Water conservancy project pipeline crack detection device

Abstract

The invention relates to the technical field of pipeline detection, in particular to a hydraulic engineering pipeline crack detection device which comprises a pipeline body, a maintenance pipe is communicated with the pipeline body, a detection vehicle is placed in the maintenance pipe and comprises a main shaft, walking assemblies are arranged at the two ends of the main shaft respectively, and a detection assembly is arranged in the middle of the main shaft in a sleeving mode and comprises a sleeve. The inner wall of the sleeve is rotationally connected with the peripheral wall of the spindle, two hollow fixing blocks are fixedly arranged on the peripheral wall of the sleeve, movable blocks are slidably connected into the hollow fixing blocks, and calibration wheels are rotationally connected to the ends, away from the sleeve, of the movable blocks. The ultrasonic sensor is used for detecting deep defects of the pipe wall, the eddy current sensor is used for recognizing cracks on the surface or near the surface of the metal pipeline, sensor data are combined to achieve crack multi-dimensional feature detection, it is ensured that the sensor and the pipe wall keep a stable detection distance, missed judgment or misjudgment is reduced, the accuracy of crack recognition is improved, and the reliability of detection data is improved. And the integrity of detection coverage is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline detection, and particularly to a crack detection device for pipelines in water conservancy projects. Background Technique

[0002] The crack detection of pipelines in water conservancy projects is a key technology for identifying, locating, and evaluating cracks in the inner walls and structural layers of water conveyance and drainage pipelines through professional equipment. Its core function is to ensure the structural integrity of pipelines, prevent accidents such as water leakage, seepage, and even pipeline rupture caused by cracks, and is of great significance for the utilization of water resources, urban flood control and drainage, and industrial water conveyance safety;

[0003] After retrieval, the Chinese patent with the publication number CN221377912U provides a crack detection device for pipelines in water conservancy projects. By the cooperation between the connecting piece and the installation sleeve rod, the device adapts to different bending angles and bending directions inside the pipeline, so that the detection head can detect pipelines with complex shapes, improving the adaptability of the detection head for detection;

[0004] However, it is found in the use process that the layout and spacing adjustment of the sensors of the detection device rely on mechanical structure adaptation, and the adaptability to different pipe diameters and inner wall deformations is poor. It is easy to cause the detection distance of non-contact sensors to be difficult to maintain, affecting the reliability of detection data. Single detection means are difficult to take into account both the surface characteristics and deep properties of cracks, especially the recognition ability of hidden defects in micro-cracks of concrete pipelines or welds of metal pipelines is insufficient, which is easy to cause missed judgments or misjudgments, affecting the accuracy of pipeline crack detection. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the present invention provides a crack detection device for pipelines in water conservancy projects. The sleeve of the detection component rotates around the main shaft, driving the hollow fixed block, movable block, and mounting plate fixedly arranged on the outer peripheral wall of the sleeve to rotate synchronously, so that the laser displacement sensor, ultrasonic sensor, and eddy current sensor complete the circumferential scanning of the inner wall of the pipeline. The ultrasonic sensor detects deep defects in the pipe wall, and the eddy current sensor identifies cracks on the surface or near the surface of the metal pipeline. The combination of sensor data realizes multi-dimensional feature detection of cracks; ensuring a stable detection distance between sensors such as lasers and ultrasounds and the pipe wall, reducing missed judgments or misjudgments, improving the accuracy of crack recognition, enhancing the reliability of detection data, and improving the integrity of detection coverage.

[0006] To solve the above technical problems, the present invention provides the following technical solution: A crack detection device for pipelines in water conservancy projects, including a pipeline body, a maintenance pipe is connected to the pipeline body, a detection vehicle is placed inside the maintenance pipe, the detection vehicle includes a main shaft, walking components are respectively arranged at both ends of the main shaft, and a detection component is sleeved in the middle of the main shaft;

[0007] The detection component includes a sleeve. The inner wall of the sleeve is rotatably connected to the outer peripheral wall of the main shaft. Two hollow fixing blocks are fixedly arranged on the outer peripheral wall of the sleeve. An active block is slidably connected inside the hollow fixing block. One end of the active block away from the sleeve is rotatably connected to a calibration wheel. Two mounting plates are fixedly arranged on the active block. A plurality of through slots are formed in the mounting plates. Sliders are slidably connected inside the through slots. Mounting seats are respectively fixedly arranged on the top surfaces of the plurality of sliders. A laser displacement sensor, an ultrasonic sensor, and an eddy current sensor are respectively mounted on the mounting seats.

[0008] Preferably, a sealing block is rotatably connected to the top surface of the inspection pipe. Two fastening pieces are inserted into the sealing block through through holes. The threaded ends of the two fastening pieces are threadedly connected to the upper end of the inspection pipe.

