Online detection equipment for long pipeline

Abstract

The invention relates to the technical field of pipeline detection, and discloses long pipeline on-line detection equipment which comprises a detection frame and a waiting bracket, the detection frame is provided with movable clamping mechanisms and an outer detection mechanism, a clamping mechanism I and a clamping mechanism II move a long pipeline from the waiting bracket to the detection frame, the outer detection mechanism detects the long pipeline, and the detection frame is provided with a clamping mechanism II and a clamping mechanism II. The outer detection mechanism comprises a plurality of 3D scanners, an inner detection mechanism is arranged at the end of a rotating arm on the first clamping mechanism, a conical table is arranged at the end of a rotating arm on the second clamping mechanism, the inner detection mechanism comprises an inner expansion supporting mechanism and a movable detector, the movable detector comprises a shell, an intelligent camera is arranged at the front end of the shell, and the intelligent camera is connected with the inner expansion supporting mechanism. A plurality of sets of moving mechanisms are arranged on the outer side of the shell, a driving mechanism for driving the moving mechanisms to walk in the long pipeline is arranged in the shell, the long pipeline online detection equipment is efficient, accurate and high in adaptability, and many problems in a traditional detection method can be effectively solved.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline detection, and in particular to an online detection device for a long pipeline. Background Art

[0002] Long pipelines are widely used in many key industrial fields such as petroleum, natural gas, and chemicals. Their safety and integrity are key factors to ensure safe, stable, and efficient production operations. Traditional pipeline inspections rely on manual inspections, which expose many drawbacks when facing long-distance pipelines. Manual inspections are extremely inefficient, requiring a lot of manpower and time costs, and are difficult to meet the large-scale, high-efficiency production needs of modern industry; moreover, manual inspections are difficult to achieve real-time monitoring of pipelines, and are unable to promptly detect sudden safety hazards during pipeline operation, which can easily lead to serious accidents. In addition, long pipelines have complex structures and are usually welded together from multiple sections of pipelines, and holes are opened at different locations according to actual usage requirements. These factors have increased the difficulty of inspections.

[0003] Existing detection equipment has poor adaptability and is often unable to flexibly cope with pipeline detection tasks of different diameters and lengths, resulting in a limited detection range. At the same time, the detection accuracy and degree of automation are low, making it difficult to accurately locate the welds, holes and tiny defects of the pipeline, and it is difficult to meet the modern industry's strict requirements for efficient, accurate and comprehensive pipeline detection. Therefore, the development of an advanced equipment that can realize online and automated detection of long pipelines has important practical significance and broad application value for ensuring industrial production safety, improving production efficiency and reducing operating costs. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the above difficulties and provide an online detection device for long pipelines.

[0005] In order to solve the above technical problems, the technical solution provided by the present invention is as follows: an online detection device for a long pipeline, comprising a detection frame and a standby bracket, the detection frame is provided with a movable clamping mechanism 1, a clamping mechanism 2 and an external detection mechanism, the clamping mechanism 1 and the clamping mechanism 2 move the long pipeline from the standby bracket to the detection frame, and the external detection mechanism detects the long pipeline; The detection frame includes a plurality of vertical frames, each of which is provided with a crossbeam, and two sets of panels are provided on the front side of the vertical frames, and a plurality of brackets are provided on the panels; The clamping mechanism 1 and the clamping mechanism 2 both include a moving platform 1 that travels on a crossbeam, a lifting arm is driven on the moving platform 1, a driving platform is provided at the bottom of the lifting arm, a rotating arm is provided at the output end of the driving platform, an internal detection mechanism is provided at the end of the rotating arm on the clamping mechanism 1, and a conical platform is provided at the end of the rotating arm on the clamping mechanism 2; The external detection mechanism includes a mobile platform 2 that walks on the crossbeam, on which a collaborative robot with multi-axis motion is provided, and a scanning detection group is provided at the working end of the collaborative robot. The scanning detection group includes a fixed platform installed at the working end of the collaborative robot, and two 3D scanners are provided at both ends of the fixed platform.

[0006] As an improvement: the internal detection mechanism includes an internal expansion support mechanism and a mobile detector. The internal expansion support mechanism includes a fixed disk, a motor, a turntable and multiple internal expansion platforms. The fixed disk is installed at the end of the rotating arm. The motor drives the turntable to rotate on the inner side of the fixed disk. A vortex platform is provided on the front side of the turntable. An arc groove matching the vortex platform is provided at the rear end of the internal expansion platform. The turntable drives the multiple internal expansion platforms to move radially. The mobile detector includes a shell. A smart camera is provided at the front end of the shell. Multiple groups of moving mechanisms are provided on the outside of the shell. When the internal expansion platform moves, the moving mechanism is opened radially. A driving mechanism for driving the moving mechanism to move inside the long pipe is provided in the shell.

