Pipe network troubleshooting device used in high-water-flow environment

Abstract

The invention provides a pipe network troubleshooting device used in a high-water-flow environment. The pipe network troubleshooting device comprises a traveling trolley, a camera, a supporting assembly and an adjusting assembly. The supporting assembly is arranged on the traveling trolley and used for abutting against the pipe wall to limit movement of the traveling trolley. The adjusting assembly is arranged on the traveling trolley and connected with the camera so as to drive the camera to move relative to the traveling trolley and change the orientation of the camera; wherein the adjusting assembly comprises a positioning rod and a mounting base, and the positioning rod is in transmission connection with a first rotation driving assembly used for driving the positioning rod to rotate with the vertical direction as the axis and a second rotation driving assembly used for driving the positioning rod to rotate with the axis of the positioning rod as the axis; and the mounting seat is arranged on the positioning rod and is connected with the camera. According to the pipe network troubleshooting device used in the high-water-flow environment, the shooting effect on different detection areas in the high-water-flow environment can be improved, and the pipe network troubleshooting efficiency and stability in the high-water-flow environment are ensured.

Description

Technical Field

[0001] The present application belongs to the technical field of in-pipe inspection, and specifically relates to a pipe network inspection device for use in a high water flow environment. Background Art

[0002] Pipeline network inspection refers to the inspection of the internal conditions of the pipeline by moving and photographing relevant equipment inside the pipeline. It is usually used to determine whether the pipeline network has problems such as aging, damage, and blockage.

[0003] In the prior art, a pipe network inspection device usually includes a traveling trolley and a camera fixed on the traveling trolley; through remote control, the camera can be used to photograph the pipe, thereby obtaining and recording the condition of the inner wall of the pipe.

[0004] The inventors discovered that in the existing pipe network inspection devices, the adjustment of the camera angle is achieved by changing the overall position of the traveling cart. This method has technical defects such as complex operation, high time consumption, and limited inspection range. At the same time, when taking photos in a high water flow environment, the movement of the traveling cart will be affected by the water flow and become inaccurate, which makes the device unstable and there are errors in the direction during shooting, which ultimately leads to technical problems such as inaccurate detection results. Summary of the invention

[0005] An embodiment of the present application provides a pipe network inspection device for use in a high water flow environment, which aims to improve the shooting effect of different detection areas in a high water flow environment and ensure the efficiency and stability of pipe network inspection in a high water flow environment.

[0006] To achieve the above purpose, the technical solution adopted in this application is: Provided is a pipe network inspection device for use in a high water flow environment, comprising a traveling trolley, and a camera disposed on the upper side of the traveling trolley, a supporting assembly disposed on the traveling trolley and used to connect with the inner wall of the pipe to limit the movement of the traveling trolley, and an adjusting assembly connected to the camera and used to change the direction of the camera; wherein the adjusting assembly comprises: A positioning rod is arranged on the upper side of the traveling trolley, and its axial direction is parallel to the horizontal plane; the positioning rod is transmission-connected to a first rotation drive assembly for driving the positioning rod to rotate about the up-and-down direction as an axis, and a second rotation drive assembly for driving the positioning rod to rotate about its own central axis as an axis; and The mounting seat is fixedly arranged on the positioning rod, and extends radially outwardly along the positioning rod and is connected to the camera, so that the orientation of the camera is perpendicular to the extension direction of the mounting seat and the axial direction of the positioning rod.

[0007] In a possible implementation, the first rotation drive assembly includes: A first rotating motor is fixedly mounted on the upper side of the traveling vehicle, and its power output axis is parallel to the up-down direction; and A transmission sleeve, fixedly connected to the power output shaft of the first rotating motor, and having an axial direction perpendicular to the power output shaft of the first rotating motor; The transmission sleeve is hollow inside and open at both ends, and the positioning rod is inserted into the transmission sleeve so that when the first rotating motor is started, the positioning rod rotates around the power output shaft of the first rotating motor.

[0008] In a possible implementation, the second rotation drive assembly includes: a connecting rod, fixedly connected to the positioning rod, and having an L-shaped cross section; the connecting rod comprises a first rod section fixedly connected to the positioning rod and extending radially outward from the positioning rod, and a second rod section fixedly connected to an extended end of the first rod section and axially parallel to the positioning rod; and A lifting ring, which surrounds the positioning rod and is arranged on the upper side of the traveling trolley, is coaxially arranged with the rotation axis of the positioning rod rotating in the up-down direction, and is transmission-connected with a first linear driving member for driving it to move in the up-down direction; Wherein, the end of the second rod section facing away from the central axis of the lifting ring has a convex ball portion, and the inner circumference of the lifting ring is provided with a guide groove in an annular shape suitable for the convex ball portion to be embedded; When the first linear driving member drives the lifting ring to move in the up-down direction, the connecting rod and the positioning rod both rotate around the central axis of the positioning rod to change the angle between the camera and the horizontal plane.

