An internal inspection device for a large hydroelectric station pressure steel pipe

Abstract

The utility model relates to pipeline inspection technical field discloses a large -scale hydroelectric power station pressure steel pipe inside inspection device, including front seat and with the rear seat of front seat connection, the outer circle of rear seat is provided with a plurality of telescopic driven walking mechanism, the outer circle side of front seat is hinged with a plurality of initiative walking wheel mechanism, the detection mechanism and searchlight are provided on the one end of initiative walking wheel mechanism advancing direction of front seat, initiative adjusting mechanism is provided on the front seat, initiative adjusting mechanism includes sliding seat and telescopic electric jar, sliding seat is connected on the front seat, and the mounting lug is provided on sliding seat, the driving rod is hinged on the mounting lug, and the other end of driving rod is hinged with the one end of initiative walking wheel mechanism swing, telescopic electric jar sets up in the front seat, the output of telescopic electric jar is connected with sliding seat, and telescopic electric jar is used for driving sliding seat to slide on the front seat to make all initiative walking wheel mechanism relative front seat synchronous swing.

Description

Technical Field

[0001] This utility model relates to the field of pipeline inspection technology, and in particular to an internal inspection device for pressure steel pipes in large hydropower stations. Background Technology

[0002] The internal structure of pressure steel pipes in large hydropower stations is complex, featuring not only intricate routing but also pipes with both diameter changes and non-diameter changes. During long-term use, these pipes face numerous challenges. External interference and environmental factors such as soil can cause corrosion, and pipe fatigue can easily lead to cracks and other defects, ultimately causing pipe failure and accidents. Once an accident occurs, it not only affects the normal operation of the hydropower station but can also lead to serious safety hazards and economic losses. Therefore, regular pipeline inspections to promptly identify and address potential problems and ensure pipeline safety are crucial aspects of hydropower station operation.

[0003] Currently, pipeline inspection is mostly carried out by inspection robots. Previously, some devices could only move inside the pipeline for inspection, and when encountering large debris attached to the pipe, the inspection would be affected. Taking the underwater pipeline inspection robot disclosed in patent CN219994762U as an example, this patent has a clearing function, which can address debris problems to some extent. However, the inspection robot in this patent also has some drawbacks. Its wheels are only installed at the bottom of the vehicle body and are in a fixed position. When moving inside the pipeline, it is prone to tipping over when encountering obstacles and cannot automatically right itself, thus preventing further movement. In addition, the vehicle body structure has fixed dimensions, only suitable for inspecting pipelines of a specific diameter or larger. It is ineffective for inspecting pipelines with varying diameters, which limits its application in complex pipeline environments. Utility Model Content

[0004] To address existing problems, this utility model provides an internal inspection device for pressure steel pipes in large hydropower stations. By hinged the active walking wheel mechanism to the front seat and combining it with a connecting rod and slider, the active walking wheel mechanism forms an expandable and retractable traveling device to adapt to pipes of different sizes and shapes. The retractable trailing wheels on the rear seat increase the stability of travel and prevent overturning. The equipped motor enables automatic inspection of the inside of the steel pipe.

[0005] To achieve the above objectives, the present invention provides the following technical solution.

[0006] An internal inspection device for pressure steel pipes in a large hydropower station includes a front seat and a rear seat connected to the front seat. Several retractable driven walking mechanisms are arranged on the outer periphery of the rear seat, and several active walking wheel mechanisms are hinged to the outer periphery of the front seat. A detection mechanism and a searchlight are arranged on one end of the front seat along the forward direction of the active walking wheel mechanisms. An active adjustment mechanism is arranged on the front seat, including a sliding seat and a telescopic electric cylinder. The sliding seat is slidably connected to the front seat, and a mounting ear is provided on the sliding seat. A drive rod is hinged to the mounting ear, and the other end of the drive rod is hinged to one swinging end of the active walking wheel mechanism. The telescopic electric cylinder is located inside the front seat, and its output end is connected to the sliding seat. The telescopic electric cylinder is used to drive the sliding seat to slide on the front seat so that all the active walking wheel mechanisms swing synchronously relative to the front seat.

