Pipeline flaw detection mechanism, method and peristaltic pipeline detection device

Abstract

The present application relates to pipeline flaw detection mechanism and its detection method and peristaltic pipeline detection device, pipeline flaw detection mechanism includes fuselage, support disc, connecting ring, connecting rod, probe drive mechanism and probe mechanism, support disc coaxially covers and is fixed on the outside wall of fuselage, connecting ring coaxially covers in the outside of fuselage and with the outside wall of fuselage between reserved gap;Probe drive mechanism is fixed on the fuselage, and the driving end of probe drive mechanism is in transmission connection with connecting ring and drives the rotary motion of connecting ring;The side of support disc towards connecting ring is rotatably connected with multiple support columns, and the support column is arranged along the axis direction parallel to the fuselage, and the support column is located at the outer ring side of connecting ring;Multiple connecting rods are hinged on the side of connecting ring away from support disc, multiple connecting rods and multiple support columns are arranged one by one, connecting rod passes through the corresponding support column movably and the free end of connecting rod is hinged with probe mechanism.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline detection, and particularly relates to a pipeline defect detection mechanism, a detection method thereof and a peristaltic pipeline detection device. BACKGROUND

[0002] Pipeline transportation, as an important means of transportation, plays a significant role in transporting media such as oil and natural gas. However, defects such as cracks, corrosion and deformation may occur during pipeline transportation, which may seriously affect the normal transportation of the pipeline. Therefore, it is necessary to regularly inspect the pipeline to maintain its normal transportation operation. Pipeline robots are widely used in pipeline detection due to their high detection efficiency, small size and other advantages. Existing pipeline robots generally include tracked, wheeled, peristaltic, spiral and other types. The peristaltic pipeline robot adopts the principle of bionics and simulates the movement of crawling animals such as earthworms to move and support in the pipeline. The peristaltic robot has the advantages of simple and compact structure, high degree of freedom, low manufacturing cost and strong controllability, and is widely used in pipeline detection.

[0003] There are various structural styles of peristaltic pipeline robots in the prior art. For example, a peristaltic pipeline robot is disclosed in application No. CN201820311515.7, which includes a front body, a drive assembly and a rear body. In the running process, the robot is started and stopped in one direction in the pipeline by using a one-way ratchet. However, during the running process in the pipeline, the ratchet is easily contaminated by residues and silt in the pipeline, making it difficult for the ratchet to normally perform its functions. In addition, due to the small size of the wheel, the ratchet structure is complex and difficult to actually process.

[0004] Most of the current peristaltic pipeline robots only provide a structure for walking in the pipeline, and have not realized real-time detection of defects in the pipeline, which is not highly applicable. SUMMARY

[0005] In order to solve one or several technical problems of the prior art, the present application provides a pipeline defect detection mechanism, a detection method thereof and a peristaltic pipeline detection device.

[0006] The technical scheme for solving the above technical problems of the present application is as follows: a pipeline flaw detection mechanism, comprising a machine body, a support disc, a connecting ring, a connecting rod, a probe driving mechanism and a probe mechanism, the support disc is coaxially sleeved and fixed on the outer sidewall of the machine body, the connecting ring is coaxially sleeved on the outer side of the machine body and a gap is reserved between the connecting ring and the outer sidewall of the machine body; the probe driving mechanism is fixed on the machine body, the driving end of the probe driving mechanism is in transmission connection with the connecting ring and drives the connecting ring to rotate; a plurality of support columns are rotationally connected to the side of the connecting ring facing the support disc, the support columns are arranged along the axis direction of the machine body, and the support columns are located on the outer ring side of the connecting ring; a plurality of connecting rods are hingedly connected to the side of the connecting ring away from the support disc, the connecting rods and the support columns are arranged in one-to-one correspondence, the connecting rods are movably inserted through the corresponding support columns, and the free ends of the connecting rods are hingedly connected to the probe mechanism.

[0007] The pipeline flaw detection mechanism of the present application drives the connecting ring to rotate by using the probe driving mechanism, drives the probe mechanism connected with the connecting rod to radially expand and contract, detects the inner sidewall of the pipeline of different diameters, can detect the defects of pipelines of different diameters, and effectively solves the problem of real-time detection of defects in variable-diameter pipelines.

[0008] On the basis of the above technical scheme, the present application can also be improved as follows.

