A pipeline diameter self-adaptive detection trolley based on a split triangular prism surface

Abstract

The present invention discloses a pipeline diameter adaptive detection vehicle based on a separate triangular prism surface, comprising a drive mechanism, an external diameter-changing mechanism, a support panel, a traveling mechanism, an internal diameter-changing mechanism, and a monitoring mechanism. Multiple support panels are provided along the circumference of the internal diameter-changing mechanism, and the internal diameter-changing mechanism enables the angle of each support panel to be adjusted. The drive mechanism, the external diameter-changing mechanism, and the traveling mechanism are respectively mounted on the support panels, the drive mechanism being transmission-connected to the traveling mechanism, and the drive mechanism can drive the traveling mechanism to move along the inner wall of the pipeline. The external diameter-changing mechanism is transmission-connected to the traveling mechanism, and the external diameter-changing mechanism enables the traveling mechanism to be height-adjusted. The monitoring mechanism is mounted at the head of the internal diameter-changing mechanism, and the monitoring mechanism can monitor the interior of the pipeline. The present invention can utilize three separate support panels and the diameter-changing mechanism to perform front-to-back and up-and-down adaptive adjustments.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline detection equipment, and in particular to a pipeline diameter adaptive detection trolley based on a separated triangular prism surface. Background Art

[0002] With the rapid development of China's infrastructure industries, the demand for oil, natural gas, and other resources is increasing. Regional resource imbalances are creating an urgent need for reliable energy transportation methods. Pipeline transportation, with its unique advantages, is being used to address these issues. Therefore, with the widespread use of pipelines, internal pipeline inspection has become a top priority in pipeline transportation safety management.

[0003] Traditional pipeline inspections are primarily performed manually or by inspection robots. While manual inspections can be adequate for some simple pipelines with wide interiors, they pose safety risks for pipelines with hazardous conditions (such as those containing hazardous gases, liquids, or sludge). Furthermore, manual inspections struggle to accurately assess internal defects in pipes with excessive bends and narrowness. Therefore, the emergence of pipeline inspection robots allows for pipeline quality inspection and internal defect analysis in these hazardous and complex environments. Through remote control by engineers or through internal programmable coordination between mechanical and electronic components, they can effectively reduce pipeline maintenance costs and improve pipeline inspection efficiency. However, when pipeline diameters vary and are obstructed by large amounts of foreign matter or silt, pipeline crawling mechanisms with simple drive wheels cannot flexibly adjust the height of the body, and can cause the drive wheels to slip or become immobilized. Furthermore, when the diameter of a single pipe varies significantly due to silt, rust, welds, and other factors, the crawling mechanisms of existing inspection robots lack the multi-degree-of-freedom crawling angles necessary for smooth passage through the pipeline.

[0004] Chinese utility model patent CN201922301470.2 discloses an adaptive pipeline crawling mechanism for nuclear power plants. It uses parallel drive plates for up and down movement and active wheels for crawling within the pipeline. However, when encountering a bend in the pipeline or a large diameter, the mechanism controlled by the two parallel drive plates is unstable, and the roller position can only move up and down. Chinese invention patent CN202110736923.3 discloses an adaptive pipeline inspection robot. It uses a connecting rod group to drive the crawler to change the crawling diameter. However, its rigid connecting rod structure requires high diameter change accuracy, making it difficult to adapt to the uneven pipeline inspection environment. Summary of the Invention

[0005] In view of the problem that the walking mechanism of the detection equipment in the existing technology is difficult to effectively adapt to the detection of pipelines with uneven diameters such as depressions, silt, welds, etc., and cannot crawl smoothly in pipelines connected by different diameters, the present invention proposes a pipe diameter adaptive detection trolley based on a separate triangular prism surface and an internal and external diameter reducing mechanism. It can be used for the inspection of medium or large diameter pipelines such as oil transportation and natural gas transportation. It can realize free crawling at multiple angles and adapt to seamless detection of pipelines with different diameters, and uses triangle stability to ensure the reliability of the detection robot.