[0007] As a further improvement of this utility model, it also includes a mounting cylinder disposed between the front seat and the rear seat. The outer wall of the mounting cylinder is provided with a plurality of strip grooves. The sliding seat is disposed inside the mounting cylinder. All the mounting ears move through the corresponding strip grooves. The telescopic electric cylinder is disposed inside the mounting cylinder. One end of the drive rod is hinged to the mounting ear that extends out of the strip groove.

[0008] As a further improvement of this utility model, a connecting seat is provided on one end of the mounting cylinder near the rear seat, and the mounting cylinder is connected and fixed to the rear seat by means of bolts passing through the connecting seat, and the telescopic electric cylinder is fixed on the connecting seat.

[0009] As a further improvement of this utility model, the detection mechanism includes a camera device.

[0010] As a further improvement of this invention, the detection mechanism also includes an ultrasonic detector.

[0011] As a further improvement of this utility model, a protective cover is installed on the outer periphery of the detection mechanism on the front seat.

[0012] As a further improvement of this utility model, the active walking wheel mechanism includes a mounting arm, a mounting base disposed at one end of the mounting arm, a drive motor disposed on the mounting base, and an active wheel disposed on the rotating end of the drive motor; one end of the mounting arm is hinged to the outer wall of the front seat, and the swinging end of the mounting arm is hinged to the end of the drive rod corresponding to the swinging end of the mounting arm.

[0013] As a further improvement of this utility model, the driven walking mechanism includes a protective cylinder and a hydraulic telescopic rod. The protective cylinder is disposed on the outer periphery of the rear seat, and the protective cylinder is sleeved on the hydraulic telescopic rod. One end of the hydraulic telescopic rod extending out of the protective cylinder is rotatably connected to a driven wheel.

[0014] As a further improvement of this utility model, the rear seat is provided with an installation cavity, and a battery and a control board are provided in the installation cavity. The battery is electrically connected to the control board, and the control board is electrically connected to all the active walking wheel mechanisms, telescopic electric cylinders, and hydraulic telescopic rods.

[0015] As a further improvement of this utility model, a shock-absorbing connector is provided between the front seat and the rear seat, and the shock-absorbing connector blocks the opening of the mounting cavity.

[0016] This utility model has the following beneficial effects: By installing a sliding seat on the front seat that can be driven by a telescopic electric cylinder, the drive rod hinged to the active walking wheel mechanism is activated, allowing the active walking wheel mechanism to swing in the forward direction. This design makes the inspection device compact and flexible, better adapting to the complex and varied internal routing and different pipe diameters of the pressure steel pipe. When encountering pipe diameter changes or bends, the active walking wheel mechanism can work in conjunction with the telescopic driven walking mechanism to adjust synchronously forward and backward, ensuring stable movement of the device and improving the reliability and comprehensiveness of the inspection. The searchlight provides sufficient light for the camera equipment, ensuring clear imaging even inside the pipe with insufficient light, improving the accuracy and comprehensiveness of the inspection, and enabling timely detection of potential problems inside the pipe.

[0017] Preferably, an mounting cylinder is provided, and the sliding seat, telescopic electric cylinder, etc. are placed inside the mounting cylinder, making the structure more compact. At the same time, the design of the strip groove ensures the flexible movement of the mounting ears, thereby ensuring the normal swing of the active walking wheel mechanism and improving the stability and reliability of the overall structure of the device.

[0018] Preferably, the mounting cylinder is connected and fixed to the rear seat by a connecting seat and bolts, which facilitates installation and disassembly and makes it easier to maintain and repair the internal components of the device; fixing the telescopic electric cylinder to the connecting seat ensures the stability of the telescopic electric cylinder and facilitates its low-loss driving of the sliding seat inside the front seat.

[0019] Preferably, a camera and a searchlight are installed on one side of the front seat along the direction of travel. The camera can record the internal condition of the pressure steel pipe, allowing staff to have a direct understanding of the pipe's internal condition.

[0020] Preferably, an ultrasonic monitoring device is installed on one side of the front seat along the direction of travel. Utilizing the principle of ultrasonic wave reflection, it can detect defects such as wall thickness and cracks inside the pressure steel pipe. This non-contact detection method can more accurately detect defects inside the pipe that are not easily noticeable, provide early warning of potential problems, and offer a reliable basis for pipe maintenance and repair, ensuring the safe operation of the hydropower station's pressure steel pipe.

