Self-climbing pipeline internal detection equipment and internal detection method for long-distance oil pipeline

Abstract

The present invention relates to the technical field of pipeline detection, and discloses a self-climbing pipeline internal detection device and an internal detection method for long-distance oil pipelines, comprising an elastic rod, and self-moving devices are respectively arranged at both ends of the elastic rod, one side of one of the self-moving devices is provided with a cleaning device, and the other side of the self-moving device is provided with a collecting device and a detecting device, the cleaning device comprises cleaning brushes arranged on both sides of the outer periphery of a movable bin, the collecting device comprises a dust hood arranged on one side of the movable bin, and the detecting device comprises an ultrasonic probe and a camera. The present invention uses the cooperation of the self-moving device, the cleaning device and the collecting device to clean the inside of the pipeline during the movement of the device in the pipeline, so that the ultrasonic probe will not be affected by welding slag and debris in the pipeline when working, and solves the problem that the detection probe is affected by welding slag and debris on the inner wall of the pipeline during the detection of the inner wall of the pipeline, which will affect the detection result.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline detection, in particular to a self-climbing pipeline internal detection device and an internal detection method for a long-distance petroleum pipeline. Background Art

[0002] In-pipeline inspection refers to the use of pipeline medium to drive the detector to run in the pipeline, real-time detection and recording of pipeline deformation, corrosion and other damage conditions, and accurate positioning. During the inspection of the inner wall of the pipeline, the detection probe is affected by the welding slag and debris on the inner wall of the pipeline, which will affect the detection results. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0004] A self-climbing pipeline in-pipe detection device, comprising an elastic rod, wherein two ends of the elastic rod are respectively provided with self-moving devices, one side of the self-moving device is provided with a cleaning device, and the other side of the self-moving device is provided with a collecting device and a detection device;

[0005] The self-moving device includes a fixed warehouse and a plurality of rollers arranged on the periphery of the fixed warehouse, a driving member and a control member are arranged in the fixed warehouse, the driving member drives the rollers to rotate, and the control member drives the plurality of rollers to shrink or expand synchronously, a movable warehouse is arranged on one side of the fixed warehouse, the movable warehouse is arranged on one side of the fixed warehouse and is rotatably connected to the fixed warehouse through a bearing, a rotating member is arranged in the movable warehouse, and the rotating member controls the movable warehouse to rotate on one side of the fixed warehouse;

[0006] The cleaning device comprises cleaning brushes arranged on both sides of the outer periphery of the movable bin, and a running part is arranged in the movable bin, and the running part controls the two cleaning brushes to shrink or expand synchronously;

[0007] The collecting device comprises a dust hood provided on one side of the movable bin and a receiving member connected to the dust hood, wherein the receiving member is operated to receive welding slag and debris collected by the dust hood;

[0008] The detection device comprises an ultrasonic probe and a camera. The ultrasonic probe is fixedly mounted on the dust cover, and two cameras are respectively fixedly mounted on one side of the movable bin.

[0009] Preferably, the control component includes a worm wheel and a worm, a circular plate is rotatably connected to the fixed bin via a bearing, a fixed seat is fixedly connected to the inner wall of the fixed bin, the worm is fixedly installed in the fixed seat via a bearing, a first motor is fixedly connected to one side of the fixed seat, the output end of the first motor is fixedly connected to one end of the worm, a rotating rod is rotatably connected to the inner wall of the fixed bin via a bearing, one end of the rotating rod is fixedly connected to the circular plate, the worm wheel is fixedly installed on the rotating rod, and the worm wheel is meshingly connected to the worm.

[0010] Preferably, the control component also includes a plurality of sleeve rods, a rectangular frame is fixedly connected to the axis of the circular plate away from the rotating rod, circular holes are provided on all sides of the rectangular frame, a connecting shaft is rotatably connected to the circular hole through a bearing, a rectangular rod is fixedly connected to the top of the connecting shaft, a sleeve is sleeved on the outer periphery of the rectangular rod, the sleeve rod is sleeved outside the sleeve, a plurality of inclined circular arc grooves are provided on the circular plate, a slider is rotatably connected to one side of the sleeve rod through a bearing, and the slider is slidably arranged in the inclined circular arc groove.

[0011] Preferably, the driving member includes a first bevel gear and a plurality of second bevel gears, a second motor is fixedly connected in the rectangular frame, one end of the first bevel gear is fixedly connected to the output end of the second motor, the second bevel gears are respectively fixedly arranged at the bottom end of the connecting shaft, the first bevel gear is meshingly connected with the second bevel gear, a bearing seat is fixedly connected to the outer periphery of the sleeve rod, a bearing rod is rotatably connected to the bearing seat through a bearing, the roller is fixedly arranged on the bearing rod, an extension rod is fixedly connected to the top end of the sleeve, a third bevel gear is fixedly connected to the top end of the extension rod, a fourth bevel gear is fixedly connected to the bearing rod, and the third bevel gear is meshingly connected to the fourth bevel gear.