[0009] Further, the connecting rod is in L-shaped structure, one end of the connecting rod is perpendicularly rotationally connected to the side of the connecting ring away from the support disc, and the other end of the connecting rod is movably inserted through the support column.

[0010] The beneficial effect of the above further scheme is that the connecting rod in L-shaped structure can be movably inserted through the support column, facilitating the rotation of the connecting ring and the radial expansion and contraction of the connecting rod.

[0011] Further, the other end of the connecting rod is perpendicularly arranged with the support column.

[0012] Further, the probe mechanism is in arc-shaped structure, and the free end of the connecting rod is hingedly connected to the middle part of the probe mechanism.

[0013] Further, the probe mechanism is in circular arc-shaped structure, the centers of all the probe mechanisms are coincident, and the centers are located on the axis of the machine body.

[0014] Further, two limiting plates are arranged in parallel on one side of the probe mechanism, the limiting plates are arranged along the direction parallel to the axis of the machine body, and the hinged point of the free end of the connecting rod and the probe mechanism is located between the two limiting plates.

[0015] The beneficial effect of the above further scheme is that the limiting plate can limit the deflection angle of the probe mechanism.

[0016] Further, the probe mechanism comprises a probe plate and a probe, the free end of the connecting rod is hinged to one side of the probe plate, a plurality of long-strip-shaped probe seats are arranged on the other side of the probe plate, the probe seats are arranged along the axial direction parallel to the fuselage, and a plurality of probes are fixed on each probe seat.

[0017] The detection method of the pipeline detection mechanism comprises the following steps:

[0018] The pipeline detection mechanism is arranged in the pipeline, and the fuselage is coaxially arranged with the pipeline, when the pipe diameter of the pipeline becomes larger, the probe driving mechanism drives the connecting ring to rotate clockwise, the connecting ring drives the connecting rod to rotate clockwise, the connecting rod is stretched out from the supporting column, the probe mechanism reaches the first set position, and the probe mechanism is attached to the inner side wall of the pipeline; when the pipe diameter of the pipeline becomes smaller, the probe driving mechanism drives the connecting ring to rotate counterclockwise, the connecting ring drives the connecting rod to rotate counterclockwise, the connecting rod is retracted from the supporting column, and the probe mechanism reaches the second set position, so that the probe mechanism is adapted to the inner side wall of the pipeline.

[0019] The beneficial effect of the present application is that the detection method can detect defects in the variable-diameter pipeline in real time.

[0020] The peristaltic pipeline detection device comprises the pipeline detection mechanism, and further comprises a walking mechanism and an electric push rod, the walking mechanism is provided with a brake assembly for controlling the start and stop of the walking mechanism; the walking mechanism comprises two first walking mechanisms and two second walking mechanisms;

[0021] The fuselage comprises a first fuselage section and a second fuselage section, the main body structure of the electric push rod is fixed in the first fuselage section, the driving end of the electric push rod is connected with the push rod shaft which is stretched out from one end of the first fuselage section in the axial direction and connected with the other end of the second fuselage section in the axial direction;

[0022] The other end of the first fuselage section in the axial direction is provided with the first walking mechanism, the other end of the second fuselage section in the axial direction is provided with the second walking mechanism, the walking wheel sleeve of the first walking mechanism is fixedly connected with the other end of the first fuselage section in the axial direction, and the walking wheel sleeve of the second walking mechanism is fixedly connected with the other end of the second fuselage section in the axial direction.

[0023] The beneficial effect of the present application is that the peristaltic pipeline detection device can realize peristaltic walking in the pipeline by setting two walking mechanisms and cooperating with the brake assembly.

[0024] Further, the walking mechanism comprises a walking wheel mechanism, a walking wheel sleeve and a walking wheel driving mechanism, one end of the walking wheel sleeve is fixedly connected with one end of the fuselage in the axial direction, the walking wheel driving mechanism is fixedly arranged in the walking wheel sleeve, and the walking wheel mechanism is movably arranged in the walking wheel sleeve.

