Support platform for detector in pipeline

Abstract

The invention belongs to the technical field of pipeline interior detection, and particularly discloses a pipeline interior detector support platform which comprises a platform center shaft, a fluid pressure difference driving mechanism and at least two variable-diameter driving mechanisms matched with the fluid pressure difference driving mechanism are arranged on the platform center shaft, and a variable-diameter cleaning mechanism is arranged at one end of the fluid pressure difference driving mechanism; the fluid pressure difference driving mechanism drives the detection support platform in the pipeline to move in the pipeline through the fluid pressure difference, so that long-distance movement of the detection support platform in the pipeline is facilitated, and the extension height of the wheel type driving structure is adjusted through the variable-diameter adjusting structure of the variable-diameter driving mechanism. The support platform of the detector in the pipeline can carry the detector to carry out internal detection operation on the pipeline under abnormal working conditions. The variable-diameter cleaning mechanism can clean the pipeline under the abnormal working condition, impurity particles generated after cleaning are recycled, and the cleanliness in the pipeline is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of in-pipe detection, and particularly relates to a support platform for an in-pipe detector. Background Art

[0002] The support platform for an in-pipe detector can carry an in-pipe detector, which is used to detect inner wall defects such as deformation, corrosion, wear, and cracks generated in the pipeline due to long-term use, can timely discover problems and potential hazards existing in the pipeline body, and reduce the probability of pipeline accidents. In addition, the support platform for an in-pipe detector can clean the impurities adhering to the pipe wall after pipeline pigging, and improve the detection accuracy of the in-pipe detector.

[0003] Currently, some gas transmission pipeline connecting lines have pipeline diameter changes. The existing support platforms for in-pipe detectors cannot be adaptively adjusted according to changes in pipeline diameter and working conditions, resulting in the inability to perform in-pipe detection on pipelines for a long time. Summary of the Invention

[0004] In order to solve the above technical problems, the present invention provides a support platform for an in-pipe detector that can clean pipelines under abnormal working conditions and can recycle the impurities after cleaning.

[0005] Based on the above purpose, the present invention is realized through the following technical solutions: A support platform for an in-pipe detector, including a platform central axis, on which a fluid pressure difference driving mechanism and at least two variable diameter driving mechanisms cooperating with the fluid pressure difference driving mechanism are provided, and a variable diameter cleaning mechanism is provided at one end of the fluid pressure difference driving mechanism.

[0006] Preferably, the fluid pressure difference driving mechanism includes a pair of cup leather A and cup leather B arranged on the platform central axis. Cup leather A and cup leather B are respectively connected to the platform central axis through cup leather mounting frames; a platform protection shell that is in clearance fit with cup leather A and cup leather B is sleeved on the cup leather mounting frames; a drain valve is provided at the connection between cup leather A and cup leather B and the platform central axis; Cup leather A and cup leather B made of materials such as polyurethane are propped up under the action of pressure difference, so that the cup leather forms a seal with the pipeline, and cup leather A and cup leather B are in interference fit with the pipeline: the interference amount is 0.5% - 2.0%. A pressure difference is formed on both sides of cup leather A and cup leather B by the fluid in the pipeline to drive the movement of this platform. This driving method has a simple and reliable structure and strong power.

[0007] Preferably, the variable diameter driving mechanism includes a variable diameter fixing frame arranged on the platform central axis, a variable diameter adjusting structure is provided on the variable diameter fixing frame, a wheel-type driving structure cooperating with cup leather A and cup leather B is provided on the variable diameter adjusting structure, and the variable diameter adjusting structure is in clearance fit with a variable diameter adjusting hole provided on the platform protection shell.

[0008] Preferably, the variable-diameter adjusting structure includes a variable-diameter fixing plate arranged on the variable-diameter fixing frame, and a variable-diameter supporting plate is provided on the variable-diameter fixing plate; a variable-diameter motor is provided on the variable-diameter fixing frame, the variable-diameter motor is a servo motor for driving the variable-diameter movement, the output end of the variable-diameter motor is connected with a lead screw pair for transmission, the lead screw pair is connected with the variable-diameter fixing frame through a matching lead screw bearing, the lead screw pair is connected with a variable-diameter connecting block arranged on the variable-diameter fixing frame through a lead screw slider, and the variable-diameter connecting block is matched with a variable-diameter guide rail arranged on the variable-diameter fixing frame; at least one parallel support rod is arranged in parallel on the variable-diameter supporting plate; a variable-diameter top pull rod that intersects and cooperates with the parallel support rod is provided on the variable-diameter connecting block.

[0009] Preferably, the wheel-type driving structure includes a wheel-type driving frame that cooperates with the parallel support rod and the variable-diameter top pull rod, a variable-diameter driving wheel is provided on the wheel-type driving frame, the variable-diameter driving wheel is an adaptive spring wheel, and the variable-diameter driving wheel is matched with a driving shaft arranged on the wheel-type driving frame; a driving motor that cooperates with the driving shaft is provided on the wheel-type driving frame, and the driving motor is connected with a driving battery; both ends of the variable-diameter top pull rod are respectively hinged to the variable-diameter connecting block and the wheel-type driving frame, and both ends of the variable-diameter top pull rod are respectively hinged to the variable-diameter connecting block and the wheel-type driving frame through a pull rod rotating shaft; both ends of the parallel support rod are respectively hinged to the variable-diameter supporting plate and the wheel-type driving frame, and both ends of the parallel support rod are respectively hinged to the variable-diameter supporting plate and the wheel-type driving frame through a support rotating shaft; a speed sensor is provided on the platform protection housing.