[0012] Preferably, the rotating member includes a connecting plate, a third motor is fixedly connected to the outside of the fixed bin, an output end of the third motor is fixedly connected to the axis of one side of the connecting plate, and both ends of the connecting plate are fixedly connected to the inner wall of the movable bin.

[0013] Preferably, the operating part includes two tooth plates, fixed rods are fixedly connected on both sides of the movable warehouse, the tooth plates extend outside the movable warehouse and are slidably connected to the outer shell of the movable warehouse, one end of the tooth plate is fixedly connected to a guide plate, the guide plate is sleeved on the outer periphery of the fixed rod and is slidably connected to the fixed rod, and the cleaning brush is arranged at the other end of the fixed rod and is located outside the movable warehouse.

[0014] Preferably, the operating part also includes a gear ring, bearing seats are fixedly connected on both sides of the inner wall of the movable warehouse, a main gear is rotatably connected to the bearing seat through a bearing, a fourth motor is fixedly connected to one side of the bearing seat, the output end of the fourth motor is fixedly connected to the main gear, the main gear is meshingly connected to the gear plate, and the gear ring is sleeved outside the two main gears and meshingly connected to the two main gears.

[0015] Preferably, the storage member includes an electric push rod, a load-bearing plate is fixedly connected to the movable bin, the electric push rod is fixedly installed on the load-bearing plate and extends outside the movable bin, an external pipe is fixedly connected to the movable bin, the external pipe extends outside the movable bin, an inner pipe is sleeved inside the external pipe, the inner pipe is slidably connected to the outer pipe, the inner pipe is fixedly installed on the dust hood and communicated with the dust hood, and the output end of the electric push rod is fixedly connected to the dust hood.

[0016] Preferably, the storage component also includes a storage bin, which is fixedly mounted on the inner wall of the movable bin, one end of the external pipe is fixedly mounted in the storage bin and communicated with the storage bin, inclined plates are fixedly connected on both sides of the storage bin, a filter plate is fixedly connected in the storage bin, a fan is fixedly connected to the top of the inner cavity of the storage bin, a fifth motor is fixedly connected to the top of the storage bin, an output end of the fifth motor is fixedly connected to the fan, a storage box is slidably mounted on the bottom of the storage bin, a through hole is opened on the outer periphery of the movable bin, and a movable pull plate is slidably provided in the through hole.

[0017] The internal inspection method for long-distance oil pipelines uses a self-climbing pipeline internal inspection device. The specific steps are as follows:

[0018] The distance between the multiple rollers is adjusted by the control member so that the multiple rollers are in contact with the inner wall of the pipeline to be detected, and then the rollers are driven to rotate by the driving member so that the device enters the pipeline to be detected. The elastic material of the elastic rod is set so that when the device encounters a curved pipeline, the elastic rod is bent and can pass freely. During the movement of the elastic rod, the running member in the movable bin at the forward end of the elastic rod runs, driving the cleaning brushes on both sides to move outward and fit with the inner wall of the pipeline to be detected. The setting of the rotating member drives the movable bin to rotate, thereby driving the two cleaning brushes to rotate and clean the inner wall of the pipeline to be detected. At the same time, the storage member in the movable bin at the rear end of the elastic rod runs, and the welding slag and debris cleaned by the cleaning brush are collected by the dust cover. At the same time, the dust cover is rotated along the inner wall of the pipeline to be detected by the setting of the rotating member, thereby collecting the welding slag and debris in the pipeline to be detected. The ultrasonic probe is located on the dust cover and on the side opposite to the forward direction of the elastic rod. Then, the weld in the pipeline to be detected is visually inspected by a camera, and the entire circle of welds is inspected by the ultrasonic probe.

[0019] Beneficial Effects

[0020] Compared with the prior art, the present invention provides a self-climbing pipeline internal detection device and an internal detection method for long-distance oil pipelines, which have the following beneficial effects:

[0021] 1. A self-climbing pipeline internal inspection device and an internal inspection method for long-distance oil pipelines. During the process of the elastic rod moving forward, the movable bin at one end of the elastic rod moving forward is operated, and the cleaning brush is driven to clean the inner wall of the pipeline through the running part and the rotating part. At the same time, during the process of the movable bin at the other end of the elastic rod moving forward, the dust cover is driven to collect the welding slag and debris cleaned by the cleaning brush through the rotating part and the receiving part. Then, the ultrasonic probe is located on the dust cover and on the side opposite to the moving direction of the elastic rod, so that the ultrasonic probe will not be affected by the welding slag and debris in the pipeline when working, which solves the problem that the detection probe is affected by the welding slag and debris on the inner wall of the pipeline during the detection of the inner wall of the pipeline, which will affect the detection result.

