Wall-hugging pipeline ultrasonic flaw detection device

Abstract

This invention relates to the field of pipeline flaw detection technology, specifically to an ultrasonic flaw detection device for wall-mounted pipelines. The device includes a control body, an upper clamp, a lower clamp, a clamping structure, a flaw detection structure, and a driving structure. The front ends of the upper and lower clamps extend to the side of the pipeline closest to the wall, forming an opening for the pipeline to pass through. The front ends of the upper and lower clamps and the control body do not exceed the front edge of the pipeline. A set of flaw detection structures is provided on the inner sides of both the upper and lower clamps. The upper clamp hooks onto the top of the pipeline, and the lower clamp holds the bottom of the pipe. The driving structure drives the device to move along the pipeline, while the flaw detection structures perform ultrasonic flaw detection on the pipeline. This device can perform ultrasonic flaw detection on installed pipelines, especially those installed close to a wall. It can be installed on the side of the pipeline away from the wall by hooking, and will not interfere with or collide with the wall during the detection process.

Description

Technical Field

[0001] This invention relates to the field of pipeline flaw detection technology, specifically to an ultrasonic flaw detection device for wall-mounted pipelines. Background Technology

[0002] Ultrasonic testing of pipelines is a non-destructive testing technique. Its principle is that when ultrasonic waves propagate in the material being tested, the acoustic properties and internal structure of the material have a certain influence on the propagation of ultrasonic waves. The technique of understanding the material properties and structural changes by detecting the degree and condition of the influence of ultrasonic waves is called ultrasonic testing.

[0003] Pipeline flaw detection requires not only comprehensiveness but also accuracy, making it a demanding task. Therefore, automated flaw detection technology is emerging. For example, the invention patent with application number CN202010252153.0, entitled "An Ultrasonic Pipeline Flaw Detection and Marking Device," includes a main body with a transmission cavity one, a transmission cavity two communicating with the transmission cavity on its lower side, a guide groove one communicating with the transmission cavity two on its lower side, the front wall of the guide groove one communicating with the main body, and a sliding block one slidably disposed within the guide groove one. This invention is simple to operate, has low manufacturing costs, and can drive the probe head to rotate around the pipeline through the sliding cooperation of the guide groove two and the sliding block two, achieving automated flaw detection.

[0004] However, this type of flaw detection device often has a large frame that is fitted onto the pipe. Therefore, when dealing with installed pipes, especially those installed close to the wall, the device cannot be used. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a wall-mounted ultrasonic flaw detection device for pipes, which can perform ultrasonic flaw detection on installed pipes, especially pipes installed close to a wall. The device can be installed on the side of the pipe away from the wall by means of a hook, and will not interfere with or collide with the wall during the detection process.

[0006] To achieve the above objectives, the present invention provides the following technical solution: An ultrasonic flaw detection device for wall-mounted pipes includes: a control body, an upper clamp, a lower clamp, a clamping structure, a flaw detection structure, and a driving structure. The upper clamp and the lower clamp are both arc-shaped frames and are arranged opposite to each other. The front ends of the upper clamp and the lower clamp extend to the side of the pipe near the wall and form an opening for the pipe to pass through. The rear end of the upper clamp is fixedly connected to the extended end of the clamping structure, and the rear end of the lower clamp is fixedly connected to the fixed end of the clamping structure. The control body is arranged below the lower clamp, and the driving structure is arranged on the control body. The front ends of the upper clamp, the lower clamp, and the control body do not exceed the front edge of the pipe. A set of flaw detection structures is arranged on the inner side of the upper clamp and the lower clamp. The flaw detection structure includes a sliding trolley, an extension frame, and an ultrasonic probe. The sliding trolley is used to drive the extension frame to extend, so that the ultrasonic probe at the front end of the extension frame extends into the gap between the pipe and the wall.

[0007] Preferably, the extension frame is arc-shaped, and an ultrasonic probe is also provided at the rear end of the extension frame.

[0008] Preferably, the driving structure includes: a driving wheel, a driving roller, a driving roller slide, and a driving roller push rod. The driving wheel is fixedly mounted on the control body and is used to drive the entire device to move along the axis of the pipeline. The driving roller is slidably mounted on the control body in a direction perpendicular to the axis of the pipeline via the driving roller slide. A driving roller push rod is provided between the driving roller slide and the control body. The driving roller is used to drive the entire device to rotate around the axis of the pipeline.

