A pipeline inspection device

Abstract

The application belongs to the technical field of pipeline nondestructive testing, and discloses a pipeline detection device, which is arranged in a pipeline and comprises a detection assembly, an omnidirectional vehicle body and a lifting mechanism. The omnidirectional vehicle body comprises an omnidirectional wheel frame and a first omnidirectional wheel. The detection assembly and the omnidirectional vehicle body are driven to move away from each other along the radial direction of the pipeline by the lifting mechanism, so that the detection assembly and the omnidirectional vehicle body abut against the inner wall of the pipeline, the first omnidirectional wheel drives the whole pipeline detection device to move and walk in the pipeline, and the pipeline is detected by the detection assembly. The whole pipeline detection device has high stability, high balance during walking, and will not overturn. Different sizes or weights of the detection assembly can be replaced independently. The pipeline detection device has multiple detection modes and does not require an additional large-size rotating actuator or complex inverse kinematics calculation. The pipeline detection device is suitable for pipelines placed in any direction.

Description

Technical Field

[0001] This invention relates to the field of non-destructive testing technology for pipelines, and in particular to a pipeline testing device. Background Technology

[0002] Pipelines serve as vital transport carriers for oil, natural gas, chemical media, and urban water supply and drainage; their safe operation directly impacts energy security and public safety. Therefore, regular non-destructive testing of in-service pipelines is a crucial technical means to ensure structural integrity and extend service life.

[0003] Currently, ultrasonic or radar sensors are commonly used to detect pipe walls. To achieve comprehensive circumferential detection of the pipe wall, some existing technologies employ large omnidirectional mobile robots as chassis, mounting multi-degree-of-freedom robotic arms on these chassis. The sensors are then driven by the robotic arms' end effectors to perform circumferential scanning around the pipe wall. However, the large size and weight of the robot chassis make it unsuitable for overhead pipes, narrow trenches, or vertical pipes. Furthermore, the chassis's locomotion mechanism must overcome significant gravity to move along the pipe, placing excessive demands on the power and endurance of the drive system. Moreover, the inverse kinematics and trajectory planning algorithms for multi-degree-of-freedom robotic arms are complex, requiring extremely high computational power and real-time performance from the control system. Additionally, the cumulative errors of the robotic arm's joints and link deformation further reduce the accuracy of distance control between the sensor and the pipe wall, affecting the reliability of the detection data.

[0004] Different pipeline inspection scenarios often require the replacement of different types of non-destructive testing sensors, and these sensors vary significantly in weight, size, and center of gravity. Most existing pipeline inspection robots directly mount sensors to the vehicle body or the end effector of the robotic arm. Changing the sensors often means that the entire structure of the equipment needs to be redesigned and manufactured, or that additional counterweights need to be added to the vehicle body to balance the center of gravity shift, resulting in poor equipment versatility. Summary of the Invention

[0005] The purpose of this invention is to provide a pipeline inspection device. This device can perform various inspections of pipelines without requiring complex trajectory planning algorithms. It is also small in size, simple in structure, and adaptable to inspection components of varying weights and volumes.

[0006] To achieve this objective, the present invention adopts the following technical solution: A pipeline inspection device is provided, the pipeline inspection device being disposed inside a pipeline, the pipeline inspection device comprising: A detection component for detecting the pipeline; An omnidirectional vehicle body, the omnidirectional vehicle body including an omnidirectional wheel frame and a first omnidirectional wheel, the first omnidirectional wheel being connected to the omnidirectional wheel frame, the first omnidirectional wheel being capable of moving along the axial direction and the circumferential direction of the pipeline; A lifting mechanism is provided, wherein the detection component and the omnidirectional vehicle body are both connected to the lifting mechanism and are symmetrically arranged about the axis of the pipeline. The lifting mechanism is located on the axis of the pipeline. The lifting mechanism can drive the detection component and the omnidirectional vehicle body to move away from each other along the radial direction of the pipeline, so that the detection component and the first omnidirectional wheel abut against the inner wall of the pipeline. The lifting mechanism can also drive the detection component and the omnidirectional vehicle body to move closer to each other along the radial direction of the pipeline, so that the detection component and the first omnidirectional wheel disengage from the inner wall of the pipeline.

