on the circumference of each advancing mechanism 10, and the driving wheels 11 can be radially folded and unfolded, so that the driving wheels 11 can be abutted against the inner walls of pipelines with different pipe diameters;

and the connecting mechanism 20, the connecting mechanism 20 is detachably connected between two adjacent travelling mechanisms 10 and is used for transmitting the axial force between two adjacent travelling mechanisms 10, and the connecting mechanism 20 can be elastically bent along the radial direction so as to enable the travelling mechanisms 10 to pass through the bent pipeline and reset.

The crawling device integrates the plurality of short-sized travelling mechanisms into a whole through the connecting mechanism capable of radially and elastically bending and transmitting axial acting force, so that the crawling device has the advantages that the short machine body structure is easy to pass through a bent pipe and the long machine body structure is easy to pass through a three-way pipe, and the probability that the crawling device is stuck in a pipeline can be greatly reduced; meanwhile, the crawling device is matched with a driving wheel which can be radially folded and unfolded on the advancing mechanism, so that the crawling device can be suitable for internal detection of pipelines with different pipe diameters.

In one embodiment, as shown in FIG. 1, the number of travel mechanisms 10 includes, but is not limited to, 2, for example, the number of travel mechanisms 10 may also be 3; the number of travel mechanisms 10 will be determined by the application, for example, the more power required, the greater the number of travel mechanisms 10.

In a specific embodiment, as shown in fig. 2, the traveling mechanism 10 includes two groups of driving wheels 11, a middle body 12, a thrust disc 13, a transmission rod 14 and a support rod 15, the driving wheels 11 are respectively disposed at two ends of the traveling mechanism 10, each group of driving wheels 11 includes three driving wheels 11 uniformly distributed along the circumference of the middle body 12, and the two groups of driving wheels 11 are distributed in a crossing manner; the middle housing 12 has a hollow structure for accommodating a cable; two thrust disks 13 are respectively a fixed thrust disk 131 and a movable thrust disk 132, the fixed thrust disk 131 is fixedly sleeved on one end part of the middle body shell 12, and the movable thrust disk 132 is axially movably sleeved on the other end part of the middle body shell 12, so that the distance between the fixed thrust disk 131 and the movable thrust disk 132 is adjustable; one end of the driving rod 14 is hinged with one of the thrust discs 13, the other end of the driving rod 14 is rotationally connected with the driving wheel 11, and the driving rod 14 is provided with driving motors (not shown) which correspond to the driving wheel 11 one by one and are in transmission connection; one end of the support rod 15 is hinged with the other thrust disc 13, and the other end is rotatably connected with the transmission rod 14. With the arrangement, the radial folding and unfolding of the driving wheel 11 can be quickly realized by adjusting the distance between the fixed thrust disc 131 and the movable thrust disc 132, so that the crawling device is suitable for pipelines with different pipe diameters; meanwhile, the driving wheels 11 arranged at the two ends of the advancing mechanism 10 are matched, so that the passing rate of the crawling device in the pipeline can be greatly improved.

Preferably, the support rod 15 can elastically stretch or contract along the axial direction or elastically bend along the radial direction, and the support rod 15 is preferably a spring; with the arrangement, when the radial dimension of the pipeline changes in a small range, the driving wheel 11 of the travelling mechanism 10 can automatically fold and unfold in the radial direction through the elastic deformation of the supporting rod 15, so that sufficient pressure is kept between the driving wheel 11 and the inner wall of the pipeline, and the reduction of the driving force is prevented.

More preferably, a manual disk 16 is connected to one end of the middle housing 12 close to the movable thrust disk 132 in a threaded manner, and an elastic connecting piece 17 is arranged between the manual disk 16 and the movable thrust disk 132; with this arrangement, the manual plate 16 can be manually rotated to move the manual plate 16 on the middle housing 12, and the driving wheel 11 of the traveling mechanism 10 can be passively folded and unfolded in the radial direction in cooperation with the axial force transmitted from the elastic link 17 to the movable thrust plate 132.

Preferably, the two ends of the middle housing 12 are connection ends with a thread structure, and an interface for electrically connecting data cables and power cables is arranged inside the connection ends.

