Pipeline interior inspection device

Abstract

The invention relates to a pipeline interior inspection device. According to the pipeline interior inspection device, a control host is electrically connected with a crawling shooting assembly; the crawling shooting assembly comprises a supporting wheel set, a first driving mechanism and a second driving mechanism, wherein the first driving mechanism and the second driving mechanism are arranged on the supporting wheel set. The first driving mechanism is connected with a camera shooting assembly and a first axial moving joint; the second driving mechanism is connected with a second axial moving joint; the supporting wheel set comprises at least four supporting wheel assemblies. The two ends of the four supporting wheel assemblies are connected with the first axial moving joint and the second axial moving joint correspondingly, and the first axial moving joint and the second axial moving joint drive the four supporting wheel assemblies to move in the circumferential direction and / or the radial direction under the action of driving force of the first driving mechanism and the second driving mechanism correspondingly. The distance between the four supporting wheel assemblies and the inner wall of the pipeline is adjusted, the whole-course inspection of the interior of the pipeline is achieved, the pipeline does not need to be disassembled any more, and therefore the inspection efficiency can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of crawling vehicles, and in particular to a pipeline internal inspection device. Background Art

[0002] When conducting internal inspections of conventional island water system pipelines in nuclear power plants, it is usually necessary to erect a scaffold and dismantle the pipelines section by section to conduct manual visual inspections of the interior of the pipelines. However, since some small-diameter pipelines cannot be visually inspected internally, and the workload of pipeline dismantling is large and the safety risks are high, endoscope inspections are currently often used to replace manual visual inspections. However, when conducting internal inspections of complex pipelines with horizontal pipe sections, vertical pipe sections, elbows and other components, existing endoscope inspections cannot complete the entire inspection of the interior of the pipeline because they cannot adapt to the complex internal terrain of the pipeline. At this time, the pipeline still needs to be disassembled to complete the full pipeline inspection, which will reduce the inspection efficiency. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a pipeline internal inspection device to realize the full-process inspection inside the pipeline without disassembling the pipeline, thereby improving the inspection efficiency.

[0004] The technical solution adopted by the present invention to solve the technical problem is: to provide a pipeline internal inspection device, including: a control host and a crawling shooting component;

[0005] The control host is electrically connected to the crawling shooting component;

[0006] The crawling shooting assembly comprises: a supporting wheel group, a first driving mechanism and a second driving mechanism respectively arranged on the supporting wheel group;

[0007] The first driving mechanism is connected to a camera assembly and a first axially movable joint for driving the supporting wheel group to move;

[0008] The second driving mechanism is connected to a second axially movable joint for driving the supporting wheel set to move;

[0009] The supporting wheel group includes at least 4 supporting wheel assemblies;

[0010] The two ends of the four support wheel assemblies are respectively connected to the first axial movable joint and the second axial movable joint. The first axial movable joint and the second axial movable joint respectively drive the four support wheel assemblies to perform circumferential and / or radial movement under the driving force of the first driving mechanism and the second driving mechanism to adjust the distance between the four support wheel assemblies and the inner wall of the pipe.

[0011] Preferably, each of the support wheel assemblies comprises: a power wheel, a support wheel arm and a fulcrum wheel arm;

[0012] One end of the support wheel arm is connected to the power wheel, and the other end is connected to the second axial movable joint or the first axial movable joint, and the support wheel arm moves radially along the straight line where the support wheel arm is located under the drive of the first axial movable joint or the second axial movable joint;

[0013] One end of the fulcrum wheel arm is fixed on the supporting wheel arm, and the other end is connected to the first axial movable joint or the second axial movable joint. Driven by the first axial movable joint or the second axial movable joint, the fulcrum wheel arm pushes the supporting wheel arm to perform circumferential motion with the other end of the supporting wheel arm as the center.

[0014] Preferably, a plurality of grooves are equidistantly arranged on the outer wheel surface of the power wheel to form a concave-convex pattern.

