Pipeline interior detection device

Abstract

The invention relates to the technical field of pipeline detection, in particular to a pipeline interior detection device which comprises a driving joint, a base, a support and a track set device, the track set device is connected with the base, and the track set device comprises a mounting base, a track, a first track wheel, a second track wheel, a first elastic obstacle avoidance mechanism, a first supporting wheel and a second supporting wheel. The mounting base is fixed to the support, the first crawler wheel and the second crawler wheel are arranged at the two ends of the mounting base respectively, the first supporting wheel is mounted at one end of the first elastic obstacle avoidance mechanism, the second supporting wheel is mounted at the other end of the first elastic obstacle avoidance mechanism, the first elastic obstacle avoidance mechanism is arranged in the mounting base, and the first supporting wheel and the second supporting wheel are oppositely supported on a crawler; the detection section comprises a shell, a roller and a second elastic obstacle avoidance mechanism, the shell is connected with the driving section, a strip-shaped through hole is formed in the shell, and the roller is installed at the end, located outside the shell, of the second elastic obstacle avoidance mechanism. The flexibility is better in the pipeline advancing process, the pipeline detection efficiency can be effectively improved, and the detection cost is saved.

Description

Technical Field

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

[0002] In-pipeline detection technology is an important means to ensure the safe operation of oil, gas, water conservancy and other pipelines. Existing in-pipeline detection devices usually use a wheeled structure to move in the pipeline to detect defects such as pipeline wall thickness, cracks, corrosion, etc. However, in actual applications, various obstacles are commonly found in pipelines, such as welds, branches, elbows, reducers, etc. Current detection devices often show obvious limitations when encountering these obstacles, especially in reducer sections. Due to its rigid structure, the detection device is difficult to adapt to changes in pipe diameter, which can easily cause detection blind spots or device damage. These problems seriously restrict the efficiency and quality of pipeline detection, and increase detection costs and safety hazards. Summary of the invention

[0003] The present application aims to solve at least one of the above technical problems in the prior art to a certain extent. To this end, the present application provides an in-pipeline detection device, which has better flexibility during the pipeline travel process, can effectively improve pipeline detection efficiency, and save detection costs.

[0004] A pipeline detection device, comprising The driving section comprises a base, a bracket and at least three track assembly devices, each of which is connected to the base through the bracket, and each of the track assembly devices is spaced around the periphery of the base, and the track assembly device comprises a mounting seat, a crawler, a first track wheel, a second track wheel, a first elastic obstacle avoidance mechanism, a first support wheel and a second support wheel, the mounting seat is fixed to the bracket, the first track wheel and the second track wheel are respectively arranged at both ends of the mounting seat, a plurality of the first support wheels are installed at one end of the first elastic obstacle avoidance mechanism, and a plurality of the second support wheels are installed at the other end, and the first elastic obstacle avoidance mechanism is arranged at The mounting seat is inside and located between the first track wheel and the second track wheel, a plurality of the first support wheels and a plurality of the second support wheels are supported on the track between the first track wheel and the second track wheel, the first elastic obstacle avoidance mechanism has at least two elastic movable ends, one of which is connected to the mounting seat, and the other elastic movable ends are connected to the first support wheel and / or the second support wheel, and at least one of the at least three track assembly devices is provided with a power component on the mounting seat, and a power output end of the power component is connected to the first track wheel of the track assembly device; The detection section includes a shell, a roller and at least three second elastic obstacle avoidance mechanisms. The shell is connected to the base of the driving section. A strip-shaped through hole is provided on the outer wall of the shell. The second elastic obstacle avoidance mechanisms are installed on the shell and penetrated through the strip-shaped through hole. Each of the second elastic obstacle avoidance mechanisms is arranged around the shell at intervals. The roller is installed at one end of the second elastic obstacle avoidance mechanism located outside the shell.

[0005] In an optional or preferred embodiment, the first elastic obstacle avoidance mechanism includes a support rod, a connecting beam and a spring, the first support wheel and the second support wheel are respectively installed at both ends of the support rod, the connecting beam is slidably assembled on the support rod, the two ends of the connecting beam are fixed to the mounting seat, the spring is sleeved on the support rod, one end of the spring is pressed against the connecting beam, and the other end is pressed against the connection between the support rod and the first support wheel.

