Pipeline detection device with obstacle crossing function

Abstract

The utility model relates to the field of pipeline detection, specifically relates to a pipeline detection equipment with obstacle -crossing function, include: support main part and connect the obstacle -crossing type walking mechanism at both ends, the outer peripheral wall of support main part is equipped with not less than one periscope type detection mechanism, the both ends of support main part are equipped with the drive mechanism that drives the rotation of obstacle -crossing type walking mechanism, and obstacle -crossing type walking mechanism includes flange bearing seat one, mounting seat subassembly and conical gear seat that are coaxially arranged in turn along support main part axis direction, and the surface interval of mounting seat subassembly is equipped with three caterpillar band type walking subassembly. Through conical gear seat drive screw rotation, realize caterpillar band type walking subassembly contraction and guide wheel subassembly stretch out, cooperate drive motor no.

Description

Technical Field

[0001] This utility model relates to the field of pipeline inspection, and in particular to a pipeline inspection device with obstacle-crossing function. Background Technology

[0002] Pipeline inspection equipment is a type of intelligent equipment specifically designed for enclosed / semi-enclosed cavities in industrial, municipal, and special pipelines. It integrates inspection, driving, positioning, and data processing modules to perform non-destructive inspection or condition monitoring of defects on the inner and outer walls of pipelines, their operational status, and the surrounding environment. Its core purpose is to accurately identify pipeline defects such as corrosion, cracks, deformation, leaks, scaling, and foreign matter accumulation without compromising the pipeline's structural integrity. It outputs data on defect location, size, severity, and overall pipeline health status, providing reliable scientific data for pipeline maintenance, repair, replacement, and full lifecycle management.

[0003] However, in actual pipeline inspection conditions, the inventors discovered that traditional pipeline inspection equipment has significant technical defects: the walking mechanism design of existing pipeline inspection equipment is mostly only suitable for the flat inner wall surface of the pipeline, lacking the ability to actively respond to complex obstacles inside the pipeline; while in actual industrial and municipal pipelines there are generally rigid obstacles such as welds, flange joints, and local protrusions. When the equipment travels to such obstacle areas, it is prone to jamming, overturning, or collision between the detection probe and the obstacle, resulting in problems such as interruption of the inspection task, missed inspection of the target section, or increased inspection costs and operational risks due to equipment failure, which seriously affects the continuity, integrity and reliability of pipeline inspection and cannot meet the pipeline inspection needs under complex working conditions. Utility Model Content

[0004] The main technical problem solved by this utility model is to provide a pipeline inspection device with obstacle-crossing function. When encountering various rigid obstacles, it can achieve obstacle-crossing function, thereby preventing problems such as jamming, machine overturning, or damage caused by collision between the inspection probe and the obstacle, so as to ensure the stability of pipeline inspection.

[0005] To solve the above-mentioned technical problems, the present invention provides a pipeline inspection device with obstacle-crossing function, comprising: a support body and obstacle-crossing walking mechanisms connected to its two ends. The outer peripheral wall of the support body is provided with at least one periscope inspection mechanism. The two ends of the support body are respectively provided with driving mechanisms for driving the obstacle-crossing walking mechanism to rotate. The obstacle-crossing walking mechanism includes a flange bearing seat, a mounting seat assembly and a bevel gear seat arranged coaxially along the axis of the support body. The surface of the mounting seat assembly is provided with three tracked walking components spaced apart. A guide wheel assembly connected to the mounting seat assembly is provided between two adjacent tracked walking components. The tracked walking assembly and the guide wheel assembly are respectively provided with transmission components on the side near the mounting base assembly. The transmission component includes a screw and a guide rod. One end of the screw is provided with a bevel gear that meshes with the bevel gear seat. The guide rod is connected to the side wall of the mounting base assembly. One end of the inner side of the support body is provided with a drive motor that drives the bevel gear seat to rotate. When the bevel gear seat rotates, the tracked walking assembly and the guide wheel assembly move in opposite linear directions along the axis of the guide rod.

