Crawling equipment for pipeline radiation measurement

Abstract

The invention relates to the technical field of nuclear, and provides crawling equipment for pipeline radiation measurement, and the crawling equipment comprises a detector, a body, a plurality of crawling mechanisms and a rotating mechanism. The detector is used for measuring the radiation dose of the pipeline; a containing opening is formed in the body, and the pipeline is arranged in the containing opening. The multiple crawling mechanisms are arranged on the body in the circumferential direction of the containing opening at intervals, and the crawling mechanisms are configured to be capable of driving the body to move on the pipeline in the length direction of the pipeline; the rotating mechanism is arranged on the body, the detector is arranged on the rotating mechanism, and the rotating mechanism is configured to be capable of driving the detector to rotate in the circumferential direction of the containing opening. The crawling equipment for pipeline radiation measurement provided by the invention is high in working efficiency.

Description

Technical Field

[0001] The present application relates to the field of nuclear technology, and in particular to a crawling device for pipeline radiation measurement. Background Art

[0002] During the operation, maintenance and post-processing of nuclear facilities, many radioactive pipes are generated. In order to determine the treatment methods for the pipes, it is necessary to measure the radiation dose of the pipes. In the related art, the pipes are cut into multiple sections and then measured at each section, which is inefficient. Summary of the invention

[0003] In view of this, an embodiment of the present application hopes to provide a crawling device for pipeline radiation measurement with high working efficiency.

[0004] In order to achieve the above-mentioned purpose, the technical solution of the embodiment of the present application is implemented as follows:

[0005] The present application embodiment discloses a crawling device for pipeline radiation measurement, comprising:

[0006] a detector for measuring the radiation dose of the pipeline;

[0007] A body, formed with a receiving opening, wherein the pipe is arranged in the receiving opening;

[0008] A plurality of crawling mechanisms, wherein the plurality of crawling mechanisms are arranged on the body at intervals along the circumference of the receiving opening, and the crawling mechanisms are configured to be able to drive the body to move on the pipe along the length direction thereof;

[0009] The rotating mechanism is arranged on the body, the detector is arranged on the rotating mechanism, and the rotating mechanism is configured to be able to drive the detector to rotate along the circumference of the accommodating opening.

[0010] In one embodiment, the main body includes a rotating shaft, two half rings and a connecting piece. The two half rings are spliced ​​to define the accommodating port. A rotating hole is formed at one end of each of the two half rings. The rotating shaft is passed through the two rotating holes. An installation hole is formed at the other end of each of the two half rings. The connecting piece is detachably passed through the two installation holes.

[0011] In one embodiment, the main body includes a plurality of adjusting members, the adjusting members are arranged on the half ring, each of the adjusting members is arranged corresponding to one of the crawling mechanisms, and the adjusting members are configured to be able to move the crawling mechanism along the radial direction of the accommodating port.

[0012] In one embodiment, the adjusting member includes a fixed seat, an adjusting rod and a locking member, the fixed seat is arranged on the semi-ring, the crawling mechanism can be slidably arranged on the fixed seat, one end of the adjusting rod can be adjustably arranged on the fixed seat, the other end of the adjusting rod is connected to the moving mechanism, and the locking member is used to lock or unlock the adjusting rod.

[0013] In one embodiment, each of the crawling mechanisms includes a support, the crawling motor and a crawling wheel. The crawling motor is arranged on the main body through the support. The driving shaft of the crawling motor is connected to the crawling wheel driving. The crawling wheel is configured to be able to move along the length direction of the pipeline under the drive of the crawling motor.

[0014] In one embodiment, one of the plurality of crawling mechanisms is configured to have a braking function.

[0015] In one embodiment, the rotating mechanism comprises:

[0016] An annular member, the annular member is arranged around the receiving opening;

[0017] A rotating seat, the detector is arranged on the rotating seat, and the rotating seat can be slidably arranged on the annular member;

[0018] A driving assembly is arranged on the rotating seat, the driving assembly is drivingly connected to the annular member, and the driving assembly is configured to be able to drive the rotating seat to rotate in the circumferential direction of the annular member.

