Pipeline crawling device and pipeline detection system

Abstract

The present invention discloses a pipeline crawling device and pipeline detection system in the field of pipeline internal detection technology, including a traveling mechanism, at least two traveling mechanisms, and at least three driving wheels evenly distributed on the circumference of each traveling mechanism, the driving wheels can be radially retracted and expanded to abut against the inner wall of pipelines with different diameters; a connecting mechanism, the connecting mechanism is connected between two adjacent traveling mechanisms, used to transmit the axial force between the two adjacent traveling mechanisms, and the connecting mechanism can be elastically bent radially to allow the traveling mechanism to pass through a curved pipeline. The crawling device of the present invention has the advantages of a short body structure that is easy to pass through a curved pipe and a long body structure that is easy to pass through a tee pipe, which can greatly reduce the probability of the crawling device getting stuck in the pipeline; at the same time, with the driving wheels on the traveling mechanism that can be radially retracted and expanded, the crawling device of the present invention can be applied to the internal detection of pipelines with different diameters.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline in-pipeline detection, and in particular to a pipeline crawling device and a pipeline detection system. Background Art

[0002] Pipeline in-line inspection refers to the use of detectors to crawl inside the pipeline, detect and record the deformation, corrosion and other damage of the pipeline inner wall in real time, and accurately locate the work. Through pipeline in-line inspection, various defects and damages can be discovered in advance, and the degree of danger of each pipe section can be understood. It can effectively prevent and reduce accidents and save pipeline maintenance funds. It is an important measure to ensure pipeline safety.

[0003] The internal inspection of pipelines is usually carried out in sections using an endoscopic probe, but this method can only be used for pipelines that can be segmented. For pipelines that cannot be segmented and have multiple elbows and tees, the flow resistance method or the method of cutting the pipe section that may have abnormalities can usually only be used for inspection. Compared with the endoscopic method, these two detection methods are less accurate and require less time.

[0004] At present, there are many pipeline crawling devices for internal inspection of pipelines in China. For example, the patent with announcement number CN210514118U discloses a "panoramic inspection robot with power centering for passing through curved pipes". The device realizes the inspection of pipelines of different diameters by setting radially retractable and expandable power wheels, which brings convenience to the inspection inside the pipeline. However, it is found in actual application that this type of inspection robot still has the following shortcomings:

[0005] 1. The fuselage structure is a single rigid structure, which is easy to be stuck by the pipe elbow when traveling; because the smaller the curvature radius of the elbow that needs to be passed, the smaller the available range of the required fuselage length. For example, when passing through a 1.5D elbow, the fuselage length needs to be range to ensure that the power wheel fits tightly with the inner pipe wall of the elbow to generate driving force when passing through the elbow; that is to say, the longer the body structure is, the easier it is to be stuck by the elbow.

[0006] 2. The fuselage is driven by two sets of front and rear power wheels. The power wheels increase the friction between the power wheels and the pipe wall by increasing the pressure, thereby driving the fuselage forward. The support radius of the power wheels is generally between 90° and 120°. When passing through a non-upward tee, the legs of the first set of power wheels are easily suspended in the air. A single suspended leg will cause the force and direction of the fuselage head to change to the direction of the tee branch, thereby causing the fuselage to tilt. The power wheels in the branch direction and the reverse direction of the front power wheel group lose driving force, and the power wheels in the rear branch direction lose driving force. The overall driving force is lost by 37.5%-66%, and the deviation of the driving direction causes the fuselage to tilt further, and finally the fuselage is stuck at the tee and cannot move forward. At the same time, the shorter the fuselage structure, the easier it is for the drive wheels to lose driving force, thereby causing the fuselage structure to be stuck by the tee pipe.

[0007] 3. The power of the fuselage mainly comes from the friction between the power wheel and the pipe wall. When there is a variable diameter pipe section (the radial dimension becomes larger), the pressure of the power wheel on the pipe wall becomes smaller, and the friction between the power wheel and the pipe wall also becomes smaller, and the driving force of the fuselage also becomes smaller, which makes the fuselage unable to pass freely. In severe cases, the fuselage is stuck.

[0008] 4. Since the pipeline to be inspected is relatively long, the crawling device generally adopts wired power supply to ensure the normal operation of the crawling device. However, when the pipeline can only enter and exit from the same end, the cable can easily hinder the retreat of the crawling device during the retreat process, and sometimes cause the anti-power loss safety device to fail, reducing reliability.

