Electrically-driven self-crawling in-pipeline detector and supporting wheel unit thereof

Abstract

The present invention provides a support wheel unit comprising: a connecting arm having an angled first arm portion and a second arm portion, and an intersection between the first arm portion and the second arm portion; the intersection part is pivotally connected to the first fixing part, and the connecting arm can pivotally move between a first state and a second state; a support wheel pivotally connected to the first arm portion; one end of the spring component is connected to the second arm part so as to apply a bias force to the connecting arm, and the bias force tends to pivot from the second state to the first state. The invention also provides an electrically-driven self-crawling in-pipeline detector. The detector comprises a detector body; the first fixing piece and the second fixing piece of each supporting wheel unit are fixed to the detector body. The invention provides the supporting wheel unit which is particularly suitable for the detector in the pipeline, so that the detector in the pipeline has the capability of actively advancing and can smoothly and stably pass through a part with a reduced pipe diameter, and smooth and accurate implementation of pipeline detection is ensured.

Description

Technical Field

[0001] The invention relates to a supporting wheel unit and an electrically driven self-climbing in-pipe detector comprising the supporting wheel unit. Background Art

[0002] In the field of oil and gas, various pipelines are often needed to transport oil and gas. Due to the complex composition and strong corrosiveness of oil and gas, pipelines often need to be inspected after long-term use, such as detecting closure damage. During the inspection process, it is necessary to use pipeline detectors to carry detection equipment to detect various defects in the pipe wall. For example, various anomalies in the pipeline and on the pipe wall can be observed and detected through geometric probes, IDOD probes, infrared cameras, etc.

[0003] Since these detection devices are based on pipeline detectors, the stability of pipeline detectors during movement will also greatly affect the detection results of the detection equipment. However, oil and gas pipelines are often complex in structure, which poses a challenge to the smooth movement of pipeline detectors used for pipeline inspection.

[0004] Common in-pipe detectors are pushed forward by the propulsion medium (such as compressed air) at the rear. However, this passive in-pipe detector performs poorly in complex pipeline environments such as pipeline bends, changes in pipe diameter, and vertical lifting. For example, significant speed changes and unstable motion may occur, which will further affect the pipe wall detection results.

[0005] Therefore, there is a need in the art for an in-pipeline detector that is more suitable for smoothly traveling in pipelines with complex structures and variable diameters. Summary of the invention

[0006] In response to the above-mentioned problems and needs, the present disclosure proposes a new technical solution, which solves the above-mentioned problems and brings other technical effects by adopting the following technical features.

[0007] The present invention provides a support wheel unit, comprising: a connecting arm, having a first arm portion and a second arm portion arranged at an angle, and an intersection portion located between the first arm portion and the second arm portion; a first fixing member, used for fixedly connecting to an external structure, and the intersection portion is pivotally connected to the first fixing member, so that the connecting arm can pivotally move between a first state and a second state; a support wheel, pivotally connected to the first arm portion; a spring component, one end of which is connected to the second arm portion to apply a biasing force to the connecting arm tending to pivot from the second state toward the first state.

[0008] Preferably, the first fixing member comprises: a sleeve; a first pivot accommodated in the sleeve and connected to the intersection; and a fixing bracket fixedly connected to the sleeve and capable of being fixedly connected to the external structure.

[0009] Preferably, the supporting wheel unit further comprises a second fixing member for fixedly connecting to the external structure, and the other end of the spring component is pivotally connected to the second fixing member.

[0010] Preferably, the supporting wheel unit further comprises a spring sleeve, and at least a part of the spring component is accommodated in the spring sleeve.

[0011] Preferably, the second fixing member comprises: a fixing frame for fixedly connecting to the external structure; and a second pivot passing through the end of the spring sleeve and connected to the fixing frame, so that the spring sleeve can pivot relative to the fixing frame.

[0012] Preferably, the supporting wheel unit further includes a coupling member, the third pivot shaft passes through the coupling member and is connected to a distal end of the second arm portion, and the one end of the spring member is fixed to the coupling member.

[0013] Preferably, the support wheel unit also includes a limiting member, which is connected to the first fixing member and has a limiting portion, wherein the third pivot abuts against the limiting portion when the connecting arm is in the first state, and the third pivot leaves the limiting portion during the process of the connecting arm pivoting from the first state to the second state.

