A water conservancy project pipeline crack detection device

Abstract

The present invention relates to the field of pipeline detection technology, in particular to a water conservancy project pipeline crack detection device, comprising a pipeline body, a maintenance pipe connected to the pipeline body, a detection vehicle placed inside the maintenance pipe, the detection vehicle comprising a main shaft, a walking assembly provided at each end of the main shaft, a detection assembly sleeved on the middle of the main shaft, the detection assembly comprising a casing, the inner wall of the casing being rotatably connected to the outer peripheral wall of the main shaft, two hollow fixed blocks fixed on the outer peripheral wall of the casing, a movable block slidably connected inside the hollow fixed block, and a calibration wheel rotatably connected to the end of the movable block away from the casing. Ultrasonic sensors are used to detect deep defects in the pipe wall, eddy current sensors are used to identify surface or near-surface cracks in metal pipes, and sensor data are combined to realize multi-dimensional feature detection of cracks, ensuring that the sensor maintains a stable detection distance with the pipe wall, reducing missed or misjudgment, improving the accuracy of crack identification, enhancing the reliability of detection data, and improving the integrity of detection coverage.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline detection, in particular to a device for detecting cracks in water conservancy project pipelines. Background Art

[0002] Crack detection in water conservancy pipelines is a key technology that uses specialized equipment to identify, locate, and evaluate cracks in the inner walls and structural layers of water supply and drainage pipelines. Its core function is to ensure the integrity of pipeline structures and prevent leaks, seepage, and even pipeline ruptures caused by cracks. It is of great significance to the utilization of water resources, urban flood control and drainage, and industrial water supply safety.

[0003] A search revealed a Chinese patent with publication number CN221377912U, which provides a hydraulic pipeline crack detection device. The device adapts to different bend angles and directions within the pipeline through the cooperation between a connector and a mounting rod. This allows the detection head to detect pipelines with complex shapes, improving the head's adaptability.

[0004] However, during use, it was found that the sensor layout and spacing adjustment of the detection device rely on mechanical structure adaptation, and have poor adaptability to different pipe diameters and inner wall deformations, which can easily lead to difficulty in maintaining the detection distance of the non-contact sensor, affecting the reliability of the detection data. A single detection method is difficult to take into account both the surface characteristics and deep properties of the cracks, especially the lack of ability to identify hidden defects in microcracks in concrete pipes or welds in metal pipes, which can easily lead to missed judgments or misjudgments, affecting the accuracy of pipeline crack detection. Summary of the Invention

[0005] In response to the shortcomings of the existing technology, the present invention provides a crack detection device for water conservancy project pipelines. The casing of the detection component rotates around the main axis, driving the hollow fixed block, movable block and mounting plate fixed to the outer peripheral wall of the casing 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 surface or near-surface cracks in the metal pipe. The sensor data is combined to realize multi-dimensional feature detection of cracks; ensuring that the laser, ultrasonic and other sensors maintain a stable detection distance with the pipe wall, reducing missed or misjudgment, improving the accuracy of crack identification, 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 solutions: a water conservancy project pipeline crack detection device, comprising a pipeline body, the pipeline body being connected to an inspection pipe, a detection vehicle being placed inside the inspection pipe, the detection vehicle comprising a main shaft, two ends of the main shaft being provided with travel assemblies, and a detection assembly being sleeved on 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 fixed blocks are fixed on the outer peripheral wall of the sleeve, a movable block is slidably connected inside the hollow fixed block, and the end of the movable block away from the sleeve is rotatably connected to the calibration wheel, two mounting plates are fixed on the movable block, a plurality of through slots are opened on the mounting plate, a slider is slidably connected inside the through slots, and a plurality of mounting seats are respectively fixed on the top surfaces of the sliders, and a laser displacement sensor, an ultrasonic sensor and an eddy current sensor are respectively installed on the mounting seats.

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

[0009] According to the above technical solution, after the fastener is separated from the inspection pipe by rotation, the sealing block is rotated and opened along the inspection pipe, and the inspection vehicle is placed into the pipeline body through the inspection pipe.

