Pipeline crawler

Abstract

The invention relates to the technical field of pipeline detection equipment, and provides a pipeline crawler aiming at the situation that impurities in a pipeline easily interfere with detection of a pipeline crawler detection instrument, the pipeline crawler comprises a rack, a control system, an image acquisition mechanism, a detection mechanism, an axial walking mechanism, a circumferential walking mechanism and a cleaning mechanism; the axial walking mechanism and the circumferential walking mechanism are both installed on the periphery of the rack, the axial walking mechanism is used for driving the support to move in the axial direction of the pipeline, and the circumferential walking mechanism is used for driving the rack to move in the circumferential direction of the pipeline; the cleaning mechanism is located on the periphery of the rack and comprises a cleaning brush and a first sliding driving part, the cleaning brush is used for brushing the inner wall of a pipeline, and the first sliding driving part is used for driving the cleaning brush to move in the direction close to or away from the rack. The device has the effect of reducing interference of impurities on the inner wall of the pipeline to detection equipment.

Description

Technical Field

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

[0002] During daily operation, natural gas pipelines are corroded for a long time by trace corrosive components (such as hydrogen sulfide) in natural gas, and the inner wall of the pipeline is prone to gradual damage, such as cracks, corrosion pits, thinning of the pipe wall, etc. In order to reduce the occurrence of adverse consequences such as natural gas leakage caused by pipeline damage, it is usually necessary to conduct regular inspections of natural gas pipelines to promptly detect damaged areas on the inner wall of the pipeline and take corresponding countermeasures to ensure the safe transportation of natural gas.

[0003] At present, pipeline crawlers with ultrasonic detection probes are widely used for inspection of the inner wall of natural gas pipelines. Specifically, the pipeline crawler carries the ultrasonic detection probe and moves along the inner wall of the pipeline to the inspection area, obtains the pipeline structure data of the inspection area through the ultrasonic detection probe, and analyzes the defects of the inner wall of the pipeline based on the acquired data.

[0004] Regarding the above-mentioned related technologies, during the long-term operation of natural gas pipelines, various impurities will inevitably accumulate on the inner wall, including solid particles carried by the natural gas itself and rust residues produced by the corrosion of the inner wall of the pipeline itself. The presence of the above impurities will inevitably interfere with the subsequent detection of ultrasonic detection probes, affecting the accuracy and reliability of the detection data. Therefore, there is room for improvement. Summary of the invention

[0005] In order to reduce the interference of impurities on the inner wall of the pipeline on the ultrasonic detection probe when detecting the pipeline, the present application provides a pipeline crawler.

[0006] The present application provides a pipeline crawler, which adopts the following technical solution: A pipeline crawler comprises a frame, a control system, an image acquisition mechanism, a detection mechanism, an axial walking mechanism, a circumferential walking mechanism and a cleaning mechanism; The image acquisition mechanism includes a camera installed at the front end of the frame, the camera is electrically connected to the control system, and is used to acquire image information inside the pipeline and feed it back to the control system; The detection mechanism comprises an ultrasonic detection probe installed at the front end of the frame, the ultrasonic detection probe is electrically connected to the control system, and is used to obtain pipeline structure data and feed it back to the control system; The axial walking mechanism and the circumferential walking mechanism are both installed on the outer periphery of the frame, the axial walking mechanism is used to drive the frame to move axially along the pipeline, and the circumferential walking mechanism is used to drive the frame to move circumferentially around the pipeline; The cleaning mechanism is located at the periphery of the frame, and includes a cleaning brush and a first sliding drive member. The cleaning brush is used to brush the inner wall of the pipeline. The first sliding drive member is drivingly connected to the cleaning brush, and the first sliding drive member is used to drive the cleaning brush to move toward or away from the frame.

[0007] By adopting the above technical solution, before the pipeline crawler obtains the pipeline data of the detection area through the ultrasonic detection probe, the axial drive mechanism drives the frame to drive the cleaning mechanism to move to the detection area, and the first sliding drive member drives the cleaning brush to extend and fit the inner wall of the pipeline. Then, the circumferential walking mechanism drives the frame to drive the cleaning brush to move around the pipeline circumference, so as to remove impurities on the inner wall of the pipeline through the cleaning brush. After the cleaning work is completed, the axial walking mechanism drives the pipeline crawler to drive the ultrasonic detection probe to move to the detection area, and obtains the corresponding pipeline structure data through the ultrasonic detection probe, effectively reducing the interference of impurities on the inner wall of the pipeline on the data obtained by the ultrasonic detection probe, which is conducive to improving the accuracy and reliability of the detection data.