[0014] Preferably, the limiting portion is formed as at least one leg portion extending from a body of the limiting member, and in the first state, the third pivot abuts against the at least one leg portion.

[0015] Preferably, the support wheel comprises a hub motor.

[0016] Preferably, the support wheel unit further comprises a wire grommet arranged on a side surface of the connecting arm, so that the wire connected to the wheel hub motor is arranged in the wire grommet.

[0017] Preferably, along the rotation axis direction of the support wheel, the connecting arm is arranged as a first connecting arm on one side of the support wheel, and a second connecting arm identical to the connecting arm is arranged on the other side of the support wheel.

[0018] Preferably, a support member is provided between the first connecting arm and the second connecting arm.

[0019] Preferably, the spring component is a nitrogen spring.

[0020] The present invention also provides an electrically driven self-crawling in-pipe detector, comprising: a detector body; a plurality of support wheel units, each support wheel unit being a support wheel unit as described above, and a first fixing member and a second fixing member of each support wheel unit being fixed to the detector body serving as the external structure.

[0021] Preferably, the detector body comprises a fixing flange which is perpendicular to the longitudinal direction of the detector body and is located at two ends of the detector body, and the first fixing member and the second fixing member are fixed to the fixing flange.

[0022] Preferably, the fixing flange includes a first surface for fixing the first fixing member and a second surface opposite to the first surface for fixing the second fixing member.

[0023] Preferably, the in-pipe detector further comprises at least one detection probe connected to the detector body via a support arm.

[0024] Preferably, the at least one detection probe comprises one or more of a geometric probe, an ultrasonic test probe, an eddy current test probe, a stress test probe, and a magnetic detection probe.

[0025] Preferably, the in-pipe detector further comprises: an infrared camera or a visible light camera, which is arranged at the front end of the detector body; and / or an inner and outer diameter identification probe, which is arranged at the rear end of the detector body.

[0026] Preferably, the in-pipe detector further comprises a data recording unit and / or a remote control controller arranged inside the detector body.

[0027] Preferably, the in-pipeline detector further comprises a battery unit arranged inside the detector body to supply power to electrical devices of the in-pipeline detector.

[0028] The present invention provides a supporting wheel unit particularly suitable for an in-pipe detector, so that the in-pipe detector has the ability to actively move and can smoothly and steadily pass through a portion where the pipe diameter becomes smaller, thereby ensuring smooth and accurate implementation of pipeline detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of an electrically driven self-crawling in-pipe detector according to a preferred embodiment of the present invention;

[0030] Figure 2 is a schematic diagram of a support wheel unit according to a preferred embodiment of the present invention;

[0031] Figure 3 is a schematic diagram of a support wheel unit in a first state according to a preferred embodiment of the present invention;

[0032] Figure 4 is a schematic diagram of a support wheel unit in a second state according to a preferred embodiment of the present invention;

[0033] Figure 5 Schematic diagram of a first fixing member according to a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the technical solution of the present disclosure clearer, the technical solution of the embodiment of the present disclosure will be clearly and completely described in conjunction with the drawings of the specific embodiments of the present disclosure. It should be noted that the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0035] Compared to the embodiments shown in the drawings, feasible implementations within the scope of the present disclosure may have fewer components, other components not shown in the drawings, different components, differently arranged components, or differently connected components, etc. In addition, two or more components in the drawings may be implemented in a single component, or a single component shown in the drawings may be implemented as multiple separate components.

[0036] Unless otherwise defined, the technical or scientific terms used herein shall have the usual meanings understood by persons of ordinary skill in the field to which the present disclosure belongs. The words "first", "second" and similar words used in the patent specification and claims of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. When the number of components is not specified, the number of components may be one or more; similarly, words such as "one", "the", "said" and the like do not necessarily indicate a quantity limitation. Words such as "include" or "comprise" and the like mean that the element or object appearing before the word includes the element or object listed after the word and its equivalent, without excluding other elements or objects. Words such as "install", "set", "connect" or "connected" and the like are not limited to physical or mechanical installation, setting, connection, but may include electrical installation, setting, connection, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate the relative position relationship when the device is in use or the position relationship shown in the drawings. When the absolute position of the described object changes, the relative position relationship may also change accordingly. In addition, in different embodiments, the same reference numerals are used to refer to components with the same or similar structures and functions.