In one embodiment, as shown in fig. 3, a steering engine 18 is disposed in the middle body shell 12, a rotating part 181 of the steering engine 18 extends to the outside of the middle body shell 12, a tightening rope 19 is disposed between the rotating part 181 and the movable thrust disc 132, one end of the tightening rope 19 is fixedly connected to the movable thrust disc 132, and the other end of the tightening rope is wound around the rotating part 181. With the arrangement, the tensile rope 19 is extended and shortened through the rotation of the rotating part 181 of the steering engine 18, and the driving wheel 11 is controllably folded and unfolded in the radial direction by matching with the axial acting force of the manual disc 16 and the elastic connecting piece 17 on the movable thrust disc 132.

In one embodiment, as shown in fig. 4 and 5, the traveling mechanism 10 includes a driving wheel 11, a middle housing 12, a thrust plate 13, a transmission rod 14, and a support rod 15, wherein the middle housing 12 has a hollow structure for accommodating a cable; the two thrust discs 13 are respectively a fixed thrust disc 131 and a movable thrust disc 132, the fixed thrust disc 131 is fixedly sleeved on one end part of the middle body shell 12, and the movable thrust disc 132 is axially movably sleeved on the other end part of the middle body shell 12, so that the distance between the fixed thrust disc 131 and the movable thrust disc 132 is adjustable; one end of the transmission rod 14 is hinged with the fixed thrust disc 131, and the other end is rotatably connected with the driving wheel 11; one end of the support rod 15 is hinged with the movable thrust disc 132, and the other end is rotatably connected with the transmission rod 14. The fixed thrust disc 131 is provided with a driving mechanism 30 for driving the driving wheel 11 to rotate.

The drive mechanism 30 includes: the gear disc 31 can rotate around the axis of the middle body shell 12, and the gear disc 31 is in transmission connection with the driving motor 37, and the specific transmission connection mode can be any one of known transmission connection modes, such as gear transmission; the chain wheel and chain set 32 is arranged on the transmission rod 14, the chain wheel and chain set 32 comprises two chain wheels, one chain wheel is arranged on a rotating shaft of the driving wheel 11, and the other chain wheel is arranged on a hinge shaft 35 of the transmission rod 14 hinged with the thrust disc 13; the transmission shafts 33 correspond to the transmission rods 14 one by one, the transmission shafts 33 are arranged along the radial direction of the gear disc 31, first bevel gears 34 are arranged at two ends of the transmission shafts 33, one of the first bevel gears 34 is in meshing transmission with the gear disc 31, the other first bevel gear 34 is in meshing transmission with a second bevel gear 36 on the hinge shaft 35, and the second bevel gear 36 and the chain wheel are coaxially arranged on the hinge shaft 35. With such an arrangement, the plurality of driving wheels 11 can be synchronously driven to rotate at the same speed by the single driving motor 37 arranged between the fixed thrust disc 131 and the movable thrust disc 132, so that the use number and cost of the driving motor 37 can be reduced, the radial size of the travelling mechanism 10 can be reduced, and the application range of the crawling device can be expanded.

In one embodiment, as shown in FIG. 1, the coupling mechanism 20 includes: the traveling mechanism comprises a connecting body 21 and a connecting head 22, wherein the connecting body 21 is of a hollow structure and is used for accommodating data cables and power cables which are used for electrically connecting two adjacent traveling mechanisms 10; the connectors 22 are provided at both ends of the axial direction of the connector 21, and the connectors 22 are provided with screw structures detachably connected to both ends of the travel mechanism 10. By the arrangement, the connection structure 20 and the travelling mechanism 10 can be quickly connected and detached, and the crawling device can be conveniently assembled or disassembled according to actual requirements.

Preferably, the connecting body 21 comprises a spring. With such an arrangement, the radial elastic bending of the connecting mechanism 20 can be realized, and meanwhile, the transmission of the axial acting force between two adjacent travelling mechanisms 10 can also be realized through the spring, and when the travelling mechanisms 10 advance along the travelling direction, the spring provides the supporting force and the pulling force for the travelling mechanisms 10, so that the plurality of travelling mechanisms 10 are equivalent to a whole.

A pipeline inspection system, as shown in fig. 1 and 6, the inspection system includes the pipeline crawling device, and the inspection system further includes:

the detection module 40 is connected to the first end of the pipeline crawling device, and is used for collecting image information of the inner wall of the pipeline in the advancing process of the crawling device;

the cable control device 50 is used for automatically winding and unwinding the cable 60, can prevent the cable from being wound and knotted, and reduces the obstacle of the cable to the advancing of the crawling device;

the control host 70 is used for controlling the advancing state of the pipeline crawling device, the control host 70 controls the advancing track of the crawling device through control software, flexible video inspection in the pipeline is achieved, and the measurement precision of a pipeline inspection test is improved;

and a cable 60, wherein a first end of the cable 60 is electrically connected with a second end of the pipeline crawling device, the second end of the cable 60 is electrically connected with the control host 70, and the middle part of the cable 60 is wound on the cable control device 50.

