Pipeline foreign matter grabbing device

Abstract

The invention discloses a pipeline foreign matter grabbing device which comprises a hand controller, a feeding pipe section, a bendable pipe section and a foreign matter grabbing mechanism. The feeding pipe section and the bendable pipe section are axially connected, and the foreign matter grabbing mechanism is arranged at the end, opposite to the feeding pipe section, of the bendable pipe section. The hand controller comprises a swing assembly and a folding and unfolding driving mechanism. The swing assembly is arranged in the feeding pipe section and the bendable pipe section in a penetrating mode, and one tail end of the swing assembly is fixed to the end of the bendable pipe section. The retracting and releasing driving mechanism is arranged at the end, back on to the bendable pipe section, of the feeding pipe section and retracts and releases the swing assembly. And the swinging assembly drives the bendable pipe section to bend or swing in the folding and unfolding state. The pipeline foreign matter grabbing device is flexible, controllable and suitable for long and thin pipelines, and the success rate of pipeline foreign matter grabbing can be increased through pipeline connecting pieces such as pipeline elbows, U-shaped heads and tee joints.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline maintenance equipment, and in particular to a pipeline foreign matter grabbing device. BACKGROUND

[0002] In the field of nuclear power plant operation and maintenance, pipeline foreign matter events often occur due to part falling off, aging, and introduction of foreign matters. When a foreign matter occurs, due to the limited length of the existing endoscope and the presence of accessories such as elbows and tees in the pipeline, there is a lack of effective equipment to view the internal situation of the pipeline and effectively locate the position of the foreign matter.

[0003] The traditional endoscope combined with the foreign matter grabbing tool has poor coupling, and often requires the combination of multiple tools for joint operation to remove the foreign matter, which has the problems of high operation difficulty and low operation reliability, and is difficult to adapt to the situation of pipeline elbows, U-shaped heads, tees and other pipeline connecting pieces, thereby affecting the success rate of foreign matter grabbing. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a pipeline foreign matter grabbing device.

[0005] The technical solution adopted by the present application to solve the technical problem is to provide a pipeline foreign matter grabbing device, which comprises a hand controller, a feeding pipe section, a bendable pipe section, and a foreign matter grabbing mechanism.

[0006] The feeding pipe section and the bendable pipe section are axially connected, and the foreign matter grabbing mechanism is arranged at one end of the bendable pipe section away from the feeding pipe section.

[0007] The hand controller comprises a swing assembly and a winding and unwinding driving mechanism. The swing assembly is arranged in the feeding pipe section and the bendable pipe section, one end of the swing assembly is fixed to the end of the bendable pipe section away from the feeding pipe section, and the winding and unwinding driving mechanism is arranged at one end of the feeding pipe section away from the bendable pipe section, connected to the swing assembly and used for winding or unwinding the swing assembly.

[0008] The swing assembly drives the bendable pipe section to bend or swing relative to the feeding pipe section in the winding and unwinding state, and drives the foreign matter grabbing mechanism to swing.

[0009] In some embodiments, the end of the bendable pipe section away from the feeding pipe section is provided with a mounting flange for cooperating with the foreign matter grabbing mechanism.

[0010] In some embodiments, the bendable pipe section is a corrugated pipe.

[0011] In some embodiments, the feeding pipe section is a corrugated pipe, and the rigidity of the feeding pipe section is higher than that of the bendable pipe section.

[0012] In some embodiments, the winding and unwinding driving mechanism comprises at least one hand wheel, and the swing assembly comprises at least two transmission steel wires;

[0013] The two transmission steel wires are connected on opposite sides of the hand wheel respectively, and are parallel and spaced apart and pass through the feeding pipe section and the bendable pipe section, and the ends of the transmission steel wires away from the hand wheel are fixed on the end of the bendable pipe section away from the feeding pipe section.

[0014] When the hand wheel is rotated in a direction, one of the transmission steel wires is pulled tight while the other is loosened, driving the bendable pipe section to bend or swing in the direction of the tight transmission steel wire.

