CN215596728U - Pipeline crawler of swift installation's multitube footpath adaptation - Google Patents

Abstract

The utility model relates to a quickly-installed pipeline crawler with multiple adaptive pipe diameters, which comprises a crawler body, wherein the crawler body comprises a detection assembly used for carrying detection equipment for detecting a pipeline welding seam; the reducing mechanism is used for adapting to different pipe diameters and comprises a first right-angle hand wheel unit and a supporting unit; the driving vehicle is used for driving the crawler body to walk and comprises a walking mechanism, a reducing guide mechanism, a battery pack and a linkage connecting rod, wherein the reducing guide mechanism comprises a right-angle hand wheel unit II; the trailer assembly is used for carrying a battery or a control element for the detection equipment, the trailer assembly comprises a trailer box, and the two ends of the trailer box are also provided with the reducing mechanisms; and the quick connection mechanism is used for detecting the quick connection between the assembly and the driving vehicle and between the driving vehicle and the trailer assembly. The crawler body has the advantages of strong pipe diameter adaptability, high walking flexibility and good component interchangeability, and can be well applied to detection of pipeline welding seams.

Description

Pipeline crawler of swift installation's multitube footpath adaptation

Technical Field

The utility model relates to the technical field of pipeline detection, in particular to a quickly-installed pipeline crawler with multiple adaptive pipe diameters.

Background

Pipeline transportation is a transportation method for transporting liquid or gas materials over long distances, and is often used for transporting oil, natural gas and the like from a production place to a market. It has the advantages of large transportation volume, continuity, rapidness, economy, safety and the like.

The long-distance conveying pipelines are mostly connected together in a long distance in a welding mode, and the local quality of the welding seams of the pipelines influences the whole conveying process. Therefore, the method is particularly important for detecting the pipeline, particularly for detecting the welding seam of the pipeline, and whether the welding part has welding defects such as insufficient welding, missing welding, scars and the like is detected.

The detection of pipeline welding seams is that the traditional method is that the pipeline welding seams are positioned outside a pipeline and are detected by a person holding magnetic positioning equipment. In the pipeline detection process, especially when detecting in large batch, the efficiency is reduced, the accumulated value is larger, and the human error rate is improved more.

The pipeline crawlers are adopted to detect in the prior art, the pipeline crawlers can operate in a narrow space of a pipeline where people cannot enter, the pipeline crawlers walk along the inner wall of the pipeline, one or more sensors and operating devices are carried, and a series of pipeline detection and maintenance are carried out under the control of operating personnel.

The pipeline crawler is mainly a wheel crawler, and a sensor related to a detection item is carried on the crawler for detection. Although the wheel-type crawler is simple in motion control, the size of the crawler is basically fixed, the crawler cannot be particularly well adapted to the inner diameters of different pipelines, and when the side wall of each pipeline has obstacles, the crawler touches the side wall of each pipeline, so that equipment is easy to shut down; the pipeline has the collision in the place of turning round, and to little pipe diameter pipeline, wheeled crawl device leads to the inconvenient normal current of crawl device because the restriction in self fixed space blocks more easily moreover, and the walking flexibility is poor.

Meanwhile, the pipeline crawler in the prior art is mostly of an integral structure, and the pipeline crawler disclosed by the authorization notice number CN 210034775U comprises a frame, three crawling mechanisms, three telescopic connecting rod devices, a holder, a defect detection device and a control device. To this end, a multi-pipe-diameter adaptable pipe crawler that is quick to install is proposed.

SUMMERY OF THE UTILITY MODEL

The utility model provides a pipeline crawler with multiple adaptive pipe diameters, which is quickly installed, in order to solve the problems of poor pipe diameter adaptability, poor walking flexibility and poor component interchangeability of the pipeline crawler.

In order to achieve the purpose, the technical scheme adopted by the utility model is as follows:

the quickly-installed pipeline crawler with multiple adaptive pipe diameters comprises a crawler body, wherein the crawler body comprises a detection assembly used for carrying detection equipment for detecting a pipeline welding seam;

the reducing mechanisms are used for adapting to different pipe diameters and are arranged at two ends of the detection assembly, and each reducing mechanism comprises a first right-angle hand wheel unit and a supporting unit;

the driving vehicle is used for driving the crawler body to walk and comprises a walking mechanism, a reducing guide mechanism, a battery pack and a linkage connecting rod which are sequentially connected, wherein the reducing guide mechanism comprises a right-angle hand wheel unit II;

the trailer assembly is used for carrying a battery or a control element for detection equipment, the trailer assembly comprises a trailer box, and the two ends of the trailer box are also provided with the reducing mechanisms;

and the quick connection mechanism is used for detecting the quick connection between the assembly and the driving vehicle and between the driving vehicle and the trailer assembly, and comprises a shaft unit and a sleeve unit which are detachably connected.

