Peristaltic pipe walking device and walking method thereof

Abstract

The present application relates to a kind of peristaltic pipeline walking device and its walking method, peristaltic pipeline walking device includes fuselage and walking mechanism, walking mechanism is installed in the end of fuselage axial direction;Walking mechanism includes walking wheel mechanism, walking wheel sleeve and walking wheel drive mechanism, walking wheel sleeve axial one end is fixedly connected with the end of fuselage axial direction, walking wheel drive mechanism is fixed in walking wheel sleeve, walking wheel mechanism is movably assembled in walking wheel sleeve;Walking wheel mechanism includes cover plate, rotating rod and wheel frame, cover plate is equipped with multiple rotating rods, rotating rod is L type and vertically rotatably connected on cover plate, the free end of rotating rod is hinged with wheel frame;Walking wheel sleeve is opened with multiple guide holes, wheel frame is slidably arranged in corresponding guide hole one by one;The driving end of walking wheel drive mechanism is drivingly connected with cover plate and drives cover plate to rotate movement;Cover plate drives rotating rod to rotate circumferentially, and make rotating rod pull the wheel frame hinged along corresponding guide hole to do radial telescopic motion.

Description

Technical Field

[0001] This invention relates to the field of pipeline inspection technology, specifically to a peristaltic pipeline walking device and its walking method. Background Technology

[0002] Pipeline transportation plays a crucial role in transporting media such as oil and natural gas. However, defects such as cracks, corrosion, and deformation can occur during pipeline transportation, severely impacting normal operations. Therefore, regular pipeline inspections are necessary to maintain their proper functioning. Pipeline robots, with their advantages of high inspection efficiency and small size, are widely used in pipeline inspection. Existing pipeline robots generally include tracked, wheeled, peristaltic, and spiral types. Peristaltic pipeline robots, employing biomimetic principles, mimic the movement of reptiles such as earthworms, allowing them to move and support themselves within the pipeline. Peristaltic robots are widely used in pipeline inspection due to their simple and compact structure, high degree of freedom, low manufacturing cost, and strong controllability.

[0003] Existing technologies include various structural styles of peristaltic pipeline robots. For example, application number CN201820311515.7 discloses a peristaltic pipeline robot, including a front body, a drive assembly, and a rear body. This design uses a unidirectional ratchet to enable the robot to start and stop unidirectionally within the pipeline. However, during operation inside the pipe, the ratchet is easily contaminated by residue and sediment buildup, making it difficult for it to function properly. Furthermore, due to the small wheel size, the ratchet structure is complex and difficult to manufacture in practice. Summary of the Invention

[0004] In order to solve one or more technical problems existing in the prior art, the present invention provides a peristaltic pipeline walking device and its walking method.

[0005] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: a peristaltic pipeline walking device, comprising a body and a walking mechanism, wherein the walking mechanism is installed at the axial end of the body; the walking mechanism comprises a walking wheel mechanism, a walking wheel sleeve and a walking wheel drive mechanism, wherein one axial end of the walking wheel sleeve is fixedly connected to one axial end of the body, the walking wheel drive mechanism is fixedly installed inside the walking wheel sleeve, and the walking wheel mechanism is movably assembled inside the walking wheel sleeve;

[0006] The traveling wheel mechanism includes a cover plate, rotating rods, and wheel frames. The cover plate has multiple rotating rods, each L-shaped and vertically rotatably connected to the cover plate. The free end of each rotating rod is hinged to the wheel frame. The traveling wheel sleeve has multiple guide holes, and the wheel frame slides through the corresponding guide holes. The driving end of the traveling wheel drive mechanism is connected to the cover plate and drives the cover plate to rotate. The cover plate drives the rotating rods to rotate circumferentially, and the rotating rods pull the hinged wheel frames to perform radial extension and retraction along the corresponding guide holes.

[0007] The beneficial effects of the present invention are: the peristaltic pipe walking device of the present invention uses the walking wheel drive mechanism to drive the cover plate to rotate, so that the wheels can make small-amplitude extension and retraction movements along the guide hole, which can adapt to the running of the walking wheel mechanism along the pipe when the pipe diameter changes.

[0008] Based on the above technical solution, the present invention can be further improved as follows.

[0009] Furthermore, the cover plate is circular, and the plurality of rotating rods are arranged at intervals along the circumference of the cover plate;

[0010] The free end of the rotating rod is hinged to the wheel frame via a hinge shaft, which is parallel to the axis of the traveling wheel sleeve.