[0007] As an improvement: the moving mechanism includes an outer support rod one and an outer support rod two, a connecting rod is hingedly provided between the outer support rod one and the outer support rod two, the outer ends of the outer support rod one and the outer support rod two are hingedly provided with rollers, the inner end of the outer support rod one is rotatably provided with a driving wheel, the roller and the driving wheel are matched through a transmission structure, and the driving mechanism is matched with the driving wheel.

[0008] As an improvement: the driving mechanism includes motor 2 and a transmission platform, the inner ends of outer support rod 1 and outer support rod 2 are hingedly arranged on the outside of the transmission platform, the transmission platform moves axially in the shell, a rotating column is provided in the transmission platform for rotation, a spline shaft is provided at the output end of motor 2, a spline groove matching with the spline shaft is provided at the rear end of the rotating column, a worm is provided at the end of the rotating column, and a tooth groove matching with the worm is provided on the driving wheel.

[0009] As an improvement: a connecting cylinder platform is provided at the end of the shell, a positioning groove platform is provided on the outer side of the connecting cylinder platform, a transmission rod is radially slidably provided on the positioning groove platform, the end of the transmission rod is hinged to the outer support rod, a plug column is provided at the front end of the transmission rod, and a linkage platform is provided on the inner expansion platform, and the plug column is plugged into and matched with the groove at the end of the linkage platform.

[0010] As an improvement: a limiting mechanism is provided at the connecting cylinder platform, the limiting mechanism includes a limiting column, the limiting column slides axially in the positioning groove platform, a spring 2 connected to the positioning groove platform is provided on the rear side of the limiting column, a limiting plug-in platform is provided on the rear side of the transmission rod, and a limiting slot that is plugged into and cooperates with the limiting plug-in platform is provided on the front side of the limiting column.

[0011] As an improvement: a release cylinder is slidably provided inside the connecting cylinder platform, a spring three connected to the connecting cylinder platform is provided on the rear side of the release cylinder, a ring platform is provided at the front end of the release cylinder, the ring platform is in contact with and cooperates with the bottom of the limit column, a fixing rod is provided at the axis center of the turntable, and the end of the fixing rod passes through the through hole at the end of the connecting cylinder platform and cooperates with the limit position inside the release cylinder.

[0012] As an improvement: the internal detection mechanism also includes a recovery mechanism, which includes motor three and a wire wheel. The wire wheel is rotatably arranged inside the rotating arm, a pull rope is wound around the wire wheel, and the end of the pull rope passes through the through hole on the turntable and is connected to the shell. Motor three drives the wire wheel to rotate.

[0013] As an improvement: a release rod is slidably provided inside the connecting cylinder platform, a rack 1 is provided on the release rod, a gear 2 is rotatably provided inside the connecting cylinder platform and meshes with the rack 1, a rack 2 is provided at one end of the release cylinder and meshes with the gear 2, and the boss at the end of the pull rope is rotatably connected to the release rod.

[0014] As an improvement: the waiting bracket includes multiple driving frames and supporting frames, the driving frames are provided with multiple driving rollers for driving the long pipe to rotate, the supporting frames are provided with multiple curvature detectors, the curvature detector includes a base, two movable frames are symmetrically hinged on the base, rollers are rotatably provided on the movable frame, a spring connected to the base is provided on the outer side of the movable frame, and a displacement sensor for detecting the rotation angle of the movable frame is provided on the base.

[0015] Compared with the prior art, the present invention has the following beneficial effects: the present invention provides an efficient, accurate and adaptable long pipeline online detection device, which can effectively solve many problems in traditional detection methods and has broad application prospects and market value. The device not only improves detection efficiency and accuracy, but also reduces labor costs and maintenance difficulties. Specifically: 1. The long pipeline online detection equipment of the present invention integrates multiple functional modules such as a clamping mechanism, an internal detection mechanism, and an external detection mechanism, realizing the full process automation operation from pipeline handling, inner diameter measurement, internal detection to external scanning. Compared with traditional manual detection, it greatly improves the detection efficiency and effectively meets the detection needs of modern industrial large-scale production; 2. The internal inspection mechanism is equipped with an intelligent camera, which can accurately identify the welds, holes and defects inside the pipeline, and accurately determine their coordinate positions based on the moving distance, and accurately calibrate them in the background pipeline data. The external inspection mechanism uses a multi-axis motion collaborative robot with multiple 3D scanners to accurately obtain the coordinates of the pipeline holes and detect the quality of the welds; 3. The mobile mechanism of the internal detection mechanism is exquisitely designed. It can be automatically unfolded and fixed through the movement of the internal expansion platform. It cooperates with the driving mechanism to ensure that the mobile detector can move stably in the pipeline. The limit mechanism and the recovery mechanism cooperate with each other. While ensuring the normal operation of the mobile detector, when encountering emergencies such as movement obstruction, the limit can be released in time to realize the folding of the mobile mechanism and the recovery of the equipment, which improves the reliability and safety of the equipment operation; 4. A driving roller and a curvature detector are arranged on the waiting bracket. When the pipeline is placed on the waiting bracket, the driving roller can drive the pipeline to rotate, and the curvature detector can be used to detect the curvature of the pipeline in real time, providing important data for subsequent detection and pipeline processing, which helps to timely discover pipeline deformation problems and ensure the overall quality of the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of a long pipeline online detection device of the present invention.

