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

Abstract

The application discloses a power device of a pipeline endoscope, the pipeline endoscope 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 support wheel groups, and the opening angle of the plurality of driven support wheel groups relative to the driven shell is adjustable. The driving module comprises a driving shell, a driving wheel and a driving support wheel group, the driving wheel is installed on the driving shell, and the opening angle of the driving support wheel group 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 support wheel group and the driving support wheel group are used to contact the inner wall of the pipeline. When the power device walks in the pipeline, the driving wheel contacts the inner wall of the pipeline, and the driving wheel can also stably support the driving shell, so that the stability of the power device walking in the pipeline can be effectively ensured.

Description

Technical Field

[0001] This application relates to the field of pipeline surveying technology, and in particular to a power unit for a pipeline endoscope, a pipeline endoscope device, and a pipeline detection system. Background Technology

[0002] Pipeline endoscopy equipment (such as pipeline robots) is an intelligent device capable of autonomously walking, inspecting, maintaining, and cleaning inside pipelines. Pipeline endoscopy equipment includes wheeled pipeline robots and tracked pipeline robots. However, due to their inherent structural design, wheeled pipeline robots are prone to instability when moving inside pipelines. Therefore, effectively improving the stability of wheeled pipeline robots during pipeline movement has become an urgent problem to be solved. Summary of the Invention

[0003] This application provides a power unit for a pipe endoscope, a pipe endoscope device, and a pipe detection system, which can solve the problem that wheeled pipe robots in the related art are prone to walking instability when walking in pipes due to their own structural design.

[0004] In a first aspect, embodiments of this application provide a power unit for a pipeline endoscope; the pipeline endoscope includes a power unit and an endoscope assembly. The power unit includes a driven module, an active module, and an elastic connector. The driven module includes a driven shell and multiple driven support wheel sets. The multiple driven support wheel sets are mounted on the driven shell and their opening angle relative to the driven shell is adjustable. The endoscope assembly is mounted on the driven shell. The active module includes an active shell, an active wheel, and an active support wheel set. The active wheel is mounted on the active shell, and the active support wheel set is mounted on the active shell and its opening angle relative to the active shell is adjustable. The elastic connector is located between the driven shell and the active shell, and the elastic connector is connected to both the driven shell and the active shell. When the power unit travels inside the pipeline, the active wheel, the driven support wheel set, and the active support wheel set are used to contact the inner wall surface of the pipeline.

[0005] Secondly, embodiments of this application provide a pipeline endoscope; the pipeline endoscope includes an endoscope component and the aforementioned power device, the endoscope component is installed in the driven housing, and the endoscope component is used to survey relevant data inside the pipeline.

[0006] Thirdly, embodiments of this application provide a pipeline detection system; the pipeline detection system includes an electrical control module, an external cable, and the aforementioned pipeline endoscope, the pipeline endoscope being connected to the electrical control module via the external cable.

[0007] Based on the power unit, pipe endoscope, and pipe detection system of the pipe endoscope according to embodiments of this application, by designing a drive wheel with a fixed opening angle relative to the drive housing, the drive wheel can provide stable support to the drive housing while contacting the inner wall of the pipe during the movement of the power unit inside the pipe, effectively ensuring the stability of the power unit's movement within the pipe. By designing driven and active support wheel assemblies with adjustable opening angles relative to both the driven and active support wheel assemblies, the driven and active support wheel assemblies can be adjusted to suitable opening angles to accommodate pipes of different diameters. This allows the driven and active support wheel assemblies to contact the inner wall of the pipe during movement of the power unit, cooperating with the drive wheel to enable free movement of the power unit within the pipe. Attached Figure Description

[0008] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0009] Figure 1 This is a schematic diagram of the power device in one embodiment of this application;

[0010] Figure 2 for Figure 1 A schematic diagram of the power unit from another perspective;

[0011] Figure 3 This is a schematic diagram of the active support wheel assembly and the driven support wheel assembly after they are opened in one embodiment of this application;

[0012] Figure 4 This is a perspective structural diagram of a power unit inside a pipe in one embodiment of this application;

[0013] Figure 5 This is a schematic diagram of the distribution structure of the driving wheel and the driving support wheel assembly on the driving shell in one embodiment of this application;

[0014] Figure 6 This is a partial cross-sectional structural schematic diagram of the power device in one embodiment of this application;

[0015] Figure 7 This is a schematic diagram of the exploded structure of a power device in one embodiment of this application;

[0016] Figure 8 for Figure 7A schematic diagram of the exploded structure of the power unit from another perspective;

[0017] Figure 9 This is an exploded structural diagram of the active support wheel assembly (driven support wheel assembly) in one embodiment of this application;

[0018] Figure 10 This is a schematic diagram of the transmission unit and the drive wheel mounted on the mounting plate in one embodiment of this application;

[0019] Figure 11 for Figure 10 A structural diagram from another perspective;

[0020] Figure 12 for Figure 10 A partial decomposition diagram;

[0021] Figure 13 for Figure 12 A schematic diagram of the decomposed structure from another perspective;

[0022] Figure 14 This is a schematic diagram of the active shell, elastic connector, and driven shell in one embodiment of this application;

[0023] Figure 15 for Figure 14 A structural diagram from another perspective;

[0024] Figure 16 This is a cross-sectional structural diagram of the active shell, elastic connector, and driven shell in one embodiment of this application;

[0025] Figure 17 This is a schematic diagram of the structure of a pipeline endoscope in one embodiment of this application;

[0026] Figure 18 This is a schematic diagram of the pipeline surveying system in one embodiment of this application.

