Pipeline vibration measurement and suppression system

Abstract

The invention, which relates to the technical field of pipeline detection, discloses a pipeline vibration measurement and suppression system comprising a chassis, a crawler walking device installed on the chassis, and a hoop system used for holding a pipeline. The hooping system comprises a lifting control mechanism, a horizontal sliding control mechanism, a holding mechanism and an opening and closing control mechanism. The hooping system enables the holding mechanism to accurately and firmly hold the pipeline through lifting control, left-right displacement and opening and closing control, so that follow-up detection work is facilitated, and operation is convenient and fast. On the basis of a hoop system, a pipeline center detection system, a vibration detection system and a vibration recovery and damping system are further designed, so that pipeline centrality detection, vibration detection and vibration suppression are realized. The invention further provides a chassis anchoring system, the chassis anchoring system comprises a groove body, a drilling mechanism and an expansion mechanism, the drilling mechanism is used for drilling a pit, the expansion mechanism expands in the pit, position anchoring is achieved, the process is automatically conducted, manual participation can be reduced, and convenience and high efficiency are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline detection, and in particular to a pipeline vibration measurement and suppression system. Background Art

[0002] Concentricity detection and vibration detection are general functions of pipeline detection devices, and the corresponding detection components are usually integrated on the pipe clamp. The commonly used detection method relies on manually fixing the clamp on the pipe, which is labor-intensive and the fixing position is not easy to fine-tune. Summary of the invention

[0003] The purpose of the present invention is to provide a pipeline vibration measuring and suppressing system to solve the problems existing in the above-mentioned related technologies and realize automatic fixation of the pipeline vibration measuring and suppressing system.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] The invention discloses a pipeline vibration measurement and suppression system, comprising:

[0006] Chassis 4;

[0007] A crawler walking device 5 installed on the chassis 4;

[0008] A clamp system for clamping the pipe, the clamp system comprising a lifting control mechanism 24, a horizontal sliding control mechanism 23, a clamping mechanism and an opening and closing control mechanism 25;

[0009] The lifting control mechanism 24 includes a lower frame 27, an upper frame 26, an upper frame lifting screw rod 28, an upper frame lifting control rod 30 and a lifting bevel gear set 29; the lower frame 27 is connected to the chassis 4, and the upper frame 26 is slidably connected to the lower frame 27 along the up and down directions; the upper frame lifting screw rod 28 is rotatably connected to the lower frame 27, and the upper frame lifting screw rod 28 is threadedly connected to the upper frame 26; the upper frame lifting control rod 30 is rotatably connected to the lower frame 27; the upper frame lifting control rod 30 is transmission-connected to the upper frame lifting screw rod 28 through the lifting bevel gear set 29;

[0010] The horizontal sliding control mechanism 23 includes a horizontal slider 31, a horizontal slider driving screw rod 32, a horizontal transmission rod, a vertical transmission rod 35, a horizontal slider sliding control rod 37, a horizontal sliding bevel gear set I 33, a horizontal sliding bevel gear set II 34 and a horizontal sliding bevel gear set III 36; the horizontal slider 31 is slidably connected to the upper frame along the left and right directions, the horizontal slider driving screw rod 32 is rotationally connected to the upper frame, the horizontal slider 31 is threadedly connected to the horizontal slider driving screw rod 32; the horizontal transmission rod is rotationally connected to the upper frame; the vertical transmission rod The upper end of the movable rod 35 is rotatably connected to the upper frame, and the lower end of the vertical transmission rod 35 is rotatably connected to the lower frame; the horizontal slider sliding control rod 37 is rotatably connected to the lower frame; the horizontal slider driving screw rod 32 is transmission-connected to the horizontal transmission rod through the horizontal sliding bevel gear set I 33, the horizontal transmission rod and the upper end of the vertical transmission rod 35 are transmission-connected through the horizontal sliding bevel gear set II 34, and the lower end of the vertical transmission rod 35 is transmission-connected to the horizontal slider sliding control rod 37 through the horizontal sliding bevel gear set III 36;

[0011] The clamping mechanism includes a semicircular clamp 38, a toothed meshing structure 39 and a torsion spring 40; the ends of the two semicircular clamps 38 are hinged to the horizontal slider 31 around the same axis, and the two semicircular clamps 38 are meshed and connected through the toothed meshing structure 39; the torsion spring 40 is installed at the hinge position of the two semicircular clamps 38, and is used to keep the two semicircular clamps 38 in a closed state in a natural state;

[0012] The opening and closing control mechanism 25 includes a swing arm 41, a vertical guide rail 42, a vertical slider 43, a vertical slider driving screw 44, a horizontal slide, a horizontal guide rail 46, a swing arm swing control rod 47 and an opening and closing bevel gear set 45; the two semicircular clamps 38 are both provided with upper columns, and the upper end of the vertical slider 43 is provided with two lower columns; the swing arm 41 is provided with a strip groove; the two lower columns are respectively inserted into the strip grooves of the two swing arms 41, and the two upper columns are respectively inserted into the strip grooves of the two swing arms 41; the vertical guide rail 42 is connected to the The horizontal slider 31, the vertical slider 43 is slidably connected to the vertical guide rail 42 in the up-down direction; the vertical slider 43 is threadedly connected to the vertical slider driving screw 44, the vertical slider driving screw 44 is rotatably connected to the horizontal slide, the horizontal slide is slidably connected to the horizontal guide rail 46, the horizontal guide rail 46 is connected to the lower frame, the swing arm swing control rod 47 is rotatably connected to the lower frame, and the swing arm swing control rod 47 is transmission-connected to the vertical slider driving screw 44 through the opening and closing bevel gear set 45;

[0013] The upper frame lifting control rod 30, the horizontal slider sliding control rod 37 and the swing arm swing control rod 47 are parallel to each other and are located on the same side of the clamp system; the vertical transmission rod 35 and the swing arm swing control rod 47 can be extended and retracted.

[0014] Preferably, the pipeline vibration measurement and suppression system further includes a chassis anchoring system, and the chassis anchoring system includes:

[0015] The tank body 13 comprises a tank bottom and a tank wall, wherein the tank wall is connected to the bottom plate 4;

[0016] The drilling mechanism 83 includes a drilling substrate lifting motor 17, a drilling substrate lifting screw, a drilling substrate 14, a drilling motor 15 and a drill rod 16; the drilling substrate lifting motor 17 is connected to the bottom of the groove and is used to drive the drilling substrate lifting screw to rotate; the drilling substrate lifting screw is threadedly connected to the drilling substrate 14 and is used to lift the drilling substrate 14; a drilling guide groove 12 is provided on the groove wall and is used to guide the sliding of the drilling substrate 14; the drilling motor 15 is connected to the drilling substrate 14 and is used to drive the drill rod 16 to rotate and drill the ground to obtain a pit;

[0017] The expansion mechanism 84 includes an expansion substrate lifting motor 22, an expansion substrate lifting screw, an expansion substrate 18, an expansion push rod 19, an upper connecting rod 20 and a lower connecting rod 21; the expansion substrate lifting motor 22 is connected to the bottom of the groove and is used to drive the expansion substrate lifting screw to rotate; the expansion substrate lifting screw is threadedly connected to the expansion substrate 18 and is used to lift the expansion substrate 18; an expansion guide groove is arranged on the groove wall to guide the sliding of the expansion substrate 18; the upper end of the upper connecting rod 20 is hinged to the expansion substrate 18, the lower end of the upper connecting rod 20 is hinged to the upper end of the lower connecting rod 21, the lower end of the lower connecting rod 21 is hinged to the telescopic end of the expansion push rod 19, and the expansion push rod 19 is connected to the expansion substrate 18; the upper connecting rod 20 and the lower connecting rod 21 are arranged on both sides of the expansion push rod 19; the expansion push rod 19 is used to shrink in the pit so that the hinge position of the upper connecting rod 20 and the lower connecting rod 21 is pressed against the pit.