[0025] The walking wheel mechanism comprises a cover plate, a rotating rod and a wheel frame, a plurality of rotating rods are arranged on the cover plate, the rotating rods are vertically rotatably connected to the cover plate, and the free ends of the rotating rods are hingedly connected to the wheel frame; a plurality of guide holes are arranged on the walking wheel sleeve, and the wheel frames are slidably arranged in the corresponding guide holes; the driving end of the walking wheel driving mechanism is in transmission connection with the cover plate and drives the cover plate to rotate; the cover plate drives the rotating rods to rotate in the circumferential direction, and the rotating rods drive the hingedly connected wheel frames to radially expand and contract in the corresponding guide holes. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 It is a perspective structural schematic view of the peristaltic pipeline detection device of the present application Figure 1 ;

[0027] Figure 2 It is an enlarged structural schematic view of the walking mechanism in the present application Figure 1 ;

[0028] Figure 3 It is a perspective structural schematic view of the peristaltic pipeline detection device of the present application Figure 2 ;

[0029] Figure 4 It is a structural schematic view of the detection mechanism in the first set position and the second set position of the present application

[0030] Figure 5 It is a perspective structural schematic view of the peristaltic pipeline detection device of the present application Figure 3 ;

[0031] Figure 6 It is an enlarged structural schematic view of the walking mechanism in the present application Figure 5 ;

[0032] Figure 7 It is a front view structural schematic view of the walking mechanism of the present application

[0033] Figure 8 It is a structural schematic view of the walking mechanism in the first preset position and the second preset position of the present application

[0034] Figure 9 It is a perspective structural schematic view of the peristaltic pipeline detection device of the present application Figure 4 .

[0035] In the drawings, the components represented by each reference numeral are listed as follows:

[0036] 100, first body section; 101, second body section; 102, connecting shaft;

[0037] 200, walking mechanism; 201, walking wheel sleeve; 202, walking wheel driving mechanism; 203, cover plate; 204, inner gear; 205, rotating rod; 206, wheel frame; 207, first driving gear; 208, hinged shaft; 209, guide sleeve; 210, first fixed rod; 211, second fixed rod; 212, wheel; 213, wheel support frame; 214, assembling shaft; 215, brake wire; 216, brake pad; 217, spring; 218, brake block; 219, bolt; 220, through hole; 221, hinge;

[0038] 300, electric push rod; 301, push rod shaft;

[0039] 400, detection mechanism; 401, support disc; 402, connecting ring; 403, connecting rod; 404, probe driving mechanism; 405, support column; 406, probe plate; 407, probe; 408, probe seat; 409, limiting plate; 410, second driving gear; 411, inner gear ring;

[0040] 500, first preset position; 501, second preset position; 502, first set position; 503, second set position. DETAILED DESCRIPTION

[0041] The principles and features of the present application are described below in conjunction with the accompanying drawings, in which the examples are used to explain the present application and are not intended to limit the scope of the present application.

[0042] As Figures 1-4As shown, the pipeline flaw detection mechanism of the embodiment comprises a body, a support disc 401, a connecting ring 402, a connecting rod 403, a probe driving mechanism 404 and a probe mechanism, the support disc 401 is coaxially sleeved and fixed on the outer side wall of the body, the connecting ring 402 is coaxially sleeved on the outer side of the body and a gap is reserved between the connecting ring 402 and the outer side wall of the body; the probe driving mechanism 404 is fixed on the body, the driving end of the probe driving mechanism 404 is in transmission connection with the connecting ring 402 and drives the connecting ring 402 to rotate; a plurality of support columns 405 are rotationally connected to one side of the support disc 401 facing the connecting ring 402, the support columns 405 are arranged along the axis direction parallel to the body, and the support columns 405 are located on the outer ring side of the connecting ring 402; a plurality of connecting rods 403 are hingedly connected to one side of the connecting ring 402 away from the support disc 401, the connecting rods 403 and the support columns 405 are arranged one by one, the connecting rods 403 are movably arranged through the corresponding support columns 405, and the free ends of the connecting rods 403 are hingedly connected to the probe mechanism.

[0043] Specifically, as shown in Figure 1 and Figure 2 the driving end of the probe driving mechanism 404 is provided with a second driving gear 410, the connecting ring 402 is fixed with an inner ring gear 411, the inner ring gear 411 can be fixed on any side of the connecting ring 402 on the two axial sides, the second driving gear 410 is in meshing connection with the inner ring gear 411, the inner ring gear 411 is driven to rotate by the second driving gear 410, and the connecting ring 402 is further driven to rotate. The probe driving mechanism 404 can adopt a stepping motor, and the main body structure of the probe driving mechanism 404 is fixed on the body.

