CN208886400U - A kind of control system of pipe testing apparatus - Google Patents

Abstract

The utility model discloses a kind of control system of pipe testing apparatus, including for acquiring pipeline internal information crawl device, connect with crawl device and be used to calculate crawl device and creeped the data drum of distance, the controlling terminal that is connect with data drum and be used to control crawl device；Crawl device includes the walking module moved in pipeline for crawl device, the camera module for adjusting camera, controlling terminal includes the control module for carrying out control crawl device for input control signal, connect with control module and is the power module that control module is powered, and data drum includes the data cable connecting with crawl device, creeps the meter counter of distance for counting crawl device；Control module is connect with walking module, camera module, meter counter respectively.The utility model solves the problems, such as that stabilization of equipment performance, globality, expansibility are poor under actual job environment, and the utility model is simple, convenient, stablizes, strong antijamming capability in signals transmission.

Description

A kind of control system of pipe testing apparatus

Technical field

The utility model relates to pipe detection fields, more particularly, to a kind of control system of pipe testing apparatus.

Background technique

The scale in city constantly expands, and the water consumption in city is increasing, and displacement is also increasing, pipe dredging, Pipeline rehabilitation, the task of pipe-dredging are also increasingly heavier, need regularly to dredge the drainage pipeline networks of urban inner thus Cleaning and reparation.It needs to carry out detailed detection to the overall condition inside pipeline before cleaning, reparation, makes detection report It accuses.

Existing pipe testing apparatus control system part is to pass through physical button plus external key based on microcomputer development Disk auxiliary operation.Operating method is stiff, system interaction ability, hardware interface versatility, system redundancy difference and system software liter Grade and follow-up function extension difficulty are big.Or to develop based on the end PC, the control of the end PC is installed by external notebook and tablet computer Program controls system of creeping by issuing wireless signal.Stability and anti-interference ability be not good enough, slightly higher to operating environment requirement, Equipment globality poor.

Utility model content

The purpose of this utility model is to provide a kind of control systems of pipe testing apparatus, solve under actual job environment Stabilization of equipment performance, globality, the problem of expansibility difference, the utility model is simple, convenient, stablizes, signals transmission Middle strong antijamming capability.

The technical scheme in the invention for solving the above technical problem is: a kind of control system of pipe testing apparatus System, including for acquiring pipeline internal information crawl device, connect with crawl device and be used to calculate crawl device and creeped the number of distance According to drum, the controlling terminal for being connect with data drum and being used to control crawl device；Crawl device includes being used for crawl device in pipeline Mobile walking module, the camera module for adjusting camera, controlling terminal include being controlled for input control signal The control module of crawl device processed, the power module for connecting and be control module power supply with control module, data drum include and climb The data cable of row device connection is creeped the meter counter of distance for counting crawl device；Control module respectively with walking module, camera shooting Head module, meter counter connection.When controlling terminal controls crawl device advance, data cable touches meter counter with crawl device advance is mobile Rotation is generated and is creeped range data in real time, which passes back to controlling terminal by cable, real-time display and be recorded to video with On picture.Camera one end is connect with control module, and the camera other end is connect with power module, and camera will directly collect Video or image information controlling terminal passed to by cable.Controlling terminal controls crawl device forward-reverse and steering, same to time control Lifting, reduction, the rotation of camera processed.Above-mentioned technical proposal, it is simple, convenient, stable, it is steady by cable transmission signal Fixed, strong antijamming capability, failure rate are low.

Preferably, camera module includes going up and down module, for adjusting for adjusting the bracket of camera bracket height The camera rotating module of camera shooting angle, bracket lifting module, camera rotating module are connect with control module.It is logical Cross control bracket lifting module raising and lowering progress camera height adjustment, control camera rotating module turns up and down Dynamic, to different location, different height, different angle in pipeline defect of pipeline progress information collection, can be to each in pipeline It is precisely detected position.

Preferably, control module includes the first control mould for remotely controlling bracket lifting module and walking module Block, the second control module for remotely controlling camera rotating module, the first control module go up and down module, row with bracket respectively Module connection is walked, the second control module connect with camera rotating module, and the first control module, the second control module are and power supply Module connection.The differentiation of bracket and camera is controlled, so that when equipment is damaged, convenient for the maintenance to equipment, circuit.

