Pipeline self-walking inspection and flaw detection equipment

Abstract

The pipeline self-walking inspection and flaw detection equipment comprises a main body plate, a driving walking assembly and a follow-up walking assembly, cross beams are arranged on the left side and the right side of the main body plate, side arms are arranged below the front side and the rear side of each cross beam, and the upper ends of the side arms are connected with the cross beams through corresponding joint assemblies; the lower ends of the side arms are connected with a horizontally-arranged driving walking assembly. An upper arm is arranged at the bottom of the main body plate, and a height-adjustable follow-up walking assembly is mounted on the upper arm; a driving gear is mounted in front of a cross beam on one side surface of the main body plate, a curved rack is mounted below the driving gear in a meshing manner, the curved rack is mounted on a three-dimensional scanning flaw detection assembly, and the driving gear and the curved rack are matched to realize a rotation adjusting function of the three-dimensional scanning flaw detection assembly; the device has the advantages of being reasonable in structure, having a self-walking detection function, being self-adaptive to pipe diameters of multiple specifications, and improving the working efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of pipeline detection, and in particular relates to a pipeline self-propelled inspection and flaw detection device. Background Art

[0002] Pipelines are the main tools for transporting fluid materials such as gas, water, and oil. When pipelines are produced and need to be put on the market, metal pipelines need to be quality inspected to eliminate pipelines with defects and quality problems on the outside of the pipelines. In actual production and life, pipeline cracks and wear are often required to be inspected. In addition, pipeline splicing is mostly done by manual welding or automatic welding technology, and the welds are large. Various defects are inevitable between pipeline welds. Therefore, in order to ensure the safety of pipeline use, it is necessary to detect whether there are defects in pipeline welds before putting them into use. At present, the main detection method is to use traditional manual detection to complete the detection task, that is, the staff holds ultrasonic flaw detectors / metal flaw detectors and other flaw detectors to detect along the pipeline at a steady speed. The workload is large, the labor intensity of the workers is high, and long-term work is easy to cause fatigue, and it is also easy to cause missed detection and misjudgment of pipeline defects, which will cause huge safety hazards. Moreover, it does not have the function of pipe diameter adjustment, and cannot meet the requirements of metal pipes with different pipe diameters. Therefore, it is very necessary to provide a pipeline self-propelled inspection and flaw detection equipment with reasonable structure, self-propelled detection function, adaptive multi-specification pipe diameter, and improved work efficiency. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide a pipeline self-propelled inspection and flaw detection device with reasonable structure, self-propelled detection function, adaptive multi-specification pipe diameters and improved work efficiency.

[0004] The objective of the present invention is achieved as follows: A pipeline self-propelled inspection and flaw detection equipment, which includes a main body plate, an active walking component and a follow-up walking component, wherein cross beams are arranged on both sides of the main body plate, and side arms are arranged below the front and rear sides of the cross beam, and the upper ends of the side arms are connected to the cross beams through corresponding joint components, and the lower ends of the side arms are connected to the horizontally arranged active walking components; an upper arm is arranged at the bottom of the main body plate, and a follow-up walking component with adjustable height is installed on the upper arm; a driving gear is installed in front of the cross beam on one side of the main body plate, and a curved rack is meshed and installed below the driving gear, and the curved rack is installed on the three-dimensional scanning flaw detection component, and the rotation adjustment function of the three-dimensional scanning flaw detection component is realized by the cooperation of the driving gear and the curved rack.

[0005] The joint assembly includes a female section, a male section and a storage section. The male section is riveted to the crossbeam by flat round head blind rivets, the female section and the male section are connected by a pin, the female section and the storage section are connected on one side by a hexagon socket countersunk screw and on the other side by a pin, the storage section is located inside the side arm and is riveted to the side arm by flat round head blind rivets, a T-shaped fixing bolt and a round wing butterfly nut are arranged inside the storage section, the T-shaped fixing bolt and the round wing butterfly nut extend out of the side arm, and are used to realize the positioning function between the storage section and the female section.

