Endoscopic device and method for inner circumferential weld of pipeline

Abstract

The invention provides an endoscopic device and method for an inner circumferential weld of a pipeline, and belongs to the technical field of pipeline welding. The endoscopic device comprises a bottom plate, a rotating assembly, a telescopic assembly and a camera. The rotating assembly comprises a rotating part and a driving part, the rotating part and the driving part are both located on the bottom plate, and the driving part is used for controlling the rotating part to rotate; the telescopic assembly comprises a telescopic part, the telescopic part is connected with the rotating part, the telescopic direction of the telescopic part is perpendicular to the rotating central axis of the rotating part, and the camera is connected with the telescopic part. The imaging effect of the camera can be improved, the problem that the defect of the circumferential weld is not easy to shoot is solved, and the detection efficiency of the circumferential weld is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of pipeline welding, and in particular to an endoscopy device and method for an inner girth weld of a pipeline. Background Art

[0002] Long-distance oil and gas pipelines have large diameters and wall thicknesses, so grooves need to be cut for assembly welding. During the process of pipe docking, the accuracy of the groove processing and the accuracy of the docking equipment cannot be guaranteed. After welding, the weld formation cannot be obtained in time.

[0003] In the related technology, an endoscope device is installed in the pipeline to photograph and inspect the process of pipeline groove docking, the welding process of the internal welding machine, and the girth weld formed after welding.

[0004] However, most cameras in endoscopy devices are in fixed-focus working mode and are only suitable for pipes of a specific diameter. For large-diameter long-distance oil and gas pipelines, the imaging effect of the camera is poor and it is unable to effectively capture the defects of the girth weld, thus reducing the detection efficiency of the girth weld. Summary of the invention

[0005] The disclosed embodiment provides an endoscope device and method for girth welds in pipelines, which can improve the imaging effect of the camera, improve the problem of girth weld defects that are difficult to photograph, and improve the girth weld detection efficiency. The technical solution is as follows:

[0006] An embodiment of the present disclosure provides an endoscopic device for an inner girth weld of a pipeline, the endoscopic device comprising: a base plate, a rotating assembly, a telescopic assembly and a camera; the rotating assembly comprises a rotating part and a driving part, both of which are located on the base plate, and the driving part is used to control the rotation of the rotating part; the telescopic assembly comprises a telescopic part, which is connected to the rotating part, and the telescopic direction of the telescopic part is perpendicular to the rotation center axis of the rotating part, and the camera is connected to the telescopic part.

[0007] In one implementation of the embodiment of the present disclosure, the plate surface of the base plate has a convex shaft, and the rotating part includes a rotating disk, a first gear and a second gear; the rotating disk is movably sleeved outside the convex shaft, and the end face of the first gear is fixedly connected to the end face of the convex shaft away from the base plate, and the driving part is located on the surface of the rotating disk away from the base plate, and the driving part is connected to the second gear, and the second gear is located on the side of the rotating disk away from the base plate, and the rotation center axis of the second gear is parallel to the rotation center axis of the rotating disk, the first gear and the second gear are meshed, and the driving part is used to drive the second gear to rotate.

[0008] In another implementation of the embodiment of the present disclosure, the driving unit includes a first bracket and a rotating motor, the first bracket is located on a surface of the rotating disk away from the bottom plate, and the rotating motor is connected to the first bracket.

[0009] In another implementation of the embodiment of the present disclosure, the telescopic assembly also includes a second bracket, which is located on the surface of the rotating disk away from the base plate; the telescopic part includes a linear motor, which is connected to the second bracket, and the slider of the linear motor is connected to the camera.

[0010] In another implementation of the embodiment of the present disclosure, the endoscopic device also includes a protective tube, a transparent tube and a cover, one end of the protective tube is connected to the base plate, the other end of the protective tube is coaxially connected to one end of the transparent tube, and the cover is located at the other end of the transparent tube; the rotating assembly, the telescopic assembly and the camera are all located in a cavity surrounded by the base plate, the protective tube, the transparent tube and the cover, and the camera is opposite to the transparent tube.

[0011] In another implementation of the embodiment of the present disclosure, the endoscopic device also includes a base, the base has a first through hole passing through the base, the bottom plate has a second through hole passing through the bottom plate, the base is located on the surface of the bottom plate away from the rotating assembly, and the first through hole is connected to the second through hole, and the first through hole and the second through hole are used for the cable of the camera to pass through.

