CN216208645U - Pipeline detection device and system - Google Patents

Abstract

The utility model discloses a pipeline detection device and a pipeline detection system, which comprise a front rod body, a middle rod body and a rear rod body; the front rod body is connected with the middle rod body, a driving piece is arranged in the rear rod body, the middle rod body is in transmission connection with the driving piece, and the driving piece drives the middle rod body and the front rod body to rotate around the axis of the middle rod body; the front rod body is provided with a first imaging module; the middle rod body is provided with a second imaging module. The first imaging module can firstly and integrally and quickly carry out preliminary detection on the internal condition of the pipeline, firstly, the integral damage condition is determined, and the detection speed is high. And the second imaging module performs specific and detailed imaging detection on the damaged area on the basis of the first imaging module, confirms the type or the degree of damage, and has strong pertinence and good detection effect. And the driving part drives the middle rod body and the front rod body to rotate, so that the second imaging module can be conveniently adjusted to form an image and be aligned to a damaged area, and the use is convenient.

Description

Pipeline detection device and system

Technical Field

The utility model relates to the technical field of gun barrel detection, in particular to a pipeline detection device and system.

Background

The gun barrel is the most important in the gun structure, the fighting performance-damage killing power of the gun is reflected by the gun barrel, and when the gun barrel shoots, the temperature of the gun barrel is very high, and the high temperature can affect the gun barrel structure. In the process of using and maintaining the gun barrel, the interior of the pipeline needs to be detected, and the part needing to be repaired needs to be found in time.

The rifling structure is arranged in the gun barrel, so that the interior of the gun barrel needs to be detected in the using and maintaining processes, the problems of falling of a coating and the like are found in time, and the gun barrel is maintained. The gun barrel is difficult and inconvenient to detect due to the narrow inner space and the deep depth.

At present, a pipeline detection device for pipeline detection detects the condition inside a pipeline through a camera. However, the camera shooting angle of the pipeline detection device is difficult to adjust, and each detection can only be performed gradually and slowly in the pipeline, so that the pipeline detection device is inconvenient to use, not strong in detection pertinence and slow in detection speed.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a pipeline detection device and a pipeline detection system, which are convenient to use, strong in detection pertinence and high in detection speed.

The utility model discloses a pipeline detection device, which comprises a front rod body, a middle rod body and a rear rod body; the front rod body is connected with the middle rod body, a driving piece is arranged in the rear rod body, the middle rod body is in transmission connection with the driving piece, and the driving piece drives the middle rod body and the front rod body to rotate around the axis of the middle rod body; the front rod body is provided with a first imaging module; the middle rod body is provided with a second imaging module.

Optionally, the first imaging module is arranged at an end of the front rod body far away from the middle rod body.

Optionally, a first illuminating module is disposed at an end of the front rod body, which is far away from the middle rod body, and the first illuminating module is disposed around the first imaging module.

Optionally, a first mounting groove is formed in the end portion, away from the middle rod body, of the front rod body around the first imaging module, and a through hole is formed in the bottom surface of the first mounting groove; the first lighting module is installed in the first installation groove, and a lead of the first lighting module is led out from the through hole to the interior of the front rod body.

Optionally, a second lighting module is disposed on the front rod body, and the second lighting module is located on two opposite sides of the second imaging module.

Optionally, the pipeline detecting device further includes a shaft coupling member, the shaft coupling member is connected to the transmission shaft of the driving member, and extends out of the middle rod body to be connected to the front rod body.

Optionally, the shaft coupling comprises a hollowed-out section and a hollow section; the hollow section is respectively connected with a transmission shaft and a hollow section of the driving piece, and the hollow section is connected with the front rod body; the hollow section is provided with a hollow area which penetrates through the hollow section, and the inside of the hollow section is hollow.

Optionally, the pipeline detection device further comprises a support rod, and the support rod is connected with the rear rod body; the supporting rod is used for supporting the pipeline detection device to stretch into the pipeline.

Optionally, the rear rod body comprises a main rod and a rear connecting rod; the main rod is respectively connected with the middle rod body and the rear connecting rod, and the rear connecting rod is connected with the supporting rod.

The utility model also discloses a pipeline detection system, which comprises a winding device, a cable and the pipeline detection device; the cable is connected with the rear rod body, and the winding device is used for winding the cable.

