Self-adaptive inspection device for industrial pipeline

Abstract

The invention provides a self-adaptive inspection device for industrial pipelines, which belongs to the field of pipeline inspection devices and comprises a driving control device, a universal joint, a reducing device and a camera component. The reducing device comprises a plurality of reducing movement mechanisms, a reducing driving device and a connecting rod; one end of each variable-diameter movement mechanism is rotatably connected with the variable-diameter driving device, and the multiple variable-diameter movement mechanisms are arranged in a circumferential array; the middle part of each reducing motion mechanism is rotatably connected with at least one connecting rod; one end, deviating from the corresponding variable-diameter movement mechanism, of each connecting rod is rotatably connected with the variable-diameter driving device and can move left and right relative to the variable-diameter driving device; a camera component is arranged on the variable-diameter driving device; and the variable-diameter driving device is connected with the driving control device through a universal joint. The invention aims to solve the problem that barrier-free and stable walking and multi-angle inspection are difficult to carry out in an industrial pipeline in the prior art. The pipeline inspection robot has the technical effects that barrier-free and stable walking and inspection in a pipeline are realized.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline inspection devices, and in particular to an industrial pipeline adaptive inspection device. Background Art

[0002] With the development of the nuclear industry, pipelines, as an important means of transporting materials, have been widely used. And process pipelines, as the "blood vessels" of nuclear power plants, carry the transmission function of various fluids. However, after pipelines are connected to each other, internal inspection is a major problem. Foreign objects are likely to exist inside the pipelines, causing safety accidents. Pipeline inspection robots have thus emerged to replace manual labor in solving the problem of internal pipeline inspection.

[0003] Conventional pipeline inspection robots can only walk in relatively flat pipelines and cannot walk in pipelines with slopes and vertical pipe sections. In actual industrial pipelines, there are also complex situations such as elbows and changes in pipe diameters, making it difficult to walk smoothly and without obstacles and conduct multi-angle inspections in actual industrial pipelines, with relatively large limitations. Summary of the Invention

[0004] The present invention provides an industrial pipeline adaptive inspection device to solve the defect that the existing industrial pipeline adaptive inspection device is difficult to walk smoothly and without obstacles and conduct multi-angle inspections in industrial pipelines, and realizes an adaptive inspection device that can walk smoothly and without obstacles and conduct inspections in industrial pipelines.

[0005] The present invention provides an industrial pipeline adaptive inspection device, including a drive control device, a universal joint, a diameter-changing device, and a camera assembly; The diameter-changing device includes a plurality of diameter-changing motion mechanisms, a diameter-changing drive device, and a connecting rod; One end of each diameter-changing motion mechanism is rotatably connected to one end of the diameter-changing drive device, and the plurality of diameter-changing motion mechanisms are arranged in a circular array; At least one connecting rod is rotatably connected to the middle of each diameter-changing motion mechanism; One end of each connecting rod facing away from the corresponding diameter-changing motion mechanism is rotatably connected to the diameter-changing drive device and can move left and right relative to the diameter-changing drive device; The camera assembly is arranged on the diameter-changing drive device; The diameter-changing drive device is connected to the drive control device through a universal joint.

[0006] In addition, according to the industrial pipeline adaptive inspection device of the present invention, the following additional technical features may also be provided: In some embodiments of the present invention, the diameter-changing drive device includes a drive motor device, a support frame, and a lead screw transmission device; The drive motor device is connected to one end of the support frame, and the other end of the drive motor device is connected to the universal joint; The lead screw drive is installed inside the support frame, and one end of the lead screw drive is connected to the drive motor device; One end of each connecting rod that faces away from the corresponding variable diameter motion mechanism is rotatably connected to the lead screw drive and can move left and right relative to the lead screw drive.

[0007] In some embodiments of the present invention, the lead screw drive includes a ball screw and a lead screw nut; The ball screw is rotatably inserted on the support frame, a lead screw nut is screwed on the ball screw, and one end of the ball screw is connected to the drive motor device; Each connecting rod is rotatably connected to the lead screw nut.

[0008] In some embodiments of the present invention, the drive control device includes a housing, a wheel frame, a roller and a first connecting rod; A wheel frame is provided on the side of the housing, and the roller is rotatably connected to the wheel frame; One end of the first connecting rod is connected to the housing, and the other end of the first connecting rod is connected to the universal joint.