[0017] Figure 2 The invention discloses a schematic structural diagram of a detection frame, a clamping mechanism and an external detection mechanism of an online detection device for a long pipeline.

[0018] Figure 3 It is a structural schematic diagram of an external detection mechanism of a long pipeline online detection device of the present invention.

[0019] Figure 4 It is a structural schematic diagram of a standby bracket of a long pipeline online detection device of the present invention.

[0020] Figure 5 It is a structural schematic diagram of a curvature detector of a long pipeline online detection equipment of the present invention.

[0021] Figure 6 It is an exploded view of a curvature detector of a long pipeline online detection device according to the present invention.

[0022] Figure 7 The present invention is a schematic structural diagram of a detection mechanism in a long pipeline online detection device.

[0023] Figure 8 It is an exploded view of a detection mechanism in a long pipeline online detection device of the present invention.

[0024] Fig. 9 It is an exploded view of an internal expansion support mechanism of a long pipeline online detection device of the present invention.

[0025] Fig.10 This is a schematic diagram of the structure of an internal expansion support mechanism of a long pipeline online detection device of the present invention. Figure 1 .

[0026] Fig.11 It is an exploded view of a mobile detector of a long pipeline online detection device of the present invention.

[0027] Fig.12 It is a cross-sectional view of a housing of a long pipeline online detection device according to the present invention.

[0028] Fig.13 The invention discloses a schematic structural diagram of a driving mechanism, a moving mechanism and a limiting mechanism of a long pipeline online detection device.

[0029] Fig.14 It is an exploded view of a moving mechanism of a long pipeline online detection device of the present invention.

[0030] Fig.15 It is a partial structural schematic diagram of a moving mechanism of a long pipeline online detection device of the present invention.

[0031] Fig.16 It is a structural schematic diagram of a recovery mechanism of a long pipeline online detection equipment of the present invention.

[0032] Fig.17 It is a cross-sectional view of a mobile detector and an inner expansion platform of a long pipeline online detection device of the present invention.

[0033] Fig.18 It is a cross-sectional view of a mobile detector and an inner expansion platform of a long pipeline online detection device of the present invention.

[0034] As shown in the figure: 1. Detection frame; 2. Clamping mechanism 1; 3. Clamping mechanism 2; 4. External detection mechanism; 5. Waiting bracket; 6. Internal detection mechanism; 7. Inner expansion support mechanism; 8. Mobile detector; 9. Recovery mechanism; 11. Stand; 12. Beam; 13. Panel; 14. Bracket; 21. Mobile platform 1; 22. Lifting arm; 23. Driving platform; 24. Rotating arm; 31. Conical platform; 41. Mobile platform 2; 42. Collaborative robot; 43. Scanning detection group; 431. Fixed platform; 432. Installation platform; 43 3. 3D scanner; 51. drive frame; 511. drive roller; 52. support frame; 53. curvature detector; 531. base; 5311. displacement sensor; 5312. detection surface 1; 5313. stop table; 532. movable frame; 5321. detection surface 2; 533. roller; 534. spring 1; 71. fixed plate; 711. stop plate; 712. extension rod; 72. motor 1; 721. gear 1; 73. turntable; 731. vortex table; 732. inner gear ring; 733. fixed rod; 74 , inner expansion platform; 741, arc groove; 742, angle rod; 743, linkage platform; 81, housing; 811, mounting plate; 812, limit slide groove; 813, connecting tube platform; 814, transmission rod; 815, positioning groove platform; 816, release rod; 817, rack one; 818, gear two; 82, smart camera; 83, driving mechanism; 831, motor two; 832, spline shaft; 833, transmission platform; 834, rotating column; 835, spline groove; 836, worm; 84, moving mechanism; 841, external support Rod one; 842, outer support rod two; 843, connecting rod; 844, transmission rod; 8441, limiting plug-in platform; 8442, plug column; 845, roller; 846, driving wheel; 847, chain; 85, limiting mechanism; 851, limiting column; 8511, limiting slot; 8512, spring two; 852, release cylinder; 8521, ring platform; 8522, spring three; 8523, rack two; 91, motor three; 911, groove wheel one; 92, wire wheel; 93, groove wheel two; 94, guide tube; 95, pull rope. DETAILED DESCRIPTION

