A pipeline crawler and use method

Abstract

The present invention relates to the technical field of pipeline detection, and proposes a pipeline crawler and a method of using the same, including a tractor, which is used to crawl inside a pipeline; one end of a first mounting frame is connected to the rear of the tractor; one end of a ray machine is rotatably arranged at the other end of the first mounting frame; a second mounting frame is rotatably arranged at the other end of the ray machine; a plurality of abutment wheels are arranged on the first mounting frame and the second mounting frame respectively, and the abutment wheels abut against the inner wall of the pipeline. The above technical solution solves the problem of difficulty in detecting pipelines that have been in disrepair for a long time in the prior art.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline detection, and in particular to a pipeline crawler and a use method thereof. Background Art

[0002] With the rapid development of modern industry and infrastructure construction, pipeline systems have been widely used in many fields such as oil, natural gas, water supply and drainage, and chemical industry. However, as the pipeline is used for a longer time, problems such as corrosion, cracks, and blockage may occur inside the pipeline, which not only affects the normal operation of the pipeline, but also may bring safety hazards and environmental pollution. Summary of the invention

[0003] The present invention provides a pipeline crawler and a use method, which solves the problem in the related art that it is difficult to detect pipelines that have been in disrepair for a long time.

[0004] The technical solution of the present invention is as follows:

[0005] A pipeline crawler, used for pipeline internal detection, comprising:

[0006] A tractor, the tractor being used to crawl inside the pipeline;

[0007] A first mounting frame, one end of which is connected to the rear end of the tractor;

[0008] A ray machine, one end of which is rotatably mounted on the other end of the first mounting frame;

[0009] A second mounting frame, the second mounting frame is rotatably disposed at the other end of the X-ray machine;

[0010] Abutment wheels, the abutment wheels are in a plurality, the plurality of abutment wheels are respectively arranged on the first mounting frame and the second mounting frame, and the abutment wheels abut against the inner wall of the pipeline.

[0011] Optionally, the tractor comprises:

[0012] Chassis mounting bracket;

[0013] A rotating shaft, wherein the rotating shaft has two, the two rotating shafts are rotatably arranged on the chassis mounting frame, the two rotating shafts are connected by a chain transmission, and both ends of the rotating shaft extend out of the chassis mounting frame;

[0014] A first rubber wheel, which is arranged at both ends of the rotating shaft and is used to abut against the inner wall of the pipe;

[0015] A tensioning rod, one end of which is rotatably disposed on the chassis mounting frame;

[0016] A tensioning wheel, the tensioning wheel is rotatably arranged at the other end of the tensioning rod and is engaged with the chain;

[0017] A fastener, the fastener being arranged at the rotating end of the tensioning rod and being used for limiting the position of the tensioning rod on the chassis mounting frame;

[0018] A control device, the control device being arranged at one end of the chassis mounting frame;

[0019] A battery pack, the battery pack being arranged in the middle of the chassis mounting frame;

[0020] A mounting rod, one end of which is disposed at the other end of the chassis mounting frame;

[0021] a first sliding rod, the first sliding rod being slidably disposed at the other end of the mounting rod;

[0022] A receiver is arranged on the first sliding bar.

[0023] Optionally, the tractor further comprises:

[0024] A clamping rod, wherein the clamping rod has two ends, one end of each of the two clamping rods is swingably disposed at two ends of the rotating shaft, and after the clamping rod swings, the other end of the clamping rod approaches or moves away from the chassis mounting frame;

[0025] A second rubber wheel, wherein the second rubber wheel has two parts and is rotatably disposed at the other end of the pressing rod to abut against the inner wall of the pipe;

[0026] a first telescopic member, wherein the first telescopic member is disposed on the pressing rod;

[0027] The support rod has two support rods, one end of the two support rods is swingably set at the two ends of the other rotating shaft, and the other end of the support rod is hingedly set at the extended end of the first telescopic member. The swing of the support rod drives the clamping rod to swing.

[0028] Optionally, the first mounting frame includes:

[0029] An installation box, one side of which is connected to the tractor;

[0030] A second sliding rod, one end of which passes through and is slidably disposed on the installation box, and the other end of which is provided with two abutment wheels;

[0031] A third sliding rod, one end of which passes through and is slidably arranged on the installation box, and the other end of the third sliding rod is provided with two abutment wheels, the third sliding rod slides synchronously with the second sliding rod, and the abutment wheels used in pairs move closer or farther after sliding;

[0032] a first gear, the first gear being rotatably disposed in the mounting box;

[0033] Racks, there are two racks, the two racks are respectively arranged on one side of the second slide bar and the third slide bar, and the two racks are meshed with the first gear and are parallel to each other;

[0034] A first bracket is rotatably arranged on the installation box, and one end of the X-ray machine is arranged on the first bracket.

[0035] Optionally, the second mounting bracket has the same structure as the first mounting bracket.

[0036] Optionally, the first bracket has gear teeth, and the first mounting frame further comprises:

[0037] A second gear, the second gear is rotatably disposed on the installation box, the gear teeth are meshed with the second gear, and the rotation of the second gear drives the first bracket to rotate;

[0038] A hollow slip ring is arranged on a side of the first bracket away from the tractor and is electrically connected to the ray machine.

