Pipeline detection device and detection method

Abstract

The invention relates to a pipeline detection device and method, the device comprises a moving module and a detection module, the moving module comprises a mounting bracket and moving wheel sets of triangular structures, the moving wheel sets are arranged at the two ends of the mounting bracket, and a variable diameter mechanism is arranged in the mounting bracket; the detection module comprises a plurality of detection assemblies surrounding the periphery of the mounting bracket, and each detection assembly comprises a connecting plate, a second U-shaped sliding plate, a double-shaft motor, a crank swing arm and a detection probe; the second U-shaped sliding plate is slidably clamped on the connecting plate, an elliptical annular groove is formed in the connecting plate, one end of the double-shaft motor rotates along the elliptical annular groove and drives the double-shaft motor to move, one end of the crank swing arm is connected with the detection probe, and the other end of the crank swing arm is connected with the end, away from the connecting plate, of the double-shaft motor; the detection probe is driven to rotate based on the crank swing arm. Compared with the prior art, the method has the advantages of wide detection range, high precision and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline detection, and particularly to a pipeline detection device and a detection method. Background Art

[0002] In the field of pipeline detection, the detection of the internal condition of pipelines is crucial, which is directly related to the safe operation and maintenance of pipelines. At present, there are many problems in the common pipeline detection crawling devices in practical applications.

[0003] On the one hand, when the existing pipeline detection crawling devices adapt to pipelines with different diameters, there are great limitations. The structures for supporting and fitting the inner wall of the pipeline of most devices are relatively fixed and it is difficult to flexibly adjust according to the change of the pipeline diameter, resulting in an inability to stably fit the inner wall of the pipeline in pipelines with different diameters, thus affecting the crawling stability and detection accuracy.

[0004] On the other hand, the movement range and flexibility of the detection probe are insufficient. In the existing detection devices, the movement mode of the detection probe is relatively single, usually only capable of simple linear or rotational movement, and it is difficult to perform all-round and multi-angle detection on the inner wall of the pipeline. This makes some corners or complex parts of the inner wall of the pipeline may not be detected, resulting in detection blind spots, thus affecting the comprehensive evaluation of the internal condition of the pipeline.

[0005] For example, the invention with the publication number CN113483197A discloses an adaptive variable-diameter multi-drive-wheel type pipeline crawling device, including a telescopic skeleton, and a number of rolling support components distributed around the central axis of the telescopic skeleton. The telescopic skeleton is connected to the front flange and the rear flange through a linear drive mechanism. The technical key points are: a variable-diameter link assembly that can be compressed is formed on the telescopic skeleton by the first to third hinge points; a fourth hinge point and a first support point that swing around it at the same time are provided at the third hinge point; a second support point and a third support point that swing around it at the same time are provided at the fourth hinge point.

[0006] To sum up, the existing pipeline detection crawling devices have deficiencies in terms of pipe diameter adaptability, detection probe flexibility, and power transmission and transmission structure, and cannot meet the requirements for high-precision and all-round detection of pipelines. Therefore, there is an urgent need for a new type of pipeline detection crawling device that can adapt to pipelines with different diameters, has a flexible movement of the detection probe, and has a stable and reliable power transmission. Summary of the Invention

[0007] The purpose of the present invention is to overcome the above-mentioned deficiencies in the prior art that the detection probe cannot be flexibly adjusted according to the shape and size of the pipe wall, resulting in poor pipeline detection accuracy and comprehensiveness, and to provide a pipeline detection device and a detection method.

[0008] The purpose of the present invention can be achieved by the following technical solutions:

[0009] This solution provides a pipeline detection device, including a moving module and a detection module. The moving module includes a mounting bracket and a moving wheel set with a triangular structure. The moving wheel set is arranged at both ends of the mounting bracket, and a variable diameter mechanism is provided inside the mounting bracket for adjusting the outer diameter of the moving wheel set.

[0010] The detection module includes a plurality of detection components surrounding the mounting bracket for one week. The detection component includes a connecting plate, a second U-shaped slide plate, a double-shaft motor, a crank swing arm, and a detection probe. The second U-shaped slide plate is slidably clamped on the connecting plate for mounting the double-shaft motor on the connecting plate. An elliptical annular groove is provided on the connecting plate. One end of the double-shaft motor rotates along the elliptical annular groove and drives the double-shaft motor to move. One end of the crank swing arm is connected to the detection probe, and the other end is connected to the end of the double-shaft motor far from the connecting plate. During the process of the double-shaft motor moving along the elliptical annular groove, the detection probe is driven to rotate based on the crank swing arm.

[0011] Preferably, a plurality of fixed pin shafts are fixed in the elliptical annular groove, and the fixed pin shafts are equally spaced along the long axis direction of the elliptical annular groove.

[0012] One end of the double-shaft motor close to the connecting plate is drivingly connected to a limit gear. A plurality of U-shaped notches matching the fixed pin shafts are provided on the outer ring surface of the limit gear. The limit gear clamps the fixed pin shafts through the U-shaped notches for driving the double-shaft motor to move along the elliptical annular groove.

[0013] Preferably, first U-shaped slide plates are symmetrically provided at both ends of the second U-shaped slide plate. The first U-shaped slide plates are clamped on both sides of the connecting plate. The double-shaft motor is mounted on a frame-shaped slide plate with an inverted T-shaped structure. An opening is provided on the second U-shaped slide plate, and the frame-shaped slide plate is clamped in the opening.