[0044] As shown in Figure 2 a plurality of connecting rods 403 are uniformly arranged on one side of the connecting ring 402 away from the support disc 401 in the circumferential direction, and a plurality of support columns are uniformly arranged on the support disc 401 in the circumferential direction. The connecting rod 403 is rotationally connected to the connecting ring 402 through a hinge 221, and the connecting rod 403 is arranged perpendicularly to the connecting ring 402. The support column 405 is rotationally connected to the support disc 401 through a hinge 221, and the support column 405 is arranged perpendicularly to the support disc 401.

[0045] As shown in Figure 2As shown in the drawings, the connecting rod 403 of the embodiment is in L-shaped structure, one end of the connecting rod 403 is vertically connected to the side of the connecting ring 402 away from the support disc 401, and the other end of the connecting rod 403 is movably penetrated through the support column 405. The connecting rod in L-shaped structure can be movably penetrated through the support column, facilitating the rotating movement of the connecting ring and driving the radial expansion and contraction of the connecting rod.

[0046] As shown in the drawings, Figure 2 As shown in the drawings, the other end of the connecting rod 403 of the embodiment is vertically arranged with the support column 405.

[0047] As shown in the drawings, Figures 1-4 As shown in the drawings, the probe mechanism of the embodiment is in arc-shaped structure, and the free end of the connecting rod 403 is hinged to the middle part of the probe mechanism.

[0048] As shown in the drawings, Figures 1-4 As shown in the drawings, the probe mechanism of the embodiment is in circular arc-shaped structure, the centers of all the probe mechanisms coincide, and the centers are located on the axis of the fuselage.

[0049] As shown in the drawings, Figure 2 and Figure 4 As shown in the drawings, the probe mechanism of the embodiment is provided with two limiting plates 409 arranged in parallel on one side, the limiting plates 409 are arranged in the direction parallel to the axis of the fuselage, and the hinging point of the free end of the connecting rod 403 and the probe mechanism is located between the two limiting plates 409. The limiting plates can limit the deflection angle of the probe mechanism.

[0050] As shown in the drawings, Figure 2 and Figure 4 As shown in the drawings, the probe mechanism of the 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 long strip-shaped probe seats 408 are arranged on the other side of the probe plate 406 in the direction parallel to the axis of the fuselage, and a plurality of probes 407 are fixed on each probe seat 408.

[0051] The pipeline flaw detection mechanism of the embodiment drives the connecting ring to rotate by the probe driving mechanism, drives the radial expansion and contraction of the probe mechanism connected with the connecting rod, expands and contracts for different pipe diameters to detect the inner side wall of the pipeline, can adapt to the defects of different pipe diameters, and effectively solves the real-time detection problem of the defects in the variable diameter pipeline.

[0052] The embodiment also provides a detection method of the pipeline flaw detection mechanism, including the following steps:

[0053] The pipeline flaw detection mechanism is arranged in the pipeline, and the machine body is coaxially arranged with the pipeline. When the pipe diameter of the pipeline becomes larger, the probe driving mechanism 404 drives the connecting ring 402 to rotate clockwise, the connecting ring 402 drives the connecting rod 403 to rotate clockwise, the connecting rod 403 is extended outward from the support column 405 (the support column 405 can be deflected under the driving of the connecting rod 403), and the probe mechanism reaches the first set position 502, so that the probe mechanism is adapted to the inner side wall of the pipeline. When the pipe diameter of the pipeline becomes smaller, the probe driving mechanism 404 drives the connecting ring 402 to rotate counterclockwise, the connecting ring 402 drives the connecting rod 403 to rotate counterclockwise, the connecting rod 403 is retracted inward from the support column 405 (the support column 405 can be deflected under the driving of the connecting rod 403), and the probe mechanism reaches the second set position 503, so that the probe mechanism is adapted to the inner side wall of the pipeline. The detection method of the embodiment can realize real-time detection of defects in the variable-diameter pipeline, and can avoid the problem that the probe is damaged when the probe touches the inner side wall of the pipeline due to the small pipe diameter. The connecting rod 403 can be rotated at a small angle under the limiting action of the limiting plate 409, and a larger detection range can be realized.

