A kind of water conservancy project pipeline flaw detection equipment and flaw detection method

Abstract

The present invention relates to the field of water conservancy engineering, and specifically to a water conservancy engineering pipeline flaw detection equipment, including a crawling robot and a video detector, and further including: a rotating mechanism is installed at the left end of the crawling robot, the right side of the video detector is installed at the left side of the rotating mechanism, and the axis of the video detector and the crawling robot are in the same straight line, a local cleaning mechanism is installed at the protrusion at the left end of the rotating mechanism, and the local cleaning mechanism is driven by the rotating mechanism to swing to clean the surface of the video detector, and a cleaning mechanism is installed at the right end of the crawling robot. The present invention can realize the cleaning of the video detector, prevent dripping impurities from blocking the field of view of the video detector, ensure the normal flaw detection of the inner wall of the pipeline, improve the accuracy of flaw detection, and realize the removal of small-scale sediments in the pipeline, expand the fluid flow rate, save time and effort for cleaning, and reduce the workload of the staff for pipeline maintenance.

Description

Technical Field

[0001] The invention relates to the technical field of water conservancy engineering, in particular to a water conservancy engineering pipeline flaw detection device and a flaw detection method thereof. Background Art

[0002] Water conservancy projects refer to various projects such as flood control, drainage, irrigation, hydroelectric power generation, water diversion, tidal flat management, soil and water conservation, water resource protection, and their supporting and ancillary projects. The pipeline system for conveying and distributing water to users in water supply projects is also called water supply network;

[0003] Pipeline installation methods are mainly divided into open-air pipelines and underground pipelines. Pipeline flaw detection is used to detect whether the pipeline is good or bad. External pipeline detection can be carried out by ultrasonic flaw detection, X-ray flaw detection and other methods. With the advancement of technology, the advent of crawling robots has solved the problem of difficult internal pipeline flaw detection. The crawling robot is used to drive the video detector to move inside the pipeline. The light emitted by the video detector is irradiated on the pipe wall in a circular shape. The problems inside the pipeline are detected through the integrity of the light and the image.

[0004] In order to make the video detector fully cover the pipe wall, usually the working surface of the video detector cannot be installed with a protective shielding plate. Therefore, it is also a common phenomenon that water droplets from the inner wall of the pipe drip onto the video detector. The water droplets are usually accompanied by impurities, which will block the light of the video detector, thereby increasing the difficulty of flaw detection on the inner wall of the pipeline and reducing the accuracy of flaw detection. The inner wall of the pipeline is prone to sediment deposition due to long-term transportation operations. Although the pipe wall flaw detection robot has pipeline flaw detection, it cannot remove small-scale sediments in the pipeline. If it is not removed, the fluid flow rate will be reduced. Manual removal is time-consuming and labor-intensive, and pipeline maintenance is difficult. Therefore, it is necessary to propose a multifunctional pipeline flaw detection equipment. Summary of the invention

[0005] The purpose of the embodiments of the present invention is to provide a water conservancy project pipeline flaw detection device and a flaw detection method thereof to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0007] A water conservancy project pipeline flaw detection equipment, including a crawling robot and a video detector, further comprising: a rotating mechanism is installed at the left end of the crawling robot, the right side of the video detector is installed on the left side of the rotating mechanism, and the axis of the video detector and the crawling robot are on the same straight line, a local cleaning mechanism is installed at the protrusion of the left end of the rotating mechanism, and the local cleaning mechanism is driven by the rotating mechanism to swing to clean the surface of the video detector, and a cleaning mechanism is installed at the right end of the crawling robot;

[0008] The rotating mechanism comprises:

[0009] A housing, mounted on the left end of the crawling robot;

[0010] A rotating shaft is rotatably mounted on the top of the left side wall of the housing through a bearing;

[0011] A swing rod, one end of which is mounted on the right end of the outer wall of the rotating shaft;

[0012] A motor is installed at the bottom end of the inner cavity of the housing;

[0013] A turntable, mounted on the output end of the motor;

[0014] A first connecting rod, one end of which is rotatably mounted on the outer edge of the right side wall of the rotating disk through a pin, and the other end of which is rotatably mounted on the other end of the swing rod through a pin;

[0015] The local cleaning mechanism comprises:

[0016] A base plate is mounted on the left end of the outer wall of the rotating shaft to give the base plate a swinging ability;

[0017] A plurality of micro water tanks are installed inside the base plate from top to bottom;

[0018] Two scrapers are installed at the front and rear ends of the right side wall of the base plate, respectively, and the scrapers are made of rubber material;

[0019] The liquid outlet component is installed at the bottom end of the right side wall of the micro water tank.