[0009] Through the above technical solution, after separating the fastening piece from the inspection pipe by rotation, the sealing block is rotated along the inspection pipe to be opened, and the inspection vehicle is placed into the interior of the pipe body through the inspection pipe.

[0010] Preferably, the traveling component includes a rotating rod. The rotating rod is located inside the main shaft. The outer peripheral wall of the rotating rod is rotatably connected to the main shaft. A first servo motor is mounted on the side wall of one end of the main shaft. The output shaft of the first servo motor is coaxially connected to the rotating rod. Two first gears are fixedly arranged on the outer peripheral wall of the rotating rod.

[0011] Preferably, two rotating sleeves are rotatably connected to the outer peripheral wall of the main shaft. A circular tooth groove is formed in the inner wall of the rotating sleeve. The upper end of the first gear is meshed with the circular tooth groove. A plurality of arc-shaped blocks are rotatably connected to the rotating sleeve in an annular array structure.

[0012] Through the above technical solution, the first servo motor drives the rotating rod to rotate, driving the first gear fixedly arranged on the rotating rod to rotate. Through the meshing of the first gear and the circular tooth groove, the rotating sleeve rotates along the outer peripheral wall of the main shaft.

[0013] Preferably, a plurality of connecting blocks are respectively fixedly arranged on the outer peripheral walls of both ends of the main shaft. The connecting blocks are in an annular array structure. A limiting groove is formed in the connecting block. An adjusting block is slidably connected inside the limiting groove. One end of the arc-shaped block away from the rotating sleeve is rotatably connected to a cylinder. The cylinder is fixedly connected to the adjusting block. Two supporting blocks are fixedly connected to the adjusting block. A traveling wheel is arranged between the two supporting blocks. A round shaft is fixedly arranged in the middle of the traveling wheel. The outer peripheral walls of both ends of the round shaft are respectively rotatably connected to the two supporting blocks.

[0014] Through the above technical solution, the arc-shaped block swings as the rotating sleeve rotates, pushing the adjusting block to slide in the limiting groove of the connecting block, thereby changing the radial position of the traveling wheel, adapting to the inner walls of pipe bodies with different diameters, and reducing the detection blind area.

[0015] Preferably, a second servo motor is installed on one of the support blocks. A worm is coaxially connected to the output shaft of the second servo motor. A worm gear is meshed with the worm. The outer peripheral wall of one of the round shafts is fixedly connected to the middle part of the worm gear.

[0016] Through the above technical solution, the worm gear drives the corresponding round shaft to rotate, driving the traveling wheel to rotate, so as to realize the axial movement of the detection vehicle along the pipeline body.

[0017] Preferably, a third servo motor is installed on the outer peripheral wall of the sleeve. A second gear is sleeved on the output shaft of the third servo motor. A toothed ring is fixedly connected to the outer peripheral wall of the main shaft. The second gear is meshed with the toothed ring.

[0018] Through the above technical solution, the output shaft of the third servo motor drives the second gear to rotate. Through the meshing transmission between the second gear and the toothed ring fixedly arranged on the outer peripheral wall of the main shaft, the sleeve is driven to make a circumferential rotational movement around the main shaft.

[0019] Preferably, an electric push rod is installed on the outer peripheral wall of the hollow fixed block. The piston rod of the electric push rod is fixedly connected to the movable block. A plurality of triangular blocks are fixedly connected between the movable block and the mounting plate. A plurality of mounting holes are provided on the corresponding mounting seat, and the aperture sizes of the mounting holes are not unique.

[0020] Through the above technical solution, the multi-sized mounting holes on the mounting seat facilitate the installation or replacement of sensors of different models and sizes, adapting to the detection requirements of pipelines of different materials such as concrete and metal.

[0021] Preferably, a lead screw is arranged inside the through groove. The two ends of the outer peripheral wall of the lead screw are respectively rotationally connected to the mounting plate. The slider is threadedly connected to the lead screw. A positioning disk is sleeved on the outer peripheral wall of one end of the lead screw. A rocker is fixedly arranged at the outer edge of the outer wall of the positioning disk. A plurality of card slots are arranged in an annular array structure on the outer peripheral wall of the positioning disk.

[0022] Through the above technical solution, through the threaded transmission between the lead screw and the slider, the slider slides in the through groove along the axial direction of the lead screw, realizing the position adjustment of the mounting seat, and facilitating the adjustment of the appropriate distance from the pipe wall according to the type of the sensor.