[0039] Optionally, it also includes:

[0040] A fixing seat, the fixing seat being arranged on the tractor;

[0041] A clamping device, one end of which is arranged on the fixing seat;

[0042] A clamping piece, one end of which is arranged on the first mounting frame, and the other end of which is provided with a clamping rod, and the clamping rod is used for clamping with the clamping device.

[0043] Optionally, the clamping device includes:

[0044] A snap-in box, one end of which is disposed on the fixing seat, and the snap-in box has a first sliding groove;

[0045] A first rotating block, one end of which is rotatably disposed in the clamping box, the first rotating block having a second slide groove and a first abutting portion, after the first rotating block rotates, the second slide groove overlaps or intersects with the first slide groove, and after intersecting, the first slide groove and the second slide groove form a closed space;

[0046] a second rotating block, wherein the middle portion of the second rotating block is rotatably disposed in the clamping box, and after the second rotating block rotates, one end of the second rotating block abuts against or separates from the first abutting portion;

[0047] A first elastic member, two ends of which are respectively connected to the clamping box and the first rotating block, and are used to provide a force for the second sliding groove to overlap with the first sliding groove;

[0048] A second elastic member, two ends of which are respectively connected to the clamping box and the second rotating block, and are used to provide a force for one end of the second rotating block to approach the first rotating block;

[0049] a blocking block, wherein the blocking block is disposed in the clamping box, and after one end of the second rotating block is separated from the first abutting portion, the first abutting portion abuts against the blocking block, and the second sliding groove overlaps with the first sliding groove;

[0050] A pull rope, one end of which extends into the clamping box and is hinged to an end of the second rotating block away from the first rotating block;

[0051] A third elastic member, wherein the third elastic member is sleeved on the outside of the pull rope, and two ends of the third elastic member are respectively in contact with the second rotating block and the clamping box, and is used to provide a force for the second rotating block to return to rotation after the pull rope is pulled.

[0052] Optionally, the fixing seat comprises:

[0053] A fixing plate, one side of which is arranged on the tractor;

[0054] A connecting block, one end of which is arranged on the clamping box, and the other end of which is hinged to the other side of the fixing plate;

[0055] The fourth elastic member has two fourth elastic members, both ends of which are respectively in contact with the fixing plate and the connecting block, and the two fourth elastic members are located on both sides of the connecting block to provide a buffering force when the connecting block swings.

[0056] A method for using a pipeline crawler uses the pipeline crawler.

[0057] The working principle and beneficial effects of the present invention are:

[0058] In the present invention, in order to solve the problem that it is difficult to detect pipelines that have been in disrepair for a long time in the related art, a pipeline crawler and a method of use are designed. The tractor can be a small electric drive device with a compact appearance and strong power, which can stably provide forward power in the pipeline. The first mounting frame is made of high-strength stainless steel, and one end of the first mounting frame is firmly connected to the rear of the tractor. One end of the X-ray machine is flexibly rotatably arranged at the other end of the first mounting frame. The second mounting frame is installed at the other end of the X-ray machine through the same rotating connection method to provide stable support for the X-ray machine. The number of abutment wheels is configured according to the diameter and length of the pipeline. Four abutment wheels can be evenly arranged on the first mounting frame and the second mounting frame, respectively, and all abut against the inside of the pipeline. The abutment wheel surface has an anti-slip texture, and a shock-absorbing spring is equipped inside to adapt to the unevenness of the inner wall of the pipeline and reduce the impact of vibration on the detection. Specifically, in the detection of a section of industrial pipeline, the pipeline crawler is placed in the pipeline entrance. The tractor crawls steadily along the inner wall of the pipeline. The abutment wheels on the first mounting frame and the second mounting frame can automatically adjust the position and angle, always maintain close contact with the inner wall of the pipeline, and ensure the stability of the X-ray machine, so as to perform comprehensive and accurate detection of the inside of the pipeline.

[0059] The advantage is that this structural design enables the pipeline crawler to move quickly and conduct inspections in the pipeline, greatly improving the inspection efficiency and saving time and labor costs. The X-ray machine can rotate flexibly under the support of the first mounting frame and the second mounting frame, and the all-round contact of the abutment wheel ensures 360° no-dead-angle inspection of the inside of the pipeline, which improves the comprehensiveness and accuracy of the inspection. Regardless of the size of the pipeline diameter and the condition of the inner wall of the pipeline, the abutment wheel, the first mounting frame and the second mounting frame can enable the pipeline crawler to operate stably, expanding its scope of application. The stable structure and flexible design reduce shaking and deviation during the inspection process, and can obtain clearer and more accurate inspection images and data, providing a reliable basis for subsequent pipeline maintenance and repair. The overall structure is simple and reasonable, easy to operate and maintain, and operators can get started after simple training, reducing the excessive requirements for professional skills. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The preferred implementation modes will be described below in a clear and understandable manner with reference to the accompanying drawings to further illustrate the above-mentioned characteristics, technical features, advantages and implementation methods of the present invention.