[0010] Preferably, the walking assembly includes a rotating rod, which 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 installed 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 fixed 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, the inner wall of the rotating sleeve is provided with a circular tooth groove, the upper end of the first gear is engaged with the circular tooth groove, and the rotating sleeve is rotatably connected to a plurality of arc blocks in a ring array structure.

[0012] With the above technical solution, the first servo motor drives the rotating rod to rotate, driving the first gear fixed on the rotating rod to rotate, and the first gear engages with the circular tooth groove to make the rotating sleeve rotate along the outer peripheral wall of the main shaft.

[0013] Preferably, a plurality of connecting blocks are fixedly provided on the outer circumferential walls at both ends of the main shaft, and the connecting blocks are in an annular array structure. A limiting groove is provided on the connecting block, and an adjusting block is slidably connected inside the limiting groove. The end of the arc block away from the rotating sleeve is rotatably connected to a cylinder, and the cylinder is fixedly connected to the adjusting block. Two supporting blocks are fixedly connected to the adjusting block, and a walking wheel is provided between the two supporting blocks. A circular shaft is fixedly provided in the middle of the walking wheel, and the outer circumferential walls at both ends of the circular shaft are rotatably connected to the two supporting blocks.

[0014] Through the above technical solution, the arc block swings as the rotating sleeve rotates, pushing the adjustment block to slide in the limit groove of the connecting block, thereby changing the radial position of the walking wheel, adapting to the inner wall of the pipeline body with different diameters, and reducing the detection blind area.

[0015] Preferably, a second servo motor is mounted on one of the support blocks, a worm is coaxially connected to the output shaft of the second servo motor, a worm wheel is meshedly connected to the worm, and an outer peripheral wall of one of the circular shafts is fixedly connected to the middle of the worm wheel.

[0016] Through the above technical solution, the worm gear drives the corresponding circular shaft to rotate, which drives the traveling wheel to rotate, thereby realizing the axial movement of the inspection 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 ring gear is fixedly connected to the outer peripheral wall of the main shaft, and the second gear is meshed with the ring gear.

[0018] Through the above technical solution, the output shaft of the third servo motor drives the second gear to rotate, and the second gear is meshed with the fixed gear ring on the outer peripheral wall of the main shaft to drive the sleeve to perform circumferential rotation 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, and a plurality of triangular blocks are fixedly connected between the movable block and the mounting plate. The corresponding mounting seat is provided with a plurality of mounting holes, 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 base facilitate the installation or replacement of sensors of different models and sizes, and are adapted to the detection needs of pipes of different materials such as concrete and metal.

[0021] Preferably, a screw rod is provided inside the through groove, and the outer peripheral walls at both ends of the screw rod are rotatably connected to the mounting plate respectively, the slider is threadedly connected to the screw rod, a positioning plate is sleeved on the outer peripheral wall of one end of the screw rod, and a rocker is fixed at the edge of the outer wall of the positioning plate, and the outer peripheral wall of the positioning plate is in a ring array structure with multiple slots.

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

[0023] Preferably, two moving blocks are respectively provided at both ends of the positioning plate, the moving blocks are fixedly connected with an insertion rod, the insertion rod is engaged 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 separating block is provided between the two moving blocks, the separating block and the positioning ring are respectively fixedly connected to the mounting plate, the outer walls of the separating block are respectively fixedly connected with two tension springs, and the other end of the tension spring is fixedly connected to the moving block.

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

[0025] Beneficial effects of the present invention:

[0026] The casing of the detection component rotates around the main axis, driving the hollow fixed block, movable block and mounting plate fixed to the outer wall of the casing 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 surface or near-surface cracks of the metal pipe. The sensor data is combined to realize multi-dimensional feature detection of cracks; ensuring that the laser, ultrasonic and other sensors maintain a stable detection distance with the pipe wall, reducing missed or misjudgment, improving the accuracy of crack identification, enhancing the reliability of detection data, and improving the integrity of detection coverage. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

[0029] Figure 3 This is a schematic structural diagram of the walking assembly of the present invention;

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

[0031] Figure 5 Schematic diagram of the worm gear structure of the present invention;

[0032] Figure 6 Schematic diagram of the detection component structure of the present invention;

