Multi-degree-of-freedom guiding type pulling experimental equipment for pipeline detector overbend pulling

Abstract

The application provides a multi-degree-of-freedom guiding type pulling experiment device for pipeline detector overbend pulling, which comprises an experimental pipeline, a first guiding mechanism and a second guiding mechanism, and a first tension sensor and a second tension sensor, wherein the experimental pipeline comprises a bend section; the first guiding mechanism and the second guiding mechanism are respectively used for being connected with two ends of an inner detector; the first guiding mechanism and the second guiding mechanism are both arranged to be bendable so as to pass through the bend section; the first guiding mechanism and the second guiding mechanism are both in contact with the inner wall of the experimental pipeline; the first tension sensor is arranged between the first guiding mechanism and the inner detector so that the first guiding mechanism is connected with the inner detector through the first tension sensor; and the second tension sensor is arranged between the second guiding mechanism and the inner detector so that the second guiding mechanism is connected with the inner detector through the second tension sensor. The application solves the problem that the existing pulling experiment device is difficult to be applied to bend pipeline passing test.

Description

Technical Field

[0001] This invention relates to the field of pipeline maintenance, and more specifically, to a multi-degree-of-freedom guided tension test device for pulling pipeline detectors through bends. Background Technology

[0002] As a commonly used pipeline maintenance device, the safety and smooth operation of the pipeline inspection device are crucial to the success of pipeline cleaning operations. Experience from engineering sites shows that when the inspection device operates inside a bend, the sealing cup, support plate, and detection probe can be severely compressed and deformed, resulting in high operating resistance. Therefore, to avoid blockage accidents caused by insufficient driving force, it is essential to conduct bend-passability tests on an indoor experimental platform during the initial design phase of the inspection device design. This assessment and testing of the rationality of its structural dimensions and the required critical driving pressure is crucial.

[0003] At present, commonly used traction test devices are only suitable for straight pipes. Due to the limitations of the driving method, they cannot conduct traction tests on internal detectors when they bend. Hydraulically driven internal detector bending test devices have problems such as high construction costs, high implementation difficulty, complex operation procedures and difficulties in data monitoring. Summary of the Invention

[0004] The main objective of this invention is to provide a multi-degree-of-freedom guided tension test device for pipe detectors to conduct bending tests, thereby solving the problem that existing tension test devices suitable for pipe maintenance operations are difficult to apply to pipe bending tests.

[0005] To achieve the above objectives, the present invention provides a multi-degree-of-freedom guided tension test device for bending a pipe detector, comprising: a test pipe including a bent section; a first guide mechanism and a second guide mechanism, which are respectively connected to both ends of an inner detector to drive the inner detector to reciprocate along the extension direction of the test pipe; wherein both the first guide mechanism and the second guide mechanism are flexibly arranged to pass through the bent section; both the first guide mechanism and the second guide mechanism are in contact with the inner wall of the test pipe; a first tension sensor and a second tension sensor, wherein the first tension sensor is disposed between the first guide mechanism and the inner detector so that the first guide mechanism is connected to the inner detector through the first tension sensor; and the second tension sensor is disposed between the second guide mechanism and the inner detector so that the second guide mechanism is connected to the inner detector through the second tension sensor.

[0006] Furthermore, the first guiding mechanism has a plurality of first contact points circumferentially distributed along the inner wall of the experimental pipe; and / or the second guiding mechanism has a plurality of second contact points circumferentially distributed along the inner wall of the experimental pipe; and / or the multi-degree-of-freedom guided experimental pipe includes a first straight pipe and a second straight pipe, the first straight pipe and the second straight pipe section are respectively located at both ends of the bend section, the second straight pipe section is provided with a placement opening, the placement opening extends from the free end of the second straight pipe section toward the direction close to the bend section; and / or the traction experimental device also includes a plurality of support frames, the plurality of support frames are arranged at intervals along the extension direction of the experimental pipe, each support frame is connected to the experimental pipe to support the experimental pipe.