[0061] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0062] Figure 2 It is a partial structural schematic diagram of the tractor of the present invention;

[0063] Figure 3 This is a schematic diagram of the structure of the tractor of the present invention;

[0064] Figure 4 This is a schematic diagram of the structure of the first mounting frame of the present invention;

[0065] Figure 5 For the present invention Figure 1 Enlarged view of point A in the middle;

[0066] Figure 6 For the present invention Figure 1 Enlarged view of point B in the middle;

[0067] Figure 7 It is a schematic diagram of the structure of the connecting part of the present invention.

[0068] In the figure: 1, tractor, 2, first mounting frame, 3, X-ray machine, 4, second mounting frame, 5, abutment wheel, 101, chassis mounting frame, 102, rotating shaft, 103, first rubber wheel, 104, tension rod, 105, tension wheel, 106, fastener, 107, control device, 108, battery pack, 109, mounting rod, 110, first slide bar, 111, receiver, 112, pressing rod, 113, second rubber wheel, 114, support rod, 115, first telescopic member, 201, mounting box, 202, second slide bar, 203, third slide bar, 204, first A gear, 205, a rack, 206, a first bracket, 207, a second gear, 208, a hollow slip ring, 6, a fixed seat, 7, a clamping device, 8, a clamping piece, 801, a clamping rod, 701, a clamping box, 7011, a first slide groove, 702, a first rotating block, 7021, a second slide groove, 7022, a first abutting portion, 703, a second rotating block, 704, a first elastic member, 705, a second elastic member, 706, a blocking block, 707, a pull rope, 708, a third elastic member, 601, a fixed plate, 602, a connecting block, 603, a fourth elastic member. DETAILED DESCRIPTION

[0069] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0070] In order to simplify the drawings, only the parts related to the invention are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically shown, or only one of them is marked. In this article, "one" not only means "only one", but also means "more than one", and "several" includes "two" and "more than two".

[0071] In this document, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0072] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0073] Reference Figure 1 to Figure 7 , which is the first embodiment of the present invention, proposes a pipeline crawler for pipeline internal detection, including a tractor 1, which is used to crawl inside the pipeline; one end of a first mounting frame 2 is connected to the rear end of the tractor 1; one end of a X-ray machine 3 is rotatably set at the other end of the first mounting frame 2; a second mounting frame 4 is rotatably set at the other end of the X-ray machine 3; a plurality of abutment wheels 5 are respectively set on the first mounting frame 2 and the second mounting frame 4, and the abutment wheels 5 abut against the inner wall of the pipeline.

[0074] In this embodiment, in order to solve the problem that it is difficult to detect pipelines that have been in disrepair for a long time in the related art, a pipeline crawler and a method of use are designed. The tractor 1 can be a small electric drive device with a compact appearance and strong power, which can stably provide forward power in the pipeline. The first mounting frame 2 is made of high-strength stainless steel, and one end of the first mounting frame 2 is firmly connected to the rear of the tractor 1. One end of the X-ray machine 3 is flexibly rotatably arranged at the other end of the first mounting frame 2. The second mounting frame 4 is installed at the other end of the X-ray machine 3 by the same rotating connection method to provide stable support for the X-ray machine 3. The number of abutment wheels 5 is configured according to the diameter and length of the pipeline. Four abutment wheels 5 can be evenly arranged on the first mounting frame 2 and the second mounting frame 4, and all abut against the inside of the pipeline. The wheel surface of the abutment wheel 5 has an anti-slip texture, and a shock-absorbing spring is equipped inside to adapt to the unevenness of the inner wall of the pipeline and reduce the impact of vibration on the detection. Specifically, in the detection of a section of industrial pipeline, the pipeline crawler is placed in the pipeline entrance. The tractor 1 crawls steadily along the inner wall of the pipeline. The abutment wheels 5 on the first mounting frame 2 and the second mounting frame 4 can adjust their positions and angles to always maintain close contact with the inner wall of the pipe, while ensuring the stability of the X-ray machine 3, thereby performing a comprehensive and accurate inspection of the interior of the pipe.

[0075] The advantage is that this structural design enables the pipeline crawler to move quickly and conduct inspections in the pipeline, greatly improving the inspection efficiency and saving time and labor costs. The X-ray machine 3 can rotate flexibly under the support of the first mounting frame 2 and the second mounting frame 4, and the all-round contact of the abutment wheel 5 ensures 360° no-dead-angle inspection of the inside of the pipeline, which improves the comprehensiveness and accuracy of the inspection. Regardless of the size of the pipeline diameter and the condition of the inner wall of the pipeline, the pipeline crawler can operate stably, expanding its scope of application. The stable structure and flexible design reduce shaking and deviation during the inspection process, and can obtain clearer and more accurate inspection images and data, providing a reliable basis for subsequent pipeline maintenance and repair. The overall structure is simple and reasonable, easy to operate and maintain, and operators can get started after simple training, reducing the excessive requirements for professional skills.

