An underground pipeline defect detection device

Abstract

The present invention relates to an underground pipeline defect detection device, belonging to the non-destructive testing technology of underground pipelines. It includes a magnetic focusing mechanism, which comprises a chassis. Each rotary frame unit can slide left and right around a fixed axis respectively; at least one excitation coil posture adjuster is slidably arranged on each rotary frame unit, and an excitation coil is arranged in each excitation coil posture adjuster. The excitation coil can rotate in the up-down direction and the front-back direction respectively within the excitation coil posture adjuster; wherein, the excitation coil posture adjuster can slide left and right around the fixed axis along with the rotary frame unit so as to adjust the position of the excitation coil thereon, the excitation coil posture adjuster can slide up and down on the rotary frame unit so as to adjust the height of the excitation coil, and the excitation coil can also adjust the posture of the excitation coil by flipping in the up-down direction and the front-back direction within the excitation coil posture adjuster, so that the excitation coils in the excitation coil posture adjusters on a plurality of rotary frame units meet the conditions of magnetic focusing.

Description

Technical Field

[0001] The present invention belongs to the technical field of non-destructive testing of buried pipelines, and particularly relates to a buried pipeline defect detection device. Background Art

[0002] Buried pipelines play a crucial role in oil and gas transportation, with advantages such as high efficiency, low cost, large operation scale, and good stability. In recent years, the safety and reliability of pipelines have received increasing attention. A set of efficient and convenient buried pipeline corrosion defect detection equipment is of great significance for the safe operation of buried pipelines.

[0003] The transient electromagnetic method detection technology is widely used in fields such as underground mineral exploration, underground water resource investigation, underground pipeline defect detection, and environmental geological investigation. The detection principle of the transient electromagnetic method is that a pulse current signal is applied to the transmitting coil by a transmitter. The transmitting coil generates a stable primary magnetic field in space and diffuses it underground. Then, the excitation current is instantaneously turned off, causing the primary magnetic field to disappear. According to the electromagnetic induction principle, an eddy current effect is generated on the surface of the underground metal pipeline to form a secondary magnetic field to hinder the disappearance of the primary magnetic field. As the resistance of the pipe body itself and the ohmic consumption of the surrounding medium, the secondary magnetic field will gradually decay to zero. The entire process of the disappearance of the secondary magnetic field is received by the receiving coil and presented in the form of voltage. By analyzing the variation law of the secondary field received by the receiving coil with time, the buried pipeline defect information is judged.

[0004] Currently, common buried pipeline detection methods at home and abroad are divided into external detection and internal detection of buried pipelines. Most of the internal detection technologies of buried pipelines are invasive and destructive detections, which are costly, time-consuming, and will affect the pipeline. Among the external detection technologies of buried pipelines, some technologies such as weak magnetic detection, metal magnetic memory detection, and close interval potential detection have problems such as low detection efficiency and low accuracy. The transient electromagnetic detection technology is one of the external detection technologies of buried pipelines, which has the advantages of high efficiency, rapidity, high sensitivity, and non-excavation detection, and is widely used in the pipeline detection field. The excitation coil is an extremely important part of the transient electromagnetic method detection technology. Currently, the excitation coil has problems such as insufficient excitation magnetic induction intensity and poor focusing performance, which will lead to insufficient detection accuracy of buried pipeline defect detection.

[0005] In short, the current detection accuracy of buried pipeline defects is relatively low. Summary of the Invention

[0006] Aiming at the above problems, the purpose of the present invention is to provide a buried pipeline defect detection device to solve the problem of relatively low detection accuracy of buried pipeline defects at present.

[0007] To achieve the above purpose, the present invention adopts the following technical solutions:

[0008] In a first aspect, the present invention discloses a buried pipeline defect detection device, which includes a magnetic signal transmitter, a reflected signal receiver, and a transient electromagnetic controller. At least one excitation coil is built in the magnetic signal transmitter, and a receiving coil is built in the reflected signal receiver. The excitation coil of the magnetic signal transmitter and the receiving coil of the reflected signal receiver are respectively connected to the transient electromagnetic controller. The magnetic signal transmitter, the reflected signal receiver, and the transient electromagnetic controller are all arranged above the buried pipeline. It is characterized in that the magnetic signal transmitter is a magnetic focusing mechanism.

[0009] The magnetic focusing mechanism includes a chassis, the shape of the chassis is circular, a fixed shaft is arranged on the center line passing through the center of the chassis, and a plurality of rotating frame units are arranged on the chassis. The rotating frame units are arc-shaped, and each rotating frame unit can slide left and right around the fixed shaft, and the rotating paths of the plurality of rotating frame units are sequentially connected on the chassis to jointly form a circular arc surface.

[0010] At least one excitation coil adjuster is slidably arranged on each rotating frame unit, and an excitation coil is arranged in each excitation coil adjuster. The outer shape of the excitation coil adjuster is rectangular, the excitation coil is a square coil, and the excitation coil can rotate in the up-down direction and the front-back direction respectively within the excitation coil adjuster.

[0011] Among them, the excitation coil adjuster can slide left and right around the fixed shaft along with the rotating frame unit to adjust the position of the excitation coil thereon. The excitation coil adjuster can slide up and down on the rotating frame unit to adjust the height of the excitation coil. The excitation coil can also adjust the attitude of the excitation coil by flipping in the up-down direction and the front-back direction within the excitation coil adjuster, so that the excitation coils in the excitation coil adjusters on the plurality of rotating frame units meet the conditions of magnetic focusing. The conditions of magnetic focusing are that the magnetic fields excited by the plurality of excitation coils exactly focus on the buried pipeline.

[0012] Further, the excitation coil adjuster includes an outer frame, an up-down adjustment mechanism, a middle frame, a front-back adjuster, and an inner frame. The inner frame is a square frame body, and the excitation coil is arranged in the inner frame; the inner frame is arranged inside the middle frame, and a second adjustment shaft is arranged between the inner frame and the middle frame as a pivot, and the front-back adjuster is arranged on the second adjustment shaft; the middle frame is arranged inside the outer frame, and a first adjustment shaft is arranged between the middle frame and the outer frame as a pivot, and the up-down adjustment mechanism is arranged on the first adjustment shaft; the first adjustment shaft and the second adjustment shaft are perpendicular to each other.

[0013] Among them, the up-and-down posture adjustment mechanism is used to realize the flipping of the excitation coil in the up-and-down direction by controlling the rotation of the front-and-back posture adjuster; the front-and-back posture adjuster is used to realize the flipping of the excitation coil in the left-and-right direction by controlling the rotation of the inner frame.

