Pipeline endoscopic device

Abstract

The invention relates to the technical field of industrial endoscope detection, and particularly discloses a pipeline endoscopic device, which comprises a probe for detecting the inner wall of a pipeline; one end of the pipeline is connected with the probe; the operating part is connected with the other end of the pipeline; wherein the pipeline is provided with a first rolling body which is in rolling fit with the inner wall of the pipeline, and the probe is provided with a second rolling body which is in rolling fit with the inner wall of the pipeline. The first rolling body is arranged on the pipeline, and the second rolling body is arranged on the probe, so that friction and collision between the pipeline and the probe and the inner wall of the pipeline are avoided, the pipeline and the probe are protected, the damage probability of the pipeline endoscopic device is reduced, and the service life is prolonged.

Description

Technical Field

[0001] The invention relates to the technical field of industrial endoscope detection, and in particular to a pipeline endoscope device. Background Art

[0002] Pipes as flow paths for cooling media require strict defect detection. For example, in a controlled nuclear fusion device, the cold shield is one of its key systems. Its main function is to reduce the heat load imposed on the low-temperature superconducting magnet by high-temperature components under normal operating conditions of the host, ensuring that the superconducting magnet can work normally. In order to take away the heat of high-temperature components in time, it is usually necessary to arrange cooling pipes on the cold shield and take away the heat through the working fluid in the cooling system. In order to achieve a better heat exchange effect, a large number of bent cooling pipes need to be installed on the cold shield panel to form a large contact area between them and the cold shield panel. Since most of the panels of the cold shield are curved surfaces, the arrangement and welding of the cooling pipes on the cold shield panel are difficult. A large number of small-diameter and small-bending-radius spatial complex curved pipes are welded on the panels of the controlled nuclear fusion device, especially the complex spatial curved surfaces of the cold shield. If there are defects inside the pipes and cause pipe leakage, the entire device will not be able to operate normally.

[0003] Due to the irregular structure of the controlled nuclear fusion device, the complex and tortuous pipelines and the small diameter, other non-destructive testing methods such as penetration testing, X-ray testing and ultrasonic testing cannot accurately detect the defects on the inner wall of the pipeline and the shape and size of the defects. It is a very necessary and effective testing method to use an endoscope to penetrate into the interior of the pipeline to directly observe the quality of the inner wall of the pipeline.

[0004] However, in the related art, there is friction and collision between the endoscope and the inner wall of the pipeline, which causes damage to the endoscope. Especially in the case of tortuous, complex and small-diameter pipelines, the endoscope itself may be damaged or the pipeline may be damaged, and even the entire pipeline may be scrapped, seriously affecting the progress and quality of the project. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a pipeline endoscope device, which reduces the probability of damage to the pipeline endoscope device.

[0006] According to an embodiment of the present invention, a pipeline endoscope device includes: a probe, which is used to detect the inner wall of the pipeline; a pipeline, one end of which is connected to the probe; and an operating member, which is connected to the other end of the pipeline; wherein the pipeline is provided with a first rolling body that rolls with the inner wall of the pipeline, and the probe is provided with a second rolling body that rolls with the inner wall of the pipeline.

[0007] According to the pipeline endoscopy device of the embodiment of the present invention, by arranging a first rolling body on the pipeline and a second rolling body on the probe, friction and collision between the pipeline and the probe and the inner wall of the pipeline are avoided, the pipeline and the probe are protected, the probability of damage to the pipeline endoscopy device is reduced, and the service life is increased.

[0008] In some embodiments, the first rolling body is installed on the pipeline through a first bracket, there are multiple first rolling bodies, and the multiple first rolling bodies are arranged at intervals along the circumferential direction of the pipeline; wherein, There are a plurality of first brackets, and the first brackets are arranged at intervals in the extending direction of the pipeline.

[0009] In some embodiments, the first bracket includes a plurality of bracket sub-sections, the plurality of bracket sub-sections are arranged along the circumferential direction of the pipeline and are connected end to end, and two adjacent bracket sub-sections jointly define a limiting groove for positioning the first rolling body; or, the first bracket includes: an inner ring, the inner ring is arranged on the pipeline; a retaining frame, the retaining frame is movably arranged on the inner ring, and the first rolling body is arranged on the retaining frame.