[0018] Preferably, the pipeline vibration measurement and suppression system further includes a clamp system drive assembly 90, and the clamp system drive assembly 90 includes a power motor 8, a power motor push rod 7, a bearing slider 6, a bearing slider drive screw 10, a bearing slider guide rail 9 and a bearing slider drive motor 11;

[0019] The output shaft of the power motor can be plugged into and matched with any one of the upper frame lifting control rod 30, the horizontal slider sliding control rod 37 and the swing arm swing control rod 47 to output power; the power motor push rod 7 is respectively connected to the power motor 8 and the load-bearing slider 6, and is used to adjust the position of the power motor 8 to establish and disconnect the power connection; the load-bearing slider driving screw 10 is threadedly connected to the load-bearing slider 6, and is used to drive the load-bearing slider 6 to move in the front and rear directions; the load-bearing slider guide rail 9 is slidably connected to the load-bearing slider 6, and is used to guide the load-bearing slider 6; the load-bearing slider driving motor 11 is connected to the load-bearing slider driving screw 10, and is used to drive the load-bearing slider driving screw 10 to rotate; the load-bearing slider driving screw 10 is rotationally connected to the chassis 4, and the load-bearing slider guide rail 9 is connected to the chassis 4.

[0020] Preferably, the pipeline vibration measurement and suppression system further includes a pipeline center detection system 1, and the pipeline center detection system 1 includes the clamp system and the infrared sensor 48;

[0021] The infrared sensor 48 is installed on the semicircular clamp 38 of the clamp system, and is used to measure the position of the pipe wall by infrared scanning; the number of the infrared sensors 48 on the same clamp system is multiple and arranged in a circle, and is used to provide the pipe wall position data in the entire circumferential direction for subsequent calculation of the center position of the pipeline;

[0022] There are at least two pipeline center detection systems 1 for use in pipeline centrality calculation.

[0023] Preferably, the pipeline vibration measurement and suppression system further includes a vibration detection system 2, and the vibration detection system 2 includes the clamp system, and further includes an arc plate 51, an arc slider 58, an arc plate drive motor 49, an arc slider drive motor 56, a resistance probe 54, a resistance probe reset spring 53, and a pressure wedge 52;

[0024] The semicircular clamp 38 of the clamp system is provided with an arc plate slot 50, and the arc plate 51 is slidably connected to the arc plate slot 50; the arc plate 51 is provided with an arc slider slot 55, and the arc slider 58 is provided with an arc protrusion 57, and the arc protrusion 57 is slidably connected to the arc slider slot 55; the arc plate driving motor 49 is connected to the semicircular clamp, and the arc plate driving motor 49 drives the arc plate 51 to slide through gear transmission; the arc slider driving motor 56 is connected to the arc plate 51, and the arc slider drives The motor 56 drives the arc-shaped slider 58 to slide through gear transmission; the resistance probe 54 slides radially to connect to the semicircular clamp 38, and the resistance probe reset spring 53 is located between the semicircular clamp 38 and the resistance probe 54, and is used to apply a radial outward elastic force to the resistance probe 54; the pressure wedge block 52 is connected to the outer end of the resistance probe 54, and the arc-shaped slider 58 is provided with a pressure wedge block, and the pressure wedge block slides and contacts the pressure wedge block 52 when the arc-shaped slider 58 slides, so as to adjust the radial position of the resistance probe 54.

[0025] Preferably, the pipeline vibration measurement and suppression system further comprises a vibration recovery and vibration reduction system 3, wherein the vibration recovery and vibration reduction system comprises a spring vibration recovery mechanism 59, a damping vibration reduction mechanism 62, a first conduit 60 and a second conduit 61;

[0026] The spring vibration recovery mechanism 59 includes the clamp system, and also includes a first oil cylinder 63, a first oil cylinder reset spring 75, a first oil collecting groove 64, an oil replenishing tank 68, a first oil collecting groove one-way inflow valve 65, and a first oil collecting groove one-way outflow valve 66; the first oil cylinder 63 is connected to the semicircular clamp 38 of the clamp system, and the oil chamber of the first oil cylinder 63 on the side away from the pipeline is connected to the first oil collecting groove 64; the first oil cylinder reset spring 75 is used to apply a radially inward elastic force to the telescopic end of the first oil cylinder 63; the inlet and outlet of the first oil collecting groove one-way inflow valve 65 are respectively connected to the oil replenishing tank 68 and the first oil collecting groove 64; the inlet and outlet of the first oil collecting groove one-way outflow valve 66 are respectively connected to the first oil collecting groove 64 and the second conduit 61; the first oil collecting groove 64 and the oil replenishing tank 68 are connected to the semicircular clamp 38 of the clamp system to achieve support;

[0027] The damping vibration reduction mechanism 62 includes the clamp system, and also includes a second oil cylinder 76, a second oil cylinder one-way inflow valve 79, a second oil cylinder one-way outflow valve 78, a main oil tank 77 and a second oil collecting tank 85; the second oil cylinder 76 is connected to the semicircular clamp 38 of the clamp system, and the second oil cylinder 76 has a piston rod 82, and the oil chambers on both sides of the piston rod 82 are respectively a first oil chamber and a second oil chamber, and the first oil chamber is located on the side of the piston rod 82 away from the pipeline; the inlet and outlet of the second oil cylinder one-way inflow valve 79 are respectively connected to the main oil tank 77 and the first oil chamber; the inlet and outlet of the second oil cylinder one-way outflow valve 78 are respectively The first oil chamber and the second oil collecting groove 85 are connected; the second oil chamber is provided with a through hole 81 for maintaining pressure stability; the two ends of the first conduit 60 are respectively connected to the second oil collecting groove 85 and the oil replenishing tank 68, and the oil replenishing tank 68 is provided with a guide hole 67 for connecting the first conduit 60; the two ends of the second conduit 61 are respectively connected to the first oil collecting groove 64 and the main oil tank 77; the opening pressure of the second cylinder one-way outflow valve 78 is greater than the opening pressure of the second cylinder one-way inflow valve 79; the main oil tank 77 and the second oil collecting groove 85 are connected to the semicircular clamp 38 of the clamp system to achieve support.

[0028] Preferably, the spring vibration recovery mechanism 59 also includes an arc slide 70, an arc slide drive motor 69, a lever hook push rod 71, a lever hook 73 and a hook reset spring 74; the semicircular clamp 38 of the clamp system is provided with an arc slide slot 72, and the arc slide 70 is slidably connected to the arc slide slot 72; the arc slide drive motor 69 is connected to the arc slide 70, and the arc slide drive motor 69 drives the arc slide 70 to slide through gear transmission; the lever hook push rod 71 is connected to the arc slide 70; the middle part of the lever hook 73 is rotated to connect the clamp The semicircular clamp 38 of the clamp system, the hook reset spring 74 is connected to the semicircular clamp 38 of the clamp system; the first end of the lever hook 73 is arranged to compress the hook of the first cylinder reset spring 75, and the first end of the lever hook 73 is used to swing toward the first cylinder 63 under the push of the hook reset spring 74, so that the hook hooks the radial inner end of the first cylinder reset spring 75; the second end of the lever hook 73 is used to swing toward the first cylinder 63 under the push of the lever hook push rod 71, so that the hook is separated from the first cylinder reset spring 75.

[0029] Preferably, the damping vibration reduction mechanism 62 further includes a solenoid valve 80 , and the solenoid valve 80 is located on the connecting pipeline between the first oil chamber and the main oil tank 77 .

[0030] Preferably, in the spring vibration recovery mechanism 59, each of the semicircular clamps 38 of the clamp system corresponds to a plurality of the first oil cylinders 63, a first oil collecting tank 64 and a replenishing oil tank 68; in the damping vibration reduction mechanism 62, each of the semicircular clamps 38 of the clamp system corresponds to a plurality of the second oil cylinders 76, a main oil tank 77 and a second oil collecting tank 85.

[0031] Preferably, the number of the clamp systems is an even number and they are symmetrical front to back about the chassis 4 .

[0032] Compared with the related art, the present invention has achieved the following technical effects:

[0033] In the present invention, the pipeline vibration detection and suppression system includes a clamp system for clamping the pipeline, and the clamp system includes a lifting control mechanism, a horizontal sliding control mechanism, a clamp mechanism and an opening and closing control mechanism. The clamp system enables the clamp mechanism to clamp the pipeline accurately and firmly through lifting control, left and right displacement and opening and closing control, so as to facilitate subsequent detection operations and convenient operation.