[0008] Preferably, the frame is in a sleeve shape; The axial walking mechanism includes a plurality of axial driving parts protruding from the outer periphery of the frame, and the axial driving parts are at least three; the plurality of axial driving parts are evenly distributed around the axial direction of the frame; the axial driving part includes an axial bracket, and the ends of the axial brackets away from the frame are rotatably connected to axial rollers, the axial directions of the axial rollers are arranged perpendicular to the axial directions of the frame, and the axial brackets are provided with a first rotary driving member for driving the axial rollers to rotate; The circumferential walking mechanism includes a plurality of circumferential driving parts supported on the outer periphery of the frame, and the circumferential driving parts are at least three; the plurality of circumferential driving parts are evenly distributed around the axial direction of the frame; the circumferential driving part includes a circumferential bracket, and the end of the circumferential bracket away from the frame is rotatably connected to a circumferential roller, and the axial direction of the circumferential roller is arranged parallel to the axial direction of the frame; the circumferential bracket is provided with a second rotary driving member for driving the circumferential roller to rotate.

[0009] By adopting the above technical solution, the first rotary driving members on several axial supports are used to drive the corresponding axial rollers to rotate, so as to drive the frame to move axially along the pipeline; the second rotary driving members on several circumferential supports are used to drive the corresponding circumferential rollers to rotate, so as to drive the frame to move circumferentially around the pipeline, which is beneficial to the flexible movement of the pipeline crawler in the pipeline.

[0010] Preferably, the axial drive unit further comprises a first telescopic drive member, which is drivingly connected to the axial support and is used to drive the axial support to move towards or away from the frame; The circumferential driving portion further includes a second telescopic driving member, which is drivingly connected to the circumferential support and is used to drive the circumferential support to move toward or away from the frame.

[0011] By adopting the above technical scheme, on the one hand, the corresponding axial bracket and circumferential bracket positions can be adjusted respectively by the first telescopic drive member and the second telescopic drive member, so that the axial roller and the circumferential roller can abut against the inner walls of pipes with different inner diameters, which is beneficial to improving the overall adaptability of the pipeline crawler. On the other hand, when the frame moves axially along the pipeline through the axial walking mechanism, the circumferential roller can be driven away from the inner wall of the pipeline by the second telescopic drive member, and when the frame moves circumferentially around the pipeline through the circumferential walking mechanism, the axial roller can be driven away from the inner wall of the pipeline by the first telescopic drive member, which is beneficial to reduce the mutual interference between the axial roller and the circumferential roller, and facilitates the flexible movement of the frame in the pipeline.

[0012] Preferably, the frame is also provided with a suction mechanism, which includes a material collection box, a pneumatic conveyor and a suction pipe; the suction pipe is arranged away from the outer periphery of the frame, the feed inlet of the pneumatic conveyor is connected to the suction pipe, the discharge port of the pneumatic conveyor is connected to the material collection box, and the air inlet of the pneumatic conveyor is connected to the air source.

[0013] By adopting the above technical scheme and setting up the suction mechanism, the frame moves around the pipeline through the circumferential walking mechanism to drive the cleaning brush to remove impurities on the inner wall of the pipeline. At the same time, the pneumatic conveyor cooperates with the air source to form a negative pressure conveying channel between the suction pipe and the collection box. The suction pipe is used to suck the impurities brushed off by the cleaning brush and the impurities remaining on the inner wall of the pipeline into the collection box, which is beneficial to reduce the situation where residual impurities in the area to be inspected interfere with the subsequent ultrasonic detection probe detection.

[0014] Preferably, the suction pipe is slidably inserted into the outer periphery of the frame, and the suction pipe is connected to the pneumatic conveyor through a telescopic hose; the suction mechanism also includes a second sliding drive component arranged on the frame, and the second sliding drive component is drivingly connected to the suction pipe, and the second sliding drive component is used to drive the suction pipe to move toward or away from the frame.