[0009] 5. The power of the crawling device depends on the torque used by the motor. When the size of the fuselage is fixed, the motor used is limited by the size of the fuselage, and the torque cannot be increased by increasing the coil, etc., which results in power limitation. The size of the fuselage also limits the number of motors used.

[0010] 6. The fuselage adopts an integrated structure, and the repair of device damage is more complicated. Summary of the invention

[0011] In view of this, an object of the present invention is to provide a pipeline crawling device to solve the technical problem that the existing pipeline crawling device is easily stuck.

[0012] The technical solution adopted by the present invention is: a pipeline crawling device, comprising:

[0013] Traveling mechanisms, there are at least two of the traveling mechanisms, and each of the traveling mechanisms has at least three driving wheels evenly distributed on the circumference, and the driving wheels can be radially retracted and expanded to abut against the inner walls of pipes of different diameters;

[0014] The connecting mechanism is connected between two adjacent traveling mechanisms and is used to transmit the axial force between the two adjacent traveling mechanisms. The connecting mechanism can be elastically bent in the radial direction so that the traveling mechanism can pass through the curved pipe.

[0015] Furthermore, the traveling mechanism comprises:

[0016] middle body shell;

[0017] There are two thrust plates, and the distance between the two thrust plates is adjustable;

[0018] A transmission rod, one end of which is hinged to one of the thrust plates, and the other end of which is rotatably connected to the drive wheel;

[0019] A support rod, one end of which is hinged to another thrust plate, and the other end of which is rotatably connected to the transmission rod.

[0020] Furthermore, the support rod can be elastically retracted and contracted in the axial direction or elastically bent in the radial direction, so as to realize automatic folding and unfolding of the driving wheel of the traveling mechanism in the radial direction.

[0021] Furthermore, the thrust plate includes a fixed thrust plate and a movable thrust plate, the fixed thrust plate is fixedly mounted on one end of the middle shell, and the movable thrust plate is axially movably mounted on the other end of the middle shell; a manual plate is threadedly connected to the middle shell, and an elastic connecting piece is provided between the manual plate and the movable thrust plate, so that the passive retraction and expansion of the driving wheel of the traveling mechanism in the radial direction is realized through the movement of the manual plate on the middle shell.

[0022] Furthermore, a servo is provided in the middle shell, the rotating part of the servo extends to the outside of the middle shell, a tension rope is provided between the rotating part and the movable thrust plate, one end of the tension rope is fixedly connected to the movable thrust plate, and the other end is wrapped around the rotating part.

[0023] Furthermore, the crawling device also includes a driving mechanism, and the driving mechanism includes:

[0024] A gear plate, the gear plate being rotatable around the axis of the middle housing;

[0025] A sprocket chain set, wherein the sprocket chain set is arranged on the transmission rod, and the sprocket chain set comprises two sprockets, wherein one sprocket is arranged on the rotating shaft of the driving wheel, and the other sprocket is arranged on the hinge shaft where the transmission rod is hinged with the thrust plate;

[0026] A transmission shaft, wherein first bevel gears are arranged at both ends of the transmission shaft, wherein one of the first bevel gears is meshed with the gear plate for transmission, and the other first bevel gear is meshed with the second bevel gear on the articulated shaft for transmission.

[0027] Furthermore, the connecting mechanism comprises:

[0028] A connector having a hollow structure;

[0029] A connecting head is arranged at both ends of the connecting body in the axial direction, and a threaded structure is provided on the connecting head which is detachably connected to the traveling mechanism.

[0030] Furthermore, the connecting body includes a spring.

[0031] Another object of the present invention is to provide a pipeline detection system, the detection system comprising the above-mentioned pipeline crawling device, and the detection system further comprising:

[0032] A detection module, wherein the detection module is connected to the first end of the pipeline crawling device;

[0033] A cable control device for retracting and releasing cables;

[0034] A control host, wherein the control host is used to control the traveling state of the pipeline crawling device;

[0035] A cable, wherein the first end of the cable is electrically connected to the second end of the pipeline crawling device, the second end of the cable is electrically connected to the control host, and the middle part of the cable is wound around the cable control device.

[0036] Furthermore, the detection module includes a camera and a fill light, and the fill light is arranged around the camera.

