Pipeline inspection device

Abstract

The invention relates to the field of pipeline detection equipment, and provides a pipeline inspection device which comprises a first driving section which is only a detection section, a second driving section and a controller. The driving section comprises a driving section arc-shaped frame, the driving section arc-shaped frame is connected with a limiting wheel assembly and a driving assembly, the detection section comprises a detection section arc-shaped frame, the detection section arc-shaped frame is connected with a limiting wheel assembly, and the detection section arc-shaped frame is further provided with a detection probe and a radio communication device; the detection probes can comprise sensor probes for detecting strain, vibration, temperature, cracks and the like, and when the device moves, the detection joints conduct health inspection on the surface of the pipeline through the detection probes, complete information collection, capture related physical parameters of the pipeline and transmit data to a remote monitoring center in real time through the radio communication device. And after the remote monitoring center receives the data, the inspection work is completed by comparing digital signals, and the state, damage degree, potential risk and the like of the pipeline are judged by analyzing the data.

Description

Technical Field

[0001] The present invention relates to the field of pipeline detection equipment, and in particular to a pipeline inspection device. Background Art

[0002] With the ever-increasing demand for energy, a large number of pipelines are being built for long-distance energy transportation. These pipelines are susceptible to long-term operations due to geological hazards (such as goaf subsidence and loess collapse) and third-party sabotage. Traditional manual inspection methods are inefficient, costly, and difficult to cover in complex terrain. Existing pipeline inspection robots are mostly internal inspection devices, lacking equipment for external inspections. They also suffer from bulky structures, high energy dependency, and inability to easily turn.

[0003] Therefore, in order to adapt to complex terrain and extreme environments and solve the problem of long-distance pipeline outer wall inspection, a pipeline external automatic inspection device is urgently needed. Summary of the Invention

[0004] In order to solve the above technical problems, the present invention provides a pipeline inspection device, comprising a first driving section, at least one detection section, a second driving section and a controller; the number of detection sections can be increased according to the needs of the actual equipment carried;

[0005] The first driving section, the detection section and the second driving section are connected in sequence through a universal joint connecting rod; the first driving section and the second driving section are arranged at the head and tail ends of the detection section;

[0006] The first drive section and the second drive section have the same structure, and each includes a drive section arc frame, the inner ring of the drive section arc frame is connected to at least three sets of limiting wheel assemblies and at least two sets of drive assemblies, wherein two sets of limiting wheel assemblies are relatively arranged on both sides of the inner ring of the drive section arc frame, and the limiting wheels of the two sets of limiting wheel assemblies are arranged in parallel; another set of limiting wheel assemblies is arranged on the top of the inner ring of the drive section arc frame; at least one set of drive assembly is provided between two adjacent sets of limiting wheel assemblies; the drive assembly is electrically connected to a controller, and the controller controls the operation of the drive assembly;

[0007] The detection section includes an arc-shaped frame of the detection section, and the inner ring of the arc-shaped frame of the detection section is connected to at least three groups of limiting wheel assemblies, wherein two groups of limiting wheel assemblies are relatively arranged on both sides of the inner ring of the arc-shaped frame of the detection section, and the limiting wheels of the two groups of limiting wheel assemblies are arranged in parallel; another group of limiting wheel assemblies is arranged on the top of the inner ring of the arc-shaped frame of the detection section; the inner ring of the arc-shaped frame of the detection section is also provided with a detection probe, and the upper part of the arc-shaped frame of the detection section is provided with a radio communication device; the detection probe and the radio communication device are respectively electrically connected to a controller, and the controller controls the operation of the detection probe and the radio communication device and collects data;

[0008] The limiting wheel assembly includes a limiting wheel connecting frame, a limiting wheel and a shock absorber. The limiting wheel is pivotally connected to the limiting wheel connecting frame, and the limiting wheel connecting frame is connected to the driving section arc frame or the detection section arc frame through the shock absorber; the limiting wheel is a curved wheel with a middle diameter smaller than the diameter at both ends.

[0009] Furthermore, the driving section arc frame and the detection section arc frame are both semicircular, and the inner circle is provided with a groove; and ribs are provided in the groove.