Preferably, the detection module 40 includes a camera 41 and a light supplement lamp 42, the camera 41 is an aspheric lens camera for acquiring high definition video data, and the light supplement lamp 42 is an annular LED lamp arranged around the camera 41. So set up, provide the hi-lite light source through annular LED lamp, can guarantee that the luminance in the pipeline video acquisition region is greater than the visual inspection requirement, and then make camera 41 gather clear image information.

More preferably, the cable 60 uses glass fiber as an outer skin, a 2mm yellow ring is arranged on the outer skin every 10cm for calculating the length of the cable 60, and the cable 60 contains a central high-strength thin steel cable, a data cable and a power supply cable.

Preferably, the control host 70 controls the cable control device 50 and the crawling device to operate through a program, and the traveling mode of the crawling device can be selected from a uniform speed mode, a manual mode and a fault review mode; the control host 70 performs tiling and algorithm processing on the data acquired by the front-end video module 40, and the processed image is displayed on the control host 70 in real time; after the data of the temperature sensor on the crawler, the encoder and the counter on the cable control device 50 are processed by the program, the body temperature and the travel distance are displayed on the control main unit 70.

Compared with the prior art, the pipeline crawling device and the pipeline detection system have the advantages that:

1. the design that multiple advancing mechanisms are connected in sequence is adopted, each advancing mechanism is provided with a driving module independently, and the driving module is combined with a driving wheel with large friction force, so that the whole available power of the crawling device is increased.

2. Adopt the mode of direction of travel rigid connection, other direction flexonics between a plurality of advancing mechanisms, when through tee bend and elbow, increase the laminating degree of drive wheel and pipeline, reduce because of the drive wheel power failure that floats sky and cause, and when having because of the skew of the first automobile body direction of advance that the asymmetric support of drive wheel leads to, the rear portion automobile body can provide the thrust of direction of travel for the front end, makes it pass through tee bend part smoothly.

3. The external cable control device is arranged, the calculation accuracy of the crawling distance is corrected through a preset measuring point on the cable, and meanwhile, the cable is recycled according to the advancing distance when the crawling device advances reversely, so that the cable can be prevented from causing obstacles to the advancing of the crawling device; when the power of the crawling device is failed, the external cable control device can pull out the crawling device through the traction force carried by the external cable control device, and the crawling device is prevented from becoming a foreign body of the pipeline.

4. The video module, the advancing mechanism and the connecting mechanism adopt modular design, and can conveniently and rapidly combine and replace each module in the detection system on site, so that the on-site delay time is reduced.

5. The crawling device supports the driving wheel in an elastic supporting mode, ensures that the advancing mechanism can automatically adapt to the pipe diameter change in a small range, and can adjust the elastic supporting range of the vehicle body in a certain range through a remote adjusting mode, so that the capacity of passing through pipelines with different pipe diameters is further improved; a plurality of advancing mechanisms are controllable respectively, and when the pipe diameter changes appear in the advancing process, can change respectively and crawl with better realization pipeline.

6. The video module adopts an annular light source design, compensates data through the non-spherical lens, and processes the acquired video data in time so as to directly display and expand imaging.

7. The temperature sensor and the angle sensor are integrated into each advancing mechanism, and the data collected by the sensors ensure that the crawling device advances normally.

8. Partial structure parcel of device of crawling is in middle part hull, effectively reduces possible accident in crawling, reduces pipeline foreign matter risk.

9. The main control chip and the driving chip are integrated in the cable control device, so that the risk of failure of the vehicle body due to irradiation is reduced.

10. The crawling device is powered by a cable to collect various video information in the pipeline, the cable control device controls the length of the cable to assist the crawling device to move forwards and backwards, and the control host controls the moving track of the crawling device through control software, so that flexible video inspection in the pipeline is realized, and the measurement precision of a pipeline inspection test is improved; through improving the adaptability of the device of crawling to the environment and the convenience of operation, reduce work load, indirectly reduce experimental required time, practice thrift experimental cost, and use but greatly reduced personnel radiation risk under containing the radioactivity environment.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.