[0006] The technical solution adopted in the present invention is as follows:

[0007] A pipeline diameter adaptive detection trolley based on a separated triangular prism surface includes a driving mechanism, an external diameter-changing mechanism, a support panel, a traveling mechanism, an internal diameter-changing mechanism and a monitoring mechanism; the supporting panels are arranged in plurality along the circumferential direction of the internal diameter-changing mechanism, and the angle of each supporting panel can be adjusted by the internal diameter-changing mechanism; the driving mechanism, the external diameter-changing mechanism and the traveling mechanism are respectively installed on the supporting panels, the driving mechanism is connected to the traveling mechanism by transmission, and the traveling mechanism can be driven to move along the inner wall of the pipeline by the driving mechanism; the external diameter-changing mechanism is connected to the traveling mechanism by transmission, and the height position of the traveling mechanism can be adjusted by the external diameter-changing mechanism; the monitoring mechanism is installed at the head of the internal diameter-changing mechanism, and the interior of the pipeline can be monitored by the monitoring mechanism.

[0008] Furthermore, the walking mechanism includes a left front roller, a left rear roller, a right front roller, a right rear roller, a front roller shaft and a rear roller shaft. The left front roller and the right front roller are connected by the front roller shaft, and the left rear roller and the right rear roller are connected by the rear roller shaft; the left front roller is arranged on the left front roller shaft bracket, and the right front roller is arranged on the right front roller shaft bracket; the left front roller shaft bracket and the right front roller shaft bracket are respectively engaged in corresponding slide grooves on the support panel, and can slide back and forth along the slide grooves.

[0009] Furthermore, the driving mechanism includes a driving motor, a motor bracket, a V-belt, a large pulley and a small pulley; the driving motor is arranged on the motor bracket, the small pulley is arranged on the front roller shaft, the large pulley is arranged on the rear roller shaft, the driving motor is connected to the small pulley through a driving gear set, and the V-belt is arranged between the small pulley and the large pulley.

[0010] Furthermore, the external diameter-changing mechanism includes a driving motor, a left inserted concave slide rail, a right inserted concave slide rail, a left base, a right base, a left guide link, a left guide link hydraulic rod, a right guide link and a right guide link hydraulic rod; the left base and the right base are respectively arranged on the left inserted concave slide rail and the right inserted concave slide rail, the left inserted concave slide rail is plugged into the right inserted concave slide rail, and racks are respectively provided on the left inserted concave slide rail and the right inserted concave slide rail, and the driving motor is connected to the left inserted concave slide rail and the right inserted concave slide rail. The transmission gear sets are respectively connected to the rack transmission; one end of the left guide link is hinged on the left base, and the other end is hinged on the left end of the rear roller shaft; one end of the right guide link is hinged on the right base, and the other end is hinged on the right end of the rear roller shaft; one end of the left guide link hydraulic rod is hinged on the support panel, and the other end is slidably fitted on the left guide link; one end of the right guide link hydraulic rod is hinged on the support panel, and the other end is slidably fitted on the right guide link.

[0011] Furthermore, the internal diameter-changing mechanism includes an internal support column, a rotating short rod, a hydraulic cylinder, a rotating lifting plate, a supporting hydraulic rod, a tension spring and an L-shaped rotating long rod. The supporting hydraulic rods are arranged in multiples along the circumferential direction of the internal support column, and one end of the supporting hydraulic rod is hinged on the internal support column, and the other end is hinged to the rotating lifting plate; one side of the rotating lifting plate is connected to the internal support column through a rotating short rod, and the other side is connected to the internal support column through an L-shaped rotating long rod, and the rotating lifting plate, the rotating short rod and the L-shaped rotating long rod together constitute a double rocker mechanism; one end of the tension spring is connected to the internal support column, and the other end is connected to the rotating lifting plate; the hydraulic cylinder is arranged on the internal support column and corresponds to the position of the supporting hydraulic rod. Under the drive of the hydraulic cylinder, it drives the supporting hydraulic rod to move, so that the rotating lifting plate rotates an angle.