[0010] Furthermore, the driving assembly includes a connecting plate, a walking device, a Z-shaped connecting piece, and a spring support rod. The connecting plate is connected to the ribs of the inner ring of the driving section arc frame. The two sides of the walking device are connected to the connecting plate through the Z-shaped connecting piece and the spring support rod. The Z-shaped connecting piece and the spring support rod are pivotally connected to the walking device through a pin shaft, and the Z-shaped connecting piece and the spring support rod are also pivotally connected to the connecting plate through a pin shaft; the spring support rod on each side of the walking device is cross-arranged with a Z-shaped connecting piece; the walking device is electrically connected to the controller, and the controller controls the operation of the walking device.

[0011] Furthermore, an electric cylinder is provided at one end of the connecting plate, a transverse through hole is provided on the connecting plate, a moving rod is provided in the transverse through hole, both ends of the moving rod are pivotally connected to one end of the spring support rods on both sides, the telescopic rod of the electric cylinder is parallel to the transverse through hole, the front end of the telescopic rod of the electric cylinder is fixedly connected to one end of the H-shaped connecting piece, and the other end of the H-shaped connecting piece is fixedly connected to the moving rod, and the telescopic rod of the electric cylinder can push the moving rod to translate in the transverse through hole; the electric cylinder is electrically connected to the controller, and the controller controls the operation of the electric cylinder.

[0012] Furthermore, the walking device includes an inverted trapezoidal frame, the outer ring of the inverted trapezoidal frame is provided with a crawler track, the interior of the inverted trapezoidal frame is provided with a worm motor, a driving worm wheel, a driving gear, a driven gear, and a limiting gear, the driving worm wheel is coaxially connected to the driving gear, the driving gear, the driven gear and several limiting gears are respectively pivotally connected to the inverted trapezoidal frame through corresponding wheel axles, the output worm shaft of the worm motor is meshed with the driving worm wheel, and the crawler track is arranged on the outside of the driving gear, the driven gear and several limiting gears; the worm motor is electrically connected to the controller, and the controller controls the operation of the worm motor.

[0013] Furthermore, the limiting wheel connecting frame of the limiting wheel assembly is an I-shaped connecting frame, and two parallel limiting wheels are pivotally connected to the I-shaped connecting frame; one end of the shock absorber is fixedly connected to the driving section arc frame or the detection section arc frame, and the other end of the shock absorber is hinged to the middle part of the limiting wheel connecting frame through a hinge shaft, and the hinge shaft is parallel to the limiting wheel.

[0014] Furthermore, the radio communication device includes a communication device base, a rotating control console, a lifting control console, a pitch control console and a wireless signal transceiver. The communication device base is fixed on the arc-shaped frame of the detection section, the rotating control console is arranged on the communication device base, the lifting control console is arranged on the rotating control console, the pitch control console is arranged on the top of the lifting control console, and the wireless signal transceiver is connected to the pitch control console; the rotating control console, lifting control console, pitch control console and wireless signal transceiver are also electrically connected to the controller respectively and are controlled by the controller.

[0015] In the present invention, one or more of the first driving section, the detection section and the second driving section are provided with a solar panel and a battery. The solar panel is connected to the battery, and the solar energy is converted into electrical energy and stored in the battery. The battery is electrically connected to each electrical device and provides electrical energy to maintain the operation of the equipment.

[0016] Working principle of the present invention:

[0017] The present invention provides a pipeline inspection device, which has a split mechanical structure consisting of a first drive section, a detection section, and a second drive section. The sections are sequentially connected by universal joint connecting rods, so that the angles between the sections of the device of the present invention can be changed to adapt to pipelines with different curvatures. The first drive section and the second drive section are arranged at both ends of the detection section to provide driving force for the device to move on the pipeline. The first drive section and the second drive section can respectively serve as forward ends to drive the device to travel in both directions.

[0018] There are two sets of limiting wheel assemblies in the inner ring of the driving section arc frame, which are relatively arranged on both sides of the inner ring of the driving section arc frame. When the pipeline has a slope, the inspection device is provided with sufficient gripping force to ensure that the machine will not deviate or rotate due to the slope. The limiting wheel assembly on the top not only stabilizes the walking direction but also supports the frame; the driving assembly integrates the dual functions of hydraulics and springs, which can ensure that the walking device fits firmly on the outer pipe wall, ensures sufficient friction, and provides sufficient travel power.

[0019] The limiting wheel assembly on the arc-shaped frame of the detection section provides support and limiting functions for the detection section; the detection probe may include detection sensor probes such as strain, vibration, temperature, and crack. When the device moves, the detection section uses the detection probe to perform a health check on the pipeline surface, complete information collection, and capture relevant physical parameters of the pipeline. The collected data is then transmitted to the remote monitoring center in real time through a radio communication device. After receiving the data, the remote monitoring center completes the inspection work by comparing the digital signals, and uses digital signal processing technology to process and analyze the data. By analyzing the data, the status of the pipeline, the degree of damage, and potential risks, etc. are judged.

