WO2019019461A1 - 一种管道内摄影装置 - Google Patents

一种管道内摄影装置 Download PDF

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Publication number
WO2019019461A1
WO2019019461A1 PCT/CN2017/108841 CN2017108841W WO2019019461A1 WO 2019019461 A1 WO2019019461 A1 WO 2019019461A1 CN 2017108841 W CN2017108841 W CN 2017108841W WO 2019019461 A1 WO2019019461 A1 WO 2019019461A1
Authority
WO
WIPO (PCT)
Prior art keywords
shaft
gear
bracket
sun gear
outer circumference
Prior art date
Application number
PCT/CN2017/108841
Other languages
English (en)
French (fr)
Inventor
何家骥
文华平
罗志农
梁惠群
周韶英
Original Assignee
广船国际有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 广船国际有限公司 filed Critical 广船国际有限公司
Publication of WO2019019461A1 publication Critical patent/WO2019019461A1/zh

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/555—Constructional details for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing

Definitions

  • the invention relates to the technical field of pipeline system operation, in particular to an in-pipe photographic device.
  • Some pipes have a large length and a large number of bends.
  • an endoscope since there is no walking device that assists the movement of the endoscope, only a plastic tube or the like can be used to push the endoscope forward.
  • the mirror moves, but it cannot pass a large number of elbow positions.
  • the pipe segment can be removed for processing; if the pipe dismantling method is adopted, the pipe connected by a detachable pipe such as a flange can be directly removed.
  • a detachable pipe such as a flange
  • a drive shaft having opposite first and second ends;
  • bracket having a circular shape, the shaft center of the bracket being connected to the first end, and the outer circumference of the bracket is spaced apart by a plurality of rollers contacting the inner wall of the duct;
  • the driving device is connected to the second end, and the driving device can transmit a torque to the bracket through the transmission flexible shaft to drive the bracket to move along a length of the pipe;
  • the photographic assembly being located on a side of the bracket remote from the driving device and coupled to an axis of the bracket.
  • the bracket includes a first bracket and a second bracket that are spaced apart, the first bracket includes a first central axis and a first portion disposed on a periphery of the first central axis a bracket body, the first bracket body being rotatable about an axis of the first central axis, the second bracket comprising a second central shaft and a second bracket body disposed on an outer circumference of the second central shaft, The second bracket body is rotatable about an axis of the second central axis;
  • the photographic assembly includes a connecting shaft and a camera movably disposed on the connecting shaft;
  • the transmission flexible shaft includes a first transmission flexible shaft and a second transmission flexible shaft, and one end of the first central shaft is connected to the second central shaft through the first transmission flexible shaft, and the other end is The connecting shaft is connected, and one end of the second central shaft away from the first central shaft is connected to the driving device through the second transmission flexible shaft.
  • the outer circumference of the first central shaft is connected to the first bracket body through a first gear set, and the outer circumference of the second central shaft passes through the second gear set and The second bracket body is connected, the number of gears of the first gear set is an odd number, and the number of gears of the second gear set is an even number.
  • the first gear set includes a first sun gear, a first intermediate gear, and a first gear housing in a radial direction of the first central axis.
  • the first sun gear is fixedly mounted on an outer circumference of the first center shaft and meshes with the first intermediate gear, and an inner circumference of the first gear housing has internal teeth that mesh with the first intermediate gear,
  • the first bracket body is disposed at an outer circumference of the first gear housing;
  • the second gear set includes a second sun gear, a second intermediate gear, a third intermediate gear, and a second gear housing, and the second sun gear is fixedly mounted An outer circumference of the second central shaft and meshed with the third intermediate gear through the second intermediate gear, the inner circumference of the second gear housing having a gear meshing with the third intermediate gear, the The second bracket body is disposed on an outer circumference of the second gear housing.
  • the first intermediate gear is fixed by a sleeve of the first central shaft, and between the sleeve of the first central shaft and the first central shaft Set a first yield zone;
  • the second intermediate gear and the third intermediate gear are fixed by a sleeve of the second central shaft, and a second retaining zone is disposed between the sleeve of the second central shaft and the second central shaft ;
  • the driving device includes a control portion having a first position and a second position, and when the control portion is located in the first position, the first sun gear is located in the first yielding zone The second sun gear is located in the second yielding zone to separate the first sun gear from the first intermediate gear, and the second sun gear is separated from the second intermediate gear; When the control portion is in the second position, the first sun gear meshes with the first intermediate gear, and the second sun gear meshes with the second intermediate gear.
  • the first position sequentially includes a first sub-position and a second sub-position in a direction close to the photographic assembly
  • the first re-seat area includes the first a yielding partition and a second yielding partition
  • the second yielding zone sequentially including a third yielding partition and a fourth yielding partition
  • the photographic assembly further includes a connector, a connecting sleeve movably disposed on an outer circumference of the connecting shaft, and a positioning ring mounted on an outer circumference of the connecting sleeve, an outer circumference of the connecting shaft and located at the connecting sleeve away from the
  • One side of the first bracket is provided with a rotating seat, one end of the connecting head is connected to the camera, and the other end is rotatably connected to the rotating seat through a first pin shaft, and the positioning ring can surround the connecting sleeve The axis rotates relative to the connecting sleeve, and the positioning ring is drivingly connected to the camera through a connecting rod;
  • One end of the connecting sleeve away from the rotating seat is fixedly connected with the sleeve of the first central shaft, the connecting shaft is selectively connected with the first central shaft; when the control portion is located at the first a sub-position, the first sun gear is located in the first yielding zone, and the second sun gear is located in the third yielding zone to separate the first sun gear from the first intermediate gear And the second sun gear is separated from the second intermediate gear, and the connecting shaft is not connected to the first central axis; when the control portion is located at the second sub-position, the first a sun gear is located in the second yielding zone, the second sun gear is located in the fourth yielding zone to separate the first sun gear from the first intermediate gear, and the second sun gear Separating from the second intermediate gear, and the connecting shaft is coupled to the first central shaft, the camera is rotated clockwise about the axis of the first pin to be adjacent to the positioning ring.
  • one end of the connecting rod is connected to the positioning ring through a second pin shaft, and the other end is connected to the connecting head through a third pin shaft, the third pin shaft Adjacent to the camera, an axis of the first pin shaft, the second pin shaft and the third pin shaft is parallel and perpendicular to an axis of the connecting shaft, and the control portion is located at the second sub-position
  • the driving device drives the connecting shaft to move away from the first bracket relative to the connecting sleeve to rotate the camera.
  • the driving device further includes an electric motor and a hollow shaft connected to the output shaft of the electric motor, and the hollow shaft is coupled to the second transmission flexible shaft, a hollow sleeve is disposed outside the hollow shaft, and the hollow sleeve is provided with a dial hole along the longitudinal direction of the hollow shaft, and one end of the control portion is selectively inserted into the dial hole and the hollow shaft Connected to urge the hollow shaft to move along its length.
  • the hollow shaft is connected to the second transmission flexible shaft through a card shaft, and the dial shaft is fixed with a dial block, and one end of the control portion is provided with The card slot of the dial block card is matched.
  • the outer circumference of the output shaft of the electric motor is fixedly provided with a first gear
  • the outer circumference of the hollow shaft is provided with a second gear, the first gear and the second Gear meshing.
  • the invention has the beneficial effects that the in-pipe photographic device of the invention can drive the transmission flexible shaft to rotate and transmit the torque of the transmission flexible shaft to the bracket, so that the bracket drives the photographic assembly to move along the length of the pipeline in the pipeline.
  • the inner surface of the pipe is observed through the photographic assembly, and the object to be transported can also be placed in front of the moving direction of the bracket, and the object to be transported is transported to the target position through the bracket, and The movement of the stent within the pipe is not affected by the shape of the pipe.
  • the in-pipe photographic device of the invention is applied to the inner surface of the pipeline for observation, and the pipeline is not required to be removed or cut, which can save a lot of manpower, material resources and time.
