An on-line inspection device for long pipelines

Abstract

The present invention relates to the technical field of pipeline detection, and discloses an on-line detection device for long pipelines, which includes a detection frame and a waiting bracket. A movable clamping mechanism and an external detection mechanism are provided on the detection frame. The clamping mechanism I and the clamping mechanism II move the long pipeline from the waiting bracket to the detection frame, and the external detection mechanism detects the long pipeline. The external detection mechanism includes a plurality of 3D scanners. An internal detection mechanism is provided at the end of the rotating arm on the clamping mechanism I, and a conical platform is provided at the end of the rotating arm on the clamping mechanism II. The internal detection mechanism includes an internal expansion support mechanism and a mobile detector. The mobile detector includes a housing. A smart camera is provided at the front end of the housing. Multiple groups of mobile mechanisms are provided on the outer side of the housing. A driving mechanism for driving the mobile mechanism to walk inside the long pipeline is provided inside the housing. The present invention provides an on-line detection device for long pipelines that is efficient, accurate, and has strong adaptability, and can effectively solve many problems in traditional detection methods.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline detection, and specifically refers to an on-line detection device for long pipelines. Background Art

[0002] Long pipelines are widely used in many key industrial fields such as petroleum, natural gas, and chemical industry. Their safety and integrity are the key factors to ensure the safe, stable, and efficient operation of production. Traditional pipeline detection mostly relies on manual inspection, which exposes many drawbacks when facing long-distance pipelines. Manual detection is extremely inefficient, consuming a large amount of manpower and time costs, and it is difficult to meet the large-scale and high-efficiency production requirements of modern industry. Moreover, it is difficult to achieve real-time monitoring of pipelines through manual inspection, and sudden safety hazards during pipeline operation cannot be detected in time, which is prone to cause serious accidents. In addition, the structure of long pipelines is complex, usually composed of multiple sections of pipelines welded together, and holes are opened at different positions according to actual usage requirements. These factors all increase the difficulty of detection work.

[0003] Existing detection devices have poor adaptability and often cannot flexibly handle pipeline detection tasks of different diameters and lengths, resulting in limited detection ranges. At the same time, the detection accuracy and automation level are relatively low, making it difficult to accurately locate the welds, holes, and tiny defect points of pipelines, and it is difficult to meet the strict requirements of modern industry for high-efficiency, accurate, and comprehensive pipeline detection. Therefore, the research and development of an advanced device capable of on-line 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 on-line detection device for long pipelines.

[0005] To solve the above technical problems, the technical solution provided by the present invention is: an on-line detection device for long pipelines, including a detection frame and a waiting bracket. A movable clamping mechanism one, a clamping mechanism two, and an external detection mechanism are provided on the detection frame. The clamping mechanism one and the clamping mechanism two move the long pipeline from the waiting bracket to the detection frame, and the external detection mechanism detects the long pipeline.

[0006] The detection frame includes a plurality of vertical frames, with crossbeams provided on the vertical frames. Two groups of panels are provided on the front side of the vertical frames, and a plurality of brackets are provided on the panels.

[0007] Both the clamping mechanism one and the clamping mechanism two include a moving table one that travels on the crossbeam. A lifting arm is driven on the moving table one. A driving table is provided at the bottom of the lifting arm, and a rotating arm is provided at the output end of the driving table. An internal detection mechanism is provided at the end of the rotating arm of the clamping mechanism one, and a conical table is provided at the end of the rotating arm of the clamping mechanism two.

[0008] The external detection mechanism includes a second moving platform that travels on the cross beam. A collaborative robot with multi-axis movement is provided on the second moving platform. 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.

[0009] 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 first motor, a turntable, and multiple internal expansion platforms. The fixed disk is installed at the end of the rotating arm. The first motor drives the turntable to rotate inside the fixed disk. A spiral platform is provided on the front side of the turntable. An arc-shaped groove that cooperates with the spiral platform is provided at the rear end of the internal expansion platform. The turntable drives multiple internal expansion platforms to move radially. The mobile detector includes a housing. An intelligent camera is provided at the front end of the housing. Multiple groups of mobile mechanisms are provided on the outer side of the housing. When the internal expansion platform moves, the mobile mechanisms are opened radially. A driving mechanism for driving the mobile mechanisms to walk inside the long pipeline is provided inside the housing.