[0007] Furthermore, both the first and second guiding mechanisms include multiple supports and multiple universal joints. The supports and universal joints are arranged alternately along the head-to-tail distribution direction so that adjacent supports are relatively movably connected through corresponding universal joints located between them. The head-to-tail distribution direction is the distribution direction from the first guiding mechanism to the second guiding mechanism. The universal joint at the tail end of the first guiding mechanism is connected to the first tension sensor, and the universal joint at the head end of the second guiding mechanism is connected to the second tension sensor. Each support is used to contact the inner wall of the experimental pipe.

[0008] Furthermore, each support includes a connecting part and multiple support rods, with the multiple support rods arranged around the connecting part. One end of each support rod is connected to the connecting part, and the other end of the support rod is used to contact the inner wall of the experimental pipe.

[0009] Furthermore, each support also includes multiple rollers, which are arranged one-to-one with multiple support rods. Each roller is rotatably mounted on the free end of the corresponding support, so that each support rod makes rolling contact with the inner wall of the experimental pipe through the corresponding roller.

[0010] Furthermore, each roller is rotatably arranged around its axis, and the axis of rotation of the roller on each support is perpendicular to the extension direction of the support.

[0011] Furthermore, when the axes of two adjacent supports coincide, on the projection plane perpendicular to the axes of the two adjacent supports, multiple support rods of one support are staggered with multiple support rods of the other support.

[0012] Furthermore, on the projection surface, multiple support rods of two adjacent supports are evenly distributed around the axis of the support.

[0013] Furthermore, the number of supports for the first guide mechanism is 5 to 10; and / or the number of supports for the second guide mechanism is 5 to 10; and / or the universal joint includes a rotating shaft, a first universal joint fork, and a second universal joint fork, the rotating shaft being hinged to the first universal joint fork via a first hinge protrusion, the rotating shaft being hinged to the second universal joint fork via a second hinge protrusion, the hinge axis of the first hinge protrusion being perpendicular to the hinge axis of the second hinge protrusion; and / or the number of support rods in each support is [number missing].

[0014] Furthermore, the multi-degree-of-freedom guided traction test equipment for traction of pipeline detectors over bends also includes: a main traction machine, which is connected to a first guide mechanism via a first traction rope; and a secondary traction machine, which is connected to a second guide mechanism via a second traction rope.

[0015] The application of the technical solution of the present invention has the following beneficial effects:

[0016] 1. This experimental equipment is suitable for tensile tests of pipe detectors in full-size pipes. It can realistically simulate the stress state of pipe detectors when running in bends, thus ensuring the reliability of the data.

[0017] 2. The experiment uses a winch drive device (i.e., main traction machine and auxiliary traction machine) to provide power for the operation of the pipeline detector. Compared with the fluid-driven experimental method, it can reduce the difficulty of experimental operation, control the experimental cost, and thus effectively improve the feasibility of the experiment.

[0018] 3. This experiment independently designed a multi-degree-of-freedom guiding system (i.e., the guiding system formed by the first guiding mechanism and the second guiding mechanism). It uses a universal joint and ball bearing 100 to connect the Y-shaped bracket (i.e., bracket 9) to realize multi-degree-of-freedom translation and rotation. It can stably and continuously transmit the pulling force output by the main traction machine and the auxiliary traction machine to the pipe detector to be tested, ensuring that the pulling force always acts on the center point of the mandrel of the pipe detector and that the direction is always perpendicular to the cross section of the bend 2.

[0019] 4. The head and tail of the internal detector are respectively equipped with the first guide mechanism and the second guide mechanism. Each bracket 9 is equipped with a ball bearing 100 and connected with a wear-resistant roller to ensure that the pipeline detector can pass through the bend section 2 smoothly.

[0020] 5. The overall length of the multi-degree-of-freedom guided traction test equipment is equal to the arc length of the experimental pipe axis. During the pipe detector's bending process, the traction steel cable (i.e., the first traction rope and the second traction rope) can always remain on the central axis of the experimental pipe 1, avoiding contact with the pipe wall of the experimental pipe 1, increasing redundant friction, and thus reducing the impact on the traction test results.

[0021] 6. During the experiment, the running speed of the internal detector can be controlled by adjusting the rotation frequency of the main traction machine and the auxiliary traction machine. The length of the multi-degree-of-freedom guide traction test equipment can be adapted to bends with different bending radii to realize bending traction tests under multiple working conditions.

