An intelligent automated inspection device for industrial pipe gallery pipelines

Abstract

This invention relates to an intelligent automated inspection device for industrial pipe racks, comprising a guide rail unit suspended from the top of the industrial pipe rack, and an inspection unit mounted on the guide rail unit. The guide rail unit includes an I-shaped track. The inspection unit includes a supporting shell, inside which a connecting arm is movably mounted. A real-time inspection probe is mounted at the bottom of the connecting arm, and an adjustment unit and a protection unit are mounted on the supporting shell. This invention allows the inspection unit to move along an inspection path. During movement, a positioning gear rotates along a positioning rack, causing a turntable to rotate. A synchronizing rod on the turntable surface moves left and right, driving a reversing gear to rotate, resulting in the periodic rotation of the connecting arm connected to the real-time inspection probe. This allows the real-time inspection probe to swing left and right during the movement of the inspection unit, thereby increasing the detection range and efficiency of the real-time inspection probe.

Description

Technical Field

[0001] This invention belongs to the field of industrial pipe gallery pipeline inspection technology, specifically, it relates to an intelligent automated inspection device for industrial pipe gallery pipelines. Background Technology

[0002] The pipeline corridors of oil refining and chemical enterprises can stretch for several kilometers to hundreds of kilometers, operating in harsh environments with varying elevations. These corridors transport media of high temperature, high pressure, flammable, and explosive qualities, including dozens or even hundreds of different types such as coal gas, chlorine, benzene, hydrogen, butane, and natural gas. These media are distributed across different sections within industrial parks or refining enterprises, resulting in high concentrations and significant hazards. Currently, oil refining and chemical enterprises primarily rely on manual inspections and drone inspections to qualitatively assess the operational status of these pipeline corridors.

[0003] Firstly, manual inspections are often limited by various factors, such as the external working environment of the inspectors, which affects the accuracy of the inspection results and may lead to missed inspections or undetected defects. Secondly, current drone inspection methods require the drone to be mounted on a track and equipped with two power sources: one to drive the drone and the other to adjust the conveying angle. The two power sources increase the drone's energy consumption, which is often insufficient for long pipe corridors. Therefore, a smart inspection device that can be driven and continuously adjusted by a single power source is proposed.

[0004] In view of this, the present invention is proposed. Summary of the Invention

[0005] To solve the above-mentioned technical problems, the basic concept of the technical solution adopted by the present invention is as follows:

[0006] An intelligent automated inspection device for industrial pipe racks includes a guide rail unit suspended from the top of the industrial pipe rack, and an inspection unit installed on the guide rail unit.

[0007] The guide rail unit includes an I-shaped rail;

[0008] The inspection unit includes a supporting shell, a connecting arm is movably installed inside the supporting shell, a real-time inspection probe is installed at the bottom of the connecting arm, the supporting shell slides inside the I-shaped track, and an adjustment unit and a protection unit are installed on the supporting shell;

[0009] The adjustment unit includes four turntables, which are symmetrically installed on both sides of the bearing housing. A synchronizing rod is movably installed on the surface of the turntable on the same side of the bearing housing. Two pairs of connecting plates slide at the center of each synchronizing rod, and a vertical rod is installed at the bottom of each pair of connecting plates. A reversing rack is welded to the bottom of each vertical rod, and a reversing gear meshes at the center of each reversing rack. The central shaft of the reversing gear is fixedly connected to the connecting arm.

[0010] The protection unit includes a protective cover, which is movably mounted on the bearing housing. The internal cavity area of ​​the bearing housing is larger than the rotation area of ​​the real-time inspection probe.

[0011] In a preferred embodiment of the present invention, a first mounting plate is installed on one side of the I-shaped track, and a second mounting plate is installed on the other side of the I-shaped track. Both the first and second mounting plates are bolted to the side wall of the pipe gallery channel. A rod is vertically installed at the bottom of the second mounting plate, and a guide wheel is movably installed at the end of the rod. The inner side wall of the rod is parallel to the bearing shell.

