Self-propelled non-destructive testing device for pressure pipelines

Abstract

The present invention relates to the technical field of self-propelled devices for pressure pipelines, and specifically to a self-propelled non-destructive testing device suitable for pressure pipelines, comprising a main control base and an auxiliary control base, the auxiliary control base being slidably connected to the inner cavity of the main control base, the top pad and the bottom pad of the main control base and the pads on both sides of the auxiliary control base being respectively installed with a positioning assembly in the vertical direction and the horizontal direction, the positioning assembly comprising a guide cylinder and a positioning frame, a plurality of guide cylinders being respectively fixedly installed on the side walls of the pads installed on the outside of the main control base and the auxiliary control base, an I-shaped slide groove with an I-shaped cross-section being provided inside the guide cylinder; compared with the prior art, the present invention breaks through the limitations of traditional wheel drive devices through the alternating peristaltic propulsion and dynamic support height adjustment technology of the main and auxiliary bases, thereby achieving efficient passage and stable detection in complex pressure pipelines, and significantly improving obstacle crossing capability and environmental adaptability.

Description

Technical Field

[0001] The present invention relates to the technical field of self-propelled devices for pressure pipelines, and in particular to a self-propelled non-destructive testing device suitable for pressure pipelines. Background Art

[0002] The purpose of non-destructive testing of pressure pipelines is to comprehensively evaluate the integrity of pipeline materials, welds and structures through non-destructive technical means (such as ultrasound, X-ray, magnetic powder, etc.) without affecting the normal operation of the pipeline, and to promptly detect potential defects such as cracks, corrosion, and lack of fusion, to ensure safe and reliable operation in high-pressure, high-temperature or corrosive media environments, prevent accidents such as leakage and explosion, extend the service life of the pipeline, and reduce maintenance costs.

[0003] Traditional self-propelled inspection devices in pressure pipeline applications generally have the core defect of insufficient passability. The traditional wheel-driven structure is limited by the inner diameter of the pipeline. The driving wheel is small in size and the gap between the mechanical belly and the bottom of the pipeline is too close, making it difficult to cross obstacles such as inner wall deposits and weld protrusions. It cannot dynamically adjust according to changes in pipe diameter and is prone to rollover or jamming due to local uneven force in complex terrain. In addition, the reliance on wheel-driven multi-point contact drive also seriously restricts the efficiency and reliability of inspection in complex environments. Summary of the Invention

[0004] The object of the present invention is to provide a self-propelled non-destructive testing device suitable for pressure pipelines, so as to solve the problems mentioned in the above background technology.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a self-propelled nondestructive testing device for pressure pipelines, comprising a main control base and a secondary control base, wherein the secondary control base is slidably connected to the inner cavity of the main control base, and the top and bottom pads of the main control base and the pads on both sides of the secondary control base are respectively equipped with positioning assemblies in the vertical direction and the horizontal direction;

[0006] The resisting assembly includes a guide cylinder and a resisting frame. The multiple guide cylinders are respectively fixedly mounted on the side walls of the pads installed on the outside of the main control base and the auxiliary control base. The interior of the guide cylinder is provided with an I-shaped slide groove with an I-shaped cross-section. A sliding seat is slidably connected in the I-shaped slide groove. Multiple groups of brackets are fixedly mounted on the outside of the pad, and the active arm and the passive arm are rotatably connected in the corresponding brackets. The middle section of the active arm is rotatably connected to the middle section of the passive arm.

[0007] Furthermore, the side walls of the resisting frame are fixedly connected to a guide rail frame, and the two side walls of one end of the active arm are fixedly connected to a linkage block. The outer side wall of the guide rail frame is provided with a guide rail groove for sliding of the linkage block, and one end of the passive arm is rotatably connected to the side wall of the resisting frame.

[0008] Furthermore, an electric push rod for driving the sliding seat to slide is fixedly installed on the outer side of the guide cylinder, and multiple groups of resisting plates are installed in an interval manner on the other side of the resisting frame.

[0009] Furthermore, a frame is fixedly mounted on the four corners on both sides of the bottom of the main control base, and a control wheel assembly is provided under the frame. The control wheel assembly includes an electric push rod 2, a gear plate and a universal joint. The electric push rod 2 is fixedly mounted on the top of the frame. A straight groove is provided on the top of the frame. The gear plate is slidably connected in the straight groove. The gear plate is fixedly connected to a drive block, and the output end of the electric push rod 2 is fixedly connected to the drive block.

