Electromagnetic detection device in pipeline

Abstract

The invention relates to the technical field of pipeline detection, in particular to an electromagnetic detection device in a pipeline. The detection section comprises an inner sleeve, an outer sleeve, at least three electromagnetic probe telescopic supports and electromagnetic probes, the inner sleeve is connected with the driving section, the outer sleeve is arranged on the inner sleeve, the electromagnetic probe telescopic supports are installed on the sleeve wall of the outer sleeve, and the electromagnetic probes are arranged on the electromagnetic probe telescopic supports. The electromagnetic probe telescopic supports are arranged on the wall of the outer sleeve in the circumferential direction at intervals, the electromagnetic probe telescopic supports can stretch out and draw back in the radial direction of the outer sleeve, the electromagnetic probes are installed at the telescopic movable ends of the electromagnetic probe telescopic supports, and electromagnetic probe wheels are arranged on the two sides of each electromagnetic probe; and the roller surface of the electromagnetic probe wheel is higher than one surface, facing the pipe wall, of the electromagnetic probe. The detection section can be automatically adjusted according to the change of the pipe diameter, and the distance between the electromagnetic probe and the inner wall of the pipeline is kept stable, so that the detection precision is higher.

Description

Technical Field

[0001] The present application relates to the technical field of pipeline detection, and in particular to an electromagnetic detection device in a pipeline. Background Art

[0002] At present, electromagnetic detection technology has become one of the main means of pipeline detection due to its non-destructive and rapid characteristics. However, in practical applications, due to the frequent changes in pipe diameter along the pipeline, traditional electromagnetic detection devices are often difficult to adapt to such changes. Existing pipeline electromagnetic detection devices usually use fixed-size detectors, and the size of the gap between the detector and the pipe wall directly affects the detection sensitivity. When the pipe diameter changes, the gap between the detector and the pipe wall changes accordingly, resulting in distortion of the detection signal and affecting the detection accuracy. In addition, the detector is prone to jamming when passing through the variable diameter section, which not only affects the detection efficiency, but also may cause equipment damage. Summary of the invention

[0003] The present application aims to solve at least one of the above technical problems in the prior art to a certain extent. To this end, the present application provides an electromagnetic detection device in a pipeline, wherein the detection section can be automatically adjusted according to the change of the pipe diameter, and the distance between the electromagnetic probe and the inner wall of the pipeline is kept stable, so that the detection accuracy is higher.

[0004] An electromagnetic detection device in a pipeline, comprising: The driving section includes a first side plate, a second side plate, a first connecting rod, a first moving mechanism and a first driving device. The first side plate and the second side plate are arranged relative to each other. One end of the first connecting rod is connected to the edge of the first side plate, and the other end is connected to the edge of the second side plate. At least three first connecting rods are provided, and each of the first connecting rods is distributed circumferentially between the first side plate and the second side plate. The first moving mechanism includes a first transverse bracket, a first moving roller, a first moving roller fixing rod, a first lifting rod and a first power component. The first transverse bracket is arranged close to the first side plate. The first transverse bracket has at least three first legs. The first legs are provided with a first through hole. Each of the first legs is provided with a first through hole. The first through hole is provided with a first connecting rod, the first transverse moving bracket can slide along the first connecting rod, one end of the first lifting rod is hinged to the end of the first supporting leg, and the other end is hinged to the middle part of the first movable roller fixing rod, one end of the first movable roller fixing rod is hinged to the second side plate, and the other end of the first movable roller fixing rod is installed with the first movable roller, the first power component is arranged on the side of the first movable roller fixing rod, the power output end of the first power component is connected with the first movable roller, the first driving device is arranged between the first side plate and the second side plate, and the first driving device is used to drive the first transverse moving bracket to move along the first connecting rod; The detection joint comprises an inner sleeve, an outer sleeve, an electromagnetic probe telescopic bracket and an electromagnetic probe, wherein the inner sleeve is connected to the driving joint, the outer sleeve is arranged on the inner sleeve, the electromagnetic probe telescopic bracket is installed on the cylinder wall of the outer sleeve, at least three electromagnetic probe telescopic brackets are arranged, each of the electromagnetic probe telescopic brackets is arranged at intervals in the circumferential direction of the cylinder wall of the outer sleeve, the electromagnetic probe telescopic bracket can be telescoped along the radial direction of the outer sleeve, the electromagnetic probe is installed at the telescopic active end of the electromagnetic probe telescopic bracket, electromagnetic probe wheels are arranged on both sides of the electromagnetic probe, and the roller surface of the electromagnetic probe wheel is higher than the side of the electromagnetic probe facing the pipe wall.

