Non-destructive testing apparatus for buried pipelines

Abstract

The application provides a buried pipeline nondestructive testing device. The buried pipeline nondestructive testing device comprises a moving trolley, a support frame, a first damping device and a detection sensor. The first damping device comprises a support piece, a first magnetic piece, a second magnetic piece and a first elastic piece. At least two support pieces are arranged at intervals along the height direction. One of the at least two support pieces is connected to the moving trolley, and the other is connected to the support frame. The first elastic piece is arranged between two adjacent support pieces, and the two ends of the first elastic piece are connected to the two adjacent support pieces, respectively. The first magnetic piece and the second magnetic piece are arranged alternately on the support piece, and the magnetic properties of the first magnetic piece and the second magnetic piece are opposite. The detection sensor is connected to the support frame, and is configured to detect the position of the corrosion point of the buried pipeline. The buried pipeline nondestructive testing device provided by the application has high detection accuracy and stability for the corrosion point of the buried pipeline.

Description

Technical Field

[0001] This invention relates to the field of pipeline inspection technology, and in particular to a non-destructive testing device for buried pipelines. Background Technology

[0002] Non-destructive testing (NDT) equipment for buried pipelines is a very important device in pipeline maintenance. With the increasing number of various transport pipelines being installed, NDT equipment for buried pipelines can facilitate pipeline maintenance, allowing workers to detect the location of corrosion points on the outer surface of the pipeline directly on the ground without excavation.

[0003] In related technologies, non-destructive testing equipment for buried pipelines includes a mobile trolley and detection sensors mounted on the mobile trolley. The mobile trolley is used to move along the buried pipeline, and the detection sensors can use ultrasonic waves or magnetic force to detect the location of corrosion points on the pipeline.

[0004] However, the inspection environment for buried pipelines is mostly characterized by bumpy roads. The vibration of the moving trolley can easily cause the detection sensors to shake, reducing their detection accuracy or even causing them to malfunction. Summary of the Invention

[0005] This invention provides a non-destructive testing device for buried pipelines, which has high accuracy and stability in detecting corrosion points in buried pipelines.

[0006] This invention provides a non-destructive testing device for buried pipelines, comprising a mobile trolley, a support frame, at least one first shock absorption device, and at least one detection sensor;

[0007] The first shock absorption device includes at least two support members, a first magnetic member, a second magnetic member, and a first elastic member. The at least two support members are spaced apart along the height direction. One of the at least two support members is connected to the mobile trolley, and the one away from the mobile trolley is connected to the support frame.

[0008] A first elastic element is provided between two adjacent support members, and the two ends of the first elastic element along the direction of elastic force are respectively connected to the two adjacent support members;

[0009] The first magnetic element and the second magnetic element are alternately arranged on the support element, and the magnetic properties of the first magnetic element and the second magnetic element are opposite.

[0010] The detection sensor is connected to the support frame and is configured to detect the location of corrosion points in buried pipelines.

[0011] In one possible implementation, the buried pipeline non-destructive testing equipment provided by the present invention has a first interval between adjacent first magnetic elements and second magnetic elements along the height direction. When the first interval changes, the change in magnetic attraction between the first magnetic element and the second magnetic element corresponding to the first interval is equal to the change in elastic force of the first elastic element located within the first interval.

[0012] In one possible implementation, the buried pipeline non-destructive testing equipment provided by the present invention has a first magnetic component and a second magnetic component, both of which are permanent magnets, and a first elastic component is a non-linear waveform spring.

[0013] In one possible implementation, the buried pipeline non-destructive testing equipment provided by the present invention has multiple first magnetic elements on the same support member, and the multiple first magnetic elements are evenly spaced along the circumferential direction of the support member.

[0014] And / or, the number of second magnetic elements on the same support member is multiple, and the multiple second magnetic elements are evenly spaced along the circumferential direction of the support member.

[0015] In one possible implementation, the non-destructive testing equipment for buried pipelines provided by the present invention further includes an attitude adjustment device, which is connected to a mobile trolley and a support frame. The attitude adjustment device is configured to detect the tilt angle of the support frame and adjust the angle of the support frame according to the tilt angle.