[0010] Preferably, a fixing shell that cooperates with the driving motor is provided on the wheel-type driving frame; a driving wheel frame is provided on the central shaft of the variable-diameter driving wheel, a driving adjusting shaft is provided at the end of the driving wheel frame, the driving adjusting shaft is matched with an L-shaped fixing plate arranged on the wheel-type driving frame, and a driving spring that cooperates with the L-shaped fixing plate is sleeved on the driving adjusting shaft; a guiding sliding rail is provided on the side surface of the driving wheel frame, the guiding sliding rail is matched with a fixing plate slider arranged on the L-shaped fixing plate, a driving sliding groove that cooperates with the guiding sliding rail is provided on the fixing plate slider, a guiding strip is provided on the inner side surface of the driving sliding groove, and the guiding strip is matched with a guide rail arranged on the guiding sliding rail; a driving sliding hole that cooperates with the guiding sliding rail and an adjusting hole that cooperates with the driving adjusting shaft are provided on the L-shaped fixing plate; a limiting ring is provided at the end of the driving adjusting shaft; a pressure sensor that cooperates with the driving spring is provided on the driving adjusting shaft.

[0011] Preferably, the variable-diameter cleaning mechanism includes a cleaning skeleton arranged at the tail end of the platform central shaft, a transmission shaft is provided at the center of the side surface of the cleaning skeleton, the transmission shaft is matched with a cleaning motor arranged on the platform central shaft, and the transmission shaft is connected with a cleaning fixing frame arranged on the platform central shaft through a cleaning bearing; the cleaning skeleton includes a cleaning sleeve connected with the transmission shaft, and radial support rods with clearance fit are welded on the cleaning sleeve.

[0012] Preferably, a radial cleaning rod is sleeved inside the radial support rod. The radial cleaning rod is matched with a groove pin structure arranged inside the radial support rod. A cleaning brush is provided at the cleaning end of the radial cleaning rod. Cleaning clamping plates connected to the radial cleaning rod are provided on both sides of the cleaning brush. Cleaning wing plates perpendicular to the cleaning clamping plates are provided at the ends of the cleaning clamping plates.

[0013] Preferably, the groove pin structure includes a stepped spring arranged inside the radial support rod near one end of the cleaning sleeve. The movable end of the stepped spring is connected to one end of the radial cleaning rod far from the cleaning brush. A cylindrical pin is provided on the side surface of the radial cleaning rod. The cylindrical pin is matched with a stepped groove arranged on the side surface of the radial support rod.

[0014] Preferably, a collection structure matched with the cleaning brush is provided on the cleaning fixing frame. The collection structure includes a collection cylinder sleeved on the cleaning fixing frame. An annular side plate matched with the cleaning wing plate is provided on one side of the collection cylinder close to the cleaning skeleton. The annular side plate is matched with an annular baffle sleeved inside the collection cylinder. The ring width of the annular side plate is smaller than that of the annular baffle. Exhaust holes matched with the annular baffle are evenly distributed on the side of the collection cylinder far from the cleaning skeleton. An anti-blocking material retaining card is arranged in the exhaust holes. The anti-blocking material retaining card includes an anti-blocking member arranged in the exhaust holes. An anti-blocking spherical segment in interference fit with the exhaust holes is provided at one end of the anti-blocking member close to the annular baffle. The anti-blocking member includes at least two symmetrically arranged anti-blocking fan rings. The anti-blocking fan rings are in clearance fit with each other and are connected by an anti-blocking spring. The anti-blocking fan rings are matched with fan ring sliding grooves arranged on the plane side of the anti-blocking spherical segment. The radial support rods are connected by fan ring reinforcing pipes. The cleaning brushes are distributed in an inverted spiral circle on one side of the annular side plate.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The fluid pressure difference driving mechanism of the present invention uses the fluid pressure difference to drive the detector support platform in the pipeline to move inside the pipeline, which is convenient for the in-pipeline detector to move over a long distance inside the pipeline. The extension height of the wheeled driving structure is adjusted through the diameter-changing adjustment structure of the diameter-changing driving mechanism, so that the detector support platform of the present invention can clean the pipeline under abnormal working conditions, which can improve the application range of the present invention. The wheeled driving structure is started in a timely manner according to needs to play a boosting effect, which is convenient for the detector support platform of the present invention to run smoothly in a high-resistance pipeline, and improves the stability and continuity of the cleaning and detection of the present invention in pipelines under abnormal working conditions. The diameter-changing cleaning mechanism of the present invention can clean the pipeline under abnormal working conditions and recycle the impurity particles generated after cleaning, avoiding the long-term attachment of impurities inside the pipeline and reducing the occurrence of problems such as pipeline corrosion, and improving the cleanliness and safety of the pipeline.

[0016] 2. The support platform of the in-pipe detector of this pipeline adopts a hybrid drive mode design, integrating the persistence of fluid pressure difference drive and the flexibility of wheel drive. Among them, the wheel drive structure is detected by a speed sensor under high resistance states such as vertical pipelines, three-way pipelines, reduced-diameter pipelines, elbows (the high resistance state refers to abnormal working conditions such as vertical pipelines, three-way pipelines, reduced-diameter pipelines, elbows). (According to the speed of the support platform of the in-pipe detector, it indirectly reflects the resistance of the support platform of the in-pipe detector in the pipeline. The smaller the speed under abnormal working conditions, the greater the resistance, and thus it is judged whether to start the wheel drive structure), and it is started in a timely manner to play a boosting effect. When in a long straight pipeline, the pressure difference between the two sides of the leather cups A and B of the fluid pressure difference drive mechanism provides the driving force, and the pressure difference is formed on both sides of the leather cups A and B by the fluid in the pipeline to drive the movement of this platform. The present invention integrates two power drives of wheel type and fluid pressure difference type, and is particularly suitable for long-distance and large-diameter pipeline working conditions.