[0021] Preferably, the protective cover can effectively protect the testing equipment (such as camera equipment and ultrasonic detectors) from damage caused by external factors such as collisions, dust, and moisture during the inspection process, thereby extending the service life of the testing equipment and ensuring the normal operation of the testing work.

[0022] Preferably, this active walking wheel mechanism, through the hinge of the swing arm and the drive motor to drive the active wheel to rotate, can flexibly realize the walking function. In addition, in conjunction with the active adjustment mechanism, the walking posture can be adjusted according to the internal conditions of the pressure steel pipe, thereby improving the walking performance and adaptability of the device.

[0023] Preferably, the protective sleeve protects the hydraulic telescopic rod from damage caused by external impacts; the length of the hydraulic telescopic rod can be adjusted as needed to allow the driven wheel to better adapt to the terrain inside the pressure steel pipe, ensuring the stability of the device's movement.

[0024] Preferably, an installation cavity is provided to centrally house the battery and control board, which facilitates management and maintenance; the battery provides power to the device, and the control board can uniformly control the operation of the active walking wheel mechanism, telescopic electric cylinder and hydraulic telescopic rod, so as to realize the automated operation and precise control of the device.

[0025] Optionally, the shock-absorbing connector can reduce the vibration transmission between the front and rear seats during the device's movement, reduce the impact of vibration on internal components (such as batteries, control boards, etc.), and improve the stability and reliability of the device; at the same time, it can seal the opening of the mounting cavity, providing a certain degree of protection and preventing dust, moisture, etc. from entering the mounting cavity. Attached Figure Description

[0026] The accompanying drawings described herein are for illustrative purposes only and do not limit the scope of this invention in any way. Furthermore, the shapes and proportions of the components in the drawings are merely schematic to aid in understanding the invention and do not specifically limit the shapes and proportions of the components. In the drawings: Figure 1 This is a schematic diagram of the internal inspection device for pressure steel pipes in a large hydropower station as described in Example 1. Figure 1 ; Figure 2 This is a schematic diagram of the internal inspection device for pressure steel pipes in a large hydropower station as described in Example 1. Figure 2 ; Figure 3 This is an exploded view of an internal inspection device for pressure steel pipes in a large hydropower station as described in Example 1. Figure 4 This is a cross-sectional view of the internal inspection device for pressure steel pipes in a large hydropower station as described in Example 1. Figure 5This is a cross-sectional view of an internal inspection device for pressure steel pipes in a large hydropower station as described in Example 2. Among them, 10 is the front seat; 20 is the rear seat; 30 is the driven walking mechanism; 40 is the driving walking wheel mechanism; 50 is the detection mechanism; 60 is the searchlight; 70 is the active adjustment mechanism; 11 is the mounting cylinder; 12 is the strip groove; 13 is the connecting seat; 14 is the bolt; 15 is the protective cover; 21 is the mounting cavity; 22 is the storage battery; 23 is the control board; 24 is the shock-absorbing connecting piece; 31 is the protective cylinder; 32 is the hydraulic telescopic rod; 33 is the driven wheel; 41 is the mounting swing arm; 42 is the mounting seat; 43 is the drive motor; 44 is the driving wheel; 45 is the hinge shaft; 51 is the camera equipment; 52 is the ultrasonic detector; 71 is the sliding seat; 72 is the telescopic electric cylinder; 73 is the mounting ear; and 74 is the drive rod. Detailed Implementation

[0027] To enable those skilled in the art to better understand the technical solutions of this utility model, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this utility model.

[0028] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only embodiments.

[0029] Unless otherwise defined below, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0030] Example 1 like Figure 1 and 2As shown, a large hydropower station pressure steel pipe internal inspection device includes a front seat 10 and a rear seat 20 connected to the front seat 10; the rear seat 20 is provided with several retractable driven walking mechanisms 30 on its outer periphery, and the front seat 10 is hinged with several active walking wheel mechanisms 40 on its outer periphery; a detection mechanism 50 and a searchlight 60 are provided on one end of the front seat 10 along the forward direction of the active walking wheel mechanisms 40; an active adjustment mechanism 70 is provided on the front seat 10, the active adjustment mechanism 70 including a sliding seat 71 and a telescopic electric cylinder 72, the sliding seat 71... The sliding seat 71 is slidably connected to the front seat 10. The sliding seat 71 is provided with a mounting ear 73, and a drive rod 74 is hinged to the mounting ear 73. The hinge axis 45 of the drive rod 74 is perpendicular to the forward direction of the front seat 1. The other end of the drive rod 74 is hinged to the swinging end of the active walking wheel mechanism 40. The telescopic electric cylinder 72 is provided inside the front seat 10. The output end of the telescopic electric cylinder 72 is connected to the sliding seat 71. The telescopic electric cylinder 72 is used to drive the sliding seat 71 to slide on the front seat 10 so that all the active walking wheel mechanisms 40 swing synchronously relative to the front seat 10.

