Pipeline interior walking detection equipment with posture real-time adjustment function

Abstract

The invention discloses a pipeline interior walking detection device with a posture real-time adjustment function, and relates to the technical field of pipeline detection.The pipeline interior walking detection device comprises a machine base, four bottom wheels are arranged at the bottom of the machine base, a hollow cup motor is rotationally installed on the machine base, a turnover mechanism is arranged in the machine base, and a pipeline detection instrument is installed on the machine base; the turnover mechanism is connected with a hollow cup motor, a main electric push rod is arranged in the hollow cup motor, a guider is installed on the main electric push rod, a plurality of side wheels are installed on the guider, and the four bottom wheels and the side wheels make contact with the interior of the pipeline. The hollow cup motor, the main electric push rod, the guider and the turnover mechanism are all in circuit connection with the control system, through the arrangement of the guider, posture adjustment of the detection device during moving in the pipeline is achieved, the technical problem that the detection device cannot climb in the pipeline is solved, the application range of the detection device is wider, and the detection device is more convenient to use. And the adaptability to the detected pipeline environment is higher.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline detection, in particular to a pipeline internal walking detection device with a real-time posture adjustment function. Background Art

[0002] Whether it is a municipal pipeline network or a pipeline network in the chemical industry, it needs to be inspected on time to check for potential accidents and prevent them before they happen. For pipeline networks that can be touched and visually inspected, manual inspections are usually used. For the interior of the pipeline network, areas that cannot be directly inspected by humans need to be inspected by inspection robots. The current inspection robots are relatively large in size and are not convenient for turning in closed and narrow pipes. They are usually suitable for straight pipe inspections, while small inspection robots are suitable for internal inspections of horizontal pipes and cannot be lifted or lowered in complex pipes. Therefore, most inspection robots are greatly restricted during use and cannot be used in a complete pipeline environment, which increases the trouble for operators in pipeline inspections. Summary of the invention

[0003] The purpose of the present invention is to provide a pipeline internal movement detection device with a real-time posture adjustment function to solve the problems raised in the prior art.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a pipeline internal walking detection device with a real-time posture adjustment function, comprising a machine base, four bottom wheels are arranged at the bottom of the machine base, a hollow cup motor is rotatably installed on the machine base, a flipping mechanism is arranged inside the machine base, a pipeline detection instrument is installed on the machine base, the flipping mechanism is connected to the hollow cup motor, a main electric push rod is arranged in the hollow cup motor, a guide is installed on the main electric push rod, a plurality of side wheels are installed on the guide, the four bottom wheels and the plurality of side wheels are in contact with the inside of the pipeline, and the hollow cup motor, the main electric push rod, the guide and the flipping mechanism are all connected to the control system circuit.

[0005] Furthermore, a pair of sliding wheel frames are symmetrically arranged on both sides of the bottom of the machine base. The sliding wheel frames are slidably arranged with the machine base. A shock absorbing spring is arranged between each sliding wheel frame and the machine base. A bottom wheel is installed on the side of each sliding wheel frame away from the machine base for rotation.

[0006] Furthermore, a pair of auxiliary electric push rods are symmetrically installed at the bottom of the machine base, and the push rods of the two auxiliary electric push rods extend in opposite directions. A motor bracket is installed on the push rod of each auxiliary electric push rod, and a servo motor is installed on each motor bracket. A bottom wheel is installed on the motor shaft of each servo motor. The detection device moves in the pipeline. Since the bottom wheels installed on the two auxiliary electric push rods do not have the function of up and down displacement, after the bottom wheels on the two auxiliary electric push rods contact the pipeline, the bottom wheels installed on the two sliding wheel frames are adjusted by sliding up and down to contact the curved pipeline wall. The servo motor is energized to drive the bottom wheel to rotate, thereby generating a walking thrust for the detection device. Compared with the bottom wheels on the two auxiliary electric push rods that generate propulsion, the bottom wheels on the two sliding wheel frames play a role of auxiliary support, so that the detection device maintains balance when it moves horizontally in the pipeline.