[0012] Furthermore, the monitoring mechanism includes a sensor and a winding column. The sensor is fixedly arranged at the head of the internal support column to realize monitoring of the inside of the pipeline; the winding column is arranged at the tail of the internal support column to realize winding and fixing of the line to avoid messy entanglement of the line when the equipment is running.

[0013] Furthermore, the support panels are provided with three pieces, and the support panels are straight panels with semicircular cut surfaces on both sides, and the side edges of the support panels are inclined surfaces. The three support panels are spliced together to form a triangular prism.

[0014] Furthermore, the front roller shaft is arranged to be sunken at the position of the small pulley, which can prevent the small pulley from being too high and causing interference with the left and right front rollers.

[0015] Furthermore, the driving gear set includes a first spur gear, a second spur gear and a third spur gear, the third spur gear is arranged between the first spur gear and the second spur gear, and the first spur gear is meshed with the third spur gear, and the third spur gear is meshed with the second spur gear.

[0016] Furthermore, the transmission gear group includes a motor drive gear, a first transfer gear, a second transfer gear, a third transfer gear and a slide rail gear. The first transfer gear is coaxially arranged with the second transfer gear, the third transfer gear is coaxially arranged with the slide rail gear, the motor drive gear is meshed with the first transfer gear, and the second transfer gear is meshed with the third transfer gear.

[0017] Beneficial effects of the present invention:

[0018] 1) The present invention can utilize three separate support panels and a variable diameter mechanism to perform adaptive front-to-back and up-and-down adjustments, allowing the rear roller to fit closely to the pipe wall;

[0019] 2) The rotation angle of the support panel can be adjusted by rotating the lifting plate on the internal support column. This can effectively ensure that the front roller fits the pipe wall when the equipment enters pipes of different diameters or turns, ensuring stability when turning;

[0020] 3) When the three support panels overlap, they form a triangular prism structure. The stability of the triangle ensures the reliability of the equipment during long-distance movement and avoids problems such as shaking and swinging.

[0021] 4) The hollow structure formed by the internal support columns and support panels can avoid large resistance when passing through mud or puddles;

[0022] 5) The height of the rear roller shaft is adjusted by the linkage of two inserted concave slide rails. Only one slide rail gear can realize the joint rotation of the two slide rails, improving the diameter change efficiency and making the structural layout more compact. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a front view of the pipe diameter adaptive detection device of the present invention;

[0024] Figure 2 This is a rear view of the pipe diameter adaptive detection device of the present invention;

[0025] Figure 3 This is a structural layout diagram on the support panel of the present invention;

[0026] Figure 4 This is a structural diagram of the internal support column of the present invention;

[0027] Figure 5 This is a schematic diagram of the structure of the insertable concave slide rail of the present invention;

[0028] Figure 6 This is a schematic diagram of the internal support column structure of the present invention;

[0029] Figure 7 Schematic diagram of the upper and lower surfaces of the support panel of the present invention;

[0030] Figure 8 This is a schematic diagram of the structure of the rotary lifting plate of the present invention;

[0031] Figure 9 This is a schematic diagram of the rear roller shaft structure of the present invention;

[0032] Figure 10 This is a schematic diagram of the front roller shaft structure of the present invention;

[0033] Figure 11 This is a schematic diagram of the structure of the left guide connecting rod of the present invention;

[0034] Figure 12 This is a schematic diagram of the left base structure of the present invention;

[0035] Figure 13 This is a schematic diagram of the structure of the left front roller shaft bracket of the present invention;

[0036] Figure 14 This is a schematic diagram of the motor bracket structure of the present invention;