[0011] The beneficial effect of adopting the above-mentioned further solution is that by hinged to the rotating rod and the wheel frame through the hinge shaft, the wheel frame can be deflected relative to the rotating rod to adapt to changes in the pipe diameter.

[0012] Furthermore, multiple guide sleeves are fixed on the outer wall of the walking wheel sleeve, and the multiple guide sleeves are coaxially arranged in a one-to-one correspondence with multiple guide holes. The wheel frame is also slidably inserted into the corresponding guide sleeve.

[0013] The beneficial effect of adopting the above-mentioned further solution is that the guide sleeve can provide structural guidance for the radial movement of the wheel frame.

[0014] Furthermore, the wheel frame has a T-shaped structure and includes a first fixed rod and a second fixed rod. One end of the first fixed rod is hinged to the free end of the rotating rod, and the other end of the first fixed rod is vertically fixedly connected to the middle of the second fixed rod. Wheels are respectively provided at both ends of the second fixed rod.

[0015] The beneficial effect of adopting the above-mentioned further solution is that by setting a T-shaped wheel frame, wheels can be set at both ends of the second fixed rod, making the movement of the wheel frame in the pipeline more stable and reliable.

[0016] Furthermore, a U-shaped wheel support frame is fixed to the free end of the wheel frame, the opening of the wheel support frame is radially arranged in a direction away from the direction of the traveling wheel sleeve, and a wheel is rotatably connected inside the wheel support frame.

[0017] One end of the machine body is provided with an assembly shaft. The assembly shaft is coaxially arranged with the machine body and the traveling wheel sleeve. The assembly shaft is located close to the cover plate. Multiple brake lines are provided on the assembly shaft. Brake components are provided inside the multiple wheel support frames. One end of the multiple brake lines is fixed on the assembly shaft, and the other end of the multiple brake lines is connected to the multiple brake components one by one.

[0018] The beneficial effect of adopting the above-mentioned further solution is that the brake assembly can be coordinated with the extension and retraction movement of the wheel frame to realize the free movement and stopping of the wheel.

[0019] Furthermore, the wheel frame has a hollow structure, and the brake cable passes through the rotating rod and the hollow structure of the wheel frame and is connected to the corresponding brake assembly.

[0020] The advantage of adopting the above-mentioned further solution is that it facilitates the control of the brake assembly using the brake cable.

[0021] Furthermore, the brake assembly includes two brake pads hinged at one end, and the hinge axis of the two brake pads is disposed on the wheel frame. The portions of the two brake pads located outside the wheel frame are connected by springs. The other end of the brake cable is divided into two branches and connected to the portions of the two brake pads located outside the wheel frame, respectively. Each of the two brake pads is provided with a brake block, and the two brake blocks are respectively arranged opposite to each other on both sides of the wheel.

[0022] Furthermore, it also includes an electric push rod, and the walking mechanism consists of two parts, namely a first walking mechanism and a second walking mechanism; the body includes a first body section and a second body section, the main structure of the electric push rod is fixed in the first body section, and the push rod shaft connected to the drive end of the electric push rod extends out from one axial end of the first body section and is connected to one axial end of the second body section;

[0023] The first fuselage section has a first traveling mechanism at the other end of its axial direction, and the second fuselage section has a second traveling mechanism at the other end of its axial direction. The traveling wheel sleeve of the first traveling mechanism is fixedly connected to the other end of the first fuselage section's axial direction, and the traveling wheel sleeve of the second traveling mechanism is fixedly connected to the other end of the second fuselage section's axial direction.

[0024] The beneficial effects of adopting the above-mentioned further solution are: by using two walking mechanisms and using the walking wheel drive mechanism to realize the wheels to make small-amplitude extension and retraction movements along the guide hole, and by cooperating with the brake assembly to realize that the two walking mechanisms move and stop at the same time, it can adapt to the change of pipe diameter and realize the peristaltic pipe walking device to move forward in the pipe.

[0025] A method for the movement of a peristaltic pipe-walking device includes the following steps:

[0026] When the peristaltic pipe-walking device encounters a pipe with a changing diameter inside the pipe, the walking wheel drive mechanism drives the cover plate and the rotating rod to rotate clockwise. The rotating rod pulls the hinged wheel frame to extend radially along the corresponding guide hole and fit tightly against the inner wall of the pipe to adapt to the increase in the diameter of the pipe with the changing diameter. At this time, the wheel frame reaches the first preset position. The walking wheel drive mechanism drives the cover plate and the rotating rod to rotate counterclockwise. The rotating rod pulls the hinged wheel frame to retract radially along the corresponding guide hole and fit tightly against the inner wall of the pipe with the changing diameter. At this time, the wheel frame reaches the second preset position.

