Power device of pipeline endoscopic equipment, pipeline endoscopic equipment and pipeline detection system

Abstract

The invention discloses a power device of pipeline endoscopic equipment, the pipeline endoscopic equipment and a pipeline detection system. The power device comprises a driven module, a driving module and an elastic connecting body. The driven module comprises a driven shell and a plurality of driven supporting wheel sets, and the opening angle of the driven supporting wheel sets relative to the driven shell is adjustable. The driving module comprises a driving shell, a driving wheel and a driving supporting wheel set, the driving wheel is installed on the driving shell, and the opening angle of the driving supporting wheel set relative to the driving shell is adjustable. The elastic connecting body is located between the driven shell and the driving shell, and the elastic connecting body is connected with the driven shell and the driving shell. When the power device walks in the pipeline, the driving wheel, the driven supporting wheel set and the driving supporting wheel set are used for making contact with the inner wall face of the pipeline. When the power device in the design walks in the pipeline, the driving wheel can stably support the driving shell while making contact with the inner wall face of the pipeline, and the walking stability of the power device in the pipeline can be effectively guaranteed.

Description

Technical Field

[0001] This application relates to the technical field of pipeline survey, and particularly to a power device for a pipeline endoscope, a pipeline endoscope, and a pipeline detection system. Background Art

[0002] A pipeline endoscope (such as a pipeline robot) is an intelligent device capable of performing operations such as autonomous walking, detection, maintenance, and cleaning inside a pipeline. Pipeline endoscopes include wheeled pipeline robots and tracked pipeline robots. However, due to its own structural design, the wheeled pipeline robot in the related art is prone to unstable walking when walking inside the pipeline. Therefore, how to effectively improve the walking stability of the wheeled pipeline robot inside the pipeline has become an urgent problem to be solved. Summary of the Invention

[0003] Embodiments of this application provide a power device for a pipeline endoscope, a pipeline endoscope, and a pipeline detection system, which can solve the problem that the wheeled pipeline robot in the related art is prone to unstable walking when walking inside the pipeline due to its own structural design.

[0004] In a first aspect, an embodiment of this application provides a power device for a pipeline endoscope; the pipeline endoscope includes a power device and an endoscope component. The power device includes a driven module, a driving module, and an elastic connection body. The driven module includes a driven housing and a plurality of driven support wheel sets. The plurality of driven support wheel sets are installed on the driven housing and the opening angle relative to the driven housing is adjustable. The endoscope component is installed on the driven housing. The driving module includes a driving housing, a driving wheel, and a driving support wheel set. The driving wheel is installed on the driving housing. The driving support wheel set is installed on the driving housing and the opening angle relative to the driving housing is adjustable. The elastic connection body is located between the driven housing and the driving housing, and the elastic connection body is connected to the driven housing and the driving housing. When the power device walks inside the pipeline, the driving wheel, the driven support wheel sets, and the driving support wheel sets are used to contact the inner wall surface of the pipeline.

[0005] In a second aspect, an embodiment of this application provides a pipeline endoscope; the pipeline endoscope includes an endoscope component and the above-mentioned power device. The endoscope component is installed on the driven housing and is used to survey relevant data inside the pipeline.

[0006] In a third aspect, an embodiment of this application provides a pipeline detection system; the pipeline detection system includes an electric control module, an external cable, and the above-mentioned pipeline endoscope. The pipeline endoscope is connected to the electric control module through the external cable.

[0007] The power device, pipeline endoscope device, and pipeline detection system according to the embodiments of the present application design an active wheel, and the opening angle of the active wheel relative to the active housing is not adjustable. In this way, when the power device walks in the pipeline, while the active wheel contacts the inner wall surface of the pipeline, the active wheel can also play a stable supporting role for the active housing, effectively ensuring the stability of the power device when walking in the pipeline. By designing a driven support wheel set and an active support wheel set, and the opening angle of the driven support wheel set relative to the driven housing is adjustable, and the opening angle of the active support wheel set relative to the active housing is adjustable. In this way, by adjusting the driven support wheel set and the active support wheel set to appropriate opening angles to adapt to pipelines with different diameters, when the power device walks in the pipeline, the driven support wheel set and the active support wheel set can contact the inner wall surface of the pipeline to cooperate with the active wheel, enabling the power device to walk freely in the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0009] Figure 1 Structural schematic diagram of the power device in an embodiment of the present application;

[0010] Figure 2 is Figure 1 Structural schematic diagram of the power device from another perspective in ;

[0011] Figure 3 Structural schematic diagram of the active support wheel set and the driven support wheel set after opening in an embodiment of the present application;

[0012] Figure 4 Perspective structural schematic diagram of the power device in a pipeline in an embodiment of the present application;

[0013] Figure 5 Distribution structural schematic diagram of the active wheel and the active support wheel set on the active housing in an embodiment of the present application;

[0014] Figure 6 Partial sectional structural schematic diagram of the power device in an embodiment of the present application;

[0015] Figure 7 Exploded structural schematic diagram of the power device in an embodiment of the present application;

[0016] Figure 8 is Figure 7Explosion structure schematic diagram of the power device in another perspective;

[0017] Figure 9 Exploded structure schematic diagram of the active support wheel set (driven support wheel set) in an embodiment of the present application;

[0018] Figure 10 Schematic diagram of the transmission unit and the structure of the driving wheel mounted on the mounting plate in an embodiment of the present application;

[0019] Figure 11 is Figure 10 Schematic diagram of the structure in another perspective;

[0020] Figure 12 is Figure 10 Partial exploded structure schematic diagram of;

[0021] Figure 13 is Figure 12 Exploded structure schematic diagram in another perspective;

[0022] Figure 14 Schematic diagram of the active housing, elastic connecting body and driven housing in an embodiment of the present application;

[0023] Figure 15 is Figure 14 Schematic diagram of the structure in another perspective;

[0024] Figure 16 Cross-sectional structure schematic diagram of the active housing, elastic connecting body and driven housing in an embodiment of the present application;

[0025] Figure 17 Schematic diagram of the pipeline endoscopy device in an embodiment of the present application;

[0026] Figure 18 Schematic diagram of the pipeline survey system in an embodiment of the present application.