[0009] Preferably, the control unit includes: a signal module, a first drive module, a second drive module, a third drive module, a fourth drive module, a fifth drive module, an attitude sensing module, and a control unit. The signal receiving module is used to receive flaw detection signals from the flaw detection structures inside the upper and lower grippers. The first drive module is used to drive the sliding carriage inside the upper gripper to move. The second drive module is used to drive the sliding carriage inside the lower gripper to move. The third drive module is used to drive the clamping structure to move. The fourth drive module is used to drive the drive wheel to move. The fifth drive module is used to drive the drive roller push rod to move. The attitude sensing module is used to acquire the overall attitude parameters of the device. The control unit is used to process the flaw detection signals from the signal module, send commands to the first and second drive modules to realize the reciprocating action of flaw detection, send commands to the third drive module to realize the clamping or releasing action, send commands to the fourth drive module to realize the walking action, receive signals from the attitude sensing module, and send commands to the fifth drive module to realize the attitude adjustment action.

[0010] Preferably, the two sets of flaw detection structures inside the upper and lower grippers are staggered, and the two sliding carriages of the two sets of flaw detection structures keep relative to each other while reciprocating around the pipeline.

[0011] Preferably, the sliding trolley includes: a trolley body, a slider, a drive gear, and a drive rack. The slider is provided on the outer side of the trolley body, and the drive gear is provided on the top of the trolley body. The drive gear meshes with the arc-shaped drive rack.

[0012] Preferably, the clamping structure includes a clamping push rod and a light rod, the two ends of the clamping push rod are fixedly connected to the upper jaw and the lower jaw respectively, and a light rod is provided on the side of the clamping push rod.

[0013] Preferably, a stabilizing trolley is provided on both sides of the upper gripper, and the two stabilizing trolleys are fixedly connected to the upper gripper via connecting rods, and each of the two stabilizing trolleys is provided with an auxiliary wheel.

[0014] Compared with the prior art, the present invention provides an ultrasonic flaw detection device for wall-mounted pipes, which has the following beneficial effects: This invention discloses an ultrasonic flaw detection device for wall-mounted pipes, comprising: a control body, an upper clamp, a lower clamp, a clamping structure, a flaw detection structure, and a driving structure. The front ends of the upper clamp and the lower clamp extend to the side of the pipe closest to the wall, forming an opening for the pipe to pass through. The front ends of the upper clamp, the lower clamp, and the control body do not exceed the front edge of the pipe. A set of flaw detection structures is provided on the inner side of the upper clamp and the lower clamp. The upper clamp hooks onto the top of the pipe, and the lower clamp clamps onto the bottom of the pipe. The driving structure drives the device to move along the pipe, while the flaw detection structures perform ultrasonic flaw detection on the pipe. This device can perform ultrasonic flaw detection on installed pipes, especially pipes installed close to the wall. It can be installed on the side of the pipe away from the wall by hooking, and will not interfere or collide with the wall during the detection process.

[0015] The flaw detection structure of the present invention is a movable flaw detection unit driven by a sliding trolley, which can move along an arc-shaped trajectory on the upper and lower grippers. It moves on the pipeline in conjunction with the drive structure, enabling large-area flaw detection. Furthermore, since an extension frame is provided on the sliding trolley, when the sliding trolley moves towards the wall, it can drive the extension frame to extend into the gap between the pipeline and the wall, so that the ultrasonic probe at the front end of the extension frame can perform flaw detection on the part of the pipeline that is blocked by the wall, achieving the effect of comprehensive flaw detection on pipelines installed close to the wall. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the flaw detection device of the present invention; Figure 2 This is a schematic diagram of the external front structure of the flaw detection device of the present invention; Figure 3 This is a schematic diagram of the external side structure of the flaw detection device of the present invention; Figure 4 for Figure 1 A schematic diagram of the internal structure of the upper gripper in the middle; Figure 5 for Figure 1 A schematic diagram of the driving structure in the diagram; Figure 6 This is a schematic diagram illustrating the control principle of the present invention; Figure 7 Schematic diagram of the sliding cart Figure 1 ; Figure 8 Schematic diagram of the sliding cart Figure 2 ; Figure 9 for Figure 1 A schematic diagram of the clamping structure.