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

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

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

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

[0037] 400, travel assembly; 401, rotating rod; 402, first servo motor; 403, first gear; 404, rotating sleeve; 405, circular tooth groove; 406, arc block; 407, connecting block; 408, limiting groove; 409, adjusting block; 410, supporting block; 411, travel wheel; 412, circular shaft; 413, cylinder; 414, worm; 415, worm wheel; 416, second servo motor;

[0038] 500, detection component; 501, sleeve; 502, hollow fixed block; 503, movable block; 504, calibration wheel; 505, mounting plate; 506, through slot; 507, slider; 508, mounting seat; 509, laser displacement sensor; 510, ultrasonic sensor; 511, eddy current sensor; 512, third servo motor; 513, second gear; 514, ring gear; 515, triangular block; 516, mounting hole; 517, lead screw; 518, positioning plate; 519, rocker; 520, slot; 521, moving block; 522, insertion rod; 523, positioning ring; 524, separator; 525, tension spring; 526, electric push rod. DETAILED DESCRIPTION

[0039] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0040] Example 1: Figures 1 to 7 As shown, this embodiment provides a water conservancy project pipeline crack detection device, including a pipeline body 100, a maintenance pipe 200 connected to the pipeline body 100, a detection vehicle 300 placed inside the maintenance pipe 200, and the detection vehicle 300 including a main shaft 301, a travel assembly 400 is provided at each end of the main shaft 301, and a detection assembly 500 is sleeved in the middle of the main shaft 301;

[0041] The detection component 500 includes a sleeve 501, the inner wall of the sleeve 501 is rotatably connected to the outer peripheral wall of the main shaft 301, two hollow fixed blocks 502 are fixed on the outer peripheral wall of the sleeve 501, and a movable block 503 is slidably connected inside the hollow fixed block 502. The end of the movable block 503 away from the sleeve 501 is rotatably connected to the calibration wheel 504, and two mounting plates 505 are fixed on the movable block 503. A plurality of through slots 506 are opened on the mounting plate 505, and a slider 507 is slidably connected inside the through slots 506. The top surfaces of the plurality of sliders 507 are respectively fixed with mounting seats 508, and the mounting seats 508 are respectively installed with laser displacement sensors 509, ultrasonic sensors 510 and eddy current sensors 511.

[0042] The top surface of the inspection pipe 200 is rotatably connected to a sealing block 201, and 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; after the fasteners 202 are separated from the inspection pipe 200 by rotation, the rotating sealing block 201 is rotated along the inspection pipe 200 to open it, and the inspection vehicle 300 is placed into the pipeline body 100 through the inspection pipe 200.

[0043] The walking assembly 400 includes a rotating rod 401, which 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 provided on the inner wall of the rotating sleeve 404. The upper end of the first gear 403 is meshed with the circular tooth groove 405. A plurality of arc blocks 406 are rotatably connected to the rotating sleeve 404 in a ring array structure. The rotating rod 401 is driven to rotate by the first servo motor 402, thereby driving the first gear 403 fixed on the rotating rod 401 to rotate. The first gear 403 is meshed with the circular tooth groove 405, so that the rotating sleeve 404 rotates along the outer peripheral wall of the main shaft 301.

[0044] A plurality of connecting blocks 407 are fixedly provided on the outer circumferential walls at both ends of the main shaft 301. The connecting blocks 407 are in an annular array structure. A limiting groove 408 is provided on the connecting block 407. An adjusting block 409 is slidably connected inside the limiting groove 408. The end of the arc 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 walking wheel 411 is provided between the two supporting blocks 410. A circular shaft 412 is fixedly provided in the middle of the walking wheel 411. The outer circumferential walls at both ends of the circular shaft 412 are rotatably connected to the two supporting blocks 410 respectively; the arc 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 pipe body 100 with different pipe diameters, and reducing the detection blind area.

[0045] A second servo motor 416 is installed on one of the support blocks 410, and a worm 414 is coaxially connected to the output shaft of the second servo motor 416, and a worm wheel 415 is meshedly connected to the worm 414. The outer peripheral wall of one of the circular shafts 412 is fixedly connected to the middle part of the worm wheel 415; the worm wheel 415 drives the corresponding circular shaft 412 to rotate, and drives the walking wheel 411 to rotate, so that the inspection vehicle 300 can move axially along the pipeline body 100.