[0076] Furthermore, the tractor 1 includes a chassis mounting frame 101; there are two rotating shafts 102, which are rotatably arranged on the chassis mounting frame 101, and the two rotating shafts 102 are connected by chain transmission, and both ends of the rotating shafts 102 extend out of the chassis mounting frame 101; the first rubber wheel 103 is arranged at both ends of the rotating shaft 102, and is used to abut against the inner wall of the pipeline; one end of the tensioning rod 104 is rotatably arranged on the chassis mounting frame 101; the tensioning wheel 105 is rotatably arranged at the other end of the tensioning rod 104 and engages with the chain; the fastener 106 is arranged at the rotating end of the tensioning rod 104, and is used to limit the position of the tensioning rod 104 on the chassis mounting frame 101; the control device 107 is arranged at one end of the chassis mounting frame 101; the battery pack 108 is arranged in the middle of the chassis mounting frame 101; one end of the mounting rod 109 is arranged at the other end of the chassis mounting frame 101; the first sliding rod 110 is slidably arranged at the other end of the mounting rod 109; and the receiver 111 is arranged on the first sliding rod 110.

[0077] In this embodiment, the chassis mounting frame 101 is finely machined to ensure the surface flatness and the accuracy of the mounting holes. The two rotating shafts 102 are smoothly rotated and mounted on the chassis mounting frame 101 through high-precision ball bearings. Chain transmission is adopted between the rotating shafts 102. The first rubber wheel 103 is tightly mounted on both ends of the rotating shaft 102 and fixed by fastening screws to ensure that it will not fall off during operation. One end of the tensioning rod 104 is rotatably set on the chassis mounting frame 101, and the tensioning wheel 105 is rotatably set on the other end of the tensioning rod 104. The fastener 106 can stably limit the angular position of the tensioning rod 104 on the chassis mounting frame 101. The control device 107 is mounted at one end of the chassis mounting frame 101 and is protected by a waterproof and dustproof shell. The battery pack 108 is mounted in the middle of the chassis mounting frame 101 and is fixed by a sturdy bracket and a protective plate to prevent collision and damage during operation. The mounting rod 109 and the first sliding rod 110 are both made of stainless steel, and a lubricating device is installed at the sliding part to ensure smooth sliding. The receiver 111 is a highly sensitive wireless signal receiving device, which is installed at the end of the first sliding rod 110 and connected to the control device 107 through a shielded cable to reduce signal interference. At the same time, this design enables the crawler body 1 to be applicable to pipes of different diameters, thereby improving the applicability of the crawler body 1.

[0078] The advantage is that the rotating shaft 102 is driven by a chain and cooperates with a tensioning device to ensure that the power is stably transmitted to the other rotating shaft 102, so that the crawling of the tractor 1 in the pipeline is more stable and reliable, and the detection error caused by power fluctuation is reduced. The design of the tensioning rod 104 and the tensioning wheel 105 facilitates the adjustment and maintenance of the tension of the chain, prolongs the service life of the chain, and reduces the maintenance cost of the equipment.

[0079] Furthermore, the tractor 1 also includes a clamping rod 112, which has two clamping rods 112. One end of the two clamping rods 112 is swingably set at the two ends of the rotating shaft 102 respectively. After the clamping rod 112 swings, the other end of the clamping rod 112 approaches or moves away from the chassis mounting frame 101; there are two second rubber wheels 113, which are rotatably set at the other end of the clamping rod 112 for abutting against the inner wall of the pipeline; a first telescopic member 115 is set on the clamping rod 112; there are two support rods 114, one end of the two support rods 114 is swingably set at the two ends of another rotating shaft 102 respectively, and the other end of the support rod 114 is hingedly set at the protruding end of the first telescopic member 115. The swing of the support rod 114 drives the clamping rod 112 to swing.

[0080] In this embodiment, the clamping rod 112 is swingably connected to the two ends of the rotating shaft 102 respectively through a rotating fixed ring. The second rubber wheel 113 is made of a synthetic rubber material with high elasticity and wear resistance, and is rotatably set at the other end of the clamping rod 112. One end of the support rod 114 is also swingably set with the two ends of the other rotating shaft 102 through a rotating fixed ring, and the other end slides smoothly on the clamping rod 112 through a smooth sliding device. The first telescopic member 115 adopts an electric hydraulic push rod, one end of which is fixed to the clamping rod 112 through a sturdy mounting seat, and the extended end is hinged to the other end of the support rod 114 through a movable hinge. For example, when detecting a section of a pipeline with a large rising angle, when the tractor 1 enters an uphill area, the control system will automatically start the extension of the first telescopic member 115. At this time, the first telescopic member 115 pushes the support rod 114 to swing, driving the clamping rod 112 to move away from the first rubber wheel 103, so that the second rubber wheel 113 is tightly in contact with the inner wall of the pipe on the other side, providing a force in the opposite direction, increasing the contact area and friction between the first rubber wheel 103 and the second rubber wheel 113 and the inner wall of the pipe, thereby ensuring that the tractor 1 can still crawl stably in an uphill area with a larger angle.

[0081] The advantage is that when passing through a pipeline with a large uphill angle, the positions of the clamping rod 112 and the second rubber wheel 113 can be automatically adjusted in real time, so that the first rubber wheel 103 and the second rubber wheel 113 always maintain good contact with the inner wall of the pipeline, thereby enhancing the adaptability in the pipeline. The contact points and friction with the inner wall of the pipeline are increased, which significantly improves the stability of the tractor 1 in a complex pipeline environment, reduces the shaking and deviation caused by changes in the pipe diameter, and thus ensures the accuracy of detection.

