Anti-torsion long-stroke multi-stage sealing telescopic structure

Abstract

The invention belongs to the technical field of in-service inspection of pressure pipes, and discloses an anti-torsion long-stroke multistage sealing telescopic structure which comprises a main cable driving guide assembly and a rigid chain driving assembly which are connected, the rigid chain driving assembly is installed at one end of a support guide rail assembly, and a rigid chain library is arranged below the support guide rail assembly. A rigid chain is arranged in the rigid chain library, the multi-stage telescopic sleeve is arranged on the support guide rail assembly in a penetrating mode, the front end of the rigid chain is connected with the tail end of the multi-stage telescopic sleeve, and the rigid chain driving assembly drives the rigid chain to move so as to drive the multi-stage telescopic sleeve to retract and expand. The in-service inspection of the CANDU nuclear reactor pressure pipe can be realized, the driving stroke is long, the circumferential torsional rigidity is enough, the sealing performance is realized, the inspection tool is continuously pushed forwards, the stroke range of the inspection tool covers the whole length of the pressure pipe, and in the inspection execution process, each sealing part of each stage of telescopic component does not generate visible leakage.

Description

Technical Field

[0001] This application belongs to the technical field of in-service inspection of pressure pipes, and particularly relates to a multi-stage sealed telescopic structure with anti-torsion and long stroke. Background Art

[0002] The CANDU reactor body is a horizontally placed cylindrical container (referred to as a calandria vessel), which contains a low-temperature and low-pressure heavy water moderator. There are many horizontal fuel channels passing through the container, and the fuel channels are mainly composed of pressure pipes and two end components at both ends. According to the requirements of relevant inspection specifications, it is necessary to regularly conduct in-service inspections on the pressure pipes.

[0003] During the in-service inspection of the pressure pipe, after the inspection device is docked and clamped with the fuel channel end component and the inspection channel is opened, a set of multi-stage telescopic device is required, which meets the requirements that the length after contraction does not exceed 3.5 m, the expansion stroke ≥ 11 m, the axial force that can be borne ≥ 3500 N, the maximum inner diameter of the outermost rod ≤ 100 mm, it can withstand a certain circumferential torque, and has a sealing function. The inspection tool is continuously pushed forward at a constant speed to perform in-service inspection tasks in the fuel channel and the pressure pipe. After the task is completed, the tool needs to be pulled back to leave the pressure pipe and the end component.

[0004] During the in-service inspection of the CANDU nuclear reactor pressure, after the fuel channel is opened, inspection tools such as defect inspection and dimension measurement tools need to be pushed into the pressure pipe with an inner diameter of 103 mm and a length of 11 m and the fuel channel end component pipeline from the inspection device, and continuously pushed forward or pulled back throughout the inside for inspection. The rear end of the tool is equipped with a main cable for control and signal transmission. Summary of the Invention

[0005] The purpose of this application is to overcome the defects of the prior art, and thus provide a multi-stage sealed telescopic structure with anti-torsion and long stroke, so as to realize the in-service inspection of the CANDU nuclear reactor pressure pipe, which has a long driving stroke, sufficient circumferential torsional rigidity and has a sealing performance. The inspection tool is continuously pushed forward, and its stroke range covers the entire length of the pressure pipe. During the inspection process, no visible leakage occurs at each sealing part of each telescopic component.

[0006] In order to achieve the above purpose, this application provides the following technical solutions:

[0007] An anti-torsion long-stroke multi-stage sealing telescopic structure, comprising a connected main cable drive guiding component and a rigid chain drive component. The rigid chain drive component is installed at one end of a bracket guide rail component, and a rigid chain library is provided below the bracket guide rail component. Rigid chains are arranged inside the rigid chain library. A multi-stage telescopic sleeve is arranged through the bracket guide rail component. The front end of the rigid chain is connected to the end of the multi-stage telescopic sleeve. The rigid chain drive component drives the rigid chain to move, thereby driving the multi-stage telescopic sleeve to contract and expand.