[0016] In one possible implementation, the buried pipeline non-destructive testing equipment provided by the present invention includes an attitude adjustment device comprising a first drive component, a detector, and a controller. The first drive component is connected to a mobile trolley and to a support frame.

[0017] The detector is connected to the support frame;

[0018] Both the first drive component and the detector are electrically connected to the controller.

[0019] In one possible implementation, the buried pipeline non-destructive testing equipment provided by the present invention further includes a second elastic element, the elastic force direction of the second elastic element being consistent with the height direction, one end of the second elastic element along the height direction being connected to a moving trolley, and the other end being connected to a first drive component.

[0020] In one possible implementation, the non-destructive testing equipment for buried pipelines provided by the present invention includes a mobile trolley comprising a vehicle body, drive wheels, a second drive assembly, and a second shock absorption assembly.

[0021] The drive wheels are configured in a one-to-one correspondence with the second drive components, and the drive wheels are configured in a one-to-one correspondence with the second shock absorber components. The drive wheels are connected to the vehicle body through the second shock absorber components and the second drive components.

[0022] In one possible implementation, the buried pipeline non-destructive testing equipment provided by the present invention includes a second shock absorption component comprising a connecting plate, at least one shock absorber, and at least one shock absorption link.

[0023] The connecting plate is connected to the drive wheel;

[0024] One end of the shock absorber is connected to the connecting plate, and the other end is connected to the vehicle body;

[0025] One end of the shock absorber linkage is connected to the connecting plate, and the other end is connected to the vehicle body.

[0026] In one possible implementation, the buried pipeline non-destructive testing equipment provided by the present invention has multiple shock-absorbing links arranged in parallel.

[0027] The present invention provides a non-destructive testing (NDT) device for buried pipelines. The device comprises a moving trolley, a support frame, at least one first shock absorber, and at least one detection sensor. The first shock absorber includes at least two support members, a first magnetic member, a second magnetic member, and a first elastic member. The at least two support members are spaced apart along the height direction. One of the support members closer to the moving trolley is connected to the moving trolley, and the other away from the moving trolley is connected to the support frame. A first elastic member is positioned between adjacent support members, with its two ends along the elastic force direction connected to the two adjacent support members. The first magnetic member and the second magnetic member are alternately arranged on the support members, and their magnetic properties are opposite. The detection sensor is connected to the support frame and is configured to detect the location of corrosion points in the buried pipeline. In this way, when the moving trolley experiences bumps, the first shock absorber is subjected to external force, which disrupts its balance. The first shock absorber can then re-establish its balance under the action of the first elastic element, the first magnetic element, and the second magnetic element. This reduces the impact of vibrations and impacts from the moving trolley on the detection sensor, making the detection sensor less prone to shaking or reducing the duration and amplitude of shaking. This is beneficial for improving the detection accuracy of the detection sensor, and the detection sensor is less likely to malfunction due to shaking, thus resulting in high detection stability. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the structure of the non-destructive testing equipment for buried pipelines provided in an embodiment of the present invention;

[0030] Figure 2 This is a schematic diagram of the first vibration damping device in the non-destructive testing equipment for buried pipelines provided in an embodiment of the present invention.

[0031] Figure 3 This is a structural schematic diagram of the first vibration damping device in the buried pipeline non-destructive testing equipment provided in an embodiment of the present invention from another angle.

[0032] Figure 4 This is a schematic diagram of the attitude adjustment device in the non-destructive testing equipment for buried pipelines provided in an embodiment of the present invention;

[0033] Figure 5 This is a schematic diagram of the structure of the moving trolley in the non-destructive testing equipment for buried pipelines provided in an embodiment of the present invention;

[0034] Figure 6 for Figure 5 A magnified view of a portion of point A in the middle.

