Line pipe damage detection device

Abstract

The utility model discloses a line pipe damage detection device, which belongs to the technical field of electric power engineering, and comprises a bidirectional fixed walking mechanism, a reciprocating rotation mechanism and a detection mechanism which are coaxially and fixedly connected in sequence, and a protection piece is arranged on the outer side of the detection mechanism; the two-way fixed walking mechanism comprises a moving body, a forward swing rod, a reverse swing rod and a self-locking two-way driving assembly for driving the forward swing rod and the reverse swing rod to rotate in the reverse direction. The line pipe damage detection device provided by the utility model is used for carrying out omnibearing nondestructive detection on a line pipe before installation on a construction site, is light and easy to carry, and can effectively protect the detection assembly.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of electric power engineering, and specifically relates to a cable pipe damage detection device. BACKGROUND

[0002] The cable pipe is also called a power pipe or a cable protection pipe, and its main function is to protect and fix cables and reduce the cable damage rate. Before installation, the cable pipe needs to be checked for damages, cracks and other quality problems, which may affect the strength and sealing performance of the pipe material, weaken the protection of the cable pipe on the cable, and even damage the outer sheath and insulation layer of the cable, induce line fault power failure, and affect the safe operation of the cable line. In addition, the damaged cable pipe may also allow water, humid air and the like to enter, further aggravate the aging of the cable, and increase the risk of fire.

[0003] At present, the nondestructive testing technology for the cable pipe is not mature, the detection method is complex, the equipment is bulky, the detection is difficult and slow, and it is not conducive to use on the construction site. In the prior art, after the cable pipe is transported to the construction site, manual visual observation and photographic detection are usually used, which is difficult to accurately identify the damage position, thereby causing great difficulty in detection, slow speed, and poor final detection effect, and easy to miss, thereby affecting the safety and smooth progress of subsequent construction. In addition, the existing detection device has poor protection and is easy to be bumped, and the construction site is dusty, which is also easy to adhere to the detection device and the photographing device. UTILITY MODEL CONTENTS

[0004] In view of the above problems, the utility model provides a cable pipe damage detection device to overcome the defects of the prior art. The cable pipe damage detection device is used for omnidirectional nondestructive testing of the cable pipe before installation on the construction site, is portable, and can effectively protect the detection assembly.

[0005] The utility model adopts the following technical scheme: the utility model provides a cable pipe damage detection device, which comprises a bidirectional fixed walking mechanism, a reciprocating rotating mechanism and a detection mechanism which are coaxially and fixedly connected in sequence, and a protection piece is arranged on the outer side of the detection mechanism; the bidirectional fixed walking mechanism comprises a moving main body, a forward swing rod, a reverse swing rod and a self-locking two-way driving assembly for driving the forward swing rod and the reverse swing rod to rotate in opposite directions, annular grooves one and two are sequentially arranged on the moving main body, and the annular grooves one and two and the moving main body are coaxially arranged; one end of the forward swing rod is rotatably arranged in the annular groove one, and the forward swing rod is circumferentially arrayed around the axis of the moving main body; one end of the reverse swing rod is rotatably arranged in the annular groove two, and the reverse swing rod is circumferentially arrayed around the axis of the moving main body; the inclination direction of the forward swing rod is opposite to that of the reverse swing rod; the end of the forward swing rod and the end of the reverse swing rod are respectively provided with a wheel support; and a walking wheel is rotatably arranged in the wheel support.

[0006] The self-locking two-way drive assembly includes a self-locking drive assembly, a coaxial reverse transmission assembly, a first planetary transmission assembly, and a second planetary transmission assembly. The moving body has a coaxial drive cavity and a transmission cavity. The transmission cavity is located between an annular groove one and an annular groove two. The first planetary transmission assembly is located on the side wall of the transmission cavity near the annular groove one, and the second planetary transmission assembly is located on the side wall of the transmission cavity near the annular groove two. The first planetary transmission assembly is connected to multiple forward swing arms, and the second planetary transmission assembly is connected to multiple reverse swing arms. The coaxial reverse transmission assembly is connected to both the first and second planetary transmission assemblies. The self-locking drive assembly is connected to the coaxial reverse transmission assembly. The self-locking drive assembly drives the first and second planetary transmission assemblies to rotate in opposite directions via the coaxial reverse transmission assembly.

[0007] Furthermore, the self-locking drive assembly includes a drive motor, a worm gear, and a worm wheel. The drive motor is located inside the drive cavity, the worm gear is rotatably located inside the drive cavity, and the worm gear is connected to the output end of the drive motor. The worm wheel is coaxially rotatably located inside the drive cavity, and the worm gear meshes with the worm wheel. The drive motor drives the worm gear to rotate, and the worm gear drives the worm wheel to rotate.

[0008] The coaxial reverse transmission assembly includes a rotating shaft 1, a rotating shaft 2, a bevel gear 3, a bevel gear 4, and a bevel gear 5. The rotating shaft 1 and rotating shaft 2 are rotatably mounted on two opposing side walls of the transmission cavity. The rotating shaft 1, rotating shaft 2, and the moving body are coaxially arranged. The bevel gear 3 is coaxially fixed to the end of the rotating shaft 1, and the bevel gear 4 is coaxially fixed to the end of the rotating shaft 2. The bevel gear 5 is rotatably mounted on the inner wall of the transmission cavity. The bevel gear 3 and bevel gear 4 are respectively located on both sides of the bevel gear 5 and mesh with both sides of the bevel gear 5. The end of the rotating shaft 1 away from the rotating shaft 2 rotatably passes through the moving body and is coaxially fixed to the worm gear. The worm gear drives the rotating shaft 1 to rotate, and the rotating shaft 2 is driven to rotate in the opposite direction coaxially with the rotating shaft 5 through the bevel gear 3, bevel gear 4, and bevel gear 5.