[0009] In some embodiments of the present invention, each variable diameter motion mechanism includes a rotating rod, a connecting frame and a moving wheel; One end of the rotating rod is rotatably connected to one end of the support frame close to the drive motor device; A connecting rod is rotatably connected to the middle of the rotating rod; The other end of the rotating rod is provided with a connecting frame, and one end of the connecting frame that faces away from the rotating rod is rotatably connected to a moving wheel.

[0010] In some embodiments of the present invention, one of the variable diameter motion mechanisms further includes a reduction motor, a first gear and a second gear; The reduction motor is connected to the corresponding rotating rod, the output shaft of the reduction motor is connected with a first gear, the moving wheel is rotatably connected to the connecting frame through a shaft, one end of the shaft of the moving wheel and the connecting frame is connected with a second gear, and the first gear and the second gear are in gear meshing connection; Among the remaining variable diameter drive devices, each variable diameter motion mechanism further includes a shock absorption device, and a shock absorption device is provided between the rotating rod and the connecting frame support of each variable diameter drive device.

[0011] In some embodiments of the present invention, each shock absorption device includes a shock absorption plate, a compression spring and a shock absorption rod; One side of the shock absorption plate is connected to the rotating rod, the compression spring is connected between the shock absorption plate and the connecting frame, one end of the shock absorption rod is connected to the connecting frame, and the other end of the shock absorption rod passes through the compression spring and is screwed to the shock absorption plate.

[0012] In some embodiments of the present invention, the universal joint includes a first yoke, a second yoke and a connecting piece; One end of the first yoke and one end of the second yoke are both rotatably connected to the connecting member; The other end of the first yoke is connected to the drive control device, and the other end of the second yoke is connected to the variable diameter drive device.

[0013] In some embodiments of the present invention, the drive motor device includes a motor housing, a stepper motor and a second connecting rod; A stepper motor is arranged in the motor housing, and one end of the motor housing is connected to the support frame; a second connecting rod is arranged at the other end of the motor housing, and an end of the second connecting rod away from the motor housing is connected to the universal joint; The output shaft of the stepper motor passes through the motor housing and the support frame and is connected with the ball screw.

[0014] In some embodiments of the present invention, the camera assembly includes a camera cover and a camera. The camera cover is connected to an end of the variable diameter driving device away from the universal joint, and the camera is arranged in the camera cover.

[0015] In summary, this application includes the following beneficial technical effects: First, by coordinating the drive control device and the variable diameter motion mechanism of the variable diameter device, the connecting rod, the universal joint and the variable diameter drive device, it is realized that when the inspection device is required to use the camera assembly for mobile inspection in the pipeline, if the inner diameter of the pipeline becomes smaller, the connecting rod can be used to drive the variable diameter motion mechanism so that the maximum diameter of the circumference of the circular array of multiple variable diameter motion mechanisms becomes smaller to achieve movement in the pipeline with a smaller inner diameter; if the inner diameter of the pipeline becomes larger, the connecting rod can be used to drive the variable diameter motion mechanism so that the maximum diameter of the circumference of the circular array of multiple variable diameter motion mechanisms becomes larger to achieve movement in the pipeline with an increased inner diameter.

[0016] Second, the setting of the universal joint can realize the bending of the diameter-changing device relative to the driving control device, thereby realizing the stable movement and multi-angle inspection of the inspection device in the bent pipe, thereby realizing barrier-free and smooth walking and inspection in the industrial pipeline, and increasing the detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference numerals are used throughout the accompanying drawings to represent the same components. In the accompanying drawings: Figure 1 A stereoscopic view of an industrial pipeline adaptive inspection device according to some embodiments of the present invention is schematically shown.

[0018] Figure 2 A cross-sectional view of an industrial pipeline adaptive inspection device according to some embodiments of the present invention is schematically shown.

[0019] Figure 3 Schematically shows a partial enlarged view of an industrial pipeline adaptive inspection device according to some embodiments of the present invention. Figure 1 of.