[0010] In some embodiments, the maximum distance between the surface of the first rolling body and the center of the first bracket is L1, the distance between the center and the portion of the first bracket farthest from the center is L2, and L1>L2.

[0011] In some embodiments, the second rolling body is installed on the probe through a second bracket, and the second bracket is arranged on the side of the probe away from the pipeline; wherein the maximum distance between the end of the probe away from the pipeline and the center of the second bracket is L3, and the maximum distance between the surface of the second rolling body and the center is L4, L4>L3.

[0012] In some embodiments, the second rolling body is installed on the probe through a second bracket, the first bracket and / or the second bracket are constructed as a magnetic part, and the pipeline endoscopy device also includes: a magnetic drive component and a control component, the magnetic drive component is arranged on the outer wall of the pipeline, the magnetic drive component is magnetically connected to the magnetic part, and the control component is electrically connected to the magnetic drive component to drive the probe to move in the pipeline.

[0013] In some embodiments, the magnetic drive assembly includes: a base, which is arranged on the pipe; a track member, which is arranged on the base; and a movable electromagnetic member, which is movably arranged on the track member, and the movable electromagnetic member is suitable for magnetic connection with the magnetic member.

[0014] In some embodiments, there are multiple magnetic drive components, and the multiple magnetic drive components are arranged at intervals in the extension direction of the pipeline.

[0015] In some embodiments, the probe and / or the pipeline is provided with a traction member to pull the probe and / or the pipeline; or, the probe and / or the pipeline is sealed with the inner wall of the pipeline, and an air drive component is provided at one end of the pipeline to drive the probe to move.

[0016] In some embodiments, the pipeline endoscopy device is suitable for use as a cold shield for a fusion device.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 A schematic diagram of a pipeline endoscopy device according to an embodiment of the present invention; Figure 2 Schematic diagram of the positions of the first bracket and the second bracket in an embodiment of the present invention; Figure 3 A schematic diagram of the positions of multiple magnetic drive components in an embodiment of the present invention; Figure 4 Schematic diagram of L1 and L2 in an embodiment of the present invention; Figure 5 Schematic diagram of L3 and L4 in an embodiment of the present invention.

[0019] Reference numerals: 100. Pipeline endoscopy device; 11. Probe; 111. Second rolling body; 112. Second bracket; 12. Pipeline; 22. First rolling body; 21. First bracket; 3. Magnetic drive assembly; 31. Base; 32. Track member; 33. Connecting block; 34. Moving electromagnetic member; 5. Control member; 6. Computer; 4. Pipeline; 7. Cold screen. DETAILED DESCRIPTION

[0020] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0021] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0022] In addition, features defined as “first” or “second” may explicitly or implicitly include one or more such features, and are used to distinguish and describe features, without any distinction in order or importance.

[0023] In the description of the present invention, unless otherwise specified, "plurality" means two or more. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] The pipeline endoscopy device 100 according to an embodiment of the present invention will be described below with reference to the accompanying drawings.

[0025] Reference Figure 1 As shown, a pipeline endoscopy device 100 according to an embodiment of the present invention includes: a probe 11, a pipeline 12 and an operating member.

[0026] The probe 11 is used to detect the inner wall of the pipeline 4. One end of the pipeline 12 is connected to the probe 11. The operating member is connected to the other end of the pipeline 12. The pipeline 12 is provided with a first rolling body 22 that rolls with the inner wall of the pipeline 4, and the probe 11 is provided with a second rolling body 111 that rolls with the inner wall of the pipeline 4.

[0027] The probe 11 is located at the front end of the rail endoscope device, and is used to obtain images or videos of the target area and transmit them to a display device for observation and diagnosis by an operator. The pipeline 12 is flexible and bendable, and is located between the operating member and the probe 11, connecting the operating member and the probe 11, and transmitting control signals, images or videos.

