A two-section bidirectional wheel type electromagnetic ultrasonic in-pipe detection device

Abstract

The utility model discloses a kind of double-section two-way wheeled electromagnetic ultrasonic pipeline internal detection devices, it includes the front section structure and rear section structure of swing connection, front section structure includes front warehouse body, the periphery of front warehouse body is equipped with electromagnetic ultrasonic probe, electromagnetic ultrasonic probe is installed on front warehouse body by floating type support, the front end and rear end of front warehouse body are elastically connected with first forward wheel and first return wheel respectively, rear section structure includes rear warehouse body, the front end and rear end of rear warehouse body are elastically connected with second forward wheel and second return wheel respectively, excitation collection storage module is equipped in front warehouse body, excitation collection storage module is connected with electromagnetic ultrasonic probe, power supply and storage module are equipped in rear warehouse body, power supply is connected with storage module and excitation collection storage module respectively, excitation collection storage module is connected with storage module. Its purpose is to provide a kind of double-section two-way wheeled electromagnetic ultrasonic pipeline internal detection device, which can realize accurate detection of cracks and corrosion defects in the pipeline.

Description

Technical Field

[0001] This utility model relates to the field of nondestructive testing technology, and in particular to an internal testing device for detecting cracks and corrosion defects in pipelines. Background Technology

[0002] Electromagnetic Acoustic Transducer (EMAT) is a non-contact, non-destructive testing technology that eliminates the need for coupling agents, avoiding complex workpiece surface pretreatment procedures. Furthermore, EMAT can flexibly and conveniently generate various types of ultrasonic waves. Compared to piezoelectric ultrasonic transducers, EMAT offers a more convenient method for exciting ultrasonic waves, produces higher purity waves, and generates a wider variety of wave types, making it suitable for testing plates, bars, tubes, billets, and more. Electromagnetic ultrasonic guided wave testing overcomes many of the adverse effects of coupling agents on ultrasonic testing.

[0003] The working environment of pipeline internal inspection restricts the structure and applicability of internal inspection devices. The stability and anti-interference of key internal components, as well as the rationality of the structure, have a great impact on the practicality of electromagnetic ultrasonic internal inspection devices. Existing pipeline internal inspection devices are difficult to achieve accurate detection of cracks and corrosion defects. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide a two-section, two-way wheeled electromagnetic ultrasonic pipeline internal inspection device that can accurately detect cracks and corrosion defects in pipelines.

[0005] This utility model relates to a double-section, bidirectional wheel-type electromagnetic ultrasonic pipeline inspection device, comprising a movable front section and a rear section. The front section includes a front compartment, around which an electromagnetic ultrasonic probe is mounted. The probe is mounted on the front compartment via a floating bracket. A first forward wheel and a first return wheel are elastically connected to the front and rear ends of the front compartment, respectively. The rear section includes a rear compartment, with a second forward wheel and a second return wheel elastically connected to its front and rear ends, respectively. An excitation, acquisition, and storage module is located within the front compartment and connected to the electromagnetic ultrasonic probe. A power supply and a storage module are located within the rear compartment. The power supply is connected to both the storage module and the excitation, acquisition, and storage module.

[0006] The front and rear sections are connected by a universal joint structure, which includes a universal joint body, a front connecting frame, and a rear connecting frame. The front connecting frame is fixedly connected to the front compartment, and the rear connecting frame is fixedly connected to the rear compartment. The universal joint body is connected between the front and rear connecting frames. The universal joint body includes a cross shaft, a first U-shaped arm, and a second U-shaped arm. The two ends of the first U-shaped arm are rotatably mounted on a set of opposite shaft arms of the cross shaft, and the two ends of the second U-shaped arm are rotatably mounted on another set of opposite shaft arms of the cross shaft. The first U-shaped arm is fixedly connected to the front connecting frame, and the second U-shaped arm is fixedly connected to the rear connecting frame.

[0007] This utility model relates to a double-section, bidirectional wheeled electromagnetic ultrasonic pipeline internal inspection device, wherein the floating support includes two connecting rod structures and an elastic telescopic structure. The two connecting rod structures are respectively located between the front end and the rear end of the electromagnetic ultrasonic probe and the front chamber, and the elastic telescopic structure is provided between the electromagnetic ultrasonic probe and the front chamber.

[0008] This utility model relates to a double-section, bidirectional wheel-type electromagnetic ultrasonic pipeline internal inspection device. The front and rear ends of the front compartment are respectively fixedly provided with front mounting flanges. The electromagnetic ultrasonic probe is located between the two front mounting flanges on the periphery of the front compartment. The linkage structure includes a first link and a second link that are hinged to each other. The end of the first link that is not hinged to the second link is hinged to the electromagnetic ultrasonic probe. The end of the second link that is not hinged to the first link is hinged to the side wall of the front mounting flange away from the front compartment. The second link is located on the side of the front mounting flange away from the front compartment. The front mounting flange has a slot through which the first link passes.

[0009] This utility model relates to a double-section, bidirectional wheel-type electromagnetic ultrasonic pipeline internal inspection device, wherein the elastic telescopic structure includes a first spring and a guide post. One end of the guide post is fixedly mounted on the outer wall of the front chamber, the first spring is fitted onto the guide post, the electromagnetic ultrasonic probe is provided with a guide groove, the groove wall of the guide groove is provided with a boss, the other end of the guide post is inserted into the guide groove, one end of the first spring abuts against the outer wall of the front chamber, and the other end of the first spring abuts against the boss of the guide groove.

[0010] This utility model relates to a double-section, bidirectional wheel-type electromagnetic ultrasonic pipeline internal inspection device, wherein a probe ring is fixedly provided on the outer wall of the front chamber, the probe ring is provided with a receiving groove, one end of the guide column is fixedly provided on the bottom wall of the receiving groove, and one end of the first spring is located in the receiving groove and abuts against the bottom wall of the receiving groove.

[0011] This utility model relates to a double-section, bidirectional wheel-type electromagnetic ultrasonic pipeline internal inspection device. The electromagnetic ultrasonic probe includes a probe body and a probe housing. The probe housing has a mounting groove, and the probe body is fixedly installed within the mounting groove. The wiring terminal of the probe body extends through the bottom wall of the mounting groove to the outside of the probe housing. The excitation, acquisition, and storage module is connected to the wiring terminal of the probe body. The ends of the two first connecting rods that are not hinged to the second connecting rod are respectively hinged to the front and rear ends of the probe housing. The probe housing has a guide groove. The front face of the probe housing gradually tilts forward towards the housing from back to front, and the rear face of the probe housing gradually tilts forward towards the housing from front to back.

[0012] This utility model relates to a double-section, bidirectional wheel-type electromagnetic ultrasonic pipeline internal inspection device, wherein the two front fixed flanges are respectively a first front fixed flange and a second front fixed flange, which are fixedly installed at the front end and rear end of the front compartment body, respectively.

[0013] A first front clamping flange is provided on the side of the first front fixed flange away from the front compartment body, arranged in parallel and at intervals. The first front fixed flange and the first front clamping flange are fixedly connected by a first connecting post. The first forward wheel is rotatably mounted on one end of an L-shaped third connecting rod. The middle part of the third connecting rod is hinged to the side of the first front clamping flange near the first front fixed flange. The other end of the third connecting rod is hinged to one end of a fourth connecting rod. The other end of the fourth connecting rod is hinged to a first sleeve fitted on the first connecting post. A second spring is fitted on the first connecting post between the first sleeve and the first front clamping flange. The first sleeve abuts against the first front fixed flange under the action of the second spring. The first forward wheel is located circumferentially outside the first front fixed flange and the first front clamping flange.