[0007] Optionally, the first omnidirectional wheel includes a first wheel body and a second wheel body, the first wheel body is rotatably connected to the omnidirectional wheel frame, the second wheel body is rotatably connected to the first wheel body, and the rotation axis of the first wheel body is perpendicular to the rotation axis of the second wheel body, and the second wheel body can abut against the inner wall of the pipe.

[0008] Optionally, the omnidirectional vehicle body further includes a first driving member and a second driving member, wherein the first driving member is driven to connect to the first wheel and is capable of driving the first wheel to rotate, and the second driving member is driven to connect to the second wheel and is capable of driving the second wheel to rotate.

[0009] Optionally, the omnidirectional vehicle body further includes a first gear and a second gear, the first drive unit is driven to the first gear, the first wheel is fixedly connected to the second gear, and the first gear and the second gear are meshed together.

[0010] Optionally, the omnidirectional vehicle body further includes a worm gear, the second drive member is driven to connect to the worm gear, and the outer wall of the second wheel body is provided with a tooth groove that cooperates with the worm gear, and the worm gear is meshed with the second wheel body.

[0011] Optionally, the first wheel is coaxially arranged with the worm and sleeved on the worm, and the first wheel is rotatably connected to the worm.

[0012] Optionally, the omnidirectional vehicle body further includes a bearing, wherein the first wheel and the worm gear are rotatably connected via the bearing; and / or, The omnidirectional vehicle body also includes a third gear and a fourth gear. The second drive unit is driven and connected to the third gear, and the worm gear is fixedly connected to the fourth gear. The third gear and the fourth gear are meshed together.

[0013] Optionally, the detection component includes a sensor and a support frame, the sensor being connected to the support frame and the support frame being connected to the lifting mechanism.

[0014] Optionally, the lifting mechanism includes a third driving component and a transmission assembly, wherein the detection assembly and the omnidirectional vehicle body are both connected to the transmission assembly, and the third driving component is driven to the transmission assembly.

[0015] Optionally, the transmission assembly includes a fifth gear, a sixth gear, a first connecting rod, and a second connecting rod. The third driving member is driven and connected to the fifth gear. The fifth gear and the sixth gear are meshed together. The first end of the first connecting rod is fixedly connected to the fifth gear. The second end of the first connecting rod is connected to the detection assembly. The first end of the second connecting rod is fixedly connected to the sixth gear. The second end of the second connecting rod is connected to the omnidirectional wheel frame.

[0016] The beneficial effects of this invention are: This invention provides a pipeline inspection device, which is installed inside a pipeline and includes an inspection component, an omnidirectional vehicle body, and a lifting mechanism. The inspection component is used to inspect the pipeline. The omnidirectional vehicle body includes an omnidirectional wheel frame and a first omnidirectional wheel. The lifting mechanism drives the inspection component and the omnidirectional vehicle body to move away from each other radially along the pipeline, so that the inspection component and the omnidirectional vehicle body abut against the inner wall of the pipeline. The first omnidirectional wheel drives the entire pipeline inspection device to move inside the pipeline, and the inspection component inspects the pipeline. The lifting mechanism drives the inspection component and the omnidirectional vehicle body to move closer or further apart radially along the pipeline, and the inspection component and the omnidirectional vehicle body are symmetrically arranged about the pipeline axis, so that the inspection component has only one degree of freedom relative to the omnidirectional vehicle body in the radial direction of the pipeline. This facilitates the adjustment of the position of the inspection component and the omnidirectional vehicle body, and gives the overall structure of the pipeline inspection device high stability and high balance during movement. At the same time, the lifting mechanism is located on the pipeline axis, further improving the balance of the pipeline inspection device during movement. When changing inspection components of different sizes or weights, the pipeline inspection device will not tip over. The detection component is directly abutted against the inner wall of the pipeline, ensuring that the detection component always maintains a fixed distance from the inner wall of the pipeline, thereby improving the accuracy of the detection results. When replacing the detection component, only the detection component needs to be replaced, without the need to modify the omnidirectional vehicle body and lifting mechanism or add counterweights, thus improving the versatility of the pipeline inspection equipment.