[0034] In the preferred embodiment of the present invention, the pipeline vibration measurement and suppression system further includes a clamp system drive assembly, which realizes power input of the lifting control mechanism, the horizontal sliding control mechanism and the opening and closing control mechanism through a power motor. This power input method can reduce the number of motors configured, thereby reducing the overall weight and saving costs.

[0035] In the preferred embodiment of the present invention, the pipeline vibration measurement and suppression system also includes a chassis anchoring system, which includes a trough, a drilling mechanism and an expansion mechanism. After the crawler walking device automatically walks to the specified position, the drilling mechanism drills a pit on the ground. After that, the crawler walking device continues to walk for a distance, and the expansion mechanism expands in the pit, pressing against the side wall of the pit to achieve position anchoring. The above-mentioned walking and anchoring process is carried out automatically, which can reduce manual participation and is convenient and efficient.

[0036] In a preferred embodiment of the present invention, the pipeline vibration measurement and suppression system also includes a pipeline center detection system, which can detect the center of the pipeline. The two pipeline center detection systems can be used in combination to measure the centrality of the pipeline.

[0037] In a preferred embodiment of the present invention, the pipeline vibration measurement and suppression system further includes a vibration detection system, and the vibration detection system can detect the vibration of the pipeline.

[0038] In a preferred embodiment of the present invention, the pipeline vibration detection and suppression system also includes a vibration recovery and vibration reduction system. The vibration detection system can recover the vibration energy of the pipeline and use the vibration energy to suppress the vibration of the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 A schematic diagram of a pipeline vibration measurement and suppression system from one perspective according to an embodiment of the present invention;

[0041] Figure 2 A schematic diagram of another perspective of the pipeline vibration measurement and suppression system according to an embodiment of the present invention;

[0042] Figure 3 It is a schematic diagram of the positional relationship between the tank body, the drilling mechanism and the expansion mechanism;

[0043] Figure 4 is a schematic diagram of a drilling mechanism;

[0044] Figure 5 is a schematic diagram of the expansion mechanism;

[0045] Figure 6 It is a schematic diagram of the position of the clamp system drive component on the chassis 4;

[0046] Figure 7 It is a schematic diagram of the combined structure of the power motor, the power motor push rod, and the load-bearing sliding block;

[0047] Figure 8 for Figure 7 Exploded view of the structure;

[0048] Fig. 9 It is a schematic diagram of the clamp system;

[0049] Fig.10 is a schematic diagram of a lifting control mechanism;

[0050] Fig.11 is a schematic diagram of a horizontal slip control mechanism;

[0051] Fig.12 is a schematic diagram of the opening and closing control mechanism;

[0052] Fig.13 is a schematic diagram of two swing arms;

[0053] Fig.14 It is a schematic diagram of the combined structure of the vertical guide rail and the horizontal slider;

[0054] Fig.15 It is a schematic diagram of the combined structure of the vertical slider and the vertical slider driving screw rod;

[0055] Fig.16 It is a schematic diagram of the pipeline center detection system;

[0056] Fig.17 is a schematic diagram of a vibration detection system;

[0057] Fig.18 It is a schematic diagram of the combined structure of the clamp and the arc plate driving motor;

[0058] Fig.19 It is a schematic diagram of the combined structure of the arc plate, the arc slider driving motor, the resistance probe, the resistance probe reset spring, and the pressure wedge block;

[0059] Fig. 20 is a schematic diagram of an arc-shaped slider;

[0060] Fig.21 for Fig.18 Schematic diagram of another view of the structure;

[0061] Fig. 22 for Fig.19 Schematic diagram of another view of the structure;

[0062] Fig.23 for Fig. 20 Schematic diagram of another view of the structure;

[0063] Fig.24 It is a schematic diagram of the vibration recovery and vibration reduction system;

[0064] Fig.25 This is an exploded diagram of the vibration recovery and vibration reduction system;

[0065] Fig.26 It is an exploded diagram of the spring vibration recovery mechanism;

[0066] Fig. 27 The exploded diagram of the connection relationship of the arc slide;

[0067] Fig.28 is a schematic diagram of a structure for releasing a return spring of a first oil cylinder;

[0068] Fig.29 It is the exploded diagram of the damping vibration reduction mechanism;

[0069] Fig.30 is a schematic diagram of the connection relationship of the second oil cylinder;

[0070] In the figure: 1- pipeline center detection system; 2- vibration detection system; 3- vibration recovery and vibration reduction system; 4- chassis 4; 5- crawler walking device; 6- load-bearing slider; 7- power motor push rod; 8- power motor; 9- load-bearing slider guide rail; 10- load-bearing slider driving screw rod; 11- load-bearing slider driving motor; 12- drilling guide groove; 13- groove body; 14- drilling base plate; 15- drilling motor; 16- drill rod; 17- drilling base plate lifting motor; 18- expansion base plate; 19- expansion push rod; 20- upper connecting rod; 21- lower connecting rod; 22- expansion base plate lifting motor; 23- horizontal Sliding control mechanism; 24-lifting control mechanism; 25-opening and closing control mechanism; 26-upper frame; 27-lower frame; 28-upper frame lifting screw rod; 29-lifting bevel gear set; 30-upper frame lifting control rod; 31-horizontal slider; 32-horizontal slider driving screw rod; 33-horizontal sliding bevel gear set I; 34-horizontal sliding bevel gear set II; 35-vertical transmission rod; 36-horizontal sliding bevel gear set III; 37-horizontal slider sliding control rod; 38-semicircular clamp; 39-tooth meshing structure; 40-torsion spring; 41-swing arm; 42-vertical guide rail; 43-vertical slider; 44 -vertical slider driving screw; 45-opening and closing bevel gear set; 46-horizontal guide rail; 47-swing arm swing control lever; 48-infrared sensor; 49-arc plate driving motor; 50-arc plate slide; 51-arc plate; 52-pressure wedge; 53-resistance probe reset spring; 54-resistance probe; 55-arc slider slide; 56-arc slider driving motor; 57-arc protrusion; 58-arc slider; 59-spring vibration recovery mechanism; 60-first conduit; 61-second conduit; 62-damping vibration reduction mechanism; 63-first oil cylinder; 64-first oil collecting tank; 65-first oil collecting tank One-way inflow valve of the first oil collecting tank; 66-one-way outflow valve of the first oil collecting tank; 67-diversion hole; 68-oil replenishing tank; 69-arc slide drive motor; 70-arc slide; 71-lever hook push rod; 72-arc slide slot; 73-lever hook; 74-hook reset spring; 75-first oil cylinder reset spring; 76-second oil cylinder; 77-main oil tank; 78-one-way outflow valve of the second oil cylinder; 79-one-way inflow valve of the second oil cylinder; 80-solenoid valve; 81-through hole; 82-piston rod; 83-drilling mechanism; 84-expansion mechanism; 85-second oil collecting tank; 90-clamp system drive component. DETAILED DESCRIPTION

[0071] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0072] The purpose of the present invention is to provide a pipeline vibration detection and suppression system to solve the problems existing in the above-mentioned related technologies and realize automatic detection of pipelines.

[0073] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0074] Reference Figure 1 , Figure 2 The present embodiment provides a pipeline vibration measurement and suppression system, including a chassis 4, a crawler walking device 5 installed on the chassis 4, and a clamp system for clamping the pipeline.

[0075] Reference Fig. 9 The clamp system includes a lifting control mechanism 24, a horizontal sliding control mechanism 23, a clamping mechanism and an opening and closing control mechanism 25.

[0076] Reference Fig.10 The lifting control mechanism 24 includes a lower frame 27, an upper frame 26, an upper frame lifting screw rod 28, an upper frame lifting control rod 30 and a lifting bevel gear set 29. The lower frame 27 is connected to the chassis 4, and the upper frame 26 is slidably connected to the lower frame 27 in the up-down direction. The upper frame lifting screw rod 28 is rotatably connected to the lower frame 27, and the upper frame lifting screw rod 28 is threadedly connected to the upper frame 26. The upper frame lifting control rod 30 is rotatably connected to the lower frame 27. The upper frame lifting control rod 30 is transmission-connected to the upper frame lifting screw rod 28 through the lifting bevel gear set 29.

