A detector that can be continuously charged and automatically overcome obstacles

Abstract

The present invention discloses a detector that can be continuously charged and automatically overcome obstacles, which specifically relates to the technical field of pipe network detection, including a support wheel assembly, a transmission system assembly, a power system assembly, and a control system assembly. The support wheel assembly includes a support seat, a wheel arm, a wheel body, a wheel axle, a rotating shaft, a pin shaft, a pull rod, a compression spring, and a locking nut. The transmission system assembly includes a front support cylinder, a rear support cylinder, a middle connecting cylinder, a motor transmission shaft, a plurality of rotating rods, a plurality of sleeves, a plurality of telescopic rods, a plurality of planetary gears and a main gear. The power system assembly includes a cabin, a front disc leather cup, a rear disc leather cup, an impeller, an impeller transmission shaft, a box body, a generator, a motor, a battery, a box cover, and a plurality of notches. The control system assembly includes a hydraulic control system, a PLC control system, and a terminal sensor. The present invention can keep the detector continuously charged and can also realize the automatic obstacle-overcoming function.

Description

Technical Field

[0001] The invention relates to the technical field of pipe network detection, in particular to a detector in large-diameter and long-distance pipelines such as natural gas and coal gas. Background Art

[0002] After long-term use, natural gas and coal gas pipelines are prone to corrosion, and cracks and holes are very likely to appear. If the location of cracks and holes cannot be detected in time, it will lead to leakage of natural gas and coal gas, which is extremely harmful. Existing gas pipeline detectors do not have an automatic charging function and cannot be used for a long time. At the same time, the detector will encounter obstacles during the operation of the pipeline. Since the compression amount of the support wheel is limited, if the obstacle is large, it is very easy to get stuck inside the pipeline.

[0003] China Utility Model Patent Publication No. CN217500521U discloses a pipeline anti-blocking device for municipal inspection engineering, which includes a mounting seat with a leather cup and a roller, a power module, a motor, a shield head, a protective shell and a sealing cover, wherein the leather cup is mounted on the front of the outer wall of the mounting seat, the rollers are arranged in a plurality and are mounted in a circular array behind the leather cup, the front end of the mounting seat is provided with a mounting groove for embedding the power module, the motor is mounted on the front end of the mounting seat and the output end of the motor is fixedly connected to the shield head through a connecting frame, the protective shell cover is arranged on the outside of the motor and mounted on the mounting seat, and the sealing cover is arranged on the outside of the protective shell and mounted on the shield head. Start the serve command, under the action of the water pressure inside the pipeline, with the help of the shield head driven by the motor running inside the pipeline section, the residue on the inner wall of the pipeline can be cleaned to avoid affecting the mobile operation of the subsequent detection robot.

[0004] However, the device needs to be driven by a motor and cannot guarantee long-term operation. The leather cup provides driving force for the device to move inside the pipe end, and the roller assists the device to move stably in the pipe. With the help of the shield head driven by the motor, it runs inside the pipe section and cannot avoid obstacles, which may cause the device to jam. Summary of the invention

[0005] In view of the deficiencies in the prior art, the object of the present invention is to provide a detector that can be continuously charged and can automatically cross obstacles during long-distance pipeline operation, which can always remain powered and can automatically cross obstacles during travel.

[0006] To achieve the above object, the technical solution of the present invention is:

[0007] A continuously rechargeable and automatically obstacle-crossing detector, comprising a support wheel assembly, a transmission system assembly, a power system assembly, and a control system assembly;

[0008] The support wheel assembly includes a support seat, a wheel arm, a wheel body, a wheel axle, a rotating shaft, a pin, a pull rod, a compression spring, and a locking nut; the wheel arm is rotatably connected to the support seat through the rotating shaft; the outer end of the wheel arm is connected to the wheel body through the wheel axle, and the inner end of the wheel arm is connected to one end of the pull rod through the pin; the pull rod is sleeved with a compression spring and a locking nut is set at the other end;

[0009] The transmission system assembly includes a front support cylinder, a rear support cylinder, a middle connecting cylinder, a motor transmission shaft, a plurality of rotating rods, a plurality of sleeves, a plurality of telescopic rods, a plurality of planetary gears and a main gear; a rotatable motor transmission shaft and a plurality of rotating rods are arranged between the front support cylinder and the rear support cylinder, and a plurality of rotating rods are coaxially arranged around the motor transmission shaft; a main gear is arranged on the motor transmission shaft, and planetary gears are arranged on each rotating rod, and the main gears are respectively meshed with each planetary gear; a sleeve is arranged on each rotating rod, and a telescopic rod is arranged on each sleeve; one end of the middle connecting cylinder is connected to the rear support cylinder;