[0006] By adopting the above technical solution, the periscope inspection mechanism can flexibly adjust the inspection angle, breaking through the visual limitations of fixed inspection probes. It is used to collect images and status data of defects on the inner wall of pipelines, and works in conjunction with the walking mechanism to maintain inspection continuity during obstacle crossing. The drive mechanism drives the walking mechanism to rotate 360° around the axis of the supporting main body, adjusting the force direction and contact angle of the walking mechanism to adapt to complex shapes such as pipeline elbows and branch pipe interfaces. When the equipment encounters rigid obstacles such as welds and protrusions, the drive motor drives the bevel gear seat to rotate. Through the meshing transmission between the bevel gear and the bevel gear seat, the screws are driven to rotate synchronously, thereby achieving: the tracked walking component retracts outward along the guide rod, and the guide wheel component extends outward along the guide rod, jointly increasing the contact radius between the equipment and the inner wall of the pipeline. At the same time, it works with the drive mechanism to drive the obstacle-crossing walking mechanism to rotate around the axis of the supporting main body, changing the walking angle direction of the tracked walking component and actively crossing the obstacle. After crossing the obstacle, the drive motor rotates in the opposite direction, driving the tracked walking component and the guide wheel component to reset in the opposite direction and restore the normal walking posture.

[0007] In a preferred embodiment, the present invention can be further configured as follows: the mounting base assembly includes a hexagonal mounting plate with a circular hole, L-shaped connecting plates are integrally formed on the six sides of the hexagonal mounting plate, nut seats are connected to the inner sides of the L-shaped connecting plates, the nut seats are threadedly engaged with the screw, the guide rod is connected to the outer wall of the L-shaped connecting plate, and a rotating shaft is connected inside the circular hole of the hexagonal mounting plate, the rotating shaft is connected to the bevel gear seat.

[0008] By adopting the above technical solution, the hexagonal structure provides a precise installation reference for the three tracked walking components and the three guide wheel components through six circumferentially evenly distributed sides. The L-shaped connecting plate is connected to the hexagonal mounting plate by an integrated molding process, avoiding structural weaknesses caused by welding or bolting. The inner side is reserved for nut seat mounting surface, and the outer side is reserved for guide rod mounting surface, forming a layout of inner transmission and outer guidance. At the same time, the precise cooperation between the nut seat and the screw drives the tracked walking components and guide wheel components to extend and retract along the guide rod.

[0009] In a preferred embodiment, the present invention can be further configured as follows: the tracked walking assembly includes a support frame and side plates connected to both sides thereon. The support frame has a guide chamfer on the side near the pipe and along its traveling direction. The support frame is threadedly connected to a screw. The guide rod slides through the support frame. On the opposite side of the side plate, there are flange bearing seats two installed at their corners. Track wheels are connected to the flange bearing seats two. The assembly also includes two walking tracks. The two walking tracks cover all the track wheels on the corresponding side and are engaged with them. Two servo worm gear reducers are provided on the inner side of the support frame. The output shafts of the servo worm gear reducers are respectively arranged in opposite directions and connected to one of the track wheels on the corresponding side. The cross-sectional shape of the support frame and the walking track is consistent.

[0010] By adopting the above technical solution, the guide chamfer forms an introductory contact surface. When crossing obstacles, the inclined surface first contacts rigid obstacles such as welds and protrusions, guiding the support frame to gradually adjust its posture, avoiding direct impact of obstacles on the frame body or tracks, and reducing contact resistance and impact. At the same time, the servo worm gear reducer motor drives the track wheels to rotate, so that the walking track and the whole move forward. In addition, the output shaft of the servo worm gear reducer motor is set in opposite directions and fixedly connected to one track wheel on the corresponding side, realizing independent drive of the tracks on both sides. Independent drive enables the components to achieve differential steering, and the cross-sectional shape of the support frame and the walking track is consistent, ensuring that the walking track completely fits the outer contour of the support frame, avoiding gaps between the track and the frame, ensuring uniform tension distribution of the track, and ensuring that the track deforms synchronously when the components extend and retract, without wrinkling or derailment. Finally, the guide wheel assembly and drive mechanism work together to complete the obstacle crossing.

[0011] In a preferred embodiment, the present invention can be further configured such that: the guide wheel assembly includes an L-shaped base and a U-shaped base connected to its end, a rubber roller is rotatably connected to the inner side of the U-shaped base, the screw is threadedly connected to the L-shaped base, and the guide rod is slidably inserted on the L-shaped base.