[0077] When the upper frame lifting control rod 30 rotates, the upper frame lifting screw rod 28 is driven to rotate through the lifting bevel gear set 29, so that the upper frame 26 is lifted and lowered along the corresponding sliding groove on the lower frame 27.

[0078] Reference Fig.11The horizontal sliding control mechanism 23 includes a horizontal slider 31, a horizontal slider driving screw 32, a horizontal transmission rod, a vertical transmission rod 35, a horizontal slider sliding control rod 37, a horizontal sliding bevel gear set I 33, a horizontal sliding bevel gear set II 34 and a horizontal sliding bevel gear set III 36. The horizontal slider 31 slides along the left and right directions to connect the upper frame, the horizontal slider driving screw 32 is rotationally connected to the upper frame, and the horizontal slider 31 is threadedly connected to the horizontal slider driving screw 32. The horizontal transmission rod is rotationally connected to the upper frame. The upper end of the vertical transmission rod 35 is rotationally connected to the upper frame, and the lower end of the vertical transmission rod 35 is rotationally connected to the lower frame. The horizontal slider sliding control rod 37 is rotationally connected to the lower frame. The horizontal slider driving screw 32 is connected to the horizontal transmission rod through the horizontal sliding bevel gear set I 33, the horizontal transmission rod is connected to the upper end of the vertical transmission rod 35 through the horizontal sliding bevel gear set II 34, and the lower end of the vertical transmission rod 35 is connected to the horizontal slider sliding control rod 37 through the horizontal sliding bevel gear set III 36.

[0079] When the horizontal slider sliding control rod 37 rotates, the vertical transmission rod 35 is driven to rotate through the horizontal sliding bevel gear set III 36, the vertical transmission rod 35 drives the horizontal transmission rod to rotate through the horizontal sliding bevel gear set II 34, and the horizontal transmission rod drives the horizontal slider driving screw 32 to rotate through the horizontal sliding bevel gear set I 33, so that the horizontal slider 31 slides left and right along the corresponding sliding groove on the upper frame 26.

[0080] Reference Fig.12 The clamping mechanism includes a semicircular clamp 38. The ends of the two semicircular clamps 38 are hinged to the horizontal slider 31 around the same axis, and the two semicircular clamps 38 are meshed and connected through a toothed meshing structure 39. A torsion spring 40 is installed at the hinge position of the two semicircular clamps 38 to keep the two semicircular clamps 38 in a closed state in a natural state.

[0081] The two semicircular hoops 38 are meshed and connected by a toothed meshing structure 39 to ensure the consistency of the rotation angles of the two semicircular hoops 38. The torsion spring 40 keeps the two semicircular hoops 38 in a closed state in a natural state, without consuming extra energy to maintain the two semicircular hoops 38 holding the pipe tightly, thus achieving energy saving and reducing the shaking of the two semicircular hoops 38.

[0082] Reference Figure 12 to Figure 15The opening and closing control mechanism 25 includes a swing arm 41, a vertical guide rail 42, a vertical slider 43, a vertical slider driving screw 44, a horizontal slide, a horizontal guide rail 46, a swing arm swing control rod 47 and an opening and closing bevel gear set 45. The two semicircular clamps 38 are both provided with upper columns, and the upper end of the vertical slider 43 is provided with two lower columns. The swing arm 41 is provided with a strip groove. The two lower columns are respectively inserted into the strip grooves of the two swing arms 41, and the two upper columns are respectively inserted into the strip grooves of the two swing arms 41. The vertical guide rail 42 is connected to the horizontal slider 31, and the vertical slider 43 is connected to the vertical guide rail 42 by sliding in the up and down directions. The vertical slider 43 is threadedly connected to the vertical slider driving screw 44, the vertical slider driving screw 44 is rotationally connected to the horizontal slide, the horizontal slide is slidingly connected to the horizontal guide rail 46, the horizontal guide rail 46 is connected to the lower frame, the swing arm swing control rod 47 is rotationally connected to the lower frame, and the swing arm swing control rod 47 is transmission connected to the vertical slider driving screw 44 through an opening and closing bevel gear set 45.

[0083] When the swing arm swing control rod 47 rotates, the vertical slider driving screw 44 is driven to rotate through the opening and closing bevel gear set 45, so that the vertical slider 43 slides up and down along the corresponding slide groove on the vertical guide rail 42, driving the two lower columns to move up and down together. When the lower column moves downward, the semicircular clamp 38 is pulled by the swing arm 41, so that the two semicircular clamps 38 are opened. When the lower column moves upward, the torsion spring 40 gradually closes the two semicircular clamps 38, and the swing arm 41 swings as the two semicircular clamps 38 close.

[0084] The upper frame lifting control rod 30, the horizontal slider sliding control rod 37 and the swing arm swing control rod 47 are parallel to each other and are located on the same side of the clamp system. The length direction of the above three control rods is preferably the left-right direction.

[0085] The vertical transmission rod 35 and the swing arm swing control rod 47 can be extended and retracted. When the upper frame 26 slides in the up-down direction, the length of the vertical transmission rod 35 can change accordingly. When the horizontal slider 31 slides in the left-right direction, the length of the swing arm swing control rod 47 can change accordingly.

[0086] The process of the clamp system holding the pipe tightly is as follows:

[0087] 1) Ensure that the upper frame 26 is in the lower limit position and the two semicircular clamps 38 are in the open position.

[0088] 2) Rotate the horizontal slider sliding control rod 37 to make the horizontal slider 31 slide left and right along the corresponding slide groove on the upper frame 26, driving the two semicircular clamps 38 to move to the bottom of the pipeline.

[0089] 3) Rotate the upper frame lifting control rod 30 to lift the upper frame 26 along the corresponding slide groove on the lower frame 27, driving the two semicircular hoops 38 to move upward until the hinged positions of the two semicircular hoops 38 abut against the pipeline.

[0090] 4) Rotate the swing arm to swing the control rod 47, so that the two semicircular clamps 38 gradually close under the action of the torsion spring 40, so that the two semicircular clamps 38 can clamp the pipe tightly.

[0091] As a possible example, in this embodiment, refer to Figure 3 The pipeline vibration measurement and suppression system also includes a chassis anchoring system, which includes a tank body 13, a drilling mechanism 83 and an expansion mechanism 84. The tank body 13 includes a tank bottom and a tank wall, and the tank wall is connected to the chassis 4.

[0092] Reference Figure 4 The drilling mechanism 83 includes a drilling substrate lifting motor 17, a drilling substrate lifting screw, a drilling substrate 14, a drilling motor 15 and a drill rod 16. The drilling substrate lifting motor 17 is connected to the bottom of the groove and is used to drive the drilling substrate lifting screw to rotate. The drilling substrate lifting screw is threadedly connected to the drilling substrate 14 and is used to lift the drilling substrate 14. A drilling guide groove 12 is provided on the groove wall to guide the sliding of the drilling substrate 14. The drilling motor 15 is connected to the drilling substrate 14 and is used to drive the drill rod 16 to rotate and drill the ground to obtain a pit.

[0093] Reference Figure 5 The expansion mechanism 84 includes an expansion substrate lifting motor 22, an expansion substrate lifting screw, an expansion substrate 18, an expansion push rod 19, an upper connecting rod 20 and a lower connecting rod 21. The expansion substrate lifting motor 22 is connected to the bottom of the groove and is used to drive the expansion substrate lifting screw to rotate. The expansion substrate lifting screw is threadedly connected to the expansion substrate 18 and is used to lift the expansion substrate 18. An expansion guide groove is provided on the groove wall to guide the sliding of the expansion substrate 18. The upper end of the upper connecting rod 20 is hinged to the expansion substrate 18, the lower end of the upper connecting rod 20 is hinged to the upper end of the lower connecting rod 21, the lower end of the lower connecting rod 21 is hinged to the telescopic end of the expansion push rod 19, and the expansion push rod 19 is connected to the expansion substrate 18. The upper connecting rod 20 and the lower connecting rod 21 are provided on both sides of the expansion push rod 19. The expansion push rod 19 is used to shrink in the pit so that the hinge position of the upper connecting rod 20 and the lower connecting rod 21 is pressed against the pit.

