2031results about "Pigs/moles" patented technology

This invention disclosed a full-space intelligent detection method and system for underground drainage networks, as well as storage media, including the following steps: image acquisition, intelligent image denoising, internal pipe defect segmentation, concealed defect detection around the pipe, 3D reconstruction with volume quantification, and pipeline life prediction. This invention introduced a bionic four-wheel-drive, all-terrain detection robot that can effectively navigate through mud and flowing water-challenges that hinder traditional detection devices. By leveraging deep learning algorithms as well as various techniques of computing vision, 3D reconstruction, and point cloud processing, the system thoroughly analyzed collected data to determine defect types and precise locations. Utilizing this analysis, precise location of different defect type and quantitative measurement of their dimensions can be realized. Based on the data analysis results, a deep-learning driven model was developed for predicting pipeline longevity to support maintenance staff with timely information on pipe defects and operational lifespan.

Pipe inspection systems including a push-cable, jetter, and camera assembly are disclosed. A jetter nozzle may be configured to spin and / or propel the camera head within a pipe or other cavity. A cutter line may be attached to the camera head to clean obstructions. A sonde may be coupled to a camera head to generate magnetic field signals for use with a buried utility locator to locate a pipe or other cavity into which the camera head is deployed.

The invention belongs to the technical field of petrochemical engineering pipeline monitoring, and discloses an intelligent detection and repair system and method for petrochemical engineering pipeline leakage, and the method comprises the following modules: a data collection module which comprehensively monitors the leakage condition and environmental parameters in a pipeline by deploying a high-precision and low-power-consumption multi-parameter sensor network; the data transmission module is responsible for safely and reliably transmitting the collected data to the cloud processing center; the data processing and analyzing module is used for cleaning, processing and analyzing the collected data and extracting feature information; the leakage identification module is used for identifying and judging leakage events based on various algorithms; the leakage positioning module is used for accurately determining a leakage position; and the leakage evaluation module is used for evaluating the leakage degree, type and potential risk.

The invention discloses a negative pressure pipeline leakage point detection and targeted repair system and method, and the method achieves the confirmation of a pipeline leakage point through a detection end, and achieves the repair of the pipeline leakage point through a repair end. The detection end comprises a distributed optical fiber, an unmanned aerial vehicle and a control platform; through distributed optical fibers laid along a pipeline, pipeline vibration and temperature abnormity are monitored in real time, a leakage area is preliminarily positioned, then infrared scanning is performed on a suspicious area through an unmanned aerial vehicle carrying a high-precision thermal infrared imager, a temperature field distribution diagram is generated and uploaded to a control platform, and the control platform outputs leakage point coordinates through a data fusion algorithm; the repairing end comprises self-repairing gel and a magnetic control robot; the small cracks with the width smaller than 1 mm are externally sprayed with self-repairing gel, and laser curing is conducted after the cracks are sucked in through negative pressure; for large cracks with the width larger than or equal to 1 mm, the magnetic control robot is put into the pipeline, resin is sprayed to the inner wall of the pipeline, and ultraviolet curing is conducted. The system and the method can remarkably improve the maintenance efficiency of the negative pressure pipeline.

A robot apparatus, including elongated segments connected by joints and having wheels, is configured to move along an elongated enclosure. Another aspect of the robot provides multiple articulated rail segments, each pair connected by pivotable joints, with a linear biasing member such as a tension spring spanning across each joint, configured to laterally urge wheels adjacent to the joints to contact opposite internal walls of a pipe. A further aspect of the present robot provides articulated segments, actuators mounted thereto, wheels independently driven by the actuators, and a programmable controller movable with the segments for causing autonomous advancing and retracting movement, maneuvering and / or steering of the robot within an elongated conduit or pipe, while optically and / or visually sensing and inspecting deterioration and irregularities, such as cracks and deformation, in the conduit or pipe. A selectively bendable sub-joint, connected between nominally aligned segments of a rigid rail, is also optionally employed.

The invention provides a snakelike metal pipeline internal detection robot and an application method, and belongs to the technical field of pipeline detection and maintenance. The robot mainly comprises two tank probe vehicles of the same structure and a snakelike joint body connected between the two tank probe vehicles. The tank probe vehicle integrates a crawler-type walking mechanism, a detection unit, an operation unit, a magnetic adsorption unit, a control unit and a power unit, can provide main driving force, is adsorbed on the wall of a metal pipe and executes detection operation. The snakelike joint body is composed of a plurality of joint sections connected through movable joints, the unique conical helical tooth meshing design of the snakelike joint body enables the joint sections to generate multi-degree-of-freedom deflection, and therefore the whole robot can flexibly adapt to bending changes of vertical, horizontal and various bent pipes, and stable snakelike winding movement is achieved. The problems that an existing pipeline robot is poor in adaptability to complex pipelines and single in function are solved, and long-distance and all-directional detection and multifunctional operation under the complex pipeline environment are achieved.

