A pipe conveying device

Abstract

The application discloses a pipeline conveying device and relates to the technical field of pipeline transmission, which comprises a permanent magnet track and a suspension body, the suspension body is matched and installed on the permanent magnet track, a suspension seat is arranged at the bottom end of the suspension body, a suspension table one is suspendedly arranged on the suspension seat, a positioning mechanism is arranged on the suspension table one, a supporting table is suspendedly arranged at the bottom end of the suspension table one, a supporting mechanism is arranged on the supporting table and is used for supporting the bottom end of the pipeline; the supporting mechanism comprises a supporting seat which is slidably arranged on the supporting table, and a limiting seat is slidably arranged on the supporting seat; a collecting mechanism is arranged at the bottom end of the supporting table and is used for collecting impurities which fall on the inner side of the pipeline; a processing mechanism is arranged between the suspension table one and the supporting table and is used for checking and impurity-removing treatment of the inner side of the pipeline; the pipeline can be stably positioned and installed, and the pipeline can be stably conveyed; in the conveying process, the pipeline can be subjected to multiple processing operations, and the pipeline conveying device has rich functions.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline transportation, and in particular to a pipeline transportation device. Background Art

[0002] Pipelines are common components in the existing industrial field and have a wide range of applications. In the processing and production of pipelines, conveying pipelines is an important link to improve production efficiency. There are many existing conveying methods, among which hanging and conveying pipelines is a common conveying method. During transportation and movement, they can be driven by various methods, such as chains, magnetic levitation, etc.; however, when conveying pipelines, the early positioning and installation of pipelines are important contents to ensure smooth transportation of pipelines. The existing installation generally fixes the ends of the pipelines, which has poor stability; based on this, the present invention proposes a conveying device that can stably position and install pipelines, align them for smooth transportation, and perform multiple processing operations on the pipelines during transportation, with rich functions. Summary of the Invention

[0003] In response to the above technical problems, the present invention can stably position and install the pipeline and transport it smoothly. During the transportation process, multiple processing operations can be performed on the pipeline, and it has rich functions.

[0004] The use scheme of the present invention is as follows: a pipeline conveying device includes a permanent magnetic track and a suspension body, the suspension body is installed in cooperation on the permanent magnetic track, and the pipeline is conveyed by magnetic suspension; a suspension seat is provided at the bottom end of the suspension body, a suspension platform 1 is suspended on the suspension seat, and a positioning mechanism is provided on the suspension platform 1 for positioning the top end of the pipeline; a support platform is suspended at the bottom end of the suspension platform 1, and a supporting mechanism is provided on the support platform for supporting the bottom end of the pipeline; the supporting mechanism includes a support seat slidably arranged on the support platform, and a limited seat is slidably arranged on the support seat; a collecting mechanism is provided at the bottom end of the support platform for collecting impurities dropped from the inside of the pipeline; a processing mechanism is provided between the suspension platform 1 and the support platform for inspecting and removing impurities from the inside of the pipeline.

[0005] Furthermore, the suspension seat is provided with a motor 1 and a drum 1 in an array, the motor 1 is used to drive the drum 1; the drum 1 is provided with a rope, and the free end of the rope is connected to the suspension platform 1.

[0006] Furthermore, a mounting tube is provided on the suspension platform, and a control mechanism is provided inside the mounting tube for controlling the movement of the support platform; the positioning mechanism includes a gear ring 1 rotating on the mounting tube, a slide 1 is slidably installed on the suspension platform, a positioning shaft is provided on the slide 1, and a screw rod 1 is rotatably installed on the suspension platform, a gear 1 is provided at one end of the screw rod 1, the gear 1 is engaged with the gear ring 1, and a motor 2 is provided on the outside of the suspension platform 1, the motor 2 is used to drive the screw rod 1, and the screw rod 1 and the slide 1 form a spiral pair.

[0007] Furthermore, the control mechanism includes a motor three arranged inside the mounting cylinder, a gear ring three is provided on the output shaft of the motor three, and a reel two is rotatably arranged inside the mounting cylinder, a connecting gear three is provided on the end face of the reel two, a transmission shaft is rotatably installed inside the mounting cylinder, and a connecting gear one and a connecting gear two are respectively provided at the ends of the transmission shaft, the connecting gear one is engaged with the gear ring three, the connecting gear two is engaged with the connecting gear three, a rope is provided on the reel two, and the free end of the rope is connected to the support platform.