[0012] By adopting the above technical solution, the L-shaped base is connected to the screw of the transmission component through a threaded structure, receiving rotational power and converting it into linear telescopic action; on the other hand, the guide rod is inserted through a sliding fit to ensure accurate telescopic direction. Meanwhile, the U-shaped base realizes the rotational assembly of the rubber roller through a pin, and when the rubber roller crosses an obstacle, it directly contacts the inner wall of the pipe or the obstacle, using rolling friction instead of sliding friction to reduce resistance.

[0013] In a preferred embodiment, the present invention can be further configured as follows: an installation groove matching the periscope detection mechanism is provided on the outer wall of the support body. The periscope detection mechanism includes a swing arm rotatably connected in the installation groove. The free ends of the two swing arms are connected to a gimbal. A camera is mounted on the gimbal. The mechanism also includes an electric push rod that drives the swing arm to swing. One end of the electric push rod is connected to a hinge ring, and the other end is provided with a hinge seat connected to the inner wall of the installation groove. The hinge ring is connected to the swing arm through a pin.

[0014] By adopting the above technical solution, the mounting slot is a dedicated installation space for the periscope inspection mechanism. Its size is precisely matched with the outline of the mechanism, realizing the embedded assembly of the mechanism and avoiding collision damage caused by the exposed mechanism. During obstacle crossing, the electric push rod responds synchronously to the changes in the posture of the equipment. Through the telescopic movement, the swing arm drives the pan-tilt unit and camera to swing up and down, realizing the precise adjustment of the camera detection angle. Furthermore, the pan-tilt unit's posture compensation function expands the detection field of view, while ensuring that the camera is always perpendicular to the inner wall of the pipe.

[0015] In a preferred embodiment, the present invention can be further configured as follows: the driving mechanism includes an internal toothed slewing bearing and a driving gear meshing with it; the internal toothed slewing bearing is fixedly connected to a flange bearing seat; a second driving motor is connected to one end of the inner side of the support body; and the output shaft of the second driving motor is connected to the driving gear.

[0016] By adopting the above technical solution, the second drive motor drives the drive gear to rotate, and the drive gear meshes with the internal tooth slewing bearing, so that it drives the flange bearing seat one and the entire obstacle-crossing walking mechanism to rotate around the axis of the support body; thereby cooperating with the track retraction and guide wheel extension of the obstacle-crossing walking mechanism to realize the turning and obstacle crossing posture optimization of the equipment in the pipeline.

[0017] In a preferred embodiment, this utility model can be further configured such that an auxiliary connecting ring rod is provided on the axis of the bevel gear seat opposite to the moving direction of the obstacle-crossing walking mechanism.

[0018] By adopting the above technical solution, when the equipment is stuck or loses power in the pipeline and cannot return on its own, the auxiliary connecting ring rod can be used as a traction force point. Through the external traction tool of the pipeline, the equipment can be recovered without excavation.

[0019] In a preferred embodiment, the present invention can be further configured such that the interior angle of the guide chamfer is greater than 100°.

[0020] By adopting the above technical solution, the gently sloping structure with an inner angle greater than 100° creates a large contact surface and a low-slope guide path when the support frame comes into contact with rigid obstacles such as welds and protrusions. This avoids obstacles getting stuck in the gap between the sloping angle and the track due to excessively steep angles, and guides the equipment to smoothly transition over obstacles.

[0021] In summary, the present invention includes at least one of the following beneficial technical effects of pipeline inspection equipment with obstacle-crossing function: The screw is driven to rotate by a bevel gear seat, which enables the retraction of the tracked walking component and the extension of the guide wheel component. In conjunction with the second drive motor, the walking angle is adjusted by rotation. The rubber rollers fit against the inner wall of the pipe to reduce resistance. The guide chamfer angle guides the equipment to adjust its posture and disperses contact stress. Combined with the walking force of the tracked walking component, the obstacle crossing function is realized, thereby ensuring the continuity of the inspection task.