[0006] A connecting rod is connected to the lower part of the male joint through a pin, a crescent hook rod is connected to the upper end of the connecting rod, a round-head handle is connected to the inner side of the crescent hook rod through a pin, an adjusting rod is connected to the connecting part of the connecting rod and the crescent hook rod through a pin, and a knurled nut is installed on the outside of the adjusting rod.

[0007] The active walking component includes a first U-shaped frame, and a first mounting plate is provided on both the front and rear sides of one end of the first U-shaped frame. A driving pulley is provided inside the first mounting plate, and the driving pulley is connected to the turbine DC brushless motor installed on the corresponding first mounting plate.

[0008] The first tensioning bracket is installed on both the front and rear sides of the other end of the first U-shaped frame, and the first tensioning bracket and the first mounting plate are provided with connecting support plates riveted to the lower end of the side arm; a passive pulley is arranged inside the first tensioning bracket, and the front and rear sides of the passive pulley are connected to the first tensioning bracket through the first tensioning adjustment cover, and the passive pulley is connected to the active pulley through a synchronous belt; a pad is arranged at the upper opening of the first U-shaped frame, and the pad is located below the synchronous belt.

[0009] The follow-up walking assembly includes a second U-shaped frame, and a second mounting plate and a second tensioning bracket are respectively provided at both ends of the second U-shaped frame. A follow-up pulley is provided inside the second mounting plate and the second tensioning bracket, and the follow-up pulley is connected to the corresponding second tensioning bracket through a second tensioning adjustment cover. Telescopic adjustment devices are provided behind both ends of the second U-shaped frame, and the upper end of the telescopic adjustment device is connected to the upper arm.

[0010] The three-dimensional scanning flaw detection assembly comprises a flaw detection track mechanism, on which a scanning flaw detection mechanism is installed. The scanning flaw detection mechanism can move along the flaw detection track mechanism to realize the flaw detection scanning operation of the pipeline.

[0011] The flaw detection track mechanism includes a group of incomplete gear rings arranged in front and behind, and the incomplete gear rings are connected by multiple cross plates and I-shaped connecting plates arranged between the cross plates. A group of lifting mounting frames for installing curved racks are arranged on the cross plates, and a track plate is longitudinally installed on the upper part of the incomplete gear rings.

[0012] The scanning flaw detection mechanism includes a group of central open rectangular frames arranged on the left and right sides and a group of U-shaped buckle connecting side plates arranged on the front and back sides, bearing seats are arranged on both sides of the U-shaped buckle connecting side plates, and the bearing seats are connected by a main shaft, and the front and rear ends of the main shaft are provided with traveling gears meshing with corresponding incomplete gear rings, a helical gear group is arranged in the middle of the main shaft, and the helical gear group is connected to a worm gear motor for power, and "L"-shaped angle frames are arranged on the inner side above the central open rectangular frame, and limiting track wheels slidably connected to the track plate are installed on the angle frames.

[0013] The U-shaped buckle is connected to the side plate in front of which a vertical plate is installed. A U-shaped plate is arranged between the bottom ends of the vertical plates, and a flaw detection scanner is installed in the middle of the U-shaped plate.

[0014] Beneficial effects of the present invention: The present invention is a pipeline self-propelled inspection and flaw detection equipment. During use, according to the diameter specification of the pipeline, the opening size of the side arm and the active walking component is adjusted through the joint component, and then the distance between the follow-up walking component and the upper arm is adjusted through the telescopic adjustment device, thereby realizing the height adjustment of the follow-up walking component. The follow-up walking component and the active walking component cooperate in walking to realize the pipeline inspection operation applicable to different pipe diameters, ensuring the normal progress of the detection operation; during the walking process of the device of the present invention, the scanning flaw detection mechanism of the three-dimensional scanning flaw detection component walks on the flaw detection track mechanism, and then drives the curved rack through the driving gear to and the three-dimensional scanning flaw detection component rotates, thereby realizing continuous circular rotation flaw detection on the pipeline through the cooperation of the driving gear, the curved rack and the three-dimensional scanning flaw detection component. There is no need for the staff to hold the flaw detector for inspection in turn, which effectively reduces the labor intensity of the staff, avoids the missed inspection of pipeline defects, realizes the functions of pipeline flaw detection and regular inspection, and provides solutions for problems such as pipeline corrosion, cracks and wear, thereby effectively monitoring the corrosion, cracks and wear of the pipeline, thereby avoiding accidents caused by such problems. The present invention has the advantages of reasonable structure, self-propelled detection function, adaptive multi-specification pipe diameter and improved work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a front view of the present invention.