[0008] In some embodiments, the multi-stage telescopic sleeve has four concentrically nested hollow sleeves, and the hollow sleeves include a first-stage sleeve, a second-stage sleeve, a third-stage sleeve, and a fourth-stage sleeve that are sequentially connected and arranged from outside to inside.

[0009] In some embodiments, a first-stage sleeve end cover is provided at the front end of the first-stage sleeve. Guide key grooves are provided in the circumferential direction between the first-stage sleeve and the second-stage sleeve, and guide sliding keys are provided in the guide key grooves; the second-stage sleeve and the third-stage sleeve, and the third-stage sleeve and the fourth-stage sleeve are in groove key fit.

[0010] In some embodiments, the first-stage sleeve and the first-stage sleeve end cover are connected by threads, and a first-stage sleeve end cover sealing ring is provided at the connection. A first-second stage sleeve dynamic seal is provided inside the first-stage sleeve end cover.

[0011] In some embodiments, the second-stage sleeve is a two-step sleeve. The rear section is a circumferential anti-rotation section and is installed with the guide sliding key. The front section is a mating guide section and forms a shaft-hole mating relationship with the first-stage sleeve end cover.

[0012] In some embodiments, the front end of the fourth-stage sleeve is connected to a tool rear insertion section component, and the rear end is connected to the end of the rigid chain. A fourth-stage sleeve end collar and a fourth-stage rod end half ring are installed at the front end of the fourth-stage sleeve. A fourth-stage sleeve inner sealing ring is installed between the tool rear insertion section component and the fourth-stage sleeve. The tool rear insertion section component is a component that is inserted into the control and signal connectors on the inspection tool. After the insertion, the control and signal on the inspection tool are connected to the controller, signal acquisition equipment, etc. through the main cable.

[0013] In some embodiments, a coding component is provided on the rigid chain drive component. The coding component includes an encoder, a position indicator, an encoder base, an encoder pulley, an encoder circular arc tooth synchronous belt, and a drive shaft encoder pulley; the encoder, the position indicator, and the encoder pulley are installed on the encoder base. The encoder circular arc tooth synchronous belt is drivingly connected to the drive shaft encoder pulley and the encoder driven pulley. The main cable guiding drive synchronous belt is drivingly connected to the drive shaft main cable pulley and the main cable guiding driven pulley.

[0014] In some embodiments, the rigid chain drive assembly includes a right-angle speed reducer, a power transmission gearbox, a servo motor, and a rigid chain drive shaft; after the power is input by the servo motor, it reaches the rigid chain drive shaft through the power transmission gearbox and the right-angle speed reducer.

[0015] In some embodiments, the main cable drive and guiding assembly includes a drive shaft main cable pulley, a main cable guiding mechanism, a main cable driven pulley, a main cable guiding drive shaft, and a main cable guiding drive synchronous belt; the drive shaft main cable pulley is installed on the rigid chain drive shaft, the main cable driven pulley is installed on the main cable guiding drive shaft, and the main cable guiding drive shaft is installed on the main cable guiding mechanism.

[0016] In some embodiments, the main cable guiding mechanism includes a main cable guiding roller bracket, a swing pressure arm, a main cable inlet guiding roller set, a driving roller, and a terminal guiding roller; the main cable inlet guiding roller set is installed at the inlet end of the main cable guiding roller bracket, the terminal guiding roller is installed at the outlet end of the main cable guiding roller bracket, and the swing pressure arm is installed at the middle position of the main cable guiding roller bracket.

[0017] Compared with the prior art, the anti-torsion long-stroke multi-stage sealing telescopic structure provided by the present application has the following beneficial effects:

[0018] The present application provides a set of multi-stage telescopic structure with seals to achieve pushing and pulling back. According to the estimation of the on-site implementation environment, its length after contraction does not exceed 3.5 meters, and high axial and circumferential positioning accuracy is achieved during the process. It can also be applied to continuously push the inspection and measurement equipment into other longer industrial pipelines at a constant speed for high-precision inspection and measurement operations.

