Pipe crawling device assisted by endoscope

Abstract

The auxiliary crawling device of the pipeline endoscope provided by the embodiment of the present disclosure comprises a support assembly, a plurality of supporting foot assemblies and a first elastic member; one end of each of the supporting foot assemblies is movably arranged at the end of the support assembly, the other end of each of the supporting foot assemblies is rollingly connected with a roller, and the corresponding supporting foot assemblies are elastically connected through the first elastic member; the probe lead wire is connected to the first end of the endoscope probe, passes through the support assembly, so that the endoscope probe is suspended on the first side of the support assembly, and the second end of the probe lead wire is located on the second side of the support assembly, so that when the second end of the probe lead wire is pushed, the support assembly drives the endoscope probe to move in the pipeline through the supporting foot assemblies. The embodiment of the present disclosure can reduce the frictional resistance of the endoscope probe and the probe lead wire in the pipeline and improve the passability of the endoscope probe in the pipeline.

Description

Technical Field

[0001] The embodiments disclosed herein belong to the field of auxiliary device technology, specifically relating to an auxiliary crawling device for a pipeline endoscope. Background Technology

[0002] Endoscopic equipment is widely used for inspecting the internal corrosion, scratches, and foreign objects of industrial pipelines. However, the primary method for endoscopic pipeline inspection currently involves placing the endoscope probe directly inside the pipeline and moving the probe and its lead wires together within the pipe. During this movement, the friction between the probe wires and the pipe wall must be overcome. As the probe wires extend further into the pipe or pass through bends, the probe wires' ability to push and control the probe gradually weakens.

[0003] On the one hand, although higher-end endoscopes have the ability to manipulate the probe for observation, the probe wire itself is attached to the tube wall, and it can also move uncontrollably when the probe is bent, which greatly reduces the observation efficiency. On the other hand, after the endoscope enters the tube and observes the object being measured, it cannot determine the location of the observation area, which is not conducive to a detailed description of the probe observation results. Summary of the Invention

[0004] The embodiments disclosed herein are intended to at least address one of the technical problems existing in the prior art, and to provide an auxiliary crawling device for a pipe endoscope.

[0005] Embodiments of this disclosure provide an auxiliary crawling device for a pipeline endoscope, the endoscope including an endoscope probe and a probe wire connected to the endoscope probe, the auxiliary crawling device including a support assembly, a plurality of support foot assemblies and a first elastic element;

[0006] One end of each of the support foot assemblies is movably disposed at the end of the bracket assembly, and the other end of each of the support foot assemblies is rotatably connected to a roller. The corresponding support foot assemblies are elastically connected to each other through the first elastic element.

[0007] The probe wire is connected to the first end of the endoscope probe and passes through the support assembly so that the endoscope probe is suspended on the first side of the support assembly. The second end of the probe wire is located on the second side of the support assembly so that when the second end of the probe wire is pushed, the support assembly moves the endoscope probe in the tube through the support foot assembly.

[0008] Optionally, the support assembly includes a first support and a second support;

[0009] The first support includes a first support rod, a second support rod, and a first clamping part, wherein the first clamping part is connected across the first support rod and the second support rod;

[0010] The second support includes a third support rod, a fourth support rod, and a second clamping part, wherein the second clamping part spans the third support rod and the fourth support rod; wherein,

[0011] The first clamping part and the second clamping part cooperate to clamp the probe wire.

[0012] Optionally, both the first clamping part and the second clamping part have arched cross-sections.

[0013] Optionally, the support foot assembly includes a support rod and a rotating component;

[0014] The first end of the support rod is connected to the corresponding end of the bracket rod via the rotating component.

[0015] Optionally, the rotating component is configured as a connecting bearing.

[0016] Optionally, the support foot assembly further includes a roller protection cavity;

[0017] One end of the roller protection cavity is an open end, and the other end is a closed end. The open end is used to accommodate part of the roller, and the closed end is connected to the second end of the support rod.

[0018] The roller is connected to the roller protection cavity via a connecting shaft, so that the roller can rotate relative to the roller protection cavity.