[0035] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0036] Combined with Figure 1 , Attachment Figure 2 and attached Figure 3As shown, a long pipeline online detection equipment includes a detection frame 1 and a standby bracket 5, the detection frame 1 is provided with a movable clamping mechanism 1 2, a clamping mechanism 2 3 and an external detection mechanism 4, the clamping mechanism 1 2 and the clamping mechanism 2 3 move the long pipeline from the standby bracket 5 to the detection frame 1, and the long pipeline is detected by the external detection mechanism 4, the detection frame 1 includes a plurality of vertical frames 11, the vertical frames 11 are provided with a cross beam 12, the front side of the vertical frames 11 is provided with two groups of panels 13, and the panels 13 are provided with a plurality of brackets 14, the clamping mechanism 1 2 and the clamping mechanism 2 3 both include a moving platform 1 21 walking on the cross beam 12, the moving platform 1 21 is provided with a lifting arm 22 for driving, and the bottom of the lifting arm 22 is provided with a driving The driving platform 23 is provided with a rotating arm 24 at the output end, an internal detection mechanism 6 is provided at the end of the rotating arm 24 on the clamping mechanism 1 2, and a conical platform 31 is provided at the end of the rotating arm 24 on the clamping mechanism 2 3. The external detection mechanism 4 includes a moving platform 2 41 walking on the beam 12, and a multi-axis collaborative robot 42 is provided on the moving platform 2 41. A scanning detection group 43 is provided at the working end of the collaborative robot 42. The scanning detection group 43 includes a fixed platform 431 installed at the working end of the collaborative robot 42, and mounting platforms 432 are symmetrically provided at both ends of the fixed platform 431. Two 3D scanners 433 are obliquely installed on each mounting platform 432, and the scanning areas of the two 3D scanners 433 have overlapping areas.

[0037] Combined with Figure 2 , Attachment Figure 7 , Attachment Figure 8 , Attachment Fig. 9 , Attachment Fig.10 and attached Fig.13 As shown, the inner detection mechanism 6 includes an inner expansion support mechanism 7 and a mobile detector 8. The inner expansion support mechanism 7 includes a fixed disk 71, a motor 72, a rotating disk 73 and a plurality of inner expansion platforms 74. The fixed disk 71 is installed at the end of the rotating arm 24. The motor 72 drives the rotating disk 73 to rotate inside the fixed disk 71. An inner gear ring 732 is provided on the inner side of the rotating disk 73. A gear 721 meshing with the inner gear ring 732 is provided at the output end of the motor 72. A vortex platform 731 is provided on the front side of the rotating disk 73. An arc groove matching with the vortex platform 731 is provided at the rear end of the inner expansion platform 74. 741, a stop plate 711 and a plurality of extension rods 712 are provided at the front end of the fixed disk 71, an inner expansion platform 74 is slidably provided between the extension rods 712, a turntable 73 drives the plurality of inner expansion platforms 74 to move radially, a mobile detector 8 comprises a shell 81, a mounting plate 811 is provided at the front end of the shell 81, a smart camera 82 is mounted on the mounting plate 811, a plurality of moving mechanisms 84 are provided on the outer side of the shell 81, the moving mechanisms 84 are opened when the inner expansion platforms 74 move radially, a driving mechanism 83 for driving the moving mechanisms 84 to move inside the long pipe is provided in the shell 81.

[0038] Working principle of the internal detection mechanism 6: after the pipe mouth of the long pipe contacts the abutment plate 711, the motor 72 drives the turntable 73 to rotate on the inner side of the fixed plate 71, so that the vortex table 731 rotates, and the vortex table 731 cooperates with the arc groove 741 at the rear end of the inner expansion table 74 to make the inner expansion table 74 move radially until the inner expansion table 74 contacts the inner wall of the long pipe, and the position of the inner expansion table 74 on the fixed plate 71 is detected by the sensor to obtain the inner diameter data of the pipe, and the moving mechanism 84 of the mobile detector 8 is opened with the movement of the inner expansion table 74, and then the driving mechanism 83 drives the moving mechanism 84 to enable the mobile detector 8 to move in the long pipe. When the mobile detector 8 moves, the smart camera 82 takes pictures of the inside of the pipe and uploads them to the processing center. The smart camera 82 has a built-in algorithm that can identify welds, hole positions and defect points, and can determine the coordinates of the welds, hole positions and defect points according to the moving distance, and calibrate them in the background pipe data.