[0005] In an optional or preferred embodiment, a second moving mechanism is arranged between two adjacent first moving mechanisms, a second connecting rod for installing the second moving mechanism is arranged between two adjacent first moving mechanisms, the second connecting rod is parallel to the first connecting rod, two ends of the second connecting rod are respectively connected to the first side plate and the second side plate, the second moving mechanism includes a second transverse movement bracket, a second moving roller, a second moving roller fixing rod, a second lifting rod and a second power component, the second transverse movement bracket is arranged close to the second side plate, the second transverse movement bracket has at least three second legs, the second legs are provided with second through holes, and each of the second through holes is provided with a The second connecting rod, the second transverse moving bracket can slide along the second connecting rod, one end of the second lifting rod is hinged to the end of the second support leg, and the other end is hinged to the middle part of the second movable roller fixing rod, one end of the second movable roller fixing rod is hinged to the first side plate, and the other end of the second movable roller fixing rod is installed with the second movable roller, the second power component is arranged on the side of the second movable roller fixing rod, the power output end of the second power component is connected to the second movable roller, and a second driving device is arranged between the first side plate and the second side plate, and the second driving device is used to drive the second transverse moving bracket to move along the second connecting rod.

[0006] In an optional or preferred embodiment, the first driving device includes a first lead screw, a first nut and a third power component, the third power component is mounted on the second side panel, one end of the first lead screw is connected to the power output end of the third power component, and the other end is rotatably connected to the first side panel, the first lead screw is parallel to the first connecting rod, the first nut is fixed on the first transverse bracket, the first lead screw and the first nut cooperate with each other, the second driving device includes a second lead screw, a second nut and a fourth power component, the fourth power component is mounted on the first side panel, one end of the second lead screw is connected to the power output end of the fourth power component, and the other end is rotatably connected to the second side panel, the second lead screw is parallel to the second connecting rod, the second nut is fixed on the second transverse bracket, and the second lead screw and the second nut cooperate with each other.

[0007] In an optional or preferred embodiment, the first power component is connected to the first movable roller via a first transmission mechanism, the first transmission mechanism includes a first bevel gear and a second bevel gear, the first bevel gear is connected to the power output shaft of the first power component, the second bevel gear is mounted on the first movable roller fixing rod and is coaxially connected to the first movable roller, the second power component is connected to the second movable roller via a second transmission mechanism, the second transmission mechanism includes a third bevel gear and a fourth bevel gear, the third bevel gear is connected to the power output shaft of the second power component, the fourth bevel gear is mounted on the second movable roller fixing rod and is coaxially connected to the second movable roller.

[0008] In an optional or preferred embodiment, the electromagnetic probe telescopic bracket includes a mounting seat, a sliding support, a fixed support, a lifting swing arm, an electromagnetic probe mounting seat and a spring, the mounting seat being fixed to the outer wall of the outer sleeve, the mounting seat extending along the length direction of the outer sleeve, the mounting seat being provided with a sliding groove extending along the length direction of the mounting seat, the fixed support being fixed to one end of the mounting seat, the sliding support being slidably assembled in the sliding groove, the fixed support and the sliding support being relatively distributed on the mounting seat, two lifting swing arms are provided, one end of one of the lifting swing arms is hinged to the fixed support, and one end of the other lifting swing arm is hinged to the sliding support, the two ends of the electromagnetic probe mounting seat are respectively hinged to the other ends of the two lifting swing arms, the electromagnetic probe is installed on the electromagnetic probe mounting seat, one end of the spring is connected to the sliding support, and the other end of the spring is fixed inside the mounting seat.

[0009] In an optional or preferred embodiment, a walking mechanism is arranged at both ends of the inner sleeve, and the walking mechanism includes an end plate, a telescopic electric cylinder and a walking roller. The middle part of the end plate is fixed to the end of the inner sleeve, and the telescopic electric cylinder is installed on the end plate. At least three telescopic electric cylinders are arranged, and each of the telescopic electric cylinders is circumferentially spaced on the end plate. The piston rod of the telescopic electric cylinder extends to the edge of the end plate, and the piston rod of the telescopic electric cylinder can be telescoped along the radial direction of the end plate. The walking roller is arranged on the piston rod of the telescopic electric cylinder.

[0010] In an optional or preferred embodiment, the outer sleeve is sleeved on the inner sleeve, the outer sleeve can rotate relative to the inner sleeve, a rotation drive device is provided on the outer sleeve, a driven gear is installed on the inner sleeve, a driving gear is installed on the power output end of the rotation drive device, the driving gear is meshed with the driven gear, and the electromagnetic probe wheel is a universal wheel.

[0011] In an optional or preferred embodiment, the mounting base is a channel steel structure.

[0012] In an optional or preferred embodiment, a camera is mounted on the first side panel.

[0013] In an optional or preferred embodiment, the inner sleeve is connected to the drive joint via a universal joint mechanism.

