Self-generating pipeline robot power unit and pipeline robot achieving energy self-sufficiency

Abstract

This invention relates to a self-generating pipeline robot power section and a pipeline robot achieving energy self-sufficiency. The power section is located at the front end of the pipeline robot and includes a power section cylinder, a pipeline sealing device, a transmission device, a braking device, a front bleed baffle, a rear bleed baffle, and a power generation device. The pipeline sealing device includes a front sealing cup and a rear sealing cup respectively fitted onto the front and rear ends of the power section cylinder. The front and rear bleed baffles are rotatably mounted inside the front and rear covers of the power section cylinder, respectively, and have bleed holes B that match bleed holes A on the front and rear covers of the power section cylinder. The braking device includes two sets of braking components, front and rear. The power generation device includes a generator and a generator drive mechanism. The generator drive mechanism is a fluid-driven mechanism. The transmission mechanism is used to synchronously drive the two bleed baffles to rotate, realizing the opening and closing operation of the bleed flow of the power section cylinder, and to drive the two sets of braking mechanisms to achieve braking and releasing of the power section. This invention can improve power generation efficiency.

Description

Technical Field

[0001] This invention belongs to the field of pipeline inspection technology, specifically relating to a self-generating pipeline robot power unit and a pipeline robot that achieves energy self-sufficiency. Background Technology

[0002] Pipeline transportation is a crucial engineering project for transporting oil and natural gas worldwide. Pipelines, operating for extended periods, can develop numerous defects, severely impacting transportation safety. Pipeline robots, with their high inspection efficiency and self-operation capabilities, are commonly used for pipeline defect detection. However, for long-distance pipeline transportation, pipeline robots require a sufficient power supply to complete their inspection work. Common pipeline robots typically rely on built-in batteries, which can run out of power. In my country, many pipelines exceed 200 km in length. Without resolving the energy supply issue, the inspection capabilities of pipeline robots will be severely limited.

[0003] Existing technologies also include self-generating pipeline robots. For example, application number CN109357103A discloses a medium flow driven energy self-sufficient pipeline robot. In this scheme, the pipeline robot generates electricity by using fluid to drive the impeller rotation during operation to supply the inspection work. Since the pipeline robot's movement power in the pipeline is entirely provided by the fluid driving the piston cup in the pipeline, and the fluid velocity in the pipe is much lower than the pipeline robot's running speed, the efficiency of generating electricity by driving the impeller rotation with this relative speed is not high, and the power generation effect is not good. There may be a shortage of energy for later inspections, which will affect the pipeline inspection work and fail to guarantee pipeline safety. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a self-generating power-saving device that improves power generation efficiency and a pipeline robot that achieves energy self-sufficiency.

[0005] One of the above-mentioned objectives of the present invention is achieved by the following technical solution:

[0006] A self-generating pipeline robot power section is characterized by comprising a power section cylinder, a pipeline sealing device, a transmission device, a braking device, a front bleed baffle, a rear bleed baffle, and a power generation device; multiple bleed holes A are evenly distributed along the circumference on both the front and rear end covers of the cylinder; two concentric radial through holes are provided on the side wall of the cylinder; and a shaft hole is provided on the outer side wall of the cylinder between the two concentric radial through holes.

[0007] The pipeline sealing device includes a front end cup and a rear end cup, which are respectively fitted and fixedly installed on the front end and rear end of the power section cylinder, and form a sealing contact with the inner wall of the pipeline.

[0008] The front and rear bleed baffles are rotatably mounted on the inner sides of the front and rear covers of the power section cylinder via the front and rear baffle shafts, respectively, and form surface contact with the inner sides of the front and rear covers, respectively; the front and rear bleed baffles are respectively provided with bleed holes B that match the shape of the bleed hole A on the front cover and the bleed hole A on the rear cover.

[0009] The braking device includes two sets of braking assemblies, one at the front and one at the rear. Each set of braking assemblies includes multiple brake rods, a braking mechanism, and multiple brake plates evenly distributed along the circumference. The brake rods of the two sets of braking assemblies are respectively inserted into two radial through holes on the power section cylinder. The multiple brake plates are vertically fixed to the outer ends of the brake rods. The braking mechanism is machined with the inner end of the brake rods to control the brake rods to move outward and retract synchronously along the radial direction.

