A pipeline inspection trolley based on a rotating variable diameter roller and an umbrella-shaped guide mechanism

Abstract

A pipeline inspection trolley based on a rotating variable diameter roller and an umbrella-shaped guide mechanism comprises a pipeline inspection trolley body, wherein the pipeline inspection trolley body is composed of a rotating variable diameter roller mechanism, an umbrella-shaped variable diameter mechanism, an umbrella-shaped guide mechanism and a detection device; wherein the rotating variable diameter roller mechanism is connected to the umbrella-shaped variable diameter mechanism through an umbrella-shaped guide mechanism, and a detection device is installed on the top of the umbrella-shaped variable diameter mechanism, wherein the detection device is a detection camera and a camera base, and the detection camera is installed on the camera base to detect the pipeline condition. The pipeline inspection trolley of the present invention can adapt to the crawling of pipelines with different diameters and different installation directions such as horizontal and vertical, has a double variable diameter structure to ensure the crawling efficiency and reliability of different pipelines in and out, can change the crawling direction at multiple angles in complex pipelines, and provides a reliable guide variable diameter structure to ensure the stability and flexibility of steering, realizes automated operation, has good stability, high efficiency, and saves time and effort.

Description

Technical Field

[0001] The invention belongs to the technical field of pipeline detection equipment, and in particular relates to a pipeline detection trolley based on a rotating variable diameter roller and an umbrella-shaped guide mechanism. Background Art

[0002] As a key transportation equipment for the transportation of gas, liquid and other energy, pipelines have significant characteristics such as safe transportation and high transportation efficiency, which brings great convenience to human production and life. However, due to the temperature, pressure and service life of the transportation medium, pipelines may suffer from cracking, corrosion, silt accumulation and other problems, causing transportation safety risks. Therefore, the development of pipeline inspection vehicles for pipeline inspection and maintenance, and replacing humans in pipeline operations, is the key to pipeline transportation safety.

[0003] At present, the transmission modes of common pipeline inspection trolleys are mainly divided into crawler type, roller type, spiral type, peristaltic type, floating type, etc. Among them, the wheeled pipeline trolley has the advantages of fast speed and smooth operation, and has been widely used in pipeline inspection equipment.

[0004] A pipeline inspection robot and pipeline inspection method are disclosed in Chinese invention patent CN111412342A. The vehicle body moves along the pipeline axis under the action of a driving mechanism, and the camera mechanism completes the image capture in the pipeline driven by a lifting mechanism. However, the robot lacks flexible turning ability at the bends of the pipeline, and does not have sufficient friction to support the crawling of the vehicle body in a vertical pipeline.

[0005] In Chinese invention patent CN112610803A, an underground pipeline inspection robot is disclosed. Multiple moving wheels are in contact with the inner wall of the pipeline, and a hinge device is used to achieve rotation at the corners. However, it cannot be applied to environments where the diameters of various pipelines vary. Summary of the invention

[0006] In view of the problems existing in the prior art such as weak adaptability to changes in pipeline diameter, great difficulty in turning, and large friction required in vertical pipelines, the present invention proposes a pipeline inspection trolley based on a rotating variable diameter roller and an umbrella-shaped guide mechanism, which can achieve adaptive adaptation to pipeline diameter and flexible turning for pipeline inspection.

[0007] The technical solution adopted by the present invention is as follows: a pipeline inspection trolley based on a rotating variable diameter roller and an umbrella-shaped guide mechanism, comprising a pipeline inspection trolley body, wherein the pipeline inspection trolley body is composed of a rotating variable diameter roller mechanism, an umbrella-shaped variable diameter mechanism, an umbrella-shaped guide mechanism and a detection device; wherein the rotating variable diameter roller mechanism is connected to the umbrella-shaped variable diameter mechanism through an umbrella-shaped guide mechanism, and a detection device is installed on the top of the umbrella-shaped variable diameter mechanism, wherein the detection device is composed of a detection camera and a camera base, wherein the detection camera is installed on the camera base to detect the pipeline condition.