[0020] As a further solution of the present invention: driven by the motor, the turntable can drive one end of the first connecting rod to perform circular motion, and the other end of the first connecting rod can drive the swing arm to swing back and forth in both directions.

[0021] As a further solution of the present invention: the liquid outlet component includes: a sleeve, installed at the bottom end of the right side wall of the micro water tank, and the outer wall of the sleeve is provided with a plurality of liquid outlet holes equidistantly along the circumferential direction; a spring, embedded in the inner side of the inner cavity of the sleeve; a piston, slidably inserted into the outer side of the inner cavity of the sleeve, and the outer wall of the piston is provided with a plurality of flow channels corresponding to the direction of the liquid outlet holes along the circumferential direction; a shift block, installed on the right side wall of the piston, and the shift block is made of soft non-metallic material.

[0022] As a further solution of the present invention: the shifting block is semicircular.

[0023] As a further solution of the present invention: the cleaning mechanism includes: a support rod, installed on the right end of the crawling robot; two second connecting rods, one end of which is rotatably installed on the right side of the outer wall of the support rod through a pin; a mounting plate, which is rotatably installed on the other end of the second connecting rod through a pin; an electric telescopic rod, one end of which is rotatably installed on the left side of the bottom end of the support plate through a pin, and the other end is connected to the bottom end of the second connecting rod on the left side through a pin; a collection box, installed on the lower surface of the mounting plate; a baffle, obliquely installed on the top of the left side wall of the collection box; a camera, installed on the lower surface of the baffle; a conduction component, fixedly connected to the middle of the left side wall of the collection box.

[0024] As a further solution of the present invention: the two second connecting rods are parallel to each other, and the support rod and the mounting plate are arranged horizontally and parallel to each other.

[0025] As a further solution of the present invention: the conduction component includes: a barrel, fixedly connected to the middle of the left side wall of the collecting box, the right side of the barrel is arc-shaped; a pressure plate, rotatably mounted on the bottom end of the barrel through a pin shaft; a fixed pulley, mounted on the left bottom end of the barrel; a tension rope, one end of which is mounted on the left top end of the barrel, and the other end is mounted on the left side of the upper surface of the pressure plate, and the tension rope overlaps the fixed pulley.

[0026] As a further solution of the present invention: both left and right ends of the pressing plate are tilted upward.

[0027] The method of using the above device is:

[0028] Step 1: The crawling robot moves in the pipeline to propel the video detector, and the video detector detects the inner wall of the pipeline;

[0029] Step 2: If there are debris dripping on the surface of the video detector, the motor drives the turntable to rotate so that the bottom end of the first connecting rod makes a circular motion, and then the other end of the first connecting rod pulls the swing rod to swing back and forth, and the rotating shaft drives the substrate to swing back and forth clockwise and counterclockwise in front of the video detector. When the dial block contacts the video detector, the dial block is semicircular and is affected by its own curved surface. The video detector squeezes the dial block to move to the left, and the piston squeezes the spring to contract. When the dial block slides on the surface of the video detector, the flow channel is connected with the liquid outlet, so that the cleaning liquid in the micro water tank can flow along the outer wall of the dial block to the surface of the video detector. Then the scraper is used to slide on the surface of the video detector to clean the video detector and remove obstacles blocking the light of the video detector. The pipeline flaw detection is carried out normally to ensure the accuracy of pipeline flaw detection.