[0017] 3. Under special working conditions such as high resistance, the wheel drive structure starts to provide assistance. When operating in a long straight pipeline, it is driven by the fluid pressure difference drive mechanism. The wheel drive structure can be reversely charged. The drive motor adopts a DC motor, and the power is transmitted through the transmission structure. In order to improve the power generation efficiency and space utilization rate, a hub motor can also be directly used. The hub motor is installed on the reduced-diameter drive wheel. The problem of long-distance operation of the present invention is solved by the reverse charging method. Theoretically speaking, when the ratio of the high resistance state to the long straight state of the gas transmission pipeline is coordinated, the support platform of the in-pipe detector of this pipeline is not restricted by the operation distance. Both the DC motor and the hub motor are reversible and can be used as generators. When the drive battery supplies power to drive the motor to run, electrical energy is converted into mechanical energy, and at this time the motor is a motor. When the power supply stops, mechanical energy is converted into electrical energy, and at this time the motor is a generator, and the generated electrical energy is stored in the drive battery.

[0018] 4. The variable-diameter adjustment structure of the present invention adopts a two-degree-of-freedom motion branch chain structure and has carried out an adaptive modification design on the variable-diameter drive wheel. The support platform of the in-pipe detector cannot avoid operating under special conditions such as curved pipes, tee pipes, and variable-diameter pipes. When operating under the above special working conditions, problems such as air leakage may occur in the leather cups A and B in the fluid pressure difference driving mechanism, resulting in the inability to drive the support platform of the in-pipe detector. Moreover, the wheel drive structure has insufficient contact with the pipe wall under special working conditions, thus causing problems such as slipping or suspension. The variable-diameter adjustment structure of the present invention adjusts the contact pressure between the wheel drive structure and the pipe wall by controlling the lead screw pair through a variable-diameter motor according to the feedback of the pressure sensor, so that the variable-diameter drive wheel closely adheres to the inner side of the pipe wall, avoiding problems such as slipping or suspension of the variable-diameter drive wheel. The variable-diameter adjustment structure of the present invention uses four parallel support rods to hinge with the variable-diameter support plate and the wheel drive frame. By controlling the position of the variable-diameter top pull rod, the four parallel support rods in the shape of a parallelogram swing, enabling the wheel drive structure to achieve variable-diameter expansion and contraction, which can meet the requirements of the support platform of the in-pipe detector for adaptation and obstacle avoidance in different pipe inner diameters, making the support platform of the in-pipe detector applicable to the working conditions of long-distance pipelines with a specification of φ1000 - φ1400mm.

[0019] 5. The variable-diameter drive wheel adopts a slider guide rail combined with a drive spring to achieve an adaptive function. When there is an abnormal protrusion or obstacle at a certain place in the pipe, the variable-diameter drive wheel will adaptively retract and avoid according to the size of the obstacle. The drive wheel frame squeezes the spring and moves towards the L-shaped fixing plate side, and the drive wheel frame slides along the guiding direction of the fixing plate slider on the L-shaped fixing plate to achieve the retraction and avoidance of the variable-diameter drive wheel. When the abnormal situation at a certain place in the pipe is deformation, under the action of the drive spring, the variable-diameter drive wheel is in full contact with the pipe wall, improving the wall-gripping force of the variable-diameter drive wheel, thus avoiding slipping or jamming of the support platform of the in-pipe detector during the traveling process.

[0020] 6. The variable-diameter cleaning mechanism can be adjusted according to the change of the pipe diameter and can effectively remove the impurity particles attached to the pipe wall. The cleaning skeleton is a round steel pipe made by welding process. The cleaning brush is made of rubber material and is fixed at the end of the retractable radial cleaning rod through a cleaning splint. 12 radial support rods and the radial cleaning rod are each made of two nested large and small round pipes. A variable-diameter spring is embedded in the radial support rod to automatically adjust the variable-diameter size according to the pipe diameter state. The groove pin structure on the radial support rod plays a role in limiting and guiding the radial cleaning rod. The groove pin structure is directly processed with a variable-diameter groove (length 200mm, width 5mm) on the radial support rod of the cleaning mechanism, and a cylindrical pin with a diameter of φ5mm is welded on the radial cleaning rod. The groove pin structure limits the variable-diameter stroke and rotational freedom of the cleaning brush, making the cleaning brush move in a straight line along the guiding direction of the groove pin without rotation. The impurity particles generated by cleaning are collected by the collection cylinder.

[0021] 7. The variable-diameter cleaning mechanism adjusts the shape and installation angle of the cleaning brushes, such that the cleaning brushes of the entire variable-diameter cleaning mechanism exhibit an inverted spiral circumferential distribution. As the cleaning brushes rotate, gas will be discharged from the air holes behind the collection cylinder, and a certain negative pressure will be generated in the collection cylinder, prompting impurity particles to enter the collection cylinder inside the annular baffle; the impurity particles swept by the cleaning brushes will slide along the wing plates into the rear collection cylinder under the action of gravity; the annular side plate and the annular baffle form two layers of impurity particle baffles, and the ring width of the annular side plate is smaller than that of the annular baffle, making the design of the two with the front lower and the rear higher, which can significantly improve the storage space of the collection cylinder.