[0022] 2. A self-climbing pipeline internal inspection device and an internal inspection method for long-distance oil pipelines. By setting the material of the elastic rod itself and the self-moving devices at both ends of the elastic rod, when the device moves in a curved pipeline, the self-moving device in the forward direction of the elastic rod drives the elastic rod to move forward, and the self-moving device at the rear end of the elastic rod applies a thrust to the elastic rod, so that when the elastic rod moves in the curved pipeline, it undergoes elastic deformation and thus bends, so that the device can adapt to the inspection of pipelines with a certain degree of curvature.

[0023] 3. A self-climbing pipeline internal inspection device and an internal inspection method for long-distance oil pipelines. The distance between multiple rollers is controlled by a control component, so that the device can move automatically in a pipeline within a certain width range. At the same time, the distance between the cleaning brush and the dust hood and the inner wall of the pipeline is adjusted by setting the running component and the storage component, so as to achieve the effect of cleaning the inner wall of the pipeline and collecting welding slag and debris, making the application range of the device wider. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is one of the overall structural schematic diagrams of the present invention;

[0025] Figure 2 This is the second schematic diagram of the overall structure of the present invention;

[0026] Figure 3 It is a schematic diagram of the structure of the driving member of the present invention;

[0027] Figure 4 For the present invention Figure 3 Schematic diagram of the structure of the middle A part;

[0028] Figure 5 It is a schematic diagram of the control component structure of the present invention;

[0029] Figure 6 For the present invention Figure 5 Schematic diagram of the structure of the middle B part;

[0030] Figure 7 It is a schematic diagram of the structure of the operating parts of the present invention;

[0031] Figure 8 For the present invention Figure 7 Schematic diagram of the structure of the middle C part;

[0032] Fig. 9 It is a schematic diagram of the storage structure of the present invention;

[0033] Fig.10 For the present invention Fig. 9 Schematic diagram of the structure of the middle D part.

[0034] In the figure: 1, elastic rod; 2, self-moving device; 3, cleaning device; 4, collecting device; 5, detection device; 21, fixed bin; 22, roller; 23, driving member; 24, control member; 6, movable bin; 7, rotating member; 31, cleaning brush; 32, running member; 41, dust cover; 42, storage member; 51, ultrasonic probe; 52, camera; 241, worm gear; 242, worm; 243, circular plate; 244, first motor; 245, rotating rod; 246, sleeve rod; 247, rectangular frame; 248, connecting shaft; 249, rectangular rod; 2410, sleeve; 2411, inclined arc groove; 2412, slider; 231 , the first bevel gear; 232, the second bevel gear; 233, the second motor; 234, the bearing seat; 235, the bearing rod; 236, the extension rod; 237, the third bevel gear; 238, the fourth bevel gear; 71, the connecting plate; 72, the third motor; 321, the tooth plate; 322, the fixing rod; 323, the guide plate; 324, the gear ring; 325, the main gear; 326, the fourth motor; 421, the electric push rod; 422, the load-bearing plate; 423, the outer pipe; 424, the inner pipe; 425, the storage bin; 426, the tilting plate; 427, the filter plate; 428, the fan; 429, the fifth motor; 4210, the storage box; 4211, the movable pull plate. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] As introduced in the background technology, there are deficiencies in the prior art. In order to solve the above technical problems, the present application proposes a self-climbing pipeline internal detection equipment and an internal detection method for long-distance oil pipelines.

[0037] Embodiment 1:

[0038] See also Figure 1 , Figure 2 , Figure 3 , Figure 5 , Figure 7 , Fig. 9 A self-climbing pipeline in-pipe detection device comprises an elastic rod 1, two ends of which are provided with self-moving devices 2, one side of which is provided with a cleaning device 3, and the other side of which is provided with a collecting device 4 and a detection device 5;

[0039] The self-moving device 2 includes a fixed bin 21 and a plurality of rollers 22 arranged on the periphery of the fixed bin 21. A driving member 23 and a control member 24 are arranged in the fixed bin 21. The driving member 23 drives the rollers 22 to rotate. The control member 24 drives the plurality of rollers 22 to shrink or expand synchronously. A movable bin 6 is arranged on one side of the fixed bin 21. The movable bin 6 is arranged on one side of the fixed bin 21 and is rotatably connected to the fixed bin 21 through a bearing. A rotating member 7 is arranged in the movable bin 6. The rotating member 7 controls the movable bin 6 to rotate on one side of the fixed bin 21.

