CN218577907U - Crawler-type pipeline detector - Google Patents

Abstract

The utility model provides a crawler-type pipeline detector, wherein crawler-type pipeline detector include an organism, a detection module and set up in two track subassemblies of organism both sides, wherein the organism have a front end and with a rear end that the front end is relative, detection module is erect in on the organism, wherein each track subassembly includes an action wheel, one from driving wheel and track, the track suit in the action wheel with from the driving wheel, wherein two track subassembly is with one of them track subassembly the action wheel is close to the organism the front end, another track subassembly the follow driving wheel is close to the organism the state of rear end is set up in the both sides of organism, so in order to form two track subassembly two the action wheel is set up at the opposite angle in the structural configuration of organism, thereby the guarantee crawler-type pipeline detector turns to stability.

Description

Crawler-type pipeline detector

Technical Field

The utility model relates to a pipeline detection technical field especially relates to a crawler-type pipeline detector.

Background

Compared with traditional transportation modes such as land transportation, water transportation and air transportation, pipeline transportation has remarkable advantages in transportation of certain specific articles, for example, transportation of oil, water and natural gas, and pipeline transportation is large in transportation amount, continuous, rapid and low in transportation cost due to small occupied area, so that pipelines are laid more and more along with high-speed development of cities. However, it is conceivable that the pipeline will inevitably suffer from aging, corrosion or internal scaling after being put into operation, and these conditions will not only affect the normal operation of the pipeline, but also cause irrecoverable safety accidents, such as natural gas leakage accidents, etc., so that regular maintenance and repair of the pipeline is one of the indispensable tasks.

Traditionally, the maintenance and repair work of the pipeline is completed manually, and professional inspectors timely find the problems existing in the pipeline and get rid of various potential safety hazards through daily inspection of the pipeline, so that the normal operation of the pipeline is maintained and the safety accidents are avoided. As is well known, the maintenance and repair of pipelines by professional inspectors is very effective, but as the times develop, the laying of pipelines is greatly increased, and if the maintenance and repair of all pipelines are carried out by professional inspectors, the labor cost can far exceed the economic benefits brought by the operation of pipeline operation. The maintenance and repair work of the pipeline is professional and complex, the experience of an inspector is also an important factor which can find the fault problem of the pipeline in time, and therefore the cultivation of the talents is particularly important, but the cultivation speed of the talents is difficult to keep up with the mileage increase of the pipeline in time due to the fact that the cultivation of the talents needs to be accumulated by experience, so that the number of the talents owned by the industry is insufficient at present, and the safety inspection of all the pipelines is difficult to guarantee under the condition of insufficient personnel.

With the development of industrial technology, many people think of mechanically compensating for the shortage of manpower in view of the shortage of manual maintenance and repair of pipelines. Therefore, many technical solutions for pipeline inspection are proposed in the prior art, and at present, it is feasible to use a pipeline robot, which can move in a pipeline and detect the conditions inside the pipeline by using a detection device carried by the robot, so as to find out structural damage inside the pipeline, and the like, thereby achieving the purpose of inspection. The conditions in the pipeline are complicated and changeable, so that for the pipeline robot, the key point for the pipeline robot to smoothly complete the pipeline inspection work is to have reliable traveling capability. At present, the moving mechanisms of many pipeline robots are wheel-type, the wheel-type moving mechanisms are simple in structure and easy to design, and the wheel-type moving mechanisms are flexible in movement and can well meet road conditions such as turning, but the wheel-type moving mechanisms are only suitable for traveling on flat roads, and when the road conditions are complex, the wheel-type moving mechanisms are prone to embarrassing situations such as vehicle collapse, but it is conceivable that the conditions inside the pipelines are unpredictable, and the interior of each pipeline cannot be guaranteed to be flat, so that the application range of the pipeline robots adopting the wheel-type moving mechanisms is limited. In view of the above, a pipeline robot with a bionic structure is also provided in the prior art, that is, a robot moving with feet like a human, an insect, etc. has various forms such as two feet, four feet, etc. and can move with only a small ground contact area, so that the adaptability to various road conditions is particularly strong, however, the movement of the bionic pipeline robot can be completed only by the mutual cooperation of the feet, the matching of the feet of the robot is very difficult to reasonably, the development of related programs is not complete, and when one of the feet of the robot is obstructed, for example, hooked by an obstacle, the robot can not continue to move, even turn over, and other embarrassing situations occur, and meanwhile, even if related programs can be complete with the development of the technology in the future, the robot is limited to a special and complex structure, and the manufacturing cost of the bionic pipeline robot is also difficult to reduce.

Because both the wheeled pipeline robot and the bionic pipeline robot are difficult to be widely applied, the crawler-type pipeline robot in the market at present has trafficability superior to the wheeled pipeline robot, can flexibly cross obstacles, has mature and reliable technology and controllable manufacturing cost, has obvious advantages compared with the wheeled pipeline robot and the bionic pipeline robot, and has wide development prospect. However, as the design of the existing pipeline is more and more complex, a pipeline system may have a lot of turns, tees and the like, when the pipeline robot performs inspection, the pipeline robot needs to turn frequently, which is very unfriendly to the tracked pipeline robot, and the steering operation of the tracked pipeline robot is completed by the differential speed of the left and right tracks, so that the turning radius of the tracked pipeline robot is large, the tracked pipeline robot is difficult to flexibly maneuver, and unstable conditions such as sliding and the like are easy to occur during turning. The existing crawler-type pipeline robot is large in size and difficult to adapt to narrow space for guaranteeing turning stability, so that the existing crawler-type pipeline robot is difficult to popularize and apply.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a crawler-type pipeline detector, wherein crawler-type pipeline detector possesses nimble mobility, can adapt to and advance on the route of traveling of many bends to can accomplish the detection achievement to the pipeline in a flexible way.

