Diameter-variable pipeline inner wall detection device

Abstract

The utility model belongs to the technical field of detection robots, and particularly relates to a diameter-variable pipeline inner wall detection device. Comprising a supporting column, a walking crawler belt, a driving device, a detection assembly and a reducing assembly. A driving device is arranged in the walking crawler belt, the driving device comprises a driving motor and a driving gear, the power output end of the driving motor is meshed with the driving gear, and the driving gear is meshed with the inner side of the walking crawler belt; the variable-diameter assembly comprises a connecting rod, a connecting block and a driving air cylinder, the walking crawler belt is hinged to the connecting block through the connecting rod, the connecting block is connected with the jacking end of the driving air cylinder, the driving air cylinder is installed at the bottom of the supporting column through a bolt, and the supporting column is sleeved with the connecting block; the detection assembly comprises a camera and a searchlight, the camera is installed on the top of the supporting column, and the searchlight is fixed to the supporting column through a bolt. The hinged connecting rods are driven by the driving hydraulic cylinders to move, so that the distance between the walking crawler belt and the supporting columns is changed, and more pipelines with different sizes are adapted.

Description

Technical Field

[0001] This utility model belongs to the field of inspection robot technology, specifically relating to a variable diameter pipe inner wall inspection device. Background Technology

[0002] With the acceleration of urbanization and the development of industrial production, pipelines, as important facilities for transporting liquids, gases, and other media, have been widely used in municipal engineering, petrochemicals, power supply, and other fields. However, due to the harsh working environment of pipelines, they are susceptible to corrosion, wear, and other factors, leading to damage or deformation of the inner wall. These problems not only affect the safe operation of pipelines but may also lead to serious safety accidents. Therefore, regular inspection of the internal condition of pipelines is particularly important. Traditional pipeline inspection methods mainly include manual inspection and the use of fixed-size inspection equipment. Manual inspection usually requires sending personnel into the pipeline, which has the problems of high operational risk, low efficiency, and inaccessibility to some narrow or dangerous areas. While existing fixed-size inspection equipment can solve the above problems to some extent, its fixed structural design makes it difficult to adapt to pipelines of different diameters. Especially when the pipeline diameter varies greatly, these devices often cannot effectively carry out inspection work, thus limiting their application scope.

[0003] Chinese patent CN222702871U discloses a pipeline inner wall inspection robot, including a mounting shell and a helical propeller disposed at the rear end of its inner wall. The mounting shell is equipped with multiple inspection mechanisms: each inspection mechanism includes a threaded rod rotatably disposed around the mounting shell, one end of which extends to the outside of the mounting shell and is threadedly connected to a lifting plate. First electric push rods are rotatably connected to the left and right sides of the top of the lifting plate, and movable wheels are rotatably connected to the telescopic ends of the first electric push rods. A camera is connected to the center of the top of the lifting plate. This device has the advantage of flexible adjustment, solving the problem of some pipeline inner wall inspection robots having fixed dimensions. Fixed-size robots can only be used for pipelines within a specific diameter range, which limits their application in diverse pipeline networks. Especially when the pipeline diameter span is large, multiple robots of different types or sizes may be required, increasing cost and complexity. The above-mentioned device uses a mechanical adjustment method with threaded rods and lifting plates, requiring step-by-step adjustment of the movable wheel position through threaded transmission. The adjustment speed is slow and prone to accuracy degradation due to thread wear. Therefore, it is urgent for those skilled in the art to solve the above-mentioned technical problems. Summary of the Invention

[0004] This invention aims to solve the problem of the existing mechanical adjustment method of threaded rods and lifting plates, which requires adjusting the position of the moving wheels step by step through threaded transmission. The adjustment speed is slow and the accuracy is easily reduced due to thread wear.

[0005] The technical solutions adopted in this utility model are as follows:

[0006] A variable-diameter pipe inner wall inspection device for monitoring the inside of a pipe, the variable-diameter component comprising:

[0007] A connecting rod, a connecting block, and a drive cylinder are included. The track is hinged to the connecting block via the connecting rod. The connecting block is connected to the lifting end of the drive cylinder. The drive cylinder is bolted to the bottom of the support column. The connecting block is fitted onto the support column.