[0028] Pipes as flow paths for cooling media require strict defect detection. For example, in a controlled nuclear fusion device, the cold shield is one of its key systems. Its main function is to reduce the heat load imposed on the low-temperature superconducting magnet by high-temperature components under normal operating conditions of the host, ensuring that the superconducting magnet can work normally. In order to take away the heat of high-temperature components in time, it is usually necessary to arrange cooling pipes on the cold shield and take away the heat through the working fluid in the cooling system. In order to achieve a better heat exchange effect, a large number of bent cooling pipes need to be installed on the cold shield panel to form a large contact area between them and the cold shield panel. Since most of the panels of the cold shield are curved surfaces, the arrangement and welding of the cooling pipes on the cold shield panel are difficult. A large number of small-diameter and small-bending-radius spatial complex curved pipes are welded on the panels of the controlled nuclear fusion device, especially the complex spatial curved surfaces of the cold shield. If there are defects inside the pipes and cause pipe leakage, the entire device will not be able to operate normally.

[0029] Due to the irregular structure of the controlled nuclear fusion device, the complex and tortuous pipelines and the small diameter, other non-destructive testing methods such as penetration testing, X-ray testing and ultrasonic testing cannot accurately detect the defects on the inner wall of the pipeline and the shape and size of the defects. It is a very necessary and effective testing method to use an endoscope to penetrate into the interior of the pipeline to directly observe the quality of the inner wall of the pipeline.

[0030] However, in the related art, there is friction and collision between the endoscope and the inner wall of the pipeline, which causes damage to the endoscope. Especially in the case of tortuous, complex and small-diameter pipelines, the endoscope itself may be damaged or the pipeline may be damaged, and even the entire pipeline may be scrapped, seriously affecting the progress and quality of the project.

[0031] In the embodiment of the present invention, a second rolling body 111 is provided on the probe 11, and the second rolling body 111 rolls with the inner wall of the pipe 4 to avoid friction and collision. A first rolling body 22 is provided on the pipeline 12, and the first rolling body 22 rolls with the inner wall of the pipe 4 to avoid friction and collision, thereby reducing the probability of damage to the pipeline endoscopy device 100 and increasing its service life.

[0032] Specifically, the probe 11 includes an imaging system, a lighting system and a transmission system. The imaging system is composed of a micro camera or an optical lens for capturing high-resolution images or videos. The lighting system includes a light source (such as an LED light) to provide necessary lighting for the inspection area in the dark to ensure clear imaging. The transmission system includes an optical fiber or cable to transmit the collected image or video signal to an external display.

[0033] Specifically, the first rolling body 22 is a ball, which is in rolling contact with the inner wall of the pipe 4 , and the second rolling body 111 is a ball, which is in rolling contact with the inner wall of the pipe 4 .

[0034] According to the pipeline endoscopy device 100 of the embodiment of the present invention, by setting a first rolling body 22 on the pipeline 12 and a second rolling body 111 on the probe 11, friction and collision between the pipeline 12 and the probe 11 and the inner wall of the pipeline 4 are avoided, the pipeline 12 and the probe 11 are protected, the probability of damage to the pipeline endoscopy device 100 is reduced, and the service life is increased.

[0035] Reference Figure 2 As shown, in some embodiments, the first rolling body 22 is installed on the pipeline 12 through the first bracket 21, and there are multiple first rolling bodies 22, and the multiple first rolling bodies 22 are arranged at intervals along the circumferential direction of the pipeline 12. Among them, there are multiple first brackets 21, and the first brackets 21 are arranged at intervals in the extension direction of the pipeline 12.

[0036] One end of the pipeline 12 is connected to the operating member, and the other end is connected to the probe 11. The pipeline 12 is relatively long, and a plurality of first brackets 21 are arranged on the relatively long pipeline 12. A plurality of first rolling bodies 22 are arranged on the first brackets 21. The first rolling bodies 22 are in rolling contact with the inner wall of the pipe 4.

[0037] In the above scheme, multiple first brackets 21 are set, and multiple first rolling bodies 22 are set on the first brackets 21. The first rolling bodies 22 are set along the circumferential direction of the pipeline 12. The first rolling bodies 22 are in rolling contact with the inner wall of the pipeline 4, further avoiding friction and collision between the pipeline 12 and the inner wall of the pipeline 4, thereby further reducing the probability of damage to the pipeline endoscopy device 100.

