A modular chain-type circumferential pipe scanning device adaptable to different pipe diameters

Abstract

This disclosure relates to the field of pipeline inspection technology. One embodiment provides a modular chain-type circumferential pipeline scanning device adaptable to different pipe diameters, comprising: a chain, the chain being composed of several sections sequentially hinged and forming a ring; a lead screw and a nut, the lead screw being rotatably mounted on a section at one end, and the nut being hinged to a section at the other end, the lead screw and the nut being threadedly connected; a movable stage, the movable stage being movably mounted on the chain, the direction of movement being parallel to the pipeline axis; and a detection sensor, the detection sensor being mounted on the movable stage. This technical solution solves the technical problem in the prior art where chain-type circumferential pipeline scanners cannot move axially for inspection. The linear drive component drives the movable stage to move parallel to the pipeline axis on the chain, solving the problem that traditional chain-type circumferential pipeline scanners cannot achieve axial movement, allowing for the inspection of a larger pipeline surface area with a single installation, thus improving inspection efficiency.

Description

Technical Field

[0001] The embodiments disclosed herein relate to the field of pipeline inspection technology, and more specifically, to a modular chain-type circumferential pipeline scanning device adaptable to different pipe diameters. Background Technology

[0002] Pipeline circumferential scanning technology plays an irreplaceable role in ensuring the safe operation of pipelines in industrial fields such as petrochemicals, urban gas, and water supply and drainage. By comprehensively scanning and identifying defects in pipelines, leaks can be effectively prevented, protecting life, property, and the ecological environment. In particular, with the widespread application of PE (polyethylene) pipelines in gas transportation, the demand for non-destructive testing technology for PE pipelines is increasingly urgent. However, due to the non-ferromagnetic properties of PE pipeline materials, traditional electromagnetic testing methods face many challenges, leading to the emergence of weak magnetic field-based testing methods, which have become a current research hotspot.

[0003] In actual inspection processes, the stability and reliability of inspection equipment directly affect the accuracy of defect identification and assessment. Current pipeline circumferential scanning devices still face numerous technical bottlenecks when dealing with different pipe diameters, complex on-site environments, and diverse defect types. Especially in PE pipeline inspection, issues such as fluctuations in sensor lift-off distance and poor repeatability of inspection data severely restrict the reliability and accuracy of inspection results.

[0004] Existing pipe circumferential scanners can be mainly divided into different types such as chain structure, magnetic wheel adsorption type, and wheel / flat plate type, each of which shows different advantages and limitations in specific application scenarios.

[0005] In existing technologies, chain-structured pipe circumferential scanners can only move circumferentially for inspection and cannot achieve axial movement. This limits the surface area that can be inspected in a single installation and disassembly. In scenarios requiring comprehensive pipe inspection, frequent installation and disassembly of the device are necessary, significantly reducing inspection efficiency and increasing workload and time costs. Summary of the Invention

[0006] To overcome the above-mentioned defects, the embodiments of this disclosure provide a modular chain-type circumferential pipe scanning device that can adapt to different pipe diameters, solving the technical problem that the existing chain-type pipe circumferential scanner cannot move axially for detection.

[0007] According to one aspect, at least one embodiment of this disclosure provides a modular chain-type circumferential pipe scanning device adapted to different pipe diameters for pipe scanning, comprising:

[0008] A chain, the chain being composed of several segments that are sequentially hinged together and formed into a ring;

[0009] A movable platform, which is movably mounted on one of the sections along the axial direction of the pipeline;

[0010] A detection sensor is mounted on the movable platform for detecting pipes.

[0011] For example, at least one embodiment of this disclosure provides a modular chain-type pipe circumferential scanning device adapted to different pipe diameters, which further includes a wheel assembly disposed on the chain for the movement of the chain.

[0012] For example, at least one embodiment of this disclosure provides a modular chain-type pipe circumferential scanning device adapted to different pipe diameters, which further includes:

[0013] A lead screw and a lead nut, wherein the lead screw is hinged to a section at one end, and the lead nut is rotatably mounted on a section at the other end, and the lead screw and the lead nut are threadedly connected.

[0014] A rotation drive component is disposed on the chain and is connected to the nut for driving the nut to rotate;

[0015] A linear drive element is disposed on the chain and connected to the mobile platform for driving the mobile platform to move.

