Intelligent sensing pipeline built-in ultrasonic crack flaw detection device

Abstract

The invention relates to the related technical field of pipeline flaw detection, in particular to an intelligent sensing pipeline built-in ultrasonic crack flaw detection device which comprises a barrel and two detection modules arranged on the barrel, and intelligent sensors in the two detection modules can excite high-frequency ultrasonic pulses; the two groups of supporting type walking modules are arranged on the barrel body, each supporting type walking module comprises a plurality of rolling wheels which are distributed along the circumference of the barrel body at equal intervals, and the rolling wheels can be driven by a power mechanism arranged on the barrel body to execute opening and closing actions; through the synergistic effect of the scraper and the splitter plate, orderly disposal of residual water on the inner wall of the pipeline is realized, so that the two groups of detection modules can carry out targeted ultrasonic crack flaw detection on a specific position of the inner wall of the pipeline according to the disposal condition of the residual water, the sound path distance calculation error caused by sudden reduction of the sound velocity of ultrasonic longitudinal waves is avoided, and the detection accuracy is improved. And the micro crack characteristics collected by the intelligent sensor are submerged or misjudged.

Description

Technical Field

[0001] This invention relates to the field of pipeline flaw detection technology, specifically to an intelligent sensing pipeline built-in ultrasonic crack detection device. Background Technology

[0002] As core transportation equipment in the oil, natural gas, and chemical industries, pipelines are subjected to high pressure, corrosion, and fatigue loads over long periods of time, making them highly susceptible to minor damage such as stress corrosion cracks and welding defects. If these potential threats are not detected in time, they may lead to major safety accidents such as leaks or even explosions. Therefore, crack detection is a key link in ensuring the integrity of pipelines.

[0003] Existing technologies generally employ built-in ultrasonic testing solutions, which use crawling robots or capsule probes equipped with intelligent sensors to penetrate deep into pipes and capture crack echo signals by utilizing the propagation characteristics of ultrasonic longitudinal waves in the pipe wall. With the high-precision data acquisition and real-time analysis capabilities of intelligent sensors, efficient defect location can be achieved without excavation.

[0004] Before testing, operators typically need to pre-flushing and cleaning the pipeline to remove foreign objects such as oil and rust. While this conventional cleaning method can remove surface deposits, it inevitably forms a uniform liquid film or condensate on the inner wall of the pipeline. The acoustic impedance of the residual water film is much lower than that of metal, which introduces an additional coupling layer at the probe-pipe wall interface, causing a sharp drop in the ultrasonic longitudinal wave velocity and resulting in errors in the sound path calculation. Its uneven thickness can also excite multiple reflection wave aliasing interference, generating false defect echoes. At the same time, the absorption and scattering of high-frequency sound energy by the water film causes the echo amplitude to attenuate, and the signal-to-noise ratio to deteriorate sharply. These problems directly lead to the micro-crack features collected by the intelligent sensor being submerged or misjudged, resulting in a decrease in the detection rate or even complete missed detection, which seriously affects the accuracy and reliability of the test results. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent sensing-integrated ultrasonic crack detection device for pipelines, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A smart sensing pipe-embedded ultrasonic crack detection device includes a cylinder and two sets of detection modules mounted on the cylinder. The smart sensors in the two sets of detection modules can excite high-frequency ultrasonic pulses. Also includes: Two sets of support-type walking modules are installed on the cylinder. Each support-type walking module includes multiple rollers that are equidistantly distributed along the circumference of the cylinder. The multiple rollers can be driven by a power mechanism installed on the cylinder to perform opening and closing actions so that the rollers can abut against the inner wall of the pipe to be inspected and roll along the axial direction of the pipe. The scraper, which is located at the end of the cylinder, can be driven by a rotating mechanism on the cylinder to make a circular motion. When the scraper is located at the bottom of the circumference of the inner wall of the pipe, it is separated from the inner wall of the pipe. When it is located at the non-bottom part of the inner wall of the pipe, it is in contact with the inner wall of the pipe, so as to collect the residual water on the inner wall of the pipe to the bottom of the circumference. A diversion plate is installed on the cylinder body. The diversion plate is connected to an assembly mechanism installed inside the cylinder body. The assembly mechanism is connected to a power mechanism. When the power mechanism drives multiple rollers to perform an opening action, the assembly mechanism is triggered, which can cause the diversion plate to abut against the bottom circumference of the pipe, so that the diversion plate can divert the residual water at the bottom circumference of the inner wall of the pipe.