[0015] In some embodiments, the winding and unwinding driving mechanism further comprises a locking mechanism matched with the hand wheel for limiting rotation of the hand wheel.

[0016] In some embodiments, the winding and unwinding driving mechanism comprises two hand wheels coaxially connected, and the swing assembly comprises four transmission steel wires; each hand wheel is connected with two transmission steel wires, and the four transmission steel wires are arranged in two rows and two columns corresponding to the four peripheries of the bendable pipe section for driving the bendable pipe section to swing horizontally or pitch.

[0017] In some embodiments, the swing assembly further comprises a reset assembly arranged corresponding to each transmission steel wire, which is sleeved on the transmission steel wire and close to the hand wheel.

[0018] In some embodiments, the pipe foreign matter grabbing device further comprises an adapter tee connected axially in the feeding pipe section or between the feeding pipe section and the winding and unwinding driving mechanism.

[0019] In some embodiments, the foreign matter grabbing mechanism comprises any one of a dust suction tool head, a magnetic attraction tool head, a clamping tool head, and a rope sleeving tool head.

[0020] The present application has the advantages that the swing of the bendable pipe section is controlled by the hand controller, the multi-directional bending or swinging of the foreign matter grabbing mechanism at the end is driven, which is flexible and controllable, suitable for elongated pipes, and can pass through pipe connectors such as pipe elbows, U-shaped heads, and tees, thereby improving the success rate of pipe foreign matter grabbing, and reducing the operation difficulty and improving the operation reliability without the need for multiple tools to be used jointly during operation. BRIEF DESCRIPTION OF DRAWINGS

[0021] The present application will be further described below with reference to the drawings and embodiments, wherein:

[0022] Figure 1is a structural schematic diagram of a pipeline foreign matter grabbing device according to an embodiment of the present application;

[0023] Figure 2 is Figure 1 is a structural schematic diagram of an internal structure of a hand controller in the pipeline foreign matter grabbing device shown in

[0024] Figure 3 is Figure 1 is a structural schematic diagram of an end structure of a bendable pipe section in the pipeline foreign matter grabbing device shown in

[0025] Figure 4 is a structural schematic diagram of an embodiment of a foreign matter grabbing mechanism in the pipeline foreign matter grabbing device according to the present application;

[0026] Figure 5 is a structural schematic diagram of another embodiment of a foreign matter grabbing mechanism in the pipeline foreign matter grabbing device according to the present application;

[0027] Figure 6 is a structural schematic diagram of still another embodiment of a foreign matter grabbing mechanism in the pipeline foreign matter grabbing device according to the present application. DETAILED DESCRIPTION

[0028] In order to have a clearer understanding of the technical features, objects and effects of the present application, the specific embodiments of the present application will be described in detail with reference to the accompanying drawings.

[0029] As shown in Figure 1 , the pipeline foreign matter grabbing device according to an embodiment of the present application comprises a hand controller 10, a feeding pipe section 20, a bendable pipe section 30 and a foreign matter grabbing mechanism 40; the hand controller 10, the feeding pipe section 20, the bendable pipe section 30 and the foreign matter grabbing mechanism 40 are sequentially connected in the axial direction, and the pipeline foreign matter grabbing device formed thereby has an overall strip shape, and is suitable for entering and exiting a pipeline for inspection and foreign matter grabbing, and is particularly suitable for use in a slender pipeline.

[0030] Among them, the feeding pipe section 20 and the bendable pipe section 30 are axially connected and communicated, and constitute the main part of the pipeline foreign matter grabbing device in terms of length. The foreign matter grabbing mechanism 40 is arranged at the end of the bendable pipe section 30 away from the feeding pipe section 20, and serves as the front end of the pipeline foreign matter grabbing device, and is sent into or out of the pipeline by the feeding pipe section 20 and the bendable pipe section 30, and is used for inspecting and grabbing foreign matters inside the pipeline.