[0014] Preferably, the variable diameter mechanism includes a driving component and a transmission component. The transmission component includes a fixing plate, a driven swing arm, an L-shaped swing arm, and a T-shaped connecting plate.

[0015] The fixing plate is vertically fixed at the end of the mounting bracket. The fixing plate includes a vertical mounting portion. The T-shaped connecting plate includes a connecting section and a mounting section that are perpendicular to each other. The vertical mounting portion, the driven swing arm, the L-shaped swing arm, and the connecting section are sequentially hinged and enclose a transmission structure in the shape of a parallelogram. The moving wheel set is fixed on the mounting section. One end of the L-shaped swing arm far from the transmission structure is connected to the driving component. The driving component is fixed on the mounting bracket for adjusting the shape of the transmission structure.

[0016] Preferably, the driving component includes a servo motor, a hollow sleeve, a rotating shaft, a slide rod, and a three-jaw chuck.

[0017] The servo motor is fixed on the mounting bracket. The hollow sleeve and the sliding rod are rotatably fixed on the mounting bracket. One end of the sliding rod is connected to the rotating shaft, and the other end is connected to the three-jaw chuck. The hollow sleeve is provided with a spiral hole, and the rotating shaft is provided with a positioning pin shaft. The hollow sleeve is sleeved on the rotating shaft, and the positioning pin shaft is inserted into the spiral hole. The servo motor is drivingly connected to the hollow sleeve, and the three-jaw chuck is connected to the L-shaped swing arm for driving the sliding rod to slide axially.

[0018] Preferably, hollow sleeves are provided on both sides of the servo motor and are respectively used for connecting the moving wheel sets at both ends of the mounting bracket. An end face gear is provided at one end of the hollow sleeve close to the servo motor, and the output shaft of the servo motor is connected to a linkage gear. The rotation center axis of the linkage gear is perpendicular to the rotation center axis of the end face gear.

[0019] Preferably, a limit pin shaft is provided on the three-jaw chuck. One end of the L-shaped swing arm is hinged to a T-shaped connecting plate, and an elliptical pin hole is provided at the other end. The corner of the L-shaped swing arm is hinged to the fixing plate. The limit pin shaft is slidably inserted into the elliptical pin hole for driving the L-shaped swing arm to rotate.

[0020] Preferably, a translation connecting plate, side plates, hub motors, driven track wheels and a rubber chain belt are provided on the installation section;

[0021] The translation connecting plate is fixed on the installation section. The side plates are vertically fixed on both sides of the translation connecting plate. The driven track wheels are sleeved on the hub motors. The hub motors are fixed between the two side plates. At least two driven track wheels are provided between the side plates. The rubber chain belt is synchronously connected to the driven track wheels, and the rubber chain belt is parallel to the sliding rod.

[0022] Preferably, the mounting bracket includes two triangular plates and three cross beams. The triangular plates are symmetrically installed at both ends of the cross beams, and the cross beams are evenly distributed between the triangular plates.

[0023] This solution also provides a detection method for a pipeline detection device, including the following steps:

[0024] S1: Place the detection device in the pipeline, adjust the outer diameter of the moving wheel set through the variable diameter mechanism, and the moving wheel set abuts against the inner wall of the pipeline;

[0025] S2: According to the shape and size of the pipeline, under the driving action of the dual-axis motor, the dual-axis motor translates along the track of the elliptical annular groove and drives the detection probe to rotate in cooperation with the crank swing arm to adjust the position of the detection probe;

[0026] S3: The moving assembly drives the detection device to move along the inner wall of the pipeline, and at the same time cooperates with the detection probe to detect the inner wall of the pipeline.

[0027] Compared with the prior art, the present invention has the following advantages:

[0028] (1) In this solution, the detection device is located inside the pipeline. The moving wheel set contacts the inner wall of the pipeline, supports the installation bracket, and drives the detection device to move. During the movement, both ends of the double-shaft motor rotate, and the detection probe is adjusted along the elliptical annular groove in cooperation with the second U-shaped slide plate. At the same time, the crank swing arm rotates to further adjust the position of the detection probe. The detection components around the installation bracket cooperate with each other to detect various positions of the pipeline.

[0029] By enclosing the detection components around the installation bracket, and while the double-shaft motor drives the detection probe to translate, cooperating with the crank swing arm to drive the detection probe to move circumferentially, the position of the detection probe can be adjusted according to the shape and size of the pipeline, ensuring that the detection range of the detection probe can accurately cover all areas of the inner wall of the pipeline, improving the comprehensiveness and accuracy of detection, expanding the applicable range of the detection device, and the adjustment structure of the detection probe is simple and reliable, and the adjustment is flexible.

[0030] (2) In this solution, a row of fixed pin shafts is installed at the long axis position of the elliptical annular groove, and a U-shaped notch for engaging with the fixed pin shafts is provided on the outer periphery of the limit gear driven by one end of the double-shaft motor. During the rotation of the limit gear, it climbs along the fixed pin shafts, improving the rotation accuracy of the limit gear and the movement stability of the double-shaft motor.