Furthermore, the first right-angle hand wheel unit is respectively connected with the detection equipment and the trailer box through the support unit;

the right-angle hand wheel unit comprises a shell, an upper gear shaft with a gear and a lower gear shaft with a gear, wherein the upper gear shaft is rotatably arranged at the upper part of the shell, the lower gear shaft is rotatably arranged at the lower part of the shell, the upper gear shaft is meshed with the lower gear shaft, and the upper gear shaft is vertical to the lower gear shaft in the axial direction;

one end of the upper gear shaft extends out of the shell and is connected with a rocking handle, one end of the lower gear shaft is provided with a square hole, and the first right-angle hand wheel unit and the second right-angle hand wheel unit are identical in structure.

Furthermore, the supporting unit comprises a front mounting plate and a rear mounting plate which are arranged at intervals, a transmission shaft which is rotatably arranged between the front mounting plate and the rear mounting plate, three guide shafts which are connected with the front mounting plate and the rear mounting plate, three supporting arms which are hinged on the front mounting plate and walking wheels which are rotatably arranged on the supporting arms.

Furthermore, the transmission shaft is of a screw rod structure, one end of the transmission shaft extends out of the front mounting plate and is connected with the square hole, the three guide shafts are circumferentially and uniformly distributed on the periphery of the transmission shaft, a spring seat and a sliding block are connected between the three guide shafts in a sliding manner, a supporting spring is arranged between the spring seat and the sliding block, the spring seat and the sliding block are further connected through screws, and the sliding block is meshed with the transmission shaft;

three the support arm hoop equipartition is in transmission shaft week side, and every support arm is located between two adjacent guiding axles, every support arm with articulated between the spring holder have the connecting rod with the transmission, and every support arm one end is laid the walking wheel, and the walking wheel is close to in the back mounting panel.

Furthermore, the walking mechanism comprises a worm and gear unit, a motor unit, a control box and a driving arm unit which are connected in sequence;

the worm and gear unit comprises a hollow worm gear support, a worm rotatably arranged in the middle of the worm gear support and three worm gear pieces circumferentially arranged on the periphery of the worm gear support, each worm gear piece comprises a worm gear shaft and a worm gear sleeved on the worm gear shaft, and the three worm gears are all meshed with the worm;

the motor unit is arranged at one end of the worm wheel support and comprises a hollow motor base and a motor arranged in the motor base, and an output shaft of the motor is connected with the worm;

and one end of the motor base is provided with the control box for loading control components.

Furthermore, the worm wheel shaft of each worm wheel piece is provided with the driving arm unit, the driving arm unit comprises a driving support sleeved at the end part of the worm wheel shaft, a driving connecting rod adjustably connected to one end of the driving support and a driving wheel arranged on the driving connecting rod, the driving support rotates around the worm wheel shaft, the driving wheel is connected with the driving connecting rod through a driving shaft, and the driving shaft and the worm wheel shaft are in chain transmission;

the water detection sensor is arranged on the driving connecting rod and used for detecting the water quantity in the pipeline, and the tensioning block is further arranged on the driving connecting rod and used for adjusting the tightness of the chain.

Furthermore, the reducing guide mechanism also comprises a reducing unit and a guide wheel unit, wherein the reducing unit comprises a front plate and a rear plate which are arranged at intervals, a reducing rod which is rotatably connected with the front plate and the rear plate, and three guide rods which are connected with the front plate and the rear plate, the reducing rod is of a screw rod structure, the three guide rods are circumferentially and uniformly distributed on the periphery of the reducing rod, a reducing sliding block is connected between the three guide rods in a sliding manner, and the reducing sliding block is meshed with the reducing rod;

the guide wheel unit is arranged between two adjacent guide rods and comprises a guide wheel support frame hinged on the front plate, a guide wheel support frame elastically connected to one end of the guide wheel support frame in a sliding manner and a guide wheel arranged on the guide wheel support frame, a connecting rod frame is arranged on the guide wheel support frame, and a hinge plate is hinged between the connecting rod frame and the reducing sliding block for transmission;

the rear plate is provided with the right-angle hand wheel unit II, and the right-angle hand wheel unit II is provided with the battery pack.

Furthermore, the linkage connecting rod is arranged between the guide wheel supporting frame and the driving connecting rod;

the linkage connecting rod comprises a connecting shaft, a front claw and a rear claw which are respectively arranged at two ends of the connecting shaft in a penetrating mode, lock nuts are arranged at two ends of the connecting shaft to limit the front claw and the rear claw from falling off, the front claw and the rear claw are bent to be U-shaped, the front claw is hinged to the driving connecting rod, and the rear claw is hinged to the guide wheel supporting frame;

and a connecting spring is sleeved on a connecting shaft between the front claw and the corresponding lock nut, and two ends of the connecting spring are respectively abutted against the inner sides of the lock nut and the front claw.

Furthermore, the shaft unit comprises a first mounting disc, a conical shaft connected with the first mounting disc in a universal direction and a pressure spring sleeved between the first mounting disc and the conical shaft, and a plurality of pin grooves are formed in the end part of the conical shaft in the circumferential direction;

the cover unit includes mounting disc two, with two universal connection's of mounting disc toper cover and cover establish the pressure spring between mounting disc two and the toper cover, toper cover one end is hollow discoid, toper cover one end hoop all is equipped with a plurality of stop pins, every the stop pin slides with toper cover elasticity, the directional toper cover axle center of stop pin, in the toper cover was inserted to the toper axle, the stop pin card was held the cotter way.