[0022] 7. By using the first and second tension sensors, the running resistance experienced by the internal detector at any moment during the entire movement can be received and recorded, ensuring the integrity, continuity, and reliability of the data. Attached Figure Description

[0023] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0024] Figure 1 A schematic diagram of an embodiment of the multi-degree-of-freedom guided traction test device for bending traction of a pipeline detector according to the present invention is shown.

[0025] Figure 2 A top view schematic diagram of the drive system of an embodiment of the present invention is shown, which is a multi-degree-of-freedom guided traction test device for traction of a pipe detector over a bend.

[0026] Figure 3 A partial perspective view of an embodiment of the multi-degree-of-freedom guided tension test device for bending tension of a pipeline detector according to the present invention is shown during pipeline operation;

[0027] Figure 4 A partial top perspective view of an embodiment of the multi-degree-of-freedom guided tension test device for pipe detector bending tension is shown during operation inside a bend in the pipe, according to an embodiment of the present invention.

[0028] Figure 5 It shows Figure 2 A side view at point A of the multi-degree-of-freedom guided tension test device used for bending tension of pipeline detectors;

[0029] Figure 6 It shows Figure 2 A side view at point B of the multi-degree-of-freedom guided tension test device used for bending tension of pipeline detectors;

[0030] Figure 7 A schematic diagram of the guide mechanism assembly is shown in an embodiment of the present invention for a multi-degree-of-freedom guided traction test device for traction of a pipe detector over a bend.

[0031] Figure 8A top view of the guide mechanism of an embodiment of the multi-degree-of-freedom guided traction test device for traction of pipe detectors through bends is shown.

[0032] Figure 9 A front view of a support frame of an embodiment of the multi-degree-of-freedom guided traction test device for traction of pipe detectors through bends is shown.

[0033] Figure 10 This diagram illustrates the connection between the support frame and the universal joint in an embodiment of a multi-degree-of-freedom guided traction test device for bending traction of a pipeline detector according to the present invention.

[0034] Figure 11 A schematic diagram of a universal joint structure is shown in an embodiment of the present invention for a multi-degree-of-freedom guided traction test device for traction of a pipeline detector when bending.

[0035] The above figures include the following reference numerals:

[0036] 1. Experimental piping; 101. First straight pipe; 102. Second straight pipe; 103. Placement opening; 2. Bend section; 3. First guide mechanism; 4. Second guide mechanism; 5. Internal detector; 51. Leather cup; 52. Mandrel; 6. First tension sensor; 7. Second tension sensor; 8. Support frame; 81. First support frame; 811. Support ring; 812. Support seat; 82. Second support frame; 821. Ring body; 822. Seat body; 9. Bracket; 91. Connecting part; 92. Support rod part; 93. Roller; 10. Universal joint; 11. Rotating shaft; 12. First universal joint fork; 13. Second universal joint fork; 14. First hinge protrusion; 15. Second hinge protrusion; 16. Main traction machine; 17. First traction rope; 18. Auxiliary traction machine; 19. Second traction rope; 20. Computer; 100. Ball bearing. Detailed Implementation

[0037] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0038] This invention provides a multi-degree-of-freedom guided tension test device for bending tension of pipeline detectors, such as... Figures 1 to 11As shown, the tension test device includes: an experimental pipe 1, which includes a bent section 2; a first guide mechanism 3 and a second guide mechanism 4, which are respectively used to connect to both ends of an inner detector 5 to drive the inner detector 5 to reciprocate along the extension direction of the experimental pipe 1; wherein, both the first guide mechanism 3 and the second guide mechanism 4 are bent to pass through the bent section 2; both the first guide mechanism 3 and the second guide mechanism 4 are in contact with the inner wall of the experimental pipe 1; a first tension sensor 6 and a second tension sensor 7, wherein the first tension sensor 6 is disposed between the first guide mechanism 3 and the inner detector 5 so that the first guide mechanism 3 is connected to the inner detector 5 through the first tension sensor 6; and the second tension sensor 7 is disposed between the second guide mechanism 4 and the inner detector 5 so that the second guide mechanism 4 is connected to the inner detector 5 through the second tension sensor 7. The internal detector 5 includes a spindle 52 and four cups 51. The four cups 51 are installed on the detector spindle 52 at a distance from each other. The detector sealing element cups 51 and the spindle 52 are concentrically assembled. The internal detector 5 is placed inside the pipe, and the cups 51 are interference-fitted with the inner wall of the experimental pipe 1.