[0010] The power system assembly includes a cabin, a front disc cup, a rear disc cup, an impeller, an impeller drive shaft, a box, a generator, a motor, a battery, a box cover, and a plurality of notches; a box with a box cover is arranged in a section of the cabin near the rear disc cup; a generator, a motor, and a battery are arranged in the box; the rear end of the box is connected to one end of the impeller drive shaft, and the impeller is connected to the impeller drive shaft; the cabin has notches whose positions and numbers correspond to the number of telescopic rods.

[0011] The front end of the box is connected to the other end of the middle connecting tube; the transmission system assembly is also arranged in the cabin; the motor in the box is connected to the motor transmission shaft of the transmission system assembly; each telescopic rod of the transmission system assembly passes through each notch and is connected to the support seat of each support wheel assembly;

[0012] The control system assembly includes a hydraulic control system, a PLC control system, and an end sensor; the hydraulic control system and the PLC control system are located inside the box; and the end sensor is located at the center of the front end of the cabin.

[0013] The detector also includes a probe assembly; the probe assembly includes a probe ring, a probe seat, a probe arm, a probe arm rotating shaft, a probe shell, a tension spring, an upper fixed shaft, and a lower fixed shaft; the probe ring is fixedly connected to the outer wall of the cabin; the probe seat is fixedly connected to the probe ring; the probe arm can rotate around the probe arm rotating shaft; the tension spring is connected to the upper fixed shaft and the lower fixed shaft; the probe shell is fixedly connected to the probe arm.

[0014] The supporting wheel assembly of the detector further comprises a plurality of sliding balls and a connecting rod; the plurality of sliding balls are sleeved on the connecting rod; and the connecting rod is arranged at the bottom of the supporting seat.

[0015] The power system assembly of the detector also includes a front leather cup pressure plate and a rear leather cup pressure plate; the two ends of the cabin are connected to the front disc leather cup and the rear disc leather cup through the front leather cup pressure plate and the rear leather cup pressure plate respectively.

[0016] The detector's sustainable charging function is achieved as follows:

[0017] The PLC control system sets the battery discharge time and charging time. When the detector running time reaches the set battery discharge time, the hydraulic control system controls each telescopic rod to extend a certain length, so that the wheel body of each supporting wheel assembly and the inner wall of the pipeline maintain a certain pressure, forcing the detector to slow down until it stops. The front disc leather cup and the rear disc leather cup form a closed space in the pipeline, generating a pressure difference. The impeller rotates rapidly under the impetus of the pipeline gas pressure difference, and the impeller drives the impeller drive shaft to rotate rapidly, thereby driving the generator in the box to generate electricity. The electricity generated by the generator charges the battery. When the charging time reaches the threshold set by the PLC, the hydraulic control system controls each telescopic rod to shrink a certain length, so that the pressure of each wheel body on the inner wall of the pipeline is reduced, and the detector can continue to move forward, so that the battery can be continuously charged when the detector is running in a long-distance gas pipeline, and thus operate for a long time.

[0018] The automatic obstacle crossing function of the detector is realized as follows:

[0019] When the sensor at the front end of the cabin senses that there is an obstacle on the inner wall of the pipe in front of the detector, the PLC control system controls the motor to start, so that the motor drive shaft rotates a certain angle. The rotation of the motor drive shaft drives the main gear to rotate, thereby driving the planetary gears to rotate, and the planetary gears drive each rotating rod to rotate, and each rotating rod drives each sleeve, and each sleeve drives each telescopic rod to move in each notch, thereby driving the support wheel assembly to rotate a certain angle along the circumference of the inner wall of the pipe, so that the obstacle in the pipe passes between the support wheel assemblies; when the sensor at the front end of the cabin senses that there is no obstacle in front of the detector, the PLC control system controls the motor to cut off power, thereby achieving automatic obstacle crossing.

[0020] By means of the above technical solution, the advantages of the present invention are:

[0021] 1. The detector of the present invention is driven by an internal battery, does not require an external power supply, has loose usage conditions, and is not restricted by the environment.

[0022] 2. In the detector of the present invention, the impeller rotates rapidly under the impetus of the pipeline gas pressure difference and drives the generator to generate electricity. The detector can always keep power and thus operate for a long time.

