阅读说明：本技术 管道内自爬行装置 (Self-crawling device in pipeline ) 是由 王维斌 朱子东 王洪志 党娜 于 2019-08-21 设计创作，主要内容包括：本公开关于一种管道内自爬行装置,属于管道检修技术领域。该装置通过在运动单元的顶壁上分别设置转动件和套筒,转动件的端部设置可转动的辅助轮,套筒的端部通过推杆和弹性件连接在转动件上,使得推杆的端部可伸缩地连接在套筒内。弹性件在套筒内保持拉伸的状态,产生的弹力通过推杆间接传递给转动件,使转动件的端部有向远离运动单元的方向旋转的趋势。在将该装置应用于管道内部时,在管壁上出现诸如凹陷或凸起等较大缺陷的位置,该辅助轮能够始终贴合管道的上壁,从而使管道的上壁通过辅助单元支撑运动单元,进而使运动单元在重心偏移的情况下也不会翻车。(The utility model discloses a from device of crawling in pipeline belongs to pipeline maintenance technical field. The device sets up rotation piece and sleeve respectively through on the roof of motion unit, and the tip that rotates the piece sets up rotatable auxiliary wheel, and telescopic tip passes through the push rod and elastic component connects on rotating the piece for the tip telescopically of push rod is connected in the sleeve. The elastic element is kept in a stretched state in the sleeve, and the generated elastic force is indirectly transmitted to the rotating element through the push rod, so that the end part of the rotating element has a tendency of rotating in a direction away from the moving unit. When the device is applied to the interior of a pipeline, the auxiliary wheel can be always attached to the upper wall of the pipeline at the position where a large defect such as a recess or a bulge occurs on the pipe wall, so that the upper wall of the pipeline supports the movement unit through the auxiliary unit, and the movement unit cannot turn over under the condition of gravity center deviation.)

1. An in-duct self-crawling device, comprising: a movement unit (1) and a plurality of auxiliary units (2), the movement unit (1) comprising a driving unit (11) and a driven unit (12);

the driving unit (11) is connected with the driven unit (12), and the driving unit (11) is used for dragging the driven unit (12) to move in the pipeline;

the top ends of the driving unit (11) and the driven unit (12) are respectively provided with at least one auxiliary unit (2);

each of the auxiliary units (2) comprises: a rotating member (21), an auxiliary wheel (22), a push rod (23), a sleeve (24) and an elastic member (25);

the first end of the rotating piece (21) is rotatably connected to the top wall of the moving unit (1), and the auxiliary wheel (22) is rotatably connected to the second end of the rotating piece (21);

the bottom end of the sleeve (24) is rotatably connected to the top wall of the motion unit (1);

the first end of the push rod (23) is connected with the rotating piece (21), and the second end of the push rod (23) penetrates through a through hole in the top wall of the sleeve (24) and extends into the inner cavity of the sleeve (24);

the elastic piece (25) is sleeved on the push rod (23), and two ends of the elastic piece (25) are connected with the second end of the push rod (23) and the top wall of the sleeve (24) respectively.

2. The device according to claim 1, wherein the second end of the push rod (23) is provided with a stop collar (26), and one end of the elastic member (25) is connected to the stop collar (26).

3. The in-pipe self-crawling apparatus according to claim 1, characterized in that each said auxiliary unit (2) further comprises: a connecting block (27);

the bottom of the connecting block (27) is connected to the top wall of the motion unit (1);

be equipped with first through-hole on connecting block (27), the first of rotating piece (21) serve be equipped with the second through-hole of first through-hole adaptation, first through-hole with the second through-hole is connected through first pivot (38).

4. The in-pipe self-crawling apparatus according to claim 1, characterized in that said active unit (11) comprises: the device comprises a first shell (111), a power supply module (112), a control module (113), a motor (114) and a first wheel set (115);

the motor (114), the power supply module (112) and the control module (113) are all positioned in an inner cavity of the first shell (111), and the first wheel set (115) is connected to the bottom of the first shell (111);

the power module (112) is electrically coupled with the control module (113) and the motor (114), the control module (113) is used for controlling the motor (114) to rotate, and the motor (114) is used for driving the first wheel set (115) to rotate.