[0016] Figure 2 It is a side view of the present invention.

[0017] Figure 3 For the present invention Figure 1 A three-dimensional diagram of part of the structure.

[0018] Figure 4 It is a schematic structural diagram of the joint assembly of the present invention.

[0019] Figure 5It is a front view of the joint assembly of the present invention.

[0020] Figure 6 It is a schematic diagram of the structure of the active walking component of the present invention.

[0021] Figure 7 It is a schematic structural diagram of the follow-up walking assembly of the present invention.

[0022] Figure 8 It is a schematic structural diagram of the three-dimensional scanning flaw detection assembly of the present invention.

[0023] Fig. 9 It is a structural schematic diagram of the flaw detection track mechanism of the present invention.

[0024] Fig.10 It is a structural schematic diagram of the scanning flaw detection mechanism of the present invention.

[0025] In the figure: 1, main plate 2, cross beam 3, side arm 4, joint assembly 41, female section 42, male section 43, pin 44, storage section 45, hexagon socket countersunk screw 46, T-shaped fixing bolt and round wing butterfly nut 47, connecting rod 48, crescent hook rod 49, round head handle 401, adjustment rod 402, knurled nut 5, active walking assembly 51, first U-shaped frame 52, first mounting plate 53, active pulley 54, turbine DC brushless motor 55, first tensioning bracket 56, connecting support plate 57, passive pulley 58, first tensioning adjustment cover 59, synchronous belt 501, pad 6, upper arm 7, follow-up walking assembly 71, second U-shaped frame Frame 72, second mounting plate 73, follower pulley 74, second tensioning bracket 75, second tensioning adjustment cover 76, telescopic adjustment device 8, driving gear 9, curved rack 10, three-dimensional scanning flaw detection component 101, flaw detection track mechanism 11, incomplete gear ring 12, I-shaped connecting plate 13, cross plate 14, lifting mounting frame 15, track plate 102, scanning flaw detection mechanism 21, middle open rectangular frame 22, U-shaped buckle connecting side plate 23, bearing seat 24, walking gear 25, main shaft 26, bevel gear set 27, worm gear motor 28, angle frame 29, limit track wheel 201, vertical plate 202, U-shaped plate 203, flaw detection scanner. DETAILED DESCRIPTION

[0026] The present invention will be further described below in conjunction with the accompanying drawings. Example

[0027] like Figure 1-10As shown, a pipeline self-propelled inspection and flaw detection equipment comprises a main body plate 1, an active walking component 5 and a follow-up walking component 7. The left and right sides of the main body plate 1 are provided with cross beams 2, and side arms 3 are provided below the front and rear sides of the cross beam 2. The upper ends of the side arms 3 are connected to the cross beam 2 through corresponding joint components 4, and the lower ends of the side arms 3 are connected to the horizontally arranged active walking component 5; an upper arm 6 is provided at the bottom of the main body plate 1, and a height-adjustable follow-up walking component 7 is installed on the upper arm 6; a driving gear 8 is installed in front of the cross beam 2 on one side of the main body plate 1, and a curved rack 9 is meshed and installed below the driving gear 8, and the curved rack 9 is installed on the three-dimensional scanning flaw detection component 10, and the rotation adjustment function of the three-dimensional scanning flaw detection component 10 is realized by the cooperation of the driving gear 8 and the curved rack 9.

[0028] The joint assembly 4 includes a female section 41, a male section 42 and a storage section 44. The male section 42 is riveted to the crossbeam 2 by flat round head blind rivets. The female section 41 and the male section 42 are connected by a pin 43. The female section 41 and the storage section 44 are connected on one side by a hexagon socket countersunk screw 45 and on the other side by a pin 43. The storage section 44 is located inside the side arm 3 and is riveted to the side arm 3 by flat round head blind rivets. A T-shaped fixing bolt and a round wing butterfly nut 46 are arranged inside the storage section 44. The T-shaped fixing bolt and the round wing butterfly nut 46 extend out of the side arm 3 to realize the positioning function between the storage section 44 and the female section 41.