[0017] The first omnidirectional wheel of this invention can move along the axial and circumferential directions of the pipeline. This allows the pipeline inspection equipment to travel along the axial direction of the pipeline, enabling rapid and continuous axial inspection; or to rotate 360° circumferentially along the pipeline, performing intensive circumferential inspection of a specific cross-section of the pipeline, effectively detecting circumferentially distributed cracks or corrosion defects; or to spiral within the pipeline, suitable for comprehensive inspection of long-distance pipelines. This design makes the pipeline inspection equipment more flexible in movement, offering multiple inspection methods and improving inspection efficiency. Furthermore, the first omnidirectional wheel eliminates the need for additional large-sized rotary actuators or complex inverse kinematics calculations. The lifting mechanism has only single-degree-of-freedom motion characteristics, resulting in simple control logic and eliminating the need for multi-axis linkage and trajectory planning, thus reducing the development difficulty and operational failure rate of the control system. In addition, the overall size of the pipeline inspection equipment is small and its structure is simple.

[0018] The pipeline inspection device of this invention is applicable to pipelines placed in any direction. By adjusting the distance between the inspection component and the omnidirectional vehicle body, the contact force between the inspection component and the omnidirectional vehicle body and the inner wall of the pipeline can be adjusted, thereby adjusting the friction force between the inspection component and the omnidirectional vehicle body and the inner wall of the pipeline. When the pipeline is placed vertically, increasing the contact force between the inspection component and the omnidirectional vehicle body and the inner wall of the pipeline ensures that the first omnidirectional wheel obtains sufficient adhesion to overcome gravity, thereby achieving stable upward and downward movement along the vertical pipeline. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the pipeline inspection equipment and pipeline provided in the embodiments of the present invention; Figure 2 This is a schematic diagram of the structure of the pipeline inspection equipment provided in an embodiment of the present invention; Figure 3 This is a front view of the pipeline inspection equipment provided in an embodiment of the present invention; Figure 4 This is a cross-sectional view of the omnidirectional vehicle body involved in the embodiments of the present invention; Figure 5 This is a schematic diagram of the omnidirectional vehicle body involved in the embodiments of the present invention; Figure 6 This is one of the partial structural schematic diagrams of the omnidirectional vehicle body involved in the embodiments of the present invention; Figure 7 This is a second schematic diagram of a partial structure of the omnidirectional vehicle body involved in an embodiment of the present invention; Figure 8 This is a partial structural schematic diagram of the lifting mechanism involved in the embodiments of the present invention.

[0020] In the picture: 1. Detection component; 11. Sensor; 12. Support frame; 13. Third omnidirectional wheel; 2. Omnidirectional vehicle body; 21. Omnidirectional wheel frame; 22. First omnidirectional wheel; 221. First wheel body; 222. Second wheel body; 23. First drive component; 24. Second drive component; 25. First gear; 26. Second gear; 27. Worm gear; 28. Bearing; 29. ​​Third gear; 210. Fourth gear; 211. Connecting shaft; 212. Second omnidirectional wheel; 3. Lifting mechanism; 31. Third drive component; 32. Fifth gear; 33. Sixth gear; 34. First connecting rod; 35. Second connecting rod; 36. Mounting base; 37. Seventh gear; 38. Third connecting rod; 39. Fourth connecting rod; 100. Pipeline. Detailed Implementation

[0021] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0022] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0023] In the description of this invention, 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 being 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 being 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.