A system and methods for monitoring internal corrosion in a compromised pipe are provided. An exemplary includes applying a reinforcement layer on an outer surface of a pipe over a defect detected in an internal surface of the pipe. A testing fiber Bragg grating (FBG) detector is mounted on the outer surface of the pipe over the defect. A reference FBG detector is mounted on the outer surface of the pipe. A difference in hoop strain between the testing FBG detector and the reference FBG detector is monitored to identify variations in wall thickness over the defect.

The invention belongs to the technical field of pipeline inner wall cleaning, and particularly relates to a self-adaptive pipe diameter adjusting type petroleum oil pipe intelligent cleaning robot which comprises a shell, and the shell is composed of a left shell body and a right shell body which are the same in structure. According to the supporting mechanism, a bidirectional threaded rod linkage structure hinged through a universal joint is adopted, and an electromagnetic cylinder and a moving block are matched to cooperatively control supporting legs to stretch out and draw back dynamically, so that the device is adaptive to different pipe diameters and bent pipe forms, and the device can be stably attached in a round pipe, an oval pipe or a bent pipe; the driving mechanism is based on bevel gear transmission and is combined with a radial pressure compensation mechanism to realize the multidirectional moving capability of vertical climbing and horizontal propelling; the exploration mechanism is integrated with a two-degree-of-freedom holder, and the cleaning process is monitored in real time through axial looking and radial pitching scanning in cooperation with self-adaptive light supplement; the cleaning mechanism innovatively integrates a rotary cutting drill bit, an adjustable blade set and a high-speed brush roller, the operation radius is dynamically adjusted through an extension rod, and stubborn scaling crushing, pipe wall scraping and chipping sweeping are synchronously completed.

A navigation apparatus for use in navigating a pipe includes a body, a movable core coupled to the body by a sacrificial connector, and a drive assembly configured to engage an interior wall of the pipe to propel the navigation apparatus through the pipe. The drive assembly including a first arm, a second arm, and a wheel, wherein the first arm is pivotably coupled to the core and the wheel, and the second arm is pivotably coupled to the body and the wheel.

The invention relates to the technical field of pipeline robots, and discloses a miniature wheel type pipeline robot which comprises a bending assembly, walking units are connected to the two ends of the bending assembly correspondingly, each walking unit comprises two wheel train assemblies, each wheel train assembly comprises a walking mechanism and a reducing mechanism, and each walking mechanism comprises a stator coil, a rotor, a rotating disc and a plurality of elastic wheel legs. The stator coil is matched with the rotor, the rotating disc and the rotor are coaxially fixed, the elastic wheel leg comprises an elastic piece and a walking wheel, the walking wheel is rotatably arranged at one end of the elastic piece, the other end of the elastic piece is fixedly connected with the rotating disc, the end, provided with the walking wheel, of the elastic piece stretches outwards, and a rotating shaft of the walking wheel inclines relative to the axis of the rotating disc. The elastic wheel legs are evenly distributed on the circumference, and the two wheel train assemblies are connected and symmetrically arranged. The diameter changing mechanism can enable the ends, away from the rotating disc, of the elastic pieces to be synchronously retracted inwards, and the bending assembly can enable the two walking units to be bent. The miniature wheel type pipeline robot is suitable for being used in a small-pipe-diameter multi-way pipe network.

The invention discloses a pipeline robot positioning method, system and device based on an odometer wheel and an IMU and a medium, and relates to the technical field of robot positioning and pipeline detection. The method comprises the following steps: determining an initial attitude angle of the pipeline robot in a static state according to acceleration data and magnetic force data collected by an IMU (Inertial Measurement Unit); based on a compensated angular velocity obtained by denoising angular velocity data collected by an IMU by using a complementary filtering algorithm, updating an initial attitude angle by using an Euler angle method to obtain an attitude angle matrix, and performing optimal estimation by using a nonlinear state estimation algorithm; performing consistency verification on the pulse data of the plurality of odometer wheels, determining corresponding effective pulse data through weighted correction, and then determining a mileage increment; and based on the optimized attitude angle matrix, the mileage increment is projected to a navigation coordinate system so as to solve the real-time position coordinate of the pipeline robot. The problems that the pipeline robot is poor in trafficability and low in positioning precision when facing a complex pipe network can be solved.

