A magnetic particle flaw detection device and method for pipeline detection

Abstract

The present application discloses a magnetic particle flaw detection device and method for pipeline inspection, which includes a plurality of trolleys circumferentially distributed on the outer peripheral surface of the pipeline to be inspected, elastic connectors arranged in adjacent trolleys, and a plurality of magnetic particle flaw detection components for magnetic particle flaw detection operations. The trolley can move axially and circumferentially along the pipeline to be inspected, and overcome raised obstacles on the pipeline surface by the design of the front and rear moving bodies. The front and rear adjustment components can adjust the tension of the elastic rope to ensure the stable operation of the trolley. The present application achieves the effect of improving the efficiency and accuracy of pipeline inspection, while effectively avoiding the limitations of traditional manual operation.

Description

Technical Field

[0001] The present application relates to the field of pipeline detection, and in particular to a magnetic particle flaw detection device and method for pipeline detection. Background Art

[0002] As a non-destructive testing method, magnetic particle testing technology is widely used in industrial production to detect surface and near-surface defects of metal materials and components. This technology uses magnetic particles in a magnetic field to display defects. It has the advantages of simple operation, low cost, and high sensitivity. It is especially suitable for the inspection of pipeline equipment such as steel pipes. With the acceleration of industrialization and the improvement of technology, magnetic particle testing technology has developed from the initial single manual operation to the current automated detection system, greatly improving the detection efficiency and accuracy.

[0003] In order to realize the automation of pipeline inspection, the existing solution is usually to install a magnetic particle detector on a crawler and fix the crawler to the surface of the pipeline to be inspected by a magnetic positioning fixture. The crawler moves along the pipeline and gradually completes the magnetic particle inspection of each inspection point. In addition, there are some improvement measures, such as equipping the crawler with a retractable clamp to adapt to pipelines of different diameters and shapes, further improving the adaptability of the magnetic particle inspection device; at the same time, it is also possible to use multiple crawlers working in collaboration to cover a larger inspection range and reduce the time of a single inspection.

[0004] However, although the above technical means have solved the automation problem of pipeline inspection to a certain extent, they still face some challenges in practical applications. In particular, when pipelines are connected by flanges, bulges will be formed on the outer circumference of the pipeline, which makes it difficult for traditional crawling vehicles to smoothly cross these obstacles, resulting in frequent pauses or even jams during the inspection process, seriously affecting the continuity and efficiency of the inspection. Therefore, how to design a magnetic particle inspection device that can effectively overcome the obstacles of pipeline bulges has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] In order to facilitate crossing over the raised portion on the surface of a pipeline to be inspected, the present application provides a magnetic particle flaw detection device and method for pipeline inspection.

[0006] The present application provides a magnetic particle flaw detection device and method for pipeline inspection using the following technical solutions:

[0007] A magnetic particle flaw detection device for pipeline detection comprises a plurality of trolleys circumferentially distributed on the outer peripheral surface of the pipeline to be detected, elastic connectors arranged between adjacent trolleys, and a plurality of magnetic particle flaw detection components for magnetic particle flaw detection operations, wherein the trolleys can move along the axial direction and circumferential direction of the pipeline to be detected, and a plurality of magnetic particle flaw detection components are arranged one by one on the trolleys; the trolleys comprise a front moving body and a rear moving body slidably connected to each other, the front moving body and the rear moving body are distributed along the axial direction of the pipeline to be detected, and the front moving body and the rear moving body can slide relative to each other along the radial direction of the pipeline to be detected;

[0008] When the front end of the front moving body contacts the raised portion on the surface of the pipeline to be inspected, the front moving body moves along the radial direction of the pipeline to be inspected and leaves the surface of the pipeline to be inspected, and the front moving body passes over the raised portion of the pipeline to be inspected under the propulsion of the rear moving body;

[0009] When the front end of the rear moving body contacts the raised portion on the surface of the pipeline to be detected, the rear moving body moves radially along the pipeline to be detected and leaves the surface of the pipeline to be detected, and the rear moving body passes over the raised portion of the pipeline to be detected under the propulsion of the front moving body.