[0015] Preferably, the pipeline internal inspection device further comprises: a cable storage assembly;

[0016] The cable storage component is arranged between the control host and the crawling shooting component;

[0017] One end of the signal cable is connected to the control host, and the other end is wound around the cable storage component and connected to the crawling shooting component.

[0018] Preferably, the cable storage assembly comprises: a housing, a cable reel, a junction box, and a power supply device for providing electrical energy to the crawling and photographing assembly;

[0019] The take-up reel is disposed in the housing;

[0020] The junction box and the power supply device are respectively fixed on different outer side walls of the shell.

[0021] Preferably, the cable storage assembly further comprises: a metering device;

[0022] The meter-counting device is fixed on the outer side wall of the shell and is opposite to the wire outlet of the wire-taking reel.

[0023] Preferably, the pipeline internal inspection device further comprises: a safety hook;

[0024] The safety hook is fixed on the crawling shooting assembly;

[0025] The safety hook is connected to the take-up drum through a safety rope.

[0026] Preferably, the pipeline internal inspection device further comprises: an operating handle;

[0027] The operating handle is provided with a plurality of functional modules for controlling the movement and shooting action of the crawling shooting assembly;

[0028] The operating handle is electrically connected to the control host.

[0029] Preferably, the camera assembly comprises: a front-view camera and a side-view camera;

[0030] The front view camera and the side view camera are integrally interconnected.

[0031] Preferably, the crawling shooting assembly further comprises: a rear-view camera;

[0032] The rearview camera is connected to the second driving mechanism.

[0033] The implementation of the present invention has the following beneficial effects:

[0034] The first driving mechanism and the second driving mechanism provide driving force for the first axial movable joint and the second axial movable joint respectively. The first axial movable joint and the second axial movable joint push the supporting wheel assembly connected thereto to perform circumferential and / or radial movement under the action of the driving force to adjust the circumferential position and / or radial position of the supporting wheel assembly, so that the supporting wheel assembly can adapt to the complex and changeable inner wall shape of the pipeline in the circumferential direction and adjust the distance between the supporting wheel assembly and the inner wall of the pipeline in the radial direction, so as to maintain continuous contact with the inner wall of the pipeline. Under the control of the control host, the supporting wheel assembly in the crawling shooting assembly will drive the camera assembly to capture images or videos of the inner wall of the pipeline according to a preset path to realize a full inspection of the interior of the pipeline without disassembling the pipeline, thereby improving the inspection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0036] Figure 1 It is a schematic diagram of the overall structure of the pipeline internal inspection device of the present invention;

[0037] Figure 2 It is a structural schematic diagram of the crawling shooting assembly of the present invention;

[0038] Figure 3 is a schematic structural diagram of the cable storage assembly of the present invention;

[0039] Figure 4 It is a structural schematic diagram of the operating handle of the present invention;

[0040] Figure 5 It is a structural schematic diagram of the power wheel of the present invention. DETAILED DESCRIPTION

[0041] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific embodiments of the present invention are now described in detail with reference to the accompanying drawings. In the following description, it should be understood that the directions or positional relationships indicated by "front", "back", "up", "down", "left", "right", "longitudinal", "horizontal", "vertical", "horizontal", "top", "bottom", "inside", "outside", "head", "tail", etc. are based on the directions or positional relationships shown in the accompanying drawings, are constructed and operated in a specific direction, and are only for the convenience of describing the present technical solution, rather than indicating that the device or element referred to must have a specific direction, and therefore cannot be understood as a limitation to the present invention.

[0042] It should also be noted that, unless otherwise clearly specified and limited, the terms such as "installed", "connected", "connected", "fixed", "set" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. When an element is referred to as being "on" or "under" another element, the element can be "directly" or "indirectly" located on the other element, or there may be one or more intermediate elements. The terms "first", "second", "third", etc. are only for the convenience of describing the present technical solution, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", "third", etc. may explicitly or implicitly include one or more of the features. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0043] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present invention.

[0044] The present invention provides a pipeline internal inspection device, which is used to realize the full-course inspection inside the pipeline without disassembling the pipeline, thereby improving the inspection efficiency.