[0029] A connecting rod 47 is connected to the male section 42 below via a pin 43, a crescent hook rod 48 is connected to the upper end of the connecting rod 47, a round handle 49 is connected to the inner side of the crescent hook rod 48 via the pin 43, an adjusting rod 401 is connected to the connecting portion between the connecting rod 47 and the crescent hook rod 48 via the pin 43, and a knurled nut 402 is installed on the outside of the adjusting rod 401.

[0030] In this embodiment, the working principle of the joint assembly is as follows: since the female section and the male section are connected by a pin shaft, the female section and the male section can be rotated around the pin shaft as the center through the cooperation of the knurled nut and the adjusting rod, thereby realizing the adjustment of the opening and closing angle between the female section and the male section, thereby realizing the adjustment of the opening and closing size of the side arm and the active walking assembly, which is convenient for adaptive adjustment according to pipes of different diameters; since the female section and the receiving section are connected by a hexagon socket countersunk screw on one side and a pin shaft on the other side, in actual use, the female section and the receiving section are first connected without using a hexagon socket countersunk screw, and the receiving section, the side arm and the active walking assembly are adjusted by rotating around the pin shaft at the connection between the female section and the receiving section, which can form a secondary adjustment function (for example, the female section is adjusted outward relative to the male section, and the receiving section is adjusted outward or inward relative to the female section) in conjunction with the rotation adjustment between the female section and the male section, and can meet various adjustment requirements according to actual needs. After adjustment, the receiving section and the female section are locked by a T-shaped fixing bolt and a round wing butterfly nut; when the receiving section is adjusted to the outermost side relative to the female section, such as Figure 4-5 As shown, at this time, the storage section is installed by contacting and tightening one side of the mother section through the T-shaped fixing bolt and the round-wing butterfly nut, and the storage section and the mother section are locked by the T-shaped fixing bolt and the round-wing butterfly nut. In order to ensure the overall mechanical strength of the device when in use, the mother section and the storage section can be connected by a hexagon socket countersunk screw at this time to improve the overall stability and reliability.

[0031] The active walking component 5 includes a first U-shaped frame 51, and a first mounting plate 52 is provided on both the front and rear sides of one end of the first U-shaped frame 51. A driving pulley 53 is provided inside the first mounting plate 52, and the driving pulley 53 is connected to the turbine DC brushless motor 54 installed on the corresponding first mounting plate 52.

[0032] The first tensioning bracket 55 is installed on both the front and rear sides of the other end of the first U-shaped frame 51, and the first tensioning bracket 55 and the first mounting plate 52 are provided with a connecting support plate 56 riveted to the lower end of the side arm 3; a passive pulley 57 is arranged inside the first tensioning bracket 55, and the front and rear sides of the passive pulley 57 are connected to the first tensioning bracket 55 through a first tensioning adjustment cover 58, and the passive pulley 57 is connected to the active pulley 53 through a synchronous belt 59; a pad 501 is arranged at the upper opening of the first U-shaped frame 51, and the pad 501 is located below the synchronous belt 59.

[0033] The follower walking assembly 7 includes a second U-shaped frame 71, and the two ends of the second U-shaped frame 71 are respectively provided with a second mounting plate 72 and a second tensioning bracket 74, and the second mounting plate 72 and the second tensioning bracket 74 are both provided with a follower pulley 73 inside, and the follower pulley 73 is connected to the corresponding second tensioning bracket 74 through a second tensioning adjustment cover 75, and the rear ends of the two ends of the second U-shaped frame 71 are provided with a telescopic adjustment device 76, and the upper end of the telescopic adjustment device 76 is connected to the upper arm 6.

[0034] In this embodiment, the working principle of the active walking component and the follower walking component is: start the turbine DC brushless motor, the turbine DC brushless motor drives the active pulley, the synchronous belt and the driven drive to move, so as to realize the walking of the device of the present invention along the outside of the pipeline. Two sets of active walking components and follower walking components are used in coordination, and their structure is located on the triangular structure of the cross-section outside the pipeline, which can provide a powerful power source while enabling the device of the present invention to walk more stably.