[0008] As a preference: the rotating variable diameter roller mechanism comprises a rotating main shaft, a roller upper cover plate is arranged above the rotating main shaft, a roller lower cover plate is arranged below, a driving device for driving the rotating main shaft is arranged above the roller upper cover plate, an upper cover plate sliding rod base and an upper cover plate screw rod base are symmetrically distributed below the upper cover plate, a fixed support plate is arranged on the roller lower cover plate, a roller variable diameter sliding rod and a roller variable diameter screw rod are respectively arranged between the upper cover plate sliding rod base and the upper cover plate screw rod base and the fixed support plate, wherein the upper cover plate sliding rod base is connected to the roller variable diameter sliding rod, the sliding rod connecting base moves up and down on the roller variable diameter sliding rod, the upper cover plate screw rod base is connected to the roller variable diameter screw rod, and a There is a variable diameter motor, which drives the screw connecting base to move up and down on the roller variable diameter screw rod through the variable diameter motor, and a screw connecting long rod is sleeved on the roller variable diameter slide rod and the roller variable diameter screw rod, and a variable diameter roller is arranged on the top of the screw connecting long rod. The slide rod connecting base and the screw connecting base are also fixedly connected to the six-roller guide connecting rod, and the six-roller guide connecting rod is sleeved on the main shaft and can slide up and down, and a variable diameter spring pull rod is also arranged between the upper cover screw rod base and the upper cover slide rod base and the screw connecting long rod, wherein one end of the variable diameter spring pull rod is fixed to the upper cover screw rod base or the upper cover slide rod base through the spring pull rod base, and the other end is fixed to the middle position of the screw connecting long rod by a bolt.

[0009] Preferably, the driving device is composed of a gear set outer shell, a gear set outer shell base and a gear set, wherein the gear set includes a transmission pinion and a transmission gear, which are meshingly connected and placed on the gear set outer shell base, and a drum motor is arranged on the transmission pinion, which drives the transmission pinion and the transmission gear to rotate, and a bearing is arranged above the transmission gear, and a rotating main shaft is placed in the middle of the bearing.

[0010] Preferably: the umbrella-shaped guide mechanism includes a guide motor for providing driving force, a guide rotating plate with rollers, a steering screw, a guide screw slider, a spur rack, a guide gear and an umbrella-shaped guide rotating base, wherein the guide rotating plate with rollers is mounted on the top of the gear group outer shell, a guide motor for providing driving force is arranged on one side of the top position of the guide rotating plate with rollers, and a storage table is fixed on the other side, a steering screw connected to the guide motor is mounted on the storage table, and a guide screw slider engaged with the screw for linear motion is sleeved on the steering screw, a spur rack is fixed on the slider, and a guide gear and an umbrella-shaped guide rotating base engaged and rotated therewith are provided on the spur rack, the umbrella-shaped guide rotating base is connected to the top of the ball hinge support rod, the ball hinge support rod is installed on the hinge base, and has circumferential rotation freedom, and an umbrella-shaped reducing mechanism is connected above the umbrella-shaped guide rotating base.

[0011] Preferably, the umbrella-shaped variable diameter mechanism comprises an umbrella-shaped spring connecting base, a connecting spring, an umbrella-shaped upper connecting rod, an umbrella-shaped roller connecting rod, an umbrella-shaped stretching connecting rod, a screw stretching slider, a guide variable diameter screw and an umbrella-shaped mechanism variable diameter motor providing driving force, wherein one end of the guide variable diameter screw is fixed on the umbrella-shaped guide rotating base, and the other end is connected to the umbrella-shaped mechanism variable diameter motor through a coupling, and an umbrella-shaped spring connecting base is arranged outside the coupling and the umbrella-shaped mechanism variable diameter motor, and a plurality of umbrella-shaped upper connecting rods connected by connecting springs are fixed around the umbrella-shaped spring connecting base, each upper connecting rod is arranged with an umbrella-shaped roller connecting rod, and a stretching connecting rod is also arranged on the umbrella-shaped roller connecting rod, and the stretching connecting rod is connected to the screw stretching slider mounted on the guide variable diameter screw, and the guide variable diameter screw rotates under the drive of the umbrella-shaped mechanism variable diameter motor, so that the screw stretching slider moves up and down to drive the stretching connecting rod to bend.

[0012] Preferably, an angle is formed between the variable diameter roller and the upper cover plate of the drum to ensure that sufficient rotational friction is provided.

