Modular access platform for use inside a pipeline and method of use

Abstract

This invention discloses a modular maintenance platform suitable for pipeline interiors and its usage method, aiming to solve the problems of existing pipeline maintenance equipment such as limited functionality, inconvenient switching, and poor stability. The platform includes a main frame module with a lifting connection point at the top for connection to external lifting equipment; a multi-functional operation module that can be switched and installed on the main frame module, which can be replaced as a slag removal module or a personnel-carrying operation module as needed; a hydraulic power system integrated into the main frame module to provide hydraulic power to all components; a control system for remote control; a quick-change locking mechanism for rapid module switching and automatic locking; a composite support stabilization system to ensure stable operation; and a pattern recognition and automatic oil circuit switching system that automatically identifies module types and switches oil circuits. This invention adopts a modular design, offering convenient switching, a high degree of intelligence, and adaptability to various pipeline maintenance scenarios. It effectively improves maintenance efficiency and safety, has a compact structure, and is highly practical.

Description

Technical Field

[0001] This invention relates to the field of water conservancy and hydropower engineering and large-scale pipeline engineering maintenance, and in particular to a modular maintenance platform suitable for the inside of pipelines and its usage method. Background Technology

[0002] In hydropower stations, large-scale water diversion projects, and urban pipe network systems, confined spaces such as pipelines, tunnels, or dam forebays often accumulate silt, floating debris, branches, and other contaminants. Especially in critical areas such as the intake and gate slots of hydropower stations, these accumulations not only affect flow capacity but can also obstruct critical equipment such as gates and hoists, threatening operational safety. Furthermore, the complex structures of the inner walls and bottoms of these confined spaces present the following problems with traditional manual cleaning or maintenance methods: First, the work is difficult and risky. Personnel entering narrow, slippery, or water-deep pipes face extremely high safety risks, and the limited working space makes it difficult to maneuver effectively. Especially in the dam's water surface area, there are significant safety hazards such as falls and drowning when personnel are working close to the water.

[0003] Second, there is a lack of dedicated and efficient equipment. Existing slag removal or maintenance equipment is mostly fixed or non-modular in design, making it difficult to adapt to rapid switching between different pipe diameters and different work tasks (such as slag removal, crushing, and manned maintenance). A single piece of equipment can often only perform a single function, resulting in low equipment utilization and high purchase and maintenance costs.

[0004] Third, hoisting and transportation are difficult. Large equipment is difficult to hoist and move precisely through narrow entrances or using existing lifting facilities, resulting in long deployment cycles and high costs. Although many hydropower stations are equipped with gantry cranes and other lifting equipment, they lack dedicated working platforms to match them.

[0005] Fourth, limited functionality. Existing equipment often only has a single function of slag removal or personnel transport, failing to achieve multi-purpose use and resulting in resource waste. When slag removal and maintenance operations need to be carried out simultaneously, multiple sets of equipment must be used, increasing management complexity and operation time.

[0006] Fifth, the level of automation is low. Most existing slag removal equipment is operated manually and cannot automatically adjust working parameters according to the load, which easily leads to malfunctions such as jamming and overload; it also lacks a full material detection function, requiring operators to rely on experience to judge whether the hopper is full, which affects the efficiency of operation.

[0007] Therefore, a modular maintenance platform suitable for pipeline interiors and its usage method are proposed to solve the above problems. Summary of the Invention

[0008] This invention overcomes the shortcomings of the prior art and provides a modular maintenance platform suitable for pipeline interiors and its usage method.

[0009] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a modular maintenance platform suitable for the inside of pipelines includes a main frame module, the top of which is provided with multiple hoisting connection points for connecting with external lifting equipment; The multi-functional operation module can be switched and installed on the main frame module, and can be replaced with a slag removal module or a manned operation module according to the operation requirements. The hydraulic power system is integrated and installed on the main frame module to provide hydraulic power to the multi-functional operation module. A control system for remotely controlling the start and stop of the hydraulic power system and the actions of each actuator; A quick-change locking mechanism is located between the main frame module and the multi-functional operation module to enable quick switching and automatic locking of the modules; A composite support and stabilization system is installed at the bottom of the main frame module to provide stable support in different operating environments; The pattern recognition and automatic oil circuit switching system is used to identify the type of the currently installed multi-functional operating module and automatically switch the oil circuit distribution of the hydraulic power system.

