Pipeline inner wall defect detection device

Abstract

The utility model relates to the technical field of detection, and provides a pipeline inner wall defect detection device which comprises a frame used for moving in a pipeline, wheels arranged in a swinging mode relative to the frame, after the wheels are configured to swing, the axes of the wheels are perpendicular to the axis of the pipeline, a detection adjusting frame is arranged on the frame, and the detection adjusting frame is arranged on the frame. The detection adjusting frame comprises a fixing piece which is arranged in a swinging mode, and the detection device is arranged on the fixing piece. By means of the technical scheme, the technical problem that in the prior art, defect detection of the inner wall of a small-pipe-diameter pipeline is inconvenient is solved, and damage detection of the small-pipe-diameter inner wall is achieved.

Description

Technical Field

[0001] This utility model relates to the field of detection technology, specifically to a device for detecting defects in the inner wall of a pipeline. Background Technology

[0002] In the field of pipeline maintenance and inspection, accurate detection of coating defects on the inner walls of pipelines is crucial for ensuring safe operation and extending their service life. However, traditional pipeline inner wall defect detection devices have many problems and are difficult to meet the diverse needs of modern industrial and municipal pipeline inspection.

[0003] The increasing number of small-diameter industrial and municipal pipelines has led to increasingly stringent requirements for defect detection on pipeline inner walls. In the field of blowout preventers (BOPs), penetrant testing of the inner bore is challenging due to their small inner diameter (only 76 mm) and length (1800 mm or more). Conventional spray-type solvent-removable flaw detectors are difficult to use, and traditional flaw detection methods are also impractical. While water-washing dye penetrant testing can achieve staining, existing probe-type testing devices and guns cannot be fixed in place, resulting in uncontrollable angles after insertion into the pipe and inaccurate test results. Utility Model Content

[0004] To overcome the above-mentioned defects, this utility model provides a pipe inner wall defect detection device, which solves the technical problem of inconvenient detection of inner wall defects in small-diameter pipes in the prior art.

[0005] According to one aspect, at least one embodiment of the present invention provides a pipe inner wall defect detection device, comprising:

[0006] A chassis for moving within a pipe;

[0007] A wheel, which is oscillating relative to the frame, is configured such that, after oscillation, the axis of the wheel is perpendicular to the axis of the pipe;

[0008] A detection adjustment frame is mounted on the vehicle frame. The detection adjustment frame includes a swing-mounted fixing member, and a detection device is mounted on the fixing member.

[0009] For example, at least one embodiment of this disclosure provides a pipe inner wall defect detection device, wherein the chassis further includes:

[0010] Mounting rack;

[0011] A wheel adjustment bracket, wherein there are several wheel adjustment brackets, and the several wheel adjustment brackets are respectively arranged on both sides of the mounting bracket for mounting the wheel and adjusting the wheel angle;

[0012] A steering transmission assembly, which is used for connecting the wheel and the drive component and transmitting power.

[0013] For example, at least one embodiment of this disclosure provides a pipe inner wall defect detection device, wherein the reversing transmission assembly includes:

[0014] A first transmission joint is used to connect to the output end of the drive component;

[0015] A third transmission joint, which is used to connect to the wheel;

[0016] The second transmission section includes a transmission rod and transmission blocks slidably disposed at both ends of the transmission rod. The two transmission blocks are respectively connected to the first transmission section and the third transmission section via universal joints.

[0017] For example, at least one embodiment of this disclosure provides a pipe inner wall defect detection device, wherein the wheel adjustment bracket includes:

[0018] A connecting rod, which is rotatably adjustable on the mounting bracket;

[0019] A fixing frame, which is rotatably adjustable at the end of the connecting rod away from the mounting frame;

[0020] A fixed connecting rod is provided for connecting the fixed frame and the mounting frame. The fixed connecting rod has an adjusting end with a plurality of adjusting holes along the length of the adjusting end. One of the adjusting holes is used to mate with a fixing hole on the mounting frame for the passage of a fixing pin.