[0007] Furthermore, driven bevel gears are installed on both sides of the hollow cup motor, and the flipping mechanism includes a small motor, a worm gear, a worm, a transverse shaft, a pair of longitudinal shafts and a pair of driving bevel gears. The pair of driving bevel gears are respectively connected to a pair of longitudinal shafts, and the pair of driving bevel gears are respectively meshed and connected with two driven bevel gears.

[0008] Furthermore, the worm is installed on the motor shaft of the small motor, the transverse shaft is rotatably installed inside the machine base, the worm wheel is installed inside the transverse shaft, the worm and the worm wheel are meshed for transmission, and universal couplings are provided at both ends of the transverse shaft. The two universal couplings are respectively connected to a pair of longitudinal shafts. The small motor drives the worm to rotate, and the worm drives the worm wheel to rotate. The worm wheel makes the transverse shaft rotate synchronously. The transverse shaft drives the two longitudinal shafts to rotate through the universal coupling, and the active bevel gears on the two longitudinal shafts drive the driven bevel gears to rotate, which drives the hollow cup motor to rotate, and adjusts the direction of the guide so that the guide can be facing the upper end or the two sides.

[0009] Furthermore, the guide includes a main frame plate, a straight groove cylinder, a rotating disk frame and a curved groove cylinder. The main frame plate is connected to the main electric push rod. The straight groove cylinder is installed on the side of the main frame plate away from the main electric push rod. A pair of straight slide grooves are symmetrically opened on the straight groove cylinder. The curved groove cylinder is installed on one side of the rotating disk frame. Two curved grooves are opened on the curved groove cylinder. The curved groove cylinder is rotatably installed on the outside of the straight groove cylinder.

[0010] Furthermore, a discus is slidably installed in the straight groove cylinder, an electromagnet is provided at a position of the main frame disk close to the straight groove cylinder, the electromagnet is connected to the control system circuit, a reset spring is provided between the discus and the main frame disk, a pin is integrally provided on the discus, the pin passes through the straight slide groove and the curved groove, the control system energizes the electromagnet, the electromagnet generates electromagnetic force, the electromagnetic force attracts the discus, the discus overcomes the thrust of the reset spring and moves toward the direction of the main frame disk, since the pin is installed on the discus, the discus drives the pin to move synchronously, the straight groove on the straight groove cylinder limits the sliding direction of the pin, the pin drives the curved groove cylinder to rotate by pushing the edge of the curved groove, and the curved groove cylinder causes the rotating disk frame to rotate.

[0011] Furthermore, a plurality of first transfer holes are evenly arranged in a circular shape on the main frame disk, a spread arm is rotatably installed in each of the first transfer holes, an inclined groove is arranged at the end of each of the spread arms, and a plurality of side wheels are rotatably installed in the inclined grooves respectively. When the detection device needs to climb in the pipeline, the flipping mechanism flips the guide to an upward position, the main electric push rod pushes the guide upward, the electromagnet attracts the discus, the rotating disk frame rotates and drives the spring cylinder to move, the spring cylinder pushes the spread arm outward, so that all the side wheels are in contact with the inside of the pipeline, and the spring cylinder increases the positive pressure applied by the side wheels to the inner wall of the pipeline through elastic stress, thereby increasing the friction between the side wheels and the inside of the pipeline.

[0012] Furthermore, the rotating disc frame is provided with several second adapter holes, the number of the second adapter holes is the same as the number of the first adapter holes, each second adapter hole is rotatably connected to a spring cylinder, and all the spring cylinders are installed on the side of the rotating disc frame close to the main frame disc. The main electric push rod retracts the push rod, and since the side wheels have an internal supporting force on the inner wall of the pipeline, the machine base rises accordingly, and the two auxiliary electric push rods push the motor bracket outward so that the bottom wheel can contact the inner wall of the pipeline, and the bottom wheel also generates an internal supporting force on the inner wall of the pipeline, so that the machine base can move in a vertical direction and cannot rotate in the pipeline. The hollow cup motor drives the main frame disc to rotate, that is, each extension arm drives the side wheel to rotate along the inner wall of the pipeline. Since there is an angle between the side wheel and the horizontal plane, the side wheel rolling against the inner wall of the pipeline will generate a force to move obliquely upward, pulling the guide upward as a whole, driving the machine base to rise, and the servo motor also drives the bottom wheel to rotate, assisting the machine base to move upward.