[0024] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0025] like Figures 1 to 8As shown, this embodiment provides a pipeline inspection device, which is installed inside a pipeline 100. The pipeline inspection device includes an inspection component 1, an omnidirectional vehicle body 2, and a lifting mechanism 3. The inspection component 1 is used to inspect the pipeline 100. The omnidirectional vehicle body 2 includes an omnidirectional wheel frame 21 and a first omnidirectional wheel 22. The first omnidirectional wheel 22 is connected to the omnidirectional wheel frame 21 and can move along the axial direction and circumferential direction of the pipeline 100. The inspection component 1 and the omnidirectional vehicle body 2 are both connected to the lifting mechanism 3 and are symmetrically arranged about the axis of the pipeline 100. The lifting mechanism 3 is located on the axis of the pipeline 100. The lifting mechanism 3 can drive the inspection component 1 and the omnidirectional vehicle body 2 to move away from each other along the radial direction of the pipeline 100, so that the inspection component 1 and the first omnidirectional wheel 22 abut against the inner wall of the pipeline 100. The lifting mechanism 3 can also drive the inspection component 1 and the omnidirectional vehicle body 2 to move closer to each other along the radial direction of the pipeline 100, so that the inspection component 1 and the first omnidirectional wheel 22 disengage from the inner wall of the pipeline 100.

[0026] The lifting mechanism 3 drives the detection component 1 and the omnidirectional vehicle 2 to move away from each other radially along the pipe 100, so that the detection component 1 and the omnidirectional vehicle 2 abut against the inner wall of the pipe 100. The first omnidirectional wheel 22 drives the entire pipe inspection equipment to move within the pipe 100, and the detection component 1 inspects the pipe 100. The lifting mechanism 3 drives the detection component 1 and the omnidirectional vehicle 2 to move closer or further apart radially along the pipe 100, and the detection component 1 and the omnidirectional vehicle 2 are symmetrically arranged about the axis of the pipe 100, so that the detection component 1 has only one degree of freedom in the radial direction of the pipe 100 relative to the omnidirectional vehicle 2. This facilitates the adjustment of the positions of the detection component 1 and the omnidirectional vehicle 2, and makes the overall structure of the pipe inspection equipment highly stable and balanced during movement. At the same time, the lifting mechanism 3 is located on the axis of the pipe 100, which further improves the balance of the pipe inspection equipment during movement. When the detection component 1 of different sizes or weights is replaced, the pipe inspection equipment will not tip over. The detection component 1 is directly abutted against the inner wall of the pipe 100, so that the detection component 1 always maintains a fixed distance from the inner wall of the pipe 100, thereby improving the accuracy of the detection results. When replacing the detection component 1, only the detection component 1 needs to be replaced, without modifying the omnidirectional vehicle body 2 and the lifting mechanism 3 or adding counterweights, thus improving the versatility of the pipeline detection equipment.

[0027] In this embodiment, the first omnidirectional wheel 22 can move along the axial and circumferential directions of the pipe 100. This allows the pipe inspection equipment to move along the axial direction of the pipe 100, enabling rapid and continuous axial inspection; or to rotate 360° circumferentially along the pipe 100, performing dense circumferential inspection of a specific cross-section of the pipe 100, effectively detecting circumferentially distributed cracks or corrosion defects; or to spiral within the pipe 100, suitable for comprehensive inspection of long-distance pipes 100. This configuration makes the movement of the pipe inspection equipment more flexible, providing multiple inspection methods and improving inspection efficiency. Furthermore, the first omnidirectional wheel 22 does not require additional large-sized rotary actuators or complex inverse kinematics calculations. The lifting mechanism 3 has only single-degree-of-freedom motion characteristics, with simple control logic, eliminating the need for multi-axis linkage and trajectory planning, thus reducing the development difficulty and operational failure rate of the control system. In addition, the overall size of the pipe inspection equipment is small and its structure is simple.