[0027] Reference numerals: 1. Power unit; 11. Driven module; 111. Driven housing; 1111. Second housing; 1111a. Second wire hole; 1111b. Wiring groove; 1111c. Fixing hole; 1112. Third connecting part; 1113. Second tooth groove; 112. Driven support wheel assembly; 1121. Second support leg; 1121a. Third support section; 1121a1. Second support rod; 1121a2. Fourth connecting part; 1121a3. Second locking tooth; 1121b. Fourth support section; 1 121c, Second elastic element; 1122, Second driven wheel; 113, Power source; 1131, Motor; 1132, Reducer; 114, Bracket; 115, Electronic control assembly; 116, Another bracket; 12, Active module; 121, Active housing; 1211, First housing; 1211a, First opening; 1211b, Second opening; 1211c, Wiring port; 1211d, First wire hole; 1212, First connecting part; 1213, First tooth groove; 122, Drive wheel; 122a First driving wheel; 122b, second driving wheel; 123, active support wheel assembly; 123a, first active support wheel assembly; 123b, second active support wheel assembly; 1231, first support leg; 1231a, first support section; 1231a1, first support rod; 1231a2, second connecting part; 1231a3, first locking tooth; 1231b, second support section; 1231c, first elastic element; 1232, first driven wheel; 124, transmission unit; 1241, driving bevel gear; 1242. 1. 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 receiving cavity; 125b. Second receiving cavity; 126. Wiring frame; 13. Flexible connector; 14. Universal linkage; 15. Wiring harness; 2. Pipe endoscope; 21. Endoscope assembly; 3. Pipeline survey system; 31. Electrical control module; 32. Winding frame; 33. External cable. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0029] Pipeline endoscopy equipment (such as pipeline robots) is an intelligent device capable of autonomously walking, inspecting, maintaining, and cleaning inside pipelines. Pipeline endoscopy equipment includes wheeled pipeline robots and tracked pipeline robots. However, wheeled pipeline robots in related technologies consist of a main shell and support legs. The support legs support the main shell and are used to contact the inner wall of the pipeline when the wheeled pipeline robot walks inside. Because the support legs are movably connected to the main shell, wheeled pipeline robots are prone to instability when walking inside pipelines. Therefore, how to effectively improve the stability of wheeled pipeline robots walking inside pipelines has become an urgent problem to be solved.

[0030] To solve the above technical problems, please refer to Figures 1-4 As shown, in a first aspect, this application proposes a power unit 1 for a pipe endoscope 2, the pipe endoscope 2 including the power unit 1 and an endoscope assembly 21. The power unit 1 includes a driven module 11, an active module 12, and an elastic connector 13. The driven module 11 includes a driven housing 111 and a plurality of driven support wheel sets 112, the plurality of driven support wheel sets 112 being mounted on the driven housing 111 and having an adjustable opening angle relative to the driven housing 111; the endoscope assembly 21 is mounted on the driven housing 111. The active module 12 includes an active housing 121, an active wheel 122, and an active support wheel set 123, the active wheel 122 being mounted on the active housing 121, and the active support wheel set 123 being mounted on the active housing 121 and having an adjustable opening angle relative to the active housing 121. The elastic connector 13 is located between the driven housing 111 and the active housing 121, and the elastic connector 13 is connected to both the driven housing 111 and the active housing 121. When the power unit 1 travels inside the pipe, the driving wheel 122, the driven support wheel group 112, and the driving support wheel group 123 are used to contact the inner wall surface of the pipe.

[0031] The following combination Figures 1-16 The specific structure of the power unit 1 of the pipeline endoscope 2 will be described in detail.

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

[0033] The driven module 11 serves as one of the crawling mechanisms of the power unit 1, and is used to cooperate with the active module 12 to move inside the pipe. The driven module 11 includes a driven housing 111 and a driven support wheel set 112.

[0034] The driven housing 111 serves as the outer shell of the driven module 11. The specific material of the driven housing 111 is not limited here; designers can choose a suitable material based on actual needs. For example, the material of the driven housing 111 can be, but is not limited to, stainless steel or plastic. The specific structure of the driven housing 111 will be described in detail below.

[0035] The driven housing 111 is used to mount the endoscope component 21; wherein, the endoscope component 21 may include, but is not limited to, devices with different monitoring functions such as probes and cameras. The specific mounting method between the endoscope component 21 and the driven housing 111 is not limited here, and designers can design it reasonably according to actual needs; for example, the endoscope component 21 may be detachably connected to the driven housing 111 by at least one of the following methods: screwing, snap-fitting, or plugging; or, for example, the endoscope component 21 may be non-detachably connected to the driven housing 111 by, but is not limited to, gluing, riveting, injection molding, or 3D printing.

[0036] The driven support wheel assembly 112 serves as the support and crawling structure for the driven module 11. It supports the driven housing 111 and is used for movement within the pipe. The specific structure of the driven support wheel assembly 112 will be described in detail below.

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

[0038] The driven support wheel assembly 112 is mounted on the driven housing 111 and its opening angle relative to the driven housing 111 is adjustable. The driven support wheel assembly 112 is mounted on the driven housing 111 and can rotate relative to the driven housing 111 to present different opening angles; the specific rotational mounting method between the driven support wheel assembly 112 and the driven housing 111 is not limited here, and the designer can make reasonable designs according to actual needs; for example, the driven support wheel assembly 112 can be rotatably connected to the driven housing 111 through components such as a rotating shaft or ball joint.

[0039] When the power unit 1 travels inside the pipeline, the driven support wheel assembly 112 is used to contact the inner wall surface of the pipeline. It should be noted that, for pipelines of different diameters, pipeline inspectors can rotate the driven support wheel assembly 112 to different opening angles according to the actual situation, so that when the power unit 1 travels inside the pipeline, the driven support wheel assembly 112 can form effective contact with the inner wall surface of the pipeline, thereby ensuring the stability of the power unit 1 traveling inside the pipeline.

[0040] like Figures 1-4 As shown, the active module 12 serves as another crawling mechanism of the power unit 1, used to cooperate with the driven module 11 to move inside the pipe. 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 outer shell of the active module 12. The specific material of the active housing 121 is not limited here; designers can choose a suitable material based on actual needs. For example, the material of the active housing 121 can be, but is not limited to, stainless steel or plastic. The specific structure of the active housing 121 will be described in detail below.

