Pipeline detection crawler

Abstract

The invention discloses a pipeline detection crawl device which comprises a front section frame, a middle section frame and a rear section frame. In the using process of the pipeline detection crawl device, a first-stage top walking wheel and a second-stage top walking wheel at the top of a front auxiliary plate and the top of a rear auxiliary plate are attached to the top area of the inner wall of a pipeline; therefore, in the crawling process of the crawler, first-stage bottom walking wheels and second-stage bottom walking wheels are matched to guarantee stability of the crawler, the detection effect of a front-section detection probe and a rear-section detection probe is guaranteed, synchronous action of an electric rotating arm and an electric driving shaft can be driven, middle-section walking wheels are unfolded to be attached to the inner wall of a pipeline, and the pipeline is protected. Therefore, position calibration is carried out from the two sides of the crawler at the same time, the supporting distances between the two sides of the crawler are the same, it is guaranteed that the first-stage bottom walking wheel and the second-stage bottom walking wheel are balanced, and the image shooting effect of the front-section detection probe and the rear-section detection probe is further guaranteed.

Description

Technical Field

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

[0002] The pipe testing items include: density, melt mass flow rate, hydrostatic pressure, ring stiffness, flatness, ring flexibility, thermal stability, volatile matter content, moisture content, carbon black content, carbon black dispersion, pigment dispersion, resistance to gas components, resistance to rapid crack growth, component analysis, component content detection, etc.

[0003] Pipeline Crawler ,crawl , magnetic positioning , command receiving and analysis system. The X-ray machine is on a small carriage with an electromechanical structure. The control device completes the actions of forward, exposure, and backward movement inside the pipeline, thereby completing the circumferential exposure detection of the pipeline girth weld.

[0004] In the prior art, a pipeline inspection crawler disclosed in the publication number "CN113685656B" includes a walking mechanism, a camera group arranged at one end of the walking mechanism, and a cleaning mechanism arranged at one end of the walking mechanism away from the camera group, the walking mechanism includes a walking bracket in the middle and walking legs arranged circumferentially at the side ends of the walking bracket, the walking legs are rotatably provided with walking wheels abutting against the inner wall of the pipeline at one end away from the walking bracket, the cleaning mechanism includes a cleaning spindle coaxially rotatably provided at one end of the walking bracket, a connecting rod arranged at the side end of the cleaning spindle, and a cleaning bin arranged at the end of the connecting rod away from the cleaning spindle, a cleaning cavity is provided in the middle of the cleaning bin, a collecting port is provided at the side end of the cleaning bin, and a cleaning shovel abutting against the inner wall of the pipeline is provided at the collecting port of the cleaning bin. The present application has the characteristics of clear shooting effect and convenient use of the crawler.

[0005] However, the existing technology still has major deficiencies, such as:

[0006] In the above-mentioned device and the prior art, when conducting internal inspection of the pipeline, a crawler that is smaller than the inner diameter of the pipeline is usually selected for crawling inspection. The smaller crawler has fewer contact points with the inner side of the pipe wall when crawling, resulting in high-frequency shaking of the crawler when walking. Excessive shaking of the crawler will cause image distortion, making it difficult to effectively detect the true condition of the inner wall of the pipeline, affecting the pipeline inspection effect. Summary of the invention

[0007] The object of the present invention is to provide a pipeline inspection crawler to solve the problems raised in the above background technology.

[0008] To achieve the above object, the present invention provides the following technical solution: a pipeline detection crawler, comprising a front section frame, a middle section frame and a rear section frame, wherein the front section frame and the rear section frame are respectively installed at two ends of the middle section frame, a front section detection probe is installed on the surface of the front section frame, and a rear section detection probe is installed on the surface of the rear section frame;

[0009] A pipeline detection front section creeping stabilization unit, which is arranged in the front section frame area and is used to realize the normal walking function of the front section frame and improve the stability of the front section frame area during the creeping process;

[0010] The pipeline detection rear section creeping stabilization unit is arranged in the rear section frame area, and is used to realize the normal walking function of the rear section frame, and at the same time cooperate with the front section frame to improve the stability of the rear section frame area during the crawling process.