[0013] Beneficial effects of the present invention:

[0014] 1) The present invention is suitable for crawling in pipelines with different diameters and different installation directions such as horizontal and vertical. It has a double variable diameter structure to ensure the crawling efficiency and reliability of different pipelines in and out;

[0015] 2) The present invention can change the crawling direction at multiple angles in complex pipelines and provide a reliable guide variable diameter structure to ensure the stability and flexibility of steering;

[0016] 3) The present invention realizes automated operation, has good stability, high efficiency, and saves time and effort. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is the front view of the utility model;

[0018] Figure 2 It is a schematic diagram of an umbrella-shaped diameter-changing mechanism;

[0019] Figure 3 It is an isometric view of a rotating variable diameter roller;

[0020] Figure 4 It is a schematic diagram of the six-roller guide connecting rod;

[0021] Figure 5 This is a schematic diagram of the screw rod connecting the base;

[0022] Figure 6 It is a schematic diagram of a variable diameter spring pull rod;

[0023] Figure 7 It is a schematic diagram of the base of the outer casing of the gear set;

[0024] Figure 8 is a schematic diagram of the outer casing of the gear set;

[0025] Fig. 9 This is a schematic diagram of the screw rod connecting the long rod;

[0026] Fig.10 It is a schematic diagram of the spring pull rod base;

[0027] Fig.11 This is a schematic diagram of the screw base of the upper cover;

[0028] Fig.12 It is a schematic diagram of a ball hinge strut;

[0029] Fig.13 It is a schematic diagram of the roller connecting rod of the umbrella-shaped structure;

[0030] Fig.14 It is a schematic diagram of the upper connecting rod of the umbrella-shaped structure;

[0031] Fig.15 This is a schematic diagram of the lead screw stretching slider;

[0032] Fig.16 It is a schematic diagram of an umbrella-shaped guiding rotating base;

[0033] Fig.17 Schematic diagram of the umbrella-shaped structure spring connected to the base.

[0034] In the figure: 1-detection camera; 2-umbrella-shaped stretching connecting rod (4); 3-umbrella-shaped upper connecting rod (4); 4-umbrella-shaped roller connecting rod (4); 5-connecting spring (4); 6-screw stretching slider; 7-guide motor; 8-guide screw slider; 9-guide rotating plate; 10-variable roller (6); 11-gear group outer shell; 12-screw connecting long rod (24); 13-slide connecting base (4); 14-fixed support plate (6); 15-roller lower cover plate; 16-umbrella-shaped spring connecting base; 17-guide variable diameter screw; 18-umbrella-shaped guide rotating base; 19-guide gear; 20-spur rack; 21-steering screw; 22- Ball hinge support rod; 23-hinge base; 24-variable spring pull rod (6 pcs); 25-upper cover slide rod base (4 pcs); 26-variable motor (2 pcs); 27-spring pull rod base (6 pcs); 28-roller variable diameter screw rod (2 pcs); 29-roller variable diameter slide rod (4 pcs); 30-camera base; 31-umbrella mechanism variable diameter motor; 32-coupling; 33-six roller guide connecting rod; 34-roller upper cover; 35-gear set outer shell base; 36-screw connecting base (2 pcs); 37-transmission pinion; 38-roller motor; 39-rotating spindle; 40-bearing; 41-transmission gear; 42-upper cover screw rod base (2 pcs); 43-storage table. DETAILED DESCRIPTION

[0035] The present invention will be further described below in conjunction with specific embodiments, but the protection scope of the present invention is not limited thereto. Figure 1 As shown: A pipeline inspection trolley based on a rotating variable diameter roller and an umbrella-shaped guide mechanism, comprising a pipeline inspection trolley body, wherein the pipeline inspection trolley body is composed of a rotating variable diameter roller mechanism, an umbrella-shaped variable diameter mechanism, an umbrella-shaped guide mechanism and a detection device; wherein the rotating variable diameter roller mechanism is connected to the umbrella-shaped variable diameter mechanism through an umbrella-shaped guide mechanism, and a detection device is installed on the top of the umbrella-shaped variable diameter mechanism, wherein the detection device is composed of a detection camera 1 and a camera base 30, wherein the detection camera 1 is installed on the camera base 30 to detect the pipeline condition.