[0014] The second front fixed flange is provided with a second front clamping flange arranged in parallel and spaced apart on the side away from the front compartment body. The second front fixed flange and the second front clamping flange are fixedly connected by a second connecting column. The first return wheel is rotatably mounted on one end of an L-shaped fifth connecting rod. The middle part of the fifth connecting rod is hinged to the side of the second front clamping flange near the second front fixed flange. The other end of the fifth connecting rod is hinged to one end of a sixth connecting rod. The other end of the sixth connecting rod is hinged to a second sleeve fitted on the second connecting column. A third spring is fitted on the second connecting column between the second sleeve and the second front clamping flange. The second sleeve abuts against the second front fixed flange under the action of the third spring. The first return wheel is located on the circumferential outer side of the second front fixed flange and the second front clamping flange.

[0015] This utility model relates to a double-section, bidirectional, wheeled electromagnetic ultrasonic pipeline internal inspection device, wherein a first rear mounting flange is fixedly installed at the front end of the rear compartment, and a second rear mounting flange is fixedly installed at the rear end of the rear compartment.

[0016] A first rear clamping flange is provided on the side of the first rear fixed flange away from the rear compartment body, arranged in parallel and at intervals. The first rear fixed flange and the first rear clamping flange are fixedly connected by a third connecting column. The second forward wheel is rotatably mounted on one end of an L-shaped seventh link. The middle part of the seventh link is hinged to the side of the first rear clamping flange near the first rear fixed flange. The other end of the seventh link is hinged to one end of an eighth link. The other end of the eighth link is hinged to a third sleeve fitted on the third connecting column. A fourth spring is fitted on the third connecting column between the third sleeve and the first rear clamping flange. The third sleeve abuts against the first rear fixed flange under the action of the fourth spring. The second forward wheel is located circumferentially outside the first rear fixed flange and the first rear clamping flange.

[0017] The second rear fixed flange is provided with a second rear clamping flange arranged at intervals and in parallel on the side away from the rear compartment. The second rear fixed flange and the second rear clamping flange are fixedly connected by a fourth connecting column. The second return wheel is rotatably mounted on one end of an L-shaped ninth link. The middle part of the ninth link is hinged to the side of the second rear clamping flange near the second rear fixed flange. The other end of the ninth link is hinged to one end of a tenth link. The other end of the tenth link is hinged to a fourth sleeve fitted on the fourth connecting column. A fifth spring is fitted on the fourth connecting column between the fourth sleeve and the second rear clamping flange. The fourth sleeve abuts against the second rear fixed flange under the action of the fifth spring. The second return wheel is located on the circumferential outer side of the second rear fixed flange and the second rear clamping flange.

[0018] This utility model relates to a dual-section, bidirectional, wheeled electromagnetic ultrasonic pipeline internal inspection device. The front chamber is cylindrical, and a first front cover is sealed and fixedly mounted on its front end. A first front insertion interface for connecting to an excitation, acquisition, and storage module is sealed and fixedly mounted on the first front cover. A first front mounting flange is fixedly mounted on the first front cover, with its center hole corresponding to the first front insertion interface. A first rear cover is sealed and fixedly mounted on the rear end of the front chamber, with a first rear insertion interface for connecting to the excitation, acquisition, and storage module. A second front mounting flange is fixedly mounted on the first rear cover, with its center hole corresponding to the first rear insertion interface.

[0019] The rear compartment is cylindrical, and its inner cavity is divided into a front cavity and a rear cavity by a partition. The power supply and storage module are respectively located in the front cavity and the rear cavity. A second front cover is sealed and fixedly installed at the front end of the rear compartment. A second front navigation connector connected to the power supply is sealed and fixedly installed on the second front cover. A first rear mounting flange is fixedly installed on the second front cover, and the center hole of the first rear mounting flange is arranged correspondingly to the second front navigation connector. A second rear cover is sealed and fixedly installed at the rear end of the rear compartment. A second rear navigation connector connected to the storage module is sealed and fixedly installed on the second rear cover. A second rear mounting flange is fixedly installed on the second rear cover, and the center hole of the second rear mounting flange is arranged correspondingly to the second rear navigation connector. The first front navigation connector is connected to the wiring terminal of the probe body. The first rear navigation connector is connected to both the second front navigation connector and the second rear navigation connector. The second front navigation connector is connected to the second rear navigation connector.

[0020] This novel double-section, bidirectional wheeled electromagnetic ultrasonic pipeline internal inspection device differs from existing technologies in that, during use, it is placed inside the pipeline to be inspected and driven by a robot to move within the pipeline. During movement, the front chamber is supported on the inner wall of the pipeline by a first forward wheel and a first return wheel, which roll along the inner wall. The rear chamber is supported on the inner wall of the pipeline by a second forward wheel and a second return wheel, which also roll along the inner wall. In this way, the entire internal inspection device is supported inside the pipeline and can move along it. Simultaneously, the electromagnetic ultrasonic probe abuts against the inner wall of the pipeline. When the internal inspection device moves forward along the pipeline, the front section is in front and the rear section is behind, both sections moving forward together to inspect the pipeline; conversely, after the inspection is completed, the internal inspection device returns along the original path. When the internal detection device moves forward inside the pipeline, the pipeline will encounter bends. Because the front and rear sections are connected movably, after the front section passes the bend, the rear section can be angled to accommodate the bend angle, allowing the internal detection device to smoothly pass through the bend. Similarly, when the internal detection device moves backward through the pipeline and passes a bend, the rear section passes the bend first, and the front section can be angled to accommodate the bend angle, allowing the internal detection device to smoothly pass backward through the bend. Since the electromagnetic ultrasonic probe is mounted on the front chamber via a floating bracket, the first forward and first return wheels are elastically connected to the front chamber, and the second forward and second return wheels are elastically connected to the rear chamber, when a protrusion appears on the pipeline wall, the electromagnetic ultrasonic probe, the first forward and first return wheels can move closer to the front chamber, and the second forward and second return wheels can move closer to the rear chamber. After passing the protrusion, the electromagnetic ultrasonic probe, the first forward wheel, and the first return wheel move away from the front chamber and abut against the inner wall of the pipe. Similarly, the second forward wheel and the second return wheel move away from the rear chamber and abut against the inner wall of the pipe. Of course, when placing the internal detection device inside the pipe, the outer diameter of the first forward wheel, the first return wheel, the second forward wheel, the second return wheel, and the electromagnetic ultrasonic probe in their natural unfolded state can be slightly larger than the inner diameter of the pipe. This requires the first forward wheel, the first return wheel, and the electromagnetic ultrasonic probe to move a certain distance closer to the front chamber, and the second forward wheel and the second return wheel to move a certain distance closer to the rear chamber before the internal detection device can be placed inside the pipe. In this way, the first forward wheel, the first return wheel, the electromagnetic ultrasonic probe, the second forward wheel, and the second return wheel can tightly abut against the inner wall of the pipe. Furthermore, when encountering a depression on the inner wall of the pipe, the first forward wheel, the first return wheel, and the electromagnetic ultrasonic probe can also move away from the front chamber to abut against the inner wall of the pipe, and the second forward wheel and the second return wheel can also move away from the rear chamber to abut against the inner wall of the pipe.After passing through the depression, driven by the inner wall of the pipe, the first forward wheel, the first return wheel, and the electromagnetic ultrasonic probe move closer to the front chamber to abut against the inner wall of the pipe, while the second forward wheel and the second return wheel move closer to the rear chamber to abut against the inner wall of the pipe. Therefore, this invention can adapt to changes in the inner diameter of the pipe, and consequently, the internal inspection device can be applied to the internal inspection of pipes with different inner diameters. When the internal inspection device inspects the pipe, the excitation, acquisition, and storage module excites the electromagnetic ultrasonic probe to generate a detection environment. The electromagnetic ultrasonic probe transmits the detection signal to the excitation, acquisition, and storage module, which processes and stores the signal. Simultaneously, the data can be transmitted to the storage module in real time for backup, enhancing data storage security. After analyzing the stored data, the location and size of cracks and corrosion defects in the pipe, as well as the pipe wall thickness, can be determined. The power supply can simultaneously power both the excitation, acquisition, and storage module and the storage module, and the excitation, acquisition, and storage module simultaneously powers the electromagnetic ultrasonic probe when sending the excitation signal. Therefore, it can be seen that this utility model can accurately detect cracks and corrosion defects in pipelines.

