Intelligent non-destructive testing method and device

Abstract

The application discloses a kind of intelligent nondestructive testing method and device, including device ontology and the detection mechanism being set on device ontology, device ontology is provided with crawling mechanism and the drive unit of driving crawling mechanism operation, crawling mechanism includes the crawling component being set along the circumference of device ontology, and crawling component includes adjusting support and the driving wheel and passive wheel being set on adjusting support, device ontology is provided with the elastic support component being connected with adjusting support, and elastic support component and elastic support are automatically adapted to adjust according to pipe inner diameter to make driving wheel and passive wheel and the inner wall of pipe always contact.The application can make driving wheel and passive wheel and detection pipe inner wall contact by pressing through elastic support component and adjusting support, so that under the action of drive unit, driving wheel rotation can drive device ontology to crawl along the horizontal section, steep slope section and vertical section of detection pipe.

Description

Technical Field

[0001] This invention relates to the field of pipeline inspection technology, specifically to an intelligent non-destructive testing method and device. Background Technology

[0002] With social development and the improvement of people's living standards, the application of natural gas pipelines and various other transmission pipelines is increasing. In my country and other countries around the world, due to terrain limitations and limited land resources, many transmission pipelines have been buried underground. Numerous buildings and highways have been constructed on the surface where these pipelines lie, creating significant difficulties for pipeline maintenance and repair. Furthermore, pipeline projects in industries such as oil and natural gas mostly utilize welded pipelines, including both horizontal and vertical lines. To ensure the welding quality and operational safety of these pipelines, pipeline engineers need to inspect the welds to check for defects such as incomplete welds, leaks, and scratches.

[0003] Due to the complex internal structure, harsh and dangerous environment, and small inner diameter of pipelines, it is difficult for humans to work in such environments. Pipeline crawlers can replace humans, equipped with different functional modules, to perform inspection and photography in confined spaces. This technology improves the accuracy of pipeline inspection, making it easier for pipeline engineering management and maintenance personnel to analyze and understand the causes of pipeline defects, conduct assessments of defective pipelines, and formulate pipeline maintenance plans. For example, the utility model patent application with authorization announcement number CN210440796U, authorization announcement date May 1, 2020, entitled "A Pipeline Non-destructive Testing Device," includes a device body. Several anti-tipping connecting frames are symmetrically installed on the two side walls of the device body about the center of the device body. One end of the anti-tipping connecting frame is installed on the side wall of the device body, and the other end is equipped with a universal ball that can move along the pipe wall. The device body is equipped with a universal drive wheel assembly through a device height adjustment mechanism. The front end of the device body is provided with a sensor socket for installing an ultrasonic sensor. The top and bottom of the device body are provided with camera bases for installing infrared cameras. Several X-ray source sleeves for installing X-ray emission sources are installed on the device body. The pipeline non-destructive testing device moves along the pipe wall via a four-way omnidirectional drive wheel assembly. It uses an installed X-ray emission source to detect pipeline flaws, and ultrasonic sensors and infrared cameras allow operators to understand the condition inside the pipeline.

[0004] For example, a utility model patent application with authorization announcement number CN212900973U, authorization announcement date of April 6, 2021, and titled "A Novel Non-destructive Testing Device" includes a chassis. Tracked wheels are fixedly connected to the front and back of the chassis. A crash beam is fixedly installed on the outer side of the chassis by bolts. A shell is fixedly installed on the top of the chassis. A signal enhancement antenna runs through the side of the shell. An operation panel, a display screen, and a turntable are fixedly connected to the top of the shell. A robotic arm is movably connected to the top of the turntable. A hydraulic rod is fixedly installed on the inner side of the robotic arm. A probe is fixedly installed at the end of the robotic arm. Anti-collision radars are embedded on all four sides of the crash beam. A mounting rod is fixedly connected to the inner side of the crash beam. A light is fixedly installed on the top of the probe. A GPS locator, a camera, and a non-destructive testing instrument are embedded inside the probe. A wear-resistant plate is provided on the side of the probe.

[0005] Existing non-destructive testing (NDT) devices are only suitable for inspecting pipelines in industries such as oil and gas when they are used to inspect pipelines in straight lines. They cannot crawl on steep slopes or vertical sections. However, most existing oil, gas and other chemical pipelines have steep slopes and vertical sections. Therefore, the use of existing NDT devices for pipeline inspection has great limitations. Summary of the Invention

[0006] The purpose of this invention is to provide an intelligent non-destructive testing method and apparatus to solve the technical problems in related technologies.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] An intelligent non-destructive testing device includes a device body and a testing mechanism disposed on the device body. The device body is provided with a crawling mechanism and a driving unit for driving the crawling mechanism. The crawling mechanism includes a crawling component disposed circumferentially along the device body. The crawling component includes an adjusting bracket and a driving wheel and a driven wheel disposed on the adjusting bracket. The device body is provided with an elastic support component connected to the adjusting bracket. The elastic support component and the elastic bracket automatically adapt and adjust according to the inner diameter of the pipe so that the driving wheel and the driven wheel are always in contact with the inner wall of the pipe.

[0009] The aforementioned intelligent non-destructive testing device includes a testing base located at the front end of the device body, on which a probe and a non-destructive testing instrument are mounted.

[0010] The aforementioned intelligent non-destructive testing device has three sets of crawling components, which are equally spaced along the circumference of the device body.

[0011] The aforementioned intelligent non-destructive testing device includes an adjustment bracket comprising a main shaft and a secondary shaft rotatably connected, a drive wheel mounted on the main shaft and connected to the drive unit, and a driven wheel mounted on the secondary shaft.

[0012] The aforementioned intelligent non-destructive testing device includes a cylindrical mounting base and a cylindrical body arranged coaxially, with the cylindrical mounting base and the cylindrical body fixedly connected by a connecting rod.

[0013] The aforementioned intelligent non-destructive testing device includes an elastic support component comprising a fixing member, an elastic connector, and a support member. The fixing member is adjustablely connected to the device body, and the support member is connected to the fixing member via the elastic connector.

[0014] The aforementioned intelligent non-destructive testing device also includes a protective mechanism, which is disposed on the cylindrical body to protect the testing mechanism.