[0039] This invention provides a multi-degree-of-freedom guided traction test device for traction of a pipe detector when it bends. This experimental device measures the friction resistance of the inner detector during operation within a bend. Using this device, the operation process of the inner detector within a bend can be realistically reproduced. The experimental pipe 1 provides a bend section 2, providing space for the operation of the first guide mechanism 3, the second guide mechanism 4, and the inner detector 5. The multi-degree-of-freedom guiding system composed of the first guide mechanism 3 and the second guide mechanism 4 enables real-time control of the traction force direction, ensuring that the traction force is always perpendicular to the pipe cross-section when the pipe detector bends. The first tension sensor 6 and the second tension sensor 7 output the running resistance experienced by the pipe detector during the bend in real time, thereby calculating the minimum driving force required for the pipe detector to bend and reasonably predicting the critical driving force required to drive the inner detector 5 (pipe detector). This provides a reliable data basis for the design of the internal inspection operation, effectively preventing blockage accidents.

[0040] The multi-degree-of-freedom guiding system composed of the first guiding mechanism 3 and the second guiding mechanism 4 in this invention can achieve free bending, bending according to the specific conditions of the pipeline, thereby realizing multi-degree-of-freedom guidance in three-dimensional space.

[0041] like Figure 3 and Figure 4As shown, the first guiding mechanism 3 has multiple first contact points distributed circumferentially along the inner wall of the experimental pipe 1, achieving multi-degree-of-freedom guidance and stronger adaptability; the second guiding mechanism 4 has multiple second contact points distributed circumferentially along the inner wall of the experimental pipe 1, achieving multi-degree-of-freedom guidance and stronger adaptability; the experimental pipe 1 includes a first straight pipe 101 and a second straight pipe 102, the first straight pipe 101 and the second straight pipe 102 are respectively located at both ends of the bend section 2, and the second straight pipe 102 is provided with a placement opening 103, which extends from the free end of the second straight pipe 102 toward the direction close to the bend section 2; the first straight pipe 101, the second straight pipe 102 and the bend section 2 are sequentially welded together by a circumferential weld. Among them, the bend section 2 can be selected as a 45° bend, a 90° bend, or a 180° bend according to the requirements. The multi-degree-of-freedom guided traction test equipment also includes multiple support frames 8, which are arranged at intervals along the extension direction of the test pipe 1. Each support frame 8 is connected to the test pipe 1 to support the test pipe 1 and is used for installing and fixing the test pipe 1.

[0042] In this embodiment, the plurality of support frames 8 include a plurality of first support frames 81 and second support frames 82. The plurality of first support frames 81 are used to support the first straight pipe 101 and the bend section 2.

[0043] Preferably, there are three first support frames 81, with two first support frames 81 located at both ends of the bend section 2 and the other first support frame 81 located at the end of the first straight pipe 101 away from the bend section 2. The first support frame 81 includes a support ring 811 and a support base 812 connected to each other. The support base 812 is used to support on the support base surface, and the support ring 811 is sleeved on the first straight pipe 101 or the bend section 2.

[0044] Preferably, the second support frame 82 is an integral structure, comprising three support parts connected as one unit, all of which are supported on the second straight pipe 102. The three support parts are distributed along the extension direction of the second straight pipe 102. One support part includes a ring body 821 and a seat body 822, while the other two support parts only include the seat body 822.

[0045] In some embodiments, both the first guide mechanism 3 and the second guide mechanism 4 include multiple supports 9 and multiple universal joints 10. The multiple supports 9 and multiple universal joints 10 are arranged alternately along the head-to-tail distribution direction so that two adjacent supports 9 are relatively movably connected through the corresponding universal joints 10 located between them. The number of supports 9 and universal joints 10 is determined by the bending radius of the bend section 2 and is used to control and adjust the running posture of the internal detector in real time to ensure that the pulling force always acts on the center point of the internal detector spindle and the direction is always perpendicular to the cross section of the bend. The head-to-tail distribution direction is the distribution direction from the first guide mechanism 3 to the second guide mechanism 4. The universal joint 10 located at the tail end of the first guide mechanism 3 is connected to the first tension sensor 6, and the universal joint 10 located at the head end of the second guide mechanism 4 is connected to the second tension sensor 7. It is used to measure and output the pulling force value generated during the operation of the detector in real time. Each support 9 is used to contact the inner wall of the experimental pipe 1 to ensure accurate guidance.