[0022] 8. The fluid pressure difference driving mechanism of the present invention uses the fluid pressure difference to drive the detection support platform in the pipeline to move inside the pipeline, facilitating the long-distance movement of the present invention inside the pipeline. The variable-diameter adjustment structure of the variable-diameter driving mechanism adjusts the extension height of the wheeled driving structure, enabling the pipeline internal detector support platform to carry a detector to perform internal detection operations on the pipeline under abnormal conditions; the variable-diameter cleaning mechanism of the present invention can clean the pipeline under abnormal conditions and recycle the impurity particles generated after cleaning, improving the accuracy of pipeline internal detection. Description of the Drawings

[0023] Figure 1 is a schematic structural diagram of the present invention in Embodiment 1; Figure 2 is a schematic structural diagram of the present invention in Embodiment 1; Figure 3 is a schematic structural diagram of the variable-diameter driving mechanism in Embodiment 1; Figure 4 is a schematic structural diagram of the variable-diameter driving mechanism in Embodiment 1; Figure 5 is a schematic structural diagram of the wheeled driving structure in Embodiment 1; Figure 6 is a schematic structural diagram of the variable-diameter driving wheel in Embodiment 1; Figure 7 is a schematic structural diagram of the variable-diameter cleaning mechanism in Embodiment 1; Figure 8 is a front structural schematic diagram of the variable-diameter cleaning mechanism in Embodiment 1; Figure 9 is a rear structural schematic diagram of the variable-diameter cleaning mechanism in Embodiment 1; Figure 10 is a sectional structural schematic diagram of the variable-diameter cleaning mechanism in Embodiment 1.

[0024] In the figure, there is a variable-diameter cleaning mechanism 1, a leather cup A 2, a variable-diameter adjustment hole 3, a variable-diameter driving mechanism 4, a leather cup B 5, a platform protection housing 6, a leather cup mounting bracket 7, a platform central axis 8, a cleaning sleeve 101, a transmission shaft 102, a radial support rod 103, a cleaning motor 104, a cleaning bearing 105, a fan-shaped ring reinforcing pipe 106, a cleaning wing plate 107, a cleaning brush 108, a cleaning clamping plate 109, a groove pin structure 110, a collection cylinder 111, an annular side plate 112, an exhaust hole 113, an annular baffle 114, an anti-blocking material retaining clip 115, a cleaning fixing frame 116, a radial cleaning rod 117, a variable-diameter fixing frame 401, a pull rod rotating shaft 402, a variable-diameter top pull rod 403, a pull rod rotating shaft 404, a variable-diameter driving wheel 405, a fixed housing 406, a variable-diameter driving wheel 407, a wheel-type driving frame 408, a support rotating shaft 409, a parallel support rod 410, a support rotating shaft 411, a variable-diameter support plate 412, a variable-diameter motor 413, a variable-diameter fixing plate 414, a lead screw bearing 415, a lead screw slider 416, a lead screw pair 417, a variable-diameter connecting block 418, a variable-diameter guide rail 419, a driving motor 420, a driving shaft 421, a driving spring 422, a driving adjustment shaft 423, a guide slide rail 424, an L-shaped fixing plate 425, a fixing plate slider 426, and a driving wheel frame 427. Detailed implementation manners

[0025] The present invention will be further described in detail below through specific embodiments, but the scope of the present invention is not limited thereby.

[0026] Embodiment 1 An in-pipe detector support platform has a structure as Figures 1-10 shown, including a platform central axis 8. A fluid pressure difference driving mechanism and at least two variable-diameter driving mechanisms 4 cooperating with the fluid pressure difference driving mechanism are provided on the platform central axis 8. One end of the fluid pressure difference driving mechanism is provided with a variable-diameter cleaning mechanism 1. The fluid pressure difference driving mechanism includes a pair of leather cups A 2 and leather cups B 5 arranged on the platform central axis 8. The leather cups A 2 and leather cups B 5 are respectively connected to the platform central axis 8 through leather cup mounting brackets 7; a platform protection housing 6 that is in clearance fit with the leather cups A 2 and leather cups B 5 is sleeved on the leather cup mounting brackets 7; a drain valve is provided at the connection between the leather cups A 2 and leather cups B 5 and the platform central axis 8.

[0027] The variable-diameter driving mechanism 4 includes a variable-diameter fixing frame 401 arranged on the platform central axis 8. A variable-diameter adjustment structure is provided on the variable-diameter fixing frame 401. A wheel-type driving structure cooperating with the leather cups A 2 and leather cups B 5 is provided on the variable-diameter adjustment structure. The variable-diameter adjustment structure is in clearance fit with a variable-diameter adjustment hole 3 provided on the platform protection housing 6.

[0028] The variable-diameter adjusting structure includes a variable-diameter fixing plate 414 provided on the variable-diameter fixing frame 401, and a variable-diameter support plate 412 is provided on the variable-diameter fixing plate 414; a variable-diameter motor 413 is provided on the variable-diameter fixing frame 401, and the output end of the variable-diameter motor 413 is connected with a lead screw pair 417 for transmission. The lead screw pair 417 is connected with the variable-diameter fixing frame 401 through a matching lead screw bearing 415, and the lead screw pair 417 is connected with a variable-diameter connecting block 418 provided on the variable-diameter fixing frame 401 through a lead screw slider 416. The variable-diameter connecting block 418 is matched with a variable-diameter guide rail 419 provided on the variable-diameter fixing frame 401; at least one parallel support rod 410 is arranged in parallel on the variable-diameter support plate 412; a variable-diameter top pull rod 403 that is cross-matched with the parallel support rod 410 is provided on the variable-diameter connecting block 418.

[0029] The wheel-type driving structure includes a wheel-type driving frame 408 that is matched with the parallel support rod 410 and the variable-diameter top pull rod 403. Variable-diameter driving wheels 405, 407 are provided on the wheel-type driving frame 408, and the variable-diameter driving wheels 405, 407 are matched with a driving shaft 421 provided on the wheel-type driving frame 408; a driving motor 420 that is matched with the driving shaft 421 is provided on the wheel-type driving frame 408, and the driving motor 420 is connected with a driving battery; both ends of the variable-diameter top pull rod 403 are respectively hinged to the variable-diameter connecting block 418 and the wheel-type driving frame 408, and both ends of the variable-diameter top pull rod 403 are respectively hinged to the variable-diameter connecting block 418 and the wheel-type driving frame 408 through pull rod rotating shafts 402, 404; both ends of the parallel support rod 410 are respectively hinged to the variable-diameter support plate 412 and the wheel-type driving frame 408, and both ends of the parallel support rod 410 are respectively hinged to the variable-diameter support plate 412 and the wheel-type driving frame 408 through support rotating shafts 411, 409; a speed sensor is provided on the platform protection housing 6.