[0010] By adopting the above technical solution, an elastic connector is used to connect adjacent trolleys, so that multiple trolleys are surrounded by the outer periphery of the pipeline to be detected. In addition, multiple magnetic particle flaw detection components are respectively installed on multiple trolleys, and the trolleys can move along the axial direction and circumferential direction of the pipeline to be detected, thereby improving the detection range and detection efficiency of the magnetic particle flaw detection device. In addition, the elastic tensioning characteristics of the elastic connector can enable the magnetic particle flaw detection device to adapt to pipelines of different diameters; by dividing the trolley into a front moving body and a rear moving body that can slide against each other, wherein the front moving body and the rear moving body are distributed along the axial direction of the pipeline to be detected, and the front moving body and the rear moving body can slide against each other along the radial direction of the pipeline to be detected. When the front moving body encounters a protrusion, it can lift the front moving body off the surface of the pipeline to be detected, and then smoothly cross the obstacle under the push of the rear moving body. Similarly, when the rear moving body encounters a protrusion, it can also smoothly cross the obstacle under the pull of the front moving body, ensuring the stable operation of the entire device, not only improving the detection efficiency, but also reducing the need for manual intervention, and improving the level of automation.

[0011] Preferably, the front moving body and the rear moving body are both V-shaped structures that are wide at the top and narrow at the bottom.

[0012] By adopting the above technical solution, the trolley can more easily move radially and cross obstacles when encountering a raised portion on the pipe surface. This design not only improves the obstacle-crossing ability of the trolley, but also ensures that the trolley can run smoothly on the pipe surface, reducing the jamming problem caused by shape mismatch.

[0013] Preferably, a crawler walking mechanism is provided at the bottom position of the front end of the front moving body and the rear moving body, and the front end of the crawler walking mechanism is arranged to be inclined upward. When the crawler walking mechanism contacts the raised part of the pipeline to be inspected, the crawler walking mechanism drives the front moving body or the rear moving body to climb upward at the raised part of the pipeline to be inspected.

[0014] By adopting the above technical solution, the front end of the crawler walking mechanism is tilted upward, which can effectively deal with the raised part on the surface of the pipeline. When the crawler walking mechanism contacts the raised part of the pipeline to be inspected, the crawler walking mechanism can drive the front moving body or the rear moving body to climb up smoothly at the raised part, ensuring that the walking trolley will not be blocked by the raised part, thereby improving the overall stability and detection efficiency of the magnetic particle flaw detection device.

[0015] Preferably, the elastic connecting member includes a plurality of rear elastic ropes and a plurality of front elastic ropes, wherein the plurality of rear elastic ropes are connected one by one between the rear moving bodies of adjacent walking trolleys, and the plurality of front elastic ropes are connected one by one between the front moving bodies of adjacent walking trolleys, and when the front moving body crosses over the raised portion on the surface of the pipe to be inspected, the front elastic ropes are stretched; when the rear moving body crosses over the raised portion on the surface of the pipe to be inspected, the rear elastic ropes are stretched.

[0016] By adopting the above technical solution, the setting of the elastic connector allows the distance between adjacent walking trolleys to be flexibly adjusted, ensuring that the entire device can still smoothly cross over when encountering a raised portion on the surface of the pipe. Specifically, when the front moving body crosses the raised portion on the surface of the pipe to be detected, the front elastic rope can automatically stretch to reduce the rigid constraint between the adjacent front moving bodies, thereby making it easier for the front moving body to cross the raised portion; similarly, when the rear moving body crosses the raised portion on the surface of the pipe to be detected, the rear elastic rope can also be stretched accordingly to reduce the resistance to the rear moving body, allowing it to cross the raised portion more smoothly. This design significantly improves the overall flexibility and adaptability of the device, avoids the problem of detection interruption caused by raised portions, and improves detection efficiency and reliability.