Through the technical scheme, the utility model has the beneficial effects that:

the crawler body can work under different pipe diameters through the reducing mechanism and the reducing guide mechanism, the crawler body is suitable for wide working environments, and pipelines with different diameters can adapt to the pipelines only by shaking the rocking handle.

After the crawler body is provided with the variable diameter, the central axis of the equipment is ensured to be axially collinear with the center of the pipeline, the bottom obstacle of the pipeline is effectively avoided, the risk of equipment halt caused by the internal obstacle of the pipeline is reduced, the detection equipment is also axially collinear with the center of the pipeline, and the X-ray equipment image recognition is facilitated.

The driving vehicle is arranged at the rear end of the detection equipment as a second section, is provided with a battery pack and can be independently used as a walking device, and when the crawler body fails, another crawler body with the same type can be adopted for rescuing.

The crawler body comprises a detection assembly, a driving vehicle and a trailer assembly, wherein the detection assembly and the driving vehicle and the trailer assembly are flexibly and quickly connected through a quick connection mechanism, and the quick connection mechanism can quickly connect all parts on the same axis together only by pushing by a person, so that the crawler body is convenient to use and convenient to install, and can be replaced pertinently if one part is damaged; through connect the mechanism soon and can make this physical stamina of this crawler creep and turn along pipeline inner wall flexibility.

The reducing mechanism of the utility model adopts the same interface and can be respectively connected with the detection equipment and the trailer box; the equipment interchangeability is good, the operability is strong, and the method can be well applied to the detection of the pipeline welding seam.

Drawings

Fig. 1 is a schematic view of the overall construction of the multiple-pipe-diameter adaptive pipe crawler of the present invention for quick installation.

FIG. 2 is a schematic view of the inspection device and reducing mechanism installation of FIG. 1 of the multi-diameter compliant pipe crawler of the present invention in quick installation.

Fig. 3 is a front view of a right angle hand wheel unit one of the multi-tube diameter adaptive pipe crawler of the present invention installed quickly.

Fig. 4 is a sectional view a-a of fig. 3 of the multi-tube diameter adaptive pipe crawler of the present invention in quick-install.

Fig. 5 is a schematic structural view of a supporting unit of the multi-pipe-diameter adaptive pipe crawler of the present invention, which is installed rapidly.

Fig. 6 is a schematic view of the drive cart configuration of fig. 1 of the present invention for a quick-install, multi-diameter adaptive pipe crawler.

Fig. 7 is a perspective view of a drive cart for a quick-install, multi-diameter adaptable pipe crawler of the present invention.

Fig. 8 is a schematic disassembled view of the drive cart for the quick install, multi-calibre compliant pipe crawler of the present invention.

Fig. 9 is a disassembled schematic view of the travel mechanism of fig. 8 of the present invention quick install, multi-calibre adapted pipe crawler.

FIG. 10 is a disassembled schematic view of the reducer guide mechanism of FIG. 8 of the multiple-caliber adaptive pipe crawler of the present invention in quick installation.

Fig. 11 is a schematic structural view of the trailer assembly of fig. 1 of the present invention quick install multi-calibre compliant pipe crawler.

Fig. 12 is a schematic view of the quick-connect mechanism of the present invention quick-install, multi-diameter adaptive pipe crawler.

FIG. 13 is a sectional view taken along line B-B of FIG. 12 of the multiple diameter adaptive pipe crawler of the present invention in quick-install mode.

The reference numbers in the drawings are as follows: 1 is detection equipment, 2 is a diameter-changing mechanism, 201 is a right-angle hand wheel unit I, 202 is a supporting unit, 3 is a driving vehicle, 301 is a traveling mechanism, 302 is a diameter-changing guide mechanism, 303 is a battery pack, 4 is a right-angle hand wheel unit II, 5 is a trailer box, 6 is a quick-connection mechanism, 601 is a shaft unit, 602 is a sleeve unit, 7 is a shell, 8 is an upper gear shaft, 9 is a lower gear shaft, 10 is a rocking handle, 11 is a square hole, 12 is a front mounting plate, 13 is a rear mounting plate, 14 is a transmission shaft, 15 is a guide shaft, 16 is a supporting arm, 17 is a traveling wheel, 18 is a spring seat, 19 is a sliding block, 20 is a supporting spring, 21 is a connecting rod, 22 is a worm-gear unit, 23 is a motor unit, 24 is a control box, 25 is a driving arm unit, 26 is a worm wheel bracket, 27 is a worm, 28 is a worm wheel seat, 29 is a worm wheel shaft, 30 is a worm wheel, 31 is a driving bracket, 32 is a driving connecting rod, 33 is a driving wheel, 34 is a screw, 35 is a chain, 36 is a driving shaft, 37 is a water level detection sensor, 38 is a tensioning block, 39 is a motor base, 40 is a motor, 41 is a reducing unit, 42 is a guide wheel unit, 43 is a front plate, 44 is a rear plate, 45 is a reducing rod, 46 is a guide rod, 47 is a reducing slider, 48 is a guide wheel support frame, 49 is a guide wheel support frame, 50 is a guide wheel, 51 is a guide wheel support spring, 52 is a link frame, 53 is a hinge plate, 54 is a linkage link, 541 is a connecting shaft, 542 is a front claw, 543 is a rear claw, 544 is a lock nut, 55 is a connecting spring, 56 is a first mounting plate, 57 is a conical shaft, 58 is a pressure spring, 59 is a pin groove, 60 is a second mounting plate, 61 is a conical sleeve, 62 is a locking pin, 63 is a pin locking spring, 64 is a quick-connection nut, and 65 is a horn.