[0010] The power generation device consists of a generator and a generator drive mechanism; the generator is fixedly installed on the outer wall of the power section cylinder, and the power input shaft of the generator is driven to the power output part of the generator drive mechanism located in the power section cylinder through the shaft hole on the power section cylinder; the generator drive mechanism adopts a fluid drive mechanism.

[0011] The transmission mechanism is installed inside the power section cylinder and is used to synchronously drive the front and rear bleed baffles to rotate, thereby realizing the opening and closing of the bleed operation of the power section cylinder. It is also used to drive the front and rear brake mechanisms to realize the braking and release of the power section.

[0012] Furthermore, the braking mechanism includes a brake cam, a camshaft, and a first shaft support. The first shaft support is radially arranged along the power section cylinder, and its outer end is vertically fixedly connected to the inner wall of the power section cylinder. The inner end of the first shaft support is rotatably supported by a bearing and one end of the camshaft. The camshaft is parallel to the axial direction of the power section cylinder. The brake cam is fixed on the camshaft and has a closed curved cam groove. A roller is installed at the inner end of each brake push rod, and the roller is embedded in the cam groove of the corresponding brake cam. The cam groove is composed of multiple curved grooves of the same shape evenly distributed along the circumference, and the number of curved groove segments is the same as the number of corresponding brake push rods.

[0013] Furthermore, the generator drive mechanism is located in the space between the front and rear brake assemblies, and includes an impeller, an impeller shaft, a second shaft support, a first bevel gear, and a second bevel gear. The second shaft support is arranged radially along the power section cylinder, and the outer end of the second shaft support is vertically and fixedly connected to the inner wall of the power section cylinder. The inner end of the second shaft support forms a rotatable support engagement with one end of the impeller shaft through a mounting bearing. The impeller shaft is arranged axially along the power section cylinder. The first bevel gear is fixedly mounted on the second shaft support, and the impeller is fixedly mounted on the other end of the impeller shaft. The second bevel gear meshes with the first bevel gear, and the second bevel gear is fixedly mounted on the power input shaft of the generator.

[0014] Furthermore, the transmission mechanism includes a dual-output shaft motor, a transmission shaft, two brake drive pulleys, two brake driven pulleys, two discharge drive gears, two discharge driven gears, and a transmission belt. The dual-output motor is fixedly mounted on the inner wall of the power section cylinder. The transmission shaft includes front and rear transmission shafts, which are respectively driven and connected to the two output shafts of the dual-output shaft motor. The transmission shaft is rotatably supported on a third shaft bracket vertically fixed to the inner wall of the power section cylinder. The two brake drive pulleys and the two discharge drive gears are all fixedly mounted on the transmission shaft. The two brake driven pulleys are respectively fixedly mounted on the camshafts of the two sets of brake assemblies. The two brake driven pulleys are respectively connected to the two brake drive pulleys through their respective transmission belts. The two discharge driven gears are integrally mounted on the outer ring of the front and rear discharge baffles or fixed on the front or rear baffle shaft, and respectively mesh with the two discharge drive gears.

[0015] One of the above-mentioned objectives of the present invention is achieved by the following technical solution:

[0016] A pipeline robot that achieves energy self-sufficiency based on the aforementioned power joint is characterized by comprising a power joint, a detection joint, and a battery joint; the power joint, detection joint, and battery joint are arranged sequentially front to back, and the rear end of the power joint is connected to the front end of the detection joint, and the rear end of the detection joint is connected to the front end of the battery joint, all via universal joints; the generator of the power joint is connected to the battery of the battery joint via wires.

[0017] The advantages and positive effects of this invention are as follows:

[0018] This invention adds a device to the front end of a pipeline robot that can generate its own electricity using the fluid within the pipeline. During pipeline operation, if the battery power supply is insufficient, only one motor is needed to brake the pipeline robot and open the drain hole. The fluid then flows into the power section cylinder, driving the impeller to rotate and generate electricity. In contrast, existing devices place the impeller at the rear of the robot, immersed in fluid. While the fluid continuously drives the robot forward, the impeller's rotation speed is low, resulting in low power generation efficiency. This new design first brakes the robot, relying on the fluid flowing into the cylinder to maintain continuous flow and drive the impeller's rotation. It can generate electricity entirely from the fluid flow rate within the pipeline, effectively improving power generation efficiency. This provides additional power for subsequent pipeline robot inspection work, extends the robot's operating time, ensures the integrity of the inspection work, and has a good effect on maintaining long-distance pipelines. Attached Figure Description