[0015] By adopting the above technical solution, when the pipeline crawler is moving, the second sliding drive can drive the suction pipe to move away from the frame, thereby avoiding collision or friction between the suction pipe and the inner wall of the pipeline and reducing damage to the inner wall of the pipeline. At the same time, when the pipeline crawler is cleaning, the second sliding drive can push the suction pipe close to the pipe wall, so that the suction pipe can better suck impurities on the inner wall of the pipeline, thereby improving cleaning efficiency and effect.

[0016] Preferably, two annular sealing parts are provided on the outer periphery of the frame, the cleaning mechanism and the suction pipe are located between the two annular sealing parts, the annular sealing part includes an annular baffle plate coaxially sleeved on the outer periphery of the frame, an annular sealing airbag is sleeved on the outer periphery of the annular baffle plate, an air pump is installed on the annular baffle plate, and the air pump is connected to the annular sealing airbag.

[0017] By adopting the above technical solution, when the pipeline crawler performs cleaning operations, air is inflated into the annular sealing airbag through the air pump on the annular baffle, so that the annular sealing airbag abuts against the inner circumference of the pipeline, and then two annular sealing parts are used to form a sealed annular space on both sides of the cleaning mechanism and the suction mechanism, which is beneficial to limit the impurities brushed off by the cleaning brush from spreading to other areas of the pipeline. At the same time, it is convenient to better concentrate the impurities brushed off by the cleaning brush, which is beneficial for the suction mechanism to more efficiently suck these impurities into the collection box.

[0018] Preferably, the annular baffle is rotatably sleeved on the outer periphery of the frame via a connecting bearing.

[0019] By adopting the above technical solution, the annular baffle can rotate independently of the frame, avoiding the situation where the annular baffle is driven to rotate along with the frame when the frame rotates circumferentially around the pipeline. This is beneficial to reducing the wear of the annular sealing airbag and limiting the frictional resistance of the annular sealing airbag to the rotation of the frame, which is beneficial to smoother and more stable rotation of the frame.

[0020] Preferably, the frame is provided with a support plate corresponding to the aggregate box support, the aggregate box is connected to the support plate, sliding seats are protruding on opposite sides of the inner cavity of the frame, and sliding grooves are opened on opposite sides of the two sliding seats, and both ends of the sliding grooves are open, and the opposite sides of the support plates are respectively slidably inserted into the sliding grooves of the two sliding seats, and the sliding seats are provided with limiting parts for limiting the sliding of the support plates.

[0021] By adopting the above technical solution, the aggregate box can be stably stored in the frame, which is conducive to the aggregate box to stably follow the frame to move in the pipeline. When cleaning impurities in the aggregate box later, the support plate can be slid out of the slide to take the aggregate box out of the frame, which is convenient for cleaning impurities in the aggregate box and improves the convenience of operation. The setting of the limiter can temporarily fix the support plate in the slide to limit the displacement of the support plate due to vibration or external load during the movement of the frame.

[0022] Preferably, an annular groove is provided on the outer periphery of the annular baffle corresponding to the annular sealing airbag, and the inner periphery of the annular sealing airbag is embedded in the annular groove.

[0023] By adopting the above technical scheme, on the one hand, the annular sealing airbag is limited by the annular groove, so that the annular sealing airbag can be firmly installed on the outer periphery of the annular baffle; on the other hand, when the pipeline crawler moves along the axial direction of the pipeline, the annular sealing airbag can be deflated to a negative pressure state by an air pump to store the annular sealing airbag in the annular groove, thereby effectively reducing the friction between the annular sealing airbag and the inner wall of the pipeline, making the annular sealing airbag not easy to wear.

[0024] Preferably, one end of the suction pipe away from the frame is connected with a flat suction head.

[0025] By adopting the above technical solution, it is beneficial to increase the contact area between the suction pipe and the inner wall of the pipeline, which is beneficial for the suction pipe to more efficiently and quickly suck impurities on the pipeline into the collection box under the action of the pneumatic conveyor.

[0026] In summary, the present application includes at least one of the following beneficial technical effects: 1. The cleaning brush is driven to abut against the inner wall of the pipeline through the first sliding drive member, and the frame and the cleaning brush are driven to move circumferentially around the pipeline through the circumferential walking mechanism, so that the cleaning brush can be used to remove impurities adhering to the inner wall of the pipeline, thereby cleaning the impurities in the area to be inspected in the pipeline, which is beneficial to reduce the interference of impurities adhering to the inner wall of the pipeline when the pipeline structure data of the inspection area is subsequently obtained by the ultrasonic detection probe, so that the ultrasonic detection probe can more accurately obtain the pipeline structure data information.