[0046] Furthermore, each support 9 includes a connecting portion 91 and multiple support rod portions 92. The multiple support rod portions 92 are arranged around the connecting portion 91, and one end of each support rod portion 92 is connected to the connecting portion 91 to form a Y-shaped structure. The connecting portion 91 is located at the center of the Y-shaped structure and is used to install the ball bearing 100. The other end of the support rod portion 92 is used to contact the inner wall of the experimental pipe 1. Each support 9 is an integral structure, and the connecting portion 91 is located in the middle of the integral support 9. The connecting portion 91 has a through hole for installing the ball bearing.

[0047] Each support 9 also includes multiple rollers 93, which are arranged one-to-one with multiple support rods 92. Each roller 93 is rotatably mounted on the free end of its corresponding support 9. The rollers 93 are polyurethane rollers, so that each support rod 92 makes rolling contact with the inner wall of the experimental pipe 1 through the corresponding rollers 93, thereby ensuring accurate guidance. Each roller 93 is rotatably mounted about its axis, and the axis of rotation of the roller 93 on each support rod 92 is perpendicular to the extension direction of the support rod 92.

[0048] During the movement, the first guide mechanism 3 and the second guide mechanism 4 ensure that the forward direction of the inner detector 5 is always tangent to the axis of the experimental pipe 1 and that the direction of the pulling force on the inner detector 5 is always perpendicular to the cross-section of the pipe, thereby ensuring a smooth overall movement and accurate measurement data.

[0049] like Figure 5 As shown, when the axes of two adjacent supports 9 coincide, on the projection plane perpendicular to the axes of the two adjacent supports 9, multiple support rods 92 of one support 9 are staggered with multiple support rods 92 of the other support 9 to further ensure guiding accuracy. On the projection plane, multiple support rods 92 of the two adjacent supports 9 are evenly distributed around the axis of the support 9.

[0050] Furthermore, the number of supports 9 in the first guide mechanism 3 is 5 to 10; the number of supports 9 in the second guide mechanism 4 is 5 to 10; the supports 9 are connected to the universal joint 10 by bolts and nuts. The universal joint 10 includes a rotating shaft 11, a first universal joint fork 12, and a second universal joint fork 13. The rotating shaft 11 is hinged to the first universal joint fork 12 via a first hinge protrusion 14, and the rotating shaft 11 is hinged to the second universal joint fork 13 via a second hinge protrusion 15. The hinge axis of the first hinge protrusion 14 is perpendicular to the hinge axis of the second hinge protrusion 15. Preferably, the number of support rods 92 in each support 9 is 3.

[0051] To ensure the smooth operation of the first guiding mechanism 3 and the second guiding mechanism 4 during the experiment, this embodiment uses a connection between the bracket 9 and the universal joint 10 to achieve multi-degree-of-freedom movement. The main body of the bracket 9 can rotate freely along its own central axis at any angle with the ball bearing 100. The posture is adjusted in real time through the rotation of the bracket 9 and the universal joint 10 to adapt to the curvature changes of the pipe section. While providing support and guidance, this avoids the system itself from experiencing large frictional resistance. In some embodiments, depending on the curvature radius of the pipe section, any number of brackets 9 can be added or removed to adjust the length of the guiding system, ensuring that the pulling rope is always located on the central axis of the pipe to avoid eccentricity. This design is suitable for pipe bending experiments with different curvatures.

[0052] Furthermore, the multi-degree-of-freedom guided traction test equipment for bending traction of the pipeline detector also includes: a main traction machine 16, which is connected to the first guide mechanism 3 via a first traction rope 17; and an auxiliary traction machine 18, which is connected to the second guide mechanism 4 via a second traction rope 19. The main traction machine 16 provides power and drives the first guide mechanism 3 and the inner detector 5 to run together by pulling the first traction rope 17. The spindle 52 is connected to the universal joint 10 to drive the piston cup 51 to run synchronously.