[0012] In another implementation of the embodiment of the present disclosure, the endoscopy device also includes an endoscopy vehicle for traveling in the pipe, the endoscopy vehicle includes a frame, a first roller and a second roller, the first roller and the second roller are located on opposite sides of the frame, the first roller and the second roller are both in contact with the inner wall of the pipe, and the bottom plate is connected to the frame.

[0013] In another implementation of the embodiment of the present disclosure, the endoscope vehicle also includes a swing arm and an elastic member, one end of the swing arm is hinged to the frame, the second roller is rotatably provided at the other end of the swing arm, one end of the elastic member is connected to the frame, the other end of the elastic member is abutted against the other end of the swing arm, and the elastic expansion and contraction direction of the elastic member is perpendicular to the rotation center axis of the swing arm.

[0014] In another implementation of the embodiment of the present disclosure, the endoscope vehicle also includes a guide rod, one end of which is connected to the vehicle frame, the elastic member is a spring, and the elastic member is sleeved outside the guide rod, the other end of the swing arm has a third through hole, and the other end of the guide rod is movably inserted in the third through hole, and the inner diameter of the third through hole is smaller than the outer diameter of the elastic member.

[0015] An embodiment of the present disclosure provides an endoscopic method for an inner girth weld of a pipeline. The endoscopic method is implemented based on the endoscopic device as described above, and the method includes: controlling the telescopic component to drive the camera to telescope until the clarity of the image taken by the camera meets the set requirements; controlling the rotating component to drive the camera to rotate, and acquiring the image taken by the camera.

[0016] The beneficial effects brought by the technical solution provided by the embodiments of the present disclosure include at least:

[0017] The embodiment of the present disclosure provides an endoscope device for the girth weld in a pipeline, and a rotating component is provided on the bottom plate, and the rotating part of the rotating component can rotate under the control of the driving part; at the same time, the telescopic part and the rotating part of the telescopic component are connected together, so that when the rotating part rotates, the telescopic part can also drive the telescopic part to rotate together, and the telescopic part is connected to the camera, so the camera also rotates with the rotating part, and when the rotation center axis of the rotating part is parallel to the axis of the pipeline, the camera can be driven by the rotating part to shoot the image of the girth weld around the inner wall of the pipeline in the pipeline, thereby avoiding the problem of missing the shooting of the girth weld; and the telescopic direction of the telescopic part is perpendicular to the rotation center axis of the rotating part, so that under the drive of the telescopic part, the camera can be close to or away from the inner wall of the pipeline. When the endoscope device is placed on pipelines of different diameters, the distance between the camera and the inner wall of the pipeline can be adjusted by the telescopic part, so that even a camera in a fixed focus working mode can shoot a clear girth weld image, thereby improving the imaging effect of the camera, facilitating the technicians to detect the defects of the girth weld, and improving the detection efficiency of the girth weld. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0019] Figure 1 It is a structural schematic diagram of an endoscopy device for an inner girth weld of a pipeline provided by an embodiment of the present disclosure;

[0020] Figure 2 is an axonometric diagram of an endoscopy device for an inner girth weld of a pipeline provided by an embodiment of the present disclosure;

[0021] Figure 3 is a cross-sectional view of an endoscopy device for an inner girth weld of a pipeline provided by an embodiment of the present disclosure;

[0022] Figure 4It is a front view of another endoscopy device for an inner girth weld of a pipeline provided by an embodiment of the present disclosure;

[0023] Figure 5 is a top view of another endoscopy device for an inner girth weld of a pipeline provided by an embodiment of the present disclosure;

[0024] Figure 6 It is a flow chart of an endoscopic method for an inner girth weld of a pipeline according to an embodiment of the present disclosure.

[0025] The descriptions of the marks in the figure are as follows:

[0026] 10. bottom plate; 11. convex shaft; 12. second through hole;

[0027] 20. Rotating assembly;

[0028] 21. Rotating part; 211. Rotating disk; 212. First gear; 213. Second gear;

[0029] 22. driving unit; 221. first bracket; 222. rotating motor;

[0030] 30. telescopic assembly; 31. telescopic portion; 32. second bracket;

[0031] 40. Camera;

[0032] 51. Protective tube; 52. Transparent tube; 53. Sealing cap;

[0033] 60. base; 61. first through hole;

[0034] 70. Endoscopic car;

[0035] 71. frame; 711. support plate; 712. connecting rod;

[0036] 72. first roller; 73. second roller; 74. swing arm; 75. elastic member; 76. guide rod; 77. travel motor; 78. reducer; 79. chain;

[0037] 80. Power supply battery;

[0038] 90. Hand hole flange cover. DETAILED DESCRIPTION

[0039] In order to make the objectives, technical solutions and advantages of the present disclosure more clear, the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings.

