Pipeline walking trolley

Abstract

The invention relates to the technical field of pipeline detection and maintenance equipment, in particular to a pipeline walking trolley which comprises a trolley body. The connecting mechanism comprises a center connecting rod piece and three connecting assemblies arranged at intervals in the circumferential direction of the center connecting rod piece, one end of each connecting assembly is connected with the center connecting rod piece, the distance between the other end of each connecting assembly and the center connecting rod piece can be adjusted, and the other end of one connecting assembly is connected with the trolley body; the auxiliary walking mechanisms are arranged corresponding to the other two connecting assemblies, connected with the other ends of the corresponding connecting assemblies and used for abutting against the inner wall of the pipeline. The auxiliary walking mechanism is connected with the other end of the corresponding connecting assembly, and the distance between the other end of the connecting assembly and the center connecting rod piece can be adjusted according to the diameter of the pipeline, so that the pipeline walking trolley is suitable for pipelines with various diameters, the applicability is improved, and the problems that a trolley in the prior art is difficult to adapt to the diameter change of the pipeline and the pipeline is damaged are solved. The applicability is low, and the detection result is influenced.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline detection and maintenance equipment, and in particular to a pipeline traveling trolley. Background Art

[0002] The wireless pipeline robot is an automated mechanical device that can detect, inspect and maintain inside pipelines. The technical background of this robot includes the comprehensive application of mechanical structure design, sensor technology, data processing and transmission, and automatic control. Pipelines are widely used in the fields of gas transportation, water flow diversion, petrochemical industry, and thermal power steam transmission, and are an indispensable part of daily life. However, since most pipelines are buried deep underground and have complex structures, including vertical pipe sections and pipeline inflection points, pipeline inspection and maintenance become difficult.

[0003] In the prior art, there is a pipeline maintenance vehicle with a wireless video transmission function, such as patent number CN105697930A, which includes a frame and a running wheel at the bottom of the frame; the frame is equipped with a power module and a detection module, a fill light module, a video acquisition module and a wireless transmission module respectively connected to the power module; the left front, left rear, right front and right rear of the frame are all horizontally provided with anti-collision guide wheels. The present invention can provide real-time feedback of information in the pipeline to external operators, and has a fill light module that automatically adjusts the light, which is a good auxiliary for video acquisition. In special environments such as remote areas, solar energy can be used to power the various electrical devices of the vehicle, which is energy-saving and environmentally friendly, and has few limitations on use. Anti-collision guide wheels are provided on the frame to ensure the long service life of the maintenance vehicle.

[0004] However, since a complete pipeline may be composed of multiple pipeline sections, and the diameters of the multiple pipeline sections may be different, the existing trolley is difficult to adapt to changes in pipeline diameter, has low applicability, and affects the detection results. Summary of the invention

[0005] The present application provides a pipeline walking trolley, which can solve the problem in the prior art that a complete pipeline may be spliced ​​together by multiple pipeline sections, and the diameters of the multiple pipeline sections may be different, and the existing trolley is difficult to adapt to the changes in pipeline diameter, has low applicability, and affects the detection results.

[0006] In a first aspect, an embodiment of the present application provides a pipeline walking trolley, which includes:

[0007] The car body;

[0008] A connecting mechanism, comprising a central connecting rod and three connecting assemblies spaced apart along the circumference of the central connecting rod, wherein one end of the connecting assembly is connected to the central connecting rod and the distance between the other end and the central connecting rod is adjustable, and the other end of one of the connecting assemblies is connected to the trolley body;

[0009] An auxiliary walking mechanism is arranged corresponding to the other two connecting components, and the auxiliary walking mechanism is connected to the other end of the corresponding connecting component and is used to abut against the inner wall of the pipeline.

[0010] In one embodiment, the connecting assembly includes a first connecting rod and a second connecting rod arranged at an interval, one end of the first connecting rod and the second connecting rod are rotatably connected to the central connecting rod, and the other end is rotatably connected to the trolley body or the auxiliary walking mechanism.

[0011] In one embodiment, the central connecting rod is movably arranged, and the connecting assembly also includes a third connecting rod, one end of the third connecting rod is rotatably connected to the middle of the second connecting rod, and the other end is rotatably connected to the movable end of the central connecting rod. When the central connecting rod moves, the third connecting rod is driven to move, thereby driving the first connecting rod and the second connecting rod to rotate.