[0035] Explanation of reference numerals in the attached figures:

[0036] 100 - Mobile trolley; 110 - Car body; 120 - Drive wheel; 130 - Second drive assembly; 131 - Second drive component; 132 - Second mounting base; 133 - Second coupling; 140 - Second shock absorber assembly; 141 - Connecting plate; 142 - Shock absorber; 143 - Shock absorber link; 144 - Connecting base;

[0037] 200-Support frame;

[0038] 300 - First shock absorber; 310 - Support member; 320 - First magnetic member; 330 - Second magnetic member; 340 - First elastic member;

[0039] 400 - Detection sensor;

[0040] 500 - Second elastic element;

[0041] 600 - Attitude adjustment device; 610 - First drive assembly; 611 - First drive component; 612 - First mounting base; 613 - First coupling; 614 - First transmission shaft; 620 - Detector. Detailed Implementation

[0042] In the description of this invention, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, an indirect connection via an intermediate medium, or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0043] In the description of this invention, the terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0044] The terms "first," "second," and "third" (if applicable) in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented, for example, in orders other than those illustrated or described herein.

[0045] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, such as a process, method, system, product, or maintenance tool that includes a series of steps or units, not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or maintenance tool.

[0046] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, 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.

[0047] As described in the background section, the inspection environment for buried pipelines is mostly characterized by bumpy roads. The inspection sensors used are precision sensors. Precision sensors are typically manufactured using microelectronics technology, including micromachining, integrated circuit design, and packaging techniques. While microelectronics makes sensors smaller, more precise, and more sensitive, it also increases their sensitivity to vibration and shock. Therefore, precision sensors need to maintain balance and stability during dynamic, moving inspections to ensure their accuracy and reliability.

[0048] To address the aforementioned technical challenges, the non-destructive testing equipment for buried pipelines incorporates multiple vibration damping and attitude adjustment devices to reduce sensor vibration and tilt, thereby minimizing interference from the vibration and impact of the moving trolley on sensor signals and ultimately improving the accuracy of detecting corrosion points on buried pipelines.

[0049] See Figures 1 to 3As shown, the non-destructive testing equipment for buried pipelines provided by the present invention includes a mobile trolley 100, a support frame 200, at least one first shock absorption device 300, and at least one detection sensor 400.

[0050] The mobile trolley 100 is used to move along the extension direction of the buried pipeline. The support frame 200 is connected to the mobile trolley 100 via a first shock-absorbing device 300, and the support frame 200 is used to mount the detection sensor 400. The first shock-absorbing device 300 is used to reduce the vibration of the detection sensor 400. The detection sensor 400 is connected to the support frame 200 and is used to detect the location of corrosion points on the buried pipeline.

[0051] Specifically, the detection sensor 400 may include at least one of a coil sensor and a fluxgate sensor. Exemplarily, the detection sensor 400 includes one coil sensor and four fluxgate sensors, with the coil sensor located in the middle region of the support frame 200, and the four fluxgate sensors evenly spaced around the coil sensor. The coil sensor and the fluxgate sensors detect the surrounding magnetic field signals.

[0052] It should be noted that the number of first damping devices 300 can be one, two, or more. For example, the number of first damping devices 300 can be four. The four first damping devices 300 are evenly spaced.

[0053] Specifically, the first shock-absorbing device 300 includes at least two support members 310, a first magnetic member 320, a second magnetic member 330, and a first elastic member 340.

[0054] At least two support members 310 are spaced apart along the height direction. One of the support members 310 closer to the mobile trolley 100 is connected to the mobile trolley 100, and the other away from the mobile trolley 100 is connected to the support frame 200. For example, the number of support members 310 can be four, and the four support members 310 are spaced apart along the height direction. The support member 310 can be a support disc.

[0055] A first elastic element 340 is provided between two adjacent support members 310, and the two ends of the first elastic element 340 along the elastic force direction are respectively connected to the two adjacent support members 310. That is, the two adjacent support members 310 are connected by the first elastic element 340. For example, the first elastic element 340 can be a spring or an elastic rubber component.

