Self-adaptive inspection device for industrial pipeline

Abstract

The utility model provides a self-adaptive inspection device for an industrial pipeline, which belongs to the field of pipeline inspection devices and comprises a driving control device, a universal joint, a reducing device and a camera component. The reducing device comprises a plurality of reducing movement mechanisms, a reducing driving device and a connecting rod; one end of each variable-diameter movement mechanism is rotatably connected with the variable-diameter driving device, and the multiple variable-diameter movement mechanisms are arranged in a circumferential array; the middle part of each reducing motion mechanism is rotatably connected with at least one connecting rod; one end, deviating from the corresponding variable-diameter movement mechanism, of each connecting rod is rotatably connected with the variable-diameter driving device and can move left and right relative to the variable-diameter driving device; a camera component is arranged on the variable-diameter driving device; and the variable-diameter driving device is connected with the driving control device through a universal joint. The utility model aims to solve the problem that barrier-free and stable walking and multi-angle inspection are difficult to carry out in an industrial pipeline in the prior art. The pipeline inspection robot has the technical effects that barrier-free and stable walking and inspection in a pipeline are realized.

Description

Technical Field

[0001] This utility model relates to the technical field of pipeline inspection devices, and in particular to an adaptive inspection device for industrial pipelines. Background Technology

[0002] With the development of the nuclear industry, pipelines have become widely used as an important material transportation tool, and process pipelines, as the "blood vessels" of nuclear power plants, carry out the transmission of various fluids. However, after pipelines are interconnected, internal inspection becomes a major challenge, as foreign objects can easily accumulate inside the pipelines, causing safety accidents. As a result, pipeline inspection robots have emerged to replace manual labor in solving the problem of internal pipeline inspection.

[0003] Conventional pipeline inspection robots can only move in relatively flat pipelines and cannot move in sloping or vertical pipe sections. In actual industrial pipelines, there are also complex situations such as bends and changes in pipe diameter, making it difficult to move smoothly and unimpeded and conduct multi-angle inspections in actual industrial pipelines, which has significant limitations. Utility Model Content

[0004] This utility model provides an adaptive inspection device for industrial pipelines, which solves the shortcomings of existing adaptive inspection devices for industrial pipelines that are difficult to move and inspect smoothly and from multiple angles in industrial pipelines. It realizes an adaptive inspection device that can move and inspect smoothly and without obstacles in industrial pipelines.

[0005] This utility model provides an industrial pipeline adaptive inspection device, including a drive control device, a universal joint, a diameter reducing device, and a camera assembly;

[0006] The diameter changing device includes multiple diameter changing motion mechanisms, a diameter changing drive device, and connecting rods;

[0007] One end of each diameter-changing motion mechanism is rotatably connected to one end of the diameter-changing drive device, and multiple diameter-changing motion mechanisms are arranged in a circular array.

[0008] Each variable diameter motion mechanism has at least one connecting rod rotatably connected to its middle section;

[0009] Each link is rotatably connected to the diameter change drive device at one end away from the corresponding diameter change motion mechanism and can move left and right relative to the diameter change drive device.

[0010] The variable diameter drive device is equipped with a camera assembly;

[0011] The variable diameter drive unit is connected to the drive control unit via a universal joint.

[0012] In addition, the industrial pipeline adaptive inspection device according to this utility model may also have the following additional technical features:

[0013] In some embodiments of this utility model, the variable diameter drive device includes a drive motor device, a support frame, and a lead screw transmission device;

[0014] One end of the drive motor is connected to the support frame, and the other end of the drive motor is connected to the universal joint.

[0015] The lead screw drive is installed inside the support frame, and one end of the lead screw drive is connected to the drive motor.

[0016] Each link is rotatably connected to the lead screw drive at one end away from the corresponding variable diameter motion mechanism and can move left and right relative to the lead screw drive.

[0017] In some embodiments of this utility model, the lead screw drive device includes a ball screw and a lead screw nut;

[0018] The ball screw is rotatably inserted into the support frame, and a screw nut is screwed onto the ball screw. One end of the ball screw is connected to the drive motor device.