[0035] The present invention is a pipeline self-propelled inspection and flaw detection equipment. In use, according to the diameter specification of the pipeline, the opening size of the side arm 3 and the active walking component 5 is adjusted through the joint component 4, and then the distance between the follow-up walking component 7 and the upper arm 6 is adjusted through the telescopic adjustment device 76, so as to achieve the height adjustment of the follow-up walking component 7. The follow-up walking component 7 and the active walking component 5 cooperate in walking to achieve the pipeline inspection operation applicable to different pipe diameters, ensuring the normal progress of the detection operation; during the walking process of the device of the present invention, the scanning flaw detection mechanism 102 of the three-dimensional scanning flaw detection component 10 walks on the flaw detection track mechanism 101, and then drives the curved gear 8 to move forward through the driving gear 8. The rack 9 and the three-dimensional scanning flaw detection component 10 rotate, so that the circular rotating flaw detection of the pipeline can be continuously performed through the cooperation of the driving gear 8, the curved rack 9 and the three-dimensional scanning flaw detection component 10. There is no need for the staff to carry the flaw detector in turn for inspection, which effectively reduces the labor intensity of the staff, avoids the missed inspection of pipeline defects, realizes the functions of pipeline flaw detection, regular inspection, etc., and provides solutions for problems such as pipeline corrosion, cracks, and wear, thereby effectively monitoring the corrosion, cracks, and wear of the pipeline, thereby avoiding accidents caused by such problems. The present invention has the advantages of reasonable structure, self-propelled detection function, adaptive multi-specification pipe diameter, and improved work efficiency. Example

[0036] like Figure 1-10As shown, a pipeline self-propelled inspection and flaw detection equipment comprises a main body plate 1, an active walking component 5 and a follow-up walking component 7. The left and right sides of the main body plate 1 are provided with cross beams 2, and side arms 3 are provided below the front and rear sides of the cross beam 2. The upper ends of the side arms 3 are connected to the cross beam 2 through corresponding joint components 4, and the lower ends of the side arms 3 are connected to the horizontally arranged active walking component 5; an upper arm 6 is provided at the bottom of the main body plate 1, and a height-adjustable follow-up walking component 7 is installed on the upper arm 6; a driving gear 8 is installed in front of the cross beam 2 on one side of the main body plate 1, and a curved rack 9 is meshed and installed below the driving gear 8, and the curved rack 9 is installed on the three-dimensional scanning flaw detection component 10, and the rotation adjustment function of the three-dimensional scanning flaw detection component 10 is realized by the cooperation of the driving gear 8 and the curved rack 9.

[0037] The three-dimensional scanning flaw detection assembly 10 includes a flaw detection track mechanism 101 , on which a scanning flaw detection mechanism 102 is installed. The scanning flaw detection mechanism 102 can move along the flaw detection track mechanism 101 to implement a flaw detection scanning operation of the pipeline.

[0038] The flaw detection track mechanism 101 includes a group of incomplete gear rings 11 arranged in front and back, and the incomplete gear rings 11 are connected by multiple cross plates 13 and I-shaped connecting plates 12 arranged between the cross plates 13. The cross plates 13 are each provided with a group of lifting mounting frames 14 for mounting the curved racks 9, and the upper part of the incomplete gear rings 11 is longitudinally installed with a track plate 15.

[0039] The scanning flaw detection mechanism 102 includes a group of central open rectangular frames 21 arranged on the left and right sides and a group of U-shaped buckle connecting side plates 22 arranged on the front and back sides. Bearing seats 23 are arranged on both sides of the U-shaped buckle connecting side plates 22. The bearing seats 23 are connected by a main shaft 25. The front and rear ends of the main shaft 25 are provided with traveling gears 24 meshing with the corresponding incomplete gear ring 11. A bevel gear set 26 is arranged in the middle of the main shaft 25. The bevel gear set 26 is connected to a worm gear motor 27 for power. "L"-shaped angle frames 28 are arranged on the inner side above the central open rectangular frame 21. Limiting track wheels 29 slidably connected to the track plate 15 are installed on the angle frames 28.