[0010] In a preferred embodiment of the present invention, the quick-change locking mechanism includes: Hydraulic locking pins are installed on the main frame module; Positioning cone sleeve installed on the multi-functional operation module; A position sensor is used to detect whether the multi-functional operation module has reached the predetermined installation position; When the position sensor sends a positioning signal, the hydraulic locking pin automatically extends into the positioning cone sleeve and locks, thereby achieving automatic locking of the module; The hydraulic locking pin is remotely controlled by the control system, enabling unmanned automatic docking.

[0011] In a preferred embodiment of the present invention, the slag removal module includes: A hopper is used to collect slag and debris from inside the pipeline. The multi-dimensional crushing component includes a horizontally arranged saw blade shaft and a vertically arranged S-shaped cutter shaft, wherein: The saw blade shaft is located at the front end of the hopper inlet and is used for horizontal cutting of long strips of slag. The S-shaped cutter shaft is located behind the saw disc shaft and is arranged longitudinally. Its rotation axis is perpendicular to the slag conveying direction. It is used to perform secondary crushing of the slag after it has been cut by the saw disc shaft and to push it towards the conveying component. The rotational speed ratio between the saw blade shaft and the S-shaped cutter shaft is adjustable to adapt to different slag characteristics; Conveying components, including hydraulically driven screw conveyor shafts or scraper chains, are used to push the crushed slag to the collection hopper; The unloading mechanism is connected to the hopper and is driven by a hydraulic cylinder to tilt the hopper, thereby dumping the slag.

[0012] In a preferred embodiment of the present invention, the manned operation module includes: The manned platform is equipped with safety railings; The extendable operating platform can extend horizontally outward relative to the main frame module, driven by electric or hydraulic push rods. The ladder is detachably installed on one side of the main frame module.

[0013] In a preferred embodiment of the present invention, the composite support stabilization system includes: The retractable support legs are located at the bottom of the main frame module and are used to extend and abut against the working surface during operation to provide vertical support. The clamping plate hanging holes are located on the side of the main frame module and are used to cooperate with the pre-set hanging holes on the dam or pipeline wall to achieve horizontal positioning. Tilt sensor for real-time monitoring of platform attitude; When there are pre-set hanging holes in the working environment, the clamp should be used in conjunction with the hanging holes first. When the working environment does not have a pre-set hanging hole, support is achieved by extending the retractable support legs. When the tilt sensor detects that the platform tilt angle exceeds the threshold, the control system automatically adjusts the extension length of each retractable support leg to maintain horizontality.

[0014] In a preferred embodiment of the present invention, the pattern recognition and automatic oil circuit switching system includes: An identification chip is installed on each multi-functional operating module and stores module type information; A reading device, mounted on the main frame module, is used to read information from the identification chip; The mode selection valve assembly is connected to the oil circuit output end of the hydraulic power system; When the reading device identifies the slag removal module, the mode selection valve group distributes the hydraulic oil circuit to the crushing component drive motor and the conveying component drive motor; When the reading device detects the manned operation module, the mode selection valve group distributes hydraulic oil to the drive rod of the extendable operating platform.

[0015] In a preferred embodiment of the present invention, the slag removal module is further configured with an intelligent slag cleaning control system, including: Pressure sensor used to monitor the hydraulic system pressure of the crushing components in real time; A full-material detection sensor is installed inside the hopper to detect whether the slag is full. The control system executes the following intelligent control strategy: Load adaptive control: When the hydraulic system pressure of the crushing component exceeds the first threshold, the control system automatically reduces the speed of the crushing component and controls it to rotate in the reverse direction. After the jamming is released, it resumes forward operation. Automatic full material detection: When the full material detection sensor detects a full material signal in the hopper, the control system automatically pauses the conveying component and issues a discharge prompt or automatically executes the discharge action; Unloading posture coordinated control: When unloading, the control system automatically adjusts the extension length of the telescopic support legs in the composite support stabilization system, so that the center of gravity of the platform shifts backward.