[0019] Figure 1 This is a three-dimensional external view of the power section of the present invention;

[0020] Figure 2 This is a three-dimensional sectional view of the power section of the present invention (with part of the power section cylindrical shell removed);

[0021] Figure 3 This is a longitudinal sectional view of the power section of the present invention;

[0022] Figure 4 This is a schematic diagram showing the positional changes of the braking device in the power unit of the present invention;

[0023] Figure 5 This is a schematic diagram showing the positional changes of the bleeder baffle in the power unit of this invention;

[0024] Figure 6 This is a three-dimensional representation of the pipeline robot of the present invention. Figure 1 ;

[0025] Figure 7 This is a three-dimensional representation of the pipeline robot of the present invention. Figure 2 ;

[0026] Figure 8 This is a cross-sectional view of the battery cell of the present invention. Detailed Implementation

[0027] The structure of the present invention will be further described below with reference to the accompanying drawings and embodiments. It should be noted that these embodiments are descriptive and not limiting.

[0028] Please see the following: A self-generating pipeline robot power unit. Figures 1-5The invention features a power unit primarily comprising a power unit cylinder 13, a pipe sealing device 11, a transmission device 17, a braking device 12, a front bleed baffle 15, a rear bleed baffle 16, and a generator 14. The cylinder serves as the foundation for the other parts of the power unit. Multiple bleed holes A131 are evenly distributed circumferentially on both the front and rear end covers of the cylinder, allowing fluid from the pipe to be introduced when power generation is required. Two concentric radial through holes are provided on the side wall of the cylinder, serving to guide and extend the brake lever of the braking device. A shaft hole is located between the two radial through holes on the outer side wall of the cylinder, and multiple threaded holes are provided around the shaft hole for mounting the generator of the generator.

[0029] The pipeline sealing device is used to achieve a sealed contact with the inner wall of the pipeline, creating a pressure difference before and after the power section to drive the pipeline robot. The pipeline sealing structure includes a front cup 112 and a rear cup 114. Cup mounting rings are fixed at the front and rear ends of the cylinder, respectively. The front cup and the rear cup are connected by screws and fixed to the rear of the front cup mounting ring 111 and the rear cup mounting ring 113, respectively, and are both sleeved on the outside of the power section cylinder.

[0030] The front and rear bleed baffles are rotatably mounted on the inner sides of the front and rear end covers of the power section cylinder via front and rear baffle shafts, respectively, and form surface contact with the inner sides of the front and rear end covers. Each of the front and rear bleed baffles has a bleed hole B151 whose shape matches the bleed hole A on the front and rear end covers, respectively. Alignment of bleed hole B with bleed hole A enables the power section to bleed open, while complete misalignment of bleed hole B with bleed hole A enables the power section to bleed closed.

[0031] The braking device includes two sets of braking assemblies, front and rear. Each set of braking assemblies includes a brake cam 123, a camshaft 124, a first shaft bracket 125, a brake push rod 122, and a brake plate 121. The first shaft bracket is radially arranged along the power section cylinder, and its outer end is vertically and fixedly connected to the inner wall of the power section cylinder. The inner end of the first shaft bracket is rotatably supported by a bearing and one end of the camshaft. The camshaft is parallel to the axial direction of the power section cylinder. The brake cam is fixed on the camshaft and has a closed-curve cam groove. Multiple brake push rods are arranged circumferentially. The number of brake push rods in the front brake assembly and the rear brake assembly are the same as the number of radial through holes in the front and rear rings on the power section cylinder. The multiple brake push rods in the front brake assembly and the multiple push rods in the rear brake assembly are respectively inserted into the radial through holes in the front and rear rings on the power section cylinder. A roller 126 is installed at the inner end of each brake push rod, and the roller is embedded in the cam groove of the corresponding brake cam. A brake plate is vertically fixed at the outer end of each brake push rod. The brake plate is an arc-shaped plate, and its outer surface is made of a high-friction coefficient material. The shape of the cam groove on the brake cam is designed to ensure that all brake push rods move outward and retract with the same radial movement dimension, so as to ensure that all brake plates simultaneously contact and separate from the inner wall of the pipe. In this invention, the number of brake push rods in both the front and rear brake assemblies is preferably four. The cam groove on the corresponding brake cam is a cam curve with four elevation points evenly distributed along the circumference.