[0031] Specifically, the bendable pipe section 30 is a bellows pipe, which is flexible, bendable and stretchable. The bendable pipe section 30 is preferably made of high-elastic nylon material, and the outer wall thereof is in a fine corrugated structure, so that the bendable pipe section 30 can swing in a large angle range under the action of external force and can automatically return to the original position after the external force is removed. The bendable pipe section 30 is used to realize the swing of the foreign matter grabbing mechanism 40 at the front end of the pipe section in the pipe relative to the feeding pipe section 20, so that the foreign matter grabbing mechanism 40 can enter the designated three-way direction when the foreign matter grabbing mechanism 40 encounters a right-angle three-way pipe during the feeding process.

[0032] The feeding pipe section 20 can also be a bellows pipe, which is also bendable and stretchable. The rigidity of the feeding pipe section 20 is higher than that of the bendable pipe section 30, so that the feeding pipe section 20 has sufficient feeding force and can also drive the bendable pipe section 30 at the front end of the feeding pipe section 20 to move forward.

[0033] The feeding pipe section 20 is preferably realized by a PTFE bellows pipe with a certain flexibility, which ensures that the feeding pipe section 20 can smoothly pass through the pipe joints such as pipe elbows, U-shaped heads and three-way pipes when moving in the pipe. At the same time, since the PTFE material has a low friction coefficient, the feeding pipe section 20 can maintain a low friction coefficient in the pipe during the feeding process.

[0034] In terms of length, the axial length of the feeding pipe section 20 is greater than the axial length of the bendable pipe section 30.

[0035] In combination with Figure 1 and Figure 2 , the hand controller 10 can include a swing assembly 11 and a winding and unwinding driving mechanism 12. The winding and unwinding driving mechanism 12 is arranged at one end of the feeding pipe section 20 away from the bendable pipe section 30, and the swing assembly 11 is arranged in the feeding pipe section 20 and the bendable pipe section 30. One end of the swing assembly 11 is connected to the winding and unwinding driving mechanism 12, and the other end is fixed to the end of the bendable pipe section 30 away from the feeding pipe section 20. The winding and unwinding driving mechanism 12 is used to tighten or loosen the swing assembly 11, so that the swing assembly 11 drives the bendable pipe section 30 connected thereto to bend or swing in the winding and unwinding state, thereby driving the foreign matter grabbing mechanism 40 to swing and moving in the pipe for inspection and foreign matter grabbing.

[0036] The winding and unwinding driving mechanism 12 includes at least one hand wheel 121, and the swing assembly 11 includes at least two transmission steel wire ropes 111. The two transmission steel wire ropes 111 are respectively connected to opposite sides in the circumferential direction of the hand wheel 121 and are symmetrically distributed on the hand wheel 121 by 180°. Figure 2The hand wheel 121 is radially parallel to the transmission wire ropes 111 in the axial direction, and two transmission wire ropes 111 are connected to the upper and lower sides of the hand wheel 121. The two transmission wire ropes 111 are spaced apart and extend in parallel, and pass through the feeding pipe section 20 and the bendable pipe section 30. The distal end of each transmission wire rope 111 away from the hand wheel 121 is fixed to the end of the bendable pipe section 30 away from the feeding pipe section 20.

[0037] When the hand wheel 121 is rotated in a direction (clockwise or counterclockwise), one transmission wire rope 111 on one side of the hand wheel 121 is tightened, and the other transmission wire rope 111 on the other side is loosened, thereby driving the bendable pipe section 30 to bend or swing in the tightening direction. The tightening and loosening stroke amounts of the two transmission wire ropes 111 on the hand wheel 121 are consistent.

[0038] Specifically, each hand wheel 121 can include a connecting portion and an operating portion connected to each other. One end of the transmission wire rope 111 is wound and connected to the connecting portion of the hand wheel 121. The connecting portion is rotated by rotating the operating portion, so as to tighten one transmission wire rope 111 on the connecting portion and loosen the other transmission wire rope 111.