[0038] Specifically, a plurality of first rolling bodies 22 are evenly distributed along the circumferential direction of the pipeline 12, thereby improving stability. More than half of the first rolling body 22 is disposed in the groove of the first bracket 21, and the other half of the first rolling body 22 exposed to the outside contacts the inner wall of the pipeline 4. The first rolling body 22 can freely rotate in the groove of the first bracket 21, and the first rolling body 22 can freely roll along the inner wall of the pipeline 4.

[0039] In some specific embodiments, the first bracket 21 includes a plurality of bracket sub-sections, which are arranged along the circumferential direction of the pipeline 12 and connected end to end, and two adjacent bracket sub-sections jointly define a limiting groove for positioning the first rolling body 22 .

[0040] Among them, a plurality of bracket sub-parts are spliced ​​into a first bracket 21, and the plurality of bracket sub-parts are connected in sequence, and two adjacent bracket sub-parts jointly define a limiting groove, and the first rolling body 22 is installed in the limiting groove.

[0041] In the above solution, two adjacent bracket sub-parts jointly define a limiting groove. It can be understood that when the first bracket 21 is assembled, the first rolling body 22 can be conveniently installed between the two adjacent bracket sub-parts, reducing the difficulty of installation.

[0042] Specifically, the first bracket 21 is composed of four arc-shaped structures with grooves.

[0043] In some other specific embodiments, the first bracket 21 includes: an inner ring and a retaining frame.

[0044] The inner ring is provided on the pipeline 12. The retainer is movably provided on the inner ring, and the first rolling element 22 is provided on the retainer.

[0045] The inner ring is fixed on the pipeline 12 and is stationary relative to the pipeline 12 . The retaining frame is movably arranged on the inner ring. The first rolling body 22 is installed on the retaining frame and is movable relative to the pipeline 12 , thereby rolling in contact with the inner wall of the pipe 4 .

[0046] In the above solution, the first rolling element 22 is in rolling contact with the inner wall of the pipe 4 through the cooperation between the inner ring and the retaining frame. The overall structure is simple and reliable, and the overall stability is improved.

[0047] Reference Figures 1 to 4 As shown, in some embodiments, the maximum distance between the surface of the first rolling body 22 and the center of the first bracket 21 is L1, and the distance between the part of the first bracket 21 farthest from the center and the center is L2, and L1>L2.

[0048] Among them, the maximum distance between the first rolling body 22 and the center of the first bracket 21 is L1, the distance between the part farthest from the center on the first bracket 21 and the center is L2, and L1>L2, that is, the radius of the circumscribed sphere of the first bracket 21 is smaller than the radius of the circumscribed sphere of the first rolling body 22, so that the first bracket 21 will not contact the inner wall of the pipe 4.

[0049] In the above scheme, by setting L1>L2, the first bracket 21 will not contact the inner wall of the pipe 4, thereby avoiding damage to the first bracket 21. At the same time, the friction resistance between the pipeline endoscopy device 100 and the pipe 4 is reduced, so that the pipeline endoscopy device 100 can move more smoothly in the pipe 4, which is convenient to use.

[0050] Reference Figures 1 to 5 As shown, in some embodiments, the second rolling body 111 is installed on the probe 11 through the second bracket 112, and the second bracket 112 is arranged on the side of the probe 11 away from the pipeline 12. The maximum distance between the end of the probe 11 away from the pipeline 12 and the center of the second bracket 112 is L3, and the maximum distance between the surface of the second rolling body 111 and the center is L4, L4>L3.

[0051] The probe 11 is provided with a second bracket 112, the second rolling body 111 is provided on the second bracket 112, and the second bracket 112 is provided on the side of the probe 11 away from the pipeline 12, that is, the second bracket 112 is provided at the front end of the probe 11. Moreover, the maximum distance between the end of the probe 11 away from the pipeline 12 and the center of the second bracket 112 is L3, and the maximum distance between the second rolling body 111 and the center is L4, L4>L3, that is, the end edge of the probe 11 is located within the radius of the circumscribed sphere of the second rolling body 111, so that the probe 11 will not contact the inner wall of the pipeline 4.

[0052] In the above solution, by setting L4>L3, the end edge of the probe 11 is located within the radius of the circumscribed sphere of the second rolling body 111, and the probe 11 will not contact the inner wall of the pipe 4, thereby avoiding damage to the probe 11 and increasing its service life.

