A pipeline internal inspection apparatus

Abstract

The application relates to the technical field of detection equipment, and discloses a pipeline internal detection equipment which comprises a moving device arranged in the pipeline and moving along the pipeline axis, a detection device connected with the moving device through a traction rope and located at one end of the moving device, a rotating frame rotatably arranged relative to the moving device and located at the other end of the moving device, the rotating frame, the moving device and the detection device being sequentially arranged along the moving direction of the moving device, a plurality of scraping pieces, the plurality of scraping pieces being circumferentially and uniformly distributed around the axis of the rotating frame and abutting against the inner wall of the pipeline, the scraping pieces being used for scraping off the impurities on the inner wall of the pipeline after the rotating frame rotates, a plurality of side baffles, two side baffles being respectively arranged on the two sides of the scraping pieces, and a containing space being formed among the two side baffles, the scraping pieces and the rotating frame. Through the technical scheme, the problem that the pipeline internal detection is inaccurate due to the existence of rust in the pipeline when the pipeline internal detection is carried out by using the magnetic flux leakage detection technology in the prior art is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of detection equipment, in particular, to a pipeline internal detection equipment. BACKGROUND

[0002] In today's industrial production and infrastructure construction, pipeline transportation is a key link, and its safety is directly related to the continuity of production, the effective transportation of resources and the safety of the environment. The accurate detection of the inside of the pipeline is of great importance to the safe operation of the pipeline, and the magnetic flux leakage detection technology is widely used in the detection of pipeline internal defects due to its high efficiency, convenience and other advantages.

[0003] However, in actual application scenarios, rust is easily produced on the inner wall of the pipeline. The reasons for rust on the inner wall of the pipeline are various. From the point of view of pipeline material, if ordinary carbon steel or other easily oxidizable materials are used, they are easy to rust when they come into contact with air and water. For example, early city water supply pipelines mostly use ordinary carbon steel, and with the passage of time, a large amount of internal rust accumulates.

[0004] In terms of the transported medium, when the transported medium contains water, the water will form a water film on the inner wall of the pipeline, and oxygen will dissolve in it and react with the metal. For example, if the gas in the natural gas pipeline contains a certain amount of water vapor, it will promote the formation of rust. If the medium contains corrosive substances such as acid, alkali and salt, such as chemical pipeline transporting sulfuric acid, hydrochloric acid and other acidic media, or sewage treatment plant pipeline transporting sewage containing salt and acid-alkali substances, it will accelerate the corrosion and rust of the pipeline.

[0005] At the same time, there are also environmental factors. When the environmental humidity is high, even if the transported medium does not contain water, the moisture in the air will condense into a water film on the inner wall of the pipeline, causing rust to form, such as humid underground pipelines. Temperature changes can also affect the speed of rust formation. High temperatures can accelerate chemical reactions, making the pipeline more prone to rust, such as high-temperature hot water pipeline, the rust formation speed is relatively faster.

[0006] The presence of rust is extremely detrimental to magnetic flux leakage detection. On the one hand, the magnetic permeability of rust is much lower than that of the pipeline material, and when the magnetic flux leakage signal penetrates the rust layer, it will cause serious signal attenuation. This makes the originally detectable small defect signal extremely weak, or even completely submerged in noise, making it difficult for the detection equipment to accurately identify these defects.

[0007] On the other hand, the uneven distribution of the rust layer can change the magnetic field distribution on the surface of the pipeline, generating a large number of interference signals. These interference signals and the magnetic flux leakage signals generated by the real defects of the pipeline are mixed, making it difficult for the detection personnel to accurately distinguish the position, size, shape and other key information of the defects from the complex signals, greatly increasing the difficulty of data analysis and judgment.

[0008] Furthermore, rust roughens the inner surface of the pipe, disrupting the proper coupling between the sensor and the pipe surface. The sensor cannot maintain a tight seal against the pipe wall, leading to a significant decrease in detection sensitivity and further reducing the accuracy of the results. Summary of the Invention

[0009] This invention proposes a pipeline internal inspection device, which solves the problem in related technologies where the presence of rust inside the pipeline leads to inaccurate detection when using magnetic flux leakage detection technology for pipeline internal inspection.