  • FIG. 1 is an exploded perspective view of an in-pipe photographic apparatus according to an embodiment of the present invention.
  • Figure 2 is a cross-sectional view taken along line A-A of Figure 1.
  • Figure 3 is a cross-sectional view taken along line B-B of Figure 1.
  • Figure 4 is an enlarged view of a portion I of Figure 1.
  • Figure 5 is an enlarged view of a portion II of Figure 1.
  • Figure 6 is an enlarged view of a portion III of Figure 1.
  • Fig. 7 is a view showing a first use state of the photographing assembly of the embodiment of the present invention.
  • Figure 8 is a view showing a second state of use of the photographing assembly of the embodiment of the present invention.
  • FIG. 9 is a schematic structural view of a pipeline internal processing apparatus according to an embodiment of the present invention.
  • transmission flexible shaft 110, first transmission flexible shaft; 120, second transmission flexible shaft;
  • bracket 210, first bracket; 211, first central shaft; 212, first bracket body; 213, first sun gear; 214, first intermediate gear; 215, first gear housing; a roller; 220, a second bracket; 221, a second central shaft; 222, a second bracket body; 223, a second sun gear; 224, a second intermediate gear; 225, a third intermediate gear; 226, a second gear housing ;227, the second roller;
  • 300 drive device; 310, control unit; 320, motor; 330, hollow shaft; 331, long hole; 340, hollow sleeve; 341, dial hole; 350, card shaft; 351, convex key; 352, dial block; 360, the first gear; 370, the second gear;
  • first”, “second”, “third”, “fourth” are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first”, “second”, “third”, “fourth” may include one or more of the features, either explicitly or implicitly.
  • the terms "fixed” and “connected” are to be understood broadly, and may be, for example, a fixed connection, a detachable connection, or an integral;
  • the connection may also be an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and may be internal communication of two components or an interaction relationship of two components.
  • the specific meaning of the above terms in the present invention can be understood in a specific case by those skilled in the art.
  • the first feature "on” or “under” the second feature may include direct contact of the first and second features, and may also include first and second features, unless otherwise specifically defined and defined. It is not in direct contact but through additional features between them.
  • the first feature "on” the second feature includes the first feature directly above and above the second feature, or merely indicating that the first feature is at a higher level than the second feature.
  • the first feature "under” the second feature includes the first feature directly below and below the second feature, or merely indicating that the first feature level is less than the second feature.
  • the in-pipe photographic apparatus includes: a transmission flexible shaft 100 having a first end and a second end; and a bracket 200 having a circular shape and a bracket 200
  • the shaft center is connected to the first end, and the outer circumference of the bracket 200 is spaced apart from the roller which is in contact with the inner wall of the pipe 1.
  • the driving device 300 is connected to the second end, and the driving device 300 can torque the shaft through the transmission shaft 100. Transfer to the bracket 200 to drive the bracket 200 to move along the length of the duct 1; the photographing assembly 500, the photographing assembly 500 is located on the side of the bracket 200 away from the driving device 300, and is connected to the shaft center of the bracket 200.
  • the outer circumference of the bracket 200 is provided in rolling contact with the inner wall of the duct 1.
  • the roller 200 is connected to the driving device 300 through the transmission flexible shaft 100.
  • the driving device 300 can drive the transmission flexible shaft 100 to rotate and transmit the torque of the transmission flexible shaft 100 to the bracket 200, so that the bracket 200 drives the photographic assembly 500 in the pipeline 1
  • the inner portion moves along the length of the pipe 1 to convey the photographic assembly 500 to a predetermined position, and the inner surface of the pipe 1 is observed by the photographic assembly 500.
  • the object to be transported can also be placed in front of the moving direction of the bracket 200, and the object to be transported is transported to the predetermined position by the bracket 200, and the movement of the bracket 200 in the duct 1 is not affected by the shape of the duct 1. influences.
  • the in-pipe photographic device of the present invention is applied to the inner surface of the pipe 1, and the pipe 1 is not required to be removed or cut, which can save a lot of manpower, material resources and time.
  • the bracket 200 may be a flexible deformable structure such that when the bracket 200 moves within the duct 1, if the duct 1 is bent and the inner diameter becomes small, the bracket 200 can smoothly move within the duct 1.
  • the bracket 200 includes a first bracket 210 and a second bracket 220 that are spaced apart.
  • the first bracket 210 includes a first central shaft 211 and a first bracket body 212 disposed on an outer circumference of the first central shaft 211.
  • the first bracket body 212 Rotatable about an axis of the first central axis 211
  • the second bracket 220 includes a second central shaft 221 and a second bracket body 222 disposed on an outer circumference of the second central shaft 221, and the second bracket body 222 is rotatable around the second central axis 221
  • the camera assembly 500 includes a connecting shaft 510 and a camera 520 movably disposed on the connecting shaft 510.
  • the transmission flexible shaft 100 includes a first transmission flexible shaft 110 and a second transmission flexible shaft 120 spaced apart from each other, and the first central shaft 211 One end is connected to the second central shaft 221 through the first transmission flexible shaft 110, the other end is connected to the connecting shaft 510, and one end of the second central shaft 221 away from the first central shaft 211 is connected to the driving device 300 through the second transmission flexible shaft 120.
  • the bracket 200 is not limited to two, and the number thereof may be designed according to the size of the duct 1.
  • the second bracket 220 Since the two brackets are connected by the first transmission flexible shaft 110, the second bracket 220 is connected to the driving device 300 through the second transmission flexible shaft 120, and the driving device 300 can transmit the power (torque) to the second transmission flexible shaft 120 to The second bracket 220, the second bracket 220 passes the first pass
  • the movable flexible shaft 110 transmits power to the first bracket 210, and the two brackets are simultaneously advanced or retracted to convey the camera 520 to a predetermined position.
  • first transmission flexible shaft 110 and the second transmission flexible shaft 120 each include a flexible transmission shaft body and a flexible protective sleeve disposed on the outer circumference of the flexible transmission shaft.
  • the first central shaft 211, the second central shaft 221, the first transmission flexible shaft 110 and the second transmission flexible shaft 120 have opposite first and second ends, wherein the first end is close to the driving device 300, the second end is away from the driving device 300, the first end is provided with a concave connecting pair, the second end is provided with a convex connecting pair, and the first central shaft 211 and the second central shaft 221 are both hollow structures, concave connecting pairs and
  • the male coupling pairs are mounted inside the first central shaft 211 and the second central shaft 221, and are fixed by a snap ring.
  • a first connection between the first central shaft 211 and the first transmission flexible shaft 110, between the first transmission flexible shaft 110 and the second central shaft 221, and between the second central shaft 221 and the second transmission flexible shaft 120 respectively The connection of the male connection pair is connected.
  • the first bracket body 212 and the second bracket body 222 rotate in opposite directions.
  • the first bracket 210 reacts to the first transmission flexible shaft 110, that is, the first bracket 210 has a reaction force to the first transmission flexible shaft 110. If there is only one first bracket 210, if the reaction force is greater than the torque of the first transmission flexible shaft 110 The first bracket 210 will rotate, and the second bracket body 222 rotates in the clockwise direction, and the reaction force of the second bracket 220 against the first transmission flexible shaft 110 can cancel the first bracket body 212 to the first transmission soft.
  • the reaction force of the shaft 110 causes the first bracket body 212 to smoothly rotate.
  • the outer circumference of the first central shaft 211 is connected to the first bracket body 212 through the first gear set, and the outer circumference of the second central shaft 221 is connected to the second bracket body 222 through the second gear set, and the number of gears of the first gear set Odd, the number of gears of the second gear set is even, to ensure the first bracket body
  • the rotation direction of the 212 and the second bracket body 222 is opposite.
  • the first gear set includes a first sun gear 213, a first intermediate gear 214, and a first gear housing 215, and the first sun gear 213 is fixedly mounted on the first central axis.