[0016] Another technical solution adopted by the present invention is a method for using a modular maintenance platform suitable for use inside pipelines, which includes the following steps: Step 1: Modular assembly and automatic identification. Select the slag removal module or the manned operation module according to the task, and hoist it above the main frame module. Automatic docking and locking are achieved through the quick-change locking mechanism. The pattern recognition and automatic oil circuit switching system reads the identification chip information and automatically configures the hydraulic oil circuit. Step 2: Lifting Deployment and Attitude Adaptation. Using external lifting equipment, the platform is lifted to the work area through the lifting connection point on the top of the main frame module. According to the working environment, the composite support stabilization system automatically selects the clamp hanging hole matching or the telescopic support leg support method, and achieves automatic leveling through the feedback of the tilt sensor. Step 3: Perform intelligent slag removal or maintenance operations. Based on the installed modules, the corresponding operation actions are remotely executed through the control system. When performing slag removal operations, the control system performs load adaptive control, automatic full material detection, and coordinated control of unloading posture. When performing manned maintenance work, personnel enter the manned platform via the ladder. The control system can extend the operating platform outward to allow personnel to carry out maintenance work. Step 4: Platform recovery and module replacement. After the operation is completed, the control system resets all actuators, recovers the composite support stabilization system, and uses lifting equipment to lift the platform away from the work area; unlocks and replaces the multi-functional operation module through the quick-change locking mechanism, and repeats steps one to three.

[0017] This invention addresses the shortcomings of the prior art and has the following beneficial effects: (1) This invention standardizes the combination of the platform body and multi-functional operation modules, and, in conjunction with a quick-change locking mechanism and a pattern recognition and automatic oil circuit switching system, enables rapid switching between modes such as slag removal and personnel transport, greatly improving the utilization rate and scene adaptability of the equipment. Operators can complete module replacement without entering dangerous areas, significantly improving operational safety.

[0018] (2) The present invention can be used directly for hoisting using existing on-site lifting equipment (such as dam cranes) without the need for additional supporting facilities. The composite support stabilization system can automatically select the support method according to the working environment and has an automatic leveling function, which can adapt to the working environment of pipelines or water areas with different cross-sectional shapes and sizes.

[0019] (3) The slag removal module of this invention integrates crushing, pushing, collecting, and dumping functions. In particular, through the multi-dimensional crushing components (the synergy of the transverse saw shaft and the longitudinal S-shaped cutter shaft), it achieves effective cutting and secondary crushing of long strip-shaped slag, solving the problems of easy jamming and low efficiency of traditional slag removal equipment. The speed ratio of the saw shaft and the S-shaped cutter shaft is adjustable, which can adapt to different slag characteristics.

[0020] (4) The present invention realizes three intelligent strategies through intelligent slag removal control system: load adaptive control, full material automatic detection and unloading posture coordinated control, which effectively prevents equipment jamming, slag overflow and platform overturning, realizes the automation and intelligence of slag removal operation, and greatly reduces the labor intensity and operation difficulty of operators.

[0021] (5) This invention achieves human-machine separation through remote operation, avoiding direct exposure of personnel in hazardous environments. The manned module is equipped with guardrails and an extendable operating platform, providing personnel with a safe, comfortable, and flexible working space. The composite support and stabilization system ensures the stability of the platform under various working conditions, significantly reducing operational risks. Attached Figure Description

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments; Figure 1 This is a diagram of the modular maintenance platform architecture for the pipeline interior, a preferred embodiment of the present invention. Figure 2 This is a partial view of the quick-change locking mechanism and pattern recognition system according to a preferred embodiment of the present invention; Figure 3 This is a structural diagram of the manned operation module of a preferred embodiment of the present invention. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or it can be fixed through another intermediate component. When a component is said to be "connected to" another component, it can be directly connected to the other component or it may be fixed through another intermediate component. When a component is said to be "set on" another component, it can be set directly on the other component or it may be set through another intermediate component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0026] like Figure 1 , Figure 2 and Figure 3 As shown, a modular maintenance platform suitable for pipeline interiors includes a main frame module, which is welded from high-strength aluminum alloy and has an overall rectangular frame structure. The top is evenly equipped with four lifting connection points, using high-strength lifting rings with a rated load of not less than 5t, for connecting with external lifting equipment (such as electric hoists and small cranes) to ensure stability during the lifting process. The main frame module has a reserved installation interface for a multi-functional operation module in the middle, four sets of composite support stabilization system installation positions symmetrically arranged at the bottom, and two sets of clamping plate hanging holes reserved on the side to facilitate the fixing requirements of different working environments.