[0007] The intelligent sensing pipe-embedded ultrasonic crack detection device described above: an assembly cylinder is fixed to the end of the cylinder body, and the rotating mechanism includes a second drive motor installed in the assembly cylinder and a rotating shaft connected to the output end of the second drive motor. The rotating shaft is connected to the scraper through an elastic telescopic component.

[0008] The intelligent sensing pipe-embedded ultrasonic crack detection device described above: the scraper is arc-shaped and has an inclined surface on one side. The elastic telescopic component is also connected to a sliding engagement component. When the scraper moves to the bottom of the pipe circumference, the sliding engagement component is triggered, which can drive the scraper to move radially along the pipe through the elastic telescopic component, so that the scraper separates from the inner wall of the pipe.

[0009] The intelligent sensing pipe-embedded ultrasonic crack detection device described above: two guide arms are fixed on the rotating shaft, the elastic telescopic component includes an assembly plate slidably connected to the two guide arms, a connecting plate is fixed on the assembly plate, and a guide post fixed to the scraper is slidably provided at both ends of the connecting plate. The guide post is fitted with a first cylindrical spring on its outer periphery. One end of the first cylindrical spring is connected to the connecting plate, and the other end is connected to a ring fixed on the guide post.

[0010] The intelligent sensing pipe-embedded ultrasonic crack detection device described above: the sliding fit assembly includes a sleeve slidably sleeved on the rotating shaft, two connecting rods are provided between the sleeve and the assembly plate, one end of the connecting rod is hinged to the sleeve, and the other end is hinged to the assembly plate, and a kit is also fixedly fitted on the outer wall of the assembly cylinder, and the kit is provided with a groove.

[0011] The intelligent sensing pipe-embedded ultrasonic crack detection device described above: the sleeve is fixedly connected to a transmission arm, and the end of the transmission arm away from the sleeve is fixedly provided with a protrusion adapted to the tank body. The protrusion extends into the tank body and is slidably connected to the kit. The groove includes a first arc-shaped groove and a second arc-shaped groove disposed on the outer wall of the kit. The first arc-shaped groove and the second arc-shaped groove are offset from each other and are concentric with the kit. The first arc-shaped groove and the second arc-shaped groove are connected by two inclined grooves.

[0012] The intelligent sensing pipe-embedded ultrasonic crack detection device described above: the power mechanism includes a lead screw rotatably installed inside the cylinder and two threaded sleeves sleeved on the lead screw and threadedly connected to the lead screw. A first drive motor with its output end connected to the lead screw is also installed inside the cylinder. The threaded sleeves are connected to the rollers through a push-pull structure.

[0013] The intelligent sensing pipe-embedded ultrasonic crack detection device described above: the push-pull structure includes a swing arm rotatably mounted on the cylinder, a roller is located at the end of the swing arm away from the cylinder, and the swing arm is provided with a groove, in which a slider is slidably fitted. The threaded sleeve is fixedly connected to a drive arm, and the end of the drive arm away from the threaded sleeve is hinged to the slider.

[0014] The intelligent sensing pipe-embedded ultrasonic crack detection device described above: the diversion plate is arranged in a U-shape, with a V-shaped part at its end and side baffles on both sides; the assembly mechanism includes two guide cylinders slidably connected to the cylinder body and two telescopic rods that are respectively slidably sleeved with the two guide cylinders and fixed to the diversion plate. The guide cylinder is equipped with a second cylindrical spring. One end of the second cylindrical spring is connected to the inner wall of the guide cylinder, and the other end is connected to the telescopic rod. The two guide cylinders are connected to the threaded sleeve through a set of transmission structures.

[0015] The intelligent sensing pipe-embedded ultrasonic crack detection device described above: the transmission structure includes a driven plate fixed to the guide cylinder and a follower arm fixedly connected to the threaded sleeve. The driven plate is provided with an inclined through groove, and the follower arm is fixedly connected to a drive column adapted to the through groove. The drive column passes through the through groove and is slidably connected to the driven plate.