[0037] Beneficial effects of the present invention:

[0038] 1. The present invention connects a plurality of short-sized traveling mechanisms through a connecting mechanism that can be radially elastically bent and transmit axial force, so that the crawling device of the present invention has the advantages of a short body structure that is easy to pass through a curved pipe and a long body structure that is easy to pass through a tee pipe, which can greatly reduce the probability of the crawling device getting stuck in the pipeline; at the same time, in conjunction with the driving wheel on the traveling mechanism that can be radially retracted and unfolded, the crawling device of the present invention can be suitable for internal detection of pipelines of different diameters.

[0039] 2. The support rod rotatably connected to the transmission rod in the present invention can be elastically extended and retracted axially or elastically bent radially, so that when the diameter of the pipeline changes, the driving wheel can automatically retract and unfold under the action of the elastic restoring force of the support rod, so that the driving wheel and the inner wall of the pipeline maintain a large pressure, and there is appropriate friction between the driving wheel and the inner wall of the pipeline, thereby enabling the driving wheel to maintain a better driving force.

[0040] 3. The present invention has a steering gear in the middle housing, and a tension rope is provided between the rotating part of the steering gear and the movable thrust plate. The extension and shortening of the tension rope are achieved by the rotation of the rotating part of the steering gear, and the controllable retraction and expansion of the driving wheel in the radial direction are achieved in conjunction with the manual disk and the elastic connecting piece.

[0041] 4. The present invention provides a transmission mechanism on the fixed thrust plate for transmitting power to the drive wheel. The transmission mechanism can realize synchronous and same-speed driving of multiple drive wheels by a single drive motor, and the drive motor is arranged between the fixed thrust plate and the movable thrust plate, which is beneficial to reducing the volume of the device and expanding the application range of the device.

[0042] 5. The crawling device of the present invention has a pipe diameter adaptive function, which realizes the radial retraction and expansion of the driving wheel on the crawling device in passive and active forms, and can better adapt to changes in the pipe diameter; multiple travel mechanisms are separately controllable, and when the pipe diameter changes during the travel process, they can be changed separately to better travel in the pipe.

[0043] 6. The detection system of the present invention adopts a modular design, and each module can be conveniently disassembled and assembled according to actual needs, greatly enhancing the on-site fault handling capability.

[0044] 7. The detection system of the present invention is provided with a cable control device, through which the cable can be automatically retracted and released to prevent the cable from causing obstacles to the movement of the crawling device; when the power of the crawling device fails, the crawling device can be pulled out by the traction force of the cable control device to prevent the crawling device from becoming a foreign body in the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a structural schematic diagram of the crawling device of the present invention;

[0046] Figure 2 It is a structural schematic diagram of the traveling mechanism of the present invention;

[0047] Figure 3 One of the structural diagrams of the traveling mechanism of the present invention;

[0048] Figure 4 The second structural diagram of the traveling mechanism of the present invention;

[0049] Figure 5 It is a structural schematic diagram of the transmission mechanism of the present invention;

[0050] Figure 6 It is a schematic diagram of the structure of the detection system of the present invention.

[0051] Description of reference numerals:

[0052] 10-travel mechanism;

[0053] 11- driving wheel;

[0054] 12-middle body shell;

[0055] 13-thrust plate; 131-fixed thrust plate; 132-movable thrust plate;

[0056] 14- transmission rod;

[0057] 15- support rod;

[0058] 16-Manual disk;

[0059] 17- elastic connector;

[0060] 18-servo; 181-rotating part;

[0061] 19-Tighten the rope;

[0062] 20-connecting mechanism;

[0063] 21-connector;

[0064] 22-connector;

[0065] 30- driving mechanism;

[0066] 31- gear plate;

[0067] 32-sprocket chain set;

[0068] 33- transmission shaft;

[0069] 34-first bevel gear;

[0070] 35- articulated shaft;

[0071] 36-second bevel gear;

[0072] 37- driving motor;

[0073] 40- detection module;

[0074] 41- Camera;

[0075] 42-Fill light;

[0076] 50-cable control device;

[0077] 60-cable;

[0078] 70-Control host. DETAILED DESCRIPTION

[0079] The specific embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings. These embodiments are only used to illustrate the present invention, but not to limit the present invention.

[0080] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0081] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0082] Furthermore, in the description of the present invention, unless otherwise specified, “plurality” means two or more.