[0019] In one embodiment, one of the annular member and the rotating seat is formed with a sliding block, and the other of the annular member and the rotating seat is formed with a sliding groove, and the sliding block is slidably matched with the sliding groove.

[0020] In one embodiment, the driving assembly includes a driving motor and a gear member, the driving motor is disposed on the rotating seat, a driving shaft of the driving motor is connected to the gear member, gear teeth are formed on the outer peripheral side of the annular member, and the gear member meshes with the gear teeth.

[0021] In one embodiment, the crawling device includes a distance meter, which is arranged on the main body and is used to measure the crawling length of the crawling mechanism on the pipeline.

[0022] The embodiment of the present application discloses a crawling device for pipeline radiation measurement, which is provided with a body, and a receiving port is formed on the body so that the pipeline can be inserted into the receiving port, and the body can also provide an installation position for a crawling mechanism and a rotating mechanism, so as to facilitate installation. By providing a rotating mechanism and multiple crawling mechanisms, multiple crawling mechanisms are arranged on the body at intervals along the circumference of the receiving port, and the detector can be arranged on the rotating mechanism, and the rotating mechanism is configured to drive the body to drive the detector to rotate along the circumference of the receiving port, so that the crawling mechanism can drive the body to move along the length direction of the pipeline to drive the detector to measure along the length direction of the pipeline, and the rotating mechanism can drive the detector to rotate along the axial direction of the receiving port to drive the detector to measure along the circumferential direction of the pipeline, so that, on the one hand, the pipeline does not need to be divided into multiple sections, and the radiation dose of the pipeline can be measured along the length direction and the circumference direction, and the work efficiency is high; on the other hand, due to the use of the crawling mechanism and the rotating mechanism, the radiation exposure dose of the measurement personnel during the sampling and measurement process can be reduced, and the safety is good. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic diagram of the structure of a crawling device for pipeline radiation measurement provided in an embodiment of the present application;

[0024] Figure 2 for Figure 1 Schematic diagram of the structure from another perspective.

[0025] Description of Reference Numerals

[0026] 100. Crawling device; 1. Detector; 2. Main body; 2a. Receiving opening; 2b. Weight-reducing hole; 21. Rotating shaft; 22. Half ring; 23. Connecting piece; 24. Adjusting piece; 241. Fixing seat; 242. Adjusting rod; 243. Locking piece; 3. Crawling mechanism; 31. Support; 32. Crawling motor; 33. Crawling wheel; 34. Bearing; 35. Gate wheel shaft support; 36. Gate wheel shaft; 4. Rotating mechanism; 41. Ring piece; 41a. Gear; 411. Arc piece; 42. Rotating seat; 43. Driving assembly; 431. Driving motor; 432. Gear piece; 5. Distance meter; A. Sliding block; B. Slide groove. DETAILED DESCRIPTION

[0027] It should be noted that, in the absence of conflict, the embodiments and technical features in the embodiments of the present application can be combined with each other, and the detailed description in the specific implementation method should be understood as an explanation of the purpose of the present application and should not be regarded as an improper limitation on the present application.

[0028] The present application is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The descriptions of "first", "second", etc. in the embodiments of the present application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly including at least one feature. In the description of the embodiments of the present application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically limited.

[0029] The present application embodiment provides a crawling device 100 for pipeline radiation measurement, see Figure 1 and Figure 2 The crawling device 100 includes a detector 1, a body 2, a plurality of crawling mechanisms 3 and a rotating mechanism 4. The detector 1 is used to measure the radiation dose of the pipeline. The body 2 is formed with a receiving port 2a, and the pipeline is arranged in the receiving port 2a. A plurality of crawling mechanisms 3 are arranged on the body 2 at intervals along the circumference of the receiving port 2a, and the crawling mechanisms 3 are configured to drive the body 2 to move along the length direction of the pipeline. The rotating mechanism 4 is arranged on the body 2, and the detector 1 is arranged on the rotating mechanism 4, and the rotating mechanism 4 is configured to drive the detector 1 to rotate along the circumference of the receiving port 2a.

