An intelligent power cable pipeline inspection vehicle

Abstract

The present invention relates to the field of mechanical inspection technology, and specifically to an intelligent power cable pipeline inspection vehicle, comprising a central control body, an adjustment module arranged outside the central control body, and a driving module arranged at the adjustment end of the adjustment module; the adjustment module is circumferentially arranged in three groups along the axis of the central control body, namely an upper guide unit, a left guide unit and a right guide unit; the inspection module is fixedly arranged in the central control body; the traction unit is arranged at the rear end of the central control body relative to the inspection module; an obstacle avoidance guide module capable of guiding the walking trajectories of the left guide unit and the right guide unit respectively is also fixedly arranged outside the central control body; the upper guide unit is provided with a first adjustment frame and a second adjustment frame capable of radially approaching or moving away from the inner wall of the pipeline, and the first adjustment frame and the second adjustment frame are cross-arranged; the present invention can not only inspect wired cables, but also automatically adjust the space for cables to pass through and the equipment inspection position according to the inspection space.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical inspection, and in particular to an intelligent power cable pipeline inspection vehicle. Background Art

[0002] In the development and maintenance of power systems, the inspection of power cables in underground pipelines is a key link to ensure the safe and stable operation of power systems. At present, many power cable inspections rely on traditional trolley equipment, which can only move along the bottom of the pipeline and cannot effectively avoid obstacles such as complex cables and supporting structures inside the pipeline. Especially in narrow pipeline environments or pipelines with many obstacles, existing inspection trolleys are easily restricted by these internal structures, resulting in limited inspection range, and may even affect the normal operation of the equipment due to collision or jamming.

[0003] For example, the announcement number: CN110939825B discloses a fully automatic submarine pipeline inspection robot for marine engineering. This patent uses a combination of a walking vehicle, a mechanical arm and a camera to inspect cable pipelines. Although effective inspection can be achieved, it is only applicable to pipelines without cables and has great limitations in use; or the announcement number: CN112325051B discloses a pipeline robot. This device uses a stretching unit to drive multiple groups of support arms to radially contract to adapt to pipelines of different diameters, and cooperates with rolling parts to make it highly flexible and shuttle inspections in the pipeline. However, because it is a synchronous radial drive method, the center of the robot will always walk and inspect along the axis of the pipeline; when inspecting pipelines with cables, the space left for the cables to pass through is limited, and the space for the cables to pass through cannot be self-adjusted, which is easy to conflict with the cables, and the inspection of pipelines with cables cannot be effectively completed. Summary of the invention

[0004] In view of the above problems, an intelligent power cable pipeline inspection vehicle is provided. By proposing an inspection vehicle that can not only conduct comprehensive inspections of wireless and wired cable pipelines but also automatically adjust the inspection space and position according to the inspection space, the technical problems of existing inspection equipment such as difficulty in inspection when inspecting cable pipelines, inability to effectively avoid the complex cables inside the pipelines, and inability to automatically adjust the inspection position are solved.

[0005] In order to solve the problems of the prior art, the present invention provides an intelligent power cable pipeline inspection vehicle, comprising a central control body, an adjustment module arranged outside the central control body, and a driving module arranged at the adjustment end of the adjustment module; the adjustment module comprises an upper guide unit, a left guide unit and a right guide unit arranged along the axis direction of the central control body; the upper guide unit, the left guide unit and the right guide unit respectively perform radial support on the central control body; an inspection module for inspecting the inside of the pipeline is arranged near the front end of the central control body; the traction unit is arranged at the rear end of the central control body relative to the inspection module; an obstacle avoidance guide module capable of guiding the walking trajectories of the left guide unit and the right guide unit respectively is also fixedly arranged outside the central control body; the upper guide unit is provided with a first adjustment frame and a second adjustment frame capable of radially approaching or moving away from the inner wall of the pipeline, and the first adjustment frame and the second adjustment frame are cross-arranged.