[0016] For example, at least one embodiment of this disclosure provides a modular chain-type circumferential pipe scanning device adapted to different pipe diameters, wherein the wheel assembly includes:

[0017] Each of the aforementioned segments is provided with a swinging component;

[0018] An axial traveling wheel and a circumferential traveling wheel are respectively rotatably mounted at both ends of the swing member. The axis of the axial traveling wheel is parallel to the tangent of the pipe, and the axis of the circumferential traveling wheel is parallel to the axis of the pipe.

[0019] The swinging component is configured to swing after the chain is tightened or loosened, and after swinging, it has at least an axial walking state and a circumferential walking state. In the axial walking state, the axial walking wheel abuts against the pipe, and the circumferential walking wheel is suspended. In the circumferential walking state, the circumferential walking wheel abuts against the pipe, and the axial walking wheel is suspended.

[0020] For example, at least one embodiment of this disclosure provides a modular chain-type pipe circumferential scanning device adapted to different pipe diameters, wherein some of the axial traveling wheels and some of the circumferential traveling wheels are self-driving wheels.

[0021] For example, at least one embodiment of this disclosure provides a modular chain-type pipe circumferential scanning device adapted to different pipe diameters, which further includes:

[0022] A first elastic element, one end of which acts on the swinging member and the other end of which acts on the joint, is used to provide a force that causes the swinging member to swing in a circumferential walking state.

[0023] For example, at least one embodiment of this disclosure provides a modular chain-type pipe circumferential scanning device adapted to different pipe diameters, which further includes a triggering component disposed on the segment body, for pushing the swing member after the chain is tightened, so that the swing member changes from an axial walking state to a circumferential walking state.

[0024] For example, at least one embodiment of this disclosure provides a modular chain-type circumferential pipe scanning device adapted to different pipe diameters, wherein the triggering component includes:

[0025] A sliding block is slidably disposed on the section body. After sliding, it can move closer to or away from the swing member. One end of the sliding block has a walking end and the other end has a pushing end. The walking end is used to move along the surface of the pipe, and the pushing end abuts against the swing member.

[0026] For example, at least one embodiment of this disclosure provides a modular chain-type pipe circumferential scanning device adapted to different pipe diameters, wherein the traveling end is a ball bearing and is used to abut against the pipe, the traveling end is capable of traveling along the circumference of the pipe and along the axial direction parallel to the pipe, and further includes:

[0027] The second elastic element, with one end acting on the sliding block and the other end acting on the segment, is used to provide a force for the traveling end to approach and abut against the pipe.

[0028] For example, at least one embodiment of this disclosure provides a modular chain-type circumferential pipe scanning device adapted to different pipe diameters, wherein the segment consists of two parts detachably connected by a slot and a rim.

[0029] The beneficial effects of the embodiments disclosed herein are as follows:

[0030] In this disclosure, the chain is composed of several sections hinged together sequentially. By adjusting the number of sections, the size of the ring formed by the chain can be flexibly changed, thereby adapting to the inspection needs of pipes with different diameters and improving the versatility of the device. The linear drive component drives the moving stage to move parallel to the pipe axis on the chain, solving the problem that traditional chain-type pipe circumferential scanners cannot achieve axial movement. This allows for the inspection of a larger pipe surface area in a single installation, improving inspection efficiency and reducing the workload and time costs of installing and disassembling the device. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments of this disclosure will be briefly introduced below. Obviously, the drawings described below are merely some exemplary embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on the content of the exemplary embodiments of this disclosure and these drawings without any creative effort.

[0032] Figure 1 This is a schematic diagram of the structure of a pipe circumferential scanning device in one embodiment of the present disclosure;

[0033] Figure 2 for Figure 1 Another perspective structural diagram of the pipe circumferential scanning device in the embodiment;

[0034] Figure 3 This is a schematic diagram of the structure of the pipe circumferential scanning device in another embodiment of this disclosure;

[0035] Figure 4 for Figure 3 A side view of the pipe circumferential scanning device in the embodiment;

[0036] Figure 5 for Figure 4 Schematic diagram of the structure from the AA cross-section;

[0037] Figure 6 for Figure 5 Schematic diagram of the structure of the enlarged cross-section of section B;

[0038] In the diagram: chain 100, segment 110, handle 111, lead screw 200, lead nut 300, moving platform 400, detection sensor 500, rotation drive 600, linear drive 700, wheel assembly 800, swinging component 810, axial traveling wheel 820, circumferential traveling wheel 830, first elastic element 900, trigger assembly 1000, sliding block 1010, traveling end 1011, pushing end 1012, second elastic element 1100. Detailed Implementation

[0039] The present disclosure will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present disclosure and are not intended to limit the scope of the disclosure.