[0040] The U-shaped buckle connecting side plates 22 are all equipped with vertical plates 201 in front, and U-shaped plates 202 are arranged between the bottom ends of the vertical plates 201 . A flaw detection scanner 203 is installed in the middle of the U-shaped plates 202 .

[0041] In this embodiment, the working principle of the three-dimensional scanning flaw detection component is: start the worm gear motor, the worm gear motor drives the main shaft to rotate through the bevel gear set, and the main shaft drives the traveling gear to rotate. Since the traveling gear is meshed with the incomplete gear ring, the traveling gear can move along the incomplete gear ring, so that the scanning flaw detection mechanism can move along the flaw detection track mechanism; and since the limiting track wheel above the traveling gear is slidably connected with the track plate arranged above the incomplete gear ring, when the traveling gear can move along the incomplete gear ring, the limiting track wheel moves along the track plate. On the one hand, the limiting track wheel can ensure the stability of the scanning flaw detection mechanism walking along the flaw detection track mechanism, and on the other hand, cooperate with the traveling gear so that the scanning flaw detection mechanism is always located on the flaw detection track mechanism when walking, effectively preventing the scanning flaw detection mechanism from leaving the flaw detection track mechanism when walking.

[0042] The present invention is a pipeline self-propelled inspection and flaw detection equipment. In use, according to the diameter specification of the pipeline, the opening size of the side arm 3 and the active walking component 5 is adjusted through the joint component 4, and then the distance between the follow-up walking component 7 and the upper arm 6 is adjusted through the telescopic adjustment device 76, so as to achieve the height adjustment of the follow-up walking component 7. The follow-up walking component 7 and the active walking component 5 cooperate in walking to achieve the pipeline inspection operation applicable to different pipe diameters, ensuring the normal progress of the detection operation; during the walking process of the device of the present invention, the scanning flaw detection mechanism 102 of the three-dimensional scanning flaw detection component 10 walks on the flaw detection track mechanism 101, and then drives the curved gear 8 to move forward through the driving gear 8. The rack 9 and the three-dimensional scanning flaw detection component 10 rotate, so that the circular rotating flaw detection of the pipeline can be continuously performed through the cooperation of the driving gear 8, the curved rack 9 and the three-dimensional scanning flaw detection component 10. There is no need for the staff to carry the flaw detector in turn for inspection, which effectively reduces the labor intensity of the staff, avoids the missed inspection of pipeline defects, realizes the functions of pipeline flaw detection, regular inspection, etc., and provides solutions for problems such as pipeline corrosion, cracks, and wear, thereby effectively monitoring the corrosion, cracks, and wear of the pipeline, thereby avoiding accidents caused by such problems. The present invention has the advantages of reasonable structure, self-propelled detection function, adaptive multi-specification pipe diameter, and improved work efficiency.

Claims

1. A pipeline self-propelled inspection and flaw detection equipment, which includes a main body plate, an active walking component and a follow-up walking component, characterized in that: Cross beams are provided on both sides of the left and right sides of the main body plate, side arms are provided below the front and rear sides of the cross beams, the upper ends of the side arms are connected to the cross beams through corresponding joint components, and the lower ends of the side arms are connected to the horizontally arranged active walking components; an upper arm is provided at the bottom of the main body plate, and a height-adjustable follow-up walking component is installed on the upper arm; a driving gear is installed in front of the cross beam on one side of the main body plate, a curved rack is meshed and installed below the driving gear, and the curved rack is installed on the three-dimensional scanning flaw detection component, and the rotation adjustment function of the three-dimensional scanning flaw detection component is realized by the cooperation of the driving gear and the curved rack.

2. The pipeline self-propelled inspection and flaw detection equipment according to claim 1, characterized in that: The joint assembly includes a female section, a male section and a storage section. The male section is riveted to the crossbeam by flat round head blind rivets, the female section and the male section are connected by a pin, the female section and the storage section are connected on one side by a hexagon socket countersunk screw and on the other side by a pin, the storage section is located inside the side arm and is riveted to the side arm by flat round head blind rivets, a T-shaped fixing bolt and a round wing butterfly nut are arranged inside the storage section, the T-shaped fixing bolt and the round wing butterfly nut extend out of the side arm, and are used to realize the positioning function between the storage section and the female section.