[0009] In a possible implementation, the first linear drive member is a first linear cylinder fixedly arranged on the upper side of the traveling trolley; the power output axis of the first linear cylinder is parallel to the up-down direction, and the power output end is connected to the lifting ring; The upper side of the traveling trolley is also provided with a plurality of buffer components, and the plurality of buffer components are arranged at intervals along the circumference of the lifting ring; each of the buffer components comprises: A fixed rod sleeve, fixedly connected to the upper side of the traveling trolley, and a reserved groove is provided on the upper side of the fixed rod sleeve; and A buffer rod is slidably inserted in the reserved groove, the upper end of which is connected to the lifting ring, and an elastic member is provided between the buffer rod and the bottom of the reserved groove; Wherein, the power output end of the first linear cylinder and the upper end of the buffer rod are both slidably connected to the lower side surface of the lifting ring along the circumferential direction of the lifting ring.

[0010] In a possible implementation, the traveling direction of the traveling vehicle is defined as a front-rear direction, and the supporting assembly includes: Two groups of sliders are arranged in parallel on the traveling trolley along the front-to-back direction, and each group of sliders includes two sliders respectively arranged on the left and right sides of the traveling trolley and slidably connected to the outer side surface of the traveling trolley along the front-to-back direction; and Two support blocks are respectively arranged on the left and right sides of the traveling trolley, and are both suitable for moving toward or away from the traveling trolley in the left and right directions; each of the support blocks has two swing arms corresponding to the two sliders on the same side, and the two ends of each swing arm are respectively hinged to the support block and the slider in the up and down directions; Among them, there is a synchronous driving component between the two groups of sliders for driving the two groups of sliders to move toward or away from each other; when the two groups of sliders move toward or away from each other, the two support blocks move toward or away from each other, so that the two support blocks abut against or detach from the inner wall of the pipe.

[0011] In a possible implementation, the synchronous driving component includes: Two connecting arms are arranged in parallel on the traveling trolley along the front-to-back direction and correspond to the two groups of the sliding blocks respectively; the axial direction of each connecting arm is parallel to the left-to-right direction, and the left and right ends thereof are respectively connected to the corresponding two sliding blocks; each connecting arm is fixedly connected to a transmission nut, and the axial direction of the transmission nut is parallel to the front-to-back direction; A double-headed screw rod is arranged on the traveling trolley, and its axial direction is parallel to the front-rear direction, and is connected to the traveling trolley for rotation in the front-rear direction; the double-headed screw rod has a driven gear extending outward in its radial direction; and A second rotating motor is fixedly mounted on the traveling trolley, and its power output axis is parallel to the front-rear direction, and its power output end has a driving gear meshing with the driven gear; Wherein, the double-headed screw has two threaded parts with opposite thread directions, and the two threaded parts are respectively threadedly connected to the two driving nuts, so that when the double-headed screw rotates, the two groups of sliders move towards each other or move away from each other.

[0012] In a possible implementation, the traveling vehicle includes: The base adopts an internal hollow structure, and is provided with two first strip holes arranged in parallel along the front-to-back direction; each of the first strip holes penetrates the base in the left-right direction to communicate with the inside of the base, and the first strip holes extend in the up-down direction; the upper side of the base is provided with a telescopic plate; the length direction of the telescopic plate is perpendicular to the left-right direction, and one end of the telescopic plate is hinged to the upper side surface of the base in the left-right direction, and the other end is rotatably connected to an upper roller in the left-right direction; a transmission structure is provided between the telescopic plate and one of the connecting arms, so that when the connecting arms move toward each other, the transmission structure drives the telescopic plate to swing until the upper roller abuts against the tube wall; and Two rotating rollers are arranged on the base in parallel along the front-to-back direction and are respectively inserted into the two first strip-shaped holes; the axial direction of each rotating roller is parallel to the left-right direction, and the left and right ends thereof are both located outside the base and connected to the lower roller; Among them, one of the rotating rollers is connected to a third rotating driving member, and a synchronous lifting member is provided between the two rotating rollers; the synchronous lifting member is connected to the two rotating rollers to drive the two rotating rollers to move simultaneously in the up and down directions, so that the lower roller abuts against or avoids the pipe wall; Furthermore, when the upper roller and the lower roller abut against the tube wall at the same time, there is a distance between the support blocks and the tube wall, so that the base can move in the front-rear direction; When the upper roller abuts against the tube wall, the lower roller is separated from the tube wall and the bottom of the base abuts against the tube wall, the two connecting arms can move toward each other until the support block abuts against the tube wall to limit the movement of the base.

[0013] In a possible implementation, the transmission structure includes: A guide hole is formed on the upper side of the base and extends in the front-rear direction; and The transmission arm is inserted into the guide hole and fixedly connected to one of the connecting arms; the transmission arm has a straight portion extending in the left-right direction at one end on the upper side of the base, and a driving shaft sleeve connected to the lower side of the telescopic plate is sleeved on the straight portion.

[0014] In a possible implementation, the synchronous lifting component includes: A second linear cylinder is fixedly disposed inside the base and between the two rotating rollers, with the power output axis parallel to the up-down direction; and Two lifting sleeves are respectively sleeved on the two rotating rollers, and the two lifting sleeves are connected by a plurality of lifting arms; Among them, one or more of the lifting arms are transmission-connected to the power output end of the second linear cylinder, so that when the second linear cylinder is started, the lifting arm drives the two lifting sleeves to move synchronously.