Detailed Description

The following detailed description of embodiments of the utility model refers to the accompanying drawings in which:

as shown in fig. 1 to 13, the quickly-installed multi-pipe-diameter adaptive pipeline crawler includes a crawler body, the crawler body includes a detection assembly, the detection assembly is used for carrying a detection device 1 for detecting a pipeline weld, and the detection device 1 is used for detecting a weld on the inner wall of a pipeline;

the reducing mechanisms 2 are used for adapting to different pipe diameters, the reducing mechanisms 2 are arranged at two ends of the detection assembly, each reducing mechanism 2 comprises a right-angle hand wheel unit I201 and a supporting unit 202, and after the reducing mechanisms 2 and the detection assembly are installed, the detection assembly can conveniently walk in a pipeline, as shown in fig. 2;

the crawler type power generation device comprises a driving vehicle 3, wherein the driving vehicle 3 is used for driving a crawler body to travel, the driving vehicle 3 comprises a traveling mechanism 301, a reducing guide mechanism 302, a battery pack 303 and a linkage connecting rod 54 which are sequentially connected, and the reducing guide mechanism 302 comprises a right-angle hand wheel unit II 4 as shown in fig. 6-7;

the trailer assembly is used for carrying a battery or a control element for the detection equipment 1, the trailer assembly comprises a trailer box 5, the diameter-changing mechanisms 2 are also arranged at two ends of the trailer box 5, and the trailer box 5 can conveniently walk in a pipeline after the diameter-changing mechanisms 2 and the trailer box 5 are installed;

and the quick-connection mechanism 6 is used for detecting quick connections between the assembly and the driving vehicle 3 and between the driving vehicle 3 and the trailer assembly, and the quick-connection mechanism 6 comprises a shaft unit 601 and a sleeve unit 602 which are detachably connected.

In this embodiment, the first right-angle handwheel unit 201 is connected with the detection device 1 through the support unit 202, as shown in fig. 3 to 4, the first right-angle handwheel unit 201 includes a housing 7, an upper gear shaft 8 with a gear rotatably disposed on the upper portion of the housing 7, and a lower gear shaft 9 with a gear rotatably disposed on the lower portion of the housing 7, the upper gear shaft 8 and the lower gear shaft 9 are both connected with the housing 7 through bearings, and the axial directions of the upper gear shaft 8 and the lower gear shaft 9 are perpendicular to each other.

The upper gear shaft 8 is meshed with the lower gear shaft 9, namely, a gear on the upper gear shaft 8 is meshed with a gear on the lower gear shaft 9, one end of the upper gear shaft 8 extends out of the shell 7 and is connected with a rocking handle 10, the rocking handle 10 can be shaken to drive the upper gear shaft 8 to rotate, the lower gear shaft 9 further rotates together, and one end of the lower gear shaft 9 is provided with a square hole 11.

As shown in fig. 5, the support unit 202 includes a front mounting plate 12 and a rear mounting plate 13 arranged at intervals, a transmission shaft 14 rotatably disposed between the front mounting plate 12 and the rear mounting plate 13, three guide shafts 15 connecting the front mounting plate 12 and the rear mounting plate 13, three support arms 16 hinged to the front mounting plate 12, and a traveling wheel 17 rotatably disposed on the support arms 16.

Specifically, preceding mounting panel 12 with casing 7 is connected, back mounting panel 13 with check out test set 1 connects, transmission shaft 14 is the lead screw structure, and 14 both ends of transmission shaft are passed through the bearing and are connected with preceding mounting panel 12, back mounting panel 13 respectively, 14 one end of transmission shaft stretch out preceding mounting panel 12 with square hole 11 is connected, and then can give transmission shaft 14 with the rotation transmission of lower gear shaft 9.

Three guiding axles 15 encircle the equipartition on transmission shaft 14 week side, and guiding axle 15 connects preceding mounting panel 12 and back mounting panel 13 fixedly, and the sliding connection has spring holder 18 and slider 19 between three guiding axles 15, be provided with supporting spring 20 between spring holder 18 and the slider 19, spring holder 18 and slider 19 still pass through the screw connection, slider 19 and transmission shaft 14 meshing, when transmission shaft 14 is rotatory, slider 19 and spring holder 18 slide along guiding axle 15.

The three supporting arms 16 are circumferentially and uniformly distributed on the peripheral side of the transmission shaft 14, each supporting arm 16 is located between two adjacent guide shafts 15, a connecting rod 21 is hinged between each supporting arm 16 and the spring seat 18 for transmission, the walking wheel 17 is arranged at one end of each supporting arm 16, the walking wheel 17 is a rotatable rubber wheel with a bearing, and the walking wheel 17 is close to the rear mounting plate 13.