[0030] The crawling device 100 provided in the present application is provided with a main body 2, and the main body 2 is formed with a receiving opening 2a so that a pipe can be passed through the receiving opening 2a, and the main body 2 can also provide an installation position for the crawling mechanism 3 and the rotating mechanism 4, so as to facilitate installation. By setting a rotating mechanism 4 and a plurality of crawling mechanisms 3, the plurality of crawling mechanisms 3 are arranged on the main body 2 at intervals along the circumferential direction of the accommodating port 2a, and the detector 1 can be arranged on the rotating mechanism 4. The rotating mechanism 4 is configured to be able to drive the main body 2 to rotate along the circumferential direction of the accommodating port 2a. In this way, the crawling mechanism 3 can drive the main body 2 to move along the length direction of the pipeline to drive the detector 1 to measure along the length direction of the pipeline, and the rotating mechanism 4 can drive the detector 1 to rotate along the axial direction of the accommodating port 2a to drive the detector 1 to measure along the circumferential direction of the pipeline. In this way, on the one hand, there is no need to divide the pipeline into multiple sections, and the radiation dose of the pipeline can be measured along the length direction and the circumferential direction, so that the work efficiency is high; on the other hand, due to the use of the crawling mechanism 3 and the rotating mechanism 4, the radiation exposure dose of the measurement personnel during the sampling and measurement work can be reduced, and the safety is good.

[0031] Exemplarily, in one embodiment, Figure 1 R1 may be the length direction of the pipeline, and R2 may be the radial direction of the receiving port 2a.

[0032] Exemplarily, in one embodiment, the shape of the receiving opening 2a can be circular or other shapes, depending on the cross-sectional shape of the pipe.

[0033] In one embodiment, please refer to Figure 1 and Figure 2 The body 2 includes a rotating shaft 21, two half rings 22 and a connecting piece 23. The two half rings 22 are spliced ​​to define a receiving port 2a. One end of the two half rings 22 is formed with a rotating hole, and the rotating shaft 21 is passed through the two rotating holes. The other end of the two half rings 22 is formed with a mounting hole, and the connecting piece 23 is detachably passed through the two mounting holes.

[0034] In this way, when the crawling device 100 is installed on the pipe, the connecting piece 23 can be removed from the two mounting holes first so that one end of the two half rings 22 can be separated, and then the two half rings 22 are relatively rotated through the rotating shaft 21 so that the pipe can be inserted between the two half rings 22, and then the two half rings 22 are closed, and finally the connecting piece 23 is passed through the two mounting holes to insert the pipe into the accommodating port 2a. In this way, the efficiency of installation and disassembly can be improved.

[0035] In one embodiment, please refer to Figure 1 and Figure 2 The body 2 includes a plurality of adjusting members 24, which are arranged on the semi-ring 22, each adjusting member 24 is arranged corresponding to a crawling mechanism 3, and the adjusting member 24 is configured to be able to move the crawling mechanism 3 along the radial direction of the accommodating port 2a.

[0036] Exemplarily, the number of the adjusting members 24 may be three, and the three adjusting members 24 are provided corresponding to the three crawling mechanisms 3 .

[0037] Here, by setting a plurality of adjustment members 24, each adjustment member 24 is set corresponding to a crawling mechanism 3, and the adjustment member 24 is configured to be able to move the crawling mechanism 3 along the radial direction of the accommodating port 2a. In this way, for pipes of different calibers, the crawling mechanism 3 can be moved along the radial direction of the accommodating port 2a by adjusting the conditions so that it can contact the pipe, thereby facilitating the crawling mechanism 3 to perform contact crawling. In this way, the flexibility of the crawling device 100 can be further improved.