  • the outer circumference of the second gear housing 215 is engaged with the first intermediate gear 214, the inner circumference of the first gear housing 215 has internal teeth that mesh with the first intermediate gear 214, and the first bracket body 212 is disposed on the outer circumference of the first gear housing 215;
  • the sleeve of the first central shaft 211 is provided with a first gear mounting hole, the first intermediate gear 214 is installed in the first gear mounting hole, and the first gear housing 215 is mounted on the first central shaft by two bearings
  • the outer part of the sleeve of 211 is fixed by a cover plate.
  • the second gear set includes a second sun gear 223, a second intermediate gear 224, a third intermediate gear 225, and a second gear housing 226, and the second sun gear 223 is fixedly mounted.
  • the outer circumference of the two central shafts 221 is engaged with the third intermediate gear 225 through the second intermediate gear 224, the inner circumference of the second gear housing 226 has a gear meshing with the third intermediate gear 225, and the second bracket body 222 is disposed at the The outer circumference of the two gear housings 226.
  • the sleeve of the second central shaft 221 is provided with a second gear mounting hole, the second intermediate gear 224 and the third intermediate gear 225 are mounted in the second gear mounting hole, and the second gear housing 226 passes through two bearings It is mounted on the outside of the sleeve of the second central shaft 221 and is fixed by a cover plate, respectively.
  • the first bracket body 212 includes a plurality of first bracket plates disposed on the outer circumference of the first gear housing 215.
  • the first bracket plates are inclined in the same direction and are away from the end of the first gear housing 215.
  • the first roller 216 is disposed, and the tilt direction of the first bracket plate is opposite to the rotation direction of the first bracket 210.
  • the second bracket body 222 includes a plurality of second bracket plates disposed on the outer circumference of the second gear housing 226.
  • the two bracket plates have the same inclination direction, and the second roller 227 is disposed at one end of the second gear housing 226.
  • the inclination direction of the second bracket plate is opposite to the rotation direction of the second bracket 220; the first bracket plate and the second bracket
  • the bracket plates are all flexible boards.
  • first bracket plate and the second bracket plate are opposite to the direction of rotation thereof, and the first bracket plate and the second bracket plate are both flexible plates, which can be adapted during rotation
  • first bracket plate and the second bracket plate may be pressure-deformed on the pipe wall to match the pipe diameter so that it is in the pipe 1 The movement is smoother.
  • the first roller 216 and the second roller 217 can be detachably coupled to the first bracket body 212 and the second bracket body 222, respectively, so that different rollers can be replaced in use to achieve different operations. For example, replacing the roller with a brush on the outer periphery can clean the inner wall of the pipe, and replace the roller with a frosted layer to polish and rust the inner wall of the pipe.
  • the first roller 216 is in rolling contact with the inner wall of the pipe 1, and the axis of the first roller 216 is inclined toward the side away from the driving device 300; the second roller 227 is in rolling contact with the inner wall of the pipe 1. And the axis of the second roller 227 is inclined toward the side close to the driving device 300, and the inclined design of the two rollers can respectively increase the moving power of the corresponding bracket body.
  • the first intermediate gear 214 is fixed by the sleeve of the first central shaft 211, and the first retaining area 410 is disposed between the sleeve of the first central shaft 211 and the first central shaft 211; the second intermediate gear 224 and The third intermediate gear 225 is fixed by the sleeve of the second central shaft 221, and the second retaining area 420 is disposed between the sleeve of the second central shaft 221 and the second central shaft 221; the driving device 300 includes a control unit 310 for controlling The portion 310 has a first position and a second position.
  • the control portion 310 When the control portion 310 is in the first position, the first sun gear 213 is located in the first yielding zone 410, and the second sun gear 223 is located in the second yielding zone 420. A central gear 213 is separated from the first intermediate gear 214, and the second sun gear 223 is separated from the second intermediate gear 224; when the control portion 310 is in the second position, the first sun gear 213 is meshed with the first intermediate gear 214, The two sun gears 223 mesh with the second intermediate gear 224.
  • the control portion 310 can selectively control the first sun gear 213 to be located in the first yielding zone and the second sun gear 223 to be located in the second yielding zone 420, thereby stopping the movement of the two brackets in the duct 1.
  • the first position sequentially includes a first sub-position and a second sub-position in a direction close to the photographic assembly 400.
  • the first yielding area 410 includes a first yielding partition and a second yielding partition
  • the second yielding area 420 includes a third yielding partition and a fourth yielding partition in sequence;
  • the photographing assembly 500 further includes a connecting head 530, a connecting sleeve 540 movably disposed on the outer circumference of the connecting shaft 510, and a positioning ring 550 mounted on the outer circumference of the connecting sleeve 540, connecting the outer circumference of the shaft 510 and located at the connecting sleeve 540 away from the first bracket 210
  • One side of the connecting head 530 is provided with a rotating base 560.
  • One end of the connecting head 530 is connected with the camera 520, and the other end is rotatably connected to the rotating base 560 through a first pin shaft.
  • the positioning ring 550 is rotatable about the axis of the connecting sleeve 540 with respect to the connecting sleeve 540.
  • Rotating, and the positioning ring 550 is drivingly connected to the camera 520 through the connecting rod 570; one end of the connecting sleeve 540 away from the rotating base 560 is fixedly connected with the sleeve of the first central shaft 211, and the connecting shaft 510 is selectively connected with the first central shaft 211.
  • the control portion 310 is in the first sub-position, the first sun gear 213 is located in the first yielding zone, and the second sun gear 223 is located in the third yielding zone to separate the first sun gear 213 from the first intermediate gear 214.
  • the second sun gear 223 is separated from the second intermediate gear 224, and the connecting shaft 510 is not connected to the first central axis 211; when the control portion 310 is in the second sub-position, the first sun gear 213 is located at the second Positioning, the second sun gear 223 is located in the fourth yielding zone to separate the first sun gear 213 from the first intermediate gear 214, and the second sun gear 223 is separated from the second intermediate gear 224, and the connecting shaft 510 and the A central shaft 211 is coupled, and the camera 520 is rotated clockwise about the axis of the first pin to the positioning ring 550.
  • the initial angle between the camera 520 and the connecting sleeve 540 is 90°.
  • the first sun gear 213 is meshed with the first intermediate gear 214
  • the second sun gear 223 is meshed with the second intermediate gear 224
  • the driving device 300 drives the bracket 200 along the pipe 1 through the transmission flexible shaft 100.
  • the bracket 200 is in the duct. The movement stops, and when the control portion 310 is moved from the first sub-position to the second sub-position, the first sun gear 213 is separated from the first intermediate gear 214, and the second sun gear 223 and the second intermediate gear 224 are separated.
  • the first central shaft 211 is coupled to the connecting shaft 510 and pushes the connecting shaft 510 to move away from the first bracket 210 relative to the connecting sleeve 550, thereby driving the camera 520 to rotate clockwise to the connecting sleeve 540.
  • the angle between the two is less than 90°, and the driving device 300 drives the connecting shaft 510 and the camera 520 to rotate through the second transmission flexible shaft 120, the first transmission flexible shaft 110, so that the camera 520 can control the pipe 1 against different positions and angles.
  • the inner surface is omnidirectional.
  • first transmission flexible shaft 110, the second transmission flexible shaft 120, the first central shaft 211, the second central shaft 221, and the connecting shaft 510 are hollow shafts, which can serve as passages for the signal lines of the camera 520.
  • One end of the connecting rod 570 is connected to the positioning ring 550 through the second pin shaft, and the other end is connected to the connecting head 530 through the third pin shaft.
  • the third pin shaft is adjacent to the camera 520, the first pin shaft, the second pin shaft and the third pin shaft.
  • the axis is parallel and perpendicular to the axis of the connecting shaft 510.
  • the driving device 300 further includes a motor 320 and a hollow shaft 330 connected to the output shaft of the motor 320.
  • the hollow shaft 330 is coupled to the second transmission flexible shaft 120.