[0027] 2. Through the setting of the suction mechanism, when the frame drives the cleaning brush to scrub the inner wall of the pipeline through the circumferential walking mechanism, the pneumatic conveyor is used to form a negative pressure conveying channel between the suction pipe and the collection box to suck the impurities remaining on the pipeline and brushed off by the cleaning brush into the collection box, effectively reducing the residual impurities in the pipeline area to be inspected.

[0028] 3. Through the setting of two annular sealing parts, when the pipeline crawler is in cleaning operation, an annular sealed space is formed on both sides of the suction pipe of the cleaning mechanism and the suction mechanism through the two annular sealing parts to limit the diffusion of impurities brushed off by the cleaning brush, while facilitating the suction mechanism to more concentratedly suck the impurities into the collection box. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural schematic diagram used to illustrate a pipeline crawler in an embodiment of the present application.

[0030] Figure 2 yes Figure 1 Enlarged schematic diagram of part A in the middle.

[0031] Figure 3 It is a schematic diagram used in an embodiment of the present application to illustrate the movement of a pipeline crawler in a pipeline.

[0032] Figure 4 yes Figure 3 Enlarged schematic diagram of part B in the middle.

[0033] Figure 5 It is a schematic diagram of the internal structure of the pipeline crawler frame used to illustrate the embodiment of the present application.

[0034] Figure 6 yes Figure 5 Enlarged schematic diagram of part C in the middle.

[0035] Figure 7 It is a structural schematic diagram used to illustrate the rear end of the pipeline crawler frame in an embodiment of the present application.

[0036] Figure 8 yes Figure 6 Enlarged schematic diagram of part D in the middle.

[0037] Description of reference numerals: 1. Frame; 10. Connecting frame; 11. Support plate; 12. Slide seat; 121. Slide groove; 122. Limit bolt; 2. Camera; 3. Ultrasonic detection probe; 4. Axial walking mechanism; 41. First mounting seat; 42. Axial bracket; 43. Axial roller; 44. First rotary drive member; 45. First telescopic drive member; 5. Circumferential walking mechanism; 51. Second mounting seat; 52. Circumferential bracket; 53. Circumferential roller; 54. Second rotary drive member Part; 55, second telescopic drive member; 6, cleaning mechanism; 60, third mounting seat; 61, cleaning brush; 62, first sliding drive member; 7, suction mechanism; 71, collection box; 711, sealing cover; 72, pneumatic conveyor; 73, suction pipe; 731, flat suction head; 74, telescopic hose; 75, second sliding drive member; 8, annular sealing member; 81, annular baffle; 811, annular groove; 82, annular sealing airbag; 83, connecting bearing. DETAILED DESCRIPTION

[0038] The following is combined with Figure 1-8 This application is described in further detail.

[0039] The present application embodiment discloses a pipeline crawler, referring to Figure 1 and Figure 2 , including a frame 1 and a control system; the frame 1 is provided with an image acquisition mechanism, a detection mechanism, an axial walking mechanism 4, a circumferential walking mechanism 5, a cleaning mechanism 6 and a material suction mechanism 7.

[0040] The frame 1 is sleeve-shaped. A connecting frame 10 is installed at the front end of the frame 1 for the image acquisition mechanism and the detection mechanism. The image acquisition mechanism includes a camera 2 installed on the connecting frame 10. The camera 2 is electrically connected to the control system and is used to acquire the pipeline image and feed it back to the control system. The detection mechanism includes an ultrasonic detection probe 3 installed on the connecting frame 10. The ultrasonic detection probe 3 is electrically connected to the control system and is used to detect and acquire pipeline structure data and feed it back to the control system. In this embodiment, the ultrasonic detection probe 3 specifically adopts an electromagnetic ultrasonic detection probe 3.