[0021] The present invention will be further described below with reference to the accompanying drawings. Attached Figure Description

[0022] Figure 1 This is a front view of the double-section, bidirectional wheel-type electromagnetic ultrasonic pipeline internal detection device of this utility model;

[0023] Figure 2 This is a left view of the double-section, bidirectional wheel-type electromagnetic ultrasonic pipeline internal detection device of this utility model;

[0024] Figure 3 This is a right view of the double-section, bidirectional wheel-type electromagnetic ultrasonic pipeline internal detection device of this utility model;

[0025] Figure 4 This utility model presents a three-dimensional double-section bidirectional wheel-type electromagnetic ultrasonic pipeline internal detection device. Figure 1 ;

[0026] Figure 5 This utility model presents a three-dimensional double-section bidirectional wheel-type electromagnetic ultrasonic pipeline internal detection device. Figure 2 ;

[0027] Figure 6 This is a schematic diagram of the installation of the first forward wheel in this utility model;

[0028] Figure 7 The interconnections of the first forward wheel, third connecting rod, fourth connecting rod, first sleeve, second spring, and first connecting post in this utility model are as follows. Figure 1 ;

[0029] Figure 8 The interconnections of the first forward wheel, third connecting rod, fourth connecting rod, first sleeve, second spring, and first connecting post in this utility model are as follows. Figure 2 ;

[0030] Figure 9 This is a front view of the electromagnetic ultrasonic probe in this utility model mounted on the front chamber via a floating bracket.

[0031] Figure 10 For along Figure 9 Sectional view of line AA in the middle;

[0032] Figure 11 for Figure 9 The left view (which is also the right view);

[0033] Figure 12 For along Figure 11 Sectional view of the middle BB line;

[0034] Figure 13 In this utility model, the electromagnetic ultrasonic probe is mounted on the front chamber via a floating bracket in a three-dimensional configuration. Figure 1 ;

[0035] Figure 14 In this utility model, the electromagnetic ultrasonic probe is mounted on the front chamber via a floating bracket in a three-dimensional configuration. Figure 2 ;

[0036] Figure 15 The three-dimensional shape of the probe body in this utility model Figure 1 ;

[0037] Figure 16 The three-dimensional shape of the probe body in this utility model Figure 2 ;

[0038] Figure 17 The three-dimensional shape of the probe housing in this utility model Figure 1 ;

[0039] Figure 18 The three-dimensional shape of the probe housing in this utility model Figure 2 ;

[0040] Figure 19 This is a front sectional view of the rear compartment in this utility model;

[0041] Figure 20 This diagram shows the interconnections between the electromagnetic ultrasonic probe, the excitation acquisition and storage module, the power supply, and the storage module in this invention.

[0042] In the diagram, the reference numerals are as follows: 01, First forward wheel; 02, Third connecting rod; 03, Fifth hinge seat; 04, Fourth connecting rod; 05, First sleeve; 06, Second spring; 07, First connecting column; 08, First front clamping flange; 09, First front fixed flange; 10, Front compartment; 11, Electromagnetic ultrasonic probe; 12, Front connecting rod structure; 13, Rear connecting rod structure; 14, Second front fixed flange; 15, Second front clamping flange; 16, First return wheel; 17, Fifth connecting rod; 18, Sixth... 19. Hinge seat; 20. Sixth link; 21. Second sleeve; 22. Second connecting post; 23. Third spring; 24. Front connecting frame; 25. Rear connecting frame; 26. Large fixed plate; 27. Fixed rod; 28. Small fixed plate; 29. ​​Cross shaft; 30. First U-shaped arm; 31. Second U-shaped arm; 32. First rear clamping flange; 33. First rear fixed flange; 34. Second forward wheel; 35. Seventh link; 36. Seventh hinge seat; 37. Eighth link; 38. Third sleeve; 39. Fourth spring; 40. Third connecting post; 41. Rear compartment; 42. Second rear fixed flange; 43. Second rear clamping flange; 44. Second return wheel; 45. Ninth connecting rod; 46. Eighth hinge seat; 47. Tenth connecting rod; 48. Fourth sleeve; 49. Fifth spring; 50. Fourth connecting post; 51. Elastic telescopic structure; 52. First hinge seat; 53. First connecting rod; 54. Second connecting rod; 55. Guide post; 56. First spring; 57. First front 58. First rear compartment cover; 59. Probe ring; 60. Groove; 61. Excitation acquisition and storage module; 62. Receiving groove; 63. Boss; 64. Guide groove; 65. Probe housing; 66. Probe body; 67. Sealing ring; 68. Wiring terminal; 69. Mounting groove; 70. Through hole; 71. Second front compartment cover; 72. Power supply; 73. Partition; 74. Storage module; 75. Second rear compartment cover; 76. Front cavity; 77. Rear cavity; 78. Third hinge seat; 79. Fourth hinge seat. Detailed Implementation

[0043] like Figure 1 As shown, and in combination Figure 2-20As shown, this utility model discloses a double-section, bidirectional wheel-type electromagnetic ultrasonic pipeline internal detection device, comprising a movable front section and a rear section. The front section includes a front compartment 10, with an electromagnetic ultrasonic probe 11 disposed around its periphery. The electromagnetic ultrasonic probe 11 is mounted on the front compartment 10 via a floating bracket. A first forward wheel 01 and a first return wheel 16 are elastically connected to the front and rear ends of the front compartment 10, respectively. The rear section includes a rear compartment 40, with a second forward wheel 33 and a second return wheel 43 elastically connected to the front and rear ends, respectively. An excitation acquisition and storage module 61 is disposed within the front compartment 10 and is connected to the electromagnetic ultrasonic probe 11. A power supply 72 and a storage module 74 are disposed within the rear compartment 40. The power supply 72 is connected to both the storage module 74 and the excitation acquisition and storage module 61, and the excitation acquisition and storage module 61 is connected to the storage module 74.

[0044] It should be noted that the "front" and "back" mentioned in this utility model refer to the forward and backward directions (or return directions) of the internal detection device when it travels through the pipeline.

[0045] The movable connection between the front and rear sections specifically refers to the movable connection between the front compartment 10 of the front section and the rear compartment 40 of the rear section.

[0046] like Figure 1 , 4 As shown in Figures 5, 9, 12, 13, and 14, the present invention relates to a double-section bidirectional wheeled electromagnetic ultrasonic pipeline internal inspection device, wherein the floating support includes two connecting rod structures and an elastic telescopic structure 50. The two connecting rod structures are respectively located between the front end and the rear end of the electromagnetic ultrasonic probe 11 and the front chamber 10, and the elastic telescopic structure 50 is provided between the electromagnetic ultrasonic probe 11 and the front chamber 10.

[0047] This utility model relates to a double-section, bidirectional wheel-type electromagnetic ultrasonic pipeline internal inspection device, wherein the front end and rear end of the front compartment 10 are respectively fixedly provided with front mounting flanges, the electromagnetic ultrasonic probe 11 is disposed between the two front mounting flanges on the periphery of the front compartment 10, the connecting rod structure includes a first connecting rod 52 and a second connecting rod 53 that are hinged to each other, the end of the first connecting rod 52 that is not hinged to the second connecting rod 53 is hinged to the electromagnetic ultrasonic probe 11, and the end of the second connecting rod 53 that is not hinged to the first connecting rod 52 is hinged to the side wall of the front mounting flange away from the front compartment 10, the second connecting rod 53 is located on the side of the front mounting flange away from the front compartment 10, the front mounting flange is provided with a slot 60, and the first connecting rod 52 passes through the slot 60.