[0006] Preferably, the central control body includes a rear body, a protective cover shell, a front body, a first movable plate, a second movable plate, a second linear drive, a control unit, a second articulated seat and a third articulated seat; the central control body is composed of a rear body, a protective cover shell and a front body connected in sequence, wherein the first movable plate and the second movable plate which can be flipped toward each other are provided on both sides of the protective cover shell, and two groups of second linear drives which can drive the first movable plate and the second movable plate to flip toward each other; the non-driving ends of the two groups of second linear drives are both hinged to the second articulated seat fixedly arranged on the inner wall of the protective cover shell; the driving ends of the two groups of second linear drives are respectively hinged to the two groups of third articulated seats fixedly arranged on the inner walls of the first movable plate and the second movable plate, and the two groups of third articulated seats are respectively arranged near the free ends of the first movable plate and the second movable plate; the control unit is fixedly arranged in the protective cover shell and centrally arranged in the middle of the protective cover shell.

[0007] Preferably, the obstacle avoidance guidance module includes an obstacle avoidance plate capable of avoiding foreign objects in the travel path and a third linear drive driving the obstacle avoidance plate to adjust.

[0008] Preferably, the obstacle avoidance plate includes a guiding part, a pressure-guiding part, a guide rod and a mounting frame; the guiding part is fixedly connected to the first movable plate through the mounting frame, and is arranged at one end close to the front vehicle body; the pressure-guiding part is fixedly arranged at the front end of the guiding part in an inclined state; a guide rod is also vertically arranged on the upper surface of the guiding part, and the rod portion of the guide rod passes through the mounting frame and slidably cooperates with the mounting frame.

[0009] Preferably, a telescopic frame and a fourth linear drive capable of driving the telescopic frame to telescope are also provided on the side of the obstacle avoidance plate close to the inner wall of the pipe; the telescopic frame is horizontally slidably arranged on the obstacle avoidance plate and is arranged on the side of the obstacle avoidance plate close to the inner wall of the pipe; the fourth linear drive is horizontally fixedly arranged on the mounting frame and the driving end is arranged toward the telescopic frame, and the driving shaft of the fourth linear drive is fixedly connected to the protrusion fixedly arranged on the telescopic frame.

[0010] Preferably, the upper guide unit also includes two groups of first linear actuators that can respectively drive the first adjustment frame and the second adjustment frame to radially adjust; the hinged ends of the first adjustment frame and the second adjustment frame are hinged to the first hinge seat fixedly arranged on the outside of the central control body; the adjustment ends of the first adjustment frame and the second adjustment frame are respectively hinged to the driving ends of the two groups of first linear actuators.

[0011] Preferably, the driving module includes a servo motor, a mounting seat, a roller and a reduction assembly, wherein the servo motor is fixedly mounted on the adjustment end of the adjustment module through the mounting seat; a roller is also rotatably arranged at the front end of the mounting seat; the roller is transmission-connected to the output end of the servo motor fixedly arranged in the mounting seat through the reduction assembly; the reduction assembly is composed of a plurality of gear groups meshingly connected in sequence, and the reduction assembly is used to amplify the output torque of the servo motor.

[0012] Preferably, the roller is a rubber composite roller.

[0013] Preferably, the inspection module includes a radial scanning camera and a fixing frame, and the radial scanning camera is coaxially fixed to the front end of the central control vehicle body through the fixing frame.

[0014] Preferably, the inspection module also includes a lighting element embedded in the fixing frame.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The present invention designs multiple sets of first adjustment frames and second adjustment frames, combined with the radial adjustment function of the first linear drive, so that the inspection vehicle can automatically adapt to different diameters of the pipeline to ensure smooth travel in various pipelines; compared with traditional inspection vehicles that can only walk along the bottom of the pipeline, the inspection vehicle of the present invention can achieve multi-directional support adjustment through the adjustment module, and its adaptability is significantly enhanced.

[0017] 2. The present invention avoids the problem of the inspection vehicle getting stuck when encountering protrusions, foreign objects or cables inside the pipeline through the obstacle avoidance guidance module; the obstacle avoidance guidance module can adjust the travel path of the inspection vehicle in real time, and through the cooperation of the guiding part and the pressure-guiding part, the foreign objects or cables are returned to their original positions to ensure the smooth progress of the inspection; compared with the fixed-mode inspection vehicles in the prior art, the present invention can avoid obstacles more efficiently and reduce the need for human intervention.

[0018] 3. The inspection carts in the prior art are often unable to adjust their height for inspection. The present invention, through the independent adjustment design of the left guide unit, the right guide unit and the upper guide unit, can not only be flexibly adjusted for pipes of different sizes, but also avoid obstruction of the inspection cart by cables, so that the inspection cart can still travel stably in a complex pipeline environment and ensure efficient inspection quality.