[0010] Furthermore, a hood is installed at the bottom of the frame, and the inner wall of the hood is movably connected to a rotating rod through a bearing. A gear meshing with a gear plate is fixed on the outer side of the rotating rod, and one end of the rotating rod located outside the hood is fixedly connected to a universal joint.

[0011] Furthermore, the side wall of the frame is fixedly connected to a support plate, and the side wall of the support plate is movably connected to a rotating drum through a bearing. The universal joint includes two U-shaped universal joint forks and a cross shaft. The two U-shaped universal joint forks are connected by the cross shaft, and the two U-shaped universal joint forks are fixedly connected to the rotating rod and the end of the rotating drum respectively.

[0012] Furthermore, a wheel frame is fixedly connected to the outer side of the rotating drum, and a main control wheel is fixedly installed on the side wall of the wheel frame.

[0013] Furthermore, barrel 1 and barrel 2 are fixedly installed at both ends of the main control base, and swing rod 1 and swing rod 2 are movably connected inside barrel 1 and barrel 2 through bearings respectively, and motor 1 for driving swing rod 1 and swing rod 2 to rotate is fixedly installed inside barrel 1 and barrel 2, and one end of the swing rod 1 connected to the barrel 1 is rotatably connected to a flexible scraper, and a torsion spring is provided at the rotation connection between the swing rod 1 and the flexible scraper.

[0014] Furthermore, a through slot is provided inside one end of the swing rod 2 connected to the barrel 2, a lifting push rod is installed in the through slot, and a micro-electromechanical ultrasonic phased array probe is installed at one end of the lifting push rod located outside the swing rod 2.

[0015] Furthermore, the interior of the main control base is fixedly connected to a reciprocating screw and two positioning bearing rods symmetrically arranged relative to the reciprocating screw. The side wall of the auxiliary control base is provided with a threaded groove and a sliding groove that cooperate with the reciprocating screw and the positioning bearing rod. The interior of the main control base is also fixedly installed with a motor 2 for driving the reciprocating screw to rotate. The interior of the auxiliary control base is provided with a built-in power supply, and a probe is also installed on the outside of the main control base.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The alternating peristaltic propulsion system of the present invention achieves efficient passage in complex environments. It adopts a peristaltic propulsion mode in which the main and auxiliary machine bases are alternately fixed. The precise displacement of the device in the pipeline is achieved through the cooperation of the reciprocating screw and the positioning bearing rod. When the auxiliary control machine base moves to the target position, the positioning components on both sides are expanded and fit against the inner wall of the pipeline to form a support point. The positioning components of the main control machine base are contracted, and the motor drives the reciprocating screw to rotate, and translates the main control machine base toward the auxiliary control machine base. This propulsion method breaks through the limitations of traditional wheel drive devices through the alternating locking and releasing of the mechanical structure, avoiding the passability problems caused by too small wheel diameter. The device can continuously cross multiple obstacles in pressure pipes with different diameters, significantly improving the detection efficiency and adaptability in complex environments.

[0018] Dynamic support and height adjustment technology improves environmental adaptability, and through the coordinated action of the vertical retaining assembly and the horizontal peristaltic mechanism, dynamic adjustment in three-dimensional space is achieved. When an obstacle appears in the detection path, the bottom retaining assembly drives the retaining plate to expand its angle through the connecting rod mechanism, lifting the entire device and suspending it on the central axis of the pipeline. At the same time, the main control wheel is retracted through the control wheel assembly to prevent the belly of the machine from contacting the obstacle. The auxiliary control base maintains the horizontal retaining assembly in a retracted state during movement, shifting the center of gravity of the device backward to facilitate crossing obstacles. This structural design effectively solves the problem of traditional detection equipment's passability in narrow spaces, ensuring that the device maintains a stable posture in complex pipelines containing sediment and protrusions, significantly improving the safety and reliability of the detection process.