Preferably, the first control module includes travelling control module, travelling control module includes that control is located at walking mould The first electricity that the walking that third motor rotation in block drives crawl device all around to move is switched, adjusted the speed to movement speed Sub- governor, first electron speed regulator one end are connect with power module, the first electron speed regulator other end and walking switch one end Connection, the walking switch other end are connect with walking module.Travelling control module is additionally provided with for protecting travelling control module Two fuses, the second motor indicator light whether rotated for judging the second motor, second fuse one end and the first electronics tune Fast device is connected in series, and the second fuse other end is connect with power module, and the second motor indicator light and the first electron speed regulator are simultaneously Connection connection, the second motor indicator light are connected with second fuse, walking switch respectively.First electron speed regulator can be realized to climbing Row device movement speed carries out stepless speed regulation, so that trolley movement is more smooth, convenient for the control to small vehicle speed；Second fuse Open circuit, the electronics member device in protection travelling control module and walking module can be carried out when control module electric current of walking is excessive Part；Second motor indicator light can help whether manipulator rotates convenient for the on-off of decision circuitry, motor, convenient for the inspection in later period It repairs.

Preferably, third motor includes left side movable motor and right side movable motor, walking switch includes and left row It walks the motor switch of turning right connected, the left-hand rotation switch connecting with right side movable motor and left-hand rotation switch and turns right what switch connected Front and back change-over switch, front and back change-over switch are connect with the first electron speed regulator.Front and back change-over switch includes for controlling crawl device The advance switch of advance, retrogressing switch, the shutdown switch for controlling crawl device pause for controlling crawl device retrogressing, work as a left side When side movable motor and right-hand rotation movable motor work at the same time, crawl device advances, and is arranged by two motors and the switch simplified, drop Low equipment failure rate, while being also convenient for the maintenance in later period.

Preferably, further including for providing the lighting module of pipeline internal light source, lighting module and the first control module The lighting control module connection being equipped with, lighting control module includes the second electron speed regulator for regulating illumination intensity, the Two electron speed regulators are connect with lighting module.It is additionally provided on lighting control module for protecting the third of lighting control module to fuse Device, the lighting module indicator light whether started for judging lighting module, third fuse one end and the second electron speed regulator string Connection connection, the third fuse other end are connect with power module, and lighting module indicator light is connected in parallel with the second electron speed regulator； Lighting module includes two the first LED light and the second LED light being connected in parallel.Second electron speed regulator can be realized to first The stepless speed regulation of LED light and the second LED light brightness adjusts the first LED light and the second LED light brightness freely, third Fuse can make circuit breaker when lighting control module electric current is excessive, protect the electricity on lighting control module and lighting module Sub- component.

Preferably, bracket lifting module includes for controlling the first motor of bracket lifting, rising for limit bracket The first limit switch, for limit bracket decline the second limit switch, first motor respectively with the first limit switch, second Limit switch connection, the first limit switch and the second limit switch are connect with the first control module；First control module is also wrapped Bracket elevating control module is included, bracket elevating control module includes the rising switch connecting with the first limit switch and the second limit Down switch, the shutdown switch for making first motor stop operating of bit switch connection, rising switch, down switch, stopping Switch is connect with power module；Second control module includes the rocker switch rotated up and down for controlling camera, is shaken Arm switch is connect with power module.When bracket is lifted to extreme position, the first limit switch is disconnected in bracket lifting module Circuit, so that first motor stops operating, bracket stops rising；When bracket drops to extreme position, the second limit switch is disconnected Circuit in frame lifting module of paying wages, so that first motor stops operating, bracket stops decline.Through the above technical solutions, anti- Only bracket and pipeline collide, impaired so as to cause bracket and pipeline, while preventing first motor because that can not rise or fall Caused rotation damage.Camera rotating module includes the second motor for driving camera to rotate, and the second motor includes band The left and right motor of motor up and down, drive camera left-right rotation that dynamic camera rotates upwardly and downwardly, upper and lower motor and left and right motor are equal It is connect with the second control module.Camera one end is connect with the control module for being used for transmission signal, the camera other end and power supply Module connection；Second motor drives second driving shaft rotation, and second driving shaft drives camera rotation, and the second control module can By controlling the starting or closing of the second motor, to control the rotation of camera, camera passes through upper and lower motor and left and right electricity Machine realizes that 360 ° omni-directional rotates up and down, maintenance when convenient for post facility damage.In upper and lower two rocker switches control Lower motor, left and right two rocker switches control left and right motor, and rocker switch is cross, is attached by a connecting rod Four switches up and down, to control left and right motor and upper and lower motor.The prior art using double-layer cross rocker switch, Camera is controlled up and down by 8 microswitches, and this programme is opened by single layer cross rocker switch by 4 fine motions It closes control camera up and down, is rationally realized using normally-open normally-close contact, more for simplicity.Pass through above-mentioned technical side Case overcomes the problem of existing camera scheme of rotation complexity, becomes present single circuit from pervious odt circuit, adopt With relatively simple technology, achieve the effect that equally to can be realized 360 ° of camera rotations.