[0040] Unless otherwise defined, the technical terms or scientific terms used herein shall have the usual meanings understood by persons with ordinary skills in the field to which the present disclosure belongs. The words "first", "second", "third" and similar words used in the patent application specification and claims of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "one" do not indicate a quantity limitation, but indicate the existence of at least one. Words such as "include" or "comprise" and similar words mean that the elements or objects appearing before "include" or "comprise" include the elements or objects listed after "include" or "comprise" and their equivalents, and do not exclude other elements or objects. Words such as "connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right", "top", "bottom" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0041] Figure 1 Schematic diagram of the structure of an endoscopy device for viewing the inner girth weld of a pipeline provided by an embodiment of the present disclosure. Figure 1 As shown, the endoscopic device includes: a base plate 10, a rotating component 20, a telescopic component 30 and a camera 40.

[0042] like Figure 1 As shown, the rotating assembly 20 includes a rotating portion 21 and a driving portion 22 . The rotating portion 21 and the driving portion 22 are both located on the base plate 10 . The driving portion 22 is used to control the rotation of the rotating portion 21 .

[0043] like Figure 1 As shown, the telescopic assembly 30 includes a telescopic portion 31 , which is connected to the rotating portion 21 , the telescopic direction of the telescopic portion 31 is perpendicular to the rotation center axis of the rotating portion 21 , and the camera 40 is connected to the telescopic portion 31 .

[0044] The embodiment of the present disclosure provides an endoscopic device for an inner girth weld of a pipeline, which includes a rotating assembly 20 on a base plate 10, and a rotating portion 21 of the rotating assembly 20 can rotate under the control of a driving portion 22; at the same time, the telescopic portion 31 of the telescopic assembly 30 is connected to the rotating portion 21, so that when the rotating portion 21 rotates, it can also drive the telescopic portion 31 to rotate together, and the telescopic portion 31 is connected to a camera 40, so the camera 40 also rotates with the rotating portion 21, and when the rotation center axis of the rotating portion 21 is parallel to the axis of the pipeline, the camera 40 can be driven by the rotating portion 21 to capture the image of the girth weld around the inner wall of the pipeline in the pipeline, thereby avoiding the problem of missing the capture of the girth weld; and the telescopic direction of the telescopic portion 31 is perpendicular to the rotation center axis of the rotating portion 21, so that under the drive of the telescopic portion 31, the camera 40 can approach or move away from the inner wall of the pipeline. When the endoscope device is placed in pipes of different diameters, the distance between the camera 40 and the inner wall of the pipe can be adjusted through the telescopic part 31. In this way, even if the camera is in a fixed-focus working mode, a clear image of the girth weld can be captured, thereby improving the imaging effect of the camera 40, which is beneficial for technicians to detect defects in the girth weld and improve the detection efficiency of the girth weld.

[0045] Figure 2 1 is an axonometric diagram of an endoscopic device for an inner girth weld of a pipeline provided by an embodiment of the present disclosure. Figure 2 As shown, the plate surface of the bottom plate 10 has a protruding shaft 11 , and the rotating portion 21 includes a rotating disk 211 , a first gear 212 and a second gear 213 .

[0046] Figure 3 is a cross-sectional view of an endoscopy device for an inner girth weld of a pipeline provided by an embodiment of the present disclosure. Figure 2 , 3 As shown, the rotating disk 211 is movably sleeved outside the cam 11, the end face of the first gear 212 is fixedly connected to the end face of the cam 11 away from the bottom plate 10, the driving part 22 is located on the surface of the rotating disk 211 away from the bottom plate 10, the driving part 22 is connected to the second gear 213, the second gear 213 is located on the side of the rotating disk 211 away from the bottom plate 10, and the rotation center axis of the second gear 213 is parallel to the rotation center axis of the rotating disk 211, the first gear 212 and the second gear 213 are meshed, and the driving part 22 is used to drive the second gear 213 to rotate.

[0047] For example, Figure 3 As shown, a bearing is provided between the rotating disk 211 and the convex shaft 11, the inner ring of the bearing is sleeved outside the convex shaft 11, and the outer ring of the bearing is coaxially inserted into the inner hole of the rotating disk 211. This allows the rotating disk 211 to be more stable in rotation relative to the convex shaft 11.