[0019] The swing arm at the front end drives the flexible scraper to rotate, which can flexibly scrape the bottom and side walls of the pressure pipe. The flexible scraper can effectively clean the impurities and small obstacles in the pipe, providing a clean environment for subsequent inspection work, avoiding possible damage to the inner wall of the pipe caused by hard scraping, and can also simply move some obstacles that affect the inspection;

[0020] The swing rod 2 at the rear end of the device moves back and forth in a circular motion driven by motor 1. The micro-electromechanical ultrasonic phased array probe, with the help of the lifting push rod and swing rod 2, can perform all-round and multi-angle non-destructive testing on the inner wall of the pressure pipeline. The movement of swing rod 2 expands the detection range of the probe, allowing the probe to cover all areas of the inner wall of the pipeline. Combined with the detection function of the probe itself, it can more accurately detect defects in the inner wall of the pipeline, providing a reliable basis for the safety assessment of the pressure pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings;

[0022] Figure 1It is a three-dimensional diagram of the overall structure of the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of the auxiliary control base inside the main control base of the present invention;

[0024] Figure 3 This is a schematic diagram of the structure of the auxiliary control base in the present invention;

[0025] Figure 4 Schematic diagram of the structure of the positioning component in the present invention;

[0026] Figure 5 Schematic diagram of the installation position of the retaining plates at various positions in the present invention;

[0027] Figure 6 Schematic diagram of the universal joint structure in the present invention;

[0028] Figure 7 This is a schematic diagram of the structure of the electric push rod 2 in the present invention;

[0029] Figure 8 It is a schematic diagram of the cooperation between the gear and the gear plate in the present invention.

[0030] Figure numerals: 1. Main control base; 2. Sub-control base; 301. Guide cylinder; 302. Electric push rod 1; 303. Sliding seat; 304. Active arm; 305. Passive arm; 306. Stop frame; 307. Guide rail frame; 308. Linkage block; 309. Stop plate; 4. Frame; 501. Electric push rod 2; 502. Gear plate; 503. Gear; 504. Universal joint; 505. Rotating drum; 6. Machine cover; 7. Support plate; 8. Wheel frame; 9. Main control wheel; 10. Swing rod 1; 11. Swing rod 2; 12. Flexible scraper; 13. Lifting push rod; 19. Reciprocating screw; 20. Positioning bearing rod. DETAILED DESCRIPTION

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0032] Example 1: Figures 1-8 As shown, a self-propelled non-destructive testing device suitable for pressure pipelines includes a main control base 1 and an auxiliary control base 2. A probe is also installed on the outside of the main control base 1. The auxiliary control base 2 is slidably connected to the inner cavity of the main control base 1. The top and bottom pads of the main control base 1 and the pads on both sides of the auxiliary control base 2 are respectively installed with positioning components in the vertical direction and the horizontal direction;

[0033] The positioning assembly includes a guide cylinder 301 and a positioning frame 306. Multiple guide cylinders 301 are respectively fixedly installed on the side walls of the pads installed on the outside of the main control base 1 and the auxiliary control base 2. The interior of the guide cylinder 301 is provided with an I-shaped slide groove with an I-shaped cross-section. The sliding seat 303 is slidably connected in the I-shaped slide groove. Multiple groups of brackets are fixedly installed on the outside of the pad, and the active arm 304 and the passive arm 305 are rotatably connected in the corresponding brackets. The middle section of the active arm 304 is rotatably connected to the middle section of the passive arm 305.

[0034] The side walls of the resisting frame 306 are fixedly connected to the guide rail frame 307, and the two side walls of one end of the active arm 304 are fixedly connected to the linkage block 308. The outer wall of the guide rail frame 307 is provided with a guide rail groove for the sliding of the linkage block 308, and one end of the passive arm 305 is rotatably connected to the side wall of the resisting frame 306.

[0035] An electric push rod 302 for driving the sliding seat 303 to slide is fixedly installed on the outer side of the guide cylinder 301, and multiple groups of stop plates 309 are installed in an interval manner on the other side of the stop frame 306.

[0036] Multi-dimensional dynamic support and positioning system: The present invention is placed in a pressure pipe, and the main control wheel 9 is driven autonomously by a servo motor. The probe is connected to the display screen at the user end, and the situation inside the pressure pipe is actively observed through the probe. Since the pressure pipe generates impurities during use, and due to natural precipitation or the action of gravity, most of them are distributed in the inner wall below the center of the pressure pipe. At the same time, the internal space of the pipe is limited, resulting in the existing mature self-propelled device for detecting pressure pipes. The driving wheel size is small, and the belly of the detection equipment is close to the bottom of the inner wall of the pressure pipe. As a result, the existing mature self-propelled device is subject to the common problem of structural design and small driving wheel size, and cannot smoothly pass through the obstacles at the bottom of the inner wall of the pressure pipe. To solve this problem, the present invention successively drives the positioning components on the outside of the main control base 1 and the auxiliary control base 2;