[0039] Combined with Fig. 9 , Attachment Fig.12 , Attachment Fig.13 , Attachment Fig.14 and attached Fig.15 As shown, the moving mechanism 84 includes an outer support rod 1 841 and an outer support rod 2 842, a connecting rod 843 is hinged between the outer support rod 1 841 and the outer support rod 2 842, rollers 845 are hinged at the outer ends of the outer support rod 1 841 and the outer support rod 2 842, a driving wheel 846 is rotatably provided at the inner end of the outer support rod 1 841, and the roller 845 and the driving wheel 846 are matched through a transmission structure, and the transmission structure includes a chain 847, and the roller 845 and the driving wheel 846 are both provided with a coaxially connected sprocket, the chain 847 and the sprocket are matched for transmission, and the driving mechanism 83 and the driving wheel 846 are matched for transmission, and the front end of the inner expansion platform 74 is provided with two Angle rods 742, the moving mechanism 84 is located in the gap between the angle rods 742, the driving mechanism 83 includes a second motor 831 and a transmission platform 833, the inner ends of the outer support rod 1 841 and the second outer support rod 842 are hingedly arranged on the outside of the transmission platform 833, the transmission platform 833 moves axially in the limiting slide groove 812 on the inner side of the shell 81, and a rotating column 834 is rotatably arranged in the transmission platform 833, a spline shaft 832 is arranged at the output end of the second motor 831, a spline groove 835 matching with the spline shaft 832 is arranged at the rear end of the rotating column 834, a worm 836 is arranged at the end of the rotating column 834, and a tooth groove matching with the worm 836 is arranged on the driving wheel 846.

[0040] Working principles of the driving mechanism 83 and the moving mechanism 84: in the initial position, the moving mechanism 84 is hidden in the gap between the angle rods 742, the outer support rod 1 841 and the outer support rod 2 842 are connected to the hinge point of the transmission platform 833, and the connecting rod 843 is parallel to the axis, and the moving mechanism 84 is unfolded as the inner expansion platform 74 moves. When moving, the motor 2 831 drives the spline shaft 832 to rotate, and the spline shaft 832 cooperates with the spline groove 835 to make the rotating column 834 rotate in the transmission platform 833, and the worm disc 836 at the end of the rotating column 834 cooperates with the driving wheel 846 to make the driving wheel 846 rotate, and the roller 845 is driven to rotate through the transmission structure, so that the moving mechanism 84 can move in the pipeline.

[0041] Combined with Fig.12 , Attachment Fig.13 and attached Fig.17 As shown, the end of the shell 81 is provided with a connecting tube platform 813, and a limiting mechanism 85 is provided at the connecting tube platform 813. The limiting mechanism 85 includes a limiting column 851, and a positioning groove platform 815 is provided on the outer side of the connecting tube platform 813. The limiting column 851 slides axially in the positioning groove platform 815, and a spring 8512 connected to the positioning groove platform 815 is provided at the rear side of the limiting column 851. A transmission rod 844 is radially slidably provided on the positioning groove platform 815, and the end of the transmission rod 844 is hinged to the outer support rod 841, and a limiting plug-in platform 8441 is provided at the rear side of the transmission rod 844. The front side of the limiting column 851 is provided with a plug-in mating with the limiting plug-in platform 8441. A limit slot 8511 is provided, a plug column 8442 is provided at the front end of the transmission rod 844, a linkage platform 743 is provided on the inner expansion platform 74, the plug column 8442 is plugged into the groove at the end of the linkage platform 743, a release cylinder 852 is slidably provided in the connecting cylinder platform 813, a spring three 8522 connected to the connecting cylinder platform 813 is provided on the rear side of the release cylinder 852, a ring platform 8521 is provided at the front end of the release cylinder 852, the ring platform 8521 is in contact with the bottom of the limit column 851, a fixing rod 733 is provided at the axis of the turntable 73, and the end of the fixing rod 733 passes through the through hole at the end of the connecting cylinder platform 813 and is limited to the inner side of the release cylinder 852.

