Pressure pipeline welding seam appearance inspection device based on unmanned aerial vehicle

Abstract

The invention discloses a pressure pipeline welding seam appearance inspection device based on an unmanned aerial vehicle in the technical field of pressure pipeline appearance inspection, the pressure pipeline welding seam appearance inspection device comprises an unmanned aerial vehicle detection device, a bearing piece and a cleaning assembly, the unmanned aerial vehicle detection device is used for conducting defect detection on the pipeline appearance, and the cleaning assembly comprises a supporting ring arranged on a pressure pipeline; according to the unmanned aerial vehicle detection device, before the unmanned aerial vehicle detection device detects the outer surface of the pressure pipeline, the outer surface of the pressure pipeline can be cleaned through the cleaning assembly so that detection of the unmanned aerial vehicle detection device can be facilitated, and through cooperation of a hoop piece, a supporting ring and a driving wheel, the moving track of the supporting ring and the hoop piece can be limited; the pressure pipeline can be well wrapped, and meanwhile the pressure pipeline can be conveniently and smoothly crossed.

Description

Technical Field

[0001] The present invention relates to the technical field of pressure pipeline appearance inspection, and in particular to a pressure pipeline weld appearance inspection device based on an unmanned aerial vehicle. Background Art

[0002] Pressure pipeline refers to a tubular device used to transport gas or liquid under a certain pressure; After the pressure pipeline is welded, it is necessary to conduct an appearance inspection of the pipeline to avoid defects such as cracks, pores, undercuts, etc. that may cause leakage of the pipeline; Conventional inspection methods mostly rely on manual visual inspection to determine pipeline defects, which has low inspection accuracy. Pipelines are usually located outdoors and are installed through multiple connectors, which causes the pipelines to be high off the ground. Manual inspection requires manual walking along the entire pipeline, which is inefficient and poses a great safety hazard. In addition, there are usually obstructions such as leaves on the pipeline that block the workers' line of sight, which increases the workload of cleaning up debris while walking on the pipeline. Summary of the invention

[0003] The purpose of the present invention is to provide a pressure pipeline weld appearance inspection device based on an unmanned aerial vehicle to solve the problems raised in the above background technology.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a pressure pipeline weld appearance inspection device based on a drone, comprising a drone detection device, a receiving part and a cleaning component, wherein the drone detection device is used to perform defect detection on the pipeline appearance, and the cleaning component comprises: a support ring, which is arranged on the pressure pipeline, and a cleaning layer is arranged on the inner wall of the support ring; two hoops, which are rotatably connected to the two ends of the support ring, and fasteners for fixing the hoops to the support ring are arranged on the hoops; two first push rods, which are symmetrically distributed about the center point of the support ring and are slidably connected to the support ring together; two second push rods, which are symmetrically distributed about the center point of the support ring and are slidably connected to the two hoops respectively, and the bottom ends of the second push rods are wedge-shaped; a plurality of cavities are evenly arranged on the support ring and the hoops; a drive frame, which is connected to the support ring The number of cavities corresponds one to one and they are slidably connected to the inside of the cavities respectively; the first springs are fixedly connected between the driving frame and the inner wall of the cavity respectively; the supporting frames correspond one to one to the number of driving frames and are slidably connected to the driving frames respectively, and a second spring is fixedly connected between the driving frame and the supporting frames, and the elastic force of the second spring is much smaller than that of the first spring; the driving wheels correspond one to one to the number of supporting frames and are rotatably connected to the supporting frames respectively; the driving rods correspond one to one to the number of driving wheels and are rotatably connected to the driving frame, and the rotating shafts of the driving rods are sleeved with first torsion springs; the grooves correspond one to one to the driving rods and are respectively opened on the first push rod and the second push rod, and when the wedge-shaped bottom end of the second push rod moves to contact with the receiving member, the receiving member will push the second push rod to slide along the hoop member, and at the same time, the bottom end of the hoop member and the second push rod will gradually approach each other.

