Flexible automatic drift diameter equipment

Abstract

The invention discloses flexible automatic drifting equipment. The device comprises a main body frame, an intelligent drift diameter device, a winch pressing plate, a bamboo joint self-locking type bending chain, a winch buffering support, a winch, a driving motor, a drift diameter rod supporting frame, a laser range finder, a torque sensor and a controller. The flexible automatic drift diameter equipment has the following beneficial effects that the occupied space is small, the automation level is high, and the labor intensity is low; the device has the functions of automatic center alignment, in-pipe detection and resistance positioning, can realize the functions of detecting the drift diameter of the sleeve and in-pipe conditions, positioning inner wall defects and the like, and can be applied to various procedures of full-length drift diameter of the sleeve, secondary drift diameter assembly, finished sleeve inspection and the like; the bamboo joint self-locking type bending chain is novel in structural design, and can realize horizontal self-locking and bending unlocking.

Description

Technical Field

[0001] The invention belongs to the technical field of casing production, and in particular relates to a flexible automatic diameter-passing device. Background Art

[0002] Oil casing is mainly used to support the well wall after the well is completed during the drilling process to ensure the normal progress of the oil field drilling process. After the casing is lowered into the well, if there are pits in the casing body or foreign matter is attached to the inner wall, it is very likely that the detection equipment will be stuck in the casing. In serious cases, it will also affect the subsequent technical casing downhole operations. Therefore, a diameter process must be set in the production process of oil casing.

[0003] At present, the on-site casing diameter process is divided into full-length diameter of steel pipe and secondary diameter after the coupling machine is tightened. One full-length diameter adopts pneumatic diameter method, which is to manually insert the diameter rod into the diameter end, and the high-pressure airflow input from the diameter end pushes the diameter rod through the inner hole of the pipe body, and then the diameter rod is transported back to the diameter end by a belt to complete the diameter. The secondary diameter is completed by manually holding the diameter rod. There are three main diameter methods used by casing manufacturers:

[0004] 1. Mechanical steel pipe diameter

[0005] (1) It occupies a large area and needs to be matched with a diameter rod equivalent to the length of the steel pipe;

[0006] (2) Applicable steel pipe outer diameter 114mm ~ 340mm;

[0007] (3) Applicable steel pipe length 6m~15m;

[0008] (4) The drift rod needs to pass through the steel pipe twice, which takes a long time and has a low frequency;

[0009] (5) The structure is complex, the one-time investment is high, and it is difficult to maintain.

[0010] 2. Pneumatic steel pipe calibrating machine driven by air pump

[0011] (1) Small footprint;

[0012] (2) Applicable steel pipe outer diameter 48mm ~ 178mm;

[0013] (3) Applicable steel pipe length 6m~15m;

[0014] (4) The drift rod needs to pass through the steel pipe twice, which takes a long time and has a low frequency;

[0015] (5) The air pump makes a lot of noise when working.

[0016] 3. Pneumatic steel pipe calibrating machine driven by compressed air

[0017] (1) Small footprint;

[0018] (2) Applicable steel pipe outer diameter 48mm ~ 508mm;

[0019] (3) Applicable steel pipe length 6m~18m;

[0020] (4) The single pass rod passes through the steel pipe in a short time and with a high frequency, but the disadvantage is the high cost. Summary of the invention

[0021] In order to solve the above problems, the object of the present invention is to provide a flexible automatic path-passing device.

[0022] In order to achieve the above-mentioned purpose, the flexible automatic path-passing equipment provided by the present invention includes a main frame, an intelligent path-passing device, a capstan pressure plate, a bamboo self-locking bending chain, a capstan buffer bracket, a capstan, a driving motor, a path-passing rod support bracket, a laser rangefinder, a torque sensor and a controller; wherein, the main frame is a rectangular trough body with an open upper end, and two right-angle slide grooves extending in the left and right directions are arranged on the front bottom surface at intervals, which serve as guide rails for the path-passing rod support bracket; the upper end of the path-passing rod support bracket is supported on the rear bottom of the intelligent path-passing device; two groups of capstan buffer brackets are respectively arranged on both sides of the rear of the main frame; the driving motor is installed on one group of capstan buffer brackets, the transmission shaft is arranged in the left and right directions, and the outer end of the transmission shaft is supported by a bearing seat installed on the upper end of another group of capstan buffer brackets; the center of the capstan is installed on the driving motor In the middle of the transmission shaft of the machine, the middle of the outer circumference is concave inward to form a circle of groove; the bamboo self-locking bending chain is wrapped in the groove of the capstan, the inner end is fixed on the capstan, and the outer end is connected to the rear end of the intelligent path device; the capstan pressure plate is composed of four columns and a top plate, the lower ends of the four columns are fixed on both sides of the rear part of the main frame, the top plate is located above the capstan, and a slide groove extending in the front and rear directions is provided in the middle of the bottom surface of the top plate, which is used to squeeze the bamboo self-locking bending chain, maintain the stability of the bamboo self-locking bending chain when it is horizontal and realize the unlocking of the bamboo self-locking bending chain; the torque sensor is installed on the capstan; the laser rangefinder is installed in the middle of the front end of the top plate on the capstan pressure plate; the controller is wirelessly connected to the driving motor, laser rangefinder, torque sensor, intelligent path device 2 and electrical components on the path rod support frame respectively.