[0083] Examples, such as Figure 1-Figure 5 As shown, a pipeline crawling device comprises:

[0084] Traveling mechanisms 10, there are at least two traveling mechanisms 10, and each traveling mechanism 10 is evenly distributed with at least three driving wheels 11, and the driving wheels 11 can be radially retracted and expanded, so that the driving wheels 11 can abut against the inner walls of pipes with different diameters;

[0085] The connecting mechanism 20 is detachably connected between two adjacent traveling mechanisms 10 and is used to transmit the axial force between the two adjacent traveling mechanisms 10. The connecting mechanism 20 can be elastically bent in the radial direction so that the traveling mechanism 10 can pass through the curved pipe and reset.

[0086] The present application connects multiple short-sized traveling mechanisms into one by means of a connecting mechanism that can be radially elastically bent and transmit axial force, so that the crawling device of the present application has the advantages of a short body structure that is easy to pass through a curved pipe and a long body structure that is easy to pass through a three-way pipe, which can greatly reduce the probability of the crawling device getting stuck in the pipeline; at the same time, in conjunction with the driving wheels on the traveling mechanism that can be radially retracted and unfolded, the crawling device of the present invention can be suitable for internal inspection of pipelines of different diameters.

[0087] In a specific embodiment, if Figure 1 As shown, the number of the traveling mechanisms 10 includes but is not limited to 2, for example, the number of the traveling mechanisms 10 can also be 3; the number of the traveling mechanisms 10 should be determined according to actual conditions, for example, the more power required, the greater the number of the traveling mechanisms 10.

[0088] In a specific embodiment, if Figure 2As shown, the travel mechanism 10 includes a driving wheel 11, a middle shell 12, a thrust plate 13, a transmission rod 14 and a support rod 15. There are two groups of driving wheels 11, which are respectively arranged at both ends of the travel mechanism 10. Each group of driving wheels 11 includes three driving wheels 11 evenly distributed along the circumference of the middle shell 12, and the two groups of driving wheels 11 are cross-distributed; the middle shell 12 has a hollow structure for accommodating cables; there are two thrust plates 13, namely a fixed thrust plate 131 and a movable thrust plate 132, and the fixed thrust plate 131 is fixed The movable thrust disc 132 is sleeved on one end of the middle shell 12 and can be axially moved on the other end of the middle shell 12, so that the spacing between the fixed thrust disc 131 and the movable thrust disc 132 is adjustable; one end of the transmission rod 14 is hinged to one of the thrust discs 13, and the other end is rotatably connected to the driving wheel 11. The driving rod 14 is provided with a driving motor (not shown) corresponding to and connected to the driving wheel 11; one end of the support rod 15 is hinged to the other thrust disc 13, and the other end is rotatably connected to the transmission rod 14. In this way, by adjusting the spacing between the fixed thrust disc 131 and the movable thrust disc 132, the radial folding and unfolding of the driving wheel 11 can be quickly realized, so that the crawling device is suitable for pipelines of different diameters; at the same time, in conjunction with the driving wheels 11 arranged at both ends of the traveling mechanism 10, the passing rate of the crawling device in the pipeline can be greatly improved.

[0089] Preferably, the support rod 15 can elastically expand and contract in the axial direction or elastically bend in the radial direction, and the support rod 15 is preferably a spring; with such a configuration, when the radial dimension of the pipeline changes in a small range, the elastic deformation of the support rod 15 can be used to realize the automatic retraction and expansion of the driving wheel 11 of the traveling mechanism 10 in the radial direction, so that sufficient pressure is maintained between the driving wheel 11 and the inner wall of the pipeline to prevent the driving force from being reduced.

[0090] More preferably, a manual disk 16 is threadedly connected to one end of the middle shell 12 close to the movable thrust disk 132, and an elastic connecting member 17 is provided between the manual disk 16 and the movable thrust disk 132; with such an arrangement, the manual disk 16 can be manually rotated to realize the movement of the manual disk 16 on the middle shell 12, and the axial force transmitted to the movable thrust disk 132 by the elastic connecting member 17 can realize the passive retraction and expansion of the driving wheel 11 of the traveling mechanism 10 in the radial direction.

[0091] More preferably, both ends of the middle shell 12 are connection ends with threaded structures, and interfaces for electrical connection of data and power cables are provided inside the connection ends.