[0014] Based on the above technical scheme, the embodiment of the present application has at least the following beneficial effects: when the driving section is driven, the first driving device drives the first transverse moving bracket to move transversely along the first connecting rod, so that the first transverse moving bracket drives the first movable roller fixing rod to rotate through the first lifting rod, and the first movable roller on the first movable roller fixing bracket is pressed against the inner wall of the pipe, and the first power component drives the first movable roller to rotate, so that the driving section moves in the pipe. When the pipe diameter changes, the first driving device drives the first transverse moving bracket to move along the first connecting rod to make the first movable roller adapt to the pipe diameter. The detection section uses the electromagnetic probe telescopic bracket to make the electromagnetic probe wheels on both sides of the electromagnetic probe press against the inner wall of the pipe and move. When the pipe diameter changes, the electromagnetic probe telescopic bracket will adaptively extend and retract so that the electromagnetic probe wheels are always pressed against the inner wall of the pipe. Since the electromagnetic probe telescopic bracket can adapt to the change of pipe diameter, the distance between the electromagnetic probe and the pipe wall is always kept stable and will not be affected by the change of pipe diameter, thereby ensuring the detection accuracy of the electromagnetic probe. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present application is further described below with reference to the accompanying drawings and embodiments; Figure 1 It is a schematic diagram of the structure of the electromagnetic detection device in the pipeline provided in an embodiment of the present application; Figure 2 yes Figure 1 A schematic structural diagram of the first moving mechanism of the driving section in the illustrated embodiment; Figure 3 yes Figure 1 A schematic structural diagram of the second moving mechanism of the driving section in the illustrated embodiment; Figure 4 yes Figure 3 A structural diagram from another perspective; Figure 5 yes Figure 1 A schematic diagram of the structure of the detection section in the illustrated embodiment; Figure 6 yes Figure 1 A schematic diagram of a part of the structure of the detection section in the embodiment shown; Figure 7 yes Figure 1 A connection diagram of the universal joint mechanism in the illustrated embodiment; Figure 8 yes Figure 6 A partial enlarged view of point A in the middle.

[0016] Figure annotation: 10. Driving joint, 11. First side plate, 12. Second side plate, 13. First connecting rod, 14. First moving mechanism, 15. First driving device, 16. Second moving mechanism, 17. Second connecting rod, 18. Second driving device, 20. Detection joint, 21. Inner sleeve, 22. Outer sleeve, 23. Electromagnetic probe telescopic bracket, 24. Electromagnetic probe, 25. Walking mechanism, 30. Universal joint mechanism, 110. Camera, 140. First lateral support Frame, 141. First moving roller, 142. First moving roller fixing rod, 143. First lifting rod, 144. First power component, 145. First connecting seat, 146. First transmission mechanism, 150. First lead screw, 151. First nut, 152. Third power component, 160. Second lateral moving bracket, 161. Second moving roller, 162. Second moving roller fixing rod, 163. Second lifting rod, 164. Second power component, 16 5. Second connecting seat, 166. Second transmission mechanism, 180. Second lead screw, 181. Second nut, 182. Fourth power component, 210. Driven gear, 220. Rotation drive device, 221. Driving gear, 230. Mounting seat, 231. Sliding support, 232. Fixed support, 233. Lifting swing arm, 234. Electromagnetic probe fixing seat, 235. Spring, 236. Guide rod, 237. Limit seat, 240. Electromagnetic probe wheel , 250. end plate, 251. telescopic electric cylinder, 252. walking roller, 301. first connecting rod, 302. second connecting rod, 303. first universal joint, 304. second universal joint, 305. universal joint connecting plate, 1400. first support leg, 1460. first bevel gear, 1461. second bevel gear, 1600. second support leg, 1660. third bevel gear, 1661. fourth bevel gear, 2300. slide groove, 2310. limit end plate. DETAILED DESCRIPTION

[0017] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present application.

[0018] The following is a further detailed description of the implementation of the present application in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application but cannot be used to limit the scope of the present application.

[0019] In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0020] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0021] In the embodiments of the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" and "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0022] At present, electromagnetic detection technology has become one of the main means of pipeline detection due to its non-destructive and rapid characteristics. However, in practical applications, due to the frequent changes in pipe diameter along the pipeline, traditional electromagnetic detection devices are often difficult to adapt to such changes. Existing pipeline electromagnetic detection devices usually use fixed-size detectors, and the size of the gap between the detector and the pipe wall directly affects the detection sensitivity. When the pipe diameter changes, the gap between the detector and the pipe wall changes accordingly, resulting in distortion of the detection signal and affecting the detection accuracy.

[0023] Reference Figures 1 to 8 The present application provides an electromagnetic detection device in a pipeline, including a driving section 10 and a detection section 20.

[0024] Reference Figures 1 to 3The driving section 10 includes a first side plate 11, a second side plate 12, a first connecting rod 13, a first moving mechanism 14 and a first driving device 15. The first side plate 11 and the second side plate 12 are arranged relatively spaced apart. One end of the first connecting rod 13 is connected to the edge of the first side plate 11, and the other end is connected to the edge of the second side plate 12. At least three first connecting rods 13 are provided, and each first connecting rod 13 is distributed circumferentially between the first side plate 11 and the second side plate 12. The first moving mechanism 14 includes a first transverse bracket 140, a first moving roller 141, a first moving roller fixing rod 142, a first lifting rod 143 and a first power component 144. The first transverse bracket 140 is arranged close to the first side plate 11. The first transverse bracket 140 has at least three first legs 1400. The first legs 1400 A first through hole is arranged on it, and a first connecting rod 13 is passed through each first through hole. The first transverse moving bracket 140 can slide along the first connecting rod 13, one end of the first lifting rod 143 is hinged to the end of the first support leg 1400, and the other end is hinged to the middle part of the first movable roller fixing rod 142, one end of the first movable roller fixing rod 142 is hinged to the second side plate 12, and the other end of the first movable roller fixing rod 142 is installed with the first movable roller 141, the first power component 144 is arranged on the side of the first movable roller fixing rod 142, and the power output end of the first power component 144 is connected to the first movable roller 141, and the first driving device 15 is arranged between the first side plate 11 and the second side plate 12, and the first driving device 15 is used to drive the first transverse moving bracket 140 to move along the first connecting rod 13.

