Submarine pipeline inner wall contact type detection device and method

Abstract

The invention discloses a submarine pipeline inner wall contact type detection device and method.The submarine pipeline inner wall contact type detection device comprises a shell, a plurality of crawling mechanisms, a plurality of detection units and a cleaning mechanism, the multiple crawling mechanisms are movably installed on the periphery of the shell through a first transmission mechanism, and each crawling mechanism comprises an arc-shaped supporting plate and a crawler belt transmission assembly arranged on the outer surface of the arc-shaped supporting plate; the driving device is used for driving the detection device to move on the inner wall of the pipeline; the multiple detection units are movably installed below the shell through a second transmission mechanism, each detection unit comprises a buffer mechanism and an ultrasonic probe arranged on the buffer mechanism, and the detection units are used for making contact with the inner wall of the pipeline and conducting detection; the cleaning mechanism is arranged at the bottom of the shell, comprises a rotary sweeping assembly and a soot blowing assembly and is used for cleaning the inner wall of the pipeline before detection; by arranging the crawling mechanism and the detection unit which can be synchronously adjusted, the device can adapt to different pipe diameters, has an automatic cleaning function, can ensure stable contact between the detection probe and the pipe wall, and ensures the accuracy of a detection result.

Description

Technical Field

[0001] This application relates to the field of submarine pipeline inspection technology, and in particular to a contact-type inspection device and method for the inner wall of submarine pipelines. Background Technology

[0002] Subsea pipelines, as vital channels for oil and gas transportation, operate long-term in the complex marine environment characterized by high pressure and high corrosivity. Statistics show that nearly 50% of pipeline maintenance and replacements are caused by internal wall corrosion or cracks. If internal wall defects are not detected promptly, they can lead to pipeline rupture, causing severe environmental pollution and economic losses. Ultrasonic testing technology, which emits high-frequency sound waves into the pipeline's inner wall using a probe and identifies corrosion, cracks, and other defects based on the characteristics of the reflected waves, is one of the most effective non-destructive testing methods currently available.

[0003] However, existing subsea pipeline inspection devices have significant shortcomings: First, traditional devices cannot adapt to pipelines of different diameters, requiring customized equipment for specific diameters, which greatly increases inspection costs. Second, the inner walls of subsea pipelines are often covered with marine organisms, sediment, and other impurities, severely affecting the contact between the ultrasonic probe and the pipe wall, leading to distorted detection signals. Third, existing devices lack effective cleaning functions, requiring separate cleaning operations before inspection, significantly reducing inspection efficiency. Furthermore, during inspection, the contact pressure between the probe and the pipe wall is not precisely controlled, easily causing probe damage or inaccurate detection data.

[0004] Therefore, there is an urgent need to develop an internal inspection device for subsea pipelines that can adapt to different pipe diameters, has an autonomous cleaning function, and can ensure stable contact between the detection probe and the pipe wall, in order to meet the growing demand for subsea pipeline inspection. Summary of the Invention

[0005] To address the aforementioned issues, this application provides a contact-type inspection device and method for the inner wall of subsea pipelines. This device is adaptable to different pipe diameters, possesses an autonomous cleaning function, and ensures stable contact between the inspection probe and the pipe wall. The technical solution is as follows: This application provides a contact-type inspection device for the inner wall of a subsea pipeline, comprising a housing, multiple crawling mechanisms, multiple inspection units, and a cleaning mechanism. The multiple crawling mechanisms are movably mounted on the outer periphery of the housing via a first transmission mechanism. Each crawling mechanism includes an arc-shaped support plate and a track drive assembly disposed on its outer surface, used to drive the inspection device to move along the inner wall of the pipeline. Multiple inspection units are movably mounted below the housing via a second transmission mechanism. Each inspection unit includes a buffer mechanism and an ultrasonic probe disposed thereon, used to contact and inspect the inner wall of the pipeline. The cleaning mechanism is disposed at the bottom of the housing and includes a rotating cleaning assembly and a dust blowing assembly, used to clean the inner wall of the pipeline before inspection. The first and second transmission mechanisms are configured to synchronously adjust the positions of the crawling mechanisms and the inspection units, allowing the track drive assembly and the ultrasonic probe to adapt to inner walls of pipelines with different diameters. For example, in one embodiment of the contact-type inspection device for the inner wall of a subsea pipeline, the first transmission mechanism includes a vertical shaft, a first gear, and a plurality of radially arranged horizontal plates. The vertical shaft is driven to rotate by a first motor. The first gear is fixedly sleeved on the vertical shaft. The plurality of radially arranged horizontal plates have first serrations on their inner sides that mesh with the first gear. The outer ends of the horizontal plates are connected to the arc-shaped support plate of the crawling mechanism. When the first motor drives the vertical shaft to rotate, the meshing of the first gear with the first serrations causes the horizontal plates to move radially, thereby adjusting the position of the crawling mechanism.