[0045] See also Figure 1 and Figure 2As shown, the pipeline internal inspection device in this embodiment includes: a control host 1 is electrically connected to a creeping shooting assembly 2; the creeping shooting assembly 2 includes: a support wheel group 21, a first driving mechanism 22 and a second driving mechanism 23 respectively arranged on the support wheel group 21; the first driving mechanism 22 is connected to a camera assembly 221 and a first axial movable joint 222 for driving the support wheel group 21 to move; the second driving mechanism 23 is connected to a second axial movable joint 231 for driving the support wheel group 21 to move; the support wheel group 21 includes at least four support wheel assemblies 211; the two ends of the four support wheel assemblies 211 are respectively connected to the first axial movable joint 222 and the second axial movable joint 231, and the first axial movable joint 222 and the second axial movable joint 231 respectively drive the four support wheel assemblies 211 to perform circumferential and / or radial movements under the driving force of the first driving mechanism 22 and the second driving mechanism 23, so as to adjust the distance between the four support wheel assemblies 211 and the inner wall of the pipeline.

[0046] Specifically, the first driving mechanism 22 is provided with a first driving motor or a first cylinder for providing driving force for the first axial movable joint 222, so as to drive the first axial movable joint 222 to move in a preset direction. The second driving mechanism 23 is provided with a second driving motor or a second cylinder for providing driving force for the second axial movable joint 231, so as to drive the second axial movable joint 231 to move in a preset direction. The two ends of the support wheel group 21 are respectively connected to the first driving mechanism 22 and the second driving mechanism 23. The first driving mechanism 22 and the second driving mechanism 23 control the travel direction of the support wheel group 21 and adjust the distance between the support wheel group 21 and the inner wall of the pipeline through the first axial movable joint 222 and the second axial movable joint 231. The support wheel group 21 is used to drive the camera assembly 221 installed on the first driving mechanism 22 to move on the inner wall of the pipeline, so that the camera assembly 221 can collect images or videos of the inner wall of the pipeline in real time during the movement. At least four support wheel assemblies 211 may be provided in the support wheel group 21, for example, four support wheel assemblies 211 may be provided, wherein one support wheel assembly 211 is provided in each of the four directions of top, bottom, left and right; or six support wheel assemblies 211 may be provided, wherein two support wheel assemblies 211 are provided on the left side of the first drive mechanism 22 and the second drive mechanism 23, for contacting the inner wall on the left side of the pipeline; two support wheel assemblies 211 are provided on the right side of the first drive mechanism 22 and the second drive mechanism 23, for contacting the inner wall on the right side of the pipeline; one support wheel assembly 211 is provided on the top of the first drive mechanism 22 and the second drive mechanism 23, for contacting the inner wall on the top of the pipeline; one support wheel assembly 211 is provided on the bottom of the first drive mechanism 22 and the second drive mechanism 23, for contacting the inner wall on the bottom of the pipeline. The specific number of support wheel assemblies 211 to be installed may be determined according to actual needs, such as eight support wheel assemblies 211 may be provided, which is not limited here. By fitting each support wheel assembly 211 with the inner wall of the pipeline, the support wheel assembly 21 can run smoothly on the inner wall of the pipeline, reducing the running resistance of the support wheel assembly 21 in vertical pipelines or complex pipe sections such as elbows.

[0047] It is worth noting that the control host 1 can use a 10-inch high-resolution LCD screen, with an i5 or above multi-core processor, a running memory of 16G, a solid-state high-speed hard disk of 128G, and a data interface including two USB3.0 interfaces and a TYPE-C interface. The specific parameters are not limited here. The control host 1 and the crawling shooting component 2 can establish a communication connection through wireless communication or signal cable connection. In the communication process, the control host 1 first sends a control instruction to the crawling shooting component 2, and the crawling shooting component 2 returns the image acquisition data to the control host 1 after completing the image acquisition based on the control instruction. The control host 1 has a display function, and the staff can view the real-time crawling position of the crawling shooting component 2 and the real-time captured images or videos through the display interface of the control host 1.