[0019] Further, the servo motor or the manual emergency drive assembly drives the rigid chain to apply a forward or backward pulling force to the end link of the rigid chain connected to the end of the four-stage sleeve, so that the multi-stage telescopic sleeve expands or contracts, and the inspection and measurement tool fixed on it moves in the pipeline for the full stroke.

[0020] Further, except for the outermost sleeve, the remaining sleeves are all of a two-stage stepped structure. The sleeves at all levels are matched with the key grooves on the sleeve through the guiding sliding keys evenly distributed in the circumferential direction at the tail, playing a role of circumferential anti-rotation. The sleeves at all levels form an axial hole fit relationship with the sleeve end cover, ensuring the axial movement accuracy.

[0021] Further, the front end of the rigid chain is hinged to the end of the innermost sleeve of the multi-stage telescopic sleeve. The rigid chain can push the multi-stage telescopic sleeve to contract and expand.

[0022] Further, the main cable is guided into the interior of the main cable guiding roller bracket by the main cable inlet guiding roller set, and is conveyed forward by the frictional force between the swing pressure arm and the driving roller connected to the end of the main cable driving input shaft. The distance that the rigid chain driving shaft advances by one revolution is the same as the distance that the main cable advances after being transmitted by the main cable driving pulley and the main cable driven pulley on the driving shaft.

[0023] Further, the dynamic seal between the sleeves at all levels and the static seal between the sleeve and the sleeve end cover enable the multi-stage telescopic sleeve to have a sealing performance. Brief Description of the Drawings

[0024] In order to more clearly illustrate the technical solutions of the present application, the drawings required for use in the technical description will be briefly introduced below.

[0025] Figure 1 It is the assembly drawing of the anti-torsion long-stroke multi-stage sealed telescopic structure provided by the present application;

[0026] Figure 2 It is the assembly drawing of the coding component and the rigid chain driving component provided by the present application;

[0027] Figure 3 It is the assembly drawing of the main cable driving and guiding component provided by the present application;

[0028] Figure 4 It is the assembly drawing of the main cable guiding mechanism provided by the present application;

[0029] Figure 5 It is the assembly drawing of the bracket guide rail component provided by the present application;

[0030] Figure 6 It is the axial sectional view of the multi-stage telescopic sleeve provided by the present application;

[0031] Figure 7 It is the radial sectional view of the multi-stage telescopic sleeve provided by the present application;

[0032] Figure 8 It is the partial enlarged schematic view of the guiding part of the multi-stage telescopic sleeve provided by the present application.

[0033] Description of the Reference Numerals:

[0034] 1. Main cable driving and guiding component; 2. Coding component; 3. Rigid chain driving component; 4. Multi-stage telescopic sleeve; 5. Rigid chain library; 6. Rigid chain; 7. Bracket guide rail component; 8. Main cable.

[0035] 11. Driving shaft main cable pulley; 12. Main cable guiding mechanism; 13. Main cable driven pulley; 14. Main cable guiding drive shaft; 15. Main cable guiding drive synchronous belt; 121. Main cable guiding roller bracket; 122. Swing pressure arm; 123. Main cable inlet guiding roller set; 124. Driving roller; 125. Main cable outlet guiding roller set; 126. End guiding roller

[0036] 21. Encoder; 22. Position indicator; 23. Encoder base; 24. Encoder driven pulley; 25. Encoder circular arc tooth synchronous belt; 26. Driving shaft encoder pulley

[0037] 31. Right-angle speed reducer; 32. Manual emergency drive assembly; 33. Power transmission gearbox; 34. Servo motor; 35. Rigid chain drive shaft

[0038] 41. First-stage sleeve; 42. First-stage sleeve end cap; 43. First-stage sleeve end cap sealing ring; 44. Dynamic seal between first and second-stage sleeves; 45. Second-stage sleeve; 46. Second-stage sleeve end cap; 47. Second-stage sleeve end cap seal; 48. Dynamic seal between second and third-stage sleeves; 49. Third-stage sleeve