[0048] For example, Figure 3As shown, the end face of the first gear 212 is provided with a plurality of through holes, and the end face of the convex shaft 11 is provided with a plurality of screw holes corresponding one to one with the through holes on the end face of the first gear 212. When the first gear 212 is installed on the end face of the convex shaft 11, the through holes of the first gear 212 and the screw holes on the convex shaft 11 are opposite, so that the first gear 212 and the convex shaft 11 can be fixedly connected by screws.

[0049] In the above implementation, the rotating part 21 is connected to the rotating disk 211, and the rotating part 21 is used to drive the second gear 213 to rotate, and the second gear 213 is meshed with the first gear 212, and the first gear 212 is fixed on the convex shaft 11. In this way, when the rotating part 21 drives the second gear 213 to rotate, the second gear 213 will revolve around the first gear 212, so the rotating part 21 connected to the second gear 213 will also revolve around the first gear 212, thereby driving the rotating disk 211 to rotate, so as to achieve the purpose of driving the rotating disk 211 to rotate.

[0050] Alternatively, if Figure 2 , 3 As shown, the driving unit 22 includes a first bracket 221 and a rotating motor 222 . The first bracket 221 is located on a surface of the rotating disk 211 away from the bottom plate 10 , and the rotating motor 222 is connected to the first bracket 221 .

[0051] For example, Figure 2 , 3 As shown, the first bracket 221 is columnar, one end of the first bracket 221 is vertically connected to the rotating disk 211, and the other end of the first bracket 221 is connected to the rotating motor 222, and the rotating shaft of the rotating motor 222 is perpendicular to the rotating disk 211, and the rotating shaft of the rotating motor 222 is coaxially connected to the second gear 213. The rotating shaft of the rotating motor 222 drives the second gear 213 to rotate, thereby achieving the purpose of driving the rotating disk 211 to rotate.

[0052] Exemplarily, the first bracket 221 is connected to the rotating disk 211 via screws, or the first bracket 221 is welded to the rotating disk 211 .

[0053] Alternatively, if Figure 2 , 3 As shown, the telescopic assembly 30 further includes a second bracket 32 ​​, and the second bracket 32 ​​is located on a surface of the rotating disk 211 away from the bottom plate 10 .

[0054] The telescopic portion 31 includes a linear motor, the linear motor is connected to the second bracket 32 ​​, and a slider of the linear motor is connected to the camera 40 .

[0055] For example, Figure 2As shown, the second bracket 32 ​​includes two parallel and spaced arms and a connecting arm connected between the two arms, that is, the second bracket 32 ​​is gate-shaped. The linear motor is arranged at the midpoint of the connecting arm, and the midpoint of the connecting arm is located in the middle area of ​​the rotating disk 211.

[0056] For example, Figure 3 As shown, one end of the support arm has a flange, a through hole is provided on the flange, and a screw hole corresponding to the through hole is provided on the rotating disk 211, so that the flange can be fixedly connected to the rotating disk 211 by screws.

[0057] In this way, when the rotating disk 211 rotates and drives the second bracket 32 ​​to rotate, the linear motor will be in a self-rotation state, making the rotation amplitude of the linear motor smaller, and thus making the rotation amplitude of the camera 40 located on the linear motor also smaller, thereby avoiding the camera 40 and the linear motor from having a large centrifugal force and falling off from the second bracket 32, thereby improving safety.

[0058] Alternatively, if Figure 1 As shown, the endoscopic device also includes a protective tube 51, a transparent tube 52 and a cover 53. One end of the protective tube 51 is connected to the base plate 10, and the other end of the protective tube 51 is coaxially connected to one end of the transparent tube 52. The cover 53 is located at the other end of the transparent tube 52.

[0059] like Figure 1 As shown, the rotating assembly 20 , the telescopic assembly 30 and the camera 40 are all located in a cavity surrounded by the base plate 10 , the protective tube 51 , the transparent tube 52 and the cover 53 , and the camera 40 is opposite to the transparent tube 52 .

[0060] For example, the inner diameter of the protective tube 51 is not less than the outer diameter of the bottom plate 10, so that the protective tube 51 can be sleeved outside the bottom plate 10. Figure 3 As shown, a screw hole is provided on the outer wall surface of the bottom plate 10, and a through hole corresponding to the screw hole is provided on the protection tube 51, so that the protection tube 51 can be fixed on the bottom plate 10 by screws.