[0030] Step three, when it is necessary to clear the debris in the pipeline, the camera provides a field of view for the staff to clearly observe the sediment inside the pipeline, drive the electric telescopic rod to shorten, and then push the second connecting rod to swing to the left. Under the swing of the two second connecting rods, the collection box gradually moves down until the bottom end of the barrel is inserted into the sediment. The pressure plate is pressed horizontally on the surface of the sediment. At the same time, the pressure plate bears the tension brought by the tension rope. Therefore, the pressure plate presses down the sediment on the right side, and the crawling robot is used to drive the support rod to move from right to left. As the barrel continues to move to the left, the barrel shovels up the sediment, and the sediment gradually enters the barrel. The sediment moves from bottom to top and falls into the collection box.

[0031] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0032] 1. The present invention drives the video detector and the cleaning mechanism to move in the pipeline by a crawling robot. Under the drive of the motor, the rotating shaft can rotate clockwise and counterclockwise through the cooperation of the turntable, the first connecting rod and the swing rod, thereby causing the substrate to swing back and forth. Under the obstruction of the video detector, the shifting block can shift the piston to the left, the flow channel is connected with the liquid outlet, and the cleaning liquid in the micro water tank flows to the surface of the video detector. Then, the video detector is cleaned through the cooperation of the scraper to prevent the dripping impurities from blocking the field of view of the video detector, thereby ensuring the normal flaw detection of the inner wall of the pipeline and improving the accuracy of flaw detection;

[0033] 2. The present invention drives the second connecting rod to swing to the right or left through the telescopic movement of the electric telescopic rod, so as to achieve the purpose of moving the mounting plate upward or downward. The pressing plate is used to squeeze the surface of the sediment. As the barrel moves, the sediment is scooped up and enters the collection box through the barrel, thereby realizing the removal of sediment in a small range in the pipeline, expanding the fluid flow rate, saving time and effort in removal, and reducing the workload of the staff for pipeline maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the structure of the present invention;

[0035] Figure 2 It is a schematic diagram of the structure of the rotating mechanism and the local cleaning mechanism of the present invention;

[0036] Figure 3 It is a front cross-sectional view of the rotating mechanism of the present invention;

[0037] Figure 4 It is a right side cross-sectional view of the rotating mechanism of the present invention;

[0038] Figure 5 It is a front cross-sectional view of the local cleaning mechanism of the present invention;

[0039] Figure 6 It is a front cross-sectional view of the liquid outlet assembly of the present invention;

[0040] Figure 7 This is a schematic diagram of the structure of the cleaning mechanism of the present invention;

[0041] Figure 8 It is a front cross-sectional view of the conducting component of the present invention in working state.

[0042] In the figure: 1-crawling robot, 2-video detector, 3-rotation mechanism, 4-local cleaning mechanism, 5-cleaning mechanism, 31-housing, 32-rotating shaft, 33-rocker, 34-motor, 35-turntable, 36-first connecting rod, 41-base plate, 42-micro water tank, 43-scraper, 44-liquid outlet component, 51-support rod, 52-second connecting rod, 53-mounting plate, 54-electric telescopic rod, 55 collecting box, 56-baffle, 57-camera, 58-conduction component, 441-sleeve, 442-liquid outlet, 443-spring, 444-piston, 445-flow channel, 446-shift block, 581-barrel, 582-pressing plate, 583-fixed pulley, 584-tension rope. DETAILED DESCRIPTION

[0043] The technical solution of this patent is further described in detail below in conjunction with specific implementation methods.

[0044] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0045] Example 1

[0046] See also Figure 1-5 In an embodiment of the present invention, a water conservancy project pipeline flaw detection equipment includes a crawling robot 1 and a video detector 2, and further includes: a rotating mechanism 3 is installed at the left end of the crawling robot 1, the crawling robot 1 is a crawler-type moving robot, and is used to push the video detector 2 to move in the pipeline, the right side of the video detector 2 is installed with the left side of the rotating mechanism 3, and the axis of the video detector 2 and the crawling robot 1 are on the same straight line, when the crawling robot 1 moves in the pipeline, the video detector 2 can be located at the center of the pipeline, and the video detector 2 operates at the best working point, a local cleaning mechanism 4 is installed at the protrusion at the left end of the rotating mechanism 3, and the local cleaning mechanism 4 is driven by the rotating mechanism 3 to swing to clean the surface of the video detector 2, and a cleaning mechanism 5 is installed at the right end of the crawling robot 1;