[0006] In an optional or preferred embodiment, two first elastic obstacle avoidance mechanisms are provided, and the two first elastic obstacle avoidance mechanisms are spaced apart along the length direction of the crawler track.

[0007] In an optional or preferred embodiment, two driving sections are provided, and along the moving direction of the driving section, the two driving sections are respectively connected to two ends of the detection section.

[0008] In an optional or preferred embodiment, three track assembly devices are provided, and the angles between the three track assembly devices are 120° with respect to each other, wherein the power component is provided on the mounting seats of two of the track assembly devices.

[0009] In an optional or preferred embodiment, a protective shell is provided on the outside of the power component, the protective shell is connected to the mounting seat, and heat dissipation holes are provided on the protective shell.

[0010] In an optional or preferred embodiment, the power output end of the power component is connected to the first track wheel through a transmission mechanism, and the transmission mechanism includes a first bevel gear and a second bevel gear, the first bevel gear is fixed to the power output end of the power component, the second bevel gear is arranged on the mounting seat and is coaxially connected to the first track wheel, and the first bevel gear and the second bevel gear are meshed with each other.

[0011] In an optional or preferred embodiment, the bracket includes a base plate, a first scissors strut and a second scissors strut, the base plate is fixed on the base, the first scissors strut and the second scissors strut are both fixed on the base plate, the first scissors strut and the second scissors strut are relatively spaced apart on the base plate, a first side panel is installed at one end of the first scissors strut away from the base plate, a second side panel aligned with the first side panel is installed at one end of the second scissors strut away from the base plate, and the first side panel and the second side panel form the mounting seat.

[0012] In an optional or preferred embodiment, the second elastic obstacle avoidance mechanism includes a hydraulic cylinder frame, a hydraulic cylinder and a roller fixing rod, the hydraulic cylinder frame is fixed inside the shell, the cylinder body of the hydraulic cylinder is hinged to the hydraulic cylinder frame, the piston rod of the hydraulic cylinder extends from the strip through hole, one end of the roller fixing rod is hinged inside the shell, and the other end extends from the strip through hole, the roller is mounted on the end of the roller fixing rod extending outside the shell, and the piston rod of the hydraulic cylinder is hinged to the middle part of the roller fixing rod.

[0013] In an optional or preferred embodiment, the driving joint and the detection joint are connected via a universal joint mechanism, the universal joint mechanism comprising a first connecting rod, a second connecting rod, a first universal joint, a second universal joint and a universal joint connecting plate, the first universal joint is fixed to the base via the first connecting rod, the second universal joint is fixed to the shell via the second connecting rod, and the first universal joint and the second universal joint are connected via the universal joint connecting plate.

[0014] Based on the above technical solution, the embodiment of the present application has at least the following beneficial effects: during operation, when the crawler on the crawler assembly device encounters an obstacle or a pipe wall with a reduced diameter, under the influence of the reaction force, the first support wheel will drive the first elastic obstacle avoidance mechanism to compress to avoid obstacles or adapt to the reduced diameter, and the second support wheel will lift the crawler. When crossing an obstacle or encountering a pipe wall with a widened diameter, the first elastic obstacle avoidance mechanism in a compressed state will cause the first support wheel to lift the crawler under the action of the rebound force, and the crawler supported by the second support wheel will retract. Since the length of the crawler is unchanged, no matter whether it encounters an obstacle or changes in the diameter, the crawler can always be kept in a taut state through the first elastic obstacle avoidance mechanism. The detection section is used to carry equipment for detecting pipelines. When the detection section walks in the pipeline, when it encounters an obstacle or changes in the diameter, the second elastic obstacle avoidance mechanism can achieve obstacle avoidance or adaptive diameter. The drive section and the detection section of the present application can achieve adaptive diameter changes and automatically cross obstacles during the process of traveling. Therefore, the present application has better flexibility during the process of traveling in the pipeline, which can effectively improve the efficiency of pipeline detection and save detection costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present application is further described below with reference to the accompanying drawings and embodiments; Figure 1 is a schematic diagram of the structure of the in-pipeline detection device provided in an embodiment of the present application; Figure 2 yes Figure 1 A schematic diagram of the structure of the driving section in the embodiment shown; Figure 3 yes Figure 1 A schematic diagram of a portion of the structure of the driving section in the illustrated embodiment; Figure 4 yes Figure 1 A schematic diagram of a part of the structure of the detection section in the embodiment shown; Figure 5 yes Figure 1 A schematic diagram of the embodiment shown running in a pipeline with a larger diameter; Figure 6 yes Figure 1 A schematic diagram of the embodiment shown running in a pipeline with a smaller diameter; Figure 7 yes Figure 1 A schematic diagram of the embodiment shown walking at a pipe bend; Figure 8 yes Figure 1 A schematic diagram of the embodiment shown walking in a variable diameter pipe; Fig. 9 yes Figure 1 A partial enlarged view of point A in the middle.