The invention provides a variable-diameter and variable-speed pipeline robot and a control method thereof, and belongs to the field of oil and gas pipeline detection and maintaining.The variable-diameter and variable-speed pipeline robot comprises a robot body and annular petal passive propelling assemblies arranged at the two ends of the robot body; the annular flap passive propulsion assembly comprises a posture adjusting flap layer and a propulsion flap layer arranged in the posture adjusting flap layer; the propelling petal layer comprises a plurality of propelling petals and an inner driving motor for driving the propelling petals to rotate; the posture adjusting petal layer comprises a plurality of posture adjusting petals and an outer driving motor used for driving the posture adjusting petals to rotate along the tangent line of the outer wall of the robot body. The propelling petals and the posture adjusting petals are arranged in a staggered manner; and the external driving motor drives the posture adjusting petals to rotate, so that the distance between the adjacent posture adjusting petals is changed from zero to a preset value. Through mutual cooperation of the posture adjusting petal layer and the propelling petal layer, large-range change of the diameter of the posture adjusting petal passive propelling assembly is achieved, and the posture adjusting petal passive propelling assembly is suitable for large-range variable-diameter pipelines.

A system includes a navigation apparatus and controller. The navigation apparatus includes a body assembly that includes a plurality of pneumatic or artificial muscles that are configured to interact with a sidewall of the conduit and move the body assembly through the conduit. The plurality of pneumatic or artificial muscles are independently actuated to steer the body assembly. The navigation apparatus also includes a sensor array coupled to the body assembly. The sensor array is positioned to interact with the sidewall of the conduit and provide signals as the body assembly moves through the interior cavity. The controller is communicatively coupled to the sensor array and configured to determine a characteristic of the conduit based on the signals provided by the sensor array.

This internal inspection device is for determining a length and inner diameter of a tubular good. The internal inspection device includes a first positioning sensor, a second positioning sensor spaced axially from the first positioning sensor, a displacement sensor the displacement of the internal inspection device inside the tubular good between two positions sensed by the respective positioning sensors, the internal inspection device further including a electronic arranged to computing the length of the tubular good by adding a distance measured by the displacement sensor and a predetermined length.

The invention discloses an anti-corrosion control system and method for a pipeline operation robot, and relates to the technical field of robot control, and the system is composed of a plurality of functional modules, and comprises a multi-sensor fusion module which obtains a pipeline image in real time through a camera; meanwhile, a sensor is used for dynamically collecting internal environment parameters of the pipeline; the three-dimensional modeling and positioning module is used for constructing a pipeline three-dimensional model based on an SLAM algorithm and the pipeline image and positioning the position of the pipeline where the robot is located in real time; the intelligent decision-making module is used for identifying a pipeline corrosion area and position by utilizing YOLOv5 based on the pipeline image and performing corrosion analysis on the corrosion area, and the corrosion analysis comprises corrosion thickness and form contour; measuring the corrosion thickness of the corrosion area by utilizing electromagnetic eddy current detection, and extracting the shape contour of the corrosion area by utilizing deep learning model image recognition; and triggering a self-adaptive control strategy according to the internal environment parameters of the pipeline and the pipeline position of the robot.

A pig is provided for use in pipelines filled with a flowing fluid. The pig includes a pig body, a drive element which may be a propeller disposed on said pig body which can be rotated by the flowing fluid. The pig also includes a generator unit connected to the drive element through which a movement of the drive element may be converted into electrical energy, and a locking means through which the position and / or the speed of the pig inside the pipeline may be fixed. The generator unit is designed to operate as a motor through which the drive element may be made to rotate and which is designed to set a speed for the pig that is different from the flow velocity of the flowing fluid inside the pipeline and that the pig is provided with an energy storage unit for electrical energy, which is connected to the generator unit.