[0010] The technical solution of the present invention is as follows:

[0011] An internal pipeline inspection device, comprising:

[0012] A moving device, which is disposed inside the pipe and moves axially along the pipe;

[0013] A detection device, which is connected to the mobile device via a traction rope and is located at one end of the mobile device;

[0014] A rotating frame is rotatably disposed relative to the moving device and located at the other end of the moving device; the rotating frame, the moving device, and the detection device are arranged sequentially along the moving direction of the moving device;

[0015] The scraper has several components, which are evenly distributed around the axis of the rotating frame and abut against the inner wall of the pipe. After the rotating frame rotates, the scraper is used to scrape off the impurities on the inner wall of the pipe.

[0016] Side baffles, a number of which are provided, with two side baffles respectively disposed on both sides of the scraper, forming an accommodating space between the two side baffles, the scraper and the rotating frame.

[0017] Optionally, the mobile device has a storage cavity inside and further includes:

[0018] Mounting frame, the mounting frame is located at the end of the moving device away from the detection device, the rotating frame is rotatably mounted on the mounting frame, the mounting frame has a slag inlet, the slag inlet is connected to the receiving cavity;

[0019] After the rotating frame rotates, the several accommodating spaces are connected to the slag inlet in sequence, so that the impurities in the several accommodating spaces enter the receiving cavity in sequence.

[0020] Optionally, the slag inlet is located at the top of the mounting frame, and further includes:

[0021] A guide tube is disposed within the mounting frame, with its two ends connected to the slag inlet and the receiving cavity, respectively, for guiding the impurities from the slag inlet into the receiving cavity.

[0022] Optionally, the scraper includes:

[0023] Mounting base, the mounting base being disposed on the rotating frame;

[0024] The scraper is rotatably mounted on the mounting base, and two side baffles are respectively disposed on both sides of the scraper. After the scraper rotates, the other end of the scraper approaches or moves away from the rotating frame.

[0025] Optionally, it also includes:

[0026] A first link, one end of which is disposed on the side baffle on the side away from the moving device;

[0027] A rotating disk is rotatably disposed on the side of the rotating frame away from the moving device. The rotating disk has several sliding grooves, and the other end of the first connecting rod is slidably disposed in the sliding grooves. After the rotating disk rotates, it drives several scrapers to rotate synchronously.

[0028] Optionally, the rotating frame has a plurality of limiting holes and further includes:

[0029] A first elastic element is disposed in the slide groove, and its two ends abut against the inner wall of the slide groove and the first connecting rod, respectively, to provide the force for the first connecting rod to slide in the slide groove, so that the scraper moves away from the rotating frame;

[0030] A fastener is provided on the rotating disk. After the fastener enters the limiting hole, it is used to limit the position of the rotating disk and the rotating frame.

[0031] Optionally, the mobile device includes:

[0032] The frame, wherein the storage cavity is located inside the frame;

[0033] Mounting rods, a number of which are evenly distributed around the axis of the frame, and the axis of the mounting rods is parallel to the axis of the frame;

[0034] The sliders are used in pairs, and the pairs of sliders are slidably mounted on the mounting rod in opposite directions. After the pairs of sliders slide, the distance between the two sliders increases or decreases.

[0035] The second link is used in pairs, with one end of each of the two second links hinged to the two sliders.

[0036] The third link is used in pairs. One end of the third link is hinged to the mounting rod, and the other end is slidably mounted on the second link.

[0037] The traveling device has the other end of the second connecting rod used in pairs hinged to the traveling device. After the paired sliders slide, the traveling device moves closer to or away from the frame.

[0038] Optionally, it also includes:

[0039] The second elastic element is sleeved on the mounting rod. The two ends of the second elastic element act on the frame and the slider respectively, and are used to provide a force for the paired sliders to move closer to each other, so as to move the traveling device away from the frame.

[0040] Optionally, the traveling device includes:

[0041] The traveling support frame, wherein the ends of the second connecting rods used in pairs, away from the mounting rod, are all hinged to the traveling support frame;

[0042] The track is cyclically moved on the traveling support frame. The track has a plurality of teeth with an arc-shaped cross-section. The track abuts against the inner wall of the pipe through the teeth.

[0043] The working principle and beneficial effects of this invention are as follows:

[0044] In this invention, when using the device, the rotating frame, scraper, and moving device are first placed into the pipe, allowing the moving device to abut against the inner wall of the pipe and push the rotating frame and scraper to move within the pipe. Then, the detection device is placed into the pipe, and a traction rope connects the detection device and the moving device. As the moving device moves through the pipe, the rotating frame and scraper first scrape away rust or impurities from the inner wall of the pipe. The detection device then detects the inner wall of the pipe after the rust has been removed, which greatly improves the detection accuracy of the magnetic flux leakage sensor. The accommodating space formed by the side baffle, scraper, and rotating frame can quickly collect impurities while the scraper removes rust, preventing impurities from drifting randomly within the pipe and effectively reducing contamination of other components of the detection equipment by impurities.