[0017] The components include: 1. Control unit; 2. Upper gripper; 3. Lower gripper; 4. Clamping structure; 5. Flaw detection structure; 6. Drive structure; 7. Pipeline; 8. Wall; 9. Front edge; 10. Stabilizing trolley; 11. Linkage rod; 12. Auxiliary wheel; 1-1. Signal module; 1-2. First drive module; 1-3. Second drive module; 1-4. Third drive module; 1-5. Fourth drive module; 1-6. Fifth drive module; 1-7. Attitude sensing module; 1-8. Control unit; 5-1. Sliding trolley; 5-2. Extension frame; 4-1. Clamping push rod; 4-2. Light rod; 5-3. Ultrasonic probe; 5-1-1. Car body; 5-1-2. Slider; 5-1-3. Drive gear; 5-1-4. Drive rack. Detailed Implementation

[0018] The technical solutions of specific embodiments of the present invention will now be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described specific embodiments are only a part of the present invention, and not all of it. Based on the specific embodiments of the present invention, all other specific embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Combination Figures 1 to 3As shown in the figure, a wall-mounted ultrasonic flaw detection device for pipes disclosed in this specific embodiment includes: a control body 1, an upper clamp 2, a lower clamp 3, a clamping structure 4, a flaw detection structure 5, and a driving structure 6. The upper clamp 2 and the lower clamp 3 are both arc-shaped frames and are arranged opposite to each other. The front ends of the upper clamp 2 and the lower clamp 3 extend to the side of the pipe 7 near the wall 8 and form an opening for the pipe 7 to pass through. The rear end of the upper clamp 2 is fixedly connected to the extended end of the clamping structure 4, and the rear end of the lower clamp 3 is fixedly connected to the fixed end of the clamping structure 4. The control body 1 is arranged below the lower clamp 3, and the driving structure 6 is arranged on the control body 1. The front ends of the upper clamp 2, the lower clamp 3, and the control body 1 do not exceed the front edge 9 of the pipe 7. A set of flaw detection structures 5 is arranged on the inner side of the upper clamp 2 and the lower clamp 3. In use, the pipe 7 enters through the opening formed by the front ends of the upper clamp 2 and the lower clamp 3. The upper clamp 2 hooks onto the top of the pipe, and the clamping structure 4 retracts, clamping the lower clamp 3 at the bottom of the pipe 7. The drive structure 6 drives the device to move along the pipe 7, while the flaw detection structure 5 performs ultrasonic flaw detection on the pipe 7. Due to the opening formed by the front ends of the upper clamp 2 and the lower clamp 3, the device can be hooked onto the pipe 7 that is already installed against the wall. Since the front ends of the upper clamp 2, the lower clamp 3, and the control body 1 do not exceed the front edge 9 of the pipe 7, the device will not interfere with the wall 8 during the detection process. This device can perform ultrasonic flaw detection on the installed pipe 7, especially the pipe 7 that is close to the wall 8. It can be hooked onto the side of the pipe 7 away from the wall 8, and will not interfere with or collide with the wall 8 during the detection process.

[0020] Combination Figure 1 and Figure 4 As shown, the flaw detection structure 5 includes: a sliding trolley 5-1, an extension frame 5-2, and an ultrasonic probe 5-3. The sliding trolley 5-1 is used to drive the extension frame 5-2 to extend, so that the ultrasonic probe 5-3 at the front end of the extension frame 5-2 extends into the gap between the pipe 7 and the wall 8.

[0021] The frame consisting of the upper clamp 2 and the lower clamp 3 leaves space on the side of the pipe 7 near the wall 8, allowing the entire device to be installed on the pipe installed against the wall. After installation, the pipe 7 is inspected by the flaw detection structure 5. The flaw detection structure 5 is a movable flaw detection unit driven by the sliding trolley 5-1, which can move along an arc trajectory on the upper clamp 2 and the lower clamp 3. It moves on the pipe 7 in conjunction with the drive structure 6, enabling large-area flaw detection. Furthermore, since the sliding trolley 5-1 is equipped with an extension frame 5-2, when the sliding trolley 5-1 moves towards the wall 8, it can drive the extension frame 5-2 to extend into the gap between the pipe 7 and the wall 8. This allows the ultrasonic probe 5-3 at the front end of the extension frame 5-2 to inspect the part of the pipe 7 that is blocked by the wall 8, achieving the effect of comprehensive flaw detection of the pipe 7 installed against the wall.