[0020] The shock absorber in the limiting wheel assembly is used to provide support and a buffering effect to the limiting wheel connecting frame. The spring support force on the shock absorber allows the limiting wheel assembly to fit more closely to the pipe wall. When encountering a protrusion on the pipe, the shock absorber spring tightens, causing the limiting wheel assembly to retract appropriately with the protrusion, playing a buffering role and preventing impact damage to the entire inspection device. When the pipe diameter decreases, the shock absorber spring extends, providing the limiting wheel assembly with greater expansion space and improving the applicability of the inspection device. Since pipes are generally cylindrical, the limiting wheel is a curved wheel with a smaller diameter in the middle than at both ends, which better fits the shape of the pipe wall and ensures the limiting effect. The curved surfaces of the multiple limiting wheels in each curved frame are on the same circle.

[0021] The ribs in the inner grooves of the driving section arc frame and the detection section arc frame are used to reinforce the arc frame and provide a fixed position for the driving component and the detection probe.

[0022] The travel device in the driving assembly is in contact with the pipe wall, providing driving force to drive the entire inspection device. The Z-shaped connector and spring support rod provide support for the travel device; the spring support rod provides support and buffering for the travel device. The supporting force of the spring support rod makes the travel device more in contact with the pipe wall, and the buffering effect of the spring support rod enables the travel device to appropriately contract when encountering protrusions on the pipe, avoiding hard impact; the spring support rod on each side of the travel device is cross-set with a Z-shaped connector, and the travel device can change its extension distance by leveraging the principle: the telescopic rod of the electric cylinder pushes the moving rod to translate in the transverse through-hole through the H-shaped connector, and the moving rod drives the spring support rod to move during the translation process in the transverse through-hole. When the spring support rod moves toward the Z-shaped connector, the travel device moves downward; conversely, the travel device moves upward.

[0023] The inverted trapezoidal frame in the walking device provides support, the crawler provides grip, the worm motor drives the driving worm gear to rotate the driving gear, the driving gear drives the crawler to run, and the driven gear and the limit gear provide limiting and supporting functions for the crawler.

[0024] The rotating console of the radio communication device drives the lifting console to rotate, the lifting console drives the pitching console to rise and fall, the pitching console drives the wireless signal transceiver to adjust the pitch angle, and the wireless signal transceiver transmits data with the remote monitoring center.

[0025] Beneficial effects of the present invention:

[0026] The present invention provides a pipeline inspection device with a separate drive and detection component, resulting in a more flexible structure, capable of making large turns and corners on pipelines, and a wider range of applications. The device is electrically driven, with each travel mechanism controlled by a DC motor, offering high flexibility. Furthermore, the limiting wheel assembly is combined with a shock absorber, and the travel mechanism is combined with a spring support rod, enabling a secure fit against the outer pipe wall, ensuring sufficient friction and power. All three parts of the inspection device contain positioning and support wheels. The limiting wheel located directly above the pipeline not only stabilizes the travel direction but also supports the frame. The limiting wheels on the left and right sides of the pipeline provide sufficient grip to prevent the machine from swerving or rotating when the pipeline is sloped. The pipeline inspection device provided by the present invention is efficient, accurate, and low-cost, making pipeline inspection more intelligent and accurate. It is suitable for complex terrain and extreme environments, enabling accurate judgment of pipeline status, damage, and potential risks. It can effectively improve the efficiency of pipeline fault detection and provide real-time feedback, providing an innovative solution for long-distance pipeline outer wall inspection. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0028] Figure 2 It is a front view structural schematic diagram of the present invention.

[0029] Figure 3 It is a side structural schematic diagram of the present invention.

[0030] Figure 4 Schematic diagram of the detection section structure of the present invention.

[0031] Figure 5 It is a schematic structural diagram of the limiting wheel assembly of the present invention.

[0032] Figure 6 It is a schematic diagram of the limiting wheel connecting frame and the limiting wheel structure of the present invention.

[0033] Figure 7 It is a schematic diagram of the structure of the shock absorber of the present invention.

[0034] Figure 8 This is a schematic diagram of the drive segment arc frame structure of the present invention.