[0008] A drive unit includes a drive motor and a drive gear, the drive motor and the drive gear being mounted inside the track, the power output end of the drive motor meshing with the drive gear, and the drive gear meshing with the inner side of the track; and

[0009] The detection assembly includes a camera and a searchlight. The camera is rotatably mounted on top of the support column, and the searchlight is fixed to the support column by bolts.

[0010] By adopting the above technical solution, the distance between the track and the support column can be quickly adjusted using a variable-diameter assembly composed of connecting rods, connecting blocks, and drive cylinders. This design allows the equipment to quickly adapt to pipes of different sizes without requiring step-by-step adjustments like traditional threaded adjustments, thus greatly improving work efficiency. Furthermore, the use of drive cylinders instead of traditional threaded rods and lifting plate mechanisms reduces wear and tear on mechanical parts caused by frequent adjustments. This not only extends the equipment's service life but also ensures high precision for long-term use. The drive motor and drive gear are directly mounted inside the track and mesh with its inner side, providing more stable power transmission and ensuring stable operation of the equipment in various complex environments.

[0011] Furthermore, at least three walking tracks are provided, and each walking track is equipped with the drive device. The drive motor, the searchlight, the camera, the hydraulic cylinder are electrically connected to an external control device.

[0012] By adopting the above technical solution and setting at least three tracks, the equipment can form a more stable support structure inside the pipeline. Compared with a two-track design, three or more tracks provide better balance, especially when moving through irregularly shaped or significantly varying diameter pipelines. Multiple tracks can more evenly distribute the weight and operating pressure of the equipment, reducing the risk of localized damage to the pipeline wall and improving the equipment's ability to navigate complex environments. Each track is equipped with an independent drive unit, meaning that each track can be individually controlled for speed and direction as needed. This design not only improves the overall mobility of the equipment but also allows it to more easily adjust its posture when encountering obstacles or other complex situations. Multiple drive units enable the equipment to better adapt to pipeline surfaces of different materials, smoothness, or inclination angles, enhancing its versatility and applicability. Electrically connecting key components such as drive motors, searchlights, cameras, and hydraulic cylinders to external control devices enables centralized management and remote control of the entire system.

[0013] Furthermore, the track is also provided with at least two support arms, one end of which is hinged to the side plate of the track, and the other end of which is hinged to the support column.

[0014] By adopting the above technical solution and setting at least two support arms, the equipment can form multiple support points between the walking tracks and the support columns. This not only increases the rigidity of the entire device but also reduces swaying caused by unevenness or shape changes of the pipe's inner wall during movement, improving overall stability. The design of the support arms allows the equipment's weight to be distributed more evenly across the support points, thereby reducing pressure concentration on specific components and lowering the risk of damage due to localized overload. The support arms are connected by hinges, allowing them to swing freely within a certain range to adapt to pipes of different diameters and shapes. This design enables the equipment to move flexibly in pipes with large diameter variations without jamming or losing balance due to changes in the pipe's internal geometry. The hinged design allows the support arms to automatically adjust their angle according to the actual shape of the pipe, ensuring that each walking track fits tightly against the pipe's inner wall, providing optimal grip and traction, thereby improving the equipment's passability. By increasing the number of support arms and optimizing their layout, slippage on smooth or inclined pipe surfaces can be effectively prevented. Especially in wet, slippery, or oily environments, a good support structure helps maintain stable operation of the equipment and reduces the risk of accidents.

[0015] Furthermore, at least two searchlights are provided, and the searchlights are mounted on the support column by bolts.