[0025] Reference Figure 4 , Figure 5 The detection section 20 includes an inner sleeve 21, an outer sleeve 22, an electromagnetic probe telescopic bracket 23 and an electromagnetic probe 24. The inner sleeve 21 is connected to the driving section 10. The outer sleeve 22 is arranged on the inner sleeve 21. The electromagnetic probe telescopic bracket 23 is installed on the wall of the outer sleeve 22. At least three electromagnetic probe telescopic brackets 23 are arranged. Each electromagnetic probe telescopic bracket 23 is arranged circumferentially at intervals on the wall of the outer sleeve 22. The electromagnetic probe telescopic bracket 23 can be extended and retracted along the radial direction of the outer sleeve 22. The electromagnetic probe 24 is installed at the telescopic active end of the electromagnetic probe telescopic bracket 23. Electromagnetic probe wheels 240 are arranged on both sides of the electromagnetic probe 24. The roller surface of the electromagnetic probe wheel 240 is higher than the side of the electromagnetic probe 24 facing the pipe wall.

[0026] The driving section 10 provides power output to drive the detection section 20 forward, so that the detection section 20 moves in the pipeline for detection.

[0027] When the driving section 10 is driven, the first driving device 15 drives the first transverse moving bracket 140 to move transversely along the first connecting rod 13, so that the first transverse moving bracket 140 drives the first moving roller fixing rod 142 to rotate through the first lifting rod 143, and the first moving roller 141 on the first moving roller fixing rod 142 presses against the inner wall of the pipe, and the first power component 144 drives the first moving roller 141 to rotate, so that the driving section 10 moves in the pipe. When the pipe diameter changes, the first driving device 15 drives the first transverse moving bracket 140 to move transversely along the first connecting rod 13 moves to make the first moving roller 141 adapt to the pipe diameter, and the detection section 20 makes the electromagnetic probe wheels 240 on both sides of the electromagnetic probe 24 press against the inner wall of the pipe and move through the electromagnetic probe telescopic bracket 23. When the pipe diameter changes, the electromagnetic probe telescopic bracket 23 will adaptively extend and retract, so that the electromagnetic probe wheel 240 presses against the inner wall of the pipe at all times. Since the electromagnetic probe telescopic bracket 23 can adapt to the change of pipe diameter, the distance between the electromagnetic probe 24 and the pipe wall is always kept stable and will not be affected by the change of pipe diameter, thereby ensuring the detection accuracy of the electromagnetic probe 24.

[0028] In the present application, during the detection process, the detection section 20 can be automatically adjusted according to the change in the pipe diameter, and the distance between the electromagnetic probe 24 and the inner wall of the pipe remains stable, so that the detection accuracy is higher.

[0029] In the present application, the first side plate 11 and the second side plate 12 are both circular side plate structures, and both ends of each first connecting rod 13 are respectively connected to the edges of the first side plate 11 and the second side plate 12 .

[0030] In other embodiments, the first side plate 11 and the second side plate 12 may also be configured as a hexagonal plate or an octagonal plate.

[0031] In some embodiments, the first moving mechanism 14 further includes a first connecting seat 145, the first connecting seat 145 is fixed to the second side plate 12, the first connecting seat 145 is sleeved on the first connecting rod 13, and one end of the first moving roller fixing rod 142 is hinged to the first connecting seat 145. The first connecting seat 145 plays the role of installing the first moving roller fixing rod 142 on the one hand, and plays the role of limiting the first transverse moving bracket 140 on the other hand.

[0032] In order to ensure that the driving section 10 moves stably in the pipeline, in some embodiments, a second moving mechanism 16 is arranged between two adjacent first moving mechanisms 14, and a second connecting rod 17 for installing the second moving mechanism 16 is arranged between two adjacent first moving mechanisms 14, the second connecting rod 17 is parallel to the first connecting rod 13, and the two ends of the second connecting rod 17 are respectively connected to the first side plate 11 and the second side plate 12, the second moving mechanism 16 includes a second transverse moving bracket 160, a second moving roller 161, a second moving roller fixing rod 162, a second lifting rod 163 and a second power component 164, the second transverse moving bracket 160 is arranged close to the second side plate 12, the second transverse moving bracket 160 has at least three second supporting legs 1600, and a second through hole is arranged on the second supporting legs 1600, A second connecting rod 17 is passed through each second through hole, and the second transverse moving bracket 160 can slide along the second connecting rod 17. One end of the second lifting rod 163 is hinged to the end of the second support leg 1600, and the other end is hinged to the middle part of the second movable roller fixing rod 162. One end of the second movable roller fixing rod 162 is hinged to the first side plate 11, and the other end of the second movable roller fixing rod 162 is installed with the second movable roller 161. The second power component 164 is arranged on the side of the second movable roller fixing rod 162, and the power output end of the second power component 164 is connected to the second movable roller 161. A second driving device 18 is arranged between the first side plate 11 and the second side plate 12. The second driving device 18 is used to drive the second transverse moving bracket 160 to move along the second connecting rod 17.