[0042] The drive wheel 122 serves as the travel wheel of the drive module 12, and is used to generate rolling friction with the inner wall of the pipe to drive the power unit 1 to travel inside the pipe.

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

[0044] The drive wheel 122 is mounted on the drive housing 121; the specific rotational mounting method between the drive wheel 122 and the drive housing 121 is not limited here, and the designer can make a reasonable design according to actual needs; for example, the drive wheel 122 can be rotatably connected to the drive housing 121 through a rotating shaft, but not limited to this.

[0045] The active support wheel assembly 123 serves as the support and crawling structure for the active module 12. It supports the active housing 121 and is used for movement within the pipe. The specific structure of the active support wheel assembly 123 will be described in detail below.

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

[0047] The active support wheel assembly 123 is mounted on the active housing 121 and its opening angle relative to the active housing 121 is adjustable. The active support wheel assembly 123 is mounted on the active housing 121 and can rotate relative to the active housing 121 to present different opening angles. The specific rotational mounting method between the active support wheel assembly 123 and the active housing 121 is not limited here, and the designer can make reasonable designs according to actual needs. For example, the active support wheel assembly 123 can be rotatably connected to the active housing 121 through components such as a rotating shaft or ball joint.

[0048] When the power unit 1 travels inside the pipeline, the drive wheel 122 and the drive support wheel assembly 123 are used to contact the inner wall surface of the pipeline. It should be noted that, for pipelines of different diameters, pipeline inspectors can rotate the drive support wheel assembly 123 to different opening angles according to the actual situation, so that when the power unit 1 travels inside the pipeline, the drive support wheel assembly 123 can form effective contact with the inner wall surface of the pipeline, thereby ensuring the stability of the power unit 1 traveling inside the pipeline.

[0049] like Figures 1-4As shown, the elastic connector 13 serves as the connecting mechanism for the power unit 1, connecting the driven module 11 and the driving module 12, so that the driven module 11 and the driving module 12 form a whole, enabling them to move synchronously within the pipe. The specific form of the elastic connector 13 will be described in detail below. It should be noted that the elastic connector 13 is capable of elastic deformation, making the power unit 1 suitable for movement within curved pipes.

[0050] The elastic connector 13 is located between the driven shell 111 and the active shell 121, and is connected to both the driven shell 111 and the active shell 121. The specific connection method between the elastic connector 13 and the driven shell 111 (active shell 121) is not limited here; designers can design it reasonably according to actual needs. For example, the elastic connector 13 can be detachably connected to the driven shell 111 (active shell 121) by at least one of the following methods: screwing, snap-fitting, or plugging. Alternatively, the elastic connector 13 can also be non-detachably connected to the driven shell 111 (active shell 121) by, but not limited to, gluing, riveting, or welding.

[0051] Based on the power device 1 in this embodiment, by designing a drive wheel 122 with a fixed opening angle relative to the drive housing 121, the drive wheel 122 can provide stable support to the drive housing 121 while contacting the inner wall of the pipe, effectively ensuring the stability of the power device 1's movement within the pipe. By designing a driven support wheel assembly 112 and a drive support wheel assembly 123 with adjustable opening angles for both the driven support wheel assembly 112 and the drive support wheel assembly 123 relative to the drive housing 111, the driven support wheel assembly 112 and the drive support wheel assembly 123 can be adjusted to suitable opening angles to accommodate pipes of different diameters. This allows the driven support wheel assembly 112 and the drive support wheel assembly 123 to contact the inner wall of the pipe while moving within it, cooperating with the drive wheel 122 and enabling the power device 1 to move freely within the pipe.

[0052] like Figure 5As shown, there are multiple drive wheels 122, including a first drive wheel 122a and a second drive wheel 122b; there are also multiple active support wheel sets 123, including a first active support wheel set 123a and a second active support wheel set 123b. The first drive wheel 122a and the first active support wheel set 123a are arranged along a first diagonal, and the second drive wheel 122b and the second active support wheel set 123b are arranged along a second diagonal, with the first and second diagonals intersecting. This arrangement of the first drive wheel 122a and the second drive wheel 122b adjacent to each other ensures that the first drive wheel 122a and the second drive wheel 122b remain in contact with the inner wall of the pipe when the power device 1 travels within the pipe, thus guaranteeing the stability of the power device 1 during its movement within the pipe.

[0053] The specific arrangement of the first drive wheel 122a, the second drive wheel 122b, the first drive support wheel group 123a, and the second drive support wheel group 123b on the drive housing 121 may include, but is not limited to, one or more of the following situations.

[0054] In the first case, the first diagonal and the second diagonal are perpendicular. In this case, the line connecting the rotation center of the first driving wheel 122a to the intersection of the two diagonals is the first line; the line connecting the rotation center of the second driving wheel 122b to the intersection of the two diagonals is the second line; the line connecting the rotation center of the first active support wheel assembly 123a to the intersection of the two diagonals is the third line; and the line connecting the rotation center of the second active support wheel assembly 123b to the intersection of the two diagonals is the fourth line. Furthermore, the angles between the first and second lines are 90 degrees, the angles between the second and third lines are 90 degrees, the angles between the third and fourth lines are 90 degrees, and the angle between the fourth line and the first line is 90 degrees. This design ensures that when the power unit 1 moves inside the pipe, the contact positions between the first drive wheel 122a, the second drive wheel 122b, the first active support wheel group 123a, and the second active support wheel group 123b and the inner wall of the pipe are evenly distributed, thus guaranteeing the stability of the power unit 1 as it moves inside the pipe.

[0055] In the second scenario, the first and second diagonals intersect at a point that is the midpoint between the first and second diagonals. In this case, the line connecting the rotation center of the first drive wheel 122a to the intersection of the two diagonals is the first line; the line connecting the rotation center of the second drive wheel 122b to the intersection of the two diagonals is the second line; the line connecting the rotation center of the first active support wheel assembly 123a to the intersection of the two diagonals is the third line; and the line connecting the rotation center of the second active support wheel assembly 123b to the intersection of the two diagonals is the fourth line. The length of the first line is equal to the length of the third line, and the length of the second line is equal to the length of the fourth line. This design ensures that when the power unit 1 moves within the pipe, the contact points between the first drive wheel 122a, the second drive wheel 122b, the first active support wheel assembly 123a, and the second active support wheel assembly 123b and the inner wall of the pipe are evenly distributed, further improving the stability of the power unit 1 within the pipe.