[0040] To keep the drawings concise, each drawing only schematically shows the parts relevant to the disclosure; these do not represent the actual structure of the product. Furthermore, for ease of understanding, in some drawings, only one of components with the same structure or function is schematically shown, or only one is labeled. In this document, "one" not only means "only one," but can also mean "more than one," and "several" includes "two" and "more than two."

[0041] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linkage" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure based on the specific circumstances.

[0042] In this disclosure, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0043] In the description of this embodiment, terms such as "upper," "lower," "left," and "right" are based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of description and simplification of operation, and are not intended to 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, they should not be construed as limitations on this disclosure.

[0044] Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0045] like Figures 1-2As shown, this invention discloses a modular chain-type circumferential pipe scanning device adapted to different pipe diameters, used for pipe scanning. It includes a chain 100, a moving platform 400, and a detection sensor 500. The chain 100 is composed of several segments 110 that are sequentially hinged and arranged in a ring. The moving platform 400 is movably mounted on one of the segments 110 along the axial direction of the pipe, i.e., the direction of movement is parallel to the axial direction of the pipe. The detection sensor 500 is mounted on the moving platform 400 and is used to detect the pipe.

[0046] For example, the chain 100 adopts a modular design, with adjacent segments 110 hinged sequentially via pins to form a ring chain 100. This hinged connection allows the chain 100 to flexibly adapt to pipes of different diameters. By adjusting the number of segments 110, the size of the ring formed by the chain 100 can be changed. Screws and mounting pieces with elongated through holes can be installed on the segments 110 at both ends of the chain 100, respectively. The screws pass through the elongated through holes and are locked with nuts, thereby connecting the segments 110 at both ends of the chain 100. The number of segments 110 can be adjusted according to the pipe diameter to be tested, thus expanding the applicable range. Handles 111 can also be provided on the end segments 110 for easy operation. A wheel assembly 800 is also included, mounted on the chain 100 for its movement.

[0047] The movable stage 400 is movably mounted on one of the links 110 of the chain 100 via a slider and a groove. For example, the middle link 110 of the chain 100 has a groove, and the outer wall of the movable stage 400 forms a slider. The slider slides within the groove, ensuring the smoothness and accuracy of the movement of the movable stage 400 on the chain 100. The direction of movement of the movable stage 400 is parallel to the axial direction of the pipe.

[0048] The movable stage 400 can support the detection sensor 500 and related detection equipment. The surface of the movable stage 400 is provided with multiple mounting holes and adjustment slots to facilitate the adjustment of the installation position according to different types of detection sensors 500, ensuring that the detection sensor 500 can accurately detect the pipeline.

[0049] like Figures 3-6 As shown, this invention illustrates a modular chain-type circumferential pipe scanning device adapted to different pipe diameters in another embodiment of the present disclosure, used for pipe scanning. It includes a chain 100, a lead screw 200, a nut 300, a moving stage 400, a detection sensor 500, a rotation drive 600, and a linear drive 700. The chain 100 is composed of several segments 110 that are sequentially hinged and arranged in a ring. The lead screw 200 is hinged to a segment 110 at one end, and the nut 300 is rotatably mounted on a segment 110 at the other end. The lead screw 200 and the nut 300 are threadedly connected.

[0050] The movable stage 400 is mounted on the chain 100 and can move in a direction parallel to the pipe axis. The detection sensor 500 is mounted on the movable stage 400 for detecting the pipe. The rotation drive 600 is mounted on the chain 100 and is connected to the nut 300 for driving the nut 300 to rotate. The linear drive 700 is mounted on the chain 100 and connected to the movable stage 400 for driving the movable stage 400 to move.

[0051] The lead screw 200 is hinged to the segment 110 at one end, and the lead nut 300 is rotatably mounted on the segment 110 at the other end. The lead screw 200 and the lead nut 300 cooperate with each other to form a threaded transmission structure, which can accurately adjust the tension of the chain 100.