[0033] The second driving device 18 drives the second transverse bracket 160 to move along the second connecting rod 17, so that the second lifting rod 163 drives the second movable roller fixing rod 162 to rotate, and the second movable roller fixing rod 162 drives the second movable roller 161 to press against the inner wall of the pipe, so that the second movable mechanism 16 can be adjusted according to the change of pipe diameter.

[0034] The first moving mechanism 14 supports the walking at the front side, and the second moving mechanism 16 supports the walking at the rear side, so that the entire driving section 10 is more stable during the walking process.

[0035] In the present application, three first connecting rods 13 are provided, three first moving mechanisms 14 are provided, three second connecting rods 17 are provided, three second moving mechanisms 16 are provided, the first transverse moving bracket 140 has three first legs 1400 with a forked structure, the second transverse moving bracket 160 has three second legs 1600 with a forked structure, the three first moving mechanisms 14 and the three second moving mechanisms 16 are cross-arranged between the first side plate 11 and the second side plate 12, the first moving rollers 141 of the three first moving mechanisms 14 are facing the first side plate 11, and the second moving rollers 161 of the three second moving mechanisms 16 are facing the second side plate 12.

[0036] In other embodiments, four or more first moving mechanisms 14 may be provided, four or more second moving mechanisms 16 may be provided, and correspondingly four or more first connecting rods 13 and second connecting rods 17 may be provided.

[0037] In the present application, the first power component 144 and the second power component 164 are both motors.

[0038] In some embodiments, the second moving mechanism 16 further includes a second connecting seat 165, which is fixed to the first side plate 11, and is sleeved on the second connecting rod 17, and one end of the second moving roller fixing rod 162 is hinged to the second connecting seat 165. The second connecting seat 165 serves to install the second moving roller fixing rod 162 on one hand, and to limit the second transverse moving bracket 160 on the other hand.

[0039] In some embodiments, the first drive device 15 includes a first screw 150, a first nut 151 and a third power component 152, the third power component 152 is installed on the second side plate 12, one end of the first screw 150 is connected to the power output end of the third power component 152, and the other end is rotatably connected to the first side plate 11, the first screw 150 is parallel to the first connecting rod 13, the first nut 151 is fixed on the first transverse bracket 140, the first screw 150 and the first nut 151 cooperate with each other, the second drive device 18 includes a second screw 180, a second nut 181 and a fourth power component 182, the fourth power component 182 is installed on the first side plate 11, one end of the second screw 180 is connected to the power output end of the fourth power component 182, and the other end is rotatably connected to the second side plate 12, the second screw 180 is parallel to the second connecting rod 17, the second nut 181 is fixed on the second transverse bracket 160, and the second screw 180 and the second nut 181 cooperate with each other.

[0040] Specifically, the third power component 152 is fixed on the second side plate 12, one end of the first lead screw 150 is connected to the power output end of the third power component 152 through a coupling, and the other end of the first lead screw 150 is rotatably connected to the first side plate 11 through a bearing. A circular hole is opened on the first transverse bracket 140, and the first nut 151 is fixed on the first transverse bracket 140 corresponding to the circular hole, and the first lead screw 150 passes through the circular hole and cooperates with the first nut 151.

[0041] The fourth power component 182 is fixed on the first side plate 11, one end of the second lead screw 180 is connected to the power output end of the fourth power component 182 through a coupling, and the other end of the second lead screw 180 is rotatably connected to the second side plate 12 through a bearing. A circular hole is opened on the second transverse bracket 160, and the second nut 181 is fixed on the second transverse bracket 160 corresponding to the circular hole. The second lead screw 180 passes through the circular hole and cooperates with the second nut 181. An avoidance hole is opened on the first transverse bracket 140, and the fourth power component 182 is inserted into the avoidance hole.

[0042] During operation, the third power component 152 drives the first screw 150 to rotate, thereby causing the first transverse moving bracket 140 to slide along the first connecting rod 13, and the fourth power component 182 drives the second screw 180 to rotate, thereby causing the second transverse moving bracket 160 to slide along the second connecting rod 17.

[0043] In the present application, the third power component 152 and the fourth power component 182 are both motors.

[0044] In other embodiments, the first driving device 15 can also be configured as a telescopic cylinder, which drives the first transverse moving bracket 140 to move along the connecting rod by extending and retracting its piston rod. Similarly, the second driving device 18 can also be configured as a telescopic cylinder.

[0045] In some embodiments, the first power component 144 is connected to the first movable roller 141 through a first transmission mechanism 146, the first transmission mechanism 146 includes a first bevel gear 1460 and a second bevel gear 1461, the first bevel gear 1460 is connected to the power output shaft of the first power component 144, the second bevel gear 1461 is installed on the first movable roller fixing rod 142 and is coaxially connected to the first movable roller 141, the second power component 164 is connected to the second movable roller 161 through a second transmission mechanism 166, the second transmission mechanism 166 includes a third bevel gear 1660 and a fourth bevel gear 1661, the third bevel gear 1660 is connected to the power output shaft of the second power component 164, the fourth bevel gear 1661 is installed on the second movable roller fixing rod 162 and is coaxially connected to the second movable roller 161.