[0027] Reference numerals: 1, power device; 11, driven module; 111, driven housing; 1111, second housing; 1111a, second wire passing hole; 1111b, wiring groove; 1111c, fixing hole; 1112, third connecting portion; 1113, second tooth groove; 112, driven support wheel set; 1121, second support leg; 1121a, third support section; 1121a1, second support rod; 1121a2, fourth connecting portion; 1121a3, second engaging tooth; 1121b, fourth support section; 1121c, second elastic member; 1122, second driven wheel; 113, power source; 1131, motor; 1132, speed reducer; 114, bracket; 115, electronic control component; 116, another bracket; 12, driving module; 121, driving housing; 1211, first housing; 1211a, first opening; 1211b, second opening; 1211c, wiring port; 1211d, first wire passing hole; 1212, first connecting portion; 1213, first tooth groove; 122, driving wheel; 122a, first driving wheel; 122b, second driving wheel; 123, driving support wheel set; 123a, first driving support wheel set; 123b, second driving support wheel set; 1231, first support leg; 1231a, first support section; 1231a1, first support rod; 1231a2, second connecting portion; 1231a3, first engaging tooth; 1231b, second support section; 1231c, first elastic member; 1232, first driven wheel; 124, transmission unit; 1241, driving bevel gear; 1242, first driven bevel gear; 1243, first gear set; 1243a, first sub-gear; 1244, second driven bevel gear; 1245, second gear set; 1245a, second sub-gear; 125, mounting plate; 125a, first accommodating cavity; 125b, second accommodating cavity; 126, wiring rack; 13, elastic connecting body; 14, universal connecting rod; 15, wire harness; 2, pipeline endoscope equipment; 21, endoscope component; 3, pipeline survey system; 31, electronic control module; 32, wire winding rack; 33, external cable. Detailed implementation manners

[0028] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0029] Pipeline endoscope equipment (such as pipeline robots) is an intelligent device that can perform operations such as autonomous walking, detection, maintenance, and cleaning inside pipelines. Pipeline endoscope equipment includes wheeled pipeline robots and tracked pipeline robots. However, the wheeled pipeline robots in the related art include a main housing and support legs. The support legs are used to support the main housing and are used to contact the inner wall surface of the pipeline when the wheeled pipeline robot walks inside the pipeline. Since the support legs are movably connected to the main housing, the wheeled pipeline robot is prone to unstable walking when walking inside the pipeline. Therefore, how to effectively improve the walking stability of the wheeled pipeline robot inside the pipeline has become an urgent problem to be solved.

[0030] To solve the above technical problems, please refer to Figures 1-4 As shown in the figure, in a first aspect, the present application proposes a power device 1 for a pipeline endoscope equipment 2. The pipeline endoscope equipment 2 includes a power device 1 and an endoscope assembly 21. The power device 1 includes a driven module 11, a driving module 12, and an elastic connection body 13. The driven module 11 includes a driven housing 111 and a plurality of driven support wheel groups 112. The plurality of driven support wheel groups 112 are installed on the driven housing 111 and the opening angle relative to the driven housing 111 is adjustable; the endoscope assembly 21 is installed on the driven housing 111. The driving module 12 includes a driving housing 121, a driving wheel 122, and a driving support wheel group 123. The driving wheel 122 is installed on the driving housing 121, and the driving support wheel group 123 is installed on the driving housing 121 and the opening angle relative to the driving housing 121 is adjustable. The elastic connection body 13 is located between the driven housing 111 and the driving housing 121, and the elastic connection body 13 is connected to the driven housing 111 and the driving housing 121. When the power device 1 walks inside the pipeline, the driving wheel 122, the driven support wheel groups 112, and the driving support wheel groups 123 are used to contact the inner wall surface of the pipeline.

[0031] The following will Figures 1-16 introduce the specific structure of the power device 1 of the pipeline endoscope equipment 2 in detail.

[0032] As Figures 1-4 shown, the power device 1 includes a driven module 11, a driving module 12, and an elastic connection body 13.

[0033] The driven module 11, as one of the crawling mechanisms of the power device 1, is used to cooperate with the driving module 12 to walk inside the pipeline. The driven module 11 includes a driven housing 111 and driven support wheel groups 112.

[0034] The driven housing 111 is the outer shell of the driven module 11. The specific material of the driven housing 111 is not limited here, and designers can make reasonable selections according to actual needs. For example, the material of the driven housing 111 can be but not limited to stainless steel, plastic, etc. The specific structure of the driven housing 111 will be introduced in detail below.

[0035] The driven housing 111 is used to install the endoscopic component 21. Among them, the endoscopic component 21 can, but is not limited to, include devices with different monitoring functions such as probes and cameras. The specific installation method between the endoscopic component 21 and the driven housing 111 is not limited here, and designers can make reasonable designs according to actual needs. For example, the endoscopic component 21 can, but is not limited to, be detachably connected to the driven housing 111 by at least one of the methods such as screwing, clamping or plugging. Another example is that the endoscopic component 21 can also, but is not limited to, be non-detachably connected to the driven housing 111 by methods such as gluing, riveting, injection molding or 3D printing.

[0036] The driven support wheel set 112 serves as the support and crawling structure of the driven module 11. On the one hand, the driven support wheel set 112 is used to support the driven housing 111, and on the other hand, it is used to walk in the pipeline. The specific structure of the driven support wheel set 112 will be introduced in detail below.

[0037] The number of the driven support wheel sets 112 is multiple. For example, the number of the driven support wheel sets 112 can, but is not limited to, be two, three, four, five, six or more.

[0038] The driven support wheel set 112 is installed on the driven housing 111 and the opening angle relative to the driven housing 111 is adjustable. The driven support wheel set 112 is installed on the driven housing 111 and can rotate relative to the driven housing 111 to present different opening angles. The specific rotational installation method between the driven support wheel set 112 and the driven housing 111 is not limited here, and designers can make reasonable designs according to actual needs. For example, the driven support wheel set 112 can, but is not limited to, be rotationally connected to the driven housing 111 through components such as rotating shafts and ball heads.

[0039] When the power device 1 walks in the pipeline, the driven support wheel set 112 is used to contact the inner wall surface of the pipeline. It should be noted that for pipelines with different diameters, pipeline inspection personnel can rotate the driven support wheel set 112 to different opening angles according to the actual situation, so that when the power device 1 walks in the pipeline, the driven support wheel set 112 can effectively contact the inner wall surface of the pipeline, thereby ensuring the stability of the power device 1 walking in the pipeline.

[0040] As Figures 1-4 shown, the active module 12, as another crawling mechanism of the power device 1, is used to cooperate with the driven module 11 to walk in the pipeline. The active module 12 includes an active housing 121, an active wheel 122 and an active support wheel set 123.

[0041] The active housing 121 serves as the housing of the active module 12. The specific material of the active housing 121 is not limited here, and the designer can make a reasonable choice according to actual needs. For example, the material of the active housing 121 can be, but is not limited to, stainless steel, plastic, etc. The specific structure of the active housing 121 will be introduced in detail below.

[0042] The driving wheel 122 serves as the traveling wheel of the active module 12 and is used to generate rolling friction with the inner wall surface of the pipeline to drive the power device 1 to move in the pipeline.

[0043] The number of driving wheels 122 can be one or more (more than two).

[0044] The driving wheel 122 is installed on the active housing 121. The specific rotational installation method between the driving wheel 122 and the active housing 121 is not limited here, and the designer can make a reasonable design according to actual needs. For example, the driving wheel 122 can be, but is not limited to, rotationally connected to the active housing 121 through a rotating shaft.