[0037] All-terrain passability enhancement mechanism: the electric push rod 302 under the main control machine base 1 drives the sliding seat 303 to slide in the guide cylinder 301. In the process of sliding the sliding seat 303 on the outside of the guide cylinder 301, it drives the active arm 304 to deflect. The middle section of the passive arm 305 is rotatably connected to the active arm 304, so the passive arm 305 rotates passively. During the deflection process, the active arm 304 drives the linkage block 308 to slide in the guide rail groove on the outside of the guide rail frame 307. At the same time, the passive arm 305 synchronously drives the stop frame 306 to move, thereby lifting the entire device. It needs to be explained here that the stop plate 309 located below the main control machine base 1 has a larger outward expansion angle, which is convenient for lifting the entire device more stably. Then the stop plate 309 located above the main control machine base 1 is opened in the same way and fits into the top of the inner wall of the pressure pipe, so that the entire device remains fixed and does not deviate under the action of the stop plates 309 above and below the main control machine base 1.

[0038] Embodiment 2: A rack 4 is fixedly installed on the four corners on both sides of the bottom of the main control base 1. A control wheel assembly is provided under the rack 4. The control wheel assembly includes an electric push rod 2 501 and a tooth plate 502. The electric push rod 2 501 is fixedly installed on the top of the rack 4. A straight groove is provided on the top of the rack 4. The tooth plate 502 is slidably connected in the straight groove. The tooth plate 502 is fixedly connected to the drive block, and the output end of the electric push rod 2 501 is fixedly connected to the drive block.

[0039] A hood 6 is installed at the bottom of the frame 4. The inner wall of the hood 6 is movably connected to a rotating rod through a bearing. A gear 503 meshing with a gear plate 502 is fixed on the outer side of the rotating rod. One end of the rotating rod located outside the hood 6 is fixedly connected to a universal joint 504.

[0040] The side wall of the frame 4 is fixedly connected to the support plate 7, and the side wall of the support plate 7 is movably connected to the rotating cylinder 505 through a bearing. The universal joint 504 includes two U-shaped universal joint forks and a cross shaft. The two U-shaped universal joint forks are connected by the cross shaft, and the two U-shaped universal joint forks are fixedly connected to the rotating rod and the end of the rotating cylinder 505 respectively.

[0041] The outer side of the rotating drum 505 is fixedly connected to a wheel frame 8, and the side wall of the wheel frame 8 is fixedly installed with a main control wheel 9. It should be explained here that each main control wheel 9 is independently driven by a servo motor installed on the side wall of the wheel frame 8.

[0042] The main control base 1 is fixedly connected to a reciprocating screw 19 and two positioning bearing rods 20 symmetrically arranged relative to the reciprocating screw 19. The positioning bearing rods 20 are used to assist the main control base 1 and the auxiliary control base 2 in keeping their moving directions from deviating. The side walls of the auxiliary control base 2 are provided with threaded grooves and sliding grooves that cooperate with the reciprocating screw 19 and the positioning bearing rods 20. The main control base 1 is also fixedly installed with a motor 2 for driving the reciprocating screw 19 to rotate. The auxiliary control base 2 is provided with a built-in power supply, which is used to power the entire device.

[0043] The main control wheel 9 is folded and the height is adjusted: Then the electric push rod 2 501 is started again. The electric push rod 2 501 drives the tooth plate 502 to slide in the straight groove of the frame 4 through the driving block. The tooth plate 502 drives the gear 503 to rotate while sliding. During the rotation process, the gear 503 drives the rotating rod to rotate synchronously, thereby further driving the universal joint 504 to rotate. The angle between the support plate 7 and the frame 4 is an acute angle. When the rotating rod drives the rotating drum 505 and the wheel frame 8 to rotate synchronously through the universal joint 504, the main control wheel 9 is separated from the inner wall of the pressure pipe under the action of the rotating drum 505 and the wheel frame 8 and is in a suspended state, raising the height of the bottom of the entire device to prepare for moving the entire device;