[0017] Preferably, a front adjustment component is provided between the front moving bodies of two adjacent walking trolleys, and the front adjustment component is used to adjust the tension of the front elastic rope; a rear adjustment component is provided between the rear moving bodies of two adjacent walking trolleys, and the rear adjustment component is used to adjust the tension of the rear elastic rope.

[0018] By adopting the above technical solution, the tension of the elastic connectors between the traveling trolleys can be effectively adjusted to ensure that the front and rear elastic ropes can flexibly adjust their lengths when crossing the raised parts on the pipe surface, thereby ensuring the stability and movement continuity of the entire device and avoiding the problem of trolley jamming or derailment caused by uneven elastic force.

[0019] Preferably, when the front moving body crosses the raised portion of the surface of the pipe to be inspected, the front adjustment component loosens the front elastic rope so that the front elastic rope is stretched; the rear adjustment component tightens the rear elastic rope to increase the rolling friction between the rear moving body and the surface of the pipe to be inspected.

[0020] By adopting the above technical solution, when the front moving body crosses the raised part on the surface of the pipeline to be inspected, the front adjustment component loosens the front elastic rope so that the front elastic rope can be smoothly stretched, thereby reducing the resistance when the front moving body crosses the raised part, ensuring that the front moving body smoothly crosses the obstacle. At the same time, the rear adjustment component tightens the rear elastic rope to increase the rolling friction between the rear moving body and the surface of the pipeline to be inspected, preventing the rear moving body from slipping, ensuring the stable advancement of the entire device, and improving the overall reliability and detection efficiency of the magnetic particle flaw detection device.

[0021] Preferably, the front adjustment assembly includes two first drums respectively arranged on the sides of adjacent front moving bodies and a first adjustment motor for driving the first drums to rotate forward and reverse, and the two ends of the front elastic rope are respectively connected to the first drums on the sides of the two adjacent front moving bodies.

[0022] By adopting the above technical solution, the front adjustment component can flexibly adjust the tension state of the front elastic rope. Specifically, when the front moving body needs to cross the raised part on the surface of the pipeline to be inspected, the first adjustment motor can drive the first reel to loosen the front elastic rope, so that it has enough stretching space to facilitate the front moving body to smoothly cross the obstacle. At the same time, this design also ensures that during normal driving, the front elastic rope maintains appropriate tension, ensuring the stability and reliability of the walking trolley.

[0023] A magnetic particle flaw detection method for pipeline detection, using a magnetic particle flaw detection device for pipeline detection, includes the following steps:

[0024] A plurality of traveling carriages are arranged on the periphery of the pipeline to be inspected and connected through elastic connectors. The traveling carriages carry the magnetic particle flaw detection assembly to move axially and circumferentially on the pipeline to be inspected. When the traveling carriages move to the position to be inspected on the pipeline to be inspected, the traveling carriages stop moving and the magnetic particle flaw detection assembly performs magnetic particle flaw detection work.

[0025] When the front end of the front moving body contacts the raised portion on the surface of the pipeline to be inspected, the front moving body moves along the radial direction of the pipeline to be inspected and leaves the surface of the pipeline to be inspected, and the front moving body passes over the raised portion of the pipeline to be inspected under the propulsion of the rear moving body;

[0026] When the front end of the rear moving body contacts the raised portion on the surface of the pipeline to be detected, the rear moving body moves radially along the pipeline to be detected and leaves the surface of the pipeline to be detected, and the rear moving body passes over the raised portion of the pipeline to be detected under the propulsion of the front moving body.

[0027] By adopting the above technical solution, the walking trolley can effectively overcome the obstacles caused by the raised parts on the outer circumference of the pipeline. Specifically, when the front end of the front moving body or the rear moving body contacts the raised part on the surface of the pipeline to be inspected, this part will move radially and leave the pipeline surface, and smoothly cross the raised part under the propulsion of the other part. This design not only improves the obstacle-crossing ability of the walking trolley, but also ensures that the entire magnetic particle flaw detection device can run smoothly on the complex pipeline surface, thereby ensuring the continuity and accuracy of the magnetic particle flaw detection work. At the same time, through the use of elastic connectors, the coordination of each walking workshop is further enhanced, making the entire system more stable and reliable.