[0019] Each link is rotatably connected to a lead screw nut.

[0020] In some embodiments of this utility model, the drive control device includes a housing, a wheel frame, rollers, and a first connecting rod;

[0021] The side of the housing is equipped with a wheel frame, and the rollers are rotatably connected to the wheel frame;

[0022] One end of the first connecting rod is connected to the housing, and the other end of the first connecting rod is connected to the universal joint.

[0023] In some embodiments of this utility model, each variable diameter motion mechanism includes a rotating rod, a connecting frame, and a moving wheel;

[0024] One end of the rotating rod is rotatably connected to the end of the support frame near the drive motor device;

[0025] A connecting rod is rotatably connected to the middle of the rotating rod;

[0026] The other end of the rotating rod is equipped with a connecting frame, and the end of the connecting frame facing away from the rotating rod is rotatably connected to a movable wheel.

[0027] In some embodiments of this utility model, one of the variable diameter motion mechanisms further includes a reduction motor, a first gear, and a second gear;

[0028] The geared motor is connected to the corresponding rotating rod. The output shaft of the geared motor is connected to the first gear. The movable wheel is rotatably connected to the connecting frame through the shaft. One end of the movable wheel and the shaft of the connecting frame is connected to the second gear. The first gear and the second gear are geared together.

[0029] In the remaining variable diameter drive devices, each variable diameter motion mechanism also includes a shock absorption device, and the rotating rod and connecting frame support of each variable diameter drive device are equipped with a shock absorption device.

[0030] In some embodiments of this utility model, each shock-absorbing device includes a shock-absorbing plate, a compression spring, and a shock-absorbing rod;

[0031] One side of the damping plate is connected to the rotating rod, and the compression spring is connected between the damping plate and the connecting frame. One end of the damping rod is connected to the connecting frame, and the other end of the damping rod passes through the compression spring and is screwed to the damping plate.

[0032] In some embodiments of this utility model, the universal joint includes a first fork, a second fork, and a connector;

[0033] One end of the first fork and one end of the second fork are rotatably connected to the connector.

[0034] The other end of the first fork is connected to the drive control device, and the other end of the second fork is connected to the variable diameter drive device.

[0035] In some embodiments of this utility model, the drive motor device includes a motor housing, a stepper motor, and a second connecting rod;

[0036] A stepper motor is installed inside the motor housing. One end of the motor housing is connected to the support frame. The other end of the motor housing is provided with a second connecting rod, and the end of the second connecting rod away from the motor housing is connected to a universal joint.

[0037] The output shaft of the stepper motor passes through the motor housing and support frame and is connected to the ball screw.

[0038] In some embodiments of this utility model, the camera assembly includes a camera cover and a camera. The camera cover is connected to the end of the variable diameter drive device away from the universal joint, and the camera is disposed inside the camera cover.

[0039] In summary, this application includes the following beneficial technical effects:

[0040] First, by coordinating the diameter-changing motion mechanism, connecting rod, universal joint, and diameter-changing drive device of the drive control device and the diameter-changing device, when this inspection device needs to perform mobile inspection of the pipeline using the camera component, if the inner diameter of the pipeline decreases, the connecting rod can be used to drive the diameter-changing motion mechanism to reduce the maximum diameter of the circumference of the multiple diameter-changing motion mechanism circular array, so as to move within the pipeline with a smaller inner diameter. If the inner diameter of the pipeline increases, the connecting rod can be used to drive the diameter-changing motion mechanism to increase the maximum diameter of the circumference of the multiple diameter-changing motion mechanism circular array, so as to move within the pipeline with a larger inner diameter.

[0041] Secondly, the universal joint allows the diameter-changing device to bend relative to the drive control device, thereby enabling the inspection device to move stably in the bend and perform multi-angle inspections. This allows for unobstructed and smooth movement and inspection in industrial pipelines, increasing inspection efficiency. Attached Figure Description

[0042] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0043] Figure 1 A perspective view of an industrial pipeline adaptive inspection device according to some embodiments of the present invention is shown schematically.