[0046] Before inspecting for cracks in the pipeline, the inspection vehicle 300 is placed into 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, driving the inspection vehicle 300 to move axially along the pipeline body 100 to achieve long-distance inspection coverage. The sleeve 501 of the inspection component 500 rotates around the main shaft 301, driving the hollow fixed block 502, movable block 503, and mounting plate 505 fixed to the outer circumferential wall of the sleeve 501 to rotate synchronously, allowing the laser displacement sensor 509, ultrasonic sensor 510, and eddy current sensor 511 to complete a 360-degree circumferential scan of the pipeline inner wall.

[0047] The movable block 503 slides within the hollow fixed block 502, and the calibration wheel 504 contacts the pipe wall of the pipe body 100 to feedback changes in pipe diameter. The slider 507 is driven to slide and adjust its position along the mounting plate 505 through the through slot 506 to calibrate the distance between the sensor and the pipe wall. The laser displacement sensor 509 obtains data on the surface width and deformation of the crack, the ultrasonic sensor 510 detects deep defects in the pipe wall, and the eddy current sensor 511 identifies surface or near-surface cracks in the metal pipe. The sensor data is combined to realize multi-dimensional feature detection of cracks, ensuring that the laser, ultrasonic and other sensors maintain a stable detection distance with the pipe wall, reducing missed or misjudgment, improving the accuracy of crack identification, enhancing the reliability of detection data, and improving the integrity of detection coverage.

[0048] After the fastener 202 is separated from the inspection pipe 200, the rotating sealing block 201 is rotated and opened along the inspection pipe 200. After the inspection vehicle 300 is placed into 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. The first gear 403 engages with the circular tooth groove 405, causing the rotating sleeve 404 to rotate along the outer peripheral wall of the main shaft 301; the arc block 406 swings with the rotation of the rotating sleeve 404, pushing the adjustment block 409 to slide in the limiting groove 408 of the connecting block 407, thereby changing the radial position of the running wheel 411, adapting to the inner wall of the pipeline body 100 of 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 mesh and transmit the rotation to the worm wheel 415. The worm wheel 415 drives the corresponding circular shaft 412 to rotate, and drives the travel wheel 411 to rotate, so that the inspection vehicle 300 can move axially along the pipeline body 100. The self-locking characteristics of the worm 414 and the worm wheel 415 ensure the stable parking of the travel wheel 411, improve the travelability and stability, and provide favorable conditions for pipeline crack detection.

[0050] Example 2: Figure 1 , Figure 2 , Figure 6 , Figure 7and Figure 8 As shown, this embodiment is based on the previous embodiment, and differs from the previous embodiment in that a third servo motor 512 is installed on the outer peripheral wall of the sleeve 501, and a second gear 513 is sleeved on the output shaft of the third servo motor 512. A ring gear 514 is fixedly connected to the outer peripheral wall of the main shaft 301, and the second gear 513 is meshed with the ring gear 514; the output shaft of the third servo motor 512 drives the second gear 513 to rotate, and the engagement transmission between the second gear 513 and the ring gear 514 fixed on the outer peripheral wall of the main shaft 301 drives the sleeve 501 to perform circumferential rotation around the main shaft 301.

[0051] An electric push rod 526 is installed on the outer 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 provided on the corresponding mounting seat 508. The aperture size of the mounting holes 516 is not unique; the multi-sized mounting holes 516 on the mounting seat 508 are convenient for installing or replacing sensors of different models and sizes, and are adapted to the detection needs 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. The second gear 513 is meshed with the fixed gear ring 514 on the outer peripheral wall of the main shaft 301, driving the sleeve 501 to perform circumferential rotation 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, achieving detection without blind spots, 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 is extended or retracted, it pushes the movable block 503 to slide radially within the hollow fixed block 502. The movable block 503 drives the mounting plate 505 to move synchronously, 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 pipe body 100. The triangular block 515 strengthens the connection between the movable block 503 and the mounting plate 505, improving the structural rigidity during the adjustment process and reducing the sensor position deviation caused by vibration.