[0019] 4. The present invention can effectively avoid damage to the cables inside the pipeline due to the operation of the inspection vehicle during the inspection process through the design of the obstacle avoidance guidance module and the adjustment module, thereby reducing the risk of cable damage during the inspection operation and improving the safety of the inspection vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a three-dimensional intelligent power cable pipeline inspection vehicle. Figure 1 .

[0021] Figure 2 It is a three-dimensional intelligent power cable pipeline inspection vehicle. Figure 2 .

[0022] Figure 3 It is a side view of an intelligent power cable pipeline inspection vehicle.

[0023] Figure 4 yes Figure 3 Cross-sectional view at AA.

[0024] Figure 5 yes Figure 4 A partial enlarged view of point B.

[0025] Figure 6 It is a three-dimensional diagram of the structure of an intelligent power cable pipeline inspection vehicle with the obstacle avoidance guidance module removed.

[0026] Figure 7 It is a three-dimensional diagram of the exploded structure of the central control body and adjustment module of an intelligent power cable pipeline inspection vehicle.

[0027] Figure 8 It is a three-dimensional diagram of the partial structure of the central control body, adjustment module and obstacle avoidance guidance module of an intelligent power cable pipeline inspection vehicle.

[0028] The numbers in the figure are:

[0029] 1-central control body; 11-rear body; 12-protective cover shell; 13-front body; 14-first movable plate; 15-second movable plate; 16-second linear drive; 17-control unit; 18-second articulated seat; 19-third articulated seat;

[0030] 2-adjustment module; 21-upper guide unit; 211-first adjustment frame; 212-second adjustment frame; 213-first linear drive; 214-first articulated seat; 22-left guide unit; 23-right guide unit;

[0031] 3-drive module; 31-servo motor; 32-mounting seat; 33-roller; 34-reduction component;

[0032] 4-inspection module; 41-radial scanning camera; 42-fixed frame; 43-lighting element;

[0033] 5-Traction unit;

[0034] 6-obstacle avoidance guidance module; 61-obstacle avoidance plate; 62-third linear drive; 63-guiding part; 64-pressure guiding part; 65-guide rod; 66-telescopic frame; 67-fourth linear drive; 68-mounting frame. DETAILED DESCRIPTION

[0035] In order to further understand the features, technical means, specific objectives and functions of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0036] See also Figures 1 to 8 As shown: an intelligent power cable pipeline inspection vehicle, comprising a central control body 1, an adjustment module 2 arranged outside the central control body 1 and a driving module 3 arranged at the adjustment end of the adjustment module 2; the adjustment module 2 comprises an upper guide unit 21, a left guide unit 22 and a right guide unit 23 arranged along the axial direction of the central control body 1; the upper guide unit 21, the left guide unit 22 and the right guide unit 23 respectively support the central control body 1 in the radial direction; an inspection module 4 for inspecting the inside of the pipeline is arranged near the front end of the central control body 1; the traction unit 5 is arranged at the rear end of the central control body 1 relative to the inspection module 4; an obstacle avoidance guide module 6 capable of guiding the walking trajectories of the left guide unit 22 and the right guide unit 23 respectively is also fixedly arranged outside the central control body 1; the upper guide unit 21 is provided with a first adjustment frame 211 and a second adjustment frame 212 capable of radially approaching or moving away from the inner wall of the pipeline, and the first adjustment frame 211 and the second adjustment frame 212 are arranged crosswise.

[0037] The left guide unit 22, the right guide unit 23 and the upper guide unit 21 have the same structure;

[0038] When it is necessary to inspect the cable-free pipeline, the operator places the device in the pipeline to be inspected, and then starts the adjustment module 2 to automatically adjust the upper guide unit 21, the left guide unit 22 and the right guide unit 23 according to the inner diameter of the pipeline, so that they are evenly deployed to contact the inner wall of the pipeline; as the three guide units are radially supported and corrected, the inspection vehicle is gradually set coaxially with the pipeline. To speed up the preparation work, the operator can respectively deploy the left guide unit 22, the right guide unit 23 and the upper guide unit 21 with the assistance of holding the central control vehicle body 1; after completing the preliminary setting, the operator connects the traction rope to the traction unit 5, and drives the drive module 3 to drive the central control vehicle body 1 to move in the pipeline, and cooperates with the inspection module 4 to conduct inspections.