[0032] The power generation device includes an impeller 141, an impeller shaft 145, a second shaft support 146, a first bevel gear 143, a second bevel gear 144, and a generator 142. The impeller surface is further coated with a polytetrafluoroethylene (PTFE) or similar anti-stick coating. The impeller, impeller shaft, second shaft support, first bevel gear, and second bevel gear are installed within the inner cavity of the power section cylinder, located in the space between the front and rear brake assemblies. The generator is fixedly installed on the outer wall of the power section cylinder with screws. The second shaft support is radially arranged along the power section cylinder, with its outer end perpendicularly fixed to the inner wall of the power section cylinder. The inner end of the second shaft support forms a rotatable support fit with one end of the impeller shaft via a mounting bearing. The impeller shaft is axially arranged along the power section cylinder. The first bevel gear is fixedly installed on the second shaft support, and the impeller is fixedly installed on the other end of the impeller shaft. The second bevel gear meshes with the first bevel gear and is fixedly installed on the power input shaft of the generator, which passes through the shaft hole of the power section cylinder.

[0033] The transmission device is used to drive the brakes and the front and rear discharge baffles. It includes a dual-output shaft motor 171, a transmission shaft 172, two brake drive pulleys 173, two brake driven pulleys 174, two discharge drive gears 176, two discharge driven gears 177, and a transmission belt. The dual-output motor is fixedly mounted on the inner wall of the power section cylinder. The transmission shaft includes front and rear transmission shafts, which are respectively driven and connected to the two output shafts of the dual-output shaft motor. The transmission shaft is rotatably supported on a third shaft bracket 175 vertically fixed to the inner wall of the power section cylinder. The two brake drive pulleys and two discharge drive gears are all fixedly mounted on the transmission shaft. The two brake driven pulleys are respectively fixedly mounted on the camshafts of two sets of brake components, and the two brake driven pulleys are respectively connected to the two brake drive pulleys through their respective transmission belts. The two discharge driven gears are integrally mounted on the outer ring of the front and rear discharge baffles or fixed to the front or rear baffle shaft, and respectively mesh with the two discharge drive gears.

[0034] For an example of a pipeline robot that achieves energy self-sufficiency, please see [link / reference]. Figures 1-8 The system includes a power section 1, a detection section 2, and a battery section 3. The rear end of the power section is connected to the front end of the detection section, and the rear end of the detection section is connected to the front end of the battery section via universal joints. The power section drives the entire pipeline robot to move along the pipeline under the influence of the fluid within the flow channel; the detection section is used to perform non-destructive testing of the pipeline. The battery section provides power to the pipeline robot and records mileage, and has an electronic control unit. The power section adopts the aforementioned self-generating pipeline robot power section. The detection section and battery section can adopt existing structures. In this invention, the main structures of the detection section and battery section are as follows:

[0035] The detection section 2 includes a support device 21, a detection section cylinder 22, a detection device 23, and a mileage wheel device 24. The support device 21 is bolted to both ends of the detection section cylinder 22. The detection device 23 is bolted to the circumference of the detection section cylinder 22. The mileage wheel device 24 is bolted to the end of the detection section cylinder 22. Universal joint grooves are provided in the middle of both ends of the detection section cylinder 22, and universal joints are installed in the universal joint grooves. The support device 21 includes a support cup I 211 and a cup isolation ring I 212. The support cup I 211 has multiple through holes, allowing fluid in the pipeline to pass forward and drive the rear cup of the power section, enabling the pipeline robot to run in the pipeline. The support cup I 211 is connected to the cup isolation ring I 212 by bolts.

[0036] The detection device 23 includes steel brushes 231, permanent magnets 232, yokes 233, Hall element sensors 234, bases 235, and spring plates 236. Multiple bases 235 are arranged circumferentially on the detection section cylinder 22 by bolts. Multiple spring plates 236 are arranged circumferentially on the bases 235 by bolts. Multiple Hall element sensors 234 are fixed to the spring plates 236 by bolts. Multiple yokes 233 are fixed to both sides of the spring plates 236 by bolts. Multiple permanent magnets 232 are fixed to the yokes 233 by bolts. Multiple steel brushes 231 are all fixed to the permanent magnets 232 by bolts.