[0015] In a possible implementation, the telescopic plate includes: A swing plate is arranged on the upper side of the base, and its length direction is perpendicular to the left-right direction; one end of the swing plate is hinged to the upper side of the base along the left-right direction, and a slot is opened on the end surface of the other end; and A sliding plate is inserted into the slot by sliding along the length direction of the swing plate, and one end of the sliding plate extends out of the slot and is connected to the upper roller; Among them, the swing plate is provided with a second strip hole connected to the slot and extending along the length direction of the swing plate; a locking bolt is threadedly connected to the sliding plate, and the locking bolt is inserted into the second strip hole and abuts against the outer side surface of the swing plate.

[0016] In the embodiment of the present application, the camera can be moved in different areas of the pipeline network by driving the moving cart to move the camera; based on this, when the moving cart moves to the area to be detected, positioning is achieved through the contact between the support assembly and the inner wall of the pipe. In this state, the second rotating drive assembly drives the positioning rod to rotate around its own central axis, so that the angle between the camera orientation and the horizontal plane can be changed; at the same time, the first rotating drive assembly drives the positioning rod to rotate around the up and down directions as the axis, so that the angle between the camera orientation and the driving direction of the moving cart can be changed; the two phases are coordinated to change and lock the orientation of the camera, so as to capture images of different positions in the area.

[0017] Compared with the prior art, the pipe network inspection device provided in this embodiment for use in a high water flow environment can improve the shooting effect of different detection areas in a high water flow environment, thereby ensuring the efficiency and stability of pipe network inspection in a high water flow environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0019] Figure 1 One of the three-dimensional structural schematic diagrams of the pipe network inspection device for high water flow environment provided in an embodiment of the present application; Figure 2The second schematic diagram of the three-dimensional structure of the pipe network inspection device for high water flow environment provided in the embodiment of the present application; Figure 3 A schematic diagram of the three-dimensional structure of the adjustment assembly and related components used in the embodiment of the present application; Figure 4 A schematic cross-sectional view of the second rotation drive assembly used in the embodiment of the present application; Figure 5 A schematic diagram of the three-dimensional structure of the first rotation drive assembly used in the embodiment of the present application; Figure 6 A schematic diagram of the structure of the buffer member and the lifting ring in the assembled state used in the embodiment of the present application Figure 7 A schematic cross-sectional structural diagram of a buffer component used in an embodiment of the present application under an explosion perspective; Figure 8 A schematic diagram of the three-dimensional structure of the support assembly used in the embodiment of the present application; Fig. 9 This is a schematic diagram of the exploded structure of the telescopic plate used in the embodiment of the present application; Fig.10 A schematic diagram of the three-dimensional structure of a synchronous drive component used in an embodiment of the present application; Fig.11 A partially enlarged schematic diagram of the transmission structure used in the embodiment of the present application; Fig.12 This is one of the partial schematic diagrams of the traveling vehicle used in the embodiment of the present application; Fig.13 This is a second partial schematic diagram of the traveling vehicle used in the embodiment of the present application; Fig.14 A schematic diagram of the three-dimensional structure of the synchronous lifting component used in the embodiment of the present application; Fig.15 This is a schematic structural diagram of the rotating roller and the rotating driving member used in the embodiment of the present application in a combined state; Description of reference numerals: 1. Support assembly; 11. Slider; 12. Support block; 121. Swing arm; 2. Adjustment assembly; 21. Positioning rod; 22. Mounting seat; 3. First rotation drive assembly; 31. First rotation motor; 32. Transmission shaft sleeve; 4. Second rotation drive assembly; 41. Connecting rod; 411. First rod section; 412. Second rod section; 4121. Protruding ball portion; 42. Lifting ring; 421. Guide groove; 422. First linear drive member; 5. Buffer member; 51. Fixed rod sleeve; 511. Reserved groove; 52. Buffer rod; 521. Elastic member; 6. Synchronous drive member; 61. Connecting arm; 611. Transmission nut; 62. Double-headed screw; 621, driven gear; 63, second rotating motor; 631, driving gear; 7, telescopic plate; 71, swing plate; 711, slot; 712, second strip hole; 72, sliding plate; 721, upper roller; 722, locking bolt; 8, transmission structure; 81, guide hole; 82, transmission arm; 821, straight portion; 822, driving bushing; 9, synchronous lifting component; 91, second linear cylinder; 92, lifting bushing; 921, lifting arm; 10, traveling trolley; 101, base; 1011, first strip hole; 102, rotating roller; 1021, lower roller; 1022, rotating driving component; 20, camera. DETAILED DESCRIPTION

[0020] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0021] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0022] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0023] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0024] Please also read Figures 1 to 15 The pipe network inspection device for high water flow environment provided by the present application is now described. The pipe network inspection device for high water flow environment provided by the present application comprises a traveling trolley 10, a camera 20, a support component 1 and an adjustment component 2.

[0025] The traveling trolley 10 is used to move along the axial direction of the pipeline. The traveling trolley 10 has the function of stopping at a point in the pipeline, and this function can be remotely controlled. Among them, the traveling trolley 10 is usually equipped with a GPS positioning element. By cooperating with the online map, the real-time position of the traveling trolley 10 can be obtained.

[0026] It should be noted that, in this embodiment, for the sake of ease of description, the traveling direction of the traveling vehicle 10 is defined as the front-to-back direction; accordingly, the width direction of the traveling vehicle 10 is parallel to the left-to-right direction, and the height direction of the traveling vehicle 10 is parallel to the up-down direction.

