Steering device in pipeline

Abstract

The invention relates to the technical field of steering control, and particularly discloses an in-pipeline steering device which comprises a steering pipe joint and a driving wheel set, the driving wheel set is fixedly connected with the steering pipe joint, and the top of the steering pipe joint is rotationally connected with a penetrating and winding supporting assembly through a spring contraction rod; a peripheral inclination adjusting assembly is arranged at the bottom of the penetrating and winding supporting assembly; by arranging the steering debugging of the peripheral inclination adjusting assembly, the turning deformation amount adjusting mechanism and the turning surface attaching assembly, flexible conduction during turning of the driving wheel set is carried out, and due to the fact that a plurality of movable gaps are reserved between adjacent guide connecting buckles, even if the supporting table is overturned to the pipe valve and the pipe diameter of the pipeline is changed into sections, the driving wheel set can be flexibly conducted. The turning angle of the turning supporting table during turning can be increased through the movable gaps reserved between the guide connecting buckles, so that the turning supporting table adapts to the change of the pipe diameter to achieve fine adjustment, and it is guaranteed that the turning supporting table cannot make hard contact with the inner wall of the pipe valve and the inner wall of the pipeline during turning.

Description

Technical Field

[0001] The invention relates to the technical field of steering control, in particular to a steering device in a pipeline. Background Art

[0002] When performing radio wave ranging operations in pipelines, in order to ensure that the starting endpoint is selected accurately, an in-pipe crawler is usually used as a vehicle to transport the sensing endpoint to the measurement point. Although this type of vehicle can maintain a high level of travel smoothness when processing conventional diameter pipelines through bends, it has the following problems: the travel efficiency when passing through non-flat sections of pipe valves is not ideal. The main reason for this effect is that the inner diameter size of the connection between the valve and the pipe body will change with the extension spacing and passing spacing of the inner diameter of the pipe valve. Therefore, the existing vehicle adopts a hard connection for bends, which will increase the contact friction between the front part and the inner wall of the pipeline, resulting in poor steering smoothness and an increased probability of damage to the protective coating on the inner diameter of the pipeline. Summary of the invention

[0003] In view of the problems in the prior art, the present invention provides a steering device in a pipeline. The technical solution adopted by the present invention to solve its technical problems is: a steering device in a pipeline, comprising a steering tube section and a driving wheel group, the driving wheel group is fixedly connected to the steering tube section, the top of the steering tube section is rotatably connected to a winding support assembly through a spring retractable rod, the bottom of the winding support assembly is provided with a peripheral tilt adjustment assembly, the top of the steering tube section is fixedly installed with an overbending deformation adjustment mechanism, an overbending surface attachment assembly is provided between the peripheral tilt adjustment assembly and the overbending deformation adjustment mechanism, and the overbending surface attachment assembly is used for flexible guidance of the winding support assembly when turning and winding inside the pipeline;

[0004] The bending deformation adjustment mechanism includes an electrically controlled slide rail, a non-deformable end shell and an electrically driven interception push rod, wherein the electrically controlled slide rail, the non-deformable end shell and the electrically driven interception push rod are all fixedly connected to the steering tube section, and the electrically driven interception push rod is arranged at the upper opening position of the non-deformable end shell, and the output end of the electrically controlled slide rail is fixedly connected to a longitudinal propulsion piece, and the longitudinal propulsion piece penetrates the non-deformable end shell and is slidably connected to the non-deformable end shell;

[0005] The bending surface attachment component includes a guiding connecting ring, a threading connecting rope and a connecting spring. There are several guiding connecting rings, and the guiding connecting rings are sleeved on the outside of the threading connecting rope. The connecting spring is fixedly connected between each adjacent two guiding connecting rings. One end of the threading connecting rope extends to the inner side of the electric control slide rail and is fixedly connected to the bottom wall of the electric control slide rail.

[0006] Preferably, the peripheral tilt adjustment assembly includes a retracted rail seat, a winding roller drive and an arc-shaped guide sleeve, the winding roller drive is fixedly connected to the retracted rail seat, and the output end of the winding roller drive extends to the inner side of the retracted rail seat, the arc-shaped guide sleeve is fixedly connected to the winding roller drive, and the arc-shaped guide sleeve and the winding roller drive are interconnected.