[0053] Since the first guide mechanism 3 and the second guide mechanism 4 have their own weight, they will generate frictional resistance during operation. Therefore, two tension sensors (i.e., the first tension sensor 6 and the second tension sensor 7) are connected between the head of the inner detector 5 and the front-end guide system and between the tail of the inner detector 5 and the rear-end guide system, respectively, to record the tension data of the front and rear ends of the inner detector in real time. The data transmission lines of the first tension sensor 6 and the second tension sensor 7 are connected to the computer 20, and the computer 20 outputs the tension data.

[0054] The multi-degree-of-freedom guided tension testing equipment in this embodiment is suitable for the experimental method of bending pipe tension testing, such as... Figures 1 to 11As shown, a bending pull test device for the internal detector 5 is implemented by using a misaligned first guide mechanism 3 and a second guide mechanism 4. The implementation method includes the following steps:

[0055] 1. Install and fix the first straight pipe 101, the second straight pipe 102, the bend section 2 and the placement opening 103 of the processed experimental pipe 1 to the support frame 8. The support frames 8 are placed at intervals according to the length of the experimental pipe to ensure the stability of the overall structure. Fix the assembled experimental pipe 1 and pipe support frame 8 to the ground with anchor bolts.

[0056] 2. Install the ball bearing 100 in the connecting part 91, and install the high-hardness and wear-resistant roller 93 onto the bracket 9. According to the length of the bent pipe section 2, connect several universal joints 10 to several brackets 9 through the first universal joint fork 12 and the second universal joint fork 13 to assemble a multi-degree-of-freedom first guide mechanism 3 and a second guide mechanism 4. Install two S-shaped first tension sensors 6 and second tension sensors 7 at the head and tail of the internal detector 5, respectively. Connect the two sets of first guide mechanisms 3 and second guide mechanisms 4 to the first tension sensors 6 and second tension sensors 7 at the head and tail of the internal detector 5, respectively.

[0057] 3. Pass the first traction rope 17 of the main traction machine 16 through the experimental pipe 1 and connect it to the first tension sensor 6 at the front end of the internal detector 5; connect the second traction rope 19 of the auxiliary traction machine 18 to the second tension sensor 7 at the rear end of the internal detector 5; place the installed internal detector 5, the first guide mechanism 3 and the second guide mechanism 4 in sequence at the placement opening 103.

[0058] 4. Start the main traction machine 16 and set the auxiliary traction machine 18 to driven mode; the first guide mechanism 3, the internal detector 5, and the second guide mechanism 4 pass through the placement opening 103 in sequence and enter the first straight pipe 101; after the second guide mechanism 4 enters the first straight pipe 101, reduce the speed of the main traction machine 16 so that the first guide mechanism 3 slowly enters the bend section 2 until it is completely inside the bend section 2 and the main traction machine 16 is closed. At this time, the first support 9 and the last support 9 of the first guide mechanism 3 should be coplanar with the outlet end face and the inlet end face of the bend section 2, respectively; the first traction rope 17 of the main traction machine 16 coincides with the pipe centerline of the second straight pipe 102, and the second traction rope 19 of the auxiliary traction machine 18 coincides with the pipe centerline of the first straight pipe 101. The first traction rope 17 and the second traction rope 19 are both in a tightened state. Record the tension values ​​Fh0 and Ft0 on the first tension sensor 6 at the head and the second tension sensor 7 at the tail of the internal detector 5, respectively.

[0059] 5. Set the frequency of the main traction machine 16 according to the required operating speed for the experiment, and restart the main traction machine 16. Under the action of traction force and the first guide mechanism 3, the inner detector 5 smoothly enters and completely passes through the bend section 2 until the second guide mechanism 4 is fully entered into the bend section 2. Then, turn off the main traction machine 16. At this time, the first support 9 and the last support 9 of the second guide mechanism 4 should be coplanar with the outlet end face and the inlet end face of the bend section 2, respectively. The first traction rope 17 and the second traction rope 19 should still be aligned with the central axis of the second straight pipe 102 and the first straight pipe 101, without any deviation or bending. Record the values ​​Fh and Ft of the first tension sensor 6 and the second tension sensor 7 located at the head and tail of the inner detector 5 in real time by computer during the experiment.