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

[0055] Example 3: Figure 2 , Figure 6 , Figure 7 and Figure 8As shown, this embodiment is based on the previous embodiment, and is different from the previous embodiment in that a screw rod 517 is provided inside the through groove 506, and the outer peripheral walls at both ends of the screw rod 517 are rotatably connected to the mounting plate 505 respectively, and the slider 507 is threadedly connected to the screw rod 517, and a positioning plate 518 is sleeved on the outer peripheral wall of one end of the screw rod 517, and a rocker 519 is fixed at the edge of the outer wall of the positioning plate 518, and the outer peripheral wall of the positioning plate 518 is provided with a plurality of slots 520 in a ring array structure; through the threaded transmission of the screw rod 517 and the slider 507, the slider 507 slides in the through groove 506 along the axial direction of the screw rod 517, thereby realizing the position adjustment of the mounting seat 508, which is convenient for adjusting the distance from the pipe wall to a suitable distance according to the type of sensor.

[0056] Two moving blocks 521 are respectively provided at both ends of the positioning disk 518, and the moving block 521 is fixedly connected with an insertion rod 522, and the insertion rod 522 is engaged with the slot 520. A positioning ring 523 is sleeved on the outer peripheral wall of the moving block 521, and the outer peripheral wall of the moving block 521 is slidably connected to the inner wall of the positioning ring 523. A separating block 524 is provided between the two moving blocks 521, and the separating 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 separating block 524, and the other end of the tension spring 525 is fixedly connected to the moving block 521; the insertion rod 522 is driven by the tension spring 525 to slide along the positioning ring 523 until the insertion rod 522 is engaged with the corresponding slot 520, locking the position of the screw rod 517 after rotation, thereby reducing the occurrence of displacement of each sensor during crack detection.

[0057] When in use, the rocker 519 is rotated to drive the positioning plate 518 and the coaxially connected screw rod 517 to rotate synchronously. Through the threaded transmission of the screw rod 517 and the slider 507, the slider 507 slides in the through groove 506 along the axis direction of the screw rod 517, thereby adjusting the position of the mounting seat 508, which is convenient for adjusting the distance between the sensor and the pipe wall to a suitable value according to the type of sensor.

[0058] When the slider 507 moves, the positioning plate 518 squeezes the insertion rod 522 to stretch the tension spring 525, and the insertion rod 522 disengages from the current slot 520. After the rocker 519 is rotated to adjust the screw rod 517 to a suitable position, the tension spring 525 drives the insertion rod 522 to slide along the positioning ring 523 until the insertion rod 522 is engaged with the corresponding slot 520, locking the position of the screw rod 517 after rotation, reducing the occurrence of displacement of each sensor during crack detection; the tension spring 525 applies tension to the moving block 521 to ensure that the insertion rod 522 is engaged with the slot 520, preventing the screw rod 517 from rotating or the slider 507 from sliding due to the vibration of the inspection vehicle 300.

[0059] Working principle:

[0060] Before inspecting for cracks in the pipeline, the inspection vehicle 300 is placed into 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, driving the inspection vehicle 300 to move axially along the pipeline body 100 to achieve long-distance inspection coverage. The sleeve 501 of the inspection component 500 rotates around the main shaft 301, driving the hollow fixed block 502, movable block 503, and mounting plate 505 fixed to the outer circumferential wall of the sleeve 501 to rotate synchronously, allowing the laser displacement sensor 509, ultrasonic sensor 510, and eddy current sensor 511 to complete a 360-degree circumferential scan of the pipeline inner wall.

[0061] The movable block 503 slides within the hollow fixed block 502, and the calibration wheel 504 contacts the pipe wall of the pipe body 100 to feedback changes in pipe diameter. The slider 507 is driven to slide and adjust its position along the mounting plate 505 through the through slot 506 to calibrate the distance between the sensor and the pipe wall. The laser displacement sensor 509 obtains data on the surface width and deformation of the crack, the ultrasonic sensor 510 detects deep defects in the pipe wall, and the eddy current sensor 511 identifies surface or near-surface cracks in the metal pipe. The sensor data is combined to realize multi-dimensional feature detection of cracks, ensuring that the laser, ultrasonic and other sensors maintain a stable detection distance with the pipe wall, reducing missed or misjudgment, improving the accuracy of crack identification, enhancing the reliability of detection data, and improving the integrity of detection coverage.