[0047] The rotating mechanism 3 includes a shell 31, a rotating shaft 32, a rocker arm 33, a motor 34, a turntable 35 and a first connecting rod 36. The shell 31 is installed at the left end of the crawling robot 1. The rotating shaft 32 is rotatably installed at the top of the left side wall of the shell 31 through a bearing, and the base plate 41 is driven to swing through the rotating shaft 32. One end of the rocker arm 33 is installed at the right end of the outer wall of the rotating shaft 32. The motor 34 is installed at the bottom end of the inner cavity of the shell 31. The turntable 35 is installed at the output end of the motor 34. The turntable 35 is used to drive the bottom end of the first connecting rod 36 to make a circular motion. One end of the first connecting rod 36 is rotatably installed at the outer edge of the right side wall of the turntable 35 through a pin shaft, and the other end is rotatably installed with the other end of the rocker arm 33 through a pin shaft.

[0048] The local cleaning mechanism 4 includes a substrate 41, a micro water tank 42, a scraper 43 and a liquid outlet component 44. The substrate 41 is installed at the left end of the outer wall of the rotating shaft 32 to give the substrate 41 the ability to swing. There are several micro water tanks 42, which are installed inside the substrate 41 from top to bottom. The micro water tank 42 is used to store cleaning liquid. There are two scrapers 43, which are respectively installed at the front and rear ends of the right side wall of the substrate 41. The scraper 43 is made of rubber material and has good elasticity. The scraper 43 can fully contact the surface of the video detector 2 to wipe the surface of the video detector 2. The liquid outlet component 44 is installed at the bottom end of the right side wall of the micro water tank 42.

[0049] Furthermore, driven by the motor 34, the turntable 35 can drive one end of the first connecting rod 36 to perform circular motion, and the other end of the first connecting rod 36 can drive the swing rod 33 to swing back and forth in both directions. As the motor 34 drives the turntable 35 to rotate, the swing rod 33 can drive the rotating shaft 32 to rotate back and forth clockwise and counterclockwise.

[0050] Further, such as Figure 6As shown, the liquid outlet assembly 44 includes a sleeve 441, a liquid outlet hole 442, a spring 443, a piston 444, a flow channel 445 and a shift block 446. The sleeve 441 is installed at the bottom end of the right side wall of the micro water tank 42. The outer wall of the sleeve 441 is provided with a plurality of liquid outlet holes 442 at equal intervals along the circumferential direction. The spring 443 is embedded in the inner side of the inner cavity of the sleeve 441. The spring 443 is a rotary spring. It generates elastic deformation after being stretched or squeezed, and returns to the initial state after the external force is removed. The piston 444 is pushed to the right by its elastic force, so that the piston 444 can close the liquid outlet hole 442. The piston 444 can be inserted into the sleeve slidably left and right. On the outside of the inner cavity 441, the outer wall of the piston 444 is provided with a plurality of flow channels 445 corresponding to the direction of the liquid outlet hole 442 along the circumferential direction. The cleaning liquid in the micro water tank 42 is led out through the flow channels 445 in cooperation with the liquid outlet hole 442. The shift block 446 is installed on the right side wall of the piston 444. The shift block 446 is made of a soft non-metallic material to prevent the shift block 446 from scratching the video detector 2 when it moves on the surface of the video detector 2. The shift block 446 is semicircular and has a curved surface. When the substrate 41 swings, the curved surface of the shift block 446 can be squeezed under the obstruction of the video detector 2, so that the shift block 446 pushes the piston 442 to move left.