[0037] In the figure: 1. Left rear roller; 2. Rear roller shaft; 3. V-belt; 4. Left guide link; 5. Left guide link hydraulic rod; 6. Left front roller; 7. Support panel; 8. Motor bracket; 9. Left front roller shaft bracket; 10. Extension spring; 11. Large pulley; 12. Right rear roller; 13. Right guide link; 14. Right guide link hydraulic rod; 15. Drive motor; 16. Right front roller; 17. Right front roller shaft bracket; 18. Internal support column; 19. Sensor; 20. Rotating lifting plate; 21. First Spur gear; 22. Third spur gear; 23. Motor drive gear; 24. Second transfer gear; 25. First transfer gear; 26. Third transfer gear; 27. Slide rail gear; 28. Second spur gear; 29. Second transmission shaft; 30. First transmission shaft; 31. Front roller shaft; 32. Small pulley; 33. Right base; 34. Right plug-in concave slide rail; 35. Left plug-in concave slide rail; 36. Left base; 37. Rotating short rod; 38. L-shaped rotating long rod; 39. Support hydraulic rod; 40. Winding column. DETAILED DESCRIPTION

[0038] The present invention will be further described below with reference to specific embodiments, but the protection scope of the present invention is not limited thereto.

[0039] Example:

[0040] like Figure 1-14As shown, a pipe diameter adaptive detection trolley based on a separated triangular prism surface and an internal and external diameter reducing mechanism includes three left rear rollers 1, three rear roller shafts 2, a V-belt 3, three left guide links 4, three left guide link hydraulic rods 5, three left front rollers 6, three support panels 7, three motor brackets 8, three left front roller shaft brackets 9, three tension springs 10, three large pulleys 11, three right rear rollers 12, three right guide links 13, three right guide link hydraulic rods 14, six drive motors 15, three right front rollers 16, three right front roller shaft brackets 17, internal support columns 18, sensors 19, and 3 A rotating lifting plate 20, 3 first spur gears 21, 3 third spur gears 22, 3 motor drive gears 23, 3 second transmission gears 24, 3 first transmission gears 25, 3 third transmission gears 26, 3 slide rail gears 27, 3 second spur gears 28, 3 second transmission shafts 29, 3 first transmission shafts 30, 3 front roller shafts 31, 3 small pulleys 32, 3 right bases 33, 3 right plug-in concave slide rails 34, 3 left plug-in concave slide rails 35, 3 left bases 36, 3 rotating short rods 37, 3 L-shaped rotating long rods 38, 3 supporting hydraulic rods 39 and a winding column 40.

[0041] A pipeline diameter adaptive detection trolley based on a separated triangular prism surface, comprising a driving mechanism, an external diameter-changing mechanism, a support panel 7, a walking mechanism, an internal diameter-changing mechanism and a monitoring mechanism;

[0042] Three support panels 7 are arranged along the circumferential direction of the internal reducing mechanism; the overall structure of the trolley is rotationally symmetrical and is a triangular prism structure, which is stable. The height position and rotation angle of the rear roller shaft 2 and the support panel 7 are freely adjusted by the internal and external reducing mechanisms, realizing the flexible adjustment function of multi-angle rotation of the front and rear rollers, so that it fits tightly with the pipe wall.

[0043] The driving mechanism, the external reducing mechanism, and the traveling mechanism are respectively installed on the support panel 7. The driving mechanism is connected to the traveling mechanism through transmission. The driving mechanism can drive the traveling mechanism to move along the inner wall of the pipe.

[0044] The external reducing mechanism is in transmission connection with the traveling mechanism, and the height position of the traveling mechanism can be adjusted through the external reducing mechanism;

[0045] The monitoring mechanism is installed at the head of the internal reducing mechanism, and the inside of the pipeline can be monitored through the monitoring mechanism.

[0046] The walking mechanism includes a left front roller 6, a left rear roller 1, a right front roller 16, a right rear roller 12, a front roller shaft 31 and a rear roller shaft 2. The left front roller 6 and the right front roller 16 are connected by the front roller shaft 31, and the left rear roller 1 and the right rear roller 12 are connected by the rear roller shaft 2; the left front roller 6 is arranged on the left front roller shaft bracket 9, and the right front roller 16 is arranged on the right front roller shaft bracket 17; the left front roller shaft bracket 9 and the right front roller shaft bracket 17 are respectively fitted in the corresponding slide grooves on the support panel 7, and can slide back and forth along the slide grooves.

[0047] The front roller shaft 31 is sunken at the position of the small pulley 32 to avoid the small pulley 32 being too high and thus interfering with the left and right front rollers.