[0048] In this embodiment, in order to achieve accurate path control and good posture stability, the Proportional-Integral-Differential (PID) motion control method and posture control method can be used to control the motion path of the creeping shooting component 2, so that the accurate target path and balanced and stable posture can be maintained during the process of traveling. The PID controller is a commonly used closed-loop controller, which adjusts the output to make the actual value of the system as close as possible to the expected value. In the travel path control of the creeping shooting component 2, the PID controller can be used to control the speed and direction of the creeping shooting component 2. Among them, the proportional term determines the direction and amplitude of the output according to the size of the current error; the integral term is corrected according to the past error accumulation information to eliminate the continuous steady-state error; the differential term is corrected according to the rate of error change to improve the response speed and stability of the system. In the PID motion control of the creeping shooting component 2, the PID parameters can be adjusted according to the actual situation, and the measured actual position is compared with the target path, and then the speed and direction of the creeping shooting component 2 are adjusted by using the PID algorithm so that the creeping shooting component 2 can always remain on the predetermined path. The attitude control of the creeping camera assembly 2 can be monitored by using sensors such as gyroscopes and accelerometers, and feedback control can be performed based on actual measured values. Through the attitude control algorithm, the tilt angle and rotation angular velocity of the creeping camera assembly 2 during the movement can be detected. Then, the correction signal is transmitted to the control system, so that the creeping camera assembly 2 can be adjusted in real time according to the tilt angle and rotation angular velocity to maintain a balanced and stable attitude.

[0049] Optional, see Figure 2As shown, each support wheel assembly in this embodiment includes: a power wheel 2111, a support wheel arm 2112 and a fulcrum wheel arm 2113; one end of the support wheel arm 2112 is connected to the power wheel 2111, and the other end is connected to the second axial movable joint 231 or the first axial movable joint 222, and the support wheel arm 2112 moves radially along the straight line where the support wheel arm 2112 is located under the drive of the first axial movable joint 222 or the second axial movable joint 231; one end of the fulcrum wheel arm 2113 is fixed on the support wheel arm 2112, and the other end is connected to the first axial movable joint 222 or the second axial movable joint 231, and the fulcrum wheel arm 2113 pushes the support wheel arm 2112 to move circumferentially with the other end of the support wheel arm 2112 as the center under the drive of the first axial movable joint 222 or the second axial movable joint 231.

[0050] Specifically, the fulcrum wheel arm 2113 and the support wheel arm 2112 in the support wheel group 21 are connected to the first axial movable joint 222 and the second axial movable joint 231, respectively. For example, in the support wheel group 21A, when the fulcrum wheel arm 2113 is connected to the first axial movable joint 222, the support wheel arm 2112 is connected to the second axial movable joint 231; when the fulcrum wheel arm 2113 is connected to the second axial movable joint 231, the support wheel arm 2112 is connected to the first axial movable joint 222. The power wheel 2111 is arranged at the end of the support wheel arm 2112. The number of power wheels 2111 installed can be one or two symmetrical ones. A driving motor for driving the power wheel 2111 to slide is also arranged at the end. The movement process of the support wheel arm 2112 and the fulcrum wheel arm 2113 is as follows: when the support wheel arm 2112 is connected to the first axial movable joint 222 and the first axial movable joint 222 starts to move, the first axial movable joint 222 will drive the support wheel arm 2112 to move in the radial direction. At this time, the power wheel 2111 will also move in the radial direction driven by the support wheel arm 2112 to adjust the linear distance between the power wheel 2111 and the inner wall of the pipeline; correspondingly, the fulcrum wheel arm 2113 and the second axial movable joint 231 When the second axial movable joint 231 starts to move, the second axial movable joint 231 will drive the fulcrum wheel arm 2113 to make a linear motion. Under the linear drive of the fulcrum wheel arm 2113, the support wheel arm 2112 will make a circumferential motion with the first axial movable joint 222 as the center. The angle between the support wheel arm 2112 and the fulcrum wheel arm 2113 changes. At this time, the power wheel 2111 will also move in the circumferential direction driven by the support wheel arm 2112 to achieve the adjustment of the angle between the power wheel 2111 and the inner wall of the pipe.