[0051] Further, such as Figure 7 As shown, the cleaning mechanism 5 includes a support rod 51, a second connecting rod 52, a mounting plate 53, an electric telescopic rod 54, a collection box 55, a baffle 56, a camera 57 and a conductive component 58. The support rod 51 is installed at the right end of the crawling robot 1. There are two second connecting rods 52, one end of which is rotatably installed on the right side of the outer wall of the support rod 51 through a pin shaft. The mounting plate 53 is rotatably installed on the other end of the second connecting rod 52 through a pin shaft. One end of the electric telescopic rod 54 is rotatably installed on the left side of the bottom end of the support plate 51 through a pin shaft, and the other end is connected to the left side of the bottom end of the electric telescopic rod 54. The bottom end of the second connecting rod 52 is connected by a pin shaft, and the electric telescopic rod 54 is used to pull the second connecting rod 52 to swing to the left or right. The collecting box 55 is installed on the lower surface of the mounting plate 53 to collect the sediment in the pipeline. The baffle 56 is obliquely installed on the top of the left side wall of the collecting box 55. The baffle 56 blocks the dripping material to prevent the camera 57 from being contaminated. The camera 57 is installed on the lower surface of the baffle 56. The camera 57 has a light to provide a field of view for the conduction component 58. The conduction component 58 is fixedly connected to the middle of the left side wall of the collecting box 55.

[0052] Furthermore, the two second connecting rods 52 are parallel to each other, and the support rod 51 and the mounting plate 53 are arranged horizontally and parallel to each other, so that a four-bar mechanism is formed between the two second connecting rods 52, the support rod 51 and the mounting plate 53. When the second connecting rod 52 swings to the left or right, the mounting plate 53 can move horizontally downward or upward.

[0053] Further, such as Figure 8As shown, the conduction component 58 includes a barrel 581, a pressure plate 582, a fixed pulley 583 and a tension rope 584. The barrel 581 is fixedly connected to the middle part of the left side wall of the collecting box 55. The right side of the barrel 581 is arc-shaped, which matches the shape of the inner wall of the pipeline, thereby expanding the contact area between the barrel 581 and the inner wall of the pipeline. The sediment is shoveled up by moving the barrel 581 to the left. The pressure plate 582 is rotatably installed on the bottom end of the barrel 581 through a pin shaft, which is used to press down the sediment and ensure the shoveling amount of sediment shoveled up by the barrel 581. The fixed pulley 583 is installed at the bottom end of the left side of the barrel 581. The rolling of the fixed pulley 583 facilitates the movement of the tension rope 584. One end of the tension rope 584 is installed at the top left side of the barrel 581, and the other end is installed at the left side of the upper surface of the pressure plate 582. The tension rope 584 overlaps the fixed pulley 583.

[0054] Furthermore, both left and right ends of the pressing plate 582 are tilted upward to prevent sediment from moving to the upper surface of the pressing plate 582 when the pressing plate 582 moves, so that the function of the pressing plate 582 remains unchanged.

[0055] How it works

[0056] Step 1: The crawling robot 1 moves in the pipeline to propel the video detector 2, and the video detector 2 detects the inner wall of the pipeline;

[0057] Step 2: If there are debris dripping on the surface of the video detector 2, the motor 34 drives the turntable 35 to rotate so that the bottom end of the first connecting rod 36 makes a circular motion, and then the other end of the first connecting rod 36 pulls the swing rod 33 to swing back and forth, and the rotating shaft 32 drives the substrate 41 to swing back and forth clockwise and counterclockwise in front of the video detector 2. When the shift block 446 contacts the video detector 2, due to the semicircular shape of the shift block 446, the video detector 2 squeezes the shift block 446 to move to the left due to its own curved surface, and the piston 444 squeezes the spring 443 to contract. When the shift block 446 slides on the surface of the video detector 2, the flow channel 445 is connected with the liquid outlet 442, so that the cleaning liquid in the micro water tank 42 can flow along the outer wall of the shift block 446 to the surface of the video detector 2, and then the scraper 43 slides on the surface of the video detector 2 to clean the video detector 2 and remove obstacles blocking the light of the video detector 2. The pipeline flaw detection is carried out normally to ensure the accuracy of the pipeline flaw detection.