[0028] In summary, the present application includes at least one of the following beneficial technical effects:

[0029] 1. Through the mutual propulsion of the front moving body and the rear moving body, when encountering a raised part on the pipe surface, the front moving body or the rear moving body can move radially and cross the obstacle, ensuring the continuity and efficiency of the detection process;

[0030] 2. The design of the elastic connector enables multiple walking trolleys to work together. Even if one trolley encounters an obstacle, the other trolleys can continue to move forward, improving the overall stability and reliability of the system;

[0031] 3. The combination of V-shaped structure and crawler walking mechanism not only enhances the adaptability of the device on uneven pipe walls, but also improves its climbing ability and grip, ensuring the normal operation of the magnetic particle inspection component under various working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the coordination between a magnetic particle flaw detection device for pipeline inspection and a pipeline to be inspected according to an embodiment of the present application.

[0033] Figure 2 It is a schematic elevation diagram between a magnetic particle flaw detection device for pipeline inspection and a pipeline to be inspected according to an embodiment of the present application.

[0034] Figure 3It is a schematic diagram of the overall structure of a magnetic particle flaw detection device for pipeline inspection according to an embodiment of the present application.

[0035] Figure 4 yes Figure 3 A magnified schematic diagram of center A.

[0036] Explanation of the reference numerals: 1. pipeline to be inspected; 11. raised portion; 2. traveling trolley; 21. front moving body; 22. rear moving body; 3. elastic connecting piece; 31. front elastic rope; 32. rear elastic rope; 4. magnetic particle inspection assembly; 5. front adjustment assembly; 51. first adjustment motor; 52. first drum; 6. rear adjustment assembly; 61. second adjustment motor; 62. second drum; 7. crawler walking mechanism. DETAILED DESCRIPTION

[0037] The following is combined with Figure 1-4 This application is described in further detail.

[0038] The present application discloses a magnetic particle flaw detection device for pipeline inspection, referring to Figure 1 and Figure 2 The embodiment of the present application provides a magnetic particle flaw detection device for pipeline inspection, comprising a plurality of trolleys 2 circumferentially distributed on the outer circumferential surface of a pipeline 1 to be inspected, elastic connectors connected between adjacent trolleys 2, and a plurality of magnetic particle flaw detection components 4 for magnetic particle flaw detection operations. The trolleys 2 can move axially and circumferentially along the pipeline 1 to be inspected, and a plurality of magnetic particle flaw detection components 4 are installed one by one on each trolley 2.

[0039] Reference Figure 1 , Figure 3 and Figure 4 In this embodiment, the traveling trolley 2 includes a front moving body 21 and a rear moving body 22 which are slidably connected to each other. A slide is provided at the joint of the front moving body 21 and the rear moving body 22. The slide extends radially along the pipeline. The front moving body 21 and the rear moving body 22 realize the sliding function in the radial direction of the pipeline 1 to be inspected through the slide.

[0040] The front moving body 21 and the rear moving body 22 are distributed along the axial direction of the pipeline to be detected 1, and the front moving body 21 and the rear moving body 22 can slide radially along the pipeline to be detected 1. Among them, the front moving body 21 includes a shell and a walking wheel assembly installed at the bottom of the shell. The wheels of the walking wheel assembly are driven by a walking motor to realize the function of the walking trolley 2 moving axially along the pipeline to be detected 1. In addition, the shell is rotatably connected with a self-rotating shaft, and the self-rotating shaft is arranged radially along the pipeline to be detected 1. The walking wheel assembly is fixed to the lower end of the self-rotating shaft. The self-rotating shaft is driven by the self-rotating motor outside the shell, which can realize the reversing function of the walking wheel assembly, and then realize the function of the walking trolley 2 moving around the outer wall of the pipeline. In addition, the structure of the rear moving body 22 is consistent with that of the front moving body 21, which will not be repeated here.