[0012] In a preferred embodiment of the present invention, a positioning rack is installed laterally on the outer wall of the I-shaped track, and an inner groove is formed on the outer wall of the I-shaped track near the second mounting plate. The bottom height of the inner groove is lower than the height of the positioning rack, and the length of the inner groove is greater than the length of the insert rod. The length of the insert rod is the same as the width of the bearing shell.

[0013] In a preferred embodiment of the present invention, a horizontal limiting slide rail is installed on the top of the I-shaped track, a hanging plate is installed on the top of the bearing shell, the hanging plate is screwed onto the bearing shell with bolts, and a sliding groove is provided at the bottom of the hanging plate, the sliding groove being slidably connected to the limiting slide rail.

[0014] In a preferred embodiment of the present invention, a pair of bearing seats are symmetrically installed on the outer wall of the bearing housing, a bearing is snapped into the inner wall of the pair of bearing seats, a connecting shaft is snapped into the inner wall of the bearing, a friction wheel is installed on the connecting shaft and the friction wheel is located at the center of the bearing seat, an anti-slip groove is provided on the outer edge of the friction wheel and the outer wall of the friction wheel is tightly fitted with the I-shaped track, a drive motor is installed on the outer wall of the bearing seat, and the end of the output shaft of the drive motor is fixedly connected to the connecting shaft.

[0015] In a preferred embodiment of the present invention, a rotating shaft is installed at the center of each of the four turntables. The rotating shaft moves through the outer wall of the bearing housing. A positioning gear is installed at the end of the rotating shaft. The outer wall of the positioning gear meshes with the positioning rack. Positioning protrusions are installed on two turntables on the same side. The positioning protrusions are close to the rightmost side of the turntable, and the positioning protrusions on the other turntable are close to the leftmost side of the turntable.

[0016] In a preferred embodiment of the present invention, each of the positioning protrusions is sleeved with a sliding sleeve, a synchronizing rod is installed on the sliding sleeve, a limiting plate is installed at the end of the positioning protrusion, the size of the limiting plate is larger than the size of the sliding sleeve, and a guide protrusion is installed at the center of the synchronizing rod.

[0017] In a preferred embodiment of the present invention, a gap is left at the center of each pair of connecting plates, and a synchronizing rod is slidably inserted into the gap. A strip-shaped groove is formed at the center of the connecting plate, the strip-shaped groove being the same as the gap. A guide protrusion is slidably installed inside the strip-shaped groove. The top of the connecting plate is in contact with the inner wall of the supporting shell.

[0018] In a preferred embodiment of the present invention, the reversing rack has insertion holes on both sides, a guide rod is inserted into the insertion hole, a return spring is pressed between the end face of the guide rod and the bottom of the insertion hole, and a connecting seat is installed at the end of the guide rod, the connecting seat is welded to the bottom of the bearing housing.

[0019] In a preferred embodiment of the present invention, a drive shaft is installed at the rotation center of the protective cover, a positioning seat is movably installed on the side wall of the drive shaft, the bottom of the positioning seat is welded to the outer wall of the bearing housing, a rocker arm is installed at the end of the drive shaft, a torsion spring is sleeved on the outer wall of the drive shaft, one side of the torsion spring is engaged with the positioning seat, and the other side is engaged with the side wall of the rocker arm.

[0020] Compared with the prior art, the present invention has the following advantages:

[0021] This invention, by installing an inspection unit containing a friction wheel, moves the supporting housing at its end, which houses the real-time inspection probe. This allows the inspection unit to move along an inspection path. During this movement, a positioning gear rotates along a positioning rack, causing a turntable to rotate. A synchronizing rod on the turntable surface moves left and right, which in turn moves the connecting plate and reversing rack at the bottom. The reversing rack's movement drives the reversing gear to rotate, causing the connecting arm with the real-time inspection probe to rotate periodically. This allows the real-time inspection probe to swing left and right during the inspection unit's movement, thereby increasing the probe's detection range and improving detection efficiency.