[0027] At the same time, when the lever rotates clockwise, the brake cable will tighten, causing the brake pads of the brake assembly to release the wheel, at which point the wheel can run normally; when the lever rotates counterclockwise, the brake cable will loosen, causing the brake pads of the brake assembly to clamp the wheel, at which point the wheel is in a braking state.

[0028] The beneficial effect of the present invention is that the walking method of the present invention can adapt to changes in pipe diameter.

[0029] A method for the movement of a peristaltic pipe-walking device includes the following steps:

[0030] The first traveling mechanism's traveling wheel drive mechanism extends the wheel frame to press against the inner wall of the pipe, while the second traveling mechanism's traveling wheel drive mechanism retracts the wheel frame to be spaced apart from the inner wall of the pipe. After the electric push rod extends and drives the second traveling mechanism to move axially a preset distance relative to the first traveling mechanism, the second traveling mechanism's traveling wheel drive mechanism extends the wheel frame to press against the inner wall of the pipe, and the first traveling mechanism's traveling wheel drive mechanism retracts the wheel frame to be spaced apart from the inner wall of the pipe. The electric push rod retracts and drives the first traveling mechanism to move a preset distance. This cycle repeats, causing the peristaltic pipe traveling device to move along the pipe.

[0031] The beneficial effect of the present invention is that the walking method of the present invention enables the walking mechanism to move along the pipeline in a creeping motion. Attached Figure Description

[0032] Figure 1 This is a three-dimensional structural diagram of the peristaltic pipeline walking device of the present invention. Figure 1 ;

[0033] Figure 2 for Figure 1 Enlarged structural diagram of the traveling mechanism;

[0034] Figure 3 This is a schematic diagram of the main structure of the walking mechanism of the present invention;

[0035] Figure 4 This is a schematic diagram of the walking mechanism of the present invention at the first and second preset positions;

[0036] Figure 5 This is a three-dimensional structural diagram of the peristaltic pipeline walking device of the present invention. Figure 2 ;

[0037] Figure 6 This is a three-dimensional structural diagram of the peristaltic pipeline walking device of the present invention. Figure 3 ;

[0038] Figure 7 for Figure 6 A magnified structural diagram of the testing institution.

[0039] Figure 8 This is a three-dimensional structural diagram of the peristaltic pipeline walking device of the present invention. Figure 4 ;

[0040] Figure 9 This is a schematic diagram of the detection mechanism of the present invention at the first and second predetermined positions.

[0041] The attached diagram lists the components represented by each number as follows:

[0042] 100. First fuselage section; 101. Second fuselage section; 102. Connecting shaft;

[0043] 200. Walking mechanism; 201. Walking wheel sleeve; 202. Walking wheel drive mechanism; 203. Cover plate; 204. Internal gear; 205. Rotating rod; 206. Wheel frame; 207. First drive gear; 208. Hinge shaft; 209. Guide sleeve; 210. First fixed rod; 211. Second fixed rod; 212. Wheel; 213. Wheel support frame; 214. Assembly shaft; 215. Brake cable; 216. Brake pad; 217. Spring; 218. Brake block; 219. Bolt; 220. Through hole; 221. Hinge;

[0044] 300. Electric linear actuator; 301. Actuator shaft;

[0045] 400. Detection mechanism; 401. Support plate; 402. Connecting ring; 403. Connecting rod; 404. Probe drive mechanism; 405. Support column; 406. Probe plate; 407. Probe; 408. Probe seat; 409. Limiting plate; 410. Second drive gear; 411. Internal gear ring;

[0046] 500, First preset position; 501, Second preset position; 502, First set position; 503, Second set position. Detailed Implementation