[0044] Figure 2 A cross-sectional view of an industrial pipeline adaptive inspection device according to some embodiments of the present invention is shown schematically.

[0045] Figure 3 An industrial pipeline adaptive inspection device according to some embodiments of the present invention is schematically illustrated. Figure 1 A magnified view of a portion of the image.

[0046] Figure 4 The first perspective view of the diameter-changing device of the adaptive inspection device for industrial pipelines according to some embodiments of the present invention is shown schematically.

[0047] Figure 5 The second perspective view of the diameter-changing device of the adaptive inspection device for industrial pipelines according to some embodiments of the present invention is shown schematically.

[0048] Figure 6 The diagram schematically shows a third perspective view of the diameter-changing device of an industrial pipeline adaptive inspection device according to some embodiments of the present invention.

[0049] Figure 7 A perspective view schematically illustrates a diameter-changing device of an industrial pipeline adaptive inspection device according to some embodiments of the present invention, without a diameter-changing motion mechanism.

[0050] Figure 8 A perspective view of the drive control device of an industrial pipeline adaptive inspection device according to some embodiments of the present invention is shown schematically.

[0051] Figure 9A perspective view of a variable diameter motion mechanism with a geared motor in an industrial pipeline adaptive inspection device according to some embodiments of the present invention is shown schematically.

[0052] Figure 10 A perspective view of a variable-diameter motion mechanism with a shock-absorbing device for an industrial pipeline adaptive inspection device according to some embodiments of the present invention is shown schematically.

[0053] Figure 11 A perspective view of the universal joint of an industrial pipeline adaptive inspection device according to some embodiments of the present invention is shown schematically.

[0054] Figure label:

[0055] 1. Drive control device; 101. Housing; 102. Wheel frame; 103. Roller; 104. Controller; 105. Battery; 106. First connecting rod; 2. Variable diameter device; 21. Drive motor device; 211. Motor housing; 212. Stepper motor; 213. Second connecting rod; 22. Support frame; 221. First end plate; 222. End plate connecting block; 223. Support column; 224. Second end plate; 23. Screw drive device; 231. Ball screw; 232. Screw nut; 233. Coupling; 234. Screw nut seat; 235. Bearing seat plate; 236. Bearing; 237. Shaft 24. Bearing connecting block, 24. Variable diameter motion mechanism, 2401. Rotating rod, 2402. Connecting frame, 2403. Moving wheel, 2404. Rotating block, 2405. Geared motor, 2406. Motor connecting shaft, 2407. Motor base, 2408. First gear, 2409. Second gear, 2410. Shock absorber plate, 2411. Connecting nut, 2412. Shock absorber rod, 2413. Compression spring, 26. Distance sensor, 27. Connecting rod, 3. Universal joint, 301. First fork section, 302. Second fork section, 303. Connecting piece, 4. Camera assembly, 41. Camera cover, 42. Camera. Detailed Implementation

[0056] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0057] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “” used herein may also indicate the inclusion of the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated, unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0058] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0059] For ease of description, spatial relative terms may be used in the text to describe the relationship of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "over," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure is flipped, an element described as "below other elements or features" or "below other elements or features" would subsequently be oriented "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may also be rotated 90 degrees or in other orientations, and the spatial relative descriptors used in the text will be interpreted accordingly.

[0060] like Figures 1 to 11 As shown, according to an embodiment of the first aspect of the present invention, an adaptive inspection device for industrial pipelines is proposed, including a drive control device 1, a universal joint 3, a diameter changing device 2, and a camera assembly 4.

[0061] The diameter changing device 2 includes multiple diameter changing motion mechanisms 24, a diameter changing drive device, and a connecting rod 27;

[0062] One end of each diameter-changing motion mechanism 24 is rotatably connected to one end of the diameter-changing drive device, and multiple diameter-changing motion mechanisms 24 are arranged in a circular array.