[0045] The active support wheel set 123 serves as the support and crawling structure of the active module 12. On the one hand, the active support wheel set 123 is used to support the active housing 121, and on the other hand, it is used to move in the pipeline. The specific structure of the active support wheel set 123 will be introduced in detail below.

[0046] The number of active support wheel sets 123 can be one or more (more than two).

[0047] The active support wheel set 123 is installed on the active housing 121 and the opening angle relative to the active housing 121 is adjustable. The active support wheel set 123 is installed on the active housing 121 and can rotate relative to the active housing 121 to present different opening angles. The specific rotational installation method between the active support wheel set 123 and the active housing 121 is not limited here, and the designer can make a reasonable design according to actual needs. For example, the active support wheel set 123 can be, but is not limited to, rotationally connected to the active housing 121 through components such as a rotating shaft and a ball head.

[0048] When the power device 1 moves in the pipeline, the driving wheel 122 and the active support wheel set 123 are used to contact the inner wall surface of the pipeline. It should be noted that for pipelines with different diameters, the pipeline inspection personnel can rotate the active support wheel set 123 to different opening angles according to the actual situation, so that when the power device 1 moves in the pipeline, the active support wheel set 123 can form effective contact with the inner wall surface of the pipeline, thereby ensuring the stability of the power device 1 moving in the pipeline.

[0049] As Figures 1-4As shown, the elastic connector 13 serves as the connection mechanism of the power device 1 and is used to connect the driven module 11 and the driving module 12, enabling the driven module 11 and the driving module 12 to form an integral whole and capable of walking synchronously in the pipeline. The specific manifestation form of the elastic connector 13 will be introduced in detail below. It should be noted that the elastic connector 13 can produce elastic deformation, enabling the power device 1 to be suitable for walking in a curved pipeline.

[0050] The elastic connector 13 is located between the driven housing 111 and the driving housing 121, and the elastic connector 13 is connected to the driven housing 111 and the driving housing 121. Here, the specific connection method between the elastic connector 13 and the driven housing 111 (driving housing 121) is not limited, and the designer can make a reasonable design according to actual needs; for example, the elastic connector 13 can be detachably connected to the driven housing 111 (driving housing 121) by at least one of the ways such as screwing, clamping or plugging; again, for example, the elastic connector 13 can also be non-detachably connected to the driven housing 111 (driving housing 121) by ways such as gluing, riveting or welding.

[0051] Based on the power device 1 in the embodiment of the present application, by designing the driving wheel 122 and the opening angle of the driving wheel 122 relative to the driving housing 121 being non-adjustable, when the power device 1 walks in the pipeline, the driving wheel 122 can not only contact the inner wall surface of the pipeline but also play a stable supporting role for the driving housing 121, effectively ensuring the stability of the power device 1 walking in the pipeline. By designing the driven supporting wheel set 112 and the driving supporting wheel set 123, and the opening angle of the driven supporting wheel set 112 relative to the driven housing 111 being adjustable, and the opening angle of the driving supporting wheel set 123 relative to the driving housing 121 being adjustable, by adjusting the driven supporting wheel set 112 and the driving supporting wheel set 123 to appropriate opening angles to adapt to pipelines with different diameters, when the power device 1 walks in the pipeline, the driven supporting wheel set 112 and the driving supporting wheel set 123 can contact the inner wall surface of the pipeline to cooperate with the driving wheel 122, enabling the power device 1 to walk freely in the pipeline.

[0052] As Figure 5As shown, the number of driving wheels 122 is multiple, and the multiple driving wheels 122 include a first driving wheel 122a and a second driving wheel 122b; the number of active support wheel sets 123 is multiple, and the multiple active support wheel sets 123 include a first active support wheel set 123a and a second active support wheel set 123b; the first driving wheel 122a and the first active support wheel set 123a are arranged along a first diagonal line, the second driving wheel 122b and the second active support wheel set 123b are arranged along a second diagonal line, and the first diagonal line and the second diagonal line intersect. In this way, the first driving wheel 122a and the second driving wheel 122b are arranged adjacent to each other, so that when the power device 1 travels in the pipeline, the first driving wheel 122a and the second driving wheel 122b can always be in contact with the inner wall surface of the pipeline to ensure the stability of the power device 1 when traveling in the pipeline.

[0053] Regarding the specific arrangement of the first driving wheel 122a, the second driving wheel 122b, the first active support wheel set 123a, and the second active support wheel set 123b on the active housing 121, it can include, but is not limited to, one or more of the following situations.

[0054] In the first case, the first diagonal line and the second diagonal line are perpendicular. At this time, the connection line between the rotation center of the first driving wheel 122a and the intersection of the two diagonal lines is the first connection line, the connection line between the rotation center of the second driving wheel 122b and the intersection of the two diagonal lines is the second connection line, the connection line between the rotation center of the first active support wheel set 123a and the intersection of the two diagonal lines is the third connection line, and the connection line between the rotation center of the second active support wheel set 123b and the intersection of the two diagonal lines is the fourth connection line, and the included angle between the first connection line and the second connection line is 90 degrees, the included angle between the second connection line and the third connection line is 90 degrees, the included angle between the third connection line and the fourth connection line is 90 degrees, and the included angle between the fourth connection line and the first connection line is 90 degrees. Such a design makes the contact positions between the first driving wheel 122a, the second driving wheel 122b, the first active support wheel set 123a, the second active support wheel set 123b and the inner wall surface of the pipeline more evenly distributed to ensure the stability of the power device 1 when traveling in the pipeline.

[0055] In the second case, the first diagonal intersects the second diagonal to form an intersection point, and the intersection point is the midpoint of the first diagonal and the second diagonal. At this time, the connection line between the rotation center of the first driving wheel 122a and the intersection point of the two diagonals is the first connection line, the connection line between the rotation center of the second driving wheel 122b and the intersection point of the two diagonals is the second connection line, the connection line between the rotation center of the first active supporting wheel set 123a and the intersection point of the two diagonals is the third connection line, and the connection line between the rotation center of the second active supporting wheel set 123b and the intersection point of the two diagonals is the fourth connection line, and the length of the first connection line is equal to the length of the third connection line, and the length of the second connection line is equal to the length of the fourth connection line. Such a design enables the contact positions between the first driving wheel 122a, the second driving wheel 122b, the first active supporting wheel set 123a and the second active supporting wheel set 123b and the inner wall surface of the pipeline to be evenly distributed when the power device 1 walks in the pipeline, so as to further improve the walking stability of the power device 1 in the pipeline.

[0056] In the third case, the cross-section of the first driving wheel 122a on the plane perpendicular to its rotation axis is parallel to or coincides with the plane where the first diagonal is located. Such a design enables the first driving wheel 122a to not only walk stably in the pipeline, but also reduce the force on the first driving wheel 122a to reduce the wear of the first driving wheel 122a.

[0057] In the fourth case, the cross-section of the second driving wheel 122b on the plane perpendicular to its rotation axis is parallel to or coincides with the plane where the second diagonal is located. Such a design enables the second driving wheel 122b to not only walk stably in the pipeline, but also reduce the force on the second driving wheel 122b to reduce the wear of the second driving wheel 122b.