[0011] Preferably, the pipeline detection front-section crawling stabilization unit includes a first-level bottom movable frame, a first-level bottom guide rail is embedded in the bottom of the front-section frame, the first-level bottom guide rails are arranged in several groups at intervals, the first-level bottom movable frame is arranged in two groups, one group of the first-level bottom movable frames is fixedly installed at the bottom of the front-section frame away from the middle-section frame, one group of the first-level bottom movable frames has a first-level movable frame installed on the top, the first-level movable frame is installed on the moving end of the first-level bottom guide rail, a first-level counterweight frame is installed at the bottom of the first-level bottom movable frame, a first-level counterweight block is installed on the first-level counterweight frame, first-level servo motors are installed at both ends of the first-level bottom movable frame, and first-level bottom walking wheels are installed on the rotating end of the first-level servo motor.

[0012] Preferably, the pipeline detection rear-section crawling stabilization unit includes a secondary bottom movable frame, a secondary bottom guide rail is embedded in the bottom of the rear-section frame, the secondary bottom guide rails are arranged in several groups at intervals, the secondary bottom movable frame is arranged in two groups, one group of the secondary bottom movable frames is fixedly installed at the bottom of the rear-section frame away from the middle-section frame, and one group of the secondary bottom movable frames is provided with a secondary movable frame installed on the top, the secondary movable frame is installed on the moving end of the secondary bottom guide rail, a secondary counterweight frame is installed at the bottom of the secondary bottom movable frame, a secondary counterweight block is installed on the secondary counterweight frame, secondary servo motors are installed at both ends of the secondary bottom movable frame, and secondary bottom walking wheels are installed on the rotating end of the secondary servo motor.

[0013] Preferably, the tops of the front section frame and the rear section frame are provided with pipeline inner wall crawling lateral guiding stabilizing units.

[0014] Preferably, the pipeline inner wall crawling lateral guiding stabilizing unit includes a front section guiding part, the front section guiding part includes a front auxiliary plate, a first-level cylinder is installed on the top of the front section frame, the front auxiliary plate is installed on the moving end of the first-level cylinder, a first-level top guide rail is embedded and installed at intervals on the surface of the front auxiliary plate, a first-level fixed frame is fixedly installed on the top of the front auxiliary plate, a front section slider is installed on the moving end of the first-level top guide rail, a first-level movable frame is arranged on the top of the front section slider, a first-level balancing frame is installed on the surface of the first-level fixed frame and the first-level movable frame, a first-level balancing instrument is symmetrically installed on the surface of the first-level balancing frame, and first-level top walking wheels are symmetrically installed at both ends of the first-level movable frame.

[0015] Preferably, the front section guide part also includes a first-level rotating block, first-level mounting grooves are provided at both ends of the first-level fixed frame, a first-level stepping motor is installed on the first-level fixed frame, the first-level rotating block is installed on the rotating end of the first-level stepping motor, a first-level movable arm is installed on the surface of the first-level rotating block, and a first-level lateral walking wheel is installed at a section of the first-level movable arm away from the first-level mounting groove.

[0016] Preferably, the pipeline inner wall crawling lateral guiding stabilization unit also includes a rear section guiding part, the rear section guiding part includes a rear auxiliary plate, a secondary cylinder is installed on the top of the rear section frame, the rear auxiliary plate is installed on the moving end of the secondary cylinder, a secondary top guide rail is embedded and installed at intervals on the surface of the rear auxiliary plate, a secondary fixed frame is fixedly installed on the top of the rear auxiliary plate, a rear section slider is installed on the moving end of the secondary top guide rail, a secondary movable frame is arranged on the top of the rear section slider, secondary balancing frames are installed on the surface of the secondary fixed frame and the secondary movable frame, secondary balancing instruments are symmetrically installed on the surface of the secondary balancing frame, and secondary top walking wheels are symmetrically installed at both ends of the secondary movable frame.

[0017] Preferably, the rear section guide part also includes a secondary rotating block, secondary mounting grooves are provided at both ends of the secondary fixed frame, a secondary stepping motor is installed on the secondary fixed frame, the secondary rotating block is installed on the rotating end of the secondary stepping motor, a secondary movable arm is installed on the surface of the secondary rotating block, and a secondary lateral walking wheel is installed on the secondary movable arm away from the secondary mounting groove.

[0018] Preferably, a baffle plate is installed on the top of the middle section frame, a cover plate is arranged on the top of the baffle plate, and crawler middle section lateral crawling stabilization units are arranged on both sides of the baffle plate.