[0039] When inspecting a cable pipeline, the device is placed in the pipeline in a retracted state, and the left guide unit 22 and the right guide unit 23 are first activated to cross the cables in the pipeline and maintain a non-contact state. Then the upper guide unit 21 is activated to press against the inner wall of the pipeline to form a stable triangular support structure to ensure that the inspection vehicle is suspended in the center of the pipeline. When the drive module 3 pushes the vehicle forward, the obstacle avoidance guidance module 6 is responsible for guiding and adjusting abnormal cables or foreign objects in advance, pressing them into the cable bundle to prevent direct contact from affecting the operation of the equipment. The entire process achieves effective obstacle avoidance and automatic adjustment of the cable position, making inspections more efficient and smooth.

[0040] Through the design of the left guide unit 22 and the right guide unit 23 straddling the cable, the inspection equipment can achieve non-contact inspection, avoiding friction damage between the equipment and the cable. The obstacle avoidance guidance module 6 further ensures that foreign objects in the pipeline will not interfere with the normal inspection of the equipment; and through the independent adjustment design of the left guide unit 22, the right guide unit 23 and the upper guide unit 21, not only can it be flexibly adjusted for pipelines of different sizes, but it can also avoid the obstruction of the cable to the inspection vehicle, so that the inspection vehicle can still drive stably in a complex pipeline environment and ensure efficient inspection quality.

[0041] The traction unit 5 is specifically a hook connected to an external traction rope, and is used to pull back the inspection equipment through the traction rope in a fault state;

[0042] See also Figure 6 and Figure 7As shown: the central control body 1 includes a rear body 11, a protective cover 12, a front body 13, a first movable plate 14, a second movable plate 15, a second linear drive 16, a control unit 17, a second hinge seat 18 and a third hinge seat 19; the central control body 1 is composed of a rear body 11, a protective cover 12 and a front body 13 connected in sequence, wherein the protective cover 12 is provided with a first movable plate 14 and a second movable plate 15 that can be flipped toward each other on both sides, and two sets of second movable plates 14 and 15 that can drive the first movable plate 14 and the second movable plate 15 to flip toward each other. Two linear drives 16; the non-driving ends of the two groups of second linear drives 16 are hinged to the second hinge seats 18 fixedly arranged on the inner wall of the protective cover shell 12; the driving ends of the two groups of second linear drives 16 are respectively hinged to two groups of third hinge seats 19 fixedly arranged on the inner walls of the first movable plate 14 and the second movable plate 15, and the two groups of third hinge seats 19 are respectively arranged near the free ends of the first movable plate 14 and the second movable plate 15; the control unit 17 is fixedly arranged in the protective cover shell 12 and centrally arranged in the middle of the protective cover shell 12.

[0043] The control unit 17 is used to control the operation of the device and send and receive operation instructions;

[0044] The second linear drive 16 is specifically an electric push rod;

[0045] When the first movable plate 14 and the second movable plate 15 need to be adjusted, the two sets of second linear drivers 16 are driven to work synchronously by connecting to an external power supply, so as to drive the first movable plate 14 and the second movable plate 15 to move closer or farther away from each other. In this way, the angle between the left guide unit 22 and the right guide unit 23 can be expanded or contracted. This design enables the left guide unit 22 and the right guide unit 23 to freely adjust spaces of different sizes according to the needs of the actual detection environment, so that cables can pass smoothly, and is particularly suitable for inspection operations in various complex pipeline environments.

[0046] By providing the adjustable first movable plate 14 and the second movable plate 15, and in combination with the electric push rod drive design, the angle between the left guide unit 22 and the right guide unit 23 can be precisely adjusted. Compared with the traditional fixed setting, this design greatly improves the adaptability of the inspection vehicle in various pipeline environments, ensuring that it can be adjusted according to the actual layout of the cables, avoiding direct contact between the cables and the left guide unit 22 and the right guide unit 23.

[0047] See also Figure 8 As shown, the obstacle avoidance guidance module 6 includes an obstacle avoidance plate 61 capable of avoiding foreign objects in the travel path and a third linear drive 62 for driving the obstacle avoidance plate 61 to adjust.

[0048] The obstacle avoidance guide modules 6 are arranged in two groups, and are respectively installed at the front ends of the left guide unit 22 and the right guide unit 23 in the traveling direction.