[0019] Optionally, each of the support rods is provided with a first connecting portion;

[0020] The two ends of the first elastic member are respectively connected to the first connecting part of the support rod connected to the first bracket and the first connecting part of the support rod connected to the second bracket.

[0021] Optionally, each of the support rods connected to the end of the first side of the bracket assembly is further provided with a second connecting part, and the crawling device further includes a gravity indicating component and a plurality of second elastic elements;

[0022] One end of each of the second elastic elements is connected to the second connecting portion, and the other end is connected to the gravity indicating component, so that the gravity indicating component is suspended on the first side of the bracket assembly.

[0023] Optionally, both the first elastic element and the second elastic element can be elastic ropes or springs.

[0024] Optionally, both the first connecting portion and the second connecting portion are configured as annular.

[0025] The auxiliary crawling device for a pipe endoscope according to embodiments of this disclosure, through the provided support assembly, multiple support foot assemblies and a first elastic member, can reduce the frictional resistance of the endoscope probe and probe wire in the pipe and improve the passage of the endoscope probe inside the pipe; the endoscope probe is suspended on the support assembly so that it can always be kept in the middle of the pipe, improving the observation effect of the endoscope probe during movement. Attached Figure Description

[0026] Figure 1 This is a top view of an auxiliary crawling device for a pipe endoscope according to an embodiment of the present disclosure;

[0027] Figure 2 A side view of an auxiliary crawling device for a pipe endoscope according to another embodiment of this disclosure;

[0028] Figure 3 This is a front view of an auxiliary crawling device for a pipe endoscope according to another embodiment of the present disclosure;

[0029] Figure 4 This is a top view of a support assembly according to another embodiment of the present disclosure;

[0030] Figure 5 This is a side view from direction A of a support assembly according to another embodiment of the present disclosure;

[0031] Figure 6 This is a side view from direction B of a support assembly according to another embodiment of the present disclosure;

[0032] Figure 7 This is a front view of a support leg assembly according to another embodiment of the present disclosure;

[0033] Figure 8 This is a side view of a support foot assembly according to another embodiment of the present disclosure. Detailed Implementation

[0034] To enable those skilled in the art to better understand the technical solutions of this disclosure, the disclosure will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] like Figures 1 to 3As shown, an auxiliary crawling device 100 for a duct endoscope is disclosed. The endoscope includes an endoscope probe 210 and a probe wire 220 connected to the endoscope probe 210. The auxiliary crawling device 100 includes a support assembly 110, multiple support foot assemblies 120, and a first elastic element 130. One end of each support foot assembly 120 is movably disposed at the end of the support assembly 110, and the other end of each support foot assembly 120 is rotatably connected to a roller 300. Corresponding support foot assemblies 120 are elastically connected to each other through the first elastic element 130.

[0036] The probe wire 220 is connected to the first end of the endoscope probe 210 and passes through the support assembly 110 so that the endoscope probe 210 is suspended on the first side of the support assembly 110. The second end of the probe wire 220 is located on the second side of the support assembly 110 so that when the second end of the probe wire 220 is pushed, the support assembly 110 drives the endoscope probe 210 to move in the tube through the support foot assembly 120.

[0037] Specifically, such as Figures 1 to 3 As shown, a support foot assembly 120 of appropriate size is selected according to the inner diameter of the pipe being tested, and a bracket assembly 110 of appropriate size is selected according to the opening position of the pipe being tested. The bracket assembly 110 and the support foot assembly 120 are then assembled. In use, the probe wire 220 is clamped between the bracket assemblies 110. The first end of the probe wire 220 connected to the endoscope probe 210 passes through the bracket assembly 110 to suspend the endoscope probe 210 on the first side of the bracket assembly 110. The first end of the probe wire 220 connected to the endoscope probe 210 extends beyond the first side of the bracket assembly 110 by a predetermined length. The second end of the probe wire 220 is located on the second side of the bracket assembly 110. By pushing the second end of the probe wire 220, the bracket assembly 110 is moved, thereby moving the endoscope probe 210.