[0015] The aforementioned intelligent non-destructive testing device includes a protection mechanism comprising multiple protective components, which are arranged sequentially at intervals along the circumference of the cylindrical body.

[0016] In the aforementioned intelligent non-destructive testing device, the protective component is rotatably connected to the strip-shaped opening groove on the cylindrical body, and an adjusting component is provided at the end of the protective component, allowing the protective component to be driven by the adjusting component to rotate.

[0017] Based on the aforementioned intelligent non-destructive testing device, its testing method is as follows:

[0018] Place the device body on the pipe opening to be inspected, and adjust the elastic support assembly according to the size of the pipe so that the driving wheel and the driven wheel press against the inner wall of the pipe.

[0019] The drive unit is controlled to make each of the drive wheels rotate synchronously to drive the device body forward or backward along the pipeline;

[0020] The testing agency inspects the inner wall of the pipe and transmits the inspection information to the inspector's detector.

[0021] The beneficial effects of this invention are as follows: The intelligent non-destructive testing method and apparatus provided by this invention include a device body and a testing mechanism disposed on the device body. The device body is provided with at least two sets of crawling components along the circumference. Each crawling component includes an adjusting bracket and an active wheel and a passive wheel disposed on the adjusting bracket. Through the elastic support components and the adjusting bracket, the active wheel and the passive wheel can be made to press against the inner wall of the pipe being tested. Thus, under the action of the driving unit, the rotation of the active wheel can drive the device body to crawl along the horizontal section, steep slope section and vertical section of the pipe being tested. In this way, the testing mechanism can test the inner wall of the pipe at various locations. Moreover, the elastic support components and the adjusting bracket form an adjustable self-adjusting structure. Thus, when the size of the pipe being tested changes within a suitable range, the elastic support components and the adjusting bracket automatically adjust, so that the length of the adjusting bracket along the radial direction of the pipe is adapted to the pipe size. The active wheel and the passive wheel are always in contact with the inner wall of the pipe being tested, ensuring that the device body can crawl smoothly along the horizontal section, steep slope section and vertical section of the pipe. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0023] Figure 1 This is one of the overall three-dimensional structural schematic diagrams of an intelligent non-destructive testing method and device provided in another embodiment of the present invention;

[0024] Figure 2 This is a second overall three-dimensional structural schematic diagram of an intelligent non-destructive testing method and device provided in another embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram of the installation of the linkage mechanism of an intelligent non-destructive testing method and device provided in another embodiment of the present invention;

[0026] Figure 4 This is a schematic diagram of the installation of the drive adjustment mechanism of an intelligent non-destructive testing method and device according to another embodiment of the present invention;

[0027] Figure 5 This is a three-dimensional structural diagram of a cylindrical body provided in another embodiment of the present invention for an intelligent non-destructive testing method and device;

[0028] Figure 6 This is a schematic diagram of the internal structure of a cylindrical body provided in another embodiment of the intelligent non-destructive testing method and device of the present invention;

[0029] Figure 7This is a front view of a cylindrical body provided in another embodiment of the present invention for an intelligent non-destructive testing method and apparatus;

[0030] Figure 8 This is a schematic diagram of the structure of a drive rod of an intelligent non-destructive testing method and device provided in another embodiment of the present invention;

[0031] Figure 9 This is a schematic diagram of the structure of a protective component of an intelligent non-destructive testing method and device provided in another embodiment of the present invention;

[0032] Figure 10 This is a schematic diagram of the positioning mechanism of an intelligent non-destructive testing method and device provided in another embodiment of the present invention.

[0033] Explanation of reference numerals in the attached figures:

[0034] 1. Device body; 10. Columnar mounting base; 11. Columnar body; 110. Strip-shaped opening slot; 111. Columnar cavity; 112. Axial opening slot; 12. Connecting rod; 13. Drive unit; 2. Crawling mechanism; 20. Crawling assembly; 21. Adjusting bracket; 210. Main shaft; 211. Secondary shaft; 22. Driving wheel; 23. Driven wheel; 3. Detection mechanism; 30. Detection seat; 31. Probe; 32. Non-destructive testing instrument; 4. Elastic support assembly; 40. Fixing component; 41. Elastic connecting component; 42. Support component; 420. Foot mounting component; 5. Protection mechanism; 50. Protective component; 500. Mounting groove; 501. Protective plate; 502. Wedge structure; 503. Mounting cavity; 51. Adjusting component; 52. Rotating shaft; 53. Connecting frame; 54. Pressing wheel; 55. Pressing spring; 6. Linkage mechanism; 60. Annular driving component; 61. Conical body; 62. Sliding block; 63. Annular connecting seat; 64. Hinge seat; 65. Sliding pressing rod; 7. Drive adjustment mechanism; 70. Drive rod; 71. First threaded section; 72. First annular adjusting seat; 73. Second annular adjusting seat; 74. Second threaded section; 75. Connecting spring; 76. Annular fixing structure; 8. Positioning mechanism; 80. Positioning plate; 801. Inclined surface structure; 81. Wedge block; 82. Positioning spring. Detailed Implementation

[0035] To enable those skilled in the art to better understand the technical solution of the present invention, the following will be described in conjunction with the appendix. Figure 1 To be continued Figure 10 The present invention will now be described in further detail.

[0036] This invention provides an intelligent non-destructive testing method and apparatus, including an apparatus body 1 and a testing mechanism 3 disposed on the apparatus body 1. The apparatus body 1 is provided with a crawling mechanism 2 and a driving unit 13 for driving the crawling mechanism 2. The crawling mechanism 2 includes a plurality of crawling components 20 disposed circumferentially along the apparatus body 1. The crawling component 20 includes an adjusting bracket 21 and a driving wheel 22 and a driven wheel 23 disposed on the adjusting bracket 21. The apparatus body 1 is provided with an elastic support component 4 connected to the adjusting bracket 21. The elastic support component 4 and the elastic bracket automatically adapt and adjust according to the inner diameter of the pipe so that the driving wheel 22 and the driven wheel 23 are always in abutting contact with the inner wall of the pipe.