[0014] Further, the outer frame includes a left guiding module, a right guiding module, an upper fixing plate, and a lower fixing plate. The left guiding module, the upper fixing plate, the right guiding module, and the lower fixing plate are sequentially connected end to end to form the outer frame; the first posture adjustment shaft includes an upper connecting shaft and a lower connecting shaft. The extension lines of the upper connecting shaft and the lower connecting shaft are on the same straight line and jointly form the first posture adjustment shaft; the upper side of the middle frame is pivotally connected to the upper fixing plate through the upper connecting shaft of the first posture adjustment shaft, and the lower side of the middle frame is pivotally connected to the lower fixing plate through the lower connecting shaft of the first posture adjustment shaft. The up-and-down posture adjustment mechanism is arranged on the lower connecting shaft of the first posture adjustment shaft; the second posture adjustment shaft includes a left connecting shaft and a right connecting shaft. The extension lines of the left connecting shaft and the right connecting shaft are on the same straight line and jointly form the second posture adjustment shaft; the left side of the inner frame is pivotally connected to the left side plate of the middle frame through the left connecting shaft of the second posture adjustment shaft, and the right side of the inner frame is pivotally connected to the right side plate of the middle frame through the right connecting shaft of the second posture adjustment shaft. The front-and-back posture adjuster is arranged on the left connecting shaft of the second posture adjustment shaft.

[0015] Further, both the middle frame and the inner frame are square frames, each formed by sequentially connecting an upper side plate, a right side plate, a lower side plate, and a left side plate end to end; the upper side plate of the middle frame is pivotally connected to the upper fixing plate through an upper connecting shaft, and the lower side plate of the middle frame is pivotally connected to the lower fixing plate through a lower connecting shaft; the up-and-down posture adjustment mechanism is located in the gap between the lower fixing plate and the lower side plate of the middle frame; the left side of the inner frame is pivotally connected to the left side plate of the middle frame through a left connecting shaft, and the right side plate of the inner frame is pivotally connected to the right side wall of the middle frame; the front-and-back posture adjuster is located in the gap between the left side plate of the middle frame and the left side plate of the inner frame.

[0016] Further, both the up-and-down posture adjustment mechanism and the front-and-back posture adjuster include a motor, a coupling, and a bevel gear set. The bevel gear set includes a driving wheel, a left transmission wheel, a right transmission wheel, and an auxiliary wheel. The driving wheel, the left transmission wheel, the right transmission wheel, and the auxiliary wheel are all bevel gears. The left transmission wheel and the right transmission wheel are arranged in pairs on the lower connecting shaft of the first posture adjustment shaft or the left connecting shaft of the second posture adjustment shaft. The driving wheel and the auxiliary wheel are arranged in pairs between the left transmission wheel and the right transmission wheel, and both ends of the driving wheel are respectively meshed with one end of the left transmission wheel and the right transmission wheel. The other ends of the left transmission wheel and the right transmission wheel are respectively meshed with the auxiliary wheel. The output shaft of the motor is fixedly connected to the driving wheel of the bevel gear set through the coupling.

[0017] Further, the left transmission wheel and the right transmission wheel are integrally formed with the lower connecting shaft of the first posture adjustment shaft or the left connecting shaft of the second posture adjustment shaft to form a large gear with a shaft.

[0018] Further, the motor is configured with a motor support. The motor support of the up-and-down posture adjustment mechanism is arranged inside the lower fixing plate. The motor support of the front-and-back posture adjuster is arranged inside the left side plate of the middle frame.

[0019] The driving wheel is configured with a driving wheel support. The driving wheel support of the up-and-down posture adjustment mechanism is arranged inside the lower fixing plate. The driving wheel support of the front-and-back posture adjuster is arranged inside the left side plate of the middle frame.

[0020] The auxiliary wheel is configured with an auxiliary wheel support. The auxiliary wheel support of the up-and-down posture adjustment mechanism is arranged inside the lower fixing plate. The auxiliary wheel support of the front-and-back posture adjuster is arranged inside the left side plate of the middle frame.

[0021] The left transmission wheel and the right transmission wheel of the up-and-down posture adjustment mechanism are arranged in pairs on the lower connecting shaft of the first posture adjustment shaft.

[0022] The left transmission wheel and the right transmission wheel of the up-and-down posture adjustment mechanism are arranged in pairs on the left connecting shaft of the second posture adjustment shaft.

[0023] Further, a support frame is provided at the center of the chassis, and the fixed shaft is arranged on the support frame. The transient electromagnetic controller is arranged on the back of the chassis of the magnetic focusing mechanism and is opposite to the support frame.

[0024] Further, the outer ring of the chassis is equally divided into four parts, and an arc-shaped slide rail is provided on the outer ring of each part.

[0025] Four rotating frame units are provided on the chassis. The top of each rotating frame unit is provided with a pivot hole, and the bottom is provided with a slider assembly.

[0026] The pivot holes of the rotary frame units are penetrated on the fixed shaft, and the slider assemblies of the four rotary frame units are respectively arranged on four arc-shaped sliding rails on the outer ring of the chassis.

[0027] Furthermore, an excitation coil posture adjuster is respectively arranged on the upper and lower parts of the two arc-shaped rods of each rotary frame unit.

[0028] The upper parts of the four rotary frame units form four excitation coil posture adjusters located on the upper side, and the four excitation coil posture adjusters located on the upper side are at the same height.

[0029] The lower parts of the four rotary frame units form four excitation coil posture adjusters located on the lower side, and the four excitation coil posture adjusters located on the lower side are at the same height.

[0030] Furthermore, the rotary frame unit includes two arc-shaped rods and a transverse plate. The tops of the two arc-shaped rods are connected together through the transverse plate. The slider assemblies are respectively arranged at the bottoms of the two arc-shaped rods. The pivot holes are arranged at the tops of the transverse plates of the rotary frame units. The left guiding module and the right guiding module on both sides of the outer frame are respectively arranged on the arc-shaped rods on both sides of the rotary frame unit.

[0031] Furthermore, both the left guiding module and the right guiding module are configured with side panels. The side panels of the left guiding module and the right guiding module are connected to the arc-shaped rods of the rotary frame unit through a sliding pre-tightening mechanism. The sliding pre-tightening mechanism includes a first upper guiding wheel, a second upper guiding wheel, a first lower guiding wheel, a pair of pre-tightening springs and two pairs of clamping pieces. Chutes are respectively arranged on the top surface and the bottom surface of the arc-shaped rod of the rotary frame unit. The first upper guiding wheel and the second upper guiding wheel are respectively arranged in the chutes on the top surface of the arc-shaped rod. The first lower guiding wheel is arranged in the chute on the bottom surface of the arc-shaped rod. Screws are respectively penetrated through the first upper guiding wheel, the second upper guiding wheel and the first lower guiding wheel, and the screws penetrate through the side panels of the left guiding module and the right guiding module. Nuts are respectively configured at both ends of each screw. By tightening the nuts at both ends of the screw, the side panels of the left guiding module or the right guiding module are locked with the arc-shaped rod of the rotary frame unit.

[0032] Three support columns are respectively arranged on the side panels of the left guiding module and the right guiding module opposite to the screws of the first upper guiding wheel, the second upper guiding wheel and the first lower guiding wheel. Each support column and its corresponding screw are pre-tightened through a pair of pre-tightening springs located on both sides of the arc-shaped rod.