[0007] Preferably, the threading and winding connecting rope is slidably connected to the attachment rail seat, and one end of the threading and winding connecting rope is fixedly connected to the output end of the winding roller drive component.

[0008] Preferably, the winding support assembly includes a flip support platform, a front end estimated driving member and a double-end hinged seat, the flip support platform and the front end estimated driving member are both in number, the attachment rail seat is fixedly connected to the flip support platform, the front end estimated driving member is arranged on the inner side of the flip support platform, the double-end hinged seat is installed between the two flip support platforms, and the flip support platform is rotatably connected to the double-end hinged seat.

[0009] Preferably, a spring retractable rod is fixedly connected to the top of the steering tube section, and the top end of the spring retractable rod is fixedly connected to the double-end hinged seat.

[0010] Compared with the prior art, the present invention has the following beneficial effects:

[0011] 1. By setting the peripheral tilt adjustment component, the bending deformation adjustment mechanism and the bending surface attachment component, the flexible conduction of the driving wheel group when turning is carried out, that is, when the driving wheel group reaches the turning connection between the pipeline and the valve so that the peripheral wall surface of the flip support platform comes into contact with the pipe wall, the turning guide of the double-end hinged seat and the compressed retraction action of the spring contraction rod enable the flip support platform to quickly fit the turning angle to adapt to the rotation, and because a plurality of movable gaps have been reserved between adjacent guide connection ring buckles, even if the diameter of the flip support platform to the pipe valve and the pipeline changes, the steering angle of the flip support platform when turning can be increased through the movable gaps reserved between the guide connection ring buckles, so that the flip support platform can adapt to the change of the pipe diameter to realize micro-adjustment, and ensure that the flip support platform will not have hard contact with the inner wall of the pipe valve and the inner wall of the pipe when turning, while improving the smoothness of the passability and ensuring the protection effect of the pipeline when turning.

[0012] 2. In the present invention, when the flip support platform turns and leaves the pipe diameter change section where the pipe valve and the pipeline are connected, and the guide connecting ring and the driving wheel group are located at the pipe diameter change section where the pipe valve and the pipeline are connected, the guide connecting ring can be used as a guiding part that contacts the pipe wall during turning. Since movable gaps are reserved between adjacent guide connecting rings, during the process of guiding the flip support platform to turn, even if the guide connecting ring contacts the bend of the pipe wall, the guide connecting ring can be adaptively rotated by the action of the movable gap under the contact pressure, avoiding the guide connecting ring from generating a hard barrier, thereby ensuring that the driving path guidance during the pipeline turning can be continuously completed, and the protection during flexible turning can be simultaneously maintained.

[0013] 3. The present invention does not require flexible bending guidance. When the steering tube section and the flip support platform are driven by the driving wheel group to move straight along the inner side of the pipeline, the electric interception push rod port can be retracted, and the guide connecting ring buckle located on the inner side of the non-deformed end sleeve shell is driven by the electric control slide rail to slide longitudinally along the distribution path of the connecting rope, thereby increasing the number of guide connecting ring buckles located between the arc-shaped guide sleeve and the electric interception push rod. At this time, the connecting spring piece is squeezed and deformed by the guide connecting ring buckle, and the multiple guide connecting ring buckles are in a merged state after debugging, that is, no active gap is reserved between adjacent guide connecting ring buckles. Thereafter, the merged guide connecting ring buckles abut against each other and maintain an upright state, so that the flip support platform can maintain a vertical state when moving straight along the inner side of the pipeline, avoiding contact between the steering tube section and the flip support platform and the pipe wall when they are in an upright state, thereby ensuring that the device will not cause additional sliding resistance interference to vertical movement when no flexible bending application is performed, thereby ensuring smoothness during conventional vertical movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0015] Figure 1 The present invention is a structural diagram of a pipeline steering device.

[0016] Figure 2 The figure is a three-dimensional schematic diagram of a pipeline in-pipe steering device of the present invention.