[0008] Furthermore, the support mechanism includes a motor five arranged inside the support platform, a gear disk five is provided on the output shaft of the motor five, and a screw rod two is rotatably installed inside the support platform, a gear two is provided at one end of the screw rod two, and the gear two is engaged with the gear disk five; a support seat is slidably installed inside the support platform, and the support seat and the screw rod two form a spiral pair.

[0009] Furthermore, a contact plate is provided inside the support platform and above the support seat, the contact plate has an arc-shaped area and a plane area, a rotating rod is provided for deflection inside the support seat, a torsion spring is connected between the rotating rod and the support seat, the torsion spring contacts the limit seat toward one end of the limit seat, the rotating rod deflects to push the limit seat, and a spring is connected between the limit seat and the support seat.

[0010] Furthermore, the collecting mechanism includes a control motor arranged on the support platform, a control disk is arranged on the output shaft of the control motor, a connecting rod is rotatably arranged on the control disk, one end of the connecting rod is rotatably connected to a rack, the rack is slidably installed at the bottom end of the support platform, a turning cylinder is deflected at the bottom end of the support platform, a turning gear is arranged on one side of the turning cylinder, the turning gear is engaged with the rack, two supporting side plates are rotatably arranged on the turning cylinder, a flexible connecting part 1 and a flexible connecting part 2 are connected between the two supporting side plates, and an angle motor is respectively provided at both ends of the turning cylinder, and the angle motor is used to drive the supporting side plates.

[0011] Furthermore, the processing mechanism includes a motor four and a reel three arranged at the bottom end of a hanging platform. The motor four is used to drive the reel three. A rope is provided on the reel three. The free end of the rope is connected to the work platform. A work turntable is rotatably provided on the outside of the work platform. The work turntable is provided with an angle motor. An angle gear is provided on the output shaft of the angle motor. The angle gear is engaged with the outside of the work platform. A positioning electric cylinder is provided on the upper end surface of the work platform, and a positioning wheel is provided on the telescopic rod of the positioning electric cylinder.

[0012] Furthermore, the lower end face array of the workbench is provided with an operating electric cylinder and a deflection motor, the deflection motor is used to drive the deflection of the operating electric cylinder, and a cleaning part, an ultrasonic part, a vibrating part and a contact part are respectively provided on the extension and retraction of each operating electric cylinder; the cleaning part includes a cleaning motor, and a cleaning part is provided on the output of the cleaning motor; the ultrasonic part includes an ultrasonic device for ultrasonically inspecting the inside of the pipeline; the vibrating part includes a vibrating part for vibrating the inner wall of the pipeline; the contact part includes a contact shaft arranged in a telescopic manner, the contact shaft contacts the inner wall of the pipeline, and the telescopic displacement of the contact shaft is output and feedback is output through a position sensor.

[0013] Compared with the prior art, the present invention has the following beneficial effects: (1) the receiving side plate is transformed from a vertical state to a horizontal state, and the deflection of the two receiving side plates is controlled by the angle motor so that there is an angle between the two receiving side plates, that is, the receiving area for impurities is expanded, and the flexible connection part 1 and the flexible connection part 2 change with the offset of the receiving side plate and form a receiving area with the receiving side plate to complete the receiving and collection of impurities; (2) during the transportation process, the inner wall of the pipeline can be ultrasonically inspected by an ultrasonic device, that is, defects inside the pipeline can be inspected; the cleaning motor can be operated to remove impurities such as rust on the inner wall of the pipeline; the contact shaft can be used to contact the inner wall of the pipeline to perform dimensional inspection, the contact shaft can be telescopically moved, and the position sensor can output a feedback displacement signal; the vibrating part repeatedly contacts the inner wall of the pipeline to vibrate the pipeline, which is beneficial for impurity removal; (3) when the pipeline is transported, the top of the pipeline is positioned and the bottom is supported. During the transportation process, the pipeline is in a vertical state, making the transportation process more stable and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0015] Figure 2 This is a schematic diagram of the installation structure of the suspension seat of the present invention;

[0016] Figure 3 This is a structural diagram of a suspension platform according to the present invention;

[0017] Figure 4 This is a schematic diagram of the internal structure of the installation cylinder of the present invention;

[0018] Figure 5 This is a schematic diagram of the installation structure of the reel 2 of the present invention;

[0019] Figure 6 This is a schematic diagram of the support platform structure of the present invention;

[0020] Figure 7 This is a schematic diagram of the structure of the workbench of the present invention;

[0021] Figure 8 This is a schematic diagram of the structure of the operating turntable of the present invention;

[0022] Figure 9 This is a schematic diagram of the internal installation structure of the support platform of the present invention;

[0023] Figure 10 This is a schematic diagram of the support structure of the present invention;

[0024] Figure 11 This is a schematic diagram of the rotating rod installation structure of the present invention;

[0025] Figure 12 This is a schematic diagram of the installation structure of the collection mechanism of the present invention.