[0023] Preferably, two moving blocks are respectively arranged at both ends of the positioning disk. An insertion rod is fixedly connected to the moving block. The insertion rod is in snap-fit connection with the card slot. A positioning ring is sleeved on the outer peripheral wall of the moving block. The outer peripheral wall of the moving block is slidably connected to the inner wall of the positioning ring. A partition block is arranged between the two moving blocks. The partition block and the positioning ring are respectively fixedly connected to the mounting plate. Two tension springs are respectively fixedly connected to the outer wall of the partition block. The other end of the tension spring is fixedly connected to the moving block.

[0024] Through the above technical solution, the pull spring drives the insertion rod to slide along the positioning ring until the insertion rod is clamped with the corresponding card slot, locking the position of the lead screw after rotation, reducing the displacement of each sensor during crack detection.

[0025] Beneficial effects of the present invention:

[0026] The sleeve of the detection component rotates around the main shaft, driving the hollow fixed block, the movable block and the mounting plate fixedly arranged on the outer peripheral wall of the sleeve to rotate synchronously, so that the laser displacement sensor, the ultrasonic sensor and the eddy current sensor complete the circumferential scanning of the inner wall of the pipeline. The ultrasonic sensor detects deep defects in the pipe wall, and the eddy current sensor identifies cracks on the surface or near the surface of the metal pipeline. The combination of sensor data realizes multi-dimensional feature detection of cracks; ensuring a stable detection distance between sensors such as lasers and ultrasonic waves and the pipe wall, reducing missed judgments or false judgments, improving the accuracy of crack identification, enhancing the reliability of detection data, and improving the integrity of detection coverage. Description of the drawings

[0027] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 It is a schematic diagram of the internal structure of the maintenance pipe of the present invention;

[0029] Figure 3 It is a schematic diagram of the structure of the walking component of the present invention;

[0030] Figure 4 It is a schematic diagram of the structure of the arc-shaped block of the present invention;

[0031] Figure 5 It is a schematic diagram of the structure of the worm gear of the present invention;

[0032] Figure 6 It is a schematic diagram of the structure of the detection component of the present invention;

[0033] Figure 7 It is a schematic diagram of the structure of the mounting plate of the present invention;

[0034] Figure 8 It is a schematic diagram of the structure of the positioning disk of the present invention.

[0035] In the figure: 100, pipeline body; 200, maintenance pipe; 201, sealing block; 202, fastener;

[0036] 300, inspection vehicle; 301, main shaft;

[0037] 400, Traveling assembly; 401, Rotating rod; 402, First servo motor; 403, First gear; 404, Rotating sleeve; 405, Circular tooth groove; 406, Arc-shaped block; 407, Connecting block; 408, Limiting groove; 409, Adjusting block; 410, Support block; 411, Traveling wheel; 412, Round shaft; 413, Cylinder; 414, Worm; 415, Worm gear; 416, Second servo motor;

[0038] 500, Detection assembly; 501, Sleeve; 502, Hollow fixed block; 503, Movable block; 504, Calibration wheel; 505, Mounting plate; 506, Through groove; 507, Slide block; 508, Mounting seat; 509, Laser displacement sensor; 510, Ultrasonic sensor; 511, Eddy current sensor; 512, Third servo motor; 513, Second gear; 514, Tooth ring; 515, Triangular block; 516, Mounting hole; 517, Lead screw; 518, Positioning disk; 519, Rocker; 520, Card slot; 521, Moving block; 522, Insert rod; 523, Positioning ring; 524, Partition block; 525, Tension spring; 526, Electric push rod. Detailed implementation mode

[0039] To make the above objects, features and advantages of the present invention more obvious and understandable, the following will give a detailed description of the specific implementation mode of the present invention in conjunction with the drawings of the specification.

[0040] Example 1: As Figures 1 to 7 shown, this embodiment provides a crack detection device for a water conservancy project pipeline, including a pipeline body 100. A maintenance pipe 200 is connected to the pipeline body 100. A detection vehicle 300 is placed inside the maintenance pipe 200. The detection vehicle 300 includes a main shaft 301. Traveling assemblies 400 are respectively provided at both ends of the main shaft 301, and a detection assembly 500 is sleeved in the middle of the main shaft 301;

[0041] The detection assembly 500 includes a sleeve 501. The inner wall of the sleeve 501 is rotationally connected to the outer peripheral wall of the main shaft 301. Two hollow fixed blocks 502 are fixedly provided on the outer peripheral wall of the sleeve 501. A movable block 503 is slidably connected inside the hollow fixed block 502. One end of the movable block 503 away from the sleeve 501 is rotationally connected to a calibration wheel 504. Two mounting plates 505 are fixedly provided on the movable block 503. A plurality of through grooves 506 are opened on the mounting plates 505. Slide blocks 507 are slidably connected inside the through grooves 506. Mounting seats 508 are respectively fixedly provided on the top surfaces of the plurality of slide blocks 507. A laser displacement sensor 509, an ultrasonic sensor 510 and an eddy current sensor 511 are respectively installed on the mounting seats 508.