[0051] Optional, see Figure 5 As shown, a plurality of grooves 21111 are equidistantly arranged on the outer wheel surface of the power wheel 2111 in this embodiment to form a concave-convex pattern.

[0052] Specifically, a plurality of grooves 21111 may be equidistantly arranged on the outer wheel surface of each power wheel 2111 to increase the sliding friction when the power wheel 2111 slides on the inner wall of the pipe, so as to maintain normal sliding without scratching the inner wall of the pipe. In addition, as the sliding friction between the power wheel 2111 and the inner wall of the pipe increases, the damping force when the crawling camera assembly 2 crawls on the inner wall of the vertical pipe will also increase, thereby reducing the possibility of the crawling camera assembly 2 falling or sliding from the vertical pipe, thereby improving the adaptability and stability of the crawling camera assembly 2 on the inner walls of different types of pipes.

[0053] Optional, see Figure 3 As shown, the pipeline internal inspection device in this embodiment also includes: a cable storage component 3; the control host 1 is electrically connected to the crawling shooting component 2 through a signal cable; one end of the signal cable is connected to the control host 1, and the other end is wound around the cable storage component 3 and then connected to the crawling shooting component 2.

[0054] Specifically, the control host 1 can transmit signals with the creeping camera assembly 2 through a signal cable. When the length of the pipeline to be inspected is long, the signal cable between the control host 1 and the creeping camera assembly 2 will also be long. When the long signal cables are stacked together, they are prone to entanglement and knotting. Especially when there are multiple signal cables, the entanglement and knotting between the signal cables will be more serious, which may affect the normal operation of the creeping camera assembly 2. Therefore, a cable storage assembly 3 can be provided to organize and store the signal cables between the control host 1 and the creeping camera assembly 2 to reduce the entanglement and knotting of overly long signal cables or multiple signal cables.

[0055] Optional, see Figure 1 As shown, the cable storage assembly 3 in this embodiment includes: a shell 31, a wire reel 32, a junction box 33 and a power supply device 34 for providing electrical energy to the crawling shooting assembly 2; the wire reel 32 is arranged in the shell 31; the junction box 33 and the power supply device 34 are respectively fixed on different outer side walls of the shell 31.

[0056] Specifically, in order to reduce the overall volume and weight of the crawling and shooting component 2, the power supply device 34 of the crawling and shooting component 2 can be fixed on the housing 31 of the cable storage component 3, and the power cable is wound on the take-up reel 32 and electrically connected to the crawling and shooting component 2 to supply power to the crawling and shooting component 2. When the signal cable is too long, a junction box 33 can be set for cable switching to improve the anti-attenuation of the signal during long-distance transmission. For example: a first signal cable and a second signal cable can be set between the control host 1 and the crawling and shooting component 2. One end of the first signal cable is connected to the control host 1, and the other end enters the junction box 33 to be spliced ​​with the second signal cable; one end of the second signal cable is connected to the crawling and shooting component 2, and the other end enters the junction box 33 to be spliced ​​with the first signal cable. Aviation plugs can be used for docking between different cables to improve docking reliability and stability. The take-up reel 32 is used to control the retraction and extension of the power cable or the signal cable. The take-up reel 32 can be a manual take-up reel controlled by humans, or an automatic take-up reel that automatically performs the retraction and extension action, or a manual or automatic take-up reel that can realize free switching between manual and automatic operation, which is not limited here.

[0057] Optional, see Figure 3 As shown, the cable storage assembly 3 in this embodiment further includes: a metering device 35 ; the metering device 35 is fixed on the outer wall of the shell 31 and is opposite to the outlet of the take-up reel 32 .