[0058] As Figures 6-9 shown, the active supporting wheel set 123 serves as a supporting and crawling structure of the active module 12. The active supporting wheel set 123 includes a first supporting leg 1231 and a first driven wheel 1232. The first supporting leg 1231 includes a first supporting section 1231a, a second supporting section 1231b and a first elastic member 1231c; the first supporting section 1231a is rotatably connected to the active housing 121, the second supporting section 1231b and the first supporting section 1231a form an inner and outer nested telescopic structure, the first elastic member 1231c is located in the telescopic space formed by enclosing the second supporting section 1231b and the first supporting section 1231a, and the first elastic member 1231c abuts against the second supporting section 1231b and the first supporting section 1231a. The first driven wheel 1232 is fixedly connected to the second supporting section 1231b; when the power device 1 walks in the pipeline, the first driven wheel 1232 is used to contact the inner wall surface of the pipeline.

[0059] Among them, the first support section 1231a and the second support section 1231b form an inner and outer nested telescopic structure. It can be that the first support section 1231a is in a cylindrical shape. At this time, the second support section 1231b is received in the cylindrical cavity of the first support section 1231a and forms a telescopic rod structure with the first support section 1231a. Or it can be that the second support section 1231b is in a cylindrical shape. At this time, the first support section 1231a is received in the cylindrical cavity of the second support section 1231b and forms a telescopic rod structure with the second support section 1231b.

[0060] The first elastic member 1231c can be a spring or a spring sheet. The first elastic member 1231c abuts against the second support section 1231b and the first support section 1231a. The second support section 1231b and the first support section 1231a are in an extended state of moving away from each other under the elastic force of the first elastic member 1231c. And the second support section 1231b will squeeze the first elastic member 1231c under the action of the inner wall surface of the pipeline, so that the first elastic member 1231c is further compressed, and the second support section 1231b makes a contraction movement relative to the first support section 1231a, so that the first driven wheel 1232 can contact the inner wall surface of the pipeline. It should be noted that for pipelines with different diameters, the first elastic member 1231c will have different compression amounts under the action of the inner wall surfaces of pipelines with different diameters, so that the contraction amounts of the second support section 1231b making contraction movements relative to the first support section 1231a are also different; and it can be understood that the smaller the diameter of the pipeline, the greater the degree of compression of the first elastic member 1231c, and at this time, the contraction amount of the second support section 1231b making telescopic movements relative to the first support section 1231a is also greater (that is, the total length of the first support leg 1231 is shorter).

[0061] By designing the first support section 1231a, the second support section 1231b, the first elastic member 1231c and the first driven wheel 1232, the total length of the first support leg 1231 can be adjusted, so that the first driven wheel 1232 connected to the second support section 1231b can contact the inner wall surfaces of pipelines with different diameters, thereby enhancing the applicability of the power device 1. The first elastic member 1231c always abuts between the second support section 1231b and the first support section 1231a, so that the second support section 1231b will drive the first driven wheel 1232 connected thereto to always abut against the inner wall surface of the pipeline under the elastic force of the first elastic member 1231c, so as to effectively ensure the stability of the power device 1 when walking in the pipeline.

[0062] Such as Figures 6-9 and Figure 16As shown, the driving housing 121 includes a first housing 1211 connected to the elastic connecting body 13, and a first connecting portion 1212 provided on the first housing 1211. The first connecting portion 1212 has either a plurality of first teeth 1231a3 arranged around the rotation axis of the first support section 1231a or one of a plurality of first tooth grooves 1213. The first support section 1231a includes a first support rod 1231a1 and a second connecting portion 1231a2 provided on the first support rod 1231a1. The second connecting portion 1231a2 is rotatably connected to the first connecting portion 1212. The second connecting portion 1231a2 has the other of the plurality of first teeth 1231a3 and the plurality of first tooth grooves 1213 arranged around the rotation axis, and the plurality of first teeth 1231a3 and the plurality of first tooth grooves 1213 are engaged with each other in a one-to-one correspondence.

[0063] Among them, the first connecting portion 1212 can be detachably connected to the first housing 1211 by at least one of screwing, clamping or plugging, etc., and the first connecting portion 1212 can also be non-detachably connected to the first housing 1211 by gluing, injection molding or 3D printing, etc. The second connecting portion 1231a2 can be detachably connected to the first support rod 1231a1 by at least one of screwing, clamping or plugging, etc., and the second connecting portion 1231a2 can also be non-detachably connected to the first support rod 1231a1 by gluing, injection molding or 3D printing, etc. The second connecting portion 1231a2 can be rotatably connected to the first connecting portion 1212 by a rotating shaft, etc.

[0064] Before the power device 1 travels in the pipeline, the inspector can rotate the first support rod 1231a1 to a suitable angle so that the first driven wheel 1232 connected to the second support section 1231b can contact the inner wall surface of the pipeline, and by engaging the plurality of first teeth 1231a3 with the plurality of first slots in a one-to-one correspondence, the relative position between the first support rod 1231a1 and the first housing 1211 is fixed.

[0065] As Figures 6-9As shown in the figure, the driven support wheel set 112 serves as the support and crawling structure of the driven module 11. The driven support wheel set 112 includes a second support leg 1121 and a second driven wheel 1122. The second support leg 1121 includes a third support section 1121a, a fourth support section 1121b, and a second elastic member 1121c. The third support section 1121a is rotatably connected to the driven housing 111. The fourth support section 1121b and the third support section 1121a form an inner and outer nested telescopic structure. The second elastic member 1121c is located in the telescopic space formed by the enclosure of the fourth support section 1121b and the third support section 1121a, and the second elastic member 1121c abuts against the fourth support section 1121b and the third support section 1121a. The second driven wheel 1122 is fixedly connected to the fourth support section 1121b. When the power device 1 travels in the pipeline, the second driven wheel 1122 is used to contact the inner wall surface of the pipeline.

[0066] Among them, the third support section 1121a and the fourth support section 1121b form an inner and outer nested telescopic structure. It can be that the third support section 1121a is in a cylindrical shape. At this time, the fourth support section 1121b is received in the cylindrical cavity of the third support section 1121a and forms a telescopic rod structure with the third support section 1121a. Or it can be that the fourth support section 1121b is in a cylindrical shape. At this time, the third support section 1121a is received in the cylindrical cavity of the fourth support section 1121b and forms a telescopic rod structure with the fourth support section 1121b.