[0028] The pipeline inspection equipment of this embodiment is applicable to pipelines 100 placed in any direction. By adjusting the distance between the inspection component 1 and the omnidirectional vehicle body 2, the contact force between the inspection component 1 and the omnidirectional vehicle body 2 and the inner wall of the pipeline 100 can be adjusted, thereby adjusting the friction force between the inspection component 1 and the omnidirectional vehicle body 2 and the inner wall of the pipeline 100. When the pipeline 100 is placed vertically, increasing the contact force between the inspection component 1 and the omnidirectional vehicle body 2 and the inner wall of the pipeline 100 ensures that the first omnidirectional wheel 22 obtains sufficient adhesion to overcome gravity, thereby achieving stable upward and downward movement along the vertical pipeline 100.

[0029] Specifically, the omnidirectional wheel frame 21 is made of a lightweight, high-strength material. The omnidirectional wheel frame 21 may be made of aluminum alloy, titanium alloy, or carbon fiber composite material, and this application does not limit it to any particular material.

[0030] Optionally, such as Figure 1 , Figures 4 to 7As shown, the first omnidirectional wheel 22 includes a first wheel body 221 and a second wheel body 222. The first wheel body 221 is rotatably connected to the omnidirectional wheel frame 21 and can roll along the axial direction of the pipe 100, thereby driving the pipe inspection equipment to move along the axial direction of the pipe 100. The second wheel body 222 is rotatably connected to the first wheel body 221, and the rotation axis of the first wheel body 221 is perpendicular to the rotation axis of the second wheel body 222. The second wheel body 222 can abut against the inner wall of the pipe 100 and can roll along the circumference of the pipe 100, thereby causing the pipe inspection equipment to rotate 360° around the circumference of the pipe 100. When the first wheel body 221 and the second wheel body 222 move simultaneously, the pipe inspection equipment travels spirally within the pipe 100. Specifically, multiple second wheel bodies 222 are provided. Multiple second wheel bodies 222 are arranged circumferentially around the first wheel body 221. By setting multiple second wheel bodies 222, the second wheel bodies 222 are always in contact with the inner wall of the pipe 100 during the rolling process of the first wheel body 221. The multiple second wheel bodies 222 are all rotatably connected to the side wall of the first wheel body 221 via a rotating shaft.

[0031] Optionally, the omnidirectional vehicle body 2 also includes a first drive member 23 and a second drive member 24. The first drive member 23 is driven and connected to the first wheel 221, and can drive the first wheel 221 to rotate. The second drive member 24 is driven and connected to the second wheel 222, and can drive the second wheel 222 to rotate. By setting the first drive member 23 and the second drive member 24, the first omnidirectional wheel 22 can automatically move within the pipe 100. Specifically, both the first drive member 23 and the second drive member 24 are motors. Both the first drive member 23 and the second drive member 24 are fixedly mounted on the omnidirectional wheel frame 21.

[0032] Optionally, the omnidirectional vehicle body 2 also includes a first gear 25 and a second gear 26. A first drive member 23 is drivenly connected to the first gear 25, and a first wheel 221 is fixedly connected to the second gear 26. The first gear 25 and the second gear 26 are meshed together. Through the transmission of the first gear 25 and the second gear 26, the load-bearing capacity and impact resistance of the omnidirectional vehicle body 2 are improved, thereby enhancing the stability of the omnidirectional vehicle body 2. Specifically, the second gear 26 is connected to one end of the first wheel 221 along its own axial direction, allowing the first drive member 23 to be positioned to the side of the first wheel 221, reducing the space occupied by the omnidirectional vehicle body 2 along the axial direction of the first wheel 221, and making the overall structure of the omnidirectional vehicle body 2 more compact.