[0022] By dynamically adjusting the camera angle using a swing arm, pan-tilt unit, and electric actuator, images of the inner wall of the pipeline are acquired in real time and transmitted to the ground terminal in real time, thereby achieving full coverage of the inner wall of the pipeline and improving the integrity and reliability of the inspection. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein: Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a schematic diagram of the obstacle-crossing walking mechanism of this utility model; Figure 3 This is a schematic diagram of the tracked walking assembly of this utility model; Figure 4 This is a schematic diagram of the periscope-type detection mechanism of this utility model; Figure 5 This is a schematic diagram of the drive mechanism of this utility model; Figure 6 This is a schematic diagram of the mounting base assembly of this utility model; Figure 7 This is the front view of the present invention.

[0024] In the diagram: 1. Support body; 20. Obstacle-crossing walking mechanism; 30. Periscope detection mechanism; 40. Drive mechanism; 5. Mounting slot; 6. Auxiliary connecting ring rod; 21. Flange bearing housing 1; 22. Mounting base assembly; 23. Bevel gear housing; 24. Tracked travel assembly; 25. Guide wheel assembly; 26. Transmission assembly; 31. Swing arm; 32. Pan / Tilt head; 33. Camera; 34. Electric linear actuator; 35. Hinge ring; 36. Hinge base; 41. Internal gear slewing bearing; 42. Drive gear; 43. Drive motor II; 221. Hexagonal mounting plate; 222. L-shaped connecting plate; 223. Nut seat; 224. Rotating shaft; 241. Support frame; 242. Side plate; 243. Flange bearing housing 2; 244. Track wheel; 245. Traveling track; 246. Servo worm gear reducer motor; 247. Guide chamfer; 251. L-shaped base; 252. U-shaped base; 253. Rubber roller; 261. Screw; 262. Guide rod; 263. Bevel gear; 264. Drive motor one. Detailed Implementation

[0025] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0026] It should be noted that these figures are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0027] Reference Figure 1-7This utility model discloses a pipeline inspection device with obstacle-crossing function, comprising: a support body 1 and obstacle-crossing walking mechanisms 20 connected to its two ends. At least one periscope-type inspection mechanism 30 is provided on the outer peripheral wall of the support body 1. Drive mechanisms 40 for driving the obstacle-crossing walking mechanism 20 to rotate are respectively provided at both ends of the support body 1. The obstacle-crossing walking mechanism 20 includes a flange bearing seat 21, a mounting base assembly 22, and a bevel gear seat 23 arranged coaxially along the axis of the support body 1. Three tracked walking components 24 are spaced apart on the surface of the mounting base assembly 22. A guide wheel assembly 25 connected to the mounting base assembly 22 is provided between two adjacent tracked walking components 24. The drive mechanism 40 includes an internal toothed slewing bearing 41 and a drive gear 42 meshing with it. The internal toothed slewing bearing 41 is fixedly connected to the flange bearing seat 21. A second drive motor 43 is connected to one end of the inner side of the support body 1. The output shaft of the second drive motor 43 is connected to the drive gear 42. A transmission assembly 26 is provided on the side of the tracked walking component 24 and the guide wheel assembly 25 near the mounting base assembly 22. The transmission assembly 26 includes a screw 261 and a guide wheel 262. One end of rod 262 and screw 261 is provided with a bevel gear 263 that meshes with the bevel gear seat 23. Guide rod 262 is connected to the side wall of mounting base assembly 22. One end of the inner side of support body 1 is provided with a drive motor 264 that drives the bevel gear seat 23 to rotate. When the bevel gear seat 23 rotates, the tracked walking assembly 24 and the guide wheel assembly 25 move in opposite linear directions along the axis of guide rod 262. The guide wheel assembly 25 includes an L-shaped base 251 and a U-shaped seat 252 connected to its end. A rubber roller 253 is rotatably connected to the inner side of the U-shaped seat 252. 261 is threadedly connected to L-shaped base 251, and guide rod 262 slides through L-shaped base 251. Mounting assembly 22 includes hexagonal mounting plate 221 with round hole. L-shaped connecting plate 222 is integrally formed on each of the six sides of hexagonal mounting plate 221. Nut seat 223 is connected to the inner side of L-shaped connecting plate 222. Nut seat 223 is threadedly engaged with screw 261. Guide rod 262 is connected to the outer wall of L-shaped connecting plate 222. Rotating shaft 224 is connected to the round hole of hexagonal mounting plate 221. Rotating shaft 224 is connected to bevel gear seat 23.