[0049] The obstacle avoidance guide module 6 also includes a mounting frame 68, and the third linear drive 62 is fixedly connected to the first movable plate 14 through the mounting frame 68 and is arranged at the first movable plate 14 near the front end of the hollow body. Therefore, when the first movable plate 14 is tilted, the obstacle avoidance guide module 6 can act synchronously, so that it can continuously guide and avoid obstacles according to the movement path of the left guide unit 22, and avoid the contact or collision between the cable or other obstacles and the left guide unit 22. In addition, the third linear drive 62 is designed to adjust the distance between the obstacle avoidance plate 61 and the bottom of the pipe, so as to achieve the effect of smoothing and pressing obstacle avoidance at different strokes.

[0050] By arranging the obstacle avoidance guide module 6 at the front end of the left guide unit 22 and the right guide unit 23, and cooperating with the third linear drive 62 to adjust the distance between the obstacle avoidance plate 61 and the bottom of the pipeline, it is possible to effectively avoid obstacles in the path of the inspection vehicle, ensuring that the inspection vehicle travels smoothly in the pipeline. The intelligence and adaptability of the inspection equipment are improved, and interference with the inspection equipment caused by foreign objects or misplaced cables is avoided.

[0051] Furthermore, since the obstacle avoidance guide module 6 is provided with two groups, and the obstacle avoidance plates 61 in the two groups of obstacle avoidance guide modules 6 can be arranged vertically close to or away from the bottom of the pipe under the drive of the third linear driver 62, in the initial adjustment state, the two groups of obstacle avoidance plates 61 are respectively driven by the third linear driver 62 to extend to the maximum stroke, and the two groups of obstacle avoidance plates 61 arranged in an eight-shaped shape are used to crawl on the cable to replace the left guide unit 22 and the right guide unit 23 for support. At this time, the support stroke of the left guide unit 22 and the right guide unit 23 is adjusted to contact the inner wall of the pipe, and finally the two groups of obstacle avoidance plates 61 are retracted, so as to achieve a rapid adjustment effect of the inspection equipment. Similarly, when the position of the hollow body needs to be adjusted during the inspection process, the aforementioned operation method can also be used to achieve the purpose of adjusting the travel position of the central control body 1.

[0052] By providing the obstacle avoidance guidance module 6, the problem of the inspection vehicle getting stuck when encountering protrusions, foreign objects or cables inside the pipeline is avoided; the obstacle avoidance guidance module 6 can adjust the travel path of the inspection vehicle in real time, and through the cooperation of the guide part 63 and the pressure-guiding part 64, the foreign objects or cables are returned to their original positions, thereby ensuring the smooth progress of the inspection; compared with the fixed-mode inspection vehicle in the prior art, the present invention can avoid obstacles more efficiently and reduce the need for human intervention.

[0053] See also Figure 8As shown: the obstacle avoidance plate 61 includes a guiding portion 63, a pressure-guiding portion 64, a guide rod 65 and a mounting frame 68; the guiding portion 63 is fixedly connected to the first movable plate 14 through the mounting frame 68, and is arranged at one end close to the front body 13; the pressure-guiding portion 64 is fixedly arranged at the front end of the guiding portion 63 in an inclined state; a guide rod 65 is also vertically arranged on the upper surface of the guiding portion 63, and the rod portion of the guide rod 65 passes through the mounting frame 68 and slidably cooperates with the mounting frame 68.

[0054] The pressure-guiding portion 64 is used to press obstacles or cables in the pipeline while the inspection vehicle is moving forward, pressing them toward the cable while continuously guiding them in cooperation with the guiding portion 63 until the inspection equipment as a whole passes through the obstacle, thereby avoiding the cables from affecting the movement of the inspection equipment and avoiding the obstacles from contacting and entangled with the left guide unit 22 and the right guide unit 23, thereby causing technical problems such as failure of the left guide unit 22 or the right guide unit 23.

[0055] See also Figure 8 As shown: a telescopic frame 66 and a fourth linear driver 67 capable of driving the telescopic frame 66 to telescope are also provided on the side of the obstacle avoidance plate 61 close to the inner wall of the pipe; the telescopic frame 66 is horizontally slidably arranged on the obstacle avoidance plate 61 and is arranged on the side of the obstacle avoidance plate 61 close to the inner wall of the pipe; the fourth linear driver 67 is horizontally fixedly arranged on the mounting frame 68 and the driving end is arranged toward the telescopic frame 66, and the driving shaft of the fourth linear driver 67 is fixedly connected to the protrusion fixedly arranged on the telescopic frame 66.