[0019] Preferably, the crawler mid-section lateral crawling stabilization unit includes a three-level top guide rail, and the three-level top guide rail is arranged in several groups, and the several groups of the three-level top guide rails are symmetrically embedded and installed on the top surface of the mid-section frame, and a mid-section movable block is installed on the moving end of the three-level top guide rail, and a mounting frame is arranged on the top of the mid-section movable block, and a fixed seat is installed inside the mounting frame, and an electric rotating arm is installed on the fixed seat, and an electric drive shaft is installed at one end of the electric rotating arm, and a mid-section walking wheel is installed on the rotating end of the electric drive shaft.

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

[0021] 1. When in use, due to the multiple sets of the first-stage bottom movable frame and the second-stage bottom movable frame, the contact area at the bottom of the inner wall of the front frame and the rear frame can be increased, thereby ensuring the crawling stability of the crawler;

[0022] 2. When in use, the primary bottom guide rail will drive multiple groups of primary bottom movable frames to unfold, and the secondary bottom guide rail will drive multiple groups of secondary bottom movable frames to unfold, thereby balancing the arrangement and distribution of the primary bottom running wheels and the secondary bottom running wheels at the bottom of the front frame and the rear frame, so that the primary bottom running wheels and the secondary bottom running wheels provide walking support for the bottom of the crawler, reducing the bumps during the crawling process of the crawler, thereby further ensuring the crawling stability of the crawler;

[0023] 3. When in use, the first-level top wheel and the second-level top wheel on the top of the front auxiliary plate and the rear auxiliary plate are attached to the top area of ​​the inner wall of the pipe, so as to cooperate with the first-level bottom wheel and the second-level bottom wheel to ensure the stability of the crawler during the crawling process, and ensure the detection effect of the front detection probe and the rear detection probe;

[0024] 4. When in use, the electric rotating arm and the electric driving shaft can be driven to move synchronously, so that the middle travel wheel is unfolded and fits to the inner wall of the pipe, so as to perform position calibration from both sides of the crawler at the same time. The support spacing on both sides of the crawler is the same, ensuring the balance of the first-level bottom travel wheel and the second-level bottom travel wheel at the bottom of the crawler, and further ensuring the image shooting effect of the front detection probe and the rear detection probe. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is an overall schematic diagram of the device of the present invention;

[0026] Figure 2 It is a schematic diagram of the middle section of the frame of the present invention;

[0027] Figure 3 It is a schematic diagram of the front auxiliary plate part of the present invention;

[0028] Figure 4 It is a schematic diagram of the rear auxiliary plate part of the present invention;

[0029] Figure 5 It is a schematic diagram of the primary fixed frame part in the present invention;

[0030] Figure 6 It is a partial schematic diagram of the primary bottom guide rail and the secondary bottom guide rail in the present invention;

[0031] Figure 7 It is a schematic diagram of the first-level bottom movable frame part of the present invention;

[0032] Figure 8 It is a schematic diagram of the secondary fixed frame part of the present invention;

[0033] Fig. 9 It is a schematic diagram of the secondary bottom movable frame part.

[0034] In the figure: 1, front section frame; 11, front section detection probe; 12, first-stage cylinder; 13, first-stage bottom rail; 2, middle section frame; 21, third-stage top rail; 22, middle section movable block; 23, mounting frame; 24, fixing seat; 25, electric rotating arm; 26, electric drive shaft; 27, middle section running wheel; 28, blocking plate;

[0035] 3. Rear frame; 31. Rear detection probe; 32. Secondary cylinder; 33. Secondary bottom rail; 4. Front auxiliary plate; 41. Primary top rail; 42. Front slider; 43. Primary fixed frame; 431. Primary mounting slot; 432. Primary rotating block; 433. Primary movable arm; 434. Primary lateral travel wheel; 435. Primary stepping motor; 44. Primary movable frame; 441. Primary top travel wheel; 45. Primary balance frame; 46. Primary balancer; 5. Cover plate; 6. Rear auxiliary plate; 61. Secondary top rail; 62. Rear slider; 63. Secondary fixed frame; 631. Secondary mounting slot; 632, secondary rotating block; 633, secondary movable arm; 634, secondary lateral traveling wheel; 635, secondary stepping motor; 64, secondary movable frame; 641, secondary top traveling wheel; 65, secondary balancing frame; 66, secondary balancing instrument; 7, primary bottom movable frame; 71, primary movable frame; 72, primary counterweight frame; 73, primary counterweight block; 74, primary servo motor; 75, primary bottom traveling wheel; 8, secondary bottom movable frame; 81, secondary movable frame; 82, secondary counterweight frame; 83, secondary counterweight block; 84, secondary servo motor; 85, secondary bottom traveling wheel. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] See also Figure 1-9 , the present invention provides a technical solution:

[0038] Embodiment 1: A pipeline detection crawler: comprising a front section frame 1, a middle section frame 2 and a rear section frame 3, wherein the front section frame 1 and the rear section frame 3 are respectively mounted at two ends of the middle section frame 2, a front section detection probe 11 is mounted on the surface of the front section frame 1, and a rear section detection probe 31 is mounted on the surface of the rear section frame 3;

[0039] Pipeline detection front section creeping stabilization unit, the pipeline detection front section creeping stabilization unit is arranged in the front section frame 1 area, used to realize the normal walking function of the front section frame 1, and at the same time improve the stability of the front section frame 1 area during the creeping process;

[0040] The pipeline detection front-end crawling stabilization unit includes a first-level bottom movable frame 7, a first-level bottom guide rail 13 is embedded in the bottom of the front-end frame 1, the first-level bottom guide rails 13 are arranged in several groups at intervals, and the first-level bottom movable frame 7 is arranged in two groups. One group of first-level bottom movable frames 7 is fixedly installed at the bottom of the front-end frame 1 away from the middle frame 2, and a first-level movable frame 71 is installed on the top of one group of first-level bottom movable frames 7. The first-level movable frame 71 is installed on the moving end of the first-level bottom guide rail 13, a first-level counterweight frame 72 is installed at the bottom of the first-level bottom movable frame 7, and a first-level counterweight block 73 is installed on the first-level counterweight frame 72. First-level servo motors 74 are installed at both ends of the first-level bottom movable frame 7, and first-level bottom walking wheels 75 are installed on the rotating end of the first-level servo motor 74.

[0041] In this embodiment, the operator can drive the primary servo motor 74 and the secondary servo motor 84 installed on the primary bottom movable frame 7 and the secondary bottom movable frame 8, so that the primary servo motor 74 and the secondary servo motor 84 synchronously drive the primary bottom walking wheel 75 and the secondary bottom walking wheel 85 to move. At the same time, due to the multiple groups of the primary bottom movable frame 7 and the secondary bottom movable frame 8, the contact area at the bottom of the inner wall of the front section frame 1 and the rear section frame 3 can be increased, thereby ensuring the crawling stability of the crawler.

[0042] Pipeline detection rear section creeping stabilization unit, the pipeline detection rear section creeping stabilization unit is arranged in the rear section frame 3 area, used to realize the normal walking function of the rear section frame 3, and at the same time cooperate with the front section frame 1 to improve the stability of the rear section frame 3 area during the creeping process;

[0043] The pipeline detection rear section creeping stabilization unit includes a secondary bottom movable frame 8, a secondary bottom guide rail 33 is embedded in the bottom of the rear section frame 3, the secondary bottom guide rails 33 are arranged in several groups at intervals, and the secondary bottom movable frame 8 is arranged in two groups. One group of secondary bottom movable frames 8 is fixedly installed at the bottom of the rear section frame 3 away from the middle section frame 2, and a secondary movable frame 81 is installed on the top of one group of secondary bottom movable frames 8. The secondary movable frame 81 is installed on the moving end of the secondary bottom guide rail 33, a secondary counterweight frame 82 is installed at the bottom of the secondary bottom movable frame 8, and a secondary counterweight block 83 is installed on the secondary counterweight frame 82. Secondary servo motors 84 are installed at both ends of the secondary bottom movable frame 8, and secondary bottom walking wheels 85 are installed on the rotating end of the secondary servo motor 84.

[0044] In this embodiment, when the primary bottom running wheels 75 and the secondary bottom running wheels 85 are moving, when the primary bottom running wheels 75 and the secondary bottom running wheels 85 are bumped, the primary balancer 46 and the secondary balancer 66 installed on the surface of the primary balance frame 45 and the secondary balance frame 65 will transmit a bump signal, and then the primary bottom guide rails 13 and the secondary bottom guide rails 33 installed at the bottom of the front section frame 1 and the rear section frame 3 can be operated to move, and the primary bottom guide rails 13 will drive multiple groups of primary bottom movable frames 7 to unfold, and the secondary bottom guide rails 33 will drive multiple groups of secondary bottom movable frames 8 to unfold, thereby balancing the arrangement and distribution of the primary bottom running wheels 75 and the secondary bottom running wheels 85 at the bottom of the front section frame 1 and the rear section frame 3, so that the primary bottom running wheels 75 and the secondary bottom running wheels 85 support the bottom of the crawler for walking, reduce the bumps during the crawling process of the crawler, and further ensure the crawling stability of the crawler.