[0048] The driving mechanism includes a driving motor 15, a motor bracket 8, a V-belt 3, a large pulley 11 and a small pulley 32; the driving motor 15 is arranged on the motor bracket 8, the small pulley 32 is arranged on the front roller shaft 31, the large pulley 11 is arranged on the rear roller shaft 2, the driving motor 15 is connected to the small pulley 32 through a driving gear set, and the V-belt 3 is arranged between the small pulley 32 and the large pulley 11; wherein the driving gear set includes a first spur gear 21, a second spur gear 28 and a third spur gear 22, the third spur gear 22 is arranged between the first spur gear 21 and the second spur gear 28, and the first spur gear 21 is meshed with the third spur gear 22, and the third spur gear 22 is meshed with the second spur gear 28.

[0049] The left rear roller 1 and the right rear roller 12 driven by the V-belt 3 are the driving wheels, and the left front roller 6 and the right front roller 16 of the front roller shaft 31 placed on the left (right) front roller shaft bracket are driven wheels. The front roller shaft bracket can slide in the slide groove on the support panel 7 and work in conjunction with the rear roller shaft 2 to ensure that the rear roller shaft can move forward and backward while moving up and down.

[0050] The external diameter reducing mechanism includes a driving motor 15, a left plug-in concave slide rail 35, a right plug-in concave slide rail 34, a left base 36, a right base 33, a left guide link 4, a left guide link hydraulic rod 5, a right guide link 13 and a right guide link hydraulic rod 14; the left base 36 and the right base 33 are respectively arranged on the left plug-in concave slide rail 35 and the right plug-in concave slide rail 34, the left plug-in concave slide rail 35 is plugged into the right plug-in concave slide rail 34, and a rack is respectively provided on the left plug-in concave slide rail 35 and the right plug-in concave slide rail 34, the driving motor 15, the left base 36 and the right base 33 are respectively arranged on the left plug-in concave slide rail 35 and the right plug-in concave slide rail 34, The motor 15 is connected to the rack transmission through a transmission gear set; one end of the left guide link 4 is hinged on the left base 36, and the other end is hinged on the left end position of the rear roller shaft 2; one end of the right guide link 13 is hinged on the right base 33, and the other end is hinged on the right end position of the rear roller shaft 2; one end of the left guide link hydraulic rod 5 is hinged on the support panel 7, and the other end is slidingly fitted on the left guide link 4; one end of the right guide link hydraulic rod 14 is hinged on the support panel 7, and the other end is slidingly fitted on the right guide link 13.

[0051] The above-mentioned transmission gear group includes a motor drive gear 23, a first transfer gear 25, a second transfer gear 24, a third transfer gear 26 and a slide rail gear 27. The first transfer gear 25 is coaxially arranged with the second transfer gear 24, and the third transfer gear 26 is coaxially arranged with the slide rail gear 27. The motor drive gear 23 is engaged with the first transfer gear 25, and the second transfer gear 24 is engaged with the third transfer gear 26. When the slide rail gear 27 rotates clockwise (counterclockwise), the left and right inserted concave slide rails move in opposite directions (in the same direction), thereby widening (shortening) the distance between the left guide link 4 and the right guide link 13, so that the height of the rear roller shaft 2 is lowered (increased).

[0052] The internal diameter-changing mechanism includes an internal support column 18, a rotating short rod 37, a rotating lifting plate 20, a supporting hydraulic rod 39, a tension spring 10 and an L-shaped rotating long rod 38. Multiple supporting hydraulic rods 39 are arranged along the circumferential direction of the internal support column, and one end of the supporting hydraulic rod 39 is hinged on the internal support column 18, and the other end is hinged to the rotating lifting plate 20; one side of the rotating lifting plate 20 is connected to the internal support column 18 through the rotating short rod 37, and the other side is connected to the internal support column 18 through the L-shaped rotating long rod 38, and the rotating lifting plate 20, the rotating short rod 37 and the L-shaped rotating long rod 38 together constitute a double rocker mechanism; one end of the tension spring 10 is connected to the internal support column 18, and the other end is connected to the rotating lifting plate 20; the supporting hydraulic rod 39 is arranged on the internal support column 18, and the rotating lifting plate 20 rotates an angle by driving the supporting hydraulic rod 18 to move.