[0036] The detection device comprises a detection camera and a camera base, wherein the camera base is fixed on an umbrella-shaped structure spring connection base, and detection cameras of different models and specifications can be installed on the camera base according to actual needs of pipeline detection.

[0037] The rotating variable diameter roller mechanism includes a rotating main shaft 39, a roller upper cover plate 34 is arranged above the rotating main shaft 39, and a roller lower cover plate 15 is arranged below. A driving device for driving the rotating main shaft is arranged above the roller upper cover plate 34, and an upper cover plate slide rod base 25 and an upper cover plate screw rod base 42 are symmetrically distributed below it. A fixed support plate 14 is arranged on the roller lower cover plate 15, and a roller diameter-changing slide rod 29 and a roller diameter-changing screw rod 28 are respectively arranged between the upper cover plate slide rod base 25 and the upper cover plate screw rod base 42 and the fixed support plate 14, wherein the upper cover plate slide rod base 25 is connected to the roller diameter-changing slide rod 29, and the slide rod connecting base 13 moves up and down on the roller diameter-changing slide rod 29, and the upper cover plate screw rod base 42 is connected to the roller diameter-changing screw rod 28, and a diameter-changing electric rod is arranged on the upper cover plate screw rod base 42. The machine 26 drives the screw connecting base 36 to move up and down on the roller reducing screw 28 through the reducing motor 26, and a screw connecting long rod 12 is sleeved on the roller reducing slide 29 and the roller reducing screw 28, and a reducing roller 10 is arranged on the top of the screw connecting long rod 12, the slide connecting base 13 and the screw connecting base 36 are also fixedly connected with the six-roller guide connecting rod 33, and the six-roller guide connecting rod 33 is sleeved on the main shaft 39 and can slide up and down, and a reducing spring pull rod 24 is also arranged between the upper cover screw base 42 and the upper cover slide base 25 and the screw connecting long rod 12, wherein one end of the reducing spring pull rod 24 is fixed to the upper cover screw base 42 or the upper cover slide base 25 through the spring pull rod base 27, and the other end is fixed to the middle position of the screw connecting long rod 12 by bolts.

[0038] The driving device is composed of a gear set outer shell 11, a gear set outer shell base 35 and a gear set, wherein the gear set includes a transmission pinion 37 and a transmission gear 41, the transmission pinion 37 and the transmission gear 41 are meshingly connected and placed on the gear set outer shell base 35, and a drum motor 38 is arranged on the transmission pinion 37, and the transmission pinion 37 and the transmission gear 41 are driven to rotate by the drum motor 38, and a bearing 40 is arranged above the transmission gear 41, and a rotating main shaft 39 is placed in the middle of the bearing 40.

[0039] The rotating variable diameter roller mechanism utilizes the roller variable diameter screw to rotate and drive the screw connected to the base to make reciprocating linear motion. By connecting the six roller guide connecting rods, the sliding rod connected to the base moves simultaneously, driving the variable diameter roller to open and contract, so as to adjust the movement diameter range of the variable diameter roller and better adapt to the change of pipe diameter. The upper cover plate of the roller and the rotating main shaft rotate under the drive of the roller motor, so that the variable diameter roller rotates as a whole, wherein the movement direction of the variable diameter roller is at a certain angle with the upper cover plate of the roller to ensure that sufficient rotational friction is provided. The rotating variable diameter roller mechanism drives the variable diameter roller to rotate as a whole under the drive of the roller motor through gear meshing transmission.

[0040] The umbrella-shaped guide mechanism includes a guide motor 7 providing driving force, a guide rotating plate 9 with rollers, a steering screw 21, a guide screw slider 8, a spur rack 20, a guide gear 19 and an umbrella-shaped guide rotating base 18, wherein the guide rotating plate 9 with rollers is mounted on the top of the gear group outer shell 11, and a guide motor 7 providing driving force is arranged on one side of the top position of the guide rotating plate 9 with rollers, and a storage table 43 is fixed on the other side, a steering screw 21 connected to the guide motor 7 is mounted on the storage table 43, and a guide screw slider 8 engaged with the screw for linear motion is sleeved on the steering screw 21, a spur rack 20 is fixed on the slider 8, and a guide gear 19 and an umbrella-shaped guide rotating base 18 engaged and rotated therewith are provided on the spur rack 20, the umbrella-shaped guide rotating base 18 is connected to the top of the ball hinge support rod 22, the ball hinge support rod 22 is installed on the hinge base 23, and has circumferential rotation freedom, and an umbrella-shaped diameter reducing mechanism is connected above the umbrella-shaped guide rotating base 18.