[0023] The intelligent diameter device includes a guide wheel, a guide sleeve, an iron sleeve, an image transmission device, a diameter rod and a diameter rod; the guide sleeve is a stepped cylindrical structure with a diameter gradually increasing from front to back, the outer surface is covered with an iron sleeve, the rear end is fixed to the front end of the diameter rod, and the image transmission device is embedded in the middle of the front end; a plurality of guide wheels are installed at intervals on the outer circumferential surface of the iron sleeve; the front end of the diameter rod is fixed to the rear end axis of the diameter rod, and the rear end is connected to the outer end of the bamboo self-locking bending chain; the image transmission device includes an infrared probe, a photosensitive sensor and a wireless camera which are wirelessly connected to the controller respectively.

[0024] The guide sleeve and the guide wheel are made of polyamide fiber.

[0025] The bamboo-joint self-locking bending chain is composed of a plurality of chain links connected end to end, and each chain link includes a chain link shell, a buckle, a paddle, a tension spring and a return spring; the chain link shell is a rectangular structure with open ends, the bottom corners are rounded, and a front slot and a rear slot are formed side by side at the rear of the two side walls, and a spring fixing point is provided on the inner wall of the rear of the top surface; the rear end lower part of the shell of the previous chain link is connected to the front end lower part of the shell of the next chain link by a fixing plate, so that the chain link can achieve unidirectional bending, and under the action of the winch pressure plate and the slide groove 20, the stability of the bamboo-joint self-locking bending chain when it is horizontal can be maintained, and the rounded corners can prevent jamming during bending; the paddle is composed of an inner baffle plate and a clamping column, each inner baffle plate is attached to the inner side of the front clamping groove on the chain link shell, and the clamping column is connected to the outer side of the inner baffle plate and inserted into the front clamping groove; the buckle is a U-shaped structure, composed of two side plates, a connecting plate, a clamping block and a paddle baffle, and its The middle connecting plate is arranged vertically, and the upper end is fixed to the upper side of the front end of the rear link shell, and a spring fixing groove is formed on the upper part; the rear ends of the two side plates are connected to the lower edges of the two sides of the connecting plate, and the front parts protrude outside the front port of the chain link shell and can be inserted into the rear part of the previous chain link shell, and the front ends are located on the inner side of the paddle on the same side; the two clamping blocks are respectively fixed to the outer side surfaces of the front parts of the two side plates, and can be inserted into the rear clamping groove on the previous chain link shell or escape from the rear clamping groove; a paddle baffle is respectively provided on the bottom surface of the front end of the two side plates to prevent the buckle from interfering with the paddle when the chain link shell rotates; the two ends of the tension spring are respectively connected to the spring fixing point of the previous chain link shell and the spring fixing groove of the connecting plate on the rear chain link; the two ends of a reset spring are respectively connected to the inner sides of the two inner baffles, and the two ends of the other reset spring are respectively connected to the inner sides of the front parts of the two side plates.

[0026] Each group of winch buffer brackets includes a lower support plate, two support rods, an upper support plate and a spring; the lower support plate is horizontally fixed to one side of the rear portion of the main frame; the lower ends of the two support rods are respectively fixed to the front and rear portions of the lower support plate, and the upper ends are simultaneously connected to the bottom surface of the upper support plate; the top surface of the upper support plate is used to set a drive motor or a bearing seat; a spring is sleeved on the outside of each support rod.