[0092] In a specific embodiment, if Figure 3As shown, a steering gear 18 is provided in the middle housing 12, and a rotating portion 181 of the steering gear 18 extends to the outside of the middle housing 12. A tension rope 19 is provided between the rotating portion 181 and the movable thrust disc 132, and one end of the tension rope 19 is fixedly connected to the movable thrust disc 132, and the other end is wound around the rotating portion 181. In this way, the extension and shortening of the tension rope 19 are achieved by the rotation of the rotating portion 181 of the steering gear 18, and the controllable retraction and expansion of the driving wheel 11 in the radial direction are achieved by the axial force of the manual disc 16 and the elastic connecting member 17 on the movable thrust disc 132.

[0093] In a specific embodiment, if Figure 4 , Figure 5 As shown, the traveling mechanism 10 includes a driving wheel 11, a middle housing 12, a thrust plate 13, a transmission rod 14 and a support rod 15. The middle housing 12 has a hollow structure for accommodating cables. There are two thrust plates 13, namely a fixed thrust plate 131 and a movable thrust plate 132. The fixed thrust plate 131 is fixedly sleeved on one end of the middle housing 12, and the movable thrust plate 132 is axially movable sleeved on the other end of the middle housing 12, so that the spacing between the fixed thrust plate 131 and the movable thrust plate 132 is adjustable. One end of the transmission rod 14 is hinged to the fixed thrust plate 131, and the other end is rotatably connected to the driving wheel 11. One end of the support rod 15 is hinged to the movable thrust plate 132, and the other end is rotatably connected to the transmission rod 14. The fixed thrust plate 131 is provided with a driving mechanism 30 for driving the driving wheel 11 to rotate.

[0094] The driving mechanism 30 includes: a gear plate 31, a sprocket chain set 32 ​​and a transmission shaft 33. The gear plate 31 can rotate around the axis of the middle shell 12, and the gear plate 31 is connected to the driving motor 37. The specific transmission connection method can be any known transmission connection method, such as gear transmission; the sprocket chain set 32 ​​is arranged on the transmission rod 14, and the sprocket chain set 32 ​​includes two sprockets, one of which is arranged on the rotating shaft of the driving wheel 11, and the other sprocket is arranged on the hinge shaft 35 where the transmission rod 14 and the thrust plate 13 are hinged; the transmission shaft 33 and the transmission rod 14 are in a one-to-one correspondence, the transmission shaft 33 is arranged along the radial direction of the gear plate 31, and first bevel gears 34 are provided at both ends of the transmission shaft 33, one of the first bevel gears 34 is meshed with the gear plate 31 for transmission, and the other first bevel gear 34 is meshed with the second bevel gear 36 on the hinge shaft 35 for transmission, and the second bevel gear 36 and the sprocket are coaxially arranged on the hinge shaft 35. With such an arrangement, a single drive motor 37 disposed between the fixed thrust plate 131 and the movable thrust plate 132 can synchronously drive multiple drive wheels 11 to rotate at the same speed, which not only reduces the number and cost of drive motors 37 used, but also helps to reduce the radial size of the traveling mechanism 10 and expand the scope of application of the crawling device.

[0095] In a specific embodiment, if Figure 1 As shown, the connection mechanism 20 includes: a connection body 21 and a connection head 22. The connection body 21 has a hollow structure for accommodating data and power cables that electrically connect two adjacent traveling mechanisms 10. The connection head 22 is arranged at both ends of the connection body 21 in the axial direction, and the connection head 22 is provided with a thread structure that is detachably connected to the two ends of the traveling mechanism 10. This arrangement realizes the rapid connection and disassembly of the connection structure 20 and the traveling mechanism 10, and facilitates the assembly or disassembly of the crawling device according to actual needs.

[0096] Preferably, the connecting body 21 includes a spring. With such a configuration, radial elastic bending of the connecting mechanism 20 can be achieved, and the axial force transmission between two adjacent traveling mechanisms 10 can also be achieved through the spring. When the traveling mechanism 10 moves along the traveling direction, the spring provides support force and pulling force for the traveling mechanism 10, so that the multiple traveling mechanisms 10 are equivalent to a whole.