[0013] Furthermore, the piston rod of each of the spring cylinders is rotatably connected to an extension arm. Regardless of whether the machine base is moved up and down or horizontally, the guide plays a guiding role. All side wheels are in contact with the inner wall of the pipeline. When the detection device moves forward, the guide is in a rotating state. At the turning point of the pipeline, the guide avoids the collision between the machine base and the inside of the pipeline, and slowly passes through the turning point of the pipeline to adjust the posture of the machine base so that the device can automatically track and move in the pipeline. Through the setting of the guide, not only the posture adjustment of the detection device when moving in the pipeline is realized, but also the technical problem that the detection device cannot climb in the pipeline is solved, so that the detection device has a wider range of uses and is more adaptable to the pipeline environment to be detected.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] The guide is flipped to an upward position through the flipping mechanism, and the detection device is adjusted to switch between the lifting and lowering movement or the horizontal movement. After the guide arm is opened, there is an angle between the side wheel and the horizontal plane. Therefore, the side wheel rolls against the inner wall of the pipeline and generates a force to move obliquely upward, pulling the guide as a whole upward, driving the machine base to rise, and realizing the up and down lifting and lowering movement of the detection device. Through the setting of the guide, not only the posture adjustment of the detection device when moving in the pipeline is realized, but also the technical problem that the detection device cannot climb in the pipeline is solved, so that the detection device has a wider range of uses and is more adaptable to the pipeline environment to be detected. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The overall appearance structure of the present invention is shown in FIG. Figure 1 ;

[0017] Figure 2 The overall appearance structure of the present invention is shown in FIG. Figure 2 ;

[0018] Figure 3 The overall appearance structure of the present invention is shown in FIG. Figure 3 ;

[0019] Figure 4 It is a structural schematic diagram of the turning mechanism of the present invention;

[0020] Figure 5 The structure of the guide of the present invention is shown in FIG. Figure 1 ;

[0021] Figure 6 The structure of the guide of the present invention is shown in FIG. Figure 2 ;

[0022] Figure 7 The structure of the guide of the present invention is shown in FIG. Figure 3 ;

[0023] Figure 8 It is a schematic side view of the structure of the guide of the present invention.

[0024] In the figure: 1. base; 2. hollow cup motor; 3. main electric push rod; 4. sliding wheel frame; 5. auxiliary electric push rod; 6. motor bracket; 7. servo motor; 8. bottom wheel; 9. small motor; 10. worm gear; 11. worm; 12. transverse shaft; 13. universal coupling; 14. longitudinal shaft; 15. active bevel gear; 16. driven bevel gear; 17. main frame plate; 18. extension arm; 19. side wheel; 20. straight groove cylinder; 21. discus; 22. pin; 24. reset spring; 25. rotating plate; 26. curved groove cylinder; 27. spring cylinder. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] Example: Figure 1-Figure 8 As shown, the present invention provides a technical solution, a pipeline internal walking detection equipment with a real-time posture adjustment function, comprising a machine base 1, four bottom wheels 8 are arranged at the bottom of the machine base 1, a hollow cup motor 2 is rotatably installed on the machine base 1, a flip mechanism is arranged inside the machine base 1, a pipeline detection instrument is installed on the machine base 1, the flip mechanism is connected to the hollow cup motor 2, a main electric push rod 3 is arranged in the hollow cup motor 2, a guide is installed on the main electric push rod 3, a plurality of side wheels 19 are installed on the guide, the four bottom wheels 8 and the plurality of side wheels 19 are in contact with the inside of the pipeline, and the hollow cup motor 2, the main electric push rod 3, the guide and the flip mechanism are all connected to the control system circuit.