[0035] Figure 9 This is a schematic diagram of the drive assembly structure of the present invention.

[0036] Figure 10 It is a side structural schematic diagram of the drive assembly of the present invention.

[0037] Figure 11 This is a schematic cross-sectional view of the drive assembly of the present invention.

[0038] Figure 12 This is a schematic diagram of the top view of the drive assembly of the present invention.

[0039] Figure 13 This is a schematic diagram of the formal structure of the drive assembly of the present invention.

[0040] Figure 14 Schematic diagram of the structure of the radio communication device of the present invention Figure 1 .

[0041] Figure 15 Schematic diagram of the structure of the radio communication device of the present invention Figure 2 .

[0042] 1. First drive section, 2. Detection section, 3. Second drive section, 4. Universal joint connecting rod, 5. Drive section arc frame, 6. Limiting wheel assembly, 601. Limiting wheel connecting frame, 602. Limiting wheel, 603. Shock absorber, 604. Bearing, 605. Articulated shaft, 7. Drive assembly, 701. Connecting plate, 702. Walking device, 703. Z-type connector, 704. Spring support rod, 705. Electric cylinder, 706. Horizontal through hole, 707. Moving rod, 708. H-type connector, 709. Inverted trapezoidal frame, 710. Track, 711. Worm motor, 712. Drive Worm gear, 713, driving gear, 714, driven gear, 715, limit gear, 8, detection section arc frame, 9, detection probe, 10, radio communication device, 1001, communication device base, 1002, rotation control console, 1003, lifting control console, 1004, pitch control console, 1005, wireless signal transceiver, 1006, rotating motor, 1007, transmission worm, 1008, rotating turbine, 1009, lifting motor, 1010, screw lifter, 1011, pitch base, 1012, pitch motor, 11, groove, 12, rib. DETAILED DESCRIPTION

[0043] Example 1

[0044] See Figure 1-3 As shown, this embodiment provides a pipeline inspection device, comprising a first drive segment 1, a detection segment 2, a second drive segment 3, and a controller. The first drive segment 1 and the detection segment 2, and the detection segment 2 and the second drive segment 3, are connected via at least two sets of universal joint links 4; the first drive segment 1 and the second drive segment 3 are located at the head and tail ends of the detection segment 2;

[0045] The controller includes a processor, a driver, and a memory, etc., which are all existing devices used for data processing, storage, and control driving.

[0046] The first driving section 1 and the second driving section 3 have the same structure and respectively include a driving section arc frame 5. In this embodiment, the inner ring of the driving section arc frame 5 is connected to three groups of limiting wheel assemblies 6 and two groups of driving assemblies 7, wherein two groups of limiting wheel assemblies 6 are relatively arranged on both sides of the inner ring of the driving section arc frame 5, and are symmetrically arranged at positive and negative 90° positions with the central axis as the symmetry axis, and the limiting wheels 602 of the two groups of limiting wheel assemblies 6 are arranged vertically in parallel; another group of limiting wheel assembly 6 is arranged at the top of the inner ring of the driving section arc frame 5 (located on the central axis); in this embodiment, a group of driving assembly 7 is provided between two adjacent groups of limiting wheel assemblies 6. If the diameter of the driving section arc frame 5 is too large, the number of driving assemblies 7 can also be appropriately increased; the driving assembly 7 is electrically connected to the controller, and the controller controls the operation of the driving assembly 7;

[0047] See Figure 4 As shown, the detection section 2 includes a detection section arc frame 8. In this embodiment, the inner ring of the detection section arc frame 8 is connected to three groups of limiting wheel assemblies 6, two of which are relatively arranged on both sides of the inner ring of the detection section arc frame 8, symmetrically arranged at positive and negative 90° positions with the central axis as the symmetry axis, and the limiting wheels 602 of the two groups of limiting wheel assemblies 6 are arranged vertically in parallel; another group of limiting wheel assemblies 6 is arranged at the top of the inner ring of the detection section arc frame 8 (located on the central axis); the inner ring of the detection section arc frame 8 is also provided with a detection probe 9, which is fixed to the inner ring of the detection section arc frame 8 through a probe connecting frame. The detection probe 9 includes one or more detection sensor probes selected from strain sensors, vibration sensors, temperature sensors, ultrasonic crack sensors, and image sensors; a radio communication device 10 is provided on the upper part of the detection section arc frame 8; the detection probe 9 and the radio communication device 10 are respectively electrically connected to the controller, and the controller controls the operation of the detection probe 9 and the radio communication device 10, and collects data and controls data transmission and reception;

[0048] See Figure 5-7 As shown, the limiting wheel assembly 6 includes a limiting wheel connecting frame 601, a limiting wheel 602 and a shock absorber 603. The limiting wheel 602 is pivotally connected to the limiting wheel connecting frame 601, and the limiting wheel connecting frame 601 is connected to the driving section arc frame 5 or the detection section arc frame 8 through the shock absorber 603; the limiting wheel 602 is a curved wheel with a middle diameter smaller than the diameter at both ends.

