An inspection device for the appearance of pressure pipeline welds based on an unmanned aerial vehicle

Abstract

The present invention discloses an appearance inspection device for pressure pipeline welds based on an unmanned aerial vehicle in the technical field of appearance inspection of pressure pipelines, including an unmanned aerial vehicle inspection device and a cleaning component. The unmanned aerial vehicle inspection device is used for defect detection of the pipeline appearance. The cleaning component includes: a support ring arranged on the pressure pipeline. In the present invention, before the unmanned aerial vehicle inspection device detects the outer surface of the pressure pipeline, the cleaning component can clean the outer surface of the pressure pipeline to facilitate the detection of the unmanned aerial vehicle inspection device. Through the cooperation of the hoop, the support ring and the driving wheel, the movement trajectory of the support ring and the hoop can be restricted, so as to facilitate smooth crossing while ensuring good wrapping of the pressure pipeline.

Description

Technical Field

[0001] The present invention relates to the technical field of appearance detection of pressure pipelines, and specifically to an appearance inspection device for pressure pipeline welds based on an unmanned aerial vehicle (UAV). Background Technique

[0002] A pressure pipeline refers to a tubular device that uses a certain pressure to transport gas or liquid;

[0003] When the welding of a pressure pipeline is completed, it is necessary to conduct an appearance inspection on the pipeline to avoid defects such as cracks, pores, and undercut that may cause pipeline leakage;

[0004] Conventional detection methods mostly rely on manual visual inspection to determine pipeline defects. The detection accuracy is low, and pipelines are usually located outdoors and are erected through multiple support members, which results in the pipeline being at a relatively high height from the ground. If manual inspection is carried out, it is necessary for workers to walk along the entire pipeline, which is inefficient and poses a relatively large safety hazard. Moreover, there are usually obstacles such as leaves on the pipeline that block the line of sight of workers, which increases the workload of cleaning up debris while walking on the pipeline. Summary of the Invention

[0005] The purpose of the present invention is to provide an appearance inspection device for pressure pipeline welds based on an unmanned aerial vehicle (UAV) to solve the problems raised in the above background technique.

[0006] To achieve the above object, the present invention provides the following technical solution: A pressure pipeline weld appearance inspection device based on a drone, comprising a drone detection device, a receiving member, and a cleaning assembly. The drone detection device is used to detect defects on the pipeline appearance. The cleaning assembly includes: a support ring disposed on the pressure pipeline, and a cleaning layer is provided on the inner wall of the support ring; two hoop members rotatably connected to both ends of the support ring, and a fastener for fixing the hoop member and the support ring is provided on the hoop member; two first push rods symmetrically distributed about the center point of the support ring and commonly slidably connected to the support ring; two second push rods symmetrically distributed about the center point of the support ring and respectively slidably connected to the two hoop members, and the bottom ends of the second push rods are all wedge-shaped; a plurality of cavities are evenly opened on the support ring and the hoop member; a driving frame corresponding to the number of cavities and respectively slidably connected to the inside of the cavities; a first spring respectively fixedly connected between the driving frame and the inner wall of the cavity; a support frame corresponding to the number of driving frames and respectively slidably connected to the driving frame, and a second spring is fixedly connected between the driving frame and the support frame, and the elastic force of the second spring is much smaller than that of the first spring; a driving wheel corresponding to the number of support frames and respectively rotatably connected to the support frame; a driving rod corresponding to the number of driving wheels and rotatably connected to the driving frame, and a first torsion spring is sleeved on the rotating shaft of the driving rod; a groove corresponding to the driving rod and respectively opened on the first push rod and the second push rod. When the wedge-shaped bottom end of the second push rod moves to contact 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.

[0007] As a further solution of the present invention, the bottom end of the driving frame extends to the outside of the support ring and the hoop member, and limiting grooves are respectively opened at positions corresponding to the bottom end of the driving frame on the support ring and the hoop member, and the bottom end of the driving frame is slidably connected to the limiting grooves.

[0008] As a further solution of the present invention, the cleaning layer can be composed of a sponge layer or a brush layer.

[0009] 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.

[0010] As a further solution of the present invention, an auxiliary cleaning is provided in front of the cleaning layer.

[0011] 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.

[0012] As a further solution of the present invention, the auxiliary cleaning group includes a plurality of driving motors fixedly connected to the inner wall of the support ring, and brush heads are fixedly connected to the output shafts of the driving motors.