[0009] Preferably, the detection mechanism includes a detection support and a detection component. The detection support is located at the end of the reciprocating rotation mechanism. The circumferential sidewall of the detection support is provided with a mounting groove. The mounting grooves are distributed in a circumferential array around the detection support. The detection component is located in the mounting groove.

[0010] Furthermore, an adjustment component is provided within the mounting groove, positioned between the inner wall of the mounting groove and the detection component. The detection component, adjustment component, and mounting groove are arranged in a one-to-one correspondence. The adjustment component includes a bidirectional screw, a threaded slide block, an X-shaped scissor hinge, a moving plate, and a movable slide block. The bidirectional screw is rotatably mounted within the mounting groove, with symmetrically arranged threads of opposite directions at both ends. The threaded slide blocks are slidably mounted within the mounting groove, symmetrically positioned at both ends of the bidirectional screw, and threadedly connected to both ends of the bidirectional screw. The moving plate has a strip-shaped sliding hole, parallel to the axis of the moving body. The movable slide blocks are slidably engaged within the strip-shaped sliding hole, symmetrically positioned within the strip-shaped sliding hole. The X-shaped scissor hinge frame includes two hinge rods connected in the middle. Two of the four ends of the X-shaped scissor hinge frame are respectively hinged to threaded slides, and the other two ends are respectively hinged to movable slides. The movable plate is installed at the end of the X-shaped scissor hinge frame via movable slides. The detection component is located on the side of the movable plate away from the X-shaped scissor hinge frame. The rotation of the bidirectional screw drives the two sets of threaded slides to move towards each other. The movement of the threaded slides causes the X-shaped scissor hinge frame to extend. The X-shaped scissor hinge frame drives the movable plate to open outward and drives the movable slides to move towards each other. The movable plate drives the detection component to move outward and closer to the inner wall of the pipe to be tested, so as to adjust the distance between the detection component and the inner wall of the pipe.

[0011] Furthermore, a reciprocating groove is provided on one end face of the moving body, and the reciprocating rotation mechanism is located within the reciprocating groove. The reciprocating rotation mechanism includes a reciprocating motor, a fixed sleeve, a rotating sleeve, a reciprocating screw, and a reciprocating threaded slider. The reciprocating motor is located within the reciprocating groove. The fixed sleeve is fixedly installed at the end of the moving body, and the reciprocating motor is located between the fixed sleeve and the inner wall of the reciprocating groove. The reciprocating screw is rotatably located within the fixed sleeve. The output end of the reciprocating motor is connected to the reciprocating screw. The side wall of the reciprocating screw is simultaneously provided with two threaded grooves of the same pitch but opposite directions. The two threaded grooves are joined end-to-end at both ends of the reciprocating screw to form a closed helical groove. The reciprocating threaded slider is installed on the reciprocating screw and cooperates with it. The rotation of the reciprocating screw drives the reciprocating threaded slider to perform linear reciprocating motion. The sidewall of the reciprocating threaded slider is provided with at least one set of guide slide pins, which are arranged in a circumferential array around the axis of the reciprocating threaded slider. The sidewall of the fixed sleeve is provided with fixed sliding holes arranged parallel to the reciprocating screw, which are arranged in a circumferential array around the axis of the fixed sleeve. The rotating sleeve is coaxially rotatably disposed outside the fixed sleeve. The circumferential sidewall of the rotating sleeve is provided with oblique sliding holes, which extend obliquely from one end of the rotating sleeve to the other end, and are arranged in a circumferential array around the axis of the rotating sleeve. The end of the guide slide pin slides through the fixed sliding hole and through the oblique sliding hole. The number of guide slide pins, the number of oblique sliding holes and the number of fixed sliding holes are equal, and the guide slide pins, oblique sliding holes and fixed sliding holes correspond one-to-one. One side of the detection support is provided with a blind hole, and the rotating sleeve is coaxially fixedly disposed in the blind hole.

[0012] A reciprocating motor drives a reciprocating screw to rotate, which in turn drives a reciprocating threaded slider to perform linear reciprocating motion. A fixed sliding hole guides and limits the reciprocating threaded slider through a guide slide post. The reciprocating threaded slider drives the guide slide post to perform linear reciprocating motion. When the guide slide post reciprocates, it drives the rotating sleeve to rotate reciprocally through an inclined sliding hole. The rotating sleeve drives the detection support to rotate reciprocally.

[0013] Preferably, the output end of the drive motor is provided with a bevel gear one, and the end of the worm is coaxially fixedly provided with a bevel gear two. The bevel gear one and the bevel gear two mesh, and the drive motor drives the worm to rotate through the bevel gear one and the bevel gear two.

[0014] Furthermore, the first planetary transmission assembly includes a master gear and a slave gear arranged in a circular array around the master gear. The master gear is rotatably mounted on the inner wall of the transmission cavity, and the slave gear is rotatably mounted on the inner wall of the transmission cavity. The master gear and the slave gear mesh. The second planetary transmission assembly has the same structure as the first planetary transmission assembly. The master gear of the first planetary transmission assembly is coaxially fixed to the rotating shaft, and the master gear of the second planetary transmission assembly is coaxially fixed to the rotating shaft. The end of the forward rocker arm is provided with a rocker shaft, and one end of the forward rocker arm is rotatably mounted in an annular groove through the rocker shaft. Each slave gear of the first planetary transmission assembly is coaxially fixed to each rocker shaft. The end of the reverse rocker arm is provided with a rocker shaft, and one end of the reverse rocker arm is rotatably mounted in an annular groove through the rocker shaft. Each slave gear of the second planetary transmission assembly is coaxially fixed to each rocker shaft.