[0031] (3) In this solution, the transmission structure of the articulated parallelogram enables the outer diameter of the moving component to automatically adjust its position according to the shape of the pipeline, ensuring that the rubber chain belt is always in close contact with the inner wall of the pipeline, providing sufficient friction to prevent the device from slipping. The design of the slide rod and the three-jaw disc in the drive structure enables the device to synchronously adjust the outer diameter of multiple moving components according to the diameter of the pipeline, ensuring that the rubber chain belt is always in close contact with the inner wall of the pipeline. The limit pin shaft cooperates with the elliptical pin hole, and the transmission structure is adjusted by translation, enhancing the accuracy and stability of the adjustment of the outer diameter of the moving component.

[0032] (4) In this solution, the structure of the transmission component is simple and the connection is reliable. The diameter of the moving wheel set can be adjusted flexibly, and the diameter adjustment range is wider, expanding the applicable range of the detection device. At the same time, compared with the existing diameter adjustment structure, this adjustment structure is small and convenient to install. It can install a set of drive structures at both ends of the installation bracket while ensuring the volume of the detection device. Compared with the existing structure that only sets a set of drive structures on the side of the installation bracket, the detection device has better stability, higher diameter adjustment accuracy, and more convenient adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0034] Figure 2Explosion schematic diagram of the overall structure of the present invention;

[0035] Figure 3 Schematic diagram of a pair of triangular discs and a pair of three-jaw discs of the present invention;

[0036] Figure 4 Explosion schematic diagram of a pair of triangular discs and a pair of three-jaw discs of the present invention;

[0037] Figure 5 Schematic diagram of the hinge assembly structure of the present invention;

[0038] Figure 6 Explosion schematic diagram of the hinge assembly structure of the present invention;

[0039] Figure 7 Schematic diagram of three cross beams and three connecting plates of the present invention;

[0040] Figure 8 Explosion schematic diagram of three cross beams and three connecting plates of the present invention;

[0041] Reference numerals in the figure: 1, triangular disc; 2, cross beam; 3, connecting plate; 4, elliptical annular groove; 5, fixed pin shaft; 6, first U-shaped slide plate; 7, second U-shaped slide plate; 8, frame-shaped slide plate; 9, limit gear; 10, double-shaft motor; 11, crank swing arm; 12, detection probe; 13, V-shaped bracket; 14, U-shaped bracket; 15, hollow sleeve; 16, end face gear; 17, servo motor; 18, linkage gear; 19, spiral hole; 20, slide bar; 21, rotating shaft; 22, positioning pin shaft; 23, three-jaw disc; 24, limit pin shaft; 25, fixing plate; 26, driven swing arm; 27, L-shaped swing arm; 28, elliptical pin hole; 29, T-shaped connecting plate; 30, translation connecting plate; 31, side plate; 32, hub motor; 33, driven track wheel; 34, rubber chain belt. Detailed implementation manners

[0042] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and shown in the accompanying drawings here can be arranged and designed in various different configurations.

[0043] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0044] It should be noted that like reference numerals and letters refer to like items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0045] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the inventive product is customarily placed during use. It is only for the convenience of describing the present invention 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 thus should not be construed as a limitation of the present invention.

[0046] It should be noted that the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of this application, "a plurality" means two or more unless otherwise specifically defined.

[0047] In addition, terms such as "horizontal" and "vertical" do not mean that the components are required to be absolutely horizontal or hanging vertically, but may be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but may be slightly inclined.

[0048] Embodiment 1

[0049] As Figure 1 、 Figure 7 and Figure 8 shown, this embodiment provides a pipeline detection device, including a moving module and a detection module. It is characterized in that the moving module includes a mounting bracket and a moving wheel set with a triangular structure. The moving wheel set is arranged at both ends of the mounting bracket, and a variable diameter mechanism is provided inside the mounting bracket for adjusting the outer diameter of the moving wheel set;

[0050] The detection module includes a plurality of detection components surrounding the installation bracket. The detection component includes a connecting plate 3, a second U-shaped slide plate 7, a dual-axis motor 10, a crank rocker arm 11, and a detection probe 12. The second U-shaped slide plate 7 is slidably clamped on the connecting plate 3 for mounting the dual-axis motor 10 on the connecting plate 3. An elliptical annular groove 4 is provided on the connecting plate 3. One end of the dual-axis motor 10 rotates along the elliptical annular groove 4 and drives the dual-axis motor 10 to move. One end of the crank rocker arm 11 is connected to the detection probe 12, and the other end is connected to the end of the dual-axis motor 10 away from the connecting plate 3. During the movement of the dual-axis motor 10 along the elliptical annular groove 4, the detection probe 12 is driven to rotate based on the crank rocker arm 11.

[0051] Working principle: The detection device is located inside the pipeline. The moving wheel set contacts the inner wall of the pipeline, supports the installation bracket, and drives the detection device to move. During the movement, both ends of the dual-axis motor 10 rotate, and the position of the detection probe 12 is adjusted along the elliptical annular groove 4 in cooperation with the second U-shaped slide plate 7. At the same time, the crank rocker arm 11 rotates to further adjust the position of the detection probe 12. The detection components around the installation bracket cooperate with each other to detect various positions of the pipeline.