[0030] A fixing shell 406 that is matched with the driving motor 420 is provided on the wheel-type driving frame 408; a driving wheel frame 427 is provided on the central axis of the variable-diameter driving wheels 405, 407, a driving adjustment shaft 423 is provided at the end of the driving wheel frame 427, and the driving adjustment shaft 423 is matched with an L-shaped fixing plate 425 provided on the wheel-type driving frame 408. A driving spring 422 that is matched with the L-shaped fixing plate 425 is sleeved on the driving adjustment shaft 423; a guiding slide rail 424 is provided on the side surface of the driving wheel frame 427, and the guiding slide rail 424 is matched with a fixing plate slider 426 provided on the L-shaped fixing plate 425.

[0031] The variable-diameter cleaning mechanism 1 includes a cleaning framework arranged at the tail end of the platform central shaft 8. A transmission shaft 102 is provided at the center of the side surface of the cleaning framework. The transmission shaft 102 is matched with a cleaning motor 104 arranged on the platform central shaft 8. The transmission shaft 102 is connected to a cleaning fixing frame 116 arranged on the platform central shaft 8 through a cleaning bearing 105. The cleaning framework includes a cleaning sleeve 101 connected to the transmission shaft 102, and radial support rods 103 with clearance fit are evenly distributed on the cleaning sleeve 101.

[0032] A radial cleaning rod 117 is sleeved inside the radial support rod 103. The radial cleaning rod 117 is matched with a groove pin structure 110 arranged inside the radial support rod 103. A cleaning brush 108 is provided at the cleaning end of the radial cleaning rod 117. Cleaning splints 109 connected to the radial cleaning rod 117 are provided on both sides of the cleaning brush 108. Cleaning wing plates 107 are provided at the ends of the cleaning splints 109.

[0033] The groove pin structure 110 includes a variable-diameter spring arranged at one end of the radial support rod 103 close to the cleaning sleeve 101. The movable end of the variable-diameter spring is connected to one end of the radial cleaning rod 117 far from the cleaning brush 108. A cylindrical pin is provided on the side surface of the radial cleaning rod 117, and the cylindrical pin is matched with a variable-diameter groove arranged on the side surface of the radial support rod 103.

[0034] A collection structure matched with the cleaning brush 108 is provided on the cleaning fixing frame 116. The collection structure includes a collection cylinder 111 sleeved on the cleaning fixing frame 116. An annular side plate 112 matched with the cleaning wing plate 107 is provided on one side of the collection cylinder 111 close to the cleaning framework. The annular side plate 112 is matched with an annular baffle 114 sleeved inside the collection cylinder 111. The ring width of the annular side plate 112 is smaller than the ring width of the annular baffle 114. Exhaust holes 113 matched with the annular baffle 114 are evenly distributed on the side of the collection cylinder 111 far from the cleaning framework. An anti-blocking material retaining card 115 is arranged in the exhaust holes 113. The radial support rods 103 are connected through a fan-shaped ring strengthening pipe 106. The cleaning brushes 108 are distributed in an inverted spiral circle on one side of the annular side plate 112.

[0035] A method for a pipeline internal detector support platform, the steps include; S1. Fluid pressure difference driving of the pipeline internal detector support platform by a fluid pressure difference driving mechanism; When in a long straight pipeline, the driving force is provided by the fluid pressure difference on both sides of the leather cup A 2 and the leather cup B 5 of the fluid pressure difference driving mechanism. A pressure difference is formed on both sides of the leather cup A 2 and the leather cup B 5 by the fluid in the pipeline to realize the fluid pressure difference driving of the pipeline internal detector support platform. The leather cup A 2 and the leather cup B 5 are fixed on the platform central shaft 8 through a leather cup mounting frame 7, and the platform protective housing 6 plays a protective role for the variable-diameter driving mechanism 4.

[0036] S2. The variable-diameter drive mechanism 4 drives the wheel type of the pipeline internal detector support platform; The wheel type drive structure is detected by the speed sensor on the platform protection housing 6 under high resistance states such as vertical pipelines, three-way pipelines, variable-diameter pipelines, elbows, etc. According to the speed of the pipeline internal detector support platform, it indirectly reflects the resistance of the pipeline internal detector support platform in the pipeline. The smaller the speed under abnormal working conditions, the greater the resistance. From this, it is judged whether to start the wheel type drive structure and start it in a timely manner to achieve a boosting effect. The high resistance state refers to abnormal working conditions such as vertical pipelines, three-way pipelines, variable-diameter pipelines, elbows, etc.

[0037] The pressure sensor on the drive adjustment shaft 423 that cooperates with the drive spring 422 detects the pressure change of the variable-diameter drive wheels 405 and 407. When the pressure value detected by the pressure sensor is lower than the preset threshold, the platform processor of the pipeline internal detector support on the platform central shaft 8 determines that the variable-diameter drive wheels 405 and 407 are not in contact with the inner wall of the pipeline. The variable-diameter drive mechanism 4 controls the lead screw pair 417 to rotate along the lead screw bearing 415 on the variable-diameter fixed plate 414 through the variable-diameter motor 413. The lead screw pair 417 drives the variable-diameter connection block 418 to slide along the variable-diameter guide rail 419 on the variable-diameter fixing frame 401 through the lead screw slider 416. The variable-diameter connection block 418 drives the variable-diameter top pull rod 403 to move through the pull rod rotating shaft 402. The variable-diameter top pull rod 403 pushes the wheel type drive structure closer to the inner wall of the pipeline through the pull rod rotating shaft 404. The four parallel support rods 410 on the variable-diameter support plate 412 move with the wheel type drive structure. The parallel support rods 410 swing along the support rotating shafts 411 and 409 at both ends on the variable-diameter support plate 412 and the wheel type drive frame 408, enabling the wheel type drive structure to achieve variable-diameter expansion and contraction through the variable-diameter adjustment hole 3, and being able to meet the requirements of the pipeline internal detector support platform for self-adaptation and obstacle avoidance in different pipeline inner diameters.