[0067] The second elastic member 1121c can be a spring or a spring sheet. The second elastic member 1121c abuts against the fourth support section 1121b and the third support section 1121a. Under the elastic force of the second elastic member 1121c, the fourth support section 1121b and the third support section 1121a are in an extended state of moving away from each other. And the fourth support section 1121b will squeeze the second elastic member 1121c under the action of the inner wall surface of the pipeline, so that the second elastic member 1121c is further compressed, and the fourth support section 1121b makes a contraction movement relative to the third support section 1121a, so that the second driven wheel 1122 can contact the inner wall surface of the pipeline. It should be noted that for pipelines with different diameters, the second elastic member 1121c will have different compression amounts under the action of the inner wall surfaces of pipelines with different diameters, so that the contraction amounts of the fourth support section 1121b making contraction movements relative to the third support section 1121a are also different; and it can be understood that the smaller the diameter of the pipeline, the greater the degree of compression of the second elastic member 1121c, and at this time, the contraction amount of the fourth support section 1121b making telescopic movements relative to the third support section 1121a is also greater (that is, the total length of the second support leg 1121 is shorter).

[0068] By designing the third support section 1121a, the fourth support section 1121b, the second elastic member 1121c and the second driven wheel 1122, the total length of the second support leg 1121 can be adjusted so that the second driven wheel 1122 connected to the fourth support section 1121b can contact the inner wall surface of pipes with different diameters, thereby enhancing the applicability of the power device 1. The second elastic member 1121c always abuts tightly between the fourth support section 1121b and the third support section 1121a, so that the fourth support section 1121b will drive the second driven wheel 1122 connected thereto to always abut tightly against the inner wall surface of the pipe under the elastic force of the second elastic member 1121c, effectively ensuring the stability of the power device 1 when walking in the pipe.

[0069] As Figures 6-9 and Figure 16 shown, the driven housing 111 includes a second housing 1111 connected to the elastic connecting body 13, and a third connecting portion 1112 provided on the second housing 1111. The third connecting portion 1112 has either a plurality of second teeth 1121a3 arranged around the rotation axis of the third support section 1121a or one of a plurality of second tooth grooves 1113. The third support section 1121a includes a second support rod 1121a1 and a fourth connecting portion 1121a2 provided on the second support rod 1121a1. The fourth connecting portion 1121a2 is rotatably connected to the third connecting portion 1112. The fourth connecting portion 1121a2 has the other of a plurality of second teeth 1121a3 and a plurality of second tooth grooves 1113 arranged around the rotation axis, and the plurality of second teeth 1121a3 and the plurality of second tooth grooves 1113 are engaged with each other one by one.

[0070] Among them, the third connecting portion 1112 can be detachably connected to the second housing 1111 by at least one of screwing, clamping or plugging, etc., and the third connecting portion 1112 can also be non-detachably connected to the second housing 1111 by bonding, injection molding or 3D printing. The fourth connecting portion 1121a2 can be detachably connected to the second support rod 1121a1 by at least one of screwing, clamping or plugging, etc., and the fourth connecting portion 1121a2 can also be non-detachably connected to the second support rod 1121a1 by bonding, injection molding or 3D printing. The fourth connecting portion 1121a2 can be rotatably connected to the third connecting portion 1112 by a rotating shaft.

[0071] Before the power device 1 walks in the pipeline, the inspector can rotate the second support rod 1121a1 to an appropriate angle so that the second driven wheel 1122 connected to the fourth support section 1121b can contact the inner wall surface of the pipeline, and by making a plurality of second teeth 1121a3 correspond to and engage with a plurality of second slots one by one, the relative position between the second support rod 1121a1 and the second housing 1111 is fixed.

[0072] As Figures 6-8 shown, the driven module 11 further includes a power source 113, and the power source 113 is installed inside the driven housing 111. The driving module 12 further includes a transmission unit 124, and the transmission unit 124 is installed inside the driving housing 121. The transmission unit 124 is in transmission connection with the first driving wheel 122a and the second driving wheel 122b. The elastic connection body 13 has a cylindrical structure. The power device 1 further includes a universal connecting rod 14 located in the cylindrical cavity of the elastic connection body 13. The first end of the universal connecting rod 14 is connected to the driving end of the power source 113, and the second end of the universal connecting rod 14 is connected to the transmission unit 124. The power source 113 transmits the driving force to the transmission unit 124 through the universal connecting rod 14, so that the transmission unit 124 drives the first driving wheel 122a and the second driving wheel 122b to rotate.

[0073] Among them, the power source 113 is used to generate a driving force. The specific form of the power source 113 will be introduced in detail below. The specific installation method between the power source 113 and the driven housing 111 (specifically the above-mentioned second housing 1111) will be introduced in detail below.

[0074] The transmission unit 124 is used to transmit the driving force. The transmission unit 124 can be but is not limited to structural members such as a multi-link mechanism and a gear chain mechanism that can transmit the driving force. The specific form of the transmission unit 124 will be introduced in detail below. The specific installation method between the transmission unit 124 and the driving housing 121 (specifically the above-mentioned first housing 1211) will be introduced in detail below.

[0075] On the one hand, the universal connecting rod 14 is used to transmit the driving force generated by the power source 113 to the transmission unit 124, and on the other hand, it is used to cooperate with the elastic connection body 13 to achieve steering so as to facilitate the power device 1 to walk in a curved pipeline. By designing the elastic connection body 13 into a cylindrical structure, the universal connecting rod 14 is accommodated in the cylindrical cavity of the elastic connection body 13. In this way, the universal connecting rod 14 reasonably utilizes the internal space of the elastic connection body 13, and can effectively reduce the overall volume of the power device 1. In addition, the elastic connection body 13 can protect the universal connecting rod 14 to effectively prevent impurities in the pipeline from winding around the universal connecting rod 14, thereby ensuring the effective transmission of the driving force.

[0076] By designing the power source 113, the universal connecting rod 14, and the transmission unit 124, the power source 113 is used to generate a driving force, the universal connecting rod 14 is used to transmit the driving force generated by the power source 113 to the transmission unit 124, and the transmission unit 124 drives the first driving wheel 122a and the second driving wheel 122b that are in transmission connection therewith to rotate under the action of the driving force, so as to generate rolling friction between the first driving wheel 122a and the second driving wheel 122b and the inner wall surface of the pipeline, thereby ensuring the effective movement of the power device 1 in the pipeline.

[0077] Specifically, as Figures 10-13 shown, the transmission unit 124 includes a driving bevel gear 1241, a first driven bevel gear 1242, and a first gear set 1243 installed on the driving housing 121; the driving bevel gear 1241 is connected to the second end of the universal connecting rod 14, the first driven bevel gear 1242 is meshed and connected to the driving bevel gear 1241, the first gear set 1243 includes at least two meshed first sub-gears 1243a, one of the first sub-gears 1243a in the first gear set 1243 is coaxially and fixedly connected to the first driven bevel gear 1242, and the other first sub-gear 1243a in the first gear set 1243 is fixedly connected to the axle of the first driving wheel 122a. The driving force generated by the power source 113 is transmitted to the driving bevel gear 1241 through the universal connecting rod 14, the driving bevel gear 1241 rotates to drive the first driven bevel gear 1242 meshed therewith to rotate, the first driven bevel gear 1242 rotates to drive one of the first sub-gears 1243a coaxially and fixedly connected thereto to rotate, the first sub-gear 1243a rotates to drive all the first sub-gears 1243a in the first gear set 1243 to rotate synchronously, the other first sub-gear 1243a in the first gear set 1243 rotates to drive the first driving wheel 122a coaxially and fixedly connected thereto to rotate, and the first driving wheel 122a rotates to generate rolling friction with the inner wall surface of the pipeline, thereby ensuring the effective movement of the power device 1 in the pipeline.