[0044] Segmented peristaltic propulsion and alternating movement to cross obstacles: After the main control wheel 9 is retracted, the reciprocating screw 19 drives the auxiliary control base 2 and the retaining components on both sides to move synchronously under the action of motor 2. At this time, the retaining plates 309 on both sides of the auxiliary control base 2 are not in contact with the inside of the pressure pipe. When the auxiliary control base 2 moves from one end of the inner cavity of the main control base 1 to the other end, the retaining components on both sides of the auxiliary control base 2 are driven synchronously until the retaining plates 309 on the horizontal side are in contact with the inner wall of the pressure pipe. After the main control base 1 is combined and tightened, the upper and lower retaining plates 309 of the main control base 1 are retracted, and the reciprocating screw 19 is started again. At this time, the auxiliary control base 2 is pressed and fixed against the inner wall of the pressure pipe under the action of the retaining plates 309 on both sides. At this time, the rotation of the reciprocating screw 19 will drive the main control base 1 to move closer to the auxiliary control base 2. After moving to the specified position, the upper and lower retaining plates 309 are pressed against the pressure pipe again, and the retaining plates 309 on both sides of the auxiliary control base 2 are retracted again.

[0045] Then the reciprocating screw rod 19 is started again, and the auxiliary control base 2 moves again, and so on, to realize the alternating movement of the main control base 1 and the auxiliary control base 2, and further realize the smooth crossing of the obstacle by the entire device. After crossing the obstacle, the main control wheel 9 is lowered again and contacts the inner wall of the pressure pipe, and drives the entire device to move faster to the position to be detected.

[0046] Embodiment 3: Barrel 1 and barrel 2 are fixedly installed at both ends of the main control base 1, and a swing rod 10 and a swing rod 2 11 are movably connected inside the barrel 1 and barrel 2 respectively through bearings, and a motor 1 for driving the swing rod 10 and the swing rod 2 11 to rotate is fixedly installed inside the barrel 1 and barrel 2, and one end of the swing rod 10 connected to the barrel 1 is rotatably connected to a flexible scraper 12, and a torsion spring is provided at the rotational connection between the swing rod 10 and the flexible scraper 12.

[0047] A through slot is provided at one end of the swing rod 11 connected to the barrel 2, in which a lifting push rod 13 is installed. A micro-electromechanical ultrasonic phased array probe is installed at the end of the lifting push rod 13 located outside the swing rod 11. It should be explained here that the micro-electromechanical ultrasonic phased array probe is a lightweight detection device developed based on MEMS technology, using a 16-element piezoelectric ceramic array design and an integrated ASIC signal processing chip. The total mass is only 195 grams (including the coupling water bag).

[0048] Its core advantage lies in the dynamic focusing and deflection of the ultrasonic beam achieved through phased array technology. This allows it to detect defects such as cracks and pores within a depth of 30mm in steel pipelines with a positioning accuracy of ±0.3mm. This probe transcends the volume limitations of traditional ultrasonic probes, adapts to complex curved surfaces, and supports multiple inspection modes such as pulse reflection and time-of-flight (TOFD). It excels in scenarios such as pressure vessel nozzle fillet welds and submarine oil pipeline corrosion assessments, and is particularly well-suited for the efficient inspection needs of self-propelled inspection devices in confined spaces.

[0049] Front-end cleaning: The swinging rod 10 drives the flexible scraper 12 to remove impurities: The present invention further provides a swinging rod 10 at the front end of the device. The motor drives the swinging rod 10 to rotate in the barrel. The swinging rod 10 drives the flexible scraper 12 to rotate synchronously, and flexibly scrapes the bottom and side walls of the inner wall of the pressure pipe and simply moves small obstacles.

[0050] Rear-end detection: The swing rod 2 11 cooperates with the lifting push rod 13 to complete non-destructive testing: The present invention is provided with a swing rod 2 11 at the rear end of the device. The swing rod 2 11 moves back and forth in a circle under the action of the motor 2. The micro-electromechanical ultrasonic phased array probe realizes non-destructive testing of the inner wall of the pressure pipe under the action of the lifting push rod 13 and the swing rod 2 11.