[0038] When there is an abnormal protrusion or obstacle at a certain place in the pipeline, the variable-diameter drive wheels 405 and 407 of the wheel type drive structure will retract adaptively with the size of the obstacle to avoid it. The drive adjustment shaft 423 squeezes the spring and moves towards the L-shaped fixing plate 425 side. The guiding slide rail 424 slides along the guiding direction of the fixing plate slider 426 on the L-shaped fixing plate 425 to achieve the retraction and avoidance of the variable-diameter drive wheels 405 and 407; when the abnormality at a certain place in the pipeline is manifested as deformation, under the action of the drive spring 422, the variable-diameter drive wheels 405 and 407 are in full contact with the pipe wall, improving the wall-gripping force of the variable-diameter drive wheels 405 and 407, thereby preventing the pipeline internal detector support platform from slipping or jamming during the traveling process.

[0039] The drive battery provides electrical energy for the drive motor 420. The drive motor 420 drives the variable-diameter drive wheel 405 to move on the drive wheel frame 427 through the drive shaft 421 and the drive belt, thereby realizing the wheel type drive of the pipeline internal detector support platform; the fixed shell 406 plays a protective role.

[0040] S3. Cleaning of the pipeline by the variable-diameter cleaning mechanism 1; When the pipeline internal detector support platform travels along the pipeline, the variable-diameter cleaning mechanism 1 makes adaptive adjustments according to the change of the pipeline inner diameter. The variable-diameter spring stretches, pushing the radial cleaning rod 117 to move outwards. The cylindrical pin of the grooved pin structure 110 moves outwards along the variable-diameter groove, making the cleaning brush 108 closely adhere to the inner wall of the pipeline. The cleaning motor 104 drives the cleaning sleeve 101 of the cleaning skeleton to rotate along the cleaning bearing 105 through the transmission shaft 102. The cleaning sleeve 101 drives the radial support rod 103 to move. The radial cleaning rod 117 follows the radial support rod 103 to carry out the cleaning operation on the inside of the pipeline. The cleaning brush 108 cleans the impurities on the inner wall of the pipeline, and the cleaned impurity particles fall towards the collection structure along the cleaning wing plate 107 at the end of the cleaning splint 109.

[0041] Since the cleaning brushes 108 of the variable-diameter cleaning mechanism 1 are circumferentially distributed in an inverted spiral pattern, as the cleaning brushes 108 rotate, the cleaning brushes 108 generate a spiral air flow flowing towards the collection cylinder 111 on the cleaning fixing frame 116. The spiral air flow will be discharged through the exhaust hole 113 behind the collection cylinder 111, causing a certain intensity of negative pressure in the collection cylinder 111, prompting the impurity particles generated after cleaning to enter the collection cylinder 111 inside the annular baffle 114. Blocked by the bottom surface of the collection cylinder 111, the impurity particles fall into the rear collection cylinder 111 under the action of gravity. The anti-blocking and material-blocking card 115 prevents the impurity particles from being discharged through the exhaust hole 113; the annular side plate 112 and the annular baffle 114 form two layers of impurity particle baffles. The ring width of the annular side plate 112 is smaller than the ring width of the annular baffle 114, making the two form a design with a lower front and a higher rear, which can significantly improve the storage space of the collection cylinder 111 and facilitate the entry of impurity particles into the collection cylinder 111; the fan-shaped ring reinforcing pipe 106 can enhance the strength of the cleaning skeleton.

[0042] Embodiment 2 A method for a pipeline internal detector support platform, the steps include; S1. Fluid pressure difference driving of the pipeline internal detector support platform by the fluid pressure difference driving mechanism; In a long straight pipeline, the driving force is provided by the fluid pressure difference on both sides of the leather cup A 2 and the leather cup B 5 of the fluid pressure difference driving mechanism. A pressure difference is formed on both sides of the leather cup A 2 and the leather cup B 5 by the fluid in the pipeline to achieve fluid pressure difference driving of the pipeline internal detector support platform; the leather cup A 2 and the leather cup B 5 are fixed on the platform central axis 8 through the leather cup mounting frame 7, and the platform protective housing 6 plays a protective role for the variable-diameter driving mechanism 4.

[0043] S2. Wheel-type driving of the pipeline internal detector support platform by the variable-diameter driving mechanism 4; The wheel drive structure is detected by the speed sensor on the platform protection housing 6 under high resistance conditions such as vertical pipes, three-way pipes, reducing pipes, elbows, etc. According to the speed of the detector support platform in the pipeline, it indirectly reflects the resistance of the detector support platform in the pipeline. The smaller the speed under abnormal working conditions, the greater the resistance. Thus, it is judged whether to start the wheel drive structure and start it in a timely manner to achieve an assisting effect. The high resistance state refers to abnormal working conditions such as vertical pipes, three-way pipes, reducing pipes, elbows, etc.