[0020] Figure 4 Schematically shows a first view of a three-dimensional view of a diameter-changing device of an industrial pipeline adaptive inspection device according to some embodiments of the present invention.

[0021] Figure 5 Schematically shows a second view of a three-dimensional view of a diameter-changing device of an industrial pipeline adaptive inspection device according to some embodiments of the present invention.

[0022] Figure 6 Schematically shows a third view of a three-dimensional view of a diameter-changing device of an industrial pipeline adaptive inspection device according to some embodiments of the present invention.

[0023] Figure 7 Schematically shows a three-dimensional view of a diameter-changing device of an industrial pipeline adaptive inspection device according to some embodiments of the present invention without a diameter-changing motion mechanism.

[0024] Figure 8 Schematically shows a three-dimensional view of a drive control device of an industrial pipeline adaptive inspection device according to some embodiments of the present invention.

[0025] Figure 9 Schematically shows a three-dimensional view of a diameter-changing motion mechanism with a reduction motor of an industrial pipeline adaptive inspection device according to some embodiments of the present invention.

[0026] Figure 10 Schematically shows a three-dimensional view of a diameter-changing motion mechanism with a shock-absorbing device of an industrial pipeline adaptive inspection device according to some embodiments of the present invention.

[0027] Figure 11 Schematically shows a three-dimensional view of a universal joint of an industrial pipeline adaptive inspection device according to some embodiments of the present invention.

[0028] Reference numerals: 1. Driving control device, 101. Housing, 102. Wheel carrier, 103. Roller, 104. Controller, 105. Battery, 106. First connecting rod, 2. Diameter-changing device, 21. Driving motor device, 211. Motor housing, 212. Stepper motor, 213. Second connecting rod, 22. Support frame, 221. First end plate, 222. End plate connecting block, 223. Support column, 224. Second end plate, 23. Ball screw drive device, 231. Ball screw, 232. Ball screw nut, 233. Coupling, 234. Nut seat, 235. Bearing seat plate, 236. Bearing, 237. Bearing seat connecting block, 24. Diameter-changing motion mechanism, 2401. Rotating rod, 2402. Connecting frame, 2403. Moving wheel, 2404. Rotating block, 2405. Reduction motor, 2406. Motor connecting shaft, 2407. Motor seat, 2408. First gear, 2409. Second gear, 2410. Shock-absorbing plate, 2411. Connecting nut, 2412. Shock-absorbing rod, 2413. Compression spring, 26. Distance measuring sensor, 27. Connecting rod, 3. Universal joint, 301. First yoke, 302. Second yoke, 303. Connecting piece, 4. Camera assembly, 41. Camera cover, 42. Camera. Detailed implementation manners

[0029] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art.

[0030] It should be understood that the terms used herein are for the purpose of describing specific exemplary embodiments only and are not intended to be limiting. Unless otherwise clearly specified in the context, the singular forms "a", "an", and "the" as used herein may also include the plural forms. The terms "include", "comprise", "contain", and "have" are inclusive and thus specify the presence of the stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0031] Although terms such as first, second, third, etc. may be used in the text to describe multiple elements, components, regions, layers, and / or sections, these elements, components, regions, layers, and / or sections should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or section from another region, layer, or section. Unless the context clearly indicates otherwise, terms such as "first", "second", and other numerical terms do not imply an order or sequence when used in the text. Therefore, the first element, component, region, layer, or section discussed below may be referred to as the second element, component, region, layer, or section without departing from the teachings of the exemplary embodiments.

[0032] For ease of description, spatial relative relationship terms may be used in the text to describe the relationship of one element or feature shown in the figure to another element or feature. These relative relationship terms such as "inner", "outer", "inside", "outside", "below", "beneath", "above", "over" and the like. Such spatial relative relationship terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the figure. For example, if the device in the figure is flipped, an element described as "below" or "beneath" other elements or features will then be oriented "above" or "over" the other elements or features. Thus, the exemplary term "below" can include both upper and lower orientations. The device may be otherwise oriented rotated 90 degrees or in other directions and the spatial relative relationship descriptors used in the text are to be interpreted accordingly.