[0053] The rotating lift plate 20 is connected to a rotating short rod 37 and an L-shaped rotating long rod 38. When the extension length of the supporting hydraulic rod 39 changes, the rotating short rod 37 and the L-shaped rotating long rod 38 together form a double rocker mechanism. At the same time, the tension spring 10 provides a pulling force on the rotating lift plate 20, preventing it from shaking due to the hinge connection with the supporting hydraulic rod 39.

[0054] The monitoring mechanism includes a sensor 19 and a winding column 40. The sensor 19 is fixedly arranged at the head of the internal support column 18 to realize monitoring of the inside of the pipeline; the winding column 40 is arranged at the tail of the internal support column 18 to realize winding and fixing of the line to avoid the line from being tangled when the equipment is running.

[0055] There are three support panels 7, which are straight plates with semicircular cut surfaces on both sides, and the side edges of the support panels 7 are inclined surfaces. When two adjacent support panels 7 are spliced together, a triangular column can be formed; when there is no need to adjust the angle of the support panels, the overall structure can be made more solid.

[0056] In the initial state of the trolley, the height of the rear roller shaft 2 is consistent with the height of the front roller shaft 31, the rotating lifting plate 20 is parallel to the axis of the internal support column 18, and the edges of the three support panels 7 overlap to form a triangular prism with a hollow middle, which facilitates the flow of silt or sewage out of the equipment and ensures the stability of the equipment.

[0057] The support panel 7 of the present invention is fixed on the rotating lifting plate 20, and the driving motor in the motor bracket 8 is used to drive the first spur gear 21 to rotate, and the small pulley 32 is rotated through the meshing transmission of the third spur gear 22 and the second spur gear 28, and then the large pulley 11 is driven to rotate through the V-belt 3. When the rear roller shaft 2 rotates, the left rear roller 1 and the right rear roller 12 can actively follow the pipe wall to drive the device forward. Therefore, the left front roller 6 and the right front roller 16 mounted on the front roller shaft 31 can act as driven wheel auxiliary equipment to move forward stably, and when the rotating lifting plate 20 rotates, the respective expansion angles of the three support panels 7 can be adjusted to adapt to the degree of contact between the rollers and the pipe wall during the switching process of pipes of different diameters. Simultaneously, the drive motor 15, through the meshing rotation of the motor drive gear 23, the first transfer gear 25, the second transfer gear 24, and the third transfer gear 26, drives the slide rail gear 27 to rotate, thereby driving the left and right movement of the right and left insertable concave slide rails 34 and 35. When the slide rail gear 27 rotates clockwise, the left and right insertable concave slide rails move in opposite directions, increasing the distance between the left guide link 4 and the right guide link 13, and the height of the rear roller shaft 2 decreases. Therefore, the above principle allows the height of the rear roller shaft 2 on each support panel 7 to be adjusted individually, allowing for flexible movement in uneven pipe diameters, such as those caused by silt or welds. Furthermore, in the initial crawling state, the height of the rear roller shaft 2 is consistent with that of the front roller shaft 31.

[0058] like Figure 3 and Figure 7 As shown, to reduce the diameter variation accuracy of the front roller shaft 31 and the rear roller shaft 2, the left and right guide link hydraulic rods 5 and 14 are used to constrain the vertical distance between the left and right guide links 4 and 13. Simultaneously, the front roller shaft 31 is placed on the left and right front roller shaft brackets 9 and 17. The left and right front roller shaft brackets can slide in the grooves on the support panel 7, interlocking with the rear roller shaft 2. This ensures that the rear roller shaft can move forward and backward simultaneously with its vertical movement, thus providing strong traversability in even more complex pipeline environments. The pressure of the pipeline on the rollers keeps the V-belts taut, ensuring a good transmission effect when rotating the rollers.