[0063] At least one connecting rod 27 is rotatably connected to the middle of each variable diameter motion mechanism 24;

[0064] Each link 27 is rotatably connected to the diameter change drive device at one end away from the corresponding diameter change motion mechanism 24 and can move left and right relative to the diameter change drive device.

[0065] The variable diameter drive device is equipped with a camera component 4;

[0066] The variable diameter drive device is connected to the drive control device 1 via the universal joint 3.

[0067] In the above embodiments, it should be noted that a distance sensor 26 is also included. Each diameter-changing motion mechanism 24 is provided with a distance sensor 26, and the number of diameter-changing devices 2 is one or two. The setting of the distance sensor 26 enables real-time detection and multi-angle inspection of the inner diameter of the pipe, thereby realizing the reliable diameter change of this device.

[0068] When there is only one diameter changing device 2, the diameter changing device 2 is connected to the drive control device 1 through a universal joint 3. The diameter changing device 2 includes at least two diameter changing motion mechanisms 24. Preferably, the number of diameter changing motion mechanisms 24 is two, three, four or five.

[0069] Each diameter-changing motion mechanism 24 is rotatably connected to the diameter-changing drive device via a rotating shaft, and each connecting rod 27 is rotatably connected to the diameter-changing motion mechanism 24 via a rotating shaft. The diameter-changing drive device is connected to the drive control device 1 via a universal joint 3.

[0070] When there are two diameter changing devices 2, each diameter changing drive device of the two diameter changing devices 2 is connected to the drive control device 1 through a universal joint 3, and the two diameter changing devices 2 are located at opposite ends of the drive control device 1.

[0071] During operation, the end of the variable diameter motion mechanism 24 that is away from the variable diameter drive device abuts against the inner wall of the pipe to be inspected so as to move inside the pipe to be inspected.

[0072] The technical effects achieved by the above embodiments are as follows: First, by cooperating with the diameter-changing motion mechanism 24, connecting rod 27, universal joint 3, and diameter-changing drive device of the drive control device 1 and the diameter-changing device 2, when the inspection device needs to perform mobile inspection in the pipeline using the camera component 4, if the inner diameter of the pipeline becomes smaller, the connecting rod 27 can drive the diameter-changing motion mechanism 24 to reduce the maximum diameter of the circumference of the multiple diameter-changing motion mechanism 24 circular array to achieve movement in the pipeline with a smaller inner diameter. If the inner diameter of the pipeline becomes larger, the connecting rod 27 can drive the diameter-changing motion mechanism 24 to increase the maximum diameter of the circumference of the multiple diameter-changing motion mechanism 24 circular array to achieve movement in the pipeline with a larger inner diameter.

[0073] Secondly, the universal joint 3 enables the bending of the diameter-changing device 2 relative to the drive control device 1, thereby achieving stable movement of the inspection device in the bend, and thus enabling unobstructed and smooth movement and inspection in industrial pipelines, increasing inspection efficiency.

[0074] Optional, such as Figures 1 to 7 as well as Figure 9 and Figure 10 As shown, the variable diameter drive device includes a drive motor device 21, a support frame 22, and a lead screw transmission device 23;

[0075] One end of the drive motor device 21 is connected to the support frame 22, and the other end of the drive motor device 21 is connected to the universal joint 3.

[0076] The lead screw drive device 23 is installed inside the support frame 22, and one end of the lead screw drive device 23 is connected to the drive motor device 21.

[0077] Each link 27 is rotatably connected to the lead screw drive 23 at one end away from the corresponding variable diameter motion mechanism 24 and can move left and right relative to the lead screw drive 23.

[0078] In the above optional embodiments, it should be noted that when there are two diameter changing devices 2, each diameter changing device 2 includes a drive motor device 21, a support frame 22 and a lead screw transmission device 23.

[0079] In each variable diameter drive device, the support frame 22 includes a first end plate 221, an end plate connecting block 222, a support column 223, and a second end plate 224. The first end plate 221 and the second end plate 224 are connected by multiple support columns 223, and the multiple support columns 223 are arranged in a circular array or a rectangular array. The outer periphery of the first end plate 221 is connected to multiple sets of end plate connecting blocks 222 in a circular array by screwing, welding, or integral molding. Each set of end plate connecting blocks 222 includes two parallel end plate connecting blocks 222.