The first imaging module can firstly and integrally and quickly carry out preliminary detection on the internal condition of the pipeline, firstly, the integral damage condition is determined, and the detection speed is high. And the second imaging module performs specific and detailed imaging detection on the damaged area on the basis of the first imaging module, confirms the type or the degree of damage, and has strong pertinence and good detection effect. And the driving part drives the middle rod body and the front rod body to rotate, so that the second imaging module can be conveniently adjusted to form an image and be aligned to a damaged area, and the use is convenient.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the principles of the utility model. It is obvious that the drawings in the following description are only some embodiments of the utility model, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:

FIG. 1 is a schematic view of a pipeline inspection device according to an embodiment of the present invention;

FIG. 2 is a cross-sectional view of a pipeline inspection device in accordance with an embodiment of the present invention;

FIG. 3 is a partial exploded view of a pipeline inspection device according to an embodiment of the present invention;

fig. 4 is a partially enlarged view of a portion a in fig. 2;

fig. 5 is a partially enlarged view of a portion D in fig. 3;

fig. 6 is a partially enlarged view of a portion B in fig. 2;

fig. 7 is a partial enlarged view of portion E of fig. 3;

fig. 8 is a partially enlarged view of a portion C in fig. 2;

FIG. 9 is a schematic diagram of a pipeline inspection system according to an embodiment of the utility model.

10, a pipeline detection device; 1. a front rod body; 11. a first imaging module; 12. a first lighting module; 121. a lamp bead; 13. a first mounting groove; 131. a via hole; 132. a second sink tank; 14. a first mounting hole; 141. a first sink tank; 15. a first protective cover; 16. a second protective cover; 2. a middle rod body; 21. a second imaging module; 22. a second lighting module; 23. a second mounting hole; 231. a third sink tank; 24. a third protective cover; 25. a third mounting hole; 26. a fourth sink tank; 27. a fourth protective cover; 3. a rear rod body; 31. a main rod; 32. a rear connecting rod; 321. a third limiting bulge; 4. a drive member; 5. a shaft coupling member; 51. a hollow-out section; 511. a hollow-out area; 52. a hollow section; 6. a support bar; 7. a connecting assembly; 71. a connecting member; 72. a snap ring; 73. an adapter; 731. a first limit protrusion; 732. a mating groove; 733. a sinking zone; 734. a second limit bulge; 8. a first jacket assembly; 81. a first sleeve; 82. a first limit ring; 9. a second jacket assembly; 91. a second sleeve; 92. a second stop collar; 20. and a winding device.

Detailed Description

It is to be understood that the terminology, the specific structural and functional details disclosed herein are for the purpose of describing particular embodiments only, and are representative, but that the present invention may be embodied in many alternate forms and should not be construed as limited to only the embodiments set forth herein.

The utility model is described in detail below with reference to the figures and alternative embodiments.

As shown in fig. 1 to 5, as an embodiment of the present invention, a pipeline detecting device 10 is disclosed, which includes a front rod body 1, a middle rod body 2 and a rear rod body 3. Preceding body of rod 1 and well body of rod 2 are connected, are provided with driving piece 4 in the body of rod 3 of back, and well body of rod 2 is connected with driving piece 4 transmission. As shown in fig. 1, the driver 4 drives the middle rod 2 and the front rod 1 to rotate about the axis L of the middle rod 2. The front rod body 1 is provided with a first imaging module 11; the middle rod body 2 is provided with a second imaging module 21.

The front rod body 1 of the pipeline detection device 10 is provided with a first imaging module 11, and the first imaging module 11 is used for carrying out initial, integral and quick detection on a pipeline and determining a possibly damaged area in the pipeline. After the first imaging module 11 determines the overall damaged area in the pipeline, the damaged area is further imaged and detected by using the second imaging module 21 arranged on the middle rod body 2, and the specific condition of the damage is confirmed. First imaging module 11 can be earlier the wholeness carry out preliminary detection to the pipeline internal conditions fast, and the whole damage condition is clear and definite earlier, and detection speed is fast. The second imaging module 21 performs specific and detailed imaging detection on the damaged area on the basis of the first imaging module 11, confirms the type or degree of damage, and has strong pertinence and good detection effect. And the driving piece 4 drives the middle rod body 2 and the front rod body 1 to rotate, so that the second imaging module 21 can be conveniently adjusted in imaging angle and aligned to a damaged area, and the use is convenient. The type of damage may be, for example, cracks, exfoliation, surface rusting, and the like.