[0027] The camera 20 is arranged on the upper side of the traveling trolley 10, and has the functions of shooting, real-time video recording and providing light source; wherein, the content of the real-time video recording can be watched instantly in the form of live broadcast, so as to cooperate with the aforementioned GPS positioning element to realize the precise control of the position of the traveling trolley 10. In addition, the camera 20 is arranged on the upper side of the traveling trolley 10 to avoid the influence of water accumulation in the pipe, especially the impurities in the accumulated water adsorbed on the end of the camera 20. Usually, in order to ensure that the camera 20 can achieve shooting, the end of the image collection is special and has a component that can automatically clean it.

[0028] The support assembly 1 is disposed on the traveling trolley 10 and is used to connect with the inner wall of the pipeline to limit the movement of the traveling trolley 10 relative to the pipeline.

[0029] The adjustment component 2 is disposed between the traveling vehicle 10 and the camera 20 , and is connected to the camera 20 , and is used to change the orientation of the camera 20 .

[0030] The adjustment component 2 changes the orientation of the camera 20 , including adjusting the angle between the orientation of the camera 20 and the horizontal plane, and also adjusting the angle between the camera 20 and the front-rear direction. Its structure includes a positioning rod 21 and a mounting seat 22 .

[0031] The positioning rod 21 is disposed on the upper side of the traveling vehicle 10 , and its axial direction is parallel to the horizontal plane.

[0032] The positioning rod 21 is transmission-connected with a first rotating drive component 3 for driving it to rotate about the up-and-down direction. Specifically, the first rotating drive component 3 is fixedly arranged on the upper side of the traveling trolley 10, and the power output axis is parallel to the up-and-down direction, and the power output end is connected to the positioning rod 21, so as to support the positioning rod 21 without affecting the rotation of the positioning rod 21 about its own central axis.

[0033] The positioning rod 21 is also transmission-connected to a second rotating drive assembly 4 for driving it to rotate about its own central axis. Specifically, the second rotating drive assembly 4 is arranged between the traveling trolley 10 and the positioning rod 21, and can drive the positioning rod 21 to rotate about its own central axis without affecting the rotation of the positioning rod 21 in the upward and downward directions.

[0034] The mounting seat 22 is fixedly set on the positioning rod 21, and extends radially outward along the positioning rod 21; during actual assembly, this mounting seat 22 is connected to the aforementioned camera 20, so that the orientation of the camera 20 is perpendicular to the extension direction of the mounting seat 22 and also perpendicular to the axial direction of the positioning rod 21.

[0035] Among them, when the axial direction of the positioning rod 21 is parallel to the width direction of the traveling vehicle 10 (the direction perpendicular to the traveling direction of the traveling vehicle 10 and parallel to the horizontal plane), the camera 20 faces the traveling direction of the traveling vehicle 10; when the axial direction of the positioning rod 21 is parallel to the traveling direction of the traveling vehicle 10, the camera 20 faces the width direction of the traveling vehicle 10.

[0036] In the embodiment of the present application, the camera 20 can be moved in different areas of the pipe network by driving the traveling trolley 10 to move; based on this, when the traveling trolley 10 moves to the area to be detected, positioning is achieved through the contact between the support component 1 and the inner wall of the pipe. In this state, the second rotating drive component 4 drives the positioning rod 21 to rotate around its own central axis, so that the angle between the camera 20 and the horizontal plane can be changed; at the same time, the first rotating drive component 3 drives the positioning rod 21 to rotate around the up and down direction as the axis, so that the angle between the camera 20 and the driving direction of the traveling trolley 10 can be changed; the two phases are coordinated to change and lock the direction of the camera 20, so as to capture images at different positions in the area.

[0037] Compared with the prior art, the pipe network inspection device provided in this embodiment for use in a high water flow environment can improve the shooting effect of different detection areas in a high water flow environment, thereby ensuring the efficiency and stability of pipe network inspection in a high water flow environment. In some embodiments, Figure 5As shown, the first rotation driving assembly 3 includes a first rotation motor 31 and a transmission shaft sleeve 32 .

[0038] The first rotary motor 31 is fixedly disposed on the upper side of the traveling vehicle 10 , and its power output axis is parallel to the up-down direction.

[0039] The transmission shaft sleeve 32 is fixedly connected to the power output shaft of the first rotating motor 31 , and its axial direction is perpendicular to the power output axis of the first rotating motor 31 , and has a sleeve hole that penetrates along its own axial direction.

[0040] The transmission sleeve 32 has a hollow interior and open ends, and the positioning rod 21 is inserted into the sleeve hole of the transmission sleeve 32, so that when the first rotating motor 31 is started, the positioning rod 21 rotates around the power output shaft of the first rotating motor 31 without affecting the rotation of the positioning rod 21 around its own central axis.

[0041] In some embodiments, Figure 4 As shown, the second rotation driving assembly 4 includes a connecting rod 41 and a lifting ring 42 .

[0042] The connecting rod 41 is fixedly connected to the positioning rod 21, and its cross section is L-shaped; specifically, the connecting rod 41 includes a first rod section 411 and a second rod section 412; The first rod section 411 is fixedly connected to the positioning rod 21 and extends radially outward along the positioning rod 21 .

[0043] The second rod section 412 is fixedly connected to the extended end of the first rod section 411 , and its axial direction is parallel to the positioning rod 21 .