[0027] The multi-functional operating module can be switched and installed on the main frame module. Depending on the operational needs, it can be replaced with either a slag removal module or a manned operating module. Both module structures are compatible with the main frame module's installation interface, achieving universal interchangeability. Quick switching and fixing are accomplished via a quick-change locking mechanism. The hydraulic power system is integrated and installed on one side of the main frame module, employing a small, integrated hydraulic station including a hydraulic pump, oil tank, relief valve, check valve, and other components. The hydraulic pump is driven by an explosion-proof motor, and the 50L oil tank can meet the needs of long-term continuous operation, providing stable hydraulic power to the multi-functional operating module, quick-change locking mechanism, composite support stabilization system, and other actuators. The hydraulic power system connects to each actuator via high-pressure wear-resistant hoses, avoiding damage to the pipeline caused by the complex internal environment.

[0028] The control system uses a PLC controller as the core control unit and is equipped with a remote wireless operating terminal (handheld remote control) for remotely controlling the start and stop of the hydraulic power system and the actions of each actuator. It also receives feedback signals from various sensors such as position sensors, tilt sensors, and pressure sensors to achieve automated control. The control system has a fault alarm function. When an abnormal signal is detected, it immediately issues an audible and visual alarm and suspends the relevant operation to ensure operational safety.

[0029] A quick-change locking mechanism is located between the main frame module and the multi-functional operating module to achieve rapid module switching and automatic locking. Specifically, it includes four symmetrically distributed hydraulic locking pins located at the main frame module mounting interface, driven by a double-acting CD250 hydraulic cylinder with a stroke of 50mm. A positioning cone sleeve is located at the bottom of the multi-functional operating module, corresponding one-to-one with the hydraulic locking pins. Its inner diameter matches the outer diameter of the hydraulic locking pin, and its inner wall has a guide slope to facilitate rapid insertion. A position sensor, using a proximity switch (model E2E-X10ME1), is installed at the edge of the main frame module mounting interface to detect whether the multi-functional operating module has reached the predetermined installation position. When the position sensor sends a signal indicating the module is in position, the signal is transmitted to the control system. The control system then controls the hydraulic locking pins to automatically extend into the positioning cone sleeve and lock, achieving automatic module locking. The hydraulic locking pins are remotely controlled by the control system and retract in the reverse direction when unlocking, enabling unmanned automatic docking and disassembly. The entire docking process takes no more than 30 seconds.

[0030] The composite support stabilization system is located at the bottom of the main frame module to provide stable support in different working environments. Specifically, it includes four sets of retractable support legs symmetrically arranged at the bottom of the main frame module. These legs are hydraulically driven, with a telescopic stroke of 0-800mm. Rubber anti-slip pads are provided at the bottom to extend and contact the working surface during operation, providing vertical support. Two clamping plates with a diameter of 20mm are located on the side of the main frame module and are used to engage with pre-set hanging holes on dams or pipe walls. These are secured with bolts to achieve horizontal positioning. An MPU6050 tilt sensor is installed in the middle of the main frame module to monitor the platform's attitude in real time, with a tilt threshold set to 5°. When pre-set hanging holes exist in the working environment, the clamping plates engage with them first, while the retractable support legs extend to provide auxiliary support. When no pre-set hanging holes exist, the retractable support legs extend to provide support. When the tilt sensor detects that the platform tilt angle exceeds the threshold, the control system automatically adjusts the extension length of each retractable support leg to maintain horizontality, with an adjustment response time of no more than 2 seconds.

[0031] The pattern recognition and automatic hydraulic circuit switching system identifies the type of the currently installed multi-functional operating module and automatically switches the hydraulic circuit distribution of the hydraulic power system. Specifically, it includes an identification chip (RFID chip) installed on each multi-functional operating module, storing module type information (slag removal module or manned operation module); an RFID reader (model MFRC522) installed on the main frame module, within 50mm of the identification chip, for reading the chip's information; and a mode selection valve group (e.g., electromagnetic directional valve group 4WE6Y6X / EG24N9K4) connected to the hydraulic power system's output circuit. When the reader identifies a slag removal module, the mode selection valve group distributes the hydraulic circuit to the crushing component drive motor and the conveying component drive motor; when the reader identifies a manned operation module, the mode selection valve group distributes the hydraulic circuit to the drive push rod of the extendable operating platform, achieving automatic hydraulic circuit adaptation.