[0097] A pipeline detection system, such as Figure 1 , Figure 6 As shown, the detection system includes the above-mentioned pipeline crawling device, and the detection system also includes:

[0098] A detection module 40, which is connected to the first end of the pipeline crawling device and is used to collect image information of the inner wall of the pipeline during the movement of the crawling device;

[0099] The cable control device 50 is used for automatically retracting and releasing the cable 60, which can prevent the cable from being entangled and knotted, and reduce the obstacles caused by the cable to the movement of the crawling device;

[0100] The control host 70 is used to control the traveling state of the pipeline crawling device. The control host 70 controls the traveling track of the crawling device through the control software, realizes flexible video inspection in the pipeline, and improves the measurement accuracy of the pipeline inspection test;

[0101] The cable 60 has a first end electrically connected to the second end of the pipeline crawling device, a second end electrically connected to the control host 70 , and a middle portion of the cable 60 is wound around the cable control device 50 .

[0102] Preferably, the detection module 40 includes a camera 41 and a fill light 42, wherein the camera 41 is a non-spherical lens camera for collecting high-definition video data, and the fill light 42 is a ring-shaped LED light arranged around the camera 41. In this arrangement, the ring-shaped LED light provides a high-brightness light source, which can ensure that the brightness of the video collection area in the pipeline is greater than the visual inspection requirement, thereby enabling the camera 41 to collect clear image information.

[0103] More preferably, the cable 60 uses glass fiber as the outer sheath, and a 2 mm yellow color ring is provided on the outer sheath every 10 cm for calculating the length of the cable 60. The cable 60 contains a central high-strength thin steel cable, a data cable, and a power supply cable.

[0104] Preferably, the control host 70 controls the cable control device 50 and the crawling device through a program, and the travel mode of the crawling device can be selected from a uniform speed mode, a manual mode and a fault review mode; the control host 70 tiles and performs algorithm processing on the data collected by the front-end video module 40, and the processed image is displayed on the control host 70 in real time; after the data of the temperature sensor, encoder and counter on the cable control device 50 on the crawling device are processed by the program, the body temperature and travel distance are displayed on the control host 70.

[0105] Compared with the prior art, the pipeline crawling device and pipeline detection system of the present application have at least the following advantages:

[0106] 1. The design of multiple travel mechanisms connected in sequence is adopted. Each travel mechanism is equipped with a separate drive module, combined with a driving wheel with large friction force, to increase the overall available power of the crawling device.

[0107] 2. Multiple travel mechanisms are rigidly connected in the travel direction and flexibly connected in other directions. When passing through tees and elbows, the fit between the drive wheel and the pipeline is increased, reducing the power failure caused by the floating drive wheel. When the first vehicle body in the forward direction deviates due to the asymmetric support of the drive wheel, the rear vehicle body can provide thrust in the travel direction for the front end, allowing it to pass through the tee part smoothly.

[0108] 3. An external cable control device is provided to correct the calculation accuracy of the crawling distance through the preset measuring points on the cable. At the same time, the cable is recovered according to the travel distance when the crawling device moves in the reverse direction to prevent the cable from causing obstacles to the movement of the crawling device. When the power of the crawling device fails, the external cable control device can pull the crawling device out through its own traction force to prevent it from becoming a foreign body in the pipeline.

[0109] 4. The video module, travel mechanism and connection mechanism adopt modular design, which can conveniently combine and replace various modules in the detection system on site, reducing on-site delay time.

[0110] 5. The crawling device uses elastic support to support the driving wheel, ensuring that the traveling mechanism can automatically adapt to changes in pipe diameter within a small range, and can adjust the elastic support range of the vehicle body within a certain range through remote adjustment, further improving the ability to pass through pipes of different diameters; multiple traveling mechanisms are separately controllable, and when the pipe diameter changes during travel, they can be changed separately to better achieve pipeline crawling.

[0111] 6. The video module adopts a ring light source design, compensates data through non-spherical lenses, and processes the collected video data in a timely manner to directly display the expanded imaging.

[0112] 7. Integrate temperature sensors and angle sensors into each travel mechanism, and use the data collected by the sensors to ensure the normal movement of the crawling device.

[0113] 8. Part of the structure of the crawling device is wrapped in the middle shell, which effectively reduces possible accidents during crawling and reduces the risk of foreign matter in the pipeline.

[0114] 9. The main control and drive chips are integrated into the cable control device to reduce the risk of vehicle failure due to radiation.

[0115] 10. The crawling device collects various video information in the pipeline through power supply via cables. The cable control device controls the cable length to assist the crawling device to move forward and backward. The control host controls the movement trajectory of the crawling device through control software to achieve flexible video inspection in the pipeline and improve the measurement accuracy of pipeline inspection tests. By improving the adaptability of the crawling device to the environment and the convenience of operation, the workload is reduced, the time required for the test is indirectly reduced, and the test cost is saved. In addition, the use of the crawling device in a radioactive environment can greatly reduce the radiation risk to personnel.

