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CN-120368153-B - Power device of pipeline endoscopic equipment, pipeline endoscopic equipment and pipeline detection system

CN120368153BCN 120368153 BCN120368153 BCN 120368153BCN-120368153-B

Abstract

The application discloses a power device of a pipeline endoscopic device, the pipeline endoscopic device and a pipeline detection system. The power device comprises a driven module, a driving module and an elastic connector. The driven module comprises a driven shell and a plurality of driven supporting wheel sets, and the opening angle of the driven supporting wheel sets relative to the driven shell is adjustable. The driving module comprises a driving shell, a driving wheel and a driving support wheel set, wherein the driving wheel is arranged on the driving shell, and the opening angle of the driving support wheel set relative to the driving shell is adjustable. The elastic connecting body is positioned between the driven shell and the driving shell and is connected with the driven shell and the driving shell. When the power device walks in the pipeline, the driving wheel, the driven supporting wheel set and the driving supporting wheel set are used for being in contact with the inner wall surface of the pipeline. When the power device in the design walks in the pipeline, the driving wheel can also play a stable supporting role on the driving shell while contacting the inner wall surface of the pipeline, and the walking stability of the power device in the pipeline can be effectively ensured.

Inventors

  • ZHONG SHAOHUA

Assignees

  • 深圳市安德联科技有限公司

Dates

Publication Date
20260512
Application Date
20250419

Claims (9)