[0040] The cleaning device 3 includes cleaning brushes 31 disposed on both sides of the outer periphery of the movable chamber 6. A running member 32 is disposed in the movable chamber 6. The running member 32 controls the two cleaning brushes 31 to shrink or expand synchronously.

[0041] The collecting device 4 includes a dust hood 41 disposed on one side of the movable bin 6 and a receiving member 42 connected to the dust hood 41. The receiving member 42 is operated to receive welding slag and debris collected by the dust hood 41.

[0042] The detection device 5 includes an ultrasonic probe 51 and a camera 52 . The ultrasonic probe 51 is fixedly mounted on the dust cover 41 , and two cameras 52 are fixedly mounted on one side of the movable bin 6 .

[0043] Specifically, the distance between the multiple rollers 22 is adjusted by the control member 24, so that the multiple rollers 22 are in contact with the inner wall of the pipeline to be detected, and then the rollers 22 are driven to rotate by the driving member 23 so that the device enters the pipeline to be detected. By setting the elastic material of the elastic rod 1, when the device encounters a curved pipeline, the elastic rod 1 is bent and can pass freely. During the movement of the elastic rod 1, the running member 32 in the movable bin 6 at the forward end of the elastic rod 1 runs, driving the cleaning brushes 31 on both sides to move outward and fit with the inner wall of the pipeline to be detected. The movable bin 6 is driven to rotate by the setting of the rotating member 7, thereby driving the two cleaning brushes 31 to rotate and clean the inner wall of the pipeline to be inspected. At the same time, the storage member 42 in the movable bin 6 at the rear end of the elastic rod 1 operates, and the welding slag and debris cleaned by the cleaning brush 31 are stored through the dust cover 41. At the same time, the dust cover 41 is rotated along the inner wall of the pipeline to be inspected by the setting of the rotating member 7, so as to store the welding slag and debris in the pipeline to be inspected. The ultrasonic probe 51 is located on the dust cover 41 and on the side opposite to the forward direction of the elastic rod 1.

[0044] When the elastic rod 1 is moving, the camera 52 is turned on and rotates with the rotation of the movable chamber 6. The image processing and artificial intelligence technology are used to visually inspect the weld. By setting the inspection area and performing image learning and memory on the qualified weld area, the entire weld can be quickly inspected to find welding defects such as leaking welding, welding holes, and biased welding, as well as welding slag adhesion.

[0045] After the cleaning in the pipeline is completed, the dust cover 41 is continued to rotate through the rotating member 7, so that the ultrasonic probe 51 rotates synchronously. During the rotation of the ultrasonic probe 51, the entire circle of the weld is inspected, and the propagation and interaction principle of ultrasonic waves is used to detect and evaluate the defects in the weld. When the ultrasonic wave encounters the defects in the weld, it will be reflected or scattered. These reflected or scattered waves are then received by the sensor and converted into electrical signals. By analyzing these electrical signals, the type, size and location of the defects in the weld can be determined;

[0046] When the elastic rod 1 is moving forward, the movable bin 6 at one end of the elastic rod 1 in the moving direction is in operation, and the cleaning brush 31 is driven to clean the inner wall of the pipe through the moving part 32 and the rotating part 7. At the same time, when the movable bin 6 at the other end of the elastic rod 1 is in operation, the dust cover 41 is driven to collect the welding slag and debris cleaned by the cleaning brush 31 through the rotating part 7 and the storage part 42. Then, the ultrasonic probe 51 is located on the dust cover 41 and on the side opposite to the moving direction of the elastic rod 1, so that the ultrasonic probe 51 will not be affected by the welding slag and debris in the pipe when working, which solves the problem that during the detection of the inner wall of the pipe, the detection probe is affected by the welding slag and debris on the inner wall of the pipe, which will affect the detection result.

[0047] Embodiment 2:

[0048] The difference from the above embodiment 1 is that, see Figure 3-Figure 6 For the above-mentioned self-moving device 2, the control member 24 includes a worm wheel 241 and a worm 242. A circular plate 243 is rotatably connected in the fixed bin 21 through a bearing. A fixed seat is fixedly connected to the inner wall of the fixed bin 21. The worm 242 is fixedly installed in the fixed seat through a bearing. A first motor 244 is fixedly connected to one side of the fixed seat. The output end of the first motor 244 is fixedly connected to one end of the worm 242. A rotating rod 245 is rotatably connected to the inner wall of the fixed bin 21 through a bearing. One end of the rotating rod 245 is fixedly connected to the circular plate 243. The worm wheel 241 is fixedly installed on the rotating rod 245. The worm wheel 241 is meshed with the worm 242.