Preferably, crawl device includes protective shell, protective shell surface is equipped with row's silt structure, and row's silt structure includes being located at The inclined surface of protective shell bottom surface, inclined surface include the first inclined surface, the second inclined surface, position above the first inclined surface Third inclined surface above the second inclined surface.First inclined surface and horizontal plane form the oblique angle less than 90 degree, enable mud It is enough to glide, the second inclined surface in vertical state, can straight tackling mud, third inclined surface and vertical plane are formed less than 90 degree Oblique angle can prevent mud upward.Through the above technical solutions, solve crawl device encounter mud be easy blocking halt ask Topic.

Preferably, protective shell is equipped with for shooting the camera of pipeline internal information, for providing illumination for camera Lighting device, for control camera and lighting device and be camera and power illuminating device driving device, camera It is all provided on the drive means with lighting device, driving device is connect with data drum.Driving device includes internal equipped with cable Pedestal, tire are located on pedestal, through the above technical solutions, realizing crawling device automation, can detecte bigger pipeline, zero Part is easily replaced, reduces testing cost, can protect internal circuit, prevent internal circuit from damaging.

Preferably, protective shell is additionally provided with the lifting support for lifting illumination device and camera, lifting support is located at In driving device；Lifting support includes for installing the shell of camera and lighting device, first motor, connecting with first motor The first transmission shaft, the first transmission shaft is fastened on the support rod for going up and down shell, support rod and cage connection, shell, One motor, the first transmission shaft, support rod are all provided on the drive means；Support rod is equipped with support rod crook, the first transmission shaft card It is located in support rod crook；The second driving shaft for rotating camera is equipped in shell, the rotatable fixation of camera is set On second driving shaft；The second motor for driving second driving shaft rotation is additionally provided in shell, the second motor is passed with second respectively Moving axis, rocker switch connection；Shell is equipped with the fixed link for fixing shell, and the first transmission shaft is fixedly connected on mounting base On, fixed link one end and cage connection, the fixed link other end are fixedly connected in mounting base, and mounting base is set on the drive means. Lifting support makes camera and lighting device be able to carry out the detection of all-dimensional multi-angle, and support rod crook card sets the first biography After moving axis, the support rod crook place that extends outwardly becomes smaller, with the first transmission shaft of clamping, so that having sundries to keep out above shell When, the first transmission shaft skids with support rod crook, and protection first motor is not damaged；The setting of second driving shaft so that Camera can rotate, and improve the range of shooting；Second driving shaft rotation is driven with the second motor, so that camera rotation is certainly Dynamicization can control the starting or closing of the second motor by external control terminal.

The utility model has the beneficial effect that

1, camera shooting grease head highness, camera rotational angle can be adjusted in the utility model, can be realized in pipeline The comprehensive detection in portion.

2, the utility model can walking to crawl device and illumination carry out stepless speed regulation so that movement and the photograph of crawl device It is bright adjusting more freely with conveniently.

3, the high voltage that original pair of human body has injury is changed to harmless low-voltage by the utility model, so that using It is safer, eliminate bulky transformer, rectifier bridge and filter capacitor.

4, the utility model is able to solve crawl device and encounters the problem of easy blocking of mud halts, enables to protect The splicing part of shell seals waterproof.

5, the utility model realizes the automation of crawling device height, can detecte bigger pipeline, part and easily replaces, drops Low testing cost.

6, it solves that existing crawling device external structure volume is huge, difficult problem is dismantled, by the body of camera bracket Product greatly reduce, it is easy to disassemble and enter pipeline.

7, when having sundries to keep out above shell, the first transmission shaft can skid with support rod crook, protection first Motor is not damaged.