[0054] As shown in Figures 1-9 The pipeline detection device of the embodiment comprises the pipeline flaw detection mechanism, and further comprises a walking mechanism 200 and an electric push rod 300. The walking mechanism 200 is provided with a brake assembly for controlling the start and stop of the walking mechanism 200. The walking mechanism 200 comprises a first walking mechanism and a second walking mechanism. The machine body comprises a first machine body section 100 and a second machine body section 101. The first machine body section 100 and the second machine body section 101 are coaxially connected through a connecting shaft 102. The connecting shaft 102 can be a fixed shaft or a universal shaft. The main body structure of the electric push rod 300 is fixed in the first machine body section 100. The driving end of the electric push rod 300 is connected with a push rod shaft 301 which extends from one end of the first machine body section 100 and is connected with the other end of the second machine body section 101. The other end of the first machine body section 100 is provided with the first walking mechanism, and the other end of the second machine body section 101 is provided with the second walking mechanism. The walking wheel sleeve 201 of the first walking mechanism is fixedly connected with the other end of the first machine body section 100, and the walking wheel sleeve 201 of the second walking mechanism is fixedly connected with the other end of the second machine body section 101. Two walking mechanisms are adopted, and the walking wheel driving mechanism is used to realize the small-amplitude extension and retraction of the wheels along the guide hole, and the brake assembly is used to realize the movement and stop of the two walking mechanisms. The pipeline detection device can adapt to the change of the pipe diameter of the pipeline and realize the creeping movement of the pipeline walking device in the pipeline.

[0055] As shown in Figures 5-9As shown in the drawings, the walking mechanism 200 of the embodiment comprises a walking wheel mechanism, a walking wheel sleeve 201 and a walking wheel driving mechanism 202, one end of the walking wheel sleeve 201 is fixedly connected with one end of the machine body in the axial direction, the walking wheel driving mechanism 202 is fixedly arranged in the walking wheel sleeve 201, and the walking wheel mechanism is movably arranged in the walking wheel sleeve 201; the walking wheel mechanism comprises a cover plate 203, a rotating rod 205 and a wheel frame 206, a plurality of rotating rods 205 are arranged on the cover plate 203, the rotating rod 205 is vertically rotatably connected with the cover plate 203, and the free end of the rotating rod 205 is hingedly connected with the wheel frame 206; a plurality of guide holes are arranged on the walking wheel sleeve 201, and the wheel frame 206 is slidably arranged in the corresponding guide hole; the driving end of the walking wheel driving mechanism 202 is in transmission connection with the cover plate 203 and drives the cover plate 203 to rotate; the cover plate 203 drives the rotating rod 205 to rotate in the circumferential direction, and the rotating rod 205 drives the hingedly connected wheel frame 206 to make radial expansion and contraction movement along the corresponding guide hole. The peristaltic type pipeline walking device of the embodiment drives the cover plate to rotate by the walking wheel driving mechanism, realizes small-amplitude expansion and contraction movement of the wheel along the guide hole, and can adapt to the change of the pipeline diameter, so that the walking wheel mechanism can run along the pipeline.

[0056] Specifically, as shown in the drawings, Figure 5 and Figure 6 The driving end of the walking wheel driving mechanism 202 of the embodiment is connected with a first driving gear 207, one end face of the machine body in the axial direction is fixedly connected with an assembly shaft 214, the outer diameter of the assembly shaft 214 is smaller than the outer diameter of the machine body, the walking wheel driving mechanism 202 can be fixedly arranged on the outer side wall of the assembly shaft 214, and the driving end of the walking wheel driving mechanism 202 is fixedly connected with the first driving gear 207 and drives the first driving gear 207 to rotate. An internal gear 204 is fixedly arranged on one side of the cover plate 203, the internal gear 204 is fixedly connected with the cover plate 203 through a bolt 219, the first driving gear 207 is in meshing connection with the internal gear 204, the internal gear 204 is driven to rotate by the first driving gear 207, and the cover plate 203 is further driven to rotate. The walking wheel driving mechanism 202 can adopt a stepping motor.

[0057] As shown in the drawings, Figure 5 and Figure 6 The cover plate 203 of the embodiment is circular, and a plurality of rotating rods 205 are arranged along the circumferential direction of the cover plate 203; the free end of the rotating rod 205 is hingedly connected with the wheel frame 206 through a hinge shaft 208, and the hinge shaft 208 is parallel to the axis of the walking wheel sleeve 201. The rotating rod and the wheel frame are hingedly connected through the hinge shaft, so that the wheel frame can be deflected relative to the rotating rod to adapt to the change of the pipeline diameter.