[0037] The preferred embodiments according to the present invention are described in detail below with reference to the accompanying drawings.

[0038] like Figure 1As shown, the present invention proposes an electrically driven self-crawling in-pipe detector. In addition to the various detection devices as described above, the in-pipe detector has a detector body 8 and a plurality of support wheel units 1 arranged on the detector body 8. The detector body 8 can accommodate necessary power batteries, detection equipment, controllers, etc. (described in detail later). Furthermore, three or more support wheel units 1 are respectively arranged at both longitudinal ends and along the circumferential direction of the detector body 8 (preferably 6 or 8 support wheel units 1 are arranged at each end) to support the detector body 8 and prevent the detector body 8 from touching the inner wall of the pipeline. The in-pipe detector is, for example, arranged along Figure 1 Move in the direction indicated by the arrow.

[0039] Please refer to the attached Figure 2-4 The support wheel unit 1 of the in-pipe detector according to the present invention is further introduced, which is particularly suitable for the electrically driven self-crawling in-pipe detector. It should be understood that the support wheel unit 1 can not only be applied to the in-pipe detector of the present invention, but also can be fixed to other suitable external structures to support the movement of other devices or instruments. In the description of this article, the detector body 8 of the in-pipe detector corresponds to such an external structure.

[0040] Specifically, the support wheel unit 1 includes a connecting arm 10, a first fixing member 21, a support wheel 3, a spring component 4, etc. Preferably, the preferred embodiment shown in the drawings includes two identical connecting arms, that is, along the rotation axis direction of the support wheel 3, the connecting arm 10 is arranged as a first connecting arm on one side of the support wheel 3, and the second connecting arm 20 identical to the connecting arm 10 is arranged on the other side of the support wheel 3. Thereby, the support for the support wheel 3 is strengthened, making its operation more stable.

[0041] More preferably, a support member 9 may be provided between the first connecting arm and the second connecting arm to provide structural reinforcement between the two connecting arms. Of course, it should be understood that, according to specific needs and performance requirements, if the in-pipeline detector, other device or apparatus is not heavy and does not require high strength of the connecting arm 10, only one connecting arm 10 may be provided.

[0042] The specific structure of one of the connecting arms 10 will be described below.

[0043] The connecting arm 10 is formed to have a first arm portion 11 and a second arm portion 12 which are arranged at an angle (for example, the two are at an obtuse angle), and a junction 13 located between the first arm portion 11 and the second arm portion 12. The first fixing member 21 is used to be fixedly connected to an external structure such as the detector body 8, and the junction 13 is pivotally connected to the first fixing member 21, so that the connecting arm 10 can pivotally move between the first state and the second state. The support wheel 3 is pivotally connected to the first arm portion 11. One end of the spring member 4 is connected to the second arm portion 12 to apply a biasing force to the connecting arm 10 tending to pivot from the second state toward the first state.

[0044] It should be understood that the spring component 4 can be any suitable spring or spring assembly, one end of which can be fixedly connected or pivotally connected to the second arm portion 12, for example, by any suitable structure, and the other end of which can be fixedly connected or pivotally connected to a suitable part of the detector body 8, for example, by any suitable structure. A preferred pivotal connection between the spring component 4 and the first arm portion 12 and the detector body 8 will be described later.

[0045] Through the above structure, the connecting arm 10 connected to the support wheel 3 can be Figure 3 The first state shown pivots to Figure 4 Thus, when the in-pipe detector reaches a portion where the pipe diameter decreases (for example, due to the inward depression of the pipe wall, other substances attached to the pipe wall, etc.), the connecting arm 10 will move toward the detector body 8 accordingly, that is, pivot to the second state to adapt to the decrease in pipe diameter. When the pipe diameter increases again after passing the portion where the pipe diameter decreases, the connecting arm 10 will return to the first state under the action of the spring component 4. It should be understood that the second state is relative to the first state, and it varies depending on the portion where the pipe diameter decreases. Therefore, the present invention does not limit the second state to only corresponding to a certain state.

[0046] In addition, according to a preferred embodiment, in the first state, the spring component 4 can also be configured to apply an initial biasing force to the connecting arm 10 (i.e., the spring component 4 is pre-compressed in the first state) so that the support wheel 3 can establish a suitable initial friction force with the pipe wall, so as to be more conducive to the smooth advancement of the detector in the pipeline, and suitable for the detector in the pipeline to smoothly perform lifting and lowering movements in a vertically arranged pipeline.