[0052] The rotating drive 600 can be a small DC motor or a stepper motor and is connected to the nut 300. When the rotating drive 600 is working, it drives the nut 300 to rotate. Due to the threaded connection between the nut 300 and the lead screw 200 and the hinge between the lead screw 200 and the joint 110, the distance between the joints 110 at both ends of the chain 100 changes, thereby allowing the chain 100 to be tightened or loosened on the pipe. For example, when installing the device onto the pipe, the rotating drive 600 drives the nut 300 to rotate, causing the nut 300 to move along the lead screw 200, thereby gradually tightening the chain 100 onto the pipe surface. When disassembling the device, the nut 300 is rotated in the opposite direction until the lead screw 200 separates from the nut 300, causing the chain 100 to loosen and thus allowing disassembly. In order to make the spatial layout reasonable and avoid interference between the rotating drive component 600 and the lead screw 200, the output shaft of the rotating drive component 600 can be designed to be perpendicular to the lead screw 200, that is, perpendicular to the central axis of the lead screw nut 300, and the rotating drive component 600 to rotate the lead screw nut 300 can be realized by bevel gear.

[0053] The moving stage 400 is powered by a linear drive 700. The linear drive 700 can be an electric actuator, a linear motor, or a manual drive mechanism, such as a crank that drives a lead screw to rotate, the lead screw that drives a lead screw nut to move, and the lead screw nut that pushes the moving stage 400 to move, thereby realizing the movement of the moving stage 400.

[0054] The detection sensor 500 is selected based on the detection requirements. For example, for PE pipe inspection, sensors based on weak magnetic technology, such as giant magnetoresistive sensors or fluxgate sensors, can be used. These sensors have high detection sensitivity for defects in PE pipes. The detection sensor 500 is fixed to the moving stage 400 by bolts or magnetic attraction to ensure that the sensor does not loosen during the inspection process and to guarantee the accuracy of the detection data.

[0055] Driven by the moving stage 400, the detection sensor 500 moves along the axial direction of the pipeline to change its measurement position, while the chain 100 rotates around the circumference of the pipeline, achieving a comprehensive scan of the pipeline surface. The detection sensor 500 collects physical signals from the pipeline surface in real time, such as magnetic field signals or ultrasonic signals, converts them into electrical signals, and transmits them to the data processing system for analysis and processing, thereby identifying the type, location, and size of defects in the pipeline.

[0056] During chain installation and tensioning, the chain 100 is wrapped around the pipe, with the lead screw 200 and nut 300 positioned on corresponding sections 110 on both sides of the pipe. The drive mechanism 600 is activated, causing the nut 300 to rotate. The nut 300 moves on the lead screw 200, bringing the sections 110 at both ends of the chain 100 closer together, gradually bringing the chain 100 closer to the pipe surface until the friction between the chain 100 and the pipe is sufficient to support the stability of the device during the testing process.

[0057] During inspection, the linear drive 700 is first activated, driving the moving stage 400 to move parallel to the pipe axis along the guide rail on the chain 100 until it reaches the position to be inspected. Then, during circumferential rotation and full scanning, the chain 100 rotates circumferentially on the pipe to achieve a comprehensive scan of the pipe surface. After the moving stage 400 has been inspected at this position, the linear drive 700 is activated again, driving the moving stage 400 to move parallel to the pipe axis along the guide rail on the chain 100 until it reaches the next position to be inspected, and the circumferential rotation and full scanning are repeated. The detection sensor 500 continuously collects data during the movement. The data processing system analyzes the collected data in real time, identifies the type, location, and size of defects in the pipe, and displays the inspection results in graphical or data report form for operator review.

[0058] After the test is completed, start the rotation drive 600 to rotate in the opposite direction, which will drive the nut 300 to rotate in the opposite direction. The nut 300 moves along the lead screw 200 and gradually separates, so that the device can be removed from the pipeline and the disassembly process is completed.

[0059] The chain 100 is formed by hinged segments 110 in sequence. By adjusting the number of segments 110, the size of the ring formed by the chain 100 can be flexibly changed, thereby adapting to the inspection needs of pipes with different diameters and improving the versatility of the device.

[0060] The linear drive 700 drives the moving stage 400 to move parallel to the pipe axis on the chain 100, which solves the problem that traditional chain-type pipe circumferential scanners cannot achieve axial movement. This allows a larger area of ​​the pipe surface to be inspected in one installation, improving inspection efficiency and reducing the workload and time cost of installing and disassembling the device.