[0052] By enclosing the detection components around the installation bracket and, while the dual-axis motor 10 drives the detection probe 12 to move linearly, cooperating with the crank rocker arm 11 to drive the detection probe 12 to move circularly, the position of the detection probe 12 can be adjusted according to the shape and size of the pipeline, ensuring that the detection range of the detection probe 12 can accurately cover all areas of the inner wall of the pipeline, improving the comprehensiveness and accuracy of the detection, expanding the applicable range of the detection device, and the adjustment structure of the detection probe 12 is simple, reliable, and flexible.

[0053] Preferred implementation: A plurality of fixed pin shafts 5 are fixed in the elliptical annular groove 4, and the fixed pin shafts 5 are equally spaced along the long axis direction of the elliptical annular groove 4.

[0054] One end of the dual-axis motor 10 close to the connecting plate 3 is drivingly connected to a limit gear 9. A plurality of U-shaped notches matching the fixed pin shafts 5 are provided on the outer ring surface of the limit gear 9. The limit gear 9 engages with the fixed pin shafts 5 through the U-shaped notches to drive the dual-axis motor 10 to move along the elliptical annular groove 4.

[0055] Furthermore, first U-shaped slide plates 6 are symmetrically provided at both ends of the second U-shaped slide plate 7. The first U-shaped slide plates 6 are clamped on both sides of the connecting plate 3. The dual-axis motor 10 is installed on a frame-shaped slide plate 8 with an inverted T-shaped structure. An opening is provided on the second U-shaped slide plate 7, and the frame-shaped slide plate 8 is clamped in the opening.

[0056] By installing a row of fixed pin shafts 5 at the major axis position of the elliptical annular groove 4 and providing a U-shaped notch engaging with the fixed pin shafts 5 on the outer periphery of the limit gear 9 driven by one end of the dual-axis motor 10, during the rotation of the limit gear 9, it climbs along the fixed pin shafts 5, improving the rotation accuracy of the limit gear 9 and the movement stability of the dual-axis motor 10.

[0057] Preferred embodiment, such as Figures 2 - 6 As shown, the variable-diameter mechanism includes a driving component and a transmission component. The transmission component includes a fixing plate 25, a driven swing arm 25, an L-shaped swing arm 27, and a T-shaped connecting plate 29.

[0058] The fixing plate 25 is vertically fixed at the end of the mounting bracket. The fixing plate 25 includes a vertical mounting portion. The T-shaped connecting plate 29 includes a connecting section and a mounting section that are perpendicular to each other. The vertical mounting portion, the driven swing arm 25, the L-shaped swing arm 27, and the connecting section are sequentially hinged and enclose a parallelogram transmission structure. The moving wheel set is fixed on the mounting section. One end of the L-shaped swing arm 27 away from the transmission structure is connected to the driving component, and the driving component is fixed on the mounting bracket for adjusting the shape of the transmission structure.

[0059] Furthermore, the driving component includes a servo motor 17, a hollow sleeve 15, a rotating shaft 21, a sliding rod 20, and a three-jaw chuck 23.

[0060] The servo motor 17 is fixed on the mounting bracket. The hollow sleeve 15 and the sliding rod 20 are rotatably fixed on the mounting bracket. One end of the sliding rod 20 is connected to the rotating shaft 21, and the other end is connected to the three-jaw chuck 23. The hollow sleeve 15 is provided with a spiral hole 19, and the rotating shaft 21 is provided with a positioning pin 22. The hollow sleeve 15 is sleeved on the rotating shaft 21, and the positioning pin 22 is inserted into the spiral hole 19. The servo motor 17 is drivingly connected to the hollow sleeve 15, and the three-jaw chuck 23 is connected to the L-shaped swing arm 27 for driving the sliding rod 20 to slide axially.

[0061] Even further, hollow sleeves 15 are provided on both sides of the servo motor 17, respectively for connecting the moving wheel sets at both ends of the mounting bracket. One end of the hollow sleeve 15 close to the servo motor 17 is provided with an end face gear 16. The output shaft of the servo motor 17 is connected to a linkage gear 18, and the rotation center axis of the linkage gear 18 is perpendicular to the rotation center axis of the end face gear 16.

[0062] In this embodiment, the three-jaw chuck 23 is provided with a limit pin 24. One end of the L-shaped swing arm 27 is hinged to the T-shaped connecting plate 29, and the other end is provided with an elliptical pin hole 28. The corner of the L-shaped swing arm 27 is hinged to the fixing plate 25. The limit pin 24 can be slidably inserted into the elliptical pin hole 28 for driving the L-shaped swing arm 27 to rotate.

[0063] The rotation center axis of the servo motor 17 is perpendicular to the center axis of the rotating shaft 21. The linkage gear 18 on the servo motor 17 can synchronously drive the end face gears 16 on the hollow sleeves 15 on both sides, thereby synchronously adjusting the diameters of the moving wheel sets at both ends of the mounting bracket, improving the consistency of the diameters of the front and rear wheel sets, and further improving the stability of the movement of the mobile detection device. The hollow sleeve 15 rotates, the spiral hole 19 rotates and drives the positioning pin 22. While the rotating shaft 21 rotates, it axially drives the sliding rod 20 to translate, thereby pushing the three-jaw chuck 23 to move axially.