[0047] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0048] like Figures 1-5 As shown, a peristaltic pipe walking device according to this embodiment includes a body and a walking mechanism 200. The walking mechanism 200 is installed at the axial end of the body. The walking mechanism 200 includes a walking wheel mechanism, a walking wheel sleeve 201, and a walking wheel drive mechanism 202. One axial end of the walking wheel sleeve 201 is fixedly connected to one axial end of the body. The walking wheel drive mechanism 202 is fixed inside the walking wheel sleeve 201. The walking wheel mechanism is movably assembled inside the walking wheel sleeve 201. The walking wheel mechanism includes a cover plate 203, a rotating rod 205, and a wheel frame 206. The cover plate 203 is provided with multiple rotating rods 205, each L-shaped and vertically rotatably connected to the cover plate 203. The free end of each rotating rod 205 is hinged to a wheel frame 206. The traveling wheel sleeve 201 has multiple guide holes, and each wheel frame 206 slides through a corresponding guide hole. The driving end of the traveling wheel drive mechanism 202 is connected to the cover plate 203 and drives the cover plate 203 to rotate. The cover plate 203 drives the rotating rods 205 to rotate circumferentially, causing the rotating rods 205 to pull the hinged wheel frames 206 to perform radial extension and retraction along the corresponding guide holes. In this embodiment, the peristaltic pipe traveling device utilizes the traveling wheel drive mechanism to drive the cover plate to rotate, enabling the wheels to perform small-amplitude extension and retraction along the guide holes. This allows the traveling wheel mechanism to adapt to changes in pipe diameter as the pipe travels along the pipe.

[0049] Specifically, such as Figure 1 and Figure 2As shown, in this embodiment, the driving end of the walking wheel drive mechanism 202 is connected to a first driving gear 207. An assembly shaft 214 is fixed to one end face of the machine body along its axial direction. The outer diameter of the assembly shaft 214 is smaller than the outer diameter of the machine body, allowing the walking wheel drive mechanism 202 to be fixed to the outer wall of the assembly shaft 214. The driving end of the walking wheel drive mechanism 202 is fixedly connected to the first driving gear 207 and drives the first driving gear 207 to rotate. An internal gear 204 is fixed to one side face of the cover plate 203. The internal gear 204 can be fixedly connected to the cover plate 203 by bolts 219, allowing the first driving gear 207 to mesh with the internal gear 204. The first driving gear 207 drives the internal gear 204 to rotate, thereby driving the cover plate 203 to rotate. The walking wheel drive mechanism 202 can be a stepper motor.

[0050] like Figure 1 and Figure 2 As shown, in this embodiment, the cover plate 203 is circular, and a plurality of rotating rods 205 are arranged at intervals along the circumference of the cover plate 203. The free ends of the rotating rods 205 are hinged to the wheel frame 206 via a hinge shaft 208, which is parallel to the axis of the traveling wheel sleeve 201. Hinging the rotating rods to the wheel frame via the hinge shaft allows the wheel frame to deflect relative to the rotating rods to accommodate changes in pipe diameter.

[0051] like Figure 3 As shown, in this embodiment, multiple guide sleeves 209 are fixed on the outer wall of the traveling wheel sleeve 201. The multiple guide sleeves 209 are coaxially arranged in a one-to-one correspondence with multiple guide holes, and the wheel frame 206 is also slidably inserted into the corresponding guide sleeve 209. The guide sleeves provide structural guidance for the radial movement of the wheel frame.

[0052] like Figure 1 and Figure 2 As shown, the wheel carrier 206 in this embodiment has a T-shaped structure. The wheel carrier 206 includes a first fixing rod 210 and a second fixing rod 211. One end of the first fixing rod 210 is hinged to the free end of the rotating rod 205, and the other end of the first fixing rod 210 is vertically fixedly connected to the middle of the second fixing rod 211. Wheels 212 are respectively provided at both ends of the second fixing rod 211. By setting the wheel carrier with a T-shaped structure, wheels can be provided at both ends of the second fixing rod, making the movement of the wheel carrier in the pipeline more stable and reliable.

[0053] like Figure 1 and Figure 2As shown, in this embodiment, a U-shaped wheel support frame 213 is fixed to the free end of the wheel frame 206. The opening of the wheel support frame 213 is radially arranged away from the direction of the traveling wheel sleeve 201. A wheel 212 is rotatably connected inside the wheel support frame 213. An assembly shaft 214 is provided on one end face of the machine body. The assembly shaft 214 is coaxially arranged with the machine body and the traveling wheel sleeve 201. The assembly shaft 214 is located close to the cover plate 203. Multiple brake lines 215 are provided on the assembly shaft 214. Brake assemblies are provided inside the multiple wheel support frames 213. One end of the multiple brake lines 215 is fixed to the assembly shaft 214, and the other end of the multiple brake lines 215 is connected to multiple brake assemblies one by one. The brake assemblies can cooperate with the telescopic movement of the wheel frame to realize the free movement and stopping of the wheel.