[0016] Reference numerals: driving joint 10, base 11, bracket 12, track assembly device 13, detection joint 20, housing 21, roller 22, second elastic obstacle avoidance mechanism 23, universal joint mechanism 30, first connecting rod 31, second connecting rod 32, first universal joint 33, second universal joint 34, universal joint connecting plate 35, camera 110, bottom plate 121, first scissors support 122, second scissors support 123, mounting seat 131, track 132, first track wheel 133, second track wheel 134 , a first elastic obstacle avoidance mechanism 135, a first support wheel 136, a second support wheel 137, a power component 138, a protective shell 139, a transmission mechanism 140, a first bevel gear 141, a second bevel gear 142, a hydraulic cylinder frame 231, a hydraulic cylinder 232, a roller fixing rod 233, a hexagonal shell 211, a hexagonal end cover 212, a first side plate 1311, a second side plate 1312, a strip through hole 2111, a support rod 1351, a connecting beam 1352, and a spring 1353. DETAILED DESCRIPTION

[0017] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present application.

[0018] The following is a further detailed description of the implementation of the present application in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application but cannot be used to limit the scope of the present application.

[0019] In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present application. In addition, the terms "", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0020] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0021] In the embodiments of the present application, unless otherwise clearly specified and limited, a feature “above” or “below” the second feature may be in direct contact with the second feature, or in indirect contact with the second feature through an intermediate medium. Moreover, a feature “above”, “above”, and “above” the second feature may mean that the feature is directly above or obliquely above the second feature, or simply means that the horizontal height of the feature is higher than the second feature. A feature “below”, “below”, and “below” the second feature may mean that the feature is directly below or obliquely below the second feature, or simply means that the horizontal height of the feature is lower than the second feature.

[0022] In-pipeline detection technology is an important means to ensure the safe operation of oil, gas, water conservancy and other pipelines. Existing in-pipeline detection devices usually use a wheeled structure to move in the pipeline to detect defects such as pipeline wall thickness, cracks, corrosion, etc. However, in actual applications, various obstacles are commonly found in pipelines, such as welds, branches, elbows, reducers, etc. Current detection devices often show obvious limitations when encountering these obstacles, especially in reducer sections. Due to its rigid structure, the detection device is difficult to adapt to changes in pipe diameter, which can easily cause detection blind spots or device damage. These problems seriously restrict the efficiency and quality of pipeline detection, and increase detection costs and safety hazards.

[0023] Reference Figures 1 to 8 The present application provides a high-passivity in-pipeline detection device, including a driving section 10 and a detection section 20.

[0024] The driving section 10 includes a base 11, a bracket 12 and at least three track assembly devices 13, each track assembly device 13 is connected to the base 11 through the bracket 12, and each track assembly device 13 is spaced around the periphery of the base 11. The track assembly device 13 includes a mounting seat 131, a track 132, a first track wheel 133, a second track wheel 134, a first elastic obstacle avoidance mechanism 135, a first support wheel 136 and a second support wheel 137. The mounting seat 131 is fixed to the bracket 12, and the first track wheel 133 and the second track wheel 134 are respectively arranged at both ends of the mounting seat 131. A plurality of first support wheels 136 are installed at one end of the first elastic obstacle avoidance mechanism 135, and a plurality of second support wheels 137 are installed at the other end. The obstacle avoidance mechanism 135 is arranged inside the mounting seat 131 and is located between the first track wheel 133 and the second track wheel 134. A plurality of first support wheels 136 and a plurality of second support wheels 137 are supported on the track 132 between the first track wheel 133 and the second track wheel 134. The first elastic obstacle avoidance mechanism 135 has at least two elastic movable ends, one of which is connected to the mounting seat 131, and the other elastic movable ends are connected to the first support wheel 136 and / or the second support wheel 137. Among the at least three track assembly devices 13, a power component 138 is arranged on the mounting seat 131 of at least one track assembly device 13, and the power output end of the power component 138 is connected to the first track wheel 133 of the track assembly device 13.