[0033] A pair of bolts pass through the side panels of the left guiding module and the right guiding module and the arc-shaped rod of the rotary frame unit. Clamping pieces and nuts are respectively sleeved on the bolts. By tightening the nuts, the clamping pieces are pushed to press the side panels of the left guiding module or the right guiding module against the arc-shaped rod of the rotary frame unit.

[0034] Furthermore, the buried pipeline defect detection device further includes a mobile vehicle body, which includes a vehicle frame configured with eight shock-absorbing tires. The reflection signal receiver is arranged inside the vehicle frame; the magnetic focusing mechanism is arranged on the mobile vehicle body.

[0035] In a second aspect, the present invention discloses a method for detecting buried pipeline defects, which uses the above-mentioned buried pipeline defect detection device. The method includes the following steps:

[0036] Step A: Adjust the position and self-attitude of the excitation coil so that the magnetic fields excited by the excitation coils in the excitation coil adjusters on several rotary frame units meet the conditions for magnetic focusing, including the following steps:

[0037] Step A1: Adjust the position of the excitation coil to the position when the magnetic fields excited by the excitation coils in the excitation coil adjusters on several rotary frame units meet the conditions for magnetic focusing, including the following steps: The excitation coil adjuster slides left and right around the fixed axis along with the rotary frame unit to adjust the position of the excitation coil thereon; the excitation coil adjuster slides up and down on the arc-shaped rod of the rotary frame unit to adjust the height of the excitation coil.

[0038] Step A2: Adjust the self-attitude of the excitation coil to the attitude when the magnetic fields excited by the excitation coils in the excitation coil adjusters on several rotary frame units meet the conditions for magnetic focusing, including the following specific steps: Adjust the attitude of the excitation coil by flipping it in the up-down direction and the front-back direction inside the excitation coil adjuster to reach the attitude that meets the conditions for magnetic focusing.

[0039] Step B: The transient electromagnetic controller simultaneously sends pulse excitation signals to the excitation coils in the excitation coil adjusters on several rotary frame units, and several excitation coils simultaneously excite magnetic fields that meet the conditions for magnetic focusing.

[0040] Step C: The magnetic fields that meet the conditions for magnetic focusing are exactly focused on the buried pipeline, causing the buried pipeline to generate an induced magnetic field, and the receiving coil of the reflection signal receiver receives the induced magnetic field generated by the buried pipeline.

[0041] Step D: Determine the defects of the buried pipeline according to the induced magnetic field generated by the buried pipeline received by the receiving coil.

[0042] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0043] The present invention discloses a buried pipeline defect detection device, which is applicable to the non-destructive detection of buried pipeline defects. The excitation coil position adjuster can slide left and right around the fixed axis along with the rotating frame unit so as to adjust the position of the excitation coil thereon, and the excitation coil position adjuster can slide up and down on the rotating frame unit so as to adjust the height of the excitation coil; the excitation coil can also adjust its attitude by flipping in the up-down direction and the front-back direction within the excitation coil position adjuster, and the excitation coil can be adjusted in multiple directions at any angle in space, enabling it to have an extremely flexible position and attitude, so that the excitation coils in the excitation coil position adjusters on several rotating frame units meet the conditions of magnetic focusing. Among them, the conditions of magnetic focusing are that the magnetic fields excited by several excitation coils exactly focus on the buried pipeline, which not only includes adjusting the positions of several excitation coils, but also includes adjusting the attitude of the excitation coil itself. For the buried pipeline defect detection device disclosed by the present invention, the magnetic fields generated by several excitation coils focus on the buried pipeline, and the receiving coil can accurately receive the induced magnetic field generated by the buried pipeline, which helps us to more easily distinguish and quantify the defects of the buried pipeline, improves the accuracy of the defect detection of the buried pipeline, and is more conducive to realizing the non-destructive detection of the buried pipeline defects.

[0044] In addition, the present invention also has the following advantages:

[0045] (1) Currently, most of the excitation coils used in the transient electromagnetic method for detecting buried pipeline defects are single square coils. Aiming at the problems of insufficient magnetic induction intensity and poor focusing performance excited by the excitation coils, the present invention uses 4 excitation coil position adjuster moving slides and 8 adjustable position moving coils to realize the enhancement of magnetic induction intensity and the magnetic focusing function. The excitation coil position adjuster can be adjusted in multiple directions at any angle in space, and thus can better adapt to buried pipelines of various different sizes and different burial depths.

[0046] (2) The vehicle frame is equipped with 8 shock-absorbing tires with independent suspension systems. Each wheel has an independent suspension system and is not directly connected to the suspension systems of other wheels. Compared with the traditional shaft-type suspension system, it has better suspension stability, better road adaptability and better chassis controllability. The independent suspension system enables the overall vehicle frame to greatly reduce the bumps and swings of the chassis when dealing with uneven roads, improves the grip and stability, and is also more stable when the chassis turns and changes lanes. The vehicle frame of the present invention uses 8 wheels, which can better distribute the weight and has a greater load-bearing capacity, thereby improving the stability of the vehicle. Since most buried pipelines are buried under harsh roads, using 8 wheels has more grounding points, which can provide better traction and stability, so it can better pass through complex and rugged terrains and roads. At the same time, more wheels can provide better steering and turning performance as well as better controllability. Description of the Drawings

[0047] Figure 1 It is a schematic diagram of the overall structure of the buried pipeline defect detection device provided in Embodiment 1 of the present invention;

[0048] Figure 2 It is a schematic diagram of the structure of the magnetic focusing mechanism provided in Embodiment 1 of the present invention;

[0049] Figure 3 It is a schematic diagram of the chassis of the magnetic focusing mechanism provided in Embodiment 1 of the present invention;

[0050] Figure 4 It is a connection diagram of the excitation coil posture adjuster and the rotating frame unit provided in Embodiment 1 of the present invention;

[0051] Figure 5 It is a three-dimensional view of the excitation coil posture adjuster provided in Embodiment 1 of the present invention;

[0052] Figure 6 It is a front view of the excitation coil posture adjuster provided in Embodiment 1 of the present invention;

[0053] Figure 7 It is Figure 6 a schematic diagram of the up-and-down posture adjustment mechanism in

[0054] Figure 8 It is Figure 6 a schematic diagram of the front-and-back posture adjustment mechanism in

[0055] Figure 9 It is Figure 8 a schematic diagram of the structure and connection of the bevel gear set in

[0056] Figure 10 It is a top view of the rotating frame unit provided in Embodiment 1 of the present invention;

[0057] Figure 11 It is a three-dimensional view of the rotating frame unit with an upper top plate on the side panel of the right guiding module provided in Embodiment 1 of the present invention;

[0058] Figure 12 It is Figure 11 a partial enlarged view of A in

[0059] Figure 13 It is a three-dimensional view of the rotating frame unit without an upper top plate on the side panel of the right guiding module provided in Embodiment 1 of the present invention;

[0060] Figure 14 It is Figure 13 a partial enlarged view of B in

[0061] Figure 15It is a schematic diagram of the reflection signal receiver provided in Embodiment 1 of the present invention being arranged on the frame of a moving vehicle body;

[0062] Figure 16 It is a schematic structural diagram of the moving vehicle body provided in Embodiment 1 of the present invention.