[0061] The screw 200 and nut 300 work together, and the rotary drive 600 precisely controls the nut 300, enabling precise tensioning of the chain 100 on the pipe. This ensures a stable distance between the detection sensor 500 and the pipe surface, improving the repeatability and reliability of the detection data. Simultaneously, driven by the moving stage 400, the detection sensor 500 can accurately scan the pipe, improving the accuracy of defect identification.

[0062] In some examples, such as Figure 6 As shown, it also includes a wheel assembly 800, which is mounted on the chain 100 for the movement of the chain 100. The wheel assembly 800 includes a swing member 810, an axial travel wheel 820, and a circumferential travel wheel 830. Each segment 110 is provided with a swing member 810. The axial travel wheel 820 and the circumferential travel wheel 830 are rotatably mounted at both ends of the swing member 810. The axis of the axial travel wheel 820 is parallel to the tangent of the pipe, and the axis of the circumferential travel wheel 830 is parallel to the axis of the pipe. The swing member 810 is configured to have at least an axial travel state and a circumferential travel state after swinging. In the axial travel state, the axial travel wheel 820 abuts against the pipe, and the circumferential travel wheel 830 is suspended. In the circumferential travel state, the circumferential travel wheel 830 abuts against the pipe, and the axial travel wheel 820 is suspended. Some of the axial travel wheel 820 and some of the circumferential travel wheel 830 are self-driving wheels.

[0063] It also includes a first elastic element 900, one end of which acts on the swing member 810 and the other end of which acts on the joint 110, for providing a force that causes the swing member 810 to swing in a circumferential walking state.

[0064] For example, each segment 110 is equipped with a swing element 810, which is connected to the segment 110 via a pin or a pivot, ensuring that the swing element 810 can swing flexibly around the connection point. The swing element 810 is designed as an "L"-shaped rod, with one end connected to the axial travel wheel 820 and the other end connected to the circumferential travel wheel 830, and the middle part connected to the segment 110 via a pin.

[0065] The swing angle range of the swing member 810 is designed to ensure good contact between the traveling wheel and the pipe surface when switching between axial and circumferential travel states. For example, the swing member 810 has a certain swing angle, swinging in one direction corresponds to the circumferential travel state, and swinging in another direction corresponds to the axial travel state. The elastic force provided by the first elastic member 900 makes the swing member 810 tend to maintain the circumferential travel state when no external force is applied.

[0066] Axial traveling wheels 820 and circumferential traveling wheels 830 are rotatably mounted at both ends of the swing member 810. The axis of the axial traveling wheel 820 is parallel to the tangent of the pipe, and the axis of the circumferential traveling wheel 830 is parallel to the axis of the pipe. To ensure stability and friction when the traveling wheels travel on the pipe surface, they are made of wear-resistant rubber with an anti-slip pattern. High-precision rolling bearings are also installed inside the traveling wheels to reduce friction during rotation and ensure flexible rotation.

[0067] Some of the axial traveling wheels 820 and some of the circumferential traveling wheels 830 are self-driven wheels, equipped with small drive motors. For example, a DC brushless motor can be selected. The drive motor is connected to the wheel axle via a reduction gear, providing sufficient torque to drive the traveling wheels to rotate. The self-driven wheels make the scanning device more flexible in axial and circumferential movement, eliminating the need for external traction equipment and improving the device's autonomy and detection efficiency.

[0068] The first elastic element 900 can be a compression spring, with one end connected to the side of the swing member 810 near the circumferential traveling wheel 830, and the other end connected to the corresponding position on the segment 110. This ensures that sufficient elastic force is provided to keep the swing member 810 in the circumferential traveling state, while preventing the elastic force from being too large, which would make it difficult for the swing member 810 to switch to the axial traveling state.

[0069] Under normal circumstances, the first elastic element 900 is in a stretched state, and the elastic force it generates acts on the swing element 810, causing the swing element 810 to tend to maintain a circumferential walking state. At this time, the circumferential walking wheel 830 abuts against the pipe, and the axial walking wheel 820 is suspended. When axial movement is required, the elastic force of the first elastic element 900 is overcome, and the swing element 810 is switched to the axial walking state, so that the axial walking wheel 820 abuts against the pipe, and the circumferential walking wheel 830 is suspended. After the axial movement is completed, the swing element 810 is released, and under the elastic force of the first elastic element 900, the swing element 810 returns to the circumferential walking state.