[0078] The transmission unit 124 further includes a second driven bevel gear 1244 and a second gear set 1245 mounted on the driving housing 121; the second driven bevel gear 1244 is meshed and connected with the driving bevel gear 1241, the second gear set 1245 includes at least two meshed second sub-gears 1245a, one of the second sub-gears 1245a of the second gear set 1245 is coaxially and fixedly connected with the second driven bevel gear 1244, and the other second sub-gear 1245a in the second gear set 1245 is fixedly connected with the axle of the second driving wheel 122b. The driving force generated by the power source 113 is transmitted to the driving bevel gear 1241 through the universal connecting rod 14. The driving bevel gear 1241 rotates to drive the meshed second driven bevel gear 1244 to rotate. The second driven bevel gear 1244 rotates to drive one of the second sub-gears 1245a coaxially and fixedly connected therewith to rotate. The second sub-gear 1245a rotates to drive all the second sub-gears 1245a in the second gear set 1245 to rotate synchronously. The other second sub-gear 1245a in the second gear set 1245 rotates to drive the second driving wheel 122b coaxially and fixedly connected therewith to rotate. A rolling friction is generated between the rotation of the second driving wheel 122b and the inner wall surface of the pipeline, so as to ensure the effective walking of the power device 1 in the pipeline. The first driven bevel gear 1242 and the second driven bevel gear 1244 are meshed and connected with the same driving bevel gear 1241, so that the first driving wheel 122a and the second driving wheel 122b can rotate synchronously. It should be noted that by designing the transmission unit 124 into the driving bevel gear 1241, the first driven bevel gear 1242, the second driven bevel gear 1244, the first gear set 1243 and the second gear set 1245, the driving bevel gear 1241, the first driven bevel gear 1242, the second driven bevel gear 1244, the first gear set 1243 and the second gear set 1245 are more compact in spatial arrangement, and the overall volume of the power device 1 can be effectively reduced.

[0079] As Figures 10-15 shown, the driving module 12 further includes a mounting plate 125 installed inside the driving housing 121. The transmission unit 124 is mounted on the mounting plate 125. The inside of the mounting plate 125 is hollow to form a first accommodation cavity 125a and a second accommodation cavity 125b. The driving housing 121 has a first opening 1211a corresponding to the cavity opening of the first accommodation cavity 125a and a second opening 1211b corresponding to the cavity opening of the second accommodation cavity 125b. The first driving wheel 122a passes through the first opening 1211a and partially extends into the first accommodation cavity 125a. The first driving wheel 122a is rotationally connected with the mounting plate 125; the second driving wheel 122b passes through the second opening 1211b and partially extends into the second accommodation cavity 125b. The second driving wheel 122b is rotationally connected with the mounting plate 125.

[0080] Among them, the specific installation method between the mounting plate 125 and the driving housing 121 is not limited herein, and designers can make reasonable designs according to actual needs. For example, the mounting plate 125 can be detachably connected to the driving housing 121 (specifically the first housing 1211 mentioned above) by at least one of screwing, clamping or plugging, etc. Also, for example, the mounting plate 125 can also be non-detachably connected to the driving housing 121 (specifically the first housing 1211 mentioned above) by riveting, gluing, injection molding or 3D printing.

[0081] The first driving wheel 122a and the second driving wheel 122b are mounted on the driving housing 121 through the mounting plate 125. By machining a first accommodation cavity 125a and a second accommodation cavity 125b inside the mounting plate 125, the first driving wheel 122a makes reasonable use of the internal space of the mounting plate 125 (i.e., the first accommodation cavity 125a), and the second driving wheel 122b makes reasonable use of the internal space of the mounting plate 125 (i.e., the second accommodation cavity 125b), so that the first driving wheel 122a, the second driving wheel 122b and the mounting plate 125 are more compact in spatial arrangement, thereby effectively reducing the overall volume of the power device 1. In addition, the mounting plate 125 can also serve as a bracket 114 for the transmission unit 124, for mounting the transmission unit 124, so that the transmission unit 124 and the mounting plate 125 are more compact in spatial arrangement, thereby effectively reducing the overall volume of the power device 1.

[0082] It should be noted that due to the detailed designs such as the transmission unit 124 and the mounting plate 125, the power device 1 in the present application can achieve miniaturized design, and the power device 1 in the present application is suitable for traveling in a pipeline with a radial dimension greater than or equal to 10 cm and less than or equal to 15 cm. For example, the power device 1 can be used to travel in pipelines with radial dimensions of 10 cm, 11 cm, 12 cm, 13 cm, 14 cm or 15 cm, etc. And it can be understood that since the overall volume of the power device 1 in the present application is small, the power device 1 can be used in but not limited to application scenarios such as the detection of household drainage pipelines.

[0083] As Figures 6-8 shown, the driven module 11 further includes a bracket 114 installed inside the driven housing 111. The power source 113 includes a motor 1131 and a speed reducer 1132. The motor 1131 and the speed reducer 1132 are arranged on both sides of the bracket 114 along the traveling direction of the power device 1. The motor 1131 is mounted on the bracket 114, the motor shaft of the motor 1131 is connected to the speed reducer 1132, and the rotating shaft of the speed reducer 1132 serves as the above-mentioned driving end and is connected to the first end of the universal link 14.

[0084] Among them, the bracket 114 can be detachably connected to the driven housing 111 (specifically the second housing 1111 mentioned above) by at least one of the ways such as screwing, clamping or plugging; the bracket 114 can also be non-detachably connected to the driven housing 111 (specifically the second housing 1111 mentioned above) by ways such as gluing, injection molding or 3D printing. The motor 1131 can be fixedly connected to the bracket 114 by, but not limited to, screwing.

[0085] By designing the motor 1131 and the reducer 1132, the motor shaft of the motor 1131 rotates to drive the rotating shaft of the reducer 1132 to rotate, and the rotating shaft of the reducer 1132 rotates to drive the universal link 14 connected thereto to rotate, so as to effectively transmit the driving force generated by the motor 1131 to the transmission unit 124 through the universal link 14.