[0028] The obstacle-crossing walking mechanism 20 is symmetrically assembled at both ends of the support body 1, forming a double-end cooperative support structure. This provides an execution platform for the equipment to move and overcome obstacles. When the equipment decelerates and locates the obstacle, the second drive motor 43 and the first drive motor 264 are servo waterproof motors. The first drive motor 264 drives the bevel gear seat 23 to rotate, causing all the bevel gears 263 that mesh with it to rotate synchronously. This drives the corresponding screw 261 to rotate synchronously, so that the tracked walking assembly 24 retracts outward along the guide rod 262 and avoids the obstacle. The guide wheel assembly 25 extends outward along the guide rod 262 and fits against the inner wall of the pipe. In conjunction with the forward and reverse rotation of the second drive motor 43, it... The drive gear 42 meshes with the internal toothed slewing bearing 41 and rotates, driving the obstacle-crossing walking mechanism 20 to rotate 360° around the axis of the support body 1. This adjusts the rotation angle of the obstacle-crossing walking mechanism 20, so that the track and guide wheel form a force posture adapted to the obstacle. At this time, the rubber roller 253 contacts the inner wall of the pipe through rolling friction to reduce resistance. At the same time, it extends out and forms point support when crossing the obstacle, improving its stability. In addition, the periscope detection mechanism 30 adjusts the angle through the swing arm 31 and the gimbal 32, collects images of defects on the inner wall of the pipe in real time, and feeds back the real-time status to the external display end when crossing the obstacle, so as to maintain the continuity of detection during the obstacle crossing process and ensure that no defects in the obstacle area are missed.

[0029] The tracked walking assembly 24 includes a support frame 241 and side plates 242 connected to both sides thereon. The support frame 241 has a guide chamfer 247 on the side near the pipe and along its traveling direction. The inner angle of the guide chamfer 247 is greater than 100°. The support frame 241 is threadedly connected to the screw 261. The guide rod 262 slides through the support frame 241. On the opposite side of the side plate 242, there are flange bearing seats 243 installed at their corners. Track wheels 244 are connected to the flange bearing seats 243. The assembly also includes two walking tracks 245. The two walking tracks 245 are respectively covered on all the track wheels 244 on the corresponding side and are engaged with them. Two servo worm gear reducers 246 are provided on the inner side of the support frame 241. The output shafts of the servo worm gear reducers 246 are respectively arranged in opposite directions and connected to one of the track wheels 244 on the corresponding side. The cross-sectional shape of the support frame 241 and the walking track 245 are the same.

[0030] Side plate 242 is fixedly connected to support frame 241, forming a symmetrical double-sided protection and installation structure; mounting holes for flange bearing seat 243 are reserved at the corner to provide symmetrical support for track wheel 244, ensuring that the axis of track wheel 244 is parallel to support frame 241, and ensuring that track 245 completely fits the outer contour of support frame 241, so that the tension of track 245 is evenly distributed. Track 245 is made of high-elasticity wear-resistant rubber material with anti-slip texture on the surface to enhance grip. Guide chamfer 247 is set along the direction of equipment travel on the side of support frame 241 near the pipe, forming a gentle guide structure with a large contact surface and low slope. When crossing obstacles, it first contacts rigid obstacles such as welds and protrusions through the inclined surface, guiding support frame 241 to gradually adjust its posture, avoiding direct impact of obstacles on the frame or track, while increasing the contact area with obstacles and dispersing contact stress. Servo worm gear reducer motor 246 is connected to one track wheel 244 on the corresponding side to realize The dual-sided tracks are independently driven and can achieve differential steering. Combined with the 360° rotation function of the drive mechanism 40, it can adapt to different pipe lengths and obstacle crossing requirements. Two servo worm gear reducers 246 drive the corresponding track wheels 244 to rotate, so that the track wheels 244 drive the dual-sided track wheels 245 to move synchronously through meshing transmission with the walking tracks 245. Since the cross-sectional shape of the support frame 241 is consistent with that of the walking tracks 245, it ensures uniform track tension and no deviation. The multi-point track wheels 244 form stable contact with the inner wall of the pipe, so that the equipment can move smoothly along the pipe axis. When encountering obstacles such as small protrusions, the guide chamfer 247 on the support frame 241 first contacts the obstacle. Its inclined surface guides the support frame 241 to gradually adjust its posture, disperse the contact stress, avoid rigid impact, and adjust the speed with the servo worm gear reducers 246 to keep the dual-sided tracks gripping the ground. Through differential speed adjustment, the posture of the equipment is optimized, so that the equipment can cross obstacles smoothly.