[0027] The through-diameter rod support frame includes a bracket, a base plate, an X-axis motor, a Y-axis motor, a turbine, a rolling bearing and a screw nut seat; a rolling bearing is installed on the front and rear parts of both sides of the base plate, and four rolling bearings are respectively arranged in two right-angle slide grooves of the main frame; a circular sleeve is provided in the middle of the base plate; the screw nut seat is installed on the outside of the circular sleeve; the lower half of the bracket is a turbine screw and is vertically inserted into the circular sleeve, and a roller is provided at the upper end for supporting the through-diameter rod; the Y-axis motor is installed on the base plate, the transmission shaft extends upward and the upper end is connected to the center hole of the turbine; the turbine is meshed with the turbine screw on the bracket; the X-axis motor is fixed on the inner wall of the main frame, and the transmission shaft is connected to the screw nut seat through the screw.

[0028] The through-diameter rod support frame is also provided with two bottom plate clamps whose upper ends are mounted on the bottom surface of the bottom plate and clamped on the inner ends of the two right-angle sliding grooves.

[0029] The controller adopts a computer.

[0030] The flexible automatic diameter-passing equipment provided by the present invention has the following beneficial effects: small footprint, high level of automation, and low labor intensity; it has the functions of automatic center alignment, in-pipe inspection, and positioning when encountering obstacles, and can realize the diameter of the casing, the detection of the situation inside the pipe, the positioning of inner wall defects and other functions; it can be applied to various processes such as the full-length diameter of the casing, the secondary diameter of the assembly station, and the inspection of finished casing; the bamboo-joint self-locking bending chain structure is novel in design and can self-lock horizontally and unlock by bending. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A side view of the flexible automatic path-passing device provided by the present invention.

[0032] Figure 2 This is a front view of the flexible automatic path-passing device provided by the present invention.

[0033] Figure 3 It is a top view of the bamboo self-locking bending chain of the present invention.

[0034] Figure 4 It is a side view of the bamboo self-locking bending chain of the present invention.

[0035] Figure 5 It is a top view of the chain link housing on the bamboo-joint self-locking curved chain of the present invention.

[0036] Figure 6 It is a side view of a chain link housing on the bamboo-joint self-locking curved chain of the present invention.

[0037] Figure 7 It is a top view of the buckle on the bamboo self-locking curved chain of the present invention.

[0038] Figure 8 It is a side view of the buckle on the bamboo self-locking curved chain of the present invention.

[0039] Fig. 9 It is a front view of the buckle on the bamboo self-locking curved chain of the present invention.

[0040] Fig.10 It is a schematic diagram of the structure of the bamboo self-locking curved chain pick in the present invention.

[0041] Fig.11 It is a side view of the diameter rod support frame of the present invention.

[0042] Fig.12 It is a front view of the diameter rod support frame of the present invention.

[0043] Fig.13 It is a side view of the lower structure of the diameter rod support frame in the present invention.

[0044] Fig.14 It is a front view of the lower structure of the diameter rod support frame in the present invention.

[0045] Fig.15 It is a top view of the lower structure of the diameter rod support frame in the present invention.

[0046] Fig.16 It is a side view of the intelligent path device in the present invention.

[0047] Fig.17 It is a front view of the intelligent path device in the present invention.

[0048] Fig.18 It is a schematic diagram of the working process of the flexible automatic path-passing equipment provided by the present invention. DETAILED DESCRIPTION