Detailed description of the invention

Fig. 1 is the schematic diagram of the utility model.

Fig. 2 is the systematic schematic diagram of the utility model.

Fig. 3 is that the walking module of the utility model, bracket lifting module, lighting module and camera rotating module module are former Reason figure.

Fig. 4 is the first control module schematic diagram of the utility model.

Fig. 5 is the second control module schematic diagram of the utility model.

Fig. 6 is the power module schematic diagram of the utility model.

Fig. 7 is the general structure schematic diagram that the utility model is equipped with camera.

Fig. 8 is the supporting structure schematic diagram that the utility model removes camera.

Fig. 9 is the structural schematic diagram of the utility model data drum.

Figure 10 is uninstalled tire construction schematic diagram in Fig. 7 or Fig. 8.

In figure: 1, power module, the 2, first control module, the 3, second control module, 4, bracket lifting module, 5, camera Rotating module, the 6, first power supply, 7, second source, 8, rising switch, 9, shutdown switch, 10, down switch, 11, rocker switch, 12, the first radiator fan, the 13, second radiator fan, the 14, first limit switch, 15, first motor, the 16, second limit switch, 17, the second motor, 18, upper and lower motor, 19, left and right motor, 20, first fuse, 21, total power switch, 22, camera, 23, Walking module, 24, lighting module, 25, travelling control module, 26, lighting control module, 27, bracket elevating control module, 28, Second fuse, the 29, first electron speed regulator, the 30, second motor indicator light, 31, front and back change-over switch, 32, switch of turning right, 33, turn left switch, 34, third fuse, the 35, second electron speed regulator, 36, lighting module indicator light, 37, third motor, 38, Left side movable motor, 39, right side movable motor, the 40, first LED light, the 41, second LED light, 42, shell, the 43, first transmission shaft, 44, support rod, 45, second driving shaft, 46, fixed link, 47, mounting base, 48, support rod crook, 49, lug boss, 50, hollow out Portion, 51, lighting device, 52, mounting groove, 53, mounting hole, 54, driving device, 55, water-proof sealing rubber strip, the 56, first inclined surface, 57, the second inclined surface, 58, third inclined surface, 59, data drum, 60, data cable, 61, meter counter, 62, drum, 63, reciprocal Axis, 64, transmission case, 65, controlling terminal, the 66, first car axle hole, 67, carcass, the 68, first metal fixture block, the 69, first cylinder, 70, lid, the 71, second metal fixture block, the 72, second cylinder, 73, inner ring, 74, clamping rings, 75, first through hole, 76, screw thread Hole, 77, first step hole, the 78, second through-hole, 79, second step hole, 80, cambered surface deep trouth line, 81, axle

Specific embodiment

The utility model is further described below in conjunction with drawings and embodiments.

As Figure 1-10 shows, a kind of control system of pipe testing apparatus of the utility model, it is characterised in that: including being used for Acquire pipeline internal information crawl device, connect with crawl device and be used to calculate crawl device creep distance data drum 59, and Data drum 59 connects and the controlling terminal 65 for controlling crawl device；Crawl device includes moving in pipeline for crawl device Walking module 23, the camera module for adjusting camera 22, controlling terminal 65 include being controlled for input control signal The control module of crawl device processed, connect with control module and be control module power supply power module 1, data drum 59 include with The data cable 60 of crawl device connection is creeped the meter counter 61 of distance for counting crawl device；Control module respectively with walking mould Block 23, camera module, meter counter 61 connect.

Camera module includes going up and down module 4, for adjusting camera for adjusting the bracket of 22 support height of camera The camera rotating module 5 of 22 shooting angle, bracket lifting module 4, camera rotating module 5 are connect with control module.

Control module includes for remotely controlling the first control module 2 of bracket lifting module 4 and walking module 23, being used for Second control module 3 of long-range control camera rotating module 5, the first control module 2 go up and down module 4, walking with bracket respectively Module 23 connects, and the second control module 3 connect with camera rotating module 5, the first control module 2, the second control module 3 with Power module 1 connects.