[0041] The outer shell of the front moving body 21 and the rear moving body 22 is a V-shaped structure that is wide at the top and narrow at the bottom. A crawler walking mechanism 7 is installed at the bottom position of the front end of the front moving body 21 and the rear moving body 22. The front end of the crawler walking mechanism 7 is tilted upward. When the crawler walking mechanism 7 contacts the raised portion 11 of the pipeline 1 to be inspected, the crawler walking mechanism 7 can drive the front moving body 21 or the rear moving body 22 to climb upward at the raised portion 11 of the pipeline 1 to be inspected, so that the front moving body 21 and the rear moving body 22 cooperate to complete the obstacle crossing action.

[0042] In this embodiment, the magnetic particle burn component adopts a universal magnetic particle flaw detector, which is installed on both sides of the front moving body 21, and the detection probe of the magnetic particle flaw detector faces the surface of the pipeline 1 to be detected, so as to facilitate the magnetic particle flaw detection operation.

[0043] In this embodiment, the elastic connector 3 includes a plurality of rear elastic ropes 32 and a plurality of front elastic ropes 31. The rear elastic ropes 32 are connected between the rear moving bodies 22 of adjacent walking carts 2, and the front elastic ropes 31 are connected between the front moving bodies 21 of adjacent walking carts 2. When the front moving body 21 crosses the raised portion 11 on the surface of the pipeline 1 to be inspected, the front elastic rope 31 is stretched. When the rear moving body 22 crosses the raised portion 11 on the surface of the pipeline 1 to be inspected, the rear elastic rope 32 is stretched. Such a design enables each walking cart 2 to adjust its posture more flexibly when encountering an obstacle to avoid getting stuck or stagnating.

[0044] In this embodiment, a front adjustment component 5 is also installed between the front moving bodies 21 of two adjacent walking trolleys 2, and the front adjustment component 5 is used to adjust the tension of the front elastic rope 31. And a rear adjustment component 6 is installed between the rear moving bodies 22 of two adjacent walking trolleys 2, and the rear adjustment component 6 is used to adjust the tension of the rear elastic rope 32. When the front moving body 21 crosses the raised portion 11 on the surface of the pipeline 1 to be detected, the front adjustment component 5 loosens the front elastic rope 31 so that the front elastic rope 31 is stretched; at this time, the rear adjustment component 6 tightens the rear elastic rope 32 to increase the rolling friction between the rear moving body 22 and the surface of the pipeline 1 to be detected, so as to better support the obstacle crossing action of the front moving body 21. Similarly, when the rear moving body 22 crosses the raised portion 11 on the surface of the pipeline 1 to be detected, the corresponding adjustment component will also make corresponding adjustments to ensure the smooth operation of the entire system.

[0045] In this embodiment, the front adjustment assembly 5 includes two first drums 52 respectively arranged on the sides of the adjacent front moving bodies 21 and a first adjustment motor 51 for driving the first drums 52 to rotate forward and reversely, and the two ends of the front elastic rope 31 are respectively connected to the first drums 52 on the sides of the two adjacent front moving bodies 21. The rear adjustment assembly 6 includes two second drums 62 installed on the sides of the adjacent rear moving bodies 22 and a second adjustment motor 61 for driving the second drums 62 to rotate forward and reversely, and the two ends of the rear elastic rope 32 are respectively connected to the second drums 62 on the sides of the two adjacent rear moving bodies 22. By controlling the rotation direction of the first adjustment motor 51 and the second adjustment motor 61, the tension state of the front elastic rope 31 and the rear elastic rope 32 can be accurately adjusted, thereby realizing the movement control of the front moving body 21 and the rear moving body 22.

[0046] The embodiment of the present application also provides a magnetic particle flaw detection method for pipeline detection, using the above-mentioned magnetic particle flaw detection device for pipeline detection, including the following steps:

[0047] A plurality of walking trolleys 2 are arranged on the periphery of the pipeline 1 to be inspected and connected through the front elastic rope 31 and the rear elastic rope 32 of the elastic connector 3, wherein the front elastic rope 31 and the rear elastic rope 32 are both detachable components, so as to facilitate the installation of the magnetic particle flaw detection device.