[0082] Furthermore, the first mounting frame 2 includes a mounting box 201, one side of which is connected to the tractor 1; one end of the second slide bar 202 passes through and is slidably set on the mounting box 201, and the other end of the second slide bar 202 is provided with two abutment wheels 5; one end of the third slide bar 203 passes through and is slidably set on the mounting box 201, and the other end of the third slide bar 203 is provided with two abutment wheels 5, the third slide bar 203 slides synchronously with the second slide bar 202, and the abutment wheels 5 used in pairs move closer or farther after sliding; the first gear 204 is rotatably set in the mounting box 201; there are two racks 205, and the two racks 205 are respectively set on one side of the second slide bar 202 and the third slide bar 203, and the two racks 205 are both meshed with the first gear 204 and parallel to each other; the first bracket 206 is rotatably set on the mounting box 201, and one end of the X-ray machine 3 is set on the first bracket 206.

[0083] In this embodiment, the second slide bar 202 and the third slide bar 203 are made of stainless steel, one end of which penetrates and slides on the installation box 201, and the other end is fixed with two special brackets by welding, and the abutment wheel 5 is installed on the bracket. The first gear 204 is rotatably arranged inside the installation box 201 through a bearing. The rack 205 is fastened to one side of the second slide bar 202 and the third slide bar 203 by screws and is arranged parallel to each other to ensure tight meshing with the first gear 204. The first bracket 206 is rotatably arranged on the installation box 201. Specifically, the first gear 204 is rotated first to make the second slide bar 202 and the third slide bar 203 located at the extreme position, at which time the distance between the abutment wheels 5 is the smallest, the first mounting frame 2 is placed in the pipeline to be detected as a whole, and then the first gear 204 is rotated in the opposite direction, and the distance between the abutment wheels 5 gradually increases until all the abutment wheels 5 abut against the inner wall of the pipeline. At this time, the ray machine 3 arranged at the symmetric center of the first mounting frame 2 coincides with the pipeline axis. When the pipeline diameter gradually increases, the first gear 204 is rotated. The rotation of the first gear 204 drives the rack 205 to move, so that the second slide bar 202 and the third slide bar 203 slide outward synchronously, and the distance between the abutment wheels 5 gradually increases to adapt to the change of the tube diameter, while ensuring the stability and accuracy of the X-ray machine 3 during the detection process.

[0084] The advantage is that the position of the abutment wheel 5 can be adjusted quickly and accurately through the cooperation of the slide bar and the gear rack 205, so as to adapt to the changes in various pipe diameters and ensure that the pipeline crawler can operate stably in pipes of different pipe diameters. The rotation design of the first bracket 206 enables the X-ray machine 3 to adjust the detection angle within a large range, and can perform comprehensive detection on various parts of the pipeline, thereby improving the integrity and accuracy of the detection.

[0085] Furthermore, the second mounting frame 4 has the same structure as the first mounting frame 2 .

[0086] In this embodiment, the second mounting frame 4 is consistent with the first mounting frame 2. The advantage is that the first mounting frame 2 and the second mounting frame 4 with the same structure provide symmetrical support for the X-ray machine 3, making the operation of the X-ray machine 3 in the pipeline more balanced and stable, reducing the detection error caused by imbalance. The same structure means that the operator does not need to consider two different situations separately during operation and adjustment, reducing the complexity of operation and learning cost. Since there is no need to debug and maintain two different mounting frames separately, time and manpower are saved, and the overall efficiency of the detection work is improved.

[0087] Furthermore, the first bracket 206 has gear teeth, and the first mounting frame 2 also includes a second gear 207. The second gear 207 is rotatably set on the mounting box 201, and the gear teeth are engaged with the second gear 207. The rotation of the second gear 207 drives the first bracket 206 to rotate; the hollow slip ring 208 is set on the side of the first bracket 206 away from the tractor 1 and is electrically connected to the X-ray machine 3.

[0088] In this embodiment, the second gear 207 is installed on the installation box 201 through a driving motor and can rotate flexibly and smoothly. The hollow slip ring 208 uses a high-performance conductive slip ring with multiple conductive loops and signal loops, which can simultaneously transmit large currents and multiple complex control signals. The hollow slip ring 208 is fixed on the side of the first bracket 206 away from the tractor 1, and is electrically connected to the X-ray machine 3 through a wear-resistant and high-temperature resistant flexible cable. Specifically, during the detection process, when the detection angle of the X-ray machine 3 needs to be rotated and adjusted, the driving motor drives the second gear 207 to rotate. The rotation of the second gear 207 drives the first bracket 206 to rotate, thereby accurately adjusting the rotation angle of the X-ray machine 3. At the same time, during the rotation of the first bracket 206, the hollow slip ring 208 always maintains stable power and signal transmission to ensure that the X-ray machine 3 can continue to work normally.

[0089] The advantage is that the high-precision rotation of the second gear 207 can achieve fine control of the rotation angle of the first bracket 206, meeting the need for precise adjustment of the detection angle of the X-ray machine 3. This design allows the directional X-ray machine to replace the circumferential X-ray machine. Precise angle control and stable transmission performance help shorten the detection time and improve detection efficiency, especially when detecting complex pipeline structures, it can obtain comprehensive and accurate detection results more quickly.