[0005] As a further solution of the present invention, the bottom end of the driving frame extends to the outside of the supporting ring and the hoop, and limiting grooves are provided on the supporting ring and the hoop at positions corresponding to the bottom end of the driving frame, and the bottom end of the driving frame is slidably connected to the limiting grooves.

[0006] As a further solution of the present invention, the cleaning layer can be composed of a sponge layer or a brush layer.

[0007] As a further solution of the present invention, a plurality of insertion rods are fixedly connected to the inner wall of the support ring, and the insertion rods are slidably connected to the cleaning layer.

[0008] As a further solution of the present invention, auxiliary cleaning is arranged in front of the cleaning layer.

[0009] As a further solution of the present invention, the auxiliary cleaning group includes a plurality of air blowing heads fixedly connected to the inner wall of the support ring.

[0010] As a further solution of the present invention, the auxiliary cleaning group includes a plurality of drive motors fixedly connected to the inner wall of the support ring, and the output shafts of the drive motors are fixedly connected to the brush heads.

[0011] As a further solution of the present invention, the fastener includes a plug-in that is slidably connected to the two hoop members respectively, a third spring is fixedly connected between the plug-in and the hoop members, and matching sockets are provided on the inner wall of the support ring at positions corresponding to the two plug-ins.

[0012] As a further solution of the present invention, a second torsion spring is sleeved on the rotating shaft of the hoop member.

[0013] Compared with the prior art, the present invention has the following beneficial effects: The present invention can clean the outer surface of the pressure pipe through the cleaning assembly before the drone detection device detects the outer surface of the pressure pipe to facilitate the detection of the drone detection device. The cooperation of the hoop, the support ring and the driving wheel can limit the moving trajectory of the support ring and the hoop, so that it is convenient and smooth to cross while ensuring good wrapping of the pressure pipe. The setting of the wedge-shaped second push rod can make the drive frame slide up through the contact with the receiving part when the hoop, the support ring and the driving wheel are offset, so that the clamping force of the driving wheel on the pressure pipe is reduced, and then the contact between the second push rod and the receiving part makes the two second push rods rotate until they are in contact with the top of the receiving part at the same time, thereby completing the obstacle crossing of the moving trajectory of the support ring, the hoop and the driving wheel, and automatically calibrating the moving trajectory of the support ring, the hoop and the driving wheel while crossing the obstacle. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a front view of the support ring, hoop and receiving member of the present invention; Figure 3 A schematic diagram of the positional relationship between the support ring, the drive frame and the jack of the present invention; Figure 4 It is a partial schematic diagram of the support ring of the present invention and a schematic diagram of the positional relationship between the drive frame and the support frame; Figure 5 It is a cross-sectional view of the driving frame of the present invention and a schematic diagram of the positional relationship between the groove, the limiting groove and the first push rod; Figure 6 It is a schematic diagram of the second push rod of the present invention before contact, after contact and when it is separated from the receiving member; Figure 7 It is a schematic diagram of the driving rod of the present invention pushing the driving frame to rise before, during and after the rise; Figure 8 It is a schematic diagram of the inclination and calibration of two hoops of the present invention; Fig. 9 It is a schematic diagram of the connection relationship between the plug-in unit of the present invention, the second torsion spring and the hoop; Fig.10It is a schematic diagram of the connection relationship between the blowing head and the cleaning layer, and between the cleaning layer and the insertion rod of the present invention; Fig.11 for Fig.10 A partial enlarged view of the middle A; Fig.12 A schematic diagram of the positional relationship between the brush head, the driving motor and the support ring of the present invention; Fig.13 for Fig.12 A partial enlarged view of point B in the middle.