First control module 2 includes travelling control module 25, and travelling control module 25 includes that control is located at walking module 23 In third motor 37 rotation drive crawl device all around move walking switch, to movement speed adjusted the speed first electricity Sub- governor 29,29 one end of the first electron speed regulator are connect with power module 1, and 29 other end of the first electron speed regulator is opened with walking One end connection is closed, the walking switch other end is connect with walking module 23.Travelling control module 25 is additionally provided with for protecting walking control The second fuse 28 of molding block, the second motor indicator light 30 whether rotated for judging the second motor 17, second fuse 28 one end and the first electron speed regulator 29 are connected in series, and 28 other end of second fuse is connect with power module 1, and the second motor refers to Show that lamp 30 is connected in parallel with the first electron speed regulator 29, the second motor indicator light 30 is switched with second fuse 28, walking respectively Connection.

Third motor 37 includes left side movable motor 38 and right side movable motor 39, and walking switch includes and the left row leakage of electricity The right-hand rotation switch 32 of the connection of machine 38, the left-hand rotation switch 33 connecting with right side movable motor 39 are switched with left-hand rotation switch 33 and right-hand rotation The front and back change-over switch 31 of 32 connections, front and back change-over switch 31 are connect with the first electron speed regulator 29.

It further include being set in lighting module 24 and the first control module 2 for providing the lighting module 24 of pipeline internal light source Some lighting control modules 26 connect, and lighting control module 26 includes the second electron speed regulator 35 for regulating illumination intensity, Second electron speed regulator 35 is connect with lighting module 24.It is additionally provided on lighting control module 26 for protecting lighting control module 26 Third fuse 34, the lighting module indicator light 36 that whether starts for judging lighting module 24,34 one end of third fuse It is connected in series with the second electron speed regulator 35,34 other end of third fuse is connect with power module 1, lighting module indicator light 36 It is connected in parallel with the second electron speed regulator 35；Lighting module 24 includes two the first LED light 40 and the second LED light being connected in parallel 41。

Bracket lifting module 4 includes first for controlling the first motor 15 of bracket lifting, rising for limit bracket Limit switch 14, for the second limit switch 16 of limit bracket decline, first motor 15 respectively with the first limit switch 14, the The connection of two limit switches 16, the first limit switch 14 and the second limit switch 16 are connect with the first control module 2；First control Module 2 further includes bracket elevating control module 27, bracket elevating control module 27 include connect with the first limit switch 14 it is upper Switch 8, the down switch 10 connecting with the second limit switch 16, the shutdown switch 9 for making first motor 15 stop operating are risen, Rising switch 8, down switch 10, shutdown switch 9 are connect with power module 1；Second control module 3 includes for controlling camera shooting First 22 rocker switches 11 rotated up and down, rocker switch 11 are connect with power module 1.Camera rotating module 5 includes using In the second motor 17 for driving camera 22 to rotate, the second motor 17 includes the motor up and down for driving camera 22 to rotate upwardly and downwardly 18, the left and right motor 19 of 22 left-right rotation of camera is driven, upper and lower motor 18 connects with the second control module 3 with left and right motor 19 It connects.22 one end of camera is connect with the control for being used for transmission signal, and 22 other end of camera is connect with power module 1.Second control Molding block 3 further includes the radiating module for reducing temperature, and radiating module includes the first radiator fan 12 and the second radiator fan 13, the first radiator fan 12 and the second radiator fan 13 are in parallel, the first radiator fan 12 and 13 one end of the second radiator fan with The connection of 1 output end of power module, the first radiator fan 12 and 13 other end of the second radiator fan ground connection.

Power module 1 includes the first fuse 20 of protective module, for the total power switch of closure or openness general supply 21, the first power supply 6 for powering for first motor 15, the second source 7 for powering for the second motor 17, first fuse 20 one end connect external power supply, and 20 other end of first fuse connect with total power switch 21, and total power switch 21 is respectively with the One power supply 6, second source 7 connect, the first power supply 6 respectively with rising switch 8, down switch 10, shutdown switch 9, the first electronics Governor 29, the connection of the second electron speed regulator 35, second source 7 are dissipated with rocker switch 11, the first radiator fan 12, second respectively Hot-air fan 13 connects.When being equipped with second fuse 28 and when third fuse 34, the first power supply 1 respectively with second fuse 28 with Third fuse 34 connects.The prior art is had to the 68V voltage of injury by transformer output to human body, simultaneously by rectifier bridge rectification The scheme exported after being filtered by capacitor is improved to the 36V electricity by Switching Power Supply output to no damage to human body of this programme Pressure, is output to third motor 37 after the first electronic speed regulation, is reduced by more circuit power supply lines to 2 tunnels and is powered, eliminates heaviness Transformer, rectifier bridge and filter capacitor.When current is excessive, the setting of fuse can protect system not damaged, only need Replace fuse；The setting of total power switch 21 can be convenient for the control to system, convenient for the operation of halt system；First Alternating current can be converted into different DC power supplies by the setting of power supply 6 and second source 7, be arranged by different voltage, thus Enable first motor 15 and the more efficient use of the second motor 17.