[0012] In one embodiment, the central connecting rod comprises:

[0013] A connecting sleeve rod, which is rotatably connected to one end of the first connecting rod and the second connecting rod;

[0014] A rotating rod partially extends into the connecting sleeve rod, the rotating rod is rotationally connected to the connecting sleeve rod and is relatively stationary in the axial direction, and the rotating rod is rotationally connected to the other end of the third connecting rod. When the rotating rod rotates, the other end of the third connecting rod moves along the axial direction of the rotating rod.

[0015] In one embodiment, an external thread is provided on the outer side of the rotating rod, and three three-way connectors are provided at intervals on the central connecting rod. The joints of the three-way connectors correspond to the connecting assembly, and the same-side joints of the three three-way connectors are respectively rotatably connected to the first connecting rod, the second connecting rod and the third connecting rod, two of which are arranged on the connecting sleeve rod, and the other three-way connector is arranged on the rotating rod, and matches the external thread.

[0016] In one embodiment, the central connecting rod also includes a driving motor, which is used to drive the rotating rod to rotate forward or reversely, so as to drive the three-way connecting head arranged on the rotating rod to move in the axial direction, thereby adjusting the distance between the other end of the connecting assembly and the central connecting rod.

[0017] In one embodiment, the auxiliary walking mechanism includes:

[0018] A connecting frame, a portion of which is rotatably connected to the connecting assembly;

[0019] Two sets of running wheels are arranged at two ends of the connecting frame and are used for abutting against the inner wall of the pipeline.

[0020] In one embodiment, the trolley body comprises:

[0021] A power compartment, which is rotatably connected to the other end of the corresponding connecting assembly;

[0022] Four driving wheel groups are all arranged on the power compartment. The driving wheel groups include wheels and reduction motors. The reduction motors are electrically connected to the wheels.

[0023] In one embodiment, a detection mechanism is further included, wherein the detection mechanism includes:

[0024] A detection component, which is used to detect the situation inside the pipeline;

[0025] A driving assembly is arranged on the trolley body and connected to the detection assembly, and is used for driving the detection assembly to move so as to adjust the detection direction.

[0026] In one embodiment, the drive assembly comprises:

[0027] A rotating frame connected to the detection assembly;

[0028] A steering gear arm, one end of which is connected to the rotating frame;

[0029] A rotating steering gear is connected to the other end of the steering gear arm and is used to drive the steering gear arm to rotate so as to adjust the orientation of the detection component.

[0030] The beneficial effects brought by the technical solution provided in the embodiments of the present application include:

[0031] When manufacturing the pipeline walking trolley, three connecting components are arranged at intervals along the circumference of the central connecting rod, one end of the connecting component is connected to the central connecting rod, and the distance between the other end and the central connecting rod is adjustable, the other end of one of the connecting components is connected to the trolley body, and the other ends of the other two connecting components are provided with auxiliary walking mechanisms for supporting against the inner wall of the pipeline. Since the auxiliary walking mechanism is connected to the other end of the corresponding connecting component, the distance between the other end of the connecting component and the central connecting rod is adjustable, which can be adjusted according to the diameter of the pipeline, so that the pipeline walking trolley is suitable for pipelines of various diameters, which improves the applicability and solves the problem in the prior art that a complete pipeline may be spliced ​​by multiple pipeline sections, and the diameters of the multiple pipeline sections may be different, and the existing trolley is difficult to adapt to the changes in pipeline diameter, resulting in low applicability and affecting the detection results. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0033] Figure 1 The present invention is a schematic structural diagram of a pipeline traveling trolley embodiment.

[0034] Figure 2 It is a structural schematic diagram of a connecting assembly and an auxiliary traveling mechanism in an embodiment of a pipeline traveling trolley of the present invention.

[0035] Figure 3 It is a structural schematic diagram of a connecting assembly and a trolley body in an embodiment of a pipeline traveling trolley of the present invention.

[0036] Figure 4 It is a schematic structural diagram of a trolley body in an embodiment of a pipeline traveling trolley of the present invention.