[0039] In a preferred embodiment, the winding and unwinding driving mechanism 12 includes two hand wheels 121, which are arranged side by side and coaxially connected to each other. The swinging assembly 11 includes four transmission wire ropes 111. Each hand wheel 121 connects two transmission wire ropes 111, so that on the two hand wheels 121, the four transmission wire ropes 111 are arranged in two rows and two columns, corresponding to the four peripheries inside the bendable pipe section 30, and can drive the bendable pipe section 30 to swing horizontally or pitch.

[0040] The two hand wheels 121 are relatively independent and can be rotated independently. The two hand wheels 121 control the tightening and loosening of the four transmission wire ropes 111, and correspondingly control the horizontal swinging and pitching of the bendable pipe section 30. Through appropriate motion superposition and combination of the two direction swings, the bendable pipe section 30 and the foreign matter grabbing mechanism 40 at the front end can swing in any direction radially in the pipeline, thereby smoothly passing through the target pipeline branch, realizing the specified direction passing through the pipeline elbow tee, and also smoothly passing through various pipeline elbows, U-shaped heads, inclined pipelines, vertical pipelines, etc.

[0041] In order to lock the hand wheel 121, the winding and unwinding driving mechanism 12 further includes a locking mechanism 13 arranged on each hand wheel 121 for limiting the rotation of the hand wheel 121. The locking mechanism 13 locks the hand wheel 121 at a specified index position, i.e., maintains the foreign matter grabbing mechanism 40 at the front end at a certain deflection angle state, facilitating personnel operation and all-directional observation of foreign matter in the pipeline when passing through the tee.

[0042] The locking mechanism 13 can adopt a spring-return bolt structure. When the bolt is lifted outward by the knob and rotated by a certain angle, the protrusion on the bolt is clamped on the end face of the pin barrel, so that the bolt is kept pulled out of the limiting position, and the hand wheel 121 is not interfered by the bolt and can be freely rotated. When the bolt is rotated by a certain angle, the bolt is returned to the limiting position in the pin barrel under the action of the spring-return force, the locking is realized, and the hand wheel 121 is locked, so that the posture of the foreign matter grabbing mechanism 40 at the front end of the bendable pipe section 30 can be fixed.

[0043] The swing assembly 11 further includes a reset assembly 14 corresponding to each transmission steel wire rope 111. The reset assembly 14 is sleeved on the transmission steel wire rope 111 and close to the hand wheel 121, which helps the transmission steel wire rope 111 to reset after being tensioned.

[0044] The reset assembly 14 can include a reset spring 141. The reset spring 141 is sleeved on the transmission steel wire rope 111, one end of which is fixed opposite to the transmission steel wire rope 111, and the other end extends to the hand wheel 121 and is fixed opposite to a support 143 on one side of the hand wheel 121. The transmission steel wire rope 111 can pass through the support 143 and be connected to the hand wheel 121. When the transmission steel wire rope 111 is tensioned by the hand wheel 121, the reset spring on the transmission steel wire rope 111 is compressed and tightened synchronously. When the transmission steel wire rope 111 is released, the reset spring on the transmission steel wire rope 111 expands and lengthens, avoiding the transmission steel wire rope 111 from being entangled and knotted in this state.

[0045] The reset assembly 14 further includes a sleeve 142, which is sleeved on the outer periphery of the reset spring 141 to enclose and protect the reset spring 141.

[0046] The hand controller 10 further includes a housing 15, in which the winding and unwinding driving mechanism 12 is arranged. The operating part of the hand wheel 121 is exposed outside the housing 15, facilitating the operation of rotating the hand wheel 121. The transmission steel wire rope 111 of the swing assembly 11 passes into the housing 15 and is connected to the winding and unwinding driving mechanism 12. The reset assembly 14 on the transmission steel wire rope 111 is also accommodated in the housing 15.

[0047] As shown in FIGS. Figure 1 and Figure 3 The foreign matter grabbing mechanism 40 is detachably installed at the end of the bendable pipe section 30. For this purpose, the end of the bendable pipe section 30 is provided with a mounting flange 31 for cooperating with the mating end of the foreign matter grabbing mechanism 40, so as to realize the quick and convenient disassembly and assembly of the foreign matter grabbing mechanism 40 on the bendable pipe section 30.