[0037] The mileage wheel device 24 includes wheels 241, wheel axles 242, wheel frames 243, spring moving blocks 244, spring I 245, spring II 246, rotating shaft 247, and mileage wheel bases 248. Multiple mileage wheel bases 248 are provided and are fixed to the end surface of the detection section cylinder 22 by bolts arranged in an evenly spaced circle. Multiple spring moving blocks 244 are provided and are installed on the mileage wheel bases 248 by rotating shafts 247. Spring I 245 is installed inside the spring moving block 244 and its other end is connected to the wheel frame 243. One end of spring II 246 is fixed to the spring moving block 244 and the other end is fixed to the end surface of the detection section cylinder 22. Multiple wheels 241 are provided and are all connected to the wheel frame 243 by wheel axles 242.

[0038] The battery cell 3 includes a support cup II 31, a cup isolation ring II 32, a cup rear isolation 33, a battery cell body 34, a control unit 35, a battery 36, a battery cover 37, and a mileage wheel device 24. The support cup II 31 and the cup isolation ring II 32 are connected by bolts. The support cup II 31 has multiple through holes to allow fluid to pass through the pipe. The cup rear isolation 33 is fixed to the rear end of the support cup II 31 by bolts. The battery cell body 34 is equipped with the support cup II 31 and the cup isolation ring II 32 at both ends. The control unit 35 is installed in a groove on the surface of the battery cell body 34. The battery 36 is installed inside the battery cell body 34. The battery cover 37 is installed on the end of the battery cell body 34 by bolts.

[0039] The working principle of this energy-self-sufficient pipeline robot:

[0040] During robot operation, when the battery power in the battery cell is insufficient to supply the inspection work, the dual output shaft motor of the power unit drives the two motor shafts at both ends to rotate. This rotation, via the transmission shaft, drives the two brake drive pulleys to rotate. The two brake drive pulleys, through their respective transmission belts, drive the two brake driven pulleys to rotate, which in turn drives the brake cam to rotate via the camshaft. When the brake cam rotates to the highest point of the cam groove and contacts the roller at the lower end of the brake lever, multiple brake plates at the front and rear abut against the pipe wall, completing the braking action of the pipeline robot. Figure 4 The brake plate moves from position A to position B; on the other hand, it drives the exhaust drive gear to rotate, and the exhaust drive gear drives the front and rear exhaust baffles to rotate through the exhaust driven gear, so that the exhaust hole B on the exhaust baffle and the exhaust hole A on the power section cylinder rotate from a completely misaligned position to a completely aligned position (i.e., Figure 5 The robot rotates from position C to position D, connecting the front and rear ends of the power section cylinder with the maximum drainage area. Fluid in the pipe enters the cylinder through the drainage hole A at the rear end of the power section, driving the impeller to rotate. The impeller shaft drives the first bevel gear, which in turn drives the second bevel gear. The second bevel gear, through the generator's power input shaft, drives the generator to generate electricity. The electricity generated is transmitted to the battery cell for storage via wires (a through-hole can be installed on the rear end of the power section to seal the wires). After the power generation process is complete, the dual output shaft motor rotates in the opposite direction, gradually rotating the front and rear drainage baffles until the drainage hole B is completely offset from the drainage hole A, preventing fluid from entering the power section cylinder. Simultaneously, the brake cam gradually rotates until the bottom point of the cam groove contacts the roller at the bottom of the brake lever, completely disengaging the brake plate from the inner wall of the pipe. At this point, the pipeline robot continues to operate and completes the subsequent inspection work.

[0041] Although embodiments and drawings of the present invention have been disclosed for illustrative purposes, those skilled in the art will understand that various substitutions, variations and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims

1. A self-generating pipeline robot power unit, characterized in that: It includes a power section cylinder, a pipe sealing device, a transmission device, a braking device, a front bleed baffle, a rear bleed baffle, and a power generation device; multiple bleed holes A are evenly distributed along the circumference on both the front and rear end covers of the cylinder; two rings of radial through holes are provided on the side wall of the cylinder; and a shaft hole is provided on the outer side wall of the cylinder between the two rings of radial through holes. The pipeline sealing device includes a front end cup and a rear end cup, which are respectively fitted and fixedly installed on the front end and rear end of the power section cylinder, and form a sealing contact with the inner wall of the pipeline. The front and rear bleed baffles are rotatably mounted on the inner sides of the front and rear covers of the power section cylinder via the front and rear baffle shafts, respectively, and form surface contact with the inner sides of the front and rear covers, respectively; the front and rear bleed baffles are respectively provided with bleed holes B that match the shape of the bleed hole A on the front cover and the bleed hole A on the rear cover. The braking device includes two sets of braking assemblies, one at the front and one at the rear. Each set of braking assemblies includes multiple brake rods, a braking mechanism, and multiple brake plates evenly distributed along the circumference. The brake rods of the two sets of braking assemblies are respectively inserted into two radial through holes on the power section cylinder. The multiple brake plates are vertically fixed to the outer ends of the brake rods. The braking mechanism cooperates with the inner ends of the brake rods to control the brake rods to move outward and retract synchronously along the radial direction. The braking mechanism includes a brake cam, a camshaft, and a first shaft support. The first shaft support is radially arranged along the power section cylinder, and its outer end is vertically fixedly connected to the inner wall of the power section cylinder. The inner end of the first shaft support is rotatably supported by a bearing and one end of the camshaft. The camshaft is parallel to the axial direction of the power section cylinder. The brake cam is fixed on the camshaft and has a closed curved cam groove. A roller is installed at the inner end of each brake lever. The roller is embedded in the cam groove of the corresponding brake cam. The cam groove is composed of multiple curved grooves of the same shape evenly distributed along the circumference. The number of curved groove segments is the same as the number of corresponding brake levers. The power generation device consists of a generator and a generator drive mechanism; the generator is fixedly installed on the outer wall of the power section cylinder, and the power input shaft of the generator is driven to the power output part of the generator drive mechanism located in the power section cylinder through the shaft hole on the power section cylinder; the generator drive mechanism adopts a fluid drive mechanism. The transmission device is installed inside the power section cylinder and is used to synchronously drive the front and rear bleed baffles to rotate, thereby realizing the opening and closing operation of the bleed of the power section cylinder. It is also used to drive the front and rear brake mechanisms to realize the braking and release of the power section. The transmission device includes a dual-output shaft motor, a drive shaft, two brake drive pulleys, two brake driven pulleys, two discharge drive gears, two discharge driven gears, and a drive belt. The dual-output shaft motor is fixedly mounted on the inner wall of the power section cylinder. The drive shaft includes front and rear drive shafts, which are respectively driven and connected to the two output shafts of the dual-output shaft motor. The drive shaft is rotatably supported on a third shaft bracket vertically fixed to the inner wall of the power section cylinder. The two brake drive pulleys and the two discharge drive gears are all fixedly mounted on the drive shaft. The two brake driven pulleys are respectively fixedly mounted on the camshafts of two sets of brake components. The two brake driven pulleys are respectively connected to the two brake drive pulleys through their respective drive belts. The two discharge driven gears are integrally mounted on the outer ring of the front and rear discharge baffles or fixed on the front or rear baffle shaft, and respectively mesh with the two discharge drive gears.

2. The self-generating pipeline robot power unit according to claim 1, characterized in that: The generator drive mechanism is located in the space between the front and rear brake assemblies, and includes an impeller, an impeller shaft, a second shaft support, a first bevel gear, and a second bevel gear. The second shaft support is arranged radially along the power section cylinder, and its outer end is vertically and fixedly connected to the inner wall of the power section cylinder. The inner end of the second shaft support is rotatably supported by a bearing and one end of the impeller shaft. The impeller shaft is arranged axially along the power section cylinder. The first bevel gear is fixedly mounted on the second shaft support, and the impeller is fixedly mounted on the other end of the impeller shaft. The second bevel gear meshes with the first bevel gear, and the second bevel gear is fixedly mounted on the power input shaft of the generator.

3. A pipeline robot achieving energy self-sufficiency based on the self-generating pipeline robot power unit according to any one of claims 1-2, characterized in that: It includes a power unit, a detection unit, and a battery unit; the power unit, detection unit, and battery unit are arranged sequentially, with the rear end of the power unit connected to the front end of the detection unit and the rear end of the detection unit connected to the front end of the battery unit via universal joints; the generator of the power unit is connected to the battery of the battery unit via wires.

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