[0051] Obviously, many modifications and variations are possible based on the contents of this specification. These embodiments are selected and described in detail in this specification in order to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A self-propelled non-destructive testing device for pressure pipes, comprising a main control base (1) and an auxiliary control base (2), characterized in that: The auxiliary control base (2) is slidably connected to the inner cavity of the main control base (1), and the top pad and the bottom pad of the main control base (1) and the pads on both sides of the auxiliary control base (2) are respectively installed with positioning components in the vertical direction and the horizontal direction; The resisting assembly comprises a guide cylinder (301) and a resisting frame (306), wherein a plurality of guide cylinders (301) are fixedly mounted on the side walls of a pad mounted on the outside of the main control base (1) and the auxiliary control base (2), and an I-shaped slide groove with an I-shaped cross section is provided inside the guide cylinder (301), and a sliding seat (303) is slidably connected in the I-shaped slide groove. A plurality of brackets are fixedly mounted on the outside of the pad, and an active arm (304) and a passive arm (305) are rotatably connected in the corresponding brackets, and a middle section of the active arm (304) is rotatably connected to a middle section of the passive arm (305); The four corners on both sides of the bottom of the main control base (1) are fixedly mounted with a frame (4), and a control wheel assembly is provided below the frame (4), and the control wheel assembly includes an electric push rod 2 (501), a tooth plate (502) and a universal joint (504), and the electric push rod 2 (501) is fixedly mounted on the top of the frame (4), and a straight groove is provided on the top of the frame (4), and the tooth plate (502) is slidably connected in the straight groove, and the tooth plate (502) is fixedly connected to a driving block, and the output end of the electric push rod 2 (501) is fixedly connected to the driving block; A hood (6) is installed at the bottom of the frame (4); the inner side wall of the hood (6) is movably connected to a rotating rod via a bearing; a gear (503) meshing with a toothed plate (502) is fixedly sleeved on the outer side of the rotating rod; one end of the rotating rod located outside the hood (6) is fixedly connected to a universal joint (504); The side wall of the frame (4) is fixedly connected to a support plate (7), and the side wall of the support plate (7) is movably connected to a rotating cylinder (505) via a bearing. The universal joint (504) comprises two U-shaped universal joint forks and a cross shaft. The two U-shaped universal joint forks are connected via the cross shaft. The two U-shaped universal joint forks are fixedly connected to the rotating rod and the end of the rotating cylinder (505) respectively. The outer side of the rotating drum (505) is fixedly connected to a wheel frame (8), and the side wall of the wheel frame (8) is fixedly mounted with a main control wheel (9).

2. The self-propelled non-destructive testing device for pressure pipelines according to claim 1, characterized in that: The side walls of the resisting frame (306) are fixedly connected to a guide rail frame (307), and the two side walls of one end of the active arm (304) are fixedly connected to a linkage block (308). The outer side wall of the guide rail frame (307) is provided with a guide rail groove for sliding the linkage block (308), and one end of the passive arm (305) is rotatably connected to the side wall of the resisting frame (306).

3. The self-propelled non-destructive testing device for pressure pipelines according to claim 1, characterized in that: An electric push rod (302) for driving the sliding seat (303) to slide is fixedly installed on the outer side of the guide cylinder (301), and multiple groups of resisting plates (309) are installed in an interval manner on the other side of the resisting frame (306).

4. The self-propelled non-destructive testing device for pressure pipelines according to claim 1, characterized in that: The two ends of the main control base (1) are respectively fixedly mounted with a barrel 1 and a barrel 2, and the barrels 1 and 2 are respectively connected with a swing rod 1 (10) and a swing rod 2 (11) through bearings, and the barrels 1 and 2 are both fixedly mounted with a motor 1 for driving the swing rod 1 (10) and the swing rod 2 (11) to rotate, and one end of the swing rod 1 (10) connected to the barrel 1 is rotatably connected with a flexible scraper (12), and a torsion spring is provided at the rotation connection between the swing rod 1 (10) and the flexible scraper (12).

5. The self-propelled non-destructive testing device for pressure pipelines according to claim 4, characterized in that: A through slot is provided inside one end of the swing rod (11) connected to the barrel (2), and a lifting push rod (13) is installed in the through slot. A micro-electromechanical ultrasonic phased array probe is installed at one end of the lifting push rod (13) located outside the swing rod (11).

6. The self-propelled non-destructive testing device for pressure pipelines according to claim 1, characterized in that: The main control base (1) is fixedly connected to a reciprocating screw (19) and two positioning bearing rods (20) symmetrically arranged relative to the reciprocating screw (19). The side wall of the auxiliary control base (2) is provided with a thread groove and a slide groove that match the reciprocating screw (19) and the positioning bearing rod (20). The main control base (1) is also fixedly installed with a second motor for driving the reciprocating screw (19) to rotate. The auxiliary control base (2) is provided with a built-in power supply. The outside of the main control base (1) is also installed with a probe.

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