[0010] As an improvement: The mobile mechanism includes a first outer support rod and a second outer support rod. A connecting rod is hinged between the first outer support rod and the second outer support rod. Rollers are hinged at the outer ends of the first outer support rod and the second outer support rod. A driving wheel is rotatably provided at the inner end of the first outer support rod. The roller and the driving wheel are cooperated through a transmission structure. The driving mechanism is in transmission cooperation with the driving wheel.

[0011] As an improvement: The driving mechanism includes a second motor and a transmission platform. The inner ends of the first outer support rod and the second outer support rod are hinged on the outer side of the transmission platform. The transmission platform axially moves inside the housing. A rotating column is rotatably provided inside the transmission platform. A spline shaft is provided at the output end of the second motor. A spline groove that cooperates with the spline shaft is provided at the rear end of the rotating column. A spiral disk is provided at the end of the rotating column. A tooth groove that cooperates with the spiral disk is provided on the driving wheel.

[0012] As an improvement: A connecting cylinder platform is provided at the end of the housing. A positioning groove platform is provided on the outer side of the connecting cylinder platform. A transmission rod slides radially on the positioning groove platform. The end of the transmission rod is hinged to the first outer support rod. An insertion post is provided at the front end of the transmission rod. A linkage platform is provided on the internal expansion platform. The insertion post is inserted and cooperated with the groove at the end of the linkage platform.

[0013] As an improvement: A limiting mechanism is provided at the connecting cylinder platform. The limiting mechanism includes a limiting column that axially slides inside the positioning groove platform. A second spring that is connected to the positioning groove platform is provided at the rear side of the limiting column. A limiting insertion platform is provided at the rear side of the transmission rod. A limiting slot that is inserted and cooperated with the limiting insertion platform is provided at the front side of the limiting column.

[0014] As an improvement: A release cylinder slides inside the connecting cylinder platform. A third spring that is connected to the connecting cylinder platform is provided at 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 and cooperation with the bottom of the limiting column. A fixed rod is provided at the axis center of the turntable. The end of the fixed rod passes through the through hole at the end of the connecting cylinder platform and is in limiting cooperation with the inside of the release cylinder.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] 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:

[0019] 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;

[0020] 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;

[0021] 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;

[0022] 4. A driving roller and a curvature detector are provided 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, helping to timely discover pipeline deformation problems and ensuring the overall quality of the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic structural diagram of an on-line detection device for long pipelines according to the present invention.

[0024] Figure 2 is a schematic structural diagram of a detection frame, a clamping mechanism and an external detection mechanism of an on-line detection device for long pipelines according to the present invention.

[0025] Figure 3 is a schematic structural diagram of an external detection mechanism of an on-line detection device for long pipelines according to the present invention.

[0026] Figure 4 is a schematic structural diagram of a waiting bracket of an on-line detection device for long pipelines according to the present invention.

[0027] Figure 5 is a schematic structural diagram of a curvature detector of an on-line detection device for long pipelines according to the present invention.

[0028] Figure 6 is an exploded view of a curvature detector of an on-line detection device for long pipelines according to the present invention.

[0029] Figure 7 is a schematic structural diagram of an internal detection mechanism of an on-line detection device for long pipelines according to the present invention.

[0030] Figure 8 is an exploded view of an internal detection mechanism of an on-line detection device for long pipelines according to the present invention.

[0031] Figure 9 is an exploded view of an internal expansion support mechanism of an on-line detection device for long pipelines according to the present invention.

[0032] Figure 10 is a schematic structural diagram of an internal expansion support mechanism of an on-line detection device for long pipelines according to the present invention Figure 1 .

[0033] Figure 11 is an exploded view of a mobile detector of an on-line detection device for long pipelines according to the present invention.

[0034] Figure 12 is a cross-sectional view of a housing of an on-line detection device for long pipelines according to the present invention.

[0035] Figure 13 is a schematic structural diagram of a driving mechanism, a moving mechanism and a limiting mechanism of an on-line detection device for long pipelines according to the present invention.

[0036] Figure 14 It is an exploded view of a moving mechanism of an on-line inspection device for long pipelines according to the present invention.