[0049] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0050] like Figure 1-Figure 18As shown, the flexible automatic path-passing equipment provided by the present invention includes a main frame 1, an intelligent path-passing device 2, a capstan pressure plate 3, a bamboo self-locking bending chain 4, a capstan buffer bracket 5, a capstan 6, a driving motor 7, a path-passing rod support frame 8, a laser rangefinder 9, a torque sensor 23 and a controller; wherein the main frame 1 is a rectangular parallelepiped trough body with an open upper end, and two right-angle slide grooves 21 extending in the left and right directions are arranged on the front bottom surface at intervals, which serve as guide rails for the path-passing rod support frame 8; the upper end of the path-passing rod support frame 8 is supported on the rear bottom of the intelligent path-passing device 2; two groups of capstan buffer brackets 5 are respectively arranged on both sides of the rear part of the main frame 1; the driving motor 7 is installed on one group of capstan buffer brackets 5, the transmission shaft is arranged in the left and right directions, and the outer end of the transmission shaft is supported by a bearing seat installed on the upper end of another group of capstan buffer brackets 5; the center of the capstan 6 is installed on the driving motor 7 In the middle of the transmission shaft, the middle of the outer circumference is concave inward to form a circle of groove; the bamboo self-locking bending chain 4 is wound in the groove of the capstan 6, the inner end is fixed on the capstan 6, and the outer end is connected to the rear end of the intelligent path device 2; the capstan pressure plate 3 is composed of four columns and a top plate, the lower ends of the four columns are fixed on both sides of the rear part of the main frame 1, the top plate is located above the capstan 6, and a slide groove 20 extending in the front and rear directions is provided in the middle of the bottom surface of the top plate, which is used to squeeze the bamboo self-locking bending chain 4, maintain the stability of the bamboo self-locking bending chain 4 when it is horizontal and realize the unlocking of the bamboo self-locking bending chain 4; the torque sensor 23 is installed on the capstan 6; the laser rangefinder 9 is installed in the middle of the front end of the top plate on the capstan pressure plate 3; the controller is wirelessly connected to the driving motor 7, the laser rangefinder 9, the torque sensor 23, the intelligent path device 2 and the electrical components on the path rod support frame 8 respectively.

[0051] The intelligent through-path device 2 includes a guide wheel 10, a guide sleeve 11, an iron sleeve 12, an image transmission device 13, a through-path rod 22 and a through-path rod 24; the guide sleeve 11 is a stepped cylindrical structure with a diameter gradually increasing from front to back, the outer surface is covered with the iron sleeve 12, the rear end is fixed to the front end of the through-path rod 24, and the image transmission device 13 is embedded in the middle of the front end; a plurality of guide wheels 10 are installed at intervals on the outer circumferential surface of the iron sleeve 12; the front end of the through-path rod 22 is fixed to the rear end axis of the through-path rod 24, and the rear end is connected to the outer end of the bamboo self-locking bending chain 4; the image transmission device 13 includes an infrared probe, a photosensitive sensor and a wireless camera which are wirelessly connected to the controller respectively.

[0052] The guide sleeve 11 and the guide wheel 10 are made of polyamide fiber.

[0053] The bamboo self-locking bending chain 4 is composed of a plurality of chain links connected end to end, each of which includes a chain link housing 25, a buckle 14, a paddle 15, a tension spring 16 and a return spring 17; the chain link housing 25 is a rectangular parallelepiped structure with openings at both ends, the bottom corners are rounded, a front card slot 43 and a rear card slot 31 are formed side by side at the rear of the two side walls, and a spring fixing point 32 is provided on the inner wall of the rear of the top surface; the rear lower part of the front chain link housing 25 of the previous section is connected to the front lower part of the rear chain link housing 25 by a fixing plate, so The chain link can achieve unidirectional bending, and under the action of the winch pressure plate 3 and the slide groove 20, the bamboo self-locking bending chain 4 can maintain stability when it is horizontal, and the rounded corners can prevent jamming during bending; the paddle 15 is composed of an inner baffle 39 and a clamping column 40, each inner baffle 39 is attached to the inner side of the front clamping groove 43 on the chain link shell 25, and the clamping column 40 is connected to the outer surface of the inner baffle 39 and inserted into the front clamping groove 43; the buckle 14 is a U-shaped structure, which is composed of two side plates 36, a connecting plate 37, a clamping block 38 and a paddle baffle 34, wherein The connecting plate 37 is vertically arranged, and its upper end is fixed to the upper part of the front end of the rear link housing 25, and a spring fixing groove 33 is formed on the upper part; the rear ends of the two side plates 36 are connected to the lower parts of the two side edges of the connecting plate 37, and the front parts protrude outside the front port of the link housing 25 and can be inserted into the rear part of the previous link housing 25, and the front ends are located inside the paddle 15 on the same side; two clamping blocks 38 are respectively fixed to the front outer surfaces of the two side plates 36, and can be inserted into the rear clamping slot 31 on the previous link housing 25 or from the rear clamping slot 31. The rear card slot 31 is disengaged; a paddle baffle 34 is respectively provided on the front bottom surface of the two side plates 36 to prevent the buckle 14 from interfering with the paddle 15 when the chain link housing 25 rotates; the two ends of the tension spring 16 are respectively connected to the spring fixing point 32 of the previous chain link housing 25 and the spring fixing groove 33 of the connecting plate 37 on the next chain link; the two ends of a return spring 17 are respectively connected to the inner side surfaces of the two inner baffles 39, and the two ends of the other return spring 17 are respectively connected to the front inner side surfaces of the two side plates 36.