[0049] The limiting wheel connecting frame 601 of the limiting wheel assembly 6 is an I-shaped connecting frame, and two parallel limiting wheels 602 are pivotally connected to the I-shaped connecting frame; one end of the shock absorber 603 is fixedly connected to the driving section arc frame 5 or the detection section arc frame 8, and the other end of the shock absorber 603 is provided with a bearing 604, which is hinged to the middle part of the limiting wheel connecting frame 601 through a hinge shaft 605. The hinge shaft is parallel to the limiting wheel 602, so that the limiting wheel connecting frame 601 can rotate around the hinge shaft to adapt to changes in the surface shape of the pipeline or change the direction of travel.

[0050] like Figure 8 As shown, the driving segment arc frame 5 and the detecting segment arc frame 8 are both semicircular, and a groove 11 is provided on the inner circle; a rib 12 is provided in the groove 11.

[0051] The working principle of this embodiment is as follows:

[0052] This embodiment provides a pipeline inspection device having a split mechanical structure consisting of a first drive section 1, a detection section 2, and a second drive section 3. The sections are sequentially connected by a universal joint connecting rod 4, so that the angles between the sections of the device of the present invention can be changed to adapt to pipelines with different curvatures. The first drive section 1 and the second drive section 3 are arranged at both ends of the detection section 2 to provide driving force for the device to move on the pipeline. The first drive section 1 and the second drive section 3 can respectively serve as the forward end to drive the device in two directions.

[0053] There are two sets of limiting wheel assemblies 6 in the inner ring of the driving section arc frame 5, which are relatively arranged on both sides of the inner ring of the driving section arc frame 5, and play the role of fixing and limiting. When the pipeline has a slope, the inspection device is provided with sufficient gripping force to ensure that the machine will not deviate or rotate due to the slope. The limiting wheel assembly 6 on the top not only stabilizes the walking direction but also supports the frame; the driving assembly 7 can ensure that the walking device 702 is firmly attached to the outer pipe wall, ensure sufficient friction, and provide sufficient traveling power.

[0054] The limiting wheel assembly 6 on the arc-shaped frame 8 of the detection section provides support and limiting functions for the detection section 2, and the working principle is the same as above; when the device moves, the detection section 2 performs a health check on the pipeline surface through the detection probe 9, completes information collection, and captures the relevant physical parameters of the pipeline. The collected data is then transmitted to the remote monitoring center in real time through the radio communication device 10. After receiving the data, the remote monitoring center completes the inspection work by comparing the digital signals, and uses digital signal processing technology to process and analyze the data. By analyzing the data, the status of the pipeline, the degree of damage, and potential risks, etc. are judged.

[0055] The shock absorber 603 in the limiting wheel assembly 6 is used to provide support and a buffering effect to the limiting wheel connecting frame 601. The shock absorber 603 in this embodiment is a spring shock absorber. The spring support force on the shock absorber 603 allows the limiting wheel assembly 6 to fit more closely to the pipe wall. When encountering a protrusion on the pipe, the shock absorber 603 spring tightens, causing the limiting wheel assembly 6 to retract appropriately with the protrusion, playing a buffering role and preventing impact damage to the entire inspection device. When the pipe diameter decreases, the shock absorber 603 spring extends, providing the limiting wheel assembly 6 with greater expansion space, thereby improving the applicable range of the inspection device and the pipe gripping force. Since the pipe is generally cylindrical, the limiting wheel 602 is a curved wheel with a smaller diameter in the middle than at both ends. The curved surfaces of the multiple limiting wheels 602 in each curved frame are on the same circle, which better fits the shape of the pipe wall and ensures the limiting effect.

[0056] The ribs 12 in the inner grooves 11 of the driving section arc frame 5 and the detection section arc frame 8 are used to reinforce the arc frames and provide fixed positions for the driving assembly 7 and the detection probe 9.