5. The in-pipe self-crawling apparatus according to claim 4, characterized in that said active unit (11) further comprises: an impact head (116);

the anti-collision head (116) is detachably connected to the first end face of the first shell (111);

the anti-collision head (116) is composed of a hemispherical section (1161) and a cylindrical section (1162), a first end face of the cylindrical section (162) is connected with a first end face of the first shell (111), and a second end face of the cylindrical section (1162) is connected with the hemispherical section (1161).

6. The in-pipe self-crawling apparatus according to claim 4, characterized in that said active unit (11) further comprises: a first mounting plate (117);

the cross section of the first mounting plate (117) is rectangular, and the first mounting plate is detachably connected to the second end face of the first shell (111) and used for connecting the driven unit (12).

7. The apparatus of claim 4, wherein the power module (112) comprises: a battery (1121);

the active unit (11) further comprises: a charging interface (118) and a power display screen (119);

the battery (1121) is electrically coupled with the charging interface (118) and the electric quantity display screen (119) respectively;

the battery (1121) is connected to a bottom plate of the first case (111);

the charging interface (118) and the electric quantity display screen (119) are connected to the outer wall of the first shell (111).

8. The apparatus of claim 4, wherein the control module (113) comprises: a signal receiver (1131) and a controller (1132);

the signal receiver (1131) and the controller (1132) are connected to a bottom plate of the first housing (111);

the signal receiver (1131) is connected with a remote control device through a cable, and is configured to receive a control signal transmitted by the remote control device, analyze the control signal, and send the analyzed signal to the controller (1132);

the controller (1132) is configured to control operation of the motor (114) based on the analytic signal.

9. The device according to claim 1, characterized in that the driven unit (12) comprises: a second housing (121) and a second wheel set (122);

the second wheel set (122) is connected to the bottom of the second shell (121), and the second wheel set (122) is used for driving the second shell (121) to move;

the self-crawling device in the pipeline further comprises: a universal joint (3);

and two ends of the universal joint (3) are respectively connected with the driving unit (11) and the driven unit (12).

10. The device according to claim 9, characterized in that the universal joint (3) comprises: the universal joint comprises a cross shaft, a first universal joint fork and a second universal joint fork;

the cross shaft comprises a first shaft and a second shaft which are perpendicular to each other, two ends of the first universal joint fork are rotatably connected to two ends of the first shaft, and two ends of the second universal joint fork are rotatably connected to two ends of the second shaft.

Technical Field

The utility model relates to a pipeline overhauls technical field, in particular to from crawling device in pipeline.

Background

Long distance transportation pipelines (e.g., pipelines for transporting oil and gas, sewer pipelines buried in the ground, etc.) are commonly long and require periodic maintenance, and personnel are not usually sent into the pipelines for inspection due to the possible residual transportation samples in the pipelines. Therefore, in the pipeline that needs to carry pipeline check out test set or other equipment from the device of crawling in the pipeline to get into the pipeline, the device of crawling drags pipeline check out test set to walk in the pipeline from the device of crawling in the pipeline to detect the pipeline.

The self-crawling device in the pipeline commonly used at present mainly comprises a driving section for providing power and a driven section for carrying detection equipment, wherein a pair of driving wheels are installed at the bottom of the driving section, a pair of driven wheels are installed at the bottom of the driven section, and the driving wheels and the driven wheels support the self-crawling device in the pipeline to keep the device balanced. After the device gets into the pipeline, the initiative section drags driven section to advance in the pipeline, and the pipeline check out test set that carries on the driven section detects the pipeline.

The external dimension of the self-crawling device in the existing pipeline is smaller than the internal diameter of the pipeline to be detected, and after the self-crawling device in the pipeline enters the pipeline, the position with a large defect on the pipe wall can generate the problem of gravity center offset; when the device walks to the position with a large bulge in the pipe wall, the position of a part of wheels is higher than that of other wheels, so that the gravity center of the device shifts, turns on the side in the pipeline, cannot continue to walk and is retained in the pipeline.