[0042] A sealing block 201 is rotatably connected to the top surface of the maintenance pipe 200. Two fasteners 202 are inserted into the sealing block 201 through through holes, and the threaded ends of the two fasteners 202 are threadedly connected to the upper end of the maintenance pipe 200. After separating the fasteners 202 from the maintenance pipe 200 by rotation, the sealing block 201 is rotated and opened along the maintenance pipe 200, and the inspection vehicle 300 is placed into the pipeline body 100 through the maintenance pipe 200.

[0043] The traveling assembly 400 includes a rotating rod 401. The rotating rod 401 is located inside the main shaft 301. The outer peripheral wall of the rotating rod 401 is rotatably connected to the main shaft 301. A first servo motor 402 is installed on the side wall of one end of the main shaft 301. The output shaft of the first servo motor 402 is coaxially connected to the rotating rod 401. Two first gears 403 are fixedly provided on the outer peripheral wall of the rotating rod 401. Two rotating sleeves 404 are rotatably connected to the outer peripheral wall of the main shaft 301. A circular tooth groove 405 is formed in the inner wall of the rotating sleeve 404. The upper ends of the first gears 403 are meshed with the circular tooth groove 405. A plurality of arc-shaped blocks 406 are rotatably connected to the rotating sleeve 404 in an annular array structure. By driving the rotating rod 401 to rotate through the first servo motor 402, the first gears 403 fixedly provided on the rotating rod 401 are driven to rotate. Through the meshing of the first gears 403 with the circular tooth groove 405, the rotating sleeve 404 is rotated along the outer peripheral wall of the main shaft 301.

[0044] A plurality of connecting blocks 407 are respectively fixedly provided on the outer peripheral walls of both ends of the main shaft 301. The connecting blocks 407 are arranged in an annular array structure. A limiting groove 408 is formed in the connecting block 407. An adjusting block 409 is slidably connected inside the limiting groove 408. One end of the arc-shaped block 406 away from the rotating sleeve 404 is rotatably connected to a cylinder 413. The cylinder 413 is fixedly connected to the adjusting block 409. Two supporting blocks 410 are fixedly connected to the adjusting block 409. A traveling wheel 411 is provided between the two supporting blocks 410. A round shaft 412 is fixedly provided in the middle of the traveling wheel 411. The outer peripheral walls of both ends of the round shaft 412 are respectively rotatably connected to the two supporting blocks 410. The arc-shaped block 406 swings as the rotating sleeve 404 rotates, pushing the adjusting block 409 to slide in the limiting groove 408 of the connecting block 407, thereby changing the radial position of the traveling wheel 411, adapting to the inner walls of the pipeline body 100 with different pipe diameters, and reducing the detection blind area.

[0045] A second servo motor 416 is installed on one of the supporting blocks 410. A worm 414 is coaxially connected to the output shaft of the second servo motor 416. A worm gear 415 is meshed with the worm 414. The outer peripheral wall of one of the round shafts 412 is fixedly connected to the middle of the worm gear 415. The worm gear 415 drives the corresponding round shaft 412 to rotate, driving the traveling wheel 411 to rotate, and realizing the axial movement of the inspection vehicle 300 along the pipeline body 100.

[0046] Before detecting the pipeline crack, the inspection vehicle 300 is placed inside the pipeline body 100 through the inspection pipe 200. The walking components 400 at both ends of the main shaft 301 of the inspection vehicle 300 are supported on the inner wall of the pipeline body 100, and the inspection vehicle 300 is driven to move axially along the pipeline body 100 to achieve long-distance detection coverage. The sleeve 501 of the detection component 500 rotates around the main shaft 301, driving the hollow fixed block 502, the movable block 503 and the mounting plate 505 fixed on the outer peripheral wall of the sleeve 501 to rotate synchronously, so that the laser displacement sensor 509, the ultrasonic sensor 510 and the eddy current sensor 511 complete a 360° circumferential scan of the inner wall of the pipeline.

[0047] The movable block 503 slides inside the hollow fixed block 502, contacts the pipe wall of the pipeline body 100 through the calibration wheel 504 to feedback the change of the pipe diameter, and drives the slider 507 to slide along the mounting plate 505 through the through groove 506 to adjust the position, realizing the calibration of the distance between the sensor and the pipe wall. The laser displacement sensor 509 obtains the surface width and deformation data of the crack, the ultrasonic sensor 510 detects the deep defects of the pipe wall, and the eddy current sensor 511 identifies the cracks on the surface or near the surface of the metal pipeline. The combination of sensor data realizes the multi-dimensional feature detection of the crack. Ensuring a stable detection distance between sensors such as lasers and ultrasonic waves and the pipe wall reduces missed or misjudged cases, improves the accuracy of crack identification, enhances the reliability of detection data, and improves the integrity of detection coverage.