[0063] Explanation of reference numerals:

[0064] 1 - Chassis, 10 - Support frame, 11 - Fixed shaft, 12 - Arc-shaped slide rail;

[0065] 2 - Rotating frame unit, 20 - Horizontal plate, 21 - Arc-shaped rod, 22 - Slide block assembly, 23 - Pivoting hole;

[0066] 3 - Excitation coil position adjuster, 30 - Excitation coil;

[0067] 31 - Outer frame, 311 - Left guiding module, 313 - Right guiding module, 312 - Upper fixing plate, 314 - Lower fixing plate;

[0068] 32 - Middle frame;

[0069] 33 - Inner frame;

[0070] 41 - Up-and-down position adjusting mechanism, 410 - First position adjusting shaft;

[0071] 42 - Front-and-back position adjuster, 420 - Second position adjusting shaft;

[0072] 51 - Motor, 52 - Coupling, 53 - Bevel gear set, 531 - Driving wheel, 532 - Left driving wheel, 533 - Right driving wheel, 534 - Auxiliary wheel,

[0073] 61 - First upper guiding wheel, 62 - Second upper guiding wheel, 63 - First lower guiding wheel, 64 - Pre-tightening spring, 640 - Support column, 65 - Clamping piece;

[0074] 7 - Moving vehicle body, 70 - Reflection signal receiver, 71 - Frame, 72 - Shock-absorbing tire. Detailed implementation manners

[0075] Hereinafter, the exemplary embodiments of the present invention will be described in more detail with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present invention can be more thoroughly understood and the scope of the present invention can be completely conveyed to those skilled in the art.

[0076] Embodiment 1: An underground pipeline defect detection device

[0077] Embodiment 1 of the present invention provides a buried pipeline defect detection device, and its structure and connection relationship will be described in detail below with reference to the accompanying drawings.

[0078] The buried pipeline defect detection device includes a magnetic signal transmitter, a reflected signal receiver 70, and a transient electromagnetic controller. The magnetic signal transmitter is internally provided with at least one excitation coil, and the reflected signal receiver 70 is internally provided with a receiving coil. The excitation coil of the magnetic signal transmitter and the receiving coil of the reflected signal receiver 70 are respectively connected to the transient electromagnetic controller. The magnetic signal transmitter, the reflected signal receiver 70, and the transient electromagnetic controller are all arranged above the buried pipeline. Among them, the magnetic signal transmitter of the present invention is a magnetic focusing mechanism.

[0079] Reference Figure 1 、 Figure 15 and Figure 16 and, the buried pipeline defect detection device includes a mobile vehicle body 7. The mobile vehicle body 7 includes a vehicle frame 71, and the vehicle frame 71 is configured with eight shock-absorbing tires 72. The reflected signal receiver 70 is arranged inside the vehicle frame 71; the magnetic focusing mechanism is arranged on the mobile vehicle body 7.

[0080] Reference Figure 2 and Figure 3 and, the magnetic focusing mechanism includes a chassis 1. The shape of the chassis 1 is circular. A fixed shaft 11 is arranged on the center line passing through the center of the chassis 1. A plurality of rotating frame units 2 are arranged on the chassis 1. The rotating frame unit 2 is arc-shaped. Each rotating frame unit 2 can slide left and right around the fixed shaft 11, and a plurality of rotating frame units 2 are sequentially connected in the rotation path of the chassis 1 to jointly form a circular arc surface;

[0081] At least one excitation coil adjuster 3 is slidably arranged on each rotating frame unit 2. An excitation coil 30 is arranged inside each excitation coil adjuster 3. The outer shape of the excitation coil adjuster 3 is rectangular, and the excitation coil 30 is a square coil. The excitation coil 30 can rotate in the up-down direction and the front-back direction respectively inside the excitation coil adjuster 3;

[0082] Among them, the excitation coil position adjuster 3 can slide left and right around the fixed shaft 11 along with the rotating frame unit 2 to adjust the position of the excitation coil 30 thereon. The excitation coil position adjuster 3 can slide up and down on the rotating frame unit 2 to adjust the height of the excitation coil 30. The excitation coil 30 can also adjust its attitude by flipping in the up-down direction and the front-back direction within the excitation coil position adjuster 3, so that the excitation coils 30 in the excitation coil position adjusters 3 on several rotating frame units 2 meet the conditions of magnetic focusing. The conditions of magnetic focusing are that the magnetic fields excited by several excitation coils 30 are exactly focused on the buried pipeline.

[0083] Since the excitation coil 30 adjusts its position, orientation, and attitude in multiple directions at any angle in space, it has an extremely flexible position and attitude. Therefore, to meet the conditions of magnetic focusing, that is, to ensure that the magnetic fields excited by several excitation coils 30 are focused on the buried pipeline, it not only includes adjusting the positions of several excitation coils 30 but also includes adjusting the attitude of the excitation coil 30 itself.

[0084] Reference Figures 4 to 6 , the excitation coil position adjuster 3 includes an outer frame 31, an up-down position adjusting mechanism 41, a middle frame 32, a front-back position adjuster 42, and an inner frame 33.

[0085] The inner frame 33 is a square frame body, and the excitation coil 30 is installed within the inner frame 33.

[0086] The inner frame 33 is arranged inside the middle frame 32, and a second adjustment shaft 420 is provided between the inner frame 33 and the middle frame 32 as a pivot, and the front-back position adjuster 42 is arranged on the second adjustment shaft 420.

[0087] The middle frame 32 is arranged inside the outer frame 31, and a first adjustment shaft 410 is provided between the middle frame 32 and the outer frame 31 as a pivot, and the up-down position adjusting mechanism 41 is arranged on the first adjustment shaft 410.

[0088] The first adjustment shaft 410 and the second adjustment shaft 420 are perpendicular to each other.

[0089] Among them, the up-down position adjusting mechanism 41 is used to realize the flipping of the excitation coil 30 in the up-down direction by controlling the rotation of the front-back position adjuster 42.

[0090] The front-back position adjuster 42 is used to realize the flipping of the excitation coil 30 in the left-right direction by controlling the rotation of the inner frame 33.