[0037] Figure 5 The present invention is a schematic structural diagram of a central connecting rod in an embodiment of a pipeline traveling trolley.

[0038] Figure 6 It is a structural schematic diagram of a detection mechanism in an embodiment of a pipeline traveling trolley of the present invention.

[0039] Figure 7 It is a schematic structural diagram of a connecting sleeve rod in an embodiment of a pipeline traveling trolley of the present invention.

[0040] Figure 8 This is a schematic structural diagram of a three-way connector in an embodiment of a pipeline traveling trolley of the present invention.

[0041] Fig. 9 This is a schematic diagram of the structure of a power cabin in an embodiment of a pipeline traveling trolley of the present invention.

[0042] Fig.10 It is a schematic structural diagram of the second connecting rod in an embodiment of a pipeline traveling trolley of the present invention.

[0043] Fig.11 It is a schematic structural diagram of a first connecting rod in an embodiment of a pipeline traveling trolley of the present invention.

[0044] Fig.12 It is a structural schematic diagram of a connecting frame in an embodiment of a pipeline traveling trolley of the present invention.

[0045] In the figure: 1. Car body; 11. Power compartment; 12. Wheel; 13. Speed ​​reducer; 14. Motor drive chip; 2. Connecting mechanism; 21. Central connecting rod; 211. Connecting sleeve rod; 212. Rotating rod; 22. Connecting assembly; 221. First connecting rod; 222. Second connecting rod; 223. Third connecting rod; 3. Auxiliary walking mechanism; 31. Connecting frame; 32. Walking wheel; 4. Three-way connector; 5. Detection mechanism; 51. Detection assembly; 511. Main control board; 512. Camera; 513. LED light; 514. Output port; 52. Driving assembly; 521. Rotating frame; 522. Servo arm; 523. Rotating servo; 6. First battery; 7. Second battery. DETAILED DESCRIPTION

[0046] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution 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 this field without creative work are within the scope of protection of this application.

[0047] The embodiment of the present application provides a pipeline walking trolley, which can solve the problem in the prior art that a complete pipeline may be spliced ​​together by multiple pipeline sections, and the diameters of the multiple pipeline sections may be different, and the existing trolley is difficult to adapt to the changes in pipeline diameter, has low applicability, and affects the detection results.

[0048] like Figure 1 As shown, the present application provides a pipeline walking trolley, which includes:

[0049] Car body 1;

[0050] The connecting mechanism 2 includes a central connecting rod 21 and three connecting assemblies 22 arranged at intervals along the circumference of the central connecting rod 21, one end of the connecting assembly 22 is connected to the central connecting rod 21, and the distance between the other end and the central connecting rod 21 is adjustable, and the other end of one of the connecting assemblies 22 is connected to the trolley body 1;

[0051] The auxiliary walking mechanism 3 is arranged corresponding to the other two connecting components 22, and the auxiliary walking mechanism 3 is connected to the other end of the corresponding connecting component 22, and is used to abut against the inner wall of the pipeline.

[0052] When manufacturing the pipeline walking trolley, three connecting components 22 are arranged at intervals along the circumference of the central connecting rod 21, one end of the connecting component 22 is connected to the central connecting rod 21, and the distance between the other end and the central connecting rod 21 is adjustable, the other end of one of the connecting components 22 is connected to the trolley body 1, and the other ends of the other two connecting components 22 are provided with auxiliary walking mechanisms 3 for abutting against the inner wall of the pipeline. Since the auxiliary walking mechanism 3 is connected to the other end of the corresponding connecting component 22, the distance between the other end of the connecting component 22 and the central connecting rod 21 is adjustable, which can be adjusted according to the diameter of the pipeline, so that the pipeline walking trolley is suitable for pipelines of various diameters, which improves the applicability and solves the problem in the prior art that a complete pipeline may be spliced ​​by multiple pipeline sections, and the diameters of the multiple pipeline sections may be different, and the existing trolley is difficult to adapt to the changes in pipeline diameter, and has low applicability and affects the detection results.

[0053] In this example, the connection component 22 may be a telescopic rod, and the length of the connection component 22 may be adjusted according to the diameter of the pipeline.