[0016] By adopting the above technical solution, setting up at least two searchlights ensures that the pipeline internal wall inspection device can provide sufficient illumination from different directions. Especially in situations where there is insufficient light or shadowed areas inside the pipeline, multi-point illumination effectively eliminates blind spots, ensuring the camera can capture clear and complete images. Multiple searchlights can create a more uniform light distribution inside the pipeline, reducing shadows and reflections caused by single-point light sources, thereby improving image quality and facilitating subsequent analysis and processing. Multi-point illumination also helps to better illuminate subtle features on the pipeline internal wall, such as cracks, corrosion spots, or foreign objects. This is crucial for accurately assessing pipeline conditions, especially for tasks requiring high-resolution images, as different pipeline environments may have different lighting requirements.

[0017] Furthermore, an L-shaped mounting platform is machined at the top of the support column, and the camera is mounted on the mounting platform by bolts.

[0018] By adopting the above technical solution, the L-shaped mounting platform provides a specific angle platform, allowing the camera to be installed in a position that is more advantageous for observing the inner wall of the pipeline. Depending on specific needs, the camera can be fine-tuned through different installation positions and angles to ensure the best viewing angle. The L-shaped design helps the camera avoid obstructions caused by the equipment itself or other components, reducing blind spots and ensuring comprehensive, blind-spot-free monitoring of the pipeline's internal environment. The machined L-shaped mounting platform provides a robust and flat mounting surface. Compared to directly mounting on irregularly shaped support columns, this method ensures a more secure and reliable camera installation, preventing displacement or loosening due to vibration or collision. The L-shaped mounting platform can absorb vibrations generated during the movement of the tracked vehicle through reasonable mechanical design (such as adding shock-absorbing pads), thereby protecting the camera from damage and extending its service life.

[0019] Furthermore, the support column is provided with multiple positioning blocks, and the support arm is mounted on the positioning blocks.

[0020] By adopting the above technical solution and setting multiple positioning blocks, it can be ensured that each support arm is installed in an accurate and predetermined position. This not only improves the structural stability of the entire device but also reduces equipment swaying or instability caused by support arm position deviations. Multiple positioning blocks help distribute the overall weight of the equipment more evenly across the support points, preventing excessive pressure on any single support point, thereby enhancing the load-bearing capacity and long-term reliability of the equipment. The support arms can be flexibly installed and adjusted using the positioning blocks to adapt to pipes of different diameters and shapes. This design allows the equipment to move smoothly in pipes with large diameter variations without jamming or losing balance due to changes in the internal geometry of the pipe. Depending on actual needs, different positioning blocks can be selected to install the support arms to achieve the best support effect.

[0021] This utility model has the following beneficial effects:

[0022] 1. This utility model uses a variable diameter assembly consisting of a connecting rod, a connecting block, and a drive cylinder to quickly adjust the distance between the walking track and the support column, enabling the equipment to quickly adapt to pipes of different sizes without the need for step-by-step adjustments as in traditional threaded adjustment methods. This greatly improves work efficiency. Because it uses a drive cylinder instead of the traditional threaded rod and lifting plate mechanism, it reduces the wear and tear on mechanical parts caused by frequent adjustments, which not only extends the service life of the equipment but also ensures high precision for long-term use.

[0023] 2. This utility model features at least two support arms, with one end hinged to the side plate of the walking track and the other end hinged to a positioning block on the support column, forming multiple support points. This not only increases the rigidity of the entire device but also reduces swaying caused by unevenness or shape changes of the pipe's inner wall during movement, improving overall stability. The design of the support arms allows them to swing freely within a certain range to adapt to pipes of different diameters and shapes, ensuring that each walking track can closely conform to the inner wall of the pipe, providing optimal grip and traction, thereby improving the equipment's passability.

[0024] 3. This utility model provides a specific angle platform by machining an L-shaped mounting platform on the top of the support column and fixing the camera to it with bolts. This allows the camera to be installed in a position that is more conducive to observing the inner wall of the pipe, reducing blind spots and ensuring comprehensive and blind-spot-free monitoring of the internal environment of the pipe. The L-shaped mounting platform provides a sturdy and flat mounting surface, which, compared to directly mounting on the irregularly shaped support column surface, ensures a more secure and reliable installation of the camera, avoiding displacement or loosening caused by vibration or collision, further protecting the camera from damage and extending its service life. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0026] Figure 2 This is the front view of the present utility model;

[0027] Figure 3 This is a top view of the present invention;

[0028] Figure 4 This is a cross-sectional view of the walking track of this utility model.