[0091] Continue to refer to Figure 2, the outer frame 31 includes a left guiding module 311, a right guiding module 313, an upper fixing plate 312, and a lower fixing plate 314. The left guiding module 311, the upper fixing plate 312, the right guiding module 313, and the lower fixing plate 314 are connected end to end in sequence to form the outer frame 31;

[0092] The first posture adjustment shaft 410 includes an upper connecting shaft and a lower connecting shaft. The extension lines of the upper connecting shaft and the lower connecting shaft are on the same straight line and jointly form the first posture adjustment shaft 410. The upper side of the middle frame 32 is pivotally connected to the upper fixing plate 312 through the upper connecting shaft of the first posture adjustment shaft 410, and the lower side of the middle frame 32 is pivotally connected to the lower fixing plate 314 through the lower connecting shaft of the first posture adjustment shaft 410. The up and down posture adjustment mechanism 41 is arranged on the lower connecting shaft of the first posture adjustment shaft 410;

[0093] The second posture adjustment shaft 420 includes a left connecting shaft and a right connecting shaft. The extension lines of the left connecting shaft and the right connecting shaft are on the same straight line and jointly form the second posture adjustment shaft 420. The left side of the inner frame 33 is pivotally connected to the left side plate of the middle frame 32 through the left connecting shaft of the second posture adjustment shaft 420, and the right side of the inner frame 33 is pivotally connected to the right side plate of the middle frame 32 through the right connecting shaft of the second posture adjustment shaft 420. The front and back posture adjuster 42 is arranged on the left connecting shaft of the second posture adjustment shaft 420.

[0094] Specifically, both the middle frame 32 and the inner frame 33 are square frames, each formed by connecting an upper side plate, a right side plate, a lower side plate, and a left side plate end to end in sequence;

[0095] The upper side plate of the middle frame 32 is pivotally connected to the upper fixing plate 312 through an upper connecting shaft, and the lower side plate of the middle frame 32 is pivotally connected to the lower fixing plate 314 through a lower connecting shaft. The up and down posture adjustment mechanism 41 is located in the gap between the lower fixing plate 314 and the lower side plate of the middle frame 32;

[0096] The left side of the inner frame 33 is pivotally connected to the left side plate of the middle frame 32 through a left connecting shaft, and the right side plate of the inner frame 33 is pivotally connected to the right side wall of the middle frame 32. The front and back posture adjuster 42 is located in the gap between the left side plate of the middle frame 32 and the left side plate of the inner frame 33.

[0097] Reference Figures 7 to 9 , both the up and down posture adjustment mechanism 41 and the front and back posture adjuster 42 include a motor 51, a coupling 52, and a bevel gear set 53,

[0098] The bevel gear set 53 includes a driving wheel 531, a left transmission wheel 532, a right transmission wheel 533 and an auxiliary wheel 534. The driving wheel 531, the left transmission wheel 532, the right transmission wheel 533 and the auxiliary wheel 534 are all bevel gears.

[0099] The left transmission wheel 532 and the right transmission wheel 533 are arranged in pairs on the lower connecting shaft of the first posture adjustment shaft 410 or the left connecting shaft of the second posture adjustment shaft 420.

[0100] The driving wheel 531 and the auxiliary wheel 534 are arranged in pairs between the left transmission wheel 532 and the right transmission wheel 533. Both ends of the driving wheel 531 are respectively meshed with one end of the left transmission wheel 532 and the right transmission wheel 533. The other ends of the left transmission wheel 532 and the right transmission wheel 533 are respectively meshed with the auxiliary wheel 534.

[0101] The output shaft of the motor 51 is fixedly connected to the driving wheel 531 of the bevel gear set 53 through the coupling 52.

[0102] Preferably, the left transmission wheel 532 and the right transmission wheel 533 are integrally formed with the lower connecting shaft of the first posture adjustment shaft 410 or the left connecting shaft of the second posture adjustment shaft 420 to form a large gear with a shaft.

[0103] Specifically, the motor 51 is configured with a motor support.

[0104] The motor support of the up and down posture adjustment mechanism 41 is arranged inside the lower fixing plate 314.

[0105] The motor support of the front and back posture adjuster 42 is arranged inside the left side plate of the middle frame 32.

[0106] The driving wheel 531 is configured with a driving wheel support.

[0107] The driving wheel support of the up and down posture adjustment mechanism 41 is arranged inside the lower fixing plate 314.

[0108] The driving wheel support of the front and back posture adjuster 42 is arranged inside the left side plate of the middle frame 32.

[0109] The auxiliary wheel 534 is configured with an auxiliary wheel support.

[0110] The auxiliary wheel support of the up and down posture adjustment mechanism 41 is arranged inside the lower fixing plate 314.

[0111] The auxiliary wheel support of the front and back posture adjuster 42 is arranged inside the left side plate of the middle frame 32.

[0112] The left driving wheel 532 and the right driving wheel 533 of the up-and-down posture adjusting mechanism 41 are arranged in pairs on the lower connecting shaft of the first posture adjusting shaft 410;

[0113] The left driving wheel 532 and the right driving wheel 533 of the up-and-down posture adjusting mechanism 41 are arranged in pairs on the left connecting shaft of the second posture adjusting shaft 420.

[0114] To ensure the strength and stability of the magnetic focusing mechanism, a support frame 10 is arranged at the center of the chassis 1, and the fixed shaft 11 is arranged on the support frame 10, as Figure 3 shown.

[0115] Specifically, the transient electromagnetic controller is arranged on the back of the chassis 1 of the magnetic focusing mechanism and is opposite to the support frame 10.

[0116] Continue to refer to Figure 3 , the outer ring of the chassis 1 is equally divided into four parts, and an arc-shaped slide rail 12 is arranged on the outer ring of each part;

[0117] Four rotating frame units 2 are arranged on the chassis 1. A pivot hole 23 is arranged at the top of each rotating frame unit 2, and a slider assembly 22 is arranged at the bottom;

[0118] The pivot hole 23 of the rotating frame unit 2 is sleeved on the fixed shaft 11, and the slider assemblies 22 of the four rotating frame units 2 are respectively arranged on the four arc-shaped slide rails 12 on the outer ring of the chassis 1.

[0119] Among them, the arc-shaped slide rail 12 is a circular dovetail groove slide rail, and when installing the slider assembly 22, an angle adapted to the curvature of the dovetail groove slide rail is selected for installation.

[0120] The dovetail groove can improve the stability of the circular slide rail, reduce friction, be convenient for installation and disassembly, and the connection is firm and not easy to loosen. The dovetail groove slider is combined with a cylinder and a frustum to cooperate with the dovetail groove. The slider assembly 22 includes a slider, which has a smaller friction area compared with the traditional fully enclosed slider, reduces the friction force between the slider and the slide rail, prolongs the service life of the components, and reduces energy loss.

[0121] Refer to Figure 10 , on each of the two arc-shaped rods 21 of each rotating frame unit 2, an excitation coil adjuster 3 is respectively arranged at the upper and lower parts,

[0122] The upper parts of the four rotating frame units 2 form four excitation coil adjusters 3 located on the upper side, and the four excitation coil adjusters 3 located on the upper side are at the same height;

[0123] The lower parts of the four rotating frame units 2 form four excitation coil adjusters 3 located on the lower side, and the four excitation coil adjusters 3 located on the lower side are at the same height.

[0124] Among them, it is a conventional technical means in the art to adjust the slider assembly 22 of the rotating frame unit 2 to be at the same height by setting the radius of curvature of the arc-shaped slide rail 12 on the outer ring of the chassis 1 and the side panels of the left guiding module 311 and the right guiding module 313 of the slider assembly 22 of the rotating frame unit 2, which will not be elaborated here.