[0037] Figure 15 It is a schematic diagram of a partial structure of a moving mechanism of an on-line inspection device for long pipelines according to the present invention.

[0038] Figure 16 It is a schematic diagram of a recovery mechanism of an on-line inspection device for long pipelines according to the present invention.

[0039] Figure 17 It is a cross-sectional view of a moving detector and an inner expansion table of an on-line inspection device for long pipelines according to the present invention.

[0040] Figure 18 It is a cross-sectional view of a moving detector and an inner expansion table of an on-line inspection device for long pipelines according to the present invention.

[0041] As shown in the figure: 1. Detection frame; 2. Clamping mechanism I; 3. Clamping mechanism II; 4. External detection mechanism; 5. Waiting position bracket; 6. Internal detection mechanism; 7. Internal expansion support mechanism; 8. Mobile detector; 9. Recycling mechanism; 11. Upright frame; 12. Cross beam; 13. Panel; 14. Bracket; 21. Mobile platform I; 22. Lifting arm; 23. Driving platform; 24. Rotating arm; 31. Conical platform; 41. Mobile platform II; 42. Collaborative robot; 43. Scanning and detection group; 431. Fixed platform; 432. Installation platform; 433. 3D scanner; 51. Driving frame; 511. Driving roller; 52. Support frame; 53. Curvature detector; 531. Base; 5311. Displacement sensor; 5312. Detection surface I; 5313. Contact platform; 532. Movable frame; 5321. Detection surface II; 533. Supporting roller; 534. Spring I; 71. Fixed disk; 711. Contact plate; 712. Extension rod; 72. Motor I; 721. Gear I; 73. Turntable; 731. Spiral platform; 732. Internal gear ring; 733. Fixed rod; 74. Internal expansion platform; 741. Arc groove; 742. Angular rod; 743. Linkage platform; 81. Shell; 811. Installation plate; 812. Limit sliding groove; 813. Connecting cylinder platform; 814. Transmission rod; 815. Positioning groove platform; 816. Release rod; 817. Rack I; 818. Gear II; 82. Intelligent camera; 83. Driving mechanism; 831. Motor II; 832. Spline shaft; 833. Transmission platform; 834. Rotating column; 835. Spline groove; 836. Spiral disk; 84. Moving mechanism; 841. Outer support rod I; 842. Outer support rod II; 843. Connecting rod; 844. Transmission rod; 8441. Limit insertion platform; 8442. Insertion column; 845. Roller; 846. Driving wheel; 847. Chain; 85. Limiting mechanism; 851. Limiting column; 8511. Limit slot; 8512. Spring II; 852. Release cylinder; 8521. Ring platform; 8522. Spring III; 8523. Rack II; 91. Motor III; 911. Sheave I; 92. Wire wheel; 93. Sheave II; 94. Guide tube; 95. Pulling rope. Detailed implementation manners

[0042] The following further elaborates on the present invention in conjunction with the accompanying drawings.

[0043] Combined with the attached Figure 1 and the attached Figure 2 and the attached Figure 3As shown in the figure, an on-line inspection device for long pipelines includes an inspection rack 1 and a waiting bracket 5. A movable clamping mechanism 1, a clamping mechanism 2 and an external inspection mechanism 4 are provided on the inspection rack 1. The clamping mechanism 1 and the clamping mechanism 2 move the long pipeline from the waiting bracket 5 to the inspection rack 1, and the external inspection mechanism 4 inspects the long pipeline. The inspection rack 1 includes a plurality of vertical racks 11, a cross beam 12 is provided on the vertical racks 11, two groups of panels 13 are provided on the front side of the vertical racks 11, and a plurality of brackets 14 are provided on the panels 13. Both the clamping mechanism 1 and the clamping mechanism 2 include a moving platform 1 on the cross beam 12. The moving platform 1 is driven by a lifting arm 22. A driving platform 23 is provided at the bottom of the lifting arm 22, and a rotating arm 24 is provided at the output end of the driving platform 23. An internal inspection mechanism 6 is provided at the end of the rotating arm 24 of the clamping mechanism 1, and a conical platform 31 is provided at the end of the rotating arm 24 of the clamping mechanism 2. The external inspection mechanism 4 includes a moving platform 2 on the cross beam 12. A cooperative robot 42 with multi-axis movement is provided on the moving platform 2. A scanning detection group 43 is provided at the working end of the cooperative robot 42. The scanning detection group 43 includes a fixed platform 1 installed at the working end of the cooperative robot 42. Installation platforms 2 are symmetrically provided at both ends of the fixed platform 1. Two 3D scanners 3 are inclinedly installed on each installation platform 2. The scanning areas of the two 3D scanners 3 have an overlapping area.