[0064] Based on the matching limit pin 24 and the elliptical pin hole 28, the three-jaw chuck 23 drives the L-shaped swing arm 27 to rotate, thereby adjusting the shape of the transmission structure of the parallelogram in which the four connecting segments are all hinged. Moreover, the connecting segment of the T-shaped connecting plate 29 and the vertical mounting portion of the fixing plate 25 are used as opposite sides and always remain parallel to each other. The connecting segment can always be distributed along the radial direction of the pipeline, so as to ensure that the mutually perpendicular mounting segments and the moving wheel sets thereon are kept parallel to the axial direction of the pipeline, and ensure that the moving wheel sets can always be in reliable contact with the pipeline during the movement and move stably.

[0065] The structure of the transmission component provided in this embodiment is simple and the connection is reliable. The diameter adjustment of the moving wheel set is flexible and the adjustment range is large enough. At the same time, compared with the existing adjustment structure, this adjustment structure is small and convenient to install. It can install a set of driving structures at both ends of the mounting bracket while ensuring the volume of the detection device. Compared with the existing structure that only sets a set of driving structures on the side of the mounting bracket, the stability of the detection device is better, the adjustment accuracy is higher, and the adjustment is more convenient.

[0066] In this embodiment, a translation connecting plate 30, side plates 31, hub motors 32, driven track wheels 33 and rubber chain belts 34 are provided on the mounting segment;

[0067] The translation connecting plate 30 is fixed on the mounting segment, the side plates 31 are vertically fixed on both sides of the translation connecting plate 30, the driven track wheels 33 are sleeved on the hub motors 32, the hub motors 32 are fixed between the two side plates 31, at least two driven track wheels 33 are provided between the side plates 31, the rubber chain belts 34 are synchronously connected to the driven track wheels 33, and the rubber chain belts 34 are parallel to the sliding rod 20.

[0068] In this embodiment, the mounting bracket includes two triangular plates 1 and three cross beams 2. The triangular plates 1 are symmetrically installed at both ends of the cross beam 2, and the cross beams 2 are evenly distributed between the triangular plates 1.

[0069] Specifically, in combination with the above preferred implementation manners, as Figures 1 - 8As shown in the figure, this embodiment provides a specific pipeline detection crawling device, which includes a pair of triangular discs 1. Three uniformly distributed cross beams 2 are fixedly arranged between the pair of triangular discs 1. The triangular discs 1 serve as the main support structure of the device, and the cross beams 2 are used to connect the two triangular discs 1 to ensure the stability of the device. The three-point support structure of the triangular discs 1 can adapt to pipelines with different diameters to ensure the stability of the device inside the pipeline. The uniform distribution design of the cross beams 2 further enhances the rigidity of the overall structure and prevents the device from deforming during movement.

[0070] Moreover, a connecting plate 3 is fixedly arranged between each adjacent pair of cross beams 2. A pair of first U-shaped sliding plates 6 are slidably clamped on both sides of each connecting plate 3. The connecting plate 3 is used to connect adjacent cross beams 2, and the first U-shaped sliding plates 6 are slidably clamped on both sides of the connecting plate 3 to provide sliding freedom. The design of the connecting plate 3 enhances the connection strength between the cross beams 2, and the sliding design of the first U-shaped sliding plates 6 enables the device to flexibly adjust its position inside the pipeline to adapt to the shapes and sizes of different pipelines.

[0071] A pair of second U-shaped sliding plates 7 are fixedly arranged between each pair of first U-shaped sliding plates 6. A frame-shaped sliding plate 8 is slidably clamped between each pair of second U-shaped sliding plates 7. A dual-axis motor 10 is installed inside each frame-shaped sliding plate 8. The second U-shaped sliding plates 7 connect the first U-shaped sliding plates 6, and the frame-shaped sliding plate 8 is slidably clamped between the second U-shaped sliding plates 7 with a dual-axis motor 10 installed inside. The sliding designs of the second U-shaped sliding plates 7 and the frame-shaped sliding plate 8 further increase the flexibility of the device, enabling the dual-axis motor 10 to drive the detection probe 12 to rotate in multiple directions and expand the detection range.

[0072] A crank swing arm 11 is fixedly arranged at the end of the outer motor shaft of each dual-axis motor 10. A detection probe 12 is installed at the outer end of each crank swing arm 11. The dual-axis motor 10 drives the detection probe 12 to rotate through the crank swing arm 11 to achieve multi-directional detection of the inner wall of the pipeline. The dual-axis design of the dual-axis motor 10 enables the detection probe 12 to move in multiple directions to ensure no dead angle in detection. The design of the crank swing arm 11 further increases the movement range of the detection probe 12 and improves the detection accuracy.

[0073] Three suspended translation connecting plates 30 are arranged on the outside of each triangular disc 1. Three uniformly distributed fixing plates 25 are fixedly arranged on the outer side surface of each triangular disc 1. Each fixing plate 25 is connected to the translation connecting plate 30 through a hinge assembly. The translation connecting plate 30 is connected to the fixing plate 25 through a hinge assembly to drive the rubber track 34 to move and ensure the close contact between the device and the inner wall of the pipeline.

[0074] On the outer side surface of each translation connecting plate 30, a pair of side plates 31 are fixedly arranged. Between each pair of side plates 31, a hub motor 32 and a driven track wheel 33 are respectively rotatably installed. A rubber track 34 connected by synchronous transmission is sleeved between the hub motor 32 and the driven track wheel 33. The hub motor 32 drives the rubber track 34 to rotate, providing power for the device to move inside the pipeline. The design of the rubber track 34 can adapt to the surface conditions of different pipelines, providing stable friction force to ensure that the device can move smoothly inside the pipeline. The transmission design of the hub motor 32 further enhances the moving stability of the device.