[0006] For example, in one embodiment of the contact-type detection device for the inner wall of a subsea pipeline, the second transmission mechanism includes a third gear, multiple rotating shafts, and multiple connecting plates. The third gear is fixedly mounted on the vertical shaft. Multiple rotating shafts are evenly distributed around the third gear, and each rotating shaft is fitted with a second gear, which meshes with the third gear. Multiple connecting plates have second serrations on their inner sides, which mesh with the second gear at the upper end of the rotating shaft. The connecting plates are connected to the buffer mechanism via movable plates. When the vertical shaft rotates, the third gear drives the rotating shaft to rotate, and then the meshing of the second gear and the second serrations drives the connecting plates to move radially, thereby synchronously adjusting the position of the detection unit.

[0007] For example, in one embodiment of the contact-type detection device for the inner wall of a subsea pipeline, the buffer mechanism includes a sleeve and a mounting base, the sleeve being fixedly connected to the movable plate; the mounting base is movably disposed within the sleeve by a spring; wherein, the ultrasonic probe is detachably mounted on the mounting base and partially extends out of the opening on the side wall of the sleeve; the spring provides a clamping force to the ultrasonic probe, so that it maintains elastic contact with the inner wall of the pipeline.

[0008] For example, in one embodiment of the contact-type inspection device for the inner wall of a subsea pipeline, the rotary cleaning assembly includes a rotating base, multiple electric push rods, and an arc-shaped scraper. The rotating base is driven to rotate by a second motor. The multiple electric push rods are evenly arranged on the rotating base circumferentially. The arc-shaped scraper is connected to the telescopic end of the electric push rods through a connecting block, and the outer side of the arc-shaped scraper is provided with bristles. The electric push rods can drive the arc-shaped scraper to move radially, so that the bristles on it contact the inner wall of the pipeline.

[0009] For example, in one embodiment of the contact-type detection device for the inner wall of a subsea pipeline, the dust blowing assembly includes an annular sleeve, multiple air nozzles, and an air pump. The annular sleeve is fixed to the bottom of the housing; the multiple air nozzles are evenly arranged on the annular sleeve along the circumference; the air pump is connected to the air nozzles through a pipeline and is used to spray airflow onto the inner wall of the pipeline to blow away the dust generated during cleaning.

[0010] For example, in one embodiment of the contact-type detection device for the inner wall of a subsea pipeline, a sliding guide structure is provided between the movable plate and the housing. The sliding guide structure includes a locking block disposed on the movable plate and a strip-shaped locking groove disposed on the housing, wherein the locking block and the strip-shaped locking groove are slidably engaged.

[0011] For example, in one embodiment of the contact-type detection device for the inner wall of a subsea pipeline, a sliding guide structure is provided between the horizontal plate and the housing. The sliding guide structure includes a slide plate disposed on the horizontal plate and a sliding groove disposed on the housing, and the slide plate and the sliding groove are slidably engaged.

[0012] For example, in one embodiment of the contact-type inspection device for the inner wall of a subsea pipeline, the track drive assembly includes two rotating rollers, a track, and a third motor. The two rotating rollers are rotatably disposed in the groove of the arc-shaped support plate; the track is sleeved on the two rotating rollers; and the third motor is used to drive the rotating rollers to rotate, thereby driving the track to move.