[0094] After the crawler walking device 5 automatically walks to the designated position, a pit is drilled on the ground by the drilling mechanism 83. Afterwards, the crawler walking device 5 continues to walk a distance, and the expansion mechanism 84 expands in the pit, tightens the side wall of the pit, and realizes position anchoring.

[0095] The drilling base lifting motor 17 drives the drilling base lifting screw to rotate, so that the drilling base 14 is lifted and lowered along the drilling guide groove 12, and the drilling rod 16 is lifted and lowered together. The drilling motor 15 drives the drilling rod 16 to rotate to realize drilling.

[0096] The expansion base lifting motor 22 drives the expansion base lifting screw to rotate, so that the expansion base 18 is lifted and lowered along the expansion guide groove, driving the expansion push rod 19 to lift and lower together. The initial state of the expansion push rod 19 is the extended state. After the expansion push rod 19 is lowered into place in the pit, it gradually shortens, so that the hinge position of the upper connecting rod 20 and the lower connecting rod 21 protrudes to the side away from the expansion push rod 19, squeezes and embeds into the side wall of the pit, and realizes anchoring.

[0097] As a possible example, in this embodiment, refer to Figure 6 to Figure 8 The pipeline vibration measurement and suppression system also includes a clamp system drive component 90, which includes a power motor 8, a power motor push rod 7, a bearing slider 6, a bearing slider drive screw 10, a bearing slider guide rail 9 and a bearing slider drive motor 11.

[0098] The output shaft of the power motor can be plugged and matched with any one of the upper frame lifting control rod 30, the horizontal slider sliding control rod 37 and the swing arm swing control rod 47 to output power. By adjusting the position of the power motor 8, it can drive any one of the upper frame lifting control rod 30, the horizontal slider sliding control rod 37 and the swing arm swing control rod 47, so that the power input of the lifting control mechanism 24, the horizontal sliding control mechanism 23 and the opening and closing control mechanism 25 can be realized through one power motor 8. This power input method can reduce the number of motors configured, thereby reducing the overall weight and saving costs.

[0099] The power motor push rod 7 is respectively connected to the power motor 8 and the bearing slider 6, and is used to adjust the position of the power motor 8 in the left and right direction to establish and disconnect the power connection. The bearing slider driving screw 10 is threadedly connected to the bearing slider 6, and is used to drive the bearing slider 6 to move in the front and rear direction. The bearing slider guide rail 9 is slidably connected to the bearing slider 6, and is used to guide the bearing slider 6. The bearing slider driving motor 11 is connected to the bearing slider driving screw 10, and is used to drive the bearing slider driving screw 10 to rotate. The bearing slider driving screw 10 is rotatably connected to the chassis 4, and the bearing slider guide rail 9 is connected to the chassis 4.

[0100] The bearing slider driving motor 11 drives the bearing slider driving screw 10 to rotate, so that the bearing slider 6 slides along the bearing slider guide rail 9, driving the power motor push rod 7 and the power motor 8 to move synchronously therewith, thereby adjusting the position of the power motor 8 along the front-rear direction.

[0101] As a possible example, in this embodiment, refer to Figure 1 , Figure 2 , Fig.16 The pipeline vibration measurement and suppression system also includes a pipeline center detection system 1, and the pipeline center detection system 1 includes a clamp system and an infrared sensor 48.

[0102] The infrared sensor 48 is installed on the semicircular clamp 38 of the clamp system, and is used to measure the position of the pipe wall by infrared scanning. There are multiple infrared sensors 48 on the same clamp system, which are arranged in a circle to provide the pipe wall position data in the entire circumferential direction for subsequent calculation of the center position of the pipeline.

[0103] A circle of infrared sensors 48 can provide position data of the pipe wall at different circumferential angles. After the position data is input into the calculation unit, the calculation unit calculates the center position of the pipe.

[0104] There are at least two pipeline center detection systems 1, and the calculation unit can calculate the centrality of the pipeline by combining the central positions of the pipeline measured by the two pipeline center detection systems 1.

[0105] As a possible example, in this embodiment, refer to Figure 1 , Figure 2 , Figures 17 to 23 The pipeline vibration measurement and suppression system also includes a vibration detection system 2, which includes a clamp system, an arc plate 51, an arc slider 58, an arc plate drive motor 49, an arc slider drive motor 56, a resistance probe 54, a resistance probe reset spring 53, and a compressed wedge block 52.

[0106] The needle tip of the probe 54 is used to abut against the pipe wall. When the pipe wall vibrates, the internal resistance of the probe 54 changes, thereby detecting the direction and strength of the vibration.

[0107] The semicircular clamp 38 of the clamp system is provided with an arc plate slot 50, and the arc plate 51 is slidably connected to the arc plate slot 50. The arc plate 51 is provided with an arc slider slot 55, and the arc slider 58 is provided with an arc protrusion 57, and the arc protrusion 57 is slidably connected to the arc slider slot 55. The arc plate driving motor 49 is connected to the semicircular clamp, and the arc plate driving motor 49 drives the arc plate 51 to slide through gear transmission. The arc slider driving motor 56 is connected to the arc plate 51, and the arc slider driving motor 56 drives the arc slider 58 to slide through gear transmission. The resistance probe 54 is radially slidably connected to the semicircular clamp 38, and the resistance probe reset spring 53 is located between the semicircular clamp 38 and the resistance probe 54, and is used to apply a radial outward elastic force to the resistance probe 54. The pressure wedge 52 is connected to the outer end of the resistance probe 54 , and the arc-shaped slider 58 is provided with a pressure wedge. When the arc-shaped slider 58 slides, the pressure wedge slides and contacts the pressure wedge 52 to adjust the radial position of the resistance probe 54 .

[0108] The arc plate driving motor 49 drives the arc plate 51 to slide along the arc plate slide groove 50 through gear transmission, driving the resistance probe 54 to move, thereby changing the circumferential position of the resistance probe 54, so that the resistance probe 54 performs vibration detection on different circumferential positions of the pipe wall.

[0109] When the resistance probe 54 is adjusted to the right position along the circumferential direction, the arc plate driving motor 49 stops working, and a certain gap is left between the tip of the resistance probe 54 and the pipe wall. The arc slider driving motor 56 drives the arc slider 58 to slide along the arc slider slot 55 through gear transmission, driving the pressure wedge to move synchronously, and the pressure wedge squeezes the radial inner pressure wedge 52, and the resistance probe reset spring 53 contracts until the tip of the resistance probe 54 touches the pipe wall, and the arc slider driving motor 56 stops working.

[0110] When the vibration detection is completed, the arc-shaped slider drives the motor 56 to rotate in the opposite direction, and the resistance probe reset spring 53 is extended, driving the resistance probe 54 to separate from the pipe wall.

[0111] As a possible example, in this embodiment, refer to Fig.17 , Fig.18 The vibration detection system 2 includes only one arc plate 51, but the two semicircular clamps 38 of the clamp system are both provided with arc plate chute 50. The arc plate 51 can slide from the arc plate chute 50 of one semicircular clamp 38 to the arc plate chute 50 of the other semicircular clamp 38, so as to realize the vibration detection of the whole circumferential direction of the pipeline.

[0112] As a possible example, in this embodiment, refer to Figure 1 , Figure 2 , Figures 24 to 30 The pipeline vibration measurement and suppression system also includes a vibration recovery and vibration reduction system 3, which includes a spring vibration recovery mechanism 59, a damping vibration reduction mechanism 62, a first conduit 60 and a second conduit 61.

[0113] The spring vibration recovery mechanism 59 recovers the vibration energy of the first position in the axial direction of the pipeline and converts it into the kinetic energy of the circulating flow of the hydraulic oil, playing a role similar to a pump. Through continuous pumping, the hydraulic oil in the spring vibration recovery mechanism 59 flows to the damping vibration reduction mechanism 62 through the second conduit 61, and the hydraulic oil in the damping vibration reduction mechanism 62 flows back to the spring vibration recovery mechanism 59 through the first conduit 60. The damping vibration reduction mechanism 62 converts the pressure of the hydraulic oil into the pressure applied to the second position in the axial direction of the pipeline, thereby suppressing the vibration of the second position in the axial direction of the pipeline.