Crawl device includes protective shell, and protective shell surface is equipped with row's silt structure, and row's silt structure includes being located at protective shell bottom The inclined surface on portion surface, inclined surface include the first inclined surface 56, the second inclined surface 57 above the first inclined surface 56, are located at The third inclined surface 58 of second inclined surface, 57 top.

Protective shell is equipped with for shooting the camera 22 of pipeline internal information, for providing the illumination of illumination for camera 22 Device 51, the driving device 54 for controlling camera 22 and lighting device 51 and powering for camera 22 and lighting device 51, Camera 22 and lighting device 51 are each provided in driving device 54, and driving device 54 is connect with data drum 59.

Protective shell is additionally provided with the lifting support for lifting illumination device 51 and camera 22, and lifting support is located at driving dress It sets on 54；Lifting support includes for installing the shell 42 of camera 22 and lighting device 51, first motor 15 and first motor First transmission shafts 43 of 15 connections, the first transmission shaft 43 are fastened on the support rod 44 for going up and down shell 42, support rod 44 with Shell 42 connects, and shell 42, first motor 15, the first transmission shaft 43, support rod 44 are each provided in driving device 54；Support rod 44 Equipped with support rod crook 48, the first transmission shaft 43 is fastened in support rod crook 48；It is equipped in shell 42 and is taken the photograph for rotating As first 22 second driving shaft 45, the rotatable fixation of camera 22 is located on second driving shaft 45；Band is additionally provided in shell 42 The second motor 17 that dynamic second driving shaft 45 rotates, the second motor 17 are connect with second driving shaft 45, rocker switch 11 respectively；Outside Shell 42 is equipped with the fixed link 46 for fixing shell 42, and the first transmission shaft 43 is fixedly connected in mounting base 47, fixed link 46 One end is connect with shell 42, and 46 other end of fixed link is fixedly connected in mounting base 47, and mounting base 47 is located in driving device 54. Shell 42 is equipped with the mounting groove 52 for installing lighting device 51, and mounting groove 52 is equipped with mounting hole 53, the groove face of mounting groove 52 For arc.So that shell 42 will not be turned on one's side due to gravity, fixed link 46 may be mounted at support for the setting of fixed link 46 Above or below bar 44, support rod 44 and fixed link 46 form parallelogram, and the starting of first motor 15 passes through parallelogram Power is passed to shell 42 in parallel, makes shell 42 is horizontal to rise, so that entire bracket rising is more stable；Lighting device 51 for providing light source for camera 22 in a dark environment, so that shooting is more clear.Mounting hole 53 is located in the middle part of arc, peace The design in hole 53 is filled so that lighting device 51 is easier to be fixed on mounting groove 52, it is not easy to fall, the design of arc is so that illumination The installation of device 51 is more stable.Support rod 44 is equipped with the lug boss 49 for increasing by 44 intensity of support rod, sets below lug boss 49 There are hollow-out parts 50.Lug boss 49 is located at 44 middle part of support rod, and support rod 44 is easy to happen fracture, and fracture frequently occurs in middle part Position, the setting of lug boss 49 is so that phenomenon of rupture, the intensity of raising support rod 44 are less likely to occur support rod 44, while also making It is more beautiful to obtain 22 bracket of camera；50 one side of hollow-out parts alleviates the weight of 22 bracket of camera, saves material, another Aspect hollow-out parts 50 make 22 bracket of camera more beautiful.