Disclosure of Invention

The embodiment of the disclosure provides a self-crawling device in a pipeline, which can solve the problem that the conventional self-crawling device in the pipeline is easy to shift in the center of gravity of the pipeline to cause side turning. The technical scheme is as follows:

the utility model provides a device of crawling certainly in pipeline which characterized in that, this device of crawling certainly in pipeline includes:

the device comprises a motion unit and a plurality of auxiliary units, wherein the motion unit comprises a driving unit and a driven unit;

the driving unit is connected with the driven unit and used for dragging the driven unit to move in the pipeline;

at least one auxiliary unit is respectively arranged at the top ends of the driving unit and the driven unit;

each of the auxiliary units includes: the rotating part, the auxiliary wheel, the push rod, the sleeve and the elastic part;

the first end of the rotating part is rotatably connected to the top wall of the moving unit, and the auxiliary wheel is rotatably connected to the second end of the rotating part;

the bottom end of the sleeve is rotatably connected to the top wall of the motion unit;

the first end of the push rod is connected with the rotating piece, and the second end of the push rod penetrates through the through hole in the top wall of the sleeve and extends into the inner cavity of the sleeve;

the elastic piece is sleeved on the push rod, and two ends of the elastic piece are respectively connected with the second end of the push rod piece and the top wall of the sleeve.

In a possible design, a limit ring is disposed on the second end of the push rod, and one end of the elastic member is connected to the limit ring.

In one possible design, each of the auxiliary units further comprises: connecting blocks;

the bottom of the connecting block is connected to the top wall of the motion unit;

the connecting block is provided with a first through hole, the first end of the rotating piece is provided with a second through hole matched with the first through hole, and the first through hole and the second through hole are connected through the first rotating shaft.

In one possible design, the active cell includes: the device comprises a first shell, a power supply module, a control module, a motor and a first wheel set;

the motor, the power module and the control module are all positioned in the inner cavity of the first shell, and the first wheel set is connected to the bottom of the first shell;

the power module is electrically coupled with the control module and the motor respectively, the control module is used for controlling the motor to rotate, and the motor is used for driving the first wheel set to rotate.

In one possible design, the active unit further includes: a crash head;

the anti-collision head is detachably connected to the first end surface of the first shell;

the anti-collision head is composed of a hemispherical section and a cylindrical section, a first end face of the cylindrical section is connected with a first end face of the first shell, and a second end face of the cylindrical section is connected with the hemispherical section.

In one possible design, the active unit further includes: a first mounting plate;

the first mounting plate is rectangular in cross section, detachably connected to the second end face of the first shell and used for being connected with the driven unit.

In one possible design, the power module includes: a battery;

the active unit further includes: the charging interface and the electric quantity display screen are arranged;

the battery is electrically coupled with the charging interface and the electric quantity display screen respectively;

the battery is connected to the bottom plate of the first shell;

the interface that charges and this electric quantity display screen are connected on the outer wall of this first casing.

In one possible design, the control module includes: a signal receiver and a controller;

the signal receiver and the controller are connected to the bottom plate of the first shell;

the signal receiver is connected with the remote control equipment through a cable and is used for receiving the control signal transmitted by the remote control equipment, analyzing the control signal and sending the analyzed signal to the controller;

the controller is used for controlling the operation of the motor based on the analysis signal.

In one possible design, the slave unit comprises: a second housing and a second wheel set;

the second wheel set is connected to the bottom of the second shell and used for driving the second shell to move;

this device of crawling certainly in pipeline still includes: a universal joint;

the two ends of the universal joint are respectively connected with the driving unit and the driven unit.

In one possible design, the universal joint comprises: the universal joint comprises a cross shaft, a first universal joint fork and a second universal joint fork;

the cross shaft comprises a first shaft and a second shaft which are perpendicular to each other, two ends of the first universal joint fork are rotatably connected to two ends of the first shaft, and two ends of the second universal joint fork are rotatably connected to two ends of the second shaft.