[0041] The axial walking mechanism 4 is used to drive the frame 1 to move along the axial direction of the pipeline. In this embodiment, the axial walking mechanism 4 is provided at two locations, and the two axial walking mechanisms 4 are respectively located at both ends of the frame 1. The axial walking mechanism 4 includes three axial driving parts, and the three axial driving parts are evenly distributed around the axial direction of the frame 1. The axial driving part includes a first mounting seat 41 connected to the outer periphery of the frame 1, and an axial bracket 42 is supported on the first mounting seat 41; the axial bracket 42 extends in a direction away from the frame 1, and an axial roller 43 is rotatably connected to one end of the axial bracket 42 away from the frame 1, and the axial roller 43 is axially arranged perpendicularly to the axial direction of the frame 1. The axial frame 1 is also provided with a first rotary drive member 44 for driving the axial roller 43 to rotate. Specifically, the first rotary drive member 44 adopts a reduction motor. A first telescopic driving member 45 is provided on the first mounting seat 41 corresponding to the axial support 42 . The first telescopic driving member 45 is drivingly connected to the axial frame 1 to drive the axial support 42 to move toward or away from the frame 1 . Specifically, the first telescopic driving member 45 is a cylinder.

[0042] The circumferential walking mechanism 5 is used to drive the frame 1 to move along the circumference of the pipeline. In this embodiment, the circumferential walking mechanism 5 is provided at two locations, and the two circumferential walking mechanisms 5 are respectively located at both ends of the frame 1. The circumferential walking mechanism 5 includes three circumferential driving parts, and the three circumferential driving parts are evenly distributed around the axial direction of the frame 1. The circumferential driving part includes a second mounting seat 51 connected to the outer periphery of the frame 1, and a circumferential bracket 52 is supported on the second mounting seat 51; the circumferential bracket 52 is extended in a direction away from the frame 1, and a circumferential roller 53 is rotatably connected to one end of the circumferential bracket 52 away from the frame 1, and the circumferential roller 53 is axially parallel to the axial direction of the frame 1. The circumferential frame 1 is also provided with a second rotary driving member 54 for driving the circumferential roller 53 to rotate. Specifically, the second rotary driving member 54 adopts a reduction motor. A second telescopic driving member 55 is provided on the second mounting seat 51 corresponding to the circumferential bracket 52 . The second telescopic driving member 55 is drivingly connected to the circumferential bracket 52 for driving the circumferential bracket 52 to move toward or away from the frame 1 . Specifically, the second telescopic driving member 55 is a cylinder.

[0043] The first telescopic drive member 45 drives the axial support 42 to drive the axial roller 43 to abut against the inner wall of the pipeline, and the first rotary drive member 44 drives the axial roller 43 to rotate, thereby driving the frame 1 to move along the axial direction of the pipeline. The second telescopic drive member 55 drives the circumferential support 52 to drive the circumferential roller 53 to abut against the inner wall of the pipeline, and the second rotary drive member 54 drives the circumferential roller 53 to rotate, thereby driving the frame 1 to move along the circumferential direction of the pipeline.

[0044] Through the arrangement of the first telescopic driving member 45 and the second telescopic driving member 55, when the frame 1 moves axially along the pipeline through the axial walking mechanism 4, the second telescopic driving member 55 can drive the circumferential bracket 52 to drive the circumferential roller 53 away from the inner wall of the pipeline; when the frame 1 moves circumferentially along the pipeline through the circumferential walking mechanism 5, the first telescopic driving member 45 can drive the axial bracket 42 to drive the axial roller 43 away from the inner wall of the pipeline, which is beneficial to reduce the mutual interference between the axial roller 43 and the circumferential roller 53, which affects the normal movement of the frame 1.

[0045] Reference Figure 3 and Figure 4 The cleaning mechanism 6 is located at the periphery of the frame 1. Specifically, the cleaning mechanism 6 includes a third mounting seat 60, a cleaning brush 61 and a first sliding drive member 62; the third mounting seat 60 is fixed to the periphery of the frame 1, the cleaning brush 61 is supported on the third mounting seat 60, the first sliding drive member 62 is installed on the third mounting seat 60, and the first sliding drive member 62 is drivingly connected to the cleaning brush 61 to drive the cleaning brush 61 to move toward or away from the frame 1. In this embodiment, the cleaning brush 61 is a wire brush and the first sliding drive member 62 is a cylinder.