[0061] Exemplarily, the transparent tube 52 may be a glass tube. Glass has good light transmittance, which facilitates the camera 40 to photograph the circumferential weld in the pipeline through the transparent tube 52 .

[0062] One end of the transparent tube 52 is inserted into the other end of the protective tube 51 by means of a snap connection, so that the transparent tube 52 is detachably connected to the protective tube 51 , which is convenient for maintenance and replacement of the transparent tube 52 .

[0063] The cover 53 may be snap-connected to the other end of the transparent tube 52 , or the cover 53 may be threadedly connected to the other end of the transparent tube 52 .

[0064] In the above implementation, by providing a detachably connected protective tube 51, a transparent tube 52 and a cover 53, the cylinder body is split into three parts, which is convenient for disassembly and replacement. The transparent tube 52 is provided in the area corresponding to the camera 40 on the cylinder body, which is conducive to the camera 40 to photograph the girth weld in the pipeline through the transparent tube 52. The cavity surrounded by the bottom plate 10, the protective tube 51, the transparent tube 52 and the cover 53 is used to protect the camera 40, the rotating assembly 20 and the telescopic assembly 30.

[0065] Alternatively, if Figure 1 , 3 As shown, the endoscopic device also includes a base 60, the base 60 has a first through hole 61 passing through the base 60, the bottom plate 10 has a second through hole 12 passing through the bottom plate 10, the base 60 is located on the surface of the bottom plate 10 away from the rotating assembly 20, and the first through hole 61 is connected to the second through hole 12, and the first through hole 61 and the second through hole 12 are used for the cable of the camera 40 to pass through.

[0066] The base 60 and the bottom plate 10 are both provided with screw holes, so that the base 60 can be fixed on the bottom plate 10 by screws.

[0067] In the disclosed embodiment, the first through hole 61 is located in the middle of the base 60, and the central axis of the first through hole 61 is coaxial with the rotational central axis of the rotating disk 211. The second through hole 12 is located in the middle of the bottom plate 10, and the central axis of the second through hole 12 is coaxial with the rotational central axis of the rotating disk 211. In this way, after the cable of the camera 40 is inserted into the first through hole 61 and the second through hole 12, the cable also rotates in the through hole, and will not be easily entangled with other components, thereby avoiding the problem of the cable being torn off and improving reliability.

[0068] In one implementation of the present disclosure, Figure 1 As shown, the endoscopic device can be connected to the internal welding machine via a bracket and screws.

[0069] For example, the endoscopy device is connected to the hand hole flange cover 90 on the gas tank of the internal welding machine through a bracket and screws.

[0070] In this way, during the process of welding the pipeline using the internal welding machine, the circumferential weld in the pipeline can be photographed using an endoscope device installed on the internal welding machine.

[0071] In some other implementations, the endoscope device is not installed with the internal welding machine. At this moment, the endoscope device can be configured with an endoscope vehicle 70, and the endoscope vehicle 70 can walk in the pipeline so that the camera 40 can capture the girth weld in the pipeline.

[0072] Figure 4 FIG. 1 is a front view of another endoscopy device for an inner girth weld of a pipeline provided by an embodiment of the present disclosure. Figure 4As shown, the endoscopy device also includes an endoscopy vehicle 70 for traveling in the pipe, the endoscopy vehicle 70 includes a frame 71, a first roller 72 and a second roller 73, the first roller 72 and the second roller 73 are located on opposite sides of the frame 71, the first roller 72 and the second roller 73 are both in contact with the inner wall of the pipe, and the base plate 10 is connected to the frame 71.

[0073] Figure 5 FIG. 1 is a top view of another endoscopy device for an inner girth weld of a pipeline provided by an embodiment of the present disclosure. Figure 5 As shown, the vehicle frame 71 includes two support plates 711 arranged in parallel and spaced apart and a plurality of connecting rods 712 connected between the two support plates 711. The plurality of connecting rods 712 are spaced in parallel to form a frame-type vehicle frame 71. The frame-type vehicle frame 71 is more lightweight.

[0074] For example, Figure 4 , 5 As shown, each first roller 72 is connected to the frame 71 via a bracket, and the first roller 72 is hinged on the bracket.

[0075] The frame 71 is provided with four first rollers 72, which are spaced apart and the connecting line of the four first rollers 72 is a rectangle. Thus, the four first rollers 72 are arranged on one side of the frame 71 to form more contact points between the pipe and the first rollers 72, so that the frame 71 is not easy to shake in the pipe.