[0017] Figure 3 for Figure 1 Enlarged view of part A in the middle.

[0018] In the figure: 1. Steering tube section; 11. Spring retraction rod; 2. Driving wheel set; 3. Threading and winding support assembly; 31. Flipping support platform; 32. Front end thrust drive member; 33. Double-end hinged seat; 4. Peripheral tilt adjustment assembly; 41. Attachment rail seat; 42. Roller winding drive member; 43. Arc guide sleeve; 5. Bending deformation adjustment mechanism; 51. Electric control slide rail; 511. Longitudinal propulsion sheet; 52. Non-deformation end sleeve shell; 53. Electric interception push rod; 6. Bending surface attachment assembly; 61. Guide connecting buckle; 62. Threading and winding connecting rope; 63. Connecting spring piece. DETAILED DESCRIPTION

[0019] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0020] like Figure 1 - Figure 3 As shown, a pipeline steering device described in the present invention includes a steering tube segment 1 and a driving wheel group 2, the driving wheel group 2 is fixedly connected to the steering tube segment 1, the top of the steering tube segment 1 is rotatably connected to a threading and winding support assembly 3 through a spring contraction rod 11, a peripheral tilt adjustment assembly 4 is arranged at the bottom of the threading and winding support assembly 3, an overbending shape variable adjustment mechanism 5 is fixedly installed at the top of the steering tube segment 1, an overbending surface attachment assembly 6 is arranged between the peripheral tilt adjustment assembly 4 and the overbending shape variable adjustment mechanism 5, and the overbending surface attachment assembly 6 is used for flexibly guiding the threading and winding support assembly 3 when turning and threading on the inner side of the pipeline.

[0021] In this embodiment, in order to solve the problem that the traditional test vehicle adopts a hard-connected conduction method for turning, which increases the contact friction between the front part and the inner wall of the pipeline, resulting in poor steering smoothness and an increased probability of damage to the protective coating on the inner diameter of the pipeline, the present invention proposes an in-pipe steering device, which solves the technical problem by arranging a steering tube section 1, a driving wheel group 2, a winding support component 3, a peripheral tilt adjustment component 4, a turning deformation adjustment mechanism 5 and a turning surface attachment component 6. Among them, the steering tube section 1 and the driving wheel group 2 are not improved contents of the present invention, but are existing in-pipe transmission equipment. After the steering tube section 1 is screwed with a distance measuring instrument, it is driven by the driving wheel group 2 to achieve walking along the inside of the pipeline, and its specific operating principle will not be repeated.

[0022] The bending deformation adjustment mechanism 5 includes an electrically controlled slide rail 51, a non-deformation end shell 52 and an electrically driven intercepting push rod 53. The electrically controlled slide rail 51, the non-deformation end shell 52 and the electrically driven intercepting push rod 53 are all fixedly connected to the steering tube section 1. The electrically driven intercepting push rod 53 is arranged at the upper opening position of the non-deformation end shell 52. The output end of the electrically controlled slide rail 51 is fixedly connected with a longitudinal propulsion piece 511. The longitudinal propulsion piece 511 passes through the non-deformation end shell 52 and is slidably connected to the non-deformation end shell 52.

[0023] The bending surface attachment component 6 includes a guiding connecting ring buckle 61, a threading connecting rope 62 and a connecting spring piece 63. There are several guiding connecting ring buckles 61. The guiding connecting ring buckles 61 are sleeved on the outside of the threading connecting rope 62, and a connecting spring piece 63 is fixedly connected between each adjacent two guiding connecting ring buckles 61. One end of the threading connecting rope 62 extends to the inner side of the electric control slide rail 51 and is fixedly connected to the bottom wall of the electric control slide rail 51.