[0046] Before the subsequent pipeline crawler obtains data of the internal inspection area of ​​the pipeline through the ultrasonic detection probe 3, the frame 1 drives the cleaning mechanism 6 to move to the inspection area through the axial walking mechanism 4, and then drives the cleaning brush 61 to move and abut against the inner wall of the pipeline through the first sliding drive member 62, and then the frame 1 drives the cleaning brush 61 to move circumferentially around the inner circumference of the pipeline through the circumferential walking mechanism 5. During this period, the cleaning brush 61 is used to brush off impurities and rust in the inspection area, and after cleaning the inspection area, the ultrasonic detection probe 3 is used to obtain the pipeline structure data of the inspection area, which is beneficial to reduce the interference of impurities and rust on the inner wall of the pipeline on the ultrasonic detection probe 3 when obtaining data.

[0047] Reference Figure 5 and Figure 6, the suction mechanism 7 and the cleaning mechanism 6 are axially symmetrically distributed about the frame 1. The suction mechanism 7 includes a collection box 71, a pneumatic conveyor 72 and a suction pipe 73. The collection box 71 is supported in the inner cavity of the frame 1; one end of the collection box 71 is open to form an open end, and a sealing cover 711 is sleeved on the open end of the collection box 71. The sealing cover 711 is connected to the collection box 71 through a threaded structure to achieve the blocking of the open end of the collection box 71. The suction pipe 73 is slidably plugged into the outer periphery of the frame 1, and the suction mechanism 7 also includes a fourth mounting seat arranged on the outer periphery of the frame 1. The fourth mounting seat is equipped with a second sliding drive member 75. The second sliding drive member 75 is drivingly connected to the suction pipe 73 to drive the suction pipe 73 to move along its own sliding direction toward or away from the frame 1. Specifically, the second sliding drive member 75 adopts a cylinder. The end of the suction pipe 73 away from the frame 1 is connected to a flat suction head 731.

[0048] The discharge port of the pneumatic conveyor 72 is connected to the collecting box 71; the feed port of the pneumatic conveyor 72 is connected to the suction pipe 73 through a telescopic hose 74, and the air inlet end of the pneumatic conveyor 72 is connected to the air source.

[0049] When the pipeline crawler performs cleaning operations through the cleaning mechanism 6, the second sliding drive member 75 drives the suction pipe 73 to drive the flat suction head 731 close to the inner wall of the pipeline, and the pneumatic conveyor 72 cooperates with the air source to form a negative pressure conveying channel between the suction pipe 73 and the collection box 71, and then the suction pipe 73 cooperates with the flat suction head 731 to suck the impurities remaining on the pipe wall of the detection area and the impurities brushed off by the cleaning brush 61 into the collection box 71, which is beneficial to further reduce the residual impurities in the detection area and facilitate the subsequent ultrasonic detection probe 3 at the front end of the rack 1 to better obtain the pipeline structure data.

[0050] Reference Figure 7 and Figure 8 , a support plate 11 is provided in the inner cavity of the frame 1 corresponding to the material collection box 71, and the material collection box 71 is connected to the support plate 11, and a slide 12 is connected to the support plates 11 on the opposite sides of the inner cavity of the frame 1, and the length direction of the slide 12 is arranged parallel to the axis direction of the frame 1, and the end of the slide 12 extends to the rear end of the frame 1, and the two opposite sides of the two slides 12 are provided with a slide groove 121, and the two ends of the slide groove 121 are opened, and the opposite sides of the support plate 11 are respectively slidably inserted into the slide grooves 121 of the two slides 12. Through the above arrangement, the material collection box 71 is stably supported in the frame 1, which is conducive to the stable movement of the material collection box 71 with the frame 1 in the pipeline; at the same time, when cleaning the impurities collected in the material collection box 71 later, the support plate 11 can be slid out of the slide groove 121 to bring the material collection box 71 out of the frame 1, so as to facilitate the cleaning of the impurities collected in the material collection box 71.

[0051] A limit piece for limiting the sliding of the support plate 11 is provided on the slide seat 12, and the limit piece includes a limit bolt 122 threadedly penetrated on the slide seat 12, one end of the limit bolt 122 extends into the slide groove 121 and is tightly arranged against the support plate 11, so as to limit and fix the support plate 11 to limit the subsequent sliding of the support plate 11 due to vibration or external load.