[0015] In the attached drawings: 100, UAV detection device; 101, receiving part; 1, support ring; 2, hoop; 3, first push rod; 4, second push rod; 5, cavity; 6, driving frame; 7, first spring; 8, supporting frame; 9, second spring; 10, driving wheel; 11, driving rod; 12, first torsion spring; 13, limiting groove; 14, plug-in rod; 15, blowing head; 16, plug-in; 17, third spring; 18, jack; 19, second torsion spring; 20, driving motor; 21, brush head; 22, cleaning layer; 23, groove; 24, pressure pipe. DETAILED DESCRIPTION

[0016] See also Figure 1-Figure 13The present invention provides a technical solution: a pressure pipeline weld appearance inspection device based on a drone, comprising a drone detection device 100, a receiving member 101 and a cleaning component, wherein the drone detection device 100 is used to perform defect detection on the pipeline appearance, and the cleaning component comprises: a support ring 1, which is arranged on the pressure pipeline, and a cleaning layer 22 is arranged on the inner wall of the support ring 1; two hoop members 2, which are rotatably connected to the two ends of the support ring 1, and a fastener for fixing the hoop member 2 to the support ring 1 is arranged on the hoop member 2; two first push rods 3, which are symmetrically distributed about the center point of the support ring 1 and are slidably connected to the support ring 1 together; two second push rods 4, which are symmetrically distributed about the center point of the support ring 1 and are slidably connected to the two hoop members 2 respectively, and the bottom ends of the second push rods 4 are both wedge-shaped; a plurality of cavities 5, which are evenly arranged on the support ring 1 and the hoop members 2; a driving frame 6, which corresponds to the number of cavities 5 one by one and is slidably connected to the inside of the cavity 5 respectively ; The first spring 7 is fixedly connected between the driving frame 6 and the inner wall of the cavity 5 respectively; the support frame 8 corresponds to the number of the driving frame 6 and is slidably connected to the driving frame 6 respectively, and a second spring 9 is fixedly connected between the driving frame 6 and the support frame 8, and the elastic force of the second spring 9 is much smaller than the first spring 7; the driving wheel 10 corresponds to the number of the support frame 8 and is rotatably connected to the support frame 8 respectively; the driving rod 11 corresponds to the number of the driving wheel 10 and is rotatably connected to the driving frame 6, and the first torsion spring 12 is sleeved on the rotating shaft of the driving rod 11; the groove 23 corresponds to the driving rod 11 and is respectively opened on the first push rod 3 and the second push rod 4, and a distance is left between the driving rod 11 and the side wall of the groove 23. When the wedge-shaped bottom end of the second push rod 4 moves to contact with the receiving member 101, the receiving member 101 will push the second push rod 4 to slide along the hoop member 2, and at this time, the bottom end of the hoop member 2 and the second push rod 4 will gradually approach each other.