[0024] In this embodiment, the present invention does not require flexible cornering guidance, but only drives the steering tube section 1 and the flip support platform 31 to move straight along the inner side of the pipeline by the driving wheel group 2, and the guiding state of the steering tube section 1 and the flip support platform 31 can be adjusted. During adjustment, the port of the electric interception push rod 53 is first retracted, and then the longitudinal propulsion piece 511 is driven by the electric control slide rail 51 to slide and rise along the inner side of the non-deformation end sleeve 52. When the longitudinal propulsion piece 511 rises, the guiding connection ring buckle 61 located on the inner side of the non-deformation end sleeve 52 is lifted up, so that this part of the guiding connection ring buckle 61 slides longitudinally along the distribution path of the winding connection rope 62, and the number of guiding connection ring buckles 61 located between the arc-shaped guide sleeve 43 and the electric interception push rod 53 is increased. At this time, the connecting spring piece 63 is squeezed and deformed by the guiding connecting ring buckle 61, so that the multiple guiding connecting ring buckles 61 are in a merged state after debugging, that is, there is no movable gap between the guiding connecting ring buckles 61 located between the arc-shaped guide sleeve 43 and the electric blocking push rod 53. After that, the merged guiding connecting ring buckles 61 abut against each other and maintain an upright state, so that the flip support platform 31 can maintain a vertical state when it moves straight along the inside of the pipeline, avoiding contact between the steering pipe section 1 and the flip support platform 31 and the pipe wall when they are in an upright state, ensuring that the device will not cause additional sliding resistance interference to the vertical movement when no flexible bending application is performed, and ensuring the smoothness during conventional vertical movement.

[0025] In an optional implementation of the present embodiment, the peripheral tilt adjustment assembly 4 includes a collection rail seat 41, a winding roller drive 42 and an arc-shaped guide sleeve 43, the winding roller drive 42 is fixedly connected to the collection rail seat 41, and the output end of the winding roller drive 42 extends to the inner side of the collection rail seat 41, the arc-shaped guide sleeve 43 is fixedly connected to the winding roller drive 42, and the arc-shaped guide sleeve 43 and the winding roller drive 42 are interconnected.

[0026] In an optional implementation of this embodiment, the threading and winding connecting rope 62 is slidably connected to the attachment rail seat 41 , and one end of the threading and winding connecting rope 62 is fixedly connected to the output end of the winding roller drive member 42 .

[0027] In this embodiment, the arrangement of the collection rail seat 41, the winding roller drive 42 and the arc guide sleeve 43 is intended to guide the storage of the connecting ring buckle 61 and the winding connecting rope 62 when not in use, thereby reducing the distance between the steering tube section 1 and the flip support platform 31. When the guiding connecting ring buckle 61 needs to be stored, the arc guide sleeve 43 is first controlled to contract, and then the winding roller drive 42 is driven to wind up the winding connecting rope 62, so that the guiding connecting ring buckle 61 slides toward the inner side of the collection rail seat 41 for storage along with the winding of the winding connecting rope 62, and the spring contraction rod 11 is contracted by the pressure after the guiding connecting ring buckle 61 is wound up, thereby causing the flip support platform 31 to slide toward the steering tube section 1, which is convenient for overall storage when not in use.

[0028] In an optional implementation of this embodiment, the threading and winding support assembly 3 includes a flip support platform 31, a front end presumed driving member 32 and a double-end hinged seat 33. The flip support platform 31 and the front end presumed driving member 32 are both two in number. The receiving rail seat 41 is fixedly connected to the flip support platform 31. The front end presumed driving member 32 is arranged on the inner side of the flip support platform 31. The double-end hinged seat 33 is installed between the two flip support platforms 31, and the flip support platform 31 is rotatably connected to the double-end hinged seat 33. Among them, the front end presumed driving member 32 is composed of a support arc plate and an electric push rod. After the flip support platform 31 reaches the test end point, the electric push rod pushes the support arc plate to be erected to the inner side of the pipeline to achieve position fixation during the test.

[0029] In an optional implementation manner of this embodiment, a spring retractable rod 11 is fixedly connected to the top of the steering tube section 1 , and the top end of the spring retractable rod 11 is fixedly connected to the double-end hinged seat 33 .