[0045] A highly sensitive magnetic flux leakage (MF) sensor, paired with advanced signal processing circuitry, can accurately acquire and effectively preprocess MF signals from pipelines, providing a high-quality data foundation for subsequent data analysis and aiding in the accurate identification of internal pipeline defects. When the rotating frame drives the scraper to rotate, the scraper efficiently removes rust and other impurities from the inner wall of the pipeline, creating a clean and interference-free environment for MF detection. This reduces the attenuation and interference of rust on the MF signal, improving detection accuracy and reliability. Attached Figure Description

[0046] The preferred embodiments will now be described in a clear and easy-to-understand manner, in conjunction with the accompanying drawings, to further explain the above-mentioned characteristics, technical features, advantages, and implementation methods of the present invention.

[0047] Figure 1 This is a schematic diagram of the complete structure of the present invention;

[0048] Figure 2 This is a schematic diagram of the internal structure of the mobile device of the present invention at a first angle;

[0049] Figure 3 For the present invention Figure 2 Enlarged view of point A in the middle;

[0050] Figure 4 This is a schematic diagram of the internal structure of the mobile device of the present invention from the second angle;

[0051] Figure 5 For the present invention Figure 4 Enlarged view at point D;

[0052] Figure 6 For the present invention Figure 1 Enlarged view at point B in the middle;

[0053] Figure 7 This is a side view of the structure of the mobile device of the present invention;

[0054] Figure 8 For the present invention Figure 7 Enlarged view of point C in the middle.

[0055] In the diagram: 1. Moving device, 2. Detection device, 3. Rotating frame, 4. Scraper, 5. Side baffle, 6. Accommodation space, 101. Receiving cavity, 7. Mounting frame, 701. Slag inlet, 8. Guide tube, 401. Mounting seat, 402. Scraper, 9. First connecting rod, 10. Rotating disk, 1001. Slide groove, 301. Limiting hole, 11. First elastic element, 12. Fastener, 102. Frame, 103. Mounting rod, 104. Sliding block, 105. Second connecting rod, 106. Third connecting rod, 107. Traveling device, 108. Second elastic element, 1071. Traveling support frame, 1072. Track, 1073. Toothed. Detailed Implementation

[0056] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without any creative effort.

[0057] To keep the drawings concise, each drawing only schematically shows the parts relevant to the invention; these do not represent the actual structure of the product. Furthermore, for ease of understanding, in some drawings, only one of components with the same structure or function is schematically shown, or only one is labeled. In this document, "one" not only means "only one," but can also mean "more than one," and "several" includes "two" and "more than two."

[0058] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0059] Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0060] Reference Figures 1-8 The first embodiment of the present invention proposes a pipeline internal inspection device, including a moving device 1, which is disposed inside the pipeline and moves along the pipeline axis; an inspection device 2 is connected to the moving device 1 by a traction rope and is located at one end of the moving device 1; a rotating frame 3 is rotatably disposed relative to the moving device 1 and is located at the other end of the moving device 1; the rotating frame 3, the moving device 1, and the inspection device 2 are arranged sequentially along the moving direction of the moving device 1; a plurality of scrapers 4 are evenly distributed circumferentially around the axis of the rotating frame 3 and abut against the inner wall of the pipeline, and after the rotating frame 3 rotates, the scrapers 4 are used to scrape off impurities from the inner wall of the pipeline; a plurality of side baffles 5 are arranged on both sides of the scrapers 4, and a receiving space 6 is formed between the two side baffles 5, the scrapers 4, and the rotating frame 3.

[0061] In this embodiment, the mobile device 1 is designed as a tracked vehicle to ensure stable movement in different pipelines. The mobile device 1 is equipped with an intelligent control system that can precisely control its direction and speed according to preset path and speed parameters. The detection device 2 uses a high-sensitivity magnetic flux leakage sensor with high resolution and wide dynamic range, capable of accurately capturing weak magnetic flux leakage signals. It is connected to the mobile device 1 via a high-strength, flexible traction rope that is waterproof, corrosion-resistant, and has a certain tensile strength. The detection device 2 has a robust protective shell and integrates signal amplification, filtering, and preliminary processing circuitry internally. After signal acquisition, it can quickly preprocess the signal to reduce interference and improve signal quality. The rotating frame 3 is mounted on one end of the mobile device 1 via a rotating shaft and bearing seat, providing smooth and stable rotation to ensure no jamming or shaking. The scraper 4 is fixed to the rotating frame 3 with adjustable bolts. The contact angle with the inner wall of the pipeline can be finely adjusted according to actual conditions, effectively scraping away rust while minimizing damage to the inner wall of the pipeline.