[0044] Combined with attached Figure 2 , attached Figure 7 , attached Figure 8 , attached Figure 9 , attached Figure 10 and attached Figure 13 As shown in the figure, the internal inspection mechanism 6 includes an internal expansion support mechanism 7 and a mobile detector 8. The internal expansion support mechanism 7 includes a fixed disk 71, a motor 1, a turntable 73 and a plurality of internal expansion platforms 74. The fixed disk 71 is installed at the end of the rotating arm 24. The motor 1 drives the turntable 73 to rotate inside the fixed disk 71. An internal gear ring 2 is provided inside the turntable 73. A gear 1 engaged with the internal gear ring 2 is provided at the output end of the motor 1. A spiral platform 1 is provided at the front side of the turntable 73. An arc groove 1 is provided at the rear end of the internal expansion platform 74 to cooperate with the spiral platform 1. A pressing plate 1 and a plurality of extension rods 2 are provided at the front end of the fixed disk 71. The internal expansion platform 74 is slidably arranged between the extension rods 2. The turntable 73 drives a plurality of internal expansion platforms 74 to move radially. The mobile detector 8 includes a housing 81. An installation plate 1 is provided at the front end of the housing 81. An intelligent camera 2 is installed on the installation plate 1. A plurality of groups of mobile mechanisms 4 are provided outside the housing 81. When the internal expansion platform 74 moves radially, the mobile mechanism 4 is opened. A driving mechanism 3 for driving the mobile mechanism 4 to walk inside the long pipeline is provided inside the housing 81.

[0045] Working principle of the internal detection mechanism 6: After the pipe orifice of the long pipe contacts the abutment plate 711, the first motor 72 drives the turntable 73 to rotate inside the fixed plate 71, causing the spiral platform 731 to rotate. Through the cooperation between the spiral platform 731 and the arc groove 741 at the rear end of the inner expansion platform 74, the inner expansion platform 74 moves radially until it contacts the inner wall of the long pipe. The position of the inner expansion platform 74 on the fixed plate 71 is detected by a sensor to obtain the pipe inner diameter data. The moving mechanism 84 of the moving detector 8 is opened as the inner expansion platform 74 moves. Subsequently, the driving mechanism 83 drives the moving mechanism 84 so that the moving detector 8 can move inside the long pipe. When the moving detector 8 moves, the intelligent camera 82 takes pictures of the inside of the pipe and uploads them to the processing center. The intelligent 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 based on the moving distance and calibrate them in the background pipe data.

[0046] Combined with the attached Figure 9 、the attached Figure 12 、the attached Figure 13 、the attached Figure 14 and the attached Figure 15 As shown, the moving mechanism 84 includes a first outer support rod 841 and a second outer support rod 842. A connecting rod 843 is hinged between the first outer support rod 841 and the second outer support rod 842. Roller wheels 845 are hinged to the outer ends of both the first outer support rod 841 and the second outer support rod 842. A driving wheel 846 is rotatably provided at the inner end of the first outer support rod 841. The roller wheels 845 and the driving wheel 846 are cooperated through a transmission structure. The transmission structure includes a chain 847. Sprockets are coaxially connected to both the roller wheels 845 and the driving wheel 846. The chain 847 is in transmission cooperation with the sprockets. The driving mechanism 83 is in transmission cooperation with the driving wheel 846. Two corner rods 742 are provided at the front end of the inner expansion platform 74. The moving mechanism 84 is located in the gap between the corner rods 742. The driving mechanism 83 includes 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 hinged to the outside of the transmission platform 833. The transmission platform 833 axially moves in the limit sliding groove 812 inside the housing 81. A rotating column 834 is rotatably provided inside the transmission platform 833. A spline shaft 832 is provided at the output end of the second motor 831. A spline groove 835 cooperating with the spline shaft 832 is provided at the rear end of the rotating column 834. A spiral disc 836 is provided at the end of the rotating column 834. A tooth groove cooperating with the spiral disc 836 is provided on the driving wheel 846.