[0032] The slag removal module includes a hopper made of stainless steel with a volume of 0.8 m³ and a funnel-shaped opening for collecting slag from the pipeline. The multi-dimensional crushing component includes a transversely arranged saw blade shaft and a longitudinally arranged S-shaped cutter shaft. The saw blade shaft is located at the front end of the hopper inlet, with three evenly mounted diamond saw blades, each 200 mm in diameter, driven by a hydraulic motor with a speed range of 0-500 r / min, used for transversely cutting long strips of slag. The S-shaped cutter shaft is located behind the saw blade shaft and arranged longitudinally, with its rotation axis perpendicular to the slag conveying direction. The shaft body is equipped with helical S-shaped blades and is driven by another hydraulic motor with a speed range of 0-300 r / min, used to cut the slag by the saw blade shaft. The slag undergoes secondary crushing and is pushed towards the conveying assembly; the speed ratio between the saw shaft and the S-shaped cutter shaft is adjustable (adjustment range is 1:1 to 2:1) to adapt to different slag characteristics; the conveying assembly adopts a hydraulically driven screw conveyor shaft with a screw blade diameter of 150mm, a screw pitch of 200mm, and an adjustable conveying speed (0-0.5m / s), used to push the crushed slag to the collection hopper; the unloading mechanism is connected to the collection hopper and includes two sets of hydraulic cylinders (model HSG80×500), symmetrically installed at the connection between the collection hopper and the main frame module. The hydraulic cylinders drive the collection hopper to rotate around the hinge point, with a maximum rotation angle of 90°, realizing the dumping of the slag, and the dumping time does not exceed 10s.

[0033] The slag removal module is also equipped with an intelligent slag cleaning control system, including a pressure sensor (model PT124G-111) installed in the hydraulic pipeline of the crushing component to monitor the hydraulic system pressure of the crushing component in real time, with a first threshold of 15MPa; a full-material detection sensor (model US-100) is installed in the hopper, with a detection distance range of 0.1-2m, to detect whether the slag is full; the control system executes the following intelligent control strategies: load adaptive control, when the hydraulic system pressure of the crushing component exceeds the first threshold, the pressure sensor transmits a signal to the control system, the control system automatically reduces the speed of the crushing component and controls it to rotate in the reverse direction, and resumes forward operation after the obstruction is released; automatic full-material detection, when the full-material detection sensor detects a full-material signal in the hopper, the control system automatically pauses the conveying component and issues an audible and visual unloading prompt, and can automatically execute the unloading action; unloading posture coordinated control, when unloading is performed, the control system automatically adjusts the extension length of the retractable support legs in the composite support stabilization system, so that the platform's center of gravity shifts backward, avoiding platform tilting.

[0034] The manned operation module includes a manned platform made of non-slip steel plate, measuring 1.5m × 1.2m, equipped with a 1.2m high safety railing, with protective netting between the railings to prevent personnel from falling; an extendable operating platform driven by a hydraulic push rod (model DT300), which can extend horizontally outward relative to the main frame module, with a maximum extension length of 0.8m, and the extension process is smooth and without jamming; the access ladder is made of aluminum alloy, detachably installed on one side of the main frame module, with non-slip steps, 1.5m high, to facilitate personnel getting on and off the manned platform, and can be disassembled and stored when not in use.

[0035] This embodiment also discloses a method for using a modular maintenance platform suitable for pipeline interiors. Applicable to the aforementioned maintenance platform, the method is as follows: Select either a slag removal module or a manned operation module according to the task, use external lifting equipment to hoist it above the main frame module, and slowly lower it. When the position sensor detects that the module has reached the predetermined installation position, the control system controls the hydraulic locking pin to automatically extend into the positioning cone sleeve and lock it. Automatic docking and locking are achieved through a quick-change locking mechanism. At the same time, the reading device of the pattern recognition and automatic oil circuit switching system reads the information of the recognition chip, automatically identifies the module type, and controls the mode selection valve group to switch the hydraulic oil circuit to complete the oil circuit configuration. The entire process requires no manual intervention.