[0056] It should be noted that the number of first elastic elements 340 between two adjacent support members 310 can be one, two, or more. For example, the number of first elastic elements 340 can be four, and the four first elastic elements 340 are evenly spaced.

[0057] In this configuration, the first magnetic element 320 and the second magnetic element 330 are alternately disposed on the support member 310, and the magnetic properties of the first magnetic element 320 and the second magnetic element 330 are opposite. For example, along the height direction, a first magnetic element 320 is disposed on one layer of support member 310, and a second magnetic element 330 is disposed on an adjacent support member 310. The four support members 310 are spaced apart along the height direction, and the first magnetic element 320 and the second magnetic element 330 are arranged vertically according to the NNSN magnetic pattern.

[0058] Specifically, both the first magnetic element 320 and the second magnetic element 330 can be permanent magnets. In some other embodiments, at least one of the first magnetic element 320 and the second magnetic element 330 can be an electromagnet. The performance parameters of the first magnetic element 320 and the second magnetic element 330 can be controlled by controlling the current.

[0059] It should be noted that, under the magnetic attraction of the first magnetic element 320 and the second magnetic element 330, two adjacent support members 310 move closer together, compressing the first elastic element 340. The elastic force of the first elastic element 340 pushes the two adjacent support members 310 away from each other, thereby bringing the first shock absorber 300 into a balanced and stable state. When the trolley 100 moves on the road and generates bumps, the first shock absorber 300 is subjected to external forces, such as compression of the first elastic element 340, increasing its elastic force. However, as the two adjacent support members 310 move closer together, the magnetic attraction of the first magnetic element 320 and the second magnetic element 330 increases, and the first shock absorber 300 returns to a balanced and stable state. Conversely, if the elastic force of the first elastic element 340 decreases, but the two adjacent support members 310 move away from each other, the magnetic attraction of the first magnetic element 320 and the second magnetic element 330 decreases, and the first shock absorber 300 returns to a balanced and stable state.

[0060] Therefore, the buried pipeline non-destructive testing equipment provided in this embodiment, by setting a first shock absorption device 300, when the moving trolley 100 causes bumps, the first shock absorption device 300 is subjected to external force, which disrupts the balance of the first shock absorption device 300. The first shock absorption device 300 can re-establish a balanced state under the action of the first elastic element 340, the first magnetic element 320 and the second magnetic element 330, thereby reducing the impact of vibration and impact of the moving trolley 100 on the detection sensor 400. The detection sensor 400 is less prone to shaking, or the shaking time and amplitude can be reduced, which is beneficial to improving the detection accuracy of the detection sensor 400. Moreover, the detection sensor is less likely to fail to work properly due to shaking, so the detection stability is high.

[0061] In one possible implementation, the attractive force between the first magnetic element 320 and the second magnetic element 330, which are adjacent along the height direction, matches the elastic force of the first elastic element 340. That is, when the distance between the first magnetic element 320 and the second magnetic element 330, which are adjacent along the height direction, changes, the attractive force between the first magnetic element 320 and the second magnetic element 330 changes, and the elastic force of the first elastic element 340 changes. The amount of change in the attractive force between the first magnetic element 320 and the second magnetic element 330 is equal to the amount of change in the elastic force of the first elastic element 340.

[0062] It is understandable that both the first magnetic component 320 and the second magnetic component 330 are permanent magnets, and the attractive force between adjacent first magnetic components 320 and second magnetic components 330 along the height direction is:

[0063]

[0064] Where k is a constant coefficient, and R is the distance between adjacent first magnetic element 320 and second magnetic element 330 along the height direction.

[0065] In other words, the attraction between the adjacent first magnetic element 320 and second magnetic element 330 along the height direction is non-linearly related to the distance between them. Therefore, the elastic force of the first elastic element 340 and the compression amount of the first elastic element 340 should also be non-linearly related. This can improve the shock absorption effect of the first shock absorption device 300.