The top wall of the moving unit is respectively provided with a rotating part and a sleeve, the end part of the rotating part is provided with a rotatable auxiliary wheel, and the end part of the sleeve is connected to the rotating part through a push rod and an elastic part, so that the end part of the push rod is telescopically connected in the sleeve. The elastic element is kept in a stretched state in the sleeve, and the generated elastic force is indirectly transmitted to the rotating element through the push rod, so that the end part of the rotating element has a tendency of rotating in a direction away from the moving unit. When the device is applied to the interior of a pipeline, the auxiliary wheel can be always attached to the upper wall of the pipeline at the position where a large defect such as a recess or a bulge occurs on the pipe wall, so that the upper wall of the pipeline supports the movement unit through the auxiliary unit, and the movement unit cannot turn over under the condition of gravity center deviation.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a self-crawling device in a pipeline according to an embodiment of the present disclosure;

fig. 2 is a schematic structural diagram of an auxiliary unit provided in the embodiment of the present disclosure;

fig. 3 is a schematic view of an internal structure of a self-crawling device in a pipeline according to an embodiment of the disclosure.

The various reference numbers in the drawings are illustrated below:

1-a motion unit;

11-an active cell;

111-a first housing;

1111-ball seat;

112-a power supply module;

1121-a battery;

113-a control module;

1131-signal receiver, 1132-controller;

114-a motor;

1141-reduction box;

11411-first gear, 11412-second gear;

115-a first wheel set;

1151-a first bearing, 1152-a second rotating shaft and 1153-a driving wheel;

116-crash head;

1161-hemispherical section, 1162-cylindrical section;

117-first mounting plate;

118-a charging interface;

119-electric quantity display screen;

12-a slave unit;

121-a second housing;

122-a second wheel set;

1221-second bearing, 1222-third shaft, 1223-driven wheel;

123-a second mounting plate;

2-an auxiliary unit;

21-a rotating member;

22-an auxiliary wheel;

23-a push rod;

24-a sleeve;

241-connecting rod, 242-ball;

25-an elastic member;

26-a stop collar;

27-connecting blocks;

28-a first shaft;

3-universal joint.

Detailed Description

To make the objects, technical solutions and advantages of the present disclosure more apparent, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

Fig. 1 is a schematic structural diagram of a self-crawling apparatus in a pipeline according to an embodiment of the present disclosure, please refer to fig. 1, the self-crawling apparatus in a pipeline includes: a motion unit 1 and a plurality of auxiliary units 2, the motion unit 1 comprising a driving unit 11 and a driven unit 12; the driving unit 11 is connected with the driven unit 12, and the driving unit 11 is used for dragging the driven unit 12 to move in the pipeline; at least one auxiliary unit 2 is respectively arranged at the top ends of the driving unit 11 and the driven unit 12; each of the auxiliary units 2 includes: the rotation member 21, the auxiliary wheel 22, the push rod 23, the sleeve 24, and the elastic member 25; a first end of the rotating member 21 is rotatably connected to the top wall of the moving unit 1, and the auxiliary wheel 22 is rotatably connected to a second end of the rotating member 21; the bottom end of the sleeve 24 is rotatably connected to the top wall of the moving unit 1; the first end of the push rod 23 is connected with the rotating part 21, and the second end of the push rod 23 passes through the through hole on the top wall of the sleeve 24 and extends into the inner cavity of the sleeve 24; the elastic member 25 is sleeved on the push rod 23, and two ends of the elastic member 25 are respectively connected with the second end of the push rod 23 and the top wall of the sleeve 24.

The working principle of the self-crawling device in the pipeline provided by the embodiment of the disclosure is detailed as follows:

before the self-crawling apparatus in the pipeline is put into the pipeline, the second end of the rotating member 21 is lowered on the moving unit 1 by rotating the rotating member 21 so that the second end of the rotating member 21 is close to the moving unit 1, specifically, the rotating member 21 presses the push rod 23 into the sleeve 24 until the second end of the push rod 23 reaches the bottom of the inner cavity of the sleeve 24, the elastic member 25 is stretched, and the height of the auxiliary wheel 22 connected to the second end of the rotating member 21 on the moving unit 1 reaches a minimum value.