[0047] Working principle 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 corner rods 742. The connecting line of the hinge points of the first outer support rod 841 and the second outer support rod 842 with the transmission platform 833 and the connecting rod 843 are parallel to the axis. The moving mechanism 84 unfolds as the inner expansion platform 74 moves. When moving, the motor two 831 drives the spline shaft 832 to rotate. Through the cooperation of the spline shaft 832 and the spline groove 835, the rotating column 834 rotates within the transmission platform 833. Through the cooperation of the worm disc 836 at the end of the rotating column 834 and the driving wheel 846, the driving wheel 846 rotates. Through the transmission structure, the roller 845 is driven to rotate, so that the moving mechanism 84 can move within the pipeline.

[0048] Combined with the attached Figure 12 , the attached Figure 13 and the attached Figure 17 As shown, a connecting cylinder platform 813 is provided at the end of the housing 81. A limiting mechanism 85 is provided at the connecting cylinder platform 813. The limiting mechanism 85 includes a limiting column 851. A positioning groove platform 815 is provided on the outside of the connecting cylinder platform 813. The limiting column 851 axially slides within the positioning groove platform 815. A second spring 8512 connecting the limiting column 851 to the positioning groove platform 815 is provided at the rear of the limiting column 851. A transmission rod 844 is radially slidably provided on the positioning groove platform 815. The end of the transmission rod 844 is hinged to the first outer support rod 841. A limiting insertion platform 8441 is provided at the rear of the transmission rod 844. A limiting slot 8511 for plugging and matching with the limiting insertion platform 8441 is provided at the front of the limiting column 851. An insertion 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 insertion column 8442 is plugged and matched with the groove at the end of the linkage platform 743. A release cylinder 852 is slidably provided within the connecting cylinder platform 813. A third spring 8522 connecting the release cylinder 852 to the connecting cylinder platform 813 is provided at the rear 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 and cooperation with the bottom of the limiting column 851. A fixing rod 733 is provided at the center of the axis of the turntable 73. The end of the fixing rod 733 passes through the through hole at the end of the connecting cylinder platform 813 and is in limiting cooperation with the inside of the release cylinder 852.

[0049] Working principle of the limit mechanism 85: The limit mechanism 85 is provided to facilitate the deployment of the moving mechanism 84 and fix it after deployment. In the initial position, the fixed rod 733 presses against the release cylinder 852, compressing the third spring 8522. The release cylinder 852 moves multiple limit posts 851 away from the transmission rod 844 through the annular platform 8521, compressing the second spring 8512, separating the limit insertion platform 8441 from the limit slot 8511, thereby releasing the limit between the transmission rod 844 and the limit posts 851. At this time, the insertion post 8442 is inserted into the end groove of the linkage platform 743. When the inner expansion platform 74 moves, it drives the transmission rod 844 to move radially. Since the length of the first outer support rod 841 remains unchanged, when the transmission rod 844 drives the first outer support rod 841 to move upward, the other end of the first outer support rod 841 drives the transmission platform 833 to move axially in the limit chute 812. The second outer support rod 842 moves synchronously with the first outer support rod 841 until the inner expansion platform 74 contacts the inner wall of the pipeline. At this time, the roller 845 also adheres to the inner wall of the pipeline;

[0050] When the mobile detector 8 moves, the fixed rod 733 moves backward relative to the mobile detector 8, causing the release cylinder 852 to reset through the third spring 8522. The limit posts 851 reset under the push of the second spring 8512, inserting the limit insertion platform 8441 back into the limit slot 8511. When the mobile detector 8 continues to move, the insertion post 8442 disengages from the end groove of the linkage platform 743. At this time, due to the limit between the limit insertion platform 8441 and the limit slot 8511, the transmission rod 844 is fixed on the positioning groove platform 815, thereby fixing the positions of the first outer support rod 841 and the second outer support rod 842 and preventing the moving mechanism 84 from being retracted when the mobile detector 8 moves in the pipeline.