[0015] Preferably, the wheel frame is equipped with a walking motor, which is connected to the walking wheel and drives the walking wheel to rotate.

[0016] Preferably, the end of the detection support away from the reciprocating rotation mechanism is provided with a driving groove, and a planetary adjustment driving mechanism is provided in the driving groove. The planetary adjustment driving mechanism includes a central gear, planetary gears and an adjustment motor. The central gear and planetary gears are rotatably disposed in the driving groove. The planetary gears are distributed in a circular array around the central gear and mesh with the central gear. The planetary gears are coaxially and fixedly connected to the bidirectional screws. The adjustment motor is disposed in the driving groove, and the output end of the adjustment motor is connected to the central gear. The adjustment motor drives the central gear to rotate, the central gear drives multiple sets of planetary gears to rotate synchronously, and the multiple sets of planetary gears drive multiple bidirectional screws to rotate synchronously, thereby realizing that multiple sets of adjustment components drive multiple sets of detection components to move outward synchronously.

[0017] The protective component includes a protective disc coaxially rotatably disposed at the end of the detection support away from the reciprocating rotation mechanism, and an arc-shaped protective plate disposed on one side of the protective disc and covering the mounting groove. The arc-shaped protective plate is coaxially disposed with the detection support, and the inner wall of the arc-shaped protective plate slides against the circumferential side wall of the detection support. A sealing strip is provided along the edge of the inner wall of the arc-shaped protective plate. The arc-shaped protective plates are arranged in a circumferential array around the axis of the detection support. The number of arc-shaped protective plates is equal to the number of mounting grooves, and the arc-shaped protective plates correspond one-to-one with the mounting grooves.

[0018] Furthermore, the protective disc has a threaded hole in the middle, and a cover plate is fixedly installed at the opening of the drive groove by fasteners. The cover plate has threads on the outside, and the cover plate is threadedly connected to the protective disc through the threads and the threaded hole.

[0019] The detection component includes a detection plate and a camera and a ranging sensor mounted on the detection plate, wherein the detection plate is located on the side wall of the moving plate.

[0020] Preferably, the side wall of the detection support is provided with a supplementary light.

[0021] Preferably, the mobile body has a control panel on its side wall. The control panel is electrically connected to the reciprocating motor, the walking motor, the ranging sensor, the adjusting motor, the supplementary light, and the camera. The mobile body has a data transmission module inside. The control panel, the camera, and the ranging sensor are electrically connected to the data transmission module. The control panel, the camera, and the ranging sensor transmit data and communicate with an external display and control terminal through the data transmission module.

[0022] The beneficial effects of this utility model by adopting the above structure are as follows:

[0023] 1. A reciprocating rotation mechanism is set up to drive the detection mechanism to rotate back and forth around the axis of the conduit. A bidirectional fixed walking mechanism drives the detection mechanism to move linearly along the axis of the conduit. Through the cooperation of the reciprocating rotation and linear movement of the detection components, all-round detection of the conduit can be achieved, avoiding omissions.

[0024] 2. The self-locking two-way drive assembly drives the forward and reverse swing arms to move the traveling wheels in two directions to contact the inner wall of the conduit. While ensuring that the two-way fixed traveling mechanism moves along the inner wall of the conduit, the forward and reverse swing arms also improve the stability of the two-way fixed traveling mechanism and reduce the probability of swaying. When the moving body has a tendency to deflect in the forward direction, the reverse swing arm limits the moving body through the traveling wheels. When the moving body has a tendency to deflect in the reverse direction, the forward swing arm limits the moving body through the traveling wheels.

[0025] 3. Protective components are installed on the outside of the detection components to effectively prevent them from being bumped or knocked, and also to prevent dust from entering.

[0026] 4. The adjustment component allows for easy adjustment of the distance between the detection component and the inner wall of the conduit, facilitating the detection of conduits of different sizes.

[0027] 5. The self-locking two-way drive assembly drives the forward and reverse rocker arms to rotate, so as to adapt to different sizes of conduits, making it highly adaptable. Attached Figure Description

[0028] Figure 1 A schematic diagram of the structure of a conduit damage detection device provided by this utility model;

[0029] Figure 2 A schematic diagram of the structure of a conduit damage detection device provided by this utility model from another perspective;

[0030] Figure 3 A cross-sectional view of a conduit damage detection device provided by this utility model;

[0031] Figure 4 A schematic diagram of the combined structure of the forward swing arm, the reverse swing arm, and the self-locking two-way drive assembly provided by this utility model;

[0032] Figure 5 A side view of the forward swing arm, the reverse swing arm, and the self-locking two-way drive assembly provided by this utility model;

[0033] Figure 6 A cross-sectional view of the testing mechanism provided by this utility model;

[0034] Figure 7 Exploded views of the testing mechanism, protective components, and cover plate provided for this utility model;

[0035] Figure 8 A schematic diagram of the reciprocating rotation mechanism provided by this utility model;

[0036] Figure 9 Exploded view of the reciprocating rotation mechanism provided by this utility model;

[0037] Figure 10 A schematic diagram of the combined structure of the adjustment component and the planetary adjustment drive mechanism provided by this utility model.