[0058] AsFigure 7 As shown in the drawings, the outer side wall of the walking wheel sleeve 201 of the embodiment is fixed with a plurality of guide sleeves 209, the plurality of guide sleeves 209 are coaxially arranged one by one corresponding to a plurality of guide holes, and the wheel frame 206 is slidingly arranged one by one corresponding to the corresponding guide sleeves 209. The arrangement of the guide sleeve can provide structural guidance for the radial movement of the wheel frame.

[0059] As shown in the drawings, Figure 5 and Figure 6 The wheel frame 206 of the embodiment is in T-shaped structure, which includes a first fixed rod 210 and a second fixed rod 211, one end of the first fixed rod 210 is hinged to the free end of the rotating rod 205, the other end of the first fixed rod 210 is perpendicularly and fixedly connected to the middle part of the second fixed rod 211, and the two ends of the second fixed rod 211 are respectively provided with wheels 212. By arranging the T-shaped wheel frame, wheels can be arranged at both ends of the second fixed rod, so that the movement of the wheel frame in the pipeline is more stable and reliable.

[0060] As shown in the drawings, Figure 5 and Figure 6 The free end of the wheel frame 206 of the embodiment is fixed with a U-shaped wheel support 213, the opening direction of the wheel support 213 is radially arranged away from the walking wheel sleeve 201, and the wheel 212 is rotatably connected in the wheel support 213; one end face of the fuselage is provided with an assembly shaft 214, the assembly shaft 214 is coaxially arranged with the fuselage and the walking wheel sleeve 201, the assembly shaft 214 is arranged close to the cover plate 203, a plurality of brake lines 215 are arranged on the assembly shaft 214, a plurality of brake assemblies are arranged inside the wheel support 213, one end of the brake lines 215 is fixed on the assembly shaft 214, and the other end of the brake lines 215 is connected to the brake assemblies one by one. The arrangement of the brake assembly can cooperate with the extension and retraction movement of the wheel frame to realize the free movement and stop movement of the wheel.

[0061] As shown in the drawings, Figures 5-9 The wheel frame 206 of the embodiment is in hollow structure, the brake lines 215 pass through the rotating rod 205 and the hollow structure of the wheel frame 206 and are connected to the corresponding brake assemblies, so as to facilitate the control of the brake assemblies by the brake lines. Specifically, a through hole 220 is formed at the center position of the cover plate 203, the brake lines 215 can pass through the through hole and the bending part of the rotating rod 205, and the brake lines 215 can pass through the hollow structure of the wheel frame 206.

[0062] As shown in the drawings, Figure 7 and Figure 8As shown, the brake assembly in this embodiment includes two brake pads 216 hinged at one end, and the hinge axis of the two brake pads 216 is disposed on the wheel frame 206. The portions of the two brake pads 216 located 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 located outside the wheel frame 206 respectively. Brake blocks 218 are respectively provided on the two brake pads 216, and the two brake blocks 218 are respectively arranged opposite to each other on both sides of the wheel 212.

[0063] 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 8 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 8 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.

[0064] The walking method of the peristaltic pipeline walking device comprises the following steps: the walking wheel driving mechanism 202 of the first walking mechanism drives the wheel frame 206 to extend and press the inner wall of the pipeline, the brake assembly of the first walking mechanism clamps the wheel and does not move, the walking wheel driving mechanism 202 of the second walking mechanism drives the wheel frame 206 to retract and be arranged at intervals with the inner wall of the pipeline, the brake assembly of the second walking mechanism does not contact the wheel, and the wheel of the second walking mechanism is free to move; after the electric push rod 300 extends and drives the second walking mechanism to move axially relative to the first walking mechanism by a preset distance, the walking wheel driving mechanism 202 of the second walking mechanism drives the wheel frame 206 to extend and press the inner wall of the pipeline, the brake assembly of the second walking mechanism clamps the wheel and does not move, the walking wheel driving mechanism 202 of the first walking mechanism drives the wheel frame 206 to retract and be arranged at intervals with the inner wall of the pipeline, the brake assembly of the first walking mechanism does not contact the wheel, and the wheel of the first walking mechanism is free to move, the electric push rod 300 retracts and drives the first walking mechanism to move by a preset distance, and the peristaltic pipeline walking device walks and moves along the pipeline through repeated circulation. The walking method of the embodiment can cooperate with the brake assembly and can realize peristaltic operation of the walking mechanism along the pipeline.

[0065] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0066] In addition, the terms "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" and "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0067] 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.

[0068] 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.

[0069] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is 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.