[0038] In one embodiment, please refer to Figure 1 and Figure 2 The adjusting member 24 includes a fixed seat 241, an adjusting rod 242 and a locking member 243. The fixed seat 241 is set on the semi-ring 22. The crawling mechanism 3 can be slidably set on the fixed seat 241. One end of the adjusting rod 242 can be adjustably set on the fixed seat 241. The other end of the adjusting rod 242 is connected to the moving mechanism. The locking member 243 is used to lock or unlock the adjusting rod 242.

[0039] Exemplarily, the fixing seat 241 can be fixedly arranged on the semi-ring 22 by means of threaded connection, such as by screws or bolts, or can be arranged on the semi-ring 22 by means of clamping or welding. The crawling mechanism 3 can be slidably arranged on the fixing seat 241. The fixing seat 241 can be provided with a scale, and the fixing seat 241 can be formed with an adjustment hole, and one end of the adjustment rod 242 can pass through the adjustment hole and be connected to the crawling mechanism 3, so that the adjustment rod 242 can be pushed or pulled to drive the crawling mechanism 3 to move along the radial direction of the accommodating port 2a, and the locking member 243 can be arranged on the fixing seat 241, and the locking member 243 can lock the adjustment rod 242 by abutting against the adjustment rod 242, and the locking member 243 can unlock the adjustment rod 242 by avoiding the adjustment rod 242.

[0040] In this way, by providing the adjusting rod 242, the fixing seat 241 and the locking member 243, the fixing seat 241 can provide an installation position for the adjusting rod 242 and the locking member 243. When it is necessary to adjust the position of the crawling mechanism 3 along the radial direction of the receiving port 2a, the locking member 243 can be operated first to avoid the adjusting rod 242, and then the adjusting rod 242 can be adjusted to push or pull the crawling mechanism 3 to slide on the fixing seat 241, and then the position of the crawling mechanism 3 along the radial direction of the receiving port 2a can be adjusted. When the crawling mechanism 3 contacts the pipe, the locking member 243 can be used to abut the adjusting rod 242, so that the adjusting rod 242 is locked and cannot move, so that the working stability of the crawling mechanism 3 can be improved.

[0041] Exemplarily, in one embodiment, the fixed seat 241 and the crawling mechanism 3 can slide in cooperation with a slide rail and a sliding block. For example, a slide rail can be formed on the fixed seat 241, and a sliding block can be formed on the crawling mechanism 3, and the slide rail and the sliding block can slide in cooperation.

[0042] In one embodiment, please refer to Figure 2 The crawling mechanism 3 includes a support 31, a crawling motor 32 and a crawling wheel 33. The crawling motor 32 is arranged on the main body 2 through the support 31. The driving shaft of the crawling motor 32 is drivingly connected to the crawling wheel 33. The crawling wheel 33 is configured to be able to move along the length direction of the pipeline under the drive of the crawling motor 32.

[0043] Exemplarily, the number of the crawling mechanisms 3 can be three, and the three supports 31 can be slidably arranged on the fixed seat 241 at intervals of 120° along the circumference of the receiving opening 2a, and each support 31 is provided with a crawling motor 32, and the driving shaft of the crawling motor 32 can be connected to the crawling wheel 33. The support 31 can be connected to the body 2 by screws or bolts, or by clamping or welding. The crawling motor 32 can be connected to the support 31 by screws or bolts, or by clamping or welding.

[0044] Here, each crawling mechanism 3 includes a support 31, a crawling motor 32 and a crawling wheel 33. The crawling motor 32 can be arranged on the body 2 through the support 31 to be connected as a whole, so that the collision between the body 2 and the drive motor 431 can be reduced and the service life of the drive motor 431 can be improved. The relevant parameters of the crawling motor 32 can also be adjusted according to the measurement requirements to control the moving speed of the crawling wheel 33, etc., with strong flexibility.