When the self-crawling device in the pipeline is placed in the pipeline, the stretched elastic member 25 contracts to drive the push rod 23 to extend out from the sleeve 24, the push rod 23 pushes the rotating member 21 and the auxiliary wheel 22 to rotate upwards until the auxiliary wheel 22 abuts against the upper wall of the pipeline, and then the rotating member 21 stops rotating, and the elastic member 25 in this state stops contracting but still keeps the elongated state.

By providing the rotation member 21 and the sleeve 24 on the top wall of the moving unit 1, respectively, the end of the rotation member 21 is provided with the auxiliary rotatable wheel 22, and the end of the sleeve 24 is connected to the rotation member 21 through the push rod 23 and the elastic member 25, so that the end of the push rod 23 is telescopically connected in the sleeve 24. The elastic member 25 is held in a stretched state in the sleeve 24, and the generated elastic force is indirectly transmitted to the rotating member 21 through the push rod 23, so that the end of the rotating member 21 tends to rotate in a direction away from the movement unit 1. When the device is applied to the interior of a pipeline, the auxiliary wheel 22 can be always attached to the upper wall of the pipeline at the position where a large defect such as a recess or a protrusion occurs on the pipe wall, so that the upper wall of the pipeline supports the motion unit 1 through the auxiliary unit 2, and the motion unit 1 cannot roll over even if the center of gravity is shifted.

Fig. 2 is a schematic structural view of an auxiliary unit according to an embodiment of the present disclosure, please refer to fig. 2, in a possible design, a connecting rod 241 is disposed at the bottom end of the sleeve 24, a ball seat 1111 is disposed at the top end of the movement unit 1, and a ball 242 adapted to the ball seat 1111 is disposed at the end of the connecting rod 241. The ball seat 1111 is connected to the bottom end of the sleeve 24 by a ball 242 at the end of the link 241.

The ball seat 1111 is a cube, a semi-spherical opening is formed in the upper wall of the ball seat 1111, the opening is slightly smaller than the maximum outer diameter of the ball 242, the ball 242 can rotate freely in the ball seat 1111, and the connecting rod 241 is connected with the bottom end of the sleeve 24, so that the sleeve 24 can rotate on the driving unit 11.

In a possible design, a stop ring 26 is provided on the second end of the push rod 23, and one end of the elastic member 25 is connected to the stop ring 26.

The limiting ring 26 is a circular thin plate, a circular hole adapted to the push rod 23 is formed in the middle of the limiting ring 26, the second end of the push rod 23 is indirectly connected with the elastic member 25 through the limiting ring 26, the elastic member 25 is a cylinder, a through hole corresponding to the second end of the push rod 23 is formed in the axial direction of the elastic member 25, the through hole is sleeved at the second end of the push rod 23, the elastic member 25 has a good elastic force, for example, the elastic member can be a spring, and the spring has an elastic force along a retraction direction after being stretched.

The other end of the elastic element 25 is connected with the top wall of the sleeve 24, the top wall of the sleeve 24 is a circular ring, the outer wall of the circular ring is connected with the inner wall of the sleeve 24, the push rod 23 can penetrate into the sleeve 24 through the circular ring, the elastic force of the elastic element 25 acts on the top wall of the sleeve 24, when the push rod 23 is pressed into the sleeve 24, the elastic element 25 is stretched, the retracted elastic force of the elastic element 25 is applied to the top wall of the limiting ring 26 and the sleeve 24, and the rotating element 21 and the auxiliary wheel 22 have the tendency of rotating upwards; the push rod 23 is extended out of the sleeve 24, and when the bottom end of the push rod 23 reaches the top of the sleeve 24, the top wall of the sleeve 24 stops the limit ring 26, so that the push rod 23 is not separated from the sleeve 24.

In one possible design, each of the auxiliary units 2 further comprises: a connecting block 27; the bottom of the connecting block 27 is connected to the top wall of the moving unit 1; the connecting block 27 is provided with a first through hole, the first end of the rotating member 21 is provided with a second through hole adapted to the first through hole, and the first through hole and the second through hole are connected by a first rotating shaft 28.