Claims (10)

1. A pipeline crawling device, comprising:

the device comprises at least two advancing mechanisms (10), wherein at least three driving wheels (11) are uniformly distributed on the circumference of each advancing mechanism (10), and the driving wheels (11) can be radially folded and unfolded to be abutted against the inner walls of pipelines with different pipe diameters;

the connecting mechanism (20) is connected between two adjacent travelling mechanisms (10) and used for transmitting axial acting force between the two adjacent travelling mechanisms (10), and the connecting mechanism (20) can be elastically bent along the radial direction so as to enable the travelling mechanisms (10) to pass through a bent pipeline.

2. The pipe crawling device according to claim 1, characterized in that said travelling mechanism (10) comprises:

a middle torso shell (12);

the number of the thrust discs (13) is two, and the distance between the two thrust discs (13) is adjustable;

one end of the transmission rod (14) is hinged with one of the thrust discs (13), and the other end of the transmission rod (14) is rotatably connected with the driving wheel (11);

one end of the supporting rod (15) is hinged with the other thrust disc (13), and the other end of the supporting rod (15) is rotatably connected with the transmission rod (14).

3. The pipeline crawling device according to claim 2, wherein the support rods (15) are elastically telescopic in axial direction or elastically bendable in radial direction to achieve automatic folding and unfolding of the driving wheel (11) of the travelling mechanism (10) in radial direction.

4. The device of claim 2, wherein the two thrust disks (13) comprise a fixed thrust disk (131) and a movable thrust disk (132), the fixed thrust disk (131) is fixedly sleeved on one end of the central body (12), and the movable thrust disk (132) is axially movably sleeved on the other end of the central body (12); the middle body shell (12) is in threaded connection with a manual disc (16), an elastic connecting piece (17) is arranged between the manual disc (16) and the movable thrust disc (132), and the driving wheel (11) of the traveling mechanism (10) is passively folded and unfolded in the radial direction through the movement of the manual disc (16) on the middle body shell (12).

5. The pipeline crawling device according to claim 4, wherein a steering engine (18) is arranged in the middle body shell (12), a rotating part (181) of the steering engine (18) extends to the outside of the middle body shell (12), a tensioning rope (19) is arranged between the rotating part (181) and the movable thrust disc (132), one end of the tensioning rope (19) is fixedly connected with the movable thrust disc (132), and the other end of the tensioning rope is wound on the rotating part (181).

6. The device for crawling pipes as claimed in claim 2, characterized in that it further comprises a driving mechanism (30), said driving mechanism (30) comprising:

a gear plate (31), the gear plate (31) being rotatable about the axis of the central housing (12);

the chain wheel chain set (32), the chain wheel chain set (32) is arranged on the transmission rod (14), the chain wheel chain set (32) comprises two chain wheels, one chain wheel is arranged on a rotating shaft of the driving wheel (11), and the other chain wheel is arranged on a hinge shaft (35) of the transmission rod (14) hinged with the thrust disc (13);

and two ends of the transmission shaft (33) are provided with first bevel gears (34), one first bevel gear (34) is in meshing transmission with the gear disc (31), and the other first bevel gear (34) is in meshing transmission with a second bevel gear (36) on the hinge shaft (35).

7. A device as claimed in claim 1, wherein said connection means (20) comprises:

a connecting body (21), wherein the connecting body (21) has a hollow structure;

the connector (22), connector (22) set up in the both ends of connector (21) axis direction, be equipped with on connector (22) and can dismantle the helicitic texture of being connected with advancing mechanism (10).

8. A device according to claim 7, wherein said connection body (21) comprises a spring.

9. A pipeline inspection system including the pipeline crawling apparatus of any of claims 1 to 8, the inspection system further comprising:

the detection module (40), the said detection module (40) is connected to the first end of the pipeline crawling apparatus;

a cable control device (50) for winding and unwinding a cable (60);

a control main machine (70), the control main machine (70) being used for controlling the advancing state of the pipeline crawling device;

the first end of the cable (60) is electrically connected with the second end of the pipeline crawling device, the second end of the cable (60) is electrically connected with the control host (70), and the middle of the cable (60) is wound on the cable control device (50).

10. The pipeline detecting system according to claim 9, wherein the detecting module (40) comprises a camera (41) and a supplementary lighting lamp (42), and the supplementary lighting lamp (42) is disposed around the camera (41).

Images