The reducing mechanism 2 is adjusted as follows: the rocking handle 10 is manually shaken, the right-angle hand wheel unit I201 drives the transmission shaft 14 to rotate, the sliding block 19 matched with the transmission shaft 14 moves, the spring seat 18 also moves together, and then the three supporting arms 16 are driven to open or close under the action of the connecting rod 21, so that the size change of the walking wheel 17 from the transmission shaft 14 is achieved, the purpose of reducing is achieved, and the rocking handle is suitable for pipelines with different pipe diameters.

When the walking wheel 17 walks, certain impact can be generated on the walking wheel 17 when obstacles are encountered, impact force is transmitted to the spring seat 18, the spring seat 18 moves, and under the action of the supporting spring 20, the impact force can be buffered, so that the transmission of the impact force is reduced, and the influence on the crawler body is reduced.

In this embodiment, the traveling mechanism 301 provides the traveling power of the crawler body, and the traveling mechanism 301 includes a worm and gear unit 22, a motor unit 23, a control box 24, and a driving arm unit 25, which are connected in sequence, as shown in fig. 9.

The worm and gear unit 22 comprises a hollow worm wheel support 26, a worm 27 rotatably arranged in the middle of the worm wheel support 26 and three worm wheel pieces circumferentially arranged on the periphery of the worm wheel support 26, and two ends of the worm 27 are rotatably connected with the worm wheel support 26 through bearings.

Three U-shaped worm wheel seats 28 are arranged at one end of the worm wheel support 26, worm wheel pieces are arranged in the worm wheel seats 28, each worm wheel piece comprises a worm wheel shaft 29 and a worm wheel 30 sleeved on the worm wheel shaft 29, the worm wheel shaft 29 is rotatably connected with the worm wheel seats 28, and two ends of the worm wheel shaft 29 extend out of the worm wheel seats 28;

the three worm wheels 30 are all meshed with the worm 27, and the three worm wheels 30 are arranged at 120 degrees.

In this embodiment, the worm wheel shaft 29 of each worm wheel is provided with the driving arm unit 25, the driving arm unit 25 includes a driving bracket 31 sleeved on the end of the worm wheel shaft 29, a driving connecting rod 32 adjustably connected to one end of the driving bracket 31, and a driving wheel 33 arranged on the driving connecting rod 32, the driving bracket 31 rotates around the worm wheel shaft 29, one end of the driving bracket 31 is slidably provided with the driving connecting rod 32, the driving connecting rod 32 is connected with a screw 34, and the screw 34 and the driving bracket 31 are locked and fixed by a nut, so as to adjust the extension length of the driving connecting rod 32.

The driving wheel 33 is connected with the driving connecting rod 32 through a driving shaft 36, and the chain 35 is used for transmission between the driving shaft 36 and the worm wheel shaft 29; specifically, a first chain wheel is arranged on the driving shaft 36, a second chain wheel is arranged on the worm wheel shaft 29, and the first chain wheel and the second chain wheel are connected through a chain 35.

The water level detection sensor 37 is arranged on the driving connecting rod 32 and used for detecting the water quantity in the pipeline, the tensioning block 38 is further arranged on the driving connecting rod 32, the tensioning block 38 is tightly propped against the chain 35, and the tensioning block 38 is used for adjusting the tightness of the chain 35.

The other end of the worm wheel support 26 is provided with the motor unit 23 which comprises a hollow motor base 39 and a motor 40 arranged in the motor base 39, the motor base 39 comprises a motor front mounting disc, a motor rear mounting disc and a motor upright post connected with the motor front mounting disc and the motor rear mounting disc, and an output shaft of the motor 40 is connected with the worm 27.

The motor cabinet 39 one end sets up control box 24, control box 24 are used for loading control components and parts, control consumer, and control box 24 includes the front panel and the rear panel that the interval was laid and the box of connecting front panel and rear panel, form inclosed cavity behind front panel, box and the rear panel connection, can avoid control components and parts to receive external influence.

The traveling mechanism 301 operates as follows: the motor 40 starts to rotate to drive the worm 27 to rotate, when the worm 27 rotates, the three worm wheels 30 are driven to rotate together, power is transmitted to the worm wheel shafts 29, then the three worm wheel shafts 29 rotate synchronously, under the action of the chain 35, the power is transmitted to the driving shaft 36, the driving shaft 36 drives the driving wheel 33 to rotate, and then the crawler body is driven to walk.

In this embodiment, the reducing guide mechanism 302 further includes a reducing unit 41 and a guide wheel unit 42, the reducing unit 41 is similar to the support unit 202 in principle, the reducing unit 41 includes a front plate 43 and a rear plate 44 which are arranged at intervals, a reducing rod 45 rotatably connecting the front plate 43 and the rear plate 44, and three guide rods 46 connecting the front plate 43 and the rear plate 44, the front plate 43 is connected with the control box 24, and the rear plate 44 is provided with a second right-angle hand wheel unit 4 and a horn 65, as shown in fig. 10.