[0039] 410. Third-stage sleeve end cap; 411. Third-stage sleeve end cap seal; 412. Dynamic seal between third and fourth-stage sleeves; 413. Tool rear insertion section assembly; 414. Inner sealing ring of fourth-stage sleeve; 415. Fourth-stage sleeve; 416. End collar of fourth-stage sleeve; 417. Half ring at the end of fourth-stage rod; 418. Tail support of third-stage sleeve; 419. Tail support of second-stage sleeve

[0040] 420. Tail support of first-stage sleeve; 421. End connection of rigid chain; 422. Axial sliding key

[0041] 71. Support frame; 72. Copper bushing at the end of the frame; 73. Slide rail; 74. Multi-stage telescopic sleeve clamping ring; 75. Slide block Detailed implementation manners

[0042] The following is a further detailed description through specific implementation manners

[0043] In order to complete the in-service inspection of the CANDU nuclear reactor pressure tube, it is necessary to develop a multi-stage telescopic device with a long driving stroke, sufficient circumferential torsional rigidity and sealing performance according to the internal structure and working environment of the fuel channel, continuously push the inspection tool forward, and sequentially pass through the end components and the pressure tube. Its stroke range covers the full length of the pressure tube, and during the inspection process, no visible leakage occurs at each sealing part of each telescopic component

[0044] As Figures 1 to 8As shown in the figure, the present application provides a multi-stage sealed telescopic structure with anti-torsion and long stroke. This telescopic structure can be applied to the environment of a heavy water nuclear reactor pressure tube with a long axial distance and a certain internal heavy water pressure. As an inspection tool conveying device, this telescopic structure includes four layers of sleeves, and a rigid chain is used as the driving force of the rod member, which is connected to the innermost rod member to gradually extend each level of the sleeve until all are fully extended to reach the end position at the other end of the pressure tube. Specifically, this telescopic structure includes a main cable drive and guide assembly 1, an encoding assembly 2, a rigid chain drive assembly 3, a multi-stage telescopic sleeve 4, a rigid chain library 5, a rigid chain 6, a support rail assembly 7, and a main cable 8.

[0045] As Figure 1 shown, the main cable drive and guide assembly 1, the encoding assembly 2, and the rigid chain drive assembly 3. The main cable drive and guide assembly 1 and the encoding assembly 2 are installed on the rigid chain drive assembly 3 and connected to the end of the support rail assembly 7. The main cable drive and guide assembly 1 can drive the rigid chain 5 and the main cable 8 to move forward and backward at the same speed. The rigid chain 6 is located in the rigid chain library 5. The rigid chain library 5 is fixed below the support rail assembly 7. The total length of the rigid chain 6 reflects the stroke of the multi-stage telescopic sleeve 4. The rigid chain 6 is arranged in layers in the rigid chain library 5 and can move forward and backward in layers in the rigid chain library 5. The front end of the rigid chain 6 is hinged to the end of the innermost sleeve of the multi-stage telescopic sleeve 4. The rigid chain 6 can push the multi-stage telescopic sleeve 4 to contract and expand. The rigid chain drive assembly 3 drives the rigid chain 6 to move forward and backward.

[0046] The multi-stage telescopic sleeve 4 can move back and forth along the support rail assembly 7 under the pushing action of the rigid chain 6.

[0047] As Figure 1 and Figure 2 shown, the main function of the encoding assembly 2 is to display the real-time position of the rigid chain drive assembly. The encoding assembly 2 includes an encoder 21, a position indicator 22, an encoder base 23, an encoder driven pulley 24, an encoder circular arc tooth synchronous belt 25, and a drive shaft encoder pulley 26.

[0048] The encoder base 23 is installed above the right-angle speed reducer 31 of the rigid chain drive assembly 3. The drive shaft encoder pulley 26 is installed on the rigid chain drive shaft 35 of the rigid chain drive assembly 3. The drive shaft encoder pulley 26 is installed on the rigid chain drive shaft 35 of the rigid chain drive assembly 3 and the main cable driven pulley 13 of the main cable drive and guide assembly 1 for transmission connection. The encoder 21, the position indicator 22, and two encoder driven pulleys 24 are installed on the encoder base 23. The encoder circular arc tooth synchronous belt 25 is installed on the drive shaft encoder pulley 26 on the rigid chain drive shaft 35 and two encoder driven pulleys 24 for transmission connection.