[0076] For example, Figure 5 As shown, the second roller 73 and the first roller 72 are arranged on opposite sides of the frame 71, so that when the first roller 72 contacts one side of the pipe, the second roller 73 abuts against the inner wall of the pipe on the other side of the pipe, thereby stably preventing the endoscope vehicle 70 from being placed in the pipe and preventing the endoscope vehicle 70 from shaking in the pipe.

[0077] Alternatively, if Figure 5 As shown, the endoscope vehicle 70 also includes a swing arm 74 and an elastic member 75. One end of the swing arm 74 is hinged to the frame 71, and the second roller 73 is rotatably provided at the other end of the swing arm 74. One end of the elastic member 75 is connected to the frame 71, and the other end of the elastic member 75 is abutted against the other end of the swing arm 74. The elastic expansion and contraction direction of the elastic member 75 is perpendicular to the rotation center axis of the swing arm 74.

[0078] For example, Figure 5 As shown, a fixing block is provided on a support plate 711 of the frame 71 , and the fixing block is used as a supporting structure of the swing arm 74 so that the swing arm 74 can be hinged on the frame 71 .

[0079] like Figure 5As shown, the second roller 73 is hinged at the other end of the swing arm 74 , and the elastic member 75 can also be set at the other end of the swing arm 74 to abut against each other, and the elastic member 75 does not contact the second roller 73 to prevent the elastic member 75 from affecting the rotation of the second roller 73 .

[0080] In the above implementation, the second roller 73 is in contact with the pipe. When the endoscope vehicle 70 is placed on the pipe, the first roller 72 abuts against the inner wall of the pipe, and the second roller 73 is also squeezed by the inner wall of the pipe. Since the swing arm 74 where the second roller 73 is located is hinged on the vehicle frame 71, under the squeezing of the inner wall of the pipe, the swing arm 74 rotates and squeezes the elastic member 75, causing the elastic member 75 to shrink and deform, and the elastic member 75 also applies elastic force to the swing arm 74, so that the second roller 73 is in closer contact with the inner wall of the pipe, thereby preventing the first roller 72 and the second roller 73 in the endoscope vehicle 70 from slipping.

[0081] Alternatively, if Figure 5 As shown, the endoscope vehicle 70 also includes a guide rod 76, one end of which is connected to the vehicle frame 71, the elastic member 75 is a spring, and the elastic member 75 is sleeved outside the guide rod 76, the other end of the swing arm 74 has a third through hole, and the other end of the guide rod 76 is movably inserted in the third through hole, and the inner diameter of the third through hole is smaller than the outer diameter of the elastic member 75.

[0082] For example, Figure 5 As shown, a bracket perpendicular to the connecting rod 712 is also provided on the frame 71, one end of the guide rod 76 is fixed on the bracket, and the guide rod 76 is also perpendicular to the connecting rod 712, and the other end of the guide rod 76 passes through the third through hole of the swing arm 74, so that during the rotation of the swing arm 74, the guide rod 76 can also be used to limit the swing arm 74 to prevent it from swinging left and right.

[0083] In the above implementation, the spring is sleeved outside the guide rod 76, one end of the spring is against the outer flange on the guide rod 76, and the outer diameter of the spring is larger than the inner diameter of the third through hole. In this way, during the swinging of the swing arm 74, the end of the swing arm 74 will squeeze the spring on the guide rod 76, causing the spring to shrink and deform, and the spring will also apply elastic force to the swing arm 74, so that the second roller 73 can contact more closely with the inner wall of the pipe.

[0084] Alternatively, if Figure 5As shown, the endoscope vehicle 70 further includes: a travel motor 77, a reducer 78 and a chain 79. The travel motor 77 and the reducer 78 are both arranged on the swing arm 74, and the rotating shaft of the travel motor 77 is drivingly connected to the input shaft of the reducer 78, and the output shaft of the reducer 78 is drivingly connected to the second roller 73 through the chain 79. In this way, the travel motor 77 drives the reducer 78, and the power is transmitted to the chain 79 through the reducer 78 to drive the second roller 73 to rotate, thereby achieving the purpose of the endoscope vehicle 70 automatically traveling in the pipeline.

[0085] Alternatively, if Figure 5 , 6 As shown, the endoscopy vehicle 70 further includes a power supply battery 80 , which is located on the vehicle frame 71 in an area close to the base plate 10 , so that the cables passing through the base 60 are more easily connected to the power supply battery 80 , allowing the power supply battery 80 to power the camera 40 .