[0048] After separating from the inspection pipe 200 through the rotating fastener 202, the rotating seal block 201 is rotated along the inspection pipe 200 to open. After the inspection vehicle 300 is placed inside the pipeline body 100 through the inspection pipe 200, the first servo motor 402 drives the rotating rod 401 to rotate, driving the first gear 403 fixed on the rotating rod 401 to rotate. Through the meshing of the first gear 403 and the circular tooth groove 405, the rotating sleeve 404 rotates along the outer peripheral wall of the main shaft 301. The arc-shaped block 406 swings as the rotating sleeve 404 rotates, pushing the adjusting block 409 to slide in the limiting groove 408 of the connecting block 407, thereby changing the radial position of the walking wheel 411, adapting to the inner wall of the pipeline body 100 with different pipe diameters, and reducing the detection blind area.

[0049] The second servo motor 416 drives the worm 414 to rotate, causing the worm 414 to drive the worm gear 415 to rotate through meshing. The worm gear 415 drives the corresponding round shaft 412 to rotate, driving the walking wheel 411 to rotate, realizing the axial movement of the inspection vehicle 300 along the pipeline body 100. The self-locking characteristics of the worm 414 and the worm gear 415 ensure the stable docking of the walking wheel 411, improve the passing performance and stability of walking, and provide favorable conditions for pipeline crack detection.

[0050] Embodiment 2: As Figure 1 , Figure 2 , Figure 6 , Figure 7and Figure 8 As shown in Figure 8 , this embodiment is based on the previous embodiment. The difference from the previous embodiment is that a third servo motor 512 is installed on the outer peripheral wall of the sleeve 501. A second gear 513 is sleeved on the output shaft of the third servo motor 512. A toothed ring 514 is fixedly connected to the outer peripheral wall of the main shaft 301. The second gear 513 is meshed with the toothed ring 514. The output shaft of the third servo motor 512 drives the second gear 513 to rotate. Through the meshing transmission between the second gear 513 and the toothed ring 514 fixedly connected to the outer peripheral wall of the main shaft 301, the sleeve 501 is driven to rotate circumferentially around the main shaft 301.

[0051] An electric push rod 526 is installed on the outer peripheral wall of the hollow fixed block 502. The piston rod of the electric push rod 526 is fixedly connected to the movable block 503. A plurality of triangular blocks 515 are fixedly connected between the movable block 503 and the mounting plate 505. Corresponding mounting holes 516 are formed on the mounting seat 508. The aperture sizes of the mounting holes 516 are not unique. The multi-size mounting holes 516 on the mounting seat 508 facilitate the installation or replacement of sensors of different models and sizes, and adapt to the detection requirements of pipes of different materials such as concrete and metal.

[0052] During detection, the output shaft of the third servo motor 512 drives the second gear 513 to rotate. Through the meshing transmission between the second gear 513 and the toothed ring 514 fixedly connected to the outer peripheral wall of the main shaft 301, the sleeve 501 is driven to rotate circumferentially around the main shaft 301. When the sleeve 501 rotates, it drives the hollow fixed block 502, the movable block 503 and the mounting plate 505 to rotate synchronously, so that the laser displacement sensor 509, the ultrasonic sensor 510 and the eddy current sensor 511 complete a 360° full circumferential scan of the inner wall of the pipeline, realizing blind area-free detection, ensuring that the sensors scan the inner wall of the pipeline body 100 at a stable speed, and improving the accuracy of crack detection.

[0053] When the piston rod of the electric push rod 526 expands and contracts, it pushes the movable block 503 to slide radially in the hollow fixed block 502, and drives the mounting plate 505 to move synchronously through the movable block 503, thereby adjusting the distance between the laser displacement sensor 509, the ultrasonic sensor 510, the eddy current sensor 511 and the inner wall of the pipeline body 100. The triangular blocks 515 strengthen the connection between the movable block 503 and the mounting plate 505, improve the structural stiffness during the adjustment process, and reduce the position deviation of the sensors caused by vibration.

[0054] The multi-size mounting holes 516 on the mounting seat 508 facilitate the installation or replacement of sensors of different models and sizes, and adapt to the detection requirements of pipes of different materials such as concrete and metal.