3. The pipeline self-propelled inspection and flaw detection equipment according to claim 2, characterized in that: A connecting rod is connected to the lower part of the male joint through a pin, a crescent hook rod is connected to the upper end of the connecting rod, a round-head handle is connected to the inner side of the crescent hook rod through a pin, an adjusting rod is connected to the connecting part of the connecting rod and the crescent hook rod through a pin, and a knurled nut is installed on the outside of the adjusting rod.

4. The pipeline self-propelled inspection and flaw detection equipment according to claim 1, characterized in that: The active walking component includes a first U-shaped frame, and a first mounting plate is provided on both the front and rear sides of one end of the first U-shaped frame. A driving pulley is provided inside the first mounting plate, and the driving pulley is connected to the turbine DC brushless motor installed on the corresponding first mounting plate.

5. The pipeline self-propelled inspection and flaw detection equipment according to claim 4, characterized in that: The first tensioning bracket is installed on both the front and rear sides of the other end of the first U-shaped frame, and the first tensioning bracket and the first mounting plate are provided with connecting support plates riveted to the lower end of the side arm; a passive pulley is arranged inside the first tensioning bracket, and the front and rear sides of the passive pulley are connected to the first tensioning bracket through the first tensioning adjustment cover, and the passive pulley is connected to the active pulley through a synchronous belt; a pad is arranged at the upper opening of the first U-shaped frame, and the pad is located below the synchronous belt.

6. The pipeline self-propelled inspection and flaw detection equipment according to claim 1, characterized in that: The follow-up walking assembly includes a second U-shaped frame, and a second mounting plate and a second tensioning bracket are respectively provided at both ends of the second U-shaped frame. A follow-up pulley is provided inside the second mounting plate and the second tensioning bracket, and the follow-up pulley is connected to the corresponding second tensioning bracket through a second tensioning adjustment cover. Telescopic adjustment devices are provided behind both ends of the second U-shaped frame, and the upper end of the telescopic adjustment device is connected to the upper arm.

7. The pipeline self-propelled inspection and flaw detection equipment according to claim 1, characterized in that: The three-dimensional scanning flaw detection assembly comprises a flaw detection track mechanism, on which a scanning flaw detection mechanism is installed. The scanning flaw detection mechanism can move along the flaw detection track mechanism to realize the flaw detection scanning operation of the pipeline.

8. The pipeline self-propelled inspection and flaw detection equipment according to claim 7, characterized in that: The flaw detection track mechanism includes a group of incomplete gear rings arranged in front and behind, and the incomplete gear rings are connected by multiple cross plates and I-shaped connecting plates arranged between the cross plates. A group of lifting mounting frames for installing curved racks are arranged on the cross plates, and a track plate is longitudinally installed on the upper part of the incomplete gear rings.

9. The pipeline self-propelled inspection and flaw detection equipment according to claim 8, characterized in that: The scanning flaw detection mechanism includes a group of central open rectangular frames arranged on the left and right sides and a group of U-shaped buckle connecting side plates arranged on the front and back sides, bearing seats are arranged on both sides of the U-shaped buckle connecting side plates, and the bearing seats are connected by a main shaft, and the front and rear ends of the main shaft are provided with traveling gears meshing with corresponding incomplete gear rings, a helical gear group is arranged in the middle of the main shaft, and the helical gear group is connected to a worm gear motor for power, and "L"-shaped angle frames are arranged on the inner side above the central open rectangular frame, and limiting track wheels slidably connected to the track plate are installed on the angle frames.

10. The pipeline self-propelled inspection and flaw detection equipment according to claim 9, characterized in that: The U-shaped buckle is connected to the side plate in front of which a vertical plate is installed. A U-shaped plate is arranged between the bottom ends of the vertical plates, and a flaw detection scanner is installed in the middle of the U-shaped plate.

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