[0030] In this embodiment, when flexible bend guidance is required, the electric interception push rod 53 is first controlled to retract, and then the electric control slide rail 51 drives the longitudinal propulsion piece 511 to slide and descend along the inner side of the non-deformed end sleeve 52, pushing the guide connecting ring buckle 61 between the arc-shaped guide sleeve 43 and the electric interception push rod 53 toward the inner side of the winding connecting rope 62. At this time, a gap is formed between the remaining guide connecting ring buckles 61 between the arc-shaped guide sleeve 43 and the electric interception push rod 53. Thereafter, the electric interception push rod 53 is controlled to extend, so that the device as a whole is adjusted to flexible bend guidance, and the driving wheel group 2 reaches the turning connection between the pipeline and the valve, so that the flip support platform 31 When the circumferential wall surface comes into contact with the pipe wall, the turning guide of the double-end hinged seat 33 and the compressed retraction action of the spring retraction rod 11 enable the flip support platform 31 to quickly adapt to the turning angle and rotate, and because a plurality of movable gaps have been reserved between adjacent guiding connecting ring buckles 61, even if the flip support platform 31 reaches the pipe valve and the pipe diameter change section, the turning angle of the flip support platform 31 when turning can be increased through the movable gaps reserved between the guiding connecting ring buckles 61, so that the flip support platform 31 can adapt to the change of pipe diameter to achieve micro-adjustment, ensuring that the flip support platform 31 will not have hard contact with the inner wall of the pipe valve and the inner wall of the pipe when turning.

[0031] In this embodiment, after the flip support platform 31 turns, the guide connecting ring buckle 61 can continue to serve as a flexible guide when turning, that is, when the flip support platform 31 turns and leaves the pipe diameter change section at the connection between the pipe valve and the pipeline, and the guide connecting ring buckle 61 and the driving wheel group 2 are located at the pipe diameter change section at the connection between the pipe valve and the pipeline, the guide connecting ring buckle 61 can be used as a guiding part that contacts the pipe wall when turning. Since movable gaps are reserved between adjacent guide connecting ring buckles 61, during the process of guiding the flip support platform 31 to guide the turn, even if the guide connecting ring buckle 61 contacts the bend of the pipe wall, the guide connecting ring buckle 61 can be adaptively rotated by the action of the movable gap under the contact pressure, thereby avoiding the guide connecting ring buckle 61 from generating a hard barrier, thereby ensuring that the driving path guidance during the pipeline turning can be continuously completed while maintaining the protection of the inner wall of the pipeline during flexible turning.

[0032] The working principle of the present invention is as follows: during flexible cornering guidance, the electric interception push rod 53 is controlled to retract, and the electric interception push rod 53 is released from intercepting the upper part of the non-deformable end sleeve 52, and then the electric-controlled slide rail 51 drives the longitudinal propulsion piece 511 to slide and descend along the inner side of the non-deformable end sleeve 52, and pushes the guide connecting ring buckle 61 between the arc-shaped guide sleeve 43 and the electric interception push rod 53 toward the inner side of the winding connecting rope 62. After completion, the electric interception push rod 53 is controlled to extend so that the device as a whole is adjusted to flexible cornering guidance. In the current state, the driving wheel group 2 reaches the turning connection between the pipeline and the valve, so that when the peripheral wall surface of the flip support platform 31 comes into contact with the pipe wall, the flip support platform 31 is quickly adapted to the turning angle and rotated through the steering guidance 33 and the compressed retraction action of the spring retraction rod 11, and due to the multiple movable gaps reserved between adjacent guide connecting ring buckles 61, even if the flip support platform 31 When the diameter of the pipe valve and the pipeline changes, the steering angle of the flip support platform 31 when turning can be increased by the movable gaps reserved between the guiding connecting ring buckles 61, so that the flip support platform 31 can adapt to the change of the pipe diameter and realize micro-adjustment, ensuring that the flip support platform 31 will not have hard contact with the inner wall of the pipe valve and the inner wall of the pipeline when turning, until the flip support platform 31 turns and leaves the pipe diameter change section where the pipe valve and the pipeline are connected, and the guiding connecting ring buckle 61 and the driving wheel group 2 are placed in the pipe diameter change section where the pipe valve and the pipeline are connected, and the guiding connecting ring buckle 61 is used as the guiding part that contacts the pipe wall when turning. Since there are still movable gaps reserved between adjacent guiding connecting ring buckles 61, the guiding connecting ring buckle 61 can also be When passing through the bend of the pipe wall and subjected to contact pressure, the guiding connecting ring buckle 61 can also be used through the action of the movable gap to make the guiding connecting ring buckle 61 produce adaptive rotation, thereby avoiding the guiding connecting ring buckle 61 and the generation of hard obstruction.