[0086] The rotating motor 222 , the linear motor and the traveling motor 77 may all be connected to the power supply battery 80 , so that the power supply battery 80 can supply power to the rotating motor 222 , the linear motor and the traveling motor 77 .

[0087] Optionally, the endoscopic device also includes a controller, which is electrically connected to the rotating component, the telescopic component and the camera respectively. The controller can control the rotating component to drive the camera to rotate, and can also control the telescopic component to drive the camera to extend and retract, so as to achieve the purpose of capturing clear circumferential welds.

[0088] The controller may also be electrically connected to the power supply battery.

[0089] Exemplarily, the controller may be a programmable logic controller (PLC), which is a programmable memory that stores instructions for performing logic operations, sequential control, timing, counting, arithmetic operations, etc., and controls various device actions through digital or analog input and output.

[0090] Optionally, the endoscopic device also includes a fill light, which is arranged around the camera and electrically connected to the controller. The controller can control the fill light to turn on or off according to the brightness in the pipeline to ensure that the camera can capture a clear image.

[0091] An embodiment of the present disclosure provides an endoscopic method for an inner girth weld of a pipeline, and the endoscopic method is implemented using the endoscopic device as described above.

[0092] The controller of the endoscopic device is used to execute the endoscopic method.

[0093] Figure 6FIG. 1 is a flow chart of a method for endoscopically inspecting an inner girth weld of a pipeline according to an embodiment of the present disclosure. Figure 6 As shown, the endoscopic method includes:

[0094] Step 101: Control the telescopic component to drive the camera to telescope until the clarity of the image captured by the camera meets the set requirements.

[0095] When determining whether the clarity of the camera shot meets the set requirements, the controller can make a determination based on the instructions input by the user.

[0096] For example, the endoscopic device may further include a display, which is connected to the controller. The display obtains the image captured by the camera from the camera through the controller and displays it in real time for the user to observe.

[0097] The display may be an OLED (Organic Light-Emitting Diode) display panel.

[0098] When the image clarity of the camera meets the requirement, the user inputs a stop command, which is used to control the telescopic component to stop telescoping. When the image clarity of the camera does not meet the requirement, the user does not input a stop command, and the telescopic component continues to move to adjust the distance from the camera to the inner wall of the pipe.

[0099] Exemplarily, the display can be a touch display panel. When the user needs to input a stop command, the operating software installed on the touch display panel sends a stop command to the controller. After receiving the command, the controller notifies the linear motor of the telescopic component to cut off the power to achieve the purpose of controlling the telescopic movement of the camera and complete the adjustment of the object distance.

[0100] Step 102: Control the rotating component to drive the camera to rotate, and obtain the image captured by the camera.

[0101] In the embodiment of the present disclosure, the controller can also control the travel motor to drive the endoscope vehicle to travel in the pipeline while controlling the telescopic component to extend and retract and the rotating component to rotate. In this way, when it is necessary to photograph the girth weld, the endoscope device can be controlled to move to the area with the girth weld in the pipeline first, and when the camera can photograph the girth weld through the transparent tube, the endoscope method of steps 101 to 102 is executed, thereby ensuring that the endoscope device can photograph images of all girth welds in the pipeline.

[0102] The above does not limit the present disclosure in any form. Although the present disclosure has been disclosed as above through the embodiments, it is not used to limit the present disclosure. Any technician familiar with the profession can make some changes or modifications to equivalent embodiments of equivalent changes using the technical contents disclosed above without departing from the scope of the technical solution of the present disclosure. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present disclosure without departing from the content of the technical solution of the present disclosure still falls within the scope of the technical solution of the present disclosure.

Claims

1. An endoscope device for inner girth weld of a pipeline, characterized in that: The endoscopy device comprises: a base plate (10), a rotating assembly (20), a telescopic assembly (30) and a camera (40); The rotating assembly (20) comprises a rotating part (21) and a driving part (22), wherein the rotating part (21) and the driving part (22) are both located on the bottom plate (10), and the driving part (22) is used to control the rotation of the rotating part (21); The telescopic assembly (30) comprises a telescopic part (31), the telescopic part (31) is connected to the rotating part (21), the telescopic direction of the telescopic part (31) is perpendicular to the rotation center axis of the rotating part (21), and the camera (40) is connected to the telescopic part (31).