[0016] Compared with the prior art, the beneficial effects of the present invention are: This invention utilizes a scraper at the end of the cylinder to remove residual water from the inner wall of the pipe. The staggered arrangement of the first and second arc-shaped grooves ensures that the scraper is separated from the inner wall when it reaches the bottom circumference of the pipe. This allows the residual water scraped off the inner wall to collect at the bottom circumference. One detection module performs ultrasonic crack detection on the non-circumferential bottom area of ​​the inner wall. A subsequent diversion plate distributes the residual water at the bottom circumference, allowing another detection module to perform ultrasonic crack detection on the bottom circumferential area. Finally, the detection data from both modules are combined to achieve comprehensive inspection of the inner wall of the pipe. Therefore, through the synergistic effect of the scraper and the diversion plate, the residual water on the inner wall of the pipe is disposed of in an orderly manner. This allows the two sets of detection modules to perform targeted ultrasonic crack detection on specific locations on the inner wall of the pipe based on the disposal of the residual water. This effectively avoids the adverse effects of residual water on the detection results, prevents a sudden drop in the ultrasonic longitudinal wave velocity, avoids errors in sound path calculation, and prevents the micro-crack features collected by the intelligent sensor from being submerged or misjudged, resulting in a decrease in the detection rate or even complete missed detection. This significantly improves the accuracy and reliability of the detection results. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of one embodiment of an intelligent sensing-embedded ultrasonic crack detection device for pipelines.

[0018] Figure 2 This is a schematic diagram of another embodiment of an intelligent sensing-embedded ultrasonic crack detection device for pipelines, taken from another angle.

[0019] Figure 3 This is a structural schematic diagram from another angle of one embodiment of an intelligent sensing-embedded ultrasonic crack detection device for pipelines.

[0020] Figure 4 for Figure 3 Enlarged view of the structure at point A in the middle.

[0021] Figure 5 This is a schematic diagram of the internal structure of the cylinder in one embodiment of an intelligent sensing-embedded ultrasonic crack detection device for pipelines.

[0022] Figure 6 This is a schematic diagram of the power mechanism in one embodiment of an intelligent sensing-based built-in ultrasonic crack detection device for pipelines.

[0023] Figure 7 This is a schematic diagram of the rotating mechanism in one embodiment of an intelligent sensing-based pipe-embedded ultrasonic crack detection device.

[0024] Figure 8 An exploded view of the rotating mechanism in one embodiment of an intelligent sensing-based pipe-embedded ultrasonic crack detection device.

[0025] Figure 9 This is a schematic diagram of the structure of a flow divider plate in one embodiment of an intelligent sensing-based built-in ultrasonic crack detection device for pipelines.

[0026] Figure 10 An exploded view of the assembly mechanism in one embodiment of an intelligent sensing-based pipe-embedded ultrasonic crack detection device.

[0027] In the diagram: 1. Cylinder; 2. Detection module; 3. Assembly cylinder; 4. First drive motor; 5. Lead screw; 6. Threaded sleeve; 7. Drive arm; 8. Swing arm; 9. Roller; 10. Slide groove; 11. Slider; 12. Second drive motor; 13. Rotating shaft; 1301. Strip protrusion; 14. Guide arm; 15. Assembly plate; 16. Connecting plate; 17. Guide post; 1701. Ring body; 18. Scraper; 1801. Inclined surface; 19. First cylindrical spring 20. Spring; 21. Second cylindrical spring; 22. Sleeve; 23. Strip groove; 24. Connecting rod; 25. Drive arm; 26. Protruding post; 27. Kit; 28. First arc groove; 29. ​​Second arc groove; 20. Inclined groove; 21. Diverter plate; 22. V-shaped part; 23. Side stop; 24. Guide cylinder; 25. Telescopic rod; 26. Driven plate; 27. Through groove; 28. Follower arm; 29. ​​Drive column. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] Furthermore, elements in this invention are referred to as being "fixed to" or "set on" another element, which may be directly on the other element or may also include an intervening element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or may also include an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations.