[0053] Specifically, a plurality of second rolling bodies 111 are evenly distributed along the circumferential direction of the pipeline 12, thereby improving stability. More than half of the second rolling body 111 is disposed in the groove of the second bracket 112, and the other half of the second rolling body 111 exposed to the outside contacts the inner wall of the pipeline 4. The second rolling body 111 can freely rotate in the groove of the second bracket 112, and the second rolling body 111 can freely roll along the inner wall of the pipeline 4.

[0054] Reference Figures 1 to 3 As shown, in some embodiments, the second rolling body 111 is installed on the probe 11 through the second bracket 112, the first bracket 21 and / or the second bracket 112 are constructed as a magnetic part, and the pipeline endoscopy device 100 also includes: a magnetic drive component 3 and a control component 5, the magnetic drive component 3 is arranged on the outer wall of the pipeline 4, the magnetic drive component 3 is magnetically connected to the magnetic part, and the control component 5 is electrically connected to the magnetic drive component 3 to drive the probe 11 to move in the pipeline 4.

[0055] Among them, at least one of the first bracket 21 and the second bracket 112 is a magnetic part, which has magnetism. The magnetic drive component 3 on the outer wall of the pipe 4 generates a magnetic field. The magnetic part moves under the action of the magnetic field, driving the probe 11 to move inside the pipe 4.

[0056] In the above solution, the probe 11 inside the pipe 4 is moved by the cooperation between the magnetic drive assembly 3 and the magnetic part. It can be understood that the cooperation between the magnetic drive assembly 3 and the magnetic part can realize automatic advancement of the probe 11, which is easy to operate.

[0057] Specifically, the rolling element is made of a material having a relative magnetic permeability lower than 1.1.

[0058] Reference Figures 1 to 3As shown, in some specific embodiments, the magnetic drive assembly 3 includes: a base 31 , a track member 32 , and a moving electromagnetic member 34 .

[0059] The base 31 is arranged on the pipeline 4. The track member 32 is arranged on the base 31. The moving electromagnetic member 34 is movably arranged on the track member 32, and the moving electromagnetic member 34 is suitable for magnetic connection with the magnetic member.

[0060] Among them, the base 31 is fixed on the pipe 4, the track part 32 is installed on the base 31, and the moving electromagnetic part 34 is installed on the track part 32. The track part 32 limits part of the freedom of the moving electromagnetic part 34, so that the moving electromagnetic part 34 moves along the extension direction of the track part 32. The moving electromagnetic part 34 is magnetically connected to the magnetic part. The moving electromagnetic part 34 applies a force to the magnetic part through the pipe 4, so that the magnetic part moves in the pipe 4, and indirectly drives the probe 11 to move in the pipe 4.

[0061] In the above scheme, by cooperating with the moving electromagnetic component 34 , the track component 32 and the control component 5 , the magnetic component is driven to move through the pipeline 4 , and the magnetic component drives the probe 11 and the pipeline 12 to move. The structure is simple and reliable, and the damage to the pipeline 4 is reduced.

[0062] Specifically, the track member 32 is constructed as a track column, a connection block 33 is sleeved on the track column, and a moving electromagnetic member 34 is installed on the connection block 33, and the moving electromagnetic member 34 moves along the extension direction of the track column. The cross section of the moving electromagnetic member 34 is C-shaped, U-shaped, or semicircular.

[0063] Specifically, the moving electromagnetic member 34 generates a magnetic field when powered on, and has no magnetic field when powered off.

[0064] Specifically, the control component 5 is electrically connected to the computer 6 .

[0065] Specifically, the moving electromagnetic member 34 is connected to a linear driving member, and the linear driving member drives the moving electromagnetic member 34 to move.

[0066] The specific working process is as follows: after the magnetic drive component 3 receives the control instructions from the computer 6 and the control component 5, the moving electromagnetic component 34 obtains magnetism after being powered on, and attracts the first bracket 21 or the second bracket 112 located in the low magnetic permeability pipe 4, and then the linear drive device drives the moving electromagnetic component 34 and the first bracket 21 or the second bracket 112 to move along the inner wall of the pipe 4 from the starting point of the stroke to the end point of the stroke, and then the first electromagnetic component is powered off and loses its magnetism, and the moving electromagnetic component 34 returns to the starting point of the stroke, thereby achieving the goal of pushing the probe 11 or the pipeline 12 forward a certain distance, and repeating the above steps can continue to push the probe 11 and the pipeline 12 forward.