[0044] The pressure sensor on the drive adjustment shaft 423 that cooperates with the drive spring 422 detects the pressure changes received by the reducing drive wheels 405 and 407. When the pressure value detected by the pressure sensor is lower than the preset threshold, the platform processor on the platform central axis 8 determines that the reducing drive wheels 405 and 407 are not in contact with the inner wall of the pipeline. The reducing drive mechanism 4 controls the lead screw pair 417 to rotate along the lead screw bearing 415 on the reducing fixing plate 414 through the reducing motor 413. The lead screw pair 417 drives the reducing connection block 418 to slide along the reducing guide rail 419 on the reducing fixing frame 401 through the lead screw slider 416. The reducing connection block 418 drives the reducing top pull rod 403 to move through the pull rod rotating shaft 402. The reducing top pull rod 403 pushes the wheel drive structure closer to the inner wall of the pipeline through the pull rod rotating shaft 404. The four parallel support rods 410 on the reducing support plate 412 move with the wheel drive structure. The parallel support rods 410 swing along the support rotating shafts 411 and 409 at both ends on the reducing support plate 412 and the wheel drive frame 408, enabling the wheel drive structure to achieve variable diameter expansion and contraction through the reducing adjustment hole 3, and being able to meet the requirements of the detector support platform in this pipeline for self-adaptation and obstacle avoidance in different pipeline inner diameters.

[0045] When there is an abnormal protrusion or obstacle at a certain place in the pipeline, the reducing drive wheels 405 and 407 of the wheel drive structure will retract adaptively according to the size of the obstacle. The drive adjustment shaft 423 squeezes the spring and moves towards the L-shaped fixing plate 425 side. The guiding slide rail 424 slides along the guiding direction of the fixing plate slider 426 on the L-shaped fixing plate 425 to achieve the retraction and avoidance of the reducing drive wheels 405 and 407; when the abnormal situation at a certain place in the pipeline is deformation, under the action of the drive spring 422, the reducing drive wheels 405 and 407 are in full contact with the pipe wall, improving the wall-gripping force of the reducing drive wheels 405 and 407, thereby preventing the detector support platform in this pipeline from slipping or jamming during the traveling process.

[0046] The drive battery provides electrical energy for the drive motor 420. The drive motor 420 drives the reducing drive wheel 405 to move on the drive wheel frame 427 through the drive shaft 421 and the drive belt, thereby realizing the wheel drive for the detector support platform in the pipeline; the fixed housing 406 plays a protective role.

[0047] S3. Cleaning of the pipeline by the reducing cleaning mechanism 1; When the in-pipe detector support platform travels along the pipeline, the diameter-changing cleaning mechanism 1 makes adaptive adjustments according to the change in the inner diameter of the pipeline. The diameter-changing spring stretches, pushing the radial cleaning rod 117 to move outward. The cylindrical pin of the groove pin structure 110 moves outward along the diameter-changing groove, causing the cleaning brush 108 to closely adhere to the inner wall of the pipeline. The cleaning motor 104 drives the cleaning sleeve 101 of the cleaning framework to rotate along the cleaning bearing 105 through the transmission shaft 102. The cleaning sleeve 101 drives the radial support rod 103 to move, and the radial cleaning rod 117 follows the radial support rod 103 to perform cleaning operations on the inside of the pipeline. The cleaning brush 108 cleans the impurities on the inner wall of the pipeline, and the cleaned impurity particles fall into the collection structure along the cleaning wing plate 107 at the end of the cleaning splint 109.

[0048] Since the cleaning brushes 108 of the diameter-changing cleaning mechanism 1 are distributed in an inverted spiral around the circumference, as the cleaning brushes 108 rotate, a spiral air flow is generated that flows into the collection cylinder 111 on the cleaning fixing frame 116. The spiral air flow will be discharged through the exhaust holes 113 behind the collection cylinder 111, causing a certain intensity of negative pressure in the collection cylinder 111, prompting the impurity particles generated after cleaning to enter the collection cylinder 111 inside the annular baffle 114. Blocked by the bottom surface of the collection cylinder 111, the impurity particles fall into the rear collection cylinder 111 under the action of gravity, and the anti-blocking material card 115 prevents the impurity particles from being discharged through the exhaust holes 113; the annular side plate 112 and the annular baffle 114 form two layers of impurity particle baffles. The ring width of the annular side plate 112 is smaller than the ring width of the annular baffle 114, making their design lower in the front and higher in the rear, which can significantly increase the storage space of the collection cylinder 111 and facilitate the entry of impurity particles into the collection cylinder 111; the fan-shaped ring strengthening pipe 106 can enhance the strength of the cleaning framework.

[0049] Example 3 An in-pipe detector support platform, different from that in Example 1 in that: there are three centrally symmetric diameter-changing drive mechanisms 4 provided on the platform central axis 8.

[0050] Example 4 An in-pipe detector support platform, different from that in Example 1 in that: the fixed plate slider 426 is provided with a drive chute that cooperates with the guide rail 424. A guide bar is provided on the inner side surface of the drive chute, and the guide bar cooperates with the guide rail provided on the guide rail 424; the L-shaped fixed plate 425 is provided with a drive slide hole that cooperates with the guide rail 424 and an adjustment hole that cooperates with the drive adjustment shaft 423. Example 5 An in-pipe detector support platform, different from that in Example 1 in that: a limit ring is provided at the end of the drive adjustment shaft 423.

[0051] Example 6 A pipeline internal detector support platform, which is different from that of Embodiment 1 in that: a pressure sensor cooperating with the driving spring 422 is provided on the driving adjustment shaft 423; a speed sensor is provided on the platform protection housing 6.

[0052] Embodiment 7 A pipeline internal detector support platform, which is different from that of Embodiment 1 in that: two parallel support rods 410 are arranged in parallel on the variable diameter support plate 412.

[0053] Embodiment 8 A pipeline internal detector support platform, which is different from that of Embodiment 1 in that: three parallel support rods 410 are arranged in parallel on the variable diameter support plate 412.

[0054] Embodiment 9 A pipeline internal detector support platform, which is different from that of Embodiment 1 in that: four parallel support rods 410 are arranged in parallel on the variable diameter support plate 412.

[0055] Embodiment 10 A pipeline internal detector support platform, which is different from that of Embodiment 1 in that: the driving adjustment shaft 423 is inclined at the end of the driving wheel frame 427.