[0030] Please see Figures 1-10In this embodiment, a smart sensing pipe-embedded ultrasonic crack detection device includes a cylinder 1 and two sets of detection modules 2 disposed on the cylinder 1. The smart sensors in the two sets of detection modules 2 can excite high-frequency ultrasonic pulses. Also includes: Two sets of support-type walking modules are provided on the cylinder 1. Each support-type walking module includes multiple rollers 9 that are equidistantly distributed along the circumference of the cylinder 1. The multiple rollers 9 can be driven by a power mechanism provided on the cylinder 1 to perform opening and closing actions so that the rollers 9 can abut against the inner wall of the pipe to be inspected and roll along the axial direction of the pipe. The scraper 18 is movable at the end of the cylinder 1. The scraper 18 can be driven by the rotating mechanism on the cylinder 1 to make a circular motion. When the scraper 18 is located at the bottom of the circumference of the inner wall of the pipe, it is separated from the inner wall of the pipe. When it is located at the non-bottom of the circumference of the inner wall of the pipe, it is in contact with the inner wall of the pipe, so as to collect the residual water on the inner wall of the pipe to the bottom of the circumference. A diversion plate 25 is movable on the cylinder 1. The diversion plate 25 is connected to an assembly mechanism located inside the cylinder 1. The assembly mechanism is connected to a power mechanism. When the power mechanism drives multiple rollers 9 to perform an opening action, the assembly mechanism is triggered, which can cause the diversion plate 25 to abut against the bottom circumference of the pipe, so that the diversion plate 25 can divert the residual water at the bottom circumference of the inner wall of the pipe.

[0031] In this embodiment, it should be further explained that, regarding the detection principle of the detection module 2, during detection, the intelligent sensor in the detection module 2 excites high-frequency ultrasonic pulses according to a preset timing sequence. The sound waves enter the pipe wall and are reflected at the crack. The intelligent sensor synchronously receives the echo signal and performs analog-to-digital conversion and feature extraction in real time. Through transit time and amplitude analysis, the crack is accurately located, and finally a defect distribution map is generated at the device end. Furthermore, during the testing process, the device is placed in the pipe to be tested, and the power mechanism operates, driving multiple rollers 9 to perform an opening action until the multiple rollers 9 abut against the inner wall of the pipe. On the one hand, this provides support for the device and ensures the concentricity of the device and the pipe. On the other hand, the multiple rollers 9 enable the device to move along the axial direction of the pipe. In specific implementation, the rollers 9 can be equipped with corresponding drive motors.

[0032] As a further embodiment of the present invention, please refer again. Figure 4 , Figure 7 as well as Figure 8An assembly cylinder 3 is fixed to the end of the cylinder 1. The rotating mechanism includes a second drive motor 12 installed inside the assembly cylinder 3 and a rotating shaft 13 connected to the output end of the second drive motor 12. The rotating shaft 13 is connected to the scraper 18 via an elastic telescopic component. The scraper 18 is arc-shaped and has an inclined surface 1801 on one side. The elastic telescopic component is also connected to a sliding engagement component. When the scraper 18 moves to the bottom of the pipe circumference, the sliding engagement component is triggered, which drives the scraper 18 to move radially along the pipe through the elastic telescopic component, so that the scraper 18 separates from the inner wall of the pipe.

[0033] In this embodiment, with attachment Figure 7 For example, during operation, the scraper 18 moves in a clockwise circular motion. The inclined surface 1801 can push the scraped residual water in the direction of device movement, preventing the residual water from flowing backward in the direction of device movement after being scraped off, thus avoiding the problem of poor residual water cleaning effect.

[0034] Two guide arms 14 are fixed on the rotating shaft 13. The elastic telescopic assembly includes an assembly plate 15 that is slidably connected to the two guide arms 14. A connecting plate 16 is fixed on the assembly plate 15. A guide post 17 that is fixed to the scraper 18 is slidably provided at both ends of the connecting plate 16. A first columnar spring 19 is sleeved on the outer periphery of the guide post 17. One end of the first columnar spring 19 is connected to the connecting plate 16, and the other end is connected to the ring 1701 fixed on the guide post 17.

[0035] The sliding fit assembly includes a sleeve 21 slidably fitted on the rotating shaft 13. Two connecting rods 22 are provided between the sleeve 21 and the assembly plate 15. One end of the connecting rod 22 is hinged to the sleeve 21, and the other end is hinged to the assembly plate 15. A kit 24 is also fixedly fitted on the outer wall of the assembly cylinder 3. The kit 24 has a groove. A transmission arm 23 is fixedly connected to the sleeve 21. A protrusion 2301 adapted to the groove is fixedly provided at the end of the transmission arm 23 away from the sleeve 21. The protrusion 2301 extends into the groove and is slidably connected to the kit 24. The groove includes a first arc-shaped groove 2401 and a second arc-shaped groove 2402 provided on the outer wall of the kit 24. The first arc-shaped groove 2401 and the second arc-shaped groove 2402 are offset and concentric with the kit 24. The first arc-shaped groove 2401 and the second arc-shaped groove 2402 are connected by two inclined grooves 2403.