[0013] As a further solution of the present invention, the fastener includes a plug that is slidably connected to the two hoop members respectively, and a third spring is fixedly connected between the plug and the hoop members. Matching jacks are provided at positions on the inner wall of the support ring corresponding to the two plugs.

[0014] As a further solution of the present invention, second torsion springs are sleeved on the rotation shafts of the hoop members.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] Before the drone detection device detects the outer surface of the pressure pipeline, the cleaning component of the present invention can clean the outer surface of the pressure pipeline to facilitate the detection of the drone detection device. Through the cooperation of the hoop member, the support ring and the driving wheel, the moving trajectories of the support ring and the hoop member can be restricted, so that while ensuring a good wrap of the pressure pipeline, it is convenient to cross smoothly. Through the setting of the wedge-shaped second push rod, when the hoop member, the support ring and the driving wheel deviate, the driving frame can slide up by contacting the receiving member, so that the clamping force of the driving wheel on the pressure pipeline is reduced. Then, through the contact between the second push rod and the receiving member, the two second push rods rotate to contact the top of the receiving member at the same time, thereby completing the obstacle crossing of the moving trajectories of the support ring, the hoop member and the driving wheel, and automatically calibrating the moving trajectories of the support ring, the hoop member and the driving wheel while crossing the obstacle. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 is a front view of the support ring, the hoop member and the receiving member of the present invention;

[0019] Figure 3 is a schematic diagram of the positional relationship between the support ring and the driving frame and the jack of the present invention;

[0020] Figure 4 is a partial schematic diagram of the support ring of the present invention and the positional relationship between the driving frame and the support frame;

[0021] Figure 5 is a cross-sectional view of the driving frame of the present invention and the positional relationship between the groove, the limiting groove and the first push rod;

[0022] Figure 6 is a schematic diagram of the present invention before, after and when the second push rod contacts and disengages from the receiving member;

[0023] Figure 7 is a schematic diagram of the present invention before, during and after the driving rod pushes the driving frame to rise;

[0024] Figure 8Schematic diagram of the inclination and calibration of two hoop members of the present invention;

[0025] Figure 9 Schematic diagram of the connection relationship between the plug-in member, the second torsion spring and the hoop member of the present invention;

[0026] Figure 10 Schematic diagram of the connection relationship between the air blowing head, the cleaning layer and the cleaning layer and the inserting rod of the present invention;

[0027] Figure 11 is Figure 10 Partial enlarged view of part A in

[0028] Figure 12 Schematic diagram of the positional relationship between the brush head, the driving motor and the support ring of the present invention;

[0029] Figure 13 is Figure 12 Partial enlarged view of part B in

[0030] In the drawings: 100, unmanned aerial vehicle detection device; 101, receiving member; 1, support ring; 2, hoop member; 3, first push rod; 4, second push rod; 5, cavity; 6, driving frame; 7, first spring; 8, support frame; 9, second spring; 10, driving wheel; 11, driving rod; 12, first torsion spring; 13, limiting groove; 14, inserting rod; 15, air blowing head; 16, plug-in member; 17, third spring; 18, insertion hole; 19, second torsion spring; 20, driving motor; 21, brush head; 22, cleaning layer; 23, groove; 24, pressure pipeline. Detailed implementation manners

[0031] Please refer to Figures 1 - 13, the present invention provides a technical solution: a pressure pipeline weld appearance inspection device based on a drone, including a drone detection device 100, a receiving member 101, and a cleaning component. The drone detection device 100 is used to detect defects on the pipeline appearance. The cleaning component includes: a support ring 1 disposed on the pressure pipeline, and a cleaning layer 22 is provided on the inner wall of the support ring 1; two hoop members 2 rotatably connected to both ends of the support ring 1, and a fastener for fixing the hoop member 2 to the support ring 1 is provided on the hoop member 2; two first push rods 3 symmetrically distributed about the center point of the support ring 1 and commonly slidably connected to the support ring 1; two second push rods 4 symmetrically distributed about the center point of the support ring 1 and respectively slidably connected to the two hoop members 2, and the bottom ends of the second push rods 4 are wedge-shaped; a plurality of cavities 5 evenly opened on the support ring 1 and the hoop members 2; a driving frame 6 corresponding to the number of cavities 5 and respectively slidably connected to the inside of the cavities 5; a first spring 7 respectively fixedly connected between the driving frame 6 and the inner wall of the cavity 5; a support frame 8 corresponding to the number of driving frames 6 and respectively slidably connected to the driving frame 6, 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 that of the first spring 7; a driving wheel 10 corresponding to the number of support frames 8 and respectively rotatably connected to the support frames 8; a driving rod 11 corresponding to the number of driving wheels 10 and rotatably connected to the driving frame 6, and a first torsion spring 12 is sleeved on the rotating shaft of the driving rod 11; a groove 23 corresponding to the driving rod 11 and 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 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.