[0070] When the device needs to be adjusted to a circumferential walking state, after it is installed on the pipeline, the swing member 810 is in a circumferential walking state under the action of the first elastic element 900. The circumferential walking wheel 830 is in close contact with the pipeline surface, while the axial walking wheel 820 is suspended. At this time, if some of the circumferential walking wheels 830 are self-driving wheels, the drive motor of the self-driving wheel is started, and the circumferential walking wheel 830 begins to rotate, driving the chain 100 to move around the pipeline circumferentially, realizing the detection of the pipeline's 360-degree position. During the circumferential walking process, the detection sensor 500 continuously detects the pipeline surface and collects detection data as the chain 100 moves.

[0071] During rotation, the circumferential traveling wheel 830, with its axis parallel to the pipe axis, can roll stably along the circumference of the pipe. Driven by the circumferential traveling wheel 830, the chain 100 rotates smoothly around the pipe, ensuring that the detection sensor 500 can evenly cover all positions around the pipe circumference. During this process, the drive motor of the self-driving wheel operates according to a preset speed or operator commands, controlling the circumferential movement speed of the chain 100 to meet different requirements for detection accuracy and efficiency.

[0072] When it is necessary to adjust to the axial travel state, that is, to change the detection position of the pipeline, so that when the device moves along the axial direction of the pipeline, it overcomes the elastic force of the first elastic element 900 and switches the swing element 810 from the circumferential travel state to the axial travel state. At this time, the axial travel wheel 820 is in contact with the pipeline surface, and the circumferential travel wheel 830 is suspended in the air.

[0073] If some of the axial traveling wheels 820 are self-driving wheels, starting the drive motor of these self-driving wheels causes the axial traveling wheels 820 to rotate, driving the chain 100 to move axially along the pipe. Since the axis of the axial traveling wheels 820 is parallel to the tangent of the pipe, it can effectively push the chain 100 to move in the axial direction. During the axial movement, the detection sensor 500 moves synchronously to the new detection position, preparing for the circumferential detection at the next position. After the axial movement reaches the predetermined position, under the elastic force of the first elastic element 900, the swing element 810 returns to the circumferential traveling state, and the device continues to perform circumferential detection.

[0074] The wheel assembly 800 switches between axial and circumferential travel modes by swinging the swinging component 810, enabling the scanning device to move axially along the pipeline to change the detection position, and also move circumferentially along the pipeline to detect 360-degree positions of the pipeline, thus improving the flexibility and detection coverage of the device in the pipeline inspection process.

[0075] Some of the axial traveling wheels 820 and circumferential traveling wheels 830 are self-driving wheels, which enables the scanning device to move autonomously without the need for complex external traction equipment. This makes it easier to perform inspection operations on pipelines, improves inspection efficiency, and reduces labor costs.

[0076] In some examples, a trigger assembly 1000 is also included, which is disposed on the segment 110 and used to push the oscillating member 810 to change the oscillating member 810 from an axial traveling state to a circumferential traveling state. The trigger assembly 1000 includes a sliding block 1010, which is slidably disposed on the segment 110 and can move closer to or away from the oscillating member 810 after sliding. One end of the sliding block 1010 has a traveling end 1011 and the other end has a pushing end 1012. The traveling end 1011 is used to travel along the surface of the pipe, and the pushing end 1012 abuts against the oscillating member 810. The traveling end 1011 is a ball bearing and is used to abut against the pipe. The traveling end 1011 can travel circumferentially along the pipe and axially parallel to the pipe. A second elastic member 1100 is also included, which acts on the sliding block 1010 at one end and on the segment 110 at the other end, for providing a force for the traveling end 1011 to approach and abut against the pipe.

[0077] For example, the slider 1010 is slidably mounted on the segment 110, allowing it to smoothly move closer to or further away from the swing member 810 on the segment 110. A high-precision linear guide is used to ensure the accuracy and stability of the slider 1010's movement. To prevent the slider 1010 from falling off, limit blocks are provided at both ends to restrict its sliding range.