[0090] Furthermore, it also includes a fixing seat 6, which is arranged on the tractor 1; one end of the clamping device 7 is arranged on the fixing seat 6; one end of the clamping member 8 is arranged on the first mounting frame 2, and the other end of the clamping member 8 has a clamping rod 801, which is used to clamp with the clamping device 7.

[0091] In this embodiment, the fixing seat 6 is installed at a specific position of the tractor 1 by welding or bolting. One end of the clamping device 7 is installed on the fixing seat 6. One end of the clamping member 8 is installed at a specific position of the first mounting frame 2 by welding or bolting. A clamping rod 801 is designed at the other end of the clamping member 8, and the shape and size of the clamping rod 801 match the specific position of the clamping device 7. Specifically, when the pipeline crawler needs to perform inspection work, the tractor 1 and the first mounting frame 2 are placed in turn into the pipeline to be inspected, and the operator accurately inserts the clamping rod 801 into the clamping device 7 to achieve a tight clamping connection between the two, thereby fixing the X-ray machine 3 at the desired position.

[0092] The advantage is that it can provide a stable fixation for the X-ray machine 3 when needed, ensuring that the X-ray machine 3 will not move or shake during detection, thereby ensuring the accuracy and reliability of the detection results. The clamping structure is simple and intuitive, and the operator can complete the clamping operation quickly and easily, saving operation time and improving work efficiency.

[0093] Furthermore, the clamping device 7 includes a clamping box 701, one end of which is arranged on the fixed seat 6, and the clamping box 701 has a first slide groove 7011; one end of the first rotating block 702 is rotatably arranged in the clamping box 701, and the first rotating block 702 has a second slide groove 7021 and a first abutment portion 7022. After the first rotating block 702 rotates, the second slide groove 7021 overlaps or intersects with the first slide groove 7011, and after the intersecting, the first slide groove 7011 and the second slide groove 7021 form a closed space; the middle part of the second rotating block 703 is rotatably arranged in the clamping box 701, and after the second rotating block 703 rotates, the second rotating block 703 is The first end abuts or separates from the first abutment portion 7022; the two ends of the first elastic member 704 are respectively connected to the card box 701 and the first rotating block 702, for providing a force for the second slide groove 7021 to overlap with the first slide groove 7011; the two ends of the second elastic member 705 are respectively connected to the card box 701 and the second rotating block 703, for providing a force for one end of the second rotating block 703 to approach the first rotating block 702; the blocking block 706 is arranged in the card box 701, and after one end of the second rotating block 703 is separated from the first abutment portion 7022, the first abutment portion 7022 abuts against the blocking block 706, and the second slide groove 7021 overlaps with the first slide groove 7011. One end of the pull rope 707 extends into the snap-in box 701 and is hinged to the end of the second rotating block 703 away from the first rotating block 702; the third elastic member 708 is sleeved on the outside of the pull rope 707, and its two ends are respectively abutted against the second rotating block 703 and the snap-in box 701, for providing a force for the second rotating block 703 to return to rotation after the pull rope 707 is pulled.

[0094] In this embodiment, one end of the snap-in box 701 is mounted on the fixed seat 6. The first rotating block 702 and the second rotating block 703 are both made of high-strength steel. One end of the first rotating block 702 is mounted in the snap-in box 701 through a pin shaft, and can rotate flexibly. Its second slide groove 7021 and the first abutment portion 7022 are precisely processed. The middle part of the second rotating block 703 is rotatably arranged in the snap-in box 701 through another pin shaft to ensure smooth rotation. The first elastic member 704, the second elastic member 705 and the third elastic member 708 are respectively selected from springs of suitable specifications, which have good elasticity and durability. The blocking block 706 is fixed at a designated position in the snap-in box 701 by welding or inlaying. The pull rope 707 is made of high-strength synthetic fiber material, one end of which extends into the snap-in box 701 and is hinged to one end of the second rotating block 703 away from the first rotating block 702. Specifically, when the clamping rod 801 of the clamping member 8 is inserted into the clamping box 701, the clamping rod 801 first pushes the first rotating block 702 to rotate, so that the second slide groove 7021 and the first slide groove 7011 are staggered to form a closed space. At the same time, one end of the second rotating block 703 abuts against the first abutting portion 7022 on the first rotating block 702, so that the first elastic member 704 cannot drive the first rotating block 702 to rotate and reset. When unlocking is required, the pull rope 707 is pulled to rotate the second rotating block 703, so that one end of the second rotating block 703 is released from the abutment with the first abutting portion 7022, so that the first elastic member 704 can drive the first rotating block 702 to reset, and the blocking block 706 can prevent the first rotating block 702 from excessively rotating, so that the second slide groove 7021 overlaps with the first slide groove 7011, so that the clamping rod 801 can be separated from the closed space, and the third elastic member 708 can help the second rotating block 703 to reset.

[0095] The advantage is that, through the coordinated action of multiple components, the clamping rod 801 can be firmly locked, ensuring that it will not accidentally loosen during operation, thereby improving the stability and safety of the device. The clamping rod 801 is automatically locked when inserted, and the unlocking operation is relatively simple, reducing the complexity of manual operation and the possibility of error.