[0075] In this embodiment, an elliptical annular groove 4 is formed on the outer side surface of the connecting plate 3. A plurality of equally spaced fixed pin shafts 5 are fixedly arranged on the outer side surface of the connecting plate 3, and the plurality of fixed pin shafts 5 are located inside the elliptical annular groove 4. The end of the inner motor shaft of the dual-axis motor 10 is slidably inserted into the elliptical annular groove 4. A concentrically fixed limit gear 9 is sleeved on the middle part of the inner motor shaft of the dual-axis motor 10. A plurality of U-shaped notches are formed on the outer ring surface of the limit gear 9, and the plurality of U-shaped notches are engaged with the corresponding fixed pin shafts 5 in a surrounding manner. The elliptical annular groove 4 and the fixed pin shafts 5 limit the movement track of the dual-axis motor 10 through the limit gear 9, ensuring the precise movement of the detection probe 12. The design of the elliptical annular groove 4 and the fixed pin shafts 5 enables the dual-axis motor 10 to move along a predetermined track. The U-shaped notch design of the limit gear 9 further enhances the accuracy of the movement, ensuring that the detection probe 12 can precisely cover each area of the inner wall of the pipeline.

[0076] As Figure 5 and Figure 6 shown, the hinge assembly includes a driven swing arm 26 and an L-shaped swing arm 27. A pair of T-shaped connecting plates 29 are fixedly arranged on the inner side surface of the translation connecting plate 30. Between the middle parts of the pair of T-shaped connecting plates 29, a pair of driven swing arms 26 are movably hinged. The outer ends of the pair of driven swing arms 26 are movably hinged to a corner of the fixed plate 25. Between the outer ends of the pair of T-shaped connecting plates 29, a pair of L-shaped swing arms 27 are movably hinged. The corners of the pair of L-shaped swing arms 27 are movably hinged to another corner of the fixed plate 25. The design of the hinge assembly enables the translation connecting plate 30 to automatically adjust its position according to the shape of the pipeline, ensuring that the rubber track 34 is always in close contact with the inner wall of the pipeline, providing sufficient friction force to prevent the device from slipping.

[0077] A sliding hole is provided in the middle of the triangular plate 1. A sliding rod 20 that is distributed through is slidably inserted inside the sliding hole. An outer end of the sliding rod 20 is fixedly provided with a three-jaw plate 23. Three end portions of the three-jaw plate 23 are all bent and extend between the other end portions of three pairs of L-shaped swing arms 27. Oval pin holes 28 are provided at the other end portions of each pair of L-shaped swing arms 27. Three end portions of the three-jaw plate 23 are all fixedly provided with limiting pin shafts 24 that are distributed through. Both end portions of each limiting pin shaft 24 are slidably inserted inside the corresponding oval pin hole 28. The sliding rod 20 drives the L-shaped swing arms 27 and the driven swing arms 26 to move through the three-jaw plate 23 and the limiting pin shafts 24, thereby adjusting the position of the translation connecting plate 30. The design of the sliding rod 20 and the three-jaw plate 23 enables the device to automatically adjust the position of the translation connecting plate 30 according to the diameter of the pipeline, ensuring that the rubber track 34 is always in close contact with the inner wall of the pipeline. The design of the limiting pin shafts 24 further enhances the accuracy and stability of the adjustment.

[0078] As Figure 3 and Figure 4 shown, a pair of V-shaped brackets 13 with openings facing downwards are fixedly provided between a pair of cross beams 2 located below. Circular through holes are provided at the top end portions of each V-shaped bracket 13. A hollow sleeve 15 that is distributed through is rotatably inserted inside each circular through hole. A face gear 16 that is coaxially fixed is sleeved on an inner end portion of each hollow sleeve 15. A spiral hole 19 is provided on an outer surface of an outer end portion of each hollow sleeve 15. The V-shaped brackets 13 support the hollow sleeves 15. The face gear 16 drives the hollow sleeve 15 to rotate through the linkage gear 18, thereby driving the sliding rod 20 to move. The design of the V-shaped brackets 13 enhances the stability of the device. The transmission design of the hollow sleeves 15 and the face gears 16 enables the sliding rod 20 to move precisely, ensuring that the device can be automatically adjusted according to the pipeline diameter.

[0079] An inner end portion of each sliding rod 20 is fixedly provided with a rotating shaft 21 that is coaxially distributed. An inner end portion of each rotating shaft 21 is slidably inserted inside the hollow sleeve 15 on the same side. An inner end portion of each rotating shaft 21 is fixedly provided with a positioning pin shaft 22 that is vertically distributed. An outer end portion of each positioning pin shaft 22 is slidably engaged inside the spiral hole 19 on the same side, and the spiral directions of a pair of spiral holes 19 are the same.