[0031] This large-scale hydropower station's internal inspection device for pressure steel pipes is an improvement upon existing inspection equipment. It incorporates multiple sets of active walking wheel mechanisms 40 capable of swinging relative to the front seat 10. An active adjustment mechanism 70 synchronously adjusts the swing angle of all active walking wheel mechanisms 40 relative to the front seat 10, thereby controlling the overall size of the inspection device's outer contour. This design allows the inspection device to better adapt to the complex and varied internal routing and different pipe diameters of the pressure steel pipes. When encountering pipe diameter changes or bends, the active walking wheel mechanisms 40 can flexibly adjust, ensuring stable movement of the device and improving the reliability and comprehensiveness of the inspection. Furthermore, the telescopic design of the driven walking mechanism 30 allows for automatic adaptation to the inner wall of the pipe.

[0032] Specifically, the sliding seat 71 can be a slip ring structure, which is fitted onto the corresponding sliding structure of the front seat 10, facilitating sliding. Simultaneously, the telescopic electric cylinder 72 is also adaptively installed on the outer wall of the front seat 10. In this embodiment, the sliding seat 71 and the drive rod 74 form a slider-linkage structure. The telescopic electric cylinder 72 then drives the sliding seat 71 to slide relative to the front seat 10, resulting in a smoother driving effect and eliminating jamming.

[0033] To prevent external debris from restricting the sliding motion of the sliding seat 71 relative to the front seat 10, and to better protect the telescopic electric cylinder 72, such as... Figure 1 and Figure 2As shown, a mounting cylinder 11 is provided between the front seat 10 and the rear seat 20. The outer wall of the mounting cylinder 11 has several strip-shaped grooves 12 along the axial direction, which are adapted to all the active walking wheel mechanisms 40. The sliding seat 71 is slidably installed inside the mounting cylinder 11, and the telescopic electric cylinder 72 is fixedly installed inside the mounting cylinder 11. All the mounting ears 73 move through the corresponding strip-shaped grooves 12. One end of the drive rod 74 is hinged to the end of the mounting ear 73 that protrudes from the strip-shaped groove 12. Sealing strips are provided on both sides of the strip-shaped groove 12 along its length, and the two sealing strips cooperate to seal. The mounting ears 73 can pass through the gap between the two sealing strips. Since the telescopic electric cylinder 72 is located inside the mounting cylinder 11, the overall protective performance is improved. Furthermore, in this application, the mounting cylinder 11 can also serve as a sliding guide structure for the sliding seat 71, supporting the sliding seat 71.

[0034] See Figure 3 and Figure 4 In an improved embodiment of this application, a connecting seat 13 is provided on one end of the mounting cylinder 11 near the rear seat 20. The mounting cylinder 11 is connected and fixed to the rear seat 20 by bolts 14 passing through the connecting seat 13. The telescopic electric cylinder 72 is mounted and fixed on the mounting position of the connecting seat 13. The connecting seat 13 and the mounting cylinder 11 can be a detachable structure, which facilitates the later installation of the sliding seat 71; alternatively, the two can also be integrally formed, in which case the sliding seat 71 and the mounting ear 73 are designed to be detachable in order to install the sliding seat 71. The mounting position is actually a mounting groove structure for accommodating and installing the telescopic electric cylinder 72.

[0035] The detection mechanism 50 includes a camera device 51. The detection mechanism 50 also includes an ultrasonic detector 52.

[0036] Specifically, the inspection mechanism 50 described in this application includes a camera device 51 and an ultrasonic detector 52. These are commonly used inspection devices, mainly used for ultrasonic flaw detection and video photography of the inner wall of the pipeline, facilitating staff to inspect and understand the condition of the inner wall of the pipeline. This will not be described in detail here. The searchlight 60 in this application is mainly installed on one side and around the front seat 10 in the direction of travel, which facilitates the camera device 51 to take pictures.