[0048] The mounting flange 31 can further be provided with a quick-connection electric contact 32, and the mating end of the foreign matter grabbing mechanism 40 is correspondingly provided with a quick-connection electric contact plate. When the mating end of the foreign matter grabbing mechanism 40 is connected to the mounting flange 31, the quick-connection electric contact plate is simultaneously connected to the quick-connection electric contact 32, so as to realize the mechanical connection and electrical connection at the same time.

[0049] The foreign matter grabbing mechanism 40 is a tool head with a foreign matter grabbing unit 42 and a camera unit 43, the camera unit 43 is used to find foreign matter in the pipeline and provide remote visual guidance, the foreign matter grabbing unit 42 is used to grab the foreign matter in the pipeline, and the foreign matter is taken out of the pipeline after the pipeline foreign matter grabbing device exits the pipeline. The foreign matter grabbing mechanism 40 realizes the integration design of video guidance and foreign matter grabbing tool head, and the foreign matter grabbing operation area is always exposed in the camera field of view, which greatly simplifies the operation.

[0050] The foreign matter grabbing mechanism 40 also carries a lighting unit 44, which is used to light the inside of the pipeline for the camera unit 43 to ensure clear imaging.

[0051] Specifically, the foreign matter grabbing mechanism 40 can include an outer cylinder 41, a foreign matter grabbing unit 42 mounted in the outer cylinder 41, a camera unit 43 and a lighting unit 44. One end of the outer cylinder 41 is an open end, and the opposite end is a butt joint end for mating connection with the mounting flange 31 of the bendable pipe section 30. The foreign matter grabbing unit 42 and the camera unit 43 are close to the open end in the outer cylinder 41. The camera unit 43 can be fixed on the foreign matter grabbing unit 42, and the grabbing end of the foreign matter grabbing unit 42 is in the camera view of the camera unit. The lighting unit 44 is provided on the camera unit 43 and / or the foreign matter grabbing unit 42 to provide lighting.

[0052] Reference Figure 1 In the first embodiment of the foreign matter grabbing unit 42, the foreign matter grabbing unit 42 includes a dust collection head with an opening, and a dust collection channel is arranged in the outer cylinder 41 and communicates with the dust collection head. The dust collection channel can be connected with a dust collection pipe to suck the foreign matter in the pipeline in a dust collection manner. The foreign matter grabbing mechanism 40 with the foreign matter grabbing unit 42 of the first embodiment forms a dust collection tool head.

[0053] To meet the dust collection requirement, the pipeline foreign matter grabbing device further includes an adapter tee joint 50, which can be axially connected in the feeding pipe section 20, thereby dividing the feeding pipe section 20 into two pipe sections, one pipe section is connected between the first interface of the adapter tee joint 50 and the hand controller 10 (the retractable driving mechanism 12), and the other pipe section is connected between the second interface of the adapter tee joint 50 and the bendable pipe section 30. Alternatively, the adapter tee joint 50 is connected between the feeding pipe section 20 and the retractable driving mechanism 12 of the hand controller 10.

[0054] The third interface of the adapter tee joint 50 is used to connect an industrial dust collector, and the dust collection pipe of the industrial dust collector is inserted into the third interface of the adapter tee joint 50 to realize the function of remotely sucking and grabbing foreign matter.

[0055] Reference Figure 4In the second embodiment of the foreign object grabbing unit 42, the foreign object grabbing unit 42 comprises a magnetic attraction member 421, which extends out of the open end of the outer cylinder 41 for attracting foreign objects with ferromagnetic properties. The foreign object grabbing mechanism 40 with the second embodiment of the foreign object grabbing unit 42 forms a magnetic attraction tool head, which is capable of attracting foreign objects with ferromagnetic properties (such as carbon steel bolts) inside the pipeline.