In addition, the front rod body 1, the middle rod body 2 and the rear rod body 3 of the pipeline detection device 10 are connected with each other to form a rod shape, namely the whole pipeline detection device is in a rod shape, is similar to the shape of a pipeline, and can be very conveniently and easily extended into the pipeline for detection. In addition, centralizers or positioning rings with different diameters can be added in front of and behind the pipeline detection device 10, so that the device is suitable for gun barrels with different pipe diameters in a certain range.

Alternatively, the first imaging module 11 and the second imaging module 21 may be cameras. Since the first imaging module 11 is used for preliminary, overall, and rapid inspection, the second imaging module 21 is used for detailed and detailed imaging inspection. Therefore, optionally, the pixels of the second imaging module 21 are higher than the pixels of the first imaging module 11. The drive 4 may be an electric motor or the like.

Specifically, as shown in fig. 4, the first imaging module 11 is disposed at an end of the front rod body 1 away from the middle rod body 2. The first imaging module 11 is arranged at one end part of the front rod body 1 far away from the middle rod body 2 and is positioned at the foremost end of the front rod body 1. When the pipeline detection device 10 extends into the pipeline, the first imaging module 11 sequentially images the pipeline from outside to inside at the most front end, and the pipeline detection device 10 (for example, the front rod body 1) is not easy to shield the first imaging module 11 in the imaging process. Therefore, the first imaging module 11 can image the pipeline 360 degrees without rotating the driving member 4 in the preliminary imaging process, and the imaging is convenient and quick and the operation is convenient. Of course, in other embodiments, the first imaging module 11 may be disposed at other positions of the front rod 1, for example, on the circumferential surface between the two end portions of the front rod 1.

Optionally, as shown in fig. 4, a first mounting hole 14 is opened at an end of the front rod body 1 far away from the middle rod body 2, and the first imaging module 11 is mounted in the first mounting hole 14. A first sunken groove 141 is sunken around the edge of the first mounting hole 14, and a first protective cover 15 is mounted in the first sunken groove 141. The first protective cover 15 covers the first imaging module 11 to protect the first imaging module 11. Because first imaging module 11 is located the preceding body of rod 1 and keeps away from the one end tip of well body of rod 2, first imaging module 11 is located the foremost of preceding body of rod 1, and first imaging module 11 collides with easily on the pipeline inner wall when being in the pipeline. The first imaging module 11 is arranged on the first mounting hole 14, so that the first imaging module 11 can be protected from being collided. Further, the first protection cover 15 further protects the first imaging module 11 from being knocked. First protective cover 15 is installed in first heavy groove 141, and first protective cover 15 contracts not bulge in for preceding body of rod 1 tip, and first protective cover 15 is difficult to collide with, and the installation is firm, is difficult to drop.

Alternatively, as shown in fig. 3 and 4, an end of the front rod body 1 away from the middle rod body 2 is provided with a first illumination module 12, and the first illumination module 12 is disposed around the first imaging module 11. The first illumination module 12 can illuminate the interior of the tube, so that the imaging effect is improved. And, the first illumination module 12 is disposed around the first imaging module 11, so that the light can directly illuminate the detection portion, and the illumination is sufficient. In addition, the first illumination module 12 illuminates around the first imaging module 11 for a circle, so that shadow is not easy to generate, the illumination effect is good, and the imaging effect is good. The first imaging module 11 includes a plurality of lamp beads 121, and the plurality of lamp beads 121 are disposed around the first imaging module 11.

Optionally, as shown in fig. 3 and 5, a first mounting groove 13 is formed around the first imaging module 11 at one end of the front rod body 1 far away from the middle rod body 2, and a via hole 131 is formed in the bottom surface of the first mounting groove 13; the first lighting module 12 is installed in the first installation groove 13, and the wires of the first lighting module 12 are led out from the via hole 131 into the interior of the front rod body 1.

Alternatively, the first mounting groove 13 may securely mount and restrain the first lighting module 12. The via hole 131 can facilitate the wiring of the wire of the first lighting module 12, and the wire can be led out from the via hole 131 to the inside of the front rod body 1, so as to realize the electrical connection with other parts.