[0045] In one embodiment, please refer to Figure 1 and Figure 2 , the crawling wheel 33 is a V-shaped wheel. Thus, by using the V-shaped wheel as the crawling wheel 33, on the one hand, the V-shaped wheel can provide a more precise linear motion guide to ensure the accuracy and stability of the crawling device 100 moving in the length direction of the pipeline; on the other hand, the V-shaped wheel can reduce the friction resistance with the pipeline, thereby reducing the vibration and noise between the pipeline and the crawling device 100, and can reduce the energy loss of the crawling device 100.

[0046] Exemplarily, in one embodiment, the crawling motor 32 may be a stepper servo motor. Here, a stepper servo motor is used as the crawling motor 32. On the one hand, the stepper servo motor can provide accurate position feedback through its built-in high-resolution encoder, so that the position and speed of the motor can be accurately controlled, and then the crawling speed and position control of the crawling device 100 along the length direction of the pipeline can be controlled; on the other hand, the stepper servo motor has the characteristics of simple structure, no brushes, and long service life, so that it can have good working stability and reliability.

[0047] For example, in one embodiment, please refer to Figure 2 The crawling mechanism 3 includes a bearing 34, a brake wheel shaft support 35 and a brake wheel shaft 36. One end of the brake wheel shaft 36 is inserted into the crawling wheel 33, and the other end of the brake wheel shaft 36 is connected to the driving shaft of the crawling motor 32 through the bearing 34.

[0048] In one embodiment, one of the multiple crawling mechanisms 3 is configured to have a brake function. In this way, the speed of the crawling device 100 in the length direction of the pipeline can be controlled by the brake function of one of the crawling mechanisms 3, so that the crawling mechanism 3 is suspended at a specified position by the brake function, and then the radiation dose measurement of the circumference of the position is performed by the rotating mechanism 4, which has good flexibility.

[0049] In one embodiment, please refer to Figure 1 and Figure 2 , a weight-reducing hole 2b is formed on the body 2. Exemplarily, a weight-reducing hole 2b may be formed on the half ring 22, thereby reducing the overall weight of the crawling device 100, which can not only reduce the manufacturing cost of the crawling device 100, but also reduce the load of the crawling device 100 and improve its endurance.

[0050] For example, in one embodiment, please refer to Figure 1 and Figure 2 The number of the weight-reducing holes 2b can be multiple. For example, one half ring 22 is provided with five circular weight-reducing holes 2b, and the other half ring 22 is provided with one fan-shaped weight-reducing hole 2b. In this way, the weight of the crawling device 100 can be greatly reduced, so that the manufacturing cost of the crawling device 100 is further reduced and the endurance is further improved.

[0051] In one embodiment, please refer to Figure 1 The rotating mechanism 4 includes an annular member 41, a rotating seat 42 and a driving assembly 43. The annular member 41 is arranged around the receiving port 2a. The detector 1 is arranged on the rotating seat 42, and the rotating seat 42 is slidably arranged on the annular member 41. The driving assembly 43 is arranged on the rotating seat 42, and the driving assembly 43 is drivingly connected to the annular member 41, and the driving assembly 43 is configured to drive the rotating seat 42 to rotate circumferentially around the annular member 41.

[0052] Exemplarily, the annular member 41 may be composed of two arc-shaped members 411, each of which may be arranged on a half ring 22, so that when the two half rings 22 are opened, the two arc-shaped members 411 may also be opened accordingly. The annular member 41 may be arranged on the two half rings 22 by screws or bolts, so that the annular member 41 may be arranged around the outer periphery of the accommodating opening 2a. The rotating seat 42 may slide on the annular member 41, the detector 1 may be arranged on the rotating seat 42, the driving assembly 43 may be arranged on the rotating seat 42, and is drivingly connected to the annular member 41, and the driving assembly 43 may drive the rotating seat 42 to rotate circumferentially on the annular member 41 by driving the annular member 41.

[0053] Here, an annular member 41 is provided at the accommodating port 2a, a rotating seat 42 can be slidably provided on the annular member 41, and the detector 1 is provided on the rotating seat 42, a driving assembly 43 is provided on the rotating seat 42 and is drivingly connected to the annular member 41, so that the annular member 41 is driven by the driving assembly 43, and the rotating seat 42 can be driven to rotate on the annular member 41, so that the detector 1 on the rotating seat 42 can perform a 360° orbital radiation dose measurement on the pipeline located at the accommodating port 2a, so as to increase the detection range and improve the measurement reliability and accuracy.