[0060] 6. After the experiment is completed, pull the first guide mechanism 3, the second guide mechanism 4 and the internal detector 5 out of the outlet of the first straight pipe 101, remove the first guide mechanism 3, the second guide mechanism 4, the internal detector 5, the first tension sensor 6 and the second tension sensor 7, and connect the first traction rope 17 and the second traction rope 19; set the auxiliary traction machine 18 to the reverse rotation mode, set the main traction machine 16 to the driven mode, turn on the auxiliary traction machine 18 to reset the second traction rope 19 until it returns to the position before the experiment started, and turn off the motor.

[0061] 7. Using the calculation formula Ff=(Fh-Fh0)-(Ft-Ft0), the actual frictional resistance experienced by the internal detector 5 when running in the experimental pipe 1 can be obtained.

[0062] By applying the technical solution of the present invention, the above embodiments of the present invention achieve the following technical effects:

[0063] 1. This experimental equipment is suitable for tensile tests of pipe detectors in full-size pipes. It can realistically simulate the stress state of pipe detectors when running in bends, thus ensuring the reliability of the data.

[0064] 2. The experiment uses a winch drive device (i.e., main traction machine and auxiliary traction machine) to provide power for the operation of the pipeline detector. Compared with the fluid-driven experimental method, it can reduce the difficulty of experimental operation, control the experimental cost, and thus effectively improve the feasibility of the experiment.

[0065] 3. This experiment independently designed a multi-degree-of-freedom guiding system (i.e., the guiding system formed by the first guiding mechanism and the second guiding mechanism). It uses a universal joint and ball bearing 100 to connect the Y-shaped bracket (i.e., bracket 9) to realize multi-degree-of-freedom translation and rotation. It can stably and continuously transmit the pulling force output by the main traction machine and the auxiliary traction machine to the pipe detector to be tested, ensuring that the pulling force always acts on the center point of the mandrel of the pipe detector and that the direction is always perpendicular to the cross section of the bend 2.

[0066] 4. The head and tail of the internal detector are respectively equipped with the first guide mechanism and the second guide mechanism. Each bracket 9 is equipped with a ball bearing 100 and connected with a wear-resistant roller to ensure that the pipeline detector can pass through the bend section 2 smoothly.

[0067] 5. The overall length of the multi-degree-of-freedom guided traction test equipment is equal to the arc length of the experimental pipe axis. During the pipe detector's bending process, the traction steel cable (i.e., the first traction rope and the second traction rope) can always remain on the central axis of the experimental pipe 1, avoiding contact with the pipe wall of the experimental pipe 1, increasing redundant friction, and thus reducing the impact on the traction test results.

[0068] 6. During the experiment, the running speed of the internal detector can be controlled by adjusting the rotation frequency of the main traction machine and the auxiliary traction machine. The length of the multi-degree-of-freedom guide traction test equipment can be adapted to bends with different bending radii to realize bending traction tests under multiple working conditions.

[0069] 7. By using the first and second tension sensors, the running resistance experienced by the internal detector at any moment during the entire movement can be received and recorded, ensuring the integrity, continuity, and reliability of the data.