[0022] Specifically, in combination Figure 4 As shown, the extension frame 5-2 is arc-shaped, and an ultrasonic probe 5-3 is also provided at the rear end of the extension frame 5-2.

[0023] To avoid collisions with the wall 8, the front ends of the upper clamp 2 and the lower clamp 3 are set to not exceed the front edge 9 of the pipe 7. This setting reduces the moving path length of the sliding trolley 5-1, resulting in a reduced moving range of the ultrasonic probe 5-3 at the front end of the extension frame 5-2. By also setting an ultrasonic probe 5-3 at the rear end of the extension frame 5-2, the flaw detection range is increased and the accuracy of the flaw detection results is improved.

[0024] Specifically, in combination Figure 5 As shown, the drive structure 6 includes: a drive wheel 6-1, a drive roller 6-2, a drive roller slide 6-3, and a drive roller push rod 6-4. The drive wheel 6-1 is fixedly mounted on the control body 1 and is used to drive the entire device to move along the axis of the pipe 7. The drive roller 6-2 is slidably mounted on the control body 1 in a direction perpendicular to the axis of the pipe 7 via the drive roller slide 6-3. A drive roller push rod 6-3 is provided between the drive roller slide 6-3 and the control body 1. The drive roller 6-2 is used to drive the entire device to rotate around the axis of the pipe 7.

[0025] After the clamping structure 4 retracts, clamping the lower jaw 3 at the bottom of the pipe 7, the surface of the drive wheel 6-1 adheres to the bottom of the pipe 7. The shaft of the drive wheel 6-1 is connected to a motor installed in the control body 1 via a belt. The rotation of the drive wheel 6-1 drives the entire device to move along the axis of the pipe 7. Corresponding to the drive wheel 6-1, the drive roller 6-2 installed on the control body 1 is a non-powered roller. Its width is greater than that of the drive wheel 6-1, and its surface is provided with multiple annular grooves to increase the friction in the axial direction. The sliding structure composed of the drive roller slide 6-3 and the drive roller push rod 6-4 can push the drive roller 6-2 to move along its axial direction, thereby driving the entire device to rotate around the axis of the pipe 7, so that the line connecting the front ends of the upper jaw 2, the lower jaw 3, and the control body 1 is parallel to the surface of the wall 8, further preventing collisions.

[0026] Specifically, in combination Figure 6 As shown, the control body 1 includes: a signal module 1-1, a first drive module 1-2, a second drive module 1-3, a third drive module 1-4, a fourth drive module 1-5, a fifth drive module 1-6, an attitude sensing module 1-7, and a control unit 1-8. The signal receiving module 1-1 is used to receive the flaw detection signals from the flaw detection structure 5 inside the upper gripper 2 and the lower gripper 3. The first drive module 1-2 is used to drive the sliding carriage 5-1 inside the upper gripper 2 to move. The second drive module 1-3 is used to drive the sliding carriage 5-1 inside the lower gripper 3 to move. The third drive module 1-4 is used to drive the clamping structure 4 to move. The fourth drive module 1-6... The drive module 1-5 is used to drive the drive wheel 6-1 to move, the fifth drive module 1-6 is used to drive the drive roller push rod 6-4 to move, the attitude sensing module 1-7 is used to acquire the overall attitude parameters of the device, and the control unit 1-8 is used to process the flaw detection signal of the signal module 1-1, send instructions to the first drive module 1-2 and the second drive module 1-3 to realize the reciprocating action of flaw detection, send instructions to the third drive module 1-4 to realize the clamping or releasing action, send instructions to the fourth drive module 1-5 to realize the walking action, receive the signal of the attitude sensing module 1-7, and send instructions to the fifth drive module 1-6 to realize the attitude adjustment action.