Wherein, this connecting block 27 can be cuboid or square, and there is the axial through-hole along the horizontal direction in the centre, and the through-hole of this connecting block 27 is the same with the diameter of the through-hole on the first end of this rotation piece 21. The connecting block 27 is fixedly connected to the top wall of the moving unit 1, the sleeve 24 is located between the connecting block 27 and the moving unit 1, one side of the first through hole is connected to one side of the second through hole, and the first rotating shaft 28 penetrates through the first through hole and the second through hole, so that the rotating member 21 can rotate around the first rotating shaft 28, and the height of the second end of the rotating member 21 on the moving unit 1 can be adjusted. When the device runs in a pipeline, because the connecting block 27 is in front and the sleeve 24 is connected with the rotating piece 21 at the back, the inclined direction of the rotating piece 21 is opposite to the forward direction, and the rotating piece 21 is not easy to be clamped.

Fig. 3 is a schematic diagram of an internal structure of a self-crawling apparatus in a pipeline according to an embodiment of the present disclosure, please refer to fig. 3, in a possible design, the active unit 11 includes: a first housing 111, a power module 112, a control module 113, a motor 114, and a first wheel set 115; the motor 114, the power module 112 and the control module 113 are all located in the inner cavity of the first casing 111, and the first wheel set 115 is connected to the bottom of the first casing 111; the power module 112 is electrically coupled to the control module 113 and the motor 114, respectively, the power module 112 is configured to drive the motor 114 to rotate, the motor 114 is configured to drive the first wheel set 115 to rotate, and the first wheel set 115 is configured to drive the first housing 111 to move.

Wherein, this first casing 111 can have the cuboid appearance, including lower casing and lid, inside vacuole formation, the bottom of lower casing is equipped with the opening, this first wheelset 115 includes: two first bearings 1151, a second rotating shaft 1152, and two driving wheels 1153, wherein outer rings of the two first bearings 1151 are coupled to a bottom opening edge of the first housing 111, the second rotating shaft 1152 is rotatably coupled to the first housing 111 by inner rings of the two first bearings 1151, and the two driving wheels 1153 are coupled to both ends of the second rotating shaft 1152.

The motor 114 is located inside the first housing 111, the power module 112 provides power for the motor 114 and the control module 113, and the motor 114 drives the driving wheel 1153 to rotate through the second rotating shaft 1152. Specifically, a reduction box 1141 is disposed between the second rotating shaft 1152 and the motor 114, the reduction box 1141 is composed of a first gear 11411 and a second gear 11412, the first gear 11411 is connected to the output end of the motor 114, the second gear 11412 is sleeved on the second rotating shaft 1152, the first gear 11411 is meshed with the second gear 11412, the nominal diameter of the second gear 11412 is larger than the nominal diameter of the first gear 11411 (wherein, the nominal diameter is also called as average outer diameter, and refers to a standardized diameter series of a container, a pipeline and accessories), the rotating speed of the second rotating shaft 1152 is lower than the rotating speed of the output end of the motor 114, so that the rotating speed of the driving wheel 1153 is suitable for walking in the pipeline, and the driven unit 12 and the pipeline detection device are dragged to walk in the pipeline.

In one possible design, the active unit 11 further includes: an impact head 16; the crash head 16 is detachably connected to the first end surface of the first housing 111; the anti-collision head 16 is composed of a hemispherical section 1161 and a cylindrical section 1162, a first end surface of the cylindrical section 1162 is connected to a first end surface of the first housing 111, and a second end surface of the cylindrical section 1162 is connected to the hemispherical section 1161.

The anti-collision head 16 may be made of a shock-absorbing material (e.g., a rubber-fiber composite material), the hemispherical section 1161 is divided into a plane and an arc-shaped surface, the plane of the hemispherical section 1161 is fixedly connected to one end of the cylindrical section 1162, and the other end of the cylindrical section 1162 is connected to the first housing 111. When the self-crawling device in the pipeline walks in the pipeline, the anti-collision head 16 is located at the foremost end of the device, when the active unit 11 collides with an obstacle (for example, garbage or a large bulge blocked in the pipeline) in the pipeline, impact force generated by collision is dispersed through the hemispherical section 1161, and continuously absorbed through the cylindrical section 1162, so that a shock absorption effect is achieved, and damage to the active unit 11 caused by collision between the active unit 11 and the obstacle is avoided.