[0031] The outer wall of the support body 1 is provided with a mounting groove 5 that matches the periscope detection mechanism 30. The periscope detection mechanism 30 includes a swing arm 31 rotatably connected in the mounting groove 5. The free ends of the two swing arms 31 are connected to a gimbal 32. A camera 33 is mounted on the gimbal 32. It also includes an electric push rod 34 that drives the swing arm 31 to swing. One end of the electric push rod 34 is connected to a hinge ring 35, and the other end is provided with a hinge seat 36 connected to the inner wall of the mounting groove 5. The hinge ring 35 is connected to the swing arm 31 through a pin. An auxiliary connecting ring rod 6 is provided on the axis of the bevel gear seat 23 that is away from the moving direction of the obstacle-crossing walking mechanism 20.

[0032] Mounting slot 5 is precisely matched to the contour of periscope detection mechanism 30 to achieve embedded assembly, avoiding collision damage caused by exposure. During obstacle crossing, electric push rod 34 responds synchronously to changes in equipment posture. Electric push rod 34 is a waterproof electric push rod. Through telescopic movement, swing arm 31 drives pan-tilt head 32 and camera 33 to swing up and down, achieving precise adjustment of the detection angle of camera 33. Under the posture compensation function of pan-tilt head 32, the detection field of view is expanded, while ensuring that camera 33 is always perpendicular to the inner wall of the pipe. In addition, camera 33 is a high-definition industrial waterproof camera to improve clarity and prevent water damage. When the equipment is stuck or loses power in the pipe and cannot return autonomously, auxiliary connecting ring rod 6 can be used as a traction force point. Through external traction tools, the equipment can be retrieved without excavation. At the same time, periscope detection mechanism 30 transmits data inside the pipe to the ground terminal wirelessly. The terminal system automatically identifies and marks obstacles, corrosion, cracks, scale, and other conditions.

[0033] The implementation principle of this embodiment is as follows: When the detection equipment encounters obstacles such as welds or protrusions inside the pipeline, the periscope detection mechanism 30 sends the information inside the pipeline to the ground terminal as an obstacle encounter signal. Through the wireless operation of the staff, the drive motor 264 drives the bevel gear seat 23 to rotate, and simultaneously drives the bevel gear 263 to drive the corresponding screw 261 to rotate synchronously. At this time, the tracked walking assembly 24 retracts along the guide rod 262, causing the rubber roller 253 to extend outward along the guide rod 262 and contact the inner wall of the pipeline. Subsequently, the drive motor 43 drives the drive gear 42 to engage with the internal gear... The slewing bearing 41 engages with the transmission, driving the obstacle-crossing walking mechanism 20 to rotate around the axis of the support body 1 at a certain angle to avoid obstacles. Then, the transmission component 26 drives the tracked walking component 24 to extend outward along the guide rod 262 and contact the inner wall of the pipe, causing the rubber roller 253 to retract along the guide rod 262. Then, through the walking power of the tracked walking component 24, it crosses the obstacle. While detecting the internal condition of the pipe, the electric push rod 34 adjusts the swing arm 31 according to the tilt angle of the equipment, the pan-tilt unit 32 compensates for the posture, and the camera 33 focuses on collecting images of the area around the obstacle to ensure that no defects are missed.