[0045] The tops of the front section frame 1 and the rear section frame 3 are provided with pipeline inner wall crawling lateral guiding stabilizing units.

[0046] The pipeline inner wall crawling lateral guiding stabilizing unit includes a front section guiding part, which includes a front auxiliary plate 4, a first-stage cylinder 12 is installed on the top of the front section frame 1, the front auxiliary plate 4 is installed on the moving end of the first-stage cylinder 12, a first-stage top guide rail 41 is embedded and installed at intervals on the surface of the front auxiliary plate 4, a first-stage fixed frame 43 is fixedly installed on the top of the front auxiliary plate 4, a front section slider 42 is installed on the moving end of the first-stage top guide rail 41, a first-stage movable frame 44 is arranged on the top of the front section slider 42, a first-stage balancing frame 45 is installed on the surface of the first-stage fixed frame 43 and the first-stage movable frame 44, a first-stage balancing instrument 46 is symmetrically installed on the surface of the first-stage balancing frame 45, and first-stage top walking wheels 441 are symmetrically installed at both ends of the first-stage movable frame 44.

[0047] The front guide part also includes a first-stage rotating block 432, first-stage mounting grooves 431 are provided at both ends of the first-stage fixed frame 43, a first-stage stepping motor 435 is installed on the first-stage fixed frame 43, the first-stage rotating block 432 is installed on the rotating end of the first-stage stepping motor 435, a first-stage movable arm 433 is installed on the surface of the first-stage rotating block 432, and a first-stage lateral walking wheel 434 is installed at a section of the first-stage movable arm 433 away from the first-stage mounting groove 431.

[0048] The pipeline inner wall crawling lateral guiding stabilization unit also includes a rear section guiding part, which includes a rear auxiliary plate 6, a secondary cylinder 32 is installed on the top of the rear section frame 3, the rear auxiliary plate 6 is installed on the moving end of the secondary cylinder 32, a secondary top guide rail 61 is embedded and installed at intervals on the surface of the rear auxiliary plate 6, a secondary fixed frame 63 is fixedly installed on the top of the rear auxiliary plate 6, a rear section slider 62 is installed on the moving end of the secondary top guide rail 61, a secondary movable frame 64 is arranged on the top of the rear section slider 62, secondary balancing frames 65 are installed on the surface of the secondary fixed frame 63 and the secondary movable frame 64, secondary balancing instruments 66 are symmetrically installed on the surface of the secondary balancing frame 65, and secondary top walking wheels 641 are symmetrically installed at both ends of the secondary movable frame 64.

[0049] The rear guide part also includes a secondary rotating block 632, secondary mounting grooves 631 are provided at both ends of the secondary fixed frame 63, a secondary stepping motor 635 is installed on the secondary fixed frame 63, the secondary rotating block 632 is installed on the rotating end of the secondary stepping motor 635, a secondary movable arm 633 is installed on the surface of the secondary rotating block 632, and a secondary lateral walking wheel 634 is installed at a section of the secondary movable arm 633 away from the secondary mounting groove 631.

[0050] In this embodiment, the first-level stepper motor 435 and the second-level stepper motor 635 installed on the first-level fixed frame 43 and the second-level fixed frame 63 are moved, and the first-level stepper motor 435 and the second-level stepper motor 635 will drive the first-level movable arm 433 and the second-level movable arm 633 to rotate and tilt toward the inner wall of the pipe. At this time, the first-level lateral walking wheel 434 and the second-level lateral walking wheel 634 installed on the first-level movable arm 433 and the second-level movable arm 633 will laterally fit against the inner wall of the pipe, thereby further improving the crawling stability effect of the crawler and further reducing the crawling bumps of the crawler.

[0051] Embodiment 2:

[0052] Based on the first embodiment, in this embodiment, it is considered that if the center position calibration cannot be performed after the crawler is placed inside the pipeline for crawling, the first-level bottom walking wheel 75 and the second-level bottom walking wheel 85 at the bottom of the crawler will tilt and shake during the walking process, thereby causing the front section detection probe 11 and the rear section detection probe 31 to detect image distortion problems. Therefore, in this embodiment, a lateral crawling stabilization unit is provided in the middle section of the crawler to avoid the above problems.