[0055] Embodiment 3: As Figure 2 , Figure 6 , Figure 7 and Figure 8As shown in the figure, this embodiment is based on the previous embodiment. The difference from the previous embodiment is that a lead screw 517 is provided inside the through groove 506. The outer peripheral walls of both ends of the lead screw 517 are respectively rotatably connected to the mounting plate 505. The slider 507 is threadedly connected to the lead screw 517. A positioning disk 518 is sleeved on the outer peripheral wall of one end of the lead screw 517. A rocker 519 is fixedly provided at the outer edge of the outer wall of the positioning disk 518. A plurality of card slots 520 are formed in an annular array structure on the outer peripheral wall of the positioning disk 518. Through the threaded transmission between the lead screw 517 and the slider 507, the slider 507 slides in the through groove 506 along the axis direction of the lead screw 517, realizing the position adjustment of the mounting seat 508, and facilitating the adjustment of the appropriate distance from the pipe wall according to the type of sensor.

[0056] Two moving blocks 521 are respectively provided at both ends of the positioning disk 518. A plug rod 522 is fixedly connected to the moving block 521. The plug rod 522 is in snap-fit connection with the card slot 520. A positioning ring 523 is sleeved on the outer peripheral wall of the moving block 521. The outer peripheral wall of the moving block 521 is slidably connected to the inner wall of the positioning ring 523. A partition block 524 is provided between the two moving blocks 521. The partition block 524 and the positioning ring 523 are respectively fixedly connected to the mounting plate 505. Two tension springs 525 are respectively fixedly connected to the outer wall of the partition block 524. The other end of the tension spring 525 is fixedly connected to the moving block 521. By driving the plug rod 522 to slide along the positioning ring 523 through the tension spring 525 until the plug rod 522 is in snap-fit connection with the corresponding card slot 520, the position after the rotation of the lead screw 517 is locked, reducing the occurrence of displacement of each sensor during crack detection.

[0057] During use, rotate the rocker 519 to drive the positioning disk 518 and the coaxially connected lead screw 517 to rotate synchronously. Through the threaded transmission between the lead screw 517 and the slider 507, the slider 507 slides in the through groove 506 along the axis direction of the lead screw 517, realizing the position adjustment of the mounting seat 508, and facilitating the adjustment of the appropriate distance from the pipe wall according to the type of sensor;

[0058] When the slider 507 moves, the plug rod 522 is squeezed by the positioning disk 518 to stretch the tension spring 525, and the plug rod 522 disengages from the current card slot 520. After rotating the rocker 519 to adjust the lead screw 517 to the appropriate position, drive the plug rod 522 to slide along the positioning ring 523 through the tension spring 525 until the plug rod 522 is in snap-fit connection with the corresponding card slot 520, locking the position after the rotation of the lead screw 517, reducing the occurrence of displacement of each sensor during crack detection; the tension spring 525 exerts a pulling force on the moving block 521 to ensure that the plug rod 522 is in snap-fit connection with the card slot 520, preventing the lead screw 517 from rotating self or the slider 507 from sliding due to the vibration of the detection vehicle 300 when walking.

[0059] Working principle:

[0060] Before detecting the pipeline crack, the inspection vehicle 300 is placed inside the pipeline body 100 through the inspection pipe 200. Both ends of the main shaft 301 of the inspection vehicle 300 are supported by the traveling components 400 on the inner wall of the pipeline body 100. The inspection vehicle 300 is driven to move axially along the pipeline body 100 to achieve long-distance detection coverage. The sleeve 501 of the detection component 500 rotates around the main shaft 301, driving the hollow fixed block 502, the movable block 503 and the mounting plate 505 fixed on the outer peripheral wall of the sleeve 501 to rotate synchronously, so that the laser displacement sensor 509, the ultrasonic sensor 510 and the eddy current sensor 511 complete a 360° circumferential scan of the inner wall of the pipeline.

[0061] The movable block 503 slides inside the hollow fixed block 502, contacts the pipe wall of the pipeline body 100 through the calibration wheel 504 to feedback the change of the pipe diameter, drives the slider 507 to slide along the mounting plate 505 through the through groove 506 to adjust the position, realizes the calibration of the distance between the sensor and the pipe wall, the laser displacement sensor 509 obtains the surface width and deformation data of the crack, the ultrasonic sensor 510 detects the deep defects of the pipe wall, and the eddy current sensor 511 identifies the cracks on the surface or near the surface of the metal pipeline. The combination of sensor data realizes the multi-dimensional feature detection of the crack; ensuring that sensors such as lasers and ultrasounds maintain a stable detection distance from the pipe wall, reducing missed or misjudged cases, improving the accuracy of crack identification, enhancing the reliability of detection data, and improving the integrity of detection coverage.

[0062] After being separated from the inspection pipe 200 through the rotary fastener 202, the sealing block 201 is rotated along the inspection pipe 200 to open. After the inspection vehicle 300 is placed inside the pipeline body 100 through the inspection pipe 200, the first servo motor 402 drives the rotating rod 401 to rotate, driving the first gear 403 fixed on the rotating rod 401 to rotate. Through the meshing of the first gear 403 with the circular tooth groove 405, the rotating sleeve 404 rotates along the outer peripheral wall of the main shaft 301; the arc-shaped block 406 swings as the rotating sleeve 404 rotates, pushing the adjusting block 409 to slide in the limiting groove 408 of the connecting block 407, thereby changing the radial position of the traveling wheel 411, adapting to the inner wall of the pipeline body 100 with different pipe diameters, and reducing the detection blind area.