[0096] Furthermore, the fixing seat 6 includes a fixing plate 601, one side of which is arranged on the tractor 1; one end of the connecting block 602 is arranged on the clamping box 701, and the other end of the connecting block 602 is hinged to the other side of the fixing plate 601; there are two fourth elastic members 603, both ends of the fourth elastic member 603 are respectively abutted against the fixing plate 601 and the connecting block 602, and the two fourth elastic members 603 are located on both sides of the connecting block 602, and are used to provide a buffering force when the connecting block 602 swings.

[0097] In this embodiment, the fixing plate 601 is firmly fixed to the corresponding position of the tractor 1 by a plurality of high-strength bolts. One end of the connecting block 602 is closely connected to the clamping box 701 by welding, and the other end is hinged to the other side of the fixing plate 601 by a pin. The fourth elastic member 603 is a strong coil spring, and the two ends are respectively abutted against the fixing plate 601 and the connecting block 602. The diameter and length of the spring are selected according to actual needs to provide sufficient buffering force. Specifically, when the pipeline crawler encounters a large bump or vibration in the pipeline, the axis of the tractor 1 and the first mounting frame 2 are not parallel, and the connecting block 602 will swing relative to the fixing plate 601. At this time, the fourth elastic member 603 will be compressed or stretched to absorb and slow down the impact force, thereby reducing the impact on the clamping device 7 and ensuring its normal operation. At the same time, the installation of the fourth elastic member 603 enables the clamping device 7 to be in a horizontal position at all times, so that the clamping rod 801 can smoothly abut against the clamping device 7.

[0098] The advantage is that the fourth elastic member 603 can significantly reduce the impact on the clamping device 7 caused by unevenness or vibration in the pipeline, and protect the structural integrity and working stability of the clamping device 7. The adaptability of the pipeline crawler in complex and harsh pipeline environments is improved, so that it can cope with various degrees of bumps and vibrations. The damage to the clamping device 7 and the fixing seat 6 caused by impact and vibration is reduced, their service life is extended, and the maintenance cost of the equipment is reduced.

[0099] A method for using a pipeline crawler uses a pipeline crawler.

[0100] In this embodiment, a pipeline crawler is used to inspect the inside of the pipeline. First, the tractor 1 is debugged and placed inside the pipeline. The X-ray machine 3 is installed between the first mounting frame 2 and the second mounting frame 4. The assembled first mounting frame 2, X-ray machine 3 and second mounting frame 4 are placed in the inspection pipeline. The clamping rod 801 on the clamping member 8 is connected to the clamping device 7, so that the tractor 1 can drive the first mounting frame 2, the X-ray machine 3 and the second mounting frame 4 to move inside the pipeline. If circumferential detection is required, the first bracket 206 installed on the first mounting frame 2 is rotated to drive the X-ray machine 3 to rotate to complete the circumferential detection.

[0101] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A pipeline crawler for internal inspection of pipelines, characterized in that: include: A tractor (1), the tractor (1) being used to crawl inside the pipeline; A first mounting frame (2), one end of the first mounting frame (2) being connected to the rear end of the tractor (1); A ray machine (3), one end of the ray machine (3) being rotatably mounted on the other end of the first mounting frame (2); A second mounting frame (4), the second mounting frame (4) being rotatably arranged at the other end of the X-ray machine (3); Abutment wheels (5), the abutment wheels (5) being of a plurality, the plurality of abutment wheels (5) being respectively arranged on the first mounting frame (2) and the second mounting frame (4), the abutment wheels (5) abutting against the inner wall of the pipe; The first mounting frame (2) comprises: An installation box (201), one side of the installation box (201) being connected to the tractor (1); A second sliding rod (202), one end of the second sliding rod (202) passing through and slidably disposed on the installation box (201), and the other end of the second sliding rod (202) being provided with two abutment wheels (5); A third sliding rod (203), one end of the third sliding rod (203) passes through and is slidably disposed on the installation box (201), and the other end of the third sliding rod (203) is provided with two abutment wheels (5), the third sliding rod (203) slides synchronously with the second sliding rod (202), and after sliding, the abutment wheels (5) used in pairs move closer or farther away; A first gear (204), the first gear (204) being rotatably disposed in the installation box (201); Racks (205), there are two racks (205), the two racks (205) are respectively arranged on one side of the second slide bar (202) and the third slide bar (203), and the two racks (205) are both meshed with the first gear (204) and are parallel to each other; a first bracket (206), the first bracket (206) being rotatably mounted on the mounting box (201), and one end of the X-ray machine (3) being mounted on the first bracket (206); The tractor (1) comprises: Chassis mounting bracket (101); A rotating shaft (102), wherein two rotating shafts (102) are provided, the two rotating shafts (102) are rotatably arranged on the chassis mounting frame (101), the two rotating shafts (102) are connected via a chain transmission, and both ends of the rotating shaft (102) extend out of the chassis mounting frame (101); A first rubber wheel (103), the first rubber wheel (103) being arranged at both ends of the rotating shaft (102) and being used for abutting against the inner wall of the pipe; A tensioning rod (104), one end of the tensioning rod (104) being rotatably disposed on the chassis mounting frame (101); A tensioning wheel (105), the tensioning wheel (105) being rotatably disposed at the other end of the tensioning rod (104) and meshing with the chain; a fastener (106), the fastener (106) being arranged at the rotating end of the tensioning rod (104) and being used to limit the position of the tensioning rod (104) on the chassis mounting frame (101); A control device (107), the control device (107) being arranged at one end of the chassis mounting frame (101); A battery pack (108), the battery pack (108) being arranged in the middle of the chassis mounting frame (101); A mounting rod (109), one end of the mounting rod (109) being arranged on the other end of the chassis mounting frame (101); A first sliding rod (110), the first sliding rod (110) being slidably disposed at the other end of the mounting rod (109); a receiver (111), the receiver (111) being arranged on the first sliding rod (110); The tractor (1) further comprises: A clamping rod (112), wherein there are two clamping rods (112), one end of each of the two clamping rods (112) being swingably disposed at two ends of the rotating shaft (102), and the other end of each of the clamping rods (112) being moved closer to or farther from the chassis mounting frame (101) after swinging; A second rubber wheel (113), wherein the second rubber wheel (113) has two parts, and the second rubber wheel (113) is rotatably arranged at the other end of the pressing rod (112) and is used to abut against the inner wall of the pipe; a first telescopic member (115), wherein the first telescopic member (115) is arranged on the pressing rod (112); Support rods (114), the support rods (114) having two ends, one end of the two support rods (114) being swingably disposed at two ends of the other rotating shaft (102), the other end of the support rod (114) being hingedly disposed at the protruding end of the first telescopic member (115), and the swing of the support rods (114) drives the clamping rod (112) to swing; The first bracket (206) has gear teeth, and the first mounting frame (2) further comprises: a second gear (207), the second gear (207) being rotatably disposed on the installation box (201), the gear teeth being meshed with the second gear (207), and the rotation of the second gear (207) driving the first bracket (206) to rotate; A hollow slip ring (208), the hollow slip ring (208) being arranged on a side of the first bracket (206) away from the tractor (1) and being electrically connected to the X-ray machine (3).