[0032] As Figures 1 - 8 shown:

[0033] First, set up a ladder platform and place the support ring 1 on the pressure pipeline 24. Then, fasten the hoop 2 to the support ring 1 through a 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 pipeline 24 (without contacting the pressure pipeline 24). At this time, the top of the second push rod 4 will fit with the bottom end of the first push rod 3. The fastener can be various in the prior art. When the hoop 2 is fastened to the support ring 1, the driving wheel 10 will be pushed when it contacts the pressure pipeline 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, when the second spring 9 is compressed, the elastic force of the first spring 7 does not change. After multiple second springs 9 are compressed, multiple driving wheels 10 will clamp the pressure pipeline 24, so that the support ring 1 and the hoop 2 can be tightly sleeved on the pressure pipeline 24. At this time, the cleaning layer 22 will also fit on the pressure pipeline 24. The driving wheel 10 is driven by an electric mechanism, which can be a motor or other mechanical structures that can make the driving wheel 10 rotate. Specific details are not elaborated here;

[0034] Then, control the driving wheel 10 to rotate. At this time, multiple driving wheels 10 will drive the support ring 1 and the hoop 2 to move synchronously from one end of the pressure pipeline 24 to the other end. While moving, the cleaning layer 22 contacts the pressure pipeline 24 to clean the obstacles such as leaves on the pressure pipeline 24, so that the obstacles are pushed down. After the driving wheel 10 drives the support ring 1 and the hoop 2 to move, fly the unmanned aerial vehicle detection device 100 directly above the pressure pipeline 24. The unmanned aerial vehicle detection device 100 includes an unmanned aerial vehicle body and a high-definition camera and an image recognition system mounted on the unmanned aerial vehicle body. The unmanned aerial vehicle can fly along the pressure pipeline 24. The high-definition camera can take weld appearance images from multiple angles, and its image recognition system analyzes the captured images in real time to accurately identify surface defects of the weld, such as cracks, pores, undercut, etc. The cleaning layer 22 is used to clean the pressure pipeline 24 in advance to avoid the obstacles from blocking the image acquisition and recognition of the unmanned aerial vehicle detection device 100. At the same time, the device is equipped with a high-precision positioning module, which can determine the specific position information of the defective weld and transmit the image data and position information to the ground control center in real time through a wireless transmission module. In this way, the detection personnel do not need to perform high-altitude operations or trek in a complex environment. They can remotely monitor the appearance quality of the weld of the pressure pipeline 24 on the ground, greatly improving the detection efficiency and safety, and reducing the detection cost and labor input;

[0035] Since the pressure pipeline 24 is supported by multiple connecting pieces 101, and after the support ring 1 and the hoop 2 are buckled, they form a circular ring with an opening. The opening part is slightly smaller than the connecting piece 101, so that while satisfying the wrapping of the pressure pipeline 24, the second push rod 4 can directly cross the connecting piece 101 without interfering with the connecting piece 101. When the driving wheel 10 drives the support ring 1 and the hoop 2 to move, although the clamping of the pressure pipeline 24 by the driving wheel 10 can limit the moving track, that is, to prevent the support ring 1 and the hoop 2 from rotating on the pressure pipeline 24 during the movement (this rotation refers to the rotation of the support ring 1 and the hoop 2 when the center points of the support ring 1, the hoop 2 and the pressure pipeline 24 are at the same point, which can be understood as the left and right ends of the hoop 2 not being at the same height, that is, the distances between the end points of the left and right ends of the hoop 2 and the bottom of the pressure pipeline 24 are L2 and L3 respectively, and L2 and L3 are not equal). However, when the driving wheel 10 contacts the impurities on the outer surface of the pressure pipeline 24 during the movement, it may cause a small offset, 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 the connecting piece 101, it will be blocked by the connecting piece 101, making it impossible for the hoop 2 and the support ring 1 to cross the connecting piece 101. At this time, it is impossible to clean the outer surface of the entire pressure pipeline 24, thus affecting the detection of the appearance defects of the pressure pipeline 24 by the UAV detection device 100;