[0038] The components include: 1. Bidirectional fixed walking mechanism; 2. Reciprocating rotation mechanism; 3. Detection mechanism; 4. Protective component; 5. Moving main body; 6. Forward swing arm; 7. Reverse swing arm; 8. Self-locking two-way drive assembly; 9. Annular groove one; 10. Annular groove two; 11. Wheel frame; 12. Walking wheel; 13. Detection plate; 14. Camera; 15. First planetary transmission assembly; 16. Second planetary transmission assembly; 17. Drive cavity; 18. Transmission cavity; 19. Drive motor; 20. Worm gear; 21. Worm wheel; 22. Bevel gear one; 23. Bevel gear two; 24. Rotating shaft one; 25. Rotating shaft two; 26. Bevel gear three; 27. Bevel gear four; 28. Bevel gear five; 29. ​​Main gear; 30. Driven gear; 31. Swing shaft one; 32. Swing shaft two; 3 3. Walking motor; 34. Detection support; 35. Detection component; 36. Adjustment component; 37. Mounting groove; 38. Bidirectional screw; 39. Threaded slide block; 40. X-shaped scissor hinge frame; 41. Moving plate; 42. Moving slide block; 43. Strip-shaped sliding hole; 44. Drive groove; 45. Center gear; 46. Planetary gear; 47. Adjustment motor; 48. Reciprocating groove; 49. Reciprocating motor; 50. Fixed sleeve; 51. Rotating sleeve; 52. Reciprocating lead screw; 53. Reciprocating threaded slider; 54. Guide slide column; 55. Fixed sliding hole; 56. Angled sliding hole; 57. Blind hole; 58. Distance sensor; 59. Supplemental light; 60. Protective disc; 61. Arc-shaped protective plate; 62. Threaded hole; 63. Cover plate; 64. Control panel.

[0039] The accompanying drawings are provided to further understand the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation thereof. Detailed Implementation

[0040] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0041] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0042] Example 1, as Figures 1-9 As shown, the present invention provides a conduit damage detection device, comprising a bidirectional fixed walking mechanism 1, a reciprocating rotation mechanism 2, and a detection mechanism 3, which are coaxially fixed together in sequence. A protective component 4 is provided on the outside of the detection mechanism 3. The bidirectional fixed walking mechanism 1 includes a moving body 5, a forward swing arm 6, a reverse swing arm 7, and a self-locking bidirectional drive assembly 8 that drives the forward swing arm 6 and the reverse swing arm 7 to rotate in opposite directions. The moving body 5 is provided with an annular groove 1 9 and an annular groove 2 10 in sequence. The annular groove 1 9, the annular groove 2 10 and the moving body 5 are coaxially arranged. One end of the forward swing arm 6 is rotatably disposed in the annular groove 1 9. The forward swing arm 6 is arranged in a circular array around the axis of the moving body 5. One end of the reverse swing arm 7 is rotatably disposed in the annular groove 2 10. The reverse swing arm 7 is arranged in a circular array around the axis of the moving body 5. The tilt direction of the forward swing arm 6 is opposite to the tilt direction of the reverse swing arm 7. A wheel frame 11 is provided at the end of the forward swing arm 6 and the end of the reverse swing arm 7, and a walking wheel 12 is rotatably disposed in the wheel frame 11.

[0043] See Figures 1-5The self-locking two-way drive assembly 8 includes a self-locking drive assembly, a coaxial reverse transmission assembly, a first planetary transmission assembly 15, and a second planetary transmission assembly 16. The moving body 5 has a drive cavity 17 and a transmission cavity 18 coaxially arranged inside. The transmission cavity 18 is located between an annular groove 9 and an annular groove 10. The first planetary transmission assembly 15 is located on the side wall of the transmission cavity 18 near the annular groove 9, and the second planetary transmission assembly 16 is located on the side wall of the transmission cavity 18 near the annular groove 10. The first planetary transmission assembly 15 is connected to a plurality of forward swing rods 6, and the second planetary transmission assembly 16 is connected to a plurality of reverse swing rods 7. The coaxial reverse transmission assembly is connected to the first planetary transmission assembly 15 and the second planetary transmission assembly 16 respectively. The self-locking drive assembly is connected to the coaxial reverse transmission assembly. The self-locking drive assembly drives the first planetary transmission assembly 15 and the second planetary transmission assembly 16 to rotate in opposite directions through the coaxial reverse transmission assembly.

[0044] The self-locking drive assembly includes a drive motor 19, a worm gear 20, and a worm wheel 21. The drive motor 19 is located inside the drive cavity 17. The worm gear 20 is rotatably located inside the drive cavity 17 and is connected to the output end of the drive motor 19. The worm wheel 21 is coaxially rotatably located inside the drive cavity 17 and meshes with the worm gear 20. The drive motor 19 drives the worm gear 20 to rotate, and the worm gear 20 drives the worm wheel 21 to rotate.

[0045] The output end of the drive motor 19 is provided with a bevel gear 22, and the end of the worm 20 is coaxially fixed with a bevel gear 23. The bevel gear 22 meshes with the bevel gear 23, and the drive motor 19 drives the worm 20 to rotate through the bevel gear 22 and the bevel gear 23.

[0046] The coaxial reverse transmission assembly includes a first rotating shaft 24, a second rotating shaft 25, a third bevel gear 26, a fourth bevel gear 27, and a fifth bevel gear 28. The first rotating shaft 24 and the second rotating shaft 25 are rotatably mounted on two opposing sidewalls of the transmission cavity 18. The first rotating shaft 24, the second rotating shaft 25, and the moving body 5 are coaxially arranged. The third bevel gear 26 is coaxially fixed to the end of the first rotating shaft 24, the fourth bevel gear 27 is coaxially fixed to the end of the second rotating shaft 25, and the fifth bevel gear 28 is rotatably mounted on the transmission cavity 18. On the inner wall of cavity 18, bevel gear 3 26 and bevel gear 4 27 are respectively located on both sides of bevel gear 5 28. Bevel gear 3 26 and bevel gear 4 27 mesh with both sides of bevel gear 5 28. The end of rotating shaft 1 24 away from rotating shaft 2 25 rotates through the moving body 5 and is coaxially fixed to the worm gear 21. The worm gear 21 drives rotating shaft 1 24 to rotate, and through bevel gear 3 26, bevel gear 4 27 and bevel gear 5 28, drives rotating shaft 2 25 to rotate in opposite directions coaxially with rotating shaft 1 24.