[0114] At least parts of the first conduit 60 and the second conduit 61 are flexible tubes to avoid damage.

[0115] Reference Figure 26 to Figure 28The spring vibration recovery mechanism 59 includes a clamp system, and also includes a first oil cylinder 63, a first oil cylinder return spring 75, a first oil collecting tank 64, an oil replenishment tank 68, a first oil collecting tank one-way inflow valve 65, and a first oil collecting tank one-way outflow valve 66. The first oil cylinder 63 is connected to the semicircular clamp 38 of the clamp system, and the oil chamber on the side of the first oil cylinder 63 away from the pipeline is connected to the first oil collecting tank 64. The first oil cylinder return spring 75 is used to apply a radially inward elastic force to the telescopic end of the first oil cylinder 63. The inlet and outlet of the first oil collecting tank one-way inflow valve 65 are respectively connected to the oil replenishment tank 68 and the first oil collecting tank 64. The inlet and outlet of the first oil collecting tank one-way outflow valve 66 are respectively connected to the first oil collecting tank 64 and the second conduit 61. The first oil collecting tank 64 and the oil replenishment tank 68 are connected to the semicircular clamp 38 of the clamp system to achieve support.

[0116] When the pipe wall moves toward the first oil cylinder 63, the first oil cylinder 63 is compressed under the extrusion of the pipeline, and the hydraulic oil inside itself is pressed into the first oil collecting tank 64. When the hydraulic pressure in the first oil collecting tank 64 is higher than the threshold of the first oil collecting tank one-way outflow valve 66, overflow occurs, and the hydraulic oil in the first oil collecting tank 64 flows into the main oil tank 77 through the second conduit 61.

[0117] When the tube wall moves to the side away from the first oil cylinder 63, the first oil cylinder return spring 75 stretches the first oil cylinder 63, and the negative pressure in the first oil cylinder 63 causes it to suck in the hydraulic oil in the first oil collecting groove 64. The negative pressure in the first oil collecting groove 64 causes it to suck in the hydraulic oil in the replenishing tank 68. The negative pressure in the replenishing tank 68 causes it to suck in the hydraulic oil in the second oil collecting groove 85 through the first conduit 60.

[0118] Reference Fig.29 , Fig.30 The damping vibration reduction mechanism 62 includes a clamp system, and also includes a second oil cylinder 76, a second oil cylinder one-way inflow valve 79, a second oil cylinder one-way outflow valve 78, a main oil tank 77 and a second oil collecting tank 85. The second oil cylinder 76 is connected to the semicircular clamp 38 of the clamp system. The second oil cylinder 76 has a piston rod 82. The oil chambers on both sides of the piston rod 82 are respectively the first oil chamber and the second oil chamber. The first oil chamber is located on the side of the piston rod 82 away from the pipeline. The inlet and outlet of the second oil cylinder one-way inflow valve 79 are respectively connected to the main oil tank 77 and the first oil chamber. The inlet and outlet of the second oil cylinder one-way outflow valve 78 are respectively connected to the first oil chamber and the second oil collecting tank 85. The second oil chamber is provided with a through hole 81 for maintaining pressure stability. The two ends of the first conduit 60 are respectively connected to the second oil collecting tank 85 and the replenishing tank 68, and the replenishing tank 68 is provided with a guide hole 67 for connecting the first conduit 60. The two ends of the second conduit 61 are respectively connected to the first oil collecting tank 64 and the main oil tank 77. The opening pressure of the second oil cylinder one-way outflow valve 78 is greater than the opening pressure of the second oil cylinder one-way inflow valve 79. The main oil tank 77 and the second oil collecting tank 85 are connected to the semicircular clamp 38 of the clamp system to achieve support.

[0119] The main oil tank 77 presses the hydraulic oil into the first oil chamber, the volume of the first oil chamber increases, and the piston rod is pressed against the pipe wall, so that the piston rod applies a certain pressure to the pipe wall, thereby suppressing the vibration of the pipe wall. When the hydraulic pressure in the first oil chamber is greater than the threshold of the second oil cylinder one-way outflow valve 78, overflow occurs, and the oil in the first oil chamber is pressed into the second oil collecting groove 85, thereby achieving non-rigid vibration suppression and avoiding damage to the pipeline.

[0120] As a possible example, in this embodiment, refer to Fig. 27 , Fig.28 The spring vibration recovery mechanism 59 also includes an arc-shaped slide 70, an arc-shaped slide drive motor 69, a lever hook push rod 71, a lever hook 73 and a hook reset spring 74. The semicircular clamp 38 of the clamp system is provided with an arc-shaped slide slot 72, and the arc-shaped slide 70 is slidably connected to the arc-shaped slide slot 72. The arc-shaped slide drive motor 69 is connected to the arc-shaped slide 70, and the arc-shaped slide drive motor 69 drives the arc-shaped slide 70 to slide through gear transmission. The lever hook push rod 71 is connected to the arc-shaped slide 70. The middle part of the lever hook 73 is rotated to connect the semicircular clamp 38 of the clamp system, and the hook reset spring 74 is connected to the semicircular clamp 38 of the clamp system. The first end of the lever hook 73 is provided with a hook for compressing the first oil cylinder reset spring 75, and the first end of the lever hook 73 is used to swing toward the first oil cylinder 63 under the push of the hook reset spring 74, so that the hook hooks the end of the first oil cylinder reset spring 75 close to the pipeline. The second end of the lever hook 73 is used to swing toward the first oil cylinder 63 under the push of the lever hook push rod 71 so as to separate the bent hook from the first oil cylinder return spring 75 .

[0121] The arc slide drive motor 69 drives the arc slide 70 to rotate, driving the lever hook push rod 71 to move, so that the telescopic end of the lever hook push rod 71 is aligned with the second end of a lever hook 73. After that, the lever hook push rod 71 is extended, and its telescopic end pushes the second end of the lever hook 73, and the lever hook 73 rotates around the central rotation connection position, so that the hook at the first end of the lever hook 73 is separated from the end of the first oil cylinder reset spring 75 close to the pipe. The end of the first oil cylinder reset spring 75 close to the pipe pushes the telescopic end of the first oil cylinder 63 to move toward the pipe wall and finally contact the pipe wall. After that, the lever hook push rod 71 is shortened, and the hook reset spring 74 pushes the first end of the lever hook 73 to swing toward the first oil cylinder 63. Since the radius of the hook reset spring 74 close to the end of the pipe is larger than the radius of the middle, the hook can no longer contact the first oil cylinder reset spring 75, and therefore cannot hinder the action of the first oil cylinder reset spring 75.

[0122] Similarly, the arc-shaped slide drive motor 69 continues to drive the arc-shaped slide 70 to rotate, and the other first cylinder return springs 75 can be released.

[0123] As a possible example, in this embodiment, refer to Fig.30 The damping vibration reduction mechanism 62 also includes a solenoid valve 80 , which is located on the connecting pipeline between the first oil chamber and the main oil tank 77 .

[0124] When the solenoid valve 80 is closed, the hydraulic oil does not flow, and the lengths of the first oil cylinder 63 and the second oil cylinder 76 remain unchanged. After the two semicircular clamps 38 of the spring vibration recovery mechanism 59 are closed, and the two semicircular clamps of the damping vibration reduction mechanism 62 are also closed, the solenoid valve 80 is opened first (to prevent excessive pressure in the first oil chamber), and then the first oil cylinder reset springs 75 are released one by one.

[0125] As a possible example, in this embodiment, refer to Fig.26 , Fig.29 In the spring vibration recovery mechanism 59, each semicircular clamp 38 of the clamp system corresponds to a plurality of first oil cylinders 63, a first oil collecting tank 64 and an oil replenishing tank 68. In the damping vibration reduction mechanism 62, each semicircular clamp 38 of the clamp system corresponds to a plurality of second oil cylinders 76, a main oil tank 77 and a second oil collecting tank 85.