[0054] like Figures 1-5 As shown, the wheel frame 206 in this embodiment has a hollow structure. The brake cable 215 passes through the rotating rod 205 and the hollow structure of the wheel frame 206 and connects to the corresponding brake assembly, facilitating control of the brake assembly using the brake cable. Specifically, a through hole 220 is provided at the center of the cover plate 203, through which the brake cable 215 can pass and through the bend of the rotating rod 205, and through the hollow structure of the wheel frame 206.

[0055] like Figure 3 and Figure 4 As shown, the brake assembly of this embodiment includes two brake pads 216 hinged at one end, and the hinge axis of the two brake pads 216 is set on the wheel frame 206. The portions of the two brake pads 216 outside the wheel frame 206 are connected by a spring 217. The other end of the brake line 215 is divided into two branches and connected to the portions of the two brake pads 216 outside the wheel frame 206 respectively. Brake blocks 218 are provided on the two brake pads 216 respectively, and the two brake blocks 218 are respectively arranged opposite to each other on both sides of the wheel 212.

[0056] like Figures 1-5As shown, this embodiment also includes an electric push rod 300. There are two walking mechanisms 200, namely a first walking mechanism and a second walking mechanism. The body includes a first body section 100 and a second body section 101, which are coaxially connected by a connecting shaft 102. The connecting shaft 102 can be a fixed shaft or a universal joint. The main structure of the electric push rod 300 is fixed within the first body section 100. The push rod shaft 301 connected to the drive end of the electric push rod 300 extends axially from one end of the first body section 100 and connects to one end of the second body section 101. The first walking mechanism is located at the other axial end of the first body section 100, and the second walking mechanism is located at the other axial end of the second body section 101. The walking wheel sleeve 201 of the first walking mechanism is fixedly connected to the other axial end of the first body section 100, and the walking wheel sleeve 201 of the second walking mechanism is fixedly connected to the other axial end of the second body section 101. It employs two walking mechanisms and utilizes a walking wheel drive mechanism to enable the wheels to make small-amplitude extension and retraction movements along the guide hole. In conjunction with a braking assembly, the two walking mechanisms move and stop simultaneously, which can adapt to changes in pipe diameter and enable the peristaltic pipe walking device to move forward in the pipe.

[0057] This embodiment also provides a method for the movement of a peristaltic pipe-walking device, including the following steps: When the peristaltic pipe-walking device encounters a pipe with a changing diameter inside the pipe, the walking wheel drive mechanism 202 drives the cover plate 203 and the rotating rod 205 to rotate clockwise. The rotating rod 205 pulls the hinged wheel frame 206 to extend radially along the corresponding guide hole and fit tightly against the inner wall of the pipe to adapt to the increase in the diameter of the pipe with the changing diameter. At this time, the wheel frame 206 reaches the first preset position 500. Figure 4 As shown (the initial position should be) Figure 4 In the solid line position, i.e., the wheel frame 206 is retracted and the brake assembly is open; the walking wheel drive mechanism 202 drives the cover plate 203 and the rotating rod 205 to rotate counterclockwise. The rotating rod 205 pulls the hinged wheel frame 206 radially retracted along the corresponding guide hole to fit tightly against the inner wall of the pipe, so as to adapt to the decrease in the diameter of the variable diameter pipe. At this time, the wheel frame 206 reaches the second preset position 501, such as... Figure 4 As shown; simultaneously, when the lever 205 rotates clockwise, the brake cable 215 will tighten, causing the brake pads 216 of the brake assembly to release the wheel, at which point the wheel 212 can operate normally; when the lever 205 rotates counterclockwise, the brake cable 215 will loosen, and the brake pads will close under the action of the spring, causing the brake pads 216 of the brake assembly to clamp the wheel 212, at which point the wheel 212 is in a braking state. The walking method of this embodiment can adapt to changes in pipe diameter for walking.