The invention relates to the technical field of robots, and discloses a municipal drainage pipeline local grinding robot and a method thereof.The municipal drainage pipeline local grinding robot comprises a robot body, a walking mechanism, a fixing mechanism, a grinding mechanism and a control mechanism; the robot main body comprises a box body and a plurality of driving mechanisms arranged in the box body; the control mechanism is used for controlling the driving mechanisms to drive the walking mechanism, the fixing mechanism and the grinding mechanism to operate. The walking mechanism comprises walking wheels and is used for driving the robot to move in a DN400-600 pipeline at the corresponding pressure smaller than the maximum pressure allowed to be borne by the pipe wall. The fixing mechanism comprises a plurality of fixing plates arranged on the periphery of the robot body, and the fixing plates can extend to be in close contact with the inner wall of the DN400-600 pipeline. The grinding mechanism is used for conducting local grinding and comprises a grinding head and a grinding arm. According to the method, the local problem of the municipal drainage pipeline can be accurately and efficiently repaired, secondary damage to the pipeline in construction is avoided, all operation steps are accurate and controllable, the overall stability is high, and adaptability is good.

A deep pipe product hole lining pasting device comprises a pipe fitting supporting displacement unit, a lining pasting unit, a gluing unit, a cantilever conveying unit, a supporting device and a base, the pipe fitting supporting displacement unit comprises an adjustable supporting mechanism, a chuck, a rotary driving mechanism and an axial adjusting mechanism, and the adjustable supporting mechanism is installed on the base through a guide rail sliding block; the rotary driving mechanism is installed at the tail end of the base and used for bearing the chuck, and the axial adjusting mechanism is fixed to the middle of the base and connected with the adjustable supporting mechanism. The cantilever conveying unit comprises a transplanting mechanism and a cantilever mechanism, the cantilever mechanism is installed on a transplanting mechanism platform, and the transplanting mechanism is installed at the front end of the base; the lining pasting unit comprises a swing mechanism, a lining supporting mechanism and a clamping jaw used for being matched with the supporting device. According to the device, automatic pasting, supporting solidification and gap glue supplementing of linings in medium-diameter deep pipe products can be achieved, the problem that manual operation is difficult is solved, and the automation degree and the production efficiency are effectively improved.

The invention discloses a folding crawler chassis of an amphibious pipeline robot, and relates to the technical field of pipeline machines. The device comprises a chassis assembly; the chassis assembly comprises a shell, four rotating plates connected through torque springs are hinged to the outer bottom of the shell, propellers are installed at the ends of the rotating plates, vertical plates are fixedly connected to the outer walls of the propellers, and first electromagnets are fixedly connected to the tops of the vertical plates; track assemblies are symmetrically and rotationally connected to the opposite side faces of the shell, each track assembly comprises a waterproof box, and a triangular block is fixedly connected to the outer top of each waterproof box. By using the device, the device can rapidly adapt to advancing on land and on a waterway in a pipeline, upward swinging of the crawler belt assemblies and unfolding of the propellers are synchronously achieved, the using convenience and the amphibious rapid switching efficiency are effectively improved, and then the working efficiency is improved.

The invention belongs to the technical field of outer pipeline obstacle-crossing carrying robots, aims to complete the detection task of the whole circumference of the surface of an outer pipeline in a narrow working space, and discloses an outer pipeline obstacle-crossing carrying robot in a complex environment, which comprises a self-adaptive clamping unit, a middle motor joint bending obstacle-crossing unit and a combined wheel type moving unit, the self-adaptive clamping units are connected to the front portion and the rear portion of the middle motor joint bending obstacle crossing unit, the combined wheel type moving unit is connected with the self-adaptive clamping units, a connecting rod body serves as a power source for active clamping of a single-side arm through a worm and gear, and the robot conducts inchworm type axial movement through the middle motor joint bending obstacle crossing unit. Front-back movement and directional rotation are carried out through the combined wheel type moving unit. The device can adapt to space inclined and bent pipeline structures, has the capacity of treating obstacles such as pipe diameter abrupt change, pipeline hanging brackets and bosses, and has certain load capacity.

The utility model relates to the technical field of robots, and discloses a pipeline wriggling robot which comprises a robot body, a front-end supporting assembly and a rear-end supporting assembly, and is characterized in that the robot body comprises a front-end rack and a rear-end rack, and the front-end rack and the rear-end rack are connected through a spring body; the front-end rack and the rear-end rack are both connected with adjusting ropes capable of pulling the spring bodies. According to the pipeline wriggling robot, the advantages of the spring body and the adjusting rope are combined, the novel pipeline wriggling robot is designed, and the pipeline wriggling robot can efficiently work and flexibly move in a complex pipeline environment due to the unique movement mechanism of the pipeline wriggling robot.