[0044] The lifting ring 42 surrounds the positioning rod 21 and is arranged on the upper side of the traveling trolley 10, and is coaxially arranged with the rotating shaft of the positioning rod 21 that rotates in the up and down directions, and is transmission-connected to a first linear driving component 422 for driving it to move in the up and down directions; specifically, the upper side surface of the traveling trolley 10 has an upwardly extending sleeve, and the lifting ring 42 is coaxially connected to the inside of the sleeve.

[0045] The end of the second rod section 412 facing away from the central axis of the lifting ring 42 has a convex ball portion 4121 , and the inner circumference of the lifting ring 42 is provided with a ring-shaped guide groove 421 suitable for the convex ball portion 4121 to be embedded.

[0046] By adopting the above technical solution, when the first linear driving member 422 drives the lifting ring 42 to move in the up and down directions, the connecting rod 41 and the positioning rod 21 both rotate around the central axis of the positioning rod 21 to change the angle between the camera 20 and the horizontal plane.

[0047] In some embodiments, Figure 6 and Figure 7As shown, the first linear drive component 422 is a first linear cylinder fixedly arranged on the upper side of the traveling vehicle 10 , the power output axis of the first linear cylinder is parallel to the up and down direction, and the power output end is connected to the lifting ring 42 .

[0048] It should be noted that when the first linear cylinder directly drives the lifting ring 42 to lift, it will cause partial sinking of the lifting ring 42. In order to avoid this problem, a plurality of buffer components 5 are further provided on the upper side of the traveling trolley 10, and the plurality of buffer components 5 are arranged at intervals along the circumference of the lifting ring 42.

[0049] In this embodiment, each buffer member 5 includes a fixing rod sleeve 51 and a buffer rod 52 .

[0050] The fixing rod sleeve 51 is fixedly connected to the upper side surface of the traveling trolley 10 , and the upper end surface of the fixing rod sleeve 51 is provided with a reserved groove 511 extending along the axial direction thereof.

[0051] The buffer rod 52 is slidably inserted in the reserved groove 511, and its upper end is connected to the lifting ring 42, and an elastic component 521 is provided between the buffer rod 52 and the bottom of the reserved groove 511; in actual use, the elastic component 521 maintains an elastic compression state to ensure that the upper end of the buffer rod 52 abuts the lifting ring 42.

[0052] The power output end of the first linear cylinder and the upper end of the buffer rod 52 are both slidably connected to the lower side of the lifting ring 42 along the circumferential direction of the lifting ring 42 to increase the degree of freedom and avoid self-locking of the components.

[0053] In some embodiments, Figure 8 As shown, the support assembly 1 includes two groups of sliders 11 and two support blocks 12 .

[0054] Two groups of sliders 11 are arranged in parallel on the traveling trolley 10 along the front-to-back direction, and each group of sliders 11 includes two sliders 11 which are respectively arranged on the left and right sides of the traveling trolley 10 and are slidably connected to the outer side surface of the traveling trolley 10 along the front-to-back direction; that is, there are four sliders 11, and the four sliders 11 are divided into two groups, the two groups of sliders 11 are respectively arranged on the left and right sides of the traveling trolley 10, and the two sliders 11 corresponding to each group of sliders 11 are arranged in parallel along the front-to-back direction.

[0055] The two support blocks 12 are respectively arranged on the left and right sides of the traveling trolley 10, and are both suitable for moving toward or away from the traveling trolley 10 in the left and right directions; when the support block 12 moves away from the traveling trolley 10, it can be supported on the inner wall of the pipe to prevent the traveling trolley 10 from moving relative to the pipe.

[0056] Each support block 12 has two swing arms 121 corresponding to the two sliders 11 on the same side, and the two ends of each swing arm 121 are hinged to the support block 12 and the slider 11 along the up and down directions respectively; based on this, there is a synchronous driving component 6 between the two groups of sliders 11 for driving the two groups of sliders 11 to move toward or away from each other.

[0057] By adopting the above technical solution, when the two groups of sliders 11 move toward or away from each other, the two support blocks 12 move toward or away from each other, so that the two support blocks 12 abut against or separate from the inner wall of the pipe.

[0058] In some embodiments, Fig.10 As shown, the synchronous driving member 6 includes two connecting arms 61 , a double-headed screw 62 and a second rotary motor 63 .

[0059] The two connecting arms 61 are arranged side by side on the traveling trolley 10 along the front-to-back direction (specifically, on the inner side of the traveling trolley 10), and correspond to the two groups of sliders 11 respectively; the axial direction of each connecting arm 61 is parallel to the left-to-right direction, and its left and right ends are respectively connected to the corresponding two sliders 11; each connecting arm 61 is fixedly connected with a transmission nut 611, and the axial direction of the transmission nut 611 is parallel to the front-to-back direction. Specifically, the connecting arm 61 has a through hole that passes through the front-to-back direction, and a sinking groove connected to the through hole is opened on one side of the connecting arm 61 facing the front-to-back direction, and the transmission nut 611 is fixedly embedded in the sinking groove and connected to the through hole.

[0060] The double-headed screw rod 62 is disposed on the traveling trolley 10 , and its axial direction is parallel to the front-rear direction and is rotationally connected to the traveling trolley 10 along the front-rear direction; and the double-headed screw rod 62 has a driven gear 621 extending radially outward.