[0054] Each group of winch buffer brackets 5 includes a lower support plate 44, two support rods 32, an upper support plate 33 and a spring 34; the lower support plate 44 is horizontally fixed to one side of the rear portion of the main frame 1; the lower ends of the two support rods 32 are respectively fixed to the front and rear portions of the lower support plate 44, and the upper ends are simultaneously connected to the bottom surface of the upper support plate 33; the top surface of the upper support plate 33 is used to set a drive motor 7 or a bearing seat; a spring 34 is sleeved on the outside of each support rod 32.

[0055] The through-diameter rod support frame 8 includes a bracket 28, a base plate 26, an X-axis motor 19, a Y-axis motor 18, a turbine 29, a rolling bearing 30 and a screw nut seat 34; a rolling bearing 30 is installed at the front and rear parts of both sides of the base plate 26, and four rolling bearings 30 are respectively arranged in two right-angle slide grooves 21 of the main frame 1; a circular sleeve 35 is provided in the middle of the base plate 26; the screw nut seat 34 is installed outside the circular sleeve 35; the lower half of the bracket 28 is a turbine screw and is vertically inserted into the circular sleeve 35, and a roller is provided at the upper end for supporting the through-diameter rod 22; the Y-axis motor 18 is installed on the base plate 26, the transmission shaft extends upward and the upper end is connected to the center hole of the turbine 29; the turbine 29 is meshed with the turbine screw on the bracket 28; the X-axis motor 19 is fixed on the inner wall of the main frame 1, and the transmission shaft is connected to the screw nut seat 34 through a screw.

[0056] The through-diameter rod support frame 8 is also provided with two bottom plate clamps 27 whose upper ends are mounted on the bottom surface of the bottom plate 26 and clamped on the inner ends of the two right-angle slide grooves 21 .

[0057] The controller adopts a computer.

[0058] The working principle of the flexible automatic path-passing device provided by the present invention is described as follows:

[0059] When the sleeve 41 and the coupling 42 reach the specified position, under the control of the controller, once the infrared probe in the guide sleeve 11 on the flexible automatic path-passing device detects the outer end of the coupling 42, it starts to detect the center position, and then transmits the detection signal to the controller wirelessly. The controller calculates the deviation between the center of the path rod 24 on the intelligent path-passing device 2 and the center of the coupling 42 according to the above signal, and then sends instructions to the X-axis motor 19 and the Y-axis motor 18 on the path rod support frame 8, and uses the X-axis motor 19 and the Y-axis motor 18 to adjust the position of the path rod 24 to ensure that the center position of the path rod 24 and the coupling 42 are aligned; at the same time, the wireless camera starts recording, and then transmits the real-time picture to the controller; the laser rangefinder 9 starts to detect the real-time distance between it and the path rod 24, and then transmits it to the controller. The controller controls the driving motor 7 to start forward rotation, and the capstan 6 drives the bamboo self-locking one-way bending chain 4 to extend forward. When the adjacent chain links are in a horizontal state, the block 38 on the buckle 14 of the rear chain link will be stuck in the rear slot 31 on the front chain link, thereby locking the adjacent ends of the two chain links to ensure that the diameter rod 24 extends to the coupling 42 and the sleeve 41, thereby preventing the bamboo self-locking one-way bending chain 4 from bending upward, and achieving thrust to meet the diameter function requirements; through the straightening effect of the guide wheel 10, it can be ensured that the diameter rod 24 will not damage the thread of the coupling 42, and at the same time improve the service life of the diameter rod 24; when the diameter rod 24 is about to reach the other end face of the sleeve 41, the photosensor senses the light change and transmits the signal to the controller, and the controller controls the driving motor The machine 7 starts to rotate in the opposite direction, and the bamboo self-locking bending chain 4 and the diameter rod 24 are retracted through the winch 6. When the paddle 15 passes through the slide 20 on the winch pressure plate 3, the inner wall of the slide 20 will squeeze the two paddles 15 inward, and the inner side of the paddle 15 squeezes the two side plates 36 on the buckle 14, and then the card block 38 is disengaged from the corresponding rear card slot 31, completing the unlocking. At this time, the chain link can bend inward, and the tension spring 16 is in a stretched state. When there is no squeezing, the paddle 15 returns to the initial position under the action of the reset spring 17. The tension spring 16 can ensure the horizontal lateral movement of the bamboo self-locking unidirectional bending chain 4 under the driving force of the winch 6 and the pressure of the winch pressure plate 3. Since the bamboo self-locking unidirectional bending chain 4 can be bent, it can be completely wound on the winch 6. In addition, since the winch buffer bracket 5 is compressible, the winding of the multi-layer bamboo self-locking unidirectional bending chain 4 can be ensured, thereby saving storage space and reducing the floor space occupied by the device. In addition, during the path-passing process, the controller records the path length through the real-time data transmitted by the laser rangefinder 9 and calculates the total length of the casing. The torque sensor 23 can also be used to observe the load condition of the drive motor 7 at any time. If the torque value displayed by the torque sensor 23 changes dramatically, indicating that the path is blocked, the controller immediately controls the drive motor 7 to reverse, thereby pulling back the path-passing rod 24 to avoid excessive torque burning the drive motor 7.