[0025] The detection section 20 includes a shell 21, a roller 22 and at least three second elastic obstacle avoidance mechanisms 23. The shell 21 is connected to the base 11 of the driving section 10. A strip-shaped through hole 2111 is opened on the outer wall of the shell 21. The second elastic obstacle avoidance mechanisms 23 are installed on the shell 21 and penetrated in the strip-shaped through hole 2111. The second elastic obstacle avoidance mechanisms 23 are arranged at intervals around the shell 21. The roller 22 is installed at one end of the second elastic obstacle avoidance mechanism 23 located outside the shell 21.

[0026] During operation, when the crawler 132 on the crawler assembly 13 encounters an obstacle or a pipe wall with a reduced diameter, under the influence of the reaction force, the first support wheel 136 will drive the first elastic obstacle avoidance mechanism 135 to compress to avoid obstacles or adapt to the reduced diameter, and at the same time, the second support wheel 137 will lift up the crawler 132. When crossing an obstacle or facing a pipe wall with a widened diameter, the first elastic obstacle avoidance mechanism 135 in a compressed state will cause the first support wheel 136 to lift up the crawler 132 under the action of the rebound force, and at the same time, the crawler 132 supported by the second support wheel 137 will retract. Since the length of the crawler 132 remains unchanged, no matter whether it encounters an obstacle or the diameter of the pipe changes, the first elastic obstacle avoidance mechanism 135 can always keep the crawler 132 in a taut state. The detection section 20 is used to carry equipment for detecting pipelines. When the detection section 20 walks in the pipeline, when it encounters an obstacle or the diameter of the pipe changes, the second elastic obstacle avoidance mechanism 23 can achieve obstacle avoidance or adaptive diameter.

[0027] like Figure 5 The in-pipeline detection device in the embodiment shown moves in a pipeline with a larger diameter. Figure 6 In the embodiment shown, the in-pipeline detection device moves in a pipeline with a smaller diameter. Figure 8 The in-pipeline detection device in the illustrated embodiment moves in a pipe of variable diameter.

[0028] The driving section 10 and the detection section 20 of the present application can realize adaptive pipe diameter changes and automatically cross obstacles during the travel process. Therefore, the present application has better flexibility during the pipeline travel process, can effectively improve the pipeline detection efficiency, and save detection costs.

[0029] The bracket 12 is a hollow structure, and the interior of the bracket 12 provides space for lifting the crawler track 132 .

[0030] Reference Figure 3 In the present application, the bracket 12 includes a bottom plate 121, a first scissors brace 122 and a second scissors brace 123. The bottom plate 121 is fixed on the base 11. The first scissors brace 122 and the second scissors brace 123 are both fixed on the bottom plate 121. The first scissors brace 122 and the second scissors brace 123 are arranged relatively spaced apart on the bottom plate 121. The first side plate 1311 is installed at one end of the first scissors brace 122 away from the bottom plate 121. The second side plate 1312 spaced apart and aligned with the first side plate 1311 is installed at one end of the second scissors brace 123 away from the bottom plate 121. The first side plate 1311 and the second side plate 1312 form a mounting seat 131. The bracket 12 is mainly supported by the first scissors brace 122 and the second scissors brace 123. The scissors brace structure has a simple structure and high support strength.

[0031] The first track wheel 133 is installed at one end between the first side plate 1311 and the second side plate 1312 through a rotating shaft, and the second track wheel 134 is installed at the other end between the first side plate 1311 and the second side plate 1312 through a rotating shaft. The first elastic obstacle avoidance mechanism 135 is set between the first side plate 1311 and the second side plate 1312.

[0032] In the present application, three crawler assembly devices 13 are provided, and the angles between the three crawler assembly devices 13 are 120°. The three crawler assembly devices 13 are 120° apart from each other and can stably support walking in the pipeline.

[0033] In other embodiments, four or more track assembly devices 13 may be provided.

[0034] In the present application, each track assembly 13 is fixed on the base 11 via a separate bracket 12 .

[0035] In other embodiments, each track assembly 13 may be fixed on the base 11 via an integral bracket 12 .

[0036] In the present application, power components 138 are arranged on the mounting seats 131 of two track assembly devices 13. In this way, two track assembly devices 13 with power components 138 actively walk in the pipeline, and the remaining track assembly device 13 walks in the pipeline passively.