[0056] In the third case, the section of the first drive wheel 122a passing through a plane perpendicular to its axis of rotation is parallel to or coincides with the plane containing the first diagonal. This design allows the first drive wheel 122a to move stably within the pipe while reducing the force on the first drive wheel 122a, thus reducing its wear.

[0057] In the fourth case, the section of the second drive wheel 122b passing through a plane perpendicular to its axis of rotation is parallel to or coincides with the plane containing the second diagonal. This design allows the second drive wheel 122b to move stably within the pipe while reducing the force on the second drive wheel 122b, thus reducing its wear.

[0058] like Figures 6-9 As shown, the active support wheel assembly 123 serves as the support crawling structure for the active module 12. The active support wheel assembly 123 includes a first support leg 1231 and a first driven wheel 1232. The first support leg 1231 includes a first support section 1231a, a second support section 1231b, and a first elastic element 1231c. The first support section 1231a is rotatably connected to the active housing 121. The second support section 1231b and the first support section 1231a form an inner-outer nested telescopic structure. The first elastic element 1231c is located within the telescopic space formed by the second support section 1231b and the first support section 1231a, and the first elastic element 1231c abuts against the second support section 1231b and the first support section 1231a. The first driven wheel 1232 is fixedly connected to the second support section 1231b. When the power unit 1 travels inside the pipe, the first driven wheel 1232 contacts the inner wall surface of the pipe.

[0059] The first support segment 1231a and the second support segment 1231b form an inner and outer nested telescopic structure. The first support segment 1231a can be cylindrical, in which case the second support segment 1231b is housed in the cylindrical cavity of the first support segment 1231a and forms a telescopic rod structure with the first support segment 1231a. Alternatively, the second support segment 1231b can be cylindrical, in which case the first support segment 1231a is housed in the cylindrical cavity of the second support segment 1231b and forms a telescopic rod structure with the second support segment 1231b.

[0060] The first elastic element 1231c can be either a spring or a sheet. The first elastic element 1231c abuts against the second support section 1231b and the first support section 1231a. Under the elastic force of the first elastic element 1231c, the second support section 1231b and the first support section 1231a are in an elongated state that moves away from each other. Under the action of the inner wall surface of the pipe, the second support section 1231b will squeeze the first elastic element 1231c, causing the first elastic element 1231c to be further compressed, and the second support section 1231b will contract relative to the first support section 1231a, so that the first driven wheel 1232 can contact the inner wall surface of the pipe. It should be noted that, for pipes of different diameters, the first elastic element 1231c will generate different amounts of compression under the action of the inner wall surface of the pipe of different diameters, so that the amount of contraction of the second support section 1231b relative to the first support section 1231a will also be different; and it can be understood that the smaller the pipe diameter, the greater the degree of compression of the first elastic element 1231c, and at this time the amount of contraction of the second support section 1231b relative to the first support section 1231a will also be greater (that is, the shorter the total length of the first support leg 1231).

[0061] By designing the first support section 1231a, the second support section 1231b, the first elastic element 1231c, and the first driven wheel 1232, the total length of the first support leg 1231 can be adjusted, allowing the first driven wheel 1232, connected to the second support section 1231b, to contact the inner wall of pipes with different diameters, thereby enhancing the applicability of the power device 1. The first elastic element 1231c is always pressed against the second support section 1231b and the first support section 1231a, so that the second support section 1231b, under the elastic force of the first elastic element 1231c, will drive the first driven wheel 1232 connected to it to always press against the inner wall of the pipe, effectively ensuring the stability of the power device 1 when moving inside the pipe.

[0062] like Figures 6-9 and Figure 16As shown, the active shell 121 includes a first shell 1211 connected to the elastic connector 13, and a first connecting portion 1212 disposed on the first shell 1211. The first connecting portion 1212 has one of a plurality of first locking teeth 1231a3 and a plurality of first tooth grooves 1213 arranged around the rotation axis of the first support section 1231a. The first support section 1231a includes a first support rod 1231a1, and a second connecting portion 1231a2 disposed 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 another of a plurality of first locking teeth 1231a3 and a plurality of first tooth grooves 1213 arranged around the rotation axis, and the plurality of first locking teeth 1231a3 and the plurality of first tooth grooves 1213 engage one-to-one.

[0063] The first connecting part 1212 can be detachably connected to the first housing 1211 by at least one of the following methods: screwing, snap-fitting, or plugging. The first connecting part 1212 can also be non-detachably connected to the first housing 1211 by means of adhesive bonding, injection molding, or 3D printing. The second connecting part 1231a2 can be detachably connected to the first support rod 1231a1 by at least one of the following methods: screwing, snap-fitting, or plugging. The second connecting part 1231a2 can also be non-detachably connected to the first support rod 1231a1 by means of adhesive bonding, injection molding, or 3D printing. The second connecting part 1231a2 can be rotatably connected to the first connecting part 1212 via a pivot.

[0064] Before the power unit 1 moves inside 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 of the pipeline. By having multiple first locking teeth 1231a3 engage with multiple first locking slots one by one, the relative position between the first support rod 1231a1 and the first housing 1211 can be fixed.

[0065] like Figures 6-9As shown, the driven support wheel assembly 112 serves as the support crawling structure for the driven module 11. The driven support wheel assembly 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 within the telescopic space formed by 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 inside the pipe, the second driven wheel 1122 is used to contact the inner wall surface of the pipe.