[0058] Specifically, a metering device 35 can be set at the outlet of the take-up reel 32 to calculate the length of the outlet cable, so as to obtain the required cable length of the crawling and shooting component 2 during the travel, so as to facilitate the provision of cables of appropriate length for the crawling and shooting component 2, and reduce the waste caused by excessively long cables or the inability to complete the full inspection due to excessively short cables. In addition, the length of the inspected pipeline can also be obtained based on the cable length calculated by the metering device 35. In another embodiment, a handle 36 can also be installed on the top of the housing 31 to facilitate the staff to take and put.

[0059] Optional, see Figure 3 As shown, the pipeline internal inspection device in this embodiment also includes: a safety hook 4; the safety hook 4 is fixed on the crawling shooting assembly 2; the safety hook 4 is connected to the take-up reel 32 through a safety rope.

[0060] Specifically, a safety hook 4 can be provided on the crawling shooting component 2, one end of the safety rope is connected to the safety hook 4, and the other end is connected to the take-up reel 32. When the crawling shooting component 2 has an abnormal situation such as no signal reception or detachment from the cable, the crawling shooting component 2 can be recovered by recovering the safety rope, thereby reducing the situation where the crawling shooting component 2 is stuck in the pipeline and cannot be recovered. The safety rope can be made of a steel wire rope with high hardness and tensile strength. Since the first driving mechanism 22 provided with the camera component 221 is usually the front end, the safety hook 4 can be fixed to the second driving mechanism 23 at the rear end to facilitate the recovery of the safety rope.

[0061] Optional, see Figure 4 As shown, the pipeline internal inspection device in this embodiment also includes: an operating handle 5; the operating handle 5 is provided with a plurality of functional modules for controlling the movement and shooting action of the crawling shooting component 2; and the operating handle 5 is electrically connected to the control host 1.

[0062] Specifically, the staff can control the forward and backward movement, speed, lighting, photo taking and video recording of the crawling shooting component 2 by operating the operating handle 5 to improve the control convenience. The operating handle 5 is provided with multiple functional modules, for example: the motion control functional area of ​​the crawling shooting component 2, including: turn left / contract, retreat, turn right / expand, advance and cruise control; the shooting control functional area of ​​the camera component 221, including: indicator light, focus to distant view, lens left rotation, lens flip down, focus to close view, light dimming, light brightening, photo taking / video recording, zooming out, zooming in, lens right rotation, lens reset and lens flip up; other functional areas, including: on / off, extension key 1 and extension key 2. The specific functional modules can be set according to actual needs and are not limited here.

[0063] Optional, see Figure 1 and Figure 2 As shown, the camera assembly 221 in this embodiment includes: a front-view camera and a side-view camera; the front-view camera and the side-view camera are interconnected in an integrated manner.

[0064] Specifically, the camera assembly 221 can include a front-view camera and a side-view camera at the same time. The front-view camera and the side-view camera adopt a front-side integrated interconnected structure design. When defects are found in the front-view imaging or the detection blind spots caused by factors such as bending, welds, compensation rings, and rubber lining gaskets, it can be switched to side-view imaging in real time, and targeted real-time detailed diagnosis of the blind spot target is carried out to reduce the shooting blind spot, thereby improving the image acquisition accuracy. Among them, the front-view camera can adopt an industrial-grade 8 million pixels to achieve ultra-high-definition panoramic imaging, with a 215° ultra-large field of view, and a lighting power of 6W, which can meet the full coverage detection of the straight pipe part of the pipeline. The rear-view camera 232 can adopt an industrial-grade 2 million pixels to achieve 360° unlimited rotation scanning imaging, with a 195° ultra-large field of view, and a lighting power of 4W, which can meet the full side wall scanning of the pipeline side wall details and the inner arc blind spot and outer arc blind spot of the 90° bend. In addition, the camera assembly 221 can also be provided with a lighting device to increase the brightness of the shooting environment.

[0065] Optional, see Figure 2 As shown, the crawling shooting assembly 2 in this embodiment also includes: a rear view camera 232; the rear view camera 232 is connected to the second driving mechanism 23.

[0066] Specifically, a rear-view lens may be provided on the second driving mechanism 23 to obtain the rearward field of view of the crawling shooting assembly 2, reduce visual blind spots, and improve safety.