[0033] Optionally, the omnidirectional vehicle body 2 also includes a worm gear 27, a second drive member 24 is driven and connected to the worm gear 27, and the outer wall of the second wheel body 222 is provided with tooth grooves that mate with the worm gear 27, and the worm gear 27 and the second wheel body 222 are meshed together. The second drive member 24 drives the worm gear 27 to rotate, thereby causing the second wheel body 222 to rotate, thus realizing the rolling of the second wheel body 222 on the inner wall of the pipe 100.

[0034] Optionally, the first wheel 221 is coaxially arranged with and sleeved on the worm gear 27, and the first wheel 221 is rotatably connected to the worm gear 27. This arrangement can improve the integration of the omnidirectional vehicle body 2, making the overall structure of the omnidirectional vehicle body 2 more compact and reducing the volume of the omnidirectional vehicle body 2.

[0035] Optionally, the omnidirectional vehicle body 2 also includes bearings 28, through which the first wheel 221 and the worm 27 are rotatably connected, reducing friction between the first wheel 221 and the worm 27. Specifically, two bearings 28 are provided, spaced apart along the axial direction of the worm 27. Specifically, the worm 27 is rotatably connected to the omnidirectional wheel frame 21, improving the fixed strength and stability of the worm 27 during rotation.

[0036] Optionally, the omnidirectional vehicle body 2 also includes a third gear 29 and a fourth gear 210. The second drive member 24 is driven and connected to the third gear 29, and the worm gear 27 is fixedly connected to the fourth gear 210. The third gear 29 and the fourth gear 210 are meshed together. Through the transmission of the third gear 29 and the fourth gear 210, the load-bearing capacity and impact resistance of the omnidirectional vehicle body 2 are improved, thereby improving the stability of the omnidirectional vehicle body 2. Specifically, the omnidirectional vehicle body 2 also includes a connecting shaft 211. The worm gear 27 is fixedly sleeved on the connecting shaft 211, and the fourth gear 210 is fixedly connected to one end of the connecting shaft 211. This arrangement allows the second drive member 24 to be located on the side of the first wheel body 221, reducing the space occupied by the omnidirectional vehicle body 2 along the axial direction of the first wheel body 221, making the overall structure of the omnidirectional vehicle body 2 more compact.

[0037] Optionally, the omnidirectional vehicle body 2 also includes a second omnidirectional wheel 212. The second omnidirectional wheel 212 is rotatably connected to the omnidirectional wheel frame 21 and can abut against the inner wall of the pipe 100. By setting the second omnidirectional wheel 212, which is unpowered, it can adaptively change its rolling direction according to the rolling of the first omnidirectional wheel 22, always rolling along the inner wall of the pipe 100, improving the stability of the omnidirectional vehicle body 2, reducing the travel resistance of the pipe inspection equipment, reducing the load torque of the first drive member 23 and the second drive member 24, and reducing energy consumption. Specifically, the first omnidirectional wheel 22 and the second omnidirectional wheel 212 are spaced apart along the axial direction of the pipe 100.

[0038] Optionally, such as Figures 1 to 3As shown, the detection assembly 1 includes a sensor 11 and a support frame 12. The sensor 11 is used to detect the pipe 100. The sensor 11 is connected to the support frame 12, and the support frame 12 is connected to the lifting mechanism 3. The support frame 12 facilitates the fixing of the sensor 11. Specifically, the sensor 11 is an ultrasonic sensor or a radar sensor. The support frame 12 is made of a lightweight, high-strength material. The support frame 12 can be made of aluminum alloy, titanium alloy, or carbon fiber composite material; this application does not limit the specific materials used.

[0039] Optionally, such as Figure 1 , Figure 3 , Figure 4 and Figure 6 As shown, the detection component 1 also includes a third omnidirectional wheel 13. The third omnidirectional wheel 13 is rotatably connected to the support frame 12 and can abut against the inner wall of the pipe 100. By setting the third omnidirectional wheel 13, which is not driven by power, it can adaptively change its rolling direction according to the rolling of the first omnidirectional wheel 22, always rolling along the inner wall of the pipe 100. This creates rolling friction between the detection component 1 and the inner wall of the pipe 100, improving the stability of the pipe detection equipment, reducing the traveling resistance of the pipe detection equipment, reducing the load torque of the first drive component 23 and the second drive component 24, and reducing energy consumption. It also reduces the wear of the detection component 1 and extends the service life of the pipe detection equipment.