[0022] The specific embodiments of the present invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0023] In the attached diagram:

[0024] Figure 1 A three-dimensional structural schematic diagram of an intelligent automated inspection device for industrial pipe corridors;

[0025] Figure 2 A partial cross-sectional view (I) of an intelligent automated inspection device for industrial pipe gallery pipelines;

[0026] Figure 3 Partial cross-sectional view (II) of an intelligent automated inspection device for industrial pipe gallery pipelines;

[0027] Figure 4 An intelligent automated inspection device for industrial pipe gallery pipelines Figure 3 Enlarged view of point A;

[0028] Figure 5 An intelligent automated inspection device for industrial pipe gallery pipelines Figure 4 A sectional view of the turntable;

[0029] Figure 6 A bottom view of an intelligent automated inspection device for industrial pipe gallery pipelines;

[0030] Figure 7 An intelligent automated inspection device for industrial pipe gallery pipelines Figure 6 Enlarged view of point B.

[0031] In the picture:

[0032] 100. Guide rail unit; 101. I-beam rail; 1011. Positioning rack; 1012. Limiting slide rail; 1013. Inner groove; 102. First mounting plate; 103. Second mounting plate; 1031. Insert rod; 1032. Guide wheel;

[0033] 200. Inspection unit; 201. Support housing; 2011. Hanging plate; 2012. Slide rail; 202. Connecting arm; 2021. Real-time inspection probe; 203. Friction wheel; 2031. Bearing housing; 2032. Drive motor;

[0034] 300. Adjustment unit; 301. Turntable; 3011. Rotating shaft; 3012. Positioning gear; 3013. Positioning protrusion; 3014. Limiting plate; 302. Synchronizing rod; 3021. Sliding sleeve; 3022. Guide protrusion; 303. Connecting plate; 3031. Strip groove; 3032. Vertical rod; 304. Reversing rack; 3041. Reversing gear; 3042. Guide rod; 3043. Connecting seat;

[0035] 400. Protection unit; 401. Protective cover; 4011. Drive shaft; 4012. Positioning seat; 402. Rocker arm; 4021. Torsion spring. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate the present invention.

[0037] Example 1:

[0038] like Figures 1 to 7 As shown, an intelligent automated inspection device for industrial pipe racks includes a guide rail unit 100 suspended from the top of the industrial pipe rack, and an inspection unit 200 installed on the guide rail unit 100.

[0039] The guide rail unit 100 includes an I-shaped rail 101;

[0040] The inspection unit 200 includes a supporting housing 201, a connecting arm 202 movably mounted inside the supporting housing 201, and a real-time inspection probe 2021 mounted at the bottom of the connecting arm 202. The supporting housing 201 slides inside the I-shaped track 101, and an adjustment unit 300 and a protection unit 400 are mounted on the supporting housing 201. The adjustment unit 300 includes four turntables 301, which are symmetrically mounted on both sides of the supporting housing 201. The turntables 301 located on the same side of the supporting housing 201 are movably mounted on the surface of the turntables 301. There is a synchronizing rod 302, and two pairs of connecting plates 303 slide at the center of each synchronizing rod 302. A vertical rod 3032 is installed at the bottom of each pair of connecting plates 303. A reversing rack 304 is welded to the bottom of each vertical rod 3032, and a reversing gear 3041 meshes at the center of each reversing rack 304. The central shaft of the reversing gear 3041 is fixedly connected to the connecting arm 202. An inspection unit is installed, with a friction wheel inside. The friction wheel drives a bearing with a real-time inspection probe installed at its end. The shell moves, thus propelling the inspection unit along the inspection path. During this movement, the positioning gear rotates along the positioning rack, causing the turntable to rotate. The synchronous rod on the turntable surface moves left and right, which in turn moves the bottom connecting plate and the reversing rack. The reversing rack moves, causing the reversing gear to rotate, resulting in the periodic rotation of the connecting arm connected to the real-time inspection probe. This allows the real-time inspection probe to swing left and right during the movement of the inspection unit, thereby increasing the detection range and efficiency of the real-time inspection probe. The real-time inspection probe 2021 is existing technology and will not be elaborated on here. The real-time inspection probe 2021 is equipped with an infrared camera, optical camera, and lidar for data acquisition and transmission, forming inspection data. Then, computer vision technology is used to process and analyze the data to detect pipeline anomalies. Finally, the processed data is transmitted back to the data center via wireless communication technology, achieving real-time data transmission and processing.