[0056] In order to avoid scraping between the synchronously driven obstacle avoidance plate 61 and the inner wall of the pipe during the tilt adjustment of the first movable plate 14 and the second movable plate 15, and to be able to fully cover the travel paths of the left guide unit 22 and the right guide unit 23 after the first movable plate 14 and the second movable plate 15 are adjusted to the corresponding positions, so as to achieve the effect of guiding and avoiding obstacles, it is only necessary to drive the fourth linear drive 67 to operate when the first movable plate 14 and the second movable plate 15 are adjusted, so that the telescopic frame 66 is retracted toward the direction of the obstacle avoidance plate 61, and after the first movable plate 14 and the second movable plate 15 are adjusted to the corresponding positions, drive the telescopic frame 66 to extend toward the side away from the telescopic frame 66.

[0057] See also Figure 6 As shown: the upper guide unit 21 also includes two groups of first linear drivers 213 that can respectively drive the first adjustment frame 211 and the second adjustment frame 212 to radially adjust; the hinged ends of the first adjustment frame 211 and the second adjustment frame 212 are hinged to the first hinge seat 214 fixedly arranged outside the central control body 1; the adjustment ends of the first adjustment frame 211 and the second adjustment frame 212 are respectively hinged to the driving ends of the two groups of first linear drivers 213.

[0058] The non-working ends of the two groups of first linear actuators 213 are both hinged to the first hinge seat 214;

[0059] When the first adjustment frame 211 and the second adjustment frame 212 need to be adjusted to adapt to pipes of different diameters, it is only necessary to drive the two sets of first linear actuators 213 through an external power supply. At this time, the output shafts of the first linear actuators 213 will be synchronously extended and retracted according to the control instructions, driving the adjustment ends of the first adjustment frame 211 and the second adjustment frame 212 to radially approach or move away from the inner wall of the pipe, thereby realizing adaptive adjustment of pipes of different diameters.

[0060] Furthermore, since the adjustment module 2 is provided with multiple groups, each group is composed of two first adjustment frames 211 and second adjustment frames 212 that can be independently adjusted radially. This design allows that during the inspection in the pipeline, if one side encounters an obstacle or foreign matter, the first adjustment frame 211 or the second adjustment frame 212 can be unidirectionally retracted to achieve a local obstacle crossing effect, ensuring that the central control vehicle body 1 can flexibly cross the obstacle. At the same time, since this adjustment will not affect the overall operating state of the central control vehicle body 1, it can ensure the stable movement of the inspection vehicle in the pipeline.

[0061] By designing multiple sets of first adjustment frames 211 and second adjustment frames 212, combined with the radial adjustment function of the first linear drive 213, the inspection vehicle can automatically adapt to different diameters of the pipeline, ensuring smooth travel in various pipelines; compared with the traditional inspection vehicle that can only walk along the bottom of the pipeline, the inspection vehicle of the present invention can achieve multi-directional top support adjustment through the adjustment module 2, and its adaptability is significantly enhanced. It ensures the efficient application of the equipment in a variety of working environments. Especially when encountering a single-sided obstacle, by adjusting the first adjustment frame 211 or the second adjustment frame 212 separately, flexible obstacle crossing is achieved to avoid interference with the inspection task.

[0062] See also Figure 5 As shown: the driving module 3 includes a servo motor 31, a mounting seat 32, a roller 33 and a reduction assembly 34. The servo motor 31 is fixedly mounted on the adjustment end of the adjustment module 2 through the mounting seat 32; a roller 33 is also rotatably arranged at the front end of the mounting seat 32; the roller 33 is transmission-connected to the output end of the servo motor 31 fixedly arranged in the mounting seat 32 through the reduction assembly 34; the reduction assembly 34 is composed of a plurality of gear sets meshingly connected in sequence, and the reduction assembly 34 is used to amplify the output torque of the servo motor 31.