[0037] Specifically, the device body 1 is a cylindrical structure. The drive unit 13 is located at the rear end of the device body 1 and is used to drive the crawling mechanism 2, so that the device body 1 crawls along the axis of the pipeline being inspected. The detection mechanism 3 is located at the front end of the device body 1. When the device body 1 crawls along the pipeline, the detection mechanism 3 can inspect the pipeline and transmit the detection information of the detection mechanism 3 to the inspector's controller. The detection mechanism 3 includes a probe 31 and a non-destructive testing instrument 32. The inspector can visually inspect the inner wall of the pipeline through the light and camera on the probe 31 to find obvious damage to the inner wall of the pipeline. The non-destructive testing instrument 32 can detect the inner wall of the pipeline through ultrasonic waves, radar or sonar to determine whether the pipeline has been damaged. These are all existing technologies and will not be described in detail.

[0038] In this embodiment, the crawling mechanism 2 includes crawling components 20 disposed on the side of the device body 1. Preferably, there are three crawling components 20, which are arranged sequentially and spaced apart along the circumference of the device body 1, i.e., the interval angle between any two crawling components 20 is 120 degrees. Each crawling component 20 includes an X-shaped adjusting bracket 21. A drive wheel 22 and a driven wheel 23 are disposed at the end of the adjusting bracket 21 away from the device body 1. Both the drive wheel 22 and the driven wheel 23 are rotatably mounted on the adjusting bracket. The drive wheel 22 is connected to the drive unit 13 to be driven. The drive unit 13 and the drive wheel 22 can be connected through various structures. For example, the drive unit 13 includes a battery and a controller. A motor support (not shown in the figure) is mounted on one shaft of the adjusting bracket 21 for mounting the motor. A driving bevel gear is provided on the output shaft of the motor, and a driven bevel gear is coaxially fixed on the driving wheel 22. The driving bevel gear and the driven bevel gear mesh to transmit the motor's power to the driving wheel. In use, the inspector controls the motor through the controller. The motor's operation drives the driving wheel 22, causing the device body 1 to move forward or backward in the pipeline. In an optional embodiment, the device body can also be pulled by a separate drive trolley. The drive trolley pulls the device body via a connecting rope. This is the prior art. In this case, both the driving wheel 22 and the driven wheel 23 rotate passively.

[0039] In this embodiment, the elastic support assembly 4 is arranged along the axial direction of the device body 1. The elastic support assembly 4 includes a fixing member 40, an elastic connecting member 41, and a support member 42. The fixing member 40 is adjustablely mounted on the device body 1. The support member 42 is connected to the fixing member 40 through the elastic connecting member 41. One leg of the adjusting bracket 21 is rotatably connected to the support member 42, so that the elastic connecting member 41 and the support member 42 can provide elastic support for the adjusting bracket 21. There can be one elastic support assembly 4. In this case, one leg of the adjusting bracket 21 is rotatably connected to the support member 42, and the other leg is connected to the device body 1. In this way, only one leg of the adjusting bracket 21 can move elastically. Preferably, there are two elastic support assemblies 4, so that the two legs of the adjusting bracket 21 are connected to two elastic support assemblies 4 respectively, so that both legs of the adjusting bracket 21 are elastically supported.

[0040] In this embodiment, when using the intelligent non-destructive testing device, the device body 1 is first placed at the pipe opening to be tested. The position of the fixing member 40 is adjusted according to the pipe size. The fixing member 40 moves along the axis of the device body 1, thereby driving the adjustment bracket 21 to move. At this time, the length of the adjustment bracket 21 along the radial direction of the pipe gradually increases until the driving wheel 22 and the driven wheel 23 press against the inner wall of the pipe, fixing the position of the fixing member 40. This keeps the elastic connecting member 41 in a compressed state with elastic force. Subsequently, under the action of the controller and the drive unit 13, the driving wheel 22 and the driven wheel 23 move along the inner wall of the pipe, causing the device body 1 to move forward or backward along the pipe. Because the elastic connecting member 41 is set to a compressed state with elasticity, the driving wheel 22 and the driven wheel 23 are always in contact with the inner wall of the pipe and maintain a certain pressure. Thus, the driving wheel 22 and the driven wheel 23 can crawl along the tested pipe. The testing mechanism 3 moves with the device body 1 to test the pipe and transmits the test information to the controller. The inspector can then use the test results to evaluate the drive unit. The device 13 and the detection mechanism 3 are controlled. Simultaneously, as the device body 1 moves along the detection pipe, both the driving wheel 22 and the driven wheel 23 can press against the inner wall of the detection pipe. During movement, if the radial dimension of the inner wall of the pipe increases, the pressure of the driving wheel 22 and / or the driven wheel 23 decreases, and the elastic connector 41 drives the adjusting bracket 21 to move accordingly, increasing its radial length along the pipe. Conversely, if the inner wall dimension decreases or there is an obstacle on the inner wall, the pressure of the inner wall against the driving wheel 22 and / or the driven wheel... The increased pressure of 23 causes the adjusting bracket 21 to move, and the length of the adjusting bracket 21 along the radial direction of the pipe will decrease. Correspondingly, the driving support 42 moves along the axis of the device body 1 to press against the elastic connecting member 41. It should be noted that during the process of adjusting the length of the adjusting bracket 21 along the radial direction of the pipe according to the change of pipe size, the elastic connecting member 41 is always in a compressed state, so that the driving wheel 22 and the driven wheel 23 maintain a pressure against the inner wall support of the pipe, so that the device body 1 can move smoothly along the detection pipe.

[0041] This invention provides an intelligent non-destructive testing device, comprising a device body 1 and a testing mechanism 3 disposed on the device body 1. The device body 1 is provided with at least two sets of crawling components 20 arranged circumferentially. Each crawling component 20 includes an adjusting bracket 21 and a driving wheel 22 and a driven wheel 23 disposed on the adjusting bracket 21. Through the elastic support component 4 and the adjusting bracket 21, the driving wheel 22 and the driven wheel 23 can be made to press against the inner wall of the test pipe. Thus, under the action of the driving unit 13, the driving wheel 22 rotates, which can drive the device body 1 to crawl along the horizontal section, steep slope section and vertical section of the test pipe. In this way, the testing mechanism 3 can detect the inner wall of the pipe at various locations. And through the elastic support component 4 and the adjusting bracket 21, an adjustable self-adjusting structure is formed. Thus, when the size of the test pipe changes within a suitable range, the elastic support component 4 and the adjusting bracket 21 automatically adjust, so that the length of the adjusting bracket 21 along the radial direction of the pipe is adapted to the pipe size. The driving wheel 22 and the driven wheel 23 are always in contact with the inner wall of the test pipe, ensuring that the device body 1 can crawl along the test pipe.