[0029] Wherein: 10-support column; 11-positioning block;

[0030] 20-Variable diameter assembly; 21-Connecting rod; 22-Support arm; 23-Connecting block; 24-Drive cylinder; 241-Lifting end;

[0031] 30 - Walking track;

[0032] 40 - Drive unit; 41 - Drive motor; 42 - Drive gear;

[0033] 50 - Detection component; 51 - Camera; 52 - Searchlight; 53 - Mounting platform. Detailed Implementation

[0034] The present invention will now be described in further detail with reference to the accompanying drawings and specific preferred embodiments.

[0035] In the description of this utility model, it should be understood that the terms "left side," "right side," "upper part," "lower part," 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 component referred to must have a specific orientation, or be constructed and operated in a specific orientation. "First," "second," etc., do not indicate the importance of the components, and therefore should not be construed as a limitation of this utility model. The specific dimensions used in this embodiment are only for illustrating the technical solution and do not limit the protection scope of this utility model.

[0036] Reference Figure 1 , Figure 2 , Figure 3 and Figure 4As can be seen, this utility model discloses a variable diameter pipe inner wall inspection device. The device uses a support column 10 as its core load-bearing structure. A drive cylinder 24 is bolted to the bottom of the support column 10. The lifting end 241 of the drive cylinder 24 is connected to a slidable connecting block 23 fitted around the outer periphery of the support column 10. Three walking tracks 30 are evenly distributed around the support column 10. Each walking track 30 is hinged to the connecting block 23 via a connecting rod 21, forming a transmission link for the variable diameter assembly 20. A drive device 40 is installed inside each walking track 30, including a transmission mechanism via gear meshing. The drive motor 41 and drive gear 42 are driven by a moving drive motor. The drive gear 42 meshes with the rack on the inner side of the track 30 to provide walking power. The top of the support column 10 is machined to form an L-shaped mounting platform 53, on which a rotatable camera 51 is fixed by bolts. At least two searchlights 52 are symmetrically distributed on the outer periphery of the support column 10 and are mounted by bolts, which together constitute the detection assembly 50. At least two support arms 22 are also hinged to the side plate of each track 30. The other end of the support arm 22 is hinged to the positioning block 11 fixed on the outer periphery of the support column 10 to form an auxiliary support structure.

[0037] In one embodiment, the variable diameter assembly 20 includes a drive cylinder 24 and a connecting block 23. The lifting end 241 of the drive cylinder 24 is rigidly connected to the connecting block 23, and the drive connecting block 23 slides along the axial direction of the support column 10.

[0038] It also includes a connecting block 23, a connecting rod 21, and a walking track 30. The connecting block 23 is connected to the walking track 30 through the hinged connecting rod 21. When the connecting block 23 slides, it drives the connecting rod 21 to move, thereby realizing the radial displacement of the walking track 30 and changing the distance between the walking track 30 and the support column, thus making it suitable for the inspection of pipe inner arms of more different sizes.

[0039] In one embodiment, the drive motor 41 and drive gear 42 of the drive device 40, together with the walking track 30, drive the entire device to move along the pipe wall. First, the variable diameter assembly 20 is activated to make the walking track 30 contact the inner wall of the pipe. Then, the output shaft of the drive motor 41 meshes with the drive gear 42, and the drive gear 42 meshes with the inner teeth of the walking track 30, transmitting power to the walking track 30, and the entire drive device moves along the inner wall of the pipe.