[0021] For example, at least one embodiment of this disclosure provides a pipe inner wall defect detection device, wherein the fixing member has a locking hole, and the detection adjustment frame further includes:

[0022] An adjusting seat is provided on the mounting bracket, and the fixing member is oscillatingly provided on the adjusting seat;

[0023] A locking member is provided, which is oscillating relative to the adjusting seat. When the locking member is oscillating, one end of the locking member abuts against and presses against the inner wall of the locking hole.

[0024] For example, at least one embodiment of this disclosure provides a pipe inner wall defect detection device, wherein the detection adjustment frame further includes:

[0025] A lead screw, which is rotatably mounted on the adjusting seat;

[0026] A slider, the slider being threaded onto the lead screw, the slider having a guide groove;

[0027] A swing rod is oscillatingly mounted on the adjusting seat. The middle part of the locking member is hinged to the swing rod. The end of the locking member away from the locking hole has a sliding part, which is slidably mounted in the guide groove. The lead screw is configured to rotate and drive the locking member to swing. The locking member abuts against or releases from the locking hole.

[0028] For example, at least one embodiment of this disclosure provides a pipe inner wall defect detection device, wherein the adjusting seat has a V-groove, the fixing member has a cylindrical surface, and the cylindrical surface abuts against the inner wall of the V-groove.

[0029] For example, at least one embodiment of this disclosure provides a pipe inner wall defect detection device, wherein a duct space is formed between the adjusting seat and the fixing member, and the duct space is used for the passage and accommodation of the detection device's wiring.

[0030] For example, at least one embodiment of this disclosure provides a pipe inner wall defect detection device, wherein the fixing member has a mounting hole for installing the detection device, and the fixing member is detachably disposed in the V-groove.

[0031] For example, at least one embodiment of this disclosure provides a pipe inner wall defect detection device, wherein the driving component is a drive motor.

[0032] The beneficial effects of the embodiments of this utility model are as follows:

[0033] In this invention, the wheel's axis is adjustable, allowing the frame to adapt to the internal environment of pipes with different diameters and shapes. When the wheel swings, its axis is perpendicular to the pipe's radial direction, ensuring stable movement of the frame within the pipe and preventing deviation during movement that could prevent it from traveling along the pipe's axis. This improves the stability and adaptability of the frame's movement within the pipe, providing a reliable foundation for inspection work.

[0034] The swingable fixing parts on the inspection adjustment frame allow for flexible adjustment of the inspection device's position and angle according to the actual conditions of the pipe's inner wall. The inspection device achieves positioning through the swinging of the fixing parts, ensuring the inspection probe maintains a suitable distance and angle from the pipe's inner wall. This allows for comprehensive and accurate acquisition of images, data, and other information about the pipe's inner wall, improving the accuracy and reliability of the inspection.

[0035] The stable movement of the chassis and the flexible adjustment of the inspection frame work together to enable the inspection device to efficiently and accurately complete defect detection tasks in complex pipeline environments. This design reduces blind spots and errors caused by insufficient equipment adaptability, improves the efficiency of inspection work, and reduces the difficulty and intensity of manual operation. It can be widely used for the detection of internal wall defects in various small-diameter industrial pipelines, municipal pipelines, etc. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this utility model, the accompanying drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are merely some exemplary embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the content of the exemplary embodiments of this utility model and these drawings without any creative effort.

[0037] Figure 1 This is a schematic diagram of the structure of one embodiment of the present utility model;

[0038] Figure 2 for Figure 1 A magnified structural diagram of A in the middle;

[0039] Figure 3 for Figure 1 A magnified structural diagram of B in the diagram.