[0042] In the preferred embodiment of the present invention, the detection mechanism 3 includes a detection seat 30 disposed at the front end of the device body 1. The detection seat 30 is provided with a probe 31 and a non-destructive testing instrument 32. The detection seat 30 can be rotatably mounted on the device body 1, so that the detection seat 30 can be rotated to detect all positions on the inner wall of the pipe. The probe 31 includes a lighting lamp and a camera. When the device body 1 detects the pipe, the lighting lamp provides illumination. The inspector can visually inspect the inner wall of the pipe through the camera and take pictures of the inner wall of the pipe through the camera. The non-destructive testing instrument 32 can detect the inner wall of the pipe through X-rays, ultrasound, radar or sonar.

[0043] In the embodiments provided by the present invention, optionally, there are three sets of crawling components 20. The three sets of crawling components 20 are arranged at equal intervals along the circumference of the device body 1. Each set of crawling components 20 includes an adjusting bracket 21 and a driving wheel 22 and a driven wheel 23 arranged on the adjusting bracket 21. The three adjusting brackets 21 are connected to the elastic support component 4. In this way, during use, the three crawling components 20 move and adjust synchronously according to the size of the inner wall of the pipe, so that each driving wheel 22 and driven wheel 23 maintains the same resistance force with the pipe, ensuring that the device body 1 can move smoothly along the pipe.

[0044] In a preferred embodiment of the present invention, the adjusting bracket 21 includes a main shaft 210 and a secondary shaft 211 rotatably connected. The driving wheel 22 is mounted on the main shaft 210 and connected to the drive unit 13, and the driven wheel 23 is mounted on the secondary shaft 211. The main shaft 210 and the secondary shaft 211 have the same length. A connecting shaft is provided at the midpoint of the main shaft 210, and the secondary shaft 211 is rotatably mounted on the connecting shaft at the midpoint. Thus, the main shaft 210 and the secondary shaft 211 are rotatably connected to form an X-shaped adjusting bracket 21 with adjustable length. A driving component connected to the drive unit 13 is provided on the main shaft 210, and the driving wheel 22 is connected to the driving component. The driving unit 13 and the driving component can make the driving wheel 22 rotate, causing the device body 1 to move forward or backward along the pipeline.

[0045] In the embodiments provided by the present invention, preferably, the device body 1 includes a coaxially arranged cylindrical mounting base 10 and a cylindrical body 11. The radial dimensions of both the cylindrical mounting base 10 and the cylindrical body 11 are smaller than the dimensions of the pipe. The detection mechanism 3 is disposed at the end of the cylindrical body 11 away from the cylindrical mounting base 10. The drive unit 13 is disposed inside the cylindrical mounting base 10. Other structures, such as a battery module and a wireless transceiver, may also be disposed on the cylindrical mounting base 10. The battery module supplies power to the drive unit 13 and the detection unit. The wireless transceiver enables the device body 1 and the controller to transmit information wirelessly. The cylindrical mounting base 10 and the cylindrical body 11 are fixedly connected by a connecting rod 12. One end of the connecting rod 12 is fixed to the cylindrical mounting base 10, and the other end is fixed to the cylindrical mounting base 10. The number of connecting rods 12 can be set as needed, and can be three or more.

[0046] In the embodiments provided by the present invention, preferably, the fixing member 40, the elastic connector 41, and the support member 42 are all arranged along the axial direction of the cylindrical mounting base 10 and the cylindrical body 11. The fixing member 40 is adjustablely mounted on the cylindrical mounting base 10 and / or the cylindrical body 11. A plurality of foot mounting members 420 are provided on the support member 42. The feet of the main shaft 210 and the secondary shaft 211 are rotatably mounted on the foot mounting members 420. Thus, during use, the position of the fixing member 40 can be adjusted according to the size of the detection pipe until the driving wheel 22 and the driven wheel 23 are aligned with the detection pipe. The inner walls of the two parts are in contact and the elastic connector 41 is in a compressed state. The elastic coefficient of the elastic connector 41 is set such that the driving wheel 22 and the driven wheel 23 have a certain resistance force with the inner wall of the detection pipe, but the driving wheel 22 and the driven wheel 23 will not cause damage to the detection pipe when they move along the detection pipe under this resistance force. Thus, when the device body 1 moves forward or backward along the detection pipe, the X-shaped adjusting bracket 21 formed by the main shaft 210 and the secondary shaft 211 will automatically adjust its length according to the change of pipe size, so that the driving wheel 22 and the driven wheel 23 are always in contact with the inner wall of the pipe.

[0047] In another embodiment of the present invention, preferably, during the operation of the device body 1 along the detection pipeline, changes in the inner wall size of the pipeline and obstacles on the inner wall of the pipeline may damage the detection mechanism 3. Therefore, a protective mechanism 5 is also provided on the cylindrical body 11. The protective mechanism 5 is arranged around the detection mechanism 3 to avoid direct contact between the detection mechanism 3 and the inner wall of the pipeline and obstacles. At the same time, the protective mechanism 5 does not affect the detection of the probe 31 and the non-destructive testing instrument 32.

[0048] In another embodiment of the present invention, the protective mechanism 5 further includes a plurality of protective elements 50, which are arranged sequentially at intervals along the circumference of the cylindrical body 11. A strip-shaped opening groove 110 is provided on the side wall of the cylindrical body 11, which is arranged along the axial direction of the cylindrical body 11. There are multiple strip-shaped opening grooves 110, which are arranged sequentially at intervals along the circumference of the cylindrical body 11. A protective element 50 is provided in each strip-shaped opening groove 110. The protective element 50 can be fixedly installed in the strip-shaped opening groove 110 or can be movably connected to the strip-shaped opening groove 110 in an adjustable manner. The protective elements 50 are arranged in an inclined manner to form a horn-shaped protective mechanism 5. The detection mechanism 3 is located inside the horn-shaped protective mechanism 5.