[0051] Combined with attached Figure 8 、attached Figure 10 、attached Figure 16 、attached Figure 17 and attached Figure 18 As shown in attached

[0052] Working principle of the recovery mechanism 9: The motor three 91 drives the sheave one 911 to rotate. The sheave one 911 and the sheave two 93 are in belt drive cooperation to drive the wire wheel 92 to rotate, so as to carry out wire releasing and wire winding operations. When the mobile detector 8 moves inside the long pipeline, the drawstring 95 is kept slack. When the movement of the mobile detector 8 is blocked, the drawstring 95 is tightened, and the mobile detector 8 keeps the tendency to move forward. At this time, the drawstring 95 drives the release rod 816 to move. Through the engagement transmission of the gear two 818 with the rack one 817 and the rack two 8523 respectively, the release cylinder 852 moves, achieving the function of actively releasing the limit of the transmission rod 844 and the limit post 851, enabling the mobile mechanism 84 to fold. After stopping the drive mechanism 83, the recovery mechanism 9 is relied on to pull back the mobile detector 8 for recovery.

[0053] Combined with the attached Figure 1 、the attached Figure 4 、the attached Figure 5 and the attached Figure 6 As shown in the figure, the waiting bracket 5 includes a plurality of drive frames 51 and support frames 52. A plurality of drive rollers 511 for driving the long pipeline to rotate are provided on the drive frames 51. A plurality of curvature detectors 53 are provided on the support frames 52. The curvature detector 53 includes a base 531. Two movable frames 532 are symmetrically hinged on the base 531. An abutting platform 5313 for limiting cooperation with the movable frame 532 is provided on the base 531. A roller 533 is rotatably provided on the movable frame 532. A first spring 534 connected to the base 531 is provided outside 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 first detection surface 5312 is provided on the displacement sensor 5311. A second detection surface 5321 is provided inside the movable frame 532. A capacitive induction structure is provided inside the first detection surface 5312 and the second detection surface 5321, and the first detection surface 5312 intersects with the second detection surface 5321.

[0054] Working principle of the waiting bracket 5: The internal power system of the drive frame 51 makes the drive roller 511 rotate, so as to make the long pipeline rotate. During the rotation of the long pipeline by the curvature detector 53 on the support frame 52, the roller 533 fits on the surface of the long pipeline under the push of the first spring 534. When the long pipeline is bent, during the rotation of the bent section of the pipeline, the movable frame 532 will move. At this time, the area of the intersection surface of the first detection surface 5312 and the second detection surface 5321 changes, so as to obtain the capacitance change value, and then judge the bending degree of the long pipeline.

[0055] In the specific implementation of the present invention, the long pipeline is placed on the waiting bracket 5, and the bending degree of the long pipeline is detected by rotation. Subsequently, the clamping mechanism I 2 and the clamping mechanism II 3 move. The end of the long pipeline is clamped by the conical table 31 and the internal detection mechanism 6. The inner diameter of the pipeline is measured by the inner expansion support mechanism 7 of the internal detection mechanism 6 and the port of the long pipeline is fixed. Subsequently, the detector 8 moves inside the long pipeline, and the intelligent camera 82 takes pictures of the inside of the pipeline and uploads them to the processing center. The intelligent camera 82 has a built-in algorithm that can identify welds, hole positions, and defect points, and can judge the coordinates where the welds, hole positions, and defect points are located according to the moving distance, and mark them in the background pipeline data. Subsequently, the detector 8 resets to the inside of the inner expansion support mechanism 7, the clamping mechanism I 2 and the clamping mechanism II 3 release the long pipeline. According to the coordinates where the welds, hole positions, and defect points are located, the waiting bracket 5 rotates the long pipeline to an appropriate angle. Subsequently, the clamping mechanism I 2 and the clamping mechanism II 3 re-clamp the long pipeline and place it on the bracket 14. The external detection mechanism 4 scans the long pipeline to obtain the hole position coordinates of the long pipeline and detects the weld quality. The detection process of the long pipeline on the bracket 14 by the external detection mechanism 4 is carried out synchronously with the detection process of the long pipeline on the waiting bracket 5 by the detector 8.

[0056] The above describes the present invention and its implementation manners. Such description is not restrictive. What is shown in the drawings is only one of the implementation manners of the present invention, and the actual structure is not limited thereto. All in all, if those of ordinary skill in the art are inspired by it and, without departing from the purpose of the present invention, creatively design structural manners and embodiments similar to this technical solution, they shall fall within the protection scope of the present invention.