[0066] The third support segment 1121a and the fourth support segment 1121b form an inner and outer nested telescopic structure. The third support segment 1121a can be cylindrical, in which case the fourth support segment 1121b is housed in the cylindrical cavity of the third support segment 1121a and forms a telescopic rod structure with the third support segment 1121a. Alternatively, the fourth support segment 1121b can be cylindrical, in which case the third support segment 1121a is housed in the cylindrical cavity of the fourth support segment 1121b and forms a telescopic rod structure with the fourth support segment 1121b.

[0067] The second elastic element 1121c can be either a spring or a sheet. The second elastic element 1121c abuts against the fourth support section 1121b and the third support section 1121a. Under the elastic force of the second elastic element 1121c, the fourth support section 1121b and the third support section 1121a are in an elongated state that moves away from each other. Under the action of the inner wall surface of the pipe, the fourth support section 1121b will squeeze the second elastic element 1121c, causing the second elastic element 1121c to be further compressed, and the fourth support section 1121b will contract relative to the third support section 1121a, so that the second driven wheel 1122 can contact the inner wall surface of the pipe. It should be noted that, for pipes of different diameters, the second elastic element 1121c will generate different amounts of compression under the action of the inner wall surface of the pipe, so that the amount of contraction of the fourth support section 1121b relative to the third support section 1121a will also be different; and it can be understood that the smaller the pipe diameter, the greater the degree of compression of the second elastic element 1121c, and the greater the amount of contraction of the fourth support section 1121b relative to the third support section 1121a (i.e., the shorter the total length of the second support leg 1121).

[0068] By designing the third support section 1121a, the fourth support section 1121b, the second elastic element 1121c, and the second driven wheel 1122, the total length of the second support leg 1121 can be adjusted, allowing the second driven wheel 1122, connected to the fourth support section 1121b, to contact the inner wall of pipes with different diameters, thereby enhancing the applicability of the power device 1. The second elastic element 1121c is always pressed against the fourth support section 1121b and the third support section 1121a, so that the fourth support section 1121b, under the elastic force of the second elastic element 1121c, will drive the second driven wheel 1122 connected to it to always press against the inner wall of the pipe, effectively ensuring the stability of the power device 1 when moving inside the pipe.

[0069] like Figures 6-9 and Figure 16 As shown, the driven housing 111 includes a second housing 1111 connected to the elastic connector 13, and a third connecting portion 1112 disposed on the second housing 1111. The third connecting portion 1112 has one of a plurality of second locking teeth 1121a3 and a plurality of second tooth grooves 1113 arranged around the rotation axis of the third support section 1121a. The third support section 1121a includes a second support rod 1121a1, and a fourth connecting portion 1121a2 disposed 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 another of a plurality of second locking teeth 1121a3 and a plurality of second tooth grooves 1113 arranged around the rotation axis, and the plurality of second locking teeth 1121a3 and the plurality of second tooth grooves 1113 engage in a one-to-one correspondence.

[0070] The third connecting part 1112 can be detachably connected to the second housing 1111 by at least one of the following methods: screwing, snap-fitting, or plugging. The third connecting part 1112 can also be non-detachably connected to the second housing 1111 by means of adhesive bonding, injection molding, or 3D printing. The fourth connecting part 1121a2 can be detachably connected to the second support rod 1121a1 by at least one of the following methods: screwing, snap-fitting, or plugging. The fourth connecting part 1121a2 can also be non-detachably connected to the second support rod 1121a1 by means of adhesive bonding, injection molding, or 3D printing. The fourth connecting part 1121a2 can be rotatably connected to the third connecting part 1112 via a pivot.

[0071] Before the power unit 1 moves inside the pipeline, the inspector can rotate the second support rod 1121a1 to a suitable angle so that the second driven wheel 1122 connected to the fourth support section 1121b can contact the inner wall of the pipeline. By having multiple second locking teeth 1121a3 engage with multiple second locking slots one by one, the relative position between the second support rod 1121a1 and the second housing 1111 can be fixed.

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

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

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

[0075] The universal joint 14 serves two purposes: firstly, it transmits the driving force generated by the power source 113 to the transmission unit 124; secondly, it works in conjunction with the elastic connector 13 to achieve steering, facilitating the movement of the power unit 1 within curved pipes. By designing the elastic connector 13 as a cylindrical structure, the universal joint 14 is housed within the cylindrical cavity of the elastic connector 13. This effectively utilizes the internal space of the elastic connector 13, thereby reducing the overall volume of the power unit 1. Furthermore, the elastic connector 13 protects the universal joint 14, preventing impurities in the pipe from becoming entangled on it, thus ensuring the effective transmission of driving force.

[0076] By designing a power source 113, a universal joint 14, and a transmission unit 124, the power source 113 is used to generate driving force, and the universal joint 14 is used to transmit the driving force generated by the power source 113 to the transmission unit 124. Under the action of the driving force, the transmission unit 124 drives the first drive wheel 122a and the second drive wheel 122b connected to it to rotate, so that the first drive wheel 122a and the second drive wheel 122b generate rolling friction with the inner wall surface of the pipe, thereby ensuring the effective movement of the power device 1 in the pipe.

[0077] Specifically, such as Figures 10-13 As shown, the transmission unit 124 includes a driving bevel gear 1241, a first driven bevel gear 1242, and a first gear set 1243 mounted on the driving housing 121. The driving bevel gear 1241 is connected to the second end of the universal joint 14, the first driven bevel gear 1242 is meshed with the driving bevel gear 1241, and the first gear set 1243 includes at least two meshing first sub-gears 1243a. One of the first sub-gears 1243a in the first gear set 1243 is coaxially and fixedly connected with 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 joint 14. The rotation of the driving bevel gear 1241 drives the first driven bevel gear 1242, which is meshed with it, to rotate. The rotation of the first driven bevel gear 1242 drives one of its first sub-gears 1243a, which is coaxially fixed to it, to rotate. The rotation of the first sub-gear 1243a drives all the first sub-gears 1243a in the first gear set 1243 to rotate synchronously. The rotation of another first sub-gear 1243a in the first gear set 1243 drives the first driving wheel 122a, which is coaxially fixed to it, to rotate. The rotation of the first driving wheel 122a generates rolling friction with the inner wall surface of the pipe, thereby ensuring the effective movement of the power device 1 in the pipe.