[0049] During the testing process, the size of the testing pipe may change. If the protective component 50 cannot be adjusted, the size of the horn-shaped protective mechanism 5 formed by it cannot be adjusted either. This may result in the protective component 50 coming into contact with or colliding with the inner wall of the testing pipe. Therefore, each protective component 50 is adjustablely set in the strip-shaped opening groove 110, so that the protective component 50 can be adjusted according to the size of the testing pipe.

[0050] In another embodiment of the present invention, preferably, the cylindrical body 11 is a hollow cylindrical structure with one end open and the other end closed. The detection seat 30 is disposed on the closed end of the cylindrical body 11. An open cylindrical cavity 111 is formed on the cylindrical body 11. The strip-shaped opening groove 110 is connected to the cylindrical cavity 111. The protective member 50 is rotatably connected to the strip-shaped opening groove 110 through the rotating shaft 52. The end of the protective member 50 is provided with an adjusting member 51 located in the cylindrical cavity 111. The protective member 50 can be driven by the adjusting member 51 to rotate. At the same time, a linkage mechanism 6 is provided in the cylindrical cavity 111. The linkage mechanism 6 is disposed between the adjusting bracket 21 and the adjusting member 51. When the secondary shaft 211 of the adjusting bracket 21 moves, the secondary shaft 211 drives the adjusting member 51 through the linkage mechanism 6, thereby causing the protective member 50 to rotate. For ease of description, the movement of gradually increasing the length of the adjusting bracket 21 along the radial direction of the detection pipe is called an elongation movement, and the movement of gradually decreasing the length of the adjusting bracket 21 is called a contraction movement. Thus, when the radial dimension of the detection pipe decreases, the adjusting bracket 21 performs a contraction movement, and the distance between the driving wheel 22 and the driven wheel 23 and the axis of the cylindrical body 11 gradually decreases. At this time, the adjusting bracket 21 and the linkage mechanism 6 synchronously drive the protective component 50 to rotate towards the detection mechanism 3 (the protective component 50 performs a retracting movement), thereby causing the opening of the horn-shaped protective mechanism 5 to change. The small size effectively prevents the protective component 50 from contacting or colliding with the inner wall of the detection pipe. Conversely, when the radial dimension of the detection pipe increases, the adjusting bracket 21 extends, and the distance between the driving wheel 22 and the driven wheel 23 and the axis of the cylindrical body 11 gradually increases. At this time, the adjusting bracket 21 and the linkage mechanism 6 synchronously drive the protective component 50 to rotate away from the detection mechanism 3 (the protective component 50 unfolds), and the opening of the horn-shaped protective mechanism 5 becomes larger, thereby increasing the detection range of the detection mechanism 3 and preventing the protective component 50 from affecting the detection and photography of the detection mechanism 3.

[0051] In another embodiment of the present invention, preferably, the adjusting member 51 includes a connecting frame 53 disposed at the end of the protective member 50, a pressing wheel 54 disposed on the connecting frame 53, an annular mounting plate disposed inside the closed end of the cylindrical body 11, a pressing spring 55 disposed on the annular mounting plate, the pressing spring 55 being disposed radially along the cylindrical body 11, one end of the pressing spring 55 being connected to the annular mounting plate, and the other end being connected to the protective member 50, and the pressing wheel 54 and the pressing spring 55 being respectively located on the rotating shaft 5 of the protective member 50. On both sides of 2, the connecting frame 53 and the pressure roller 54 at the end of each protective component 50 are located in the cylindrical cavity 111. When the linkage mechanism 6 moves along the cylindrical cavity 111, the linkage mechanism 6 can drive each pressure roller 54, so that the protective component 50 rotates around the rotating shaft 52 to perform a retracting movement. During this process, the pressure spring 55 is pressed. When the linkage mechanism 6 is driven to move in the opposite direction, the pressure of the linkage mechanism 6 on the pressure roller 54 disappears, and each protective component 50 rotates in the opposite direction under the drive of the pressure spring 55 to perform an unfolding movement.

[0052] In another embodiment of the present invention, preferably, the linkage mechanism 6 includes an annular drive member 60 and a conical body 61. A sliding block 62 is provided on the conical body 61. There can be two, three, or more sliding blocks 62. An axial opening groove 112 parallel to the axis of the cylindrical body 11 is provided on the inner wall of the cylindrical cavity 111. The number of axial opening grooves 112 is consistent with the number of sliding blocks 62. The sliding of each sliding block 62 is restricted within the axial opening groove 112. The annular drive member 60 is slidably connected within the cylindrical cavity 111, but a portion of the annular drive member 60 is located inside the cylindrical cavity 111, and a portion is located outside the cylindrical cavity 111. A sliding pressure rod 65 is provided at one end of the cylindrical cavity 111. The sliding pressure rod 65 is also slidably restricted within the axial opening groove 112, and the end of the sliding pressure rod 65 abuts against the sliding block 62. The annular drive member 60 is provided with an annular connecting seat 63 with a larger radial dimension at its end outside the cylindrical cavity 111. The size of the annular connecting seat 63 is larger than the size of the cylindrical cavity 111. A hinge seat 64 is provided on the annular connecting seat 63. The end of the secondary shaft 211 is rotatably connected to the hinge seat 64. At this time, the hinge seat 64 is the foot mounting member 420. Thus, when the radial dimension of the detection pipe decreases, the adjusting bracket 21 retracts, and the end of the secondary shaft 211... The annular connecting seat 63 is driven, causing the annular driving member 60 to move inward along the cylindrical cavity 111. The sliding pressure rod 65 moves along the axial opening groove 112 to press against the sliding block 62, causing the conical body 61 to move inward into the cylindrical cavity 111. The conical body 61 presses against each pressure wheel 54, causing the protective member 50 to rotate around the rotating shaft 52 and retract. The pressure spring 55 is further compressed, thus reducing the opening of the horn-shaped protective mechanism 5, effectively preventing the protective member 50 from contacting or colliding with the inner wall of the detection pipe. Conversely, when the radial dimension of the detection pipe increases, the adjusting bracket 21 extends, and the annular connecting seat 63... The receiving seat 63 and the annular drive member 60 move outward along the cylindrical cavity 111, and the pressure on the conical member disappears. At this time, under the movement of each pressure spring 55, the protective member 50 rotates in the opposite direction to perform an unfolding movement. The pressure roller 54 drives the conical body 61 to move along the cylindrical cavity 111 towards its opening, thereby making the opening of the horn-shaped protective mechanism 5 larger, increasing the detection range of the detection mechanism 3, and preventing the protective member 50 from affecting the detection and photography of the detection mechanism 3. It should be noted that the pressure spring 55, the conical body 61 and the pressure roller are set such that: throughout the entire use, the pressure spring 55 is always in a pressure state, and the conical body 61 and the pressure roller are always in pressure contact.

