Crawling device for conveying endoscope lenses

Abstract

The present invention discloses a crawling device for conveying an endoscope lens, comprising: a winding device and a crawling vehicle: a third motor is arranged in the crawling vehicle, and the output end of the third motor is connected to a first rotating seat, and the first rotating seat is rotatably connected to a mounting cylinder through a rotating mechanism, and the mounting cylinder is connected to the winding device through a data line, a pulling mechanism is arranged on the crawling vehicle, and the pulling mechanism pulls the data line to move along its length direction, the crawling vehicle is rotatably connected to wheels, and one of the wheels is provided with an infrared receiver, the crawling vehicle is provided with an infrared transmitter, and a counter is provided on the infrared transmitter. In the present invention, the crawling device can prevent the data line of the endoscope lens from getting stuck at the bend of the pipeline or the header, and can also accurately locate the specific position of the defect on the inner wall of the pipeline, so as to facilitate the subsequent repair of the defect on the inner wall of the pipeline.

Description

Technical Field

[0001] The invention relates to the technical field of industrial endoscopes, and in particular to a crawling device for conveying endoscope lenses. Background Art

[0002] Industrial endoscopes are mainly used in power station boilers to inspect the interior of important equipment such as headers, pipelines, and pressure vessels. The endoscope lens is inserted into a narrow space and the image is transmitted to the display through a data cable to perform defect detection and status monitoring to determine whether there are foreign objects, deposits, cracks, aging, etc. inside the equipment. The instrument is small and convenient, which can greatly reduce work intensity and improve work efficiency.

[0003] When existing endoscopes are used on site, data cables are manually delivered, or the lens is inserted into the equipment by tying it to a hard wire. When the header is long, the data cable and hard wire will bend, making it difficult for the lens to penetrate deeply. When a small-diameter pipe bends or encounters a header hole, it will get stuck and its movement will be blocked. When defects are detected, the specific location of the camera cannot be determined, which affects the determination of the defect. Some pipeline crawling devices have also appeared on the market, but they are expensive and only adapt to a single pipeline specification. They are easily blocked or overturned by obstacles in small-diameter equipment or equipment with internal obstacles. They have poor reliability and seriously affect detection efficiency. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a crawling device for conveying endoscope lenses that can prevent data cables from getting stuck at the bends of pipes or junction boxes and accurately locate and detect defective locations.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solution: a crawling device for conveying endoscope lens, comprising: a winding device and a crawling vehicle:

[0006] The crawler vehicle is provided with a third motor, and the output end of the third motor is connected to the first rotating seat, and the first rotating seat is rotatably connected to the installation cylinder through a rotating mechanism, and the installation cylinder is connected to the winding device through a data line;

[0007] The crawler is provided with a pulling mechanism, and the pulling mechanism pulls the data cable to move along the length direction thereof;

[0008] The crawler is rotatably connected with wheels, one of which is provided with an infrared receiver. The crawler is provided with an infrared transmitter, and a counter is provided on the infrared transmitter.

[0009] As a further description of the above technical solution:

[0010] The pulling mechanism comprises a support frame arranged on the crawler vehicle, a guide wheel and a cam are rotatably connected to the support frame, and the cam is connected to the first motor through a coupling shaft.

[0011] As a further description of the above technical solution:

[0012] The rotating mechanism comprises a support rod, both ends of which are rotatably connected to the first rotating seat and the mounting cylinder respectively through hinge supports.

[0013] As a further description of the above technical solution:

[0014] A second swivel seat is arranged on the first swivel seat, and the second swivel seat is rotatably connected to the bottom of the electric cylinder through a hinge support, and the top of the electric cylinder is rotatably connected to the mounting cylinder through a hinge support.

[0015] As a further description of the above technical solution:

[0016] The installation tube is provided with a clamping mechanism, and the clamping mechanism comprises a threaded rod extending into the inner cavity of the installation tube, a bearing is provided on one end of the threaded rod located in the installation tube, and a pressing sheet is provided on the outer wall of the bearing.

[0017] As a further description of the above technical solution:

[0018] The crawler vehicle is provided with a steering mechanism, and the steering mechanism comprises a connecting rod arranged on the crawler vehicle, and a horizontal steering wheel is rotatably connected to the connecting rod.

[0019] As a further description of the above technical solution:

[0020] The installation tube is provided with a plurality of through holes, and the plurality of through holes are distributed in an annular manner along the outer wall of the installation tube.