[0042] Working principle of the limiting mechanism 85: The limiting mechanism 85 is to facilitate the unfolding of the moving mechanism 84 and the fixing of the moving mechanism 84 after unfolding. In the initial position, the fixing rod 733 presses the release cylinder 852 to compress the spring three 8522. The release cylinder 852 moves the plurality of limiting columns 851 away from the transmission rod 844 through the ring platform 8521, compresses the spring two 8512, separates the limiting inserting platform 8441 from the limiting slot 8511, and releases the transmission rod 844 from the limiting column 851. At this time, the plug post 8442 is inserted into the groove at the end of the linkage platform 743. When the inner expansion platform 74 moves, it moves the transmission rod 844 radially. Since the length of the outer support rod 1 841 remains unchanged, when the transmission rod 844 moves the outer support rod 1 841 upward, the other end of the outer support rod 1 841 moves axially with the transmission platform 833 in the limiting slide groove 812, and the outer support rod 2 842 moves synchronously with the outer support rod 1 841 until the inner expansion platform 74 contacts the inner wall of the pipe, and at this time, the roller 845 also sticks to the inner wall of the pipe. When the mobile detector 8 moves, the fixed rod 733 moves backward relative to the mobile detector 8, and the release tube 852 is reset by the spring three 8522. The limiting column 851 is reset under the push of the spring two 8512, so that the limiting plug 8441 is reinserted into the limiting slot 8511. When the mobile detector 8 continues to move, the plug 8442 disengages from the end groove of the linkage table 743. At this time, due to the limiting of the limiting plug 8441 and the limiting slot 8511, the transmission rod 844 is fixed on the positioning slot 815, thereby fixing the positions of the outer support rod one 841 and the outer support rod two 842, preventing the moving mechanism 84 from being retracted when the mobile detector 8 moves in the pipeline.

[0043] Combined with Figure 8 , Attachment Fig.10 , Attachment Fig.16 , Attachment Fig.17 and attached Fig.18 As shown, the internal detection mechanism 6 also includes a recovery mechanism 9, which includes a motor 3 91, a pulley 92 and a guide tube 94. The pulley 92 is rotatably arranged inside the rotating arm 24, and the guide tube 94 is fixed inside the rotating arm 24. A pull rope 95 is wound around the pulley 92. A groove wheel 2 93 is provided on one side of the pulley 92, and a groove wheel 1 911 is provided at the output end of the motor 3 91. The groove wheel 1 911 cooperates with the groove wheel 2 93 through a belt transmission. A release rod 816 is slidably provided in the connecting cylinder platform 813, and a rack 1 817 is provided on the release rod 816. A gear 2 818 meshing with the rack 1 817 is rotatably provided in the connecting cylinder platform 813, and a rack 2 8523 meshing with the gear 2 818 is provided at one end of the release cylinder 852. The end of the pull rope 95 passes through the guide tube 94 and the axial through hole of the fixed rod 733 on the turntable 73, and is rotatably connected to the release rod 816.

[0044] Working principle of recovery mechanism 9: motor three 91 drives groove wheel one 911 to rotate, groove wheel one 911 cooperates with groove wheel two 93 through belt transmission to drive wire wheel 92 to rotate, thereby performing wire laying and wire winding operations. When mobile detector 8 moves inside the long pipe, pull rope 95 is kept loose. When the movement of mobile detector 8 is blocked, pull rope 95 is tightened, and mobile detector 8 maintains the tendency to move forward. At this time, pull rope 95 drives release rod 816 to move, and gear two 818 is respectively meshed with rack one 817 and rack two 8523 to move release cylinder 852, thereby actively releasing the limiting function of transmission rod 844 and limiting column 851, so that mobile mechanism 84 can be folded. After stopping driving mechanism 83, mobile detector 8 is pulled back by recovery mechanism 9.

[0045] Combined with Figure 1 , Attachment Figure 4 , Attachment Figure 5 and attached Figure 6 As shown, the standby bracket 5 includes a plurality of driving frames 51 and a supporting frame 52. The driving frame 51 is provided with a plurality of driving rollers 511 for driving the long pipe to rotate. The supporting frame 52 is provided with a plurality of curvature detectors 53. The curvature detector 53 includes a base 531. Two movable frames 532 are symmetrically hingedly provided on the base 531. A stop 5313 for limiting the movable frame 532 is provided on the base 531. Rollers 533 are rotatably provided on the movable frame 532. A spring 1 534 connected to the base 531 is provided on the outer side of the movable frame 532. A displacement sensor 5311 for detecting the rotation angle of the movable frame 532 is provided on the base 531. A detection surface 1 5312 is provided on the displacement sensor 5311. A detection surface 2 5321 is provided on the inner side of the movable frame 532. Capacitive sensing structures are provided inside the detection surface 1 5312 and the detection surface 2 5321. The detection surface 1 5312 and the detection surface 2 5321 intersect.