[0053] A baffle plate 28 is installed on the top of the middle section frame 2, a cover plate 5 is arranged on the top of the baffle plate 28, and both sides of the baffle plate 28 are provided with middle section lateral crawling stabilization units of the crawler.

[0054] The crawler mid-section lateral crawling stabilization unit includes a three-level top guide rail 21, which is arranged into several groups, and several groups of three-level top guide rails 21 are symmetrically embedded and installed on the top surface of the mid-section frame 2, and a mid-section movable block 22 is installed on the moving end of the three-level top guide rail 21, and a mounting frame 23 is arranged on the top of the mid-section movable block 22, and a fixed seat 24 is installed inside the mounting frame 23, and an electric rotating arm 25 is installed on the fixed seat 24, and an electric driving shaft 26 is installed at one end of the electric rotating arm 25, and a mid-section walking wheel 27 is installed on the rotating end of the electric driving shaft 26.

[0055] In this embodiment, the middle section movable block 22 is driven to move partially by the three-level top guide rail 21 installed in the middle section frame 2 area, so that the mounting frame 23 installed on the top of the middle section movable block 22 moves toward the inner wall of the pipe. As the mounting frame 23 moves continuously, the electric rotating arm 25 and the electric drive shaft 26 can be driven to move synchronously, so that the middle section running wheel 27 is unfolded and fits to the inner wall of the pipe, so that the position calibration is performed simultaneously from both sides of the crawler. The support spacing on both sides of the crawler is the same, ensuring that the first-level bottom running wheel 75 and the second-level bottom running wheel 85 at the bottom of the crawler are balanced, further ensuring the image shooting effect of the front section detection probe 11 and the rear section detection probe 31.

[0056] Working principle: During the use of the device, the inspector puts the crawler into the pipeline. At this time, the internal structures of the crawler are in the storage state. Then the operator can drive the primary servo motor 74 and the secondary servo motor 84 installed on the primary bottom movable frame 7 and the secondary bottom movable frame 8, so that the primary servo motor 74 and the secondary servo motor 84 synchronously drive the primary bottom walking wheel 75 and the secondary bottom walking wheel 85 to move. At the same time, due to the multiple sets of the primary bottom movable frame 7 and the secondary bottom movable frame 8, the contact area of ​​the bottom of the inner wall of the front section frame 1 and the rear section frame 3 can be increased;

[0057] When the primary bottom running wheel 75 and the secondary bottom running wheel 85 are moving, when the primary bottom running wheel 75 and the secondary bottom running wheel 85 region are bumped, the primary balancer 46 and the secondary balancer 66 installed on the surface of the primary balance frame 45 and the secondary balance frame 65 will transmit bumping signals, and then the primary bottom guide rails 13 and the secondary bottom guide rails 33 installed at the bottom of the front section frame 1 and the rear section frame 3 can be operated to move, and the primary bottom guide rails 13 will drive multiple groups of primary bottom movable frames 7 to unfold, and the secondary bottom guide rails 33 will drive multiple groups of secondary bottom movable frames 8 to unfold, thereby balancing the arrangement and distribution of the primary bottom running wheels 75 and the secondary bottom running wheels 85 at the bottom of the front section frame 1 and the rear section frame 3, so that the primary bottom running wheels 75 and the secondary bottom running wheels 85 support the bottom of the crawler for walking, thereby reducing the bumps during the crawling process of the crawler;

[0058] After the multiple groups of primary bottom movable frames 7 and secondary bottom movable frames 8 are unfolded, in order to avoid the problem of bumps caused by lack of support above the crawler, the front auxiliary plate 4 and the rear auxiliary plate 6 can be lifted upward by the primary cylinder 12 and the secondary cylinder 32 on the top of the front frame 1 and the rear frame 3, so that the primary top running wheels 441 and the secondary top running wheels 641 on the top of the front auxiliary plate 4 and the rear auxiliary plate 6 are attached to the top area of ​​the inner wall of the pipeline, thereby cooperating with the primary bottom running wheels 75 and the secondary bottom running wheels 85 to ensure the stability of the crawler during the crawling process of the crawler;