[0047] Further preferably, the support wheel 3 may include a hub motor 30, and the outside of the hub motor 30 may be provided with any suitable tire, and the surface of the tire may include any suitable anti-skid pattern. Furthermore, a power battery, a control circuit, etc. (not shown) may be provided in the detector body 8 of the pipeline detector to control the operation of the hub motor 30 of the support wheel 3, so that the pipeline detector does not rely on the propulsion of the propulsion medium at its rear as in the prior art, but can move autonomously, which is more conducive to the pipeline detector in the pipeline detector in the pipeline The detector passes smoothly and steadily in complex pipeline environments such as pipe diameter changes, pipe diameter bends, and vertical pipes, thereby creating favorable conditions for accurately detecting pipeline defects.

[0048] Further preferably, the spring component 4 can be a nitrogen spring. Compared with the conventional coil spring wound by metal wire, the elastic force change stability of the nitrogen spring is higher. As the nitrogen spring is compressed, the increase of its spring force is not drastic, but increases gently, which makes the pressure between the support wheel 3 and the pipe wall not rise sharply (otherwise, if the pressure rises sharply, it will cause a burden on the hub motor). Compared with the situation that the spring force of the ordinary coil spring increases linearly with the compression distance, when the compression amount of the nitrogen spring reaches 70-80%, the increase of its spring force does not exceed 50%. Moreover, the nitrogen spring is lighter in weight, which is more conducive to reducing the weight of the entire pipeline detector, which not only increases the travel mileage of the pipeline detector, but also makes it more suitable for crawling in the vertical pipeline.

[0049] Therefore, the present invention not only proposes a support wheel unit with a hub motor that can actively drive the detector in the pipeline to move, but also provides a nitrogen spring for the support wheel unit to make its movement more stable, thereby further optimizing its movement in a complex pipeline environment.

[0050] According to a preferred embodiment, see Figure 2-5 The first fixing member 21 may include: a sleeve 210 and a first pivot 211, wherein the first pivot 211 is received in the sleeve 210 and connected to the intersection 13 of the connecting arm 10, thereby providing a pivotable hinged connection for the connecting arm 10. In order to realize the pivoting of the connecting arm 10, for example, the first pivot 211 may be fixedly connected relative to the sleeve 210, and the intersection 13 of the connecting arm 10 has a hole for the first pivot 211 to pass through, so that the connecting arm 10 pivots around the first pivot 211; or, the intersection 13 of the connecting arm 10 may be fixedly connected to the first pivot 211, and the first pivot 211 may be freely pivotable in the sleeve 210, so that the connecting arm 10 pivots relative to the sleeve 210 together with the first pivot 211.

[0051] The first fixing member 21 may further include a fixing bracket 213, which is fixedly connected to the sleeve 210 and can be fixedly connected to the detector body 8. It should be understood that the fixing bracket 213 can be fixedly connected to the sleeve 210 in any suitable manner, such as welding or integrally forming. And the fixing bracket 213 can have various forms, such as Figure 5 As shown, the fixing bracket 213 may have two support plates connected to the shaft sleeve 210 and a mounting plate connected to the support plates, and the mounting plate may have a plurality of bolt holes to be connected to the detector body 8 by bolts. Of course, the mounting plate may also be connected to the detector body 8 by welding or other or any other suitable means.

[0052] Preferably, see Figure 2-4 The supporting wheel unit 1 may further include a second fixing member 22 for being fixedly connected to the detector body 8 , and the other end of the spring component 4 is pivotally connected to the second fixing member 22 .

[0053] In addition, in order to accommodate the installation of the spring component 4, the support wheel unit 1 may further include a spring sleeve 5, at least a portion of the spring component 4 is accommodated in the spring sleeve 5. It should be understood that such a spring sleeve 5 is not only suitable for installing the nitrogen spring as described above, but also suitable for installing other types of springs.