[0041] The protection unit 400 includes a protective cover 401, which is movably mounted on the supporting housing 201. The internal cavity area of ​​the supporting housing 201 is larger than the rotation area of ​​the real-time inspection probe 2021. By flipping the protective cover 401, the protective cover 401 covers the real-time inspection probe 2021, thus protecting the real-time inspection probe 2021.

[0042] like Figures 1 to 7 As shown, in a specific embodiment, a first mounting plate 102 is installed on one side of the I-shaped track 101, and a second mounting plate 103 is installed on the other side. Both the first mounting plate 102 and the second mounting plate 103 are bolted to the side wall of the pipe gallery channel. A rod 1031 is vertically installed at the bottom of the second mounting plate 103, and a guide wheel 1032 is movably installed at the end of the rod 1031. The inner side wall of the rod 1031 is parallel to the bearing housing 201. The first mounting plate 102 and the second mounting plate 103 ensure the stability of the installed I-shaped track 101, and the rod 1031 and the guide wheel 1032 facilitate the subsequent protection operation of the protection unit 400.

[0043] like Figures 1 to 7 As shown, furthermore, a positioning rack 1011 is horizontally installed on the outer wall of the I-shaped track 101. The positioning rack 1011 facilitates the rotation of the positioning gear 3012 laterally. An inner groove 1013 is formed on the outer wall of the I-shaped track 101 near the second mounting plate 103. The bottom height of the inner groove 1013 is lower than the height of the positioning rack 1011, and the length of the inner groove 1013 is greater than the length of the insert rod 1031. The length of the insert rod 1031 is the same as the width of the bearing housing 201. The inner groove 1013 facilitates the disengagement of the positioning gear 3012 and the positioning rack 1011 laterally, allowing the positioning gear 3012 to stop rotating.

[0044] Example 2:

[0045] The difference between the above embodiments and this embodiment is that:

[0046] like Figures 1 to 7 As shown, a horizontal limiting slide rail 1012 is installed on the top of the I-shaped track 101, and a hanging plate 2011 is installed on the top of the supporting shell 201. The hanging plate 2011 is bolted to the supporting shell 201, and a sliding groove 2012 is provided at the bottom of the hanging plate 2011. The sliding groove 2012 is slidably connected to the limiting slide rail 1012. The sliding groove 2012 and the limiting slide rail 1012 mainly serve to limit the movement, so that the supporting shell 201 will not fall.

[0047] like Figures 1 to 7As shown in the specific embodiment, a pair of bearing seats 2031 are symmetrically installed on the outer wall of the bearing housing 201. Bearings are snapped into the inner walls of the bearing seats 2031, and a connecting shaft is snapped into the inner walls of the bearings. A friction wheel 203 is installed on the connecting shaft, and the friction wheel 203 is located at the center of the bearing seat 2031. The outer edge of the friction wheel 203 has an anti-slip groove, and the outer wall of the friction wheel 203 is tightly fitted with the I-shaped track 101. A drive motor 2032 is installed on the outer wall of the bearing seat 2031, and the end of the output shaft of the drive motor 2032 is fixedly connected to the connecting shaft. When the drive motor 2032 is started, the friction wheel 203 at the end of the connecting shaft begins to rotate. The top of the friction wheel 203 contacts the I-shaped track 101, and the friction force propels the bearing housing 201, on which the friction wheel 203 is installed, so that the bearing housing 201 moves along the I-shaped track 101.