[0027] A pair of sliding wheel frames 4 are symmetrically arranged on both sides of the bottom of the machine base 1. The sliding wheel frames 4 are slidably arranged with the machine base 1. A shock absorbing spring is arranged between each sliding wheel frame 4 and the machine base 1. A bottom wheel 8 is installed on the side of each sliding wheel frame 4 that rotates away from the machine base 1. A pair of auxiliary electric push rods 5 are symmetrically arranged at the bottom of the machine base 1. The push rods of the two auxiliary electric push rods 5 extend in opposite directions. A motor bracket 6 is installed on the push rod of each auxiliary electric push rod 5. A servo motor 7 is installed on each motor bracket 6. A bottom wheel 8 is installed on the motor shaft of each servo motor 7. The device moves in the pipeline. Since the bottom wheels 8 installed on the two auxiliary electric push rods 5 do not have the function of up and down displacement, after the bottom wheels 8 on the two auxiliary electric push rods 5 come into contact with the pipeline, the bottom wheels 8 installed on the two sliding wheel frames 4 are adjusted by sliding up and down to come into contact with the curved pipeline wall. The servo motor 7 is energized to drive the bottom wheels 8 to rotate, thereby generating a thrust for the detection device to move. Compared with the bottom wheels 8 on the two auxiliary electric push rods 5 that generate the propulsion force, the bottom wheels 8 on the two sliding wheel frames 4 play the role of auxiliary support, so that the detection device maintains balance when moving horizontally in the pipeline.

[0028] Driven bevel gears 16 are installed on both sides of the hollow cup motor 2. The flip mechanism includes a small motor 9, a worm wheel 10, a worm 11, a transverse shaft 12, a pair of longitudinal shafts 14 and a pair of active bevel gears 15. The pair of active bevel gears 15 are respectively connected to the pair of longitudinal shafts 14, and the pair of active bevel gears 15 are respectively meshed with the two driven bevel gears 16. The worm 11 is installed on the motor shaft of the small motor 9, the transverse shaft 12 is rotatably installed inside the machine base 1, the worm wheel 10 is installed inside the transverse shaft 12, the worm 11 is meshed with the worm wheel 10 for transmission, and the transverse shaft 12 is installed inside the worm wheel 10. Universal couplings 13 are provided at both ends of the through shaft 12, and the two universal couplings 13 are respectively connected to a pair of longitudinal through shafts 14. The small motor 9 drives the worm 11 to rotate, and the worm 11 drives the worm wheel 10 to rotate. The worm wheel 10 makes the transverse through shaft 12 rotate synchronously. The transverse through shaft 12 drives the two longitudinal through shafts 14 to rotate through the universal coupling 13. The active bevel gears 15 on the two longitudinal through shafts 14 drive the driven bevel gears 16 to rotate, and drive the hollow cup motor 2 to rotate. The direction of the guide is adjusted so that the guide can be directed toward the upper end or toward both sides.

[0029] The guide includes a main frame disc 17, a straight groove cylinder 20, a rotating disc frame 25 and a curved groove cylinder 26. The main frame disc 17 is connected to the main electric push rod 3. The straight groove cylinder 20 is installed on the side of the main frame disc 17 away from the main electric push rod 3. A pair of straight slide grooves are symmetrically opened on the straight groove cylinder 20. The curved groove cylinder 26 is installed on one side of the rotating disc frame 25. Two curved grooves are opened on the curved groove cylinder 26. The curved groove cylinder 26 is rotatably installed on the outside of the straight groove cylinder 20. A discus 21 is slidably installed in the straight groove cylinder 20. An electromagnet (not shown in the figure) is arranged at the position of the main frame disc 17 close to the straight groove cylinder 20. The electromagnet is connected to the control system circuit. The discus 21 A reset spring 24 is provided between the discus 21 and the main frame disk 17. A pin 22 is integrally provided on the discus 21. The pin 22 passes through the straight slide groove and the curved groove. The control system energizes the electromagnet, which generates electromagnetic force. The electromagnetic force attracts the discus 21. The discus 21 overcomes the thrust of the reset spring 24 and moves toward the direction of the main frame disk 17. Since the pin 22 is installed on the discus 21, the discus 21 drives the pin 22 to move synchronously. The straight groove on the straight groove cylinder 20 limits the sliding direction of the pin 22. The pin 22 drives the curved groove cylinder 26 to rotate by pushing the edge of the curved groove, and the curved groove cylinder 26 causes the rotating disk frame 25 to rotate.