[0078] The transmission unit 124 also includes a second driven bevel gear 1244 and a second gear set 1245 mounted on the drive housing 121; the second driven bevel gear 1244 is meshed with the drive 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 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 to the axle of the second drive wheel 122b. The driving force generated by the power source 113 is transmitted to the driving bevel gear 1241 through the universal joint 14. The rotation of the driving bevel gear 1241 drives the second driven bevel gear 1244, which is meshed with it, to rotate. The rotation of the second driven bevel gear 1244 drives one of its second sub-gears 1245a, which is coaxially fixed to it, to rotate. The rotation of the second sub-gear 1245a drives all the second sub-gears 1245a in the second gear set 1245 to rotate synchronously. The rotation of another second sub-gear 1245a in the second gear set 1245 drives the second driving wheel 122b, which is coaxially fixed to it, to rotate. The rotation of the second driving wheel 122b generates rolling friction with the inner wall of the pipe, thereby ensuring the effective movement of the power device 1 within the pipe. The first driven bevel gear 1242 and the second driven bevel gear 1244 are meshed with the same driving bevel gear 1241, which enables the synchronous rotation of the first driving wheel 122a and the second driving wheel 122b. It should be noted that by designing the transmission unit 124 as a driving bevel gear 1241, a first driven bevel gear 1242, a second driven bevel gear 1244, a first gear set 1243, and a 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 arranged more compactly in space, which can effectively reduce the overall volume of the power unit 1.

[0079] like Figures 10-15 As shown, the active module 12 also includes a mounting plate 125 installed inside the active housing 121. The transmission unit 124 is mounted on the mounting plate 125. The interior of the mounting plate 125 is hollow to form a first receiving cavity 125a and a second receiving cavity 125b. The active housing 121 has a first opening 1211a corresponding to the opening of the first receiving cavity 125a and a second opening 1211b corresponding to the opening of the second receiving cavity 125b. The first drive wheel 122a passes through the first opening 1211a and partially extends into the first receiving cavity 125a. The first drive wheel 122a is rotatably connected to the mounting plate 125. The second drive wheel 122b passes through the second opening 1211b and partially extends into the second receiving cavity 125b. The second drive wheel 122b is rotatably connected to the mounting plate 125.

[0080] The specific installation method between the mounting plate 125 and the active housing 121 is not limited here, and the designer can make reasonable designs according to actual needs. For example, the mounting plate 125 can be detachably connected to the active housing 121 (specifically the first housing 1211 mentioned above) by at least one of the following methods: screw connection, snap connection, or plug connection. Alternatively, the mounting plate 125 can also be non-detachably connected to the active housing 121 (specifically the first housing 1211 mentioned above) by riveting, gluing, injection molding, or 3D printing.

[0081] The first drive wheel 122a and the second drive wheel 122b are mounted on the drive housing 121 via a mounting plate 125. A first receiving cavity 125a and a second receiving cavity 125b are formed inside the mounting plate 125, allowing the first drive wheel 122a and the second drive wheel 122b to utilize the internal space of the mounting plate 125 (i.e., the first receiving cavity 125a) and the second drive wheel 122b to utilize the internal space of the mounting plate 125 (i.e., the second receiving cavity 125b). This results in a more compact spatial arrangement of the first drive wheel 122a, the second drive wheel 122b, and the mounting plate 125, effectively reducing the overall volume of the power unit 1. Additionally, the mounting plate 125 can also serve as a support 114 for the transmission unit 124, allowing for a more compact spatial arrangement of the transmission unit 124 and the mounting plate 125, further reducing the overall volume of the power unit 1.

[0082] It should be noted that due to the detailed design of the transmission unit 124, mounting plate 125, etc., the power device 1 in this application can achieve a miniaturized design, and the power device 1 in this application is suitable for traveling within pipes 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 within pipes with radial dimensions of 10 cm, 11 cm, 12 cm, 13 cm, 14 cm, or 15 cm, etc. It is also understood that, due to the small overall size of the power device 1 in this application, it can be used, but is not limited to, applications such as the inspection of household drainage pipes.

[0083] like Figures 6-8 As shown, the driven module 11 also includes a bracket 114 installed inside the driven housing 111. The power source 113 includes a motor 1131 and a reducer 1132. The motor 1131 and the reducer 1132 are respectively arranged on both sides of the bracket 114 along the travel direction of the power device 1. The motor 1131 is installed on the bracket 114. The motor 1131 shaft is connected to the reducer 1132. The rotation shaft of the reducer 1132 is connected to the first end of the universal joint 14 as the aforementioned drive end.

[0084] The bracket 114 may be detachably connected to the driven housing 111 (specifically, the second housing 1111 mentioned above) by at least one of the following methods: screwing, snap-fitting, or plugging; or the bracket 114 may be non-detachably connected to the driven housing 111 (specifically, the second housing 1111 mentioned above) by means of adhesive bonding, injection molding, or 3D printing. The motor 1131 may be fixedly connected to the bracket 114 by means of screws, but not limited to the following methods.

[0085] By designing a motor 1131 and a reducer 1132, the motor 1131's motor shaft rotates to drive the reducer 1132's rotating shaft to rotate, and the reducer 1132's rotating shaft rotates to drive the universal joint 14 connected to it to rotate, thereby effectively transmitting the driving force generated by the motor 1131 to the transmission unit 124 through the universal joint 14.