[0037] In other embodiments, the power component 138 may be installed on one of the track assembly devices 13 , or the power component 138 may be installed on all three track assembly devices 13 .

[0038] In some embodiments, the power component 138 is covered with a protective shell 139, which is connected to the mounting seat 131 and has heat dissipation holes. The protective shell 139 serves to protect the power component 138.

[0039] In some embodiments, the power output end of the power component 138 is connected to the first track wheel 133 through a transmission mechanism 140, and the transmission mechanism 140 includes a first bevel gear 141 and a second bevel gear 142. The first bevel gear 141 is fixed to the power output end of the power component 138, and the second bevel gear 142 is arranged on the mounting seat 131 and is coaxially connected to the first track wheel 133. The first bevel gear 141 and the second bevel gear 142 are meshed with each other.

[0040] During operation, the power component 138 outputs power to the first track wheel 133 through the transmission of the first bevel gear 141 and the second bevel gear 142 .

[0041] Reference Figure 3In some embodiments, the first elastic obstacle avoidance mechanism 135 includes a support rod 1351, a connecting beam 1352 and a spring 1353. The first support wheel 136 and the second support wheel 137 are respectively installed at both ends of the support rod 1351. The connecting beam 1352 is slidably assembled on the support rod 1351. The two ends of the connecting beam 1352 are fixed to the mounting seat 131. The spring 1353 is sleeved on the support rod 1351. One end of the spring 1353 is pressed against the connecting beam 1352, and the other end is pressed against the connection between the support rod 1351 and the first support wheel 136.

[0042] Specifically, connecting rings are provided at both ends of the support rod 1351, one end of the support rod 1351 is rotatably connected to the first support wheel 136 through the connecting ring, and the other end of the support rod 1351 is rotatably connected to the second support wheel 137 through the connecting ring. The connecting crossbeam 1352 is vertically assembled on the support rod 1351, and the two ends of the connecting crossbeam 1352 are fixed to the inner sides of the first side plate 1311 and the second side plate 1312 of the mounting seat 131. When the track assembly device 13 crosses an obstacle, since the connecting crossbeam 1352 is fixed to the mounting seat 131, when the first support wheel 136 drives the support rod 1351 to move, the spring 1353 will be compressed between the first support wheel 136 and the connecting crossbeam 1352, and the second support wheel 137 at the other end of the support rod 1351 will lift the track 132.

[0043] In the present application, the connection between the spring 1353 and the connecting beam 1352 is an elastic movable end, and the connection between the spring 1353 and the first supporting wheel 136 is an elastic movable end.

[0044] In other embodiments, one end of the spring 1353 is pressed against the connecting beam 1352, and the other end is pressed against the connection between the support rod 1351 and the second support wheel 137. This can also play a buffering role.

[0045] It is not difficult to imagine that in some other embodiments, the spring 1353 can also be set so that one end is pressed against the connection between the support rod 1351 and the second support wheel 137, and the other end is pressed against the connection between the support rod 1351 and the first support wheel 136, and the connecting beam 1352 is connected to the middle of the spring 1353. In this embodiment, the connection between the spring 1353 and the connecting beam 1352 is an elastic active end, the connection between the spring 1353 and the second support wheel 137 is an elastic active end, and the connection between the spring 1353 and the first support wheel 136 is another elastic active end.

[0046] In some embodiments, two first elastic obstacle avoidance mechanisms 135 are provided, and the two first elastic obstacle avoidance mechanisms 135 are spaced apart along the length direction of the track 132 .

[0047] A first support wheel 136 and a second support wheel 137 are installed on each first elastic obstacle avoidance mechanism 135. The part of the track 132 surrounded by the two first support wheels 136 is used to walk on the pipe wall, which can increase the contact area between the track 132 and the pipe wall and prevent the track 132 from slipping.

[0048] Of course, in other embodiments, a first elastic obstacle avoidance mechanism 135 may be provided, and two side-by-side first support wheels 136 are installed at one end of the support rod 1351, and two side-by-side second support wheels 137 are installed at the other end.

[0049] In some embodiments, two driving sections 10 are provided, and along the travel direction of the driving section 10, the two driving sections 10 are respectively connected to the two ends of the detection section 20. The front driving section 10 plays a pulling role, and the rear driving section 10 plays a pushing role. At the same time, the front and rear sections of the detection section 20 are both connected and supported by the driving sections 10, so the operation of the entire detection section 20 will be more stable.