[0061] The second rotary motor 63 is fixedly mounted on the traveling vehicle 10 , and its power output axis is parallel to the front-rear direction, and a driving gear 631 meshing with the driven gear 621 is provided at the power output end.

[0062] The double-headed screw 62 has two threaded portions with opposite thread directions, and the two threaded portions are threadedly connected to the two driving nuts 611 respectively.

[0063] By adopting the above technical solution, when the second rotating motor 63 is started, the driving gear 631 drives the driven gear 621 to rotate, so that the double-headed screw 62 rotates synchronously, thereby driving the two groups of sliders 11 to move toward or away from each other under the action of the threaded portion and the transmission nut 611.

[0064] In some embodiments, Fig.12 and Fig.13 As shown, the traveling vehicle 10 includes a base 101 and two rotating rollers 102 .

[0065] The base 101 adopts an internal hollow structure and a split structure arranged in an upper and lower manner; wherein, two first strip holes 1011 are opened on the lower part of the base 101, and the two first strip holes 1011 are arranged side by side in the front-to-back direction, and each first strip hole 1011 passes through from the left side of the base 101 to the right side of the base 101, is connected with the interior of the base 101, and also extends in the up-down direction.

[0066] A telescopic plate 7 is provided on the upper side of the base 101; the length direction of the telescopic plate 7 is perpendicular to the left-right direction, and one end of the telescopic plate 7 is hinged to the upper side surface of the base 101 along the left-right direction, and the other end is rotatably connected to an upper roller 721 along the left-right direction; wherein, a transmission structure 8 is provided between the telescopic plate 7 and one of the connecting arms 61, so that when the two connecting arms 61 move toward each other, the transmission structure 8 drives the telescopic plate 7 to swing until the upper roller 721 abuts against the tube wall.

[0067] Furthermore, since the support block 12 has a process from the initial position to the position abutting against the tube wall, when the upper roller 721 abuts against the tube wall, there may be a distance between the support block 12 and the tube wall (ie, no contact).

[0068] Two rotating rollers 102 are arranged side by side on the base 101 along the front-to-back direction and are respectively inserted into the two first strip holes 1011; wherein the axial direction of each rotating roller 102 is parallel to the left-to-right direction, and its left and right ends are both located on the outside of the base 101 and connected to the lower roller 1021.

[0069] One of the rotating rollers 102 is transmission-connected to the third rotating driving member 1022, and a synchronous lifting member 9 is provided between the two rotating rollers 102; the synchronous lifting member 9 is connected to the two rotating rollers 102 to drive the two rotating rollers 102 to move simultaneously in the up and down directions, so that the lower roller 1021 abuts against or avoids the pipe wall.

[0070] Specifically, the third rotation driving member 1022 is a structure composed of a motor and two gears, and its specific structure is similar to the combined structure of the double-headed screw 62, the driven gear 621 and the second rotation motor 63, which will not be repeated here.

[0071] When the upper roller 721 and the lower roller 1021 abut against the tube wall at the same time, each support block 12 has a distance from the tube wall so that the base 101 can move in the front-to-back direction (not affected by the abutment between the support block 12 and the tube wall), and during the movement, the traveling trolley 10 will not move in the up-down direction, that is, it is free from the influence of buoyancy.

[0072] It should be noted that this telescopic plate 7 has the function of extending or shortening along its length direction so as to be adaptively adjusted according to the pipe diameter, thereby achieving the technical effect that when the upper roller 721 and the lower roller 1021 abut against the pipe wall at the same time, each support block 12 has a distance from the pipe wall.

[0073] When the upper roller 721 abuts against the tube wall, the lower roller 1021 is separated from the tube wall and the bottom of the base 101 abuts against the tube wall, the two connecting arms 61 can move toward each other until the support block 12 abuts against the tube wall to limit the movement of the base 101 and obtain a more stable limiting effect.

[0074] In some embodiments, Fig.10 and Fig.11 As shown, the transmission structure 8 includes a guide hole 81 and a transmission arm 82 .

[0075] The guide hole 81 is formed on the upper side of the base 101 and communicates with the interior of the base 101 . The guide hole 81 extends along the front-rear direction.

[0076] The transmission arm 82 is inserted into the guide hole 81 and fixedly connected to one of the connecting arms 61 so as to move forward and backward with the movement of the connecting arm 61; the transmission arm 82 has a straight portion 821 extending in the left-right direction at one end on the upper side of the base 101, and a driving shaft sleeve 822 connected to the lower side of the telescopic plate 7 is sleeved on the straight portion 821.

[0077] In this embodiment, there are two transmission arms 82 and one straight portion 821 located between the two transmission arms 82 to form a gate-shaped structure.

[0078] When the transmission arm 82 moves in the front-rear direction, the driving sleeve 822 rotates relative to the straight portion 821 and moves in the front-rear direction to drive the telescopic plate 7 to swing.

[0079] In some embodiments, Fig.14 As shown, the synchronous lifting component 9 includes a second linear cylinder 91 and two lifting sleeves 92 .

[0080] The second linear cylinder 91 is fixedly disposed inside the base 101 and is located between the two rotating rollers 102 , with the power output axis being parallel to the up-down direction.