[0036] It should be emphasized that the distance between the first arc-shaped groove 2401 and the cylinder 1 is less than the distance between the second arc-shaped groove 2402 and the cylinder 1, and the first arc-shaped groove 2401 is located at the bottom circumference of the kit 24. When the scraper 18 moves in a circular motion, the protrusion 2301 slides within the groove to attach... Figure 7 Taking the illustrated state as an example, at this time, the protruding post 2301 is located in the first arc-shaped groove 2401, and the scraper 18 is separated from the bottom circumference of the inner wall of the pipe. When the second drive motor 12 drives the rotating shaft 13 to rotate, the protruding post 2301 will make way after entering the inclined groove 2403, so that the transmission arm 23 drives the sleeve 21 to slide away from the second drive motor 12 along the axial direction of the rotating shaft 13. Correspondingly, the sleeve 21 pushes the assembly plate 15 to slide away from the rotating shaft 13 on the two guide arms 14 through the connecting rod 22, so that the scraper 18 abuts against the inner wall of the pipe. After the scraper 18 contacts the inner wall of the pipe, the connecting plate 16 and the guide post 17 slide relative to each other, the first columnar spring 19 is compressed, and then the protruding post 2301 slides in the second arc-shaped groove 2402. The scraper 18 remains in contact with the inner wall of the pipe to scrape off the residual water on the inner wall of the pipe. To address this, the present invention provides a scraper 18 at the end of the cylinder 1 to scrape away residual water on the inner wall of the pipe. The staggered arrangement of the first arc-shaped groove 2401 and the second arc-shaped groove 2402 ensures that the scraper 18 is separated from the inner wall of the pipe when it is located at the bottom circumference of the pipe. This allows the residual water scraped off the inner wall to collect at the bottom circumference of the inner wall. One set of detection modules 2 then performs ultrasonic crack detection on the non-circumferential bottom portion of the inner wall. Subsequently, the diversion plate 25 distributes the residual water at the bottom circumference of the inner wall, allowing another set of detection modules 2 to perform ultrasonic crack detection on the bottom circumferential portion of the inner wall. Finally, by summing the detection data from both sets of detection modules 2, a comprehensive inspection of the inner wall of the pipe can be achieved. Therefore, through the coordinated action of the scraper 18 and the diversion plate 25, the residual water on the inner wall of the pipe is disposed of in an orderly manner. This enables the two sets of detection modules 2 to perform targeted ultrasonic crack detection on specific locations on the inner wall of the pipe based on the disposal of the residual water. This effectively avoids the adverse effects of residual water on the detection results, prevents a sudden drop in the ultrasonic longitudinal wave velocity, avoids errors in sound path calculation, and prevents the micro-crack features collected by the intelligent sensor from being submerged or misjudged, resulting in a decrease in the detection rate or even complete missed detection. This significantly improves the accuracy and reliability of the detection results.

[0037] It should be noted that in actual operation, the second drive motor 12 is a speed-regulating motor. The rotation speed of the rotating shaft 13 should be reasonably controlled according to the moving speed of the device in the pipeline so that the moving speed of the scraper 18 matches the moving speed of the device. In addition, two strip-shaped protrusions 1301 are formed on the outer wall of the rotating shaft 13, and two strip-shaped grooves 2101 are provided on the inner wall of the sleeve 21. The strip-shaped grooves 2101 are adapted to the strip-shaped protrusions 1301, and both are parallel to the central axis of the rotating shaft 13. The arrangement of the strip-shaped protrusions 1301 and the strip-shaped grooves 2101 can ensure the rotational synchronization of the transmission arm 23 and the rotating shaft 13.