  1. 1. A power plant of a tube endoscopic apparatus, wherein the tube endoscopic apparatus further comprises an endoscopic assembly, the power plant comprising: the endoscope comprises a driven module, a driven module and a power source, wherein the driven module comprises a driven shell and a plurality of driven supporting wheel sets, the driven supporting wheel sets are arranged on the driven shell and are adjustable in opening angle relative to the driven shell, and the endoscope assembly is arranged on the driven shell; The driving module comprises a driving shell, driving wheels and driving support wheel sets, wherein the driving wheels are arranged on the driving shell, the driving support wheel sets are arranged on the driving shell and are adjustable in opening angle relative to the driving shell, the driving wheels comprise a plurality of first driving wheels and second driving wheels, the driving support wheel sets comprise a plurality of first driving support wheel sets and second driving support wheel sets, the first driving wheels and the first driving support wheel sets are arranged along a first diagonal, the second driving wheels and the second driving support wheel sets are arranged along a second diagonal, the first diagonal is intersected with the second diagonal, and the driving module further comprises a transmission unit which is arranged in the driving shell and is in transmission connection with the first driving wheels and the second driving wheels. The power device comprises a driving shell, a driven shell, an elastic connecting body, a driving unit, a first driving wheel, a second driving wheel, a first driving wheel and a second driving wheel, wherein the elastic connecting body is positioned between the driven shell and the driving shell and is connected with the driven shell and the driving shell; when the power device walks in the pipeline, the driving wheel, the driven support wheel set and the driving support wheel set are used for being in contact with the inner wall surface of the pipeline; The transmission unit comprises a driving bevel gear, a first driven bevel gear and a first gear set, wherein the driving bevel gear, the first driven bevel gear and the first gear set are arranged on the driving shell, the driving bevel gear is connected with the second end of the universal connecting rod, the first driven bevel gear is in meshed connection with the driving bevel gear, the first gear set comprises at least two first sub gears in meshed connection, one of the first sub gears in the first gear set is fixedly connected with the first driven bevel gear coaxially, and the other of the first sub gears in the first gear set is fixedly connected with the wheel shaft of the first driving wheel; the driving module further comprises a mounting plate arranged in the driving shell, the transmission unit is arranged in the mounting plate, the interior of the mounting plate is hollow to form a first accommodating cavity and a second accommodating cavity, the driving shell is provided with a first opening corresponding to the cavity opening of the first accommodating cavity and a second opening corresponding to the cavity opening of the second accommodating cavity, the first driving wheel penetrates through the first opening and partially stretches into the first accommodating cavity, the first driving wheel is rotationally connected with the mounting plate, the second driving wheel penetrates through the second opening and partially stretches into the second accommodating cavity, and the second driving wheel is rotationally connected with the mounting plate.
  2. 2. The power unit of the endoscopic apparatus according to claim 1, wherein, The first diagonal being perpendicular to the second diagonal, and/or The first diagonal and the second diagonal intersect to form an intersection point, and the intersection point is the midpoint of the first diagonal and the second diagonal, and/or The first driving wheel is parallel or coincident with the plane of the first diagonal line when the section of the first driving wheel on the plane perpendicular to the rotation axis of the first driving wheel is parallel or coincident with the plane of the first diagonal line, and/or The cross section of the second driving wheel on a plane perpendicular to the rotation axis of the second driving wheel is parallel or coincident with the plane of the second diagonal line.
  3. 3. The power device of the endoscopic apparatus according to claim 1, wherein said active support wheelset comprises: the first supporting leg comprises a first supporting section, a second supporting section and a first elastic piece, wherein the first supporting section is rotationally connected with the driving shell, the second supporting section and the first supporting section form an inner-outer nested telescopic structure, the first elastic piece is positioned in a telescopic space formed by encircling the second supporting section and the first supporting section, and the first elastic piece abuts against the second supporting section and the first supporting section; The power device is used for driving the first driven wheel to move in the pipeline, and the first driven wheel is fixedly connected with the second support section and is used for contacting with the inner wall surface of the pipeline when the power device walks in the pipeline; The driving shell comprises a first shell body connected with the elastic connecting body and a first connecting part arranged on the first shell body, wherein the first connecting part is provided with one of a plurality of first clamping teeth and a plurality of first tooth grooves which are distributed around the rotation axis of the first supporting section; The first support section comprises a first support rod and a second connecting portion arranged on the first support rod, the second connecting portion is rotationally connected with the first connecting portion, the second connecting portion is provided with a plurality of first clamping teeth and the other one of the plurality of first tooth grooves, the first clamping teeth and the first tooth grooves are arranged around the rotation axis in a one-to-one corresponding clamping mode.
  4. 4. The power apparatus of the tube endoscopic device of claim 1, wherein said driven support wheelset comprises: The second supporting leg comprises a third supporting section, a fourth supporting section and a second elastic piece, the third supporting section is rotationally connected with the driven shell, the fourth supporting section and the third supporting section form an inner-outer nested telescopic structure, the second elastic piece is positioned in a telescopic space formed by encircling the fourth supporting section and the third supporting section, and the second elastic piece abuts against the fourth supporting section and the third supporting section; The power device is used for driving the first driven wheel to move in the pipeline, and the second driven wheel is fixedly connected with the fourth supporting section and is used for contacting with the inner wall surface of the pipeline when the power device walks in the pipeline; the driven shell comprises a second shell body connected with the elastic connecting body and a third connecting part arranged on the second shell body, and the third connecting part is provided with one of a plurality of second clamping teeth and a plurality of second tooth grooves which are distributed around the rotation axis of the third supporting section; The third support section comprises a second support rod and a fourth connecting portion arranged on the second support rod, the fourth connecting portion is rotationally connected with the third connecting portion, the fourth connecting portion is provided with a plurality of second clamping teeth and another one of the second tooth grooves, the second clamping teeth and the second tooth grooves are arranged around the rotation axis in a one-to-one corresponding clamping mode.
  5. 5. The power unit of the endoscopic apparatus according to claim 1, wherein, The driven module is characterized in that the driven module further comprises a support arranged in the driven shell, the power source comprises a motor and a speed reducer, the motor and the speed reducer are respectively arranged on two sides of the support along the advancing direction of the power device, the motor is arranged on the support, a motor shaft of the motor is connected with the speed reducer, and a rotating shaft of the speed reducer is used as the driving end to be connected with the first end of the universal connecting rod.
  6. 6. The power unit of the endoscopic apparatus according to claim 5, wherein, The transmission unit further comprises a second driven bevel gear and a second gear set which are arranged on the driving shell, the second driven bevel gear is in meshed connection with the driving bevel gear, the second gear set comprises at least two second sub gears which are in meshed connection, one of the second sub gears in the second gear set is fixedly connected with the second driven bevel gear coaxially, and the other second sub gear in the second gear set is fixedly connected with a wheel shaft of the second driving wheel.
  7. 7. The power unit of the endoscopic apparatus according to claim 1, wherein, The driving shell is provided with a wiring port and a first wire through hole, the wiring port is positioned at one end of the driving shell, which is far away from the elastic connector, and the first wire through hole is positioned at one end of the driving shell, which is close to the elastic connector; The power device further comprises a wire harness, wherein the wire harness comprises a first wire body section, a second wire body section and a third wire body section, the first wire body Duan Bu is arranged in the driving shell and is electrically connected with the wiring port, the second wire body section is arranged in the driven shell and is electrically connected with the electric control assembly, the third wire body Duan Bu is arranged between the driving shell and the driven shell, one end of the third wire body section is electrically connected with the first wire body section through the first wire through hole, and the other end of the third wire body section is electrically connected with the second wire body section through the second wire through hole; The driving module further comprises a wiring frame arranged in the driving shell, the first wire body section is arranged on the wiring frame, and/or a wiring groove is formed in the inner wall surface of the driven shell, and the second wire body section is arranged in the wiring groove.
  8. 8. A device for endoscopic delivery of a tube, comprising: the power unit of the endoscopic apparatus according to any one of claims 1 to 7, and And the endoscopic component is arranged on the driven shell and is used for surveying related data in the pipeline.
  9. 9. A pipeline inspection system, comprising: An electric control module; External cable The tube endoscopic device of claim 8, connected to the electronic control module by the external cable.