[0059] like Figure 9 , Figure 11 and Figure 12 As shown, the left and right guide links 4 and 13 are hinged to the left and right bases 36 and 33, respectively. They are also hinged to the left and right guide link hydraulic rods 5 and 14. This ensures adaptive wheel roll direction adjustment when traversing pipes with uneven diameters, rather than rigid adjustment. Furthermore, the left and right guide links 4 and 13 each have two hinged locations, allowing for manual adjustment of the rear wheel roll height to accommodate a wide range of pipe diameters.

[0060] like Figure 4 and Figure 6 As shown, by varying the extension length of the support hydraulic rods 39 on each edge of the internal support column 18, the rotating lifting plate 20 is driven to rotate within the constraints of the rotating short rod 37 and the L-shaped rotating long rod 38. The L-shaped rotating long rod 38 ensures that the rotating lifting plate 20 can only rotate within a certain angle range without excessive rotation, which would cause the three support panels 7 to collide. Furthermore, the tension spring 10 applies a pulling force to the rotating lifting plate 20, preventing it from shaking due to the hinge connection with the support hydraulic rods 39. Furthermore, the sensor 19 is mounted at the head of the internal support column 18, and the control circuit is secured by passing it through a winding post to ensure that the sensor 19 can detect the device effectively when it moves.

[0061] The contents described in this specification are merely an enumeration of the implementation forms of the inventive concept. The scope of protection of the present invention should not be regarded as limited to the specific forms described in the embodiments. The scope of protection of the present invention is also limited to the equivalent technical means that those skilled in the art can think of based on the inventive concept.

Claims

1. A pipeline diameter adaptive detection vehicle based on a separated triangular prism, characterized in that: The invention comprises a driving mechanism, an external diameter reducing mechanism, a support panel (7), a walking mechanism, an internal diameter reducing mechanism and a monitoring mechanism; the supporting panels (7) are arranged in a plurality along the circumferential direction of the internal diameter reducing mechanism, and the angle of each supporting panel (7) can be adjusted by the internal diameter reducing mechanism; the driving mechanism, the external diameter reducing mechanism and the walking mechanism are respectively mounted on the supporting panel (7); the driving mechanism is connected to the walking mechanism by transmission, and the walking mechanism can be driven to move along the inner wall of the pipeline by the driving mechanism; the external diameter reducing mechanism is connected to the walking mechanism by transmission, and the height position of the walking mechanism can be adjusted by the external diameter reducing mechanism; the monitoring mechanism is mounted on the head of the internal diameter reducing mechanism, and the interior of the pipeline can be monitored by the monitoring mechanism; The external diameter reducing mechanism comprises a driving motor (15), a left insert-type concave slide rail (35), a right insert-type concave slide rail (34), a left base (36), a right base (33), a left guide link (4), a left guide link hydraulic rod (5), a right guide link (13) and a right guide link hydraulic rod (14); the left base (36) and the right base (33) are respectively arranged on the left insert-type concave slide rail (35) and the right insert-type concave slide rail (34); the left insert-type concave slide rail (35) and the right insert-type concave slide rail (34) are plug-fitted together, and the left insert-type concave slide rail (35) and the right insert-type concave slide rail (34) are respectively provided with racks. , the driving motor (15) is respectively connected to the rack through a transmission gear set; one end of the left guide link (4) is hingedly set on the left base (36), and the other end is hingedly set at the left end position of the rear roller shaft (2); one end of the right guide link (13) is hingedly set on the right base (33), and the other end is hingedly set at the right end position of the rear roller shaft (2); one end of the left guide link hydraulic rod (5) is hingedly set on the support panel (7), and the other end is slidably fitted on the left guide link (4); one end of the right guide link hydraulic rod (14) is hingedly set on the support panel (7), and the other end is slidably fitted on the right guide link (13); The support panels (7) are provided with three pieces, and the support panels (7) are straight plates with semicircular cut-off surfaces on both sides, and the side edges of the support panels (7) are inclined surfaces. The three support panels (7) are spliced together to form a triangular prism. The internal diameter-changing mechanism comprises an internal support column (18), a rotating short rod (37), a rotating lifting plate (20), a supporting hydraulic rod (39), a tension spring (10) and an L-shaped rotating long rod (38), wherein a plurality of supporting hydraulic rods (39) are provided along the circumferential direction of the internal support column, and one end of the supporting hydraulic rod (39) is hingedly provided on the internal support column (18), and the other end is hingedly provided on the rotating lifting plate (20); one side of the rotating lifting plate (20) is connected to the internal support column (18) through the rotating short rod (37) The first end of the tension spring (10) is connected to the internal support column (18), and the other side is connected to the internal support column (18) through the L-shaped rotating long rod (38), and the rotating lifting plate (20), the rotating short rod (37) and the L-shaped rotating long rod (38) together constitute a double rocker mechanism; one end of the tension spring (10) is connected to the internal support column (18), and the other end is connected to the rotating lifting plate (20); the supporting hydraulic rod (39) is arranged on the internal support column (18), and the rotating lifting plate (20) is rotated by an angle by driving the supporting hydraulic rod (39) to move.