[0053] The testing method of the aforementioned intelligent non-destructive testing device is as follows:

[0054] Place the device body 1 at the pipe opening to be tested, and adjust the elastic support component 4 according to the pipe size so that the active wheel 22 and the passive wheel 23 press against the inner wall of the pipe.

[0055] The drive unit 13 is controlled to make each drive wheel 22 rotate synchronously to drive the device body 1 to move forward or backward along the pipeline. During the movement of the device body 1 along the pipeline, the elastic support component 4 and the elastic bracket are automatically adjusted according to the pipeline size so that the drive wheel 22 and the passive wheel 23 always maintain a pressure contact with the inner wall of the pipeline.

[0056] The detection mechanism 3 moves with the device body 1 to detect the inner wall of the pipeline and transmits the detection information to the detector of the inspector.

[0057] In another embodiment of the present invention, during use, the device body 1 is first placed at the pipe opening to be inspected. The position of the fixing member 40 is adjusted according to the pipe size until each adjusting bracket 21 is adjusted to a suitable length so that the driving wheel 22 and the driven wheel 23 press against the inner wall of the pipe being inspected. At this time, the elastic connecting member 41 is in a compressed state, thus providing elastic support for the main shaft 210 and the secondary shaft 211. However, the elastic connecting member 41 allows the adjusting bracket 21 and the supporting member 42 to be adjusted within a certain range, thereby adapting to changes in the size of the inspected pipe within a certain range and functioning normally. The device moves along the pipeline, but when the size of the detected pipeline changes beyond the preset range, the elastic connector and adjusting bracket 21 cannot be adjusted properly. For example, when the size of the detected pipeline increases beyond the adjustment range of the elastic connector 41 and adjusting bracket 21, the elastic connector 41 will return to its initial length, but the driving wheel 22 and the driven wheel 23 will not yet contact the inner wall of the detected pipeline. In this case, the device body 1 needs to be removed from the pipeline, and the elastic support assembly 4 needs to be readjusted to meet the requirements. Conversely, when the size of the detected pipeline decreases beyond the adjustment range of the elastic connector 41 and adjusting bracket 21, the elastic connector 41 will return to its initial length, but the driving wheel 22 and the driven wheel 23 will not yet contact the inner wall of the detected pipeline. In this case, the device body 1 needs to be removed from the pipeline, and the elastic support assembly 4 needs to be readjusted to meet the requirements. If the compression amplitude of the connector 41 exceeds the preset range, the resistance between the driving wheel 22 and the driven wheel 23 and the inner wall of the detection pipe will exceed the preset value. This will create resistance to the movement of the device body 1 along the detection pipe and may also damage the detection pipe. To solve the above problems, a drive adjustment mechanism 7 is also provided on the device body 1. The drive adjustment mechanism 7 includes a drive rod 70 connected to the power unit. A first threaded section 71 is provided on the drive rod 70. The fixing member 40 of the elastic support assembly 4 is a first annular adjustment seat 72 (at this time, the fixing member 40 and the first annular adjustment seat 72 are of the same structure). The inner of the first annular adjustment seat 72... The wall is also threaded. The first annular adjusting seat 72 is connected to the first threaded section 71 via ball bearings. When the drive rod 70 rotates, it can drive the first annular adjusting seat 72 to move linearly along the axis of the drive rod 70. When the main body of the device 1 moves along the detection pipe, if the size change of the detection pipe exceeds the range, the drive unit 13 can drive the drive rod 70. The first annular adjusting seat 72 moves along the axis of the drive rod 70, so that the elastic connecting member 41 is always kept within a suitable compression deformation range. The driving wheel 22 and the driven wheel 23 are always in contact with the inner wall of the detection pipe and maintain a suitable resistance pressure.

[0058] In another embodiment of the present invention, preferably, the drive adjustment mechanism 7 further includes a second annular adjustment seat 73. An annular fixing structure 76 is provided in the cylindrical cavity 111. The drive rod 70 is rotatably installed in the inner hole of the annular fixing structure 76, and the drive rod 70 extends from the annular fixing structure 76 to the cylindrical cavity 111 to form an adjustment section. A second threaded section 74 is provided on the adjustment section. The direction of the thread on the second threaded section 74 is opposite to the direction of the thread on the first threaded section 71. The second annular adjustment seat 73 is installed on the second threaded section 74 and is connected to the second threaded section 74 in a transmission connection. When the drive rod 70 rotates, the second annular adjustment seat 73 is driven to move linearly along the axial direction of the drive rod 70. Since the directions of the threads on the first threaded section 71 and the second threaded section 74 are opposite, when the drive rod 70 rotates, the movement directions of the first annular adjustment seat 72 and the second annular adjustment seat 73 are opposite.