[0126] In this way, the spring vibration recovery mechanism 59 can recover the vibration energy of the entire circumferential direction of the pipeline, and the damping vibration reduction mechanism 62 can suppress the vibration of the entire circumferential direction of the pipeline.

[0127] As a possible example, in this embodiment, refer to Figure 1 , Figure 2 , the number of the clamp systems is an even number, and is symmetrical about the chassis 4. Specifically, on the upper surface of the chassis 4, from front to back, a pipeline center detection system 1, a vibration detection system 2, a vibration recovery and vibration reduction system 3, a vibration recovery and vibration reduction system 3, a vibration detection system 2, and a pipeline center detection system 1 are respectively arranged. The clamp system drive component 90 (the weight of which can be ignored) is arranged on the left edge or the right edge of the upper surface of the chassis 4.

[0128] By adopting the above distribution method, the center of gravity of the pipeline vibration measurement and suppression system is located in the middle of the chassis 4, so that the running process is more stable.

[0129] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A pipeline vibration measurement and suppression system, characterized in that: include: Chassis (4); A crawler walking device (5) installed on the chassis (4); A clamp system for clamping a pipeline, the clamp system comprising a lifting control mechanism (24), a horizontal sliding control mechanism (23), a clamping mechanism and an opening and closing control mechanism (25); Wherein, the lifting control mechanism (24) comprises a lower frame (27), an upper frame (26), an upper frame lifting screw rod (28), an upper frame lifting control rod (30) and a lifting bevel gear set (29); the lower frame (27) is connected to the chassis (4), and the upper frame (26) is slidably connected to the lower frame (27) along the up and down directions; the upper frame lifting screw rod (28) is rotationally connected to the lower frame (27), and the upper frame lifting screw rod (28) is threadedly connected to the upper frame (26); the upper frame lifting control rod (30) is rotationally connected to the lower frame (27); the upper frame lifting control rod (30) is transmission-connected to the upper frame lifting screw rod (28) via the lifting bevel gear set (29); The horizontal sliding control mechanism (23) comprises a horizontal slider (31), a horizontal slider driving screw rod (32), a horizontal transmission rod, a vertical transmission rod (35), a horizontal slider sliding control rod (37), a horizontal sliding bevel gear set I (33), a horizontal sliding bevel gear set II (34) and a horizontal sliding bevel gear set III (36); the horizontal slider (31) is slidably connected to the upper frame along the left-right direction, the horizontal slider driving screw rod (32) is rotationally connected to the upper frame, the horizontal slider (31) is threadedly connected to the horizontal slider driving screw rod (32); the horizontal transmission rod is rotationally connected to the upper frame; the vertical transmission rod (35) is rotationally connected to the upper frame; The upper end of the vertical transmission rod (35) is rotationally connected to the upper frame, and the lower end of the vertical transmission rod (35) is rotationally connected to the lower frame; the horizontal slider sliding control rod (37) is rotationally connected to the lower frame; the horizontal slider driving screw rod (32) is transmission-connected to the horizontal transmission rod through the horizontal sliding bevel gear set I (33), the horizontal transmission rod and the upper end of the vertical transmission rod (35) are transmission-connected through the horizontal sliding bevel gear set II (34), and the lower end of the vertical transmission rod (35) is transmission-connected to the horizontal slider sliding control rod (37) through the horizontal sliding bevel gear set III (36); The clamping mechanism comprises a semicircular clamp (38), a toothed meshing structure (39) and a torsion spring (40); the ends of the two semicircular clamps (38) are hinged to the horizontal slider (31) around the same axis, and the two semicircular clamps (38) are meshed and connected via the toothed meshing structure (39); the torsion spring (40) is installed at the hinged position of the two semicircular clamps (38) and is used to keep the two semicircular clamps (38) in a closed state in a natural state; The opening and closing control mechanism (25) comprises a swing arm (41), a vertical guide rail (42), a vertical slider (43), a vertical slider driving screw rod (44), a horizontal slide seat, a horizontal guide rail (46), a swing arm swing control rod (47) and an opening and closing bevel gear set (45); the two semicircular hoops (38) are both provided with an upper column, and the upper end of the vertical slider (43) is provided with two lower columns; the swing arm (41) is provided with a strip groove; the two lower columns are respectively inserted into the strip grooves of the two swing arms (41), and the two upper columns are respectively inserted into the strip grooves of the two swing arms (41); the vertical guide rail (42) is connected to the swing arm (41) and the vertical slider (46 ... The horizontal slider (31) is connected to the vertical slider (43) and is slidably connected to the vertical guide rail (42) in the up-down direction; the vertical slider (43) is threadedly connected to the vertical slider driving screw (44); the vertical slider driving screw (44) is rotatably connected to the horizontal slider; the horizontal slider is slidably connected to the horizontal guide rail (46); the horizontal guide rail (46) is connected to the lower frame; the swing arm swing control rod (47) is rotatably connected to the lower frame; the swing arm swing control rod (47) is transmission-connected to the vertical slider driving screw rod (44) through the opening and closing bevel gear set (45); The upper frame lifting control rod (30), the horizontal slider sliding control rod (37) and the swing arm swing control rod (47) are parallel to each other and are located on the same side of the clamp system; the vertical transmission rod (35) and the swing arm swing control rod (47) are capable of extension and retraction.

2. The pipeline vibration measurement and suppression system according to claim 1 is characterized in that: Also included is a chassis anchoring system, the chassis anchoring system comprising: A tank body (13), comprising a tank bottom and a tank wall, wherein the tank wall is connected to the bottom plate (4); The drilling mechanism (83) comprises a drilling substrate lifting motor (17), a drilling substrate lifting screw, a drilling substrate (14), a drilling motor (15) and a drill rod (16); the drilling substrate lifting motor (17) is connected to the bottom of the groove and is used to drive the drilling substrate lifting screw to rotate; the drilling substrate lifting screw is threadedly connected to the drilling substrate (14) and is used to lift the drilling substrate (14); a drilling guide groove (12) is provided on the groove wall and is used to guide the sliding of the drilling substrate (14); the drilling motor (15) is connected to the drilling substrate (14) and is used to drive the drill rod (16) to rotate and drill the ground to obtain a pit; The expansion mechanism (84) comprises an expansion substrate lifting motor (22), an expansion substrate lifting screw, an expansion substrate (18), an expansion push rod (19), an upper connecting rod (20) and a lower connecting rod (21); the expansion substrate lifting motor (22) is connected to the bottom of the groove and is used to drive the expansion substrate lifting screw to rotate; the expansion substrate lifting screw is threadedly connected to the expansion substrate (18) and is used to lift the expansion substrate (18); an expansion guide groove is provided on the groove wall and is used to guide the sliding of the expansion substrate (18); the upper connecting rod (20) is connected to the bottom of the groove and is used to drive the expansion substrate lifting screw to rotate; the expansion substrate lifting screw is threadedly connected to the expansion substrate (18) and is used to lift the expansion substrate (18); an expansion guide groove is provided on the groove wall and is used to guide the sliding of the expansion substrate (18); the upper connecting rod (20) is connected to the bottom of the groove and is used to drive the expansion substrate lifting screw to rotate; the expansion substrate lifting screw is threadedly connected to the expansion substrate (18) and is used to lift the expansion substrate (18); the ... 0) is hinged to the expansion base plate (18), the lower end of the upper connecting rod (20) is hinged to the upper end of the lower connecting rod (21), the lower end of the lower connecting rod (21) is hinged to the telescopic end of the expansion push rod (19), and the expansion push rod (19) is connected to the expansion base plate (18); the upper connecting rod (20) and the lower connecting rod (21) are arranged on both sides of the expansion push rod (19); the expansion push rod (19) is used to shrink in the pit so that the hinged position of the upper connecting rod (20) and the lower connecting rod (21) is pressed against the pit.