The reducing rod 45 is of a screw rod structure, two ends of the reducing rod 45 are respectively connected with the front plate 43 and the rear plate 44 through bearings, three guide rods 46 are circumferentially and uniformly distributed on the periphery of the reducing rod 45, a reducing sliding block 47 is connected between the three guide rods 46 in a sliding mode, and the reducing sliding block 47 is meshed with the reducing rod 45.

The guide wheel units 42 are arranged between two adjacent guide rods 46, and then the number of the guide wheel units 42 is three, each group of guide wheel units 42 comprises a guide wheel support frame 48 hinged on the front plate 43, a guide wheel bracket 49 elastically and slidably connected with one end of the guide wheel support frame 48, and a guide wheel 50 arranged on the guide wheel bracket 49.

Specifically, one end of the guide wheel support frame 48 is slidably provided with the guide wheel support 49, a guide wheel support spring 51 is arranged between the guide wheel support 49 and the guide wheel support frame 48, and the guide wheel 50 is a wheel body with a bearing;

the guide wheel support frame 48 is provided with a connecting rod frame 52, and a hinge plate 53 is hinged between the connecting rod frame 52 and the reducing sliding block 47 for transmission.

In this embodiment, the right-angle hand wheel unit two 4 and the right-angle hand wheel unit one 201 are identical in structure, and the square hole 11 in the right-angle hand wheel unit two 4 is connected with the reducing rod 45, so that the reducing unit 41 and the guide wheel unit 42 can be controlled to act.

The battery pack 303 is arranged on the shell 7 in the right-angle hand wheel unit II 4, the battery pack 303 is used for supplying power to electric equipment, the battery pack 303 comprises a battery base, a battery cover and a battery, the battery can be placed in the battery base, and the battery cover and the battery base are buckled to ensure the tightness.

The reducing guide mechanism 302 acts as follows: the second right-angle hand wheel unit 4 drives the reducing rod 45 to rotate, the reducing slide block 47 matched with the reducing rod 45 moves, and then under the action of the hinge plate 53, the three guide wheel support frames 48 are driven to open or close, so that the size change of the guide wheel 50 from the reducing rod 45 is achieved, and the purpose of reducing is achieved.

When guide wheel 50 walked, can produce certain impact to guide wheel 50 when meetting the obstacle, the impact force transmits to drive support 31, drive support 31 and produces the removal, under guide wheel supporting spring 51's effect, can cushion the impact force, reduces the transmission of impact force, reduces to cause the influence to this creeper body.

In order to control the driving arm unit 25 to adapt to different pipe diameters, the linkage connecting rod 54 is arranged between the guide wheel support bracket 48 and the driving connecting rod 32, and the driving connecting rod 32 is opened or closed together under the action of the linkage connecting rod 54 along with the opening or closing of the guide wheel support bracket 48.

Specifically, the linkage connecting rod 54 includes a connecting shaft 541, and a front claw 542 and a rear claw 543 respectively penetrating through two ends of the connecting shaft 541, wherein lock nuts 544 are disposed at two ends of the connecting shaft 541 to limit the front claw 542 and the rear claw 543 to prevent them from falling off, the front claw 542 and the rear claw 543 are both bent into a "U" shape, the front claw 542 is hinged to the driving connecting rod 32, and the rear claw 543 is hinged to the guide wheel supporting frame 48.

A connecting spring 55 is sleeved on the connecting shaft 541 between the front claw 542 and the corresponding lock nut 544, and two ends of the connecting spring 55 respectively abut against the inner sides of the lock nut 544 and the front claw 542.

The drive vehicle 3 acts as follows: the three driving wheels 33 are synchronously rotated through the traveling mechanism 301 to drive the crawler body to travel, the three guide wheel support frames 48 are opened or closed through the reducing guide mechanism 302, the driving support frame 31 is passively opened or closed through the linkage connecting rod 54, and the capacity of adapting to the size change of a pipeline is improved.

In this embodiment, the first right-angle hand wheel unit 201 is connected to the trailer box 5 through the supporting unit 202, so as to realize the traveling of the trailer assembly, as shown in fig. 11.

As shown in fig. 12 to 13, the shaft unit 601 includes a first mounting disk 56, a tapered shaft 57 connected to the first mounting disk 56 in a universal manner, and a pressure spring 58 sleeved between the first mounting disk 56 and the tapered shaft 57, and a plurality of pin grooves 59 are circumferentially formed at end portions of the tapered shaft 57.

The sleeve unit 602 comprises a second mounting disc 60, a conical sleeve 61 in universal connection with the second mounting disc 60, and a pressure spring 58 sleeved between the second mounting disc 60 and the conical sleeve 61, one end of the conical sleeve 61 is hollow and disc-shaped, a plurality of locking pins 62 are annularly arranged at one end of the conical sleeve 61, and each locking pin 62 is elastically and slidably connected with the conical sleeve 61.

Specifically, a pin lock spring 63 is sleeved on the locking pin 62, a quick-connection nut 64 is further sleeved on the locking pin 62, the quick-connection nut 64 is in threaded connection with the tapered sleeve 61, the pin lock spring 63 is arranged between the locking pin 62 and the quick-connection nut 64, and the locking pin 62 points to the axis of the tapered sleeve 61.