[0057] Example 2

[0058] This embodiment provides a pipeline inspection device, based on the embodiment 1, referring to Figure 9-13 As shown, the drive assembly 7 includes a connecting plate 701, a walking device 702, a Z-shaped connecting member 703, and a spring support rod 704. The connecting plate 701 is connected to the rib 12 of the inner ring of the driving segment arc frame 5. The two sides of the walking device 702 are connected to the connecting plate 701 through the Z-shaped connecting member 703 and the spring support rod 704. The Z-shaped connecting members 703 and the spring support rod 704 on both sides of the walking device 702 are symmetrically arranged. The Z-shaped connecting member 703 and the spring support rod 704 are pivotally connected to the walking device 702 through a pin, and the Z-shaped connecting member 703 and the spring support rod 704 are also pivotally connected to the connecting plate 701 through a pin. The walking device 702 is electrically connected to the controller, and the controller controls the operation of the walking device 702. In this embodiment, two Z-shaped connecting members 703 are arranged in parallel on each side of the walking device 702, and the spring support rod 704 on each side of the walking device 702 is arranged crosswise with the adjacent Z-shaped connecting member 703.

[0059] An electric cylinder 705 is provided at one end of the connecting plate 701, and a horizontal through hole 706 is provided on the connecting plate 701. A moving rod 707 is provided in the horizontal through hole 706. The two ends of the moving rod 707 are pivotally connected to one end of the spring support rod 704 on both sides. The telescopic rod of the electric cylinder 705 is parallel to the horizontal through hole 706. The front end of the telescopic rod of the electric cylinder 705 is fixedly connected to the lower end of the H-shaped connecting piece 708. The two joints at the upper end of the H-shaped connecting piece 708 are fixedly connected to the middle part of the moving rod 707. The telescopic rod of the electric cylinder 705 can push the moving rod 707 to translate in the horizontal through hole 706, and the moving rod 707 drives the spring support rod 704 to move; the electric cylinder 705 is electrically connected to the controller, and the controller controls the operation of the electric cylinder 705.

[0060] The traveling device 702 in the driving assembly 7 is in contact with the pipe wall, providing driving force to drive the entire inspection device to move. The Z-shaped connector 703 and the spring support rod 704 provide support for the walking device 702; the spring on the upper part of the spring support rod 704 provides support and buffering for the walking device 702. The supporting force of the spring support rod 704 makes the walking device 702 fit more closely to the pipe wall, and the buffering effect of the spring support rod 704 enables the walking device 702 to appropriately contract when encountering a protrusion on the pipe, avoiding hard impact; the spring support rod 704 on each side of the walking device 702 is arranged crosswise with a Z-shaped connector 703. While the triangular structure ensures the stability of the support structure, the walking device 702 can change the extension distance by leveraging the principle: the telescopic rod of the electric cylinder 705 pushes the moving rod 707 to translate in the transverse through hole 706 through the H-shaped connector 708. During the translation process of the moving rod 707 in the transverse through hole 706, it drives the spring support rod 704 to move. When the spring support rod 704 moves toward the Z-shaped connector 703, the walking device 702 moves downward; conversely, the walking device 702 moves upward.

[0061] The walking device 702 includes an inverted trapezoidal frame 709, the outer ring of the inverted trapezoidal frame 709 is provided with a crawler 710, and the interior of the inverted trapezoidal frame 709 is provided with a worm motor 711, a driving worm gear 712, a driving gear 713, a driven gear 714, and a limiting gear 715. The driving worm gear 712 is coaxially connected to the driving gear 713, and the driving gear 713, the driven gear 714 and the three limiting gears 715 are respectively pivotally connected to the inverted trapezoidal frame 709 through corresponding wheel axles and are arranged inside the inverted trapezoidal frame 709. In this embodiment, the driving gear 713 and the driven gear 714 are respectively arranged at the two upper corners of the inverted trapezoidal frame 709, and the three limiting gears 715 are respectively arranged at the lower part of the inverted trapezoidal frame 709, among which two limiting gears 715 are respectively arranged at the two lower corners of the inverted trapezoidal frame 709. The output worm shaft of the worm motor 711 is meshed with the driving worm wheel 712, and the track 710 is sleeved on the outside of the driving gear 713, the driven gear 714 and the three limiting gears 715; the worm motor 711 is electrically connected to the controller, and the controller controls the operation of the worm motor 711.