  • the hollow shaft 330 is provided with a hollow sleeve 340, and the hollow sleeve 340 is hollow.
  • a shaft hole 341 is defined in the longitudinal direction of the shaft 330.
  • One end of the control portion 310 is selectively inserted into the dial hole 341 to be coupled with the hollow shaft 330 to push the hollow shaft 330 to move along the length thereof.
  • the length of the dial hole 341 corresponds to the moving distance of the control portion 310, that is, when the control portion 310 moves to the first position, the control portion 310 is located at one end of the dial hole 341, and when the control portion 310 moves to the second position, the control portion 310 is located just at the other end of the dial hole 341. In other embodiments, the length of the dial hole 341 may also be set to be larger than the moving length of the control portion 310.
  • the hollow shaft 330 is coupled to the second transmission flexible shaft 120 via the clamping shaft 350.
  • the locking shaft 352 is fixed on the clamping shaft 350.
  • One end of the control portion 310 is provided with the locking block 352. Card slot.
  • the dial block There is a gap between the 352 and the inner wall of the hollow sleeve 340 to allow the card shaft 350 to smoothly rotate.
  • the control unit 310 needs to be removed, and when the internal processing device of the pipe stops running, the control unit 310 can be inserted into the dial hole 341 to be engaged with the dial 352, and the control unit 310 can be manually controlled. Move to the first position or the second position to selectively activate and stop the first bracket 210 and the second bracket 220.
  • the shaft wall of the hollow shaft 330 is provided with a long hole 331 along the longitudinal direction of the hollow shaft 330.
  • the inner wall of the shaft 350 is provided with a convex key 351.
  • the clamping shaft 350 is sleeved on the hollow shaft by the cooperation of the convex key 351 and the long hole 331.
  • the control unit 310 is fixedly coupled to the male key 351 through the mounting hole 341, and the control unit 310 can move the convex key 351 along the longitudinal direction of the long hole 331.
  • the long hole 331 has opposite first and second ends along the length direction thereof.
  • the control portion 310 drives the convex key 351 to move to the first end of the long hole 331, the first sun gear 213 is located in the first letting area, and the second The central gear is located in the second retaining zone 420, so that the two brackets stop rotating in the pipe 1.
  • the control part 310 drives the convex key 351 to move to the second end of the long hole 331, the first sun gear 213 and the first intermediate gear
  • the second center gear 223 is meshed with the second intermediate gear 224.
  • the one end of the clamping shaft 350 away from the driving device 300 is provided with a concave connecting pair which cooperates with a convex connecting pair provided at one end of the second transmission flexible shaft 120 to connect the second transmission flexible shaft 120 and the clamping shaft 350.
  • the motor 320 is connected to the hollow shaft 330 through two gears. Specifically, the outer circumference of the output shaft of the motor 320 is provided with a first gear 360. The outer circumference of the hollow shaft 330 is provided with a second gear 370, and the first gear 360 and the second gear 370 Engage.
  • the output shaft of the motor 320 drives the first gear 360 to rotate forward, and the first gear 360 drives the second gear 370 to reverse, thereby inverting the hollow shaft 330 and driving the second transmission flexible shaft 120.
  • the second central shaft 221 and the second sun gear 223 are reversed, the second intermediate gear 224 is rotated forward, and the third intermediate gear 225 is reversed, and the second gear housing is reversed.
  • the gears 213 are reversed together, and the first intermediate gear 212 rotates forwardly.