[0054] Further preferably, the second fixing member 22 may further include: a fixing frame 221, which is used to be fixedly connected to the detector body 8; and a second pivot 222, which passes through the end of the spring sleeve 5 and is connected to the fixing frame 221, so that the spring sleeve 5 can pivot relative to the fixing frame 221. In order to realize the pivoting of the spring sleeve 5, for example, the second pivot 222 may be fixedly connected relative to the fixing frame 221, and the end of the spring sleeve 5 has a hole for the second pivot 222 to pass through, so that the spring sleeve 5 pivots around the second pivot 222; or, the end of the spring sleeve 5 may be fixedly connected to the second pivot 222, and both ends of the second pivot 222 may pass through the holes on the fixing frame 221, so that the spring sleeve 5 and the second pivot 222 can pivot relative to the fixing frame 221 together.

[0055] Preferably, see Figure 2-4 The support wheel unit 1 may further include a coupling member 6, through which the third pivot 60 passes and is connected to the end of the second arm portion 12, and the one end of the spring component 4 is fixed to the coupling member 6 (e.g., by screws or welding). That is, the spring component 4 can be pivotally connected to the second arm portion 12 via the coupling member 6.

[0056] Through the above structure, the spring component 4 is pivotally connected at both ends thereof, so this structure is particularly suitable for the installation and operation of the nitrogen spring, and makes the movement of the connecting arm 10 between the first state and the second state smoother and more stable.

[0057] See also Figure 2-5 The support wheel unit 1 may further include a stopper 7, which may be connected to the first fixing member 21 and has a stopper portion 70. It should be understood that the stopper 7 may be connected to the first fixing member 21 in any suitable manner, such as welding or integrally forming. By providing the stopper 7, when the connecting arm 10 is in the first state, the third pivot 60 connected to the spring member 4 will abut against the stopper portion 70 (such as Figure 3 As shown in FIG. 1 , the third pivot 60 leaves the limiting portion 70 (as shown in FIG. 1 ) during the pivoting of the connecting arm 10 from the first state to the second state. Figure 4 As shown). Thus, the limiting member 7 can limit the travel of the connecting arm 10 by limiting the movement of the spring member 4, so that the connecting arm 10 will not move beyond the first state.

[0058] More preferably, see Figure 3-5 The limiting portion 70 may be formed as at least one leg portion extending from the body of the limiting member 7. Thus, in the first state, the third pivot 60 abuts against the at least one leg portion, thereby limiting the movement of the spring member 4 connected to the pivot 60. In the embodiment shown in the drawings, two leg portions are formed.

[0059] In addition, since the hub motor 30 in the support wheel 3 is also electrically connected to the power battery in the detector body 8, a wire is required to transmit power. According to a preferred embodiment, the support wheel unit 1 may also include a wire sheath 19 (such as a wire sheath 19) disposed on the side of the connecting arm 10. Figure 2 As shown), the wires connected to the wheel hub motor 30 are arranged in the wire sheath 19. The wire sheath 19 can be, for example, a C-shaped piece welded or bolted to the side of the connecting arm 10.

[0060] As mentioned above, the present invention also provides an electrically driven self-climbing in-pipe detector, which includes the above-mentioned support wheel unit 1. The first fixing member 21 and the second fixing member 22 of each support wheel unit 1 are fixed to the detector body 8.

[0061] More preferably, if Figure 1 As shown, the detector body 8 includes a fixing flange 80 which is perpendicular to the longitudinal direction of the detector body 8 and located at both ends of the detector body 8 , and the first fixing member 21 and the second fixing member 22 are fixed to the fixing flange 80 .

[0062] Specifically, the fixing flange 80 may include a first surface for fixing the first fixing member 21 and a second surface opposite to the first surface for fixing the second fixing member 22. Thus, each fixing flange 80 provides a mounting reference for the multiple support wheel units 1 thereon, which simplifies the installation of the support wheel units 1. At the same time, the fixing flange 80 can also be used to install other components and devices of the in-pipe detector. For example, the guide wheel 81 can be installed on the fixing flange 80 at the front end of the in-pipe detector, and when the pipeline mechanical detector travels in the pipeline, especially when passing through the curved pipe section, the stability of its running track can be ensured. In addition, a mileage wheel unit 82 can also be set on the fixing flange 80 at the rear end of the in-pipe detector to record the distance traveled by the in-pipe detector.

[0063] In addition, in order to meet the performance requirements of the detector in the pipeline, such as long flight time and vertical lifting, weight-reducing holes can be set at necessary locations (such as spring sleeves, frames of fixings, mounting plates, etc.) to further reduce the overall weight of the support wheel unit.