[0062] Specifically, during use, the rotating frame 3, scraper 4, and moving device 1 are first placed into the pipe, allowing the moving device 1 to abut against the inner wall of the pipe and push the rotating frame 3 and scraper 4 to move in the pipe. Then, the detection device 2 is placed into the pipe. The detection device 2 and the moving device 1 are connected by a traction rope. When the moving device 1 moves in the pipe, the rotating frame 3 and scraper 4 will first scrape off the rust or impurities on the inner wall of the pipe. Then, the detection device 2 will detect the inner wall of the pipe after the rust has been removed, which can greatly improve the detection accuracy of the magnetic flux leakage detection sensor.

[0063] The advantage lies in the fact that the highly sensitive magnetic flux leakage sensor, combined with advanced signal processing circuitry, can accurately acquire and effectively preprocess the magnetic flux leakage signal of the pipeline, providing a high-quality data foundation for subsequent data analysis and helping to accurately determine internal pipeline defects. When the rotating frame 3 drives the scraper 4 to rotate, the scraper 4 can efficiently scrape away impurities such as rust from the inner wall of the pipeline, creating a clean and interference-free environment for magnetic flux leakage detection, reducing the attenuation and interference of rust on the magnetic flux leakage signal, and improving the accuracy and reliability of the detection.

[0064] Meanwhile, the side baffle 5 is arc-shaped to match the curvature of the pipe's inner wall. During installation, argon arc welding is used to weld the side baffle 5 to both sides of the scraper 4, ensuring a seamless connection between the side baffle 5 and the scraper 4 to prevent impurities from leaking out. The accommodating space 6 is sufficient to hold a large amount of rust and other impurities generated during a single scraping process. Furthermore, the edges of the side baffle 5 are rolled to prevent additional scratches to the pipe's inner wall during use.

[0065] The advantage is that the receiving space 6 formed by the side baffle 5, the scraper 4 and the rotating frame 3 can quickly collect impurities while the scraper 4 scrapes away the rust, preventing impurities from drifting randomly in the pipe, effectively reducing the contamination of other parts of the testing equipment by impurities, and also preventing impurities from adhering to the cleaned inner wall of the pipe, ensuring the continuous cleanliness of the testing environment.

[0066] Effective collection of impurities avoids interference with the magnetic flux leakage detection signal. If impurities are randomly distributed within the pipe, they may affect the magnetic field distribution, thus interfering with the detection signal. The side baffle 5, in conjunction with the scraper 4, concentrates and collects impurities, ensuring a stable detection environment and making the magnetic flux leakage signal collected by the detection device 2 more accurate.

[0067] Furthermore, the mobile device 1 has a receiving cavity 101 inside, and also includes a mounting frame 7. The mounting frame 7 is located at the end of the mobile device 1 away from the detection device 2. The rotating frame 3 is rotatably mounted on the mounting frame 7. The mounting frame 7 has a slag inlet 701, which is connected to the receiving cavity 101. After the rotating frame 3 rotates, several receiving spaces 6 are connected to the slag inlet 701 in sequence, so that the impurities in the several receiving spaces 6 enter the receiving cavity 101 in sequence.

[0068] In this embodiment, the receiving cavity 101 of the mobile device 1 has a cylindrical structure, and its volume is designed according to the common rust accumulation in pipelines to meet the needs of multiple cleanings without frequent cleaning. The mounting bracket 7 is fixed to the end of the mobile device 1 away from the detection device 2 by bolts to ensure a stable connection. The slag inlet 701 is located at the top center of the mounting bracket 7, and its diameter is larger than the width of the receiving space 6 to facilitate the smooth entry of impurities. The rotation of the rotating frame 3 is driven by a small servo motor installed inside the mounting bracket 7 to achieve precise control. When the rotating frame 3 rotates, the receiving space 6 connects to the slag inlet 701 in sequence, ensuring that impurities can enter the receiving cavity 101 sequentially and stably.