[0054] like Figure 1 , Figure 2 , Figure 3 , Fig.10 and Fig.11 As shown, in some optional embodiments, the connecting assembly 22 includes a first connecting rod 221 and a second connecting rod 222 that are spaced apart, and one end of the first connecting rod 221 and the second connecting rod 222 are both rotatably connected to the central connecting rod 21, and the other end is rotatably connected to the trolley body 1 or the auxiliary walking mechanism 3.

[0055] In this embodiment, the structure of the connecting component 22 is specifically described. The connecting component 22 includes a first connecting rod 221 and a second connecting rod 222 that are spaced apart. One end of the first connecting rod 221 and the second connecting rod 222 are rotatably connected to the central connecting rod 21, and the other end is rotatably connected to the trolley body 1 or the auxiliary walking mechanism 3. The first connecting rod 221, the second connecting rod 222 and the trolley body 1 or the auxiliary walking mechanism 3 form a parallelogram structure. The distance between the other end of the connecting component 22 and the central connecting rod 21 is changed by rotating the first connecting rod 221 and the second connecting rod 222. The structure is simple.

[0056] In this example, the rotational connection is in the form of a pin connection, and the rotational surface and the axis of the central connecting rod 21 are located in the same plane.

[0057] like Figure 1 , Figure 2 and Figure 3 As shown, in some optional embodiments, the central connecting rod 21 can be movably arranged, and the connecting assembly 22 also includes a third connecting rod 223, one end of the third connecting rod 223 is rotatably connected to the middle of the second connecting rod 222, and the other end is rotatably connected to the movable end of the central connecting rod 21. When the central connecting rod 21 moves, the third connecting rod 223 is driven to move, thereby driving the first connecting rod 221 and the second connecting rod 222 to rotate.

[0058] In this embodiment, the central connecting rod 21 can be movably arranged, and the connecting component 22 also includes a third connecting rod 223, one end of the third connecting rod 223 is rotatably connected to the middle part of the second connecting rod 222, and the other end is rotatably connected to the movable end of the central connecting rod 21. When the central connecting rod 21 moves, the third connecting rod 223 is driven to move, thereby driving the second connecting rod 222 to rotate, and the first connecting rod 221 and the second connecting rod 222 move synchronously, so as to facilitate the adjustment of the distance between the other end of the connecting component 22 and the central connecting rod 21.

[0059] In this example, the central connecting rod 21 may be a telescopic rod, and the other end of the third connecting rod 223 is rotatably connected to the telescopic end of the central connecting rod 21 .

[0060] like Figure 1 , Figure 5 and Figure 7 As shown, in some optional embodiments, the central connecting rod 21 includes:

[0061] A connecting rod 211, which is rotatably connected to one end of the first connecting rod 221 and the second connecting rod 222;

[0062] The rotating rod 212 partially extends into the connecting sleeve rod 211. The rotating rod 212 is rotationally connected to the connecting sleeve rod 211 and is relatively stationary in the axial direction. The rotating rod 212 is rotationally connected to the other end of the third connecting rod 223. When the rotating rod 212 rotates, the other end of the third connecting rod 223 moves along the axial direction of the rotating rod 212.

[0063] In this embodiment, the specific structure of the central connecting rod 21 is described, and the central connecting rod 21 includes a connecting sleeve rod 211 and a rotating rod 212, wherein the connecting sleeve rod 211 is rotatably connected to one end of the first connecting rod 221 and the second connecting rod 222, and the rotating rod 212 partially extends into the connecting sleeve rod 211, and the rotating rod 212 is rotatably connected to the connecting sleeve rod 211 and is relatively stationary in the axial direction, and the rotating rod 212 is rotatably connected to the other end of the third connecting rod 223. When the rotating rod 212 rotates, the other end of the third connecting rod 223 moves along the axial direction of the rotating rod 212, so as to facilitate the adjustment of the distance between the other end of the connecting component 22 and the central connecting rod 21.