[0047] The first planetary transmission assembly 15 includes a master gear 29 and a driven gear 30 arranged in a circular array around the master gear 29. The master gear 29 is rotatably mounted on the inner wall of the transmission cavity 18, and the driven gear 30 is rotatably mounted on the inner wall of the transmission cavity 18. The master gear 29 and the driven gear 30 mesh. The second planetary transmission assembly 16 has the same structure as the first planetary transmission assembly 15. The master gear 29 of the first planetary transmission assembly 15 is coaxially fixed to the rotating shaft 24, and the master gear 29 of the second planetary transmission assembly 16 is coaxially fixed to the rotating shaft 24. Shaft 25 is coaxially fixed. The end of the forward rocker arm 6 is provided with a rocker shaft 31. One end of the forward rocker arm 6 is rotatably disposed in the annular groove 9 through the rocker shaft 31. Each driven gear 30 of the first planetary transmission assembly 15 is coaxially fixed with each rocker shaft 31. The end of the reverse rocker arm 7 is provided with a rocker shaft 32. One end of the reverse rocker arm 7 is rotatably disposed in the annular groove 10 through the rocker shaft 32. Each driven gear 30 of the second planetary transmission assembly 16 is coaxially fixed with each rocker shaft 32.

[0048] The wheel frame 11 is equipped with a walking motor 33, which is connected to the walking wheel 12 and drives the walking wheel 12 to rotate.

[0049] See Figure 1 , Figure 3 , Figure 6 and Figure 7 The detection mechanism 3 includes a detection support 34 and a detection component 35. The detection support 34 is located at the end of the reciprocating rotation mechanism 2. The circumferential sidewall of the detection support 34 is provided with a mounting groove 37. The mounting groove 37 is distributed in a circumferential array around the detection support 34. The detection component 35 is located in the mounting groove 37.

[0050] The detection component 35 includes a detection plate 13 and a camera 14 and a ranging sensor 58 disposed on the detection plate 13.

[0051] The detection support 34 is equipped with a supplementary light 59 on its side wall.

[0052] The protective component 4 includes a protective disc 60 coaxially rotatably disposed at the end of the detection support 34 away from the reciprocating rotation mechanism 2, and an arc-shaped protective plate 61 disposed on one side of the protective disc 60 and covering the mounting groove 37. The arc-shaped protective plate 61 is coaxially disposed with the detection support 34, and the inner wall of the arc-shaped protective plate 61 slides and fits against the circumferential side wall of the detection support 34. A sealing strip is provided along the edge of the inner wall of the arc-shaped protective plate 61. The arc-shaped protective plates 61 are arranged in a circumferential array around the axis of the detection support 34. The number of arc-shaped protective plates 61 is equal to the number of mounting grooves 37, and the arc-shaped protective plates 61 and the mounting grooves 37 correspond one-to-one.

[0053] The protective disc 60 has a threaded hole 62 in the middle. The side wall of the detection support 34 is fixedly installed with a cover plate 63 by fasteners. The cover plate 63 has threads on the outside and is threadedly connected to the protective disc 60 through the threads and the threaded hole 62.

[0054] See Figure 1 , Figure 2 , Figure 3 , Figure 6 , Figure 8 and Figure 9 The moving body 5 has a reciprocating groove 48 on one end face, and the reciprocating rotation mechanism 2 is located in the reciprocating groove 48.

[0055] The reciprocating rotation mechanism 2 includes a reciprocating motor 49, a fixed sleeve 50, a rotating sleeve 51, a reciprocating lead screw 52, ​​and a reciprocating threaded slider 53. The reciprocating motor 49 is disposed within a reciprocating groove 48. The fixed sleeve 50 is fixedly installed at the end of the moving body 5, and the reciprocating motor 49 is located between the fixed sleeve 50 and the inner wall of the reciprocating groove 48. The reciprocating lead screw 52 is rotatably disposed within the fixed sleeve 50. The output end of the reciprocating motor 49 is connected to the reciprocating lead screw 52. The side wall of the reciprocating lead screw 52 is provided with two threaded grooves of the same pitch but opposite directions. The two threaded grooves are joined end-to-end at both ends of the reciprocating lead screw 52 to form a closed helical groove. The reciprocating threaded slider 53 is mounted on the reciprocating lead screw 52 and cooperates with it. The rotation of the reciprocating lead screw 52 drives the reciprocating threaded slider 53 to perform linear reciprocating motion. The side wall of the reciprocating threaded slider 53 is provided with at least one set of guide pins 54. The columns 54 are arranged in a circumferential array around the axis of the reciprocating threaded slider 53. The side wall of the fixed sleeve 50 is provided with fixed sliding holes 55 arranged parallel to the reciprocating screw 52. The fixed sliding holes 55 are arranged in a circumferential array around the axis of the fixed sleeve 50. The rotating sleeve 51 is coaxially rotatably disposed outside the fixed sleeve 50. The circumferential side wall of the rotating sleeve 51 is provided with oblique sliding holes 56. The oblique sliding holes 56 extend obliquely from one end of the rotating sleeve 51 to the other end. The oblique sliding holes 56 are arranged in a circumferential array around the axis of the rotating sleeve 51. The end of the guide column 54 slides through the fixed sliding hole 55 and through the oblique sliding hole 56. The number of guide columns 54, the number of oblique sliding holes 56 and the number of fixed sliding holes 55 are equal. The guide columns 54, oblique sliding holes 56 and fixed sliding holes 55 correspond one-to-one. A blind hole 57 is provided on one side of the detection support 34. The rotating sleeve 51 is coaxially fixedly disposed in the blind hole 57.