[0013] A second aspect of this application provides a method for inspecting the inner wall of a subsea pipeline, comprising the following steps: placing the inspection device inside the pipeline; adjusting the positions of the crawling mechanism and the inspection unit synchronously via the first transmission mechanism and the second transmission mechanism according to the pipeline diameter, so that the track and the ultrasonic probe contact the inner wall of the pipeline; activating the cleaning mechanism to clean and blow away dust from the inner wall of the pipeline; driving the crawling mechanism to move the device while simultaneously performing inspection via the ultrasonic probe; and controlling the crawling mechanism to reverse its movement after inspection, so that the device exits the pipeline.

[0014] The beneficial effects of the contact-type inspection device and method for the inner wall of a submarine pipeline provided in some embodiments of this application are as follows: (1) Wide applicability: Through the unique transmission mechanism design, the positions of the crawling mechanism and the detection unit can be adjusted synchronously, so that the device can adapt to pipes of different diameters, which greatly improves the versatility and economy of the equipment; (2) Excellent detection quality: The spring buffer mechanism ensures that the ultrasonic probe maintains a stable and moderate contact pressure with the pipe wall, which not only ensures the reliability of the detection signal but also avoids probe damage. The cleaning mechanism effectively removes deposits from the pipe wall, further improving detection accuracy; (3) High efficiency of operation: The integrated cleaning function can automatically clean the pipe wall before inspection, realize the continuous operation of inspection, and significantly improve the inspection efficiency; (4) Stable operating performance: Multiple guiding and supporting structures ensure the smooth movement of the device in the pipeline, providing a guarantee for high-quality testing; (5) Good maintainability: The modular design and detachable connection method facilitate equipment maintenance and component replacement, reducing long-term use costs. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this specification or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the overall structure of this application; Figure 2 This is a top sectional view of the crawling mechanism of this application; Figure 3 This is a top sectional view of the casing of this application; Figure 4 This is a partial structural schematic diagram of the second transmission mechanism of this application; Figure 5 This is a partial structural diagram of the buffer mechanism in this application; Figure 6 This is a front sectional view of the connector in this application. Detailed Implementation

[0017] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0018] Unless otherwise defined, the technical or scientific terms used in this disclosure shall have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms “first,” “second,” and similar terms used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as “comprising” or “including” mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as “connected” or “linked” are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as “upper,” “lower,” “left,” and “right” are used only to indicate relative positional relationships, and these relative positional relationships may change accordingly when the absolute position of the described objects changes.

[0019] like Figures 1 to 6 As shown, this contact-type inspection device for the inner wall of a subsea pipeline includes a housing 1, a crawling mechanism 2, an inspection unit, and a cleaning mechanism, specifically: The housing 1 is a cylindrical structure, and contains a battery and control circuitry. Four crawling mechanisms 2 are movably mounted on the upper part of the outer surface of the housing 1 via a first transmission mechanism 7, and an annular plate 3 is mounted on the lower part.

[0020] The crawling mechanism 2 includes a first arc-shaped plate 204, the outer surface of which is provided with multiple grooves 203. Two rotating rollers 201 are disposed within each groove 203, and a track 202 is fitted over the rotating rollers 201. The rotating rollers 201 are driven by a third motor installed within the first arc-shaped plate 204. The track drive provides good traction and stability, enabling the device to move reliably within pipes of different diameters and conditions.

[0021] The first transmission mechanism 7 includes a vertical shaft 702, which is driven by a first motor 8 mounted on the bottom of the housing 1 via a coupling. A first gear 703 is sleeved on the upper part of the vertical shaft 702, and four horizontal plates 704 are evenly distributed around it. Multiple first serrations 701 are provided on the inner side of the horizontal plates 704, meshing with the first gear 703. The horizontal plates 704 penetrate the housing 1 through a through groove, and their outer ends are fixedly connected to a first arc-shaped plate 204. Slide plates are provided on the upper and lower surfaces of the horizontal plates 704, cooperating with the sliding grooves in the through groove to ensure the stability of radial movement. Using a gear-serration meshing transmission method, multiple crawling mechanisms 2 can be synchronously radially adjusted by a single motor drive. The structure is compact, the adjustment accuracy is high, and it ensures stable support and movement of the device under various pipe diameters. The sliding guide structure ensures the smoothness of the movement of the horizontal plates 704 and ensures the accuracy of the synchronous movement of multiple crawling mechanisms 2.