[0038] As a further embodiment of the present invention, please refer again. Figure 5 and Figure 6 The power mechanism includes a lead screw 5 rotatably mounted inside the cylinder 1 and two threaded sleeves 6 sleeved on and threadedly connected to the lead screw 5. A first drive motor 4, with its output end connected to the lead screw 5, is also installed inside the cylinder 1. The threaded sleeves 6 are connected to the roller 9 via a push-pull structure. The push-pull structure includes a swing arm 8 rotatably mounted on the cylinder 1. The roller 9 is located at the end of the swing arm 8 away from the cylinder 1, and the swing arm 8 has a groove 10 in which a slider 11 is slidably fitted. The threaded sleeve 6 is fixedly connected to a drive arm 7, and the end of the drive arm 7 away from the threaded sleeve 6 is hinged to the slider 11.

[0039] In this embodiment, the first drive motor 4 is a servo motor with bidirectional output. In actual operation, after the device is placed in the pipe to be tested, the first drive motor 4 drives the lead screw 5 to rotate in the forward direction. The threaded sleeve 6 engages with the lead screw 5 to drive the drive arm 7 to move toward the swing arm 8. Correspondingly, the drive arm 7 can cause the swing arm 8 to swing through the slider 11. Thus, the roller 9 can contact the inner wall of the pipe and provide support for the device, enabling the device to move along the axial direction of the pipe for testing.

[0040] As a further embodiment of the present invention, please refer again. Figure 5 , Figure 6 , Figure 9 as well as Figure 10The diverter plate 25 is U-shaped, with a V-shaped portion 2501 at one end and side stops 2502 on both sides. The assembly mechanism includes two guide cylinders 26 slidably connected to the cylinder body 1 and two telescopic rods 27 that are slidably sleeved with the two guide cylinders 26 and fixed to the diverter plate 25. A second cylindrical spring 20 is provided inside the guide cylinder 26. One end of the second cylindrical spring 20 is connected to the inner wall of the guide cylinder 26, and the other end is connected to the telescopic rod 27. The two guide cylinders 26 are connected to the threaded sleeve 6 through a transmission structure. The transmission structure includes a driven plate 28 fixed to the guide cylinder 26 and a follower arm 29 fixedly connected to the threaded sleeve 6. The driven plate 28 is inclinedly provided with a through groove 2801. The follower arm 29 is fixedly connected with a drive column 30 adapted to the through groove 2801. The drive column 30 passes through the through groove 2801 and is slidably connected to the driven plate 28.

[0041] In this embodiment, the threaded sleeve 6 drives the swing arm 8 to swing through the drive arm 7 so that when the roller 9 is supported on the inner wall of the pipe, the follower arm 29 moves together with the threaded sleeve 6. As a result, the drive column 30 will slide with the driven plate 28 through the through groove 2801, causing the driven plate 28 to drive the guide cylinder 26 to slide towards the outside of the cylinder 1. Correspondingly, the diverter plate 25 abuts against the circumferential bottom part of the inner wall of the pipe, and the second columnar spring 20 is compressed. During the movement of the device inside the pipeline, the V-shaped part 2501 can divert the residual water that has gathered at the bottom of the inner wall of the pipeline, so that the residual water is directed to both sides and blocked by the side baffle 2502. Thus, the other set of detection modules 2 can perform ultrasonic crack detection at the bottom of the inner wall of the pipeline.

[0042] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0043] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A smart sensing pipe-embedded ultrasonic crack detection device, comprising a cylinder and two sets of detection modules disposed on the cylinder, wherein the smart sensors in the two sets of detection modules are capable of exciting high-frequency ultrasonic pulses; Its features are, Also includes: Two sets of support-type walking modules are installed on the cylinder. Each support-type walking module includes multiple rollers that are equidistantly distributed along the circumference of the cylinder. The multiple rollers can be driven by a power mechanism installed on the cylinder to perform opening and closing actions so that the rollers can abut against the inner wall of the pipe to be inspected and roll along the axial direction of the pipe. The scraper, which is located at the end of the cylinder, can be driven by a rotating mechanism on the cylinder to make a circular motion. When the scraper is located at the bottom of the circumference of the inner wall of the pipe, it is separated from the inner wall of the pipe. When it is located at the non-bottom part of the inner wall of the pipe, it is in contact with the inner wall of the pipe, so as to collect the residual water on the inner wall of the pipe to the bottom of the circumference. A diversion plate is installed on the cylinder body. The diversion plate is connected to an assembly mechanism installed inside the cylinder body. The assembly mechanism is connected to a power mechanism. When the power mechanism drives multiple rollers to perform an opening action, the assembly mechanism is triggered, which can cause the diversion plate to abut against the bottom circumference of the pipe, so that the diversion plate can divert the residual water at the bottom circumference of the inner wall of the pipe.