[0058] The walking method of the peristaltic pipe walking device according to this embodiment includes the following steps: the walking wheel drive mechanism 202 of the first walking mechanism drives the wheel frame 206 to extend and press against the inner wall of the pipe, and the brake assembly of the first walking mechanism clamps the wheel and keeps it stationary. The walking wheel drive mechanism 202 of the second walking mechanism drives the wheel frame 206 to retract and be spaced apart from the inner wall of the pipe. The brake assembly of the second walking mechanism does not contact the wheel, allowing the wheel of the second walking mechanism to move freely. After the electric push rod 300 extends and drives the second walking mechanism to move axially a preset distance relative to the first walking mechanism, the walking wheel drive mechanism 202 of the second walking mechanism drives the wheel frame 206 to extend and press against the inner wall of the pipe. The brake assembly of the second walking mechanism clamps the wheel and keeps it stationary. The walking wheel drive mechanism 202 of the first walking mechanism drives the wheel frame 206 to retract and be spaced apart from the inner wall of the pipe. The brake assembly of the first walking mechanism does not contact the wheel, allowing the wheel of the first walking mechanism to move freely. The electric push rod 300 retracts and drives the first walking mechanism to move a preset distance. This cycle is repeated to make the peristaltic pipe walking device move along the pipe. The walking method in this embodiment can be used in conjunction with a braking assembly to enable the walking mechanism to move along the pipeline in a creeping motion.

[0059] In this embodiment, the peristaltic pipe-walking device can have a detection mechanism 400 installed on the outer wall of the machine body. The detection mechanism 400 can be an existing detection mechanism; for example, a probe can be directly fixed to the outer wall of the machine body, and the probe can also be a conventional pipe flaw detection probe. This embodiment provides a preferred detection mechanism 400, as shown below.

[0060] like Figures 6-9 As shown, the detection mechanism 400 includes a body, a support plate 401, a connecting ring 402, a connecting rod 403, a probe drive mechanism 404, and a probe mechanism. The support plate 401 is coaxially sleeved and fixed to the outer wall of the body. The connecting ring 402 is coaxially sleeved on the outer side of the body with a pre-existing gap between it and the outer wall of the body. The probe drive mechanism 404 is fixed to the body, and its drive end is connected to the connecting ring 402 and drives the connecting ring 402 to rotate. The support plate... Multiple support columns 405 are rotatably connected to one side of the connecting ring 402. The support columns 405 extend along an axis parallel to the body and are located on the outer ring side of the connecting ring 402. Multiple connecting rods 403 are hinged to one side of the connecting ring 402 away from the support plate 401. The multiple connecting rods 403 are arranged one-to-one with the multiple support columns 405. The connecting rods 403 move through the corresponding support columns 405 and the free end of the connecting rods 403 is hinged to the probe mechanism.

[0061] Specifically, such as Figure 6 and Figure 7 As shown, in this embodiment, the driving end of the probe driving mechanism 404 is provided with a second driving gear 410, and an internal gear ring 411 is fixed on the connecting ring 402. The internal gear ring 411 can be fixed on any side of the connecting ring 402 along its axial direction. The second driving gear 410 meshes with the internal gear ring 411, and drives the internal gear ring 411 to rotate, thereby driving the connecting ring 402 to rotate. The probe driving mechanism 404 can be a stepper motor, and the main structure of the probe driving mechanism 404 is fixed to the machine body.

[0062] like Figure 7 As shown, a plurality of connecting rods 403 are evenly arranged circumferentially on the side of the connecting ring 402 facing away from the support plate 401, and a plurality of support columns are evenly arranged circumferentially on the support plate 401. The connecting rods 403 are rotatably connected to the connecting ring 402 via hinges 221, and are arranged perpendicular to the connecting ring 402. The support columns 405 are rotatably connected to the support plate 401 via hinges 221, and are arranged perpendicular to the support plate 401.

[0063] like Figure 7 As shown, the connecting rod 403 in this embodiment has an L-shaped structure. One end of the connecting rod 403 is vertically rotatably connected to the side of the connecting ring 402 facing away from the support plate 401, and the other end of the connecting rod 403 movably passes through the support column 405. The L-shaped structure of the connecting rod allows for effective movement through the support column, facilitating the rotation of the connecting ring and driving the connecting rod to extend and retract radially.

[0064] like Figure 7 As shown, in this embodiment, the other end of the connecting rod 403 is arranged perpendicularly to the support column 405.

[0065] like Figures 6-9 As shown, the probe mechanism in this embodiment has an arc-shaped structure, and the free end of the connecting rod 403 is hinged to the middle of the probe mechanism.

[0066] like Figures 6-9 As shown, the probe mechanism in this embodiment has an arc-shaped structure, with the centers of all probe mechanisms coinciding and the centers located on the axis of the body.