[0030] The main frame plate 17 is provided with a plurality of first transfer holes evenly arranged in a circular shape, and a spread arm 18 is rotatably installed in each first transfer hole, and an inclined groove is provided at the end of each spread arm 18, and a plurality of side wheels 19 are rotatably installed in the inclined groove respectively. A plurality of second transfer holes are provided on the rotating disk frame 25, and the number of the second transfer holes is the same as the number of the first transfer holes, and each second transfer hole is rotatably connected to a spring cylinder 27, and all the spring cylinders 27 are installed on the side of the rotating disk frame 25 close to the main frame plate 17, and each spring cylinder 27 The piston rod is rotatably connected to an expansion arm 18. When the detection device needs to climb in the pipeline, the flipping mechanism flips the guide to an upward position, the main electric push rod 3 pushes the guide upward, the electromagnet attracts the discus 21, the rotating disc frame 25 rotates and drives the spring cylinder 27 to move, and the spring cylinder 27 pushes the expansion arm 18 outward, so that all the side wheels 19 are in contact with the inside of the pipeline. The spring cylinder 27 increases the positive pressure applied by the side wheel 19 to the inner wall of the pipeline through elastic stress, thereby increasing the friction between the side wheel 19 and the inside of the pipeline.

[0031] The main electric push rod 3 retracts the push rod, and since the side wheels 19 have an internal support force on the inner wall of the pipe, the machine base 1 rises accordingly, and the two auxiliary electric push rods 5 push the motor bracket 6 outward, so that the bottom wheel 8 can contact the inner wall of the pipe, and the bottom wheel 8 also generates an internal support force on the inner wall of the pipe, so that the machine base 1 can move in the vertical direction and cannot rotate in the pipe. The hollow cup motor 2 drives the main frame plate 17 to rotate, that is, each expansion arm 18 drives the side wheels 19 to rotate along the inner wall of the pipe. Since there is an angle between the side wheels 19 and the horizontal plane, the side wheels 19 rolling against the inner wall of the pipe will generate a force to move obliquely upward, pulling the guide upward as a whole, driving the machine base 1 to rise, and the servo motor 7 also drives the bottom wheel 8 to rotate The guide 1 is rotated to assist the machine base 1 to move upward. Regardless of whether the machine base 1 moves up or down or moves horizontally, the guide plays a guiding role. All side wheels 19 are in contact with the inner wall of the pipeline. When the detection device moves forward, the guide is in a rotating state. At the turning point of the pipeline, the guide prevents the machine base 1 from colliding with the inside of the pipeline and slowly passes through the turning point of the pipeline to adjust the posture of the machine base 1 so that the device can automatically track and move in the pipeline. Through the setting of the guide, not only the posture adjustment of the detection device when moving in the pipeline is realized, but also the technical problem that the detection device cannot climb in the pipeline is solved, so that the detection device has a wider range of uses and is more adaptable to the pipeline environment to be detected.

[0032] The working principle of the present invention is as follows: the detection device moves in the pipeline. Since the bottom wheels 8 installed on the two auxiliary electric push rods 5 do not have the function of up and down displacement, after the bottom wheels 8 on the two auxiliary electric push rods 5 come into contact with the pipeline, the bottom wheels 8 installed on the two sliding wheel frames 4 are adjusted by sliding up and down to come into contact with the arc-shaped pipeline wall. The servo motor 7 is energized to drive the bottom wheels 8 to rotate, thereby generating a thrust for the detection device to move. Compared with the bottom wheels 8 on the two auxiliary electric push rods 5 that generate the propulsion force, the bottom wheels 8 on the two sliding wheel frames 4 play the role of auxiliary support, so that the detection device maintains balance when moving horizontally in the pipeline.