[0080] In the middle of the bottom surface of the upper cross beam 2, a U-shaped bracket 14 is fixedly installed. In the middle of the bottom surface of the U-shaped bracket 14, a square through hole is opened. Inside the square through hole, a servo motor 17 with its output end facing down is installed. At the end of the motor shaft of the servo motor 17, a concentrically fixed linkage gear 18 is sleeved. The linkage gear 18 is located between the tops of a pair of end face gears 16. And the linkage gear 18 is meshed and connected with the pair of end face gears 16. The servo motor 17 drives the end face gears 16 to rotate through the linkage gear 18, thereby controlling the movement of the sliding rod 20. The precise control of the servo motor 17 enables the device to automatically adjust according to the pipe diameter. The design of the linkage gear 18 ensures the smoothness and accuracy of the transmission.

[0081] This embodiment also provides a detection method for a pipeline detection device, including the following steps:

[0082] S1: Place the detection device inside the pipeline, adjust the outer diameter of the moving wheel set through the variable diameter mechanism, and the moving wheel set abuts against the inner wall of the pipeline;

[0083] S2: According to the shape and size of the pipeline, under the driving action of the biaxial motor 10, the biaxial motor 10 translates along the trajectory of the elliptical annular groove 4, and cooperates with the crank swing arm 11 to drive the detection probe 12 to rotate, adjusting the position of the detection probe 12;

[0084] S3: The moving component drives the detection device to move along the inner wall of the pipeline, and at the same time cooperates with the detection probe 12 to detect the inner wall of the pipeline.

[0085] Combined with the above preferred implementation manner, the specific detection method of the pipeline detection device includes the following steps:

[0086] Step 1: Place a pair of triangular plates inside the pipeline. Under the driving action of the servo motor, the motor shaft of the servo motor drives the linkage gear to rotate synchronously. The linkage gear meshes to drive a pair of end face gears and a pair of hollow sleeves to rotate in a positive and negative manner. Under the limiting action formed by the positioning pin shaft and the spiral hole, drive the rotating shaft and the sliding rod to slide outward along the sliding hole, and the sliding rod drives the three-jaw chuck to translate outward synchronously;

[0087] Step 2: Under the limiting action formed by the limiting pin shaft and the elliptical pin hole, drive the L-shaped swing arm to swing outwardly hinged along the fixed plate, and synchronously drive the driven swing arm to swing outwardly hinged along the fixed plate. Since the L-shaped swing arm and the driven swing arm are distributed in parallel, under the hinged action of the L-shaped swing arm, the driven swing arm and the T-shaped connecting plate, drive the translation connecting plate and the side plate to translate outward, and drive the rubber track to abut against the inner wall of the pipeline;

[0088] Step 3: Driven by the dual-axis motor, the two motor shafts on the inner and outer sides of the dual-axis motor rotate synchronously, driving the limit gear and the crank swing arm to rotate synchronously. The limit gear forms a limiting effect with several fixed pin shafts, and drives the dual-axis motor and the frame-shaped slide plate to translate along the trajectory of the elliptical annular groove, driving the first U-shaped slide plate to slide along the connecting plate, driving the frame-shaped slide plate to slide along the second U-shaped slide plate, and further driving the crank swing arm and the detection probe to rotate in multiple directions;

[0089] Step 4: Driven by the hub motor, drive the rubber track to crawl along the inner wall of the pipeline, synchronously drive a pair of triangular plates to move inward along the inner wall of the pipeline, and at the same time perform high-precision detection operations on the inner wall of the pipeline through three detection probes, and transmit the detection data to the detection background.

[0090] The structure of the present invention is ingeniously designed and has various functions. Each part of the structure works together to ensure that the device can move stably in the pipeline and complete high-precision detection tasks. Through complex mechanical structures and precise transmission designs, stable movement and high-precision detection in the pipeline are achieved; each part of the structure works together to ensure that the device can adapt to pipelines with different diameters and shapes, and maintain stability and detection accuracy during movement. The design of this device fully considers the actual needs of pipeline detection and has high practicability and reliability.

[0091] The preferred specific embodiments of the present invention have been described in detail above. It should be understood that those of ordinary skill in the art can make many modifications and variations based on the concept of the present invention without creative work. Therefore, all technical solutions that can be obtained by those skilled in the art in the technical field of the present invention through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art shall fall within the protection scope determined by the claims.

Claims

1. A pipeline detection device, comprising a moving module and a detection module, characterized in that: The mobile module includes a mounting bracket and a triangular-structured mobile wheel group, the mobile wheel group is arranged at both ends of the mounting bracket, and a variable diameter mechanism is arranged inside the mounting bracket for adjusting the outer diameter of the mobile wheel group; The detection module comprises a plurality of detection components surrounded by a mounting bracket, wherein the detection components comprise a connecting plate (3), a second U-shaped slide plate (7), a dual-axis motor (10), a crank swing arm (11) and a detection probe (12); the second U-shaped slide plate (7) can be slidably engaged with the connecting plate (3) and is used to mount the dual-axis motor (10) on the connecting plate (3); an elliptical annular groove (4) is provided on the connecting plate (3); one end of the dual-axis motor (10) rotates along the elliptical annular groove (4) and drives the dual-axis motor (10) to move; one end of the crank swing arm (11) is connected to the detection probe (12), and the other end is connected to an end of the dual-axis motor (10) away from the connecting plate (3); when the dual-axis motor (10) moves along the elliptical annular groove (4), the crank swing arm (11) drives the detection probe (12) to rotate.