[0033] As Figures 1 to 11 shown, according to an embodiment of the first aspect of the present invention, an industrial pipeline adaptive inspection device is proposed, which includes a drive control device 1, a universal joint 3, a diameter-changing device 2, and a camera assembly 4; The diameter-changing device 2 includes a plurality of diameter-changing motion mechanisms 24, a diameter-changing drive device, and a connecting rod 27; One end of each diameter-changing motion mechanism 24 is rotatably connected to one end of the diameter-changing drive device, and the plurality of diameter-changing motion mechanisms 24 are arranged in a circumferential array; At least one connecting rod 27 is rotatably connected to the middle of each diameter-changing motion mechanism 24; One end of each connecting rod 27 facing away from the corresponding diameter-changing motion mechanism 24 is rotatably connected to the diameter-changing drive device and can move left and right relative to the diameter-changing drive device; The camera assembly 4 is provided on the diameter-changing drive device; The diameter-changing drive device is connected to the drive control device 1 through the universal joint 3.

[0034] In the above embodiments, it should be noted that a ranging sensor 26 is further included. The ranging sensor 26 is provided on each variable diameter movement mechanism 24, and the number of variable diameter devices 2 is one or two; the real-time detection of the inner diameter of the pipeline and multi-angle inspection are realized through the arrangement of the ranging sensor 26, and thus the reliable variable diameter of the device is realized.

[0035] When the number of variable diameter devices 2 is one, the variable diameter device 2 is connected to the drive control device 1 through a universal joint 3. The variable diameter device 2 includes at least two variable diameter movement mechanisms 24. Preferably, the number of variable diameter movement mechanisms 24 is two, three, four or five.

[0036] Each variable diameter movement mechanism 24 is rotatably connected to the variable diameter drive device through a rotating shaft, and each connecting rod 27 is rotatably connected to the variable diameter movement mechanism 24 through a rotating shaft. The variable diameter drive device is connected to the drive control device 1 through a universal joint 3.

[0037] When the number of variable diameter devices 2 is two, each variable diameter drive device of the two variable diameter devices 2 is respectively connected to the drive control device 1 through a universal joint 3, and the two variable diameter devices 2 are respectively located at opposite ends of the drive control device 1.

[0038] During operation, one end of the variable diameter movement mechanism 24 away from the variable diameter drive device abuts against the inner side wall of the pipeline to be detected to realize movement inside the pipeline to be detected.

[0039] The technical effects achieved by the above embodiments are as follows: First, through the coordinated arrangement of the drive control device 1, the variable diameter movement mechanism 24, the connecting rod 27, the universal joint 3 and the variable diameter drive device of the variable diameter device 2, when it is necessary to use the camera assembly 4 for mobile inspection in the pipeline in this inspection device, if the inner diameter of the pipeline becomes smaller, the connecting rod 27 can be used to drive the variable diameter movement mechanism 24 to make the maximum diameter of the circumference of the plurality of variable diameter movement mechanisms 24 arranged in a circumferential array smaller to realize movement in the pipeline with a smaller inner diameter. If the inner diameter of the pipeline becomes larger, the connecting rod 27 can be used to drive the variable diameter movement mechanism 24 to make the maximum diameter of the circumference of the plurality of variable diameter movement mechanisms 24 arranged in a circumferential array larger to realize movement in the pipeline with a larger inner diameter.

[0040] Second, through the arrangement of the universal joint 3, the bending of the variable diameter device 2 relative to the drive control device 1 can be realized, and thus the stable movement of this inspection device in the elbow pipe is realized, and the barrier-free and stable walking and inspection in the industrial pipeline are realized, increasing the detection efficiency.

[0041] Optionally, as Figures 1 to 7 and Figure 9 and Figure 10 shown, the variable diameter drive device includes a drive motor device 21, a support frame 22 and a lead screw transmission device 23; The drive motor device 21 is connected to one end of the support frame 22, and the other end of the drive motor device 21 is connected to the universal joint 3; The lead screw transmission device 23 is installed in the support frame 22, and one end of the lead screw transmission device 23 is connected to the drive motor device 21; One end of each link 27 facing away from the corresponding variable diameter motion mechanism 24 is rotatably connected to the lead screw transmission device 23 and can move left and right relative to the lead screw transmission device 23.