[0037] To enable autonomous walking, each of the active walking wheel mechanisms 40 includes a mounting arm 41, a mounting base 42 disposed at one end of the mounting arm 41, and a drive motor 43 mounted on the mounting base 42. A drive wheel 44 is disposed on the rotating end of the drive motor 43. One end of the mounting arm 41 is hinged to the outer wall of the front seat 10, and the movable end of the mounting arm 41 is hinged to the corresponding end of the drive rod 74. In this application, four sets of active walking wheel mechanisms 40 are provided, along with four sets of corresponding drive rods 74 and mounting ears 73. This structural design ensures the relative stability of the entire front seat 10, enabling it to walk steadily within the pipe.

[0038] Each of the driven walking mechanisms 30 includes a protective cylinder 31 and a hydraulic telescopic rod 32 disposed within the protective cylinder 31. The protective cylinder 31 is mounted on the outer periphery of the rear seat 20, and a driven wheel 33 is rotatably mounted on the outward end of the hydraulic telescopic rod 32. The protective cylinder 31 can be installed at a certain inclined angle relative to the rear seat 20, which facilitates the automatic retraction of the hydraulic telescopic rod 32 under pressure from the pipe wall. The hydraulic telescopic rod 32 is a common component and can employ a hydraulic rod mechanism similar to that of a car tailgate, eliminating the need for an external hydraulic drive device. Of course, in some embodiments, the hydraulic telescopic rod 32 can be replaced with a spring to achieve the same function.

[0039] To facilitate the installation of internal electronic components, such as Figure 4 As shown, the rear seat 20 has a mounting cavity 21, which houses a battery 22 and a control board 23. The battery 22 is electrically connected to the control board 23, and the control board 23 is electrically connected to all the active walking wheel mechanisms 40 and the telescopic electric cylinder 72. The control board 23 is actually electrically connected to the drive motor 43 within the active walking wheel mechanism 40. It should be noted that the control system composed of the control board 23, the telescopic electric cylinder 72, and the drive motor 43 is quite common. Reference can be made to the technical solutions in existing technologies CN 118998514A - A Water Pipeline Inner Wall Inspection Equipment or CN221248854U - A Workshop Inspection Robot with an Obstacle-Crossing Mechanism. Details are not provided in this application.

[0040] A shock-absorbing connector 24 is provided between the front seat 10 and the rear seat 20, and the shock-absorbing connector 24 blocks the opening of the mounting cavity 21.

[0041] Specifically, to improve protection, a shock-absorbing connector 24 is provided between the mounting cylinder 11 and the rear seat 20. The shock-absorbing connector 24 seals the opening of the mounting cavity 21. The shock-absorbing connector 24 is actually a rubber component, which, in addition to buffering the vibration between the front seat 10 and the rear seat 20, also provides bending buffering between the mounting cylinder 11 and the rear seat 20, adapts to pipe bending, and seals the openings of the mounting cylinder 11 and the mounting cavity 21, achieving three benefits in one. It should be noted that the shock-absorbing connector 24 is provided with a wiring hole to facilitate the wiring between the control board 23, the telescopic electric cylinder 72, and the drive motor 43.

[0042] Example 2 The difference between this embodiment and Embodiment 1 is that: 1) A rotating mechanism is provided on the rear seat 20, and the front seat 10 is mounted on the rotating mechanism. The rotating mechanism includes a rotating motor 25, which is mounted on the rear seat 20.

[0043] like Figure 5 As shown, during the entire movement of the device, if the front seat 10 and the rear seat 20 are relatively fixed, if the active walking wheel mechanism 40 on the front seat 10 slips against the pipe wall, or if an obstacle appears in the pipe and happens to block the forward movement of any active walking wheel mechanism 40, the entire device will obviously have difficulty moving forward. To enable the entire inspection device to continue moving forward, in one embodiment of this application, a rotating mechanism is provided on the rear seat 20, and the front seat 10 is mounted on the rotating mechanism. The rotating mechanism includes a rotating motor 25, which is mounted on the rear seat 20, but actually installed inside the shock-absorbing connector 24. The shock-absorbing connector 24 and the mounting cylinder 11 are connected by friction, and the mounting cylinder 11 is mounted on the rotating shaft of the rotating motor 25 through a mounting structure. The rotating motor 25 is electrically connected to the control board 23. In this embodiment, there is no bolt 14 structure, and the front seat 10 is only mounted on the rotation center of the rotating motor 25. In fact, a cover is provided inside the mounting cylinder 11, and the rotating shaft of the rotating motor 25 is mounted on the cover.