An object of the utility model is to provide a crawler-type pipeline detector, wherein crawler-type pipeline detector has balanced the performance that turns to, and its equilibrium when turning to is good promptly to it turns to the center stability, is adapted to accomplishing in constrictive pipeline and turns to, possesses reliable practicality.

An object of the utility model is to provide a crawler-type pipeline detector, wherein crawler-type pipeline detector compact structure, small in size therefore is applicable to operation among the miniature pipeline, satisfies the detection demand to small-size pipeline.

An object of the utility model is to provide a crawler-type pipeline detector, wherein crawler-type pipeline detector can reduce the probability of overturning to can continue to advance when the accident of overturning appears, possess reliable trafficability characteristic, avoid appearing the awkward situation of stranded among the pipeline, consequently crawler-type pipeline detector can accomplish the detection achievement to the pipeline reliably.

An object of the utility model is to provide a crawler-type pipeline detector, wherein crawler-type pipeline detector can form the stable contact of triangle with the pipeline in corresponding pipeline to advancing in the pipeline steadily, possessing reliable stability of traveling, thereby can ensure to accomplish smoothly the detection achievement of pipeline.

An object of the utility model is to provide a crawler-type pipeline detector, wherein crawler-type pipeline detector can protect its detection module to avoid its detection module to receive and collide with, thereby guarantee equipment safety, and guarantee going on smoothly of detection achievement.

An object of the utility model is to provide a crawler-type pipeline detector, wherein crawler-type pipeline detector include an organism and set up in two track subassemblies of organism both sides, wherein track subassembly can drive the organism removes, in order to form crawler-type pipeline detector's the advancing, wherein two track subassembly in the structural design of organism can make crawler-type pipeline detector is advancing the in-process, especially turns to the stability of in-process, thereby ensures crawler-type pipeline detector's normal operating.

An object of the utility model is to provide a crawler-type pipeline detector, wherein the organism has a front end and a rear end, wherein each track subassembly includes an action wheel, one from the driving wheel and is arranged in by the cover the action wheel with from the driving wheel and quilt the action wheel with from a track that the driving wheel supported, wherein two track subassembly is with one of them the action wheel is close to track subassembly the action wheel is close to the front end, another track subassembly the action wheel is close to the state of rear end is set up in the organism both sides, so in order to form two track subassembly's two the action wheel is set up in the structural style of organism by the diagonal angle, thereby crawler-type pipeline detector turns to the in-process, two power that the action wheel provided can guarantee balancedly crawler-type pipeline detector's stability, stability crawler-type pipeline detector's steering center, in order to guarantee crawler-type pipeline detector can accomplish smoothly and turn to.

An object of the utility model is to provide a crawler-type pipeline detector, wherein two the track subassembly is with two the state of action wheel diagonal angle is set up in the organism both sides to turning to the in-process, two the power that the action wheel provided can improve crawler-type pipeline detector's flexible flexibility, so that crawler-type pipeline detector accomplishes in a flexible way and turns to, so that crawler-type pipeline detector can be adapted to and carry out work at the pipeline of many bends.

An object of the utility model is to provide a crawler-type pipeline detector, wherein two crawler-type component's two the action wheel by the diagonal angle set up in the organism, thereby be favorable to driving two action wheel pivoted motor in arrangement in the organism makes the structure of organism can be designed compacter, is favorable to crawler-type pipeline detector's miniaturization satisfies the detection demand to small-size pipeline.

An object of the utility model is to provide a crawler-type pipeline detector, wherein crawler-type pipeline detector includes a power component, wherein power component includes two driving motor, wherein two driving motor is used for driving two the action wheel rotates, in order to give the power that crawler-type pipeline detector marchd, wherein two driving motor is held in the organism, and because two the action wheel is set up in the organism by the diagonal angle, thereby make two driving motor can be close to with one of them driving motor the front end, another driving motor is close to the state of rear end is held in the organism, in order to avoid two driving motor is transversely held side by side in the organism, thereby be favorable to reducing the volume of organism, make crawler-type pipeline detector's structure is compacter, is favorable to realizing crawler-type pipeline detector's miniaturization.

An object of the utility model is to provide a crawler-type pipeline detector, wherein crawler-type pipeline detector includes a detection module, wherein detection module is erect in on the organism to be used for detecting the pipeline, thereby satisfy the detection demand to the pipeline, wherein detection module can detect the pipeline comprehensively, with the guarantee crawler-type pipeline detector's detection accuracy.

An object of the utility model is to provide a crawler-type pipeline detector, wherein crawler-type pipeline detector includes a frame, wherein detection module is installed in the frame, the frame is installed in the organism, wherein the height of frame can be adjusted, thereby based on the lift of frame changes detection module's height, so detect in order to be adapted to the different height position of pipeline inside, and can be based on the lift adjustment of frame crawler-type pipeline detector's overall height and be adapted to not unidimensional pipeline, improve crawler-type pipeline detector's practicality.