[0036] The bottom end of the second push rod 4 is wedge-shaped. As Figure 1 and Figure 6 shown, when the hoop 2 moves to one side of the connecting piece 101, the bottom end of the second push rod 4 is located on one side of the connecting piece 101. As the driving wheel 10 moves, the wedge-shaped parts at the bottom ends of the two second push rods 4 will successively (because the two hoops 2 are already in an inclined state, so they will contact successively) contact the side wall of the connecting piece 101. At this time, after being pushed by the connecting piece 101, the second push rod 4 will slide upward along the inner wall of the hoop 2 (that is, as shown by d1 and d2 in Figure 6 ) and simultaneously push the first push rod 3 to slide upward along 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 will move closer to the bottom end of the driving rod 11 (the bottom end of the driving rod 11 can continuously contact the inner bottom wall of the groove 23 through the first torsion spring 12), and there is a distance between the driving rod 11 itself and the groove 23. As Figure 7As shown at a in [description], this 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. After L1 disappears, the first push rod 3 and the second push rod 4 will push the driving rod 11. After being pushed, the top end of the driving rod 11 will push the driving frame 6 to slide upward inside the cavity 5 and compress the first spring 7. When the driving frame 6 slides upward, 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 pipeline 24 will disappear. At this time, the bottom ends of the two second push rods 4 will respectively move above the receiving member 101, that is, as shown at Figure 6 at d2 in [description]. However, at this time, after the bottom ends of the two second push rods 4 are pushed by the receiving member 101, they will be pushed to rotate to a distance equal from the bottom end of the pressure pipeline 24, that is, L4. 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 cross over the receiving member 101. When the hoop member 2 crosses over the receiving member 101, the first spring 7 elastically resets and drives the driving frame 6 to slide downward. At this time, the driving rod 11 will also respectively reset the first push rod 3 and the second push rod 4, that is, the driving rod 11 and the groove 23 will rotate from b to c as shown at Figure 7 in [description], and the second push rod 4 will also change from d2 to d3 as shown at Figure 6 in [description]. And at this time, the second spring 9 will continue to be compressed, so that the driving rod 10 will clamp the pressure pipeline 24 again and continue to move to clean the pressure pipeline 24;

[0037] In the present invention, before the drone detection device 100 detects the outer surface of the pressure pipeline 24, the cleaning component can clean the outer surface of the pressure pipeline 24 to facilitate the detection of the drone detection device 100. Through the cooperation of the hoop member 2, the support ring 1 and the driving wheel 10, the movement trajectories of the support ring 1 and the hoop member 2 can be restricted, so that while ensuring good wrapping of the pressure pipeline 24, it is convenient to cross over smoothly. Through the setting of the wedge-shaped second push rod 4, when the hoop member 2, the support ring 1 and the driving wheel 10 deviate, by contacting the receiving member 101, the driving frame 6 can be slid upward to reduce the clamping force of the driving wheel 10 on the pressure pipeline 24. Then, by the contact of the second push rod 4 with the receiving member 101, the two second push rods 4 are rotated to contact the top end of the receiving member 101 at the same time, so as to complete the obstacle crossing of the movement trajectories of the support ring 1, the hoop member 2 and the driving wheel 10, and automatically calibrate the movement trajectories of the support ring 1, the hoop member 2 and the driving wheel 10 while crossing the obstacle.

[0038] The bottom end of the driving frame 6 extends to the outside of the support ring 1 and the hoop member 2. Limiting grooves 13 are respectively provided at positions corresponding to the bottom end of the driving frame 6 on the support ring 1 and the hoop member 2. The bottom end of the driving frame 6 is slidably connected with the limiting grooves 13.

[0039] As shown at Figure 4 、 Figure 5, Figure 7 as shown in:

[0040] 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 pipeline 24, it can be ensured that the first spring 7 will not be compressed when the second spring 9 is compressed. When the second push rod 4 contacts 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 all move towards 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 disengage 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;

[0041] 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. Then, the limiting groove 13 will restrict the bottom end of the driving frame 6 inside. Then, the first push rod 3 and the second push rod 4 will automatically slide to the initial position under their own weights (a return spring can also be added to make the reset of the first push rod 3 and the second push rod 4 smoother).

[0042] The cleaning layer 22 can be composed of a sponge layer or a brush layer.

[0043] 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.

[0044] As Figure 10 and Figure 11 shown in:

[0045] The cleaning layer 22 composed of a sponge layer or a brush layer can both achieve the cleaning effect. Through the insertion rods 14, it can be directly inserted into the sponge layer or the brush layer to complete disassembly and replacement.