[0044] When slippage occurs between the active walking wheel mechanism 40 and the pipe wall, or when an obstacle appears inside the pipe, the operator can control the active telescopic cylinder 72 via the control system to adjust the angle between the walking wheel mechanism 40 and the front seat 10, making the angle smaller. This prevents multiple active walking wheel mechanisms 40 from working together to jam against the inner wall of the pipe and reduces friction between the active walking wheel mechanism 40 and the pipe wall during rotation. Then, the rotary motor 25 is controlled to rotate. At this time, the active walking wheel mechanism 40 can adjust its relative position to the pipe wall. Then, all the active walking wheel mechanisms 40 open, so that at least some of the active walking wheel mechanisms 40 abut against the pipe wall. This avoids the slippage area or the obstacle, allowing the entire inspection device to continue moving forward.

[0045] Example 3 The difference between this embodiment and Embodiment 1 is that: The front seat 10 and the rear seat 20 are directly connected by male and female threads, facilitating production and assembly. Threaded connections only require cutting threads directly into the connected parts (such as studs or screws), eliminating the need for pre-drilled through holes, making them particularly suitable for connecting parts with varying thicknesses. For example, if one side of the front seat 10 or the rear seat 20 is a thick-walled structure and the other is a thin-walled structure, a threaded connection can reduce space occupation and improve structural compactness. Furthermore, screws or studs are generally lighter than bolt + nut combinations, especially for equipment like inspection devices that require frequent movement or suspended operation; lightweighting reduces energy consumption and improves operational flexibility. Bolted connections, on the other hand, require pre-drilled through holes in both connected parts, demanding high consistency in part thickness. Significant thickness differences may lead to reduced connection rigidity or require additional design.

[0046] Example 4 The difference between this embodiment and Embodiment 1 is that: A protective cover 15 is installed on the front seat 10 on the outer periphery of the detection mechanism 50.

[0047] In one embodiment of this application, in order to protect the detection mechanism 50 and prevent it from colliding with obstacles during its forward movement and damaging the detection mechanism 50, a protective cover 15 is installed on the front seat 10 on the outer periphery of the detection mechanism 50.

[0048] The protective cover 15 can effectively protect the testing mechanism 50 (such as the camera equipment 51 and the ultrasonic detector 52) from damage caused by external factors such as collision, dust, and water vapor during the inspection process, extend the service life of the testing mechanism 50, and ensure the normal operation of the testing work.

[0049] Advantages of this utility model: The active walking wheel mechanism in this application uses a linkage-slider structure design. A motor drives the slider to slide within the front seat, and a drive rod drives the active walking wheel mechanism to swing relative to the front seat. It actively adapts to different pipe diameters. Because of this active adaptation, the friction between the active walking wheel mechanism and the pipe wall can be adjusted, resulting in overall adjustable friction, low forward resistance, and strong overall passability. In contrast, some existing technologies use springs to connect the drive rod and the front seat. The springs act as damping supports relative to the front seat and cannot actively drive the adjustment of the swing angle between the drive rod and the front seat. Furthermore, as the pipe diameter decreases, the springs are compressed more, increasing the friction between the active wheel and the pipe wall, thus increasing forward resistance. If there are obstacles inside the pipe, the excessive friction can easily jam the entire device, making passage difficult. While a soft spring solves the problem of the drive rod swinging relative to the front seat, it is insufficient to support the drive rod, making it difficult to maintain the height between the front seat and the bottom of the pipe wall. Conversely, a stiff spring makes it difficult for the drive rod to swing relative to the front seat. Therefore, its ease of use is insufficient in actual testing of variable pipe diameters.

[0050] The above embodiments are merely one of the implementation methods for achieving the technical solution of this utility model. The scope of protection claimed by this utility model is not limited to this embodiment, but also includes any variations, substitutions, and other implementation methods that are easily conceived by those skilled in the art within the scope of the technology disclosed in this utility model. Although embodiments of this utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of this utility model. The scope of this utility model is defined by the appended claims and their equivalents.