[0049] Preferably, in order to improve the coding accuracy, a large gear is selected for the drive shaft encoder pulley 26, and a small gear is selected for the encoder driven pulley 24. Under the condition of the same movement distance, the number of encoder rotation cycles is increased, improving the encoder accuracy.

[0050] As Figure 2 shown, the rigid chain drive assembly 3 includes a right-angle speed reducer 31, a manual emergency drive assembly 32, a power transmission gearbox 33, a servo motor 34, and a rigid chain drive shaft 35. After the power is input by the servo motor 34, it reaches the rigid chain drive shaft 35 through the power transmission gearbox 33 and the right-angle speed reducer 31. The rigid chain drive shaft 35 and the rigid chain 6 drive the rigid chain 6 to move forward or backward through chain drive.

[0051] Preferably, a manual emergency drive assembly 32 is also provided in the rigid chain drive assembly 3. The manual emergency drive assembly 32 is installed on the power transmission gearbox 33, and the rigid chain 6 can be manually driven to move through the manual emergency drive assembly 32 in the power-off state.

[0052] As Figure 1 and Figure 3 shown, the main cable drive and guiding assembly 1 includes a drive shaft main cable pulley 11, a main cable guiding mechanism 12, a main cable driven pulley 13, a main cable guiding drive shaft 14, and a main cable guiding drive synchronous belt 15.

[0053] The drive shaft main cable pulley 11 is installed on the rigid chain drive shaft 35. The main cable driven pulley 13 is installed on the main cable guiding drive shaft 14, and the main cable guiding drive shaft 14 is installed on the main cable guiding mechanism 12. The drive shaft main cable pulley 11 and the main cable driven pulley 13 are connected by a belt drive through the main cable guiding drive synchronous belt 15.

[0054] Power is transmitted from the drive shaft main cable pulley 11 on the rigid chain drive shaft 35 to the main cable driven pulley 13 through the main cable guiding drive synchronous belt 15, driving the main cable guiding drive shaft 14 to rotate. There is a strict proportional relationship between the number of teeth of the drive shaft main cable pulley 11 and the main cable driven pulley 13, ensuring that when the rigid chain drive shaft 35 rotates one circle, the length of the rigid chain moving forward or backward is equal to the length of the main cable moving forward or backward.

[0055] It matches the distance that the rigid chain drive shaft 35 drives the rigid chain 6 to move forward, that is, the distance that the rigid chain drive shaft 35 drives the rigid chain 6 to move forward in one rotation is the same as the distance that the main cable 8 moves forward after being transmitted through the drive shaft main cable pulley 11 and the main cable driven pulley 13.

[0056] As Figure 4 shown, the main cable guiding mechanism 12 includes a main cable guiding roller bracket 121, a swing pressure arm 122, a main cable inlet guiding roller set 123, a driving roller 124, a main cable outlet guiding roller set 125, and a terminal guiding roller 126.

[0057] The main cable 8 is guided into the interior of the main cable guiding roller bracket 121 by the main cable inlet guiding roller set 123, and is conveyed forward by the frictional force between the swing pressure arm 122 and the driving roller 124 connected to the rigid chain drive shaft 35. It enters the multi-stage telescopic sleeve 4 through the main cable outlet guiding roller set 125 and the end guiding roller 126, and is conveyed forward synchronously with the gradual expansion of the multi-stage telescopic sleeve 4.