[0063] The second servo motor 416 drives the worm 414 to rotate, so that the worm 414 is meshed and transmitted to the worm gear 415 to rotate. The worm gear 415 drives the corresponding round shaft 412 to rotate, driving the traveling wheel 411 to rotate, realizing the axial movement of the inspection vehicle 300 along the pipeline body 100. The self-locking characteristics of the worm 414 and the worm gear 415 ensure the stable docking of the traveling wheel 411, improve the passing performance and stability of the travel, and provide favorable conditions for the detection of pipeline cracks.

[0064] During detection, the output shaft of the third servo motor 512 drives the second gear 513 to rotate. Through the meshing transmission between the second gear 513 and the fixed gear ring 514 on the outer peripheral wall of the main shaft 301, the sleeve 501 is driven to rotate circumferentially around the main shaft 301. When the sleeve 501 rotates, it drives the hollow fixed block 502, the movable block 503 and the mounting plate 505 to rotate synchronously, so that the laser displacement sensor 509, the ultrasonic sensor 510 and the eddy current sensor 511 complete a 360° full circumferential scan of the inner wall of the pipeline, realizing blind area-free detection, ensuring that the sensors scan the inner wall of the pipeline body 100 at a stable speed, and improving the accuracy of crack detection.

[0065] When the piston rod of the electric push rod 526 expands and contracts, it pushes the movable block 503 to slide radially in the hollow fixed block 502. The movable block 503 drives the mounting plate 505 to move synchronously, thereby adjusting the distances between the laser displacement sensor 509, the ultrasonic sensor 510, the eddy current sensor 511 and the inner wall of the pipeline body 100. The triangular block 515 strengthens the connection between the movable block 503 and the mounting plate 505, improves the structural stiffness during the adjustment process, and reduces the displacement of the sensor position caused by vibration.

[0066] The multi-size mounting holes 516 on the mounting seat 508 facilitate the installation or replacement of sensors of different models and sizes, and adapt to the detection requirements of pipelines of different materials such as concrete and metal.

[0067] During use, rotate the rocker 519, which drives the positioning disk 518 and the coaxially connected lead screw 517 to rotate synchronously. Through the threaded transmission between the lead screw 517 and the slider 507, the slider 507 slides along the axis direction of the lead screw 517 in the through groove 506, realizing the position adjustment of the mounting seat 508, and facilitating the adjustment of the appropriate distance from the pipe wall according to the type of sensor.

[0068] When the slider 507 moves, the plug rod 522 is squeezed by the positioning disk 518, causing the tension spring 525 to be stretched. The plug rod 522 disengages from the current card slot 520. After rotating the rocker 519 to adjust the lead screw 517 to the appropriate position, the plug rod 522 is driven by the tension spring 525 to slide along the positioning ring 523 until the plug rod 522 is engaged with the corresponding card slot 520, locking the position of the lead screw 517 after rotation, and reducing the displacement of each sensor during crack detection. The tension spring 525 exerts a pulling force on the moving block 521 to ensure that the plug rod 522 is engaged with the card slot 520, preventing the lead screw 517 from rotating or the slider 507 from sliding due to the vibration of the detection vehicle 300 during walking.

[0069] 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 person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A crack detection device for a water conservancy project pipeline, characterized in that, Comprising: A pipe body (100), an inspection pipe (200) is connected to the pipe body (100), a detection vehicle (300) is placed inside the inspection pipe (200), the detection vehicle (300) includes a main shaft (301), walking components (400) are respectively arranged at both ends of the main shaft (301), and a detection component (500) is sleeved in the middle of the main shaft (301); The detection component (500) includes a sleeve (501), the inner wall of the sleeve (501) is rotationally connected to the outer peripheral wall of the main shaft (301), two hollow fixing blocks (502) are fixedly arranged on the outer peripheral wall of the sleeve (501), a movable block (503) is slidably connected inside the hollow fixing block (502), one end of the movable block (503) far away from the sleeve (501) is rotationally connected to a calibration wheel (504), two mounting plates (505) are fixedly arranged on the movable block (503), a plurality of through slots (506) are formed in the mounting plates (505), sliders (507) are slidably connected inside the through slots (506), mounting seats (508) are respectively fixedly arranged on the top surfaces of the plurality of sliders (507), and a laser displacement sensor (509), an ultrasonic sensor (510) and an eddy current sensor (511) are respectively mounted on the mounting seats (508).