2. A pipeline detection device according to claim 1, characterized in that: A plurality of fixing pins (5) are fixed in the elliptical annular groove (4), and the fixing pins (5) are distributed at equal intervals along the long axis direction of the elliptical annular groove (4); One end of the dual-axis motor (10) close to the connecting plate (3) drives the limit gear (9), and the outer ring surface of the limit gear (9) is provided with a plurality of U-shaped notches that match the fixed pin shaft (5). The limit gear (9) engages the fixed pin shaft (5) through the U-shaped notches, and is used to drive the dual-axis motor (10) to move along the elliptical annular groove (4).

3. A pipeline detection device according to claim 1, characterized in that: The first U-shaped slide plates (6) are symmetrically arranged at both ends of the second U-shaped slide plate (7), the first U-shaped slide plate (6) is engaged with the two sides of the connecting plate (3), the dual-axis motor (10) is mounted on a frame-shaped slide plate (8) of an inverted T-shaped structure, the second U-shaped slide plate (7) is provided with an opening, and the frame-shaped slide plate (8) is engaged in the opening.

4. A pipeline detection device according to claim 1, characterized in that: The variable diameter mechanism comprises a driving assembly and a transmission assembly, wherein the transmission assembly comprises a fixed plate (25), a driven swing arm (25), an L-shaped swing arm (27) and a T-shaped connecting plate (29); The fixing plate (25) is vertically fixed to the end of the mounting bracket, the fixing plate (25) comprises a vertical mounting portion, the T-shaped connecting plate (29) comprises a connecting section and a mounting section which are perpendicular to each other, the vertical mounting portion, the driven swing arm (25), the L-shaped swing arm (27) and the connecting section are hinged in sequence and enclose a parallelogram-shaped transmission structure, the moving wheel set is fixed to the mounting section, the end of the L-shaped swing arm (27) away from the transmission structure is connected to a driving assembly, and the driving assembly is fixed to the mounting bracket and is used to adjust the shape of the transmission structure.

5. A pipeline detection device according to claim 4, characterized in that: The driving assembly comprises a servo motor (17), a hollow sleeve (15), a rotating shaft (21), a sliding rod (20) and a three-claw disc (23); The servo motor (17) is fixed on the mounting bracket, the hollow sleeve (15) and the slide bar (20) are rotatably fixed on the mounting bracket, one end of the slide bar (20) is connected to the rotating shaft (21), and the other end is connected to the three-claw disk (23), the hollow sleeve (15) is provided with a spiral hole (19), the rotating shaft (21) is provided with a positioning pin shaft (22), the hollow sleeve (15) is sleeved on the rotating shaft (21), and the positioning pin shaft (22) is inserted into the spiral hole (19), the servo motor (17) is driven to connect the hollow sleeve (15), and the three-claw disk (23) is connected to the L-shaped swing arm (27) for driving the slide bar (20) to slide along the axial direction.

6. A pipeline detection device according to claim 5, characterized in that: Hollow sleeves (15) are provided on both sides of the servo motor (17), respectively used to connect the moving wheel groups at the two ends of the mounting bracket; an end of the hollow sleeve (15) close to the servo motor (17) is provided with an end face gear (16); the output shaft of the servo motor (17) is connected to a linkage gear (18); the rotation center axis of the linkage gear (18) and the rotation center axis of the end face gear (16) are perpendicular to each other.

7. A pipeline detection device according to claim 5, characterized in that: The three-claw plate (23) is provided with a limit pin shaft (24); one end of the L-shaped swing arm (27) is hinged to the T-shaped connecting plate (29); the other end is provided with an elliptical pin hole (28); the corner of the L-shaped swing arm (27) is hinged to the fixed plate (25); the limit pin shaft (24) can be slidably inserted in the elliptical pin hole (28) to drive the L-shaped swing arm (27) to rotate.

8. A pipeline detection device according to claim 4, characterized in that: The installation section is provided with a translation connecting plate (30), a side plate (31), a hub motor (32), a driven track wheel (33) and a rubber chain belt (34); The translation connecting plate (30) is fixed on the mounting section, the side plates (31) are vertically fixed on both sides of the translation connecting plate (30), the driven track wheel (33) is sleeved on the hub motor (32), the hub motor (32) is fixed between the two side plates (31), at least two driven track wheels (33) are arranged between the side plates (31), the rubber chain belt (34) is synchronously connected to the driven track wheels (33), and the rubber chain belt (34) and the slide bar (20) are parallel to each other.

9. A pipeline detection device according to claim 1, characterized in that: The mounting bracket comprises two triangular plates (1) and three cross beams (2); the triangular plates (1) are symmetrically mounted at both ends of the cross beams (2), and the cross beams (2) are evenly distributed between the triangular plates (1).

10. A detection method based on a pipeline detection device according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1: Place the detection device in the pipeline, adjust the outer diameter of the moving wheel set by the variable diameter mechanism, and the moving wheel set abuts against the inner wall of the pipeline; S2: According to the shape and size of the pipeline, under the driving action of the dual-axis motor (10), the dual-axis motor (10) translates along the trajectory of the elliptical annular groove (4), and cooperates with the crank swing arm (11) to drive the detection probe (12) to rotate, thereby adjusting the position of the detection probe (12); S3: The moving component drives the detection device to move along the inner wall of the pipeline, and cooperates with the detection probe (12) to detect the inner wall of the pipeline.

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