[0023] 3. When the front-end sensor of the detector of the present invention senses that there is an obstacle on the inner wall of the pipe in front of the detector, the PLC control system controls the motor to start, so that the motor drive shaft rotates a certain angle, and the transmission system assembly drives the support wheel assembly to move, thereby automatically overcoming the obstacle.

[0024] 4. The detector of the present invention has a circular wheel body which can reduce the friction with the inner wall of the pipeline.

[0025] 5. In the detector of the present invention, the notch provided on the cabin provides a displacement space for the support wheel assembly, so that obstacles can pass through between the support wheel assemblies.

[0026] 6. The detector of the present invention can reduce the friction between the support wheel assembly and the outer wall of the cabin by arranging a plurality of sliding balls and an arc-shaped support seat bottom surface on the support wheel assembly. When encountering an obstacle, the support wheel assembly can slide quickly along the outer wall of the cabin to provide space for the obstacle to pass through.

[0027] 7. The detector of the present invention, the front support tube and the rear support tube can fix the motor drive shaft, the rotating rod, and connect the middle connecting tube.

[0028] 8. The detector of the present invention, the front disc leather cup and the rear disc leather cup can form a closed space in the pipeline, generate a pressure difference, and provide power for the impeller to rotate.

[0029] 9. The detector of the present invention has a box cover which can isolate foreign objects from entering and prevent the components in the box from falling, while facilitating maintenance.

[0030] 10. The detector of the present invention, the probe arm shaft and the tension spring can make the probe assembly shrink when encountering an obstacle, reducing the resistance of the obstacle passing through, and at the same time automatically reset after avoiding the obstacle. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic structural diagram of a specific embodiment of the detector of the present invention.

[0032] Figure 2 It is a schematic diagram of the internal structure of the detector of the present invention.

[0033] Figure 3 is a cross-sectional view of the detector of the present invention.

[0034] Figure 4 It is a side view of the detector of the present invention.

[0035] Figure 5 It is a schematic diagram of the supporting wheel assembly structure of the detector of the present invention.

[0036] Figure 6 It is a schematic diagram of the transmission system assembly structure of the detector of the present invention.

[0037] Figure 7 It is a schematic diagram of the power system assembly structure of the detector of the present invention.

[0038] Figure 8 It is a schematic diagram of the control system assembly structure of the detector of the present invention.

[0039] Fig. 9It is a schematic diagram of the probe assembly structure of the detector of the present invention.

[0040] In the figure: 100-detector; 1-support wheel assembly; 101-support seat; 102-wheel arm; 103-wheel body; 104-wheel axle; 105-rotating shaft; 106-pin shaft; 107-pull rod; 108-compression spring; 109-locking nut; 110-sliding ball; 111-connecting rod; 2-transmission system assembly; 201-front support cylinder; 202-rear support cylinder; 203-middle connecting cylinder; 204-motor transmission shaft; 205-rotating rod; 206-sleeve; 207-telescopic rod; 208-planetary gear; 209-main gear; 3-power system assembly; 301-cabin; 302-front disc Leather cup; 303-rear disc leather cup; 304-impeller; 305-impeller drive shaft; 306-housing; 307-generator; 308-motor; 309-battery; 310-housing cover; 311-front leather cup pressure plate; 312-rear leather cup pressure plate; 313-gap; 4-control system assembly; 401-hydraulic control system; 402-PLC control system; 403-end sensor; 5-probe assembly; 501-probe ring; 502-probe seat; 503-probe arm; 504-probe arm shaft; 505-probe shell; 506-tension spring; 507-upper fixed shaft; 508-lower fixed shaft. DETAILED DESCRIPTION

[0041] The detailed description and technical contents of the present invention are described as follows with reference to the accompanying drawings. However, the accompanying drawings are only provided for reference and description and are not intended to limit the present invention.

[0042] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships for simplified description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0043] 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.

[0044] Figure 1 , Figure 2 , Figure 3 and Figure 4 The present invention discloses a detector that can be continuously charged and can automatically cross obstacles. As shown in the figure: it includes a support wheel assembly 1, a transmission system assembly 2, a power system assembly 3, and a control system assembly 4. The front end of the box 306 is connected to the other end of the middle connecting tube 203; the transmission system assembly 2 is also arranged in the cabin 301; the motor 308 in the box 306 is connected to the motor transmission shaft 204 of the transmission system assembly 2; each telescopic rod 207 of the transmission system assembly 2 passes through each notch 311 and is connected to the support seat 101 of each support wheel assembly 1.