[0034] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made using the content of this utility model specification, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A pipeline inspection device with obstacle-crossing function, characterized in that, include: The support body (1) and the obstacle-crossing walking mechanism (20) connected to its two ends are provided. The outer peripheral wall of the support body (1) is provided with at least one periscope detection mechanism (30). The two ends of the support body (1) are respectively provided with a drive mechanism (40) for driving the obstacle-crossing walking mechanism (20) to rotate. The obstacle-crossing walking mechanism (20) includes a flange bearing seat (21), a mounting seat assembly (22) and a bevel gear seat (23) arranged coaxially along the axis of the support body (1). The surface of the mounting seat assembly (22) is provided with three tracked walking components (24) spaced apart. A guide wheel assembly (25) connected to the mounting seat assembly (22) is provided between two adjacent tracked walking components (24). The tracked walking assembly (24) and the guide wheel assembly (25) are respectively provided with a transmission assembly (26) on the side near the mounting base assembly (22). The transmission assembly (26) includes a screw (261) and a guide rod (262). One end of the screw (261) is provided with a bevel gear (263) that meshes with the bevel gear seat (23). The guide rod (262) is connected to the side wall of the mounting base assembly (22). One end of the inner side of the support body (1) is provided with a drive motor (264) that drives the bevel gear seat (23) to rotate. When the bevel gear seat (23) rotates, the tracked walking assembly (24) and the guide wheel assembly (25) move in opposite directions along the axis of the guide rod (262).

2. The pipeline inspection device with obstacle-crossing function according to claim 1, characterized in that, The mounting base assembly (22) includes a hexagonal mounting plate (221) with a round hole. L-shaped connecting plates (222) are integrally formed on the six sides of the hexagonal mounting plate (221). Nut seats (223) are connected to the inner side of the L-shaped connecting plates (222). The nut seats (223) are threadedly engaged with the screw (261). The guide rod (262) is connected to the outer wall of the L-shaped connecting plate (222). A rotating shaft (224) is connected to the round hole of the hexagonal mounting plate (221). The rotating shaft (224) is connected to the bevel gear seat (23).

3. A pipeline inspection device with obstacle-crossing function according to claim 1, characterized in that, The tracked walking assembly (24) includes a support frame (241) and side plates (242) connected to both sides thereon. The support frame (241) has a guide chamfer (247) on the side near the pipe and along its traveling direction. The support frame (241) is threadedly connected to a screw (261). The guide rod (262) slides through the support frame (241). On the opposite side of the side plate (242), there are flange bearing seats (243) installed at its corners. The support frame (241) is equipped with two track wheels (244) and two walking tracks (245). The two walking tracks (245) are respectively covered on all the track wheels (244) on the corresponding side and are engaged with them. The inner side of the support frame (241) is provided with two servo worm gear reducers (246). The output shafts of the servo worm gear reducers (246) are respectively arranged in opposite directions and connected to one of the track wheels (244) on the corresponding side. The cross-sectional shape of the support frame (241) is consistent with that of the walking track (245).

4. A pipeline inspection device with obstacle-crossing function according to claim 1, characterized in that, The guide wheel assembly (25) includes an L-shaped base (251) and a U-shaped base (252) connected to its end. A rubber roller (253) is rotatably connected to the inner side of the U-shaped base (252). The screw (261) is threadedly connected to the L-shaped base (251). The guide rod (262) slides through the L-shaped base (251).

5. A pipeline inspection device with obstacle-crossing function according to claim 1, characterized in that, The outer wall of the support body (1) is provided with a mounting groove (5) that matches the periscope detection mechanism (30). The periscope detection mechanism (30) includes a swing arm (31) rotatably connected in the mounting groove (5). The free ends of the two swing arms (31) are connected to a gimbal (32). A camera (33) is mounted on the gimbal (32). It also includes an electric push rod (34) that drives the swing arm (31) to swing. One end of the electric push rod (34) is connected to a hinge ring (35), and the other end is provided with a hinge seat (36) connected to the inner wall of the mounting groove (5). The hinge ring (35) is connected to the swing arm (31) through a pin.

6. A pipeline inspection device with obstacle-crossing function according to claim 1, characterized in that, The drive mechanism (40) includes an internal tooth slewing bearing (41) and a drive gear (42) meshing with it. The internal tooth slewing bearing (41) is fixedly connected to a flange bearing seat (21). A drive motor (43) is connected to one end of the inner side of the support body (1). The output shaft of the drive motor (43) is connected to the drive gear (42).

7. A pipeline inspection device with obstacle-crossing function according to claim 1, characterized in that, An auxiliary connecting ring rod (6) is provided on the axis of the bevel gear seat (23) which is away from the moving direction of the obstacle-crossing walking mechanism (20).

8. A pipeline inspection device with obstacle-crossing function according to claim 3, characterized in that, The interior angle of the guide chamfer (247) is greater than 100°.

Images