[0040] In the diagram: Frame-1, Wheel-101, Mounting bracket-102, Wheel adjusting bracket-103, Connecting rod-1031, Fixing bracket-1032, Fixing connecting rod-1033, Adjusting end-1034, Adjusting hole-1035, Fixing hole-1036, Steering transmission assembly-104, First transmission joint-1041, Third transmission joint-1043, Second transmission joint-1042, Transmission block-1044 Universal joint-1045, detection and adjustment bracket-2, fixing part-201, locking hole-2011, cylindrical surface-2012, mounting hole-2013, adjusting seat-202, locking part-203, lead screw-204, slider-205, guide groove-2051, swing rod-206, sliding part-2031, V-groove-2021, duct space-207, detection device-3, driving part-4. Detailed Implementation

[0041] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it.

[0042] To keep the drawings concise, only the parts relevant to the utility model are shown schematically in each drawing; these do not represent the actual structure of the product. Furthermore, for ease of understanding, in some drawings, only one of the components with the same structure or function is schematically shown, or only one is labeled. In this document, "a" not only means "only one," but can also mean "more than one," and "several" includes "two" and "more than two."

[0043] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0044] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0045] In the description of this embodiment, terms such as "upper," "lower," "left," and "right" are based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of description and simplification of operation, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0046] Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0047] like Figures 1-3 As shown, it illustrates a pipe inner wall defect detection device in one embodiment of the present invention.

[0048] In some examples, such as Figure 1 As shown, the wheels 101 of the frame 1 have an adjustable angle between their axles and the frame 1 body. This design allows the frame to adapt to the internal environment of pipes with different diameters and shapes. When the wheels 101 swing, their axes are perpendicular to the radial direction of the pipe, ensuring that the frame 1 moves stably within the pipe and avoiding deviation during movement, thus preventing it from moving along the pipe axis. This improves the stability and adaptability of the frame 1 within the pipe, providing a reliable mobile foundation for inspection work.

[0049] The swingable fixing part 201 on the detection adjustment frame 2 can flexibly adjust the position and angle of the detection device 3 according to the actual situation of the inner wall of the pipe. The detection device 3 can achieve positioning through the swing of the fixing part 201, ensuring that the detection probe maintains a suitable distance and angle with the inner wall of the pipe, thereby comprehensively and accurately acquiring images, data and other information of the inner wall of the pipe, improving the accuracy and reliability of the detection.

[0050] The stable movement of the chassis 1 and the flexible adjustment of the inspection and adjustment frame 2 work together to enable the inspection device 3 to efficiently and accurately complete defect inspection tasks in complex pipeline environments. This design reduces blind spots and errors caused by insufficient equipment adaptability, improves the efficiency of inspection work, and reduces the difficulty and intensity of manual operation. It can be widely used for the inspection of internal wall defects in various small-diameter industrial pipelines, municipal pipelines, etc.

[0051] In some examples, such as Figure 2 As shown, multiple wheel adjustment brackets 103 are respectively arranged on both sides of the mounting frame 102. Each wheel adjustment bracket 103 can independently mount a wheel 101 and adjust its angle. This design allows the frame 1 to flexibly adjust the angle of the wheels 101 according to the inner diameter, inner wall shape, and actual testing requirements of different pipes, ensuring that the axis of the wheels 101 is perpendicular to the radial direction of the pipe, thereby achieving stable movement of the frame 1 within the pipe. The reversing transmission assembly 104 serves as a connection and power transmission between the wheels 101 and the drive component 4. It can transmit the power generated by the drive component 4 to the wheels 101 in a suitable direction and manner, enabling the wheels 101 to rotate in the expected manner, thus realizing the movement of the frame 1 within the pipe.

[0052] Due to the special nature of the internal space and structure of the pipeline, the installation position and output direction of the drive component 4 cannot be directly matched with the wheel 101. The reversing transmission assembly 104 solves this problem by changing the direction of power transmission, optimizing the power transmission path, improving power transmission efficiency, and ensuring that the power of the drive component 4 can effectively drive the wheel 101 to rotate.