3. The pipeline vibration measurement and suppression system according to claim 1 is characterized in that: It also includes a clamp system drive assembly (90), the clamp system drive assembly (90) including a power motor (8), a power motor push rod (7), a bearing slider (6), a bearing slider drive screw (10), a bearing slider guide rail (9) and a bearing slider drive motor (11); The output shaft of the power motor can be plugged into and matched with any one of the upper frame lifting control rod (30), the horizontal slider sliding control rod (37) and the swing arm swing control rod (47) to output power; the power motor push rod (7) is respectively connected to the power motor (8) and the bearing slider (6) for adjusting the position of the power motor (8) to establish and disconnect the power connection; the bearing slider driving screw (10) is threadedly connected to the bearing slider (6) for driving the bearing slider (6) to move in the front and rear directions; the bearing slider guide rail (9) is slidably connected to the bearing slider (6) for guiding the bearing slider (6); the bearing slider driving motor (11) is connected to the bearing slider driving screw (10) for driving the bearing slider driving screw (10) to rotate; the bearing slider driving screw (10) is rotatably connected to the chassis (4), and the bearing slider guide rail (9) is connected to the chassis (4).

4. The pipeline vibration measurement and suppression system according to claim 1, characterized in that: It also includes a pipeline center detection system (1), wherein the pipeline center detection system (1) includes the clamp system and an infrared sensor (48); The infrared sensor (48) is installed on the semicircular clamp (38) of the clamp system, and is used to measure the position of the pipe wall by infrared scanning; the number of the infrared sensors (48) on the same clamp system is multiple and arranged in a circle, and is used to provide pipe wall position data in the entire circumferential direction for subsequent calculation of the center position of the pipeline; There are at least two pipeline center detection systems (1) for use in pipeline center degree calculation.

5. The pipeline vibration measurement and suppression system according to claim 1, characterized in that: It also includes a vibration detection system (2), the vibration detection system (2) includes the clamp system, and also includes an arc plate (51), an arc slider (58), an arc plate drive motor (49), an arc slider drive motor (56), a resistance probe (54), a resistance probe reset spring (53), and a pressure wedge (52); The semicircular clamp (38) of the clamp system is provided with an arc plate slide groove (50), and the arc plate (51) is slidably connected to the arc plate slide groove (50); the arc plate (51) is provided with an arc slider slide groove (55), and the arc slider (58) is provided with an arc protrusion (57), and the arc protrusion (57) is slidably connected to the arc slider slide groove (55); the arc plate drive motor (49) is connected to the semicircular clamp, and the arc plate drive motor (49) drives the arc plate (51) to slide through gear transmission; The arc slider driving motor (56) is connected to the arc plate (51), and the arc slider driving motor (56) drives the arc slider (58) to slide through gear transmission; the resistance probe (54) is connected to the semicircular clamp (38) in a radially sliding manner, and the resistance probe reset spring (53) is located between the semicircular clamp (38) and the resistance probe (54) and is used to apply a radially outward elastic force to the resistance probe (54); the pressure wedge block (52) is connected to the outer end of the resistance probe (54), and the arc slider (58) is provided with a pressure wedge block, and the pressure wedge block slides and contacts the pressure wedge block (52) when the arc slider (58) slides, so as to adjust the radial position of the resistance probe (54).

6. The pipeline vibration measurement and suppression system according to claim 1, characterized in that: It also includes a vibration recovery and vibration reduction system (3), which includes a spring vibration recovery mechanism (59), a damping vibration reduction mechanism (62), a first conduit (60) and a second conduit (61); The spring vibration recovery mechanism (59) includes the clamp system, and also includes a first oil cylinder (63), a first oil cylinder reset spring (75), a first oil collecting groove (64), an oil replenishing tank (68), a first oil collecting groove one-way inflow valve (65), and a first oil collecting groove one-way outflow valve (66); the first oil cylinder (63) is connected to the semicircular clamp (38) of the clamp system, and the oil chamber on the side of the first oil cylinder (63) away from the pipeline is connected to the first oil collecting groove (64); the first oil cylinder reset spring (75) ... 5) is used to apply a radially inward elastic force to the telescopic end of the first oil cylinder (63); the inlet and outlet of the first oil collecting tank one-way inflow valve (65) are respectively connected to the oil replenishment tank (68) and the first oil collecting tank (64); the inlet and outlet of the first oil collecting tank one-way outflow valve (66) are respectively connected to the first oil collecting tank (64) and the second conduit (61); the first oil collecting tank (64) and the oil replenishment tank (68) are connected to the semicircular clamp (38) of the clamp system to achieve support; The damping vibration reduction mechanism (62) includes the clamp system, and also includes a second oil cylinder (76), a second oil cylinder one-way inflow valve (79), a second oil cylinder one-way outflow valve (78), a main oil tank (77) and a second oil collecting tank (85); the second oil cylinder (76) is connected to the semicircular clamp (38) of the clamp system, the second oil cylinder (76) has a piston rod (82), the oil chambers on both sides of the piston rod (82) are respectively a first oil chamber and a second oil chamber, and the first oil chamber is located on the side of the piston rod (82) away from the pipeline; the inlet and outlet of the second oil cylinder one-way inflow valve (79) are respectively connected to the main oil tank (77) and the first oil chamber; the inlet and outlet of the second oil cylinder one-way outflow valve (78) are respectively connected to The first oil chamber (60) and the second oil collecting groove (85) are connected; the second oil chamber is provided with a through hole (81) for maintaining pressure stability; the two ends of the first conduit (60) are respectively connected to the second oil collecting groove (85) and the oil replenishing tank (68), and the oil replenishing tank (68) is provided with a guide hole (67) for connecting the first conduit (60); the two ends of the second conduit (61) are respectively connected to the first oil collecting groove (64) and the main oil tank (77); the opening pressure of the second oil cylinder one-way outflow valve (78) is greater than the opening pressure of the second oil cylinder one-way inflow valve (79); the main oil tank (77) and the second oil collecting groove (85) are connected to the semicircular clamp (38) of the clamp system to achieve support.

7. The pipeline vibration measurement and suppression system according to claim 6, characterized in that: The spring vibration recovery mechanism (59) further comprises an arc-shaped slide seat (70), an arc-shaped slide seat driving motor (69), a lever hook push rod (71), a lever hook (73) and a hook reset spring (74); the semicircular clamp (38) of the clamp system is provided with an arc-shaped slide seat slot (72), and the arc-shaped slide seat (70) is slidably connected to the arc-shaped slide seat slot (72); the arc-shaped slide seat driving motor (69) is connected to the arc-shaped slide seat (70), and the arc-shaped slide seat driving motor (69) drives the arc-shaped slide seat (70) to slide through gear transmission; the lever hook push rod (71) is connected to the arc-shaped slide seat (70); the middle part of the lever hook (73) is rotatably connected to the arc-shaped slide seat The semicircular clamp (38) of the clamp system, the hook reset spring (74) is connected to the semicircular clamp (38) of the clamp system; the first end of the lever hook (73) is provided for compressing the bent hook of the first oil cylinder reset spring (75), the first end of the lever hook (73) is used to swing toward the first oil cylinder (63) under the push of the hook reset spring (74), so that the bent hook hooks the radial inner end of the first oil cylinder reset spring (75); the second end of the lever hook (73) is used to swing toward the first oil cylinder (63) under the push of the lever hook push rod (71), so that the bent hook is separated from the first oil cylinder reset spring (75).

8. The pipeline vibration measurement and suppression system according to claim 6, characterized in that: The damping vibration reduction mechanism (62) further comprises a solenoid valve (80), wherein the solenoid valve (80) is located on a connecting pipeline between the first oil chamber and the main oil tank (77).

9. The pipeline vibration measurement and suppression system according to claim 6, characterized in that: In the spring vibration recovery mechanism (59), each of the semicircular clamps (38) of the clamp system corresponds to a plurality of the first oil cylinders (63), a first oil collecting tank (64) and a supplementary oil tank (68); in the damping vibration reduction mechanism (62), each of the semicircular clamps (38) of the clamp system corresponds to a plurality of the second oil cylinders (76), a main oil tank (77) and a second oil collecting tank (85).

10. The pipeline vibration measurement and suppression system according to claim 1, characterized in that: The number of the clamp systems is an even number and they are symmetrical front to back about the chassis (4).

Images