[0064] like Figure 1 , Figure 5 , Figure 7 and Figure 8 As shown, in some optional embodiments, an external thread is provided on the outer side of the rotating rod 212, and three three-way connectors 4 are provided at intervals on the central connecting rod 21, and the joints of the three-way connector 4 correspond to the connecting assembly 22, and the same-side joints of the three three-way connectors 4 are rotatably connected to the first connecting rod 221, the second connecting rod 222 and the third connecting rod 223, respectively, two of which are arranged on the connecting sleeve rod 211, and the other three-way connector 4 is arranged on the rotating rod 212, and matches with the external thread.

[0065] In this embodiment, an external thread is provided on the outer side of the rotating rod 212, and three three-way connectors 4 are arranged at intervals on the central connecting rod 21. The joints of the three-way connector 4 correspond to the three connecting components 22, and the joints on the same side of the three three-way connectors 4 are rotatably connected to the first connecting rod 221, the second connecting rod 222 and the third connecting rod 223 respectively, wherein two three-way connectors 4 are fixedly arranged on the connecting sleeve rod 211, and the other three-way connector 4 is arranged on the rotating rod 212 and matches the external thread. Since the three-way connector 4 fixed on the connecting sleeve rod 211 fixes the angle between adjacent connecting components 22, when the rotating rod 212 rotates, the three-way connector 4 arranged on the rotating rod 212 moves along the rotating rod 212, driving the third connecting rod 223 to move, thereby driving the first connecting rod 221 and the second connecting rod 222 to rotate.

[0066] In this example, the three-way connector 4 fixed on the connecting sleeve rod 211 is formed integrally with the connecting sleeve rod 211. The angle between adjacent joints of the three-way connector 4 is 60°.

[0067] In some optional embodiments, the central connecting rod 21 also includes a driving motor, which is used to drive the rotating rod 212 to rotate forward or reverse, so as to drive the three-way connecting head 4 set on the rotating rod 212 to move in the axial direction, thereby adjusting the distance between the other end of the connecting assembly 22 and the central connecting rod 21.

[0068] In this embodiment, the central connecting rod 21 also includes a driving motor, which is used to drive the rotating rod 212 to rotate forward or reverse, so as to drive the three-way connector 4 arranged on the rotating rod 212 to move in the axial direction, thereby adjusting the distance between the other end of the connecting component 22 and the central connecting rod 21, so as to facilitate adjustment according to the specific diameter of the pipeline when moving in the pipeline.

[0069] like Figure 1 , Figure 2 and Fig.12 As shown, in some optional embodiments, the auxiliary walking mechanism 3 includes:

[0070] A connecting frame 31, a portion of which is rotatably connected to the connecting assembly 22;

[0071] Two sets of running wheels 32 are arranged at both ends of the connecting frame 31 and are used to abut against the inner wall of the pipeline.

[0072] In this embodiment, the specific structure of the auxiliary walking mechanism 3 is described. The auxiliary walking mechanism 3 includes two sets of walking wheels 32 and a connecting frame 31, wherein the middle portion of the connecting frame 31 is rotatably connected to the connecting assembly 22, and the two sets of walking wheels 32 are arranged at both ends of the connecting frame 31 for supporting against the inner wall of the pipe. The structure is simple and easy to manufacture.

[0073] like Figure 1 , Figure 3 , Figure 4 and Fig. 9 As shown, in some optional embodiments, the trolley body 1 includes:

[0074] The power compartment 11 is rotatably connected to the other end of the corresponding connecting assembly 22;

[0075] Four driving wheel sets are all arranged on the power compartment 11 . The driving wheel sets include wheels 12 and reduction motors 13 . The reduction motors 13 are electrically connected to the wheels 12 .

[0076] In this embodiment, the specific structure of the trolley body 1 is described. The trolley body 1 includes four driving wheel groups and a power compartment 11, wherein the power compartment 11 is rotatably connected to the other end of the corresponding connecting component 22, and the four driving wheel groups are all arranged on the power compartment 11. The driving wheel groups include wheels 12 and reduction motors 13. The reduction motors 13 are electrically connected to the wheels 12 for controlling the steering and speed of the trolley body 1.

[0077] In this example, the power compartment 11 is further provided with a motor driving chip 14, which is signal-connected to all the reduction motors 13. The power compartment 11 is further provided with a first battery 6, which is used to supply power to the driving wheel set.