[0026] Figure 1: 1-permanent magnetic track; 2-suspension body; 3-suspension seat; 4-motor 1; 5-reel 1; 6-suspension platform 1; 7-motor 2; 8-mounting cylinder; 9-gear ring 1; 10-gear 1; 11-screw rod 1; 12-slide seat 1; 13-positioning shaft; 14-motor 3; 15-gear ring 3; 16-connecting gear 1; 17-connecting gear 2; 18-connecting gear 3; 19-reel 2; 20-transmission shaft; 21-support platform; 22-operation platform; 23-operation turntable; 24-angle gear; 25-angle motor; 26-reel 3; 27-motor 4; 28-positioning Electric cylinder; 29-positioning wheel; 30-deflection motor; 31-operating electric cylinder; 32-ultrasonic device; 33-cleaning motor; 34-contact shaft; 35-vibration part; 36-motor five; 37-gear disk five; 38-screw rod two; 39-gear two; 40-control motor; 41-support seat; 42-contact plate; 43-rotating rod; 44-torsion spring; 45-limiting seat; 46-spring one; 47-control plate; 48-connecting rod; 49-rack; 50-flip gear; 51-flip cylinder; 52-supporting side plate; 53-flexible connection part one; 54-flexible connection part two; 55-angle motor. DETAILED DESCRIPTION

[0027] Example: Figures 1 to 12 As shown, a pipeline conveying device includes a permanent magnetic track 1 and a suspension 2, the suspension 2 is mounted on the permanent magnetic track 1, and the pipeline is conveyed by magnetic suspension; a suspension seat 3 is provided at the bottom end of the suspension 2, a suspension platform 6 is suspended on the suspension seat 3, and a positioning mechanism is provided on the suspension platform 6 for positioning the top end of the pipeline; a support platform 21 is suspended at the bottom end of the suspension platform 6, and a supporting mechanism is provided on the support platform 21 for supporting the bottom end of the pipeline; the supporting mechanism includes a support seat 41 slidably provided on the support platform 21, and a limit seat 45 is slidably provided on the support seat 41; a collecting mechanism is provided at the bottom end of the support platform 21 for collecting impurities dropped from the inside of the pipeline; a processing mechanism is provided between the suspension platform 6 and the support platform 21 for inspecting and removing impurities from the inside of the pipeline.

[0028] A motor 4 and a drum 5 are arranged in an array on the suspension seat 3, and the motor 4 is used to drive the drum 5; a rope is provided on the drum 5, and the free end of the rope is connected to the suspension platform 6; a mounting cylinder 8 is provided on the suspension platform 6, and a control mechanism is provided inside the mounting cylinder 8 to control the movement of the support platform 21; the positioning mechanism includes a ring gear 9 rotating on the mounting cylinder 8, a slide 12 is slidably installed on the suspension platform 6, a positioning shaft 13 is provided on the slide 12, and a screw rod 11 is rotatably installed on the suspension platform 6, a gear 10 is provided at one end of the screw rod 11, and the gear 10 is engaged with the ring gear 9, and a motor 27 is provided on the outside of the suspension platform 6, and the motor 27 is used to drive the screw rod 11, and the screw rod 11 and the slide 12 form a spiral pair.

[0029] The control mechanism includes a motor 3 14 arranged inside the mounting cylinder 8, a gear ring 3 15 is provided on the output shaft of the motor 3 14, and a reel 2 19 is rotatably arranged inside the mounting cylinder 8, a connecting gear 3 18 is provided on the end face of the reel 2 19, a transmission shaft 20 is rotatably installed inside the mounting cylinder 8, and a connecting gear 1 16 and a connecting gear 2 17 are respectively provided at the ends of the transmission shaft 20, the connecting gear 1 16 is engaged with the gear ring 3 15, and the connecting gear 2 17 is engaged with the connecting gear 3 18, a rope is provided on the reel 2 19, and the free end of the rope is connected to the support platform 21.