[0053] The chassis 1, through the coordinated operation of the mounting frame 102, wheel adjustment frame 103, and reversing transmission assembly 104, enhances the performance and applicability of the pipeline inner wall defect detection device. This allows the chassis 1 to move stably and flexibly in various complex pipeline internal environments, providing a reliable mobile platform for the detection device 3. Consequently, it improves the detection efficiency and accuracy of the entire pipeline inner wall defect detection device, enabling it to better meet the detection needs of actual engineering projects.

[0054] In some examples, such as Figure 2As shown, the transmission rod provides structural support and a basic path for power transmission for the entire second transmission section 1042. The transmission blocks 1044, slidably mounted at both ends of the transmission rod, increase the flexibility of the transmission. When the angle of the wheel 101 changes, the transmission blocks 1044 can slide on the transmission rod, automatically adjusting their relative position to the first transmission section 1041 and the third transmission section 1043 to adapt to different angle and distance changes, ensuring that the continuity of power transmission is not affected.

[0055] Two transmission blocks 1044 are respectively connected to the first transmission joint 1041 and the third transmission joint 1043 via universal joints 1045, which enable the transmission system to rotate freely in multiple directions. This allows power to be transmitted smoothly at different angles and directions during the process of the wheel 101 swinging to adjust its angle, without interruption or obstruction due to changes in angle.

[0056] The reversing transmission assembly 104, through the coordinated operation of the first transmission joint 1041, the second transmission joint 1042, and the third transmission joint 1043, achieves efficient power transmission under complex working conditions. It can adapt to frequent changes in the wheel 101 angle, ensuring stable and continuous power transmission from the drive component 4 to the wheels 101, providing reliable power support for the stable movement of the frame 1 within the pipeline. This design not only improves the adaptability of the pipeline inner wall defect detection device to different pipeline environments but also enhances the device's reliability and stability, enabling the detection device to operate smoothly under various complex pipeline conditions, improving the efficiency and accuracy of detection work, and reducing the risk of equipment failure due to power transmission problems.

[0057] In some examples, such as Figure 2 As shown, the connecting rod 1031 is oscillatingly mounted on the mounting bracket 102, providing a basic oscillating structure for the wheel adjustment bracket 103. This allows the fixed bracket 1032 and the wheel 101 mounted thereon to oscillate around the mounting bracket 102, thereby adjusting the angle of the wheel 101. This oscillating connection increases the flexibility of wheel 101 angle adjustment, enabling it to adapt to changes in pipe diameter and pipe inner wall shape.

[0058] The fixing bracket 1032 is oscillating at the end of the connecting rod 1031 away from the mounting bracket 102, and is mainly used to fix the wheel 101. It not only provides a support structure for the wheel 101, but also, through its oscillating connection with the connecting rod 1031, further enhances the wheel 101's angle adjustment capability. The oscillation of the fixing bracket 1032 allows for fine-tuning of the wheel 101's angle based on the oscillation of the connecting rod 1031, enabling the wheel 101 to more precisely adapt to changes in the pipeline and ensuring the stability of the frame 1's movement within the pipeline.

[0059] The fixing link 1033 is used to connect the fixing frame 1032 and the mounting frame 102, which plays a role in stabilizing the entire wheel adjustment frame 103 structure. It connects the fixing frame 1032 and the mounting frame 102 into a whole, ensuring that the relative positions between the components remain stable during the adjustment of the wheel 101 angle and the movement of the frame 1, and avoiding the normal operation of the wheel 101 and the stability of the frame due to structural loosening.

[0060] Adjustment end 1034 and adjustment holes 1035: The adjustment end 1034 has a plurality of adjustment holes 1035 along its length, which engage with the fixing holes 1036 on the mounting bracket 102 and pass through the fixing pins 1037. This design provides an adjustable fixing method, allowing different adjustment holes 1035 to be aligned with the fixing holes 1036 according to actual needs, thereby adjusting the position of the mounting bracket 1032 and the angle of the wheel 101.