[0048] The two linkage structures are identical, namely a front linkage structure 12 and a rear linkage structure 13. The front linkage structure 12 is located between the front end of the electromagnetic ultrasonic probe 11 and the front end of the front chamber 10, and the rear linkage structure 13 is located between the electromagnetic ultrasonic probe 11 and the rear end of the front chamber 10. The front mounting flange fixed to the front end of the front chamber 10 is the first front mounting flange 09, and the front mounting flange fixed to the rear end of the front chamber 10 is the second front mounting flange 14.

[0049] For the front linkage structure 12, the end of the first linkage 52 that is not hinged to the second linkage 53 is hinged to the front end of the electromagnetic ultrasonic probe 11 through the first hinge seat 51 (that is, the end of the first linkage 52 that is not hinged to the second linkage 53 is hinged to the first hinge seat 51, and the first hinge seat 51 is fixed to the front end of the electromagnetic ultrasonic probe 11). The edge of the first front mounting flange 09 is provided with radially arranged slots 60, and the second linkage 53 is located away from the first front mounting flange 09. On one side (i.e., the front side) of the front compartment 10, the front compartment 10 is cylindrical. The second connecting rod 53 is arranged radially along the front compartment 10. The end of the first connecting rod 52 that is hinged to the second connecting rod 53 extends forward and toward the front compartment 10 through the slot 60, and then is hinged to the end of the second connecting rod 53 that is closer to the front compartment 10. The end of the second connecting rod 53 that is away from the front compartment 10 is hinged to the side of the first front fixed flange 09 that is away from the front compartment 10 through the second hinge seat 54.

[0050] For the rear linkage structure 13, the end of the first linkage 52 that is not hinged to the second linkage 53 is hinged to the rear end of the electromagnetic ultrasonic probe 11 through the third hinge seat 78. The edge of the second front mounting flange 14 is provided with a radially arranged slot 60. The second linkage 53 is located on the side of the second front mounting flange 14 away from the front compartment 10 (i.e., the rear side). The second linkage 53 is arranged radially along the front compartment 10. The end of the first linkage 52 that is hinged to the second linkage 53 extends backward and toward the front compartment 10 through the slot 60, and then is hinged to the end of the second linkage 53 that is closer to the front compartment 10. The end of the second linkage 53 that is away from the front compartment 10 is hinged to the side of the second front mounting flange 14 away from the front compartment 10 through the fourth hinge seat 79.

[0051] The front compartment 10 is coaxially arranged with the two front fixed flanges. Therefore, the slots 60 arranged radially along the front fixed flanges are also arranged radially along the front compartment 10. The slots 60 on the two front fixed flanges are arranged correspondingly in the front-rear direction.

[0052] like Figure 4 , 5As shown in Figures 9, 10, 12, 13, and 14, this utility model discloses a double-section, bidirectional wheel-type electromagnetic ultrasonic pipeline internal detection device. The elastic telescopic structure 50 includes a first spring 56 and a guide post 55. One end of the guide post 55 is fixed to the outer wall of the front chamber 10. The first spring 56 is fitted onto the guide post 55. The electromagnetic ultrasonic probe 11 has a guide groove 64, and a boss 63 is provided on the groove wall of the guide groove 64. The other end of the guide post 55 is inserted into the guide groove 64, and there is a gap between the other end of the guide post 55 and the bottom wall of the guide groove 64. One end of the first spring 56 abuts against the outer wall of the front chamber 10, and the other end abuts against the boss 63 of the guide groove 64.

[0053] This utility model relates to a double-section, bidirectional wheel-type electromagnetic ultrasonic pipeline internal inspection device, wherein a probe ring 59 is fixedly provided on the outer wall of the front chamber 10, the probe ring 59 is arranged circumferentially along the outer wall of the front chamber 10, the probe ring 59 is provided with a receiving groove 62, one end of the guide post 55 is fixedly provided on the bottom wall of the receiving groove 62, and one end of the first spring 56 is located in the receiving groove 62 and abuts against the bottom wall of the receiving groove 62.

[0054] The floating support functions as follows: Under the action of external force, the electromagnetic ultrasonic probe 11 can move closer to the front chamber 10. For example, when the internal detection device moves inside the pipe, the electromagnetic ultrasonic probe 11 encounters a protrusion (such as a root weld bead) on the inner wall of the pipe. Under the push of the protrusion, the electromagnetic ultrasonic probe 11 can move closer to the front chamber 10. During this process, the first spring 56 is compressed. After the external force disappears, that is, after passing the protrusion, the thrust of the protrusion on the electromagnetic ultrasonic probe 11 disappears, and the compressed first spring 56 is re-extended. Thus, the electromagnetic ultrasonic probe 11 can move away from the front chamber 10.

[0055] When the electromagnetic ultrasonic probe 11 moves close to the front chamber 10 under the action of external force, the first link 52 and the second link 53 of the front link structure 12 are hinged together at one end and swing together in the direction away from the front chamber 10 (i.e., forward), that is, swinging close to the first front clamping flange 08. During this process, the first link 52 always passes through the slot 60 of the first front fixed flange 09. At the same time, the first link 52 and the second link 53 of the rear link structure 13 are hinged together at one end and swing together in the direction away from the front chamber 10 (i.e., backward), that is, swinging close to the second front clamping flange 15. During this process, the first link 52 always passes through the slot 60 of the second front fixed flange 14. Meanwhile, since one end of the guide post 55 is fixed on the bottom wall of the receiving groove 62 and the other end is inserted into the guide groove 64, and one end of the first spring 56 abuts against the bottom wall of the receiving groove 62 and the other end abuts against the boss 63 of the guide groove 64, when the electromagnetic ultrasonic probe 11 moves close to the front chamber 10, the electromagnetic ultrasonic probe 11 compresses the first spring 56 and the other end of the guide post 55 moves towards the depth of the guide groove 64 relative to the electromagnetic ultrasonic probe 11. During this process, the guide post 55 plays a guiding role. The guide post 55 is arranged radially along the front chamber 10, so the electromagnetic ultrasonic probe 11 can move close to the front chamber 10 along the guide post 55, that is, move close to the front chamber 10 radially. In addition to the guide post 55 guiding the electromagnetic ultrasonic probe 11, the slot 60 on the front mounting flange is also arranged radially along the front compartment 10. Since the two slots 60 are arranged in a corresponding manner, they are located in the plane passing through the axis of the front compartment 10. When the hinged ends of the first link 52 and the second link 53 swing forward or backward, the slot 60 can restrict them from swinging forward or backward in the aforementioned plane. In other words, it can restrict the electromagnetic ultrasonic probe 11 from moving closer to the front compartment 10 along the radial direction of the front compartment 10.

[0056] When the external force disappears, the compressed first spring 56 re-extends. Under the action of the elastic force of the first spring 56, the electromagnetic ultrasonic probe 11 moves away from the front chamber 10 along the radial direction of the front chamber 10. During this process, the other end of the guide post 55 moves from the depth of the guide groove 64 to the shallow end relative to the electromagnetic ultrasonic probe 11. At the same time, the hinged ends of the first link 52 and the second link 53 of the front link structure 12 swing together toward the front chamber 10 (i.e., backward), that is, swing toward the first front mounting flange 09. During the swing, the first link 52 always passes through the slot 60 of the first front mounting flange 09. The hinged ends of the first link 52 and the second link 53 of the rear link structure 13 swing together toward the front chamber 10 (i.e., forward), that is, swing toward the second front mounting flange 14. During the swing, the first link 52 always passes through the slot 60 of the second front mounting flange 14.

[0057] As can be seen, the electromagnetic ultrasonic probe 11 is mounted on the front chamber 10 by a floating bracket. Under the action of external force, the electromagnetic ultrasonic probe 11 can move close to the front chamber 10, and after the external force disappears, it can move away from the front chamber 10 back to the initial state.