[0063] The deceleration assembly 34 is specifically composed of a plurality of gear sets for amplifying the output torque of the servo motor 31;

[0064] The roller 33 is connected to the output end of the servo motor 31 through the reduction assembly 34, ensuring that the movement speed and force of the roller 33 can be achieved through the precise control of the servo motor 31, so that the inspection vehicle can move at a stable speed in the pipeline; through this driving method, the power of the servo motor 31 is transmitted to the roller 33, driving the inspection vehicle to move forward or adjust its direction along a specified route in the pipeline; the addition of the reduction assembly 34 can not only effectively adjust the rotation speed of the roller 33, but also amplify the torque output by the servo motor 31, ensuring that the inspection vehicle has sufficient power to move in complex terrain.

[0065] See also Figure 5 As shown: the roller 33 is specifically a rubber composite roller.

[0066] By using a rubber composite roller, it can be ensured that the roller 33 can adapt to the arc structure of the inner wall of the pipe when in contact with the inner wall of the pipe, achieving a close fit effect; because the rubber composite roller can provide a soft outer layer, it can adapt to the arc shape of the inner wall of the pipe when in contact with the inner wall of the pipe. At the same time, the inner layer uses a material with a higher hardness to ensure that it still has a good load-bearing capacity under high-intensity working conditions. This allows the vehicle body to crawl through the pipe in a stable posture.

[0067] See also Figure 6 As shown: the inspection module 4 includes a radial scanning camera 41 and a fixing frame 42, and the radial scanning camera 41 is coaxially fixed to the front end of the central control vehicle body 1 through the fixing frame 42. The radial scanning camera 41 is a prior art and will not be described in detail here;

[0068] The radial scanning camera 41 can perform an all-round scan of the inner wall of the pipeline at a 360-degree angle during the movement of the central control vehicle 1, so as to realize a comprehensive inspection of the inside of the pipeline; the coaxial fixing setting of the fixing frame 42 ensures that the radial scanning camera 41 is in the best position at the front end of the central control vehicle 1, so that it can stably and accurately capture the conditions inside the pipeline, and transmit real-time images to the controller through the radial scanning camera 41; by using the radial scanning camera 41 to perform a comprehensive scan inside the pipeline, the inspection efficiency can be effectively improved and the integrity and accuracy of the inspection can be ensured.

[0069] See also Figure 1 and Figure 5 As shown, the inspection module 4 also includes a lighting element 43 embedded in a fixing frame 42 for illuminating the inside of the pipeline.

[0070] The lighting element 43 is specifically a light bulb, preferably a light ring, for circumferentially illuminating the interior of the pipeline;

[0071] By installing the lighting element 43 on the fixed frame 42, the problem of insufficient ambient light in the pipeline is solved, ensuring that the inspection module 4 can work normally under any lighting conditions. It not only saves space, but also improves the overall structural strength of the equipment, making the lighting element 43 and the inspection module 4 more compact, and effectively reducing the inspection error caused by the shaking of the equipment, thereby achieving a more stable and accurate pipeline detection effect.

[0072] The present invention can not only inspect wired cables but also automatically adjust the space for cables to pass through and the equipment inspection position according to the inspection space.