[0125] As a specific implementation manner, the rotating frame unit 2 includes two arc-shaped rods 21 and a transverse plate 20. The tops of the two arc-shaped rods 21 are connected together by the transverse plate 20. The slider assemblies 22 are respectively arranged at the bottoms of the two arc-shaped rods 21. The pivot holes 23 are arranged at the top of the transverse plate 20 of the rotating frame unit 2;

[0126] The left guiding module 311 and the right guiding module 313 on both sides of the outer frame 31 are respectively arranged on the arc-shaped rods 21 on both sides of the rotating frame unit 2.

[0127] Reference Figures 11 to 14 As shown in, the left guiding module 311 and the right guiding module 313 are both configured with side panels. The side panels of the left guiding module 311 and the right guiding module 313 are connected to the arc-shaped rods 21 of the rotating frame unit 2 through a sliding pre-tightening mechanism.

[0128] The sliding pre-tightening mechanism includes a first upper guiding wheel 61, a second upper guiding wheel 62, a first lower guiding wheel 63, a pair of pre-tightening springs 64 and two pairs of clamping pieces 65.

[0129] Chute grooves are respectively arranged on the top surface and the bottom surface of the arc-shaped rod 21 of the rotating frame unit 2. The first upper guiding wheel 61 and the second upper guiding wheel 62 are respectively arranged in the chute grooves on the top surface of the arc-shaped rod 21. The first lower guiding wheel 63 is arranged in the chute groove on the bottom surface of the arc-shaped rod 21. Screws are respectively passed through the first upper guiding wheel 61, the second upper guiding wheel 62 and the first lower guiding wheel 63, and the screws pass through the side panels of the left guiding module 311 and the right guiding module 313. Nuts are respectively configured at both ends of each screw. The side panels of the left guiding module 311 or the right guiding module 313 are locked with the arc-shaped rod 21 of the rotating frame unit 2 by tightening the nuts at both ends of the screws;

[0130] Support columns 640 are respectively arranged on the side panels of the left guiding module 311 and the right guiding module 313 opposite to the screws of the first upper guiding wheel 61, the second upper guiding wheel 62 and the first lower guiding wheel 63. A pair of pre-tightening springs 64 located on both sides of the arc-shaped rod 21 are used to pre-tighten between each support column 640 and its corresponding screw;

[0131] A pair of bolts pass through the side panels of the left guiding module 311 and the right guiding module 313 and across the arc-shaped rod 21 of the rotary frame unit 2. Clamping pieces 65 and nuts are respectively threaded onto the bolts. By tightening the nuts, the clamping pieces 65 are pushed to press the side panels of the left guiding module 311 or the right guiding module 313 against the arc-shaped rod 21 of the rotary frame unit 2.

[0132] Specifically, the top of the side panels of the left guiding module 311 and the right guiding module 313 is provided with an upper top plate. The side edges of the upper top plate are fixedly connected to the side edges of the side panels, and the two are vertically intersecting and integrally formed.

[0133] Specifically, the first upper guiding wheel 61, the second upper guiding wheel 62, and the first lower guiding wheel 63 are made of polyurethane material, making them elastic to achieve a pre-tightening effect.

[0134] The first upper guiding wheel 61, the second upper guiding wheel 62, and the first lower guiding wheel 63 enable the left guiding module 311 and the right guiding module 313 to run smoothly on the sliding grooves on the top and bottom surfaces of the arc-shaped rod 21 of the rotary frame unit 2.

[0135] The pre-tightening spring 64 tightens these three guiding wheels to achieve better pre-tightening between the guiding wheels and the sliding grooves, and can also play a good damping effect.

[0136] The support column 640 can prevent the side panels of the left guiding module 311 and the right guiding module 313 from deforming during the sliding process.

[0137] Among them, the multi-directional attitude adjustment of the excitation coil 30 at any angle is the result of the combined action of the motor, the motor base, the coupling, and the gear set. The overall lateral dimension of this part is too large. If the gear set is not set for commutation rotation, it will cause this part to occupy too much space in the excitation coil adjuster 3, and the space utilization rate is extremely low. Therefore, in this invention patent, the form of the gear set is adopted to change the rotation direction of the coil, so that its space utilization rate has been greatly improved. In addition, the form of using a small gear to drive a large gear also increases the motor torque and can better drive the coil to rotate. The gear set adopts a gear symmetric structure, which also solves the dynamic balance problem between the gears.

[0138] Furthermore, the vehicle frame 71 is equipped with 8 shock-absorbing tires 72 of an independent suspension system, enabling dynamic and stable detection when detecting buried pipeline defects.

[0139] To facilitate the receiving coil of the reflection signal receiver 70 to receive magnetic signals, the vehicle frame 71 includes an upper layer and a lower layer, and both the upper layer and the lower layer adopt a hollow structure.

[0140] In order to minimize the influence of the magnetic materials used in the overall structure of the movable excitation coil magnetic focusing mechanism device and the magnetic signals and stray currents in the external environment on the receiving coil, the receiving coil of the reflection signal receiver 70 is configured with a shielding cover.

[0141] Specifically, each vehicle frame 71 has an independent suspension system and is not directly connected to the suspensions of other wheels. Compared with the traditional shaft-type suspension system, it has better suspension stability, better road adaptability, and better chassis controllability. The independent suspension system enables the overall vehicle frame to greatly reduce the bumps and swaying of the chassis when dealing with uneven roads, improving the grip and stability, and also being more stable when the chassis turns and changes lanes.

[0142] Among them, most of the materials used for the vehicle frame 71 are carbon fiber materials. Carbon fiber materials have high strength, high modulus, are lightweight and corrosion-resistant. In addition, carbon fiber materials will not generate magnetic signal interference on the signals received by the receiving coil. The upper and lower layers of the vehicle frame 71 adopt a hollow structure, which can reduce the weight as much as possible without affecting the stability and strength of the overall structure.

[0143] Embodiment 2: A method for detecting buried pipeline defects

[0144] The second embodiment of the present invention provides a method for detecting buried pipeline defects, which uses the buried pipeline defect detection device provided in Embodiment 1. The method includes the following steps:

[0145] Step A: Adjust the position and its own posture of the excitation coil 30 to make the magnetic field excited by the excitation coil 30 in the excitation coil adjuster 3 on several rotating frame units 2 meet the conditions of magnetic focusing, including the following steps:

[0146] Step A1: Adjust the position of the excitation coil 30 to the position when the magnetic field excited by the excitation coil 30 in the excitation coil adjuster 3 on several rotating frame units 2 meets the conditions of magnetic focusing, including the following steps: The excitation coil adjuster 3 slides left and right around the fixed shaft 11 along with the rotating frame unit 2 to adjust the position of the excitation coil 30 thereon; the excitation coil adjuster 3 slides up and down on the arc-shaped rod 21 of the rotating frame unit 2 to adjust the height of the excitation coil 30.