[0067] like Figure 7 and Figure 9As shown, the probe mechanism in this embodiment has two parallel limiting plates 409 on one side. The limiting plates 409 extend in a direction parallel to the axis of the body, and the hinge point between the free end of the connecting rod 403 and the probe mechanism is located between the two limiting plates 409. By using the limiting plates, the deflection angle of the probe mechanism can be limited.

[0068] like Figure 7 and Figure 9 As shown, the probe mechanism in this embodiment includes a probe plate 406 and a probe 407. The free end of the connecting rod 403 is hinged to one side of the probe plate 406. A plurality of elongated probe seats 408 are provided on the other side of the probe plate 406. The probe seats 408 extend along the axis parallel to the body. A plurality of probes 407 are fixed on each probe seat 408.

[0069] The detection mechanism in this embodiment uses a probe drive mechanism to drive the connecting ring to rotate, and drives the probe mechanism connected to the connecting rod to extend and retract radially. It can extend and retract to get close to the inner wall of the pipe for detection, and can adapt to the detection of defects in pipes of different diameters, effectively solving the problem of real-time detection of defects in variable diameter pipes.

[0070] The testing methods of the aforementioned testing institutions include the following steps:

[0071] The pipeline flaw detection mechanism is placed inside the pipeline, with the machine body coaxially arranged with the pipeline. When the pipeline diameter increases, the probe drive mechanism 404 drives the connecting ring 402 to rotate clockwise, and the connecting ring 402 drives the connecting rod 403 to rotate clockwise, causing the connecting rod 403 to extend outward from the support column 405 (the support column 405 can deflect under the drive of the connecting rod 403), so that the probe mechanism reaches the first set position 502, achieving the fit between the probe mechanism and the inner wall of the pipeline. When the pipeline diameter decreases, the probe drive mechanism 404 drives the connecting ring 402 to rotate counterclockwise, and the connecting ring 402 drives the connecting rod 403 to rotate counterclockwise, causing the connecting rod 403 to retract inward from the support column 405 (the support column 405 can deflect under the drive of the connecting rod 403), so that the probe mechanism reaches the second set position 503, achieving the adaptation between the probe mechanism and the inner wall of the pipeline. The detection method of this embodiment can detect defects in pipes with varying diameters in real time. It avoids the problem of the probe being damaged by touching the inner wall of the pipe when the pipe diameter becomes smaller. The connecting rod 403 can rotate at a small angle under the limiting action of the limiting plate 409, thus achieving a larger detection range.

[0072] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0073] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0074] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0075] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0076] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0077] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A peristaltic pipe-walking device, characterized in that, The device includes a fuselage and a traveling mechanism. The traveling mechanism is installed at the axial end of the fuselage. The traveling mechanism includes a traveling wheel mechanism, a traveling wheel sleeve, and a traveling wheel drive mechanism. One axial end of the traveling wheel sleeve is fixedly connected to one axial end of the fuselage. The traveling wheel drive mechanism is fixed inside the traveling wheel sleeve. The traveling wheel mechanism is movably assembled inside the traveling wheel sleeve. The traveling wheel mechanism includes a cover plate, rotating rods, and wheel frames. The cover plate has multiple rotating rods, each L-shaped and vertically rotatably connected to the cover plate. The free end of each rotating rod is hinged to the wheel frame. The traveling wheel sleeve has multiple guide holes, and the wheel frames slide through corresponding guide holes. The driving end of the traveling wheel drive mechanism is connected to the cover plate and drives its rotation. The cover plate drives the rotating rods to rotate circumferentially, causing the rotating rods to pull the hinged wheel frames in a radial extension / retraction motion along the corresponding guide holes. The free end of the wheel frame is fixed with a U-shaped wheel support frame. The opening of the wheel support frame is radially arranged away from the direction of the walking wheel sleeve. A wheel is rotatably connected inside the wheel support frame. An assembly shaft is fixed to one end face of the fuselage along the axial direction. The assembly shaft is coaxially arranged with the fuselage and the traveling wheel sleeve. The assembly shaft is located close to the cover plate, and the traveling wheel drive mechanism is fixed on the outer wall of the assembly shaft. Multiple brake lines are provided on the assembly shaft, and multiple wheel support frames are provided with brake components inside. One end of the multiple brake lines is fixed to the assembly shaft, and the other end of the multiple brake lines is connected to multiple brake components one by one.