[0045] Figure 5 , a schematic diagram of the support wheel assembly structure of the detector of the present invention, as shown in the figure, the support wheel assembly 1 includes a support base 101, a wheel arm 102, a wheel body 103, a wheel axle 104, a rotating shaft 105, a pin 106, a pull rod 107, a compression spring 108, and a locking nut 109; the wheel arm 102 is rotatably connected to the support base 101 through the rotating shaft 105; the outer end of the wheel arm 102 is connected to the wheel body 103 through the wheel axle 104, and the inner end of the wheel arm 102 is connected to one end of the pull rod 107 through the pin 106; the pull rod 107 is sleeved with a compression spring 108 and a locking nut 109 is set at the other end thereof.

[0046] Figure 6 , a schematic diagram of the transmission system assembly structure of the detector of the present invention, as shown in the figure, the transmission system assembly 2 includes a front support cylinder 201, a rear support cylinder 202, a middle connecting cylinder 203, a motor transmission shaft 204, a plurality of rotating rods 205, a plurality of sleeves 206, a plurality of telescopic rods 207, a plurality of planetary gears 208 and a main gear 209; a rotatable motor transmission shaft 204 and a plurality of rotating rods 205 are arranged between the front support cylinder 201 and the rear support cylinder 202, and the plurality of rotating rods 205 are coaxially arranged around the motor transmission shaft 204; a main gear 209 is arranged on the motor transmission shaft 204, and a planetary gear 208 is arranged on each rotating rod 205, and the main gear 209 is respectively engaged with each planetary gear 208; a sleeve 206 is arranged on each rotating rod 205, and a telescopic rod 207 is arranged on each sleeve 206; one end of the middle connecting cylinder 203 is connected to the rear support cylinder 202.

[0047] Figure 7 , a schematic diagram of the power system assembly structure of the detector of the present invention, as shown in the figure, the power system assembly 3 includes a cabin 301, a front disc leather cup 302, a rear disc leather cup 303, an impeller 304, an impeller transmission shaft 305, a box 306, a generator 307, a motor 308, a battery 309, a box cover 310, and a plurality of notches 311; a box 306 with a box cover 310 is arranged in a section of the cabin 301 near the rear disc leather cup 303; a generator 307, a motor 308, and a battery 309 are arranged in the box 306; the rear end of the box 306 is connected to one end of the impeller transmission shaft 305, and the impeller transmission shaft 305 is connected to the impeller 304; the cabin 301 has notches 311 whose positions and number correspond to the number of telescopic rods 207.

[0048] Figure 8 , a schematic diagram of the control system assembly structure of the detector of the present invention, as shown in the figure, the control system assembly 4 includes a hydraulic control system 401, a PLC control system 402, and an end sensor 403; the hydraulic control system 401 and the PLC control system 402 are located inside the box 306; the end sensor 403 is located at the front center of the cabin 301.

[0049] Fig. 9 , a schematic diagram of the probe system assembly structure of the detector of the present invention, as shown in the figure, the probe assembly 5 includes a probe ring 501, a probe seat 502, a probe arm 503, a probe arm rotating shaft 504, a probe shell 505, a tension spring 506, an upper fixed shaft 507, and a lower fixed shaft 508; the probe ring 501 is fixedly connected to the outer wall of the cabin body 301; the probe seat 502 is fixedly connected to the probe ring 501; the probe arm 503 can rotate around the probe arm rotating shaft 504; the tension spring 506 is connected to the upper fixed shaft 507 and the lower fixed shaft 508; the probe shell 505 is fixedly connected to the probe arm 503.

[0050] Preferably, Figure 5 As shown, the supporting wheel assembly 1 of the detector further includes a plurality of sliding balls 110 and a connecting rod 111 ; the plurality of sliding balls 110 are sleeved on the connecting rod 111 ; and the connecting rod 111 is disposed at the bottom of the supporting seat 101 .

[0051] Preferably, Figure 3 As shown, the power system assembly 3 of the detector also includes a front leather cup pressure plate 312 and a rear leather cup pressure plate 313; the two ends of the cabin 301 are connected to the front disc leather cup 302 and the rear disc leather cup 303 through the front leather cup pressure plate 312 and the rear leather cup pressure plate 313 respectively.