[0058] like Figure 1-5 As shown in Figures 9 and 11-18, this utility model discloses a double-section, bidirectional wheel-type electromagnetic ultrasonic pipeline internal detection device. The electromagnetic ultrasonic probe 11 includes a probe body 66 and a probe housing 65. The probe housing 65 has a mounting groove 69. The probe body 66 is fixedly installed in the mounting groove 69. The wiring terminal 68 of the probe body 66 extends through the bottom wall of the mounting groove 69 to the outside of the probe housing 65 (i.e., the bottom wall of the mounting groove 69 has a through hole 70, and the wiring terminal 68 extends through the through hole 70 to the outside of the probe housing 65). The excitation acquisition and storage module 61 is connected to the wiring terminal 68 of the probe body 66. The ends of the two first connecting rods 52 that are not hinged to the second connecting rod 53 are respectively hinged to the front and rear ends of the probe housing 65. The probe housing 65 has a guide groove 64. The front end face of the probe housing 65 gradually tilts towards the front chamber 10 in a back-to-forward direction, and the rear end face of the probe housing 65 gradually tilts towards the front chamber 10 in a front-to-back direction.

[0059] The mounting groove 69 is located on the side of the probe housing 65 away from the front chamber 10 (i.e., the side near the inner wall of the pipe). The probe body 66 is fixed in the mounting groove 69 of the probe housing 65 by screws or other fasteners. In this way, when the internal detection device is placed inside the pipe, the probe body 66 can abut against the inner wall of the pipe. To ensure good contact between the probe body 66 and the inner wall of the pipe, the side of the probe body 66 that contacts the inner wall of the pipe can be made curved, so that the curved surface can be adapted to the inner wall of the pipe.

[0060] When the internal detection device moves forward inside the pipe, if the electromagnetic ultrasonic probe 11 encounters a protrusion on the pipe wall, the probe housing 65, with its front end gradually tilting towards the front chamber 10 from back to front, can easily pass over the protrusion. Conversely, if the front end of the probe housing 65 is not designed as a tilted surface but as a vertical surface, the electromagnetic ultrasonic probe 11 can easily get stuck at the protrusion, preventing the internal detection device from continuing to move forward. Designing the rear end of the probe housing 65 to gradually tilt towards the front chamber 10 from front to back is also intended to allow the internal detection device to smoothly pass over the protrusions on the pipe wall when it returns backward inside the pipe. When the electromagnetic ultrasonic probe 11 passes over a protrusion, the protrusion can push the electromagnetic ultrasonic probe 11 closer to the front chamber 10.

[0061] As described above, the two front mounting flanges of this utility model are a first front mounting flange 09 and a second front mounting flange 14, which are respectively fixedly installed at the front end and rear end of the front compartment 10.

[0062] like Figure 1 , 4 As shown in Figure -8, a first front clamping flange 08 is provided on the side of the first front fixed flange 09 away from the front compartment 10 (i.e., the front side), arranged in parallel and spaced apart. The first front clamping flange 08 and the first front fixed flange 09 are arranged coaxially. The first front fixed flange 09 and the first front clamping flange 08 are fixedly connected by a first connecting column 07. The first forward wheel 01 is rotatably mounted on one end of an L-shaped third connecting rod 02. The middle part of the third connecting rod 02 is hinged to the side of the first front clamping flange 08 near the first front fixed flange 09 via a fifth hinge seat 03. Both ends of the third connecting rod 02 face the first... The front mounting flange 09 is extended, meaning that both ends of the third link 02 extend rearward. The other end of the third link 02 is hinged to one end of the fourth link 04, and the other end of the fourth link 04 is hinged to the first sleeve 05 fitted on the first connecting post 07. A second spring 06 is fitted on the first connecting post 07 between the first sleeve 05 and the first front clamping flange 08. The first sleeve 05 abuts against the first front mounting flange 09 under the action of the second spring 06. The first forward wheel 01 is located circumferentially outside the first front mounting flange 09 and the first front clamping flange 08.

[0063] There is sufficient space between the first front mounting flange 09 and the first front clamping flange 08 to allow for the swing of the front connecting rod structure 12.

[0064] When the internal detection device moves forward or backward inside the pipe, the first forward wheel 01 is supported on the inner wall of the pipe and can roll along the inner wall. If the first forward wheel 01 encounters a protrusion on the inner wall of the pipe, the first forward wheel 01 and one end of the third connecting rod 02 will swing backward together under the push of the protrusion (as mentioned above, since one end of the third connecting rod 02 extends backward, the protrusion can push the first forward wheel 01 and one end of the third connecting rod 02 to swing backward together). Since the third connecting rod 02 swings in a circular motion, the first forward wheel 01 and the third connecting rod 02 will swing backward together. When one end of the three-link 02 swings backward together, the first forward wheel 01 simultaneously swings towards the front compartment 10 along the radial direction of the front compartment 10. Then, the other end of the third link 02 swings forward. The other end of the third link 02 then drives the first sleeve 05 to slide forward along the first connecting post 07 through the fourth link 04. That is, the first sleeve 05 slides towards the first front clamping flange 08 along the first connecting post 07 (and also slides away from the first front fixed flange 09). Thus, the first sleeve 05 compresses the second spring 06 between itself and the first front clamping flange 08. After the protrusion, the compressed second spring 06 re-extends. Under the elastic force of the second spring 06, the first sleeve 05 slides along the first connecting post 07 away from the first front clamping flange 08 (i.e., slides closer to the first front fixed flange 09) until the first sleeve 05 abuts against the first front fixed flange 09 again. During this process, the first sleeve 05 drives the other end of the third connecting rod 02 to swing backward through the fourth connecting rod 04. As a result, one end of the third connecting rod 02 and the first forward wheel 01 swing forward together. At the same time, the first forward wheel 01 swings radially away from the front compartment 10, so the first forward wheel 01 abuts against the inner wall of the pipe again, i.e., it is supported on the inner wall again. It can be seen that the first forward wheel 01 is elastically connected to the front end of the front compartment 10 through the third connecting rod 02, the fifth hinge seat 03, the fourth connecting rod 04, the first sleeve 05, the second spring 06, the first connecting post 07, the first front clamping flange 08, and the first front fixed flange 09.

[0065] The second front fixed flange 14 has a second front clamping flange 15 arranged at intervals and in parallel on the side away from the front compartment 10 (i.e., the rear side). The second front clamping flange 15 is coaxially arranged with the second front fixed flange 14. The second front fixed flange 14 and the second front clamping flange 15 are fixedly connected by a second connecting column 21. The first return wheel 16 is rotatably mounted on one end of an L-shaped fifth connecting rod 17. The middle part of the fifth connecting rod 17 is hinged to the side of the second front clamping flange 15 near the second front fixed flange 14 through a sixth hinge seat 18. Both ends of the fifth connecting rod 17 face the second front fixed flange 14. Flange 14 is extended, meaning that both ends of the fifth link 17 extend forward. The other end of the fifth link 17 is hinged to one end of the sixth link 19, and the other end of the sixth link 19 is hinged to the second sleeve 20 fitted on the second connecting post 21. A third spring 22 is fitted on the second connecting post 21 between the second sleeve 20 and the second front clamping flange 15. The second sleeve 20 abuts against the second front fixed flange 14 under the action of the third spring 22. The first return wheel 16 is located circumferentially outside the second front fixed flange 14 and the second front clamping flange 15.

[0066] There is sufficient space between the second front mounting flange 14 and the second front clamping flange 15 to allow for the swing of the rear connecting rod structure 13.