[0046] Working principle of the standby bracket 5: the internal power system of the driving frame 51 rotates the driving roller 511, thereby rotating the long pipe. During the rotation of the long pipe, the curvature detector 53 on the supporting frame 52, the roller 533 is pushed by the spring 1 534 to fit the surface of the long pipe. When the long pipe is bent, the curved section of the pipe rotates, which will make the movable frame 532 move. At this time, the area of ​​the intersection of the detection surface 1 5312 and the detection surface 2 5321 changes, thereby obtaining the capacitance change value, thereby judging the curvature of the long pipe.

[0047] In the specific implementation of the present invention, the long pipe is placed on the waiting bracket 5, and the curvature of the long pipe is detected by rotation. Then, the clamping mechanism 1 2 and the clamping mechanism 2 3 are moved, and the end of the long pipe is clamped by the conical platform 31 and the internal detection mechanism 6. The inner diameter of the pipe is measured by the internal expansion support mechanism 7 of the internal detection mechanism 6 and the port of the long pipe is fixed. Then, the mobile detector 8 moves inside the long pipe, and the photos of the inside of the pipe are taken by the smart camera 82 and uploaded to the processing center. The smart camera 82 has a built-in algorithm that can identify welds, hole positions and defect points, and can determine the locations of welds, hole positions and defect points according to the moving distance. The mark is calibrated in the background pipeline data, and then the mobile detector 8 is reset to the inside of the inner expansion support mechanism 7. The clamping mechanism 1 2 and the clamping mechanism 2 3 release the long pipe. According to the coordinates of the weld, hole position and defect point, the waiting bracket 5 rotates the long pipe to a suitable angle. Then the clamping mechanism 1 2 and the clamping mechanism 2 3 re-clamp the long pipe and place it on the bracket 14. The external detection mechanism 4 scans the long pipe to obtain the coordinates of the hole position of the long pipe and detects the quality of the weld. The detection process of the long pipe on the bracket 14 by the external detection mechanism 4 is synchronized with the detection process of the long pipe on the waiting bracket 5 by the mobile detector 8.

[0048] The present invention and its embodiments are described above, which is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if ordinary technicians in the field are inspired by it and do not deviate from the purpose of the invention, they can creatively design a structure and embodiment similar to the technical solution, which should fall within the protection scope of the present invention.

Claims

1. An online detection device for a long pipeline, comprising a detection frame (1) and a standby bracket (5), wherein a movable clamping mechanism 1 (2), a clamping mechanism 2 (3) and an external detection mechanism (4) are provided on the detection frame (1), wherein the clamping mechanism 1 (2) and the clamping mechanism 2 (3) move the long pipeline from the standby bracket (5) to the detection frame (1), and the external detection mechanism (4) detects the long pipeline, and the device is characterized in that: The detection frame (1) comprises a plurality of vertical frames (11), a crossbeam (12) is provided on the vertical frames (11), two groups of panels (13) are provided on the front sides of the vertical frames (11), and a plurality of brackets (14) are provided on the panels (13); The clamping mechanism 1 (2) and the clamping mechanism 2 (3) both include a moving platform 1 (21) that moves on a crossbeam (12); a lifting arm (22) is provided on the moving platform 1 (21); a driving platform (23) is provided at the bottom of the lifting arm (22); a rotating arm (24) is provided at the output end of the driving platform (23); an internal detection mechanism (6) is provided at the end of the rotating arm (24) on the clamping mechanism 1 (2); and a conical platform (31) is provided at the end of the rotating arm (24) on the clamping mechanism 2 (3); The external detection mechanism (4) comprises a second mobile platform (41) that moves on a crossbeam (12); a multi-axis collaborative robot (42) is disposed on the second mobile platform (41); a scanning detection group (43) is disposed at a working end of the collaborative robot (42); the scanning detection group (43) comprises a fixed platform (431) mounted at the working end of the collaborative robot (42); and two 3D scanners (433) are disposed at both ends of the fixed platform (431).

2. The long pipeline online detection device according to claim 1 is characterized in that: The inner detection mechanism (6) comprises an inner expansion support mechanism (7) and a moving detector (8). The inner expansion support mechanism (7) comprises a fixed disk (71), a motor (72), a rotating disk (73) and a plurality of inner expansion platforms (74). The fixed disk (71) is mounted on the end of a rotating arm (24). The motor (72) drives the rotating disk (73) to rotate inside the fixed disk (71). A vortex platform (731) is provided at the front side of the rotating disk (73). An arc groove (741) matching the vortex platform (731) is provided at the rear end of the inner expansion platform (74). The rotating disk (73) drives the plurality of inner expansion platforms (74) to move radially. The moving detector (8) comprises a shell (81). A smart camera (82) is provided at the front end of the shell (81). A plurality of moving mechanisms (84) are provided outside the shell (81). When the inner expansion platform (74) moves, the moving mechanisms (84) are opened radially. A driving mechanism (83) for driving the moving mechanisms (84) to move inside the long pipe is provided inside the shell (81).