  • the first gear housing 215 drives the first bracket body 212 to rotate forward, and the two brackets move in the direction of the duct 1 away from the driving device 300. .
  • the motor 320 is reversed (the principle is similar to that of the forward rotation, which will not be described herein), the two brackets move in the direction of the drive unit 300 in the duct 1.
  • two bearings are disposed between the hollow sleeve 340 and the hollow shaft 330.
  • the two bearings are respectively located at two ends of the second gear 370 along the longitudinal direction of the hollow shaft 330, so that the rotation of the hollow shaft 330 is further Smooth.
  • the hollow sleeve 340 includes a first sleeve for mounting the first gear 360 and the second gear 370 and a second sleeve for mounting the hollow shaft 330, and the dial hole 341 is disposed on the second sleeve .
  • the pipeline is generally welded by stainless steel pipe.
  • the inner surface of the welded joint needs to be inspected during the construction process. If a general endoscope is used, it is more expensive to use the plastic pipe to propel the camera for observation. For a long time, and it is not possible to pass the bending angle or a few corners, the pipeline cannot be completely inspected.
  • the efficiency of the internal inspection of the pipeline system can be improved, and the work time of each weld can be reduced by 0.5 hours and the work efficiency can be reduced by reducing the working time of each weld by 800 welds and each weld. .
  • the in-pipe photographic device of the invention can be applied to internal inspections of pipelines of industry, buildings, roads, etc., and can conveniently perform internal surface camera inspection on pipes of various shapes and lengths, thereby reducing disassembly and assembly of pipes and reducing
  • the impact of the surrounding environment reduces unnecessary damage and waste, and improves work efficiency and economic benefits.
  • the in-pipe photographic device has a simple structure and is connected and used by a component type combination, which is convenient to use and simple to maintain. Since the equipment used in the inner part of the pipeline has no electrical parts, the weight of the equipment itself is reduced, and it can be used in a flammable and explosive environment such as oil and gas, and the application range is wide.

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Abstract

一种管道内摄影装置，包括传动软轴（100）、支架（200）、驱动装置（300）和摄影组件（500），传动软轴（100）具有相对的第一端和第二端；支架（200）为圆形，支架（200）的轴心与第一端连接，支架（200）的外周间隔设置有若干与管道（1）的内壁接触的滚轮；驱动装置（300）与第二端连接，驱动装置（300）可通过传动软轴（100）将扭力传递至支架（200），以驱动支架（200）沿管道（1）的长度方向运动；摄影组件（500）位于支架（200）远离驱动装置（300）的一侧，且与支架（200）的轴心连接。该管道内摄影装置，可以实现将摄影组件输送至预定位置，通过摄影组件对管道的内表面进行观察，还可以将待运输的物体放置在支架的运动方向的前方，通过支架将待运输的物体运输至目标位置，并且不需要对管道进行拆除或者切割处理，可以节省大量的人力、物力及时间。

Description

一种管道内摄影装置 技术领域
本发明涉及管路系统作业技术领域，具体涉及一种管道内摄影装置。
背景技术
船舶、工业等管路系统种类繁多，有各种大小通径，管路弯弯曲曲，材质各有不同。在管路制作、安装及维护中会对管路中某些部位做检查，不能完全由人工到管道里面做处理，需要观察管道内部情况时，只能采用内窥镜观察或拆管等其他方法处理。
一些管道的长度较大，弯管数量多，需要检查管道的内表面时，如果使用内窥镜，由于没有辅助内窥镜移动的行走装置，只能采用塑料管等推杆向前推动内窥镜移动，但无法经过较多数量的弯管位置，对于弯管位置只能拆下管段进行处理；如果采用拆管方法，对于采用可拆卸连接的管道如法兰等连接的管道可以直接拆下，但如果是对焊或套管烧焊连接的管路则需切割下来处理，特别是周围有其他物件阻挡时，还要移除周围物件，需要花费较大的人力、物力，以及耗费较长的工作时间。
发明内容
本发明的目的在于提供一种管道内摄影装置，可在管道内移动至预定位置并对管道的内表面进行摄像检查。
为达此目的，本发明采用以下技术方案：
提供一种管道内摄影装置，包括：
传动软轴，所述传动软轴具有相对的第一端和第二端；
支架，所述支架为圆形，所述支架的轴心与所述第一端连接，所述支架的外周间隔设置有若干与管道的内壁接触的滚轮；
驱动装置，所述驱动装置与所述第二端连接，所述驱动装置可通过所述传动软轴将扭力传递至所述支架，以驱动所述支架沿所述管道的长度方向运动；
摄影组件，所述摄影组件位于所述支架远离所述驱动装置的一侧，且与所述支架的轴心连接。
作为管道内摄影装置的一种优选的技术方案，所述支架包括间隔设置的第一支架和第二支架，所述第一支架包括第一中心轴和设置在所述第一中心轴外周的第一支架本体，所述第一支架本体可绕所述第一中心轴的轴线转动，所述第二支架包括第二中心轴和设置在所述第二中心轴外周的第二支架本体，所述第二支架本体可绕所述第二中心轴的轴线转动；
所述摄影组件包括连接轴和活动设置在所述连接轴上的摄像头；
所述传动软轴包括间隔设置的第一传动软轴和第二传动软轴，所述第一中心轴的一端通过所述第一传动软轴与所述第二中心轴连接，另一端与所述连接轴连接，所述第二中心轴远离所述第一中心轴的一端通过所述第二传动软轴与所述驱动装置连接。
作为管道内摄影装置的一种优选的技术方案，所述第一中心轴的外周通过第一齿轮组与所述第一支架本体连接，所述第二中心轴的外周通过第二齿轮组与所述第二支架本体连接，所述第一齿轮组的齿轮的数量为奇数，所述第二齿轮组的齿轮的数量为偶数。
作为管道内摄影装置的一种优选的技术方案，沿所述第一中心轴的径向，所述第一齿轮组依次包括第一中心齿轮、第一中间齿轮以及第一齿轮壳体，所 述第一中心齿轮固定安装在所述第一中心轴的外周并与所述第一中间齿轮啮合，所述第一齿轮壳体的内周具有与所述第一中间齿轮相啮合的内齿，所述第一支架本体设置在所述第一齿轮壳体的外周；