[0048] like Figures 1 to 7 As shown, furthermore, a rotating shaft 3011 is installed at the center of each of the four turntables 301. The rotating shaft 3011 movably penetrates the outer wall of the bearing housing 201. A positioning gear 3012 is installed at the end of the rotating shaft 3011. The outer wall of the positioning gear 3012 meshes with the positioning rack 1011. Positioning protrusions 3013 are installed on two turntables 301 located on the same side. The positioning protrusions 3013 are closer to the rightmost side of the turntable 301, and the positioning protrusions 3013 on the other turntable 301 are closer to the leftmost side of the turntable 301. Each positioning protrusion 3013 is fitted with a sliding sleeve 3021. A synchronizing rod 302 is installed on the sliding sleeve 3021. A limiting plate 3014 is installed at the end of the positioning protrusion 3013. The size of the limiting plate 3014 is larger than the size of the sliding sleeve 3021. A guide protrusion 3022 is installed at the center of the synchronizing rod 302. After the supporting housing 201 moves along the I-shaped track 101, it will drive the positioning gear 3012 on the outer wall of the supporting housing 201 to move on the positioning rack 1011. Since the two gears mesh with each other, the positioning gear 3012 will rotate. When the positioning gear 3012 is selected, it will drive the rotating shaft 3011 to rotate synchronously. The rotating shaft 3011 is equipped with a turntable 301 at the end. At this time, the turntable 301 rotates synchronously, and the rotation of the turntable 301 causes the positioning protrusion 3013 on the side wall to change position. Since the position of the positioning protrusion 3013 on the turntable 301 on different sides changes, the sliding sleeve 3021 and the synchronizing rod 302 installed on the positioning protrusion 3013 will change. When the synchronizing rod 302 on one side moves to the left, the synchronizing rod 302 on the other side moves to the right, achieving two different motion trajectories.

[0049] Example 3:

[0050] The difference between the above embodiments and this embodiment is that:

[0051] like Figures 1 to 7 As shown, each pair of connecting plates 303 has a gap at its center, and a synchronizing rod 302 is slidably inserted into the gap. A strip-shaped groove 3031 is formed at the center of the connecting plate 303, and the groove 3031 is the same as the gap. A guide protrusion 3022 is slidably installed inside the groove 3031. The top of the connecting plate 303 is in contact with the inner wall of the bearing housing 201. The reversing rack 304 has insertion holes on both sides, and a guide rod 3042 is inserted into the insertion holes. A return spring is pressed between the end face of the guide rod 3042 and the bottom of the insertion hole. A connecting seat 3043 is installed at the end of the guide rod 3042 and is welded to the bottom of the bearing housing 201. The guide rod 3042 can limit the movement path of the reversing rack 304, and the guide protrusion 3022 on the synchronizing rod 302 slides on the connecting plate 303, causing the connecting plate 303 to change position synchronously, so that the connecting plates 303 on both sides move in different directions, thereby driving the reversing rack 304 connected to the end to rotate back and forth, ensuring that the reversing gear 3041 meshing in the center of the reversing rack 304 intermittently completes the reversing operation. Through the connecting arm 202, the real-time inspection probe 2021 is driven to continuously change position, thereby achieving continuous movement and continuous left and right swing to improve the detection range.

[0052] like Figures 1 to 7 As shown, further, a drive shaft 4011 is installed at the rotation center of the protective cover 401, and a positioning seat 4012 is movably installed on the side wall of the drive shaft 4011. The bottom of the positioning seat 4012 is welded to the outer wall of the bearing housing 201. A rocker arm 402 is installed at the end of the drive shaft 4011, and a torsion spring 4021 is sleeved on the outer wall of the drive shaft 4011. One side of the torsion spring 4021 is engaged with the positioning seat 4012, and the other side is engaged with the side wall of the rocker arm 402. When the inspection unit 200 moves to the end of the I-shaped track 101, the positioning gear 3012 moves onto the inner groove 1013, causing the positioning gear 3012 to stop rotating. This ensures that the real-time inspection probe 2021 will not deflect. Meanwhile, as the supporting housing 201 continues to move, the insertion rod 1031 and the end guide wheel 1032 will contact the swing rod 402. The swing rod 402 then rotates, causing the protective cover 401 at the end of the transmission shaft 4011 to flip, thus providing complete coverage and protection for the real-time inspection probe 2021. The internal torsion spring 4021 also twists, facilitating subsequent reset operations.

[0053] The implementation principle of the intelligent automated inspection device for industrial pipe corridors in this embodiment is as follows:

[0054] When an inspection is required, the operator first needs to start the drive motor 2032. The drive motor 2032 drives the friction wheel 203 at the end of the connecting shaft to start rotating. The top of the friction wheel 203 contacts the I-shaped track 101. Through friction, the bearing housing 201 with the friction wheel 203 is pushed forward as a whole, so that the bearing housing 201 moves along the I-shaped track 101.