[0056] Referring to Figure 5 In the third embodiment of the foreign object grabbing unit 42, the foreign object grabbing unit 42 comprises a pair of openable and closable clamping jaws 422 and a driving assembly (not shown) for driving the clamping jaws 422 to open and close. The clamping jaws 422 extend out of the open end of the outer cylinder 41 for clamping foreign objects inside the pipeline. The driving assembly can comprise a motor and a plurality of gear stages, which are connected between the motor and the clamping jaws 422. The motor drives the clamping jaws 422 to open and close through the plurality of gear stages, which also functions as a speed reducer. The plurality of gear stages are formed by at least two gears in sequence. The number and diameters of the gears can be determined according to the relative positions of the motor and the clamping jaws 422. The foreign object grabbing mechanism 40 with the third embodiment of the foreign object grabbing unit 42 forms a clamping tool head, which is capable of clamping foreign objects inside the pipeline.

[0057] Referring to Figure 6 In the fourth embodiment of the foreign object grabbing unit 42, the foreign object grabbing unit 42 comprises a retractable sleeve rope 423, which extends out of the open end of the outer cylinder 41 to form a sleeve ring for retrieving foreign objects inside the pipeline. The foreign object grabbing unit 42 further comprises a sleeve rope driving box for controlling the sleeve rope 423 to retract and extend to adjust the inner diameter of the sleeve ring. The sleeve rope driving box further comprises a sleeve rope reel and a sleeve rope driving assembly. The sleeve rope is wound on the sleeve rope reel and fixed at the end face of the sleeve rope driving box to form the sleeve ring. The sleeve rope driving assembly comprises a motor and a plurality of gear stages, which are connected between the motor and the sleeve rope reel. The motor drives the sleeve rope reel to rotate in both directions through the plurality of gear stages to retract and extend the sleeve rope. The foreign object grabbing mechanism 40 with the fourth embodiment of the foreign object grabbing unit 42 forms a sleeve rope tool head, which is capable of retrieving foreign objects inside the pipeline.

[0058] In some embodiments, the foreign object grabbing mechanism 40 of the pipeline foreign object grabbing device can be various types of tool heads, such as a dust suction tool head, a magnetic attraction tool head, a clamping tool head, or a sleeve rope tool head.

[0059] In some embodiments, the pipeline foreign matter grabbing device is configured with multiple foreign matter grabbing mechanisms 40, including a dust suction tool head, a magnetic suction tool head, a clamping tool head, and a rope sleeve tool head. One of the tool heads is selected and installed at the end of the bendable pipe section 30 during use. The various tool heads described above can be replaced and used on the pipeline foreign matter grabbing device. When grabbing foreign matter in the pipeline, the corresponding tool head is replaced according to the type, shape, and specifications of the foreign matter, thereby achieving quick switching of multiple forms of foreign matter grabbing tool heads and reasonable selection according to the form of the foreign matter on site and the pipeline conditions.

[0060] When the foreign matter is in the form of fine and scattered particles, the dust suction tool head is preferably used as the foreign matter grabbing mechanism 40 to remove the foreign matter in the pipeline by suction. When the foreign matter has ferromagnetic properties, the magnetic suction tool head is used as the foreign matter grabbing mechanism 40 to remove the foreign matter in the pipeline by adsorption. When the foreign matter is in the form of a long and thin strip, the clamping tool head is used as the foreign matter grabbing mechanism 40 to remove the foreign matter in the pipeline by clamping. When the foreign matter has a long and thin protrusion or a complex and irregular structure, the rope sleeve tool head is used as the foreign matter grabbing mechanism 40 to remove the foreign matter in the pipeline by sleeving.

[0061] The adapter tee 50 can be connected in the feeding pipe section 20. When the dust suction tool head is selected as the foreign matter grabbing mechanism 40, the adapter tee 50 can be directly used for connecting the dust suction pipe of an industrial dust collector. When the foreign matter grabbing mechanism 40 selects a tool head other than the dust suction tool head, the adapter tee 50 does not affect the use of other tool heads.