[0036] Subsequently, using external lifting equipment, the platform is hoisted to the working area inside the pipeline through the hoisting connection point at the top of the main frame module, and slowly lowered to the predetermined working height. According to the working environment, the composite support stabilization system automatically selects the support method. If there are preset hanging holes, the platform is preferentially supported by the clamping plate and the hanging holes, and the telescopic support legs extend to provide auxiliary support. If there are no preset hanging holes, the telescopic support legs extend to provide support. The tilt sensor monitors the platform's attitude in real time. If the tilt angle exceeds the threshold, the control system automatically adjusts the extension length of each telescopic support leg to achieve automatic leveling of the platform.

[0037] Subsequently, based on the installed modules, the corresponding operational actions are remotely executed through the control system. When performing slag removal operations, the hydraulic power system is activated, and the control system controls the multi-dimensional crushing and conveying components. The saw blade shaft horizontally cuts long strips of slag, the S-shaped cutter shaft performs secondary crushing and pushes the slag, and the conveying component pushes the crushed slag to the collection hopper. Simultaneously, the control system performs load adaptive control, automatic full-material detection, and coordinated unloading posture control to prevent jamming, slag overflow, and platform tilting. When performing manned maintenance operations, personnel enter the manned platform via the ladder and fasten their safety gear. The control system can extend the operating platform outward to the required length for personnel to perform internal pipeline inspection, maintenance, and testing. During the operation, the composite support stabilization system continuously monitors the platform's posture to ensure operational safety.

[0038] After the operation is completed, the control system resets all actuators, including stopping the crushing component from rotating, stopping the conveying component from working, retracting the extendable operating platform, retracting the telescopic support legs, and resetting the hopper. It also retracts the fixing bolts of the composite support stabilization system (if using clamp hanging holes). The platform is then lifted away from the work area using lifting equipment and placed in the designated location. The platform is then unlocked via the quick-change locking mechanism, i.e., the control system controls the hydraulic locking pin to retract, lifting the current multi-functional operating module. After replacing the module with a new one, the above steps are repeated to perform the next operation.

[0039] This embodiment, through the above-described structure and method, realizes modular and intelligent operation of internal pipeline cleaning and manned maintenance, adapting to different operation scenarios and improving operation efficiency and safety.

[0040] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These are all equivalent modifications and improvements made to the above embodiments based on the essential technology of the present invention, and all of these fall within the protection scope of the present invention.

Claims

1. A modular maintenance platform suitable for the interior of pipelines, characterized in that, It includes a main frame module, which has multiple hoisting connection points on top for connecting to external lifting equipment; The multi-functional operation module can be switched and installed on the main frame module, and can be replaced with a slag removal module or a manned operation module according to the operation requirements. The hydraulic power system is integrated and installed on the main frame module to provide hydraulic power to the multi-functional operation module. A control system for remotely controlling the start and stop of the hydraulic power system and the actions of each actuator; A quick-change locking mechanism is located between the main frame module and the multi-functional operation module to enable quick switching and automatic locking of the modules; A composite support and stabilization system is installed at the bottom of the main frame module to provide stable support in different operating environments; The pattern recognition and automatic oil circuit switching system is used to identify the type of the currently installed multi-functional operating module and automatically switch the oil circuit distribution of the hydraulic power system.

2. The modular maintenance platform suitable for pipeline interiors according to claim 1, characterized in that: The quick-change locking mechanism includes: Hydraulic locking pins are installed on the main frame module; Positioning cone sleeve installed on the multi-functional operation module; A position sensor is used to detect whether the multi-functional operation module has reached the predetermined installation position; When the position sensor sends a positioning signal, the hydraulic locking pin automatically extends into the positioning cone sleeve and locks, thereby achieving automatic locking of the module; The hydraulic locking pin is remotely controlled by the control system, enabling unmanned automatic docking.

3. A modular maintenance platform suitable for pipeline interiors according to claim 1, characterized in that: The slag removal module includes: A hopper is used to collect slag and debris from inside the pipeline. The multi-dimensional crushing component includes a horizontally arranged saw blade shaft and a vertically arranged S-shaped cutter shaft, wherein: The saw blade shaft is located at the front end of the hopper inlet and is used for horizontal cutting of long strips of slag. The S-shaped cutter shaft is located behind the saw disc shaft and is arranged longitudinally. Its rotation axis is perpendicular to the slag conveying direction. It is used to perform secondary crushing of the slag after it has been cut by the saw disc shaft and to push it towards the conveying component. The rotational speed ratio between the saw blade shaft and the S-shaped cutter shaft is adjustable to adapt to different slag characteristics; Conveying assembly, including a hydraulically driven screw conveyor shaft or scraper chain, for pushing the crushed slag to the collection hopper; The unloading mechanism is connected to the hopper and is driven by a hydraulic cylinder to tilt the hopper, thereby dumping the slag.