[0070] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A multi-degree-of-freedom guided tension test device for bending tension of pipeline detectors, characterized in that, include: Experimental pipe (1), wherein the experimental pipe (1) includes a bend (2); The first guide mechanism (3) and the second guide mechanism (4) are respectively used to connect to the two ends of the internal detector (5) so as to drive the internal detector (5) to reciprocate along the extension direction of the experimental pipe (1); The first guide mechanism (3) and the second guide mechanism (4) can both be bent to pass through the bend section (2); the first guide mechanism (3) and the second guide mechanism (4) are both in contact with the inner wall of the experimental pipe (1); A first tension sensor (6) and a second tension sensor (7) are provided. The first tension sensor (6) is disposed between the first guide mechanism (3) and the inner detector (5) so that the first guide mechanism (3) is connected to the inner detector (5) through the first tension sensor (6). The second tension sensor (7) is disposed between the second guide mechanism (4) and the inner detector (5) so that the second guide mechanism (4) is connected to the inner detector (5) through the second tension sensor (7). Both the first guide mechanism (3) and the second guide mechanism (4) include multiple brackets (9) and multiple universal joints (10). The universal joint (10) located at the tail end of the first guide mechanism (3) is connected to the first tension sensor (6), and the universal joint (10) located at the head end of the second guide mechanism (4) is connected to the second tension sensor (7). Each bracket (9) is used to contact the inner wall of the experimental pipe (1). The universal joint (10) includes a rotating shaft (11), a first universal joint fork (12) and a second universal joint fork (13). The rotating shaft (11) is hinged to the first universal joint fork (12) through a first hinge protrusion (14), and the rotating shaft (11) is hinged to the second universal joint fork (13) through a second hinge protrusion (15). The hinge axis of the first hinge protrusion (14) is perpendicular to the hinge axis of the second hinge protrusion (15). Each of the brackets (9) includes a connecting part (91) and a plurality of support rods (92), and the number of support rods (92) of each bracket (9) is 3; When the axes of two adjacent brackets (9) coincide, on the projection plane perpendicular to the axes of the two adjacent brackets (9), the multiple support rods (92) of one bracket (9) are misaligned with the multiple support rods (92) of the other bracket (9); The tension testing equipment also includes: The main traction machine (16) is connected to the first guide mechanism (3) via a first traction rope (17); A secondary traction machine (18) is connected to the second guide mechanism (4) via a second traction rope (19).

2. The multi-degree-of-freedom guided tension test device for bending tension of pipeline detectors according to claim 1, characterized in that, The first guide mechanism (3) has a plurality of first contact points circumferentially distributed along the inner wall of the experimental pipe (1); and / or The second guide mechanism (4) has a plurality of second contact points circumferentially distributed along the inner wall of the experimental pipe (1); and / or The experimental conduit (1) includes a first straight conduit (101) and a second straight conduit (102), the first straight conduit (101) and the second straight conduit (102) being located at opposite ends of the bend (2), and the second straight conduit (102) having a placement opening (103) extending from the free end of the second straight conduit (102) toward the bend (2); and / or The multi-degree-of-freedom guided traction experimental device also includes multiple support frames (8), which are arranged at intervals along the extension direction of the experimental pipe (1). Each support frame (8) is connected to the experimental pipe (1) to support the experimental pipe (1).

3. The multi-degree-of-freedom guided tension test device for bending tension of pipeline detectors according to claim 1, characterized in that, The plurality of brackets (9) and the plurality of universal joints (10) are arranged alternately along the head-to-tail distribution direction so that two adjacent brackets (9) are relatively movably connected by the corresponding universal joints (10) located between them; the head-to-tail distribution direction is the distribution direction of the first guide mechanism (3) to the second guide mechanism (4).

4. The multi-degree-of-freedom guided tension test device for bending tension of pipeline detectors according to claim 3, characterized in that, The plurality of support rods (92) are arranged around the connecting part (91), one end of each support rod (92) is connected to the connecting part (91), and the other end of the support rod (92) is used to contact the inner wall of the experimental pipe (1).

5. The multi-degree-of-freedom guided tension test device for bending tension of pipeline detectors according to claim 4, characterized in that, Each of the brackets (9) also includes a plurality of rollers (93), which are arranged one-to-one with the plurality of support rods (92). Each of the rollers (93) is rotatably arranged at the free end of the corresponding bracket (9) so that each of the support rods (92) rolls into contact with the inner wall of the experimental pipe (1) through the corresponding rollers (93).

6. The multi-degree-of-freedom guided tension test device for bending tension of pipeline detectors according to claim 5, characterized in that, Each of the rollers (93) is rotatably arranged about its axis, and the axis of rotation of the rollers (93) on each of the support rods (92) is perpendicular to the extension direction of the support rod (92).

7. The multi-degree-of-freedom guided tension test device for bending tension of pipeline detectors according to claim 1, characterized in that, On the projection plane, multiple support rods (92) of two adjacent supports (9) are evenly distributed around the axis of the support (9).

8. The multi-degree-of-freedom guided tension test device for bending tension of a pipeline detector according to any one of claims 3 to 7, characterized in that, The number of brackets (9) of the first guide mechanism (3) is 5 to 10; and / or The number of brackets (9) of the second guide mechanism (4) is 5 to 10.

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