[0030] The supporting mechanism includes a motor 5 36 arranged inside the support platform 21, a gear disc 5 37 is provided on the output shaft of the motor 5 36, and a screw rod 2 38 is rotatably installed inside the support platform 21, a gear 2 39 is provided at one end of the screw rod 2 38, and the gear 2 39 is engaged with the gear disc 5 37; a support base 41 is slidably installed inside the support platform 21, and the support base 41 and the screw rod 2 38 form a spiral pair.

[0031] A contact plate 42 is provided inside the support platform 21 and above the support seat 41. The contact plate 42 has an arc area and a plane area. A rotating rod 43 is provided inside the support seat 41 for deflection. A torsion spring 44 is connected between the rotating rod 43 and the support seat 41. One end of the torsion spring 44 faces the limit seat 45 and contacts the limit seat 45. The rotating rod 43 deflects to push the limit seat 45. A spring 46 is connected between the limit seat 45 and the support seat 41.

[0032] The collecting mechanism includes a control motor 40 arranged on the support platform 21, and a control disk 47 is provided on the output shaft of the control motor 40. A connecting rod 48 is rotatably provided on the control disk 47. One end of the connecting rod 48 is rotatably connected to a rack 49, and the rack 49 is slidably installed at the bottom end of the support platform 21. A turning cylinder 51 is deflected at the bottom end of the support platform 21, and a turning gear 50 is provided on one side of the turning cylinder 51. The turning gear 50 is engaged with the rack 49. Two supporting side plates 52 are rotatably provided on the turning cylinder 51. A flexible connecting part 1 53 and a flexible connecting part 2 54 are connected between the two supporting side plates 52. An angle motor 55 is respectively provided at both ends of the turning cylinder 51, and the angle motor 55 is used to drive the supporting side plate 52.

[0033] The processing mechanism includes a motor 4 27 and a reel 3 26 arranged at the bottom end of the hanging platform 1 6. The motor 4 27 is used to drive the reel 3 26. A rope is provided on the reel 3 26. The free end of the rope is connected to the workbench 22. A work turntable 23 is provided for rotation outside the workbench 22. An angle motor 25 is provided on the work turntable 23. An angle gear 24 is provided on the output shaft of the angle motor 25. The angle gear 24 is meshed with the outside of the workbench 22; a positioning electric cylinder 28 is provided on the upper end face of the workbench 22, and a positioning wheel 29 is provided on the telescopic rod of the positioning electric cylinder 28; an array of the lower end face of the workbench 22 is provided. An operating electric cylinder 31 and a deflection motor 30 are provided. The deflection motor 30 is used to drive the operating electric cylinder 31 to deflect. A cleaning part, an ultrasonic part, a vibrating part and a contact part are respectively provided on the extension and contraction of each operating electric cylinder 31; the cleaning part includes a cleaning motor 33, and a cleaning part is provided on the output of the cleaning motor 33; the ultrasonic part includes an ultrasonic device 32 for ultrasonically inspecting the inside of the pipeline; the vibrating part includes a vibrating part 35 for vibrating the inner wall of the pipeline; the contact part includes a contact shaft 34 that is telescopically arranged, and the contact shaft 34 contacts the inner wall of the pipeline, and the telescopic displacement of the contact shaft 34 is output and feedback is given through a position sensor.

[0034] Working principle: Motor 1 4 is operated to control the movement of suspension platform 1 6, and suspension platform 1 6 moves to the inside of the pipe. At this time, the pipe is in a vertical state. When suspension platform 1 6 is located inside the pipe, motor 2 7 is operated, each screw rod 11 rotates, slide 12 slides, and the inside of the pipe is positioned and fixed by positioning shaft 13; further, motor 3 14 is operated, gear ring 3 15 rotates, and under the gear transmission, each reel 2 19 rotates to control the movement of support platform 21, and support platform 21 moves the bottom end of the pipe; before this, by controlling the movement of suspension platform 1 6, the pipe is in a suspended state. When support platform 21 is located at the bottom end of the pipe, motor 5 36 is operated, screw rod 2 38 rotates, and support seat 41 moves. Support seat 41 moves to the outside of support platform 21, and when one end of rotating rod 43 contacts contact plate 42, rotating rod 43 deflects, and the other end of rotating rod 43 pushes limit seat 45, and then limit seat 45 protrudes upward to limit the bottom end of the pipe.