[0041] The ball hinge support rod is installed on the hinge base in the form of a hinge. Driven by the hinge, the umbrella-shaped guide mechanism can ensure the flexible rotation of the umbrella-shaped diameter-changing mechanism at any turning point of the pipeline.

[0042] The umbrella-shaped guide mechanism drives the spur rack on the guide screw slider to move forward and backward through the rotation of the steering screw, thereby driving the guide gear to mesh and rotate, so that the umbrella-shaped guide rotating base rotates. The ball hinge support rod is fixed to the hinge base in the form of a hinge. Under the rotation of the ball hinge support rod, the guide rotating plate and the guide motor are driven to rotate, thereby realizing the precise guiding function of the umbrella-shaped mechanism. The guide motor in the umbrella-shaped guide mechanism drives the spur rack on the guide screw slider to move back and forth, so that the guide gear meshed with it rotates, and further drives the umbrella-shaped diameter reducing mechanism to rotate.

[0043] The umbrella-shaped variable diameter mechanism comprises an umbrella-shaped spring connecting base 16, a connecting spring 5, an umbrella-shaped upper connecting rod 3, an umbrella-shaped roller connecting rod 4, an umbrella-shaped stretching connecting rod 2, a screw stretching slider 6, a guide variable diameter screw rod 17 and an umbrella-shaped mechanism variable diameter motor 31 providing a driving force, wherein one end of the guide variable diameter screw rod 17 is fixed on the umbrella-shaped guide rotating base 18, and the other end is connected to the umbrella-shaped mechanism variable diameter motor 31 through a coupling 32, and an umbrella-shaped coupling 32 is provided outside the coupling 32 and the umbrella-shaped mechanism variable diameter motor 31. A spring connecting base 16 is provided, and multiple umbrella-shaped upper connecting rods 3 connected by connecting springs 5 ​​are fixed around the umbrella-shaped spring connecting base 16. An umbrella-shaped roller connecting rod 4 is provided on each upper connecting rod 3, and a stretching connecting rod 2 is also provided on the umbrella-shaped roller connecting rod 4. The stretching connecting rod 2 is connected to a screw stretching slider 6 sleeved on a guide variable diameter screw rod 17. The guide variable diameter screw rod 17 rotates under the drive of the umbrella-shaped mechanism variable diameter motor 31, so that the screw stretching slider 6 moves up and down to drive the stretching connecting rod 2 to bend.

[0044] The lead screw stretching slider makes reciprocating linear motion under the drive of the umbrella-shaped mechanism variable diameter motor, pulling the umbrella-shaped structure stretching connecting rod connected to it, thereby driving the umbrella-shaped structure roller connecting rod to extend and retract at the same time, so as to realize the fitting crawling of different pipe diameters.

[0045] The umbrella-shaped structure spring connection base and the umbrella-shaped structure upper connecting rod are connected by a spring, which not only plays a role of buffering and shock absorption, but also ensures greater flexibility when the umbrella-shaped mechanism is opened and retracted, providing more degrees of freedom.

[0046] The umbrella-shaped diameter-changing mechanism is arranged in rotational symmetry, and the umbrella-shaped structure roller connecting rod and the umbrella-shaped structure upper connecting rod are combined into an umbrella rib to support the umbrella-shaped diameter-changing mechanism to fit the pipe wall. In the process of the motor driving the lead screw stretching slider to move up and down, the umbrella handle is stretched and shrunk by the umbrella-shaped structure stretching connecting rod, thereby ensuring the stability of the umbrella-shaped diameter-changing mechanism in adapting to crawling in pipes with different diameters.

[0047] The variable diameter roller 10 forms a certain angle with the drum upper cover plate 34 to ensure sufficient rotational friction. The variable diameter roller is arranged obliquely, has the force of climbing upward, and is more suitable for crawling against the pipe wall.