[0067] Reference Figure 3As shown, in some specific embodiments, there are multiple magnetic drive components 3, and the multiple magnetic drive components 3 are arranged at intervals in the extension direction of the pipeline 4.

[0068] The pipe 4 has a certain length, and a plurality of magnetic drive components 3 are arranged at intervals in the extension direction of the pipe 4 . The plurality of magnetic drive components 3 sequentially drive the magnetic components in the pipe 4 , so that the probe 11 moves continuously in the pipe 4 .

[0069] In the related art, the diameter of the pipeline is small, and most of them are complex curved pipelines with small bending radius, which greatly increases the resistance during the insertion of the endoscope. Conventional endoscopes generally cannot continue to extend after passing through 3 to 5 bends near the entrance end, resulting in a relatively shallow detection depth of the endoscope, and it is impossible to detect the entire length of the pipeline; furthermore, in the conventional push-pull traction method, the point of application of thrust or pulling force is at the inlet and outlet of the pipeline, and the pipeline of the pipeline endoscope is flexible, making it difficult to apply traction to the endoscope deep in the pipeline.

[0070] In the above scheme, by arranging multiple magnetic drive components 3 at intervals in the extension direction of the pipeline 4, traction force is directly applied to the probe 11 deep in the pipeline 4, making it easier to move the probe 11 in the pipeline 4. At the same time, the movement of the probe 11 in the pipeline 4 can also be automated, greatly reducing the difficulty of operation.

[0071] In order to adapt to the longer pipeline 4, magnetic drive components 3 are set at multiple locations on the outer wall of the pipeline 4, and are precisely controlled by the computer 6 and the control component 5. The specific working process of the pipeline endoscopy device 100 is as follows: initially, the computer 6 and the control component 5 send a control instruction to the first magnetic drive component near the entrance of the pipeline 4, so that the first magnetic drive component pushes the probe 11 and the pipeline 12 to move in the pipeline 4 according to the specific working process above. When the probe 11 and the pipeline 12 reach the travel range of the second magnetic drive component, the computer 6 and the control component 5 send a control instruction to the second magnetic drive component, so that the second magnetic drive component and the first magnetic drive component 3 simultaneously drive the probe 11 and the pipeline 12 to move in the pipeline 4. Similarly, as the depth of the probe 11 and the pipeline 12 extending into the pipeline 4 increases, the computer 6 and the control component 5 simultaneously control multiple magnetic drive components 3 to simultaneously drive the probe 11 and the pipeline 12 to move in the pipeline 4.

[0072] In some embodiments, a traction member is provided on the probe 11 and / or the pipeline 12 to pull the probe 11 and / or the pipeline 12 .

[0073] The probe 11 and / or the pipeline 12 is provided with a traction piece, which extends outside the pipeline 4 . The traction piece plays a traction role, pulls the probe 11 and / or the pipeline 12 , and drives the probe 11 and the pipeline 12 to move in the pipeline 4 .

[0074] In the above scheme, by setting a traction member on the probe 11 and / or the pipeline 12, the probe 11 and / or the pipeline 12 are pulled by the traction member. This scheme is not only applicable to pipelines 4 with lower magnetic permeability, but also applicable to pipelines 4 with higher magnetic permeability, thereby expanding the scope of use.

[0075] Specifically, the traction member may be installed on the probe 11 alone, or may be installed on the pipeline 12 alone, or may be provided on the probe 11 and the pipeline 12 respectively. All of the above are possible and will not be described in detail here.

[0076] Specifically, the traction member can be a silk thread, which is convenient, practical and reduces the cost.

[0077] In other embodiments, the probe 11 and / or the pipeline 12 are sealed with the inner wall of the pipe 4 , and an air drive component is provided at one end of the pipe 4 to drive the probe 11 to move.

[0078] The air drive assembly provides compressed air, the probe 11 and / or the pipeline 12 are sealed with the inner wall of the pipeline 4, the compressed air enters the pipeline 4, the pressure acts on the probe 11 or the pipeline 12, and drives the probe 11 to move.