[0062] The inverted trapezoidal frame 709 in the walking device 702 provides support, the track 710 provides grip, the worm motor 711 drives the driving worm wheel 712 to drive the driving gear 713 to rotate, and the driving gear 713 drives the track 710 to run. The driven gear 714 and the limiting gear 715 provide limiting and support for the track 710.

[0063] See Figure 14-15 As shown, the radio communication device 10 includes a communication device base 1001, a rotating control console 1002, a lifting control console 1003, a pitch control console 1004 and a wireless signal transceiver 1005. The communication device base 1001 is fixed to the upper part of the detection section arc frame 8 and is fixed by bolts; the rotating control console 1002 is arranged on the communication device base 1001, the lifting control console 1003 is arranged on the rotating control console 1002, the pitch control console 1004 is arranged on the top of the lifting control console 1003, and the wireless signal transceiver 1005 is connected to the pitch control console 1004; the rotating control console 1002, the lifting control console 1003, the pitch control console 1004 and the wireless signal transceiver 1005 are also electrically connected to the controller respectively and are controlled by the controller.

[0064] Among them, the rotating console 1002 includes a rotating motor 1006, a transmission worm 1007, and a rotating turbine 1008. The rotating motor 1006 is fixed on the communication device base 1001, the transmission worm 1007 is pivotally connected to the communication device base 1001 through a bearing seat, and the rotating turbine 1008 is pivotally connected to the communication device base 1001 through a turbine bearing seat. The output shaft of the rotating motor 1006 is meshed with one end of the transmission worm 1007 through a bevel gear, and the transmission worm 1007 is meshed with the rotating turbine 1008; the rotating motor 1006 is connected to the controller, and the rotation of the rotating motor 1006 drives the rotating turbine 1008 to rotate through the transmission worm 1007.

[0065] The lifting console 1003 includes a lifting motor 1009 and a screw lifter 1010. The lifting motor 1009 and the screw lifter 1010 are arranged on the rotating turbine 1008 of the rotating console 1002. The output end of the lifting motor 1009 is connected to the lower input end of the screw lifter 1010 through a pulley and a transmission belt. The output torque of the lifting motor 1009 is transmitted to the input end of the screw lifter 1010 through the transmission belt. The ball screw inside the screw lifter 1010 causes its screw lever to extend or retract from the upper end, driving the pitch console 1004 to rise and fall.

[0066] The pitch control console 1004 includes a pitch base 1011 and a pitch motor 1012. The pitch base 1011 is fixed to the telescopic end of the screw lifter 1010 of the lifting control console 1003. The pitch motor 1012 is fixed to the pitch base 1011. The wireless signal transceiver 1005 is pivotally connected to the pitch base 1011. The output end of the pitch motor 1012 is meshed with the wireless signal transceiver 1005 through a gear set. The pitch motor 1012 controls the pitch angle adjustment of the wireless signal transceiver 1005.

[0067] The rotating console 1002 of the radio communication device 10 drives the lifting console 1003 to rotate, the lifting console 1003 drives the pitching console 1004 to rise and fall, the pitching console 1004 drives the wireless signal transceiver 1005 to adjust the pitch angle, and the wireless signal transceiver 1005 transmits data with the remote monitoring center.

[0068] In Example 1 or Example 2 of the present invention, a solar panel and a battery are provided on one or more of the first driving section 1, the detection section 2 and the second driving section 3. The solar panel is connected to the battery, and solar energy is converted into electrical energy and stored in the battery. The battery is electrically connected to each electrical device and provides electrical energy to maintain the operation of the equipment.