Claims

1. An on-line detection device for long pipelines, comprising a detection rack (1) and a waiting bracket (5). A movable clamping mechanism I (2), a clamping mechanism II (3) and an external detection mechanism (4) are provided on the detection rack (1). The clamping mechanism I (2) and the clamping mechanism II (3) move the long pipeline from the waiting bracket (5) to the detection rack (1), and the external detection mechanism (4) detects the long pipeline. It is characterized in that: The detection rack (1) comprises a plurality of vertical racks (11), a cross beam (12) is provided on the vertical racks (11), two groups of panels (13) are provided on the front side of the vertical racks (11), and a plurality of brackets (14) are provided on the panels (13); Both the clamping mechanism I (2) and the clamping mechanism II (3) comprise a moving platform I (21) moving on the cross beam (12). A lifting arm (22) is driven on the moving platform I (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 I (2), and a conical platform (31) is provided at the end of the rotating arm (24) on the clamping mechanism II (3); The external detection mechanism (4) comprises a moving platform II (41) moving on the cross beam (12). A collaborative robot (42) with multi-axis movement is provided on the moving platform II (41). A scanning detection group (43) is provided at the working end of the collaborative robot (42). The scanning detection group (43) comprises a fixed platform (431) installed at the working end of the collaborative robot (42), and two 3D scanners (433) are provided at both ends of the fixed platform (431); The internal detection mechanism (6) comprises an internal expansion support mechanism (7) and a mobile detector (8). The mobile detector (8) comprises a housing (81). An intelligent camera (82) is provided at the front end of the housing (81). A plurality of groups of moving mechanisms (84) are provided on the outer side of the housing (81). When the internal expansion platform (74) moves, the moving mechanisms (84) are opened radially. A driving mechanism (83) for driving the moving mechanisms (84) to walk inside the long pipeline is provided inside the housing (81); The moving mechanism (84) comprises an outer support rod I (841) and an outer support rod II (842). A connecting rod (843) is hinged between the outer support rod I (841) and the outer support rod II (842). Roller wheels (845) are hinged at the outer ends of the outer support rod I (841) and the outer support rod II (842). A driving wheel (846) is rotatably provided at the inner end of the outer support rod I (841). The roller wheels (845) are matched with the driving wheel (846) through a transmission structure, and the driving mechanism (83) is in transmission cooperation with the driving wheel (846); 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).

2. The on-line inspection device for long pipelines according to claim 1, characterized in that: 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 scroll platform (731) is provided at the front side of the rotating disk (73); an arc groove (741) cooperating with the scroll platform (731) is provided at the rear end of the inner expansion platform (74); and the rotating disk (73) drives the plurality of inner expansion platforms (74) to move radially.

3. An on-line inspection device for a long pipeline according to claim 1, 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).

4. An on-line inspection device for long pipelines according to claim 3, 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).

5. An on-line inspection device for a long pipeline according to claim 4, characterized in that: 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).

6. The on-line inspection device for long pipelines according to claim 5, 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.

7. An on-line inspection device for long pipelines according to claim 6, characterized in that: A release rod (816) is slidably arranged in the connecting cylinder platform (813). A first rack (817) is arranged on the release rod (816). A second gear (818) meshing with the first rack (817) is rotatably arranged in the connecting cylinder platform (813). A second rack (8523) meshing with the second gear (818) is arranged at one end of the release cylinder (852). The end boss of the pull rope (95) is rotatably connected to the release rod (816).

8. An on-line inspection device for long pipelines according to claim 1, characterized in that: The waiting bracket (5) includes a plurality of driving frames (51) and a supporting frame (52). A plurality of driving rollers (511) for driving the long pipeline to rotate are arranged on the driving frame (51). A plurality of curvature detectors (53) are arranged on the supporting frame (52). The curvature detector (53) includes a base (531). Two movable frames (532) are symmetrically hinged on the base (531). A supporting roller (533) is rotatably arranged on the movable frame (532). A first spring (534) connected to the base (531) is arranged outside the movable frame (532). A displacement sensor (5311) for detecting the rotation angle of the movable frame (532) is arranged on the base (531).

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