[0067] It can be understood that the above embodiments only express the preferred implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the patent scope of the present invention. It should be pointed out that, for ordinary technicians in this field, the above technical features can be freely combined without departing from the concept of the present invention, and several deformations and improvements can be made, which all belong to the protection scope of the present invention. Therefore, all equivalent changes and modifications made to the scope of the claims of the present invention should belong to the coverage of the claims of the present invention.

Claims

1. A pipeline internal inspection device, characterized in that: include: Control host and crawling shooting components; The control host is electrically connected to the crawling shooting component; The crawling shooting assembly comprises: a supporting wheel group, a first driving mechanism and a second driving mechanism respectively arranged on the supporting wheel group; The first driving mechanism is connected to a camera assembly and a first axially movable joint for driving the supporting wheel group to move; The second driving mechanism is connected to a second axially movable joint for driving the supporting wheel set to move; The supporting wheel group includes at least 4 supporting wheel assemblies; The two ends of the four support wheel assemblies are respectively connected to the first axial movable joint and the second axial movable joint. The first axial movable joint and the second axial movable joint respectively drive the four support wheel assemblies to perform circumferential and / or radial movement under the driving force of the first driving mechanism and the second driving mechanism to adjust the distance between the four support wheel assemblies and the inner wall of the pipe.

2. The pipeline internal inspection device according to claim 1, characterized in that: Each of the support wheel assemblies comprises: a power wheel, a support wheel arm and a fulcrum wheel arm; One end of the support wheel arm is connected to the power wheel, and the other end is connected to the second axial movable joint or the first axial movable joint, and the support wheel arm moves radially along the straight line where the support wheel arm is located under the drive of the first axial movable joint or the second axial movable joint; One end of the fulcrum wheel arm is fixed on the supporting wheel arm, and the other end is connected to the first axial movable joint or the second axial movable joint. Driven by the first axial movable joint or the second axial movable joint, the fulcrum wheel arm pushes the supporting wheel arm to perform circumferential motion with the other end of the supporting wheel arm as the center.

3. The pipeline internal inspection device according to claim 2, characterized in that: A plurality of grooves are arranged at equal intervals on the outer wheel surface of the power wheel to form a concave-convex pattern.

4. The pipeline internal inspection device according to claim 1, characterized in that: The pipeline internal inspection device further includes: a cable storage assembly; The control host is electrically connected to the crawling shooting component via a signal cable; One end of the signal cable is connected to the control host, and the other end is wound around the cable storage component and connected to the crawling shooting component.

5. The pipeline internal inspection device according to claim 4, characterized in that: The cable storage assembly includes: a housing, a cable reel, a junction box, and a power supply device for providing electrical energy to the crawling and photographing assembly; The take-up reel is disposed in the housing; The junction box and the power supply device are respectively fixed on different outer side walls of the shell.

6. The pipeline internal inspection device according to claim 5, characterized in that: The cable storage assembly further comprises: a metering device; The meter-counting device is fixed on the outer side wall of the shell and is opposite to the wire outlet of the wire-taking reel.

7. The pipeline internal inspection device according to claim 5, characterized in that: The pipeline internal inspection device also includes: a safety hook; The safety hook is fixed on the crawling shooting assembly; The safety hook is connected to the take-up drum through a safety rope.

8. The pipeline internal inspection device according to claim 1, characterized in that: The pipeline internal inspection device also includes: an operating handle; The operating handle is provided with a plurality of functional modules for controlling the movement and shooting action of the crawling shooting assembly; The operating handle is electrically connected to the control host.

9. The pipeline internal inspection device according to any one of claims 1 to 8, characterized in that: The camera assembly includes: a front-view camera and a side-view camera; The front view camera and the side view camera are integrally interconnected.

10. The pipeline internal inspection device according to any one of claims 1 to 8, characterized in that: The crawling shooting assembly also includes: a rear-view camera; The rearview camera is connected to the second driving mechanism.

Images