[0059] In another embodiment of the present invention, the conical body 61 is further connected to the second annular adjusting seat 73 via a connecting spring 75. The connecting spring 75 is always in a stretched state. Thus, the first annular adjusting seat 72, the elastic connecting member 41, and the supporting member 42 form a first elastic support structure that provides elastic support to the lower end of the main shaft 210, while the second annular adjusting seat 73, the connecting spring 75, the conical body 61, and the linkage mechanism 6 form a second elastic support structure that provides elastic support to the secondary shaft 211. This improves the elastic support effect on the adjusting bracket 21. Both the first and second elastic support structures are adjustable, allowing the adjusting bracket 21, the driving wheel 22, and the driven wheel 23 to adapt to pipes of different sizes. The adjustment method of the first elastic support structure has been described above and will not be repeated. The adjustment method of the second elastic support structure is as follows: when the radial dimension of the detected pipe decreases, the adjusting bracket 21 retracts, and the end of the secondary shaft 211 retracts from the annular connecting seat. Driven by 63, the annular drive member 60 moves inward along the cylindrical cavity 111. The sliding pressure rod 65 moves along the axial opening groove 112 to press against the sliding block 62, causing the conical body 61 to move inward into the cylindrical cavity 111. The conical body 61 further stretches the connecting spring 75. The conical body 61 presses against each pressure wheel 54, causing the protective member 50 to rotate around the rotating shaft 52 and retract, thus reducing the opening of the horn-shaped protective mechanism 5. Conversely, when the radial dimension of the detection pipe increases, the adjusting bracket 21 extends, the annular connecting seat 63 and the annular driving member 60 move outward along the cylindrical cavity 111, the pressure on the conical body 61 decreases, and under the tension of the connecting spring 75, the conical body 61 moves along the cylindrical cavity 111 closer to its opening. At this time, under the movement of each pressure spring 55, the protective member 50 rotates in the opposite direction to perform an unfolding movement, thereby making the opening of the horn-shaped protective mechanism 5 larger.

[0060] In another embodiment of the present invention, preferably, when deformation or damage is found in the pipeline during the inspection process, the device body 1 needs to stop at the pipeline to take pictures and conduct detailed inspections of the deformed and damaged parts. When the deformation and damage are located in the horizontal section of the pipeline, the device body 1 can be stopped at the required inspection position by controlling the drive wheel 22 to stop rolling through the drive unit 13. However, when the deformation and damage are located in the steep or vertical section of the pipeline, the device body 1 cannot be stopped at the inspection position by simply adjusting the bracket 21, the drive wheel 22 and the driven wheel 23. Therefore, a positioning mechanism 8 is required. The positioning mechanism 8 and the crawling component 20 cooperate with each other to stop the device body 1 in the steep or vertical section of the pipeline. An inclined plane is provided at the end of the protective component 50 away from the cylindrical body 11. A protective plate 501 is provided on the inclined plane, and an elastic contact surface is provided on the protective plate 501 to contact the inner wall of the detection pipe. The positioning mechanism 8 is also provided on the inclined plane. The positioning mechanism 8 includes a positioning plate 80 and a transmission assembly. An installation groove 500 is provided on the inclined plane. The number of installation grooves 500 is consistent with the number of positioning plates 80 and protective plates 501. The protective plates 501 and positioning plates 80 are installed in the installation grooves 500 one by one. The transmission assembly is located between the protective plates 501 and the positioning plates 80. The transmission assembly can realize the transmission between the protective plates 501 and the positioning plates 80. An installation cavity 503 is provided inside the protective component 50, which is connected to the installation groove 500. The transmission assembly is located in the installation cavity 503. When the device body 1 travels normally along the detection pipe, the protective plate 501 extends out of the installation groove 500. At this time, if the protective component 50 When the protective plate 501 comes into contact with the inner wall of the pipeline being tested, it will contact the inner wall of the pipeline being tested. When deformation or damage is found in the steep or vertical section of the pipeline being tested, and the device body 1 needs to stay in this position for further testing or photography, the protective plate 50 will be extended by the drive adjustment mechanism 7 and the linkage mechanism 6. The protective plate 501 will press against the inner wall of the pipeline being tested. After the protective plate 501 is pressed against, the positioning plate 80 will extend from the mounting groove 500 through the transmission component until the positioning plate 80 contacts the inner wall of the pipeline being tested. The contact surface between the positioning plate 80 and the pipeline being tested has a large coefficient of friction. In this way, the positioning plate 80, the protective plate 501, the drive wheel 22 and the driven wheel 23 will simultaneously press against the inner wall of the pipeline being tested, so that the device body 1 can be fixed in the steep or vertical section of the pipeline being tested. At the same time, the device body 1 contacts the inner wall of the pipeline at multiple points, reducing the contact pressure at a single point and avoiding damage to the pipeline being tested.

[0061] In another embodiment of the present invention, optionally, the protective member 50 has three mounting grooves 500. A protective plate 501 is slidably disposed in the middle mounting groove 500, and positioning plates 80 are disposed in the mounting grooves 500 on both sides. The bottom of the positioning plates 80 has a sloped structure 801, and the bottom of the protective plates 501 has a wedge-shaped structure 502. The transmission assembly includes a wedge block 81. The mounting cavity 503 is perpendicular to the mounting groove 500, and the wedge block 81 is slidably connected within the mounting cavity 503. A wedge block 81 is disposed on each side of the protective plate 501, i.e., between the positioning plate 80 and the protective plate... A wedge block 81 is provided between each of the 501 sections. A positioning spring 82 is provided on one side of each wedge block 81. The two ends of the positioning spring 82 are fixed between the positioning plate 80 and the mounting cavity 503, respectively. Each wedge block 81 includes a first inclined surface and a second inclined surface. The first inclined surface abuts against the wedge structure 502 of the protective plate 501, and the second inclined surface abuts against the inclined surface structure 801 of the positioning plate 80. Thus, when the protective plate 501 presses against the inner wall of the detection pipe, the protective plate 501 is pressed and moves inward along the mounting groove 500. The wedge structure 502 presses against the wedge blocks 81 located on both sides of it. The movement along the mounting cavity 503 drives the positioning plate 80, causing it to extend from the mounting groove 500. During this movement, the wedge block 81 simultaneously presses against the positioning spring 82, making it elastic. This continues until the positioning plate 80 and the protective plate 501 simultaneously contact the inner wall of the detection pipeline, thus fixing the device body 1 to the steep or vertical section of the detection pipeline. Subsequently, if the device body 1 needs to move normally along the detection pipeline, the driving adjustment mechanism 7 and the linkage mechanism 6 cause the protective element 50 to retract, reducing the pressure on the protective plate 501. Under the action of the positioning spring 82... The wedge block 81 moves toward the wedge structure 502. During this process, the positioning plate 80 moves toward the interior of the mounting groove 500, and the protective plate 501 moves from the mounting groove 500 toward the exterior until the positioning spring 82, the protective plate 501, and the positioning plate 80 return to their initial state. This results in the protective plate 501 being longer than the positioning plate 80 on the outside of the mounting groove 500. As a result, during normal testing, the positioning plate 80 will not come into contact with the inner wall of the testing pipe, reducing the resistance of the device body 1 and preventing the moving positioning plate 80 from damaging the inner wall of the testing pipe.