An object of the utility model is to provide a crawler-type pipeline detector, wherein crawler-type pipeline detector includes an auxiliary wheel, wherein the auxiliary wheel is installed in on the frame, wherein crawler-type pipeline detector is in the in-process that goes on of pipeline, through rising the frame is so that auxiliary wheel butt in the pipeline, thereby auxiliary wheel and two the track subassembly forms the stable triangle contact with the pipeline jointly, with the guarantee crawler-type pipeline detector is in the stability of advancing in the pipeline.

An object of the utility model is to provide a crawler-type pipeline detector, wherein auxiliary wheel and two the track subassembly forms the stable triangle contact with the pipeline jointly to form stable triangular structure in the pipeline, in order to reduce the probability of the crawler-type pipeline detector turning over appears, and based on auxiliary wheel butt in the pipeline, then under the state that the crawler-type pipeline detector turned over appears, auxiliary wheel and two the track subassembly butt can continue to advance in the pipeline, possesses reliable trafficability characteristic, avoids appearing the awkward situation that crawler-type pipeline detector is stranded among the pipeline, consequently crawler-type pipeline detector can accomplish the detection achievement to the pipeline reliably.

An object of the utility model is to provide a crawler-type pipeline detector, wherein based on the auxiliary wheel butt is in the pipeline, then crawler-type pipeline detector receives in the advancing process in its direction of height jolt by the auxiliary wheel buffering, and keeps crawler-type pipeline detector's high peak is located the auxiliary wheel, thereby avoid detection module receives to collide with, and then is favorable to the extension crawler-type pipeline detector's life.

An object of the utility model is to provide a crawler-type pipeline detector, wherein based on the track subassembly is right the improvement of the trafficability characteristic of crawler-type pipeline detector, with the auxiliary wheel is to crawler-type pipeline detector's the buffering of jolting, crawler-type pipeline detector can go forward steadily under the road conditions of jolting, improves crawler-type pipeline detector is to the adaptability of various complicated road conditions.

An object of the present invention is to provide a track-type pipeline detector, wherein the frame includes a base, a mounting rod and a scissor frame disposed between the base and the mounting rod, wherein the base of the frame is mounted in the frame, the detection module is mounted in the mounting rod, wherein the scissor frame includes a first cross arm and a second cross arm, wherein the first cross arm and the second cross arm movably intersect with each other, wherein the base is disposed with a base guide rail, the mounting rod is disposed with a mounting rod guide rail, wherein the first cross arm has a first fixed end and a first movable end, wherein the second cross arm has a second fixed end and a second movable end, wherein the first cross arm is pivotably fixed to the base with the first fixed end, the first movable end of the first cross arm is movably held to the mounting rod guide rail, wherein the second cross arm is pivotably fixed to the second fixed end of the mounting rod guide rail, wherein the second cross arm is movably held to the second fixed end of the mounting rod guide rail, wherein the cross arm is movably held to the second cross arm guide rail, wherein the lifting guide rail is movably secured to the lifting guide rail.

An object of the utility model is to provide a crawler-type pipeline detector, wherein detection module includes an installation department and a detecting head, wherein the installation department is installed in the frame has and is on a parallel with a pivot of crawler-type pipeline detector's direction of height, wherein the detecting head warp the pivot is rotationally installed in the installation department, thereby can warp the detecting head in the rotation of installation department forms the directional change of detecting head, so that the detecting head is wider to the detection range of pipeline, ensures crawler-type pipeline detector is to the comprehensive nature of pipeline detection.

An object of the utility model is to provide a crawler-type pipeline detector, wherein the installation department includes an installation head and a mounting groove, wherein the installation head is installed in the tip of installation pole and has the perpendicular to an installation axle of pivot, wherein the mounting groove is fixed in with its tank bottom the state of installation axle is rotationally installed in the installation head, wherein the pivot set up in the mounting groove, wherein the detecting head warp the pivot is installed in the mounting groove, thereby form the detecting head is rotationally installed in the structural style of installation department, so in order to be based on the lift of frame, and/or the mounting groove for the rotation of installation head and/or the detecting head for the rotation of mounting groove forms the directional change of detecting head, thereby ensure the comprehensiveness of crawler-type pipeline detector to the detection of pipeline promotes the detection accuracy and the testing result reliability of crawler-type pipeline detector.

An object of the utility model is to provide a crawler-type pipeline detector, wherein the detecting head is a thermal infrared imager to detect the pipeline through infrared thermal imaging technique, thereby be favorable to adapting to and spy detection achievement in dark, the low environment of visibility, so in order to be adapted to the inside environment of pipeline, and can ensure the detection accuracy of operation in the pipeline.

An object of the utility model is to provide a crawler-type pipeline detector, wherein the rear end to the direction of front end does crawler-type pipeline detector's direction of advance, wherein detection module is installed in the orientation of installation pole crawler-type pipeline detector's direction of advance's tip, thereby can be right the pipeline that crawler-type pipeline detector does not pass through detects to can in time discover the problem in the place ahead, ensure crawler-type pipeline detector's operation safety.