[0038] It should be noted that when clamping the probe wire 220, a soft shim can be added between the support assembly 110 and the probe wire 220 to ensure clamping without damaging the probe wire 220, and then secured with bolts or clamps. The support assembly 110 can be made of plastic or lightweight alloy to minimize its weight. The roller 300 can be made of plastic or rubber to prevent scratching the inner surface of the pipe.

[0039] As an example, such as Figures 1 to 6As shown, the support assembly 110 includes a first support 111 and a second support 112. The first support 111 includes a first support rod 1113, a second support rod 1112, and a first clamping portion 1111, which spans the first support rod 1113 and the second support rod 1112. The second support 112 includes a third support rod, a fourth support rod, and a second clamping portion 1121, which spans the third support rod and the fourth support rod. The first clamping portion 1111 and the second clamping portion 1121 cooperate to clamp the probe wire 220. The first support 111 and the second support 112 have identical structures.

[0040] Specifically, the probe wire 220 is clamped between the first clamping part 1111 and the second clamping part 1121. The two ends of the first support rod 1113, the second support rod 1112, the third support rod, and the fourth support rod are all movably connected to the first end of the support foot assembly 120. The second end of the support foot assembly 120 is connected to a roller 300 for rolling. For example... Figures 1 to 6 The system comprises eight support foot assemblies 120, each connected to the end of a corresponding support rod. The support foot assemblies 120 located at the corresponding ends of the first and third support rods on the first side of the support assembly 110 are elastically connected via a first elastic element 130. Similarly, the support foot assemblies 120 located at the corresponding ends of the second and fourth support rods on the second side of the support assembly 110 are also elastically connected via the first elastic element 130. The following detailed description uses the configuration of eight support foot assemblies as an example.

[0041] In application, the operator applies force to overcome the elastic force of the first elastic element 130 and keeps the support foot assemblies 120 at the ends of the first support rod 1113 and the third support rod extended toward the first side of the support assembly 110, and keeps the support foot assemblies 120 at the ends of the second support rod 1112 and the fourth support rod extended toward the second side of the support assembly 110. The auxiliary crawling device 100, the clamped endoscope probe 210, and the probe wire 220 are inserted into the pipe to be tested through the opening. After the operator releases the auxiliary crawling device 100, the elastic force of the first elastic element 130 tightens the eight support foot assemblies 120, so that the support foot assemblies 120 are supported on the inner wall of the pipe to be tested, and the support assembly 110 and the endoscope probe 210 clamped by the support assembly 110 are suspended in the center of the pipe. By pushing the second end of the probe wire 220, a driving force can be provided to the support assembly 110. The driving force is transmitted to the support foot assembly 120 to make the roller 300 connected to the support foot assembly 120 roll. Under the rolling action of the roller 300, the support foot assembly 120, the support assembly 110 and the endoscope probe 210 move simultaneously.

[0042] During the movement of the support foot assembly 120, the bracket assembly 110, and the endoscope probe 210, the endoscope probe 210 is simultaneously operated to observe and inspect the inner wall of the pipe. After locating the object to be measured, the object is observed. After the observation is completed, the second end of the probe wire 220 is pulled to pull the auxiliary crawling device 100 back to the opening position. At this time, the operator applies force to overcome the elastic force of the first elastic element 130 and adjusts the direction of the support foot assembly 120 to remove the auxiliary crawling device 100 from the opening.

[0043] Furthermore, such as Figure 3 and Figure 5 As shown, the cross-sections of the first clamping part 1111 and the second clamping part 1121 are both arched. Of course, the cross-sections of the first clamping part and the second clamping part can also be other shapes suitable for clamping the probe wires besides arched, and this embodiment does not impose specific limitations on this.

[0044] The auxiliary crawling device for a pipe endoscope in this disclosure, after being fixed to the endoscope probe and probe wire, is inserted into the pipe through the opening. Under the action of the first elastic member, the portion of the endoscope probe and probe wire located on the first side of the support assembly is lifted and suspended in the center of the pipe by the support assembly. Pushing the second end of the probe wire causes the auxiliary crawling device and the endoscope probe to move forward together in the pipe. The roller greatly reduces the frictional resistance of the endoscope probe and probe wire during the movement. The roller setting changes the sliding friction into rolling friction. Under the condition that the probe wire provides the same driving force, the endoscope probe with the auxiliary crawling device installed can move to a farther position.