[0017] like Figure 1-Figure 8 As shown: First, a ladder is set up to place the support ring 1 on the pressure pipe 24, and then the hoop 2 is fastened to the support ring 1 through the fastener. At this time, the support ring 1 and the hoop 2 will form a ring body with an open bottom and be fixed on the pressure pipe 24 (not in contact with the pressure pipe 24). At this time, the top end of the second push rod 4 will fit with the bottom end of the first push rod 3. The fastener can be a variety of existing technologies. When the hoop 2 is fastened to the support ring 1, the driving wheel 10 will be pushed when it contacts the pressure pipe 24. At this time, the driving wheel 10 will drive the support frame 8 to slide upward along the driving frame 6 and compress the second Spring 9, because the elastic force of the first spring 7 is much greater than that of the second spring 9, the first spring 7 does not have elastic force changes when the second spring 9 is compressed. When the plurality of second springs 9 are compressed, the plurality of driving wheels 10 will clamp the pressure pipe 24, so that the support ring 1 and the hoop 2 can be tightly sleeved on the pressure pipe 24, and at this time, the cleaning layer 22 will also be attached to the pressure pipe 24, and the driving wheel 10 is driven by an electric mechanism, which can be a motor or other mechanical structure that can rotate the driving wheel 10, and will not be described in detail here; Then the driving wheel 10 is controlled to rotate. At this time, the multiple driving wheels 10 will drive the support ring 1 and the hoop 2 to move synchronously from one end of the pressure pipe 24 to the other end. While moving, the cleaning layer 22 can contact the pressure pipe 24 to clean the obstructions such as leaves on the pressure pipe 24, so that the obstructions are pushed down. After the driving wheel 10 drives the support ring 1 and the hoop 2 to move, the drone detection device 100 is flown to the top of the pressure pipe 24. The drone detection device 100 includes a drone body and a high-definition camera and an image recognition system mounted on the drone body. The drone can fly along the pressure pipe 24. The high-definition camera can capture the appearance image of the weld from multiple angles. Its image recognition system The system performs real-time analysis on the captured images, accurately identifies surface defects of welds, such as cracks, pores, undercuts, etc., and cleans the pressure pipe 24 in advance through the cleaning layer 22 to prevent obstructions from blocking the image acquisition and recognition of the drone detection device 100. At the same time, the device is equipped with a high-precision positioning module, which can determine the specific location information of the defective weld, and transmit the image data and location information back to the ground control center in real time through the wireless transmission module. In this way, the inspection personnel do not need to perform high-altitude operations or trek through complex environments, and can remotely monitor the appearance quality of the pressure pipe 24 weld on the ground, greatly improving the inspection efficiency and safety, and reducing the inspection cost and manpower investment; Because the pressure pipe 24 is supported by a plurality of receiving members 101, and the support ring 1 and the hoop member 2 are buckled to form a circular ring with an opening, the opening is slightly smaller than the receiving member 101, so that the second push rod 4 can directly pass over the receiving member 101 without interfering with the receiving member 101 while satisfying the need to wrap the pressure pipe 24. When the driving wheel 10 drives the support ring 1 and the hoop member 2 to move, the clamping of the pressure pipe 24 by the driving wheel 10 can limit the movement trajectory, that is, to prevent the support ring 1 and the hoop member 2 from rotating on the pressure pipe 24 during movement (the rotation refers to the rotation of the support ring 1 and the hoop member 2 when the center points of the three circles of the support ring 1, the hoop member 2 and the pressure pipe 24 are at the same point, which can be reasonably The solution is that the left and right ends of the hoop 2 are not at the same height, that is, the distances between the endpoints of the left and right ends of the hoop 2 and the bottom of the pressure pipe 24 are L2 and L3 respectively, and L2 and L3 are not equal). However, when the driving wheel 10 moves and contacts with impurities on the outer surface of the pressure pipe 24, a small deviation may occur, resulting in the left and right ends of the hoop 2 not being at the same height. Then, when the left and right ends of the hoop 2 are not at the same height, if the hoop 2 moves to contact with the receiving part 101, it will be blocked by the receiving part 101, so that the hoop 2 and the support ring 1 cannot pass the receiving part 101. At this time, the outer surface of the entire pressure pipe 24 cannot be cleaned, thereby affecting the detection of appearance defects of the pressure pipe 24 by the drone detection device 100; The bottom end of the second push rod 4 is wedge-shaped. Figure 1 and Figure 6 As shown, when the hoop 2 moves to one side of the receiving member 101, the bottom end of the second push rod 4 is located at the side of the receiving member 101. As the driving wheel 10 moves, the wedge-shaped portions at the bottom ends of the two second push rods 4 will successively (because the two hoop members 2 are already in an inclined state, they will successively contact) contact the side wall of the receiving member 101. At this time, the second push rod 4 will slide upward along the inner wall of the hoop 2 after being pushed by the receiving member 101 (i.e., Figure 6 As shown in d1 and d2 in the figure, the first push rod 3 is pushed upward on the inner wall of the support ring 1 when sliding. When the first push rod 3 and the second push rod 4 slide, the groove 23 approaches the bottom end of the driving rod 11 (the bottom end of the driving rod 11 can continue to contact the bottom wall of the groove 23 through the first torsion spring 12), and the driving rod 11 itself is spaced from the groove 23. Figure 7As shown in a in the figure, the distance is L1. As the first push rod 3 and the second push rod 4 slide, L1 will disappear. At this time, the groove 23 will contact the bottom end of the driving rod 11. When L1 disappears, the first push rod 3 and the second push rod 4 will push the driving rod 11. After the driving rod 11 is pushed, its top end will push the driving frame 6 to slide up along the inside of the cavity 5 and stretch the first spring 7. When the driving frame 6 slides up, the elastic force of the second spring 9 will gradually be released but will not disappear. At this time, the clamping force of the multiple driving wheels 11 on the pressure pipe 24 will disappear. At this time, the bottom ends of the two second push rods 4 will move to the top of the receiving member 101 respectively, as shown in FIG. Figure 6 As shown at d2 in the figure, at this time, the bottom ends of the two second push rods 4 will be pushed and rotated to the same distance from the bottom end of the pressure pipe 24, i.e., L4, after being pushed by the receiving member 101. At this time, the adjustment of the support ring 1 and the hoop member 2 is completed, so that the support ring 1 and the hoop member 2 can pass over the receiving member 101. When the hoop member 2 passes over the receiving member 101, the first spring 7 elastically resets and drives the drive frame 6 to slide down. At this time, the drive rod 11 will also reset the first push rod 3 and the second push rod 4 respectively, that is, the drive rod 11 and the groove 23 will be as shown in the figure. Figure 7 b in the figure rotates to c, and the second push rod 4 also moves from Figure 6 The position d2 in the figure changes to the position d3, and at this time the second spring 9 continues to be compressed, so that the driving rod 10 clamps the pressure pipe 24 again and continues to move to clean the pressure pipe 24; According to the present invention, before the UAV detection device 100 detects the outer surface of the pressure pipe 24, the cleaning component can be used to clean the outer surface of the pressure pipe 24 to facilitate the detection of the UAV detection device 100. The cooperation of the hoop 2, the support ring 1 and the driving wheel 10 can limit the moving trajectory of the support ring 1 and the hoop 2, so that the pressure pipe 24 can be well wrapped and smoothly passed. The setting of the wedge-shaped second push rod 4 can make the drive frame 6 slide up through the contact with the receiving member 101 when the hoop 2, the support ring 1 and the driving wheel 10 are offset, so that the clamping force of the driving wheel 10 on the pressure pipe 24 is reduced, and then the second push rod 4 is contacted with the receiving member 101 to rotate the two second push rods 4 until they are in contact with the top of the receiving member 101 at the same time, thereby completing the obstacle crossing of the moving trajectory of the support ring 1, the hoop 2 and the driving wheel 10, and automatically calibrating the moving trajectory of the support ring 1, the hoop 2 and the driving wheel 10 while crossing the obstacle.