[0064] Furthermore, the in-pipeline detector may also include at least one detection probe 83, which is connected to the detector body 8 via a support arm 84, so that the in-pipeline detector can perform various detections on the pipeline.

[0065] The at least one detection probe 83 may include various probes, such as one or more of a geometric probe, an ultrasonic test probe, an eddy current test probe, a stress test probe, a magnetic detection probe, etc. For example, the geometric probe is used to detect the geometric shape of the inner wall of the pipeline and to determine whether the inner wall of the pipeline has defects based on the detection results. The ultrasonic test probe, the eddy current test probe, the stress test probe, the magnetic detection probe, etc. can detect the inner and outer surfaces of the pipeline wall and the defects and problems inside the pipeline wall.

[0066] exist Figure 1 In the preferred embodiment shown, the in-pipe detector includes a plurality of detection probes 83, and each probe 83 is connected to the detector body 8 via a respective support arm 84. Preferably, the plurality of detection probes 83 can be distributed around the detector body 8 in the circumferential direction at the middle position of the detector body 8, and can be densely arranged to improve the comprehensiveness and accuracy of the detection. Of course, the detection probes can also be distributed at one or more other positions of the detector body 8 as needed.

[0067] In order to ensure the smooth movement of the pipeline detector and facilitate the staff to view the internal conditions of the pipeline, the pipeline detector may also include an infrared camera 85 or a visible light camera, which is arranged at the front end of the detector body 8. Such cameras mainly record the real image of the inner wall of the pipeline and transmit the record, so as to facilitate the staff to monitor the pipeline detector in real time or review the video according to the actual situation in the pipeline.

[0068] The in-pipe detector may also include an inner and outer diameter identification probe (IDOD probe) 86, which is disposed at the rear end of the detector body 8. An IDOD probe generally refers to a probe with an inner and outer diameter (ID-OD) identification function. This type of probe is capable of identifying the inner diameter (ID) and outer diameter (OD) size of the pipe, which is very useful in the field of automated detection and quality control.

[0069] In addition, the pipeline detector may further include a data recording unit (not shown) disposed inside the detector body 8, which may record and send to the outside information such as the operation status and operation trajectory of the pipeline detector in the pipeline, various detection data signals, etc., so as to understand the actual operation status of the device and obtain detection data in real time. The pipeline detector may further include a remote controller (not shown), which may control various devices of the pipeline detector, such as hub motors, various probes, cameras, etc.

[0070] Since the pipeline detector includes the aforementioned wheel hub motor, various probes, cameras, remote controllers, and various electrical devices not mentioned herein, the pipeline detector also includes a battery unit (not shown) disposed inside the detector body 8 to power the electrical devices of the pipeline detector. Thus, the present invention provides a pipeline detector that can realize electrically driven self-crawling in a pipeline by incorporating a battery in the detector body and a necessary control device.

[0071] In summary, the present invention provides a support wheel unit that is particularly suitable for an electrically driven self-crawling in-pipe detector, so that the in-pipe detector has the ability to move actively and can smoothly and steadily pass through the part where the pipe diameter becomes smaller, ensuring the smooth and accurate implementation of the pipeline detection.

[0072] The exemplary implementation modes of the present disclosure are described in detail above with reference to the preferred embodiments. It can be understood by those skilled in the art that, without departing from the concept of the present disclosure, various modifications and variations can be made to the above-mentioned specific embodiments, and various technical features and structures proposed in the present disclosure can be combined in various ways without exceeding the protection scope of the present disclosure, which is determined by the attached claims.

Claims

1. A support wheel unit (1), comprising: A connecting arm (10) having a first arm portion (11) and a second arm portion (12) arranged at an angle, and a junction (13) located between the first arm portion (11) and the second arm portion (12); A first fixing member (21) for fixedly connecting to an external structure, and the intersection portion (13) is pivotally connected to the first fixing member (21), so that the connecting arm (10) can pivotally move between a first state and a second state; a support wheel (3) pivotally connected to the first arm portion (11); A spring member (4) is connected at one end to the second arm portion (12) to apply a biasing force to the connecting arm (10) tending to pivot from the second state toward the first state.