4. A modular maintenance platform suitable for pipeline interiors according to claim 1, characterized in that: The manned operation module includes: The manned platform is equipped with safety railings; The extendable operating platform can extend horizontally outward relative to the main frame module, driven by electric or hydraulic push rods. The ladder is detachably installed on one side of the main frame module.

5. A modular maintenance platform suitable for pipeline interiors according to claim 1, characterized in that: The composite support and stabilization system includes: The retractable support legs are located at the bottom of the main frame module and are used to extend and abut against the working surface during operation to provide vertical support. The clamping plate hanging holes are located on the side of the main frame module and are used to cooperate with the pre-set hanging holes on the dam or pipeline wall to achieve horizontal positioning. Tilt sensor for real-time monitoring of platform attitude; When there are pre-set hanging holes in the working environment, the clamp should be used in conjunction with the hanging holes. When there are no pre-set hanging holes in the working environment, support is achieved by extending the retractable support legs. When the tilt sensor detects that the platform tilt angle exceeds the threshold, the control system automatically adjusts the extension length of each telescopic support leg to maintain horizontality.

6. A modular maintenance platform suitable for pipeline interiors according to claim 1, characterized in that: The pattern recognition and automatic oil circuit switching system includes: An identification chip is installed on each multi-functional operating module and stores module type information; A reading device, mounted on the main frame module, is used to read information from the identification chip; The mode selection valve assembly is connected to the oil circuit output end of the hydraulic power system; When the reading device detects the slag removal module, the mode selection valve group distributes the hydraulic oil circuit to the crushing component drive motor and the conveying component drive motor; When the reading device detects the manned operation module, the mode selection valve group distributes hydraulic oil to the drive rod of the extendable operating platform.

7. A modular maintenance platform suitable for pipeline interiors according to claim 3, characterized in that: The slag removal module is also equipped with an intelligent slag cleaning control system, including: Pressure sensor used to monitor the hydraulic system pressure of the crushing components in real time; A full-material detection sensor is installed inside the hopper to detect whether the slag is full. The control system executes the following intelligent control strategy: Load adaptive control: When the hydraulic system pressure of the crushing component exceeds the first threshold, the control system automatically reduces the speed of the crushing component and controls it to rotate in the reverse direction. After the jamming is released, it resumes forward operation. Automatic full material detection: When the full material detection sensor detects a full material signal in the hopper, the control system automatically pauses the conveying component and issues a discharge prompt or automatically executes the discharge action; Unloading posture coordinated control: When unloading, the control system automatically adjusts the extension length of the telescopic support legs in the composite support stabilization system, so that the center of gravity of the platform shifts backward.

8. A method for using a modular maintenance platform suitable for inside pipelines, characterized in that: The maintenance platform applicable to any one of claims 1-6 includes the following steps: Step 1: Modular assembly and automatic identification. Select the slag removal module or the manned operation module according to the task, and hoist it above the main frame module. Automatic docking and locking are achieved through the quick-change locking mechanism. The pattern recognition and automatic oil circuit switching system reads the identification chip information and automatically configures the hydraulic oil circuit. Step 2: Lifting Deployment and Attitude Adaptation. Using external lifting equipment, the platform is lifted to the work area through the lifting connection point on the top of the main frame module. According to the working environment, the composite support stabilization system automatically selects the clamp hanging hole matching or the telescopic support leg support method, and achieves automatic leveling through the feedback of the tilt sensor. Step 3: Perform intelligent slag removal or maintenance operations. Based on the installed modules, the corresponding operation actions are remotely executed through the control system. When performing slag removal operations, the control system performs load adaptive control, automatic full material detection, and coordinated control of unloading posture. When performing manned maintenance work, personnel enter the manned platform via the ladder. The control system can extend the operating platform outward to allow personnel to carry out maintenance work. Step 4: Platform recovery and module replacement. After the operation is completed, the control system resets all actuators, recovers the composite support stabilization system, and uses lifting equipment to lift the platform away from the work area; unlocks and replaces the multi-functional operation module through the quick-change locking mechanism, and repeats steps one to three.

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