[0022] The detection unit includes six buffer mechanisms 10 movably mounted via a second transmission mechanism 9. The second transmission mechanism 9 includes a third gear 906 fixed to the lower part of a vertical shaft 702, with six rotating shafts 901 evenly distributed around its circumference. Each rotating shaft 901 is fitted with two second gears 902, with the lower second gear 902 meshing with the third gear 906. Six connecting plates 903 are located above the third gear 906, with their inner second serrations 905 meshing with the upper second gears 902 on the rotating shafts 901. The second transmission mechanism 9 shares the same drive shaft as the first transmission mechanism 7, enabling synchronous adjustment of the crawling mechanism 2 and the detection unit, ensuring that the track 202 and the ultrasonic probe 4 are always on the same working circumference, thus improving the consistency and reliability of the detection. The sliding guide structure ensures the smoothness and straightness of the movable plate's movement, improving the accuracy of the detection unit's position adjustment.

[0023] The buffer mechanism 10 includes a sleeve 1001, which is connected to a connecting plate 903 via a movable plate 904. The movable plate 904 passes through a slot in the housing 1 and is slidably connected by a locking block and a locking slot. A mounting base 1004 is connected inside the sleeve 1001 via a spring 1002. The ultrasonic probe 4 is threaded onto the mounting base 1004 and extends from an opening 1005 in the side wall of the sleeve 1001. The buffer mechanism 10 provides an elastic clamping force to the ultrasonic probe 4 through the spring 1002, which ensures good contact between the probe and the pipe wall while preventing excessive contact force from damaging the probe and extending the probe's service life.

[0024] The cleaning mechanism includes a rotary sweeping assembly 6 and a dust blowing assembly 5. The rotary sweeping assembly 6 includes a rotating base 601 connected to a second motor 13 via a coupling, on which six electric push rods 602 are evenly mounted. The ends of the electric push rods 602 are connected to a second arc-shaped plate 604 via connecting blocks 603, and multiple sets of bristles 605 are provided on their outer sides. The rotary sweeping assembly 6 uses the electric push rods 602 to drive the scraper to move radially, adapting to different pipe diameters and ensuring that the bristles 605 fully contact the pipe wall, effectively removing adhering substances. The dust blowing assembly 5 includes an annular sleeve plate 501 fixed to the connecting base 11, on which multiple air nozzles 502 are evenly arranged. An air pump 12 is connected to the air nozzles 502 via pipelines. The dust blowing assembly 5 works in conjunction with the sweeping assembly 6 to promptly blow away dust generated during sweeping, preventing secondary deposition and further improving the cleaning effect.

[0025] Among them, the ultrasonic probe 4 model is DL / T 820-2002, the electric actuator 602 model is LBP40, the first motor 8 model is YS7134, the air pump 12 model is 2XZ-0.25, the second motor 13 model is 68KTYZ, and the third motor model is YEJ3-112M-4. All of these can be purchased from the market or customized.

[0026] The working process of the contact-type inspection device for the inner wall of the subsea pipeline in this application is as follows: Size adjustment stage: Based on the diameter of the pipe to be inspected, the first motor 8 is started. The first motor 8 drives the vertical shaft 702 to rotate, and through the meshing of the first gear 703 and the first sawtooth 701, drives the four horizontal plates 704 to move radially in sync, thereby adjusting the position of the crawling mechanism 2. At the same time, the vertical shaft 702 drives the third gear 906 to rotate, and through the meshing of the second gear 902 and the second sawtooth 905, drives the six connecting plates 903 to move radially in sync, which in turn drives the buffer mechanism 10 to move through the movable plate 904, so that the ultrasonic probe 4 reaches the predetermined position.