[0079] In the above scheme, an air drive assembly is provided to provide compressed air to apply force to the probe 11 or the pipeline 12. This scheme is not only applicable to pipes 4 with lower magnetic permeability, but also to pipes 4 with higher magnetic permeability, thereby increasing the scope of use.

[0080] Reference Figure 3 As shown, in some embodiments, the pipeline endoscopy device 100 is applicable to the cold shield 7 of the fusion device.

[0081] The cold shield 7 is one of the key systems of the controlled nuclear fusion device. Its main function is to reduce the heat load imposed on the low-temperature superconducting magnet by the high-temperature components when the host is in normal operation, so as to ensure that the superconducting magnet can work normally. A large number of bent cooling pipes 4 are installed on the cold shield 7, and the pipe endoscopy device 100 can be installed on the pipes 4.

[0082] In the above scheme, the pipeline endoscope device 100 is used to inspect the pipeline 4 on the cold screen 7. The sliding friction contact between the endoscope and the inner wall of the pipeline 4 is replaced by the rolling friction contact between the rolling body and the inner wall of the pipeline 4, which greatly reduces the friction resistance of the pipeline endoscope device 100 when it is extended into the pipeline 4, especially when it passes through the complex curved pipeline 4 with a small bending radius.

[0083] In some specific embodiments, the second bracket 112 has the same structure as the first bracket 21 , and the specific structure of the second bracket 112 refers to the first bracket 21 , which will not be described in detail here.

[0084] The pipeline endoscopy device 100 according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0085] The pipeline endoscope device 100 is suitable for the cold shield 7 of the fusion device. The pipeline endoscope device 100 comprises: a probe 11, a pipeline 12, an operating part and a magnetic drive component 3.

[0086] The probe 11 is used to detect the inner wall of the pipe 4. The probe 11 is provided with a second bracket 112, and the second bracket 112 is provided with a plurality of second rolling bodies 111 that roll with the inner wall of the pipe 4.

[0087] One end of the pipeline 12 is connected to the probe 11 . The pipeline 12 is provided with a plurality of first brackets 21 . The plurality of first brackets 21 are arranged at intervals in the extending direction of the pipeline 12 . The first brackets 21 are provided with a plurality of first rolling bodies 22 . The plurality of first rolling bodies 22 are arranged at intervals along the circumferential direction of the pipeline 12 .

[0088] Among them, the maximum distance between the first rolling body 22 and the center of the first bracket 21 is L1, the distance between the part farthest from the center on the first bracket 21 and the center is L2, L1>L2, the maximum distance between the end of the probe 11 away from the pipeline 12 and the center of the second bracket 112 is L3, and the maximum distance between the second rolling body 111 and the center is L4, L4>L3.

[0089] The other end of the operating member connecting pipeline 12.

[0090] The magnetic drive assembly 3 is disposed on the outer wall of the pipe 4 , and the magnetic drive assembly 3 includes: a base 31 , a track component 32 , and a moving electromagnetic component 34 .

[0091] The base 31 is arranged on the pipe 4. The track member 32 is arranged on the base 31. The moving electromagnetic member 34 is movably arranged on the track member 32. The first bracket 21 and the second bracket 112 are configured as magnetic members, and the moving electromagnetic member 34 is suitable for magnetic connection with the magnetic member. The control member 5 is electrically connected to the magnetic drive assembly 3 to control the movement and power on and off of the moving electromagnetic member 34.

[0092] There are multiple pipeline endoscope components 3 , and the multiple pipeline endoscope components 3 are arranged at intervals in the extension direction of the pipeline 4 .

[0093] The working process is as follows: initially, a control instruction is sent to the first magnetic drive component near the entrance of the pipeline 4 through the computer 6 and the control component 5, so that the first magnetic drive component pushes the probe 11 and the pipeline 12 to move in the pipeline 4 according to the specific working process described above. When the probe 11 and the pipeline 12 reach the travel range of the second magnetic drive component, the computer 6 and the control component 5 send a control instruction to the second magnetic drive component, so that the second magnetic drive component and the first magnetic drive component 3 simultaneously drive the probe 11 and the pipeline 12 to move in the pipeline 4. Similarly, as the depth of the probe 11 and the pipeline 12 extending into the pipeline 4 increases, the computer 6 and the control component 5 simultaneously control multiple magnetic drive components 3 to simultaneously drive the probe 11 and the pipeline 12 to move in the pipeline 4.