The present invention relates to the field of non-destructive testing, and specifically to a highly flexible ultrasonic probe tracking connection device and a non-destructive testing method inside a pipeline. It includes tracking probes uniformly arranged circumferentially along the detection cabin. Each tracking probe is hinged with the detection cabin, and the hinge axis is perpendicular to the axis of the detection cabin. The tracking probe includes a tracking block moving along the pipeline and an electromagnetic ultrasonic probe. Along the advancing direction of the detection cabin, at least one set of springs is provided in front of and behind the ultrasonic probe, and the ultrasonic probe is elastically floatingly arranged on the tracking block through the springs. Along the advancing direction of the detection cabin, at least one set of guiding mechanisms moving along the pipe wall and / or the weld is provided in front of and behind the ultrasonic probe. Along the radial direction of the detection cabin, there is a working gap between the guiding surface of the guiding mechanism and the detection surface of the ultrasonic probe. The present invention optimizes the running posture of the electromagnetic ultrasonic probe, making it always parallel to the pipe wall of the pipeline or the weld of the bent protrusion, and greatly reducing the detection error.

The invention discloses an endoscopic robot for a high-pressure pipeline of a compressed air energy storage system, and mainly relates to the technical field of pipeline robots. Comprising a storage bin arranged on the outer wall of a vertical gas conveying pipeline, a window communicated with the storage bin is formed in the vertical gas conveying pipeline, a winch and a linear translation mechanism used for driving a lifting frame to translate are arranged in the storage bin, and a pulley assembly matched with a steel wire rope of the winch is arranged on the lifting frame. A pipeline robot is arranged at the end, away from the winch, of the steel wire rope, inspection equipment is carried on the pipeline robot, an end cover used for sealing the window is arranged at the end, away from the linear translation mechanism, of the lifting frame, and the pipeline robot is hung on the lifting frame. The pipeline robot is adjusted into the storage bin or the vertical gas conveying pipeline through the linear translation mechanism; the pipeline inspection requirement in the vertical gas transmission pipeline can be met, it is ensured that the defects of the inner wall of the pipeline are found in time, and healthy operation of the compressed air energy storage system is ensured.

The invention relates to the field of pipeline robots, and particularly discloses a pipeline robot and a control method thereof.The pipeline robot comprises a first section body, a second section body, a third section body and a fourth section body which are sequentially hinged, the hinged axes of all the hinged positions are parallel to one another, and the first section body, the second section body, the third section body and the fourth section body are connected into an M shape; the multiple sets of wheel set mechanisms are arranged, and the multiple sets of wheel set mechanisms are arranged at the hinged positions correspondingly and used for driving the first section body, the second section body, the third section body and the fourth section body to advance along the axis of the pipeline; one elastic assembly is arranged between the first section body and the second section body in a tensioning mode, and the other elastic assembly is arranged between the third section body and the fourth section body in a tensioning mode; one driven wheel set is arranged at the end, away from the second section body, of the first section body, and the other driven wheel set is arranged at the end, away from the third section body, of the fourth section body. The pipeline robot has the effect that the pipeline robot needs to adapt to different pipe diameters.

The invention relates to a trenchless pipeline repairing device and a repairing method thereof.The trenchless pipeline repairing device comprises a charging barrel, a repairing disc and a connecting pipe, the repairing disc comprises a first protective cover, a second protective cover, a driving assembly, a flow dividing pipe, output pipes, a spray head and a first loading plate, the flow dividing pipe is rotationally connected and communicated with the connecting pipe, and the multiple output pipes evenly communicate with the side wall of the flow dividing pipe at intervals; the nozzle is communicated with the output end of the output pipe, the first loading plate is fixedly connected with the nozzle, the first protective cover and the second protective cover are arranged at the two ends of the flow dividing pipe correspondingly and fixedly connected with the flow dividing pipe, and the driving assembly is arranged on the connecting pipe and the second protective cover and used for driving the flow dividing pipe to rotate. The first loading plate is used for feeding the repairing agent in the material barrel into the repairing disc and located on the edge of an inner cavity formed by the first protective cover and the second protective cover. The method has the advantages that the repairing effect of sufficient filling is guaranteed, and meanwhile the repairing efficiency is improved.