An object of the utility model is to provide a crawler-type pipeline detector, wherein crawler-type pipeline detector includes a data interface, wherein data interface by communication connection in detection module to derive by the state of corresponding data line access detection module's detection data, wherein data interface preferably with be close to the state of rear end be set up in the base and have with crawler-type pipeline detector's the opposite direction of advance orientation, so that crawler-type pipeline detector state of operation is connected with corresponding data line, avoids corresponding data line winding or blocks crawler-type pipeline detector's the advance.

An object of the utility model is to provide a crawler-type pipeline detector, wherein data interface with detection module is with wired mode communication connection to ensure the reliability of data exchange under various environment, ensure detection module's detection data can be transmitted accurately, wherein crawler-type pipeline detector further includes an at least lead wire ring, in order to be used for guiding corresponding data line wiring, thereby guarantees crawler-type pipeline detector's pleasing to the eye to avoid corresponding data line to be twined in the foreign object.

According to an aspect of the utility model, the utility model provides a crawler-type pipeline detector, wherein crawler-type pipeline detector includes:

a body, wherein the body has a front end and a rear end opposite the front end;

the detection module is erected on the machine body; and

the crawler type pipeline detector comprises two crawler assemblies, wherein each crawler assembly comprises a driving wheel, a driven wheel and a crawler, the crawler is sleeved on the driving wheel and the driven wheel, the two crawler assemblies are respectively arranged on two sides of the machine body, the two crawler assemblies are arranged on two sides of the machine body in a state that the driving wheel of one crawler assembly is close to the front end of the machine body, and the driven wheel of the other crawler assembly is close to the rear end of the machine body, so that the two driving wheels of the two crawler assemblies are diagonally arranged on the machine body, and the steering stability of the crawler type pipeline detector is guaranteed.

In an embodiment of the present invention, the crawler-type pipeline detector includes a frame and an auxiliary wheel, wherein the frame is installed on the machine body to erect the detection module, wherein the auxiliary wheel is installed on the frame to form a stable triangular structure with the two crawler assemblies in the corresponding pipeline.

In an embodiment of the present invention, the crawler-type pipeline detector includes a power assembly, wherein the power assembly includes two driving motors, the two driving motors are respectively used for driving the two driving wheels to rotate, wherein the two driving motors are close to the front end with one of the driving motors, and the other driving motor is accommodated in the machine body in a state close to the rear end.

In an embodiment of the present invention, the frame includes a base, a mounting rod and a scissor rack disposed between the base and the mounting rod, wherein the base of the frame is mounted to the body, the detection module is mounted to the mounting rod, wherein the scissor rack includes a first cross arm and a second cross arm, wherein the first cross arm and the second cross arm movably cross each other, wherein both ends of the first cross arm and the second cross arm are respectively connected to the base and the mounting rod, so that an included angle between the first cross arm and the second cross arm forms a distance adjustment between the base and the mounting rod based on an adjustment, thereby forming a height adjustment to the crawler type pipeline detector.

In an embodiment of the present invention, wherein the base has a base rail, the mounting bar has a mounting bar rail, wherein the first cross arm has a first fixed end and a first movable end, wherein the second cross arm has a second fixed end and a second movable end, wherein the first cross arm with its first fixed end is pivotably fixed to the state of the base, and the first movable end is movably held at the state of the mounting bar rail is connected to the base and the mounting bar, wherein the second cross arm with its second fixed end is pivotably fixed to the state of the mounting bar, and the second movable end is movably held at the state of the base rail is connected to the base and the mounting bar.

In an embodiment of the present invention, the detection module includes a mounting portion and a detection head, wherein the mounting portion is mounted to the frame and has a rotation axis parallel to a height direction of the track type pipeline detector, and the detection head is rotatably mounted to the mounting portion via the rotation axis.

In an embodiment of the present invention, the mounting portion includes a mounting head and a mounting groove, wherein the mounting head is mounted on the end portion of the mounting rod and has a mounting shaft perpendicular to the rotation axis, wherein the mounting groove is rotatably mounted on the mounting head in a state where a groove bottom thereof is fixed to the mounting shaft, wherein the rotation axis is disposed in the mounting groove, wherein the probe is mounted on the mounting groove via the rotation axis, thereby forming a structural form in which the probe is rotatably mounted on the mounting portion.

In an embodiment of the present invention, the direction from the rear end to the front end is the advancing direction of the crawler-type pipeline detector, wherein the detection module is installed at the end of the mounting rod facing the advancing direction of the crawler-type pipeline detector.

In an embodiment of the present invention, wherein the track-type pipe detector includes a data interface, wherein the data interface is communicatively connected to the detection module, wherein the data interface is used to be accessed by a corresponding data line to derive the detection data of the detection module, wherein the data interface is set in the base in a state close to the rear end and has an orientation opposite to the advancing direction of the track-type pipe detector.

In an embodiment of the present invention, the data interface and the detection module are connected by wired communication, wherein the tracked duct detector further includes at least one wire loop for guiding the corresponding data line.

Further objects and advantages of the invention will be fully apparent from the ensuing description and drawings.

Drawings

Fig. 1 is a schematic perspective view of a crawler-type pipeline detector according to an embodiment of the present invention.

Fig. 2 is a schematic top view of the crawler-type pipeline detector according to the above embodiment of the present invention.

Fig. 3 is a schematic view of a disassembled structure of the crawler-type pipeline detector according to the above embodiment of the present invention.