[0033] The small motor 9 drives the worm 11 to rotate, the worm 11 drives the worm wheel 10 to rotate, the worm wheel 10 makes the transverse shaft 12 rotate synchronously, the transverse shaft 12 drives the two longitudinal shafts 14 to rotate through the universal coupling 13, the active bevel gear 15 on the two longitudinal shafts 14 drives the driven bevel gear 16 to rotate, and drives the hollow cup motor 2 to rotate, and adjusts the direction of the guide so that the guide can be toward the upper end or toward both sides.

[0034] The control system energizes the electromagnet, which generates electromagnetic force. The electromagnetic force attracts the discus 21, and the discus 21 overcomes the thrust of the return spring 24 and moves toward the main frame disk 17. Since the pin 22 is installed on the discus 21, the discus 21 drives the pin 22 to move synchronously. The straight groove on the straight groove cylinder 20 limits the sliding direction of the pin 22. The pin 22 drives the curved groove cylinder 26 to rotate by pushing the edge of the curved groove, and the curved groove cylinder 26 causes the rotating disk frame 25 to rotate.

[0035] When the detection device needs to climb in the pipeline, the flipping mechanism flips the guide to an upward position, the main electric push rod 3 pushes the guide upward, the electromagnet attracts the disc 21, the rotating disc frame 25 rotates and drives the spring cylinder 27 to move, and the spring cylinder 27 pushes the expansion arm 18 outward, so that all the side wheels 19 are in contact with the inside of the pipeline. The spring cylinder 27 increases the positive pressure applied by the side wheel 19 to the inner wall of the pipeline through elastic stress, thereby increasing the friction between the side wheel 19 and the inside of the pipeline.

[0036] The main electric push rod 3 retracts the push rod, and since the side wheels 19 have an internal support force on the inner wall of the pipe, the machine base 1 rises accordingly, and the two auxiliary electric push rods 5 push the motor bracket 6 outward, so that the bottom wheel 8 can contact the inner wall of the pipe, and the bottom wheel 8 also generates an internal support force on the inner wall of the pipe, so that the machine base 1 can move in the vertical direction and cannot rotate in the pipe. The hollow cup motor 2 drives the main frame plate 17 to rotate, that is, each expansion arm 18 drives the side wheels 19 to rotate along the inner wall of the pipe. Since there is an angle between the side wheels 19 and the horizontal plane, the side wheels 19 rolling against the inner wall of the pipe will generate a force to move obliquely upward, pulling the guide upward as a whole, driving the machine base 1 to rise, and the servo motor 7 also drives the bottom wheel 8 to rotate The guide 1 is rotated to assist the machine base 1 to move upward. Regardless of whether the machine base 1 moves up or down or moves horizontally, the guide plays a guiding role. All side wheels 19 are in contact with the inner wall of the pipeline. When the detection device moves forward, the guide is in a rotating state. At the turning point of the pipeline, the guide prevents the machine base 1 from colliding with the inside of the pipeline and slowly passes through the turning point of the pipeline to adjust the posture of the machine base 1 so that the device can automatically track and move in the pipeline. Through the setting of the guide, not only the posture adjustment of the detection device when moving in the pipeline is realized, but also the technical problem that the detection device cannot climb in the pipeline is solved, so that the detection device has a wider range of uses and is more adaptable to the pipeline environment to be detected.

[0037] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A pipeline internal walking detection device with real-time posture adjustment function, characterized in that: The invention comprises a machine base (1), wherein four bottom wheels (8) are arranged at the bottom of the machine base (1), a hollow cup motor (2) is rotatably mounted on the machine base (1), a flipping mechanism is arranged inside the machine base (1), a pipeline detection instrument is installed on the machine base (1), the flipping mechanism is connected to the hollow cup motor (2), a main electric push rod (3) is arranged in the hollow cup motor (2), a guide is installed on the main electric push rod (3), a plurality of side wheels (19) are installed on the guide, the four bottom wheels (8) and the plurality of side wheels (19) are in contact with the inside of the pipeline, and the hollow cup motor (2), the main electric push rod (3), the guide and the flipping mechanism are all connected to the control system circuit.