A crawler pipeline detector, wherein includes a main body, a detection module and two crawler assemblies arranged on both sides of the body, the main body has a front end and the a rear end opposite the front end, the detection module is installed on the main body, each crawler assembly includes a drive wheel, a driven wheel and a crawler track, and the crawler track is mounted on the drive wheel, the drive wheel of one crawler assembly is close to the front end of the main body, and the drive wheel of the other crawler assembly is close to the rear end of the main body, so as to arrange on both sides of the main body; so that the two drive wheels of the two crawler assemblies are diagonally arranged on the main body to build a structural form for thereby ensuring the stable steering of the crawler pipeline detector.

The invention relates to a hydraulic telescopic small-diameter pipeline eddy current internal detection robot, which comprises a front end supporting structure, a front end righting structure, a main body telescopic structure, a rear end righting structure, a rear end supporting structure and three electric hydraulic pumps, the front-end righting structure and the rear-end righting structure are symmetrically installed at the front end and the rear end of the main body telescopic structure respectively, the two electric hydraulic pumps are installed in the front-end righting structure, and the other electric hydraulic pump is installed in the rear-end righting structure; an electric hydraulic pump of the front end righting structure is used for driving a first hydraulic cylinder in the front end supporting structure and a second hydraulic cylinder in the main body telescopic structure; an electric hydraulic pump in the rear end righting structure is used for driving a first hydraulic cylinder in the rear end supporting structure; the front-end supporting structure and the rear-end supporting structure are mounted on the outer sides of the front-end righting structure and the rear-end righting structure respectively; the device can work in a small-diameter complex pipeline, is suitable for a vertical pipeline or a pipeline with a smooth pipe wall, and is suitable for pipelines with different sizes to a certain extent.

The invention belongs to the technical field of pipeline cleaning equipment, and provides a pipeline inner wall cleaning robot which comprises a front mechanism, a middle structure and a sweeping structure which are sequentially connected, and a driving structure is mounted on the outer surface of the middle structure; the front mechanism comprises a front support, the front support is connected with the middle structure through a universal joint, a plurality of first buffering structures are arranged on the outer side of the front support at equal intervals, and a direction wheel set is arranged at the ends, away from the front support, of the first buffering structures. Steering of the front support and the middle structure is achieved through the universal joint, and then the robot can walk in a bent pipeline; a plurality of first buffer structures are arranged on the outer side of the front support at equal intervals, and direction wheel sets are arranged at the ends, away from the front support, of the first buffer structures. The first buffer structure can stretch out and draw back so that the direction wheel set can make contact with the inner walls of the pipelines of different diameters, and then the device adapts to the pipelines of different diameters.

The invention relates to the technical field of pipeline production, and aims to solve the technical problems of leak detection, high labor intensity of manual repair and the like. In order to solve the technical problem, the invention provides the pipeline robot and the method for detecting and repairing the defects of the inner wall of the pipeline. The pipeline robot comprises a robot body walking in a pipeline; the three-dimensional detection assembly is arranged at the front end of the robot body; a laser of the three-dimensional detection assembly emits a laser beam and forms a light ring on the inner wall of the to-be-detected pipeline; the 3D camera is used for shooting light rings; the lifting assembly is connected with the robot body and the three-dimensional detection assembly to drive the three-dimensional detection assembly to lift; the repairing assembly is arranged at the tail end of the robot body. A polishing brush of the repairing assembly is connected with a rotary power part so as to drive the polishing brush to rotate in the horizontal plane and the vertical plane. According to the invention, surface defects can be detected with high precision and high efficiency, detection and repair are integrated, and labor intensity is reduced.

The hose inner supporting device facilitating pipeline inner wall repairing comprises a main shaft, one end of the main shaft is provided with ultraviolet hardening equipment used for curing an inner pipe, the other end of the main shaft is provided with a detection assembly used for detecting damage and collapse, and the middle of the main shaft is provided with an inner diameter detection assembly; the inner diameter detection assembly comprises a first sleeve and a second sleeve which are arranged on the outer side of the main shaft in a sleeving mode, the inner diameter of the second sleeve is larger than the outer diameter of the main shaft, and a plurality of expansion arms are arranged on the outer side of the first sleeve in a circumferential array mode. When collapse resetting needs to be carried out, rotary hardening is carried out, finally, the whole inner diameter is consistent with the expected effect, later flow detection is facilitated, and the blocking risk is also reduced, and a first connecting rod, an annular rod and a second connecting rod are arranged to be expanded along with the inner diameter detection assembly so that an auxiliary rod can be located at the optimal position all the time; when the operating rod is needed, only the first motor needs to be started, and secondary inner diameter positioning is not needed.