Fig. 4 is a partial structural schematic view of the crawler type pipeline detector according to the above embodiment of the present invention.

Fig. 5 is a partial schematic structural view of the crawler type pipeline detector according to the above embodiment of the present invention.

Fig. 6 is a schematic view of the crawler-type pipeline detector according to the above embodiment of the present invention operating in a corresponding pipeline.

Fig. 7 is a schematic view of the crawler-type pipeline detector according to the above embodiment of the present invention traveling upside down in the corresponding pipeline.

Detailed Description

The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions without departing from the spirit and scope of the invention.

It will be understood by those skilled in the art that in the present disclosure, the terms "vertical," "horizontal," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in a generic and descriptive sense only and not for purposes of limitation, as the terms are used in the specification and are not intended to indicate or imply that the referenced device or element must have the specified orientation, configuration, or operation in the specified orientation.

It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Referring to fig. 1 to 7 of the drawings of the specification of the present invention, according to the present invention, a crawler-type pipeline detector 100 is illustrated, wherein the crawler-type pipeline detector 100 includes a body 10, two crawler assemblies 20 and a detection module 30, wherein the two crawler assemblies 20 are disposed on the body 10 to drive the body 10 to move, so as to realize the movement of the crawler-type pipeline detector 100, wherein the detection module 30 is erected on the body 10 to follow the movement of the body 10 to detect the pipeline in the corresponding pipeline, wherein the crawler-type pipeline detector 100 has flexible mobility and reliable trafficability characteristic, and can travel in complex road conditions to adapt to the detection requirements of different pipelines.

Specifically, wherein each of the track assemblies 20 includes a drive wheel 21, a driven wheel 22 and a track 23, wherein the track 23 is sleeved on the drive wheel 21 and the driven wheel 22 to support the track 23 based on the drive wheel 21 and the driven wheel 22, particularly, the structural design of the track assemblies 20 on the machine body 10 enables stability of the track-type pipe detector 100 during travel, particularly during turning, thereby ensuring proper operation of the track-type pipe detector 100.

In detail, the machine body 10 has a front end 11 and a rear end 12 corresponding to the front end 11, wherein two track assemblies 20 are disposed on both sides of the machine body 10 in a state that the driving wheel 21 of one track assembly 20 is close to the front end 11, and the driving wheel 21 of the other track assembly 20 is close to the rear end 12, so as to form a structure in which the driving wheels 21 of the two track assemblies 20 are diagonally disposed on the machine body 10, so that during the turning of the track type pipe detector 10, the power provided by the two driving wheels 21 can uniformly ensure the stability of the track type pipe detector 100, stabilize the turning center of the track type pipe detector 100, and ensure that the track type pipe detector 100 can smoothly complete the turning.

It is worth mentioning that, since the two track assemblies 20 are disposed on two sides of the machine body 10 in a diagonal state with the driving wheel 21 of one track assembly 20 being close to the front end 11 and the driving wheel 21 of the other track assembly 20 being close to the rear end 12, the power provided by the two driving wheels 21 can improve the maneuverability of the track-type pipe detector 100 during the turning process of the track-type pipe detector 100, so that the track-type pipe detector 100 can flexibly complete the turning, and thus the track-type pipe detector 100 can be adapted to travel on multiple-turn travel paths and flexibly complete the detection work of the pipes in the corresponding pipes.

It should be noted that, also because the two driving wheels 21 of the two track assemblies 20 are disposed diagonally on the machine body 10, the arrangement of the motors for driving the two driving wheels 21 to rotate in the machine body 10 can be optimized, so that the structure of the machine body 10 can be designed to be more compact, which is beneficial to the miniaturization of the track-type pipeline detector 100 and meets the detection requirement of a small-sized pipeline.

Specifically, the track-type pipeline detector 100 includes a power assembly 40, wherein the power assembly 40 includes two driving motors 41, two driving motors 41 are configured to drive two driving wheels 21 to rotate, so as to provide power for the track assembly 20 to travel, two driving motors 41 are housed in the machine body, and due to the configuration that the two driving wheels 21 are diagonally disposed on the machine body 10, the two driving motors 41 of the power assembly 40 can be housed in the machine body 10 in a state that one driving motor 41 is close to the front end 11 and the other driving motor 41 is close to the rear end 12, so as to avoid the two driving motors 41 being housed in the machine body 10 laterally side by side, which is beneficial to reducing the volume of the machine body 10, making the structure of the track-type pipeline detector 100 more compact, and facilitating miniaturization of the track-type pipeline detector 100.

Further, wherein the track-type pipe detector 10 includes a frame 50, wherein the frame 50 is mounted to the machine body 10, wherein the detection module 30 is mounted to the frame 50 so as to be erected on the machine body 10 via the frame 50, wherein preferably in this embodiment of the present invention, the height of the frame 50 can be adjusted so as to change the height of the detection module 30 based on the lifting and lowering of the frame 50, so as to be adapted to detect different height positions inside a pipe, and the overall height of the track-type pipe detector 100 can be adjusted to be adapted to different sizes of pipes based on the lifting and lowering of the frame 50, improving the utility of the track-type pipe detector 100.