[0046] An auxiliary cleaning is provided in front of the cleaning layer 22.

[0047] The auxiliary cleaning group is arranged in front of the cleaning layer 22 and is used to disperse the impurities on the surface of the pressure pipeline 24 before the cleaning layer 22 wipes the pressure pipeline 24 to avoid the accumulation of impurities and affect the cleaning effect of the cleaning layer 22.

[0048] 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.

[0049] As Figure 10 and Figure 11 shown in:

[0050] The impurities are dispersed by pre-blowing the obstacles on the pressure pipeline 24 through multiple blowing heads 15, so as to avoid blockage when the cleaning layer 22 wipes the surface of the pressure pipeline 24.

[0051] 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 fixedly connected with brush heads 21.

[0052] As Figure 12 and Figure 13 shown:

[0053] The rotation of the brush head 21 driven by the drive motor 20 pre-cleans and disperses the obstacles and impurities on the surface of the pressure pipeline 24, thereby avoiding blockage of the cleaning layer 22.

[0054] The fastener includes plugs 16 respectively slidably connected to two hoop members 2. Third springs 17 are fixedly connected between the plugs 16 and the hoop members 2. Matching jacks 18 are provided at positions on the inner wall of the support ring 1 corresponding to the two plugs 16.

[0055] Second torsion springs 19 are sleeved on the rotating shafts of the hoop members 2.

[0056] As Figure 3 and Figure 9 shown:

[0057] By the staff pressing the hoop member 2 to a position where it fits the pressure pipeline 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 member 2 until the plug 16 coincides with the jack 18 and then the plug 16 is directly inserted into the inside of the jack 18, thus completing the buckling connection between the hoop member 2 and the support ring 1;

[0058] After the drone detection device 100 finishes working, the staff pulls the plug 16 by hand to make the plug 16 withdraw from the inside of the jack 18, and then under the action of the second torsion spring 19, the hoop member 2 is directly ejected and no longer fits the side wall of the support ring 1, thus 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) and a cleaning component, wherein the unmanned aerial vehicle inspection device (100) is used to perform defect inspection on the pipeline appearance, and is characterized in that: The cleaning component includes: A support ring (1) is arranged on the pressure pipe, a cleaning layer (22) is arranged on the inner wall of the support ring (1), and the support ring (1) is an annular structure with an opening; 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 vertically fixedly connected between the driving frame (6) and the inner wall of the cavity (5); The supporting frames (8) correspond in number to the driving frames (6) and are respectively slidably connected to the driving frames (6); a second spring (9) is fixedly connected between the driving frames (6) and the supporting 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 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 driving rod (11); The grooves (23) correspond to the driving rods (11) one by one and are respectively arranged on the first push rod (3) and the second push rod (4). After the two hoop members (2) are buckled with the support ring (1), the top of the second push rod (4) will fit with the bottom of the first push rod (3). When the wedge-shaped bottom ends of the two second push rods (4) are in an inclined state and the surface of the pressure pipe (24) is being cleaned, the two second push rods (4) will slide along the inner wall of the hoop member (2) after being pushed by obstacles and will simultaneously push the first push rod (3) to slide up along the support ring (1). During the sliding process of the first push rod (3), the grooves (23) will approach the bottom end of the driving rod (11). When the grooves (23) contact the bottom end of the driving rod (11), the grooves (23) will be pressed against the driving rod (11). The rod (11) pushes the driving frame (6) to slide up along the cavity (5) and compress the first spring (7). During the upward sliding of the driving frame (6), the elastic force of the second spring (9) will be gradually released but will not disappear, so that the plurality of driving wheels (11) release the clamping of the pressure pipe (24). When the bottom ends of the two second push rods (4) move above the obstacle, the bottom ends of the two second push rods (4) will be pushed and rotated to a horizontal state to complete the angle adjustment of the support ring (1) and the hoop (2). When the second push rods (4) pass over the obstacle, the first spring (7) and the second spring (9) are elastically reset to enable the driving wheel (11) to clamp the pressure pipe (24) again and the bottoms of the two second push rods (4) are in a horizontal state.

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 group 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 (16) which is slidably connected to the two hoop members (2) respectively, a third spring (17) is fixedly connected between the plug-in (16) and the hoop member (2), and matching plug-in holes (18) are provided at positions corresponding to the two plug-ins (16) on the inner wall of the support ring (1).

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).

Images