2. The intelligent sensing pipe-embedded ultrasonic crack detection device according to claim 1, characterized in that, An assembly cylinder is fixed to the end of the cylinder body. The rotating mechanism includes a second drive motor installed inside the assembly cylinder and a rotating shaft connected to the output end of the second drive motor. The rotating shaft is connected to the scraper through an elastic telescopic component.

3. The intelligent sensing pipe-embedded ultrasonic crack detection device according to claim 2, characterized in that, The scraper is arc-shaped and has an inclined surface on one side. The elastic telescopic component is also connected to a sliding engagement component. When the scraper moves to the bottom of the pipe circumference, the sliding engagement component is triggered, which can drive the scraper to move radially along the pipe through the elastic telescopic component, so that the scraper separates from the inner wall of the pipe.

4. The intelligent sensing pipe-embedded ultrasonic crack detection device according to claim 2, characterized in that, Two guide arms are fixed on the rotating shaft. The elastic telescopic assembly includes an assembly plate that is slidably connected to the two guide arms. A connecting plate is fixed on the assembly plate. A guide post that is fixed to the scraper is slidably provided at both ends of the connecting plate. The guide post is fitted with a first cylindrical spring on its outer periphery. One end of the first cylindrical spring is connected to the connecting plate, and the other end is connected to a ring fixed on the guide post.

5. The intelligent sensing pipe-embedded ultrasonic crack detection device according to claim 3, characterized in that, The sliding fit assembly includes a sleeve that is slidably sleeved on the rotating shaft. Two connecting rods are provided between the sleeve and the assembly plate. One end of the connecting rod is hinged to the sleeve and the other end is hinged to the assembly plate. A kit is also fixedly fitted on the outer wall of the assembly cylinder. The kit has a groove.

6. The intelligent sensing pipe-embedded ultrasonic crack detection device according to claim 5, characterized in that, The sleeve is fixedly connected to a transmission arm, and a protrusion adapted to the groove is fixedly provided at one end of the transmission arm away from the sleeve. The protrusion extends into the groove and is slidably connected to the kit. The groove includes a first arc-shaped groove and a second arc-shaped groove disposed on the outer wall of the kit. The first arc-shaped groove and the second arc-shaped groove are offset from each other and are concentric with the kit. The first arc-shaped groove and the second arc-shaped groove are connected by two inclined grooves.

7. The intelligent sensing pipe-embedded ultrasonic crack detection device according to claim 1, characterized in that, The power mechanism includes a lead screw rotatably mounted inside the cylinder and two threaded sleeves sleeved on the lead screw and threadedly connected to the lead screw. A first drive motor with its output end connected to the lead screw is also installed inside the cylinder. The threaded sleeves are connected to the rollers through a push-pull structure.

8. The intelligent sensing pipe-embedded ultrasonic crack detection device according to claim 7, characterized in that, The push-pull structure includes a swing arm rotatably mounted on the cylinder, a roller located at the end of the swing arm away from the cylinder, and a groove provided on the swing arm, in which a slider is slidably fitted. The threaded sleeve is fixedly connected to a drive arm, and the end of the drive arm away from the threaded sleeve is hinged to the slider.

9. The intelligent sensing pipe-embedded ultrasonic crack detection device according to claim 7, characterized in that, The diversion plate is U-shaped with a V-shaped part at its end and side baffles on both sides. The assembly mechanism includes two guide cylinders that are slidably connected to the cylinder body and two telescopic rods that are slidably sleeved with the two guide cylinders and fixed to the diversion plate. The guide cylinder is equipped with a second cylindrical spring. One end of the second cylindrical spring is connected to the inner wall of the guide cylinder, and the other end is connected to the telescopic rod. The two guide cylinders are connected to the threaded sleeve through a set of transmission structures.

10. The intelligent sensing pipe-embedded ultrasonic crack detection device according to claim 9, characterized in that, The transmission structure includes a driven plate fixed to the guide cylinder and a follower arm fixedly connected to the threaded sleeve. The driven plate is provided with an inclined through groove, and the follower arm is fixedly connected to a drive column adapted to the through groove. The drive column passes through the through groove and is slidably connected to the driven plate.

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