[0056] The reciprocating motor 49 drives the reciprocating screw 52 to rotate, and the reciprocating screw 52 drives the reciprocating threaded slider 53 to perform linear reciprocating motion. The fixed sliding hole 55 guides and limits the reciprocating threaded slider 53 through the guide sliding column 54. The reciprocating threaded slider 53 drives the guide sliding column 54 to perform linear reciprocating motion. When the guide sliding column 54 reciprocates, it drives the rotating sleeve 51 to reciprocate through the inclined sliding hole 56. The rotating sleeve 51 drives the detection support 34 to reciprocate.

[0057] like Figures 1-9 As shown, the mobile body 5 has a control panel 64 on its side wall. The control panel 64 is electrically connected to the reciprocating motor 49, the walking motor 33, the ranging sensor 58, the supplementary light 59, and the camera 14. The mobile body 5 has a data transmission module inside. The control panel 64, the camera 14, and the ranging sensor 58 are electrically connected to the data transmission module. The control panel 64, the camera 14, and the ranging sensor 58 transmit data and communicate with an external display and control terminal through the data transmission module.

[0058] In practical use, unscrew the protective part 4 from the cover plate 63, then place the detection device into the conduit to be tested, power on the detection device, and then start the drive motor 19 through the control panel 64. The drive motor 19 drives the worm 20 to rotate through bevel gear 1 22 and bevel gear 23. The worm 20 drives the worm wheel 21 to rotate. The worm wheel 21 drives the rotating shaft 1 24 to rotate in the same direction. Through bevel gear 3 26, bevel gear 4 27 and bevel gear 5 28, the rotating shaft 25 is driven to rotate in the opposite direction to the rotating shaft 1 24 on the same axis. The rotating shaft 1 24 drives the main gear 29 of the first planetary transmission assembly 15 to rotate. The rotating shaft 25 drives the main gear 29 of the second planetary transmission assembly 16 to rotate. The main gear 29 drives the driven gear... When wheel 30 rotates, the driven gear 30 of the first planetary transmission assembly 15 drives the first pendulum shaft 31 to rotate. The first pendulum shaft 31 drives the forward pendulum rod 6 to swing clockwise. The driven gear 30 of the second planetary transmission assembly 16 drives the second pendulum shaft 32 to rotate. The second pendulum shaft 32 drives the reverse pendulum rod 7 to swing counterclockwise, so that the forward pendulum rod 6 and the reverse pendulum rod 7 swing in opposite directions. The forward pendulum rod 6 and the reverse pendulum rod 7 drive the traveling wheel 12 to rotate outward and approach the inner wall of the conduit. When the traveling wheel 12 is in close contact with the inner wall of the conduit, the drive motor 19 is stopped by the control panel 64. Then, the traveling motor 33, the reciprocating motor 49, and the detection assembly 35 are started by the control panel 64. The traveling motor 33 drives the traveling wheel 12 to rotate outward and approach the inner wall of the conduit. The rotating wheel 12 rotates, thereby driving the moving body 5 to move along the axial direction of the conduit. The moving body 5 drives the detection support 34 and the detection assembly 35 to move linearly. The reciprocating motor 49 drives the reciprocating screw 52 to rotate, and the reciprocating screw 52 drives the reciprocating threaded slider 53 to perform linear reciprocating motion. The fixed sliding hole 55 guides and limits the reciprocating threaded slider 53 through the guide slide post 54. The reciprocating threaded slider 53 drives the guide slide post 54 to perform linear reciprocating motion. When the guide slide post 54 reciprocates, it drives the rotating sleeve 51 to rotate reciprocally through the inclined sliding hole 56. The rotating sleeve 51 drives the detection support 34 to rotate reciprocally. The detection support 34 moves linearly and rotates reciprocally at the same time, cooperating with the circumferentially distributed detection array. Component 35 facilitates all-around inspection of the conduit. The distance sensor 58 detects the distance from the inner wall of the conduit to itself in real time and transmits the data to an external display and control terminal. The camera 14 captures images of the inner wall of the conduit in real time and transmits them to the external display and control terminal. When the conduit sidewall is intact, the measurement result of the distance sensor 58 remains unchanged. When the conduit sidewall is damaged, the measurement result of the distance sensor 58 changes unevenly. The inspection personnel can view the measurement results of the distance sensor 58 and the images and videos captured by the camera 14 through the external display and control terminal. When conduit damage is detected, the walking motor 33 and the reciprocating motor 49 are stopped to allow for observation and location of the damage.

[0059] Example 2, see Figures 1-10The difference between this embodiment and Embodiment 1 is that an adjustment component 36 is provided in the mounting groove 37. The adjustment component 36 is located between the inner wall of the mounting groove 37 and the detection component 35. The detection component 35, the adjustment component 36, and the mounting groove 37 are arranged in a one-to-one correspondence. The adjustment component 36 includes a bidirectional screw 38, a threaded slide 39, an X-shaped scissor hinge frame 40, a moving plate 41, and a moving slide 42. The bidirectional screw 38 is rotatably disposed in the mounting groove 37, and its two ends are symmetrically provided with threads of opposite directions. The threaded slide 39 is slidably disposed in the mounting groove 37, and is symmetrically disposed at both ends of the bidirectional screw 38. The threaded slide 39 is respectively connected to the bidirectional screw 38. The two ends are threaded together. The movable plate 41 is provided with a strip-shaped sliding hole 43, which is parallel to the axis of the movable body 5. The movable slide 42 is slidably locked in the strip-shaped sliding hole 43. The movable slide 42 is symmetrically arranged in the strip-shaped sliding hole 43. The X-shaped scissor hinge frame 40 includes two hinge rods that are hinged together in the middle. Two of the four ends of the X-shaped scissor hinge frame 40 are respectively hinged to the threaded slide 39. The other two ends of the X-shaped scissor hinge frame 40 are respectively hinged to the movable slide 42. The movable plate 41 is installed on the end of the X-shaped scissor hinge frame 40 through the movable slide 42. The detection plate 13 is located on the side of the movable plate 41 away from the X-shaped scissor hinge frame 40.