[0066] In this embodiment, the first elastic element 340 is a nonlinear waveform spring. This results in a simpler structure and lower cost for the first damping device 300. The nonlinear waveform spring has multiple wave coils, leading to smoother load transmission. These coils can freely expand and contract, giving it a larger deformation range and better damping effect.

[0067] In other embodiments, the first elastic element 340 is a non-linear elastic rubber element.

[0068] See Figure 2 and Figure 3 As shown, there are multiple first magnetic elements 320 on the same support member 310, and the multiple first magnetic elements 320 are evenly spaced along the circumferential direction of the support member 310. This helps to increase the attraction between different layers of support members 310, while the repulsion between the first magnetic elements 320 in the same layer maintains a stable force balance among the first magnetic elements 320 in the same layer.

[0069] In some embodiments, the number of first magnetic elements 320 on the same support member 310 is even, and the first magnetic elements 320 are arranged opposite each other and evenly spaced. For example, the number of first magnetic elements 320 on the same support member 310 is eight, and the eight first magnetic elements 320 are evenly spaced around the circumference of the support member 310.

[0070] In other embodiments, there are multiple second magnetic elements 330 on the same support member 310, and the multiple second magnetic elements 330 are evenly spaced along the circumferential distance of the support member 310.

[0071] It should be noted that, Figure 2 The number of the second magnetic element 330 shown in the dashed box has been simplified. The number of second magnetic elements 330 on two adjacent support members 310 can be the same as the number of first magnetic elements 320, which will not be elaborated here.

[0072] See Figure 4 As shown, in one possible implementation, the buried pipeline non-destructive testing equipment also includes an attitude adjustment device 600, which is connected to the mobile trolley 100 and the support frame 200. The attitude adjustment device 600 is configured to detect the tilt angle of the support frame 200 and adjust the angle of the support frame 200 according to the tilt angle.

[0073] It is understandable that by setting the attitude adjustment device 600, the angle of the support frame 200 can be adjusted, which helps to ensure that the detection sensor 400 does not tilt, thereby improving the detection accuracy of the detection sensor 400.

[0074] It should be noted that the number of attitude adjustment devices 600 can be one, two, or more. See also Figure 1 and Figure 2 As shown, the number of attitude adjustment devices 600 can be four, and the four attitude adjustment devices 600 are arranged around the support frame 200.

[0075] It is understandable that, through the cooperation of the attitude adjustment device 600 and the first shock absorption device 300, after the attitude adjustment device 600 adjusts the angle, the first shock absorption device 300 can re-establish the balance state, thus requiring a lower self-locking capability from the attitude adjustment device 600.

[0076] In one possible implementation, the attitude adjustment device 600 includes a first drive assembly 610, a detector 620, and a controller (not shown). The first drive assembly 610 is connected to the mobile trolley 100 and to the support frame 200. The detector 620 is connected to the support frame 200. Both the first drive assembly 610 and the detector 620 are electrically connected to the controller.

[0077] Specifically, the detector 620 can be a gyroscope sensor. The controller can be a microcontroller.

[0078] In use, the detector 620 detects the tilt angle and tilt direction of the support frame 200 and sends the information to the controller. The controller can calculate the required attitude deviation and the correction value of the attitude deviation through a control algorithm. The controller controls the first drive component 610 to drive the support frame 200 to rotate, thereby causing the support frame 200 to drive the detection sensor 400 to rotate, thus keeping the detection sensor 400 in a non-tilted state. For example, a PID (proportional, integral, derivative) control algorithm can be used.

[0079] In this embodiment, the first drive assembly 610 includes a first drive member 611, a first mounting base 612, a first bearing (not shown), a first coupling 613, and a first drive shaft 614. The housing of the first drive member 611 is connected to the first mounting base 612, and the drive shaft of the first drive member 611 is inserted into the first mounting base 612. One end of the first drive shaft 614 is connected to the drive shaft of the first drive member 611 through the first coupling 613, and the other end of the first drive shaft 614 is connected to the support frame 200. The first drive shaft 614 is connected to the first mounting base 612 through the first bearing.

[0080] The first driving component 611 can be a motor.