[0056] The above are only the preferred embodiments of the present invention, but not limited to the above examples. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A support platform for an in-pipe detector, characterized in that, It includes a platform central axis, on which a fluid pressure difference driving mechanism and at least two variable-diameter driving mechanisms cooperating with the fluid pressure difference driving mechanism are provided, and a variable-diameter cleaning mechanism is provided at one end of the fluid pressure difference driving mechanism.

2. The in-pipe detector support platform according to claim 1, characterized in that The fluid pressure difference driving mechanism includes a pair of cup leather A and cup leather B arranged on the platform central axis. Cup leather A and cup leather B are respectively connected to the platform central axis through cup leather mounting frames; a platform protection housing that is in clearance fit with cup leather A and cup leather B is sleeved on the cup leather mounting frames; a drain valve is provided at the connection between cup leather A and cup leather B and the platform central axis.

3. The in-pipe detector support platform according to claim 2, characterized in that, The variable-diameter driving mechanism includes a variable-diameter fixing frame arranged on the platform central axis. A variable-diameter adjusting structure is provided on the variable-diameter fixing frame. A wheel-type driving structure cooperating with cup leather A and cup leather B is provided on the variable-diameter adjusting structure. The variable-diameter adjusting structure is in clearance fit with a variable-diameter adjusting hole provided on the platform protection housing.

4. The in-pipe detector support platform according to claim 3, wherein, The variable-diameter adjusting structure includes a variable-diameter fixing plate arranged on the variable-diameter fixing frame, and a variable-diameter support plate is provided on the variable-diameter fixing plate; a variable-diameter motor is provided on the variable-diameter fixing frame. The output end of the variable-diameter motor is connected with a lead screw pair for transmission. The lead screw pair is connected to the variable-diameter fixing frame through a supporting lead screw bearing. The lead screw pair is connected to a variable-diameter connecting block arranged on the variable-diameter fixing frame through a lead screw slider. The variable-diameter connecting block is matched with a variable-diameter guide rail arranged on the variable-diameter fixing frame; at least one parallel support rod is arranged in parallel on the variable-diameter support plate; a variable-diameter top pull rod that intersects and cooperates with the parallel support rod is provided on the variable-diameter connecting block.

5. The in-pipe detector support platform according to claim 4, characterized in that, The wheel-type driving structure includes a wheel-type driving frame that cooperates with the parallel support rod and the variable-diameter top pull rod. A variable-diameter driving wheel is provided on the wheel-type driving frame. The variable-diameter driving wheel is matched with a driving shaft arranged on the wheel-type driving frame; a driving motor that is matched with the driving shaft is provided on the wheel-type driving frame. The driving motor is connected with a driving battery; both ends of the variable-diameter top pull rod are respectively hinged to the variable-diameter connecting block and the wheel-type driving frame; both ends of the parallel support rod are respectively hinged to the variable-diameter support plate and the wheel-type driving frame.

6. The in-pipe detector support platform according to claim 5, characterized in that, A fixing shell that is matched with the driving motor is provided on the wheel-type driving frame; a driving wheel frame is provided on the central axis of the variable-diameter driving wheel. A driving adjusting shaft is provided at the end of the driving wheel frame. The driving adjusting shaft is matched with an L-shaped fixing plate arranged on the wheel-type driving frame. A driving spring that is matched with the L-shaped fixing plate is sleeved on the driving adjusting shaft; a guiding slide rail is provided on the side surface of the driving wheel frame. The guiding slide rail is matched with a fixing plate slider arranged on the L-shaped fixing plate.

7. The in-pipe detector support platform according to claim 1, characterized in that, The variable-diameter cleaning mechanism includes a cleaning skeleton arranged at the tail end of the platform central axis. A transmission shaft is provided at the center of the side surface of the cleaning skeleton. The transmission shaft is matched with a cleaning motor arranged on the platform central axis. The transmission shaft is connected to a cleaning fixing frame arranged on the platform central axis through a cleaning bearing; the cleaning skeleton includes a cleaning sleeve connected to the transmission shaft, and radial support rods with clearance fit are evenly distributed on the cleaning sleeve.

8. The in-pipe detector support platform according to claim 7, characterized in that, A radial cleaning rod is sleeved inside the radial support rod. The radial cleaning rod is matched with a groove pin structure arranged inside the radial support rod. A cleaning brush is arranged at the cleaning end of the radial cleaning rod. Cleaning clamping plates connected to the radial cleaning rod are arranged on both sides of the cleaning brush, and cleaning wing plates are arranged at the ends of the cleaning clamping plates.

9. The in-pipe detector support platform according to claim 8, characterized in that, The groove pin structure includes a variable-diameter spring arranged inside the radial support rod near one end of the cleaning sleeve. The movable end of the variable-diameter spring is connected to one end of the radial cleaning rod away from the cleaning brush. A cylindrical pin is arranged on the side surface of the radial cleaning rod, and the cylindrical pin is matched with a variable-diameter groove arranged on the side surface of the radial support rod.

10. The in-pipe detector support platform according to claim 9, wherein A collection structure matched with the cleaning brush is arranged on the cleaning fixing frame. The collection structure includes a collection cylinder sleeved on the cleaning fixing frame. An annular side plate matched with the cleaning wing plate is arranged on one side of the collection cylinder close to the cleaning skeleton. The annular side plate is matched with an annular baffle sleeved inside the collection cylinder. The ring width of the annular side plate is smaller than the ring width of the annular baffle. Exhaust holes matched with the annular baffle are evenly distributed on one side of the collection cylinder away from the cleaning skeleton. Anti-blocking material-blocking cards are arranged in the exhaust holes. The radial support rods are connected by fan-shaped ring strengthening pipes. The cleaning brushes are distributed in an inverted spiral circular pattern on one side of the annular side plate.

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