[0048] like Figure 1 As shown, the roller variable diameter sliding rod and the roller variable diameter screw are symmetrically distributed, and the variable diameter motor on the roller variable diameter screw drives the screw connecting base to make linear reciprocating movements, and the six roller guide connecting rods are used to achieve overall axial movement, so that the variable diameter roller connected to the screw connecting long rod expands outward or shrinks inward, realizing the overall diameter change of the variable diameter roller. It is precisely because of our special arrangement that the pipeline inspection trolley can stably rotate and crawl in the horizontal and even vertical directions. Specific embodiments

[0049] like Figure 1 As shown, a pipeline inspection trolley based on a rotating variable diameter roller and an umbrella-shaped guide mechanism includes a rotating variable diameter roller mechanism, an umbrella-shaped variable diameter mechanism, an umbrella-shaped guide mechanism and a detection device. The rotating variable diameter roller mechanism uses a roller motor 38 to drive the upper roller cover plate 34 to rotate, and then connects the sliding rod connection base 13 and the screw connection base 36 respectively through the six roller guide connecting rods 33 sliding between the upper roller cover plate 34 and the lower roller cover plate 15, and drives the variable diameter roller 10 fixed to the screw connection long rod 12 to rotate during the rotation process, wherein the movement direction of the variable diameter roller 10 is at a certain angle to the upper roller cover plate 34 to ensure that sufficient rotational friction is provided. The umbrella-shaped variable diameter mechanism uses the guide variable diameter screw 17 to drive the umbrella-shaped structure stretching connecting rod 2 to rotate, so that the umbrella-shaped structure upper connecting rod 3 can be extended and retracted, so as to adapt to the switching of different pipeline diameters and be able to cling to the pipe wall. The umbrella-shaped guide mechanism uses the steering screw 21 to drive the guide screw slider 8 to move forward and backward, thereby driving the spur rack 20 to mesh and rotate with the guide gear 19, thereby rotating the direction of the umbrella-shaped guide rotating base 18, thereby realizing the guiding function of the umbrella-shaped mechanism. The detection device includes a camera base 30 and a detection camera 1, the camera base 30 is fixed to the umbrella-shaped structure spring connection base 16, and different models of detection cameras 1 are installed on the camera base 30.

[0050] like Figure 2 and Fig.15 As shown, the screw stretching slider 6 is respectively connected to the umbrella-shaped structure stretching link 2 to realize the opening and closing of the umbrella-shaped structure roller link 4, so as to fit the pipe wall when entering pipes of different diameters to ensure the stability of the detection trolley. At the same time, four connecting springs 5 ​​are fixed on the umbrella-shaped structure spring connecting base 16 to ensure greater flexibility when the umbrella-shaped mechanism is opened and retracted, providing more degrees of freedom, so that it is easier to make the roller on the umbrella-shaped structure roller link 4 fit the pipe wall.

[0051] like Figure 3 and Figure 4As shown, the rotating variable diameter roller is distributed in rotational symmetry, and the roller variable diameter screw rod 28 and the screw rod connecting base 36 are driven by the variable diameter motor 26 for meshing transmission, wherein the two ends of the connecting roller variable diameter slide rod 29 are respectively fixed on the fixed support plate 14 and the upper cover slide rod base 25, and the two ends of the connecting roller variable diameter screw rod 28 are respectively fixed on the fixed support plate 14 and the upper cover screw rod base 42. When the screw rod connecting base 36 is moved to make it close to the roller upper cover plate 34 (or the roller lower cover plate 15), the variable diameter roller 10 connected to the screw rod connecting long rod 12 is driven away from (or close to) the transmission main shaft 39, and the six roller guide connecting rods 33 connect the four connecting roller variable diameter slide rods 29 and the two roller variable diameter screw rods 28, so as to achieve the expansion and contraction of the six variable diameter rollers 10 at the same time, so as to provide sufficient friction to realize the crawling of the vertical and horizontal pipelines.

[0052] like Fig.17 As shown, the camera base 30 fixed on the umbrella-shaped spring connection base 16 can be equipped with different models of detection cameras 1, and cameras of various specifications can be replaced and placed according to the actual needs of pipeline inspection.