[0054] For example, in one embodiment, please refer to Figure 1 and Figure 2 The crawling mechanism 3 and the rotating mechanism 4 are respectively located on both sides of the main body 2 along the length direction of the pipeline. In this way, structural interference between the rotating mechanism 4 and the crawling mechanism 3 during operation can be avoided, thereby improving the working stability and reliability of the crawling device 100.

[0055] In one embodiment, please refer to Figure 1 A slider A is formed in one of the annular member 41 and the rotating seat 42 , and a slide groove B is formed in the other of the annular member 41 and the rotating seat 42 , and the slider A and the slide groove B are slidably matched.

[0056] For example, a slider A may be formed on the side of the annular member 41 away from the crawling mechanism 3 along the length direction of the pipeline, and a slide groove B may be formed on the rotating seat 42, and the slide groove B is slidably matched with the slider A. In this way, by setting the slide groove B and the slider A, on the one hand, the slide groove B can provide a smooth and accurate moving path, and the variable pitch slider A can slide easily in the slide groove B, making the entire moving process more accurate and controllable; on the other hand, the slide groove B can provide additional support and stability, avoiding the shaking or unstable sliding of the variable pitch slider A during the moving process, and the moving is stable.

[0057] Exemplarily, in one embodiment, the slide groove B may be formed by two pulleys spaced apart along the radial direction of the accommodating opening 2a.

[0058] Illustratively, in one embodiment, the detector 1 is detachably arranged on the rotating seat 42, so that different types of radiation detectors 1 can be loaded according to different measurement requirements, which has good flexibility.

[0059] In one embodiment, please refer to Figure 1 The driving assembly 43 includes a driving motor 431 and a gear member 432. The driving motor 431 is arranged on the rotating seat 42. The driving shaft of the driving motor 431 is connected to the gear member 432. The outer peripheral side of the ring member 41 is formed with gear teeth 41a, and the gear is meshed with the gear teeth 41a.

[0060] Exemplarily, the driving motor 431 may be disposed on the rotating seat 42 by screws or bolts.

[0061] Here, by providing the gear member 432 and forming the gear teeth 41a on the outer periphery of the ring member 41, the driving shaft of the driving motor 431 drives the gear member 432, and the gear on the gear member 432 is easily engaged with the gear teeth 41a to drive the rotating seat 42 to rotate on the ring member 41. By adopting the gear engagement method, the rotation accuracy of the rotating seat 42 can be improved, so as to improve the detection accuracy of the detector 1.

[0062] In one embodiment, please refer to Figure 2 The crawling device 100 includes a distance meter 5, which is arranged on the main body 2 and is used to measure the crawling length of the crawling mechanism 3 on the pipeline.

[0063] Exemplarily, the distance meter 5 can be set on the half ring 22. It is understandable that during the crawling process of the crawling mechanism 3 on the pipeline, the actual crawling length may be inconsistent with the actual crawling length due to gravity, protrusions on the pipeline, and the driving method of the crawling mechanism 3. Therefore, by setting the distance meter 5, the crawling length of the crawling device 100 can be obtained in real time, so that a more accurate pipeline source term measurement distribution map can be output, which is convenient for determining the subsequent processing means.

[0064] In one embodiment, the crawling device 100 includes a controller, which is respectively connected to the crawling mechanism 3, the rotating mechanism 4 and the detector 1 for communication, and the controller is configured to control the crawling mechanism 3, the rotating mechanism 4 and the detector 1 to act respectively.

[0065] Exemplarily, the controller may be connected to the creeping motor 32 and the driving motor 431 in a wired or wireless manner.