沿所述第二中心轴的径向，所述第二齿轮组依次包括第二中心齿轮、第二中间齿轮、第三中间齿轮以及第二齿轮壳体，所述第二中心齿轮固定安装在所述第二中心轴的外周并通过所述第二中间齿轮与所述第三中间齿轮啮合，所述第二齿轮壳体的内周具有与所述第三中间齿轮相啮合的齿轮，所述第二支架本体设置在所述第二齿轮壳体的外周。
作为管道内摄影装置的一种优选的技术方案，所述第一中间齿轮通过所述第一中心轴的轴套固定，且所述第一中心轴的轴套与所述第一中心轴之间设置有第一让位区；
所述第二中间齿轮和所述第三中间齿轮通过所述第二中心轴的轴套固定，所述第二中心轴的轴套与所述第二中心轴之间设置有第二让位区；
所述驱动装置包括控制部，所述控制部具有第一位置和第二位置，当所述控制部位于所述第一位置时，所述第一中心齿轮位于所述第一让位区，所述第二中心齿轮位于所述第二让位区，以使所述第一中心齿轮与所述第一中间齿轮分离，以及所述第二中心齿轮与所述第二中间齿轮分离；当所述控制部位于所述第二位置时，所述第一中心齿轮与所述第一中间齿轮啮合，所述第二中心齿轮与所述第二中间齿轮啮合。
作为管道内摄影装置的一种优选的技术方案，沿靠近所述摄影组件的方向，所述第一位置依次包括第一子位置和第二子位置，所述第一让位区依次包括第一让位分区和第二让位分区，所述第二让位区依次包括第三让位分区和第四让位分区；
所述摄影组件还包括连接头、活动设置在所述连接轴外周的连接套筒以及安装在所述连接套筒外周的定位环，所述连接轴的外周且位于所述连接套筒远离所述第一支架的一侧设置有转动座，所述连接头的一端与所述摄像头连接，另一端通过第一销轴与所述转动座转动连接，所述定位环可绕所述连接套筒的轴线相对于所述连接套筒转动，且所述定位环通过连杆与所述摄像头传动连接；
所述连接套筒远离所述转动座的一端与所述第一中心轴的轴套固定连接，所述连接轴与所述第一中心轴选择性连接；当所述控制部位于所述第一子位置时，所述第一中心齿轮位于所述第一让位分区，所述第二中心齿轮位于所述第三让位分区，以使所述第一中心齿轮与所述第一中间齿轮分离，以及所述第二中心齿轮与所述第二中间齿轮分离，且所述连接轴与所述第一中心轴非连接；当所述控制部位于所述第二子位置时，所述第一中心齿轮位于所述第二让位分区，所述第二中心齿轮位于所述第四让位分区，以使所述第一中心齿轮与所述第一中间齿轮分离，以及所述第二中心齿轮与所述第二中间齿轮分离，且所述连接轴与所述第一中心轴连接，所述摄像头绕所述第一销轴的轴线顺时针转动至靠近所述定位环。
作为管道内摄影装置的一种优选的技术方案，所述连杆一端通过第二销轴与所述定位环连接，另一端通过第三销轴与所述连接头连接，所述第三销轴邻近所述摄像头，所述第一销轴、所述第二销轴和所述第三销轴的轴线平行且垂直于所述连接轴的轴线，所述控制部位于所述第二子位置时，所述驱动装置驱动所述连接轴相对于所述连接套筒朝向远离所述第一支架的方向移动，以使所述摄像头转动。
作为管道内摄影装置的一种优选的技术方案，所述驱动装置还包括电动机和与所述电动机的输出轴连接的空心轴，所述空心轴与所述第二传动软轴连接， 所述空心轴外设置有空心轴套，所述空心轴套上沿所述空心轴的长度方向开设有拨孔，所述控制部的一端选择性插入至所述拨孔内与所述空心轴连接，以推动所述空心轴沿其长度方向移动。
作为管道内摄影装置的一种优选的技术方案，所述空心轴通过卡轴与所述第二传动软轴连接，所述卡轴上固定有拨块，所述控制部的一端设置有与所述拨块卡接配合的卡槽。
作为管道内摄影装置的一种优选的技术方案，所述电动机的输出轴的外周固定设置有第一齿轮，所述空心轴的外周设置有第二齿轮，所述第一齿轮与所述第二齿轮啮合。
本发明的有益效果：本发明的管道内摄影装置，驱动装置可驱动传动软轴转动，并将传动软轴的扭力传递至支架，从而使支架带动摄影组件在管道内沿管道的长度方向运动，以实现将摄影组件输送至预定位置，通过摄影组件对管道的内表面进行观察，还可以将待运输的物体放置在支架的运动方向的前方，通过支架将待运输的物体运输至目标位置，而且支架在管道内的运动不受管道形状的影响。本发明中的管道内摄影装置运用于管道的内表面观察，不需要对管道进行拆除或者切割处理，可以节省大量的人力、物力及时间。
附图说明
图1为本发明实施例的管道内摄影装置的分解示意图。
图2为图1中A-A向剖视图。
图3为图1中B-B向剖视图。
图4为图1中I部分的放大图。
图5为图1中II部分的放大图。
图6为图1中III部分的放大图。
图7为本发明实施例的摄影组件的第一使用状态图。
图8为本发明实施例的摄影组件的第二使用状态图。
图9为本发明实施例的管道内部处理装置的结构示意图。
图中：
1、管道；
100、传动软轴；110、第一传动软轴；120、第二传动软轴；
200、支架；210、第一支架；211、第一中心轴；212、第一支架本体；213、第一中心齿轮；214、第一中间齿轮；215、第一齿轮壳体；216、第一滚轮；220、第二支架；221、第二中心轴；222、第二支架本体；223、第二中心齿轮；224、第二中间齿轮；225、第三中间齿轮；226、第二齿轮壳体；227、第二滚轮；
300、驱动装置；310、控制部；320、电动机；330、空心轴；331、长孔；340、空心轴套；341、拨孔；350、卡轴；351、凸键；352、拨块；360、第一齿轮；370、第二齿轮；
410、第一让位区；420、第二让位区；
500、摄影组件；510、连接轴；520、摄像头；530、连接头；540、连接套筒；550、定位环；560、转动座；570、连杆。
具体实施方式
下面结合附图并通过具体实施方式来进一步说明本发明的技术方案。
在本发明的描述中，需要理解的是，术语“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造 和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”、“第三”、“第四”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”、“第三”、“第四”的特征可以明示或者隐含地包括一个或者更多个该特征。
在本发明的描述中，除非另有明确的规定和限定，术语“固定”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个部件内部的连通或两个部件的相互作用关系。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征之“上”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征之“下”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
如图1至9所示，本实施例提供的管道内摄影装置包括：传动软轴100，传动软轴100具有相对的第一端和第二端；支架200，支架200为圆形，支架200的轴心与第一端连接，支架200的外周间隔设置有若干与管道1的内壁接触的滚轮；驱动装置300，驱动装置300与第二端连接，驱动装置300可通过传动软轴100将扭力传递至支架200，以驱动支架200沿管道1的长度方向运动；摄影组件500，摄影组件500位于支架200远离驱动装置300的一侧，且与支架200的轴心连接。本实施例中，支架200的外周设置有与管道1的内壁滚动接触的 滚轮，支架200通过传动软轴100与驱动装置300连接，驱动装置300可驱动传动软轴100转动，并将传动软轴100的扭力传递至支架200，从而使支架200带动摄影组件500在管道1内沿管道1的长度方向运动，以实现将摄影组件500输送至预定位置，通过摄影组件500摄像对管道1的内表面进行观察。本实施例中，还可以将待运输的物体放置在支架200的运动方向的前方，通过支架200将待运输的物体运输至预定位置，而且支架200在管道1内的运动不受管道1形状的影响。本发明中的管道内摄影装置运用于管道1的内表面观察，不需要对管道1进行拆除或者切割处理，可以节省大量的人力、物力及时间。
支架200可以为柔性可变形的结构，这样使得支架200在管道1内移动时，如果管道1出现弯曲、内径变小时，支架200也能顺畅的在管道1内移动。
优选的，支架200包括间隔设置的第一支架210和第二支架220，第一支架210包括第一中心轴211和设置在第一中心轴211外周的第一支架本体212，第一支架本体212可绕第一中心轴211的轴线转动，第二支架220包括第二中心轴221和设置在第二中心轴221外周的第二支架本体222，第二支架本体222可绕第二中心轴221的轴线转动；摄影组件500包括连接轴510和活动设置在连接轴510上的摄像头520；传动软轴100包括间隔设置的第一传动软轴110和第二传动软轴120，第一中心轴211的一端通过第一传动软轴110与第二中心轴221连接，另一端与连接轴510连接，第二中心轴221远离第一中心轴211的一端通过第二传动软轴120与驱动装置300连接。通过设置两个支架，可以增加整个装置的动力。本实施例中，支架200不限于设置两个，其数量可以根据管道1的尺寸进行设计。由于两个支架之间通过第一传动软轴110连接，第二支架220通过第二传动软轴120与驱动装置300连接，驱动装置300可通过第二传动软轴120将动力(扭力)传递至第二支架220，第二支架220再通过第一传 动软轴110将动力传递至第一支架210，两个支架同时前进或者后退，以实现将摄像头520输送至预定位置。
本实施例中，第一传动软轴110和第二传动软轴120均包括柔性传动轴本体和设置在柔性传动轴本体外周的柔性保护套。