A second sinking groove 132 is formed by sinking the edge of the first mounting groove 13, and a second protective cover 16 is mounted in the second sinking groove 132. A second protective cover 16 covers the first lighting module 12 to protect the first lighting module 12. Since the first lighting module 12 is located at an end of the front rod 1 far from the middle rod 2, the first lighting module 12 is located at the foremost end of the front rod 1. When the lighting module 12 is in the pipeline, the first lighting module is easy to collide with the inner wall of the pipeline. The first lighting module 12 is arranged on the first mounting groove 13, so that the first lighting module 12 can be protected from being collided. Further, the second protective cover 16 further protects the first lighting module 12 from knocks. Second protective cover 16 is installed in second heavy groove 132, and second protective cover 16 contracts in for preceding body of rod 1 tip and does not bulge, and second protective cover 16 is difficult to collide with, is difficult to drop, and the installation is firm.

Alternatively, as shown in fig. 6 and 7, a second lighting module 22 is disposed on the front rod body 1, and the second lighting module 22 is located at two opposite sides of the second imaging module 21. The second illumination module 22 can illuminate the tube to improve the imaging effect of the second imaging module 21. And, the second illumination module 22 is disposed at the opposite sides of the second imaging module 21, the light can directly irradiate the detection portion, and the illumination is sufficient. The second illumination module 22 is disposed on two opposite sides of the second imaging module 21, so that shadows are not easily generated, and the illumination effect and the imaging effect are good.

Optionally, the middle rod 2 is provided with second mounting holes 23 on two opposite sides of the second imaging module 21, and the second lighting module 22 is mounted in the second mounting holes 23. The third sunken groove 231 is sunken to form along the border a week of second mounting hole 23, installs third protecting cover 24 in the third sunken groove 231. The third protective cover 24 covers the second lighting module 22 to protect the second lighting module 22. The second lighting module 22 is disposed on the second mounting hole 23, so that the second lighting module 22 can be protected from being collided. Further, the third protective cover 24 further protects the second lighting module 22 from knocks. Third protecting cover 24 is installed in third sunken groove 231, and third protecting cover 24 contracts not bulge in for well body of rod 2, and third protecting cover 24 is difficult to collide with and touch, is difficult to drop, and the installation is firm.

Optionally, a third mounting hole 25 is formed in the middle rod body 2, and the second imaging module 21 is mounted in the third mounting hole 25. The edge of the third mounting hole 25 sinks a week to form a fourth sinking groove 26, and a fourth protecting cover 27 is mounted in the fourth sinking groove 26. The fourth protective cover 27 covers the second imaging module 21 to protect the second imaging module 21. The second imaging module 21 is disposed on the third mounting hole 25, so that the second imaging module 21 can be protected from collision. Further, the fourth protective cover 27 further protects the second imaging module 21 from being collided with. The fourth protecting cover 27 is installed in the fourth sinking groove 26, and the fourth protecting cover 27 is not projected for the internal shrinkage of the middle rod body 2, and the fourth protecting cover 27 is not easy to collide with, is not easy to drop, and is firmly installed.

Optionally, as shown in fig. 2, the pipeline detecting device 10 further includes a shaft coupling 5, and the shaft coupling 5 is connected to the transmission shaft of the driving member 4 and extends out of the middle rod body 2 to be connected to the front rod body 1. The middle rod body 2 is driven to rotate through the shaft connecting piece 5, the connecting length is prolonged through the shaft connecting piece 5, and the middle rod body 2 is conveniently connected with the front rod body 1. Optionally, the shaft connection 5 comprises a hollowed-out section 51 and a hollow section 52; the hollow section 51 is respectively connected with a transmission shaft and a hollow section 52 of the driving piece 4, and the hollow section 52 is connected with the middle rod body 2; the hollow section 51 is provided with a hollow area 511 penetrating through the hollow section 51, and the hollow section 52 is hollow. When in use, the pipeline detection device 10 needs to extend into the pipeline, and the pipeline detection device 10 is positioned at the forefront, has heavy weight and is the position of the center of gravity. The hollow section 51 is provided with a hollow area 511, and the hollow section 52 is hollow, so that the weight of the pipeline detection device 10 can be reduced, and the pipeline detection device can be operated conveniently and labor-saving when stretching into a pipeline.