[0078] like Figure 1 and Figure 6 As shown, in some optional embodiments, a detection mechanism 5 is further included, and the detection mechanism 5 includes:

[0079] A detection component 51, which is used to detect the situation inside the pipeline;

[0080] The driving assembly 52 is disposed on the trolley body 1 and connected to the detection assembly 51 , and is used to drive the detection assembly 51 to move so as to adjust the detection direction.

[0081] In this embodiment, the pipeline walking trolley also includes a detection mechanism 5, which includes a detection component 51 and a drive component 52, wherein the detection component 51 is used to detect the situation in the pipeline, and the drive component 52 is arranged on the trolley body 1 and connected to the detection component 51, and is used to drive the detection component 51 to move to adjust the detection direction, so as to facilitate the observation and detection of the situation in the pipeline.

[0082] In this example, the detection component 51 includes a main control board 511, a camera 512, an LED light 513 and an output port 514, and the camera 512, the LED light 513 and the output port 514 are all arranged on the main control board 511. A second battery 7 is also arranged on the power compartment 11, and the second battery 7 is used to supply power to the detection mechanism 5.

[0083] like Figure 6 As shown, in some optional embodiments, the drive assembly 52 includes:

[0084] A rotating frame 521 connected to the detection assembly 51;

[0085] A steering gear arm 522, one end of which is connected to the rotating frame 521;

[0086] The rotating steering gear 523 is connected to the other end of the steering gear arm 522 and is used to drive the steering gear arm 522 to rotate so as to adjust the direction of the detection component 51 .

[0087] In this embodiment, the specific structure of the driving component 52 is described. The driving component 52 includes a rotating frame 521, a servo arm 522 and a rotating servo 523, wherein the rotating frame 521 is connected to the detection component 51, one end of the servo arm 522 is connected to the rotating frame 521, and the rotating servo 523 is connected to the other end of the servo arm 522, and is used to drive the servo arm 522 to rotate so as to adjust the orientation of the detection component 51. The structure is simple and easy to manufacture.

[0088] In this example, the rotating frame 521 is a U-shaped frame, and the detection assembly 51 is arranged in the opening of the rotating frame 521. The rotating steering gear 523 is arranged in the installation hole of the power compartment 11.

[0089] In summary, when manufacturing the pipeline walking trolley, three connecting components 22 are arranged at intervals along the circumference of the central connecting rod 21, one end of the connecting component 22 is connected to the central connecting rod 21, and the distance between the other end and the central connecting rod 21 is adjustable, the other end of one of the connecting components 22 is connected to the trolley body 1, and the other ends of the other two connecting components 22 are provided with auxiliary walking mechanisms 3 for supporting against the inner wall of the pipeline. Since the auxiliary walking mechanism 3 is connected to the other end of the corresponding connecting component 22, the distance between the other end of the connecting component 22 and the central connecting rod 21 is adjustable, which can be adjusted according to the diameter of the pipeline, so that the pipeline walking trolley is suitable for pipelines of various diameters, which improves the applicability and solves the problem in the prior art that a complete pipeline may be spliced ​​by multiple pipeline sections, and the diameters of the multiple pipeline sections may be different, and the existing trolley is difficult to adapt to the changes in pipeline diameter, and has low applicability and affects the detection results.

[0090] When using the pipeline walking trolley:

[0091] S1, the wireless terminal sends a control command to the pipeline walking vehicle;

[0092] S2, the pipeline walking trolley processes the control signal and executes it;

[0093] S3, the pipeline walking vehicle packages the execution results and the data collected by the camera 512;

[0094] S4, the pipeline walking vehicle sends the packaged data to the wireless terminal;

[0095] S5, the wireless terminal processes data;

[0096] S6. Repeat S1 to S5 until the pipeline detection task is completed.

[0097] In the description of the present application, it should be noted that the terms "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying 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 a limitation on the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0098] It should be noted that, in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0099] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A pipeline walking trolley, characterized in that: include: Car body (1); A connecting mechanism (2), comprising a central connecting rod (21) and three connecting assemblies (22) arranged at intervals along the circumference of the central connecting rod (21), one end of the connecting assembly (22) being connected to the central connecting rod (21), and the distance between the other end and the central connecting rod (21) being adjustable, and the other end of one of the connecting assemblies (22) being connected to the trolley body (1); An auxiliary walking mechanism (3) is arranged corresponding to the other two connecting assemblies (22), and the auxiliary walking mechanism (3) is connected to the other end of the corresponding connecting assembly (22) and is used to abut against the inner wall of the pipeline.