Claims

1. A flexible automatic path device, characterized in that: The flexible automatic path-passing device comprises a main frame (1), an intelligent path-passing device (2), a capstan pressure plate (3), a bamboo self-locking bending chain (4), a capstan buffer bracket (5), a capstan (6), a driving motor (7), a path-passing rod support bracket (8), a laser rangefinder (9), a torque sensor (23) and a controller; wherein the main frame (1) is a rectangular parallelepiped trough body with an open upper end, and two right-angled slide grooves (21) extending in the left-right direction are arranged on the front bottom surface at intervals, which serve as guide rails for the path-passing rod support bracket (8); the upper end of the path-passing rod support bracket (8) is supported on the rear bottom of the intelligent path-passing device (2); two groups of capstan buffer brackets (5) are respectively arranged on both sides of the rear part of the main frame (1); the driving motor (7) is installed on one group of capstan buffer brackets (5), the transmission shaft is arranged in the left-right direction, and the outer end of the transmission shaft is supported by a bearing seat installed on the upper end of another group of capstan buffer brackets (5); the center of the capstan (6) is installed on the transmission of the driving motor (7); The middle part of the shaft and the middle part of the outer circumference are inwardly concave to form a circle of grooves; the bamboo self-locking bending chain (4) is wound in the groove of the winch (6), the inner end is fixed on the winch (6), and the outer end is connected to the rear end of the intelligent path device (2); the winch pressure plate (3) is composed of four columns and a top plate, the lower ends of the four columns are fixed on both sides of the rear part of the main frame (1), the top plate is located above the winch (6), and the middle part of the bottom surface of the top plate is provided with a slide groove (20) extending in the front-back direction for The bamboo-joint self-locking bending chain (4) is squeezed to maintain the stability of the bamboo-joint self-locking bending chain (4) when it is horizontal and to achieve the unlocking of the bamboo-joint self-locking bending chain (4); a torque sensor (23) is installed on the winch (6); a laser rangefinder (9) is installed on the front middle part of the top plate of the winch pressure plate (3); and a controller is wirelessly connected to the driving motor (7), the laser rangefinder (9), the torque sensor (23), the intelligent diameter device (2) and the electrical components on the diameter rod support frame (8).

2. The flexible automatic path-passing device according to claim 1, characterized in that: The intelligent path device (2) comprises a guide wheel (10), a guide sleeve (11), an iron sleeve (12), an image transmission device (13), a path rod (22) and a path rod (24); the guide sleeve (11) is a stepped cylindrical structure with a diameter gradually increasing from front to back, the outer surface of which is covered with the iron sleeve (12), the rear end of which is fixed to the front end of the path rod (24), and the image transmission device (13) is embedded in the middle of the front end; a plurality of guide wheels (10) are installed at intervals on the outer circumferential surface of the iron sleeve (12); the front end of the path rod (22) is fixed to the rear end axis of the path rod (24), and the rear end is connected to the outer end of the bamboo self-locking bending chain (4); the image transmission device (13) comprises an infrared probe, a photosensitive sensor and a wireless camera which are wirelessly connected to a controller respectively.

3. The flexible automatic path-passing device according to claim 2 is characterized in that: The guide sleeve (11) and the guide wheel (10) are made of polyamide fiber.