[0053] like Figure 5-Figure 11 As shown, the spring pull rod base 27 is fixed to four upper cover slide rod bases 25 and two upper cover screw rod bases 42, and these six bases are evenly fixed on the roller upper cover 34 in the circumferential direction, wherein one end of the variable diameter spring pull rod 24 is fixed to the spring pull rod base 27, and the other end is connected to the screw rod connecting long rod 12, forming a crank slider structure. The two ends of the screw rod connecting base 13 are connected to the variable diameter roller 10 through the screw rod connecting long rod 12 to form a parallelogram, so that the connecting rod of the variable diameter roller 10 and the roller variable diameter slide rod 29 (or roller variable diameter screw rod 28) are always kept parallel.

[0054] like Fig.12 and Fig.16 As shown, the ball hinge support rod 22 is fixed on the hinge base 23 in the form of a hinge. The rotation of the ball hinge support rod 22 drives the guide rotating plate 9 to rotate, and then the movement of the guide screw slider 8 drives the meshing transmission of the spur rack 20 and the guide gear 19, so that the umbrella-shaped guide rotating base 18 connected to the guide gear 19 rotates, and the guide reducing screw 17 connected to the umbrella-shaped guide rotating base 18 turns, thereby realizing the directional rotation of the umbrella-shaped mechanism and facilitating precise turning inside different pipelines.

[0055] like Fig.13 and Fig.14 As shown, the four umbrella-shaped upper connecting rods 3 are respectively connected to the umbrella-shaped roller connecting rods 4 by rollers, and the other end of the umbrella-shaped upper connecting rod 3 is connected to the connecting spring 5, which can ensure that the umbrella-shaped connecting rod has a certain flexibility when contracting and expanding.

[0056] The contents described in this specification are merely an enumeration of the implementation forms of the inventive concept. The protection scope of the present invention should not be regarded as limited to the specific forms described in the embodiments. The protection scope of the present invention is also limited to the equivalent technical means that can be thought of by those skilled in the art based on the inventive concept.

Claims

1. A pipeline inspection trolley based on a rotating variable diameter roller and an umbrella-shaped guide mechanism, comprising a pipeline inspection trolley body, characterized in that: The pipeline inspection trolley body comprises a rotating diameter-changing roller mechanism, an umbrella-shaped diameter-changing mechanism, an umbrella-shaped guide mechanism and a detection device; wherein the rotating diameter-changing roller mechanism is connected to the umbrella-shaped diameter-changing mechanism via the umbrella-shaped guide mechanism, and a detection device is installed on the top of the umbrella-shaped diameter-changing mechanism, wherein the detection device comprises a detection camera (1) and a camera base (30), wherein the detection camera (1) is installed on the camera base (30) to detect the pipeline condition; the rotating diameter-changing roller mechanism comprises a rotating main shaft (39), and a roller upper cover plate (39) is arranged above the rotating main shaft (39). 34), a roller lower cover plate (15) is arranged below, a driving device for driving the rotating main shaft is arranged above the roller upper cover plate (34), an upper cover plate slide rod base (25) and an upper cover plate screw rod base (42) are symmetrically distributed below the roller lower cover plate (15), a fixed support plate (14) is arranged on the roller lower cover plate (15), a roller diameter reducing slide rod (29) and a roller diameter reducing screw rod (28) are respectively arranged between the upper cover plate slide rod base (25) and the upper cover plate screw rod base (42) and the fixed support plate (14), wherein the upper cover plate slide rod base (25) is connected to the roller diameter reducing slide rod (29) The slide rod connecting base (13) moves up and down on the roller diameter-changing slide rod (29), the upper cover plate screw rod base (42) is connected to the roller diameter-changing screw rod (28), and a diameter-changing motor (26) is arranged on the upper cover plate screw rod base (42), and the diameter-changing motor (26) drives the screw rod connecting base (36) to move up and down on the roller diameter-changing screw rod (28), and a screw rod connecting long rod (12) is sleeved on the roller diameter-changing slide rod (29) and the roller diameter-changing screw rod (28), and a diameter-changing roller (10) is arranged on the top of the screw rod connecting long rod (12), and the slide rod connecting base (13) The screw rod connection base (36) is also fixedly connected to the six-roller guide connecting rod (33), and the six-roller guide connecting rod (33) is sleeved on the main shaft (39) and can slide up and down. A variable diameter spring pull rod (24) is also provided between the upper cover screw rod base (42) and the upper cover slide rod base (25) and the screw rod connection long rod (12), wherein one end of the variable diameter spring pull rod (24) is fixed to the upper cover screw rod base (42) or the upper cover slide rod base (25) through a spring pull rod base (27), and the other end is fixed to the middle position of the screw rod connection long rod (12) through a bolt.