[0078] The sliding block 1010 has a traveling end 1011 at one end and a pushing end 1012 at the other end. The traveling end 1011 is a ball bearing, which allows it to move flexibly along the circumference of the pipe and along the axial direction parallel to the pipe. The pushing end 1012 is designed as a spherical or curved surface structure that fits the oscillating member 810, ensuring that it can effectively transmit force when in contact with the oscillating member 810, thus pushing the oscillating member 810 to change its state.

[0079] The second elastic element 1100 can be a compression spring, with one end fixed to the side of the sliding block 1010 near the traveling end 1011, and the other end fixed to a corresponding position on the section body 110. The main function of the second elastic element 1100 is to provide force for the balls to approach and abut against the pipe. During the operation of the device, the compression spring is always in a compressed state, and the resulting elastic force pushes the sliding block 1010, making the balls of the traveling end 1101 closely adhere to the pipe surface. Regardless of whether the chain 100 is in a tight or loose state, good contact between the traveling end 1101 and the pipe can be guaranteed, thereby ensuring the normal operation of the triggering component 1000.

[0080] When the rotating drive 600 tightens the chain 100 against the pipe via the lead screw 200 and nut 300, the tightening of the chain 100 causes the sliding block 1010 to slide along the section 110. Due to the action of the second elastic element 1100, the balls of the traveling end 1011 remain in close contact with the pipe surface. As the sliding block 1010 slides, its pushing end 1012 gradually approaches and pushes the swinging member 810, overcoming the elastic force of the first elastic element 900, causing the swinging member 810 to change from an axial traveling state to a circumferential traveling state.

[0081] At this point, the circumferential traveling wheel 830 is in contact with the pipe, while the axial traveling wheel 820 is suspended. If some of the circumferential traveling wheels 830 are self-driving wheels, the drive motor of the self-driving wheel is started, and the circumferential traveling wheel 830 drives the chain 100 to move around the pipe circumferentially. The detection sensor 500 simultaneously performs detection, performing a 360-degree scan detection of a certain position on the pipe. During the circumferential movement, the balls at the traveling end 1011 roll on the pipe surface as the chain 100 moves circumferentially. The second elastic element 1100 continuously provides a force to keep the balls pressed tightly against the pipe, ensuring the stable operation of the triggering component 1000.

[0082] When the drive unit 600 is rotated, causing the chain 100 to loosen, the slack in the chain 100 causes the sliding block 1010 to slide away from the oscillating member 810 under the elastic force of the first elastic member 900. During the sliding process, the balls on the traveling end 1011 remain in close contact with the pipe surface under the action of the second elastic member 1100. Under the action of the first elastic member 900, the oscillating member 810 changes from a circumferential traveling state to an axial traveling state.

[0083] The axial traveling wheel 820 abuts against the pipe, while the circumferential traveling wheel 830 is suspended. If some of the axial traveling wheels 820 are self-driving wheels, the drive motor of the self-driving wheel is started, and the axial traveling wheel 820 drives the chain 100 to move axially along the pipe, changing the scanning and detection position. During the axial movement, the balls at the traveling end 1011 roll on the pipe surface as the chain 100 moves axially, and the second elastic element 1100 always ensures that the balls are in close contact with the pipe.

[0084] When it is necessary to disassemble the chain 100, the drive unit 600 is rotated to disengage the lead screw 200 from the lead nut 300. At this time, the balls of the walking end 1011 no longer need to contact the pipe, and the operator can easily remove the device from the pipe.

[0085] The trigger component 1000 achieves automatic switching of the walking state of the swing component 810 through the interaction between the sliding block 1010 and the swing component 810, without the need for manual intervention, thus improving the convenience of device operation and detection efficiency.

[0086] The second elastic element 1100 ensures that the ball bearings of the traveling end 1011 can make close contact with the pipeline under various working conditions, which provides a guarantee for the stable operation of the triggering component 1000, thereby ensuring the stability and reliability of the device during circumferential and axial travel.

[0087] The tensioning and loosening actions of the trigger component 1000 and the chain 100 work closely together, enabling the device to automatically switch between circumferential scanning and axial movement according to the detection requirements, thus optimizing the entire detection process and improving the comprehensiveness and accuracy of pipeline inspection.

[0088] In some examples, segment 110 consists of two parts that are detachably connected by a slot and a rim.