[0081] In one possible implementation, the buried pipeline non-destructive testing equipment further includes a second elastic element 500, the elastic force of which is aligned with the height direction. One end of the second elastic element 500 along the height direction is connected to the moving trolley 100, and the other end is connected to the first drive assembly 610. This improves the vibration damping effect on the detection sensor 400.

[0082] Specifically, the second elastic element 500 can be a linear spring.

[0083] For example, to improve the vibration damping effect on the detection sensor 400, an attitude adjustment device 600 may be connected to multiple second elastic elements 500. For instance, an attitude adjustment device 600 may be connected to four second elastic elements 500.

[0084] See Figure 5 and Figure 6 As shown, in one possible implementation, the mobile vehicle 100 includes a vehicle body 110, drive wheels 120, a second drive assembly 130, and a second shock absorption assembly 140.

[0085] In this configuration, each drive wheel 120 is paired with a second drive assembly 130, and each drive wheel 120 is paired with a second shock absorber assembly 140. That is, the number of drive wheels 120, second drive assemblies 130, and second shock absorber assemblies 140 is equal. For example, there are four drive wheels 120, and four second drive assemblies 130 and four second shock absorber assemblies 140. The drive wheels 120 are connected to the vehicle body 110 via the second shock absorber assemblies 140 and the second drive assembly 130.

[0086] Understandably, the drive wheels 120 are configured in a one-to-one correspondence with the second shock absorber assembly 140. This means the second shock absorber assembly 140 is an independent suspension system, which effectively isolates the vehicle body 110 from vibrations and bumps on the road surface, absorbing and mitigating the impact of uneven road surfaces and bumps, thus making the vehicle body 110 more stable during driving. The independent suspension system allows each drive wheel 120 to bear force and work independently, unaffected by the other drive wheels 120. This means that when turning or going over potholes, each drive wheel 120 can independently adapt to road conditions, providing better stability.

[0087] In this embodiment, the drive wheel 120 is a Mecanum wheel, which has high mobility and flexibility, reduces vibration and vibration, and makes the whole system highly stable and controllable, further improving the shock absorption effect.

[0088] Specifically, the second drive assembly 130 includes a second drive member 131, a second mounting base 132, a second bearing (not shown in the figure), a second coupling 133, and a second transmission shaft (not shown in the figure). The housing of the second drive member 131 is connected to the second mounting base 132, the drive shaft of the second drive member 131 is inserted into the second mounting base 132, one end of the second transmission shaft is connected to the drive shaft of the second drive member 131 through the second coupling 133, and the other end of the second transmission shaft is connected to the drive wheel 120. The second transmission shaft is connected to the second mounting base 132 through the second bearing.

[0089] In one possible implementation, the second damping assembly 140 includes a connecting plate 141, at least one damper 142, and at least one damping link 143.

[0090] The connecting plate 141 is connected to the drive wheel 120. Specifically, the connecting plate 141 can be connected to the drive wheel 120 via the second drive assembly 130. More specifically, the connecting plate 141 can be connected to the side of the second mounting base 132 facing the drive wheel 120.

[0091] One end of the shock absorber 142 is connected to the connecting plate 141, and the other end is connected to the vehicle body 110. Exemplarily, one end of the shock absorber 142 can be connected to the connecting plate 141 via a connecting seat 144, and the other end can be connected to the vehicle body 110 via the connecting seat 144.

[0092] One end of the shock absorber link 143 is connected to the connecting plate 141, and the other end is connected to the vehicle body 110. For example, one end of the shock absorber link 143 can be connected to the connecting plate 141 via the connecting seat 144, and the other end can be connected to the vehicle body 110 via the connecting seat 144.

[0093] Specifically, the shock absorber 142 can be a commonly used shock absorber structure in related technologies, which will not be described in detail in this embodiment. The connecting seat 144 can be manufactured using 3D printing (additive manufacturing) technology.

[0094] Understandably, the combination of the shock absorber 142 and the shock absorber linkage 143 can effectively improve the shock absorption effect compared to using them individually.