[0086] As Figure 6 , Figures 14-16 shown, the active housing 121 has a wiring port 1211c and a first wire passing hole 1211d. The wiring port 1211c is located at one end of the active housing 121 away from the elastic connector 13, and the first wire passing hole 1211d is located at one end of the active housing 121 close to the elastic connector 13. The driven housing 111 has a second wire passing hole 1111a, and the second wire passing hole 1111a is located at one end of the driven housing 111 close to the elastic connector 13. The driven module 11 further includes an electric control component 115, and the electric control component 115 is installed inside the driven housing 111; the power device 1 further includes a wire harness 15 (as shown by the dotted line in Figure 16 ), the wire harness 15 includes a first wire body section, a second wire body section and a third wire body section. The first wire body section is disposed inside the active housing 121 and is electrically connected to the wiring port 1211c. The second wire body section is located inside the driven housing 111 and is electrically connected to the electric control component 115. The third wire body section is disposed between the active housing 121 and the driven housing 111, and one end of the third wire body section passes through the first wire passing hole 1211d to be electrically connected to the first wire body section, and the other end of the third wire body section passes through the second wire passing hole 1111a to be electrically connected to the second wire body section.

[0087] Among them, the electric control component 115 can include a circuit board and a controller integrated on the circuit board. The driven module 11 can also include another bracket 116 installed inside the driven housing 111, and the electric control component 115 is installed on the other bracket 116.

[0088] By designing the wire harness 15, the wire harness 15 passes through the first wire passing hole 1211d and the second wire passing hole 1111a in sequence, and both ends of the wire harness 15 are electrically connected to the wiring port 1211c and the electric control component 115 respectively. The external cable 33 can be electrically connected to the electric control component 115 by being electrically connected to the wiring port 1211c. In this way, it is convenient for the detection personnel to control the movement of the power device 1 in the pipeline in real time outside the pipeline, and the operation is convenient.

[0089] Specifically, regarding the wiring method of the first wire body segment inside the active housing 121 and the wiring method of the second wire body segment inside the driven housing 111, it can include but is not limited to the following situations.

[0090] In the first situation, as Figure 8 shown, the active module 12 further includes a wiring rack 126 installed inside the active housing 121, and the first wire body segment of the wire harness 15 is placed on the wiring rack 126. Among them, the specific installation method between the wiring rack 126 and the active housing 121 (specifically the above-mentioned first housing 1211) is not limited here, and the designer can make a reasonable design according to actual needs; for example, the wiring rack 126 can be detachably connected to the active housing 121 by at least one of screwing, clamping or plugging; for another example, the wiring rack 126 can also be non-detachably connected to the active housing 121 by gluing, injection molding or 3D printing. By designing the wiring rack 126, the first wire body segment of the wire harness 15 is placed on the wiring rack 126, so that the first wire body segment of the wire harness 15 will not be arranged chaotically inside the active housing 121, and the possibility that the first wire body segment of the wire harness 15 is wound around the above-mentioned transmission unit 124 can be effectively reduced or even avoided.

[0091] In the second situation, as Figure 16 shown, a wiring groove 1111b is provided on the inner wall surface of the driven housing 111, and the second wire body segment of the wire harness 15 is arranged in the wiring groove 1111b. By designing the wiring groove 1111b, the second wire body segment of the wire harness 15 is arranged in the wiring groove 1111b, so that the second wire body segment of the wire harness 15 will not be arranged chaotically inside the driven housing 111, and the possibility that the second wire body segment of the wire harness 15 is wound around the above-mentioned power source 113 can be effectively reduced or even avoided.

[0092] Please refer to Figure 17 shown. In the second aspect, the present application proposes a pipeline endoscope device 2, which includes an endoscope component 21 and the above-mentioned power device 1. The endoscope component 21 is installed on the driven housing 111, and the endoscope component 21 is used to detect relevant data inside the pipeline.

[0093] Based on the pipeline endoscope device 2 in the embodiments of the present application, which has the above-mentioned power device 1, it can walk stably in the pipeline and effectively survey relevant data inside the pipeline through the endoscope assembly 21.

[0094] As Figure 17 shown, a fixing hole 1111c is provided at one end of the driven housing 111 away from the elastic connector 13 ( Figure 15 shown in); the endoscope assembly 21 includes a probe and a fixing member connected to the probe, and the probe is detachably connected to the driven housing 111 by connecting the fixing member to the fixing hole 1111c. Among them, the fixing hole 1111c can be a threaded hole, in which case the fixing member is a stud, and the probe is detachably connected to the driven housing 111 by screwing the stud into the threaded hole; the fixing hole 1111c can also be a clamping hole, in which case the fixing member is a snap pin, and the probe is detachably connected to the driven housing 111 by snap-fitting the snap pin into the clamping hole; the fixing hole 1111c can also be a socket, in which case the fixing member is a plug pin, and the probe is detachably connected to the driven housing 111 by inserting the plug pin into the socket. Such a design enables the probe to be detachably connected to the driven housing 111 by connecting the fixing member to the fixing hole 1111c, facilitating the effective replacement of the damaged endoscope assembly 21 by the inspection personnel in the later stage.

[0095] Please refer to Figure 18 shown, in a third aspect, the present application proposes a pipeline survey system 3, which includes an electric control module 31, an external cable 33, and the above-mentioned pipeline endoscope device 2, and the pipeline endoscope device 2 is connected to the electric control module 31 through the external cable 33.

[0096] Based on the pipeline survey system 3 in the embodiments of the present application, which has the above-mentioned pipeline endoscope device 2, the pipeline endoscope device 2 can walk stably in the pipeline to effectively survey relevant data inside the pipeline.

[0097] As Figure 18 shown, the pipeline survey system 3 further includes a wire winding frame 32, and the external cable 33 is wound around the wire winding frame 32. By designing the wire winding frame 32, the external cable 33 is wound around the wire winding frame 32 to ensure the regularity of the storage of the external cable 33.

[0098] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components; in the description of the present application, it should be understood that if there are terms such as "upper", "lower", "left", "right", etc. indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, it is only for the convenience of describing the present application 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. Therefore, the terms describing the positional relationship in the accompanying drawings are only for illustrative purposes and cannot be construed as a limitation of this patent. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0099] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A power device for a pipeline endoscope device, characterized in that The pipeline endoscope device further includes an endoscope component, and the power device includes: A driven module, including a driven housing and a plurality of driven support wheel sets. The plurality of driven support wheel sets are installed on the driven housing and the opening angle relative to the driven housing is adjustable. The endoscope component is installed on the driven housing; A driving module, including a driving housing, a driving wheel, and a driving support wheel set. The driving wheel is installed on the driving housing, and the driving support wheel set is installed on the driving housing and the opening angle relative to the driving housing is adjustable; An elastic connection body, located between the driven housing and the driving housing, and connected to the driven housing and the driving housing; Wherein, when the power device travels in the pipeline, the driving wheel, the driven support wheel set, and the driving support wheel set are used to contact the inner wall surface of the pipeline.