[0067] When the internal detection device moves forward or backward inside the pipe, the first return wheel 16 is supported on the inner wall of the pipe and can roll along the inner wall. If the first return wheel 16 encounters a protrusion on the inner wall of the pipe, the first return wheel 16 and one end of the fifth connecting rod 17 will swing forward together under the push of the protrusion (as mentioned above, since one end of the fifth connecting rod 17 extends forward, the protrusion can push the first return wheel 16 and one end of the fifth connecting rod 17 to swing forward together). Since the fifth connecting rod 17 swings in a circular motion, the first return wheel 16 and the fifth connecting rod 17 will swing forward together. When one end of the five-link 17 swings forward together, the first return wheel 16 simultaneously swings towards the front compartment 10 along the radial direction of the front compartment 10. Then, the other end of the fifth link 17 swings backward. The other end of the fifth link 17 then drives the second sleeve 20 to slide backward along the second connecting post 21 through the sixth link 19. That is, the second sleeve 20 slides along the second connecting post 21 towards the second front clamping flange 15 (and also slides away from the second front fixed flange 14). Thus, the second sleeve 20 compresses the third spring 22 between itself and the second front clamping flange 15. After the protrusion, the compressed third spring 22 re-extends. Under the elastic force of the third spring 22, the second sleeve 20 slides along the second connecting post 21 away from the second front clamping flange 15 (i.e., slides closer to the second front fixed flange 14) until the second sleeve 20 abuts against the second front fixed flange 14 again. During this process, the second sleeve 20 drives the other end of the fifth connecting rod 17 to swing forward through the sixth connecting rod 19. As a result, one end of the fifth connecting rod 17 and the first return wheel 16 swing backward together. At the same time, the first return wheel 16 swings radially away from the front compartment 10, so the first return wheel 16 abuts against the inner wall of the pipe again, i.e., it is supported on the inner wall again. It can be seen that the first return wheel 16 is elastically connected to the rear end of the front compartment 10 through the fifth connecting rod 17, the sixth hinge seat 18, the sixth connecting rod 19, the second sleeve 20, the third spring 22, the second connecting post 21, the second front clamping flange 15, and the second front fixed flange 14.

[0068] The elastic connection structure between the first forward wheel 01 and the front end of the front compartment 10 is the first elastic connection structure, and the elastic connection structure between the first return wheel 16 and the rear end of the front compartment 10 is the second elastic connection structure. The first and second elastic connection structures are completely identical in structure, differing only in their arrangement; that is, the first and second elastic connection structures are arranged mirror images of each other at both ends of the front compartment 10. The first forward wheel 01 and the first return wheel 16 are also arranged mirror images of each other at both ends of the front compartment 10. The function of the first forward wheel 01 and the first return wheel 16 is to support the front compartment 10 within the pipe and to enable the front compartment 10 to travel along the pipe.

[0069] like Figure 1 , 4As shown in Figures 5 and 19, the present invention relates to a double-section, bidirectional wheel-type electromagnetic ultrasonic pipeline internal inspection device, wherein a first rear mounting flange 32 is fixedly provided at the front end of the rear chamber 40, and a second rear mounting flange 41 is fixedly provided at the rear end of the rear chamber 40. The rear chamber 40 and the two rear mounting flanges are arranged coaxially.

[0070] The first rear fixed flange 32 has a first rear clamping flange 31 arranged in parallel and spaced apart on the side away from the rear compartment 40 (i.e., the front side). The first rear clamping flange 31 and the first rear fixed flange 32 are arranged coaxially. The first rear fixed flange 32 and the first rear clamping flange 31 are fixedly connected by a third connecting column 39. The second forward wheel 33 is rotatably mounted on one end of an L-shaped seventh link 34. The middle part of the seventh link 34 is hinged to the side of the first rear clamping flange 31 near the first rear fixed flange 32 through a seventh hinge seat 35. Both ends of the seventh link 34 face the first rear fixed flange 32. Flange 32 is extended, meaning that both ends of the seventh link 34 extend rearward. The other end of the seventh link 34 is hinged to one end of the eighth link 36, and the other end of the eighth link 36 is hinged to the third sleeve 37 fitted on the third connecting post 39. A fourth spring 38 is fitted on the third connecting post 39 between the third sleeve 37 and the first rear clamping flange 31. The third sleeve 37 abuts against the first rear fixed flange 32 under the action of the fourth spring 38. The second forward wheel 33 is located circumferentially outside the first rear fixed flange 32 and the first rear clamping flange 31.

[0071] The second rear fixed flange 41 has a second rear clamping flange 42 arranged at intervals and parallel to the rear compartment 40 (i.e., the rear side). The second rear clamping flange 42 is coaxially arranged with the second rear fixed flange 41. The second rear fixed flange 41 and the second rear clamping flange 42 are fixedly connected by a fourth connecting column 49. The second return wheel 43 is rotatably mounted on one end of an L-shaped ninth connecting rod 44. The middle part of the ninth connecting rod 44 is hinged to the side of the second rear clamping flange 42 near the second rear fixed flange 41 through an eighth hinge seat 45. Both ends of the ninth connecting rod 44 face the second rear fixed flange. Flange 41 is extended, meaning that both ends of the ninth link 44 extend forward. The other end of the ninth link 44 is hinged to one end of the tenth link 46, and the other end of the tenth link 46 is hinged to the fourth sleeve 47 fitted on the fourth connecting post 49. A fifth spring 48 is fitted on the fourth connecting post 49 between the fourth sleeve 47 and the second rear clamping flange 42. The fourth sleeve 47 abuts against the second rear fixed flange 41 under the action of the fifth spring 48. The second return wheel 43 is located circumferentially outside the second rear fixed flange 41 and the second rear clamping flange 42.

[0072] The structure of the second forward wheel 33 and its elastic connection to the front end of the rear compartment 40 are exactly the same as the structure of the first forward wheel 01 and its elastic connection to the front end of the front compartment 10. Therefore, the operating principle of how the second forward wheel 33 achieves its elastic connection with the front end of the rear compartment 40 will not be described in detail. The structure of the second return wheel 43 and its elastic connection to the rear end of the rear compartment 40 are exactly the same as the structure of the first return wheel 16 and its elastic connection to the rear end of the front compartment 10. Therefore, the operating principle of how the second return wheel 43 achieves its elastic connection with the rear end of the rear compartment 40 will not be described in detail. The function of the second forward wheel 33 and the second return wheel 43 is to support the rear compartment 40 within the pipe and to enable the rear compartment 40 to travel along the pipe.

[0073] like Figure 1 , 4 As shown in Figure 5, the present invention relates to a double-section, bidirectional wheeled electromagnetic ultrasonic pipeline internal inspection device, wherein the front section and the rear section are connected by a universal joint structure. Specifically, the front compartment 10 and the rear compartment 40 are connected by a universal joint structure, thereby achieving the purpose of movable connection between the front and rear sections. The universal joint structure includes a universal joint body, a front connecting frame 23, and a rear connecting frame 24. The front connecting frame 23 is fixedly connected to the front compartment 10, and the rear connecting frame 24 is fixedly connected to the rear compartment 40. The universal joint body is connected between the front connecting frame 23 and the rear connecting frame 24.

[0074] The front connecting bracket 23 is fixedly connected to the side (i.e., the rear side) of the second front clamping flange 15 away from the second front fixed flange 14. This can be considered as the front connecting bracket 23 being fixedly connected to the front compartment 10 via the second front clamping flange 15, the second connecting column 21, and the second front fixed flange 14. The rear connecting bracket 24 is fixedly connected to the side (i.e., the front side) of the first rear clamping flange 31 away from the first rear fixed flange 32. This can be considered as the rear connecting bracket 24 being fixedly connected to the rear compartment 40 via the first rear clamping flange 31, the third connecting column 39, and the first rear fixed flange 32.