[0042] In the above optional embodiments, it should be noted that when the number of variable diameter devices 2 is two, the variable diameter drive device of each variable diameter device 2 includes a drive motor device 21, a support frame 22, and a lead screw transmission device 23.

[0043] In each variable diameter drive device, the support frame 22 includes a first end plate 221, an end plate connection block 222, a support column 223, and a second end plate 224. The first end plate 221 and the second end plate 224 are connected by a plurality of support columns 223, and the plurality of support columns 223 are arranged in a circumferential array or a rectangular array. The outer periphery of the first end plate 221 is connected with a plurality of groups of end plate connection blocks 222 in a circumferential array by screwing, welding, or integral molding. Each group of end plate connection blocks 222 includes two parallel end plate connection blocks 222.

[0044] The connection mode between each variable diameter motion mechanism 24 and the variable diameter drive device is that one end of the variable diameter motion mechanism 24 and a group of end plate connection blocks 222 are rotatably connected through a rotating shaft.

[0045] One end of the lead screw transmission device 23 is rotatably inserted on the second end plate 224, and one end of the drive motor device 21 passes through the first end plate 221 and is connected to the other end of the lead screw transmission device 23.

[0046] Specifically, the lead screw transmission device 23 includes a ball screw 231 and a lead screw nut 232; The ball screw 231 is rotatably inserted on the support frame 22. A lead screw nut 232 is screwed on the ball screw 231, and one end of the ball screw 231 is connected to the drive motor device 21; Each link 27 is rotatably connected to the lead screw nut 232.

[0047] In addition, the screw transmission device 23 also includes a nut seat 234, a bearing seat plate 235, a bearing 236 and a bearing seat connecting block 237. The nut seat 234 is sleeved on the ball screw 231 and one end of the nut seat 234 is connected to the first end plate 221 by screwing, clamping or riveting. The ball screw 231 is rotatable relative to the nut seat 234. The outer periphery of the screw nut 232 is sleeved with a bearing seat plate 235. The outer periphery of the bearing seat plate 235 is in the form of a circular array and is connected to a plurality of bearing seat connecting blocks 237 by welding or screwing. The end of each connecting rod 27 that is away from the corresponding variable diameter motion mechanism 24 is rotatably connected to a bearing seat connecting block 237. Bearings 236 are arranged between the ball screw 231 and the second end plate 224 and between the ball screw 231 and the nut seat 234.

[0048] The beneficial effect of the above optional embodiments is: through the arrangement of the ball screw 231 and the screw nut 232, when it is necessary to adjust the maximum diameter of the circumference of the circular array of multiple variable diameter motion mechanisms 24 according to the inner diameter of the pipeline, the ball screw 231 can drive the screw nut 232 to move axially relative to the ball screw 231, drive the connecting rod 27 to rotate, and drive the variable diameter motion mechanism 24 to rotate relative to the first end plate 221, so as to realize reliable adjustment of the maximum diameter of the circumference of the circular array of multiple variable diameter motion mechanisms 24.

[0049] Optional, such as Figure 1 , Figure 2 and Figure 8 As shown, the driving control device 1 includes a housing 101, a wheel frame 102, a roller 103 and a first connecting rod 106; A wheel frame 102 is disposed on the side of the housing 101, and a roller 103 is rotatably connected to the wheel frame 102; One end of the first connecting rod 106 is connected to the housing 101 , and the other end of the first connecting rod 106 is connected to the universal joint 3 .

[0050] In the above optional embodiments, it should be noted that one side of the wheel frame 102 may also be connected to a motor by screwing or clamping, and the output shaft of the motor is connected to the roller 103 by screwing.

[0051] The beneficial effect of the above optional embodiment is that the drive control device 1 can move smoothly and quickly in the pipeline through the arrangement of the wheel frame 102 and the roller 103.

[0052] Optional, such as Figures 1 to 7 and Figure 9 and Figure 10 As shown, each variable diameter motion mechanism 24 includes a rotating rod 2401, a connecting frame 2402 and a moving wheel 2403; One end of the rotating rod 2401 is rotatably connected to one end of the supporting frame 22 close to the driving motor device 21; The middle part of the rotating rod 2401 is rotatably connected to a connecting rod 27; The other end of the rotating rod 2401 is provided with a connecting frame 2402, and the end of the connecting frame 2402 facing away from the rotating rod 2401 is rotatably connected to a moving wheel 2403.