2. The power device of the pipeline endoscope device according to claim 1, wherein The number of the driving wheels is multiple, and the multiple driving wheels include a first driving wheel and a second driving wheel; the number of the driving support wheel sets is multiple, and the multiple driving support wheel sets include a first driving support wheel set and a second driving support wheel set; the first driving wheel and the first driving support wheel set are arranged along a first diagonal line, the second driving wheel and the second driving support wheel set are arranged along a second diagonal line, and the first diagonal line intersects with the second diagonal line; The first diagonal line is perpendicular to the second diagonal line; and / or The first diagonal line and the second diagonal line intersect to form an intersection point, and the intersection point is the midpoint of the first diagonal line and the second diagonal line; and / or The cross-section of the first driving wheel on a plane perpendicular to its rotation axis is parallel or coincident with the plane where the first diagonal line is located; and / or The cross-section of the second driving wheel on a plane perpendicular to its rotation axis is parallel or coincident with the plane where the second diagonal line is located.

3. The power device of the pipeline endoscope equipment according to claim 1, characterized in that, The driving support wheel set includes: A first support leg, including a first support section, a second support section, and a first elastic member. The first support section is rotatably connected to the driving housing. The second support section and the first support section form an inner and outer nested telescopic structure. The first elastic member is located in the telescopic space formed by enclosing the second support section and the first support section, and the first elastic member abuts against the second support section and the first support section; A first driven wheel, fixedly connected to the second support section; when the power device travels in the pipeline, the first driven wheel is used to contact the inner wall surface of the pipeline; The driving housing includes a first housing connected to the elastic connection body and a first connection portion provided on the first housing. The first connection portion has one of a plurality of first teeth and a plurality of first tooth grooves arranged around the rotation axis of the first support section; The first support section includes a first support rod and a second connection portion provided on the first support rod. The second connection portion is rotatably connected to the first connection portion. The second connection portion has the other of the plurality of first teeth and the plurality of first tooth grooves arranged around the rotation axis, and the plurality of first teeth and the plurality of first tooth grooves are engaged with each other one by one.

4. The power device of the pipeline endoscope equipment according to claim 1, characterized in that, The driven support wheel set comprises: The second support leg comprises a third support segment, a fourth support segment and a second elastic member, wherein the third support segment is rotatably connected to the driven housing, the fourth support segment and the third support segment form an inner-outer nested telescopic structure, the second elastic member is located in a telescopic space enclosed by the fourth support segment and the third support segment, and the second elastic member is pressed against the fourth support segment and the third support segment; a second driven wheel fixedly connected to the fourth supporting section; when the power device moves in the pipeline, the second driven wheel is used to contact the inner wall surface of the pipeline; The driven housing includes a second housing connected to the elastic connecting body, and a third connecting portion provided on the second housing, wherein the third connecting portion has one of a plurality of second latch teeth and a plurality of second tooth grooves arranged around the rotation axis of the third supporting section; The third support section includes a second support rod and a fourth connecting portion arranged on the second support rod, the fourth connecting portion is rotatably connected to the third connecting portion, the fourth connecting portion has the plurality of second latching teeth and another one of the plurality of second tooth grooves arranged around the rotation axis, the plurality of second latching teeth and the plurality of second tooth grooves are engaged with each other in a one-to-one manner.

5. The power device of the pipeline endoscopy equipment according to claim 2, characterized in that: The driven module further comprises a power source, and the power source is installed inside the driven housing; The active module further includes a transmission unit, which is installed inside the active housing and is in transmission connection with the first active wheel and the second active wheel; The elastic connecting body is a cylindrical structure, and the power device also includes a universal connecting rod located in the cylindrical cavity of the elastic connecting body, the first end of the universal connecting rod is connected to the driving end of the power source, and the second end of the universal connecting rod is connected to the transmission unit; the power source transmits the driving force to the transmission unit through the universal connecting rod, so that the transmission unit drives the first driving wheel and the second driving wheel to rotate.

6. The power device of the pipeline endoscopy equipment according to claim 5, characterized in that: The transmission unit comprises a driving bevel gear, a first driven bevel gear and a first gear set installed on the driving housing, the driving bevel gear is connected to the second end of the universal connecting rod, the first driven bevel gear is meshed with the driving bevel gear, the first gear set comprises at least two meshed first sub-gears, one of the first sub-gears in the first gear set is coaxially fixedly connected with the first driven bevel gear, and the other first sub-gear in the first gear set is fixedly connected with the wheel axle of the first driving wheel; or The active module further includes a mounting plate disposed inside the active housing. The transmission unit is mounted on the mounting plate. The interior of the mounting plate is hollow to form a first accommodation cavity and a second accommodation cavity. The active housing has a first opening corresponding to the opening of the first accommodation cavity and a second opening corresponding to the opening of the second accommodation cavity. The first driving wheel passes through the first opening and partially extends into the first accommodation cavity. The first driving wheel is rotatably connected to the mounting plate. The second driving wheel passes through the second opening and partially extends into the second accommodation cavity. The second driving wheel is rotatably connected to the mounting plate. Or The driven module further includes a bracket disposed inside the driven housing. The power source includes a motor and a reducer. The motor and the reducer are disposed on both sides of the bracket along the traveling direction of the power device. The motor is mounted on the bracket. The motor shaft of the motor is connected to the reducer. The rotating shaft of the reducer serves as the driving end and is connected to the first end of the universal link.

7. The power device of the pipeline endoscopy device according to claim 6, wherein The transmission unit further includes a second driven bevel gear and a second gear set mounted on the active housing. The second driven bevel gear is meshed and connected with the active bevel gear. The second gear set includes at least two meshed second sub-gears. One of the second sub-gears in the second gear set is coaxially and fixedly connected with the second driven bevel gear. The other second sub-gear in the second gear set is fixedly connected with the axle of the second driving wheel.

8. The power device of the pipeline endoscopy device according to claim 1, wherein The active housing has a wiring port and a first wire passing hole. The wiring port is located at one end of the active housing away from the elastic connector. The first wire passing hole is located at one end of the active housing close to the elastic connector. The driven housing has a second wire passing hole. The second wire passing hole is located at one end of the driven housing close to the elastic connector. The driven module further includes an electronic control component disposed inside the driven housing. The power device further includes a wire harness. The wire harness includes a first wire body section, a second wire body section, and a third wire body section. The first wire body section is disposed inside the active housing and is electrically connected to the wiring port. The second wire body section is disposed inside the driven housing and is electrically connected to the electronic control component. The third wire body section is disposed between the active housing and the driven housing. One end of the third wire body section passes through the first wire passing hole and is electrically connected to the first wire body section. The other end of the third wire body section passes through the second wire passing hole and is electrically connected to the second wire body section. The active module further includes a wiring rack disposed inside the active housing. The first wire body section is placed on the wiring rack; and / or, a wiring groove is provided on the inner wall surface of the driven housing. The second wire body section is arranged in the wiring groove.

9. An in-pipe endoscope device, characterized in that, Including: The power device of the pipeline endoscopy device according to any one of claims 1-8; And An endoscope assembly is installed on the driven housing and is used to survey relevant data inside the pipeline.

10. A pipeline survey system, characterized in that, It includes: An electronic control module; An external cable; And The pipeline endoscope device as claimed in claim 9, wherein the pipeline endoscope device is connected to the electronic control module through the external cable.

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