[0075] The front connecting frame 23 and the rear connecting frame 24 have the same structure, both including a small fixed plate 27 and a large fixed plate 25, which are coaxially spaced apart and connected by a fixing rod 26. The large fixed plate 25 of the front connecting frame 23 is coaxially fixed to the rear side of the second front clamping flange 15, and the large fixed plate 25 of the rear connecting frame 24 is coaxially fixed to the front side of the first rear clamping flange 31. The universal joint body includes a cross shaft 28, a first U-shaped arm 29, and a second U-shaped arm 30. The two ends of the first U-shaped arm 29 are rotatably mounted on a set of opposite shaft arms of the cross shaft 28, and the two ends of the second U-shaped arm 30 are rotatably mounted on another set of opposite shaft arms of the cross shaft 28. The universal joint body is connected between the two small fixed plates 27, that is, the first U-shaped arm 29 is fixedly connected to the small fixed plate 27 of the front connecting frame 23, and the second U-shaped arm 30 is fixedly connected to the small fixed plate 27 of the rear connecting frame 24. In this way, the front compartment 10 and the rear compartment 40 can rotate relative to one set of opposing arms of the cross shaft 28, and also relative to another set of opposing arms of the cross shaft 28. That is, the front compartment 10 and the rear compartment 40 can rotate relative to each other in two mutually perpendicular directions. Of course, the front compartment 10 and the rear compartment 40 can also be connected by other types of universal joint structures.

[0076] When the internal detection device travels inside the pipeline, since the front compartment 10 and the rear compartment 40 are connected by a universal joint structure, even when the pipeline bends, the front compartment 10 and the rear compartment 40 can rotate relative to each other so that the angle between the front compartment 10 and the rear compartment 40 matches the angle at the bend in the pipeline. In this way, the internal detection device can pass through the bend in the pipeline smoothly.

[0077] like Figure 1 , 4 As shown in Figures 5 and 9-14, the present invention relates to a double-section bidirectional wheeled electromagnetic ultrasonic pipeline internal inspection device, wherein the front chamber 10 is cylindrical, and a first front chamber cover 57 is sealed and fixedly provided at the front end of the front chamber 10. A first front insertion interface connected to the excitation acquisition and storage module 61 is sealed and fixedly provided on the first front chamber cover 57. A first front mounting flange 09 is fixedly provided on the first front chamber cover 57, and the center hole of the first front mounting flange 09 is arranged correspondingly to the first front insertion interface. A first rear chamber cover 58 is sealed and fixedly provided at the rear end of the front chamber 10. A first rear insertion interface connected to the excitation acquisition and storage module 61 is sealed and fixedly provided on the first rear chamber cover 58. A second front mounting flange 14 is fixedly provided on the first rear chamber cover 58, and the center hole of the second front mounting flange 14 is arranged correspondingly to the first rear insertion interface.

[0078] like Figure 1 , 4As shown in Figures 5 and 19, the rear compartment 40 is cylindrical. The inner cavity of the rear compartment 40 is divided into a front cavity 76 and a rear cavity 77 by a partition 73. The power supply 72 and the storage module 74 are respectively located in the front cavity 76 and the rear cavity 77. A second front compartment cover 71 is sealed and fixedly mounted on the front end of the rear compartment 40. A second front insertion interface connected to the power supply 72 is sealed and fixedly mounted on the second front compartment cover 71. A first rear mounting flange 32 is fixedly mounted on the second front compartment cover 71, and the center hole of the first rear mounting flange 32 is arranged correspondingly to the second front insertion interface. The rear end of the rear compartment 40 is sealed and fixedly provided with a second rear compartment cover 75. The second rear compartment cover 75 is sealed and fixedly provided with a second rear flight interface connected to the storage module 74. The second rear fixed flange 41 is fixedly provided on the second rear compartment cover 75. The center hole of the second rear fixed flange 41 is arranged correspondingly to the second rear flight interface. The first front flight interface is connected to the wiring terminal 68 of the probe body 66. The first rear flight interface is connected to the second front flight interface and the second rear flight interface respectively. The second front flight interface is connected to the second rear flight interface.

[0079] The power supply 72 and the storage module 74 are respectively located in the front cavity 76 and the rear cavity 77, which ensures that the power supply 72 and the storage module 74 can be installed independently.

[0080] To enhance the sealing between the first front cover 57 and the first rear cover 58 and the front compartment 10, thereby protecting the excitation acquisition and storage module 61 inside the front compartment 10, sealing rings 67 are provided on both the first front cover 57 and the first rear cover 58. Similarly, to enhance the sealing between the second front cover 71 and the second rear cover 75 and the rear compartment 40, thereby protecting the power supply 72 and the storage module 74 inside the rear compartment 40, sealing rings 67 are provided on both the second front cover 71 and the second rear cover 75.

[0081] Combination Figure 20 As shown, since the first front flight connector is connected to the excitation acquisition and storage module 61, when the first front flight connector is connected to the probe body 66, the excitation acquisition and storage module 61 can be connected to the probe body 66. Since the first rear flight connector is connected to the excitation acquisition and storage module 61, the second front flight connector is connected to the power supply 72, and the second rear flight connector is connected to the storage module 74, when the first rear flight connector is connected to the second front flight connector and the second rear flight connector respectively, the excitation acquisition and storage module 61 can be connected to the power supply 72 and the storage module 74 respectively; therefore, when the second front flight connector is connected to the second rear flight connector, the power supply 72 can be connected to the storage module 74.

[0082] The reason for aligning the center hole of the first front mounting flange 09 with the first front aviation connector is to facilitate the connection of the first front aviation connector to the probe body 66 via the first wire. That is, one end of the first wire is connected to the probe body 66, and the other end of the first wire passes through the center hole of the first front mounting flange 09 and is connected to the first front aviation connector.

[0083] The reason for aligning the center hole of the second front mounting flange 14 with the first rear mounting interface, the center hole of the first rear mounting flange 32 with the second front mounting interface, and the center hole of the second rear mounting flange 41 with the second rear mounting interface is to facilitate the connection of the first rear mounting interface to the second front and second rear mounting interfaces via the second and third wires, respectively. Specifically, one end of the second wire passes through the center hole of the second front mounting flange 14 and connects to the first rear mounting interface, while the other end of the second wire passes through the center hole of the first rear mounting flange 32 and connects to the second front mounting interface; one end of the third wire passes through the center hole of the second front mounting flange 14 and connects to the first rear mounting interface, while the other end of the third wire passes through the center hole of the second rear mounting flange 41 and connects to the second rear mounting interface.

[0084] The reason for aligning the center hole of the first rear mounting flange 32 with the second front insertion interface and the center hole of the second rear mounting flange 41 with the second rear insertion interface is to facilitate the connection of the second front insertion interface to the second rear insertion interface via the fourth wire. Specifically, one end of the fourth wire passes through the center hole of the first rear mounting flange 32 and connects to the second front insertion interface, while the other end of the fourth wire passes through the center hole of the second rear mounting flange 41 and connects to the second rear insertion interface.

[0085] like Figure 1-5 As shown, there are multiple first forward wheels 01 and multiple first return wheels 16. The multiple first forward wheels 01 are evenly spaced circumferentially along the first front clamping flange 08 / first front fixed flange 09, and the multiple first return wheels 16 are evenly spaced circumferentially along the second front clamping flange 15 / second front fixed flange 14. The number of first forward wheels 01 and first return wheels 16 is the same, and they are arranged in a one-to-one correspondence along the front-rear direction. Each first forward wheel 01 is elastically connected to the first front clamping flange 08 and the first front fixed flange 09 at the front end of the front compartment 10 in the same way, and each first return wheel 16 is elastically connected to the second front clamping flange 15 and the second front fixed flange 14 at the rear end of the front compartment 10 in the same way. In this embodiment, the number of first forward wheels 01 and first return wheels 16 is set to 6.

[0086] Multiple electromagnetic ultrasonic probes 11 are provided, evenly spaced along the circumference of the front chamber 10. Each electromagnetic ultrasonic probe 11 is mounted on the front chamber 10 via a corresponding floating bracket. The first front mounting flange 09 and the second front mounting flange 14 each have slots 60 corresponding to the multiple floating brackets. The number of electromagnetic ultrasonic probes 11 is the same as the number of the first forward wheel 01 / first return wheel 16, i.e., six in each case. The excitation acquisition and storage module 61 inside the front chamber 10 is connected to the multiple electromagnetic ultrasonic probes 11, forming a multi-channel structure.