2. The crack detection device for water conservancy project pipelines according to claim 1, characterized in that: A sealing block (201) is rotationally connected to the top surface of the inspection pipe (200), two fasteners (202) are inserted into the sealing block (201) through through holes, and the threaded ends of the two fasteners (202) are threadedly connected to the upper end of the inspection pipe (200).

3. The crack detection device for water conservancy project pipelines according to claim 1, characterized in that: The walking component (400) includes a rotating rod (401), the rotating rod (401) is located inside the main shaft (301), the outer peripheral wall of the rotating rod (401) is rotationally connected to the main shaft (301), a first servo motor (402) is installed on the side wall of one end of the main shaft (301), the output shaft of the first servo motor (402) is coaxially connected to the rotating rod (401), and two first gears (403) are fixedly arranged on the outer peripheral wall of the rotating rod (401).

4. The water conservancy project pipeline crack detection device according to claim 3, characterized in that: Two rotating sleeves (404) are rotationally connected to the outer peripheral wall of the main shaft (301), a circular tooth groove (405) is formed in the inner wall of the rotating sleeve (404), the upper ends of the first gears (403) are meshed with the circular tooth groove (405), and a plurality of arc-shaped blocks (406) are rotationally connected to the rotating sleeve (404) in an annular array structure.

5. The crack detection device for the water conservancy project pipeline according to claim 4, wherein: A plurality of connecting blocks (407) are fixedly provided on the outer peripheral walls at both ends of the main shaft (301). The connecting blocks (407) are arranged in an annular array structure. A limiting groove (408) is formed in the connecting block (407). An adjusting block (409) is slidably connected inside the limiting groove (408). One end of the arc-shaped block (406) away from the rotating sleeve (404) is rotatably connected to a cylinder (413). The cylinder (413) is fixedly connected to the adjusting block (409). Two supporting blocks (410) are fixedly connected to the adjusting block (409). A traveling wheel (411) is arranged between the two supporting blocks (410). A round shaft (412) is fixedly provided in the middle of the traveling wheel (411). The outer peripheral walls at both ends of the round shaft (412) are respectively rotatably connected to the two supporting blocks (410).

6. The crack detection device for a water conservancy project pipeline according to claim 5, characterized in that: A second servo motor (416) is installed on one of the supporting blocks (410). A worm (414) is coaxially connected to the output shaft of the second servo motor (416). A worm gear (415) is meshed with the worm (414). The outer peripheral wall of one of the round shafts (412) is fixedly connected to the middle of the worm gear (415).

7. The crack detection device for water conservancy project pipelines according to claim 6, characterized in that: A third servo motor (512) is installed on the outer peripheral wall of the sleeve (501). A second gear (513) is sleeved on the output shaft of the third servo motor (512). A toothed ring (514) is fixedly connected to the outer peripheral wall of the main shaft (301). The second gear (513) is meshed with the toothed ring (514).

8. The crack detection device for water conservancy project pipelines according to claim 7, characterized in that: An electric push rod (526) is installed on the outer peripheral wall of the hollow fixed block (502). The piston rod of the electric push rod (526) is fixedly connected to the movable block (503). A plurality of triangular blocks (515) are fixedly connected between the movable block (503) and the mounting plate (505). A plurality of mounting holes (516) are formed in the corresponding mounting seat (508). The aperture sizes of the mounting holes (516) are not unique.

9. The crack detection device for water conservancy project pipelines according to claim 8, characterized in that: A lead screw (517) is arranged inside the through groove (506). The outer peripheral walls at both ends of the lead screw (517) are respectively rotatably connected to the mounting plate (505). The slider (507) is threadedly connected to the lead screw (517). A positioning disk (518) is sleeved on the outer peripheral wall of one end of the lead screw (517). A rocker (519) is fixedly provided at the outer edge of the outer wall of the positioning disk (518). A plurality of card slots (520) are formed in an annular array structure on the outer peripheral wall of the positioning disk (518).

10. The crack detection device for the water conservancy project pipeline according to claim 9, characterized in that: Two moving blocks (521) are respectively arranged at both ends of the positioning disk (518). A plug rod (522) is fixedly connected to the moving block (521). The plug rod (522) is in clamping fit with a clamping groove (520). A positioning ring (523) is sleeved on the outer peripheral wall of the moving block (521). The outer peripheral wall of the moving block (521) is slidably connected with the inner wall of the positioning ring (523). A partition block (524) is arranged between the two moving blocks (521). The partition block (524) and the positioning ring (523) are respectively fixedly connected to a mounting plate (505). Two tension springs (525) are respectively fixedly connected to the outer wall of the partition block (524). The other ends of the tension springs (525) are fixedly connected to the moving block (521).

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