[0035] At this time, the top of the pipeline is positioned and the bottom is supported, and it is in a vertical and stable state during the transportation process; during transportation, the operation transmission is carried out through the magnetic levitation principle, that is, the suspension body 2 is suspended on the permanent magnetic track 1, and the magnetic operation drive source is used. The operator can set the control module, brake module, etc. in this part to realize the controllable transportation of the pipeline.

[0036] Furthermore, during transportation, the inside of the pipeline can be processed, that is, the motor 27 is operated to control the movement of the work platform 22, and the work platform 22 moves inside the pipeline. The positioning wheel 29 is controlled to move by the positioning electric cylinder 28, so that the positioning wheel 29 contacts the inside of the pipeline to achieve position limiting, thereby ensuring that the work platform 22 moves smoothly. Furthermore, the angle motor 25 is operated to rotate the work turntable 23 on the work platform 22, and the deflection motor 30 controls the deflection of each work electric cylinder 31. The ultrasonic device 32 can perform ultrasonic inspection on the inner wall of the pipeline, that is, to check for defects inside the pipeline; the cleaning motor 33 is operated to remove impurities such as rust and other impurities from the inner wall of the pipeline; the contact shaft 34 contacts the inner wall of the pipeline to perform dimensional inspection, the contact shaft 34 moves telescopically, and the position sensor can output a feedback displacement signal; the vibration part 35 repeatedly contacts the inner wall of the pipeline to vibrate the pipeline, which is beneficial for impurity removal.

[0037] Furthermore, when performing the above-mentioned impurity removal operations, impurities will continue to fall into the transmission path. At the bottom of the support platform 21, by controlling the operation of the motor 40, the control disk 47 rotates, and under the connection of the connecting rod 48, the rack 49 moves, that is, the support seat 41 deflects, and then the receiving side plate 52 is changed from a vertical state to a horizontal state. The two receiving side plates 52 are deflected by the angle motor 55 to form an angle between the two receiving side plates 52, that is, to expand the receiving area for impurities. The flexible connection part 1 53 and the flexible connection part 2 54 change with the offset of the receiving side plate 52, and form a receiving area with the receiving side plate 52 to complete the receiving and collection of impurities.

Claims

1. A pipeline conveying device, comprising a permanent magnetic track (1) and a suspension (2), wherein the suspension (2) is mounted on the permanent magnetic track (1) and conveys the pipeline by magnetic suspension; characterized in that: A suspension seat (3) is provided at the bottom end of the suspension body (2), a suspension platform (6) is suspended on the suspension seat (3), and a positioning mechanism is provided on the suspension platform (6) for positioning the top end of the pipeline; a support platform (21) is suspended at the bottom end of the suspension platform (6), and a support mechanism is provided on the support platform (21) for supporting the bottom end of the pipeline; the support mechanism includes a support seat (41) slidably provided on the support platform (21), and a limit seat (45) is slidably provided on the support seat (41); a collecting mechanism is provided at the bottom end of the support platform (21) for collecting impurities dropped from the inside of the pipeline; a processing mechanism is provided between the suspension platform (6) and the support platform (21) for inspecting and removing impurities from the inside of the pipeline.

2. A pipeline transportation device according to claim 1, characterized in that: The suspension seat (3) is provided with a motor (4) and a reel (5) in an array, wherein the motor (4) is used to drive the reel (5); a rope is provided on the reel (5), and the free end of the rope is connected to the suspension platform (6).

3. A pipeline transportation device according to claim 2, characterized in that: The suspension platform (6) is provided with a mounting cylinder (8), and a control mechanism is provided inside the mounting cylinder (8) for controlling the movement of the support platform (21); the positioning mechanism includes a gear ring (9) rotating on the mounting cylinder (8), a slide seat (12) slidably installed on the suspension platform (6), a positioning shaft (13) is provided on the slide seat (12), and a screw rod (11) is rotatably installed on the suspension platform (6), a gear (10) is provided at one end of the screw rod (11), and the gear (10) is meshed with the gear ring (9), and a motor (7) is provided on the outside of the suspension platform (6), and the motor (7) is used to drive the screw rod (11), and the screw rod (11) and the slide seat (12) form a spiral pair.