[0080] The connection between each diameter-changing motion mechanism 24 and the diameter-changing drive device is that one end of the diameter-changing motion mechanism 24 is rotatably connected to a set of end plate connecting blocks 222 via a rotating shaft.

[0081] One end of the lead screw drive device 23 is rotatably inserted into the second end plate 224, and one end of the drive motor device 21 passes through the first end plate 221 and is connected to the other end of the lead screw drive device 23.

[0082] Specifically, the lead screw drive device 23 includes a ball screw 231 and a lead screw nut 232;

[0083] The ball screw 231 is rotatably inserted into the support frame 22. A screw nut 232 is screwed onto the ball screw 231. One end of the ball screw 231 is connected to the drive motor device 21.

[0084] Each link 27 is rotatably connected to the lead screw nut 232.

[0085] In addition, the screw drive device 23 also includes a screw nut seat 234, a bearing seat plate 235, a bearing 236, and a bearing seat connecting block 237. The screw nut seat 234 is sleeved on the ball screw 231, and one end of the screw nut seat 234 is connected to the first end plate 221 by means of screwing, snapping, or riveting. The ball screw 231 is rotatable relative to the screw nut seat 234. The outer periphery of the screw nut 232 is sleeved with a bearing seat plate 235. The outer periphery of the bearing seat plate 235 is arranged in a circular array and multiple bearing seat connecting blocks 237 are connected by welding or screwing. The end of each connecting rod 27 away from the corresponding variable diameter motion mechanism 24 is rotatably connected to a bearing seat connecting block 237. Bearings 236 are provided between the ball screw 231 and the second end plate 224, and between the ball screw 231 and the screw nut seat 234.

[0086] The beneficial effects of the above optional embodiments are as follows: by setting the ball screw 231 and screw nut 232, when it is necessary to adjust the maximum diameter of the circumference of the circumference array of multiple diameter-changing motion mechanisms 24 according to the inner diameter of the pipe, the ball screw 231 can drive the screw nut 232 to move axially relative to the ball screw 231, thereby driving the connecting rod 27 to rotate and driving the diameter-changing motion mechanism 24 to rotate relative to the first end plate 221, so as to realize the reliable adjustment of the maximum diameter of the circumference array of multiple diameter-changing motion mechanisms 24.

[0087] Optional, such as Figure 1 , Figure 2 and Figure 8 As shown, the drive control device 1 includes a housing 101, a wheel frame 102, a roller 103, and a first connecting rod 106;

[0088] A wheel frame 102 is provided on the side of the housing 101, and the roller 103 is rotatably connected to the wheel frame 102;

[0089] One end of the first connecting rod 106 is connected to the housing 101, and the other end of the first connecting rod 106 is connected to the universal joint 3.

[0090] In the above optional embodiments, it should be noted that a motor can also be connected to one side of the wheel frame 102 by means of screwing or snap-fitting, and the output shaft of the motor is connected to the roller 103 by screwing.

[0091] The advantages of the above optional embodiments are that the drive control device 1 can move smoothly and quickly inside the pipeline by means of the wheel frame 102 and the roller 103.

[0092] Optional, such as Figures 1 to 7 and Figure 9 and Figure 10 As shown, each variable diameter motion mechanism 24 includes a rotating rod 2401, a connecting frame 2402, and a moving wheel 2403;

[0093] One end of the rotating rod 2401 is rotatably connected to the end of the support frame 22 near the drive motor device 21;

[0094] A connecting rod 27 is rotatably connected to the middle of the rotating rod 2401;

[0095] The other end of the rotating rod 2401 is provided with a connecting frame 2402, and the end of the connecting frame 2402 facing away from the rotating rod 2401 is rotatably connected to a movable wheel 2403.