[0052] Based on the above structural setting, it can be understood that the sustainable charging function of the detector can be achieved as follows:

[0053] The PLC control system 402 sets the discharge time and charging time of the battery 309. When the detector running time reaches the set battery 309 discharge time, the hydraulic control system 401 controls each telescopic rod 207 to extend a certain length, so that the wheel body 103 of each supporting wheel assembly 1 maintains a certain pressure with the inner wall of the pipeline, forcing the detector to slow down until it stops. The front disc leather cup 302 and the rear disc leather cup 303 form a closed space in the pipeline to generate a pressure difference. The impeller 304 rotates rapidly under the impetus of the pipeline gas pressure difference. The impeller 304 drives the impeller drive shaft 305 to rotate rapidly, thereby driving the generator 307 in the box body 306 to generate electricity. The electricity generated by the generator 307 charges the battery 309. When the charging time reaches the threshold set by the PLC, the hydraulic control system 401 controls each telescopic rod 207 to shrink a certain length, so that the pressure of each wheel body 103 on the inner wall of the pipeline is reduced, and the detector can continue to move forward, so that the battery 309 can be continuously charged when the detector is running in a long-distance gas pipeline, thereby operating for a long time.

[0054] The automatic obstacle crossing function of the detector is realized as follows:

[0055] When the sensor 403 at the front end of the cabin 301 senses that there is an obstacle on the inner wall of the pipeline in front of the detector, the PLC control system 402 controls the motor 308 to start, so that the motor transmission shaft 204 rotates a certain angle. The rotation of the motor transmission shaft 204 drives the main gear 209 to rotate, thereby driving the planetary gear 208 to rotate, and the planetary gear 208 drives each rotating rod 205 to rotate. Each rotating rod 205 then drives each sleeve 206, and each sleeve 206 then drives each telescopic rod 207 to move in each notch 311, thereby driving the support wheel assembly 1 to rotate a certain angle along the circumference of the inner wall of the pipeline, so that the obstacle in the pipeline passes between the support wheel assembly 1; when the sensor 403 at the front end of the cabin 301 senses that there is no obstacle in front of the detector, the PLC control system (402) controls the motor (308) to cut off the power, thereby achieving automatic obstacle crossing.

[0056] The above is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the specification and drawings of the present invention are also included in the scope of the rights of the present invention and are hereby stated.

Claims

1. A continuously rechargeable and automatically obstacle-crossing detector, characterized in that: It includes a support wheel assembly (1), a transmission system assembly (2), a power system assembly (3), and a control system assembly (4); The support wheel assembly (1) comprises a support seat (101), a wheel arm (102), a wheel body (103), a wheel axle (104), a rotating shaft (105), a pin (106), a pull rod (107), a compression spring (108), and a locking nut (109); the wheel arm (102) is rotatably connected to the support seat (101) via the rotating shaft (105); the outer end of the wheel arm (102) is connected to the wheel body (103) via the wheel axle (104), and the inner end of the wheel arm (102) is connected to one end of the pull rod (107) via the pin (106); the pull rod (107) is sleeved with a compression spring (108) and a locking nut (109) is provided at the other end thereof; The transmission system assembly (2) comprises a front support cylinder (201), a rear support cylinder (202), a middle connecting cylinder (203), a motor transmission shaft (204), a plurality of rotating rods (205), a plurality of sleeves (206), a plurality of telescopic rods (207), a plurality of planetary gears (208) and a main gear (209); a rotatable motor transmission shaft (204) and a plurality of rotating rods (205) are arranged between the front support cylinder (201) and the rear support cylinder (202); (205) is coaxially arranged around the motor transmission shaft (204); a main gear (209) is arranged on the motor transmission shaft (204), and each rotating rod (205) is provided with a planetary gear (208), and the main gear (209) is respectively meshed with each planetary gear (208); each rotating rod (205) is provided with a sleeve (206), and each sleeve (206) is provided with a telescopic rod (207); one end of the middle connecting tube (203) is connected to the rear support tube (202); The power system assembly (3) comprises a cabin (301), a front disc leather cup (302), a rear disc leather cup (303), an impeller (304), an impeller transmission shaft (305), a box (306), a generator (307), a motor (308), a battery (309), a box cover (310), and a plurality of notches (311); a box (306) having a box cover (310) is arranged in a section of the cabin (301) close to the rear disc leather cup (303); a generator (307), a motor (308), and a battery (309) are arranged in the box (306); a rear end of the box (306) is connected to one end of the impeller transmission shaft (305), and the impeller transmission shaft (305) is connected to the impeller (304); the cabin (301) has notches (311) whose positions and number correspond to the number of telescopic rods (207); The front end of the box (306) is connected to the other end of the middle connecting tube (203); the transmission system assembly (2) is also arranged in the cabin (301); the motor (308) in the box (306) is connected to the motor transmission shaft (204) of the transmission system assembly (2); each telescopic rod (207) of the transmission system assembly (2) passes through each notch (311) and is connected to the support seat (101) of each support wheel assembly (1); The control system assembly (4) comprises a hydraulic control system (401), a PLC control system (402), and an end sensor (403); the hydraulic control system (401) and the PLC control system (402) are located inside the box (306); and the end sensor (403) is located at the front center of the cabin (301).