[0086] like Figure 6 , Figures 14-16 As shown, the active housing 121 has a wiring port 1211c and a first wire passage hole 1211d. The wiring port 1211c is located at the end of the active housing 121 away from the elastic connector 13, and the first wire passage hole 1211d is located at the end of the active housing 121 near the elastic connector 13. The driven housing 111 has a second wire passage hole 1111a, which is located at the end of the driven housing 111 near the elastic connector 13. The driven module 11 also includes an electronic control assembly 115, which is installed inside the driven housing 111; the power unit 1 also includes a wiring harness 15 (such as...). Figure 16 As shown by the dashed line in the diagram, the wiring harness 15 includes a first wire segment, a second wire segment, and a third wire segment. The first wire segment is located inside the active housing 121 and is electrically connected to the wiring port 1211c. The second wire segment is located inside the driven housing 111 and is electrically connected to the electronic control assembly 115. The third wire segment is located between the active housing 121 and the driven housing 111, with one end of the third wire segment passing through the first wire hole 1211d and electrically connected to the first wire segment, and the other end of the third wire segment passing through the second wire hole 1111a and electrically connected to the second wire segment.

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

[0088] By designing the wiring harness 15, the wiring harness 15 is sequentially passed through the first wire through hole 1211d and the second wire through hole 1111a, and the two ends of the wiring harness 15 are electrically connected to the wiring port 1211c and the electrical control component 115 respectively. The external cable 33 can be electrically connected to the electrical control component 115 by connecting to the wiring port 1211c. This makes it convenient for the inspection personnel to control the movement of the power device 1 in the pipeline in real time from outside the pipeline, and the operation is convenient.

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

[0090] In the first case, such as Figure 8 As shown, the active module 12 also includes a wiring frame 126 installed inside the active housing 121, with the first wire segment resting on the wiring frame 126. The specific installation method between the wiring frame 126 and the active housing 121 (specifically, the first housing 1211 mentioned above) is not limited here; designers can design it reasonably according to actual needs. For example, the wiring frame 126 can be detachably connected to the active housing 121 by at least one of the following methods: screw connection, snap-fit ​​connection, or plug-in connection. Alternatively, the wiring frame 126 can be non-detachably connected to the active housing 121 by, but not limited to, adhesive bonding, injection molding, or 3D printing. By designing the wiring frame 126, the first wire segment of the wire harness 15 rests on the wiring frame 126, preventing the first wire segment of the wire harness 15 from being haphazardly arranged inside the active housing 121, effectively reducing or even avoiding the possibility of the first wire segment of the wire harness 15 getting tangled on the aforementioned transmission unit 124.

[0091] In the second case, such as Figure 16 As shown, the inner wall of the driven housing 111 is provided with a wiring groove 1111b, and the second wire segment is arranged in the wiring groove 1111b. By designing the wiring groove 1111b, the second wire segment of the wire harness 15 is arranged in the wiring groove 1111b, so that the second wire segment of the wire harness 15 will not be arranged messily inside the driven housing 111, which can effectively reduce or even avoid the possibility of the second wire segment of the wire harness 15 getting tangled on the power source 113.

[0092] Please refer to Figure 17 As shown, in a second aspect, this application proposes a pipeline endoscope 2, which includes an endoscope component 21 and the aforementioned power unit 1. The endoscope component 21 is installed in the driven housing 111 and is used to survey relevant data inside the pipeline.

[0093] The pipeline endoscope 2 in this embodiment has the aforementioned power unit 1, which can move stably inside the pipeline and effectively survey relevant data inside the pipeline through the endoscope component 21.

[0094] like Figure 17 As shown, the driven housing 111 has a fixing hole 1111c at the end away from the elastic connector 13. Figure 15 (As shown in the diagram); the endoscope assembly 21 includes a probe and a fixing member connected to the probe. The probe is detachably connected to the driven housing 111 by connecting the fixing member to the fixing hole 1111c. 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 threading the stud into the threaded hole; the fixing hole 1111c can also be a snap-fit ​​hole, in which case the fixing member is a snap-fit ​​pin, and the probe is detachably connected to the driven housing 111 by engaging the snap-fit ​​hole; the fixing hole 1111c can also be a socket, in which case the fixing member is a pin, and the probe is detachably connected to the driven housing 111 by engaging the pin into the socket. This design, where the probe is detachably connected to the driven housing 111 by connecting the fixing member to the fixing hole 1111c, facilitates the effective replacement of damaged endoscope assemblies 21 by inspection personnel.

[0095] Please refer to Figure 18 As shown, in a third aspect, this application proposes a pipeline surveying system 3, which includes an electrical control module 31, an external cable 33, and the aforementioned pipeline endoscope 2. The pipeline endoscope 2 is connected to the electrical control module 31 via the external cable 33.

[0096] Based on the pipeline survey system 3 in this application embodiment, there is the aforementioned pipeline endoscope 2. The pipeline endoscope 2 can move stably in the pipeline to effectively survey relevant data inside the pipeline.

[0097] like Figure 18 As shown, the pipeline survey system 3 also includes a cable winder 32, on which the external cable 33 is wound. By designing the cable winder 32, the external cable 33 is wound onto the cable winder 32 to ensure the neatness of the external cable 33's storage.

[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 this application, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the accompanying drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0099] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A power unit for a pipeline endoscope, characterized in that, The pipeline endoscope also includes an endoscope assembly, and the power unit includes: The driven module includes a driven housing and multiple driven support wheel assemblies, the multiple driven support wheel assemblies being mounted on the driven housing and having an adjustable opening angle relative to the driven housing; the endoscope assembly is mounted on the driven housing; the driven module also includes a power source, the power source being installed inside the driven housing; An active module includes an active housing, active wheels, and active support wheel sets. The active wheels are mounted on the active housing, and the active support wheel sets are mounted on the active housing with adjustable opening angles relative to the active housing. There are multiple active wheels, including first and second active wheels. There are also multiple active support wheel sets, including first and second active support wheel sets. The first active wheel and the first active support wheel set are arranged along a first diagonal, and the second active wheel and the second active support wheel set are arranged along a second diagonal, with the first and second diagonals intersecting. The active module also includes a transmission unit installed inside the active housing, and the transmission unit is connected to the first and second active wheels via a transmission mechanism. An elastic connector is located between the driven shell and the driving shell, and is connected to both the driven shell and the driving shell. The elastic connector has a cylindrical structure. The power unit also includes a universal joint located within the cylindrical cavity of the elastic connector. The first end of the universal joint is connected to the drive end of the power source, and the second end of the universal joint is connected to the transmission unit. The power source transmits driving force to the transmission unit through the universal joint, so that the transmission unit drives the first driving wheel and the second driving wheel to rotate. When the power unit travels inside the pipeline, the driving wheel, the driven support wheel assembly, and the driving support wheel assembly are used to contact the inner wall surface of the pipeline. The transmission unit includes a driving bevel gear, a first driven bevel gear, and a first gear set mounted on the driving housing. The driving bevel gear is connected to the second end of the universal joint. The first driven bevel gear meshes with the driving bevel gear. The first gear set includes at least two meshing first sub-gears. One of the first sub-gears in the first gear set is coaxially and fixedly connected to the first driven bevel gear. The other first sub-gear in the first gear set is fixedly connected to the axle of the first driving wheel. The active module further includes a mounting plate installed 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 receiving cavity and a second receiving cavity. The active housing has a first opening corresponding to the opening of the first receiving cavity and a second opening corresponding to the opening of the second receiving cavity. The first active wheel passes through the first opening and partially extends into the first receiving cavity. The first active wheel is rotatably connected to the mounting plate. The second active wheel passes through the second opening and partially extends into the second receiving cavity. The second active wheel is rotatably connected to the mounting plate.