2. The peristaltic pipe-walking device according to claim 1, characterized in that, The cover plate is circular, and the plurality of rotating rods are arranged at intervals along the circumference of the cover plate; The free end of the rotating rod is hinged to the wheel frame via a hinge shaft, which is parallel to the axis of the traveling wheel sleeve.

3. The peristaltic pipe-walking device according to claim 1, characterized in that, Multiple guide sleeves are fixed on the outer wall of the walking wheel sleeve. The multiple guide sleeves are coaxially arranged in correspondence with multiple guide holes. The wheel frame is also slidably inserted into the corresponding guide sleeve.

4. The peristaltic pipe-walking device according to claim 1, characterized in that, The wheel frame has a T-shaped structure and includes a first fixed rod and a second fixed rod. One end of the first fixed rod is hinged to the free end of the rotating rod, and the other end of the first fixed rod is vertically fixed to the middle of the second fixed rod. Wheels are respectively provided at both ends of the second fixed rod.

5. The peristaltic pipe-walking device according to claim 1, characterized in that, The wheel frame has a hollow structure, and the brake cable passes through the rotating rod and the hollow structure of the wheel frame and is connected to the corresponding brake assembly.

6. The peristaltic pipe-walking device according to claim 1, characterized in that, The brake assembly includes two brake pads hinged at one end, with the hinge axis of the two brake pads disposed on the wheel frame. The portions of the two brake pads located outside the wheel frame are connected by a spring. The other end of the brake cable is divided into two branches and connected to the portions of the two brake pads located outside the wheel frame, respectively. Each of the two brake pads is provided with a brake block, and the two brake blocks are respectively arranged opposite to each other on both sides of the wheel.

7. A peristaltic pipe-walking device according to any one of claims 1 to 6, characterized in that, It also includes an electric push rod, and the walking mechanism consists of two parts, namely a first walking mechanism and a second walking mechanism; the body includes a first body section and a second body section, the main structure of the electric push rod is fixed in the first body section, and the push rod shaft connected to the drive end of the electric push rod extends out from one axial end of the first body section and is connected to one axial end of the second body section; The first fuselage section has a first traveling mechanism at the other end of its axial direction, and the second fuselage section has a second traveling mechanism at the other end of its axial direction. The traveling wheel sleeve of the first traveling mechanism is fixedly connected to the other end of the first fuselage section's axial direction, and the traveling wheel sleeve of the second traveling mechanism is fixedly connected to the other end of the second fuselage section's axial direction.

8. A method for traveling of a peristaltic pipe traveling device according to any one of claims 1 to 6, characterized in that, Includes the following steps: When the peristaltic pipe-walking device encounters a pipe with a changing diameter inside the pipe, the walking wheel drive mechanism drives the cover plate and the rotating rod to rotate clockwise. The rotating rod pulls the hinged wheel frame to extend radially along the corresponding guide hole and fit tightly against the inner wall of the pipe to adapt to the increase in the diameter of the pipe with the changing diameter. At this time, the wheel frame reaches the first preset position. The walking wheel drive mechanism drives the cover plate and the rotating rod to rotate counterclockwise. The rotating rod pulls the hinged wheel frame to retract radially along the corresponding guide hole and fit tightly against the inner wall of the pipe with the changing diameter. At this time, the wheel frame reaches the second preset position. At the same time, when the lever rotates clockwise, the brake cable will tighten, causing the brake pads of the brake assembly to release the wheel, at which point the wheel can run normally; when the lever rotates counterclockwise, the brake cable will loosen, causing the brake pads of the brake assembly to clamp the wheel, at which point the wheel is in a braking state.

9. A method for the movement of the peristaltic pipe-walking device as described in claim 7, characterized in that, Includes the following steps: The first traveling mechanism's traveling wheel drive mechanism extends the wheel frame to press against the inner wall of the pipe, while the second traveling mechanism's traveling wheel drive mechanism retracts the wheel frame to be spaced apart from the inner wall of the pipe. After the electric push rod extends and drives the second traveling mechanism to move axially a preset distance relative to the first traveling mechanism, the second traveling mechanism's traveling wheel drive mechanism extends the wheel frame to press against the inner wall of the pipe, and the first traveling mechanism's traveling wheel drive mechanism retracts the wheel frame to be spaced apart from the inner wall of the pipe. The electric push rod retracts and drives the first traveling mechanism to move a preset distance. This cycle repeats, causing the peristaltic pipe traveling device to move along the pipe.

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