2. The support wheel unit (1) according to claim 1, wherein: The first fixing member (21) comprises: Axle sleeve (210); A first pivot (211) received in the sleeve (210) and connected to the junction (13); A fixed bracket (213) is fixedly connected to the shaft sleeve (210) and can be fixedly connected to the external structure.

3. The support wheel unit (1) according to claim 1, further comprising a second fixing member (22) for fixedly connecting to the external structure, and the other end of the spring component (4) is pivotally connected to the second fixing member (22).

4. The support wheel unit (1) according to claim 3, further comprising a spring sleeve (5), wherein at least a part of the spring component (4) is accommodated in the spring sleeve (5).

5. The support wheel unit (1) according to claim 4, wherein: The second fixing member (22) comprises: A fixed frame (221) for fixedly connecting to the external structure; A second pivot (222) passes through the end of the spring sleeve (5) and is connected to the fixed frame (221), so that the spring sleeve (5) can pivot relative to the fixed frame (221).

6. The support wheel unit (1) according to claim 1, further comprising a connecting member (6), a third pivot (60) passing through the connecting member (6) and connected to the end of the second arm portion (12), and the one end of the spring member (4) is fixed to the connecting member (6).

7. The support wheel unit (1) according to claim 6, further comprising a limiting member (7), which is connected to the first fixing member (21) and has a limiting portion (70), wherein: When the connecting arm (10) is in the first state, the third pivot (60) abuts against the limiting portion (70), and when the connecting arm (10) pivots from the first state toward the second state, the third pivot (60) leaves the limiting portion (70).

8. The support wheel unit (1) according to claim 7, wherein: The limiting portion (70) is formed as at least one leg portion extending from the body of the limiting member (7), and in the first state, the third pivot (60) abuts against the at least one leg portion.

9. The support wheel unit (1) according to claim 1, wherein: The supporting wheel (3) comprises a hub motor (30).

10. The support wheel unit (1) according to claim 9, further comprising a grommet (19) provided on a side surface of the connecting arm (10), so that a wire connected to the wheel hub motor (30) is provided in the grommet (19).

11. The support wheel unit (1) according to any one of claims 1 to 10, wherein: Along the rotation axis direction of the support wheel (3), the connecting arm (10) is arranged as a first connecting arm on one side of the support wheel (3), and a second connecting arm (20) identical to the connecting arm (10) is arranged on the other side of the support wheel (3).

12. The support wheel unit (1) according to claim 11, wherein: A support member (9) is arranged between the first connecting arm and the second connecting arm.

13. The support wheel unit (1) according to any one of claims 1 to 10, wherein: The spring component (4) is a nitrogen spring.

14. An electrically driven self-crawling in-pipe detector, comprising: Detector body (8); A plurality of support wheel units, each support wheel unit being a support wheel unit (1) as described in any one of claims 1 to 13, and a first fixing member (21) and a second fixing member (22) of each support wheel unit (1) being fixed to a detector body (8) as the external structure.

15. The in-pipeline detector according to claim 14, wherein: The detector body (8) comprises a fixing flange (80) which is perpendicular to the longitudinal direction of the detector body (8) and is located at both ends of the detector body (8), and the first fixing member (21) and the second fixing member (22) are fixed to the fixing flange (80).

16. The in-pipeline detector according to claim 15, wherein: The fixing flange (80) comprises a first surface for fixing the first fixing member (21) and a second surface opposite to the first surface for fixing the second fixing member (22).

17. The in-pipeline detector according to claim 14, further comprising: At least one detection probe (83) is connected to the detector body (8) via a support arm (84).

18. The in-pipeline detector according to claim 17, wherein: The at least one detection probe (83) includes one or more of a geometric probe, an ultrasonic test probe, an eddy current test probe, a stress test probe, and a magnetic detection probe.

19. The in-pipeline detector according to claim 14, further comprising: An infrared camera (85) or a visible light camera, which is arranged at the front end of the detector body (8); and / or An inner and outer diameter identification probe (86) is arranged at the rear end of the detector body (8).

20. The in-pipe detector according to any one of claims 14 to 19, further comprising a data recording unit and / or a remote control controller arranged inside the detector body (8).

21. The in-pipeline detector according to claim 20, further comprising a battery unit arranged inside the detector body (8) to supply power to electrical devices of the in-pipeline detector.

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