[0058] The swing pressure arm 122, the main cable inlet guiding roller set 123, the driving roller 124, the main cable outlet guiding roller set 125, and the end guiding roller 126 are all arranged on the main cable guiding roller bracket 121. The swing pressure arm 122 and the driving roller 124 are arranged at the middle position of the main cable guiding roller bracket 121. The main cable inlet guiding roller set 123 is arranged at the inlet end position of the main cable guiding roller bracket 121, and the end guiding roller 126 is arranged at the outlet end position of the main cable guiding roller bracket 121. The number of the main cable outlet guiding roller sets 125 is, for example, 3, and they are arranged at a position close to the outlet end, for example, at the position of the main cable guiding roller bracket 121 between the end guiding roller 126 and the swing pressure arm 122.

[0059] As Figures 6 to 8 shown, the multi-stage telescopic sleeve 4 includes four layers of concentrically nested hollow sleeves, a tool rear insertion section assembly 413, and a rigid chain end connection 421. Among them, the four layers of concentrically nested hollow sleeves are, from the outside to the inside, the first-stage sleeve 41, the second-stage sleeve 45, the third-stage sleeve 49, and the fourth-stage sleeve 415. The front end of the fourth-stage sleeve 415 is connected to the tool rear insertion section assembly 413, and the rear end is connected to the rigid chain end connection 421. The rigid chain end connection 421 is the connection between the rigid chain 6 and the fourth-stage sleeve 415. The front end of the first-stage sleeve 41 is installed with a first-stage sleeve end cover 42, which is made of a special copper material and is used for the fit and dynamic seal between the first- and second-stage sleeves. The outside of the first-stage sleeve end cover 42 is threadedly connected to the first-stage sleeve 41, and a first-stage sleeve end cover sealing ring 43 is installed at the threaded connection for the static seal between the first-stage sleeve end cover 42 and the first-stage sleeve 41. A first- and second-stage sleeve dynamic seal 44 is installed inside the first-stage sleeve end cover 42 for the dynamic seal between the first-stage sleeve 41 and the second-stage sleeve 45.

[0060] The second-stage sleeve 45 is a sleeve with two steps. Among them, the rear section, a circumferential sleeve section about 200 mm long, is a circumferential anti-rotation section, and 3 guiding sliding keys 422 are installed in the circumferential direction and evenly distributed. Three guiding key grooves are evenly distributed in the 120° direction of the entire inner section of the first-stage sleeve 41, and are matched with the 3 guiding sliding keys 422 installed at the rear end of the second-stage sleeve 45 in the circumferential direction to play a role in circumferential anti-rotation. The front section of the second-stage sleeve 45 is about 3 m, and the front section is a matching guiding section, which is treated by hard chromium plating and forms a shaft-hole matching relationship with the first-stage sleeve end cover 42.

[0061] The installation methods between the secondary sleeve 45 and the tertiary sleeve 49, and between the tertiary sleeve and the quaternary sleeve 415 are the same as the installation method between the aforementioned primary sleeve 41 and the secondary sleeve 45. Since the quaternary sleeve 415 is the innermost sleeve, there is no need for a keyway inside it, and the inner side of the quaternary sleeve 415 is not machined with a keyway in terms of its structural form. At the front end of the quaternary sleeve 415, a quaternary sleeve end collar 416 and a quaternary rod end half-ring 417 are installed to fix and connect the rear insertion section assembly 413 of the tool. A quaternary sleeve inner seal ring 414 is installed between the rear insertion section assembly 413 of the tool and the quaternary sleeve 415 for sealing between the quaternary sleeve 415 and the rear insertion section assembly 413 of the tool. The rear insertion section assembly 413 of the tool is used to check the installation position of the tool connection cable.

[0062] The primary sleeve 41, secondary sleeve 45, and tertiary sleeve 49 are respectively fixedly connected with a primary sleeve tail support 420, secondary sleeve tail support 419, and tertiary sleeve tail support 418 at their ends, which are used for the guidance and support of the rigid chain 6 inside the multi-stage telescopic sleeve.

[0063] The extension method of each stage of the sleeve is as follows: First, the rigid chain 6 extends forward to drive the quaternary sleeve 415 to extend forward in the channel. When the rear step surface of the quaternary sleeve 415 contacts the end cover 410 of the tertiary sleeve, the extension stroke of the quaternary sleeve 415 has been exhausted, and the rigid chain 6 is still extending. At this time, the quaternary sleeve 415 drives the tertiary sleeve 49 to extend forward, and so on, until each stage of the sleeve extends in sequence.