[0021] As a further description of the above technical solution:

[0022] Also includes a traverse mechanism;

[0023] The transverse movement mechanism includes a second motor arranged on the inner wall of the crawler vehicle. The second motor is connected to the nut seat through a lead screw penetrating the support frame, and the nut seat is connected to the support frame.

[0024] The present invention provides a crawling device for conveying an endoscope lens, which has the following beneficial effects:

[0025] (1): The crawling device is provided with a pulling mechanism. When the data cable extends to a bend in a small-diameter pipe or encounters a pipe hole in a header, the pulling mechanism can assist in pulling the data cable, and pull the data cable stuck in the pipe bend or the inner wall of the pipe hole in the header forward, so that the data cable can move freely and easily in the bend of the small-diameter pipe or the position of the pipe hole in the header, thereby preventing the data cable from getting stuck.

[0026] (2): The crawling device can detect the rotation amplitude of the wheel through the infrared transmitter and infrared receiver, and cooperate with the real-time counting function of the counter to accurately detect the number of rotations of the wheel, so as to determine the distance the crawling vehicle has traveled in the pipeline. When the endoscope lens detects a defect, the position of the defect can be accurately and specifically located, which is convenient for subsequent maintenance of the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the overall structure of a crawling device for conveying an endoscope lens proposed by the present invention;

[0028] Figure 2 It is a structural schematic diagram of the pulling mechanism in the present invention;

[0029] Figure 3 It is a schematic diagram of the structure of the connection between the first rotating seat, the mounting cylinder and the second rotating seat in the present invention;

[0030] Figure 4 It is a structural schematic diagram of the clamping mechanism in the present invention;

[0031] Figure 5 It is a structural schematic diagram of the steering mechanism in the present invention;

[0032] Figure 6 It is a schematic diagram of the local structure of the connection between the crawler and the wheel in the present invention.

[0033] Legend:

[0034] 1. Winding device; 2. Data cable; 3. Pulling mechanism; 31. First motor; 32. Cam; 33. Guide wheel; 34. Support frame; 35. Transverse mechanism; 351. Second motor; 352. Nut seat; 353. Lead screw; 4. Crawling vehicle; 41. Counter; 42. Infrared transmitter; 5. First swivel seat; 51. Third motor; 52. Hinge support; 53. Support rod; 6. Mounting cylinder; 61. Clamping mechanism; 611. Threaded rod; 612. Bearing; 613. Pressing plate; 62. Through hole; 7. Second swivel seat; 71. Electric cylinder; 8. Steering mechanism; 81. Steering wheel; 82. Connecting rod; 9. Wheel; 91. Infrared receiver. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0036] like Figure 1 , Figure 3 and Figure 6 As shown, a crawling device for conveying endoscope lenses comprises: a winding device 1 and a crawling vehicle 4:

[0037] A third motor 51 is provided in the crawler 4, and the output end of the third motor 51 is connected to the first rotating seat 5, and the first rotating seat 5 is rotatably connected to the installation cylinder 6 through a rotating mechanism, and the installation cylinder 6 is connected to the winding device 1 through the data line 2;

[0038] The winding device 1 is composed of a winding frame, a winding motor, a winding shaft and a control terminal. The data line 2 is wound around the winding shaft. The winding motor drives the winding shaft to rotate. The control terminal adopts a PLC controller and is connected to the data line 2 to realize the control of the endoscope lens.

[0039] The crawler 4 is connected to the control terminal through wireless technology to control the forward and backward movement of the crawler 4 and the regulation of other electrical equipment;

[0040] A pulling mechanism 3 is provided on the crawler 4, and the pulling mechanism 3 pulls the data cable 2 to move along its length direction;

[0041] The crawler 4 is rotatably connected to a wheel 9, and one of the wheels 9 is provided with an infrared receiver 91. The crawler 4 is provided with an infrared transmitter 42, and the infrared transmitter 42 is provided with a counter 41. When the height position of the infrared receiver 91 on the wheel 9 coincides with the height position of the infrared transmitter 42, it represents that the wheel 9 has rotated a complete circle. At this time, the counter 41 counts once and outputs the specific number of circles to the control terminal for display.