[0055] When the supporting housing 201 moves along the I-shaped track 101, it will drive the positioning gear 3012 on the outer wall of the supporting housing 201 to move on the positioning rack 1011. Since the two gears mesh with each other, the positioning gear 3012 will rotate. When the positioning gear 3012 rotates, it will drive the rotating shaft 3011 to rotate synchronously. The rotating shaft 3011 is equipped with a turntable 301 at its end. At this time, the turntable 301 rotates synchronously, and the rotation of the turntable 301 causes the positioning protrusion 3013 on the side wall to change position. Since the position of the positioning protrusion 3013 on the turntable 301 on different sides changes, the sliding sleeve 3021 and the synchronizing rod 302 installed on the positioning protrusion 3013 will change. When the synchronizing rod 302 on one side moves to the left, the synchronizing rod 302 on the other side moves to the right, achieving two different motion trajectories.

[0056] Furthermore, the guide protrusion 3022 on the synchronizing rod 302 slides on the connecting plate 303, causing the connecting plate 303 to change position synchronously. This causes the connecting plates 303 on both sides to move in different directions, thereby driving the reversing rack 304 connected to the end to rotate back and forth. This ensures that the reversing gear 3041 meshing in the center of the reversing rack 304 intermittently completes the reversing operation. Through the connecting arm 202, the real-time inspection probe 2021 is driven to continuously change position, thereby achieving continuous movement and continuous left and right swing to improve the detection range.

[0057] The real-time inspection probe 2021 is existing technology and will not be elaborated on here. The real-time inspection probe 2021 is equipped with infrared cameras, optical cameras, lidar, etc., to collect and transmit data to form inspection data. Then, computer vision technology is used to process and analyze the data to detect abnormal conditions in the pipeline. Finally, the processed data is transmitted back to the data center through wireless communication technology to realize real-time data transmission and processing.

[0058] As the inspection unit 200 moves continuously, maintenance can be performed continuously. When the inspection unit 200 moves to the end of the I-shaped track 101, the positioning gear 3012 moves onto the inner groove 1013, causing the positioning gear 3012 to stop rotating. This ensures that the real-time inspection probe 2021 will not deflect. At this time, as the supporting housing 201 moves continuously, the insertion rod 1031 and the guide wheel 1032 at the end will contact the swing rod 402. The swing rod 402 rotates at this time, causing the protective cover 401 at the end of the transmission shaft 4011 to flip, thereby covering and protecting the entire real-time inspection probe 2021. The internal torsion spring 4021 is twisted, which facilitates the reset operation later.