[0064] The contraction method of each stage of the sleeve is as follows: First, the rigid chain 6 contracts backward to drive the quaternary sleeve 415 to retract backward in the channel until the step surface of the quaternary sleeve end collar 416 contacts the end cover 410 of the tertiary sleeve, and the quaternary sleeve 415 has been fully retracted. The rigid chain 6 is still extending. At this time, the quaternary sleeve 415 drives the tertiary sleeve 49 to retract backward, and the end cover 410 of the tertiary sleeve contacts the end cover 46 of the secondary sleeve, and so on, until each stage of the sleeve retracts in sequence.

[0065] As Figure 1 and Figure 5 shown, the support rail assembly 7 includes a support frame 71, a frame end copper bushing 72, a slide rail 73, a multi-stage telescopic sleeve retaining ring 74, and a slider 75. The slide rail 73 is installed on the upper bottom surface of the support frame 71. The slider 75 and the multi-stage telescopic sleeve retaining ring 74 thereon are connected to the end of the primary sleeve 41 at the end of the multi-stage telescopic sleeve 4. After the rear end of the multi-stage telescopic sleeve 4 is installed on the slide rail 73, it is coaxial with the frame end copper bushing 72. The front end of the multi-stage telescopic sleeve 4 forms a moving pair with the frame end copper bushing 72, and the multi-stage telescopic sleeve 4 can move back and forth along the slide rail 73.

[0066] The servo motor 34 or the manual emergency drive assembly 32 applies a forward or backward pulling force to the rigid chain end link 421 connected to the end of the four-stage sleeve 415 through the drive rigid chain 6, causing the four-stage sleeve 415 to expand or contract. Then, the pushing and pulling forces are transmitted to each stage of the sleeve through the end caps of each stage of the sleeve, driving the multi-stage telescopic sleeve 4 with the inspection and measurement tool to move inside the pipeline.

[0067] The multi-stage telescopic sleeve 4 utilizes the power of the servo motor 34 or the manual emergency drive assembly 32 to drive the rigid chain drive shaft 35. On the one hand, the rotation of the rigid chain drive shaft 35 drives the movement of the rigid chain 6 through chain drive. On the other hand, it drives the main cable 8 to be transported at the same distance and speed in the same direction as the rigid chain through belt drive with a certain transmission ratio.

[0068] Finally, the main cable 8 and the rigid chain 6 enter and exit together. When the push rod extends, the main cable 8 and the rigid chain 6 move forward together. When the push rod contracts, the rigid chain 6 returns to the rigid chain library 5, and the main cable 8 exits from the entrance.

[0069] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present application should be covered within the protection scope of the present application.

Claims

1. A multi-stage sealing telescopic structure with a long stroke and anti-torsion, characterized in that: The invention comprises a main cable driving guide assembly (1) and a rigid chain driving assembly (3) which are connected, wherein the rigid chain driving assembly (3) is installed at one end of a support rail assembly (7), a rigid chain library (5) is arranged below the support rail assembly (7), a rigid chain (6) is arranged inside the rigid chain library (5), a multi-stage telescopic sleeve (4) is arranged through the support rail assembly (7), a front end of the rigid chain (6) is connected to the end of the multi-stage telescopic sleeve (4), and the rigid chain driving assembly (3) drives the rigid chain (6) to move, thereby driving the multi-stage telescopic sleeve (4) to retract and expand.

2. The anti-torsion long-stroke multi-stage sealed telescopic structure according to claim 1, characterized in that: The multi-stage telescopic sleeve (4) comprises four layers of concentrically nested hollow sleeves, and the hollow sleeves comprise a primary sleeve (41), a secondary sleeve (45), a tertiary sleeve (49) and a quaternary sleeve (415) which are sequentially connected and arranged from the outside to the inside.