2. The continuously rechargeable and automatically obstacle-crossing detector according to claim 1, characterized in that: The continuously rechargeable and automatically obstacle-crossing detector further comprises a probe assembly (5); the probe assembly (5) comprises a probe ring (501), a probe seat (502), a probe arm (503), a probe arm rotating shaft (504), a probe shell (505), a tension spring (506), an upper fixed shaft (507), and a lower fixed shaft (508); the probe ring (501) is fixedly connected to the outer wall of the cabin (301); the probe seat (502) is fixedly connected to the probe ring (501); the probe arm (503) can rotate around the probe arm rotating shaft (504); the tension spring (506) is connected to the upper fixed shaft (507) and the lower fixed shaft (508); and the probe shell (505) is fixedly connected to the probe arm (503).

3. The continuously rechargeable and automatically obstacle-crossing detector according to claim 1, characterized in that: The support wheel assembly (1) of the continuously rechargeable and automatically obstacle-crossing detector further comprises a plurality of sliding balls (110) and a connecting rod (111); the plurality of sliding balls (110) are sleeved on the connecting rod (111); and the connecting rod (111) is arranged at the bottom of the support seat (101).

4. The continuously rechargeable and automatically obstacle-crossing detector according to claim 1, characterized in that: The power system assembly (3) of the continuously rechargeable and automatically obstacle-crossing detector further comprises a front leather cup pressure plate (312) and a rear leather cup pressure plate (313); the two ends of the cabin (301) are connected to the front disc leather cup (302) and the rear disc leather cup (303) respectively via the front leather cup pressure plate (312) and the rear leather cup pressure plate (313).

5. The continuously rechargeable and automatically obstacle-crossing detector according to claim 1, 2, 3 or 4, characterized in that: The sustainable charging function of the sustainable charging and automatic obstacle crossing detector is achieved as follows: The PLC control system (402) sets the discharge time and charging time of the battery (309). When the detector operation time reaches the set battery (309) discharge time, the hydraulic control system (401) controls each telescopic rod (207) to extend a certain length, so that the wheel body (103) of each support wheel assembly (1) and the inner wall of the pipeline maintain a certain pressure, forcing the detector to slow down until it stops. The front disc leather cup (302) and the rear disc leather cup (303) form a closed space in the pipeline, generating a pressure difference, and the impeller (304) rotates rapidly under the pressure difference of the pipeline gas. The impeller (304) drives the impeller drive shaft (305) to rotate rapidly, thereby driving the generator (307) in the box (306) to generate electricity. The electricity generated by the generator (307) charges the battery (309). When the charging time reaches the threshold value set by the PLC, the hydraulic control system (401) controls each telescopic rod (207) to shrink to a certain length, so that the pressure of each wheel body (103) on the inner wall of the pipeline is reduced, and the detector can continue to move forward, so that the battery (309) can be continuously charged when the detector is running in a long-distance gas pipeline, thereby operating for a long time.

6. The continuously rechargeable and automatically obstacle-crossing detector according to claim 1, 2, 3 or 4, characterized in that: The automatic obstacle crossing function of the continuously rechargeable and automatic obstacle crossing detector is achieved as follows: When the front-end sensor (403) of the cabin (301) senses that there is an obstacle on the inner wall of the pipeline in front of the detector, the PLC control system (402) controls the motor (308) to start, so that the motor transmission shaft (204) rotates a certain angle. The rotation of the motor transmission shaft (204) drives the main gear (209) to rotate, thereby driving the planetary gear (208) to rotate. The planetary gear (208) drives each rotating rod (205) to rotate. Each rotating rod (205) in turn drives each sleeve (206). Each sleeve (206) in turn drives each telescopic rod (207) to move in each notch (311), thereby driving the support wheel assembly (1) to rotate a certain angle along the circumference of the inner wall of the pipeline, so that the obstacle in the pipeline passes between the support wheel assemblies (1). When the front-end sensor (403) of the cabin (301) senses that there is no obstacle in front of the detector, the PLC control system (402) controls the motor (308) to cut off power, thereby achieving automatic obstacle crossing.

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