2. The pipeline inspection vehicle based on the rotating variable diameter roller and the umbrella-shaped guide mechanism according to claim 1 is characterized in that: The driving device comprises a gear set outer shell (11), a gear set outer shell base (35) and a gear set, wherein the gear set comprises a transmission pinion (37) and a transmission gear (41), the transmission pinion (37) and the transmission gear (41) being meshingly connected and placed on the gear set outer shell base (35), and a roller motor (38) is arranged on the transmission pinion (37), and the transmission pinion (37) and the transmission gear (41) are driven to rotate by the roller motor (38), and a bearing (40) is arranged above the transmission gear (41), and a rotating main shaft (39) is placed in the middle of the bearing (40).

3. The pipeline inspection vehicle based on the rotating variable diameter roller and the umbrella-shaped guide mechanism according to claim 1 is characterized in that: The umbrella-shaped guide mechanism comprises a guide motor (7) providing driving force, a guide rotating plate (9) with rollers, a steering screw (21), a guide screw slider (8), a spur rack (20), a guide gear (19) and an umbrella-shaped guide rotating base (18), wherein the guide rotating plate (9) with rollers is mounted on the top of the gear group outer shell (11), a guide motor (7) providing driving force is arranged on one side of the top position of the guide rotating plate (9) with rollers, and a storage platform (43) is fixed on the other side, and a toothed plate (43) connected to the guide motor (7) is mounted on the storage platform (43). A steering screw (21) is connected, and a guide screw slider (8) is sleeved on the steering screw (21) and meshes with the screw for linear motion. A spur rack (20) is fixed on the slider (8). The spur rack (20) is provided with a guide gear (19) and an umbrella-shaped guide rotating base (18) that meshes and rotates with the spur rack. The umbrella-shaped guide rotating base (18) is connected to the top of a ball hinge support rod (22). The ball hinge support rod (22) is installed on a hinge base (23) and has circumferential rotation freedom. An umbrella-shaped diameter reducing mechanism is connected above the umbrella-shaped guide rotating base (18).

4. The pipeline inspection vehicle based on the rotating variable diameter roller and the umbrella-shaped guide mechanism according to claim 1 is characterized in that: The umbrella-shaped variable diameter mechanism comprises an umbrella-shaped spring connection base (16), a connection spring (5), an umbrella-shaped upper connecting rod (3), an umbrella-shaped roller connecting rod (4), an umbrella-shaped stretching connecting rod (2), a screw stretching slider (6), a guide variable diameter screw rod (17), and an umbrella-shaped mechanism variable diameter motor (31) providing a driving force, wherein one end of the guide variable diameter screw rod (17) is fixed to the umbrella-shaped guide rotating base (18), and the other end is connected to the umbrella-shaped mechanism variable diameter motor (31) via a coupling (32), and an umbrella-shaped structure is provided outside the coupling (32) and the umbrella-shaped mechanism variable diameter motor (31). A spring connection base (16) is provided around the umbrella-shaped spring connection base (16). A plurality of umbrella-shaped upper connecting rods (3) connected by connecting springs (5) are fixed. Each upper connecting rod (3) is provided with an umbrella-shaped roller connecting rod (4). A stretching connecting rod (2) is also provided on the umbrella-shaped roller connecting rod (4). The stretching connecting rod (2) is connected to a lead screw stretching slider (6) sleeved on a guide variable diameter lead screw (17). The guide variable diameter lead screw (17) rotates under the drive of an umbrella-shaped mechanism variable diameter motor (31), so that the lead screw stretching slider (6) moves up and down, driving the stretching connecting rod (2) to bend.

5. The pipeline inspection vehicle based on the rotating variable diameter roller and the umbrella-shaped guide mechanism according to claim 1 is characterized in that: An angle is formed between the variable diameter roller (10) and the upper cover plate (34) of the drum to ensure that sufficient rotational friction is provided.

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