[0081] The two lifting sleeves 92 are respectively sleeved on the two rotating rollers 102 , and the two lifting sleeves 92 are connected via a plurality of lifting arms 921 .

[0082] One or more lifting arms 921 are transmission connected to the power output end of the second linear cylinder 91, so that when the second linear cylinder 91 is started, the lifting arms 921 drive the two lifting sleeves 92 to move synchronously; and, since the rotating roller 102 and the lifting sleeves 92 are in a plug-in relationship, the aforementioned connection method does not affect the rotation of the rotating roller 102 around its own central axis.

[0083] In some embodiments, Fig. 9 As shown, the telescopic plate 7 includes a swing plate 71 and a sliding plate 72 .

[0084] The swing plate 71 is arranged on the upper side of the base 101, and its length direction is perpendicular to the left-right direction; one end of the swing plate 71 is hinged to the upper side of the base 101 along the left-right direction, and a slot 711 is opened on the end surface of the other end.

[0085] The sliding plate 72 is inserted into the slot 711 while being slidably slidable along the length direction of the swing plate 71 , and one end of the sliding plate 72 extends out of the slot 711 and is connected to the upper roller 721 .

[0086] The swing plate 71 is provided with a second strip hole 712 which is connected to the slot 711 and extends along the length direction of the swing plate 71; the sliding plate 72 is threadedly connected with a locking bolt 722, which is inserted into the second strip hole 712 and abuts against the outer side surface of the swing plate 71 to limit the relative movement of the swing plate 71 and the sliding plate 72.

[0087] The above content is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A pipe network inspection device for use in a high water flow environment, comprising a traveling trolley and a camera arranged on the upper side of the traveling trolley, characterized in that: It also includes a support component disposed on the traveling trolley and used to connect with the inner wall of the pipeline to limit the movement of the traveling trolley, and an adjustment component connected to the camera and used to change the direction of the camera; wherein the adjustment component includes: A positioning rod is arranged on the upper side of the traveling trolley, and its axial direction is parallel to the horizontal plane; the positioning rod is transmission-connected to a first rotation drive assembly for driving the positioning rod to rotate about the up-and-down direction as an axis, and a second rotation drive assembly for driving the positioning rod to rotate about its own central axis as an axis; and The mounting seat is fixedly arranged on the positioning rod, and extends radially outwardly along the positioning rod and is connected to the camera, so that the orientation of the camera is perpendicular to the extension direction of the mounting seat and the axial direction of the positioning rod.

2. The pipe network inspection device for use in a high water flow environment according to claim 1, characterized in that: The first rotation drive assembly comprises: A first rotating motor is fixedly mounted on the upper side of the traveling vehicle, and its power output axis is parallel to the up-down direction; and A transmission sleeve, fixedly connected to the power output shaft of the first rotating motor, and having an axial direction perpendicular to the power output shaft of the first rotating motor; The transmission sleeve is hollow inside and open at both ends, and the positioning rod is inserted into the transmission sleeve so that when the first rotating motor is started, the positioning rod rotates around the power output shaft of the first rotating motor.

3. The pipe network inspection device for use in a high water flow environment according to claim 1 or 2, characterized in that: The second rotation drive assembly comprises: a connecting rod, fixedly connected to the positioning rod, and having an L-shaped cross section; the connecting rod comprises a first rod section fixedly connected to the positioning rod and extending radially outward from the positioning rod, and a second rod section fixedly connected to an extended end of the first rod section and axially parallel to the positioning rod; and A lifting ring, which surrounds the positioning rod and is arranged on the upper side of the traveling trolley, is coaxially arranged with the rotation axis of the positioning rod rotating in the up-down direction, and is transmission-connected with a first linear driving member for driving it to move in the up-down direction; Wherein, the end of the second rod section facing away from the central axis of the lifting ring has a convex ball portion, and the inner circumference of the lifting ring is provided with a guide groove in an annular shape suitable for the convex ball portion to be embedded; When the first linear driving member drives the lifting ring to move in the up-down direction, the connecting rod and the positioning rod both rotate around the central axis of the positioning rod to change the angle between the camera and the horizontal plane.

4. The pipe network inspection device for use in a high water flow environment according to claim 3, characterized in that: The first linear driving member is a first linear cylinder fixedly arranged on the upper side of the traveling trolley; the power output axis of the first linear cylinder is parallel to the up-down direction, and the power output end is connected to the lifting ring; The upper side of the traveling trolley is also provided with a plurality of buffer components, and the plurality of buffer components are arranged at intervals along the circumference of the lifting ring; each of the buffer components comprises: A fixed rod sleeve, fixedly connected to the upper side of the traveling trolley, and a reserved groove is provided on the upper side of the fixed rod sleeve; and A buffer rod is slidably inserted in the reserved groove, the upper end of which is connected to the lifting ring, and an elastic member is provided between the buffer rod and the bottom of the reserved groove; Wherein, the power output end of the first linear cylinder and the upper end of the buffer rod are both slidably connected to the lower side surface of the lifting ring along the circumferential direction of the lifting ring.