Specifically, the chassis 50 includes a base 51, a mounting rod 52, and a scissor frame 53 disposed between the base 51 and the mounting rod 52, wherein the base 51 of the chassis 50 is mounted to the body 10, wherein the detection module 30 is mounted to the mounting rod 52, wherein the scissor frame 53 includes a first cross arm 531 and a second cross arm 532, wherein the first cross arm 531 and the second cross arm 532 are movably crossed with each other, wherein both ends of the first cross arm 531 and the second cross arm 532 are respectively connected to the base 51 and the mounting rod 52, so as to form a distance adjustment between the base 51 and the mounting rod 52 based on adjusting an included angle between the first cross arm 531 and the second cross arm 532, and thus a height adjustment of the tracked duct detector 100.

It is worth mentioning that the frame 50 guarantees stability during lifting based on the first and second cross arms 531, 532 crossing each other, and preferably, to further guarantee the lifting stability of the frame 50, the present invention further guides the movement of the first and second cross arms 531, 532 to further optimize the performance of the frame 50.

In detail, the base 51 is provided with a base guide rail 511, the mounting rod 52 is provided with a mounting rod guide rail 521, the first cross arm 531 has a first fixed end 5311 and a first movable end 5312, the second cross arm 532 has a second fixed end 5321 and a second movable end 5322, the first cross arm 531 is pivotably fixed to the base 51 by the first fixed end 5311 thereof, and the first movable end 5312 of the first cross arm 531 is movably held to the mounting rod guide rail 521, the second cross arm 532 is pivotably fixed to the mounting rod 52 by the second fixed end 5321 thereof, and the second movable end 5322 of the second cross arm 532 is movably held to the base guide rail 511, so that when an angle between the first cross arm 531 and the second cross arm 532 changes, that is, during the raising and lowering of the rack 50, the first movable end 5312 of the first cross arm 531 is movably guided to the mounting rod guide rail 521, the movable guide rail is guided by the mounting rod guide rail 521 to the base guide rail 511 by the movable end 53532 of the mounting rod guide rail 521, thereby ensuring stability of the mounting rod guide rail 521 to the cross arm 521 based on the angle of the movable end 53532 of the mounting rod guide rail 511 and the cross arm 532.

In particular, in this embodiment of the present invention, wherein the second cross arm 532 is held by the first cross arm 531, thereby ensuring the structural stability of the mutual intersection between the first cross arm 531 and the second cross arm 532, in particular, wherein the first cross arm 531 comprises two longitudinal rods 533 and a transverse rod 534 connecting the two longitudinal rods 533, wherein the two longitudinal rods 533 are arranged in parallel, and the second cross arm 532 is arranged between the two longitudinal rods 533, thereby being held by the two longitudinal rods 533, thereby ensuring the structural stability between the first cross arm 531 and the second cross arm 532, wherein one pair of the two longitudinal rods 533 are pivotably fixed to the base 51, so as to form the structural configuration in which the first cross arm 531 is pivotably fixed to the base 51, and wherein the other pair of the longitudinal rods 533 are connected by a slide rod 5315, the slide rod 5315 being held to the mounting rod guide rail, so that the first cross arm 531 is movably held by the mounting rod 521 fixed end 12.

It will be appreciated that equivalently, in some embodiments of the invention wherein the first cross arm 531 is held by the second cross arm 532, the effect is the same as the second cross arm 532 being held by the first cross arm 531.

In particular, in this embodiment of the present invention, in which the frame 50 is detachably mounted to the machine body 10, so as to facilitate maintenance or replacement of parts of the track-type pipeline detector 30 based on the disassembly of the frame 50, it can be understood by those skilled in the art that, in some embodiments, the frame 50 may be non-detachably connected to the machine body 10, and the present invention is not limited thereto.

It is worth mentioning that the detection module 30 can flexibly rotate, so as to comprehensively detect the pipeline, so as to ensure the detection accuracy of the track type pipeline detector 100, specifically, the detection module 30 includes a mounting portion 31 and a detection head 32, wherein the mounting portion 31 is mounted on the rack 50 and has a rotating shaft 310 parallel to the height direction of the track type pipeline detector 100, and the detection head 32 is rotatably mounted on the mounting portion 31 via the rotating shaft 310, so as to form the change of the orientation of the detection head 32 via the rotation of the detection head 32 on the mounting portion 31, so that the detection range of the detection head 32 on the pipeline is wider, and the comprehensiveness of the pipeline detection by the track type pipeline detector 100 is ensured.

Further, the mounting portion 31 includes a mounting head 311 and a mounting groove 312, wherein the mounting head 311 is mounted at the end of the mounting rod 52 and has a mounting shaft 3110 perpendicular to the rotating shaft 310, wherein the mounting groove 312 is rotatably mounted to the mounting head 311 in a state that the groove bottom thereof is fixed to the mounting shaft 3110, wherein the rotating shaft 310 is disposed in the mounting groove 312, wherein the probing head 32 is mounted to the mounting groove 312 via the rotating shaft 310, thereby forming a structural configuration in which the probing head 32 is rotatably mounted to the mounting portion 31, so as to form a change in the orientation of the probing head 311 based on the lifting and lowering of the rack 50, and/or the rotation of the mounting groove 312 relative to the mounting head 311 and/or the rotation of the probing head 32 relative to the mounting groove 312, thereby ensuring the overall pipeline detection performance of the track type pipeline detector 200, and improving the detection accuracy and the detection result reliability of the track type pipeline detector 100.