[0048] Then the walking trolley 2 carries the magnetic particle flaw detection component 4 to move axially and circumferentially on the pipeline 1 to be inspected. When the walking trolley 2 moves along the preset path to the inspection position of the pipeline 1 to be inspected, the walking trolley 2 stops moving, and the magnetic particle flaw detection component 4 starts the magnetic particle flaw detection work.

[0049] When the crawler walking mechanism 7 at the front end of the front moving body 21 contacts the raised portion 11 on the surface of the pipeline 1 to be inspected, the crawler walking mechanism 7 can drive the front moving body 21 to climb up smoothly at the raised portion 11, ensuring that the walking trolley 2 will not be blocked by the raised portion 11. At this time, the front adjustment component 5 and the rear adjustment component 6 are started synchronously, and the front adjustment component 5 relaxes the front elastic rope 31, and the front elastic rope 31 can be automatically stretched to reduce the rigid constraint between the adjacent front moving bodies 21, thereby making it easier for the front moving body 21 to pass over the raised portion 11, and the rear adjustment component 6 tightens the rear elastic rope 32, thereby increasing the rolling friction between the rear moving body 22 and the surface of the pipeline 1 to be inspected, preventing the rear moving body 22 from slipping, ensuring that the entire device moves forward stably, and improving the overall reliability and detection efficiency of the magnetic particle flaw detection device.

[0050] Similarly, when the crawler walking mechanism 7 at the front end of the rear moving body 22 contacts the raised portion 11 on the surface of the pipeline 1 to be inspected, the rear moving body 22 moves radially along the pipeline 1 to be inspected and leaves the surface of the pipeline 1 to be inspected, and the rear moving body 22 passes over the raised portion 11 of the pipeline 1 to be inspected under the propulsion of the front moving body 21.

[0051] The implementation principle of this embodiment is: through the unique design of the walking trolley 2 and the cooperation of the elastic connector 3, the automatic obstacle crossing function of the magnetic particle flaw detection device when encountering the pipeline protrusion 11 is realized. This design not only significantly improves the continuity and efficiency of the detection process, but also reduces the false detection rate caused by manual intervention, and improves the overall detection quality.

[0052] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A magnetic particle flaw detection device for pipeline inspection, characterized in that: The invention comprises a plurality of trolleys (2) circumferentially distributed on the outer peripheral surface of a pipeline (1) to be inspected, an elastic connecting member (3) arranged between adjacent trolleys (2), and a plurality of magnetic particle detection components (4) used for magnetic particle detection operations, wherein the trolleys (2) can move axially and circumferentially along the pipeline (1) to be inspected, and the plurality of magnetic particle detection components (4) are arranged one by one on the plurality of trolleys (2); the trolley (2) comprises a front moving body (21) and a rear moving body (22) which are slidably connected to each other, the front moving body (21) and the rear moving body (22) are distributed along the axial direction of the pipeline (1) to be inspected, and the front moving body (21) and the rear moving body (22) can slide relative to each other along the radial direction of the pipeline (1) to be inspected; When the front end of the front moving body (21) contacts the raised portion (11) on the surface of the pipeline (1) to be inspected, the front moving body (21) moves along the radial direction of the pipeline (1) to be inspected and leaves the surface of the pipeline (1) to be inspected, and the front moving body (21) passes over the raised portion (11) of the pipeline (1) to be inspected under the propulsion of the rear moving body (22); When the front end of the rear moving body (22) contacts the raised portion (11) on the surface of the pipeline (1) to be inspected, the rear moving body (22) moves along the radial direction of the pipeline (1) to be inspected and leaves the surface of the pipeline (1) to be inspected, and the rear moving body (22) passes over the raised portion (11) of the pipeline (1) to be inspected under the propulsion of the front moving body (21); The elastic connecting member (3) comprises a plurality of rear elastic ropes (32) and a plurality of front elastic ropes (31), wherein the plurality of rear elastic ropes (32) are connected one by one between the rear moving bodies (22) of adjacent walking trolleys (2), and the plurality of front elastic ropes (31) are connected one by one between the front moving bodies (21) of adjacent walking trolleys (2), and when the front moving body (21) crosses over the raised portion (11) on the surface of the pipeline (1) to be inspected, the front elastic ropes (31) are stretched; when the rear moving body (22) crosses over the raised portion (11) on the surface of the pipeline (1) to be inspected, the rear elastic ropes (32) are stretched; A front adjustment component (5) is provided between the front moving bodies (21) of two adjacent walking trolleys (2), and the front adjustment component (5) is used to adjust the tension of the front elastic rope (31); a rear adjustment component (6) is provided between the rear moving bodies (22) of the two adjacent walking trolleys (2), and the rear adjustment component (6) is used to adjust the tension of the rear elastic rope (32); A slide is provided at the joint of the front moving body (21) and the rear moving body (22), and the slide extends radially along the pipeline (1). The front moving body (21) and the rear moving body (22) realize a sliding function in the radial direction of the pipeline (1) to be detected through the slide.