[0027] After the device is hooked onto the pipe 7, the control unit 1-8 sends a command to the third drive module 1-4 to drive the clamping structure 4 to retract, so that the upper clamp 2 and the lower clamp 3 clamp the pipe 7. After the control unit 1-8 obtains the overall angle parameters of the device according to the attitude sensing module 1-7, it sends a command to the fifth drive module 1-6 according to the parameters, so that the drive roller push rod 6-4 pushes the drive roller 6-2 to move, causing the entire device to rotate around the pipe 7 until the line connecting the front ends of the upper clamp 2, the lower clamp 3 and the control body 1 is parallel to the surface of the wall 8. The control unit 1-8 sends a command to the fourth drive module 1-5 to drive the drive wheel 6-1 to rotate, pushing the entire device to move on the pipe 7. At the same time, the control unit 1-8 sends commands to the first drive module 1-2 and the second drive module 1-3 to make the two sliding carriages 5-1 reciprocate. The control unit 1-8 reads, analyzes and records the flaw detection signal of the signal module 1-1, and reads the signal of the attitude sensing module 1-7, and dynamically adjusts the attitude of the entire device according to the attitude data.

[0028] Specifically, in combination Figure 3 As shown, the two sets of flaw detection structures 5 inside the upper gripper 2 and the lower gripper 3 are staggered. The two sliding carriages 5-1 of the two sets of flaw detection structures 5 keep relative to each other and swing back and forth around the pipe 7.

[0029] The two sets of flaw detection structures 5 are staggered to avoid mutual interference, and the two sliding carriages 5-1 move back and forth relative to each other in a way that keeps the connecting line passing through the center of the pipe 7.

[0030] Specifically, in combination Figure 7 and Figure 8 As shown, the sliding trolley 5-1 includes: a trolley body 5-1-1, a slider 5-1-2, a drive gear 5-1-3, and a drive rack 5-1-4. The slider 5-1-2 is provided on the outer side of the trolley body 5-1-1, and the drive gear 5-1-3 is provided on the top of the trolley body 5-1-1. The drive gear 5-1-3 meshes with the arc-shaped drive rack 5-1-4.

[0031] The car body 5-1-1 is slidably connected to the upper gripper 2 and the lower gripper 3 via the slider 5-1-2 set on the outside. The drive gear 5-1-3 driven by the motor rotates on the drive rack 5-1-4, realizing the movement of the sliding car 5-1.

[0032] Specifically, in combination Figure 9 As shown, the clamping structure 4 includes a clamping push rod 4-1 and a light rod 4-2. The two ends of the clamping push rod 4-1 are fixedly connected to the upper jaw 2 and the lower jaw 3, respectively. The light rod 4-2 is provided on the side of the clamping push rod 4-1.

[0033] The clamping and releasing actions of the upper jaw 2 and the lower jaw 3 are achieved by extending and retracting the clamping push rod 4-1. The light rod 4-2 is set to increase the connection strength while ensuring the stability of the extension and retraction of the clamping push rod 4-1.

[0034] Specifically, in combination Figure 2 and Figure 3 As shown, a stabilizing trolley 10 is provided on both sides of the upper gripper 2. Both stabilizing trolleys 10 are fixedly connected to the upper gripper 2 through a connecting rod 11. Both stabilizing trolleys 10 are provided with auxiliary wheels 12.

[0035] The two stabilizing trolleys 10 increase the contact area between the upper gripper 2 and the pipe 7. The rolling direction of the auxiliary wheel 12 is parallel to the axial direction of the pipe. In order to further reduce the resistance of the device as a whole when rotating around the pipe 7, the auxiliary wheel 12 can be set as a universal wheel, which increases the stability of the device as a whole when moving along the pipe, and at the same time reduces the rotational resistance when adjusting the attitude.

[0036] Although specific embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these specific embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A wall-mounted ultrasonic flaw detection device for pipes, characterized in that, include: The control body (1), upper jaw (2), lower jaw (3), clamping structure (4), flaw detection structure (5) and driving structure (6) are provided. The upper jaw (2) and the lower jaw (3) are both arc-shaped frames and are arranged opposite to each other. The front ends of the upper jaw (2) and the lower jaw (3) extend to the side of the pipe (7) near the wall (8) and form an opening for the pipe (7) to pass through. The rear end of the upper jaw (2) is fixedly connected to the extended end of the clamping structure (4). The rear end of the lower jaw (3) is fixedly connected to the fixed end of the clamping structure (4). The control body (1) is provided below the lower jaw (3). The driving structure (6) is provided on the control body (1). The front ends of the upper jaw (2), the lower jaw (3) and the control body (1) do not exceed the front edge (9) of the pipe (7). A set of flaw detection structures (5) is provided on the inner side of the upper jaw (2) and the lower jaw (3). The flaw detection structure (5) includes: a sliding trolley (5-1), an extension frame (5-2), and an ultrasonic probe (5-3). The sliding trolley (5-1) is used to drive the extension frame (5-2) to extend, so that the ultrasonic probe (5-3) at the front end of the extension frame (5-2) extends into the gap between the pipe (7) and the wall (8).