[0053] In the above optional embodiments, it should be noted that each variable diameter motion mechanism 24 further includes a rotating block 2404. The rotating block 2404 is connected to one side of the rotating rod 2401 by welding, screwing, clamping or other means. Each connecting rod 27 is rotatably connected to the rotating block 2404 of the variable diameter motion mechanism 24 through a rotating shaft; during operation, the moving wheel 2403 abuts against the inner side wall of the pipeline; the distance measuring sensor 26 is installed on one side of at least one rotating rod 2401 by screwing, bonding, clamping or other means.

[0054] The beneficial effects of the above optional embodiments are: the reliable movement of the variable diameter motion mechanism 24 in the pipeline is realized through the settings of the rotating rod 2401, the connecting frame 2402 and the moving wheel 2403.

[0055] Optionally, as Figures 1 to 6 and Figure 9 shown, one of the variable diameter motion mechanisms 24 further includes a reduction motor 2405, a first gear 2408 and a second gear 2409; The reduction motor 2405 is connected to the corresponding rotating rod 2401. The output shaft of the reduction motor 2405 is connected with a first gear 2408. The moving wheel 2403 is rotatably connected to the connecting frame 2402 through a shaft. One end of the shaft of the moving wheel 2403 and the connecting frame 2402 is connected with a second gear 2409. The first gear 2408 and the second gear 2409 are connected in a gear meshing manner; In the remaining variable diameter driving devices, each variable diameter motion mechanism 24 further includes a shock absorption device, and shock absorption devices are arranged between the rotating rod 2401 and the connecting frame 2402 of each variable diameter driving device.

[0056] In the above optional embodiments, it should be noted that the variable diameter motion mechanism 24 including the reduction motor 2405, the first gear 2408 and the second gear 2409 further includes a motor connecting shaft 2406 and a motor seat 2407. The motor seat 2407 is connected to the corresponding rotating rod 2401 by screwing, welding, integral molding or other means. The reduction motor 2405 is installed on the motor seat 2407 by screwing, clamping or other means. The output shaft of the reduction motor 2405 is connected to one end of the motor connecting shaft 2406 by screwing or coupling connection. The other end of the motor connecting shaft 2406 is connected with a first gear 2408 by clamping or screwing.

[0057] The beneficial effects of the above optional embodiments are as follows: By providing the reduction motor 2405, the movement of the variable-diameter movement mechanism 24 is driven, thereby realizing the reliable movement of this inspection device in the pipeline.

[0058] Optionally, as Figures 1 to 6 and Figure 10 shown, each shock-absorbing device includes a shock-absorbing plate 2410, a compression spring 2413, and a shock-absorbing rod 2412; One side of the shock-absorbing plate 2410 is connected to the rotating rod 2401. The compression spring 2413 is connected between the shock-absorbing plate 2410 and the connecting frame 2402. One end of the shock-absorbing rod 2412 is connected to the connecting frame 2402, and the other end of the shock-absorbing rod 2412 passes through the compression spring 2413 and is screwed to the shock-absorbing plate 2410.

[0059] In the above optional embodiments, it should be noted that each shock-absorbing device further includes a connecting nut 2411, and the shock-absorbing rod 2412 passes through the shock-absorbing plate 2410 and is screwed to the connecting nut 2411.

[0060] The beneficial effects of the above optional embodiments are as follows: By providing the shock-absorbing plate 2410, the compression spring 2413, and the shock-absorbing rod 2412, the shock-absorbing effect of this inspection device is realized, the stability of this inspection device walking in the pipeline is increased, and thus the reliability of the work of this inspection device is ensured.

[0061] Optionally, as Figure 1 , Figure 2 and Figure 11 shown, the universal joint 3 includes a first yoke 301, a second yoke 302, and a connecting member 303; One end of the first yoke 301 and one end of the second yoke 302 are both rotatably connected to the connecting member 303; The other end of the first yoke 301 is connected to the drive control device 1, and the other end of the second yoke 302 is connected to the variable-diameter drive device.