[0061] The wheel adjustment bracket 103, through the coordinated operation of the connecting rod 1031, the fixed bracket 1032, and the fixed connecting rod 1033, enables flexible and precise adjustment of the wheel 101 angle. This adjustment method allows the frame 1 to adapt to various complex pipeline environments. Regardless of changes in pipe diameter, the wheel 101 can maintain good contact and stable support with the inner wall of the pipeline through the adjustment of the bracket, thus ensuring the stable movement of the frame 1 within the pipeline. Simultaneously, the adjustable fixing method increases the versatility and adaptability of the device, meeting the needs of different inspection tasks and improving the overall performance and reliability of the pipeline inner wall defect detection device.

[0062] In some examples, such as Figure 3 As shown, the locking hole 2011 cooperates with the locking member 203. When it is necessary to fix the position of the detection device 3, the inner wall of the locking hole 2011 can be tightly abutted against one end of the locking member 203, thereby limiting the swing of the fixing member 201, ensuring that the detection device 3 remains stable during the detection process, and avoiding the impact on the accuracy of the detection results due to the shaking of the fixing member 201.

[0063] The adjusting seat 202 is mounted on the mounting bracket 102, providing a swingable mounting base for the fixing component 201. This allows the fixing component 201 to swing flexibly within a certain range, thereby adjusting the angle and position of the detection device 3 according to the actual conditions of the pipe's inner wall. The adjusting seat 202 also enhances the overall stability of the detection adjustment bracket 2. By connecting the fixing component 201 to the mounting bracket 102, it distributes the weight and force of the fixing component 201 and the detection device 3, preventing excessive localized stress from affecting the structure of the frame 1.

[0064] The locking element 203 is oscillating relative to the adjusting seat 202, and its main function is to lock and unlock the fixing element 201. When it is necessary to adjust the position of the detection device 3, the locking element 203 can be oscillated to the unlocked state, allowing the fixing element 201 to swing freely; after adjusting to the appropriate position, the locking element 203 is oscillated to the position abutting against the inner wall of the locking hole 2011, thereby locking the fixing element 201. This oscillating locking method is convenient to operate and can quickly fix and adjust the position of the detection device 3, improving the efficiency of the detection work.

[0065] The tight fit between the locking member 203 and the locking hole 2011 ensures the stability of the fixing member 201 after it is locked. Even if the frame 1 encounters vibration or other external forces during its movement in the pipe, it can ensure that the position of the detection device 3 will not shift, thus ensuring the reliability of the detection results.

[0066] Through the coordinated operation of the locking hole 2011 of the fixing member 201, the adjusting seat 202, and the locking member 203, the inspection adjustment frame 2 achieves flexible adjustment and stable fixation of the inspection device 3. The adjusting seat 202 provides a basis for swinging, enabling the inspection device 3 to adapt to different pipeline inspection needs; the cooperation of the locking hole 2011 and the locking member 203 ensures the stability of the inspection device 3 after it is adjusted to the appropriate position. This design improves the detection accuracy and efficiency of the pipeline inner wall defect detection device, enabling it to accurately detect defects in the pipeline inner wall in complex pipeline environments. It also enhances the reliability and stability of the device, reducing the risk of detection errors and equipment damage caused by unstable device position.

[0067] In some examples, such as Figure 3 As shown, the lead screw 204, slider 205, swing rod 206, and sliding part 2031 of locking member 203 cooperate to form a highly efficient and precise locking and unlocking mechanism. By rotating the lead screw 204, the locking member 203 can automatically swing, thereby quickly and accurately locking and unlocking the fixed member 201. This design improves the automation level and ease of operation of the detection adjustment frame 2, making the position adjustment of the detection device 3 more flexible and stable. During the detection of defects in the inner wall of the pipeline, the position of the detection device 3 can be quickly adjusted and firmly locked according to actual needs, ensuring the efficiency of the detection work and the accuracy of the detection results, further improving the overall performance and practicality of the pipeline inner wall defect detection device.