Claims

1. A pipeline inspection device, characterized by: It includes a first driving section, at least one detection section, a second driving section and a controller; The first driving section, the detection section and the second driving section are connected in sequence through a universal joint connecting rod; the first driving section and the second driving section are arranged at the head and tail ends of the detection section; The first drive section and the second drive section have the same structure, and each includes a drive section arc frame, the inner ring of the drive section arc frame is connected to at least three sets of limiting wheel assemblies and at least two sets of driving assemblies, wherein two sets of limiting wheel assemblies are arranged on both sides of the inner ring of the drive section arc frame relative to each other, and the limiting wheels of the two sets of limiting wheel assemblies are arranged in parallel; another set of limiting wheel assemblies is arranged on the top of the inner ring of the drive section arc frame; at least one set of driving assembly is arranged between two adjacent sets of limiting wheel assemblies; and the driving assembly is electrically connected to the controller; The detection section includes an arc-shaped frame of the detection section, and the inner ring of the arc-shaped frame of the detection section is connected to at least three groups of limiting wheel assemblies, wherein two groups of limiting wheel assemblies are relatively arranged on both sides of the inner ring of the arc-shaped frame of the detection section, and the limiting wheels of the two groups of limiting wheel assemblies are arranged in parallel; another group of limiting wheel assemblies is arranged on the top of the inner ring of the arc-shaped frame of the detection section; the inner ring of the arc-shaped frame of the detection section is also provided with a detection probe, and the upper part of the arc-shaped frame of the detection section is provided with a radio communication device; the detection probe and the radio communication device are respectively electrically connected to the controller; The limiting wheel assembly includes a limiting wheel connecting frame, a limiting wheel and a shock absorber. The limiting wheel is pivotally connected to the limiting wheel connecting frame, and the limiting wheel connecting frame is connected to the driving section arc frame or the detection section arc frame through the shock absorber; the limiting wheel is a curved wheel with a middle diameter smaller than the diameter at both ends.

2. A pipeline inspection device according to claim 1, characterized in that: The driving section arc frame and the detecting section arc frame are both semicircular, with grooves provided on the inner circles; ribs are provided in the grooves.

3. A pipeline inspection device according to claim 1, characterized in that: The driving assembly includes a connecting plate, a walking device, a Z-shaped connecting piece, and a spring support rod. The connecting plate is connected to the ribs of the inner ring of the driving section arc frame. The two sides of the walking device are connected to the connecting plate through the Z-shaped connecting piece and the spring support rod. The Z-shaped connecting piece and the spring support rod are pivotally connected to the walking device through a pin shaft, and the Z-shaped connecting piece and the spring support rod are also pivotally connected to the connecting plate through a pin shaft; the spring support rod on each side of the walking device is cross-arranged with a Z-shaped connecting piece; the walking device is electrically connected to the controller.

4. A pipeline inspection device according to claim 3, characterized in that: An electric cylinder is provided at one end of the connecting plate, a transverse through hole is provided on the connecting plate, a moving rod is provided in the transverse through hole, both ends of the moving rod are pivotally connected to one end of the spring support rods on both sides, the telescopic rod of the electric cylinder is parallel to the transverse through hole, the front end of the telescopic rod of the electric cylinder is fixedly connected to one end of the H-shaped connecting piece, and the other end of the H-shaped connecting piece is fixedly connected to the moving rod, and the telescopic rod of the electric cylinder can push the moving rod to translate in the transverse through hole; the electric cylinder is electrically connected to the controller, and the controller controls the operation of the electric cylinder.

5. The pipeline inspection device according to claim 3, characterized in that: The walking device includes an inverted trapezoidal frame, an outer ring of the inverted trapezoidal frame is provided with a crawler track, and a worm motor, a driving worm wheel, a driving gear, a driven gear, and a limiting gear are provided inside the inverted trapezoidal frame. The driving worm wheel is coaxially connected to the driving gear, and the driving gear, the driven gear and several limiting gears are pivotally connected to the inverted trapezoidal frame through corresponding wheel axles respectively. The output worm shaft of the worm motor is meshed with the driving worm wheel, and the crawler track is arranged on the outside of the driving gear, the driven gear and several limiting gears; the worm motor is electrically connected to the controller, and the controller controls the operation of the worm motor.

6. The pipeline inspection device according to claim 1, characterized in that: The limiting wheel connecting frame of the limiting wheel assembly is an I-shaped connecting frame, and two parallel limiting wheels are pivotally connected to the I-shaped connecting frame; one end of the shock absorber is fixedly connected to the driving section arc frame or the detection section arc frame, and the other end of the shock absorber is hinged to the middle part of the limiting wheel connecting frame through a hinge shaft, and the hinge shaft is parallel to the limiting wheel.

7. The pipeline inspection device according to claim 1, characterized in that: The radio communication device includes a communication device base, a rotating control console, a lifting control console, a pitch control console and a wireless signal transceiver. The communication device base is fixed on the arc-shaped frame of the detection section, the rotating control console is arranged on the communication device base, the lifting control console is arranged on the rotating control console, the pitch control console is arranged on the top of the lifting control console, and the wireless signal transceiver is connected to the pitch control console; the rotating control console, lifting control console, pitch control console and wireless signal transceiver are also electrically connected to the controller respectively.

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