[0040] In one embodiment, the detection component 50 includes an L-shaped mounting platform 53 and a camera 51. The mounting base of the camera 51 is mounted on the L-shaped mounting platform 53 on the top of the support column 10 via a rotating shaft. The camera 51 can rotate horizontally around the axis of the mounting platform 53 under the action of the rotating shaft. A connecting shaft is installed between the camera 51 and the mounting base. The camera 51 can rotate vertically along the connecting shaft. The connecting shaft is connected to a micro motor and electrically connected to an external control device. Under the action of the external control device, the camera 51 is controlled to rotate to a specified direction. The searchlight 52 is fixed to the outer periphery of the support column 10 by bolts to provide ring lighting. The two ends of the support arm 22 are respectively hinged to the side plate of the walking track 30 and the positioning block 11 on the support column 10 to enhance the stability of the walking track 30.

[0041] Working principle: The radial position of the walking track 30 is adjusted by the diameter-changing component 20 to match the inner diameter of the pipe. After the drive cylinder 24 is started, its lifting end 241 pushes the connecting block 23 to slide axially along the support column 10. The connecting block 23 drives the three circumferentially distributed walking tracks 30 to simultaneously expand outward or retract inward through the hinged connecting rod 21 until the walking tracks 30 are tightly fitted with the inner wall of the pipe. Subsequently, the drive device 40 starts to work, and the drive motor 41 outputs power to the drive gear 42. The drive gear 42 meshes with the rack on the inner side of the walking track 30, driving the entire device to move axially along the pipe. During the process, the camera 51 of the detection component 50 achieves 360° horizontal rotation around the pipeline axis via the horizontal rotating shaft of the L-shaped mounting platform 53. At the same time, the pitch angle is adjusted by the vertical rotating shaft of the connecting shaft. The micro motor receives external control signals to precisely control the horizontal and vertical rotation of the camera 51. Together with the circumferentially distributed searchlights 52, it provides illumination without blind spots and captures images of the inner wall of the pipeline in real time. In addition, the support arm 22 between the side plate of the walking track 30 and the positioning block 11 of the support column 10 forms a stable support through the hinge structure, which counteracts the vibration or lateral force during the walking process and ensures that the detection process is smooth and reliable.

[0042] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and all such equivalent transformations fall within the protection scope of the present invention.

Claims

1. A variable diameter in-pipe wall inspection device for monitoring the interior of a pipe, characterized by, The variable-diameter assembly (20) comprises: a connecting rod (21), a connecting block (23) and a driving cylinder (24), the walking track (30) is hinged to the connecting block (23) through the connecting rod (21), the connecting block (23) is connected with the jacking end (241) of the driving cylinder (24), the driving cylinder (24) is bolted on the bottom of the support column (10), and the connecting block (23) is sleeved on the support column (10); and a driving device (40) comprising a driving motor (41) and a driving gear (42), the driving motor (41) and the driving gear (42) are installed inside the walking track (30), the power output end of the driving motor (41) is engaged with the driving gear (42), and the driving gear (42) is engaged with the inner side of the walking track (30); and a detection assembly (50) comprising a camera (51) and a searchlight (52), the camera (51) is rotatably installed on the top of the support column (10), and the searchlight (52) is fixed on the support column (10) by bolts.

2. The variable diameter in-line pipe wall inspection apparatus of claim 1, wherein: The walking track (30) is provided with at least three, and the driving device (40) is installed in each walking track (30), the driving motor (41), the searchlight (52), the camera (51), the hydraulic cylinder and the external control device are electrically connected.

3. The variable diameter in-line pipe wall inspection apparatus of claim 2, wherein: The walking track (30) is also provided with at least two support arms (22), one end of the support arm (22) is hinged to the side plate of the walking track (30), and the other end of the support arm (22) is hinged to the support column (10).

4. The variable diameter in-line pipe wall inspection apparatus of claim 3, wherein: The searchlight (52) is provided with at least two, and the searchlight (52) is bolted on the support column (10).

5. The variable diameter in-line pipe wall inspection apparatus of claim 1, wherein: An L-shaped mounting table (53) is turned on the top of the support column (10), and the camera (51) is bolted on the mounting table (53).

6. The variable diameter in-line pipe wall inspection apparatus of claim 3, wherein: A plurality of positioning blocks (11) are arranged on the support column (10), and the support arm (22) is installed on the positioning block (11).

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