[0069] The advantage is that the receiving chamber 101 provides a centralized storage place for impurities, preventing them from accumulating inside the pipeline or occupying unnecessary space in the testing equipment. This not only ensures the cleanliness of the pipeline but also allows the testing equipment to operate continuously for a longer period without frequent interruptions to the testing process to clean impurities, thus improving overall testing efficiency. After the rotating frame 3 rotates, the receiving space 6 automatically connects to the slag inlet 701 sequentially without additional operation, realizing the automatic transfer of impurities such as rust from the scraping position to the receiving chamber 101. This greatly improves the continuity and efficiency of the testing work and reduces the time wasted and operational errors that may result from manual intervention.

[0070] Furthermore, the slag inlet 701 is located at the top of the mounting frame 7 and also includes a guide tube 8. The guide tube 8 is installed inside the mounting frame 7, and its two ends are connected to the slag inlet 701 and the receiving cavity 101, respectively, to guide impurities from the slag inlet 701 into the receiving cavity 101.

[0071] In this embodiment, the guide tube 8 is made of a highly corrosion-resistant material, which can effectively resist corrosive substances that may be present in rust, ensuring that the guide tube 8 will not be corroded or damaged during long-term use. One end of the guide tube 8 is the same size as the slag inlet 701, and the other end is connected to the receiving cavity 101, ensuring a seamless connection to prevent impurity leakage and to accommodate minor displacements that may occur during the movement of the receiving cavity 101. The guide tube 8 is inclined as a whole, and its length is actually designed according to the relative position of the mounting frame 7 and the receiving cavity 101 to ensure that impurities can slide off smoothly under the action of gravity.

[0072] The advantage is that the inclined design of the guide tube 8 and its tight connection with the slag inlet 701 and the receiving cavity 101 can accurately guide the impurities scraped off by the scraper 4 and entering the slag inlet 701 through the receiving space 6 into the receiving cavity 101. This avoids the impurities from spilling or accumulating in other parts during the transportation process, effectively ensuring the cleanliness of the inside of the pipeline and the testing equipment, and preventing interference with the testing process due to the spillage of impurities.

[0073] Furthermore, the scraper 4 includes a mounting base 401, which is mounted on the rotating frame 3; the scraper 402 is rotatably mounted on the mounting base 401, and two side baffles 5 are respectively mounted on both sides of the scraper 402. After the scraper 402 rotates, the other end of the scraper 402 approaches or moves away from the rotating frame 3.

[0074] In this embodiment, the mounting base 401 is securely mounted on the rotating frame 3 with four fastening bolts, ensuring that the mounting base 401 will not loosen when the rotating frame 3 rotates at high speed. A specially designed rotating bushing is provided on the mounting base 401, and the scraper 402 is connected to this bushing via a rotating shaft to reduce rotational friction, allowing the scraper 402 to rotate flexibly. The side of the scraper 402 that contacts the inner wall of the pipe can effectively scrape away rust. Two side baffles 5 are fixed to both sides of the scraper 402 by welding, effectively preventing impurities from splashing out during the scraping process.

[0075] The advantage lies in the fact that the scraper 402 is rotatable, allowing it to automatically adjust its contact angle according to the irregular shape and curvature of the pipe's inner wall. Whether in straight or curved sections, it maintains a tight fit with the pipe's inner wall, significantly improving the removal of rust and other impurities and ensuring effective cleaning of every corner of the pipe's inner wall. The side baffles 5 are fixed to both sides of the scraper 402, forming a closed enclosure 6 with the scraper 402 and the rotating frame 3. This effectively prevents impurities from splashing during rust removal, avoiding secondary contamination of other parts of the pipe and reducing the impact of impurities on other components of the testing equipment, creating a cleaner environment for the testing work.

[0076] Furthermore, it also includes a first connecting rod 9, one end of which is disposed on a side baffle 5 on the side away from the moving device 1; the rotating disk 10 is rotatably disposed on the side of the rotating frame 3 away from the moving device 1, the rotating disk 10 has a plurality of sliding grooves 1001, the other end of the first connecting rod 9 is slidably disposed in the sliding grooves 1001, and after the rotating disk 10 rotates, it drives a plurality of scrapers 402 to rotate synchronously.