[0018] The bottom end of the driving frame 6 extends to the outside of the support ring 1 and the hoop 2. A limiting groove 13 is provided on the support ring 1 and the hoop 2 at positions corresponding to the bottom end of the driving frame 6. The bottom end of the driving frame 6 is slidably connected to the limiting groove 13.

[0019] like Figure 4 , Figure 5 , Figure 7As shown: When the second push rod 4 is not in contact with the receiving member 101, the end of the driving frame 6 is located inside the limiting groove 13. At this time, when the support ring 1 and the hoop member 2 are sleeved on the pressure pipe 24, it can be ensured that the first spring 7 will not be stretched when the second spring 9 is compressed. When the second push rod 4 is in contact with the receiving member 101, the second push rod 4 will slide along the hoop member 2 and push the first push rod 3 to slide along the support ring 1. At this time, the grooves 23 on the first push rod 3 and the second push rod 4 will move toward the driving rod 11. At this time, the limiting groove 13 will gradually move relative to the end of the driving frame 6. When the side walls of the first push rod 3 and the second push rod 4 contact the driving rod 11, the bottom end of the driving frame 6 will be disengaged from the limiting groove 13. At this time, the driving rod 11 will lift the driving frame 6 so that the elastic force of the first spring 7 can be gradually released to adjust the support ring 1, the hoop member 2 and the driving wheel 10. When the second push rod 4 passes over the receiving member 101, the first spring 7 elastically resets and pushes the first push rod 3 and the second push rod 4 to reset through the driving rod 11. At this time, the second spring 9 will also be gradually compressed, and then the limiting groove 13 will limit the bottom end of the driving frame 6, and then the first push rod 3 and the second push rod 4 will automatically slide to the initial position under their own weight (a reset spring can also be added to make the reset of the first push rod 3 and the second push rod 4 smoother).