[0046] During the movement of the driving section 10, the first power component 144 drives the first bevel gear 1460 to rotate, the first bevel gear 1460 engages with the second bevel gear 1461 to rotate, and the second bevel gear 1461 drives the first moving roller 141 to move along the inner wall of the pipe. The second power component 164 drives the third bevel gear 1660 to rotate, the third bevel gear 1660 engages with the fourth bevel gear 1661 to rotate, and the fourth bevel gear 1661 drives the second moving roller 161 to move along the inner wall of the pipe.

[0047] In some embodiments, the electromagnetic probe telescopic bracket 23 includes a mounting seat 230, a sliding support 231, a fixed support 232, a lifting swing arm 233, an electromagnetic probe fixing seat 234 and a spring 235. The mounting seat 230 is fixed to the wall of the outer sleeve 22, and the mounting seat 230 extends along the length direction of the outer sleeve 22. The mounting seat 230 is provided with a slide groove 2300 extending along the length direction of the mounting seat 230. The fixed support 232 is fixed to one end of the mounting seat 230, and the sliding support 231 is slidably assembled in the slide groove 2300. The fixed support 232 and the sliding support 231 are relatively distributed on the mounting base 230, and two lifting swing arms 233 are arranged, wherein one end of one lifting swing arm 233 is hinged to the fixed support 232, and one end of the other lifting swing arm 233 is hinged to the sliding support 231, and both ends of the electromagnetic probe fixing base 234 are respectively hinged to the other ends of the two lifting swing arms 233, and the electromagnetic probe 24 is installed on the electromagnetic probe fixing base 234, one end of the spring 235 is connected to the sliding support 231, and the other end of the spring 235 is fixed inside the mounting base 230.

[0048] During the movement of the detection section 20 in the pipeline, when the pipe diameter becomes smaller, the electromagnetic probe telescopic bracket 23 is subjected to the reaction force of the inner wall of the pipeline, so that the sliding support 231 moves in the slide groove 2300 in the direction away from the fixed support 232, and at the same time, the sliding support 231 drives the spring 235 to lengthen, so that the two lifting swing arms 233 drive the electromagnetic probe fixing seat 234 to move downward to adapt to the smaller pipe diameter. When the pipe diameter increases, under the action of the rebound force of the spring 235, the sliding support 231 moves in the slide groove 2300 in the direction close to the fixed support 232, so that the two lifting swing arms 233 drive the electromagnetic probe fixing seat 234 to move upward to adapt to the larger pipe diameter. Since the distance between the roller surface of the electromagnetic probe wheel 240 and the end of the electromagnetic probe 24 is fixed, the distance between the electromagnetic probe 24 and the pipe wall does not change, ensuring the stability of the detection.

[0049] Reference Figure 6 In some other embodiments, the electromagnetic probe telescopic bracket 23 further includes a guide rod 236 and a limit seat 237. The limit seat 237 is fixed inside the mounting seat 230, and a round hole is set on the limit seat 237. The guide rod 236 is horizontally set inside the mounting seat 230. One end of the guide rod 236 is fixed on the sliding support 231, and the other end of the guide rod 236 is inserted into the round hole of the limit seat 237. The spring 235 is sleeved on the guide rod 236, and one end of the spring 235 is connected to the limit seat 237, and the other end is connected to the sliding support 231. When the sliding support 231 moves along the slide groove 2300, the spring 235 is elastically deformed between the sliding support 231 and the limit seat 237, and the guide rod 236 moves in the round hole of the limit seat 237.

[0050] In the present application, four electromagnetic probe telescopic brackets 23 are arranged on the outer wall of the outer sleeve 22 .

[0051] In some embodiments, the mounting base 230 is a channel steel structure.

[0052] The fixed support 232 is vertically fixed to one end of the mounting seat 230, and the groove walls on both sides of the other end of the mounting seat 230 are provided with slide grooves 2300, and the two ends of the slide groove 2300 are closed. The sliding support 231 can only slide within the stroke limited by the slide groove 2300, and the sliding support 231 is vertically arranged at the other end of the mounting seat 230 and slides with the slide groove 2300. The mounting seat 230 with such a channel steel structure can well install the sliding support 231 and the fixed support 232, and the space inside it can provide installation space for the guide rod 236, the limit seat 237 and the spring 235, so that the structure of the entire electromagnetic probe telescopic bracket 23 is more compact.

[0053] A plurality of sliding shafts are disposed on both sides of the sliding support 231 . The sliding shafts are arranged at intervals along the length direction of the sliding groove 2300 , and the sliding shafts are slidably assembled in the sliding groove 2300 .

[0054] In other embodiments, sliding blocks may be further provided on both sides of the sliding support 231 , and the sliding blocks are slidably assembled in the sliding grooves 2300 .

[0055] Reference Figure 8 In the present application, in order to prevent the sliding shaft from escaping from the sliding groove 2300 , a limiting end plate 2310 is provided at the end of the sliding shaft, and the limiting end plate 2310 is abutted against the side of the mounting seat 230 .