[0050] In some embodiments, the second elastic obstacle avoidance mechanism 23 includes a hydraulic cylinder frame 231, a hydraulic cylinder 232 and a roller fixing rod 233. The hydraulic cylinder frame 231 is fixed inside the shell 21, the cylinder body of the hydraulic cylinder 232 is hinged on the hydraulic cylinder frame 231, the piston rod of the hydraulic cylinder 232 extends from the bar-shaped through hole 2111, one end of the roller fixing rod 233 is hinged inside the shell 21, and the other end extends from the bar-shaped through hole 2111, the roller 22 is installed on the end of the roller fixing rod 233 extending outside the shell 21, and the piston rod of the hydraulic cylinder 232 is hinged to the middle part of the roller fixing rod 233.

[0051] When the detection section 20 faces an obstacle or a change in pipe diameter, the roller 22 first contacts the obstacle. Under the reaction force, the roller fixing rod 233 rotates around the hinge point between the roller fixing rod 233 and the shell 21, and the roller fixing rod 233 compresses the piston rod, so that the roller 22 on the roller fixing rod 233 passes over the obstacle or adapts to the smaller pipe diameter. At the same time, under the action of the hydraulic cylinder 232, the roller 22 can always maintain a state of being pressed against the pipe wall. When the roller 22 passes over the obstacle or moves to a pipe with a larger diameter, the hydraulic cylinder 232 in the pressed state will push the roller fixing rod 233 through the piston rod to rotate around the hinge point between the roller fixing rod 233 and the shell 21, so that the roller 22 presses the pipe wall.

[0052] In other embodiments, the hydraulic cylinder 232 may also be replaced with a connecting rod, on which a columnar spring is sleeved, one end of the columnar spring is pressed against the roller fixing rod 233 , and the other end is connected to the hydraulic cylinder frame 231 .

[0053] In the present application, the shell 21 includes a hexagonal shell 211 and two hexagonal end covers 212. The hexagonal end covers 212 are installed at both ends of the hexagonal shell 211. A strip-shaped through hole 2111 is opened on each side panel of the hexagonal shell 211. Six second elastic obstacle avoidance mechanisms 23 are arranged, and the six second elastic obstacle avoidance mechanisms 23 are respectively arranged on the six side panels of the hexagonal shell 211.

[0054] Reference Fig. 9 In some embodiments, the driving joint 10 and the detection joint 20 are connected through a universal joint mechanism 30, which includes a first connecting rod 31, a second connecting rod 32, a first universal joint 33, a second universal joint 34 and a universal joint connecting plate 35. The first universal joint 33 is fixed to the base 11 through the first connecting rod 31, the second universal joint 34 is fixed to the housing 21 through the second connecting rod 32, and the first universal joint 33 and the second universal joint 34 are connected through a universal joint connecting plate 35. The universal joint mechanism 30 can improve the connection flexibility between the detection joint 20 and the driving joint 10, so that the driving joint 10 drives the detection joint 20 more conveniently during the turning process.

[0055] like Figure 7 The in-pipeline detection device in the illustrated embodiment moves along a pipe bend, and the universal joint mechanism 30 plays a role in adapting to the bend.

[0056] In the present application, the second connecting rod 32 is fixed at the middle portion of the hexagonal end cover 212 .

[0057] In some embodiments, a camera 110 is installed on the base 11 of the driving section 10 located in front of the detection section 20. The camera 110 has its own light source, and the camera 110 realizes visual detection of the environment inside the pipeline.

[0058] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0059] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present application.