[0089] For example, the segment 110 is designed to consist of two parts that are detachably connected by a slot and a retaining edge. This design greatly enhances the modularity of the segment 110. Assume the two parts of the segment are part A and part B. Part A has an outwardly protruding retaining edge, and part B has a corresponding slot that fits the retaining edge. The shape of the slot matches the retaining edge, and its depth is sufficient to accommodate the retaining edge, ensuring a tight connection.

[0090] When the device needs to be used to inspect pipes of different diameters, the number of sections needs to be changed. In this case, the retaining edge of part A is pulled out from the retaining groove of part B, so that the appropriate length of section can be selected according to the requirements to achieve the adaptation of different pipe diameters.

[0091] It should be noted that the above embodiments are only used to illustrate the technical solutions of this disclosure and are not intended to limit it. Although this disclosure has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this disclosure without departing from the spirit and scope of the technical solutions of this disclosure, and all such modifications and substitutions should be covered within the scope of the claims of this disclosure.

Claims

1. A modular chain pipe circumferential scanning device for scanning of pipes of different diameters, for scanning of pipes, characterized in that, The utility model relates to a pipeline inspection robot, including: Chain (100), chain (100) is by a plurality of section bodies (110) are sequentially hinged and surround annularly; Mobile station (400), mobile station (400) is along the axial movement of pipeline and is arranged on one of section bodies (110); Detection sensor (500), detection sensor (500) is arranged on mobile station (400) and is used for detecting pipeline; Wheel assembly (800), wheel assembly (800) is arranged on chain (100) and is used for the walking of chain (100), and wheel assembly (800) includes: Swing piece (810), swing piece (810) is arranged on each section body (110); Axial walking wheel (820) and circumferential walking wheel (830), axial walking wheel (820) and circumferential walking wheel (830) are rotationally arranged at both ends of swing piece (810) respectively, the axis of axial walking wheel (820) is parallel to the tangent line of pipeline, and the axis of circumferential walking wheel (830) is parallel to the axis of pipeline; Wherein, swing piece (810) is configured to automatically swing after chain (100) is tightened or loosened, and swing at least has axial walking state and circumferential walking state, for axial walking state, axial walking wheel (820) is in abutment with pipeline, and circumferential walking wheel (830) is in suspension;For circumferential walking state, circumferential walking wheel (830) is in abutment with pipeline, and axial walking wheel (820) is in suspension; Also include, trigger assembly (1000), trigger assembly (1000) is arranged on section body (110) and is used for pushing swing piece (810) after chain (100) is tightened so that swing piece (810) changes from axial walking state to circumferential walking state, and trigger assembly (1000) includes sliding block (1010), sliding block (1010) is slidably arranged on section body (110), and after sliding, can be close to or away from swing piece (810), one end of sliding block (1010) has walking end (1011), and the other end has pushing end (1012), walking end (1011) is used for walking along the surface of pipeline, and pushing end (1012) is in abutment with swing piece (810).

2. The modular chain pipe circumferential scanning device of claim 1, wherein, Also include: Lead screw (200) and nut (300), lead screw (200) is hingedly arranged on one end section body (110), nut (300) is rotationally arranged on the other end section body (110), and lead screw (200) is in threaded connection with nut (300); Rotary drive (600), rotary drive (600) is arranged on chain (100) and is in transmission connection with nut (300), and is used to drive the rotation of nut (300); Linear drive (700), linear drive (700) is arranged on chain (100) and is connected with mobile station (400), and is used to drive the movement of mobile station (400).

3. The modular chain pipe circumferential scanning device of claim 1, wherein, Part of the axial walking wheels (820) and part of the circumferential walking wheels (830) are self-driven wheels.

4. The modular, chain-based, circumferential pipeline scanning device of claim 1, wherein, Further comprising: A first elastic member (900) acting on one end of the swing member (810) and on the other end of the joint body (110), for providing a force to make the swing member (810) swing to a circumferential walking state.

5. The modular, chain-based, circumferential pipeline scanning apparatus of claim 1, wherein, The walking end (1011) is a ball and is used to abut against the pipeline, the walking end (1011) can walk along the circumference of the pipeline and along the parallel pipeline axial direction, further comprising: A second elastic member (1100) acting on one end of the sliding block (1010) and on the other end of the joint body (110), for providing a force to make the walking end (1011) close to and abut against the pipeline.

6. The modular chain type pipeline circumferential scanning device of claim 5, wherein the joint body (110) is composed of two parts connected by a clamping groove and a clamping edge.

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