[0040] Optionally, such as Figure 2 , Figure 3 and Figure 8 As shown, the lifting mechanism 3 includes a third drive component 31 and a transmission assembly. The detection component 1 and the omnidirectional vehicle body 2 are both connected to the transmission assembly, and the third drive component 31 is driven by the transmission assembly. The third drive component 31 drives the transmission assembly to move the detection component 1 and the omnidirectional vehicle body 2 in a direction that moves closer to or further away from each other. Specifically, the third drive component 31 is a motor. The lifting mechanism 3 also includes a mounting base 36. The third drive component 31 is mounted on the mounting base 36.

[0041] Optionally, the transmission assembly includes a fifth gear 32, a sixth gear 33, a first connecting rod 34, and a second connecting rod 35. A third driving member 31 is driven and connected to the fifth gear 32. The fifth gear 32 and the sixth gear 33 are meshed together. The first end of the first connecting rod 34 is fixedly connected to the fifth gear 32, and the second end of the first connecting rod 34 is connected to the detection assembly 1. The first end of the second connecting rod 35 is fixedly connected to the sixth gear 33, and the second end of the second connecting rod 35 is connected to the omnidirectional wheel frame 21. The third driving member 31 drives the fifth gear 32 to rotate, thereby causing the sixth gear 33 to rotate synchronously in the opposite direction to the fifth gear 32. This causes the first connecting rod 34 connected to the fifth gear 32 and the second connecting rod 35 connected to the sixth gear 33 to swing in opposite directions, so that the detection assembly 1 and the omnidirectional vehicle body 2 move closer to or further away from each other.

[0042] Specifically, the second end of the first link 34 is rotatably connected to the support frame 12, and the second end of the second link 35 is rotatably connected to the omnidirectional wheel frame 21. The transmission assembly also includes a seventh gear 37. The third drive member 31 is drivenly connected to the seventh gear 37, and the seventh gear 37 is meshed with the fifth gear 32. The fifth gear 32, the sixth gear 33, and the seventh gear 37 are all rotatably connected to the mounting base 36. The transmission assembly also includes a third link 38 and a fourth link 39. The first end of the third link 38 is rotatably connected to the mounting base 36, and the second end of the third link 38 is rotatably connected to the support frame 12. The first end of the fourth link 39 is rotatably connected to the mounting base 36, and the second end of the fourth link 39 is rotatably connected to the omnidirectional wheel frame 21. The first link 34, mounting base 36, support frame 12, and third link 38 form a four-bar linkage; the second link 35, mounting base 36, omnidirectional wheel frame 21, and fourth link 39 form a four-bar linkage, improving the stability of the transmission components and ensuring that the support frame 12 and omnidirectional wheel frame 21 always move in parallel. In other embodiments, the lifting mechanism 3 may also include two motors and two transmission rods, with each motor and transmission rod connected in a corresponding manner. The support frame 12 and omnidirectional wheel frame 21 are each connected to a transmission rod, and the two motors drive the two transmission rods to swing, thereby moving the support frame 12 and omnidirectional wheel frame 21.