[0052] Reference Figure 4 and Figure 6 The outer periphery of the frame 1 is provided with two annular blocking members 8; the cleaning mechanism 6 and the material suction pipe 73 are located between the two annular blocking members 8. The annular blocking member 8 includes an annular baffle 81, which is coaxially rotatably connected to the outer periphery of the frame 1 through a connecting bearing 83; an annular blocking airbag 82 is provided on the outer periphery of the annular baffle 81, and an annular groove 811 is coaxially opened on the outer periphery of the annular baffle 81 corresponding to the annular blocking airbag 82; the inner periphery of the annular blocking airbag 82 is embedded in the annular groove 811; an air pump is installed on the annular baffle 81 corresponding to the annular blocking airbag 82, and the air pump is connected to the annular blocking airbag 82.

[0053] Before the subsequent pipeline crawler cleans the pipeline inspection area through the cleaning mechanism 6, the air pump on the two annular baffles 81 inflates the corresponding annular sealing airbags 82 to make the two annular sealing airbags 82 expand and abut against the inner circumference of the pipeline, so that the cleaning brush 61 and the suction pipe 73 are located in the sealed annular sealing space formed by the two annular sealing parts 8, which is beneficial to limit the diffusion of impurities scraped off by the cleaning brush 61, and at the same time, it is beneficial for the suction pipe 73 to more concentratedly suck the impurities scraped off by the cleaning brush 61.

[0054] When the pipeline crawler moves axially along the pipeline through the axial walking mechanism 4, the gas in the annular sealing airbag 82 is released through the air pump until the annular sealing airbag 82 is in a negative pressure state, so as to accommodate the annular sealing airbag 82 in the annular groove 811, thereby reducing the wear of the annular sealing airbag 82 due to friction with the inner wall of the pipeline.

[0055] By making the annular baffle 81 rotatably connected to the pipeline through the connecting bearing 83, the annular sealing member 8 can be rotated independently of the frame 1. When the frame 1 subsequently moves circumferentially around the inner circumference of the pipeline through the circumferential walking mechanism 5, the annular sealing member 8 can be restricted from rotating along with the frame 1, thereby avoiding the friction resistance of the annular sealing airbag 82 to the rotation of the frame 1 and effectively reducing the wear of the annular sealing airbag 82.

[0056] The implementation principle of the embodiment of the present application is as follows: when inspecting the inside of a pipeline, the frame 1 drives the cleaning mechanism 6 to move to the inspection area through the axial walking mechanism 4, and then the frame 1 moves around the pipeline circumferentially through the circumferential walking mechanism 5, during which the cleaning mechanism 6 and the suction mechanism 7 are used to clean the inspection area to remove impurities and rust residues in the inspection area. After cleaning, the frame 1 drives the ultrasonic detection probe 3 to move to the cleaned inspection area through the axial walking mechanism 4, and the frame 1 drives the ultrasonic detection probe 3 to move around the pipeline circumferentially through the circumferential walking mechanism 5, and the pipeline structure data is obtained through the ultrasonic detection probe 3.

[0057] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A pipeline crawler, characterized in that: It comprises a frame (1), a control system, an image acquisition mechanism, a detection mechanism, an axial walking mechanism (4), a circumferential walking mechanism (5) and a cleaning mechanism (6); The image acquisition mechanism comprises a camera (2) installed at the front end of the frame (1), the camera (2) being electrically connected to the control system and used for acquiring image information inside the pipeline and feeding it back to the control system; The detection mechanism comprises an ultrasonic detection probe (3) installed at the front end of the frame (1), and the ultrasonic detection probe (3) is electrically connected to the control system and is used to obtain pipeline structure data and feed it back to the control system; The axial running mechanism (4) and the circumferential running mechanism (5) are both installed on the outer periphery of the frame (1); the axial running mechanism (4) is used to drive the frame (1) to move axially along the pipeline, and the circumferential running mechanism (5) is used to drive the frame (1) to move circumferentially around the pipeline; The cleaning mechanism (6) is located on the periphery of the frame (1), and comprises a cleaning brush (61) and a first sliding drive member (62); the cleaning brush (61) is used to brush the inner wall of the pipeline; the first sliding drive member (62) is drivingly connected to the cleaning brush (61) and is used to drive the cleaning brush (61) to move in a direction close to or away from the frame (1).