[0060] The detection support 34 has a drive groove 44 at one end away from the reciprocating rotation mechanism 2. A planetary adjustment drive mechanism is provided in the drive groove 44. The cover plate 63 is fixedly installed at the opening of the drive groove 44 by fasteners. The planetary adjustment drive mechanism includes a central gear 45, planetary gears 46 and an adjustment motor 47. The central gear 45 and planetary gears 46 are rotatably disposed in the drive groove 44. The planetary gears 46 are arranged in a circular array around the central gear 45 and mesh with the central gear 45. The planetary gears 46 are coaxially fixedly connected to the bidirectional screw 38. The adjustment motor 47 is disposed in the drive groove 44. The output end of the adjustment motor 47 is connected to the central gear 45. The control panel 64 is electrically connected to the adjustment motor 47.

[0061] In use, the inspector can start the adjusting motor 47 through the control panel 64. The adjusting motor 47 drives the central gear 45 to rotate, the central gear 45 drives multiple sets of planetary gears 46 to rotate synchronously, and the multiple sets of planetary gears 46 drive multiple bidirectional screws 38 to rotate synchronously. The rotation of the bidirectional screws 38 drives two sets of threaded slides 39 to move towards each other. The movement of the threaded slides 39 causes the X-shaped scissor hinge frame 40 to extend. The X-shaped scissor hinge frame 40 drives the moving plate 41 to open outward and drives the moving slides 42 to move towards each other. The moving plate 41 drives the detection component 35 to move outward and closer to the inner wall of the conduit to be tested. Multiple sets of adjusting components 36 drive multiple sets of detection components 35 to move outward synchronously to adjust the distance between the detection component 35 and the inner wall of the conduit, which facilitates the damage detection of conduits of different sizes.

[0062] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0063] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the inventive spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. A conduit damage detection device, characterized in that: The device includes a bidirectional fixed walking mechanism, a reciprocating rotation mechanism, and a detection mechanism, which are coaxially fixed in sequence. The detection mechanism is equipped with a protective component on its outer side. The bidirectional fixed walking mechanism includes a moving main body, a forward swing arm, a reverse swing arm, and a self-locking two-way drive assembly that drives the forward and reverse swing arms to rotate in opposite directions. The moving main body is provided with an annular groove one and an annular groove two in sequence. The annular groove one and annular groove two are coaxially arranged with the moving main body. One end of the forward swing arm is rotatably disposed in the annular groove one. The forward swing arms are arranged in a circular array around the axis of the moving main body. One end of the reverse swing arm is rotatably disposed in the annular groove two. The reverse swing arms are arranged in a circular array around the axis of the moving main body. The tilt direction of the forward swing arm is opposite to that of the reverse swing arm. The ends of the forward and reverse swing arms are respectively provided with wheel frames, and the wheel frames are rotatably disposed with walking wheels.

2. The conduit damage detection device according to claim 1, characterized in that: The self-locking two-way drive assembly includes a self-locking drive assembly, a coaxial reverse transmission assembly, a first planetary transmission assembly, and a second planetary transmission assembly. The moving body has a drive cavity and a transmission cavity coaxially arranged inside. The transmission cavity is located between an annular groove one and an annular groove two. The first planetary transmission assembly is located on the side wall of the transmission cavity near the annular groove one, and the second planetary transmission assembly is located on the side wall of the transmission cavity near the annular groove two. The first planetary transmission assembly is connected to multiple forward swing arms, and the second planetary transmission assembly is connected to multiple reverse swing arms. The coaxial reverse transmission assembly is connected to the first planetary transmission assembly and the second planetary transmission assembly, respectively. The self-locking drive assembly is connected to the coaxial reverse transmission assembly.

3. The conduit damage detection device according to claim 2, characterized in that: The self-locking drive assembly includes a drive motor, a worm gear, and a worm wheel. The drive motor is located inside the drive cavity, the worm gear is rotatably located inside the drive cavity, and the worm gear is connected to the output end of the drive motor. The worm wheel is coaxially rotatably located inside the drive cavity, and the worm gear meshes with the worm wheel.

4. The conduit damage detection device according to claim 3, characterized in that: The coaxial reverse transmission assembly includes a rotating shaft 1, a rotating shaft 2, a bevel gear 3, a bevel gear 4, and a bevel gear 5. The rotating shaft 1 and the rotating shaft 2 are respectively rotatably mounted on two opposing side walls of the transmission cavity. The rotating shaft 1, the rotating shaft 2, and the moving body are coaxially arranged. The bevel gear 3 is coaxially fixed to the end of the rotating shaft 1, and the bevel gear 4 is coaxially fixed to the end of the rotating shaft 2. The bevel gear 5 is rotatably mounted on the inner wall of the transmission cavity. The bevel gear 3 and the bevel gear 4 are respectively located on both sides of the bevel gear 5 and mesh with both sides of the bevel gear 5. The end of the rotating shaft 1 away from the rotating shaft 2 rotatably passes through the moving body and is coaxially fixed to the worm gear.

5. The conduit damage detection device according to claim 4, characterized in that: The detection mechanism includes a detection support and a detection component. The detection support is located at the end of the reciprocating rotation mechanism. The circumferential sidewall of the detection support is provided with a mounting groove. The mounting grooves are distributed in a circular array around the detection support. The detection component is located in the mounting groove.