[0094] Other structures and operations of the pipeline endoscopy device 100 according to the embodiment of the present invention are known to those skilled in the art and will not be described in detail here.

[0095] In the description of this specification, the description with reference to the terms "embodiment", "example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0096] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A pipeline endoscope device, characterized in that: include: A probe (11), wherein the probe (11) is used to detect the inner wall of the pipeline (4); A pipeline (12), one end of which is connected to the probe (11); An operating member connected to the other end of the pipeline (12); wherein: The pipeline (12) is provided with a first rolling body (22) that rolls with the inner wall of the pipeline (4), and the probe (11) is provided with a second rolling body (111) that rolls with the inner wall of the pipeline (4).

2. The pipeline endoscopy device according to claim 1, characterized in that: The first rolling body (22) is installed on the pipeline (12) through a first bracket (21), and there are a plurality of the first rolling bodies (22), which are arranged at intervals along the circumferential direction of the pipeline (12); wherein: There are a plurality of first brackets (21), and in the extending direction of the pipeline (12), the first brackets (21) are arranged at intervals.

3. The pipeline endoscopy device according to claim 2, characterized in that: The first bracket (21) comprises a plurality of bracket sub-parts, the plurality of bracket sub-parts are arranged along the circumferential direction of the pipeline (12) and connected end to end, and two adjacent bracket sub-parts jointly define a limiting groove for positioning the first rolling body (22); or, The first bracket (21) comprises: an inner ring, the inner ring being arranged on the pipeline (12); A retainer is movably arranged on the inner ring, and the first rolling element (22) is arranged on the retainer.

4. The pipeline endoscopy device according to claim 2, characterized in that: The maximum distance between the surface of the first rolling body (22) and the center of the first bracket (21) is L1, and the distance between the part of the first bracket (21) farthest from the center and the center is L2, and L1>L2.

5. The pipeline endoscopy device according to claim 2, characterized in that: The second rolling body (111) is mounted on the probe (11) via a second bracket (112), and the second bracket (112) is arranged on a side of the probe (11) away from the pipeline (12); wherein: The maximum distance between the end of the probe (11) away from the pipeline (12) and the center of the second bracket (112) is L3, and the maximum distance between the surface of the second rolling body (111) and the center is L4, and L4>L3.

6. The pipeline endoscopy device according to any one of claims 2 to 5, characterized in that: The second rolling body (111) is mounted on the probe (11) via a second bracket (112); the first bracket (21) and / or the second bracket (112) are configured as magnetic components; the pipeline endoscopy device (100) further comprises: a magnetic drive component (3) and a control component (5); the magnetic drive component (3) is disposed on the outer wall of the pipeline (4); the magnetic drive component (3) is magnetically connected to the magnetic component; and the control component (5) is electrically connected to the magnetic drive component (3) to drive the probe (11) to move in the pipeline (4).

7. The pipeline endoscopy device according to claim 6, characterized in that: The magnetic drive assembly (3) comprises: A base (31), wherein the base (31) is arranged on the pipeline (4); A track member (32), wherein the track member (32) is arranged on the base (31); A movable electromagnetic component (34), wherein the movable electromagnetic component (34) is movably disposed on the track component (32), and the movable electromagnetic component (34) is suitable for being magnetically connected to the magnetic component.

8. The pipeline endoscopy device according to claim 6, characterized in that: There are a plurality of magnetic drive components (3), and the plurality of magnetic drive components (3) are arranged at intervals in the extension direction of the pipeline (4).

9. The pipeline endoscopy device according to any one of claims 1 to 5, characterized in that: The probe (11) and / or the pipeline (12) are provided with a traction member for traction of the probe (11) and / or the pipeline (12); or the probe (11) and / or the pipeline (12) are in sealing cooperation with the inner wall of the pipeline (4), and an air drive component is provided at one end of the pipeline (4) for driving the probe (11) to move.

10. The pipeline endoscopy device according to any one of claims 1 to 5, characterized in that: The pipeline endoscopy device (100) is suitable for a cold shield (7) of a fusion device.

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