[0027] Specifically, the positions of the first arc plate 204 and the ultrasonic probe 4 are first adjusted according to the diameter of the pipe, so that the end faces of the first arc plate 204 and the ultrasonic probe 4 are in contact with the inner wall of the pipe. By controlling the switch of the first motor 8, the first motor 8 drives the vertical shaft 702 to rotate, and the rotation of the vertical shaft 702 drives the first gear 703 and the third gear 906 to rotate simultaneously. The third gear 906 meshes with multiple second gears 902, which can drive the lower second gears 902 to rotate, thereby driving the rotating shaft 901 to rotate, and the upper six second gears... As the wheel 902 rotates, the second gear 902 above meshes with the second sawtooth 905, thereby causing the connecting plate 903 to extend outward simultaneously. The movement of the connecting plate 903 causes the movable plate 904 to move, thereby causing the buffer mechanism 10 to move, and then causing the ultrasonic probe 4 to move. At the same time, the first gear 703 rotates and meshes with the first sawtooth 701, which can cause the horizontal plate 704 to move outward, and cause the first arc plate 204 to move outward, so that the track 202 fits against the inner wall of the pipe, thus making it suitable for pipes of different diameters.

[0028] Cleaning operation phase: Control the extension of the electric push rod 602 so that the bristles 605 on the second arc plate 604 come into contact with the inner wall of the pipe. Start the second motor 13 and air pump 12, and the rotating seat 601 drives the bristles 605 to rotate and clean the inner wall of the pipe. At the same time, the air nozzle 502 sprays airflow to blow away the impurities swept off, so as to avoid the deposits attached to the inner wall of the pipe from affecting the detection results of the ultrasonic probe 4.

[0029] Inspection phase: The third motor is started, driving the rotating roller 201 to rotate. The friction between the track 202 and the pipe wall causes the device to move inside the pipe. The ultrasonic probe 4 maintains stable contact with the pipe wall under the action of the spring 1002, performing continuous inspection.

[0030] Pipeline exit stage: After the test is completed, the third motor is reversed and the drive device is exited from the pipeline. The ultrasonic probe 4 is threadedly connected to the mounting base 1004, which facilitates the disassembly and assembly of the ultrasonic probe 4, thereby facilitating the maintenance of the ultrasonic probe 4.

[0031] The device described in this embodiment can adapt to pipes with diameters ranging from 500mm to 1200mm, with a detection speed of up to 0.5m / s and a detection accuracy of ±0.1mm. The cleaning mechanism can effectively remove deposits from the pipe wall, ensuring the accuracy of the detection results.

[0032] Using the contact-type inspection device for the inner wall of the subsea pipeline of this application, the method realizes the automation of the inspection process, including automatic adjustment, automatic cleaning, automatic inspection and automatic withdrawal, which greatly improves the inspection efficiency and safety, and reduces the risk and labor intensity of manual operation.

[0033] The contact-type inspection device for the inner wall of submarine pipelines disclosed in this application, by setting up a synchronously adjustable crawling mechanism and inspection unit, enables the track and ultrasonic probe to adapt to the inner walls of pipelines with different diameters, thus solving the problem of poor applicability of existing inspection devices; by setting up a cleaning mechanism, it is possible to remove the deposits on the inner wall of the pipeline before inspection, ensuring the accuracy of the inspection results.

[0034] Although the embodiments of this application have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for this application. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, this application is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A contact-type inspection device for the inner wall of a subsea pipeline, characterized in that, include: case; Multiple crawling mechanisms are movably mounted on the outer periphery of the housing via a first transmission mechanism. Each crawling mechanism includes an arc-shaped support plate and a track transmission assembly disposed on its outer surface, used to drive the detection device to move along the inner wall of the pipe. Multiple detection units are movably mounted below the housing via a second transmission mechanism. Each detection unit includes a buffer mechanism and an ultrasonic probe mounted thereon, for contacting the inner wall of the pipe and performing detection. A cleaning mechanism, located at the bottom of the housing, includes a rotary cleaning assembly and a soot blowing assembly, used to clean the inner wall of the pipe before inspection; The first transmission mechanism and the second transmission mechanism are configured to synchronously adjust the positions of the crawling mechanism and the detection unit, so that the track drive assembly and the ultrasonic probe can adapt to the inner walls of pipes with different diameters.