[0066] Here, after the pipe to be tested is clamped in the accommodating port 2a through two half rings 22, the adjusting rod 242 can be unlocked by the locking piece 243, and then the adjusting rod 242 is adjusted so that the moving mechanism can adapt to the outer diameter of the pipe to be tested, and then the crawling length parameters, pipe parameters and measurement point parameters are input through the controller, and the rotating mechanism 4, the detector 1 and the crawling mechanism 3 will automatically control the measurement according to the input parameters, so that they crawl on the pipe to be tested and perform a 360° orbital measurement, and finally output the source item measurement distribution map of the pipe to be tested for subsequent processing.

[0067] The above is only a preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. All modifications, equivalent substitutions, improvements, etc. within the spirit and principles of the present application are included in the protection scope of the present application.

Claims

1. A crawling device for pipeline radiation measurement, characterized in that: include: a detector for measuring the radiation dose of the pipeline; A body, formed with a receiving opening, wherein the pipe is arranged in the receiving opening; A plurality of crawling mechanisms, wherein the plurality of crawling mechanisms are arranged on the body at intervals along the circumference of the receiving opening, and the crawling mechanisms are configured to be able to drive the body to move on the pipe along the length direction thereof; The rotating mechanism is arranged on the body, the detector is arranged on the rotating mechanism, and the rotating mechanism is configured to be able to drive the detector to rotate along the circumference of the accommodating opening.

2. The crawling device according to claim 1, characterized in that: The main body includes a rotating shaft, two half rings and a connecting piece. The two half rings are spliced ​​to define the accommodating port. A rotating hole is formed at one end of the two half rings. The rotating shaft is passed through the two rotating holes. A mounting hole is formed at the other end of the two half rings. The connecting piece is detachably passed through the two mounting holes.

3. The crawling device according to claim 2, characterized in that: The main body includes a plurality of adjusting members, and the adjusting members are arranged on the half rings. Each of the adjusting members is arranged corresponding to one of the crawling mechanisms, and the adjusting members are configured to be able to move the crawling mechanism along the radial direction of the accommodating port.

4. The crawling device according to claim 3, characterized in that: The adjusting member includes a fixed seat, an adjusting rod and a locking member. The fixed seat is arranged on the semi-ring, the crawling mechanism can be slidably arranged on the fixed seat, one end of the adjusting rod can be adjustably arranged on the fixed seat, the other end of the adjusting rod is connected to the moving mechanism, and the locking member is used to lock or unlock the adjusting rod.

5. The crawling device according to claim 1, characterized in that: Each of the crawling mechanisms includes a support, a crawling motor and a crawling wheel. The crawling motor is arranged on the main body through the support. The driving shaft of the crawling motor is drivingly connected to the crawling wheel. The crawling wheel is configured to be able to move along the length direction of the pipeline under the drive of the crawling motor.

6. The crawling device according to claim 5, characterized in that: One of the plurality of crawling mechanisms is configured to have a braking function.

7. The crawling device according to claim 1, characterized in that: The rotating mechanism comprises: An annular member, the annular member is arranged around the receiving opening; A rotating seat, the detector is arranged on the rotating seat, and the rotating seat can be slidably arranged on the annular member; A driving assembly is arranged on the rotating seat, the driving assembly is drivingly connected to the annular member, and the driving assembly is configured to be able to drive the rotating seat to rotate in the circumferential direction of the annular member.

8. The crawling device according to claim 7, characterized in that: One of the annular member and the rotating seat is formed with a sliding block, and the other of the annular member and the rotating seat is formed with a sliding groove, and the sliding block is slidably matched with the sliding groove.

9. The crawling device according to claim 7, characterized in that: The driving assembly includes a driving motor and a gear member. The driving motor is arranged on the rotating seat. The driving shaft of the driving motor is connected to the gear member. Gear teeth are formed on the outer peripheral side of the annular member, and the gear member is meshed with the gear teeth.

10. The crawling device according to claim 1, characterized in that: The crawling device includes a distance meter, which is arranged on the main body and is used to measure the crawling length of the crawling mechanism on the pipeline.

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