4. A pipeline transportation device according to claim 3, characterized in that: The control mechanism includes a motor three (14) arranged inside the mounting cylinder (8), a gear ring three (15) is arranged on the output shaft of the motor three (14), and a reel two (19) is rotatably arranged inside the mounting cylinder (8), a connecting gear three (18) is arranged on the end surface of the reel two (19), a transmission shaft (20) is rotatably installed inside the mounting cylinder (8), and a connecting gear one (16) and a connecting gear two (17) are respectively arranged at the ends of the transmission shaft (20), the connecting gear one (16) is meshed with the gear ring three (15), and the connecting gear two (17) is meshed with the connecting gear three (18), and a rope is arranged on the reel two (19), and the free end of the rope is connected to the support platform (21).

5. The pipeline transportation device according to claim 4, characterized in that: The support mechanism includes a motor five (36) arranged inside the support platform (21), a toothed disc five (37) is arranged on the output shaft of the motor five (36), and a screw rod two (38) is rotatably installed inside the support platform (21), a gear two (39) is arranged at one end of the screw rod two (38), and the gear two (39) is engaged with the toothed disc five (37); a support seat (41) is slidably installed inside the support platform (21), and the support seat (41) and the screw rod two (38) form a spiral pair.

6. The pipeline transportation device according to claim 5, characterized in that: A contact plate (42) is provided inside the support platform (21) and above the support seat (41). The contact plate (42) has an arc-shaped area and a plane area. A rotating rod (43) is provided inside the support seat (41) for deflection. A torsion spring (44) is connected between the rotating rod (43) and the support seat (41). One end of the torsion spring (44) faces the limit seat (45) and contacts the limit seat (45). The rotating rod (43) deflects to push the limit seat (45). A spring (46) is connected between the limit seat (45) and the support seat (41).

7. The pipeline transportation device according to claim 1, characterized in that: The collecting mechanism includes a control motor (40) arranged on a support platform (21), a control disk (47) arranged on an output shaft of the control motor (40), a connecting rod (48) rotatably arranged on the control disk (47), one end of the connecting rod (48) rotatably connected to a rack (49), the rack (49) slidably mounted on the bottom end of the support platform (21), a turning cylinder (51) rotatably arranged at the bottom end of the support platform (21), a turning gear (50) arranged on one side of the turning cylinder (51), the turning gear (50) meshing with the rack (49), two receiving side plates (52) rotatably arranged on the turning cylinder (51), a flexible connecting portion 1 (53) and a flexible connecting portion 2 (54) connected between the two receiving side plates (52), an angle motor (55) respectively arranged at both ends of the turning cylinder (51), the angle motor (55) being used to drive the receiving side plates (52).

8. The pipeline transportation device according to claim 1, characterized in that: The processing mechanism includes a motor four (27) and a reel three (26) arranged at the bottom end of the hanging platform one (6), the motor four (27) is used to drive the reel three (26), a rope is arranged on the reel three (26), the free end of the rope is connected to the working platform (22), a working turntable (23) is rotatably arranged outside the working platform (22), an angle motor (25) is arranged on the working turntable (23), an angle gear (24) is arranged on the output shaft of the angle motor (25), and the angle gear (24) is meshed with the outside of the working platform (22); a positioning electric cylinder (28) is arranged on the upper end surface of the working platform (22), and a positioning wheel (29) is arranged on the telescopic rod of the positioning electric cylinder (28).

9. The pipeline transportation device according to claim 8, characterized in that: The lower end surface array of the workbench (22) is provided with an operating electric cylinder (31) and a deflection motor (30), the deflection motor (30) is used to drive the operating electric cylinder (31) to deflect, and a cleaning member, an ultrasonic member, a vibrating member and a contact member are respectively provided on the extension and contraction of each operating electric cylinder (31); the cleaning member includes a cleaning motor (33), and a cleaning part is provided on the output of the cleaning motor (33); the ultrasonic member includes an ultrasonic device (32) for ultrasonically inspecting the interior of the pipeline; the vibrating member includes a vibrating part (35) for vibrating the inner wall of the pipeline; the contact member includes a contact shaft (34) arranged in a telescopic manner, the contact shaft (34) contacts the inner wall of the pipeline, and the telescopic displacement of the contact shaft (34) is output and fed back through a position sensor.

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