3. The long pipeline online detection device according to claim 2 is characterized in that: The moving mechanism (84) comprises an outer support rod 1 (841) and an outer support rod 2 (842); a connecting rod (843) is hingedly provided between the outer support rod 1 (841) and the outer support rod 2 (842); rollers (845) are hingedly provided at the outer ends of the outer support rod 1 (841) and the outer support rod 2 (842); a driving wheel (846) is rotatably provided at the inner end of the outer support rod 1 (841); the roller (845) and the driving wheel (846) are matched via a transmission structure; and the driving mechanism (83) and the driving wheel (846) are matched in transmission.

4. The long pipeline online detection device according to claim 3 is characterized in that: The driving mechanism (83) comprises a second motor (831) and a transmission platform (833); the inner ends of the first outer support rod (841) and the second outer support rod (842) are hingedly arranged on the outer side of the transmission platform (833); the transmission platform (833) moves axially in the housing (81); a rotating column (834) is rotatably arranged in the transmission platform (833); a spline shaft (832) is arranged at the output end of the second motor (831); a spline groove (835) matching with the spline shaft (832) is arranged at the rear end of the rotating column (834); a worm (836) is arranged at the end of the rotating column (834); and a tooth groove matching with the worm (836) is arranged on the driving wheel (846).

5. The long pipeline online detection device according to claim 3 is characterized in that: The end of the housing (81) is provided with a connecting cylinder platform (813), the outer side of the connecting cylinder platform (813) is provided with a positioning groove platform (815), a transmission rod (844) is radially slidably provided on the positioning groove platform (815), the end of the transmission rod (844) is hinged to an outer support rod (841), the front end of the transmission rod (844) is provided with an insertion column (8442), and a linkage platform (743) is provided on the inner expansion platform (74), and the insertion column (8442) is plugged into and matched with a groove at the end of the linkage platform (743).

6. The long pipeline online detection device according to claim 5, characterized in that: The connecting cylinder platform (813) is provided with a limiting mechanism (85), the limiting mechanism (85) comprising a limiting column (851), the limiting column (851) axially sliding in the positioning groove platform (815), a second spring (8512) connected to the positioning groove platform (815) is provided at the rear side of the limiting column (851), a limiting inserting platform (8441) is provided at the rear side of the transmission rod (844), and a limiting slot (8511) pluggably engaged with the limiting inserting platform (8441) is provided at the front side of the limiting column (851).

7. The long pipeline online detection device according to claim 6 is characterized by: A release cylinder (852) is slidably disposed inside the connecting cylinder platform (813), a spring three (8522) connected to the connecting cylinder platform (813) is disposed at the rear side of the release cylinder (852), a ring platform (8521) is disposed at the front end of the release cylinder (852), the ring platform (8521) is in contact with the bottom of the limiting column (851), a fixing rod (733) is disposed at the axis of the rotating disk (73), and the end of the fixing rod (733) passes through a through hole at the end of the connecting cylinder platform (813) and is limitedly engaged with the inner side of the release cylinder (852).

8. The long pipeline online detection device according to claim 7 is characterized in that: The internal detection mechanism (6) further comprises a recovery mechanism (9), the recovery mechanism (9) comprising a third motor (91) and a wire wheel (92), the wire wheel (92) being rotatably arranged inside the rotating arm (24), a pull rope (95) being wound around the wire wheel (92), an end of the pull rope (95) passing through a through hole on the rotating disk (73) and connected to the housing (81), and the third motor (91) driving the wire wheel (92) to rotate.

9. The long pipeline online detection device according to claim 8, characterized in that: A release rod (816) is slidably provided in the connecting cylinder platform (813), a rack 1 (817) is provided on the release rod (816), a gear 2 (818) meshing with the rack 1 (817) is rotatably provided in the connecting cylinder platform (813), a rack 2 (8523) meshing with the gear 2 (818) is provided at one end of the release cylinder (852), and the end boss of the pull rope (95) is rotatably connected to the release rod (816).

10. The long pipeline online detection device according to claim 1, characterized in that: The standby bracket (5) comprises a plurality of drive frames (51) and a support frame (52); the drive frame (51) is provided with a plurality of drive rollers (511) for driving the long pipe to rotate; the support frame (52) is provided with a plurality of curvature detectors (53); the curvature detector (53) comprises a base (531); two movable frames (532) are symmetrically hingedly provided on the base (531); rollers (533) are rotatably provided on the movable frame (532); a spring (534) connected to the base (531) is provided on the outer side of the movable frame (532); and a displacement sensor (5311) for detecting the rotation angle of the movable frame (532) is provided on the base (531).

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