[0147] Step A2: Adjust the own posture of the excitation coil 30 to the posture when the magnetic field excited by the excitation coil 30 in the excitation coil adjuster 3 on several rotating frame units 2 meets the conditions of magnetic focusing, including the following specific steps: Adjust the posture of the excitation coil 30 by flipping in the up-down direction and the front-back direction within the excitation coil adjuster 3 to reach the posture that meets the conditions of magnetic focusing.

[0148] Step B: The transient electromagnetic controller simultaneously sends pulse excitation signals to the excitation coils 30 in the excitation coil position adjusters 3 on several rotating frame units 2, and the several excitation coils 30 simultaneously generate magnetic fields that meet the conditions for magnetic focusing.

[0149] Step C: The magnetic field that meets the conditions for magnetic focusing is exactly focused on the buried pipeline, causing the buried pipeline to generate an induced magnetic field, and the receiving coil of the reflection signal receiver 70 receives the induced magnetic field generated by the buried pipeline.

[0150] Step D: Based on the induced magnetic field generated by the buried pipeline received by the receiving coil, the defects of the buried pipeline are discriminated.

[0151] Among them, since the magnetic fields generated by several excitation coils 30 are focused on the buried pipeline, the receiving coil can accurately receive the induced magnetic field generated by the buried pipeline, which helps us to more easily distinguish and quantify the defects of the buried pipeline, thus improving the accuracy of defect detection of the buried pipeline.

[0152] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A buried pipeline defect detection device, comprising a magnetic signal transmitter, a reflection signal receiver (70) and a transient electromagnetic controller, wherein the magnetic signal transmitter is equipped with at least one excitation coil, the reflection signal receiver (70) is equipped with a receiving coil, the excitation coil of the magnetic signal transmitter and the receiving coil of the reflection signal receiver (70) are respectively connected to the transient electromagnetic controller, the magnetic signal transmitter, the reflection signal receiver (70) and the transient electromagnetic controller are all arranged above the buried pipeline, characterized in that: The magnetic signal transmitter is a magnetic focusing mechanism. The magnetic focusing mechanism comprises a chassis (1), the chassis (1) is circular in shape, a fixed shaft (11) is arranged on a center line passing through the center of the chassis (1), a plurality of rotating frame units (2) are arranged on the chassis (1), the rotating frame units (2) are arc-shaped, each of the rotating frame units (2) can slide left and right around the fixed shaft (11), and the plurality of rotating frame units (2) are connected in sequence on the rotation path of the chassis (1) to form a circular arc surface; At least one excitation coil posture adjuster (3) is slidably disposed on each of the rotating frame units (2), an excitation coil (30) is disposed inside each of the excitation coil posture adjusters (3), the excitation coil posture adjuster (3) has a rectangular shape, the excitation coil (30) is a square coil, and the excitation coil (30) can rotate in the excitation coil posture adjuster (3) in the up-down direction and the front-back direction respectively; The excitation coil posture adjuster (3) can slide left and right around the fixed axis (11) along with the rotating frame unit (2) to adjust the position of the excitation coil (30) thereon; the excitation coil posture adjuster (3) can slide up and down on the rotating frame unit (2) to adjust the height of the excitation coil (30); the excitation coil (30) can also adjust the posture of the excitation coil (30) by flipping in the up-down direction and the front-back direction inside the excitation coil posture adjuster (3), so that the excitation coils (30) inside the excitation coil posture adjusters (3) on the rotating frame units (2) meet the condition of magnetic focusing, wherein the condition of magnetic focusing is that the magnetic field excited by the excitation coils (30) is just focused on the buried pipeline.

2. The buried pipeline defect detection device according to claim 1, characterized in that: The excitation coil posture adjuster (3) comprises an outer frame (31), an upper and lower posture adjustment mechanism (41), a middle frame (32), a front and rear posture adjuster (42) and an inner frame (33). The inner frame (33) is a square frame, and the excitation coil (30) is arranged in the inner frame (33); The inner frame (33) is arranged inside the middle frame (32), and a second posture adjustment shaft (420) is arranged between the inner frame (33) and the middle frame (32) as a pivot, and the front and rear posture adjusters (42) are arranged on the second posture adjustment shaft (420); The middle frame (32) is arranged inside the outer frame (31), and a first posture adjustment axis (410) is arranged between the middle frame (32) and the outer frame (31) as a pivot, and the up and down posture adjustment mechanism (41) is arranged on the first posture adjustment axis (410); The first posture adjustment axis (410) and the second posture adjustment axis (420) are perpendicular to each other; Wherein, the up-down posture adjustment mechanism (41) is used to achieve the flipping of the excitation coil (30) in the up-down direction by controlling the rotation of the front-back posture adjuster (42); The front-rear posture adjuster (42) is used to achieve the flipping of the excitation coil (30) in the left-right direction by controlling the rotation of the inner frame (33).

3. The buried pipeline defect detection device according to claim 2, characterized in that: The outer frame (31) comprises a left guide module (311), a right guide module (313), an upper fixing plate (312) and a lower fixing plate (314); the left guide module (311), the upper fixing plate (312), the right guide module (313) and the lower fixing plate (314) are connected end to end in sequence to form the outer frame (31); The first posture adjustment shaft (410) comprises an upper connecting shaft and a lower connecting shaft, and the extension lines of the upper connecting shaft and the lower connecting shaft are located on the same straight line, and together constitute the first posture adjustment shaft (410); the upper side of the middle frame (32) is pivotally connected to the upper fixing plate (312) via the upper connecting shaft of the first posture adjustment shaft (410), and the lower side of the middle frame (32) is pivotally connected to the lower fixing plate (314) via the lower connecting shaft of the first posture adjustment shaft (410), and the upper and lower posture adjustment mechanism (41) is arranged on the lower connecting shaft of the first posture adjustment shaft (410); The second posture adjustment axis (420) comprises a left connecting axis and a right connecting axis, and the extension lines of the left connecting axis and the right connecting axis are located on the same straight line, and together constitute the second posture adjustment axis (420); the left side of the inner frame (33) is pivotally connected to the left side plate of the middle frame (32) via the left connecting axis of the second posture adjustment axis (420), and the right side of the inner frame (33) is pivotally connected to the right side plate of the middle frame (32) via the right connecting axis of the second posture adjustment axis (420), and the front and rear posture adjusters (42) are arranged on the left connecting axis of the second posture adjustment axis (420).

4. The buried pipeline defect detection device according to claim 3, characterized in that: The middle frame (32) and the inner frame (33) are both square frames, and are formed by connecting an upper side plate, a right side plate, a lower side plate and a left side plate end to end in sequence; The upper side plate of the middle frame (32) is pivotally connected to the upper fixed plate (312) via an upper connecting shaft, and the lower side plate of the middle frame (32) is pivotally connected to the lower fixed plate (314) via a lower connecting shaft; the upper and lower posture adjustment mechanism (41) is located in a gap between the lower fixed plate (314) and the lower side plate of the middle frame (32); The left side of the inner frame (33) is pivotally connected to the left side plate of the middle frame (32) via a left connecting shaft, and the right side plate of the inner frame (33) is pivotally connected to the right side wall of the middle frame (32); the front and rear posture adjuster (42) is located in the gap between the left side plate of the middle frame (32) and the left side plate of the inner frame (33).