6. The conduit damage detection device according to claim 5, characterized in that: An adjustment assembly is provided within the mounting groove, positioned between the inner wall of the mounting groove and the detection assembly. The detection assembly, adjustment assembly, and mounting groove are arranged in a one-to-one correspondence. The adjustment assembly includes a bidirectional screw, a threaded slide block, an X-shaped scissor hinge, a moving plate, and a moving slide block. The bidirectional screw is rotatably mounted within the mounting groove, with symmetrically arranged threads of opposite directions at both ends. The threaded slide blocks are slidably mounted within the mounting groove, symmetrically positioned at both ends of the bidirectional screw, and threadedly connected to both ends of the bidirectional screw. The moving plate has a strip-shaped sliding hole parallel to the axis of the moving body. The movable slide is slidably engaged within the strip-shaped sliding hole, with the movable slides symmetrically positioned within the strip-shaped sliding hole. The X-shaped scissor hinge frame includes two hinge rods hinged together at their center. Two of the four ends of the X-shaped scissor hinge frame are respectively hinged to the threaded slide, and the other two ends are respectively hinged to the movable slide. The movable plate is mounted on the end of the X-shaped scissor hinge frame via the movable slide. The detection component is located on the side of the movable plate away from the X-shaped scissor hinge frame. The end of the detection support away from the reciprocating rotation mechanism is provided with a drive groove, and a planetary adjustment drive mechanism is provided within the drive groove.

7. The conduit damage detection device according to claim 6, characterized in that: One end face of the moving body is provided with a reciprocating groove, and the reciprocating rotation mechanism is disposed within the reciprocating groove. The reciprocating rotation mechanism includes a reciprocating motor, a fixed sleeve, a rotating sleeve, a reciprocating lead screw, and a reciprocating threaded slider. The reciprocating motor is disposed within the reciprocating groove. The fixed sleeve is fixedly installed at the end of the moving body, and the reciprocating motor is located between the fixed sleeve and the inner wall of the reciprocating groove. The reciprocating lead screw is rotatably disposed within the fixed sleeve. The output end of the reciprocating motor is connected to the reciprocating lead screw. The reciprocating threaded slider is mounted on the reciprocating lead screw and cooperates with the reciprocating lead screw. The side wall of the reciprocating threaded slider is provided with at least one set of guide pins, which are circumferentially arrayed around the axis of the reciprocating threaded slider. The fixed sleeve has a fixed sliding hole on its side wall, which is parallel to the reciprocating screw. The fixed sliding holes are arranged in a circumferential array around the axis of the fixed sleeve. The rotating sleeve is coaxially rotatably disposed outside the fixed sleeve. The circumferential side wall of the rotating sleeve has an oblique sliding hole, which extends obliquely from one end of the rotating sleeve to the other end. The oblique sliding hole is arranged in a circumferential array around the axis of the rotating sleeve. The end of the guide slide pin slides through the fixed sliding hole and through the oblique sliding hole. The number of guide slide pins, the number of oblique sliding holes and the number of fixed sliding holes are equal. The guide slide pins, oblique sliding holes and fixed sliding holes correspond one-to-one. A blind hole is provided on one side of the detection support. The rotating sleeve is coaxially fixedly disposed in the blind hole.

8. The conduit damage detection device according to claim 7, characterized in that: The first planetary transmission assembly includes a master gear and a slave gear arranged in a circular array around the master gear. The master gear is rotatably mounted on the inner wall of the transmission cavity, and the slave gear is rotatably mounted on the inner wall of the transmission cavity. The master gear and the slave gear mesh. The second planetary transmission assembly has the same structure as the first planetary transmission assembly. The master gear of the first planetary transmission assembly is coaxially fixed to a rotating shaft, and the master gear of the second planetary transmission assembly is coaxially fixed to a rotating shaft. The end of the forward pendulum is provided with a pendulum shaft, and one end of the forward pendulum is rotatably mounted in an annular groove through the pendulum shaft. Each slave gear of the first planetary transmission assembly is coaxially fixed to each pendulum shaft. The end of the reverse pendulum is provided with a pendulum shaft, and one end of the reverse pendulum is rotatably mounted in an annular groove through the pendulum shaft. Each slave gear of the second planetary transmission assembly is coaxially fixed to each pendulum shaft.

9. A conduit damage detection device according to claim 8, characterized in that: The protective component includes a protective disc coaxially rotatably mounted at the end of the detection support away from the reciprocating rotation mechanism, and an arc-shaped protective plate located on one side of the protective disc and covering the mounting groove. The arc-shaped protective plate is coaxially mounted with the detection support, and the inner wall of the arc-shaped protective plate slides against the circumferential side wall of the detection support. A sealing strip is provided along the edge of the inner wall of the arc-shaped protective plate. The arc-shaped protective plates are arranged in a circumferential array around the axis of the detection support, and the number of arc-shaped protective plates is equal to the number of mounting grooves, with each arc-shaped protective plate corresponding to a mounting groove. A threaded hole is provided in the center of the protective disc, and a cover plate is fixedly installed at the opening of the driving groove by fasteners. The cover plate has threads on its outer side and is threadedly connected to the protective disc through the threads and the threaded hole.

10. A conduit damage detection device according to claim 9, characterized in that: The wheel frame is equipped with a walking motor, which is connected to and drives the walking wheels to rotate. The detection assembly includes a detection plate and a camera and a distance sensor mounted on the detection plate. The detection plate is located on the side wall of the moving plate. The side wall of the detection support is equipped with a supplementary light. The side wall of the moving body is equipped with a control panel, which is electrically connected to the reciprocating motor, the walking motor, the distance sensor, the planetary adjustment drive mechanism, the supplementary light, and the camera. The moving body is equipped with a data transmission module, and the control panel, the camera, the distance sensor, and the data transmission module are electrically connected.

Images