[0077] In this embodiment, one end of the first connecting rod 9 is mounted on the side baffle 5 on the side away from the moving device 1. The rotating disk 10 is mounted on the side of the rotating frame 3 away from the moving device 1 via a central rotating shaft, and the rotating shaft is equipped with a bearing to ensure the smooth rotation of the rotating disk 10. Several grooves 1001 corresponding to the number of scrapers 4 are evenly distributed on the rotating disk 10. The other end of the first connecting rod 9 is machined into a structure that matches the grooves 1001, allowing it to slide flexibly within the grooves 1001. Before the equipment enters the pipeline for inspection, the operator will use a special manual operating tool to rotate the rotating disk. By observing the angle scale markings installed on the equipment, the position of the scraper is precisely adjusted to adapt to the actual conditions of different pipeline inner walls.

[0078] The advantage is that when the rotating disk 10 rotates, it can drive several scrapers 402 to rotate synchronously through the connection between the first connecting rod 9 and the scraper 4. This synchronous rotation mechanism allows multiple scrapers 4 to accurately contact different positions on the inner wall of the pipe at the same time, and perform rust removal operations at different positions simultaneously.

[0079] Furthermore, the rotating frame 3 has several limiting holes 301 and also includes a first elastic element 11. The first elastic element 11 is disposed in the slide groove 1001. The two ends of the first elastic element 11 abut against the inner wall of the slide groove 1001 and the first connecting rod 9, respectively, to provide the force for the first connecting rod 9 to slide in the slide groove 1001, so that the scraper 402 moves away from the rotating frame 3. The fastener 12 is disposed on the rotating disk 10. After the fastener 12 enters the limiting hole 301, it is used to limit the position of the rotating disk 10 and the rotating frame 3.

[0080] In this embodiment, the first elastic element 11 is a compression spring with a high elastic coefficient. Its diameter is smaller than the width of the slide groove 1001 of the rotating disk 10, and its length is designed according to the depth of the slide groove 1001 and the required elastic force. During installation, the compression spring is placed at the bottom of the slide groove 1001, with one end tightly abutting against the bottom surface of the slide groove 1001 to ensure that the spring will not shift during operation. The sliding end of the first connecting rod 9 is provided with a groove that matches the spring, and the other end of the spring is embedded in the groove, thereby achieving reliable contact with the first connecting rod 9. When the first connecting rod 9 slides in the slide groove 1001, the spring can always provide a stable elastic force to push the first connecting rod 9, thereby keeping the scraper 402 in close contact with the inner wall of the pipe.

[0081] The fastener 12 is a rotatable threaded pin, and all the limiting holes 301 on the rotating disk 10 are threaded holes. The threaded pin is fixed to the rotating disk 10 by engaging with the threaded holes. When it is necessary to fix the position of the rotating disk 10 relative to the rotating frame 3, the operator only needs to use the matching tool, such as a screwdriver, to screw the fastener 12 into the limiting hole 301, thereby restricting the rotation of the rotating disk 10 relative to the rotating frame 3. When it is necessary to adjust the position of the rotating disk 10, the threaded pin is turned in the opposite direction to remove it from the limiting hole 301, thereby restoring the rotation function of the rotating disk 10.

[0082] The advantage lies in the continuous elastic force provided by the first elastic element 11, which ensures that the scraper 402 maintains appropriate pressure in contact with the inner wall of the pipe throughout the entire working process. Regardless of whether there are local unevennesses or thickness variations caused by rust accumulation on the inner wall of the pipe, the scraper 402 can automatically adjust its position under the action of the spring force, continuously and effectively scraping away rust, ensuring the stability and continuity of the scraping work, and improving the consistency of the scraping effect. The operator can adjust the position and angle of the scraper 402 by controlling the rotation of the rotating disk 10 according to the actual rust condition on the inner wall of the pipe. When adjustment is needed, simply loosen the fastener 12, rotate the rotating disk 10 to the appropriate position, and then tighten the fastener 12 to fix it. This flexible adjustment method allows the equipment to quickly adapt to the inspection needs of different pipes. Whether it is a pipe with uniformly distributed rust or a pipe with localized severe rust, the best scraping effect can be achieved by adjusting the working state of the scraper 402.

[0083] Furthermore, the moving device 1 includes a frame 102, with a storage cavity 101 located inside the frame 102; a number of mounting rods 103, which are evenly distributed circumferentially around the axis of the frame 102, with the axis of the mounting rods 103 parallel to the axis of the frame 102; sliders 104 are used in pairs, and the pairs of sliders 104 are slidably mounted on the mounting rods 103 in opposite directions. After the pairs of sliders 104 slide, the distance between the two sliders 104 increases or decreases; second connecting rods 105 are used in pairs, with one end of each second connecting rod 105 hinged to the two sliders 104 respectively; third connecting rods 106 are used in pairs, with one end of the third connecting rod 106 hinged to the mounting rod 103 and the other end slidably mounted on the second connecting rods 105. The other ends of the pairs of second connecting rods 105 are both hinged to the traveling device 107. After the pairs of sliders 104 slide, the traveling device 107 moves closer to or further away from the frame 102.