Claims

1. A pipeline detection device, characterized in that: include The driving section comprises a base, a bracket and at least three track assembly devices, each of which is connected to the base through the bracket, and each of the track assembly devices is spaced around the periphery of the base, and the track assembly device comprises a mounting seat, a crawler, a first track wheel, a second track wheel, a first elastic obstacle avoidance mechanism, a first support wheel and a second support wheel, the mounting seat is fixed to the bracket, the first track wheel and the second track wheel are respectively arranged at both ends of the mounting seat, a plurality of the first support wheels are installed at one end of the first elastic obstacle avoidance mechanism, and a plurality of the second support wheels are installed at the other end, and the first elastic obstacle avoidance mechanism is arranged at The mounting seat is inside and located between the first track wheel and the second track wheel, a plurality of the first support wheels and a plurality of the second support wheels are supported on the track between the first track wheel and the second track wheel, the first elastic obstacle avoidance mechanism has at least two elastic movable ends, one of which is connected to the mounting seat, and the other elastic movable ends are connected to the first support wheel and / or the second support wheel, and at least one of the at least three track assembly devices is provided with a power component on the mounting seat, and a power output end of the power component is connected to the first track wheel of the track assembly device; The detection section includes a shell, a roller and at least three second elastic obstacle avoidance mechanisms. The shell is connected to the base of the driving section. A strip-shaped through hole is provided on the outer wall of the shell. The second elastic obstacle avoidance mechanisms are installed on the shell and penetrated through the strip-shaped through hole. Each of the second elastic obstacle avoidance mechanisms is arranged around the shell at intervals. The roller is installed at one end of the second elastic obstacle avoidance mechanism located outside the shell.

2. The in-pipeline detection device according to claim 1, characterized in that: The first elastic obstacle avoidance mechanism includes a support rod, a connecting beam and a spring. The first support wheel and the second support wheel are respectively installed at two ends of the support rod. The connecting beam is slidably assembled on the support rod. The two ends of the connecting beam are fixed to the mounting seat. The spring is sleeved on the support rod. One end of the spring is pressed against the connecting beam, and the other end is pressed against the connection between the support rod and the first support wheel.

3. The in-pipeline detection device according to claim 2, characterized in that: Two of the first elastic obstacle avoidance mechanisms are provided, and the two first elastic obstacle avoidance mechanisms are spaced apart along the length direction of the crawler track.

4. The in-pipeline detection device according to claim 1, characterized in that: Two driving sections are provided, and along the moving direction of the driving section, the two driving sections are respectively connected to the two ends of the detection section.

5. The in-pipeline detection device according to claim 1, characterized in that: The track assembly devices are provided in three, and the included angles between the three track assembly devices are 120° to each other, wherein the power components are provided on the mounting seats of two of the track assembly devices.

6. The in-pipeline detection device according to claim 5, characterized in that: The power component is covered externally with a protective shell, the protective shell is connected to the mounting seat, and heat dissipation holes are provided on the protective shell.

7. The in-pipeline detection device according to claim 6, characterized in that: The power output end of the power component is connected to the first track wheel through a transmission mechanism, and the transmission mechanism includes a first bevel gear and a second bevel gear. The first bevel gear is fixed to the power output end of the power component, and the second bevel gear is arranged on the mounting seat and is coaxially connected to the first track wheel. The first bevel gear and the second bevel gear are meshed with each other.

8. The in-pipeline detection device according to claim 1, characterized in that: The bracket includes a base plate, a first scissors strut and a second scissors strut, the base plate is fixed on the base, the first scissors strut and the second scissors strut are both fixed on the base plate, the first scissors strut and the second scissors strut are arranged relatively spaced apart on the base plate, a first side plate is installed at one end of the first scissors strut away from the base plate, and a second side plate aligned with the first side plate is installed at one end of the second scissors strut away from the base plate, and the first side plate and the second side plate form the mounting seat.

9. The in-pipeline detection device according to claim 1, characterized in that: The second elastic obstacle avoidance mechanism includes a hydraulic cylinder frame, a hydraulic cylinder and a roller fixing rod, the hydraulic cylinder frame is fixed inside the shell, the cylinder body of the hydraulic cylinder is hinged on the hydraulic cylinder frame, the piston rod of the hydraulic cylinder extends out of the strip through hole, one end of the roller fixing rod is hinged inside the shell, and the other end extends out of the strip through hole, the roller is mounted on the end of the roller fixing rod extending outside the shell, and the piston rod of the hydraulic cylinder is hinged to the middle part of the roller fixing rod.

10. The in-pipeline detection device according to any one of claims 1 to 9, characterized in that: The driving joint and the detection joint are connected through a universal joint mechanism, and the universal joint mechanism includes a first connecting rod, a second connecting rod, a first universal joint, a second universal joint and a universal joint connecting plate. The first universal joint is fixed to the base through the first connecting rod, and the second universal joint is fixed to the shell through the second connecting rod. The first universal joint and the second universal joint are connected through the universal joint connecting plate.

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