In one possible design, the active unit 11 further includes: a first mounting plate 117; the first mounting plate 117 is rectangular in cross section and detachably connected to the second end surface of the first housing 111 for connecting the driven unit 12.

Wherein the first mounting plate 117 may be a rectangular parallelepiped, the cross section of the first housing 111 is the same as the cross section of the first mounting plate 117, the first mounting plate 117 is connected to the first housing 111 through evenly distributed connection points, for example, four screw holes are formed at four corners of the second end surface of the first housing 111, four through holes are formed at corresponding positions of the four corners of the first mounting plate 117, the four corners of the first mounting plate 117 are fixed to the four corners of the first housing 111 by screws, the pulling force of the driving unit 11 from the driving unit 12 is uniformly applied to the first housing 111, and is not easily damaged to the second end surface of the first housing 111, for example, when the driven unit 12 is in a pit, the pulling force generated by the driving unit 11 pulling the driven unit 12 is applied to the first housing 111 through evenly distributed connection points on the first mounting plate 117, the second end face of the first housing 111 is not easily damaged.

In one possible design, the power module 112 includes: a battery 1121; the active unit 11 further includes: a charging interface 118 and a power display screen 119; the battery 1121 is electrically coupled to the charging interface 118 and the power display 119 respectively; the battery 1121 is connected to the bottom plate of the first housing 111; the charging interface 118 and the power display screen 119 are connected to the outer wall of the first housing 111.

The battery 1121 can be a secondary rechargeable battery, the power display 119 on the outer wall of the first housing 111 displays the power of the battery 1121, and the charging interface 118 on the outer wall of the first housing 111 charges the battery 1121. The battery 1121 is electrically coupled to other electric devices of the apparatus to provide power to the electric devices, for example, the battery 1121 is electrically coupled to the motor 114 to provide power to the motor 114, so that the apparatus can travel in a pipeline.

Based on the electric quantity, it can be determined whether the battery 1121 needs to be charged, and the critical electric quantity value for charging the battery 1121 may be set as needed, and may be 20%, for example. Before putting the device into the pipeline, if the electric quantity that this electric quantity display screen 119 shows is less than 20%, need charge to battery 1121 through setting up this interface 118 that charges at first casing 111 outer wall, treat that the electric quantity that this electric quantity display screen 119 shows just can put into the pipeline when sufficient and use, guarantee in the pipeline from crawling the device electric quantity sufficient in the pipeline, avoid causing the device to be detained in the pipeline because of the battery 1121 electric quantity is not enough.

In one possible design, the control module 113 includes: signal receiver 1131 and controller 1132; the signal receiver 1131 and the controller 1132 are connected to the bottom plate of the first housing 111; the signal receiver 1131 is connected to a remote control device through a cable, and is configured to receive a control signal transmitted by the remote control device, analyze the control signal, and send the analyzed signal to the controller 1132; the controller 1132 is configured to control the operation of the motor 114 based on the analytic signal.

The signal receiver 1131 receives a control signal sent by a remote device, analyzes the control signal and sends the control signal to the controller 1132, and the controller 1132 sends a signal to the motor 114, so as to control the walking state of the self-crawling apparatus in the pipeline, such as forward, backward, stop, and the like.

Further, in one possible design, the signal receiver 1131 is electrically coupled to a pipeline inspection device.

The signal receiver 1131 may control the detection method of the pipeline detection device by sending the analysis signal to the pipeline detection device, and send the detection result detected by the pipeline detection device back to the remote control device.

In one possible design, the slave unit 12 includes: a second housing 121, a second wheel set 122; this device of crawling certainly in pipeline still includes: a universal joint 3; the two ends of the universal joint 3 are respectively connected with the driving unit 11 and the driven unit 12; the second wheel set 122 is connected to the bottom of the second casing 121, and the second wheel set 122 is used for driving the second casing 121 to move.