[0058] Step three, when it is necessary to clear the debris in the pipeline, the camera 57 is used to provide a field of vision for the staff, so that the sediment inside the pipeline can be clearly observed, and the electric telescopic rod 54 is driven to shorten, thereby pushing the second connecting rod 52 to swing left. Under the swing of the two second connecting rods 52, the collecting box 55 gradually moves down until the bottom end of the barrel 581 is inserted into the sediment, and the pressing plate 582 is pressed horizontally on the surface of the sediment. At the same time, the pressing plate 582 is subjected to the tension brought by the tension rope 584. Therefore, the pressing plate 582 presses down the sediment on the right side, and the crawling robot 1 is used to drive the support rod 51 to move from right to left. As the barrel 581 continues to move to the left, the barrel 581 shovels up the sediment, and the sediment gradually enters the barrel 581. The sediment moves from bottom to top and falls into the collecting box 55, and the sediment is cleaned and collected. A small amount of sediment does not require the staff to go down the pipe to clean it, thereby ensuring the fluid delivery flow rate, saving time and effort, and reducing the workload of the staff.

[0059] The above are only preferred embodiments of the present invention. It should be pointed out that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention. These should also be regarded as the protection scope of the present invention. These will not affect the effect of the implementation of the present invention and the practicality of the patent.

Claims

1. A water conservancy project pipeline flaw detection device, comprising a crawling robot (1) and a video detector (2), characterized in that: Also includes: The left end of the crawling robot (1) is equipped with a rotating mechanism (3), the right side of the video detector (2) is equipped with the left side of the rotating mechanism (3), and the axis of the video detector (2) and the crawling robot (1) are on the same straight line. A local cleaning mechanism (4) is installed at the protrusion at the left end of the rotating mechanism (3), and the local cleaning mechanism (4) is driven by the rotating mechanism (3) to swing to clean the surface of the video detector (2). The right end of the crawling robot (1) is equipped with a cleaning mechanism (5); The rotating mechanism (3) comprises: A housing (31) mounted on the left end of the crawling robot (1); A rotating shaft (32) is rotatably mounted on the top of the left side wall of the housing (31) via a bearing; A swing rod (33), one end of which is mounted on the right end of the outer wall of the rotating shaft (32); A motor (34) mounted at the bottom end of the inner cavity of the housing (31); A rotating disk (35) mounted on the output end of the motor (34); A first connecting rod (36), one end of which is rotatably mounted on the outer edge of the right side wall of the rotating disk (35) via a pin, and the other end of which is rotatably mounted on the other end of the swing rod (33) via a pin; The local cleaning mechanism (4) comprises: A base plate (41) is mounted on the left end of the outer wall of the rotating shaft (32) to give the base plate (41) a swinging ability; A plurality of micro water tanks (42) are installed inside the base plate (41) from top to bottom; Two scrapers (43) are respectively mounted on the front and rear ends of the right side wall of the base plate (41); the scrapers (43) are made of rubber material; A liquid outlet assembly (44) installed at the bottom end of the right side wall of the micro water tank (42); The liquid outlet component (44) comprises: A sleeve (441) is installed at the bottom end of the right side wall of the micro water tank (42), and a plurality of liquid outlet holes (442) are formed on the outer wall of the sleeve (441) at equal intervals along the circumferential direction; A spring (443) embedded inside the inner cavity of the sleeve (441); The piston (444) is inserted into the outer side of the inner cavity of the sleeve (441) in a slidable manner, and the outer wall of the piston (444) is provided with a plurality of flow channels (445) corresponding to the direction of the liquid outlet hole (442) along the circumferential direction; A shift block (446) is mounted on the right side wall of the piston (444), and the shift block (446) is made of a soft non-metallic material; The cleaning mechanism (5) comprises: A support rod (51) mounted on the right end of the crawling robot (1); Two second connecting rods (52) are provided, one end of each of which is rotatably mounted on the right side of the outer wall of the support rod (51) via a pin; A mounting plate (53) rotatably mounted on the other end of the second connecting rod (52) via a pin; An electric telescopic rod (54), one end of which is rotatably mounted on the left side of the bottom end of the support rod (51) via a pin, and the other end of which is connected to the bottom end of the second connecting rod (52) located on the left side via a pin; A collection box (55) mounted on the lower surface of the mounting plate (53); A baffle (56) is obliquely mounted on the top of the left side wall of the collecting box (55); A camera (57) is mounted on the lower surface of the baffle (56); A conducting component (58) fixedly connected to the middle portion of the left side wall of the collecting box (55); The conductive component (58) comprises: A barrel (581) is fixedly connected to the middle portion of the left side wall of the collecting box (55), and the right side of the barrel (581) is arc-shaped; A pressing plate (582) is rotatably mounted on the bottom end of the barrel (581) via a pin; A fixed pulley (583) is mounted on the left bottom end of the barrel (581); A tension rope (584) has one end mounted on the left top end of the barrel (581) and the other end mounted on the left side of the upper surface of the pressing plate (582), and the tension rope (584) is overlapped with the fixed pulley (583).