[0049] The control member 24 further includes a plurality of sleeve rods 246. A rectangular frame 247 is fixedly connected to the axis of the circular plate 243 away from the rotating rod 245. The rectangular frame 247 is provided with circular holes on all sides. A connecting shaft 248 is rotatably connected to the circular hole through a bearing. A rectangular rod 249 is fixedly connected to the top of the connecting shaft 248. A sleeve 2410 is sleeved on the outer periphery of the rectangular rod 249. The sleeve rod 246 is sleeved outside the sleeve 2410. A plurality of inclined arc grooves 2411 are provided on the circular plate 243. A slider 2412 is rotatably connected to one side of the sleeve rod 246 through a bearing. The slider 2412 is slidably arranged in the inclined arc groove 2411.

[0050] The driving member 23 includes a first bevel gear 231 and a plurality of second bevel gears 232. A second motor 233 is fixedly connected in a rectangular frame 247. One end of the first bevel gear 231 is fixedly connected to an output end of the second motor 233. The second bevel gears 232 are respectively fixedly arranged at the bottom end of the connecting shaft 248. The first bevel gear 231 is meshedly connected with the second bevel gear 232. A bearing seat 234 is fixedly connected to the outer periphery of the sleeve rod 246. A bearing rod 235 is rotatably connected to the bearing seat 234 through a bearing. The roller 22 is fixedly arranged on the bearing rod 235. An extension rod 236 is fixedly connected to the top of the sleeve 2410. A third bevel gear 237 is fixedly connected to the top of the extension rod 236. A fourth bevel gear 238 is fixedly connected to the bearing rod 235. The third bevel gear 237 is meshedly connected with the fourth bevel gear 238.

[0051] Specifically, the first motor 244 runs, driving the worm 242 to rotate, and the meshing connection between the worm 242 and the worm wheel 241 drives the worm wheel 241 to rotate, thereby driving the rotating rod 245 to rotate, and then driving the circular plate 243 to rotate in the fixed bin 21. Since the sleeve rod 246 extends outside the fixed bin 21 and is slidably connected to the fixed bin 21, and the sleeve rod 246 is slidably connected to the sleeve 2410, the sleeve rod 246 can only move in a straight line. When the circular plate 243 is rotating, the inclined arc groove 2411 rotates synchronously, and the slider 2412 moves along the inclined arc in the inclined arc groove 2411. The track of the groove 2411 slides. Since the sleeve rod 246 can only move linearly, when the circular plate 243 rotates forward, the slider 2412 slides in the inclined arc groove 2411, and the slider 2412 moves upward, thereby driving the sleeve rod 246 to move outward. When the circular plate 243 rotates reversely, the slider 2412 slides in the inclined arc groove 2411, and the slider 2412 moves downward, thereby driving the sleeve rod 246 to move inward, thereby adjusting the position between the multiple rollers 22, and then when the device is running, the multiple rollers 22 fit with the pipeline to be detected, so that the device moves automatically in the pipeline to be detected;

[0052] During the movement of the device, the second motor 233 runs to drive the first bevel gear 231 to rotate. Through the meshing connection between the first bevel gear 231 and the plurality of second bevel gears 232, the plurality of second bevel gears 232 are driven to rotate, thereby driving the connecting shaft 248 to rotate. Through the rectangular cross-section of the rectangular rod 249 being a rectangular configuration, when the rectangular rod 249 rotates, the sleeve 2410 is driven to rotate. Since the slider 2412 on one side of the sleeve rod 246 is located in the inclined arc groove 2411, the sleeve rod 246 cannot rotate. Therefore, when the rectangular rod 249 drives the sleeve 2410 to rotate, it will not drive the sleeve rod 246 to rotate. When the sleeve 2410 rotates, it drives the extension rod 236 to rotate, thereby driving the third bevel gear 237 to rotate. Through the meshing connection between the third bevel gear 237 and the fourth bevel gear 238, the fourth bevel gear 238 is driven to rotate, thereby driving the bearing rod 235 to rotate, and then driving the roller 22 to rotate, thereby realizing the movement of the device in the pipeline to be inspected.

[0053] Embodiment three:

[0054] The difference from the above-mentioned embodiment 2 is that, see Fig.10 , for the above-mentioned rotating member 7, the rotating member 7 includes a connecting plate 71, a third motor 72 is fixedly connected to the outer side of the fixed bin 21, an output end of the third motor 72 is fixedly connected to the axis of one side of the connecting plate 71, and both ends of the connecting plate 71 are fixedly connected to the inner wall of the movable bin 6;

[0055] Specifically, the third motor 72 runs, driving the connecting plate to rotate, and through the setting that the two ends of the connecting plate are fixedly connected to the inner wall of the movable bin 6, and the setting that the movable bin 6 is rotatably connected to the fixed bin 21, the movable bin 6 is driven to rotate, thereby driving the cleaning brush 31 on the movable bin 6 at one end of the elastic rod 1 to rotate with the rotation of the movable bin 6, and the dust cover 41 on the movable bin 6 at the other end of the elastic rod 1 rotates with the rotation of the movable bin 6, thereby cleaning the inner wall of the pipeline to be inspected and collecting welding slag and debris.