2. A pipeline crawler according to claim 1, characterized in that: The frame (1) is in a sleeve shape; The axial walking mechanism (4) comprises a plurality of axial driving parts protruding from the outer periphery of the frame (1), and the axial driving parts are at least three; the plurality of axial driving parts are evenly distributed around the axial direction of the frame (1); the axial driving part comprises an axial bracket (42), and one end of the axial bracket (42) away from the frame (1) is rotatably connected to an axial roller (43), the axial direction of the axial roller (43) is arranged perpendicular to the axial direction of the frame (1), and the axial bracket (42) is provided with a first rotary driving member (44) for driving the axial roller (43) to rotate; The circumferential walking mechanism (5) comprises a plurality of circumferential driving parts supported on the outer periphery of the frame (1), wherein the circumferential driving parts are at least three; the plurality of circumferential driving parts are evenly distributed around the axial direction of the frame (1); the circumferential driving part comprises a circumferential bracket (52), and the end of the circumferential bracket (52) away from the frame (1) is rotatably connected to a circumferential roller (53), and the circumferential roller (53) is axially arranged parallel to the axial direction of the frame (1); and a second rotary driving member (54) for driving the circumferential roller (53) to rotate is arranged on the circumferential bracket (52).

3. A pipeline crawler according to claim 2, characterized in that: The axial drive unit further comprises a first telescopic drive member (45), the first telescopic drive member (45) being drivingly connected to the axial support (42) and used for driving the axial support (42) to move in a direction close to or away from the frame (1); The circumferential drive unit further comprises a second telescopic drive member (55), which is drivingly connected to the circumferential support (52) and is used to drive the circumferential support (52) to move in a direction approaching or away from the frame (1).

4. A pipeline crawler according to claim 2, characterized in that: The frame (1) is also provided with a suction mechanism (7), which comprises a material collection box (71), a pneumatic conveyor (72) and a suction pipe (73); the suction pipe (73) is arranged away from the outer periphery of the frame (1), the feed port of the pneumatic conveyor (72) is communicated with the suction pipe (73), the discharge port of the pneumatic conveyor (72) is communicated with the material collection box (71), and the air inlet of the pneumatic conveyor (72) is connected to an air source.

5. A pipeline crawler according to claim 4, characterized in that: The suction pipe (73) is slidably inserted into the outer periphery of the frame (1), and the suction pipe (73) is connected to the pneumatic conveyor (72) via a telescopic hose (74); the suction mechanism (7) also includes a second sliding drive member (75) arranged on the frame (1), the second sliding drive member (75) is drivingly connected to the suction pipe (73), and the second sliding drive member (75) is used to drive the suction pipe (73) to move in a direction close to or away from the frame (1).

6. A pipeline crawler according to claim 4, characterized in that: Two annular sealing members (8) are arranged on the periphery of the frame (1); the cleaning mechanism (6) and the suction pipe (73) are located between the two annular sealing members (8); the annular sealing member (8) comprises an annular baffle (81) coaxially sleeved on the periphery of the frame (1); an annular sealing airbag (82) is sleeved on the periphery of the annular baffle (81); an air pump is installed on the annular baffle (81); and the air pump is connected to the annular sealing airbag (82).

7. A pipeline crawler according to claim 6, characterized in that: The annular baffle (81) is rotatably sleeved on the outer periphery of the frame (1) via a connecting bearing (83).

8. A pipeline crawler according to claim 4, characterized in that: The frame (1) is supported with a support plate (11) corresponding to the material collection box (71), and the material collection box (71) is connected to the support plate (11). Slide seats (12) are protruding on opposite sides of the inner cavity of the frame (1), and slide grooves (121) are opened on opposite sides of the two slide seats (12). Both ends of the slide grooves (121) are open, and the support plates (11) are slidably inserted into the slide grooves (121) of the two slide seats (12) on opposite sides respectively, and the slide seat (12) is provided with a limiter for limiting the sliding of the support plate (11).

9. A pipeline crawler according to claim 7, characterized in that: An annular groove (811) is provided on the outer periphery of the annular baffle (81) corresponding to the annular blocking airbag (82), and the inner periphery of the annular blocking airbag (82) is embedded in the annular groove (811).

10. The pipeline crawler according to claim 4, characterized in that: One end of the suction pipe (73) away from the frame (1) is connected to a flat suction head (731).

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