[0042] In this embodiment, the endoscope lens is first embedded in the installation tube 6, so that one end of the data line 2 is connected to the endoscope lens, and the other end is connected to the control terminal. The crawler 4 is placed on the inner wall of the inlet end of the pipeline or the manifold, and the crawler 4 is started to move forward. At this time, the winding device 1 winds out the data line 2, and the crawler 4 will pull the data line 2 into the pipeline. Through the rotation of the third motor 51, the horizontal angle of the installation tube 6 can be adjusted, thereby changing the detection angle of the endoscope lens. When the data line 2 contacts the bend of the pipeline or the hole of the manifold, by pulling The pulling mechanism 3 is made to work, which generates additional pulling force on the data cable 2, and pulls the data cable 2 forward from the bend of the pipeline or the pipe hole of the junction box to prevent the data cable 2 from getting stuck. On the other hand, in conjunction with the infrared transmitter 42, the counter 41 and the infrared receiver 91, the number of rotations of the wheel 9 can be counted, and the distance traveled by the crawler 4 can be calculated in combination with the diameter value of the wheel 9. Therefore, when a defect in the inner wall of the pipeline or the junction box is detected, the position of the defect can be accurately located, which is convenient for subsequent maintenance personnel to perform accurate maintenance operations on the pipeline or the junction box.

[0043] As a further preferred solution of the above embodiment, the wheel 9 can be a magnetic wheel, that is, the wheel 9 is made of magnetic material, so that when the wheel 9 moves on the inner wall of the pipe, it can generate a magnetic adsorption force with the inner wall of the pipe to prevent the crawling vehicle 4 from shaking or even overturning when moving.

[0044] like Figure 2 As shown, the pulling mechanism 3 includes a support frame 34 arranged on the crawler 4, and a guide wheel 33 and a cam 32 are rotatably connected to the support frame 34, and the cam 32 is connected to the first motor 31 through a coupling. The bottom of the support frame 34 moves in a slide groove provided on the crawler 4, which plays a sliding limit role on the support frame 34. The first motor 31 is started to mobilize the cam 32 to rotate. When the raised part of the cam 32 contacts the guide wheel 33, the cam 32 will generate a large squeezing force on the data cable 2 on the guide wheel 33, so that when the cam 32 rotates, it drives the guide wheel 33 to rotate, thereby pulling and traction of the data cable 2.

[0045] like Figure 3 As shown, the rotating mechanism includes a support rod 53, both ends of which are rotatably connected to the first rotating seat 5 and the mounting cylinder 6 respectively through hinge supports 52;

[0046] The first swivel seat 5 is connected to the second swivel seat 7 through a cross bar. The second swivel seat 7 is not in contact with the crawler 4 and is suspended. The second swivel seat 7 is rotatably connected to the bottom of the electric cylinder 71 through a hinge support 52, and the top of the electric cylinder 71 is rotatably connected to the mounting tube 6 through the hinge support 52.

[0047] When the electric cylinder 71 moves in an extended and retracted manner, the electric cylinder 71 will push the mounting tube 6 to bear force, and under the action of the hinge support 52, the pitch angle of the mounting tube 6 will be adjusted. At the same time, when the pitch of the mounting tube 6 is adjusted, the rotation of the support rod 53 and the hinge support 52 can compensate for the rotation angle during the pitch adjustment process of the mounting tube 6, thereby ensuring the flexible and free pitch adjustment operation of the mounting tube 6.

[0048] like Figure 3 and Figure 4 As shown, a clamping mechanism 61 is provided on the mounting tube 6, and the clamping mechanism 61 includes a threaded rod 611 extending to the inner cavity of the mounting tube 6, a bearing 612 is provided on one end of the threaded rod 611 located in the mounting tube 6, and a pressing piece 613 is provided on the outer wall of the bearing 612. When the endoscope lens is embedded in the mounting tube 6, the threaded rod 611 is rotated to move it toward the side of the endoscope lens, and when the threaded rod 611 is continued to be rotated after the pressing piece 613 contacts the endoscope lens, the threaded rod 611 will continue to squeeze the pressing piece 613 under the action of the bearing 612, so that the pressing piece 613 can play a stable clamping role on the endoscope lens, thereby preventing the endoscope lens from shaking or even falling off during the pitch adjustment.