[0033] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. A steering device in a pipeline, comprising a steering tube section (1) and a driving wheel set (2), wherein the driving wheel set (2) is fixedly connected to the steering tube section (1), characterized in that: The top of the steering tube section (1) is rotatably connected to a threading and winding support assembly (3) via a spring retractable rod (11); the bottom of the threading and winding support assembly (3) is provided with an outer peripheral tilt adjustment assembly (4); the top of the steering tube section (1) is fixedly provided with an overbending deformation adjustment mechanism (5); an overbending surface attachment assembly (6) is provided between the outer peripheral tilt adjustment assembly (4) and the overbending deformation adjustment mechanism (5); the overbending surface attachment assembly (6) is used for flexibly guiding the threading and winding support assembly (3) when it is turned and threaded inside the pipeline; The bending deformation adjustment mechanism (5) comprises an electrically controlled slide rail (51), a non-deformable end shell (52) and an electrically controlled intercepting push rod (53); the electrically controlled slide rail (51), the non-deformable end shell (52) and the electrically controlled intercepting push rod (53) are all fixedly connected to the steering tube section (1); the electrically controlled intercepting push rod (53) is arranged at the upper opening position of the non-deformable end shell (52); the output end of the electrically controlled slide rail (51) is fixedly connected with a longitudinal propulsion piece (511); the longitudinal propulsion piece (511) penetrates the non-deformable end shell (52) and is slidably connected to the non-deformable end shell (52); The curved surface attachment component (6) comprises a guide connecting ring buckle (61), a threading connecting rope (62) and a connecting spring piece (63). The number of the guide connecting ring buckles (61) is several. The guide connecting ring buckle (61) is sleeved on the outer side of the threading connecting rope (62), and the connecting spring piece (63) is fixedly connected between each two adjacent guide connecting ring buckles (61). One end of the threading connecting rope (62) extends to the inner side of the electric control slide rail (51) and is fixedly connected to the bottom wall of the electric control slide rail (51).

2. The in-pipe diverting device according to claim 1, characterized in that: The peripheral tilt adjustment assembly (4) comprises a retracting rail seat (41), a winding roller drive member (42) and an arc-shaped guide sleeve (43); the winding roller drive member (42) is fixedly connected to the retracting rail seat (41), and the output end of the winding roller drive member (42) extends to the inner side of the retracting rail seat (41); the arc-shaped guide sleeve (43) is fixedly connected to the winding roller drive member (42), and the arc-shaped guide sleeve (43) and the winding roller drive member (42) are in communication with each other.

3. The in-pipe diverting device according to claim 2, characterized in that: The threading and winding connecting rope (62) is slidably connected to the collection rail seat (41), and one end of the threading and winding connecting rope (62) is fixedly connected to the output end of the winding roller drive member (42).

4. The in-pipe diverting device according to claim 3, characterized in that: The threading and winding support assembly (3) comprises a flip support platform (31), a front end presumption driving member (32) and a double-end hinged seat (33); the flip support platform (31) and the front end presumption driving member (32) are both in number of two; the receiving rail seat (41) is fixedly connected to the flip support platform (31); the front end presumption driving member (32) is arranged on the inner side of the flip support platform (31); the double-end hinged seat (33) is installed between the two flip support platforms (31); and the flip support platform (31) is rotatably connected to the double-end hinged seat (33).

5. The in-pipeline diverting device according to claim 4, characterized in that: A spring retractable rod (11) is fixedly connected to the top of the steering tube section (1), and the top end of the spring retractable rod (11) is fixedly connected to the double-end hinged seat (33).

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