2. The ultrasonic flaw detection device for wall-mounted pipes according to claim 1, characterized in that, The extension frame (5-2) is arc-shaped, and an ultrasonic probe (5-3) is also provided at the rear end of the extension frame (5-2).

3. The ultrasonic flaw detection device for wall-mounted pipes according to claim 2, characterized in that, The drive structure (6) includes: a drive wheel (6-1), a drive roller (6-2), a drive roller slide (6-3), and a drive roller push rod (6-4). The drive wheel (6-1) is fixedly mounted on the control body (1). The drive wheel (6-1) is used to drive the entire device to move along the axis of the pipe (7). The drive roller (6-2) is slidably mounted on the control body (1) in a direction perpendicular to the axis of the pipe (7) via the drive roller slide (6-3). A drive roller push rod (6-3) is provided between the drive roller slide (6-3) and the control body (1). The drive roller (6-2) is used to drive the entire device to rotate around the axis of the pipe (7).

4. The ultrasonic flaw detection device for wall-mounted pipes according to claim 3, characterized in that, The control unit (1) includes: a signal module (1-1), a first drive module (1-2), a second drive module (1-3), a third drive module (1-4), a fourth drive module (1-5), a fifth drive module (1-6), an attitude sensing module (1-7), and a control unit (1-8). The signal receiving module (1-1) is used to receive the flaw detection signals from the flaw detection structure (5) inside the upper gripper (2) and the lower gripper (3). The first drive module (1-2) is used to drive the sliding carriage (5-1) inside the upper gripper (2) to move. The second drive module (1-3) is used to drive the sliding carriage (5-1) inside the lower gripper (3) to move. The third drive module (1-4) is used to drive the clamping structure (4) to move. The fourth drive module (1-5) is used to drive the drive wheel (6-1) to move, the fifth drive module (1-6) is used to drive the drive roller push rod (6-4) to move, the attitude sensing module (1-7) is used to acquire the overall attitude parameters of the device, and the control unit (1-8) is used to process the flaw detection signal of the signal module (1-1), send instructions to the first drive module (1-2) and the second drive module (1-3) to realize the reciprocating action of flaw detection, send instructions to the third drive module (1-4) to realize the clamping or releasing action, send instructions to the fourth drive module (1-5) to realize the walking action, receive the signal of the attitude sensing module (1-7), and send instructions to the fifth drive module (1-6) to realize the attitude adjustment action.

5. A wall-mounted pipe ultrasonic flaw detection device according to any one of claims 1, 2, 3 or 4, characterized in that, The two sets of flaw detection structures (5) inside the upper jaw (2) and the lower jaw (3) are staggered. The two sliding carriages (5-1) of the two sets of flaw detection structures (5) keep relative to each other and swing back and forth around the pipe (7).

6. The ultrasonic flaw detection device for wall-mounted pipes according to claim 5, characterized in that, The sliding trolley (5-1) includes: a trolley body (5-1-1), a slider (5-1-2), a drive gear (5-1-3), and a drive rack (5-1-4). The slider (5-1-2) is provided on the outer side of the trolley body (5-1-1), and the drive gear (5-1-3) is provided on the top of the trolley body (5-1-1). The drive gear (5-1-3) meshes with the arc-shaped drive rack (5-1-4).

7. The ultrasonic flaw detection device for wall-mounted pipes according to claim 6, characterized in that, The clamping structure (4) includes a clamping push rod (4-1) and a smooth rod (4-2). The two ends of the clamping push rod (4-1) are fixedly connected to the upper jaw (2) and the lower jaw (3) respectively. The smooth rod (4-2) is provided on the side of the clamping push rod (4-1).

8. The ultrasonic flaw detection device for wall-mounted pipes according to claim 1, characterized in that, A stabilizing trolley (10) is provided on both sides of the upper gripper (2). Both stabilizing trolleys (10) are fixedly connected to the upper gripper (2) through a connecting rod (11). Both stabilizing trolleys (10) are provided with auxiliary wheels (12).

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