本实施例中，第一中心轴211、第二中心轴221、第一传动软轴110及第二传动软轴120均具有相对的第一端和第二端，其中，第一端靠近驱动装置300，第二端远离驱动装置300，第一端设置有凹型连接副，第二端设置有一个凸型连接副，第一中心轴211和第二中心轴221均为中空结构，凹型连接副和凸型连接副均安装在第一中心轴211和第二中心轴221内部，并通过卡环固定。第一中心轴211与第一传动软轴110之间、第一传动软轴110与第二中心轴221之间以及第二中心轴221与第二传动软轴120之间分别通过凹型连接副与凸型连接副的配合进行连接。
作为本发明一种优选的实施方案，第一支架本体212和第二支架本体222的转动方向相反，例如，第一传动软轴110带动第一支架本体212沿逆时针方向转动时，第一支架210反作用于第一传动软轴110，即第一支架210对第一传动软轴110具有反作用力，在只有一个第一支架210的情况下，若该反作用力大于第一传动软轴110的扭力，则该第一支架210会转不动，而第二支架本体222沿顺时针方向转动，第二支架220对第一传动软轴110的反作用力可抵消第一支架本体212对第一传动软轴110的反作用力，从而使第一支架本体212顺利转动。
其中，第一中心轴211的外周通过第一齿轮组与第一支架本体212连接，第二中心轴221的外周通过第二齿轮组与第二支架本体222连接，第一齿轮组的齿轮的数量为奇数，第二齿轮组的齿轮的数量为偶数，以保证第一支架本体 212和第二支架本体222的转动方向相反。
优选地，沿第一中心轴211的径向，第一齿轮组依次包括第一中心齿轮213、第一中间齿轮214以及第一齿轮壳体215，第一中心齿轮213固定安装在第一中心轴211的外周并与第一中间齿轮214啮合，第一齿轮壳体215的内周具有与第一中间齿轮214相啮合的内齿，第一支架本体212设置在第一齿轮壳体215的外周；其中，第一中心轴211的轴套上设置有第一齿轮安装孔，第一中间齿轮214安装于该第一齿轮安装孔中，第一齿轮壳体215通过两个轴承安装于第一中心轴211的轴套的外部，并分别通过盖板固定。沿第二中心轴221的径向，第二齿轮组依次包括第二中心齿轮223、第二中间齿轮224、第三中间齿轮225以及第二齿轮壳体226，第二中心齿轮223固定安装在第二中心轴221的外周并通过第二中间齿轮224与第三中间齿轮225啮合，第二齿轮壳体226的内周具有与第三中间齿轮225相啮合的齿轮，第二支架本体222设置在第二齿轮壳体226的外周。其中，第二中心轴221的轴套上开设有第二齿轮安装孔，第二中间齿轮224和第三中间齿轮225安装于该第二齿轮安装孔中，第二齿轮壳体226通过两个轴承安装于第二中心轴221的轴套的外部，并分别通过盖板固定。
本实施例中，第一支架本体212包括若干倾斜环设在第一齿轮壳体215外周的第一支架板，若干第一支架板的倾斜方向相同，且其远离第一齿轮壳体215的一端设置有第一滚轮216，第一支架板的倾斜方向与第一支架210的转动方向相反；第二支架本体222包括若干倾斜环设在第二齿轮壳体226外周的第二支架板，若干第二支架板的倾斜方向相同，且其远离第二齿轮壳体226的一端设置有第二滚轮227，第二支架板的倾斜方向与第二支架220的转动方向相反；第一支架板和第二支架板均为柔性板。第一支架板和第二支架板的倾斜方向均与其转动方向相反，且第一支架板和第二支架板均为柔性板，转动过程中可以适 应不同的管径，在管径相对小于支架200的直径的情况下，第一支架板和第二支架板在管壁可以产生压力形变，以与管径相匹配，从而使其在管道1内的移动更为顺畅。
第一滚轮216和第二滚轮217可分别与第一支架本体212和第二支架本体222可拆卸连接，这样在使用时可以更换不同的滚轮，以实现不同的操作。例如，更换外周带有毛刷的滚轮，可以实现清扫管子内壁的操作，更换带有磨砂层的滚轮，可以对管子内壁进行打磨、除锈。
作为本发明进一步优选的实施方式，第一滚轮216与管道1的内壁滚动接触，且第一滚轮216的轴线朝向远离驱动装置300的一侧倾斜设置；第二滚轮227与管道1的内壁滚动接触，且第二滚轮227的轴线朝向靠近驱动装置300的一侧倾斜设置，两个滚轮的倾斜设计可以分别增加相应的支架本体的移动动力。
其中，第一中间齿轮214通过第一中心轴211的轴套固定，且第一中心轴211的轴套与第一中心轴211之间设置有第一让位区410；第二中间齿轮224和第三中间齿轮225通过第二中心轴221的轴套固定，第二中心轴221的轴套与第二中心轴221之间设置有第二让位区420；驱动装置300包括控制部310，控制部310具有第一位置和第二位置，当控制部310位于第一位置时，第一中心齿轮213位于第一让位区410，第二中心齿轮223位于第二让位区420，以使第一中心齿轮213与第一中间齿轮214分离，以及第二中心齿轮223与第二中间齿轮224分离；当控制部310位于第二位置时，第一中心齿轮213与第一中间齿轮214啮合，第二中心齿轮223与第二中间齿轮224啮合。控制部310可以选择性控制第一中心齿轮213位于第一让位区以及第二中心齿轮223位于第二让位区420，从而使两个支架在管道1内的运动停止。
沿靠近摄影组件400的方向，第一位置依次包括第一子位置和第二子位置， 第一让位区410依次包括第一让位分区和第二让位分区，第二让位区420依次包括第三让位分区和第四让位分区；
摄影组件500还包括连接头530、活动设置在连接轴510外周的连接套筒540以及安装在连接套筒540外周的定位环550，连接轴510的外周且位于连接套筒540远离第一支架210的一侧设置有转动座560，连接头530的一端与摄像头520连接，另一端通过第一销轴与转动座560转动连接，定位环550可绕连接套筒540的轴线相对于连接套筒540转动，且定位环550通过连杆570与摄像头520传动连接；连接套筒540远离转动座560的一端与第一中心轴211的轴套固定连接，连接轴510与第一中心轴211选择性连接；当控制部310位于第一子位置时，第一中心齿轮213位于第一让位分区，第二中心齿轮223位于第三让位分区，以使第一中心齿轮213与第一中间齿轮214分离，以及第二中心齿轮223与第二中间齿轮224分离，且连接轴510与第一中心轴211非连接；当控制部310位于第二子位置时，第一中心齿轮213位于第二让位分区，第二中心齿轮223位于第四让位分区，以使第一中心齿轮213与第一中间齿轮214分离，以及第二中心齿轮223与第二中间齿轮224分离，且连接轴510与第一中心轴211连接，摄像头520绕第一销轴的轴线顺时针转动至靠近定位环550，摄像头520与连接套筒540之间的初始夹角为90°。控制部310位于第二位置时，第一中心齿轮213与第一中间齿轮214啮合，第二中心齿轮223与第二中间齿轮224啮合，驱动装置300通过传动软轴100驱动支架200沿管道1的长度方向移动的过程中，由于第一中心轴211的轴套固定不动，因此摄像头520在输送过程中的相对位置保持不变；当摄像组件500被输送至预定位置时，支架200在管道内的运动停止，将控制部310由第一子位置移动至第二子位置时，第一中心齿轮213与第一中间齿轮214分离，第二中心齿轮223与第二中间齿轮224 分离，第一中心轴211与连接轴510连接，并推动连接轴510相对于连接套筒550沿朝向远离第一支架210的方向移动，从而带动摄像头520顺时针旋转至其与连接套筒540之间的夹角小于90°，且驱动装置300通过第二传动软轴120、第一传动软轴110驱动连接轴510和摄像头520转动，使摄像头520可以对照不同的位置及角度，对管道1的内表面进行全方位摄像。
本实施例中，第一传动软轴110、第二传动软轴120、第一中心轴211、第二中心轴221以及连接轴510均为空心轴，可以作为摄像头520的信号线的通道。
连杆570一端通过第二销轴与定位环550连接，另一端通过第三销轴与连接头530连接，第三销轴邻近摄像头520，第一销轴、第二销轴和第三销轴的轴线平行且垂直于连接轴510的轴线，控制部310位于第二子位置时，驱动装置300驱动连接轴510相对于连接套筒540朝向远离第一支架210的方向移动，以使摄像头520转动。
驱动装置300还包括电动机320和与电动机320的输出轴连接的空心轴330，空心轴330与第二传动软轴120连接，空心轴330外设置有空心轴套340，空心轴套340上沿空心轴330的长度方向开设拨孔341，控制部310的一端选择性插入至拨孔341内与空心轴330连接，以推动空心轴330沿其长度方向移动。
拨孔341的长度与控制部310的移动距离对应，即当控制部310移动至第一位置时，控制部310正好位于拨孔341的一端，当控制部310移动至第二位置时，控制部310正好位于拨孔341的另一端。在其他实施例中，拨孔341的长度还可以设置为大于控制部310的移动长度。作为本发明一种优选的实施方案，空心轴330通过卡轴350与第二传动软轴120连接，卡轴350上固定有拨块352，控制部310的一端设置有与拨块352卡接配合的卡槽。优选地，拨块 352与空心轴套340的内壁之间具有间隙，以使卡轴350顺利转动。本实施例的管道内部处理装置运行时，需要将控制部310取下来，管道内部处理装置停止运行时，可以将控制部310插入拨孔341中与拨块352卡接，可以手动控制控制部310移动至第一位置或者第二位置，从而选择性启停第一支架210和第二支架220。