2. The contact-type inspection device for the inner wall of a subsea pipeline according to claim 1, characterized in that, The first transmission mechanism includes: The vertical axis is driven to rotate by the first motor; The first gear is fixedly sleeved on the vertical shaft; Multiple radially arranged horizontal plates have first saw teeth on their inner sides that mesh with the first gear, and the outer ends of the horizontal plates are connected to the arc-shaped support plate of the crawling mechanism. When the first motor drives the vertical shaft to rotate, the first gear meshes with the first sawtooth, causing the horizontal plate to move radially, thereby adjusting the position of the crawling mechanism.

3. The contact-type inspection device for the inner wall of a subsea pipeline according to claim 2, characterized in that, The second transmission mechanism includes: The third gear is fixedly mounted on the vertical shaft; Multiple rotating shafts are evenly distributed around the third gear, and a second gear is fitted on each rotating shaft, with the second gear meshing with the third gear; Multiple connecting plates, each having a second serration on its inner side, the second serration meshing with a second gear at the upper end of the rotating shaft; the connecting plates are connected to the buffer mechanism via movable plates; When the vertical shaft rotates, the third gear drives the rotating shaft to rotate, and then the second gear meshes with the second sawtooth, driving the connecting plate to move radially, thereby synchronously adjusting the position of the detection unit.

4. The contact-type inspection device for the inner wall of a subsea pipeline according to claim 3, characterized in that, The buffer mechanism includes: The sleeve is fixedly connected to the movable plate; The mounting base is movably disposed within the sleeve by a spring; The ultrasonic probe is detachably mounted on the mounting base and partially extends out of the opening in the side wall of the sleeve; the spring provides clamping force to the ultrasonic probe, so that it maintains elastic contact with the inner wall of the pipe.

5. The contact-type inspection device for the inner wall of a subsea pipeline according to claim 1, characterized in that, The rotary cleaning assembly includes: The rotating base is driven to rotate by a second motor; Multiple electric push rods are evenly arranged circumferentially on the rotating base; An arc-shaped scraper is connected to the telescopic end of the electric push rod via a connecting block, and bristles are provided on the outer side of the arc-shaped scraper; The electric push rod can drive the arc-shaped scraper to move radially, so that the bristles on it come into contact with the inner wall of the pipe.

6. The contact-type inspection device for the inner wall of a subsea pipeline according to claim 5, characterized in that, The soot blowing assembly includes: An annular sleeve plate is fixed to the bottom of the housing; Multiple air nozzles are evenly arranged circumferentially on the annular sleeve plate; An air pump, connected to the air nozzle via a pipeline, is used to spray airflow onto the inner wall of the pipeline to blow away dust generated during cleaning.

7. The contact-type inspection device for the inner wall of a subsea pipeline according to claim 3, characterized in that, A sliding guide structure is provided between the movable plate and the housing. The sliding guide structure includes a locking block disposed on the movable plate and a strip-shaped locking groove disposed on the housing. The locking block and the strip-shaped locking groove are slidably engaged.

8. The contact-type inspection device for the inner wall of a subsea pipeline according to claim 2, characterized in that, A sliding guide structure is provided between the horizontal plate and the housing. The sliding guide structure includes a slide plate disposed on the horizontal plate and a slide groove disposed on the housing. The slide plate and the slide groove slide in cooperation.

9. The contact-type inspection device for the inner wall of a subsea pipeline according to claim 1, characterized in that, The track drive assembly includes: Two rotating rollers are rotatably disposed within the groove of the arc-shaped support plate; The track is fitted onto the two rotating rollers; The third motor is used to drive the rotating roller to rotate, thereby driving the track to move.

10. A method for inspecting the inner wall of a subsea pipeline using the detection device according to any one of claims 1-9, characterized in that, Includes the following steps: Place the detection device into the pipeline; Based on the pipe diameter, the positions of the crawling mechanism and the detection unit are simultaneously adjusted by the first transmission mechanism and the second transmission mechanism to make the track and the ultrasonic probe contact the inner wall of the pipe; The cleaning mechanism is activated to clean and blow away ash from the inner wall of the pipe; The crawling mechanism is driven to move the device, while the ultrasonic probe performs detection. After the test is completed, the crawling mechanism is controlled to move in the opposite direction, so that the device is withdrawn from the pipe.

Images