[0020] The cleaning layer 22 may be composed of a sponge layer or a brush layer.

[0021] A plurality of insert rods 14 are fixedly connected to the inner wall of the support ring 1 , and the insert rods 14 are slidably connected to the cleaning layer 22 .

[0022] like Fig.10 and Fig.11 As shown: The cleaning layer 22 composed of a sponge layer or a brush layer can achieve a cleaning effect, and the insertion rod 14 can be directly inserted into the inside of the sponge layer or the brush layer to complete the disassembly and replacement.

[0023] Auxiliary cleaning is provided in front of the cleaning layer 22 .

[0024] The auxiliary cleaning group is arranged before the cleaning layer 22 , and is used to disperse impurities on the surface of the pressure pipe 24 before the cleaning layer 22 cleans and wipes the pressure pipe 24 , so as to avoid accumulation of impurities and affect the cleaning effect of the cleaning layer 22 .

[0025] Embodiment 1: The auxiliary cleaning group includes a plurality of air blowing heads 15 fixedly connected to the inner wall of the support ring 1 .

[0026] like Fig.10 and Fig.11 As shown: The shielding material on the pressure pipe 24 is pre-blown with air by a plurality of air blowing heads 15 to disperse the impurities, thereby preventing the cleaning layer 22 from clogging the surface of the pressure pipe 24 when wiping it.

[0027] Embodiment 2: The auxiliary cleaning group includes a plurality of drive motors 20 fixedly connected to the inner wall of the support ring 1 , and the output shafts of the drive motors 20 are all fixedly connected with brush heads 21 .

[0028] like Fig.12 and Fig.13 As shown: The driving motor 20 drives the brush head 21 to rotate to pre-clean and disperse the obstructions and impurities on the surface of the pressure pipe 24 , thereby avoiding clogging of the cleaning layer 22 .

[0029] The fastener includes a plug-in 16 slidably connected to the two hoop members 2 , a third spring 17 is fixedly connected between the plug-in 16 and the hoop members 2 , and matching sockets 18 are provided at positions on the inner wall of the support ring 1 corresponding to the two plug-ins 16 .

[0030] A second torsion spring 19 is sleeved on the rotating shaft of the hoop member 2 .

[0031] like Figure 3 and Fig. 9 As shown: The staff presses the hoop 2 to a position that fits the pressure pipe 24. At this time, the second torsion spring 19 will be gradually compressed. When the plug 16 rotates to fit the side wall of the support ring 1, it will be blocked by the support ring 1 and gradually compress the third spring 17. At this time, the plug 16 will slide along the hoop 2 until the plug 16 overlaps with the plug hole 18 and the plug 16 is directly inserted into the inside of the plug hole 18, thereby completing the buckling of the hoop 2 and the support ring 1; After the drone detection device 100 is finished working, the staff manually pulls the plug-in 16 to make the plug-in 16 withdraw from the inside of the socket 18, and then directly pops out the hoop 2 under the action of the second torsion spring 19 so that it no longer fits with the side wall of the support ring 1, thereby facilitating the removal of the support ring 1.