[0056] In order to ensure that the detection section 20 remains stable during movement, in some embodiments, a walking mechanism 25 is set at both ends of the inner sleeve 21, and the walking mechanism 25 includes an end plate 250, a telescopic electric cylinder 251 and a walking roller 252. The middle part of the end plate 250 is fixed to the end of the inner sleeve 21, and the telescopic electric cylinder 251 is installed on the end plate 250. At least three telescopic electric cylinders 251 are set, and each telescopic electric cylinder 251 is distributed circumferentially on the end plate 250. The piston rod of the telescopic electric cylinder 251 can be extended and retracted along the radial direction of the end plate 250, and the walking roller 252 is set on the piston rod of the telescopic electric cylinder 251.

[0057] During operation, the telescopic electric cylinder 251 allows the travel roller 252 to adapt to changes in the pipe diameter by telescoping the piston rod.

[0058] In the present application, the end plate 250 is a circular structure, and four walking mechanisms 25 are provided. The four walking mechanisms 25 are respectively arranged at the top, bottom, left and right of the end plate 250 .

[0059] Reference Figure 6In some embodiments, the inner sleeve 21 and the outer sleeve 22 are coaxially arranged, the two ends of the inner sleeve 21 extend from the two ends of the outer sleeve 22, the inner sleeve 21 is rotatably connected to the outer sleeve 22, the outer sleeve 22 can rotate relative to the inner sleeve 21, a rotation drive device 220 is provided on the outer sleeve 22, a driven gear 210 is installed on the inner sleeve 21, a driving gear 221 is installed at the power output end of the rotation drive device 220, the driving gear 221 is meshed with the driven gear 210, and the electromagnetic probe wheel 240 is a universal wheel.

[0060] Specifically, the inner ends of the outer sleeve 22 are connected to the inner sleeve 21 through bearings. During operation, the rotary drive device 220 drives the driving gear 221 to rotate, and the driving gear 221 engages with the driven gear 210, so that the entire outer sleeve 22 drives the various electromagnetic probe wheels 240 thereon to rotate against the inner wall of the pipeline, thereby enabling the electromagnetic probe 24 to scan and detect the inner wall of the pipeline.

[0061] In some embodiments, a camera 110 is installed on the first side plate 11. The camera 110 realizes visual detection of the environment inside the pipeline.

[0062] Reference Figure 7 In some embodiments, the inner sleeve 21 is connected to the driving section 10 via a universal joint mechanism 30. Thus, a flexible connection between the driving section 10 and the detection section 20 is achieved, and the entire device has better flexibility in the pipeline.

[0063] The universal joint mechanism 30 includes a first connecting rod 301, a second connecting rod 302, a first universal joint 303, a second universal joint 304 and a universal joint connecting plate 305. The first universal joint 303 is fixedly connected to the middle part of the second side plate 12 through the first connecting rod 301, the second universal joint 304 is fixed to the middle part of the end plate 250 close to the driving joint 10 through the second connecting rod 302, and the first universal joint 303 and the second universal joint 304 are connected through the universal joint connecting plate 305.

[0064] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0065] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments. Various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present application.

Claims

1. An electromagnetic detection device in a pipeline, characterized in that: include The driving section includes a first side plate, a second side plate, a first connecting rod, a first moving mechanism and a first driving device. The first side plate and the second side plate are arranged relative to each other. One end of the first connecting rod is connected to the edge of the first side plate, and the other end is connected to the edge of the second side plate. At least three first connecting rods are provided, and each of the first connecting rods is distributed circumferentially between the first side plate and the second side plate. The first moving mechanism includes a first transverse bracket, a first moving roller, a first moving roller fixing rod, a first lifting rod and a first power component. The first transverse bracket is arranged close to the first side plate. The first transverse bracket has at least three first legs. The first legs are provided with a first through hole. Each of the first legs is provided with a first through hole. The first through hole is provided with a first connecting rod, the first transverse moving bracket can slide along the first connecting rod, one end of the first lifting rod is hinged to the end of the first supporting leg, and the other end is hinged to the middle part of the first movable roller fixing rod, one end of the first movable roller fixing rod is hinged to the second side plate, and the other end of the first movable roller fixing rod is installed with the first movable roller, the first power component is arranged on the side of the first movable roller fixing rod, the power output end of the first power component is connected with the first movable roller, the first driving device is arranged between the first side plate and the second side plate, and the first driving device is used to drive the first transverse moving bracket to move along the first connecting rod; The detection joint comprises an inner sleeve, an outer sleeve, an electromagnetic probe telescopic bracket and an electromagnetic probe, wherein the inner sleeve is connected to the driving joint, the outer sleeve is arranged on the inner sleeve, the electromagnetic probe telescopic bracket is installed on the cylinder wall of the outer sleeve, at least three electromagnetic probe telescopic brackets are arranged, each of the electromagnetic probe telescopic brackets is arranged at intervals in the circumferential direction of the cylinder wall of the outer sleeve, the electromagnetic probe telescopic bracket can be telescoped along the radial direction of the outer sleeve, the electromagnetic probe is installed at the telescopic active end of the electromagnetic probe telescopic bracket, electromagnetic probe wheels are arranged on both sides of the electromagnetic probe, and the roller surface of the electromagnetic probe wheel is higher than the side of the electromagnetic probe facing the pipe wall.