2. According to claim 1, a pipeline internal walking detection device with real-time posture adjustment function is characterized in that: A pair of sliding wheel frames (4) are symmetrically arranged on both sides of the bottom of the machine base (1); the sliding wheel frames (4) and the machine base (1) are slidably arranged; a shock absorbing spring is arranged between each sliding wheel frame (4) and the machine base (1); and a bottom wheel (8) is installed on the side of each sliding wheel frame (4) away from the machine base (1) for rotation.

3. The pipeline internal movement detection device with real-time posture adjustment function according to claim 1 is characterized in that: A pair of auxiliary electric push rods (5) are symmetrically mounted at the bottom of the machine base (1), the push rods of the two auxiliary electric push rods (5) extending in opposite directions, a motor bracket (6) being mounted on the push rod of each auxiliary electric push rod (5), a servo motor (7) being mounted on each motor bracket (6), and a bottom wheel (8) being mounted on the motor shaft of each servo motor (7).

4. The pipeline internal movement detection device with real-time posture adjustment function according to claim 1 is characterized in that: Driven bevel gears (16) are installed on both sides of the hollow cup motor (2), and the turning mechanism comprises a small motor (9), a worm gear (10), a worm (11), a transverse shaft (12), a pair of longitudinal shafts (14) and a pair of driving bevel gears (15). The pair of driving bevel gears (15) are respectively connected to the pair of longitudinal shafts (14), and the pair of driving bevel gears (15) are respectively meshed and connected with the two driven bevel gears (16).

5. The pipeline internal movement detection device with real-time posture adjustment function according to claim 4 is characterized in that: The worm (11) is mounted on the motor shaft of the small motor (9); the transverse shaft (12) is rotatably mounted inside the machine base (1); the worm wheel (10) is mounted inside the transverse shaft (12); the worm (11) and the worm wheel (10) are meshed and transmitted; universal couplings (13) are provided at both ends of the transverse shaft (12); and the two universal couplings (13) are respectively connected to a pair of longitudinal shafts (14).

6. The pipeline internal movement detection device with real-time posture adjustment function according to claim 1 is characterized in that: The guide comprises a main frame disc (17), a straight groove cylinder (20), a rotating disc frame (25) and a curved groove cylinder (26); the main frame disc (17) is connected to the main electric push rod (3); the straight groove cylinder (20) is installed on a side of the main frame disc (17) away from the main electric push rod (3); a pair of straight sliding grooves are symmetrically provided on the straight groove cylinder (20); the curved groove cylinder (26) is installed on one side of the rotating disc frame (25); two curved grooves are provided on the curved groove cylinder (26); and the curved groove cylinder (26) is rotatably installed on the outer side of the straight groove cylinder (20).

7. The pipeline internal movement detection device with real-time posture adjustment function according to claim 6 is characterized in that: A discus (21) is slidably mounted in the straight groove cylinder (20), an electromagnet is arranged at a position of the main frame plate (17) close to the straight groove cylinder (20), the electromagnet is connected to a control system circuit, a return spring (24) is arranged between the discus (21) and the main frame plate (17), a pin (22) is integrally arranged on the discus (21), and the pin (22) passes through the straight slide groove and the curved groove.

8. The pipeline internal movement detection device with real-time posture adjustment function according to claim 6 is characterized in that: The main frame plate (17) is evenly provided with a plurality of first transfer holes in a circular shape, and a spreading arm (18) is rotatably mounted in each of the first transfer holes. An inclined groove is provided at the end of each spreading arm (18), and a plurality of side wheels (19) are rotatably mounted in the inclined grooves.

9. The pipeline internal movement detection device with real-time posture adjustment function according to claim 8 is characterized in that: The rotating disk frame (25) is provided with a plurality of second transfer holes, the number of the second transfer holes being the same as the number of the first transfer holes, each second transfer hole being rotatably connected to a spring cylinder (27), and all the spring cylinders (27) being installed on a side of the rotating disk frame (25) close to the main frame disk (17).

10. The pipeline internal movement detection device with real-time posture adjustment function according to claim 9, characterized in that: The piston rod of each spring cylinder (27) is rotatably connected to a spreading arm (18).

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