2. A magnetic particle flaw detection device for pipeline inspection according to claim 1, characterized in that: The front moving body (21) and the rear moving body (22) are both V-shaped structures that are wide at the top and narrow at the bottom.

3. The magnetic particle flaw detection device for pipeline inspection according to claim 1 is characterized in that: A crawler walking mechanism (7) is provided at the bottom of the front end of each of the front moving body (21) and the rear moving body (22). The front end of the crawler walking mechanism (7) is arranged to tilt upward. When the crawler walking mechanism (7) contacts the raised portion (11) of the pipeline to be inspected (1), the crawler walking mechanism (7) drives the front moving body (21) or the rear moving body (22) to climb upward at the raised portion (11) of the pipeline to be inspected (1).

4. The magnetic particle flaw detection device for pipeline inspection according to claim 1 is characterized in that: When the front moving body (21) crosses over the raised portion (11) on the surface of the pipeline (1) to be inspected, the front adjustment component (5) loosens the front elastic rope (31) so that the front elastic rope (31) is stretched; and the rear adjustment component (6) tensions the rear elastic rope (32) so as to increase the rolling friction between the rear moving body (22) and the surface of the pipeline (1) to be inspected.

5. The magnetic particle flaw detection device for pipeline inspection according to claim 1 is characterized in that: The front adjustment assembly (5) comprises two first reels (52) respectively arranged on the sides of adjacent front moving bodies (21) and a first adjustment motor (51) for driving the first reels (52) to rotate forward and reverse, and the two ends of the front elastic rope (31) are respectively connected to the first reels (52) on the sides of the two adjacent front moving bodies (21).

6. A magnetic particle flaw detection method for pipeline inspection, using the magnetic particle flaw detection device for pipeline inspection as claimed in any one of claims 1 to 5, characterized in that: The following steps are involved: A plurality of walking carriages (2) are arranged on the periphery of a pipeline to be inspected (1) and connected via elastic connectors (3); the walking carriages (2) carry a magnetic particle flaw detection assembly (4) to move axially and circumferentially toward the pipeline to be inspected (1); when the walking carriages (2) move to a position to be inspected of the pipeline to be inspected (1), the walking carriages (2) stop moving, and the magnetic particle flaw detection assembly (4) performs magnetic particle flaw detection work; When the front end of the front moving body (21) contacts the raised portion (11) on the surface of the pipeline (1) to be inspected, the front moving body (21) moves along the radial direction of the pipeline (1) to be inspected and leaves the surface of the pipeline (1) to be inspected, and the front moving body (21) passes over the raised portion (11) of the pipeline (1) to be inspected under the propulsion of the rear moving body (22); When the front end of the rear moving body (22) contacts the raised portion (11) on the surface of the pipeline (1) to be detected, the rear moving body (22) moves along the radial direction of the pipeline (1) to be detected and leaves the surface of the pipeline (1) to be detected, and the rear moving body (22) passes over the raised portion (11) of the pipeline (1) to be detected under the propulsion of the front moving body (21).

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