2. The endoscopic device according to claim 1, characterized in that: The plate surface of the bottom plate (10) has a convex shaft (11), and the rotating part (21) comprises a rotating disk (211), a first gear (212) and a second gear (213); The rotating disk (211) is movably sleeved outside the convex shaft (11); the end surface of the first gear (212) is fixedly connected to the end surface of the convex shaft (11) away from the bottom plate (10); the driving part (22) is located on the surface of the rotating disk (211) away from the bottom plate (10); The driving portion (22) is connected to the second gear (213); the second gear (213) is located on a side of the rotating disk (211) away from the bottom plate (10); the rotation center axis of the second gear (213) is parallel to the rotation center axis of the rotating disk (211); the first gear (212) and the second gear (213) are meshed; and the driving portion (22) is used to drive the second gear (213) to rotate.

3. The endoscopic device according to claim 2, characterized in that: The driving part (22) comprises a first bracket (221) and a rotating motor (222); the first bracket (221) is located on a surface of the rotating disk (211) away from the bottom plate (10); and the rotating motor (222) is connected to the first bracket (221).

4. The endoscopic device according to claim 2 or 3, characterized in that: The telescopic assembly (30) further comprises a second bracket (32), wherein the second bracket (32) is located on a surface of the rotating disk (211) away from the bottom plate (10); The telescopic portion (31) comprises a linear motor, the linear motor is connected to the second bracket (32), and the slider of the linear motor is connected to the camera (40).

5. The endoscopic device according to any one of claims 1 to 3, characterized in that: The endoscope device further comprises a protective tube (51), a transparent tube (52) and a cover (53), one end of the protective tube (51) is connected to the bottom plate (10), the other end of the protective tube (51) is coaxially connected to one end of the transparent tube (52), and the cover (53) is located at the other end of the transparent tube (52); The rotating assembly (20), the telescopic assembly (30) and the camera (40) are all located in a cavity surrounded by the bottom plate (10), the protective tube (51), the transparent tube (52) and the sealing cover (53), and the camera (40) is opposite to the transparent tube (52).

6. The endoscopic device according to any one of claims 1 to 3, characterized in that: The endoscopic device further comprises a base (60), wherein the base (60) has a first through hole (61) passing through the base (60), and the bottom plate (10) has a second through hole (12) passing through the bottom plate (10), wherein the base (60) is located on a surface of the bottom plate (10) away from the rotating assembly (20), and the first through hole (61) is connected to the second through hole (12), and the first through hole (61) and the second through hole (12) are used for allowing a cable of the camera (40) to pass through.

7. The endoscopic device according to any one of claims 1 to 3, characterized in that: The endoscopy device further comprises an endoscopy vehicle (70) for traveling in the pipeline, the endoscopy vehicle (70) comprising a vehicle frame (71), a first roller (72) and a second roller (73), the first roller (72) and the second roller (73) being located on opposite sides of the vehicle frame (71), the first roller (72) and the second roller (73) both being in contact with the inner wall of the pipeline, and the bottom plate (10) being connected to the vehicle frame (71).

8. The endoscopic device according to claim 7, characterized in that: The endoscope vehicle (70) further comprises a swing arm (74) and an elastic member (75), one end of the swing arm (74) being hinged to the vehicle frame (71), the second roller (73) being rotatably arranged at the other end of the swing arm (74), one end of the elastic member (75) being connected to the vehicle frame (71), the other end of the elastic member (75) being abutted against the other end of the swing arm (74), and the elastic expansion and contraction direction of the elastic member (75) being perpendicular to the central axis of rotation of the swing arm (74).

9. The endoscopic device according to claim 8, characterized in that: The endoscope vehicle (70) further comprises a guide rod (76), one end of which is connected to the vehicle frame (71); the elastic member (75) is a spring, and the elastic member (75) is sleeved outside the guide rod (76); the other end of the swing arm (74) comprises a third through hole, and the other end of the guide rod (76) is movably inserted into the third through hole; the inner diameter of the third through hole is smaller than the outer diameter of the elastic member (75).

10. A method for endoscopic inspection of an inner girth weld of a pipeline, characterized in that: The endoscopic method is implemented based on the endoscopic device according to any one of claims 1 to 9, and the method comprises: Controlling the telescopic component to drive the camera to telescope until the clarity of the image captured by the camera meets the set requirements; The rotating assembly is controlled to drive the camera to rotate, and an image captured by the camera is acquired.

Images