2. A pipeline traveling trolley as claimed in claim 1, characterized in that: The connecting assembly (22) comprises a first connecting rod (221) and a second connecting rod (222) which are arranged at intervals, wherein one end of the first connecting rod (221) and the second connecting rod (222) are both rotatably connected to the central connecting rod (21), and the other end is rotatably connected to the trolley body (1) or the auxiliary walking mechanism (3).

3. A pipeline traveling trolley as claimed in claim 2, characterized in that: The central connecting rod (21) is movably arranged, and the connecting assembly (22) further comprises a third connecting rod (223), one end of the third connecting rod (223) is rotatably connected to the middle part of the second connecting rod (222), and the other end is rotatably connected to the movable end of the central connecting rod (21). When the central connecting rod (21) moves, the third connecting rod (223) is driven to move, thereby driving the first connecting rod (221) and the second connecting rod (222) to rotate.

4. A pipeline traveling trolley as claimed in claim 3, characterized in that: The central connecting rod (21) comprises: A connecting sleeve rod (211) rotatably connected to one end of the first connecting rod (221) and the second connecting rod (222); A rotating rod (212) partially extends into the connecting sleeve rod (211); the rotating rod (212) is rotationally connected to the connecting sleeve rod (211) and relatively stationary in the axial direction; the rotating rod (212) is rotationally connected to the other end of the third connecting rod (223); when the rotating rod (212) rotates, the other end of the third connecting rod (223) moves along the axial direction of the rotating rod (212).

5. A pipeline traveling trolley as claimed in claim 4, characterized in that: The outer side of the rotating rod (212) is provided with an external thread, and three three-way connectors (4) are arranged at intervals on the central connecting rod (21), and the joints of the three-way connectors (4) correspond to the connecting assembly (22), and the same-side joints of the three three-way connectors (4) are respectively rotatably connected to the first connecting rod (221), the second connecting rod (222) and the third connecting rod (223), wherein two three-way connectors (4) are arranged on the connecting sleeve rod (211), and the other three-way connector (4) is arranged on the rotating rod (212) and matches the external thread.

6. A pipeline traveling trolley as claimed in claim 4, characterized in that: The central connecting rod (21) further comprises a driving motor, wherein the driving motor is used to drive the rotating rod (212) to rotate in a forward or reverse direction, so as to drive the three-way connecting head (4) arranged on the rotating rod (212) to move in an axial direction, thereby adjusting the distance between the other end of the connecting assembly (22) and the central connecting rod (21).

7. The pipeline traveling trolley according to claim 1, characterized in that: The auxiliary walking mechanism (3) comprises: A connecting frame (31), a portion of which is rotatably connected to the connecting assembly (22); Two sets of running wheels (32) are arranged at both ends of the connecting frame (31) and are used to abut against the inner wall of the pipeline.

8. The pipeline traveling trolley according to claim 1, characterized in that: The trolley body (1) comprises: A power cabin (11) which is rotatably connected to the other end of the corresponding connecting assembly (22); Four driving wheel groups are all arranged on the power compartment (11), and the driving wheel groups include wheels (12) and reduction motors (13), and the reduction motors (13) are electrically connected to the wheels (12).

9. The pipeline traveling trolley according to claim 1, characterized in that: The device further comprises a detection mechanism (5), wherein the detection mechanism (5) comprises: A detection component (51) for detecting conditions in the pipeline; A driving component (52) is arranged on the trolley body (1) and connected to the detection component (51), and is used to drive the detection component (51) to move so as to adjust the detection direction.

10. A pipeline traveling trolley as claimed in claim 9, characterized in that: The drive assembly (52) comprises: A rotating frame (521) connected to the detection component (51); A steering gear arm (522), one end of which is connected to the rotating frame (521); A rotating steering gear (523) is connected to the other end of the steering gear arm (522) and is used to drive the steering gear arm (522) to rotate so as to adjust the orientation of the detection component (51).

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