2. The pipeline diameter adaptive detection vehicle based on the separated triangular prism according to claim 1 is characterized in that: The walking mechanism comprises a left front roller (6), a left rear roller (1), a right front roller (16), a right rear roller (12), a front roller shaft (31) and a rear roller shaft (2); the left front roller (6) and the right front roller (16) are connected via the front roller shaft (31), and the left rear roller (1) and the right rear roller (12) are connected via the rear roller shaft (2); the left front roller (6) is arranged on a left front roller shaft bracket (9), and the right front roller (16) is arranged on a right front roller shaft bracket (17); the left front roller shaft bracket (9) and the right front roller shaft bracket (17) are respectively fitted in corresponding slide grooves on the support panel (7) and can slide forward and backward along the slide grooves.

3. The pipeline diameter adaptive detection vehicle based on the separated triangular prism according to claim 2 is characterized in that: The driving mechanism comprises a driving motor (15), a motor bracket (8), a V-belt (3), a large pulley (11) and a small pulley (32); the driving motor (15) is arranged on the motor bracket (8), the small pulley (32) is arranged on the front roller shaft (31), the large pulley (11) is arranged on the rear roller shaft (2), the driving motor (15) is connected to the small pulley (32) through a driving gear set, and the V-belt (3) is arranged between the small pulley (32) and the large pulley (11).

4. The pipeline diameter adaptive detection vehicle based on a separated triangular prism according to claim 1 is characterized in that: The monitoring mechanism comprises a sensor (19) and a winding post (40), wherein the sensor (19) is fixedly arranged at the head of the internal support post (18) to monitor the interior of the pipeline; and the winding post (40) is arranged at the tail of the internal support post (18) to wind and fix the line, thereby preventing the line from being tangled when the equipment is running.

5. The pipeline diameter adaptive detection vehicle based on a separated triangular prism according to claim 2 is characterized in that: The front roller shaft (31) is arranged to be sunken at the position of the small pulley (32), which can prevent the small pulley (32) from being too high, thereby causing interference with the left and right front rollers.

6. The pipeline diameter adaptive detection vehicle based on a separated triangular prism according to claim 3 is characterized in that: The driving gear set comprises a first spur gear (21), a second spur gear (28) and a third spur gear (22), wherein the third spur gear (22) is arranged between the first spur gear (21) and the second spur gear (28), and the first spur gear (21) is meshed with the third spur gear (22), and the third spur gear (22) is meshed with the second spur gear (28).

7. The pipeline diameter adaptive detection vehicle based on a separated triangular prism according to claim 1 is characterized in that: The transmission gear set includes a motor drive gear (23), a first transfer gear (25), a second transfer gear (24), a third transfer gear (26) and a slide rail gear (27), wherein the first transfer gear (25) and the second transfer gear (24) are coaxially arranged, and the third transfer gear (26) and the slide rail gear (27) are coaxially arranged, and the motor drive gear (23) is meshed with the first transfer gear (25), and the second transfer gear (24) is meshed with the third transfer gear (26).

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