Claims

1. A device for inspecting the internal structure of pressure steel pipes in a large hydropower station, characterized in that, Includes a front seat (10) and a rear seat (20) connected to the front seat (10); the rear seat (20) is provided with several retractable driven walking mechanisms (30) on its outer periphery, and the front seat (10) is hinged with several active walking wheel mechanisms (40) on its outer periphery; the front seat (10) is provided with a detection mechanism (50) and a searchlight (60) at one end along the forward direction of the active walking wheel mechanism (40); the front seat (10) is provided with an active adjustment mechanism (70), the active adjustment mechanism (70) includes a sliding seat (71) and a telescopic electric cylinder (72), the sliding seat (71) 71) Sliding connection to the front seat (10), the sliding seat (71) is provided with mounting ears (73), the mounting ears (73) are hinged with a drive rod (74), the other end of the drive rod (74) is hinged to one end of the active walking wheel mechanism (40) swinging; the telescopic electric cylinder (72) is provided in the front seat (10), the output end of the telescopic electric cylinder (72) is connected to the sliding seat (71), the telescopic electric cylinder (72) is used to drive the sliding seat (71) to slide on the front seat (10) so that all the active walking wheel mechanisms (40) swing synchronously relative to the front seat (10).

2. The internal inspection device for pressure steel pipes in a large hydropower station according to claim 1, characterized in that, It also includes a mounting cylinder (11) disposed between the front seat (10) and the rear seat (20). The outer wall of the mounting cylinder (11) is provided with several strip grooves (12). The sliding seat (71) is disposed in the mounting cylinder (11). All the mounting ears (73) move through the corresponding strip grooves (12). The telescopic electric cylinder (72) is disposed in the mounting cylinder (11). One end of the drive rod (74) is hinged to the mounting ear (73) that passes through the strip groove (12).

3. The internal inspection device for pressure steel pipes in a large hydropower station according to claim 2, characterized in that, The mounting cylinder (11) is provided with a connecting seat (13) at one end near the rear seat (20). The mounting cylinder (11) is connected and fixed to the rear seat (20) by means of bolts (14) passing through the connecting seat (13). The telescopic electric cylinder (72) is fixed on the connecting seat (13).

4. The internal inspection device for pressure steel pipes in a large hydropower station according to claim 1, characterized in that, The testing facility (50) includes a camera device (51).

5. The internal inspection device for pressure steel pipes in a large hydropower station according to claim 1, characterized in that, The detection mechanism (50) also includes an ultrasonic detector (52).

6. A device for inspecting the internal structure of a large hydropower station's pressure steel pipe according to claim 4 or 5, characterized in that, The front seat (10) is covered with a protective cover (15) on the outer periphery of the detection mechanism (50).

7. The internal inspection device for pressure steel pipes in a large hydropower station according to claim 1, characterized in that, The active walking wheel mechanism (40) includes a mounting arm (41), a mounting base (42) disposed at one end of the mounting arm (41), a drive motor (43) disposed on the mounting base (42), and an active wheel (44) disposed on the rotating end of the drive motor (43); one end of the mounting arm (41) is hinged to the outer wall of the front seat (10), and one swinging end of the mounting arm (41) is hinged to the end of the drive rod (74).

8. The internal inspection device for pressure steel pipes in a large hydropower station according to claim 1, characterized in that, The driven walking mechanism (30) includes a protective cylinder (31) and a hydraulic telescopic rod (32). The protective cylinder (31) is disposed on the outer periphery of the rear seat (20). The protective cylinder (31) is sleeved on the hydraulic telescopic rod (32). One end of the hydraulic telescopic rod (32) extending out of the protective cylinder (31) is rotatably connected to a driven wheel (33).

9. The internal inspection device for pressure steel pipes in a large hydropower station according to claim 1, characterized in that, The rear seat (20) is provided with an installation cavity (21), and the installation cavity (21) is provided with a battery (22) and a control board (23). The battery (22) is electrically connected to the control board (23), and the control board (23) is electrically connected to all the active walking wheel mechanisms (40), telescopic electric cylinders (72) and hydraulic telescopic rods (32).

10. The internal inspection device for pressure steel pipes in a large hydropower station according to claim 9, characterized in that, A shock-absorbing connector (24) is provided between the front seat (10) and the rear seat (20), and the shock-absorbing connector (24) blocks the opening of the mounting cavity (21).

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