[0116] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A pipeline crawling device, characterized in that: include: A travel mechanism (10), wherein there are at least two travel mechanisms (10), and three driving wheels (11) are evenly distributed on the circumference of both ends of the travel mechanism (10), and in the circumferential direction, the driving wheels (11) at both ends of the travel mechanism (10) are alternately arranged; the travel mechanism (10) comprises a middle shell (12), a thrust plate (13), a transmission rod (14) and a support rod (15), and there are two thrust plates (13), and the distance between the two thrust plates (13) is adjustable; the two thrust plates (13) comprise a fixed thrust plate (131) and a movable thrust plate (132), and the fixed thrust plate (131) is fixedly sleeved on one end of the middle shell (12), and the movable thrust plate (132) is fixedly sleeved on one end of the middle shell (12), and the movable thrust plate (132) is fixedly sleeved on the other end of the middle shell (12). The disk (132) is axially movable and sleeved on the other end of the middle shell (12); a manual disk (16) is threadedly connected to the middle shell (12); an elastic connecting piece (17) is provided between the manual disk (16) and the movable thrust disk (132); the passive retraction and expansion of the driving wheel (11) of the traveling mechanism (10) in the radial direction is realized by the movement of the manual disk (16) on the middle shell (12), so as to abut against the inner wall of the pipe with different diameters; one end of the transmission rod (14) is hinged to one of the thrust disks (13), and the other end is rotationally connected to the driving wheel (11); one end of the support rod (15) is hinged to the other thrust disk (13), and the other end is rotationally connected to the transmission rod (14); A steering gear (18) is arranged inside the middle housing (12), a rotating part (181) of the steering gear (18) extends to the outside of the middle housing (12), a tension rope (19) is arranged between the rotating part (181) and the movable thrust plate (132), one end of the tension rope (19) is fixedly connected to the movable thrust plate (132), and the other end is wound around the rotating part (181); A connecting mechanism (20) is connected between two adjacent traveling mechanisms (10) and is used to transmit an axial force between the two adjacent traveling mechanisms (10). The connecting mechanism (20) can be elastically bent in the radial direction so that the traveling mechanism (10) can pass through a curved pipe.

2. A pipeline crawling device according to claim 1, characterized in that: The crawling device further comprises a driving mechanism (30), wherein the driving mechanism (30) comprises: A gear plate (31), wherein the gear plate (31) can rotate around the axis of the middle housing (12); A sprocket chain set (32), the sprocket chain set (32) being arranged on the transmission rod (14), the sprocket chain set (32) comprising two sprockets, one of which is arranged on the rotating shaft of the driving wheel (11), and the other sprocket is arranged on the hinge shaft (35) hinged between the transmission rod (14) and the thrust plate (13); A transmission shaft (33) is provided with first bevel gears (34) at both ends of the transmission shaft (33), one of the first bevel gears (34) meshes with the gear plate (31) for transmission, and the other first bevel gear (34) meshes with the second bevel gear (36) on the hinge shaft (35) for transmission.

3. A pipeline crawling device according to claim 1, characterized in that: The connecting mechanism (20) comprises: A connector (21), wherein the connector (21) has a hollow structure; A connecting head (22) is arranged at two ends of the connecting body (21) in the axial direction, and a threaded structure is provided on the connecting head (22) for detachable connection with the traveling mechanism (10).

4. A pipeline crawling device according to claim 3, characterized in that: The connecting body (21) comprises a spring.

5. A pipeline detection system, comprising the pipeline crawling device according to any one of claims 1 to 4, characterized in that: The detection system also includes: A detection module (40), the detection module (40) being connected to a first end of the pipeline crawling device; A cable control device (50) for retracting and releasing the cable (60); A control host (70), wherein the control host (70) is used to control the traveling state of the pipeline crawling device; A cable (60), wherein a first end of the cable (60) is electrically connected to a second end of the pipeline crawling device, a second end of the cable (60) is electrically connected to a control host (70), and a middle portion of the cable (60) is wound around a cable control device (50).

6. A pipeline detection system according to claim 5, characterized in that: The detection module (40) comprises a camera (41) and a fill light (42), and the fill light (42) is arranged around the camera (41).

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