[0049] like Figure 1 and Figure 5 As shown, the crawler vehicle 4 is provided with a steering mechanism 8, and the steering mechanism 8 includes a connecting rod 82 arranged on the crawler vehicle 4, and a horizontal steering wheel 81 is rotatably connected to the connecting rod 82. When the crawler vehicle 4 moves to a bend in the pipeline or a pipe hole in a manifold, the steering wheel 81 will contact the inner wall of the pipeline, and when the crawler vehicle 4 continues to move, the steering wheel 81 will rotate on the inner wall of the pipeline, thereby steering the crawler vehicle 4, so that the crawler vehicle 4 can perform steering operations at the bend in the pipeline or the pipe hole in the manifold.

[0050] like Figure 3 As shown, the mounting tube 6 is provided with a plurality of through holes 62, and the plurality of through holes 62 are distributed in a ring shape along the outer wall of the mounting tube 6, for dissipating the heat generated by the operation of the endoscope lens in the mounting tube 6, preventing the occurrence of local high temperature inside the mounting tube 6, and improving the operating safety of the endoscope lens.

[0051] like Figure 2 As shown, it also includes a transverse movement mechanism 35, which includes a second motor 351 arranged on the inner wall of the crawler 4. The second motor 351 is connected to the nut seat 352 through a screw 353 that passes through the support frame 34, and the nut seat 352 is connected to the support frame 34.

[0052] When the crawler 4 moves to the bend of the pipeline or the pipe hole of the junction box, the data cable 2 will contact the inner wall of the pipeline or the junction box. At this time, the second motor 351 is started to drive the screw 353 to rotate. At this time, the nut seat 352 will drive the support frame 34 to move horizontally on the crawler 4, pulling the data cable 2 to one side, increasing the angle between the data cable 2 and the inner wall of the pipeline or the junction box at the bend, thereby reducing the friction between the data cable 2 and the inner wall of the pipeline or the junction box at the bend, and facilitating the winding operation of the data cable 2.

[0053] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0054] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A crawling device for conveying an endoscope lens, comprising: The winding device (1) and the crawler (4) are characterized by: The crawler (4) is provided with a third motor (51), and the output end of the third motor (51) is connected to the first rotating seat (5), and the first rotating seat (5) is rotatably connected to the mounting cylinder (6) through a rotating mechanism, and the mounting cylinder (6) is connected to the winding device (1) through a data line (2); The crawler (4) is provided with a pulling mechanism (3), and the pulling mechanism (3) pulls the data cable (2) to move along the length direction thereof; The crawler (4) is rotatably connected to wheels (9), and one of the wheels (9) is provided with an infrared receiver (91); the crawler (4) is provided with an infrared transmitter (42), and the infrared transmitter (42) is provided with a counter (41); The pulling mechanism (3) comprises a support frame (34) arranged on the crawler (4), a guide wheel (33) and a cam (32) being rotatably connected to the support frame (34), and the cam (32) is connected to the first motor (31) via a coupling shaft; The rotating mechanism comprises a support rod (53), both ends of which are rotatably connected to the first rotating seat (5) and the mounting cylinder (6) respectively through hinge supports (52); A second swivel seat (7) is arranged on the first swivel seat (5); the second swivel seat (7) is not in contact with the crawler (4) and is suspended; the second swivel seat (7) is rotatably connected to the bottom of the electric cylinder (71) via a hinge support (52); and the top of the electric cylinder (71) is rotatably connected to the mounting cylinder (6) via the hinge support (52); The crawler (4) is provided with a steering mechanism (8), and the steering mechanism (8) comprises a connecting rod (82) provided on the crawler (4), and a horizontal steering wheel (81) is rotatably connected to the connecting rod (82); Also includes a traverse mechanism (35); The transverse movement mechanism (35) comprises a second motor (351) arranged on the inner wall of the crawler (4); the second motor (351) is connected to a nut seat (352) via a lead screw (353) penetrating the support frame (34); and the nut seat (352) is connected to the support frame (34).

2. A crawling device for conveying endoscope lenses according to claim 1, characterized in that: The mounting tube (6) is provided with a clamping mechanism (61), and the clamping mechanism (61) comprises a threaded rod (611) extending into the inner cavity of the mounting tube (6), a bearing (612) is provided on one end of the threaded rod (611) located inside the mounting tube (6), and a pressing sheet (613) is provided on the outer wall of the bearing (612).

3. The crawling device for conveying endoscope lenses according to claim 1, characterized in that: The installation cylinder (6) is provided with a plurality of through holes (62), and the plurality of through holes (62) are distributed in an annular manner along the outer wall of the installation cylinder (6).

Images