[0084] Furthermore, it also includes a second elastic element 108, which is sleeved on the mounting rod 103. The two ends of the second elastic element 108 act on the frame 102 and the slider 104 respectively, to provide a force for the paired sliders 104 to move closer to each other, so as to move the traveling device 107 away from the frame 102.

[0085] Furthermore, the traveling device 107 includes a traveling support frame 1071, and the ends of the second connecting rods 105 used in pairs are hinged to the traveling support frame 1071 away from the mounting rod 103; the track 1072 is cyclically moved on the traveling support frame 1071, and the track 1072 has a number of teeth 1073, the cross section of the teeth 1073 is arc-shaped, and the track 1072 abuts against the inner wall of the pipe through the teeth 1073.

[0086] In this embodiment, the storage cavity 101 inside the frame 102 is cylindrical. There are three mounting rods 103, which are evenly distributed circumferentially along the axis of the frame 102 and parallel to the axis of the frame 102. The length of the mounting rods 103 is determined according to the size of the frame 102 and actual needs to ensure that the entire structure has good stability after the slider 104 and other components are installed.

[0087] The sliders 104 are used in pairs and have internal metal bushings to improve their wear resistance and load-bearing capacity. The pairs of sliders 104 are arranged in opposite directions on the mounting rod 103.

[0088] Two second connecting rods 105 are hinged at one end to two sliders 104 via pins to ensure reliable connection. One end of the third connecting rod 106 is hinged to the mounting rod 103 via a pin, and the other end is slidably disposed in a long groove on the second connecting rod 105, thereby realizing relative movement between the second connecting rod 105 and the third connecting rod 106.

[0089] The second elastic element 108 is a helical tension spring made of high-quality spring steel, which ensures that it can provide just the right force for the paired sliders 104 to move closer to each other.

[0090] During installation, the second elastic element 108 is fitted onto the mounting rod 103, with one end connected to the frame 102 to prevent it from falling off during operation. The other end is connected to the slider 104, with the connection point designed on the side of the slider 104 closest to the frame 102. The tension provided by the second elastic element 108 causes the paired sliders 104 to automatically move closer to each other, and then, through the transmission of the second connecting rod 105 and the third connecting rod 106, the traveling device 107 automatically moves away from the frame 102.

[0091] The traveling support frame 1071 of the traveling device 107 adopts a robust steel structure and is hinged to the other end of the paired second connecting rod 105 via a pin. A drive motor for the track 1072 and a track 1072 tensioning device are mounted on the traveling support frame 1071. The track 1072 is made of a composite material of rubber and metal skeleton, possessing good wear resistance and flexibility. Its surface is evenly distributed with several teeth 1073, the cross-section of which is arc-shaped, allowing for better contact with the inner wall of the pipe. The drive motor for the track 1072 drives the track 1072 to move cyclically via a chain transmission mechanism, providing power for the traveling device 1 to move within the pipe.

[0092] The advantage lies in the fact that this design allows the equipment to flexibly adapt to pipes of different diameters, whether small-diameter industrial pipes or large-diameter municipal pipes, enabling it to move stably within them, greatly improving the equipment's versatility and applicability. The large contact area between the track 1072 and the inner wall of the pipe, along with the special design of the toothed track 1073, increases the friction and adhesion with the inner wall of the pipe, ensuring stable movement of the equipment and preventing slippage or jamming, thus ensuring the smooth progress of the inspection work.