[0068] In some examples, such as Figure 3As shown, the V-groove 2021 provides a specific-shaped mounting and positioning structure for the fastener 201. Its V-shaped design allows it to fit tightly against the cylindrical surface 2012 of the fastener 201. During the swinging process of the fastener 201, the two side walls of the V-groove can restrict and guide the cylindrical surface, ensuring that the fastener 201 can only swing within a set range, thus improving the stability and controllability of the swinging of the fastener 201.

[0069] The structure of the V-groove 2021 also increases the contact area with the cylindrical surface 2012, thereby increasing the friction between the two. This helps the fastener 201 to remain relatively stable after being adjusted to the appropriate position, reducing the accidental shaking of the fastener 201 caused by external forces or vibrations, and providing a more stable installation foundation for the detection device 3.

[0070] The cylindrical surface 2012 abuts against the inner wall of the V-groove 2021. Its smooth cylindrical structure allows it to swing smoothly within the V-groove, reducing frictional resistance during the swing process and enabling the fixing member 201 to adjust its angle more flexibly. At the same time, the shape of the cylindrical surface can fit tightly with the two side walls of the V-groove, ensuring the stability and positioning accuracy of the fixing member 201 during the swing process.

[0071] In some examples, such as Figure 3 As shown, the wiring space 207 provides a dedicated area for the wiring of the testing device 3 to pass through and accommodate, enabling effective management of the wiring. During the operation of the testing device 3, it avoids tangling and pulling of the wiring due to haphazard placement, reducing the risk of wiring damage. At the same time, the wiring space provides a certain degree of protection for the wiring, preventing it from being subjected to external physical damage, extending the service life of the wiring, and ensuring the stability and reliability of the electrical connections of the testing device 3.

[0072] When the position or angle of the detection device 3 needs to be adjusted, the wiring within the wiring space 207 can move relatively freely with the swing of the fixing member 201, without causing excessive stretching or twisting of the wiring. This makes it more convenient for operators to adjust the detection device 3 without worrying about the wiring obstructing their view. During equipment maintenance, the wiring space 207 also facilitates technicians in inspecting, repairing, and replacing the wiring, improving the efficiency of maintenance work.

[0073] In some examples, such as Figure 1As shown, the mounting hole 2013 of the fastener 201 provides a clear and stable mounting position for the testing device 3. By installing the testing device 3 within the mounting hole 2013, a firm connection between the testing device 3 and the fastener 201 can be ensured, reducing testing errors caused by device movement during the testing process. Simultaneously, this installation method makes the installation and disassembly of the testing device 3 more convenient, allowing technicians to quickly replace or adjust the testing device 3 according to actual testing needs, thus improving work efficiency.

[0074] The mounting hole 2013 helps to achieve precise positioning of the detection device 3. When the fixing member 201 swings and adjusts its angle within the V-groove 2021 of the adjusting seat 202, the detection device 3 installed in the mounting hole 2013 can accurately adjust its position and angle with the fixing member 201, thereby better aligning with the detection part on the inner wall of the pipe and improving the accuracy and precision of the detection.

[0075] The fastener 201 is detachably mounted within the V-groove 2021, making maintenance, repair, or upgrades of the testing device 3 or the fastener 201 itself more convenient. Technicians can easily remove the fastener 201 from the V-groove 2021 to inspect, replace, or repair its internal components, and can also perform detailed testing and adjustments on the testing device 3. This detachable design reduces maintenance costs and time.

[0076] In some examples, such as Figure 1 As shown, the drive motor provides stable and continuous power, ensuring a reliable power source for the rotation of the wheels 101 of the frame 1. Compared to other power sources, the speed and torque of the drive motor can be precisely controlled and adjusted according to actual needs, ensuring that the frame 1 can move stably at a suitable speed within the pipe.

[0077] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A device for detecting defects in the inner wall of a pipe, characterized in that, include: A frame (1) for moving within a pipe; A wheel (101) is oscillating relative to the frame (1), and the wheel (101) is configured such that, after oscillation, the axis of the wheel (101) is perpendicular to the axis of the pipe. The detection adjustment frame (2) is mounted on the vehicle frame (1). The detection adjustment frame (2) includes a swing-mounted fixing member (201) and a detection device (3) is mounted on the fixing member (201).