[0059] When the crawler is walking by the primary bottom walking wheel 75 and the secondary bottom walking wheel 85, the two sides of the crawler are not in contact with the inner wall of the pipeline for guidance. At this time, the crawler is not in the central area of ​​the inner wall of the pipeline. If the primary top walking wheel 441 and the secondary top walking wheel 641 are unfolded at this time, the primary top walking wheel 441 and the secondary top walking wheel 641 will be offset, and the crawler cannot be guaranteed to be on the inner wall of the pipeline, resulting in the tilting and shaking of the primary bottom walking wheel 75 and the secondary bottom walking wheel 85 at the bottom of the crawler, resulting in distortion of the detection images of the front section detection probe 11 and the rear section detection probe 31. The middle section movable block 22 is driven to move partially by the three-level top guide rail 21 installed in the middle section frame 2 area, so that the mounting frame 23 installed on the top of the middle section movable block 22 moves toward the inner wall of the pipeline. As the mounting frame 23 moves continuously, the electric rotating arm 25 and the electric drive shaft 26 can be driven to move synchronously, so that the middle section walking wheel 27 is unfolded and fits on the inner wall of the pipeline, thereby performing position calibration from both sides of the crawler at the same time, and the support spacing on both sides of the crawler is the same;

[0060] During the crawling process of the crawler, in order to further ensure the stability of the top of the front frame 1 and the rear frame 3, the first-level stepper motor 435 and the second-level stepper motor 635 installed on the first-level fixed frame 43 and the second-level fixed frame 63 can be driven to move. The first-level stepper motor 435 and the second-level stepper motor 635 will drive the first-level movable arm 433 and the second-level movable arm 633 to rotate and tilt toward the inner wall of the pipe. At this time, the first-level lateral walking wheel 434 and the second-level lateral walking wheel 634 installed on the first-level movable arm 433 and the second-level movable arm 633 will laterally fit against the inner wall of the pipe.

[0061] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A pipeline detection crawler, characterized by: The vehicle comprises a front section frame (1), a middle section frame (2) and a rear section frame (3), wherein the front section frame (1) and the rear section frame (3) are respectively mounted at two ends of the middle section frame (2), a front section detection probe (11) is mounted on the surface of the front section frame (1), and a rear section detection probe (31) is mounted on the surface of the rear section frame (3); A pipeline detection front section crawling stabilization unit, the pipeline detection front section crawling stabilization unit being arranged in the front section frame (1) region and being used to realize the normal walking function of the front section frame (1) and at the same time improve the stability of the front section frame (1) region during the crawling process; A pipeline detection rear section creeping stabilization unit, wherein the pipeline detection rear section creeping stabilization unit is arranged in the rear section frame (3) region and is used to realize the normal walking function of the rear section frame (3) and cooperate with the front section frame (1) to improve the stability of the rear section frame (3) region during the creeping process.

2. A pipeline inspection crawler according to claim 1, characterized in that: The pipeline detection front section crawling stabilization unit comprises a primary bottom movable frame (7), a primary bottom guide rail (13) is embedded in the bottom of the front section frame (1), the primary bottom guide rail (13) is arranged at intervals in a plurality of groups, the primary bottom movable frame (7) is arranged in two groups, one group of the primary bottom movable frames (7) is fixedly mounted at a section of the bottom of the front section frame (1) away from the middle section frame (2), the top of one group of the primary bottom movable frames (7) is mounted with a primary movable frame (71), the primary movable frame (71) is mounted on the moving end of the primary bottom guide rail (13), the bottom of the primary bottom movable frame (7) is mounted with a primary counterweight frame (72), the primary counterweight frame (72) is mounted with a primary counterweight block (73), both ends of the primary bottom movable frame (7) are mounted with primary servo motors (74), and the rotating end of the primary servo motor (74) is mounted with a primary bottom walking wheel (75).

3. A pipeline inspection crawler according to claim 2, characterized in that: The pipeline detection rear crawling stabilization unit comprises a secondary bottom movable frame (8), a secondary bottom guide rail (33) is embedded in the bottom of the rear frame (3), the secondary bottom guide rail (33) is arranged at intervals in a plurality of groups, the secondary bottom movable frame (8) is arranged in two groups, one group of the secondary bottom movable frames (8) is fixedly mounted at a section of the bottom of the rear frame (3) away from the middle frame (2), and one group of the secondary bottom movable frames (8) is mounted on the top of a secondary movable frame (8), the secondary movable frame (81) is mounted on the moving end of the secondary bottom guide rail (33), a secondary counterweight frame (82) is mounted on the bottom of the secondary bottom movable frame (8), a secondary counterweight block (83) is mounted on the secondary counterweight frame (82), and secondary servo motors (84) are mounted on both ends of the secondary bottom movable frame (8), and secondary bottom walking wheels (85) are mounted on the rotating end of the secondary servo motor (84).