[0096] In the above optional embodiments, it should be noted that each diameter-changing motion mechanism 24 further includes a rotating block 2404. The rotating block 2404 is connected to one side of the rotating rod 2401 by welding, screwing, or snapping. Each connecting rod 27 is rotatably connected to the rotating block 2404 of the diameter-changing motion mechanism 24 through a rotating shaft. During operation, the moving wheel 2403 abuts against the inner wall of the pipe. The distance sensor 26 is installed on one side of at least one rotating rod 2401 by screwing, bonding, or snapping.

[0097] The advantages of the above optional embodiments are that the variable diameter motion mechanism 24 can reliably move within the pipe by means of the rotating rod 2401, the connecting frame 2402 and the moving wheel 2403.

[0098] Optional, such as Figures 1 to 6 and Figure 9 As shown, one of the variable diameter motion mechanisms 24 also includes a reduction motor 2405, a first gear 2408, and a second gear 2409;

[0099] The geared motor 2405 is connected to the corresponding rotating rod 2401. The output shaft of the geared motor 2405 is connected to the first gear 2408. The movable wheel 2403 is rotatably connected to the connecting frame 2402 through the shaft. The movable wheel 2403 is connected to one end of the shaft of the connecting frame 2402 to the second gear 2409. The first gear 2408 and the second gear 2409 are geared and connected.

[0100] In the remaining variable diameter drive devices, each variable diameter motion mechanism 24 also includes a shock absorption device, and the rotating rod 2401 and the connecting frame 2402 bracket of each variable diameter drive device are equipped with a shock absorption device.

[0101] In the above optional embodiments, it should be noted that the variable diameter motion mechanism 24, which includes a geared motor 2405, a first gear 2408, and a second gear 2409, also includes a motor connecting shaft 2406 and a motor base 2407. The motor base 2407 is connected to the corresponding rotating rod 2401 by means of screwing, welding, or integral molding. The geared motor 2405 is mounted on the motor base 2407 by means of screwing or snap-fitting. The output shaft of the geared motor 2405 is connected to one end of the motor connecting shaft 2406 by means of screwing or coupling. The other end of the motor connecting shaft 2406 is connected to the first gear 2408 by means of snap-fitting or screwing.

[0102] The advantages of the above optional embodiments are: the movement of the variable diameter motion mechanism 24 is driven by the setting of the reduction motor 2405, thereby realizing the reliable movement of the inspection device in the pipeline.

[0103] Optional, such as Figures 1 to 6 and Figure 10 As shown, each damping device includes a damping plate 2410, a compression spring 2413, and a damping rod 2412;

[0104] One side of the damping plate 2410 is connected to the rotating rod 2401, the compression spring 2413 is connected between the damping plate 2410 and the connecting frame 2402, one end of the damping rod 2412 is connected to the connecting frame 2402, and the other end of the damping rod 2412 passes through the compression spring 2413 and is screwed to the damping plate 2410.

[0105] In the above optional embodiments, it should be noted that each shock absorber also includes a connecting nut 2411, and the shock absorber rod 2412 passes through the shock absorber plate 2410 and is screwed to the connecting nut 2411.

[0106] The advantages of the above optional embodiments are as follows: the damping plate 2410, compression spring 2413 and damping rod 2412 are used to achieve the damping effect of this inspection device, increase the stability of this inspection device when it travels in the pipeline, and thus ensure the reliability of the operation of this inspection device.

[0107] Optional, such as Figure 1 , Figure 2 and Figure 11 As shown, the universal joint 3 includes a first fork 301, a second fork 302, and a connector 303;

[0108] One end of the first fork 301 and one end of the second fork 302 are rotatably connected to the connector 303;

[0109] The other end of the first fork 301 is connected to the drive control device 1, and the other end of the second fork 302 is connected to the variable diameter drive device.

[0110] In the above optional embodiments, it should be noted that the connector 303 is in the shape of a quadrangular prism, the first fork 301 is rotatably connected to the upper and lower sides of the connector 303, and the second fork 302 is rotatably connected to the left and right sides of the connector 303.