[0062] After the fastener 202 is separated from the inspection pipe 200, the rotating sealing block 201 is rotated and opened along the inspection pipe 200. After the inspection vehicle 300 is placed into 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. The first gear 403 engages with the circular tooth groove 405, causing the rotating sleeve 404 to rotate along the outer peripheral wall of the main shaft 301; the arc block 406 swings with the rotation of the rotating sleeve 404, pushing the adjustment block 409 to slide in the limiting groove 408 of the connecting block 407, thereby changing the radial position of the running wheel 411, adapting to the inner wall of the pipeline body 100 of different pipe diameters, and reducing the detection blind area;

[0063] The second servo motor 416 drives the worm 414 to rotate, causing the worm 414 to mesh and transmit the rotation to the worm wheel 415. The worm wheel 415 drives the corresponding circular shaft 412 to rotate, and drives the travel wheel 411 to rotate, so that the inspection vehicle 300 can move axially along the pipeline body 100. The self-locking characteristics of the worm 414 and the worm wheel 415 ensure the stable parking of the travel wheel 411, improve the travelability and stability, and provide favorable conditions for pipeline crack detection.

[0064] During detection, the output shaft of the third servo motor 512 drives the second gear 513 to rotate. The second gear 513 is meshed with the fixed gear ring 514 on the outer peripheral wall of the main shaft 301, driving the sleeve 501 to perform circumferential rotation 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, achieving detection without blind spots, 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 is extended or retracted, it pushes the movable block 503 to slide radially within the hollow fixed block 502. The movable block 503 drives the mounting plate 505 to move synchronously, 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 pipe body 100. The triangular block 515 strengthens the connection between the movable block 503 and the mounting plate 505, improving the structural rigidity during the adjustment process and reducing the sensor position deviation caused by vibration.

[0066] The multi-sized mounting holes 516 on the mounting base 508 facilitate the installation or replacement of sensors of different models and sizes, and are adapted to the detection requirements of pipes of different materials such as concrete and metal.

[0067] When in use, the rocker 519 is rotated to drive the positioning plate 518 and the coaxially connected screw rod 517 to rotate synchronously. Through the threaded transmission of the screw rod 517 and the slider 507, the slider 507 slides in the through groove 506 along the axis direction of the screw rod 517, thereby adjusting the position of the mounting seat 508, which is convenient for adjusting the distance between the sensor and the pipe wall to a suitable value according to the type of sensor.

[0068] When the slider 507 moves, the positioning plate 518 squeezes the insertion rod 522 to stretch the tension spring 525, and the insertion rod 522 disengages from the current slot 520. After the rocker 519 is rotated to adjust the screw rod 517 to a suitable position, the tension spring 525 drives the insertion rod 522 to slide along the positioning ring 523 until the insertion rod 522 is engaged with the corresponding slot 520, locking the position of the screw rod 517 after rotation, reducing the occurrence of displacement of each sensor during crack detection; the tension spring 525 applies tension to the moving block 521 to ensure that the insertion rod 522 is engaged with the slot 520, preventing the screw rod 517 from rotating or the slider 507 from sliding due to the vibration of the inspection vehicle 300.