[0073] The above embodiments only express one or several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. An intelligent power cable pipeline inspection vehicle, characterized in that: The invention comprises a central control body (1), an adjustment module (2) arranged outside the central control body (1), and a drive module (3) arranged at the adjustment end of the adjustment module (2); the adjustment module (2) comprises an upper guide unit (21), a left guide unit (22), and a right guide unit (23) arranged along the axis direction of the central control body (1); the upper guide unit (21), the left guide unit (22), and the right guide unit (23) respectively support the central control body (1) in the radial direction; a guide member for supporting the pipeline is arranged near the front end of the central control body (1) An inspection module (4) for internal inspection; a traction unit (5) is arranged at the rear end of the central control vehicle body (1) relative to the inspection module (4); an obstacle avoidance guide module (6) capable of guiding the walking trajectories of the left guide unit (22) and the right guide unit (23) is also fixedly arranged outside the central control vehicle body (1); the upper guide unit (21) is provided with a first adjustment frame (211) and a second adjustment frame (212) capable of radially approaching or moving away from the inner wall of the pipeline, and the first adjustment frame (211) and the second adjustment frame (212) are arranged in a cross-like manner; The central control vehicle body (1) comprises a rear vehicle body (11), a protective cover shell (12), a front vehicle body (13), a first movable plate (14), a second movable plate (15), a second linear drive (16), a control unit (17), a second hinge seat (18) and a third hinge seat (19); the central control vehicle body (1) is composed of a rear vehicle body (11), a protective cover shell (12) and a front vehicle body (13) connected in sequence, wherein a first movable plate (14) and a second movable plate (15) capable of flipping towards each other are provided on both sides of the protective cover shell (12), and a control unit (17) capable of driving the first movable plate (14) and the second movable plate (15) to flip towards each other. two sets of second linear drivers (16); the non-driving ends of the two sets of second linear drivers (16) are hinged to second hinge seats (18) fixedly arranged on the inner wall of the protective cover shell (12); the driving ends of the two sets of second linear drivers (16) are respectively hinged to two sets of third hinge seats (19) fixedly arranged on the inner walls of the first movable plate (14) and the second movable plate (15), and the two sets of third hinge seats (19) are respectively arranged near the free ends of the first movable plate (14) and the second movable plate (15); the control unit (17) is fixedly arranged in the protective cover shell (12) and centrally arranged in the middle of the protective cover shell (12); The obstacle avoidance guidance module (6) comprises an obstacle avoidance plate (61) capable of avoiding foreign objects in the travel path, and a third linear drive (62) for driving the obstacle avoidance plate (61) to adjust; The obstacle avoidance plate (61) comprises a guide portion (63), a pressure guiding portion (64), a guide rod (65) and a mounting frame (68); the guide portion (63) is fixedly connected to the first movable plate (14) via the mounting frame (68) and is arranged at one end close to the front vehicle body (13); the pressure guiding portion (64) is fixedly arranged at the front end of the guide portion (63) in an inclined state; a guide rod (65) is also vertically arranged on the upper surface of the guide portion (63), and the rod portion of the guide rod (65) passes through the mounting frame (68) and is slidably matched with the mounting frame (68).

2. The intelligent power cable pipeline inspection vehicle according to claim 1 is characterized in that: A telescopic frame (66) and a fourth linear driver (67) capable of driving the telescopic frame (66) to telescope are also provided on a side of the obstacle avoidance plate (61) close to the inner wall of the pipe; the telescopic frame (66) is horizontally slidably arranged on the obstacle avoidance plate (61) and is arranged on a side of the obstacle avoidance plate (61) close to the inner wall of the pipe; the fourth linear driver (67) is horizontally fixedly arranged on the mounting frame (68) and the driving end is arranged toward the telescopic frame (66); the driving shaft of the fourth linear driver (67) is fixedly connected to a protrusion fixedly arranged on the telescopic frame (66).

3. The intelligent power cable pipeline inspection vehicle according to claim 1 is characterized in that: The upper guide unit (21) further comprises two groups of first linear drivers (213) capable of respectively driving the first adjustment frame (211) and the second adjustment frame (212) to adjust radially; the hinged ends of the first adjustment frame (211) and the second adjustment frame (212) are hingedly connected to a first hinged seat (214) fixedly arranged outside the central control vehicle body (1); and the adjustment ends of the first adjustment frame (211) and the second adjustment frame (212) are respectively hingedly connected to the driving ends of the two groups of first linear drivers (213).

4. The intelligent power cable pipeline inspection vehicle according to claim 1 is characterized in that: The driving module (3) comprises a servo motor (31), a mounting seat (32), a roller (33) and a reduction assembly (34); the servo motor (31) is fixedly mounted on the adjustment end of the adjustment module (2) via the mounting seat (32); a roller (33) is rotatably arranged at the front end of the mounting seat (32); the roller (33) is transmission-connected to the output end of the servo motor (31) fixedly arranged in the mounting seat (32) via the reduction assembly (34); the reduction assembly (34) is composed of a plurality of gear groups meshed in sequence, and the reduction assembly (34) is used to amplify the output torque of the servo motor (31).

5. The intelligent power cable pipeline inspection vehicle according to claim 4 is characterized in that: The roller (33) is specifically a rubber composite roller.

6. The intelligent power cable pipeline inspection vehicle according to claim 1 is characterized in that: The inspection module (4) comprises a radial scanning camera (41) and a fixing frame (42), wherein the radial scanning camera (41) is coaxially fixedly arranged at the front end of the central control vehicle body (1) via the fixing frame (42).

7. The intelligent power cable pipeline inspection vehicle according to claim 6 is characterized in that: The inspection module (4) further comprises a lighting element (43) embedded in the fixing frame (42).

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