5. The pipe network inspection device for use in a high water flow environment according to claim 1, characterized in that: The traveling direction of the traveling vehicle is defined as the front-rear direction, and the supporting assembly includes: Two groups of sliders are arranged in parallel on the traveling trolley along the front-to-back direction, and each group of sliders includes two sliders respectively arranged on the left and right sides of the traveling trolley and slidably connected to the outer side surface of the traveling trolley along the front-to-back direction; and Two support blocks are respectively arranged on the left and right sides of the traveling trolley, and are both suitable for moving toward or away from the traveling trolley in the left and right directions; each of the support blocks has two swing arms corresponding to the two sliders on the same side, and the two ends of each swing arm are respectively hinged to the support block and the slider in the up and down directions; Among them, there is a synchronous driving component between the two groups of sliders for driving the two groups of sliders to move toward or away from each other; when the two groups of sliders move toward or away from each other, the two support blocks move toward or away from each other, so that the two support blocks abut against or detach from the inner wall of the pipe.

6. The pipe network inspection device for use in a high water flow environment according to claim 5, characterized in that: The synchronous driving component comprises: Two connecting arms are arranged in parallel on the traveling trolley along the front-to-back direction and correspond to the two groups of the sliding blocks respectively; the axial direction of each connecting arm is parallel to the left-to-right direction, and the left and right ends thereof are respectively connected to the corresponding two sliding blocks; each connecting arm is fixedly connected to a transmission nut, and the axial direction of the transmission nut is parallel to the front-to-back direction; A double-headed screw rod is arranged on the traveling trolley, and its axial direction is parallel to the front-rear direction, and is connected to the traveling trolley for rotation in the front-rear direction; the double-headed screw rod has a driven gear extending outward in its radial direction; and A second rotating motor is fixedly mounted on the traveling trolley, and its power output axis is parallel to the front-rear direction, and its power output end has a driving gear meshing with the driven gear; Wherein, the double-headed screw has two threaded parts with opposite thread directions, and the two threaded parts are respectively threadedly connected to the two driving nuts, so that when the double-headed screw rotates, the two groups of sliders move towards each other or move away from each other.

7. The pipe network inspection device for use in a high water flow environment according to claim 6, characterized in that: The traveling trolley comprises: The base adopts an internal hollow structure, and is provided with two first strip holes arranged in parallel along the front-to-back direction; each of the first strip holes penetrates the base in the left-right direction to communicate with the inside of the base, and the first strip holes extend in the up-down direction; the upper side of the base is provided with a telescopic plate; the length direction of the telescopic plate is perpendicular to the left-right direction, and one end of the telescopic plate is hinged to the upper side surface of the base in the left-right direction, and the other end is rotatably connected to an upper roller in the left-right direction; a transmission structure is provided between the telescopic plate and one of the connecting arms, so that when the connecting arms move toward each other, the transmission structure drives the telescopic plate to swing until the upper roller abuts against the tube wall; and Two rotating rollers are arranged on the base in parallel along the front-to-back direction and are respectively inserted into the two first strip-shaped holes; the axial direction of each rotating roller is parallel to the left-right direction, and the left and right ends thereof are both located outside the base and connected to the lower roller; Among them, one of the rotating rollers is connected to a third rotating driving member, and a synchronous lifting member is provided between the two rotating rollers; the synchronous lifting member is connected to the two rotating rollers to drive the two rotating rollers to move simultaneously in the up and down directions, so that the lower roller abuts against or avoids the pipe wall; Furthermore, when the upper roller and the lower roller abut against the tube wall at the same time, there is a distance between the support blocks and the tube wall, so that the base can move in the front-rear direction; When the upper roller abuts against the tube wall, the lower roller is separated from the tube wall and the bottom of the base abuts against the tube wall, the two connecting arms can move toward each other until the support block abuts against the tube wall to limit the movement of the base.

8. The pipe network inspection device for use in a high water flow environment according to claim 7, characterized in that: The transmission structure comprises: A guide hole is formed on the upper side of the base and extends in the front-rear direction; and The transmission arm is inserted into the guide hole and fixedly connected to one of the connecting arms; the transmission arm has a straight portion extending in the left-right direction at one end on the upper side of the base, and a driving shaft sleeve connected to the lower side of the telescopic plate is sleeved on the straight portion.

9. The pipe network inspection device for use in a high water flow environment according to claim 7, characterized in that: The synchronous lifting component comprises: A second linear cylinder is fixedly disposed inside the base and between the two rotating rollers, with the power output axis parallel to the up-down direction; and Two lifting sleeves are respectively sleeved on the two rotating rollers, and the two lifting sleeves are connected by a plurality of lifting arms; Among them, one or more of the lifting arms are transmission-connected to the power output end of the second linear cylinder, so that when the second linear cylinder is started, the lifting arm drives the two lifting sleeves to move synchronously.

10. The pipe network inspection device for use in a high water flow environment according to any one of claims 7 to 9, characterized in that: The telescopic plate comprises: A swing plate is arranged on the upper side of the base, and its length direction is perpendicular to the left-right direction; one end of the swing plate is hinged to the upper side of the base along the left-right direction, and a slot is opened on the end surface of the other end; and A sliding plate is inserted into the slot by sliding along the length direction of the swing plate, and one end of the sliding plate extends out of the slot and is connected to the upper roller; Among them, the swing plate is provided with a second strip hole connected to the slot and extending along the length direction of the swing plate; a locking bolt is threadedly connected to the sliding plate, and the locking bolt is inserted into the second strip hole and abuts against the outer side surface of the swing plate.

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