[0056] Embodiment 4:

[0057] The difference from the above-mentioned embodiment 3 is that, see Figure 7-Figure 8 , for the above-mentioned cleaning device 3, the operating member 32 includes two tooth plates 321, fixed rods 322 are fixedly connected to the two sides of the movable bin 6, the tooth plates 321 extend outside the movable bin 6 and are slidably connected to the outer shell of the movable bin 6, one end of the tooth plates 321 is fixedly connected to a guide plate 323, the guide plate 323 is sleeved on the outer periphery of the fixed rod 322 and is slidably connected to the fixed rod 322, and the cleaning brush 31 is arranged at the other end of the fixed rod 322 and is located outside the movable bin 6;

[0058] The running member 32 further includes a gear ring 324. Both sides of the inner wall of the movable bin 6 are fixedly connected with bearing seats. A main gear 325 is rotatably connected to the bearing seat. A fourth motor 326 is fixedly connected to one side of the bearing seat. The output end of the fourth motor 326 is fixedly connected to the main gear 325. The main gear 325 is meshed with the gear plate 321. The gear ring 324 is sleeved outside the two main gears 325 and meshed with the two main gears 325.

[0059] Specifically, the fourth motor 326 runs, driving one of the main gears 325 to rotate, and the two main gears 325 are driven to rotate synchronously through the arrangement of the gear ring 324 which is sleeved outside the two main gears 325 and meshingly connected with the two main gears 325. Through the meshing connection between the main gears 325 and the tooth plates 321, and the arrangement of the two tooth plates 321 on both sides of the main gears 325, when the main gears 325 rotate, the tooth plate 321 on one side moves upward and the tooth plate 321 on the other side moves downward, so that the cleaning brushes 31 on the upper and lower sides of the movable bin 6 move outward synchronously, and then the two cleaning brushes 31 are in contact with the inner wall of the pipeline to be inspected.

[0060] Embodiment five:

[0061] The difference from the above-mentioned fourth embodiment is that, see Figure 9-10For the above-mentioned collecting device 4, the storage member 42 includes an electric push rod 421, a load-bearing plate 422 is fixedly connected in the movable bin 6, the electric push rod 421 is fixedly installed on the load-bearing plate 422 and extends to the outside of the movable bin 6, an outer pipe 423 is fixedly connected in the movable bin 6, the outer pipe 423 extends to the outside of the movable bin 6, an inner pipe 424 is sleeved in the outer pipe 423, the inner pipe 424 is slidably connected to the outer pipe 423, the inner pipe 424 is fixedly installed on the dust hood 41 and communicated with the dust hood 41, and the output end of the electric push rod 421 is fixedly connected to the dust hood 41;

[0062] The storage member 42 also includes a storage bin 425, which is fixedly mounted on the inner wall of the movable bin 6, one end of the external pipe 423 is fixedly mounted in the storage bin 425 and communicated with the storage bin 425, inclined plates 426 are fixedly connected to both sides of the storage bin 425, a filter plate 427 is fixedly connected to the storage bin 425, a fan 428 is fixedly connected to the top of the inner cavity of the storage bin 425, a fifth motor 429 is fixedly connected to the top of the storage bin 425, and the output end of the fifth motor 429 is fixedly connected to the fan 428, a storage box 4210 is slidably mounted on the bottom of the storage bin 425, a through hole is opened on the outer periphery of the movable bin 6, and a movable pull plate 4211 is slidably provided in the through hole;

[0063] Specifically, through the sliding connection between the inner pipe 424 and the outer pipe 423 at the top of the dust hood 41, and the setting of the electric push rod 421, the dust hood 41 is driven to move away from the movable bin 6, so that the dust hood 41 is close to the inner wall of the pipe to be inspected, and the fifth motor 429 is running to drive the fan 428 to rotate. The suction force generated by the rotation of the fan 428 sucks the welding slag impurities cleaned by the cleaning brush 31 into the storage bin 425 and is blocked by the filter plate 427. When the dust collection stops, the filter residue and debris will fall downward and fall into the storage box 4210 at the bottom of the storage bin 425. At the same time, through the sliding connection between the storage box 4210 and the storage bin 425, the storage box 4210 is easily taken out and the welding slag and debris are cleaned.