[0043] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A pipeline inspection device, wherein the pipeline inspection device is disposed within a pipeline (100), characterized in that, The pipeline inspection equipment includes: Detection component (1), the detection component (1) is used to detect the pipe (100); An omnidirectional vehicle body (2) includes an omnidirectional wheel frame (21) and a first omnidirectional wheel (22). The first omnidirectional wheel (22) is connected to the omnidirectional wheel frame (21) and is capable of moving along the axial direction and circumferential direction of the pipe (100). The lifting mechanism (3) is connected to the detection component (1) and the omnidirectional vehicle body (2) and is symmetrically arranged about the axis of the pipe (100). The lifting mechanism (3) is located on the axis of the pipe (100). The lifting mechanism (3) can drive the detection component (1) and the omnidirectional vehicle body (2) to move away from each other along the radial direction of the pipe (100) so that the detection component (1) and the first omnidirectional wheel (22) abut against the inner wall of the pipe (100). The lifting mechanism (3) can also drive the detection component (1) and the omnidirectional vehicle body (2) to move closer to each other along the radial direction of the pipe (100) so that the detection component (1) and the first omnidirectional wheel (22) disengage from the inner wall of the pipe (100).

2. The pipeline inspection equipment according to claim 1, characterized in that, The first omnidirectional wheel (22) includes a first wheel body (221) and a second wheel body (222). The first wheel body (221) is rotatably connected to the omnidirectional wheel frame (21), and the second wheel body (222) is rotatably connected to the first wheel body (221). The rotation axis of the first wheel body (221) is perpendicular to the rotation axis of the second wheel body (222). The second wheel body (222) can abut against the inner wall of the pipe (100).

3. The pipeline inspection equipment according to claim 2, characterized in that, The omnidirectional vehicle body (2) further includes a first drive member (23) and a second drive member (24). The first drive member (23) is driven to connect to the first wheel (221) and can drive the first wheel (221) to rotate. The second drive member (24) is driven to connect to the second wheel (222) and can drive the second wheel (222) to rotate.

4. The pipeline inspection equipment according to claim 3, characterized in that, The omnidirectional vehicle body (2) also includes a first gear (25) and a second gear (26), the first drive member (23) is driven to the first gear (25), the first wheel body (221) is fixedly connected to the second gear (26), and the first gear (25) and the second gear (26) are meshed together.

5. The pipeline inspection equipment according to claim 4, characterized in that, The omnidirectional vehicle body (2) also includes a worm (27), the second drive member (24) is driven to the worm (27), and the outer wall of the second wheel (222) is provided with a tooth groove that cooperates with the worm (27), and the worm (27) is meshed with the second wheel (222).

6. The pipeline inspection equipment according to claim 5, characterized in that, The first wheel (221) is coaxially arranged with the worm (27) and sleeved on the worm (27), and the first wheel (221) is rotatably connected to the worm (27).

7. The pipeline inspection equipment according to claim 6, characterized in that, The omnidirectional vehicle body (2) further includes a bearing (28), through which the first wheel (221) and the worm gear (27) are rotatably connected; and / or, The omnidirectional vehicle body (2) also includes a third gear (29) and a fourth gear (210). The second drive unit (24) is driven to the third gear (29), and the worm gear (27) is fixedly connected to the fourth gear (210). The third gear (29) and the fourth gear (210) are meshed together.

8. The pipeline inspection equipment according to claim 1, characterized in that, The detection component (1) includes a sensor (11) and a support frame (12), the sensor (11) being connected to the support frame (12), and the support frame (12) being connected to the lifting mechanism (3).

9. The pipeline inspection equipment according to claim 1, characterized in that, The lifting mechanism (3) includes a third driving component (31) and a transmission assembly. The detection assembly (1) and the omnidirectional vehicle body (2) are both connected to the transmission assembly. The third driving component (31) is driven to be connected to the transmission assembly.

10. The pipeline inspection equipment according to claim 9, characterized in that, The transmission assembly includes a fifth gear (32), a sixth gear (33), a first connecting rod (34), and a second connecting rod (35). The third driving member (31) is driven and connected to the fifth gear (32). The fifth gear (32) and the sixth gear (33) are meshed. The first end of the first connecting rod (34) is fixedly connected to the fifth gear (32), and the second end of the first connecting rod (34) is connected to the detection assembly (1). The first end of the second connecting rod (35) is fixedly connected to the sixth gear (33), and the second end of the second connecting rod (35) is connected to the omnidirectional wheel frame (21).

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