[0062] In another embodiment of the present invention, preferably, when the device body 1 travels normally along the detection pipeline, the driving wheel 22 and the driven wheel 23 need to maintain a certain pressure contact with the inner wall of the detection pipeline, while each protective component 50 needs to maintain a certain distance from the inner wall of the detection pipeline to avoid contact or collision between the protective component 50 and the inner wall of the detection pipeline. When the device body 1 needs to stop traveling and stay on a steep slope or vertical section of the detection pipeline, the driving wheel 22, the driven wheel 23, the protective plate 501, and the positioning plate 80 all need to contact the inner wall of the detection pipeline. To avoid excessive pressure on the driving wheel 22 and the driven wheel 23 during this adjustment process, the first threaded section 71 and the second threaded section 74 are configured such that the radial dimension of the second threaded section 74 is greater than the radial dimension of the first threaded section 71, and the second threaded section 74... The thread pitch of segment 74 is greater than that of the thread pitch of the first thread segment 71. Thus, when the drive rod 70 is driven to rotate, the first annular adjusting seat 72 and the second annular adjusting seat 73 move toward each other. However, the movement speed of the second annular adjusting seat 73 is greater than that of the first annular adjusting seat 72. Therefore, the movement distance of the second annular adjusting seat 73 is greater than that of the first annular adjusting seat 72. The movement of the second annular adjusting seat 73 drives the conical body 61 to move synchronously through the connecting spring 75. This allows each protective component 50 to unfold quickly, enabling the protective component 50 to quickly press against the inner wall of the detection pipe. This allows the protective plate 501, positioning plate 80, drive wheel 22, and driven wheel 23 to press against the inner wall of the detection pipe, thereby fixing the device body 1 in place.

[0063] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. An intelligent non-destructive testing device, comprising a device body and a testing mechanism disposed on the device body, characterized in that, The device body is provided with a crawling mechanism and a drive unit for driving the crawling mechanism. The crawling mechanism includes a plurality of crawling components arranged circumferentially along the device body. Each crawling component includes an adjusting bracket and a drive wheel and a driven wheel arranged on the adjusting bracket. The device body is provided with an elastic support component connected to the adjusting bracket. The elastic support component and the adjusting bracket automatically adapt and adjust according to the inner diameter of the pipe so that the drive wheel and the driven wheel are always in contact with the inner wall of the pipe. The device body includes a coaxially arranged cylindrical mounting base and a cylindrical body. The cylindrical mounting base and the cylindrical body are fixedly connected by a connecting rod. The elastic support assembly includes a fixing member, an elastic connecting member, and a support member. The fixing member is adjustablely connected to the device body, and the support member is connected to the fixing member through the elastic connecting member. A drive adjustment mechanism is also provided on the device body. The drive adjustment mechanism includes a drive rod connected to a power unit and a second annular adjustment seat. The drive rod is provided with a first threaded section and a second threaded section with opposite thread directions. The fixing member is drivenly connected to the first threaded section, and the second annular adjustment seat is drivenly connected to the second threaded section. When the device body travels along the detection pipeline, if the size change of the detection pipeline exceeds the range, the drive unit can drive the drive rod. The fixing member moves along the axial direction of the drive rod, so that the elastic connecting member is always kept within a suitable compression deformation range. The driving wheel and the driven wheel are always in contact with the inner wall of the detection pipeline and maintain a suitable resistance pressure. It also includes a protective mechanism, which is disposed on the cylindrical body to protect the detection mechanism; the protective mechanism includes multiple protective components, which are arranged sequentially at intervals along the circumference of the cylindrical body. The protective components are rotatably connected to the strip-shaped opening groove on the cylindrical body. An adjusting component is provided at the end of the protective component, and the protective component can be driven by the adjusting component to rotate. The adjusting component includes a connecting frame disposed at the end of the protective component, and a pressure wheel is disposed on the connecting frame. An annular mounting plate is disposed inside the closed end of the cylindrical body, and a pressure spring is disposed on the annular mounting plate. The pressure wheel and the pressure spring are respectively located on both sides of the rotating shaft on the protective component. A linkage mechanism is disposed between the adjusting bracket and the adjusting member. When the secondary shaft of the adjusting bracket moves, the secondary shaft drives the adjusting member through the linkage mechanism, thereby causing the protective member to rotate. The linkage mechanism includes an annular driving member and a conical body. The conical body is connected to the second annular adjusting seat through a connecting spring. The annular driving member is slidably connected in the cylindrical cavity. A sliding pressure rod is provided at the end of the annular driving member located inside the cylindrical cavity. An annular connecting seat with a larger radial dimension is provided at the end of the annular driving member located outside the cylindrical cavity. The size of the annular connecting seat is larger than the size of the cylindrical cavity. A hinge seat is provided on the annular connecting seat. The end of the secondary shaft is rotatably connected to the hinge seat.

2. The intelligent non-destructive testing device according to claim 1, characterized in that, The detection mechanism includes a detection seat located at the front end of the device body, and a probe and a non-destructive testing instrument are installed on the detection seat.

3. The intelligent non-destructive testing device according to claim 1, characterized in that, There are three sets of crawling components, and the three sets of crawling components are arranged at equal intervals along the circumference of the device body.

4. The intelligent non-destructive testing device according to claim 1, characterized in that, The adjusting bracket includes a main shaft and a secondary shaft that are rotatably connected. The driving wheel is mounted on the main shaft and connected to the driving unit, and the driven wheel is mounted on the secondary shaft.

5. The intelligent non-destructive testing device according to any one of claims 1 to 4, wherein the testing method is as follows: Place the device body on the pipe opening to be inspected, and adjust the elastic support assembly according to the size of the pipe so that the driving wheel and the driven wheel press against the inner wall of the pipe. The drive unit is controlled to make each of the drive wheels rotate synchronously to drive the device body forward or backward along the pipeline; The testing agency inspects the inner wall of the pipe and transmits the inspection information to the inspector's detector.

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