2. The water conservancy project pipeline flaw detection equipment according to claim 1 is characterized by: Driven by the motor (34), the rotating disk (35) can drive one end of the first connecting rod (36) to perform circular motion, while the other end of the first connecting rod (36) can drive the swing rod (33) to swing back and forth in both directions.

3. The water conservancy project pipeline flaw detection equipment according to claim 2 is characterized in that: The shifting block (446) is semicircular.

4. The water conservancy project pipeline flaw detection equipment according to claim 3 is characterized by: The two second connecting rods (52) are parallel to each other, and the support rod (51) and the mounting plate (53) are arranged horizontally and parallel to each other.

5. The water conservancy project pipeline flaw detection equipment according to claim 4 is characterized in that: Both left and right ends of the pressing plate (582) are tilted upwards.

6. The flaw detection method of the hydraulic engineering pipeline flaw detection equipment according to claim 5, characterized in that: The following steps are involved: Step 1: The crawling robot (1) moves in the pipeline to propel the video detector (2), and the video detector (2) detects the inner wall of the pipeline; Step 2: If debris drops onto the surface of the video detector (2), the motor (34) drives the turntable (35) to rotate so that the bottom end of the first connecting rod (36) performs a circular motion, thereby causing the other end of the first connecting rod (36) to pull the swing rod (33) to swing back and forth, and the rotating shaft (32) drives the base plate (41) to swing back and forth clockwise and counterclockwise in front of the video detector (2). When the shifting block (446) contacts the video detector (2), the shifting block (446) is semicircular and, due to the effect of its own curved surface, the video detector (2) squeezes the shifting block (446). When the piston (444) moves to the left, the spring (443) is compressed by the piston (444), and when the shifting block (446) slides on the surface of the video detector (2), the flow channel (445) is connected with the liquid outlet hole (442), so that the cleaning liquid in the micro water tank (42) can flow along the outer wall of the shifting block (446) to the surface of the video detector (2). Then, the scraper (43) slides on the surface of the video detector (2) to clean the video detector (2) and remove obstacles that block the light of the video detector (2). The pipeline flaw detection is carried out normally, thereby ensuring the accuracy of the pipeline flaw detection. Step 3, when it is necessary to clear the debris in the pipeline, the camera (57) provides a field of vision for the staff to clearly observe the sediment inside the pipeline, drive the electric telescopic rod (54) to shorten, and then push the second connecting rod (52) to swing to the left. Under the swing of the two second connecting rods (52), the collection box (55) gradually moves down until the bottom end of the barrel (581) is inserted into the sediment, and the pressing plate (582) is horizontally pressed on the surface of the sediment. At the same time, the pressing plate (582) is subjected to the tension brought by the tension rope (584). Therefore, the right side of the pressing plate (582) presses down the sediment, and the crawling robot (1) is used to drive the support rod (51) to move from right to left. As the barrel (581) continues to move to the left, the barrel (581) shovels up the sediment, and the sediment gradually enters the barrel (581). The sediment moves from bottom to top and falls into the collection box (55).

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