4. The flexible automatic path-passing device according to claim 1, characterized in that: The bamboo self-locking bending chain (4) is composed of a plurality of chain links connected end to end, and each chain link comprises a chain link shell (25), a buckle (14), a paddle (15), a tension spring (16) and a reset spring (17); the chain link shell (25) is a rectangular parallelepiped structure with two ends being open, the bottom corners are rounded, a front card slot (43) and a rear card slot (31) are formed side by side at the rear of the two side walls, and a spring fixing point (32) is provided on the inner wall at the rear of the top surface; the rear lower part of the front chain link shell (25) of the previous chain link is connected to the front lower part of the rear chain link shell (25) by a fixing plate, so that the chain link can The invention realizes unidirectional bending, and can maintain the stability of the bamboo self-locking bending chain (4) when it is horizontal under the action of the winch pressure plate (3) and the slide groove (20), and the rounded corner can prevent the occurrence of blocking during bending; the paddle (15) is composed of an inner baffle plate (39) and a clamping column (40), each inner baffle plate (39) is attached to the inner side of the front clamping groove (43) on the chain link shell (25), and the clamping column (40) is connected to the outer side surface of the inner baffle plate (39) and inserted into the front clamping groove (43); the buckle (14) is a U-shaped structure, which is composed of two side plates (36), a connecting plate (37), a clamping block (38) and a paddle baffle plate (34). The connecting plate (37) is vertically arranged, and its upper end is fixed to the upper part of the front end of the rear link housing (25), and a spring fixing groove (33) is formed on the upper part; the rear ends of the two side plates (36) are connected to the lower parts of the two side edges of the connecting plate (37), and the front parts protrude outside the front port of the link housing (25) and can be inserted into the rear part of the previous link housing (25), and the front ends are located inside the paddle (15) on the same side; two clamping blocks (38) are respectively fixed to the front outer surfaces of the two side plates (36), and can be inserted into the rear clamping groove (31) on the previous link housing (25) or from the rear clamping groove (31). The two side plates (36) are provided with a paddle baffle (34) at the bottom of the front end to prevent the buckle (14) from interfering with the paddle (15) when the buckle (14) rotates with the chain link housing (25); the two ends of the tension spring (16) are respectively connected to the spring fixing point (32) of the previous chain link housing (25) and the spring fixing groove (33) of the connecting plate (37) on the next chain link; the two ends of a return spring (17) are respectively connected to the inner side surfaces of the two inner baffles (39), and the two ends of another return spring (17) are respectively connected to the front inner side surfaces of the two side plates (36).

5. The flexible automatic path-passing device according to claim 1, characterized in that: Each group of winch buffer brackets (5) comprises a lower support plate (44), two support rods (32), an upper support plate (33) and a spring (34); the lower support plate (44) is horizontally fixed to one side of the rear portion of the main frame (1); the lower ends of the two support rods (32) are respectively fixed to the front and rear portions of the lower support plate (44), and the upper ends are simultaneously connected to the bottom surface of the upper support plate (33); the top surface of the upper support plate (33) is used to set a driving motor (7) or a bearing seat; and a spring (34) is sleeved on the outside of each support rod (32).

6. The flexible automatic path-passing device according to claim 1, characterized in that: The diameter rod support frame (8) comprises a bracket (28), a base plate (26), an X-axis motor (19), a Y-axis motor (18), a turbine (29), a rolling bearing (30) and a screw nut seat (34); a rolling bearing (30) is respectively installed at the front and rear parts of both sides of the base plate (26), and the four rolling bearings (30) are respectively arranged in two right-angled grooves (21) of the main frame (1); a circular sleeve (35) is provided in the middle of the base plate (26); the screw nut seat (34) is installed in the circular sleeve The outer part of the cylinder (35); the lower half of the bracket (28) is a turbine screw and is vertically inserted into the circular sleeve (35), and a roller for supporting the diameter rod (22) is provided at the upper end; the Y-axis motor (18) is installed on the bottom plate (26), the transmission shaft extends upward and the upper end is connected to the center hole of the turbine (29); the turbine (29) is meshed with the turbine screw on the bracket (28); the X-axis motor (19) is fixed on the inner wall of the main frame (1), and the transmission shaft is connected to the screw nut seat (34) through the screw.

7. The flexible automatic path-passing device according to claim 6, characterized in that: The through-diameter rod support frame (8) is also provided with two bottom plate clamps (27) whose upper ends are mounted on the bottom surface of the bottom plate (26) and clamped on the inner ends of the two right-angled sliding grooves (21).

8. The flexible automatic path-passing device according to claim 1, characterized in that: The controller adopts a computer.

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