空心轴330的轴壁上沿空心轴330的长度方向开设有长孔331，卡轴350的内壁上设置有凸键351，卡轴350通过凸键351与长孔331的配合套设在空心轴330外，控制部310穿过安装孔341与凸键351固定连接，控制部310可带动凸键351沿长孔331的长度方向移动。长孔331沿其长度方向具有相对的第一端和第二端，控制部310带动凸键351移动至长孔331的第一端时，第一中心齿轮213位于第一让位区，第二中心齿轮位于第二让位区420，从而使两个支架停止在管道1内转动，控制部310带动凸键351移动至长孔331的第二端时，第一中心齿轮213与第一中间齿轮214啮合，第二中心齿轮223与第二中间齿轮224啮合。
其中，卡轴350远离驱动装置300的一端设置有凹型连接副，其与通过设置第二传动软轴120一端的凸型连接副相配合，以连接第二传动软轴120与卡轴350。
电动机320通过两个齿轮与空心轴330连接，具体地，电动机320的输出轴的外周设置有第一齿轮360，空心轴330的外周设置有第二齿轮370，第一齿轮360与第二齿轮370啮合。电动机320正转时，电动机320的输出轴带动第一齿轮360正转，第一齿轮360带动第二齿轮370反转，从而使空心轴330反转，在第二传动软轴120的作用下带动第二中心轴221及第二中心齿轮223反转，第二中间齿轮224随之正转，第三中间齿轮225随之反转，第二齿轮壳体 226带动第二支架本体222随之正转，与此同时，第二中心轴221的反转通过第一传动软轴110将扭力传递给第一空心轴211，第一空心轴211与第一中心齿轮213一起反转，第一中间齿轮212随之正转，第一齿轮壳体215带动第一支架本体212随之正转，此时两个支架在管道1内沿远离驱动装置300的方向运动。电动机320反转时(原理与其正转时类似，在此不再赘述)，两个支架在管道1内沿靠近驱动装置300的方向运动。
本实施例中，空心轴套340与空心轴330之间设置有两个轴承，两个轴承分别位于第二齿轮370沿空心轴330的长度方向的两端，以使空心轴330的转动更为顺畅。
本实施例中，空心轴套340包括用于安装第一齿轮360和第二齿轮370的第一轴套和用于安装空心轴330的第二轴套，拨孔341设置在第二轴套上。
对于化学品船的液货系统，其管道一般采用不锈钢管对焊连接，在建造过程中需对焊接缝内表面进行检查，如果用一般的内窥镜，使用塑料管推进摄像头进行观察需要耗费较多的时间，而且无法通过弯曲角度较大或几个弯角部位，不能完全对管路进行检查。使用本发明的管道内摄影装置时，可提高对管路系统内部检查的效率，对每条船800个焊缝、每个焊缝减少0.5小时的工时计算，可减少400个工时，提高工作效率。
本发明的管道内摄影装置可以应用与工业、楼宇、道路等管路的内部检查，可方便对各种形状、各种长度的管道进行内表面摄像检查，而减少对管道的拆装，减少对周边环境的影响，减少不必要的损坏及浪费，提高工作效益及经济效益。该管道内摄影装置结构简单，通过组件型式组合连接使用，使用方便，维护简单。由于用于管道内部分的设备没有电器部件，减轻设备本身重量，以及可用于有油气等易燃易爆的环境，应用范围广泛。
需要声明的是，上述具体实施方式仅仅为本实用新型的较佳实施例及所运用技术原理，在本实用新型所公开的技术范围内，任何熟悉本技术领域的技术人员所容易想到的变化或替换，都应涵盖在本实用新型的保护范围内。
以上通过具体的实施例对本实用新型进行了说明，但本实用新型并不限于这些具体的实施例。本领域技术人员应该明白，还可以对本实用新型做各种修改、等同替换、变化等等。但是，这些变换只要未背离本实用新型的精神，都应在本实用新型的保护范围之内。另外，本申请说明书和权利要求书所使用的一些术语并不是限制，仅仅是为了便于描述。

Claims (10)

  1. 一种管道内摄影装置，其特征在于，包括：
    传动软轴，所述传动软轴具有相对的第一端和第二端；
    支架，所述支架为圆形，所述支架的轴心与所述第一端连接，所述支架的外周间隔设置有若干与管道的内壁接触的滚轮；
    驱动装置，所述驱动装置与所述第二端连接，所述驱动装置可通过所述传动软轴将扭力传递至所述支架，以驱动所述支架沿所述管道的长度方向运动；
    摄影组件，所述摄影组件位于所述支架远离所述驱动装置的一侧，且与所述支架的轴心连接。
  2. 根据权利要求1所述的管道内摄影装置，其特征在于，所述支架包括间隔设置的第一支架和第二支架，所述第一支架包括第一中心轴和设置在所述第一中心轴外周的第一支架本体，所述第一支架本体可绕所述第一中心轴的轴线转动，所述第二支架包括第二中心轴和设置在所述第二中心轴外周的第二支架本体，所述第二支架本体可绕所述第二中心轴的轴线转动；
    所述摄影组件包括连接轴和活动设置在所述连接轴上的摄像头；
    所述传动软轴包括间隔设置的第一传动软轴和第二传动软轴，所述第一中心轴的一端通过所述第一传动软轴与所述第二中心轴连接，另一端与所述连接轴连接，所述第二中心轴远离所述第一中心轴的一端通过所述第二传动软轴与所述驱动装置连接。
  3. 根据权利要求2所述的管道内摄影装置，其特征在于，所述第一中心轴的外周通过第一齿轮组与所述第一支架本体连接，所述第二中心轴的外周通过第二齿轮组与所述第二支架本体连接，所述第一齿轮组的齿轮的数量为奇数，所述第二齿轮组的齿轮的数量为偶数。
  4. 根据权利要求3所述的管道内摄影装置，其特征在于，沿所述第一中心 轴的径向，所述第一齿轮组依次包括第一中心齿轮、第一中间齿轮以及第一齿轮壳体，所述第一中心齿轮固定安装在所述第一中心轴的外周并与所述第一中间齿轮啮合，所述第一齿轮壳体的内周具有与所述第一中间齿轮相啮合的内齿，所述第一支架本体设置在所述第一齿轮壳体的外周；
    沿所述第二中心轴的径向，所述第二齿轮组依次包括第二中心齿轮、第二中间齿轮、第三中间齿轮以及第二齿轮壳体，所述第二中心齿轮固定安装在所述第二中心轴的外周并通过所述第二中间齿轮与所述第三中间齿轮啮合，所述第二齿轮壳体的内周具有与所述第三中间齿轮相啮合的齿轮，所述第二支架本体设置在所述第二齿轮壳体的外周。
  5. 根据权利要求4所述的管道内摄影装置，其特征在于，所述第一中间齿轮通过所述第一中心轴的轴套固定，且所述第一中心轴的轴套与所述第一中心轴之间设置有第一让位区；
    所述第二中间齿轮和所述第三中间齿轮通过所述第二中心轴的轴套固定，所述第二中心轴的轴套与所述第二中心轴之间设置有第二让位区；
    所述驱动装置包括控制部，所述控制部具有第一位置和第二位置，当所述控制部位于所述第一位置时，所述第一中心齿轮位于所述第一让位区，所述第二中心齿轮位于所述第二让位区，以使所述第一中心齿轮与所述第一中间齿轮分离，以及所述第二中心齿轮与所述第二中间齿轮分离；当所述控制部位于所述第二位置时，所述第一中心齿轮与所述第一中间齿轮啮合，所述第二中心齿轮与所述第二中间齿轮啮合。
  6. 根据权利要求5所述的管道内摄影装置，其特征在于，沿靠近所述摄影组件的方向，所述第一位置依次包括第一子位置和第二子位置，所述第一让位区依次包括第一让位分区和第二让位分区，所述第二让位区依次包括第三让位 分区和第四让位分区；
    所述摄影组件还包括连接头、活动设置在所述连接轴外周的连接套筒以及安装在所述连接套筒外周的定位环，所述连接轴的外周且位于所述连接套筒远离所述第一支架的一侧设置有转动座，所述连接头的一端与所述摄像头连接，另一端通过第一销轴与所述转动座转动连接，所述定位环可绕所述连接套筒的轴线相对于所述连接套筒转动，且所述定位环通过连杆与所述摄像头传动连接；
    所述连接套筒远离所述转动座的一端与所述第一中心轴的轴套固定连接，所述连接轴与所述第一中心轴选择性连接；当所述控制部位于所述第一子位置时，所述第一中心齿轮位于所述第一让位分区，所述第二中心齿轮位于所述第三让位分区，以使所述第一中心齿轮与所述第一中间齿轮分离，以及所述第二中心齿轮与所述第二中间齿轮分离，且所述连接轴与所述第一中心轴非连接；当所述控制部位于所述第二子位置时，所述第一中心齿轮位于所述第二让位分区，所述第二中心齿轮位于所述第四让位分区，以使所述第一中心齿轮与所述第一中间齿轮分离，以及所述第二中心齿轮与所述第二中间齿轮分离，且所述连接轴与所述第一中心轴连接，所述摄像头绕所述第一销轴的轴线顺时针转动至靠近所述定位环。
  7. 根据权利要求6所述的管道内摄影装置，其特征在于，所述连杆一端通过第二销轴与所述定位环连接，另一端通过第三销轴与所述连接头连接，所述第三销轴邻近所述摄像头，所述第一销轴、所述第二销轴和所述第三销轴的轴线平行且垂直于所述连接轴的轴线，所述控制部位于所述第二子位置时，所述驱动装置驱动所述连接轴相对于所述连接套筒朝向远离所述第一支架的方向移动，以使所述摄像头转动。
  8. 根据权利要求5所述的管道内摄影装置，其特征在于，所述驱动装置还 包括电动机和与所述电动机的输出轴连接的空心轴，所述空心轴与所述第二传动软轴连接，所述空心轴外设置有空心轴套，所述空心轴套上沿所述空心轴的长度方向开设有拨孔，所述控制部的一端选择性插入至所述拨孔内与所述空心轴连接，以推动所述空心轴沿其长度方向移动。
  9. 根据权利要求8所述的管道内摄影装置，其特征在于，所述空心轴通过卡轴与所述第二传动软轴连接，所述卡轴上固定有拨块，所述控制部的一端设置有与所述拨块卡接配合的卡槽。
  10. 根据权利要求8所述的管道内摄影装置，其特征在于，所述电动机的输出轴的外周固定设置有第一齿轮，所述空心轴的外周设置有第二齿轮，所述第一齿轮与所述第二齿轮啮合。
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