[0111] The advantages of the above optional embodiments are: the arrangement of the first fork 301, the second fork 302 and the connector 303 realizes the reliable bending of the inspection device, thereby realizing the reliable bending of the inspection device in the pipeline.

[0112] Optional, such as Figures 1 to 7 As shown, the drive motor device 21 includes a motor housing 211, a stepper motor 212, and a second connecting rod 213;

[0113] A stepper motor 212 is installed inside the motor housing 211. One end of the motor housing 211 is connected to the support frame 22. The other end of the motor housing 211 is provided with a second connecting rod 213. The end of the second connecting rod 213 facing away from the motor housing 211 is connected to the universal joint 3.

[0114] The output shaft of the stepper motor 212 passes through the motor housing 211 and the support frame 22 and is connected to the ball screw 231.

[0115] In the above optional embodiments, it should be noted that the screw drive device 23 also includes a coupling 233, and the output shaft of the stepper motor 212 passes through the first end plate and is connected to the ball screw 231 through the coupling 233.

[0116] The second connecting rod 213 is connected to the second fork 302, and the first connecting rod 106 is connected to the first fork 301.

[0117] The beneficial effects of the above optional embodiments are as follows: the stepper motor 212 can drive the ball screw 231 to rotate reliably, thereby driving the screw nut 232 to move reliably, driving the connecting rod 27 to rotate, and driving the rotating rod 2401 to rotate, so as to realize the reliable adjustment of the maximum diameter of the circumference of the circumferential array of multiple variable diameter motion mechanisms 24.

[0118] Optional, such as Figures 1 to 3 As shown, the camera assembly 4 includes a camera cover 41 and a camera 42. The camera cover 41 is connected to the end of the variable diameter drive device away from the universal joint 3, and the camera 42 is disposed inside the camera cover 41.

[0119] In the above optional embodiments, it should be noted that: the drive control device 1 further includes a controller 104 and a battery 105. The controller 104 and the battery 105 are disposed inside the housing 101. The stepper motor 212, the geared motor 2405, the ranging sensor 26 and the camera 42 are all electrically connected to the controller 104. The stepper motor 212, the geared motor 2405, the ranging sensor 26, the camera 42 and the controller 104 are all electrically connected to the battery 105. The camera 42 is a panoramic camera, and a lighting lamp is also disposed inside the camera cover 41 to realize the illumination inside the pipe.

[0120] The advantages of the above optional embodiments are that reliable detection inside the pipe is achieved by setting up the camera 42.

[0121] The above description is merely a preferred embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. An adaptive inspection device for industrial pipelines, characterized in that, It includes a drive control device (1), a universal joint (3), a diameter changing device (2), and a camera assembly (4); The diameter changing device (2) includes multiple diameter changing motion mechanisms (24), a diameter changing drive device, and a connecting rod (27). One end of each of the variable diameter motion mechanisms (24) is rotatably connected to one end of the variable diameter drive device, and the plurality of variable diameter motion mechanisms (24) are arranged in a circular array; At least one of the connecting rods (27) can be rotatably connected to the middle of each of the variable diameter motion mechanisms (24). Each of the connecting rods (27) is rotatably connected to the variable diameter drive device at one end away from the corresponding variable diameter motion mechanism (24) and can move left and right relative to the variable diameter drive device; The camera component (4) is provided on the variable diameter drive device; The variable diameter drive device is connected to the drive control device (1) via the universal joint (3).

2. The industrial pipeline adaptive inspection device according to claim 1, characterized in that, The variable diameter drive device includes a drive motor device (21), a support frame (22), and a lead screw transmission device (23). The drive motor device (21) is connected to one end of the support frame (22), and the other end of the drive motor device (21) is connected to the universal joint (3); The lead screw drive device (23) is installed inside the support frame (22), and one end of the lead screw drive device (23) is connected to the drive motor device (21); Each of the connecting rods (27) is rotatably connected to the lead screw drive (23) at one end away from the corresponding variable diameter motion mechanism (24) and can move left and right relative to the lead screw drive (23).