3. The anti-torsion long-stroke multi-stage sealed telescopic structure according to claim 2, characterized in that: A first-stage sleeve end cover (42) is provided at the front end of the first-stage sleeve (41), a guide keyway is provided in the circumferential direction between the first-stage sleeve (41) and the second-stage sleeve (45), and a guide sliding key (422) is provided in the guide keyway; the second-stage sleeve (45) and the third-stage sleeve (49), and the third-stage sleeve (49) and the fourth-stage sleeve (415) are matched by slot keys.

4. The anti-torsion long-stroke multi-stage sealed telescopic structure according to claim 3, characterized in that: The first-stage sleeve (41) and the first-stage sleeve end cover (42) are connected by threads, and a first-stage sleeve end cover sealing ring (43) is provided at the connection point. The first-stage sleeve end cover (42) is provided with a first- and second-stage sleeve dynamic seal (44) inside.

5. The anti-torsion long-stroke multi-stage sealed telescopic structure according to claim 3, characterized in that: The secondary sleeve (45) is a sleeve with two steps, the rear section is a circumferential rotation-stopping section and is equipped with the guide sliding key (422), and the front section is a matching guide section, forming a shaft hole matching relationship with the primary sleeve end cover (42).

6. The anti-torsion long-stroke multi-stage sealing telescopic structure according to claim 3, characterized in that: The front end of the four-stage sleeve (415) is connected to the tool rear plug-in section assembly (413), and the rear end is connected to the rigid chain end link (421). The front end of the four-stage sleeve (415) is installed with a four-stage sleeve end ring (416) and a four-stage rod end half ring (417), and a four-stage sleeve inner side sealing ring (414) is installed between the tool rear plug-in section assembly (413) and the four-stage sleeve (415).

7. The anti-torsion long-stroke multi-stage sealed telescopic structure according to claim 1, characterized in that: The rigid chain drive assembly (3) is provided with an encoding assembly (2), and the encoding assembly (2) comprises an encoder (21), a position indicator (22), an encoder base (23), an encoder driven pulley (24), an encoder circular arc tooth synchronous belt (25) and a drive shaft encoder pulley (26); the encoder (21), the position indicator (22) and the encoder driven pulley (24) are mounted on the encoder base (23), the encoder circular arc tooth synchronous belt (25) is transmission-connected to the rigid chain drive assembly (3) and the encoder driven pulley (24), and the drive shaft encoder pulley (26) is transmission-connected to the rigid chain drive assembly (3) and the main cable drive guide assembly (1).

8. The anti-torsion long-stroke multi-stage sealed telescopic structure according to claim 1, characterized in that: The rigid chain drive assembly (3) comprises a right-angle reducer (31), a push rod input end gear box (33), a servo motor (34) and a rigid chain drive shaft (35); after the power of the servo motor (34) is input, it passes through the push rod input end gear box (33) and the right-angle reducer (31) and reaches the rigid chain drive shaft (35).

9. The anti-torsion long-stroke multi-stage sealed telescopic structure according to claim 1, characterized in that: The main cable driving and guiding assembly (1) comprises a driving shaft main cable pulley (11), a main cable guiding mechanism (12), a main cable driven pulley (13), a main cable guiding driving shaft (14) and a main cable guiding driving synchronous belt (15); the driving shaft main cable pulley (11) is mounted on a rigid chain driving shaft (35), the main cable driven pulley (13) is mounted on the main cable guiding driving shaft (14), and the main cable guiding driving shaft (14) is mounted on the main cable guiding mechanism (12).

10. The anti-torsion long-stroke multi-stage sealing telescopic structure according to claim 9, characterized in that: The main cable guide mechanism (12) comprises a main cable guide roller bracket (121), a swing pressure arm (122), a main cable entrance guide roller group (123), a transmission roller (124) and a terminal guide roller (126); the main cable entrance guide roller group (123) is installed at the entrance end of the main cable guide roller bracket (121), the terminal guide roller (126) is installed at the exit end of the main cable guide roller bracket (121), and the swing pressure arm (122) is installed at the middle position of the main cable guide roller bracket (121).

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