The tire of pipe crawling device includes carcass 67, is removably secured the hub unit being located in carcass 67, wheel hub dress It sets and is located in the first metal fixture block 68 including being removably secured the first metal fixture block 68 being located in carcass, being removably secured The second metal fixture block 71,67 body of tire is located between the first metal fixture block 68 and the second metal fixture block 71, thus the second metal clip First metal fixture block 68 is removably secured and is located in carcass 67 by block 71.First metal fixture block 68 includes being removably secured set The first cylinder 69 for being located in the second metal fixture block 71, the lid 70 being linked together with the first cylinder 69, the first cylinder 69 it is straight Diameter is less than the diameter of lid 70, is removably secured lid 70 by the first cylinder 69 and is set in carcass 67.In carcass 67 The heart is equipped with inner ring 73 corresponding with lid 70, and 73 wall of inner ring is equipped with internal diameter clamping rings corresponding with the first cylinder 69 74, the first cylinder 69 is removably secured after clamping rings 74 and is set in the second metal fixture block 71, and lid 70 is embedded in Inner ring 73, lid 70 are matched with the one side of clamping rings 74, so that the first metal fixture block 68 is removably secured and is set in In carcass 67.Second metal fixture block 71 includes second cylinder 72 corresponding with inner ring 73, and 72 center of the second cylinder is equipped with and the The corresponding first through hole 75 of one cylinder 69, the second cylinder 72 are embedded in inner ring 73, the other side of the second cylinder and clamping rings 74 Face matches, and the first cylinder 69 is removably secured after clamping rings 74 and is set in first through hole 75, thus the first gold medal Belong to fixture block 68 and the second metal fixture block 71 is removably secured and is set in carcass 67.Second cylinder 72 is equipped with threaded hole 76, lid Body 70 is equipped with first step corresponding with threaded hole 76 hole 77, and clamping rings 74 is equipped with second through-hole corresponding with threaded hole 76 78；By screw connection, the second cylinder 72 and lid 70 are removably secured and are fixed on 74 two sides of annulus.Lid 70 is equipped with Axle 81 is removably secured across second step hole 79 with lid 70 by screw and is connect by second step hole 79.Carcass 67 Outer surface is equipped with the cambered surface deep trouth line 80 for preventing carcass from skidding.67 shape of carcass is arcwall face.First cylinder 69 is equipped with and axle 81 cooperate the second connected car axle hole, and the first car axle hole 66 in the second car axle hole and crawl device on the first cylinder 69 is opposite Together, axle 81 is by entering the first car axle hole 66 after the second car axle hole.

Each embodiment is described in a progressive manner in specification, the highlights of each of the examples are with other realities The difference of example is applied, the same or similar parts in each embodiment may refer to each other.

The foregoing description of the disclosed embodiments can be realized professional and technical personnel in the field or using originally practical new Type.Various modifications to these embodiments will be readily apparent to those skilled in the art, and determine herein The General Principle of justice can be realized in other embodiments without departing from the spirit or scope of the present utility model.Cause This, the present invention will not be limited to the embodiments shown herein, and is to fit to and principles disclosed herein The widest scope consistent with features of novelty.

Claims (10)

1. a kind of control system of pipe testing apparatus, it is characterised in that: including for acquiring pipeline internal information crawl device, Connect with crawl device and be used to calculate crawl device creep distance data drum (59), connect with data drum (59) and for controlling The controlling terminal (65) of crawl device processed；Crawl device includes the walking module (23) moved in pipeline for crawl device, for adjusting The camera module of camera (22) is saved, controlling terminal (65) includes that the control of control crawl device is carried out for input control signal Module, the power module (1) for connecting and be control module power supply with control module, data drum (59) includes connecting with crawl device Data cable (60), creep the meter counter (61) of distance for counting crawl device；Control module respectively with walking module (23), Camera module, meter counter (61) connection.

2. the control system of pipe testing apparatus according to claim 1, it is characterised in that: camera module includes being used for Adjust bracket lifting module (4) of the lifting support height of camera (22), for adjusting taking the photograph for camera (22) shooting angle As head rotating module (5), bracket lifting module (4), camera rotating module (5) are connect with control module.

3. the control system of pipe testing apparatus according to claim 2, it is characterised in that: control module includes for remote Process control bracket goes up and down the first control module (2) of module (4) and walking module (23), rotates mould for remotely controlling camera The second control module (3) of block (5), the first control module (2) are connect with bracket lifting module (4), walking module (23) respectively, Second control module (3) is connect with camera rotating module (5), the first control module (2), the second control module (3) with electricity Source module (1) connection.