3. The industrial pipeline adaptive inspection device according to claim 2, characterized in that, The lead screw drive device (23) includes a ball screw (231) and a lead screw nut (232). The ball screw (231) is rotatably inserted into the support frame (22), and the screw nut (232) is screwed onto the ball screw (231). One end of the ball screw (231) is connected to the drive motor device (21). Each of the connecting rods (27) is rotatably connected to the lead screw nut (232).

4. The industrial pipeline adaptive inspection device according to claim 1, characterized in that, The drive control device (1) includes a housing (101), a wheel frame (102), a roller (103), and a first connecting rod (106). The wheel frame (102) is provided on the side of the housing (101), and the roller (103) is rotatably connected to the wheel frame (102); One end of the first connecting rod (106) is connected to the housing (101), and the other end of the first connecting rod (106) is connected to the universal joint (3).

5. The industrial pipeline adaptive inspection device according to claim 2, characterized in that, Each of the aforementioned variable diameter motion mechanisms (24) includes a rotating rod (2401), a connecting frame (2402), and a moving wheel (2403). One end of the rotating rod (2401) is rotatably connected to one end of the support frame (22) near the drive motor device (21); The connecting rod (27) is rotatably connected to the middle part of the rotating rod (2401). The other end of the rotating rod (2401) is provided with the connecting frame (2402), and the end of the connecting frame (2402) facing away from the rotating rod (2401) is rotatably connected to the moving wheel (2403).

6. The industrial pipeline adaptive inspection device according to claim 5, characterized in that, One of the variable diameter motion mechanisms (24) further includes a geared motor (2405), a first gear (2408), and a second gear (2409); The geared motor (2405) is connected to the corresponding rotating rod (2401). The output shaft of the geared motor (2405) is connected to the first gear (2408). The movable wheel (2403) is rotatably connected to the connecting frame (2402) via a shaft. One end of the shaft of the movable wheel (2403) and the connecting frame (2402) is connected to the second gear (2409). The first gear (2408) and the second gear (2409) are geared together. In the remaining variable diameter drive devices, each variable diameter motion mechanism (24) also includes a shock absorption device, and the rotating rod (2401) and the connecting frame (2402) bracket of each variable diameter drive device are provided with the shock absorption device.

7. The industrial pipeline adaptive inspection device according to claim 6, characterized in that, Each of the aforementioned shock-absorbing devices includes a shock-absorbing plate (2410), a compression spring (2413), and a shock-absorbing rod (2412). One side of the damping plate (2410) is connected to the rotating rod (2401), the compression spring (2413) is connected between the damping plate (2410) and the connecting frame (2402), one end of the damping rod (2412) is connected to the connecting frame (2402), and the other end of the damping rod (2412) passes through the compression spring (2413) and is screwed to the damping plate (2410).

8. The industrial pipeline adaptive inspection device according to claim 1, characterized in that, The universal joint (3) includes a first fork (301), a second fork (302), and a connector (303); One end of the first fork (301) and one end of the second fork (302) are rotatably connected to the connector (303); The other end of the first fork (301) is connected to the drive control device (1), and the other end of the second fork (302) is connected to the variable diameter drive device.

9. The industrial pipeline adaptive inspection device according to claim 3, characterized in that, The drive motor device (21) includes a motor housing (211), a stepper motor (212), and a second connecting rod (213). The stepper motor (212) is installed inside the motor housing (211), and one end of the motor housing (211) is connected to the support frame (22); the other end of the motor housing (211) is provided with the second connecting rod (213), and the end of the second connecting rod (213) away from the motor housing (211) is connected to the universal joint (3); The output shaft of the stepper motor (212) passes through the motor housing (211) and the support frame (22) and is connected to the ball screw (231).

10. The industrial pipeline adaptive inspection device according to any one of claims 1 to 9, characterized in that, The camera assembly (4) includes a camera cover (41) and a camera (42). The camera cover (41) is connected to the end of the variable diameter drive device away from the universal joint (3). The camera (42) is disposed inside the camera cover (41).

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