Description

Power device of pipeline endoscopic equipment, pipeline endoscopic equipment and pipeline detection system Technical Field The application relates to the technical field of pipeline exploration, in particular to a power device of pipeline endoscopic equipment, the pipeline endoscopic equipment and a pipeline detection system. Background The pipeline endoscopic equipment (such as a pipeline robot) is intelligent equipment capable of automatically walking, detecting, maintaining, cleaning and the like in a pipeline, and comprises a wheeled pipeline robot and a crawler-type pipeline robot. However, the wheel type pipeline robot in the related art is easy to have unstable walking when walking in the pipeline due to its own structural design. Therefore, how to effectively improve the stability of the wheeled pipeline robot walking in the pipeline has become a problem to be solved. Disclosure of Invention The embodiment of the application provides a power device of a pipeline endoscope device, the pipeline endoscope device and a pipeline detection system, which can solve the problem that a wheel type pipeline robot in the related art is easy to generate unstable walking when walking in a pipeline due to the self structural design of the wheel type pipeline robot. In a first aspect, the embodiment of the application provides a power device of a pipeline endoscope device, the pipeline endoscope device comprises a power device and an endoscope assembly, the power device comprises a driven module, a driving module and an elastic connector, the driven module comprises a driven shell and a plurality of driven support wheel sets, the driven support wheel sets are arranged on the driven shell and are adjustable in opening angle relative to the driven shell, the endoscope assembly is arranged on the driven shell, the driving module comprises a driving shell, a driving wheel and a driving support wheel set, the driving wheel is arranged on the driving shell, the driving support wheel set is arranged on the driving shell and is adjustable in opening angle relative to the driving shell, the elastic connector is arranged between the driven shell and the driving shell, the elastic connector is connected with the driven shell and the driving shell, and the driving wheel, the driven support wheel sets and the driving support wheel sets are used for being contacted with the inner wall surface of a pipeline when the power device walks in the pipeline. In a second aspect, the embodiment of the application provides a pipeline endoscope device, which comprises an endoscope component and the power device, wherein the endoscope component is arranged on a driven shell and is used for surveying related data in a pipeline. In a third aspect, the embodiment of the application provides a pipeline detection system, which comprises an electric control module, an external cable and the pipeline endoscopic equipment, wherein the pipeline endoscopic equipment is connected with the electric control module through the external cable. According to the power device of the pipeline endoscopic equipment, the pipeline endoscopic equipment and the pipeline detection system, the driving wheel is designed, and the opening angle of the driving wheel relative to the driving shell is not adjustable, so that when the power device walks in a pipeline, the driving wheel can be in contact with the inner wall surface of the pipeline, and can also play a stable supporting role on the driving shell, and the walking stability of the power device in the pipeline can be effectively ensured. Through design driven support wheelset and initiative support wheelset, and the opening angle of driven support wheelset relative driven shell is adjustable, and the opening angle of initiative support wheelset relative initiative shell is adjustable, so through adjusting driven support wheelset and initiative support wheelset to suitable pipeline that opens the angle in order to adapt to different pipe diameters for power device when walking in the pipeline, driven support wheelset and initiative support wheelset can contact with the inner wall surface of pipeline, with the cooperation action wheel, makes power device freely walk in the pipeline. Drawings In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are necessary for the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application and that other drawings may be obtained from them without inventive effort for a person skilled in the art. FIG. 1 is a schematic diagram of a power plant according to an embodiment of the present application; FIG. 2 is a schematic view of the power plant of FIG. 1 from another perspective; FIG. 3 is a schematic view of an opened structure of a driving support wheel set and a driven support wheel