4. the control system of pipe testing apparatus according to claim 3, it is characterised in that: the first control module (2) packet It includes travelling control module (25), travelling control module (25) includes the third motor (37) turn that control is located in walking module (23) The first electron speed regulator (29) that the dynamic walking for driving crawl device all around to move is switched, adjusted the speed to movement speed, the One electron speed regulator (29) one end is connect with power module (1), the first electron speed regulator (29) other end and walking switch one end Connection, the walking switch other end are connect with walking module (23).

5. the control system of pipe testing apparatus according to claim 4, it is characterised in that: third motor (37) includes a left side Side movable motor (38) and right side movable motor (39), walking switch include the right-hand rotation switch connecting with left side movable motor (38) (32), the left-hand rotation connecting with right side movable motor (39) switchs (33), (33) is switched with left-hand rotation and turn right what switch (32) was connect Front and back change-over switch (31), front and back change-over switch (31) are connect with the first electron speed regulator (29).

6. according to the control system of pipe testing apparatus described in claim 3 or 4 or 5, it is characterised in that: further include for mentioning For the lighting module (24) of pipeline internal light source, Lighting control mould that lighting module (24) and the first control module (2) are equipped with Block (26) connection, lighting control module (26) includes the second electron speed regulator (35) for regulating illumination intensity, the second electronics Governor (35) is connect with lighting module (24).

7. the control system of pipe testing apparatus according to claim 6, it is characterised in that: bracket goes up and down module (4) packet It includes the first motor (15) for controlling lifting support, the first limit switch (14) for limiting lifting support rising, be used for The second limit switch (16) of lifting support decline is limited, first motor (15) is limited with the first limit switch (14), second respectively Bit switch (16) connection, the first limit switch (14) and the second limit switch (16) are connect with the first control module (2)；First Control module (2) further includes bracket elevating control module (27), and bracket elevating control module (27) includes and the first limit switch (14) connect rising switch (8), connect with the second limit switch (16) down switch (10), for making first motor (15) The shutdown switch (9) to stop operating, rising switch (8), down switch (10), shutdown switch (9) connect with power module (1) It connects；Second control module (3) includes the rocker switch (11) rotated up and down for controlling camera (22), rocker switch (11) it is connect with power module (1).

8. the control system of pipe testing apparatus described according to claim 1 or 2 or 3 or 4 or 5 or 7, it is characterised in that: climb Row device includes protective shell, and protective shell surface is equipped with row's silt structure, and row's silt structure includes being located at inclining for protective shell bottom surface Inclined-plane, inclined surface include the first inclined surface (56), the second inclined surface (57) being located above the first inclined surface (56), are located at second Third inclined surface (58) above inclined surface (57).

9. the control system of pipe testing apparatus according to claim 8, it is characterised in that: protective shell is equipped with for shooting The camera (22) of pipeline internal information, is used to control camera shooting the lighting device (51) for providing illumination for camera (22) Head (22) and lighting device (51) and the driving device (54) powered for camera (22) and lighting device (51), camera (22) It is each provided on driving device (54) with lighting device (51), driving device (54) is connect with data drum (59).

10. the control system of pipe testing apparatus according to claim 9, it is characterised in that: protective shell, which is additionally provided with, to be used for The lifting support of lifting illumination device (51) and camera (22), lifting support are located on driving device (54)；Lifting support packet It includes and is connect for installing camera (22) with the shell (42) of lighting device (51), first motor (15), with first motor (15) The first transmission shaft (43), the first transmission shaft (43) is fastened on the support rod (44) for going up and down shell (42), support rod (44) it is connect with shell (42), shell (42), first motor (15), the first transmission shaft (43), support rod (44) are each provided at driving On device (54)；Support rod (44) is equipped with support rod crook (48), and the first transmission shaft (43) is fastened on support rod crook (48) on；The second driving shaft (45) for rotating camera (22) is equipped in shell (42), camera (22) is rotatable solid Surely it is located on second driving shaft (45)；The second motor (17) for driving second driving shaft (45) rotation is additionally provided in shell (42), Second motor (17) is connect with second driving shaft (45), rocker switch (11) respectively；Shell (42), which is equipped with, is used for fixing shell (42) fixed link (46), the first transmission shaft (43) are fixedly connected on mounting base (47), fixed link (46) one end and shell (42) it connects, fixed link (46) other end is fixedly connected on mounting base (47), and mounting base (47) is located on driving device (54).