[0045] When navigating bends, the support foot assembly can adjust its angle under the action of the first elastic element, allowing the auxiliary crawling device to effectively adjust its posture when passing bends, keeping the support assembly and endoscope probe suspended in the center of the pipe. Because the endoscope probe is always suspended in the center of the pipe, it will not swing or sway due to pipe friction, allowing for better observation during movement.

[0046] For example, such as Figures 1 to 3 , Figure 7 and Figure 8 As shown, the support foot assembly 120 includes a support rod 121 and a rotating member 122. The first end of the support rod 121 is connected to the corresponding end of the support rod via the rotating member 122. The rotating member enables a movable connection between the first end of the support rod and the corresponding end of the support rod. As an example, such as... Figure 7 and Figure 8 As shown, the rotating component 122 can be configured as a rotating bearing. Of course, the rotating component can also be configured as other rotatable parts besides the rotating bearing. This embodiment does not impose any specific restrictions on this.

[0047] Furthermore, the support foot assembly 120 also includes a roller protection cavity 123. One end of the roller protection cavity 123 is open, and the other end is closed. The open end is used to accommodate part of the roller 300, and the closed end is connected to the second end of the support rod 121. The roller 300 is connected to the roller protection cavity 123 via a connecting shaft (not shown in the figure) so that the roller 300 can rotate relative to the roller protection cavity 123. The roller protection cavity provides a certain degree of protection for the roller during rolling, preventing foreign objects from scratching or damaging the roller, and increasing the service life of the roller.

[0048] Furthermore, each of the support rods 121 is provided with a first connecting portion 1211. The two ends of the first elastic member 130 are respectively connected to the first connecting portion 1211 of the support rod 121 connected to the first bracket 111 and the corresponding first connecting portion 1211 of the support rod 121 connected to the second bracket 112. The first connecting portions allow for more convenient connection of the first elastic member. For example, the first connecting portion 1211 can be ring-shaped, and hooks can be provided at both ends of the first elastic member 130. The first elastic member 130 can be hooked onto the ring-shaped first connecting portions 1211 on the corresponding two support rods 121 via the hooks at both ends.

[0049] For example, such as Figures 1 to 3 As shown, each of the support rods 121 connected to the end of the first side of the support assembly 110 is further provided with a second connecting portion 1212. The crawling device 100 also includes a gravity indicating component 400 and a plurality of second elastic elements 140. One end of each second elastic element 140 is connected to the second connecting portion 1212, and the other end is connected to the gravity indicating component 400, so that the gravity indicating component 400 is suspended on the first side of the support assembly 110.

[0050] Specifically, such as Figures 1 to 3 As shown, each support rod 121 connected to the end of the first side of the support assembly 110 is also provided with a second connecting part 1212. That is, the support rod 121 connected to both ends of the first support rod 1113 and the third support rod is provided with a second connecting part 1212, and the two ends of the second elastic member 140 are respectively connected to the corresponding second connecting part 1212 and the gravity indicator 400, so that the gravity indicator 400 and the endoscope probe 210 are suspended on the first side of the support assembly 110.

[0051] In application, the auxiliary crawling device 100 moves the endoscope probe 210 and part of the probe leads 220 within the pipe. During this movement, the endoscope probe 210 can be operated simultaneously to observe and inspect the inner wall of the pipe. After locating the object to be measured, the endoscope probe 210 is aligned with the gravity indicator 400 to determine the direction of gravity. Then, the probe is moved back to the object to determine its orientation. The specific structure of the gravity indicator 400 can be designed according to actual needs, and this embodiment is not limited thereto.

[0052] It should be noted that the first elastic element 130 and the second elastic element 140 mentioned above can both be configured as elastic ropes or springs. They can also be configured as other elastic components according to actual needs, and the embodiments disclosed herein do not impose specific limitations on this.

[0053] The auxiliary crawling device for a pipe endoscope in the embodiments of this disclosure, through a second elastic element located on the first side of the support assembly and a gravity indicator component, can determine the direction of gravity in the observation screen by observing the gravity indicator component when observing the object under test, and determine the orientation of each position in the observation screen based on the gravity direction, thereby realizing a detailed description of the observation results.