When the tapered shaft 57 is inserted into the tapered sleeve 61, the pin lock spring 63 is compressed, and the locking pin 62 slides outwards synchronously until the locking pin 62 is inserted into the pin slot 59, so that the locking pin 62 is clamped with the pin slot 59, and the sleeve unit 602 and the shaft unit 601 are effectively connected.

Under the effect of mechanism 6 that connects soon, can realize detecting the flexible connection between assembly and the driving vehicle 3, between driving vehicle 3 and the trailer assembly, and then can carry out flexible turning to, the good department of buckling through the pipeline, the flexibility is strong.

The crawler body can be divided into a plurality of sections which are connected in series, namely, the detection assembly, the driving vehicle 3 and the trailer assembly are connected in series, each section is connected by the quick connection mechanism 6, the flexible connection of the equipment can be realized only by the pushing force of people, and the phenomenon that the crawler cannot turn due to too long length is avoided. Meanwhile, the crawler body is driven by the reducing mechanism 2 with the variable diameter and the driving vehicle 3 with the variable diameter, so that the crawler can be well adapted to pipe diameters with different sizes, and the detection of welding seams of pipelines with different diameters is more convenient and flexible. The driving vehicle 3 of the crawler can independently act as an execution device, and the configurable capacity of the device is high.

The above-described embodiments are merely preferred embodiments of the present invention, and not intended to limit the scope of the utility model, 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 (9)

1. The quickly-installed pipeline crawler with multiple adaptive pipe diameters comprises a crawler body and is characterized in that the crawler body comprises a detection assembly used for carrying detection equipment (1) for detecting a pipeline welding seam;

the reducing mechanisms (2) are used for adapting to different pipe diameters, the reducing mechanisms (2) are arranged at two ends of the detection assembly, and each reducing mechanism (2) comprises a right-angle hand wheel unit I (201) and a supporting unit (202);

the crawler type traveling device comprises a driving vehicle (3) and a crawler type traveling mechanism, wherein the driving vehicle (3) is used for driving a crawler body to travel, the driving vehicle (3) comprises a traveling mechanism (301), a reducing guide mechanism (302), a battery pack (303) and a linkage connecting rod (54) which are sequentially connected, and the reducing guide mechanism (302) comprises a right-angle hand wheel unit II (4);

the trailer assembly is used for carrying a battery or a control element for the detection equipment (1), the trailer assembly comprises a trailer box (5), and the two ends of the trailer box (5) are also provided with the reducing mechanisms (2);

the quick-connection mechanism (6) is used for detecting quick connections between the assembly and the driving vehicle (3) and between the driving vehicle (3) and the trailer assembly, and the quick-connection mechanism (6) comprises a shaft unit (601) and a sleeve unit (602) which are detachably connected.

2. The quick-mounting multi-pipe-diameter-adaptive pipeline crawler according to claim 1, wherein the first right-angle hand wheel unit (201) is respectively connected with the detection device (1) and the trailer box (5) through the supporting unit (202);

the right-angle hand wheel unit I (201) comprises a shell (7), an upper gear shaft (8) with a gear and rotatably arranged at the upper part of the shell (7), and a lower gear shaft (9) with a gear and rotatably arranged at the lower part of the shell (7), wherein the upper gear shaft (8) is meshed with the lower gear shaft (9), and the upper gear shaft (8) is vertical to the lower gear shaft (9) in the axial direction;

one end of the upper gear shaft (8) extends out of the shell (7) to be connected with a rocking handle (10), one end of the lower gear shaft (9) is provided with a square hole (11), and the first right-angle hand wheel unit (201) and the second right-angle hand wheel unit (4) are identical in structure.

3. The quick-install, multi-tube-diameter-adaptable pipe crawler according to claim 2, wherein the support unit (202) comprises a front mounting plate (12) and a rear mounting plate (13) arranged at intervals, a transmission shaft (14) rotatably disposed between the front mounting plate (12) and the rear mounting plate (13), three guide shafts (15) connecting the front mounting plate (12) and the rear mounting plate (13), three support arms (16) hinged on the front mounting plate (12), and road wheels (17) rotatably disposed on the support arms (16).

4. The quick-mounting multi-diameter adaptive pipeline crawler according to claim 3, wherein the transmission shaft (14) is of a screw rod structure, one end of the transmission shaft (14) extends out of the front mounting plate (12) and is connected with the square hole (11), the three guide shafts (15) are circumferentially and uniformly distributed on the periphery of the transmission shaft (14), a spring seat (18) and a sliding block (19) are slidably connected among the three guide shafts (15), a supporting spring (20) is arranged between the spring seat (18) and the sliding block (19), the spring seat (18) and the sliding block (19) are further connected through screws, and the sliding block (19) is meshed with the transmission shaft (14);

three support arm (16) hoop equipartition is on transmission shaft (14) week side, and every support arm (16) are located between two adjacent guiding axles (15), every support arm (16) with articulated between spring holder (18) have connecting rod (21) with the transmission, and every support arm (16) one end is laid walking wheel (17), and walking wheel (17) are close to in back mounting panel (13).