[0064] Embodiment six:

[0065] See also Figure 1-Figure 10 This embodiment discloses an internal detection method for a long-distance oil pipeline, and the specific steps are as follows:

[0066] The distance between the multiple rollers 22 is adjusted by the control member 24 so that the multiple rollers 22 are in contact with the inner wall of the pipeline to be detected, and then the rollers 22 are driven to rotate by the driving member 23 so that the device enters the pipeline to be detected. The elastic material of the elastic rod 1 is set so that when the device encounters a curved pipeline, the elastic rod 1 is bent and can pass freely. During the movement of the elastic rod 1, the running member 32 in the movable bin 6 at the forward end of the elastic rod 1 runs, driving the cleaning brushes 31 on both sides to move outward and fit with the inner wall of the pipeline to be detected. The setting of the rotating member 7 drives the movable bin 6 to rotate, thereby driving the two cleaning brushes 31 to move outward and fit with the inner wall of the pipeline to be detected. The cleaning brush 31 rotates and cleans the inner wall of the pipeline to be inspected. At the same time, the storage part 42 in the movable bin 6 at the rear end of the elastic rod 1 operates, and the welding slag and debris cleaned by the cleaning brush 31 are stored through the dust hood 41. At the same time, the dust hood 41 is rotated along the inner wall of the pipeline to be inspected through the setting of the rotating part 7, so as to store the welding slag and debris in the pipeline to be inspected. The ultrasonic probe 51 is located on the dust hood 41 and on the side opposite to the forward direction of the elastic rod 1. Then, the weld in the pipeline to be inspected is visually inspected by the camera 52, and the entire circle of welds is inspected by the ultrasonic probe 51.

[0067] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A self-climbing pipeline in-pipe detection device, comprising an elastic rod, characterized in that: The two ends of the elastic rod are respectively provided with self-moving devices, one side of the self-moving device is provided with a cleaning device, and the other side of the self-moving device is provided with a collecting device and a detecting device; The self-moving device includes a fixed warehouse and a plurality of rollers arranged on the periphery of the fixed warehouse, a driving member and a control member are arranged in the fixed warehouse, the driving member drives the rollers to rotate, and the control member drives the plurality of rollers to shrink or expand synchronously, a movable warehouse is arranged on one side of the fixed warehouse, the movable warehouse is arranged on one side of the fixed warehouse and is rotatably connected to the fixed warehouse through a bearing, a rotating member is arranged in the movable warehouse, and the rotating member controls the movable warehouse to rotate on one side of the fixed warehouse; The cleaning device comprises cleaning brushes arranged on both sides of the outer periphery of the movable bin, and a running part is arranged in the movable bin, and the running part controls the two cleaning brushes to shrink or expand synchronously; The collecting device comprises a dust hood provided on one side of the movable bin and a receiving member connected to the dust hood, wherein the receiving member is operated to receive welding slag and debris collected by the dust hood; The detection device comprises an ultrasonic probe and a camera. The ultrasonic probe is fixedly mounted on the dust cover, and two cameras are respectively fixedly mounted on one side of the movable bin.

2. The self-climbing pipeline in-pipe detection device according to claim 1, characterized in that: The control component includes a worm wheel and a worm, a circular plate is rotatably connected to the fixed bin via a bearing, a fixed seat is fixedly connected to the inner wall of the fixed bin, the worm is fixedly installed in the fixed seat via a bearing, a first motor is fixedly connected to one side of the fixed seat, an output end of the first motor is fixedly connected to one end of the worm, a rotating rod is rotatably connected to the inner wall of the fixed bin via a bearing, one end of the rotating rod is fixedly connected to the circular plate, the worm wheel is fixedly installed on the rotating rod, and the worm wheel is meshingly connected to the worm.

3. The self-climbing pipeline detection device according to claim 2 is characterized in that: The control component also includes a plurality of sleeve rods, a rectangular frame is fixedly connected to the axis of the circular plate away from the rotating rod, and circular holes are opened on all sides of the rectangular frame. A connecting shaft is rotatably connected to the circular hole through a bearing, and a rectangular rod is fixedly connected to the top of the connecting shaft. A sleeve is sleeved on the outer periphery of the rectangular rod, and the sleeve rod is sleeved outside the sleeve. A plurality of inclined arc grooves are opened on the circular plate, and a slider is rotatably connected to one side of the sleeve rod through a bearing, and the slider is slidably set in the inclined arc groove.