[0054] As a concrete example, such as Figures 1 to 3 As shown, the gravity indicator 400 can be configured as a hollow ring structure, filled with liquid and containing an air bubble occupying one-tenth of the total internal volume of the hollow ring as an indicator. The second connecting part 1212 can also be configured as a ring, with hooks at both ends of the second elastic member 140. The second elastic member 140 can be hooked onto the corresponding second connecting part 1212 and gravity indicator 400 via the hooks at both ends. Of course, the embodiments disclosed herein do not impose specific limitations on the type of liquid in the hollow ring or the volume occupied by the air bubble. The hollow ring-shaped gravity indicator and the ring-shaped second elastic member facilitate connection between the two via the hooks at both ends.

[0055] It is understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of this disclosure, and this disclosure is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and substance of this disclosure, and these modifications and improvements are also considered to be within the scope of protection of this disclosure.

Claims

1. An auxiliary crawling device for a pipe endoscope, the endoscope comprising an endoscope probe and a probe wire connected to the endoscope probe, characterized in that, The auxiliary crawling device includes a support assembly, multiple support foot assemblies, and a first elastic element; One end of each of the support foot assemblies is movably disposed at the end of the bracket assembly, and the other end of each of the support foot assemblies is rotatably connected to a roller. The corresponding support foot assemblies are elastically connected to each other through the first elastic element. The probe wire is connected to the first end of the endoscope probe and passes through the support assembly so that the endoscope probe is suspended on the first side of the support assembly. The second end of the probe wire is located on the second side of the support assembly so that when the second end of the probe wire is pushed, the support assembly drives the endoscope probe to move in the tube through the support foot assembly. The support assembly includes a first support and a second support; the first support includes a first support rod, a second support rod, and a first clamping part, the first clamping part bridging the first support rod and the second support rod; the second support includes a third support rod, a fourth support rod, and a second clamping part, the second clamping part bridging the third support rod and the fourth support rod; wherein, the first clamping part and the second clamping part cooperate to clamp the probe wire; Each of the support foot assemblies is provided with a first connecting portion; the two ends of the first elastic member are respectively connected to the first connecting portion of the support foot assembly connected to the first bracket and the first connecting portion of the corresponding support foot assembly connected to the second bracket; and the bracket assembly and the endoscope probe are always kept suspended in the center of the pipe.

2. The auxiliary crawling device for a pipeline endoscope according to claim 1, characterized in that, Both the first clamping part and the second clamping part have arched cross-sections.

3. The auxiliary crawling device for a pipeline endoscope according to claim 1, characterized in that, The support leg assembly includes a support rod and a rotating component; The first end of the support rod is connected to the corresponding end of the bracket rod via the rotating component.

4. The auxiliary crawling device for a pipeline endoscope according to claim 3, characterized in that, The rotating component is configured as a connecting bearing.

5. The auxiliary crawling device for a pipeline endoscope according to claim 3, characterized in that, The support foot assembly also includes a roller protection cavity; One end of the roller protection cavity is an open end, and the other end is a closed end. The open end is used to accommodate part of the roller, and the closed end is connected to the second end of the support rod. The roller is connected to the roller protection cavity via a connecting shaft, so that the roller can rotate relative to the roller protection cavity.

6. The auxiliary crawling device for a pipeline endoscope according to claim 3, characterized in that, Each of the support rods connected to the end of the first side of the bracket assembly is further provided with a second connecting part, and the crawling device also includes a gravity indicating component and a plurality of second elastic elements; One end of each of the second elastic elements is connected to the second connecting portion, and the other end is connected to the gravity indicating component, so that the gravity indicating component is suspended on the first side of the bracket assembly.

7. The auxiliary crawling device for a pipeline endoscope according to claim 6, characterized in that, Both the first elastic element and the second elastic element are elastic ropes or springs.

8. The auxiliary crawling device for a pipeline endoscope according to claim 6, characterized in that, Both the first connecting portion and the second connecting portion are configured as annular.

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