Optionally, the pipeline detecting device 10 further includes a supporting rod 6, and the supporting rod 6 is connected to the rear rod body 3; the support rod 6 is used for supporting the pipeline detection device 10 to extend into the pipeline. The supporting rod 6 can be grasped by an operator or a mechanical arm, so that the pipeline detection device 10 is inserted into the pipeline, and the operation is convenient.

Alternatively, the rear rod body 3 includes a main rod 31 and a rear link 32; the main rod 31 is connected with the middle rod body 2 and the rear connecting rod 32 respectively, and the rear connecting rod 32 is connected with the supporting rod 6. The main rod 31 is in threaded connection with the rear connecting rod 32, and assembly and disassembly are convenient.

Optionally, as shown in fig. 8, the pipeline inspection device 10 further includes a connection assembly 7, where the connection assembly 7 includes a connection member 71, two snap rings 72, and an adapter 73; the connecting piece 71 is connected with the middle rod body 2, and the two clamping rings 72 are sleeved on the connecting piece 71. One end of the connecting piece 71 far away from the middle rod body 2 is provided with a first limiting protrusion 731, and one snap ring 72 is clamped with the first limiting protrusion 731. The adaptor 73 is sleeved on the connecting piece 71 and the two clamping rings 72, two matching grooves 732 are formed in the inner surface of the adaptor 73 corresponding to the positions of the two clamping rings 72, and the two clamping rings 72 are limited in the two matching grooves 732 respectively. The inner surface of the adaptor 73, which is far away from one end of the middle rod body 2, is provided with an internal thread, and correspondingly, the outer surface of the front rod body 1, which is near one end of the middle rod body 2, is provided with an external thread. The adaptor 73 is screwed to the front body 1 by means of internal and external threads. Through the connecting piece 71, the clamping ring 72, the adapter piece 73, the first limiting protrusion 731 and the matching groove 732, the connection between the middle rod body 2 and the front rod body 1 is firm and stable, and is not easy to loose. Specifically, the two snap rings 72, the two fitting grooves 732 and the first position-limiting protrusion 731 are engaged with each other to prevent the front rod body 1 and the middle rod body 2 from being axially separated from each other. The adapter 73 can be detachably connected with the front rod body 1 through threaded connection, and is convenient to detach and assemble.

Optionally, as shown in fig. 1 and 8, the outer surface of the adaptor 73 is provided with a second limiting protrusion 734, and the pipeline inspection device 10 further includes a first outer sleeve component 8; the first outer sleeve component 8 comprises a first sleeve 81 and a first limiting ring 82, wherein the first limiting ring 82 is sleeved on the adapter 73 and is in threaded connection with the adapter 73; the first sleeve 81 is sleeved on the adaptor 73 and located between the second limit projection 734 and the first limit ring 82. The first stop collar 82 is screwed toward the second stop projection 734 and captures the first sleeve 81 between the second stop projection 734 and the first stop collar 82. The first sleeve 81 may provide a gripping location for the operator to assemble and disassemble the front rod 1. When the first sleeve 81 is installed, the first limit ring 82 can be taken down from the adaptor 73, and the first sleeve 81 is convenient to install. The first limiting ring 82 is rotatably connected through threads and matched with the second limiting protrusion 734 to clamp the first sleeve 81, and the first sleeve 81 is firmly installed.

Optionally, a sinking area 733 is formed in a sinking manner on the outer surface of one end of the adaptor 73 close to the front rod body 1, and an external thread on the outer surface of the adaptor 73 is arranged in the sinking area 733. The sunken region 733 is arranged, so that the butt joint of the first sleeve 81 and the first limiting ring 82 is flush, the gripping is comfortable, and the appearance is attractive.

Optionally, as shown in fig. 2, the outer surface of the rear connecting rod 32 is provided with a third limiting protrusion 321, and the pipeline detection device 10 further includes a second outer sleeve assembly 9; the second outer sleeve assembly 9 comprises a second sleeve 91 and a second limiting ring 92, and the second limiting ring 92 is sleeved on the rear connecting rod 32 and is in threaded connection with the rear connecting rod 32; the second sleeve 91 is sleeved on the rear link 32 and located between the third limiting protrusion 321 and the second limiting ring 92. The second retainer 92 is screwed toward the third retainer protrusion 321, and the second sleeve 91 is clamped between the third retainer protrusion 321 and the second retainer 92. The second sleeve 91 may provide a gripping location for facilitating assembly and disassembly of the rear link 32 by an operator. When the second sleeve 91 is installed, the second limit ring 92 can be taken down from the rear connecting rod 32, and the second sleeve 91 is convenient to install. The second limiting ring 92 is connected through threads to achieve rotatable movement, and is matched with the third limiting protrusion 321 to clamp the second sleeve 91, and the second sleeve 91 is firmly installed.