4. The self-climbing pipeline in-pipe detection device according to claim 3 is characterized in that: The driving member includes a first bevel gear and a plurality of second bevel gears, a second motor is fixedly connected in the rectangular frame, one end of the first bevel gear is fixedly connected to the output end of the second motor, the second bevel gears are respectively fixedly arranged at the bottom end of the connecting shaft, the first bevel gear is meshingly connected with the second bevel gear, a bearing seat is fixedly connected to the outer periphery of the sleeve rod, a bearing rod is rotatably connected to the bearing seat through a bearing, the roller is fixedly arranged on the bearing rod, an extension rod is fixedly connected to the top end of the sleeve, a third bevel gear is fixedly connected to the top end of the extension rod, a fourth bevel gear is fixedly connected to the bearing rod, and the third bevel gear is meshingly connected to the fourth bevel gear.

5. The self-climbing pipeline in-pipe detection device according to claim 4 is characterized in that: The rotating member includes a connecting plate, a third motor is fixedly connected to the outer side of the fixed bin, an output end of the third motor is fixedly connected to the axis of one side of the connecting plate, and two ends of the connecting plate are fixedly connected to the inner wall of the movable bin.

6. The self-climbing pipeline in-pipe detection device according to claim 5, characterized in that: The operating part includes two tooth plates, fixed rods are fixedly connected on both sides of the movable bin, the tooth plates extend outside the movable bin and are slidably connected to the outer shell of the movable bin, one end of the tooth plates is fixedly connected to a guide plate, the guide plate is sleeved on the outer periphery of the fixed rod and is slidably connected to the fixed rod, and the cleaning brush is arranged at the other end of the fixed rod and is located outside the movable bin.

7. The self-climbing pipeline in-pipe detection device according to claim 6, characterized in that: The operating part also includes a gear ring. Both sides of the inner wall of the movable warehouse are fixedly connected with bearing seats. A main gear is rotatably connected to the bearing seat through a bearing. A fourth motor is fixedly connected to one side of the bearing seat. The output end of the fourth motor is fixedly connected to the main gear. The main gear is meshingly connected to the gear plate. The gear ring is sleeved outside the two main gears and meshingly connected to the two main gears.

8. The self-climbing pipeline in-pipe detection device according to claim 7, characterized in that: The storage part includes an electric push rod, a load-bearing plate is fixedly connected in the movable bin, the electric push rod is fixedly installed on the load-bearing plate and extends outside the movable bin, an outer pipe is fixedly connected in the movable bin, the outer pipe extends outside the movable bin, an inner pipe is sleeved in the outer pipe, the inner pipe is slidably connected to the outer pipe, the inner pipe is fixedly installed on the dust hood and communicated with the dust hood, and the output end of the electric push rod is fixedly connected to the dust hood.

9. The self-climbing pipeline in-pipe detection device according to claim 8, characterized in that: The storage piece also includes a storage bin, which is fixedly mounted on the inner wall of the movable bin, one end of the external pipe is fixedly mounted in the storage bin and communicated with the storage bin, inclined plates are fixedly connected on both sides of the storage bin, a filter plate is fixedly connected in the storage bin, a fan is fixedly connected to the top of the inner cavity of the storage bin, a fifth motor is fixedly connected to the top of the storage bin, an output end of the fifth motor is fixedly connected to the fan, a storage box is slidably mounted on the bottom of the storage bin, a through hole is opened on the outer periphery of the movable bin, and a movable pull plate is slidably provided in the through hole.

10. An internal inspection method for a long-distance oil pipeline, characterized in that: The self-climbing pipeline detection device according to any one of claims 1 to 9 is applied, and the specific steps are as follows: The distance between the multiple rollers is adjusted by the control member so that the multiple rollers are in contact with the inner wall of the pipeline to be detected, and then the rollers are driven to rotate by the driving member so that the device enters the pipeline to be detected. The elastic material of the elastic rod is set so that when the device encounters a curved pipeline, the elastic rod is bent and can pass freely. During the movement of the elastic rod, the running member in the movable bin at the forward end of the elastic rod runs, driving the cleaning brushes on both sides to move outward and fit with the inner wall of the pipeline to be detected. The setting of the rotating member drives the movable bin to rotate, thereby driving the two cleaning brushes to rotate and clean the inner wall of the pipeline to be detected. At the same time, the storage member in the movable bin at the rear end of the elastic rod runs, and the welding slag and debris cleaned by the cleaning brush are collected by the dust cover. At the same time, the dust cover is rotated along the inner wall of the pipeline to be detected by the setting of the rotating member, thereby collecting the welding slag and debris in the pipeline to be detected. The ultrasonic probe is located on the dust cover and on the side opposite to the forward direction of the elastic rod. Then, the weld in the pipeline to be detected is visually inspected by a camera, and the entire circle of welds is inspected by the ultrasonic probe.

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