[0062] In summary, the pipeline foreign matter grabbing device of the present application can achieve semi-automatic grabbing of foreign matter in the pipeline. The flexible pipe section (bendable pipe section) can smoothly pass through long and thin pipelines and can pass through pipeline connectors such as bends, U-shaped heads, and tees. It can achieve switching and use of multiple forms of tool heads, and reasonable selection according to the form of the foreign matter on site and the pipeline conditions, with good flexibility on site. It meets the demand for removing foreign matter and is more conducive to pipeline operations.

[0063] The above description is only an embodiment of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process conversion using the content of the specification and drawings, or direct or indirect application in other related technical fields is also included in the patent protection scope of the present application.

Claims

1. A pipeline foreign body grabbing device, characterized in that: It includes a hand controller, a feeding pipe section, a bendable pipe section and a foreign body grabbing mechanism; The feeding pipe section and the bendable pipe section are axially connected, and the foreign matter grabbing mechanism is arranged at one end of the bendable pipe section facing away from the feeding pipe section; The hand controller includes a swing assembly and a retractable drive mechanism; the swing assembly is inserted into the feed pipe section and the bendable pipe section, and one end of the swing assembly is fixed to the end of the bendable pipe section away from the feed pipe section; the retractable drive mechanism is disposed at the end of the feed pipe section facing away from the bendable pipe section, connected to the swing assembly and used to tighten or loosen the swing assembly; The swing assembly drives the bendable pipe section to bend or swing relative to the feeding pipe section in the retracted and extended state, thereby driving the foreign matter grabbing mechanism to swing.

2. The pipeline foreign body grabbing device according to claim 1, characterized in that: The end of the bendable pipe section away from the feeding pipe section is provided with a mounting flange for cooperating with the foreign matter grabbing mechanism.

3. The pipeline foreign body grabbing device according to claim 1, characterized in that: The bendable pipe section is a corrugated pipe.

4. The pipeline foreign body grabbing device according to claim 1, characterized in that: The feed pipe section is a corrugated pipe, and the rigidity of the feed pipe section is higher than the rigidity of the bendable pipe section.

5. The pipeline foreign body grabbing device according to claim 1, characterized in that: The retractable and retractable driving mechanism includes at least one hand wheel, and the swing assembly includes at least two transmission steel ropes; The two transmission steel ropes are respectively connected to opposite sides of the handwheel, the two transmission steel ropes are spaced apart and parallel and pass through the feed pipe section and the bendable pipe section, and the ends of the transmission steel ropes away from the handwheel are fixed to the ends of the bendable pipe section away from the feed pipe section; When the hand wheel rotates in one direction, one of the transmission steel wire ropes is tightened, and at the same time, the other transmission steel wire rope is loosened, thereby driving the bendable pipe section to bend or swing in the tightening direction.

6. The pipeline foreign body grabbing device according to claim 5, characterized in that: The retractable drive mechanism further includes a locking mechanism, which is engaged with the hand wheel and is used to limit the rotation of the hand wheel.

7. The pipeline foreign body grabbing device according to claim 5, characterized in that: The retraction and extension drive mechanism includes two hand wheels, which are coaxially connected, and the swing assembly includes four transmission steel ropes; each hand wheel is connected to two transmission steel ropes, and the four transmission steel ropes are arranged in two rows and two columns, corresponding to the four sides of the inside of the flexible pipe section, and are used to drive the flexible pipe section to swing horizontally or pitch.

8. The pipeline foreign body grabbing device according to claim 5, characterized in that: The swing assembly further comprises a reset assembly corresponding to each of the transmission steel ropes, wherein the reset assembly is sleeved on the transmission steel rope and close to the hand wheel.

9. The pipeline foreign body grabbing device according to any one of claims 1 to 8, characterized in that: The pipeline foreign body grasping device further comprises a switching tee, which is axially connected in the feeding pipe section or connected between the feeding pipe section and the retracting and extending driving mechanism.

10. The pipeline foreign body grabbing device according to any one of claims 1 to 8, characterized in that: The foreign body grabbing mechanism includes any one of a dust suction tool head, a magnetic tool head, a clamping tool head, and a rope tool head.

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