[0069] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A water conservancy project pipeline crack detection device, characterized in that: include: A pipeline body (100), wherein the pipeline body (100) is connected to a maintenance pipe (200), an inspection vehicle (300) is placed inside the maintenance pipe (200), and the inspection vehicle (300) comprises a main shaft (301), a travel assembly (400) is provided at each end of the main shaft (301), and an inspection assembly (500) is sleeved on the middle of the main shaft (301); The detection assembly (500) comprises a sleeve (501), the inner wall of the sleeve (501) being rotatably connected to the outer peripheral wall of the main shaft (301), two hollow fixed blocks (502) being fixedly provided on the outer peripheral wall of the sleeve (501), a movable block (503) being slidably connected inside the hollow fixed block (502), a calibration wheel (504) being rotatably connected to one end of the movable block (503) away from the sleeve (501), two mounting plates (505) being fixedly provided on the movable block (503), a plurality of through slots (506) being provided on the mounting plate (505), a slider (507) being slidably connected inside the through slots (506), a mounting seat (508) being fixedly provided 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) being respectively mounted on the mounting seat (508); An electric push rod (526) is installed on the outer peripheral wall of the hollow fixed block (502), and the piston rod of the electric push rod (526) is fixedly connected to the movable block (503). A screw rod (517) is provided inside the through groove (506), and the slider (507) is threadedly connected to the screw rod (517). A positioning plate (518) is sleeved on the outer peripheral wall of one end of the screw rod (517), and a rocker (519) is fixed on the edge of the outer wall of the positioning plate (518). The outer peripheral wall of the positioning plate (518) is in the shape of a ring array. The column structure is provided with a plurality of slots (520), and two moving blocks (521) are respectively provided at both ends of the positioning plate (518), and an insertion rod (522) is fixedly connected to the moving block (521), and the insertion rod (522) is engaged with the slot (520), and a partition block (524) is provided between the two moving blocks (521), and two tension springs (525) are respectively fixedly connected to the outer walls of the partition block (524), and the other end of the tension spring (525) is fixedly connected to the moving block (521).

2. The hydraulic engineering pipeline crack detection device according to claim 1, characterized in that: The top surface of the inspection pipe (200) is rotatably connected to a sealing block (201), and two fasteners (202) are plugged 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 water conservancy project pipeline crack detection device according to claim 1, characterized in that: The walking 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), and two first gears (403) are fixedly provided on the outer peripheral wall of the rotating rod (401).

4. The hydraulic engineering pipeline crack detection device according to claim 3, characterized in that: Two rotating sleeves (404) are rotatably connected to the outer peripheral wall of the main shaft (301), and a circular tooth groove (405) is provided on the inner wall of the rotating sleeve (404). The upper end of the first gear (403) is meshed and connected to the circular tooth groove (405), and a plurality of arc blocks (406) are rotatably connected to the rotating sleeve (404) in an annular array structure.

5. The hydraulic engineering pipeline crack detection device according to claim 4, characterized in that: The outer peripheral walls at both ends of the main shaft (301) are respectively fixed with a plurality of connecting blocks (407), the connecting blocks (407) are in an annular array structure, a limiting groove (408) is provided on the connecting block (407), an adjusting block (409) is slidably connected inside the limiting groove (408), the end of the arc 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 walking wheel (411) is provided between the two supporting blocks (410), a circular shaft (412) is fixedly provided in the middle of the walking wheel (411), and the outer peripheral walls at both ends of the circular shaft (412) are rotatably connected to the two supporting blocks (410).

6. The hydraulic engineering pipeline crack detection device according to claim 5, characterized in that: A second servo motor (416) is mounted on one of the support blocks (410), a worm (414) is coaxially connected to the output shaft of the second servo motor (416), a worm gear (415) is meshedly connected to the worm gear (414), and an outer peripheral wall of one of the circular shafts (412) is fixedly connected to the middle of the worm gear (415).

7. The hydraulic engineering pipeline crack detection device according to claim 6, characterized in that: A third servo motor (512) is mounted 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 ring gear (514) is fixedly connected to the outer peripheral wall of the main shaft (301), and the second gear (513) is meshedly connected to the ring gear (514).

8. The hydraulic engineering pipeline crack detection device according to claim 7, characterized in that: A plurality of triangular blocks (515) are fixedly connected between the movable block (503) and the mounting plate (505), and a plurality of mounting holes (516) are correspondingly provided on the mounting seat (508), wherein the aperture sizes of the mounting holes (516) are not unique.

9. The hydraulic engineering pipeline crack detection device according to claim 8, characterized in that: The outer peripheral walls at both ends of the screw rod (517) are rotatably connected to the mounting plate (505) respectively.

10. The hydraulic engineering pipeline crack detection device according to claim 9, characterized in that: A positioning ring (523) is sleeved on the outer peripheral wall of the moving block (521), and the outer peripheral wall of the moving block (521) is slidably connected to the inner wall of the positioning ring (523). The partition block (524) and the positioning ring (523) are respectively fixedly connected to the mounting plate (505).

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