2. The apparatus for detecting defects in the inner wall of a pipe according to claim 1, wherein The frame (1) also includes: Mounting bracket (102); Wheel adjustment bracket (103), there are several wheel adjustment brackets (103), and several wheel adjustment brackets (103) are respectively arranged on both sides of the mounting bracket (102) for mounting the wheel (101) and adjusting the angle of the wheel (101); A reversing drive assembly (104) is used for connecting the wheel (101) and the drive member (4) and transmitting power.

3. A device for detecting defects in the inner wall of a pipe according to claim 2, characterized in that The reversing transmission assembly (104) includes: The first transmission section (1041) is used to connect to the output end of the drive unit (4); The third transmission joint (1043) is used to connect with the wheel (101); The second transmission section (1042) includes a transmission rod and transmission blocks (1044) slidably disposed at both ends of the transmission rod. The two transmission blocks (1044) are respectively connected to the first transmission section (1041) and the third transmission section (1043) through universal joints (1045).

4. The apparatus for detecting defects in the inner wall of a pipe according to claim 2, wherein The wheel adjustment bracket (103) includes: A connecting rod (1031) is rotatably and adjustablely mounted on the mounting bracket (102); A fixing frame (1032) is rotatably adjustable at one end of the connecting rod (1031) away from the mounting frame (102); A fixed connecting rod (1033) is used to connect the fixed frame (1032) and the mounting frame (102). The fixed connecting rod (1033) has an adjusting end (1034). The adjusting end (1034) has a plurality of adjusting holes (1035) along the length direction of the adjusting end (1034). One of the adjusting holes (1035) is used to cooperate with the fixing hole (1036) on the mounting frame (102) for the passing of the fixing pin (1037).

5. The apparatus for detecting defects in the inner wall of a pipe according to claim 2, wherein The fastener (201) has a locking hole (2011), and the detection adjustment bracket (2) further includes: An adjusting seat (202) is provided on the mounting bracket (102), and the fixing member (201) is swaying on the adjusting seat (202); The locking member (203) is oscillating relative to the adjusting seat (202). When the locking member (203) is oscillating, one end of the locking member (203) abuts against and presses against the inner wall of the locking hole (2011).

6. A device for detecting defects in the inner wall of a pipe according to claim 5, characterized in that The detection adjustment frame (2) also includes: A lead screw (204) is rotatably mounted on the adjusting seat (202); A slider (205) is threaded onto the lead screw (204) and has a guide groove (2051). A swing rod (206) is swingably mounted on the adjusting seat (202). The middle part of the locking member (203) is hinged to the swing rod (206). The end of the locking member (203) away from the locking hole (2011) has a sliding part (2031). The sliding part (2031) is slidably mounted in the guide groove (2051). The lead screw (204) is configured to rotate and drive the locking member (203) to swing. The locking member (203) abuts against or releases from the locking hole (2011).

7. A device for detecting defects in the inner wall of a pipe according to claim 6, characterized in that The adjusting seat (202) has a V-groove (2021), and the fixing member (201) has a cylindrical surface (2012), which abuts against the inner wall of the V-groove (2021).

8. A device for detecting defects in the inner wall of a pipe according to claim 7, characterized in that A wire-receiving space (207) is formed between the adjusting seat (202) and the fixing member (201), and the wire-receiving space (207) is used for the passage and accommodation of the detection device (3) wire.

9. A device for detecting defects in the inner wall of a pipe according to claim 8, characterized in that, The fastener (201) has a mounting hole (2013) for mounting the detection device (3), and the fastener (201) is detachably disposed in the V-groove (2021).

10. The apparatus for detecting defects in the inner wall of a pipe according to claim 2, wherein The driving component (4) is a drive motor.

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