Claims

1. An intelligent automated inspection device for industrial pipe corridors, comprising a guide rail unit (100) suspended from the top of the industrial pipe corridor, and an inspection unit (200) mounted on the guide rail unit (100), characterized in that, The guide rail unit (100) includes an I-shaped rail (101); The inspection unit (200) includes a bearing housing (201), a connecting arm (202) is movably installed inside the bearing housing (201), a real-time inspection probe (2021) is installed at the bottom of the connecting arm (202), the bearing housing (201) slides inside the I-shaped track (101), and an adjustment unit (300) and a protection unit (400) are installed on the bearing housing (201). The adjustment unit (300) includes four turntables (301), which are symmetrically installed on both sides of the bearing housing (201). A synchronizing rod (302) is movably installed on the surface of the turntable (301) on the same side of the bearing housing (201). Two pairs of connecting plates (303) slide at the center of each synchronizing rod (302), and a vertical rod (3032) is installed at the bottom of each pair of connecting plates (303). A reversing rack (304) is welded to the bottom of each vertical rod (3032), and a reversing gear (3041) meshes at the center of each reversing rack (304). The central shaft of the reversing gear (3041) is fixedly connected to the connecting arm (202). The protection unit (400) includes a protective cover (401), which is movably mounted on the bearing housing (201). The internal cavity area of ​​the protective cover (401) is larger than the rotation area of ​​the real-time inspection probe (2021). A second mounting plate (103) is installed on the other side of the I-shaped track (101). A rod (1031) is vertically installed at the bottom of the second mounting plate (103). A guide wheel (1032) is movably installed at the end of the rod (1031). The inner wall of the rod (1031) is parallel to the bearing shell (201). A positioning rack (1011) is horizontally installed on the outer wall of the I-shaped track (101). An inner groove (1013) is provided on the outer wall of the I-shaped track (101) near the second mounting plate (103). The bottom height of the inner groove (1013) is lower than the height of the positioning rack (1011). The length of the inner groove (1013) is greater than the length of the insert rod (1031). The length of the insert rod (1031) is the same as the width of the bearing shell (201). A rotating shaft (3011) is installed at the center of each of the four turntables (301). The rotating shaft (3011) moves through the outer wall of the bearing housing (201). A positioning gear (3012) is installed at the end of the rotating shaft (3011). The outer wall of the positioning gear (3012) meshes with the positioning rack (1011). Positioning protrusions (3013) are installed on two turntables (301) on the same side. The positioning protrusions (3013) are close to the rightmost side of the turntable (301), and the positioning protrusions (3013) on the other turntable (301) are close to the leftmost side of the turntable (301). Each of the positioning protrusions (3013) is fitted with a sliding sleeve (3021), and a synchronizing rod (302) is installed on the sliding sleeve (3021). A limiting plate (3014) is installed at the end of the positioning protrusion (3013), and the size of the limiting plate (3014) is larger than the size of the sliding sleeve (3021). A guide protrusion (3022) is installed at the center of the synchronizing rod (302). A drive shaft (4011) is installed at the rotation center of the protective cover (401). A positioning seat (4012) is movably installed on the side wall of the drive shaft (4011). The bottom of the positioning seat (4012) is welded to the outer wall of the bearing shell (201). A rocker arm (402) is installed at the end of the drive shaft (4011). A torsion spring (4021) is sleeved on the outer wall of the drive shaft (4011). One side of the torsion spring (4021) is engaged with the positioning seat (4012), and the other side is engaged with the side wall of the rocker arm (402).

2. The intelligent automated inspection device for industrial pipe gallery pipelines according to claim 1, characterized in that, A first mounting plate (102) is installed on one side of the I-shaped track (101), and both the first mounting plate (102) and the second mounting plate (103) are bolted to the side wall of the pipe gallery channel.

3. The intelligent automated inspection device for industrial pipe gallery pipelines according to claim 1, characterized in that, The top of the I-shaped track (101) is equipped with a horizontal limiting slide rail (1012), and the top of the bearing shell (201) is equipped with a hanging plate (2011). The hanging plate (2011) is screwed into the bearing shell (201) with bolts. The bottom of the hanging plate (2011) is provided with a sliding groove (2012), and the sliding groove (2012) is slidably connected to the limiting slide rail (1012).

4. The intelligent automated inspection device for industrial pipe gallery pipelines according to claim 1, characterized in that, A pair of bearing seats (2031) are symmetrically installed on the outer wall of the bearing housing (201). Bearings are snapped into the inside of the pair of bearing seats (2031). A connecting shaft is snapped into the inner wall of the bearing. A friction wheel (203) is installed on the connecting shaft. The friction wheel (203) is located at the center of the bearing seat (2031). Anti-slip grooves are opened on the outer edge of the friction wheel (203). The outer wall of the friction wheel (203) is tightly fitted with the I-shaped track (101). A drive motor (2032) is installed on the outer wall of the bearing seat (2031). The end of the output shaft of the drive motor (2032) is fixedly connected to the connecting shaft.

5. The intelligent automated inspection device for industrial pipe gallery pipelines according to claim 1, characterized in that, Each pair of connecting plates (303) has a gap at its center, and a synchronizing rod (302) is slidably inserted into the gap. A strip groove (3031) is provided at the center of the connecting plate (303), and the strip groove (3031) is the same as the gap. A guide protrusion (3022) is slidably installed inside the strip groove (3031). The top of the connecting plate (303) is in contact with the inner wall of the bearing shell (201).

6. The intelligent automated inspection device for industrial pipe gallery pipelines according to claim 1, characterized in that, The reversing rack (304) has insertion holes on both sides, and a guide rod (3042) is inserted into the insertion hole. A return spring is installed on the end face of the guide rod (3042) and the bottom of the insertion hole. A connecting seat (3043) is installed at the end of the guide rod (3042) and the connecting seat (3043) is welded to the bottom of the bearing shell (201).

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