[0093] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A pipeline internal inspection device, characterized in that, include: A moving device (1) is disposed inside the pipe and moves along the axial direction of the pipe; The detection device (2) is connected to the moving device (1) by a traction rope and is located at one end of the moving device (1); A rotating frame (3) is rotatably arranged relative to the moving device (1) and located at the other end of the moving device (1); the rotating frame (3), the moving device (1) and the detection device (2) are arranged sequentially along the moving direction of the moving device (1); Scraper (4), the number of scraper (4) is several, the scraper (4) is evenly distributed around the axis of the rotating frame (3) and abuts against the inner wall of the pipe. After the rotating frame (3) rotates, the scraper (4) is used to scrape off the impurities on the inner wall of the pipe. Side baffles (5), a number of side baffles (5), two side baffles (5) are respectively arranged on both sides of the scraper (4), and a receiving space (6) is formed between the two side baffles (5), the scraper (4) and the rotating frame (3). The scraper (4) includes: Mounting base (401), the mounting base (401) is disposed on the rotating frame (3); Scraper (402), the scraper (402) is rotatably mounted on the mounting base (401), and two side baffles (5) are respectively mounted on both sides of the scraper (402). After the scraper (402) rotates, the other end of the scraper (402) approaches or moves away from the rotating frame (3). Also includes: The first link (9) has one end disposed on the side baffle (5) on the side away from the moving device (1); A rotating disk (10) is rotatably disposed on the side of the rotating frame (3) away from the moving device (1). The rotating disk (10) has several sliding grooves (1001). The other end of the first connecting rod (9) is slidably disposed in the sliding grooves (1001). After the rotating disk (10) rotates, it drives several scrapers (402) to rotate synchronously.

2. The pipeline internal inspection device according to claim 1, characterized in that, The mobile device (1) has a storage cavity (101) inside, and also includes: Mounting frame (7), the mounting frame (7) is located at one end of the moving device (1) away from the detection device (2), the rotating frame (3) is rotatably mounted on the mounting frame (7), the mounting frame (7) has a slag inlet (701), the slag inlet (701) is connected to the receiving cavity (101). After the rotating frame (3) rotates, several of the accommodating spaces (6) are connected to the slag inlet (701) in sequence, so that the impurities in the several accommodating spaces (6) enter the receiving cavity (101) in sequence.

3. The pipeline internal inspection device according to claim 2, characterized in that, The slag inlet (701) is located at the top of the mounting frame (7), and also includes: The guide tube (8) is disposed in the mounting frame (7). The two ends of the guide tube (8) are respectively connected to the slag inlet (701) and the receiving cavity (101) to guide the impurities from the slag inlet (701) into the receiving cavity (101).

4. The pipeline internal inspection device according to claim 1, characterized in that, The rotating frame (3) has several limiting holes (301) and also includes: The first elastic element (11) is disposed in the slide groove (1001). The two ends of the first elastic element (11) abut against the inner wall of the slide groove (1001) and the first connecting rod (9) respectively, and are used to provide the force for the first connecting rod (9) to slide in the slide groove (1001) so that the scraper (402) moves away from the rotating frame (3). Fastener (12) is provided on the rotating disk (10). After the fastener (12) enters the limiting hole (301), it is used to limit the position of the rotating disk (10) and the rotating frame (3).

5. The pipeline internal inspection device according to claim 2, characterized in that, The mobile device (1) includes: The frame (102) has a storage cavity (101) located inside the frame (102); Mounting rods (103), a number of mounting rods (103) are evenly distributed around the axis of the frame (102), and the axis of the mounting rods (103) is parallel to the axis of the frame (102); The sliders (104) are used in pairs. The sliders (104) used in pairs slide in opposite directions on the mounting rod (103). After the sliders (104) used in pairs slide, the distance between the two sliders (104) increases or decreases. The second link (105) is used in pairs, and the two second links (105) are respectively hinged to the two sliders (104); The third link (106) is used in pairs. One end of the third link (106) is hinged to the mounting rod (103), and the other end is slidably mounted on the second link (105). The other end of the second connecting rod (105) used in pairs is hinged to the traveling device (107). After the sliding blocks (104) used in pairs slide, the traveling device (107) moves closer to or away from the frame (102).

6. The pipeline internal inspection device according to claim 5, characterized in that, Also includes: The second elastic element (108) is sleeved on the mounting rod (103). The two ends of the second elastic element (108) act on the frame (102) and the slider (104) respectively, to provide a force for the paired sliders (104) to move closer to each other, so as to move the traveling device (107) away from the frame (102).

7. The pipeline internal inspection device according to claim 5, characterized in that, The traveling device (107) includes: The traveling support frame (1071) has the second connecting rod (105) used in pairs hinged at the end away from the mounting rod (103) on the traveling support frame (1071); Track (1072) is cyclically moved on the traveling support frame (1071). The track (1072) has a plurality of teeth (1073). The cross section of the teeth (1073) is arc-shaped. The track (1072) abuts against the inner wall of the pipe through the teeth (1073).

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