[0062] In the above optional embodiments, it should be noted that the shape of the connecting member 303 is a quadrangular prism. The first yoke 301 is rotatably connected to the upper and lower side surfaces of the connecting member 303, and the second yoke 302 is rotatably connected to the left and right side surfaces of the connecting member 303.

[0063] The beneficial effects of the above optional embodiments are as follows: By providing the first yoke 301, the second yoke 302, and the connecting member 303, the reliable bending of this inspection device is realized, and thus the reliable bending of this inspection device in the pipeline is realized.

[0064] Optionally, as Figures 1 to 7 shown, the drive motor device 21 includes a motor housing 211, a stepper motor 212, and a second connecting rod 213; A stepper motor 212 is arranged inside the motor housing 211, and one end of the motor housing 211 is connected to the support frame 22; a second connecting rod 213 is arranged at the other end of the motor housing 211, and the end of the second connecting rod 213 away from the motor housing 211 is connected to the universal joint 3; The output shaft of the stepper motor 212 passes through the motor housing 211 and the support frame 22 and is connected to the ball screw 231.

[0065] In the above optional embodiment, it should be noted that the screw drive device 23 further includes a coupling 233, and the output shaft of the stepper motor 212 passes through the first end plate and is connected to the ball screw 231 through the coupling 233.

[0066] The second connecting rod 213 is connected to the second fork 302, and the first connecting rod 106 is connected to the first fork 301.

[0067] The beneficial effect of the above optional embodiment is that the reliable rotation of the ball screw 231 can be driven by the setting of the stepper motor 212, and then the reliable movement of the screw nut 232 can be driven to drive the connecting rod 27 to rotate and drive the rotating rod 2401 to rotate, so as to realize the reliable adjustment of the maximum diameter of the circumference of the circumferential array of multiple variable-diameter motion mechanisms 24.

[0068] Optionally, as Figures 1 to 3 shown, the camera assembly 4 includes a camera cover 41 and a camera 42. The camera cover 41 is connected to the end of the variable-diameter drive device away from the universal joint 3, and a camera 42 is arranged inside the camera cover 41.

[0069] In the above optional embodiment, it should be noted that: the drive control device 1 further includes a controller 104 and a battery 105. The controller 104 and the battery 105 are arranged inside the housing 101. The stepper motor 212, the reduction motor 2405, the distance measuring sensor 26 and the camera 42 are all electrically connected to the controller 104, and the stepper motor 212, the reduction motor 2405, the distance measuring sensor 26, the camera 42 are all electrically connected to the controller 104 and the battery 105; the camera 42 is a panoramic camera, and a lighting lamp is further arranged inside the camera cover 41 to realize lighting inside the pipeline.

[0070] The beneficial effect of the above optional embodiment is that the reliable detection of the pipeline is realized through the setting of the camera 42.

[0071] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. An industrial pipeline adaptive inspection device, characterized in that: It comprises a driving control device (1), a universal joint (3), a diameter-changing device (2) and a camera assembly (4); The diameter-changing device (2) comprises a plurality of diameter-changing motion mechanisms (24), a diameter-changing driving device and a connecting rod (27); One end of each of the diameter-changing motion mechanisms (24) is rotatably connected to one end of the diameter-changing drive device, and a plurality of the diameter-changing motion mechanisms (24) are arranged in a circular array; The middle portion of each of the variable diameter motion mechanisms (24) is rotatably connected to at least one of the connecting rods (27); One end of each connecting rod (27) that is away from the corresponding diameter-changing motion mechanism (24) is rotatably connected to the diameter-changing driving device and can move left and right relative to the diameter-changing driving device; The camera assembly (4) is arranged on the variable diameter driving device; The variable diameter drive device is connected to the drive control device (1) via the universal joint (3).

2. The industrial pipeline adaptive inspection device according to claim 1 is characterized in that: The variable diameter driving device comprises a driving motor device (21), a support frame (22) and a lead screw transmission device (23); The driving motor device (21) is connected to one end of the support frame (22), and the other end of the driving motor device (21) is connected to the universal joint (3); The screw transmission device (23) is installed in the support frame (22), and one end of the screw transmission device (23) is connected to the drive motor device (21); One end of each connecting rod (27) that is away from the corresponding diameter-changing motion mechanism (24) is rotatably connected to the screw transmission device (23) and can move leftward and rightward relative to the screw transmission device (23).