5. The quick-install, multi-tube-diameter-adaptable pipe crawler according to claim 1, wherein the traveling mechanism (301) comprises a worm and gear unit (22), a motor unit (23), a control box (24) and a driving arm unit (25) which are connected in sequence;

the worm and gear unit (22) comprises a hollow worm gear support (26), a worm (27) rotatably arranged in the middle of the worm gear support (26) and three worm gear pieces circumferentially arranged on the periphery of the worm gear support (26), each worm gear piece comprises a worm gear shaft (29) and a worm gear (30) sleeved on the worm gear shaft (29), and the three worm gears (30) are all meshed with the worm (27);

the motor unit (23) is arranged at one end of the worm wheel support (26), the motor unit comprises a hollow motor base (39) and a motor (40) arranged in the motor base (39), and an output shaft of the motor (40) is connected with the worm (27);

one end of the motor base (39) is provided with the control box (24) for loading control components.

6. The quick-mounting multi-pipe-diameter-adaptive pipeline crawler according to claim 5, wherein the driving arm unit (25) is arranged on the worm gear shaft (29) of each worm gear, the driving arm unit (25) comprises a driving bracket (31) sleeved at the end of the worm gear shaft (29), a driving connecting rod (32) adjustably connected to one end of the driving bracket (31), and a driving wheel (33) arranged on the driving connecting rod (32), the driving bracket (31) rotates around the worm gear shaft (29), the driving wheel (33) is connected with the driving connecting rod (32) through a driving shaft (36), and the driving shaft (36) and the worm gear shaft (29) are in transmission through a chain (35);

the water detection sensor is arranged on the driving connecting rod (32) and used for detecting the water quantity in the pipeline, and the tensioning block (38) is further arranged on the driving connecting rod (32) and used for adjusting the tightness of the chain (35).

7. The quick-mounting multi-pipe-diameter-adaptive pipeline crawler according to claim 2 or 6, wherein the reducing guide mechanism (302) further comprises a reducing unit (41) and a guide wheel unit (42), the reducing unit (41) comprises a front plate (43) and a rear plate (44) which are arranged at intervals, a reducing rod (45) rotatably connecting the front plate (43) and the rear plate (44), and three guide rods (46) connecting the front plate (43) and the rear plate (44), the reducing rod (45) is of a screw rod structure, the three guide rods (46) are circumferentially and uniformly distributed on the periphery of the reducing rod (45), a reducing sliding block (47) is slidably connected between the three guide rods (46), and the reducing sliding block (47) is meshed with the reducing rod (45);

the guide wheel unit (42) is arranged between every two adjacent guide rods (46), the guide wheel unit (42) comprises a guide wheel support frame (48) hinged to the front plate (43), a guide wheel support (49) elastically connected to one end of the guide wheel support frame (48) in a sliding mode, and a guide wheel (50) arranged on the guide wheel support (49), a connecting rod frame (52) is arranged on the guide wheel support frame (48), and a hinge plate (53) is hinged between the connecting rod frame (52) and the reducing sliding block (47) for transmission;

the rear plate (44) is provided with the right-angle hand wheel unit II (4), and the right-angle hand wheel unit II (4) is provided with the battery pack (303).

8. The quick-install, multi-tube-diameter adaptive pipe crawler of claim 7, wherein the linkage link (54) is between the guide wheel support bracket (48) and the drive link (32);

the linkage connecting rod (54) comprises a connecting shaft (541), a front claw (542) and a rear claw (543) which are respectively arranged at two ends of the connecting shaft (541) in a penetrating mode, lock nuts (544) are arranged at two ends of the connecting shaft (541) to limit the front claw (542) and the rear claw (543) to fall off, the front claw (542) and the rear claw (543) are bent to be U-shaped, the front claw (542) is hinged to the driving connecting rod (32), and the rear claw (543) is hinged to the guide wheel supporting frame (48);

and a connecting spring (55) is sleeved on a connecting shaft (541) between the front claw (542) and the corresponding lock nut (544), and two ends of the connecting spring (55) respectively abut against the inner sides of the lock nut (544) and the front claw (542).

9. The quick-mounting multi-pipe-diameter-adaptive pipeline crawler according to claim 1, wherein the shaft unit (601) comprises a first mounting disc (56), a conical shaft (57) in universal connection with the first mounting disc (56), and a pressure spring (58) sleeved between the first mounting disc (56) and the conical shaft (57), and a plurality of pin grooves (59) are circumferentially arranged at the end part of the conical shaft (57);

cover unit (602) include mounting disc two (60), with mounting disc two (60) universal connection's toper cover (61) and establish pressure spring (58) between mounting disc two (60) and toper cover (61), toper cover (61) one end is hollow discoid, toper cover (61) one end hoop all is equipped with a plurality of stop pins (62), every stop pin (62) and toper cover (61) elasticity slip joint, stop pin (62) point to toper cover (61) axle center, in toper cover (61) was inserted in toper axle (57), stop pin (62) card was held cotter way (59).

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