[0095] In one possible implementation, in order to improve the damping effect, the number of damping links 143 in the same second damping component 140 is multiple, and the multiple damping links 143 are arranged in parallel.

[0096] Specifically, there are four damping links 143, and the second drive assembly 130 is located within the area enclosed by the four damping links 143. The four damping links 143 form a parallelogram linkage suspension mechanism.

[0097] Specifically, the shock absorber link 143 is a carbon fiber link.

[0098] In some embodiments, the number of shock absorbers 142 in the same second shock absorption assembly 140 can be two.

[0099] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A non-destructive testing device for buried pipelines, characterized in that, It includes a mobile trolley, a support frame, at least one first shock absorber, and at least one detection sensor; The first shock absorption device includes four support members, a first magnetic member, a second magnetic member, and a first elastic member. The four support members are spaced apart along the height direction. One of the four support members closer to the mobile trolley is connected to the mobile trolley, and the one away from the mobile trolley is connected to the support frame. The first elastic element is provided between two adjacent support members, and the two ends of the first elastic element along the elastic force direction are respectively connected to the two adjacent support members; The first magnetic element and the second magnetic element are alternately disposed on the support member, and the first magnetic element and the second magnetic element have opposite magnetic properties; The detection sensor is connected to the support frame, and the detection sensor is configured to detect the location of corrosion points in the buried pipeline; The distance between adjacent first magnetic elements and second magnetic elements along the height direction is the first interval. When the first interval changes, the change in magnetic attraction between the first magnetic element and the second magnetic element corresponding to the first interval is equal to the change in elastic force of the first elastic element located within the first interval. Both the first magnetic component and the second magnetic component are permanent magnets, and the attractive force between adjacent first and second magnetic components along the height direction is... for: Where k is a constant coefficient, and R is the distance between adjacent first and second magnetic components along the height direction; The first elastic element is a non-linear waveform spring; It also includes an attitude adjustment device connected to the mobile trolley and the support frame, the attitude adjustment device being configured to detect the tilt angle of the support frame and adjust the angle of the support frame according to the tilt angle.

2. The non-destructive testing equipment for buried pipelines according to claim 1, characterized in that, The number of first magnetic elements on the same support member is multiple, and the multiple first magnetic elements are evenly spaced along the circumferential direction of the support member; And / or, the number of second magnetic elements on the same support member is multiple, and the multiple second magnetic elements are evenly spaced along the circumferential direction of the support member.

3. The non-destructive testing equipment for buried pipelines according to claim 1, characterized in that, The attitude adjustment device includes a first drive component, a detector, and a controller. The first drive component is connected to the mobile trolley and to the support frame. The detector is connected to the support frame; Both the first driving component and the detector are electrically connected to the controller.

4. The non-destructive testing equipment for buried pipelines according to claim 3, characterized in that, It also includes a second elastic element, the elastic force direction of the second elastic element is consistent with the height direction, one end of the second elastic element along the height direction is connected to the moving trolley, and the other end is connected to the first drive component.

5. The non-destructive testing equipment for buried pipelines according to claim 1, characterized in that, The mobile trolley includes a body, drive wheels, a second drive assembly, and a second shock absorption assembly; The drive wheel is configured in a one-to-one correspondence with the second drive assembly, and the drive wheel is configured in a one-to-one correspondence with the second shock absorber assembly. The drive wheel is connected to the vehicle body through the second shock absorber assembly and the second drive assembly.

6. The non-destructive testing equipment for buried pipelines according to claim 5, characterized in that, The second damping assembly includes a connecting plate, at least one damper, and at least one damping linkage; The connecting plate is connected to the drive wheel; One end of the shock absorber is connected to the connecting plate, and the other end is connected to the vehicle body; One end of the shock-absorbing link is connected to the connecting plate, and the other end is connected to the vehicle body.

7. The non-destructive testing equipment for buried pipelines according to claim 6, characterized in that, The number of shock-absorbing links is multiple, and the multiple shock-absorbing links are arranged in parallel.

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