3. The industrial pipeline adaptive inspection device according to claim 2 is characterized in that: The screw transmission device (23) comprises a ball screw (231) and a screw nut (232); The ball screw (231) is rotatably inserted on the support frame (22), the ball screw (231) is threaded with the screw nut (232), and one end of the ball screw (231) is connected to the drive motor device (21); Each of the connecting rods (27) is rotatably connected to the lead screw nut (232).

4. The industrial pipeline adaptive inspection device according to claim 1 is characterized in that: The drive control device (1) comprises a housing (101), a wheel frame (102), a roller (103) and a first connecting rod (106); The wheel frame (102) is provided on the side of the housing (101), and the roller (103) is rotatably connected to the wheel frame (102); One end of the first connecting rod (106) is connected to the housing (101), and the other end of the first connecting rod (106) is connected to the universal joint (3).

5. The industrial pipeline adaptive inspection device according to claim 2 is characterized in that: Each of the variable diameter motion mechanisms (24) comprises a rotating rod (2401), a connecting frame (2402) and a moving wheel (2403); One end of the rotating rod (2401) is rotatably connected to one end of the supporting frame (22) close to the driving motor device (21); The middle portion of the rotating rod (2401) is rotatably connected to the connecting rod (27); The other end of the rotating rod (2401) is provided with the connecting frame (2402), and one end of the connecting frame (2402) away from the rotating rod (2401) is rotatably connected to the moving wheel (2403).

6. The industrial pipeline adaptive inspection device according to claim 5 is characterized in that: One of the variable diameter motion mechanisms (24) further includes a reduction motor (2405), a first gear (2408) and a second gear (2409); The reduction motor (2405) is connected to the corresponding rotating rod (2401); the output shaft of the reduction motor (2405) is connected to the first gear (2408); the moving wheel (2403) is rotatably connected to the connecting frame (2402) via an axis; one end of the axis between the moving wheel (2403) and the connecting frame (2402) is connected to the second gear (2409); the first gear (2408) and the second gear (2409) are gear-matchedly connected; In the remaining variable diameter driving devices, each variable diameter motion mechanism (24) further comprises a shock absorbing device, and the rotating rod (2401) and the connecting frame (2402) bracket of each variable diameter driving device are provided with the shock absorbing device.

7. The industrial pipeline adaptive inspection device according to claim 6 is characterized in that: Each of the shock absorbing devices comprises a shock absorbing plate (2410), a compression spring (2413) and a shock absorbing rod (2412); One side of the shock absorbing plate (2410) is connected to the rotating rod (2401), the compression spring (2413) is connected between the shock absorbing plate (2410) and the connecting frame (2402), one end of the shock absorbing rod (2412) is connected to the connecting frame (2402), and the other end of the shock absorbing rod (2412) passes through the compression spring (2413) and is screwed to the shock absorbing plate (2410).

8. The industrial pipeline adaptive inspection device according to claim 1 is characterized in that: The universal joint (3) comprises a first yoke (301), a second yoke (302) and a connecting member (303); One end of the first yoke (301) and one end of the second yoke (302) are both rotatably connected to the connecting member (303); The other end of the first yoke (301) is connected to the drive control device (1), and the other end of the second yoke (302) is connected to the variable diameter drive device.

9. The industrial pipeline adaptive inspection device according to claim 3 is characterized in that: The driving motor device (21) comprises a motor housing (211), a stepping motor (212) and a second connecting rod (213); The stepper motor (212) is arranged in the motor housing (211), and one end of the motor housing (211) is connected to the support frame (22); the second connecting rod (213) is arranged at the other end of the motor housing (211), and one end of the second connecting rod (213) facing away from the motor housing (211) is connected to the universal joint (3); The output shaft of the stepper motor (212) passes through the motor housing (211) and the support frame (22) and is connected to the ball screw (231).

10. The industrial pipeline adaptive inspection device according to any one of claims 1 to 9, characterized in that: The camera assembly (4) comprises a camera cover (41) and a camera (42); the camera cover (41) is connected to an end of the variable diameter drive device that is away from the universal joint (3); and the camera (42) is arranged in the camera cover (41).

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