As shown in fig. 9, as another embodiment of the present invention, a pipeline inspection system is disclosed, which includes a take-up device 20, a cable (not shown) and the pipeline inspection device 10 as above; the cable is connected with the rear rod body 3, and the winding device 20 is used for winding the cable.

The pipeline detection system of this embodiment adopts foretell pipeline detection device 10, and first imaging module 11 can be earlier the wholeness carry out preliminary detection to the pipeline inside condition fast, and the whole damage condition is clear and definite earlier, and it is fast to detect. The second imaging module 21 performs specific and detailed imaging detection on the damaged area on the basis of the first imaging module 11, confirms the type or degree of damage, and has strong pertinence and good detection effect. And the driving piece 4 drives the middle rod body 2 and the front rod body 1 to rotate, so that the second imaging module 21 can be conveniently adjusted in imaging angle and aligned to a damaged area, and the use is convenient. The type of damage may be, for example, cracks, exfoliation, surface rusting, and the like.

The foregoing is a detailed description of the present invention with reference to specific alternative embodiments, and the contents of the above embodiments may be arbitrarily combined, and the specific implementation of the present invention is not considered to be limited to the descriptions. For those skilled in the art to which the utility model pertains, several simple deductions or substitutions can be made without departing from the spirit of the utility model, and all shall be considered as belonging to the protection scope of the utility model.

Claims (10)

1. A pipeline detection device is characterized by comprising a front rod body, a middle rod body and a rear rod body; the front rod body is connected with the middle rod body, a driving piece is arranged in the rear rod body, the middle rod body is in transmission connection with the driving piece, and the driving piece drives the middle rod body and the front rod body to rotate around the axis of the middle rod body; the front rod body is provided with a first imaging module; and a second imaging module is arranged on the middle rod body.

2. The pipe inspection device of claim 1, wherein said first imaging module is disposed at an end of said front rod body distal from said center rod body.

3. The pipeline inspection device as claimed in claim 2, wherein a first illumination module is disposed at an end of the front rod body remote from the middle rod body, and the first illumination module is disposed around the first imaging module.

4. The pipeline detection device as claimed in claim 3, wherein a first mounting groove is formed around the first imaging module at one end of the front rod body away from the middle rod body, and a through hole is formed in the bottom surface of the first mounting groove; the first lighting module is installed in the first installation groove, and a lead of the first lighting module is led out from the through hole to the inside of the front rod body.

5. The pipeline inspection device as claimed in any one of claims 1 to 4, wherein a second illumination module is disposed on the front rod body, and the second illumination module is disposed on two opposite sides of the second imaging module.

6. The pipeline inspection device as claimed in any one of claims 1 to 4, further comprising a shaft coupling member, wherein the shaft coupling member is connected to the driving shaft of the driving member and extends from the middle rod body to be connected to the front rod body.

7. The pipeline inspection device of claim 6, wherein the coupling includes a hollowed-out section and a hollow section; the hollow section is respectively connected with the transmission shaft of the driving piece and the hollow section, and the hollow section is connected with the front rod body; the hollow section is provided with a hollow area penetrating through the hollow section, and the hollow section is hollow.

8. The pipeline inspection device of any one of claims 1 to 4, further comprising a support rod connected to the rear rod body; the supporting rod is used for supporting the pipeline detection device to stretch into the pipeline.

9. The pipe inspection device of claim 8, wherein the rear rod body includes a main rod and a rear link; the main rod is respectively connected with the middle rod body and the rear connecting rod, and the rear connecting rod is connected with the supporting rod.

10. A pipeline inspection system comprising a take-up device, a cable and a pipeline inspection device as claimed in any one of claims 1 to 9; the cable with the back body of rod is connected, the roll-up device is used for the roll-up the cable.

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