2. The electromagnetic detection device in a pipeline according to claim 1, characterized in that: A second moving mechanism is arranged between two adjacent first moving mechanisms, and a second connecting rod for installing the second moving mechanism is arranged between two adjacent first moving mechanisms, the second connecting rod is parallel to the first connecting rod, and two ends of the second connecting rod are respectively connected to the first side plate and the second side plate, the second moving mechanism comprises a second transverse moving bracket, a second moving roller, a second moving roller fixing rod, a second lifting rod and a second power component, the second transverse moving bracket is arranged close to the second side plate, the second transverse moving bracket has at least three second legs, the second legs are provided with second through holes, and each of the second through holes is provided with a second connecting rod The second transverse movement bracket can slide along the second connecting rod, one end of the second lifting rod is hinged to the end of the second support leg, and the other end is hinged to the middle part of the second movable roller fixing rod, one end of the second movable roller fixing rod is hinged to the first side plate, and the other end of the second movable roller fixing rod is installed with the second movable roller, the second power component is arranged on the side of the second movable roller fixing rod, the power output end of the second power component is connected to the second movable roller, and a second driving device is arranged between the first side plate and the second side plate, and the second driving device is used to drive the second transverse movement bracket to move along the second connecting rod.

3. The electromagnetic detection device in a pipeline according to claim 2, characterized in that: The first driving device includes a first lead screw, a first nut and a third power component, and the third power component is installed on the second side plate, one end of the first lead screw is connected to the power output end of the third power component, and the other end is rotatably connected to the first side plate, the first lead screw is parallel to the first connecting rod, the first nut is fixed on the first transverse bracket, and the first lead screw and the first nut cooperate with each other, the second driving device includes a second lead screw, a second nut and a fourth power component, and the fourth power component is installed on the first side plate, one end of the second lead screw is connected to the power output end of the fourth power component, and the other end is rotatably connected to the second side plate, the second lead screw is parallel to the second connecting rod, the second nut is fixed on the second transverse bracket, and the second lead screw and the second nut cooperate with each other.

4. The electromagnetic detection device in a pipeline according to claim 2, characterized in that: The first power component is connected to the first movable roller through a first transmission mechanism, the first transmission mechanism includes a first bevel gear and a second bevel gear, the first bevel gear is connected to the power output shaft of the first power component, the second bevel gear is installed on the first movable roller fixing rod and is coaxially connected to the first movable roller, the second power component is connected to the second movable roller through a second transmission mechanism, the second transmission mechanism includes a third bevel gear and a fourth bevel gear, the third bevel gear is connected to the power output shaft of the second power component, the fourth bevel gear is installed on the second movable roller fixing rod and is coaxially connected to the second movable roller.

5. The electromagnetic detection device in a pipeline according to claim 1, characterized in that: The electromagnetic probe telescopic bracket includes a mounting seat, a sliding support, a fixed support, a lifting swing arm, an electromagnetic probe mounting seat and a spring, the mounting seat is fixed to the outer wall of the outer sleeve, the mounting seat extends along the length direction of the outer sleeve, the mounting seat is provided with a sliding groove extending along the length direction of the mounting seat, the fixed support is fixed to one end of the mounting seat, the sliding support is slidably assembled in the sliding groove, the fixed support and the sliding support are relatively distributed on the mounting seat, two lifting swing arms are arranged, one end of one of the lifting swing arms is hinged to the fixed support, and one end of the other lifting swing arm is hinged to the sliding support, the two ends of the electromagnetic probe mounting seat are respectively hinged to the other ends of the two lifting swing arms, the electromagnetic probe is installed on the electromagnetic probe mounting seat, one end of the spring is connected to the sliding support, and the other end of the spring is fixed inside the mounting seat.

6. The electromagnetic detection device in a pipeline according to claim 1, characterized in that: Walking mechanisms are arranged at both ends of the inner sleeve, and the walking mechanisms include end plates, telescopic electric cylinders and walking rollers. The middle part of the end plates is fixed to the end parts of the inner sleeve, and the telescopic electric cylinders are installed on the end plates. At least three telescopic electric cylinders are arranged, and each of the telescopic electric cylinders is distributed circumferentially on the end plates at intervals. The piston rods of the telescopic electric cylinders extend to the edges of the end plates, and the piston rods of the telescopic electric cylinders can be extended and retracted along the radial direction of the end plates. The walking rollers are arranged on the piston rods of the telescopic electric cylinders.

7. The electromagnetic detection device in a pipeline according to claim 6, characterized in that: The outer sleeve is sleeved on the inner sleeve, and the outer sleeve can rotate relative to the inner sleeve. A rotation driving device is arranged on the outer sleeve, and a driven gear is installed on the inner sleeve. A driving gear is installed on the power output end of the rotation driving device, and the driving gear is meshed with the driven gear. The electromagnetic probe wheel is a universal wheel.

8. The electromagnetic detection device in a pipeline according to claim 5, characterized in that: The mounting seat is a channel steel structure.

9. The electromagnetic detection device in a pipeline according to any one of claims 1 to 7, characterized in that: A camera is installed on the first side panel.

10. The electromagnetic detection device in a pipeline according to any one of claims 1 to 7, characterized in that: The inner sleeve is connected to the driving joint via a universal joint mechanism.

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