4. A pipeline inspection crawler according to claim 1, characterized in that: The tops of the front section frame (1) and the rear section frame (3) are provided with pipeline inner wall crawling lateral guiding stabilizing units.

5. A pipeline inspection crawler according to claim 4, characterized in that: The pipeline inner wall crawling lateral guiding stabilizing unit comprises a front section guiding part, the front section guiding part comprises a front auxiliary plate (4), a first-stage cylinder (12) is installed on the top of the front section frame (1), the front auxiliary plate (4) is installed on the moving end of the first-stage cylinder (12), a first-stage top guide rail (41) is installed in a spaced relationship on the surface of the front auxiliary plate (4), a first-stage fixed frame (43) is fixedly installed on the top of the front auxiliary plate (4), a front section slider (42) is installed on the moving end of the first-stage top guide rail (41), a first-stage movable frame (44) is arranged on the top of the front section slider (42), a first-stage balancing frame (45) is installed on the surface of both the first-stage fixed frame (43) and the first-stage movable frame (44), a first-stage balancing instrument (46) is symmetrically installed on the surface of the first-stage balancing frame (45), and first-stage top walking wheels (441) are symmetrically installed at both ends of the first-stage movable frame (44).

6. A pipeline inspection crawler according to claim 5, characterized in that: The front guide portion further comprises a primary rotating block (432), both ends of the primary fixed frame (43) are provided with primary mounting grooves (431), a primary stepping motor (435) is mounted on the primary fixed frame (43), the primary rotating block (432) is mounted on the rotating end of the primary stepping motor (435), a primary movable arm (433) is mounted on the surface of the primary rotating block (432), and a primary lateral walking wheel (434) is mounted on a section of the primary movable arm (433) away from the primary mounting groove (431).

7. A pipeline inspection crawler according to claim 6, characterized in that: The pipeline inner wall crawling lateral guiding stabilizing unit also includes a rear section guiding part, the rear section guiding part includes a rear auxiliary plate (6), a secondary cylinder (32) is installed on the top of the rear section frame (3), the rear auxiliary plate (6) is installed on the moving end of the secondary cylinder (32), a secondary top guide rail (61) is installed in a spaced relationship on the surface of the rear auxiliary plate (6), a secondary fixed frame (63) is fixedly installed on the top of the rear auxiliary plate (6), a rear section slider (62) is installed on the moving end of the secondary top guide rail (61), a secondary movable frame (64) is arranged on the top of the rear section slider (62), a secondary balancing frame (65) is installed on the surface of both the secondary fixed frame (63) and the secondary movable frame (64), a secondary balancing instrument (66) is symmetrically installed on the surface of the secondary balancing frame (65), and secondary top walking wheels (641) are symmetrically installed at both ends of the secondary movable frame (64).

8. A pipeline inspection crawler according to claim 7, characterized in that: The rear guide portion further comprises a secondary rotating block (632), both ends of the secondary fixed frame (63) are provided with secondary mounting grooves (631), a secondary stepping motor (635) is mounted on the secondary fixed frame (63), the secondary rotating block (632) is mounted on the rotating end of the secondary stepping motor (635), a secondary movable arm (633) is mounted on the surface of the secondary rotating block (632), and a secondary lateral walking wheel (634) is mounted on a section of the secondary movable arm (633) away from the secondary mounting groove (631).

9. The pipeline inspection crawler according to claim 1, characterized in that: A baffle plate (28) is installed on the top of the middle section frame (2), a cover plate (5) is arranged on the top of the baffle plate (28), and crawler middle section lateral crawling stabilization units are arranged on both sides of the baffle plate (28).

10. A pipeline inspection crawler according to claim 9, characterized in that: The crawler mid-section lateral crawling stabilization unit comprises a three-level top guide rail (21), the three-level top guide rail (21) is arranged in a plurality of groups, the plurality of groups of the three-level top guide rails (21) are symmetrically embedded and installed on the top surface of the mid-section frame (2), a mid-section movable block (22) is installed on the movable end of the three-level top guide rail (21), a mounting frame (23) is arranged on the top of the mid-section movable block (22), a fixed seat (24) is installed inside the mounting frame (23), an electric rotating arm (25) is installed on the fixed seat (24), an electric drive shaft (26) is installed at one end of the electric rotating arm (25), and a mid-section walking wheel (27) is installed on the rotating end of the electric drive shaft (26).

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