Preferably, the detection module 30 is disposed in a state of facing the advancing direction of the track-type pipe detector 100, specifically, the direction of the rear end 12 towards the front end 11 is the advancing direction of the track-type pipe detector 100, wherein the detection module 30 is mounted at the end of the mounting rod 52 facing the advancing direction of the track-type pipe detector 10, so that the detection module 30 faces the advancing direction of the track-type pipe detector 100, thereby detecting a pipe which is not passed by the track-type pipe detector 100, so as to find a problem ahead in time and ensure the operation safety of the track-type pipe detector 100.

It is worth mentioning, specifically be in this embodiment of the utility model, wherein detecting head 32 is implemented as a thermal infrared imager to detect the pipeline through infrared thermal imaging technique, thereby be favorable to adapting to and visit detection achievement in dark, the low environment of visibility, compare in the present mode that adopts CCTV video monitoring detection pipeline and be adapted to the environment of the inside dark of pipeline, thereby can ensure the detection accuracy to the pipeline.

It is also worth mentioning that, in this embodiment of the present invention, the detection module 30 is detachably mounted to the frame 50, so as to replace the type of the detection module 30 according to the actual use condition, or to facilitate the maintenance and repair of the detection module 30, and the like, and also in some embodiments, the detection module 30 is non-detachably mounted to the frame 50, so as to improve the integrity of the track-type pipeline detector 100, which is not limited by the present invention.

In particular, the tracked duct detector 100 can be in triangular stable contact with a duct in a corresponding duct to stably travel in the duct, and has reliable running stability, so that the detection work of the duct can be smoothly completed, and in particular, the tracked duct detector 100 comprises an auxiliary wheel 60, wherein the auxiliary wheel 60 is arranged on the frame 50, wherein the highest point of the height of the tracked duct detector 100 is located at the auxiliary wheel 60, and with reference to fig. 6 in detail, during the process of the tracked duct detector 100 on the duct, the auxiliary wheel 60 and the two track assemblies 20 jointly form a stable triangle contact with the duct by lifting the frame 50 to enable the auxiliary wheel 60 to abut against the duct, so that the stability of the tracked duct detector 100 in the duct is ensured.

In other words, the track-type duct detector 100 has a triangular structure in which the two track assemblies 20 and the auxiliary wheel 60 abut against the inner wall of the duct, so that the stability of the track-type duct detector 100 in the duct is maintained, and particularly, in the case of a circular duct, the track-type duct detector 100 forms a stable triangular stress structure in the pipe diameter of the circular duct, so that the probability of the track-type duct detector 100 turning over can be greatly reduced.

And referring to fig. 7, even if the track type pipeline detector 100 turns over during operation, the auxiliary wheel 60 and the two track assemblies 20 can continue to travel when the auxiliary wheel 60 abuts against the pipeline, and the track type pipeline detector is not limited by angular deviation and has reliable passing performance, so that the embarrassment situation that the track type pipeline detector 100 is trapped in the pipeline can be avoided, and the track type pipeline detector 100 can reliably complete the detection of the pipeline.

It should be noted that, when the auxiliary wheel 60 abuts against the pipeline, the auxiliary wheel 60 buffers the jolt of the track-type pipeline detector 100 in the height direction during the traveling process, and since the highest point of the height of the track-type pipeline detector 100 is located at the auxiliary wheel 60, the height of the detection module 30 is lower than that of the auxiliary wheel 60, so as to avoid the detection module 30 colliding with the pipeline, and further facilitate prolonging the service life of the track-type pipeline detector 100.

In addition, when the auxiliary wheel 60 abuts against the pipeline to form a stable triangular structure with the two track assemblies 20 in the pipeline, the auxiliary wheel 60 can buffer the jolt of the track type pipeline detector 100 in the process of running, and based on the improvement of the passing performance of the track type pipeline detector 100 by the characteristics of the track assemblies 20, the track type pipeline detector 100 can stably run under the jolt road condition, so that the adaptability of the track type pipeline detector 100 to various complex road conditions is improved.

Further, the track-type pipeline detector 100 comprises a data interface 70, wherein the data interface 70 is communicatively connected to the detection module 30, wherein a corresponding data line can be connected to the data interface 70 in a pluggable manner, wherein the data interface 70 is configured to derive the detection data of the detection module 30 in a state of being accessed by the corresponding data line, so as to transmit the detection data to a corresponding terminal device through the corresponding data line, so that a detection result of the track-type pipeline detector 100 on a pipeline can be known to a detection person.

In particular, wherein the data interface 70 is preferably arranged on the base 51 in a condition close to the rear end 12 and has an orientation opposite to the advancing direction of the track-type duct detector 100, so as to enable the respective data line to be inserted into the data interface 70 without affecting the travel of the track-type duct detector 100, avoiding the respective data line from wrapping around or blocking the advance of the track-type duct detector 100, thus facilitating the connection with the respective data line in a condition of operation of the track-type duct detector 100, for the real-time transmission of the respective detection data.

It should be noted that, in order to ensure the reliability of the communication connection between the data interface 70 and the detection module 30 and avoid the communication between the data interface 70 and the detection module 30 from being interfered by a harsh environment, the data interface 70 and the detection module 30 are in communication connection in a wired manner, that is, the data interface 70 and the detection module 30 are in communication connection through a data line, so as to ensure the reliability of data exchange under various environments and ensure that the detection data of the detection module 30 can be accurately transmitted. It will be appreciated by those skilled in the art that in some embodiments, the data interface 70 and the detection module 30 may also be communicatively coupled in a wireless manner, such as bluetooth.