Claims

1. A pressure pipeline weld appearance inspection device based on an unmanned aerial vehicle, comprising an unmanned aerial vehicle inspection device (100), a receiving member (101), and a cleaning component, wherein the unmanned aerial vehicle inspection device (100) is used to inspect the appearance of a pipeline for defects, and is characterized in that: The cleaning component includes: A support ring (1) is arranged on the pressure pipe, and a cleaning layer (22) is arranged on the inner wall of the support ring (1); Two hoop members (2) are rotatably connected to the two ends of the support ring (1), and fasteners are provided on the hoop members (2) for fixing the hoop members (2) and the support ring (1); Two first push rods (3) are symmetrically distributed about the center point of the support ring (1) and are slidably connected to the support ring (1); Two second push rods (4) are symmetrically distributed about the center point of the support ring (1) and are respectively slidably connected to the two hoop members (2), and the bottom ends of the second push rods (4) are both wedge-shaped; A plurality of cavities (5) are evenly arranged on the support ring (1) and the hoop (2); The driving frames (6) correspond in number to the number of the cavities (5) and are respectively slidably connected to the interior of the cavities (5); A first spring (7) is fixedly connected between the drive frame (6) and the inner wall of the cavity (5); The support frames (8) correspond in number to the drive frames (6) and are respectively slidably connected to the drive frames (6); a second spring (9) is fixedly connected between the drive frames (6) and the support frames (8); the elastic force of the second spring (9) is much smaller than that of the first spring (7); The driving wheels (10) correspond in number to the supporting frames (8) and are respectively rotatably connected to the supporting frames (8); The driving rods (11) correspond in number to the driving wheels (10) and are rotatably connected to the driving frame (6), and the first torsion spring (12) is sleeved on the rotating shaft of each of the driving rods (11); The grooves (23) correspond to the driving rods (11) one by one and are respectively formed on the first push rod (3) and the second push rod (4). When the wedge-shaped bottom end of the second push rod (4) moves to contact the receiving member (101), the receiving member (101) pushes the second push rod (4) to slide along the hoop member (2), and at the same time, the bottom end of the hoop member (2) and the second push rod (4) gradually approach each other.

2. The pressure pipeline weld appearance inspection device based on an unmanned aerial vehicle according to claim 1 is characterized in that: The bottom end of the driving frame (6) extends to the outside of the support ring (1) and the hoop member (2), and a limiting groove (13) is provided at a position on the support ring (1) and the hoop member (2) corresponding to the bottom end of the driving frame (6), and the bottom end of the driving frame (6) is slidably connected to the limiting groove (13).

3. The pressure pipeline weld appearance inspection device based on an unmanned aerial vehicle according to claim 1 is characterized in that: The cleaning layer (22) may be composed of a sponge layer or a brush layer.

4. The pressure pipeline weld appearance inspection device based on an unmanned aerial vehicle according to claim 3 is characterized in that: A plurality of insertion rods (14) are fixedly connected to the inner wall of the support ring (1), and the insertion rods (14) are slidably connected to the cleaning layer (22).

5. The pressure pipeline weld appearance inspection device based on an unmanned aerial vehicle according to claim 4 is characterized in that: An auxiliary cleaning device is arranged in front of the cleaning layer (22).

6. The pressure pipeline weld appearance inspection device based on an unmanned aerial vehicle according to claim 5 is characterized in that: The auxiliary cleaning group comprises a plurality of air blowing heads (15) fixedly connected to the inner wall of the support ring (1).

7. The pressure pipeline weld appearance inspection device based on an unmanned aerial vehicle according to claim 5 is characterized in that: The auxiliary cleaning group comprises a plurality of drive motors (20) fixedly connected to the inner wall of the support ring (1), and the output shafts of the drive motors (20) are all fixedly connected to brush heads (21).

8. The pressure pipeline weld appearance inspection device based on an unmanned aerial vehicle according to claim 1 is characterized in that: The fastener comprises a plug-in unit (16) respectively connected in a sliding manner to the two hoop members (2), a third spring (17) being fixedly connected between the plug-in unit (16) and the hoop member (2), and matching insertion holes (18) being provided at positions on the inner wall of the support ring (1) corresponding to the two plug-ins (16).

9. The pressure pipeline weld appearance inspection device based on an unmanned aerial vehicle according to claim 6 is characterized in that: A second torsion spring (19) is sleeved on the rotating shaft of the hoop member (2).

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