2. The power unit of the pipeline endoscope as described in claim 1, characterized in that, The first diagonal is perpendicular to the second diagonal; and / or 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; and / or The cross section of the first driving wheel on a plane perpendicular to its axis of rotation is parallel to or coincides with the plane containing the first diagonal; and / or The cross section of the second driving wheel on the plane perpendicular to its axis of rotation is parallel to or coincides with the plane containing the second diagonal.

3. The power unit of the pipeline endoscope as described in claim 1, characterized in that, The active support wheel assembly includes: The first support leg includes a first support segment, a second support segment, and a first elastic element. The first support segment is rotatably connected to the active shell. The second support segment and the first support segment form an inner and outer nested telescopic structure. The first elastic element is located within the telescopic space formed by the second support segment and the first support segment, and the first elastic element abuts against the second support segment and the first support segment. The first driven wheel is fixedly connected to the second support section; when the power device travels inside the pipe, the first driven wheel is used to contact the inner wall surface of the pipe. The active shell includes a first shell connected to the elastic connector and a first connecting portion disposed on the first shell. The first connecting portion has one of a plurality of first locking 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 connecting part disposed on the first support rod. The second connecting part is rotatably connected to the first connecting part. The second connecting part has another of the plurality of first locking teeth and the plurality of first tooth grooves arranged around the rotation axis. The plurality of first locking teeth and the plurality of first tooth grooves are engaged in a one-to-one correspondence.

4. The power unit of the pipeline endoscope as described in claim 1, characterized in that, The driven support wheel assembly includes: The second support leg includes a third support section, a fourth support section, and a second elastic member. The third support section is rotatably connected to the driven shell. The fourth support section and the third support section form an inner and outer nested telescopic structure. The second elastic member is located within the telescopic space formed by the fourth support section and the third support section, and the second elastic member abuts against the fourth support section and the third support section. The second driven wheel is fixedly connected to the fourth support section; when the power device travels inside the pipe, the second driven wheel is used to contact the inner wall surface of the pipe. The driven housing includes a second housing connected to the elastic connector and a third connecting portion disposed in the second housing. The third connecting portion has one of a plurality of second locking teeth and a plurality of second tooth grooves arranged around the rotation axis of the third support section. The third support section includes a second support rod and a fourth connecting part disposed on the second support rod. The fourth connecting part is rotatably connected to the third connecting part. The fourth connecting part has another of the plurality of second locking teeth and the plurality of second tooth grooves arranged around the rotation axis. The plurality of second locking teeth and the plurality of second tooth grooves are engaged in a one-to-one correspondence.

5. The power unit of the pipeline endoscope as described in claim 1, characterized in that, The driven module also includes a bracket installed inside the driven housing. The power source includes a motor and a reducer. The motor and the reducer are respectively located on both sides of the bracket along the travel direction of the power device. The motor is mounted on the bracket. The motor shaft of the motor is connected to the reducer. The rotation shaft of the reducer is connected to the first end of the universal joint as the drive end.

6. The power unit of the pipeline endoscope as described in claim 5, characterized in that, The transmission unit further includes a second driven bevel gear and a second gear set installed on the drive housing. The second driven bevel gear is meshed with the drive 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 to the second driven bevel gear. The other second sub-gear in the second gear set is fixedly connected to the axle of the second drive wheel.

7. The power unit of the pipeline endoscope as described in claim 1, characterized in that, The active housing has a wiring port and a first wire passage hole. The wiring port is located at the end of the active housing away from the elastic connector, and the first wire passage hole is located at the end of the active housing close to the elastic connector. The driven housing has a second wire passage hole, which is located at the end of the driven housing close to the elastic connector. The driven module further includes an electronic control component, which is installed inside the driven housing; the power unit further includes a wiring harness, which includes a first wire segment, a second wire segment, and a third wire segment. The first wire segment is located inside the active housing and electrically connected to the wiring port. The second wire segment is located inside the driven housing and electrically connected to the electronic control component. The third wire segment is located between the active housing and the driven housing, with one end of the third wire segment passing through the first wire hole and electrically connected to the first wire segment, and the other end of the third wire segment passing through the second wire hole and electrically connected to the second wire segment. The active module further includes a wiring frame installed inside the active housing, with the first wire segment mounted on the wiring frame; and / or, the inner wall of the driven housing is provided with a wiring groove, with the second wire segment arranged in the wiring groove.

8. A pipe endoscope, characterized in that, include: The power unit for the pipe endoscope as described in any one of claims 1-7; and An endoscope assembly, installed in the driven housing, is used to survey relevant data within the pipeline.

9. A pipeline detection system, characterized in that, include: Electronic control module; External cables; and The pipe endoscope as described in claim 8 is connected to the electrical control module via the external cable.

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