[0070] 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 tube inspection apparatus, characterized by, The pipeline flaw detection mechanism comprises a machine body, a support disc, a connecting ring, a connecting rod, a probe driving mechanism and a probe mechanism, the support disc is coaxially sleeved and fixed on the outer side wall of the machine body, and a gap is reserved between the connecting ring and the outer side wall of the machine body; A plurality of support columns are rotationally connected to one side of the support disc facing the connecting ring, the support columns are arranged in the axial direction parallel to the machine body, and the support columns are located on the outer ring side of the connecting ring; When the pipeline flaw detection mechanism is used for detection, the pipeline flaw detection mechanism is placed in the pipeline, and the machine body is coaxially arranged with the pipeline. The brake assembly is arranged on the walking mechanism to control the start and stop of the walking mechanism. The machine body comprises a first machine body section and a second machine body section, the main body structure of the electric push rod is fixed in the first machine body section, and the push rod shaft connected with the driving end of the electric push rod extends from one end of the first machine body section in the axial direction and is connected with the other end of the second machine body section in the axial direction. The other end of the first machine body section in the axial direction is provided with the first walking mechanism, and the other end of the second machine body section in the axial direction is provided with the second walking mechanism. The walking wheel sleeve of the first walking mechanism is fixedly connected with the other end of the first machine body section in the axial direction, and the walking wheel sleeve of the second walking mechanism is fixedly connected with the other end of the second machine body section in the axial direction. The walking mechanism comprises a walking wheel mechanism, a walking wheel sleeve and a walking wheel driving mechanism, one end of the walking wheel sleeve in the axial direction is fixedly connected with one end of the machine body in the axial direction, the walking wheel driving mechanism is fixedly arranged in the walking wheel sleeve, and the walking wheel mechanism is movably assembled in the walking wheel sleeve. The walking wheel mechanism comprises a cover plate, a rotating rod and a wheel frame, the cover plate is provided with a plurality of rotating rods, the rotating rod is L-shaped and vertically rotatably connected to the cover plate, and the free end of the rotating rod is hingedly connected to the wheel frame; a plurality of guide holes are formed in the walking wheel sleeve, and the wheel frame is slidably arranged in the corresponding guide hole; the driving end of the walking wheel driving mechanism is in transmission connection with the cover plate and drives the cover plate to rotate; the cover plate drives the rotating rod to rotate circumferentially and drives the hingedly connected wheel frame to make radial extension and contraction movement along the corresponding guide hole; The free end of the wheel frame is fixed with a U-shaped wheel support frame, the opening direction of the wheel support frame is radially arranged away from the walking wheel sleeve, and a wheel is rotatably connected in the wheel support frame; one end face of the fuselage is provided with an assembly shaft, the assembly shaft is coaxially arranged with the fuselage and the walking wheel sleeve, the assembly shaft is arranged close to the cover plate, a plurality of brake lines are arranged on the assembly shaft, a brake assembly is arranged on the inner side of each wheel support frame, one end of each brake line is fixed on the assembly shaft, and the other end of each brake line is connected to the brake assembly.

2. The peristaltic tube detection device of claim 1, wherein, The connecting rod is L-shaped, one end of the connecting rod is vertically rotatably connected to the side of the connecting ring away from the support disc, and the other end of the connecting rod is movably penetrated through the support column.

3. The peristaltic tube detection apparatus of claim 2, wherein, The other end of the connecting rod is vertically arranged with the support column.

4. The peristaltic tube detection apparatus of claim 1, wherein, The probe mechanism is arc-shaped, the free end of the connecting rod is hingedly connected to the middle part of the probe mechanism.

5. The peristaltic tube detection apparatus of claim 1, wherein, The probe mechanism is circular arc-shaped, the centers of all the probe mechanisms coincide, and the center is located on the axis of the fuselage.

6. The peristaltic tube detection apparatus of claim 1, wherein, Two limiting plates are arranged on one side of the probe mechanism, the limiting plates are arranged in parallel to the axis of the fuselage, the hinging point of the free end of the connecting rod and the probe mechanism is located between the two limiting plates.

7. The peristaltic tube detection apparatus of claim 1, wherein, The probe mechanism comprises a probe plate and a probe, the free end of the connecting rod is hingedly connected to one side of the probe plate, a plurality of long strip-shaped probe seats are arranged on the other side of the probe plate, the probe seats are arranged in parallel to the axis of the fuselage, and a plurality of probes are fixed on each probe seat.

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