In particular, for the purpose of facilitating and standardizing wiring, the track-type pipe detector 100 further includes at least one wire loop 80 for guiding the corresponding data wire wiring, thereby standardizing the arrangement of the data wire on the surface of the track-type pipe detector 100, ensuring the aesthetic appearance of the track-type pipe detector 100, and preventing the corresponding data wire from being wound around a foreign object.

That is, the track type pipeline detector 100 has flexible maneuvering characteristics and a compact structure, has good trafficability and adaptability to various pipelines, and at the same time, the track type pipeline detector 100 can form a stable triangle contact with a pipeline in the corresponding pipeline, and the stability of the track type pipeline detector 100 in traveling in the pipeline is guaranteed, so that the track type pipeline detector 100 can be reliably used for detecting the pipeline, and can be widely applied and popularized.

It will be understood by those skilled in the art that the embodiments of the present invention as described above and shown in the drawings are given by way of example only and are not limiting of the present invention. The objects of the present invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the embodiments without departing from the principles, embodiments of the present invention may have any deformation or modification.

Claims (10)

1. A track-type pipeline detector, comprising:

a body, wherein the body has a front end and a rear end opposite the front end;

the detection module is erected on the machine body; and

the crawler belt assembly comprises a driving wheel, a driven wheel and a crawler belt, wherein the crawler belt is sleeved on the driving wheel and the driven wheel, the two crawler belt assemblies are respectively arranged on two sides of the machine body, the driving wheel of one crawler belt assembly is close to the front end of the machine body, the driven wheel of the other crawler belt assembly is close to the rear end of the machine body and is arranged on two sides of the machine body, and therefore the two driving wheels of the two crawler belt assemblies are diagonally arranged on the machine body, and steering stability of the crawler belt pipeline detector is guaranteed.

2. A tracked pipeline detector according to claim 1, wherein the tracked pipeline detector comprises a frame and an auxiliary wheel, wherein the frame is mounted on the body to erect the detection module, and wherein the auxiliary wheel is mounted on the frame to enable a stable triangular configuration to be formed with both track assemblies in the respective pipeline.

3. The tracked pipe detector according to claim 2, wherein the tracked pipe detector comprises a power assembly, wherein the power assembly comprises two driving motors, each driving motor being configured to drive two driving wheels to rotate, wherein the two driving motors are accommodated in the body in a state that one driving motor is close to the front end, and the other driving motor is close to the rear end.

4. The tracked duct detector according to claim 3, wherein frame comprises a base, a mounting bar, and a scissor frame disposed between said base and said mounting bar, wherein said base of said frame is mounted to said body, said detection module being mounted to said mounting bar, wherein said scissor frame comprises a first cross arm and a second cross arm, wherein said first cross arm and said second cross arm movably cross each other, wherein both ends of said first cross arm and said second cross arm are connected to said base and said mounting bar, respectively, thereby forming a distance adjustment between said base and said mounting bar based on adjusting an included angle between said first cross arm and said second cross arm, thereby forming a height adjustment for said tracked duct detector.

5. The track-type pipe detector of claim 4, wherein said base has a base rail and said mounting bar has a mounting bar rail, wherein said first cross arm has a first fixed end and a first movable end, wherein said second cross arm has a second fixed end and a second movable end, wherein said first cross arm is connected to said base and said mounting bar with said first fixed end pivotally secured to said base and said first movable end movably retained to said mounting bar rail, wherein said second cross arm is connected to said base and said mounting bar with said second fixed end pivotally secured to said mounting bar and said second movable end movably retained to said base rail.

6. The tracked duct detector of claim 4, wherein said detection module includes a mounting portion and a detector head, wherein said mounting portion is mounted to said frame and has an axis of rotation parallel to the height of said tracked duct detector, said detector head being rotatably mounted to said mounting portion via said axis of rotation.

7. The track-type pipe detector according to claim 6, wherein said mounting portion includes a mounting head and a mounting slot, wherein said mounting head is mounted to an end of said mounting rod and has a mounting shaft perpendicular to said pivot axis, wherein said mounting slot is rotatably mounted to said mounting head with its slot bottom fixed to said mounting shaft, wherein said pivot axis is disposed in said mounting slot, wherein said probing head is mounted to said mounting slot via said pivot axis to form a configuration in which said probing head is rotatably mounted to said mounting portion.

8. The track type pipe detector of claim 4, wherein the direction of the rear end toward the front end is a direction of travel of the track type pipe detector, wherein the detection module is mounted to an end of the mounting bar facing the direction of travel of the track type pipe detector.

9. The track type pipe detector of claim 8, wherein the track type pipe detector includes a data interface, wherein the data interface is communicatively coupled to the detection module, wherein the data interface is configured to be accessed by a corresponding data line to derive detection data of the detection module, wherein the data interface is disposed on the base proximate the rear end and has an orientation opposite to a direction of travel of the track type pipe detector.

10. The tracked pipe detector according to claim 9, wherein said data interface and said detection module are communicatively connected by wire, wherein said tracked pipe detector further comprises at least one wire loop for guiding a respective data wire.

Images