5. The buried pipeline defect detection device according to claim 3, characterized in that: The up-and-down posture adjustment mechanism (41) and the front-and-rear posture adjustment device (42) both comprise a motor (51), a coupling (52), and a bevel gear set (53). The bevel gear set (53) comprises a driving wheel (531), a left transmission wheel (532), a right transmission wheel (533) and an auxiliary wheel (534); the driving wheel (531), the left transmission wheel (532), the right transmission wheel (533) and the auxiliary wheel (534) are all bevel gears. The left transmission wheel (532) and the right transmission wheel (533) are arranged in pairs on the lower connecting shaft of the first posture adjustment shaft (410) or the left connecting shaft of the second posture adjustment shaft (420); The driving wheel (531) and the auxiliary wheel (534) are arranged in pairs between the left transmission wheel (532) and the right transmission wheel (533), and two ends of the driving wheel (531) are respectively meshed with one end of the left transmission wheel (532) and the right transmission wheel (533), and the other ends of the left transmission wheel (532) and the right transmission wheel (533) are respectively meshed with the auxiliary wheel (534); The output shaft of the motor (51) is fixedly connected to the driving wheel (531) of the bevel gear set (53) via the coupling (52); The left transmission wheel (532) and the right transmission wheel (533) are integrally formed with the lower connecting shaft of the first posture adjustment shaft (410) or the left connecting shaft of the second posture adjustment shaft (420) to form a large gear with a shaft.

6. The buried pipeline defect detection device according to claim 5, characterized in that: The motor (51) is provided with a motor support. The motor support of the up-and-down posture adjustment mechanism (41) is arranged on the inner side of the lower fixing plate (314); The motor support of the front and rear posture adjuster (42) is arranged on the inner side of the left side plate of the middle frame (32); The driving wheel (531) is provided with a driving wheel support. The driving wheel support of the up-and-down posture adjustment mechanism (41) is arranged on the inner side of the lower fixing plate (314); The driving wheel support of the front and rear posture adjuster (42) is arranged on the inner side of the left side plate of the middle frame (32); The auxiliary wheel (534) is provided with an auxiliary wheel support. The auxiliary wheel support of the up-and-down posture adjustment mechanism (41) is arranged on the inner side of the lower fixing plate (314); The auxiliary wheel support of the front and rear posture adjuster (42) is arranged on the inner side of the left side plate of the middle frame (32); The left transmission wheel (532) and the right transmission wheel (533) of the up-and-down posture adjustment mechanism (41) are arranged in pairs on the lower connecting shaft of the first posture adjustment shaft (410); The left transmission wheel (532) and the right transmission wheel (533) of the up and down posture adjustment mechanism (41) are arranged in pairs on the left connecting shaft of the second posture adjustment shaft (420).

7. The buried pipeline defect detection device according to claim 3, characterized in that: A support frame (10) is arranged at the center of the chassis (1), and the fixed shaft (11) is arranged on the support frame (10); The outer ring of the chassis (1) is equally divided into four parts, and an arc-shaped slide rail (12) is provided on the outer ring of each part; Four rotating frame units (2) are arranged on the chassis (1), and each rotating frame unit (2) is provided with a pivot hole (23) at the top end and a slider assembly (22) at the bottom end; The pivot hole (23) of the rotating frame unit (2) is penetrated on the fixed shaft (11), and the slider assemblies (22) of the four rotating frame units (2) are respectively arranged on the four arc-shaped slide rails (12) of the outer ring of the chassis (1).

8. The buried pipeline defect detection device according to claim 7, characterized in that: An excitation coil posture adjuster (3) is respectively provided at the upper and lower parts of the two arc-shaped rods (21) of each rotating frame unit (2). The upper parts of the four rotating frame units (2) form four excitation coil posture adjusters (3) located thereon, and the four excitation coil posture adjusters (3) located thereon are of the same height; The lower parts of the four rotating frame units (2) form four excitation coil posture adjusters (3) located thereunder, and the four excitation coil posture adjusters (3) located thereunder are of the same height.

9. The buried pipeline defect detection device according to claim 7, characterized in that: The rotating frame unit (2) comprises two arc-shaped rods (21) and a transverse plate (20), the top ends of the two arc-shaped rods (21) are connected together via the transverse plate (20), the slider assembly (22) is respectively arranged at the bottom ends of the two arc-shaped rods (21), and the pivot hole (23) is arranged at the top end of the transverse plate (20) of the rotating frame unit (2); The left guide module (311) and the right guide module (313) on both sides of the outer frame (31) are respectively arranged on the arc-shaped rods (21) on both sides of the rotating frame unit (2).

10. The buried pipeline defect detection device according to claim 9, characterized in that: The left guide module (311) and the right guide module (313) are both provided with side panels, and the side panels of the left guide module (311) and the right guide module (313) are connected to the arc-shaped rod (21) of the rotating frame unit (2) via a sliding pre-tightening mechanism. The sliding pre-tightening mechanism comprises a first upper guide wheel (61), a second upper guide wheel (62), a first lower guide wheel (63), a pair of pre-tightening springs (64) and two pairs of clamping plates (65). The top and bottom surfaces of the arc-shaped rod (21) of the rotating frame unit (2) are respectively provided with sliding grooves, the first upper guide wheel (61) and the second upper guide wheel (62) are respectively arranged in the sliding grooves on the top surface of the arc-shaped rod (21), and the first lower guide wheel (63) is arranged in the sliding grooves on the bottom surface of the arc-shaped rod (21), and the first upper guide wheel (61), the second upper guide wheel (62), and the first lower guide wheel (63) are respectively penetrated by screws, and the screws pass through the side panels of the left guide module (311) and the right guide module (313), and nuts are respectively arranged at both ends of each screw, and the side panels of the left guide module (311) or the right guide module (313) are locked with the arc-shaped rod (21) of the rotating frame unit (2) by tightening the nuts at both ends of the screws; Three support columns (640) are respectively arranged on the side panels of the left guide module (311) and the right guide module (313) opposite to the screw rods of the first upper guide wheel (61), the second upper guide wheel (62) and the first lower guide wheel (63), and each support column (640) and its corresponding screw rod are pre-tightened by a pair of pre-tightening springs (64) located on both sides of the arc rod (21); A pair of bolts are disposed transversely between the side panels of the left guide module (311) and the right guide module (313) and the arc-shaped rod (21) of the rotating frame unit (2); clamping plates (65) and nuts are respectively passed through the bolts; by tightening the nuts and pushing the clamping plates (65), the side panels of the left guide module (311) or the right guide module (313) are pressed against the arc-shaped rod (21) of the rotating frame unit (2).

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