Wherein, this second casing 121 can be the cuboid, including casing and lid down, inside vacuole formation, the bottom of casing is equipped with the opening down, and this second wheelset 122 includes: two second bearings 1221, a third rotating shaft 1222, and two driven wheels 1223, wherein outer rings of the two second bearings 1221 are connected to a rim of a bottom opening of the second housing 121, the third rotating shaft 1222 is rotatably connected to the second housing 121 by inner rings of the two second bearings 1221, and the two driven wheels 1223 are connected to both ends of the third rotating shaft 1222.

The weight of this second casing 121 is dispersed on the pipe wall through this second wheelset 122, this second wheelset 122 supports this second casing 121 and walks in the pipeline, through the auxiliary wheel 22 of this auxiliary unit 2 and two driven wheels 1223 of this second wheelset 122, make this driven unit 12 have 3 strong points in the pipeline, and then difficult turnover in the pipeline, this universal joint 3 is connected with driving unit 11 and driven unit 12 respectively through first mounting disc 117 and second mounting disc 123, can make driving unit 11 and driven unit 12 adapt to the bending and the undulation of pipeline through this universal joint 3.

In one possible design, the universal joint 3 comprises: the universal joint comprises a cross shaft, a first universal joint fork and a second universal joint fork; the cross shaft comprises a first shaft and a second shaft which are perpendicular to each other, two ends of the first universal joint fork are rotatably connected to two ends of the first shaft, and two ends of the second universal joint fork are rotatably connected to two ends of the second shaft.

Wherein the universal joint 3 connects the driving unit 11 and the driven unit 12 by connecting with the first mounting plate 117 and the second mounting plate 123, when the self-crawling device in the pipeline runs in a curved pipeline, for example, when the device runs to a position where the pipeline curves to the left, the first shaft connected with the first mounting plate 117 in the universal joint 3 can rotate to the left, so that the driving unit 11 rotates to the left relative to the driven unit 12 to adapt to the pipeline trend; when the device is moved to a position where the bottom of the pipe has a protrusion, the first shaft of the universal joint 3 connected to the first mounting plate 117 can be rotated upward, so that the driving unit 11 is rotated upward relative to the driven unit 12 to accommodate the protrusion. Therefore, the self-crawling device in the pipeline can adapt to the change of the inside trend of the pipeline through the universal joints 3, so that the self-crawling device in the pipeline is not clamped at the bent part of the pipeline or is turned over at the concave-convex defect part, and the stability of the self-crawling device in the pipeline is improved.

All the above optional technical solutions may be combined arbitrarily to form the optional embodiments of the present disclosure, and are not described herein again.

By providing the rotation member 21 and the sleeve 24 on the top wall of the moving unit 1, respectively, the end of the rotation member 21 is provided with the auxiliary rotatable wheel 22, and the end of the sleeve 24 is connected to the rotation member 21 through the push rod 23 and the elastic member 25, so that the end of the push rod 23 is telescopically connected in the sleeve 24. The elastic member 25 is held in a stretched state in the sleeve 24, and the generated elastic force is indirectly transmitted to the rotating member 21 through the push rod 23, so that the end of the rotating member 21 tends to rotate in a direction away from the movement unit 1. When the device is applied to the interior of a pipeline, the auxiliary wheel 22 can be always attached to the upper wall of the pipeline at the position where a large defect such as a recess or a protrusion occurs on the pipe wall, so that the upper wall of the pipeline supports the motion unit 1 through the auxiliary unit 2, and the motion unit 1 cannot roll over even if the center of gravity is shifted.

Further, the active unit 11 is protected by connecting an anti-collision head 16 on the first end surface of the first shell 111, and the active unit 11 is prevented from being damaged by collision of obstacles in the pipeline; by connecting the first mounting plate 117 to the second end face of the first housing 111, a pulling force is uniformly applied to the first housing 111, and deformation of the first housing 111 is avoided; the residual capacity of the device can be known through the capacity display screen 119 on the outer wall of the first shell 111, so that the device can be charged according to the requirement; through signal receiver 1131 and controller 1132, a remote operator can be made aware of the conditions within the pipeline and control the walking of the device.

The above description is only exemplary of the present disclosure and is not intended to limit the present disclosure, so that any modification, equivalent replacement, or improvement made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.