2. A pipeline crawler according to claim 1, characterized in that: The second mounting frame (4) has the same structure as the first mounting frame (2).

3. A pipeline crawler according to claim 1, characterized in that: Also includes: A fixing seat (6), the fixing seat (6) being arranged on the tractor (1); A clamping device (7), one end of the clamping device (7) being arranged on the fixing seat (6); A clamping member (8), one end of the clamping member (8) being arranged on the first mounting frame (2), and the other end of the clamping member (8) having a clamping rod (801), the clamping rod (801) being used for clamping with the clamping device (7).

4. A pipeline crawler according to claim 3, characterized in that: The clamping device (7) comprises: A snap-in box (701), one end of the snap-in box (701) being arranged on the fixing seat (6), and the snap-in box (701) having a first sliding groove (7011); a first rotating block (702), one end of which is rotatably disposed in the clamping box (701), the first rotating block (702) having a second sliding groove (7021) and a first abutting portion (7022), and after the first rotating block (702) rotates, the second sliding groove (7021) overlaps or intersects with the first sliding groove (7011), and after intersecting, the first sliding groove (7011) and the second sliding groove (7021) form a closed space; A second rotating block (703), wherein the middle portion of the second rotating block (703) is rotatably disposed in the clamping box (701), and after the second rotating block (703) rotates, one end of the second rotating block (703) abuts against or separates from the first abutting portion (7022); a first elastic member (704), wherein two ends of the first elastic member (704) are respectively connected to the clamping box (701) and the first rotating block (702), and are used to provide a force for causing the second sliding groove (7021) to overlap with the first sliding groove (7011); a second elastic member (705), wherein two ends of the second elastic member (705) are respectively connected to the clamping box (701) and the second rotating block (703), and are used to provide a force for one end of the second rotating block (703) to approach the first rotating block (702); a blocking block (706), wherein the blocking block (706) is disposed in the clamping box (701), and after one end of the second rotating block (703) is separated from the first abutting portion (7022), the first abutting portion (7022) abuts against the blocking block (706), and the second sliding groove (7021) overlaps with the first sliding groove (7011); a pull rope (707), one end of the pull rope (707) extending into the clamping box (701) and being hinged to one end of the second rotating block (703) away from the first rotating block (702); A third elastic member (708), wherein the third elastic member (708) is sleeved on the outside of the pull rope (707), and two ends of the third elastic member are respectively in contact with the second rotating block (703) and the clamping box (701), and is used to provide a force for the second rotating block (703) to return to rotation after the pull rope (707) is pulled.

5. A pipeline crawler according to claim 4, characterized in that: The fixing seat (6) comprises: A fixing plate (601), one side of the fixing plate (601) being arranged on the tractor (1); A connecting block (602), one end of the connecting block (602) being arranged on the clamping box (701), and the other end of the connecting block (602) being hinged to the other side of the fixing plate (601); A fourth elastic member (603), wherein the fourth elastic member (603) has two ends, and the two ends of the fourth elastic member (603) are respectively in contact with the fixing plate (601) and the connecting block (602), and the two fourth elastic members (603) are located on both sides of the connecting block (602) and are used to provide a buffering force when the connecting block (602) swings.

6. A method for using a pipeline crawler, characterized in that: Use a pipeline crawler as described in any one of claims 1 to 5.

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