[0087] Since the front compartment 10, the first front mounting flange 09, the first front clamping flange 08, the second front mounting flange 14, and the second front clamping flange 15 are all coaxially arranged, and their coaxial line is referred to as the first axis, the uniform circumferential spacing of the first forward wheel 01 along the first front clamping flange 08 / first front mounting flange 09 can be considered as a uniform circumferential spacing along the first axis. Similarly, the uniform circumferential spacing of the first return wheel 16 along the second front clamping flange 15 / second front mounting flange 14 can be considered as a uniform circumferential spacing along the first axis, and the uniform circumferential spacing of the electromagnetic ultrasonic probe 11 along the front compartment 10 can be considered as a uniform circumferential spacing along the first axis. To ensure that the electromagnetic ultrasonic probe 11 and the first forward wheel 01 do not interfere with each other's movements, and that the electromagnetic ultrasonic probe 11 and the first return wheel 16 do not interfere with each other's movements, the electromagnetic ultrasonic probe 11 is arranged alternately with the first forward wheel 01 and the first return wheel 16 along the first axis, which improves space utilization. Figure 2 , 3 As shown.

[0088] like Figure 1 , 4As shown in Figures 5, 9, 10, 12, 13, 14, and 18, each floating support has multiple elastic telescopic structures 50. In this embodiment, each floating support has eight elastic telescopic structures 50, arranged in pairs to form four groups. The four groups of elastic telescopic structures 50 are spaced apart along the length of the front compartment 10. Four probe rings 59 are also spaced apart along the length of the front compartment 10, and each probe ring corresponds to one of the four groups of elastic telescopic structures 50. One end of each of the two guide posts 55 in each group of elastic telescopic structures 50 is located within the two receiving slots 62 of the corresponding probe ring 59. Similarly, one end of each of the two first springs 56 is also located within the two receiving slots 62. For each floating support corresponding to an electromagnetic ultrasonic probe 11, eight guide grooves 64 are provided on its side near the front chamber 10. These eight guide grooves 64 correspond one-to-one with eight elastic telescopic structures 50. The other end of the guide post 55 and the first spring 56 of each elastic telescopic structure 50 are located within the corresponding guide groove 64. In this embodiment, the eight elastic telescopic structures 50 of each floating support are arranged in an array. Of course, they can also be arranged in other ways, but the stability of the electromagnetic ultrasonic probe 11 during its movement towards or away from the front chamber 10 must be ensured.

[0089] like Figure 1-5 As shown, there are multiple second forward wheels 33 and multiple second return wheels 43. The multiple second forward wheels 33 are evenly spaced circumferentially along the first rear clamping flange 31 / first rear fixed flange 32, and the multiple second return wheels 43 are evenly spaced circumferentially along the second rear clamping flange 42 / second rear fixed flange 41. The number of second forward wheels 33 and second return wheels 43 is the same, and they are arranged in a one-to-one correspondence along the front-rear direction. Each second forward wheel 33 is elastically connected to the first rear clamping flange 31 and the first rear fixed flange 32 at the front end of the rear compartment 40 in the same way, and each second return wheel 43 is elastically connected to the second rear clamping flange 42 and the second rear fixed flange 41 at the rear end of the rear compartment 40 in the same way. In this embodiment, the number of both second forward wheels 33 and second return wheels 43 is set to 6.

[0090] Since the rear compartment 40, the first rear fixed flange 32, the first rear clamping flange 31, the second rear fixed flange 41, and the second rear clamping flange 42 are all arranged coaxially, and their coaxial line is referred to as the second axis, the uniform circumferential spacing of the second forward wheel 33 along the first rear clamping flange 31 / first rear fixed flange 32 can be regarded as a uniform circumferential spacing along the second axis, and the uniform circumferential spacing of the second return wheel 43 along the second rear clamping flange 42 / second rear fixed flange 41 can be regarded as a uniform circumferential spacing along the second axis.

[0091] The difference between this novel double-section, bidirectional wheeled electromagnetic ultrasonic pipeline internal inspection device and existing technologies lies in its operation. When in use, this device is placed inside the pipeline to be inspected and driven by a robot to move within the pipeline. During movement, the front chamber 10 is supported on the inner wall of the pipeline by the first forward wheel 01 and the first return wheel 16, which roll along the inner wall. The rear chamber 40 is supported on the inner wall of the pipeline by the second forward wheel 33 and the second return wheel 43, which also roll along the inner wall. In this way, the entire internal inspection device is supported inside the pipeline and can move along it. Simultaneously, the electromagnetic ultrasonic probe 11 abuts against the inner wall of the pipeline. As the internal inspection device moves forward along the pipeline, the front section is in front and the rear section is behind, both sections moving forward together to inspect the pipeline. Conversely, after inspection, the internal inspection device returns along the original path. When the internal detection device moves forward in the pipeline, the pipeline will have bends. Since the front and rear sections are connected by a universal joint, the rear section can be arranged at a certain angle to the front section after the front section passes through the bend, thus allowing the internal detection device to pass through the bend smoothly. Similarly, when the internal detection device moves backward in the pipeline and passes through a bend, the rear section passes through the bend first, and the front section can be arranged at a certain angle to the rear section to adapt to the bend angle, thus allowing the internal detection device to pass through the bend smoothly. Because the electromagnetic ultrasonic probe 11 is mounted on the front chamber 10 via a floating bracket, the first forward wheel 01 and the first return wheel 16 are elastically connected to the front chamber 10, and the second forward wheel 33 and the second return wheel 43 are elastically connected to the rear chamber 40, when a protrusion appears on the inner wall of the pipe, the electromagnetic ultrasonic probe 11, the first forward wheel 01, and the first return wheel 16 can move closer to the front chamber 10, and the second forward wheel 33 and the second return wheel 43 can move closer to the rear chamber 40. After passing the protrusion, the electromagnetic ultrasonic probe 11, the first forward wheel 01, and the first return wheel 16 move away from the front chamber 10 and abut against the inner wall of the pipe, and the second forward wheel 33 and the second return wheel 43 move away from the rear chamber 40 and abut against the inner wall of the pipe.Of course, when placing the internal detection device inside the pipe, the outer diameter of the first forward wheel 01, the first return wheel 16, the second forward wheel 33, the second return wheel 43, and the electromagnetic ultrasonic probe 11 in their natural state can be slightly larger than the inner diameter of the pipe. This requires the first forward wheel 01, the first return wheel 16, and the electromagnetic ultrasonic probe 11 to move a certain distance closer to the front chamber 10, and the second forward wheel 33 and the second return wheel 43 to move a certain distance closer to the rear chamber 40 before the internal detection device can be placed inside the pipe. In this way, the first forward wheel 01, the first return wheel 16, the electromagnetic ultrasonic probe 11, the second forward wheel 33, and the second return wheel 43 can be tightly abutted against the inner wall of the pipe. Furthermore, when encountering a depression on the inner wall of the pipe, the first forward wheel 01, the first return wheel 16, and the electromagnetic ultrasonic probe 11 can also move away from the front chamber 10 to abut against the inner wall of the pipe, and the second forward wheel 33 and the second return wheel 43 can also move away from the rear chamber 40 to abut against the inner wall of the pipe. After passing through the depression, driven by the inner wall of the pipe, the first forward wheel 01, the first return wheel 16, and the electromagnetic ultrasonic probe 11 move closer to the front chamber 10 to abut against the inner wall of the pipe, while the second forward wheel 33 and the second return wheel 43 move closer to the rear chamber 40 to abut against the inner wall of the pipe. Thus, this invention can adapt to changes in the inner diameter of the pipe, and consequently, the internal inspection device can be applied to the internal inspection of pipes with different inner diameters. When the internal inspection device inspects the pipe, the excitation acquisition and storage module 61 excites the electromagnetic ultrasonic probe 11 to generate a detection environment. The electromagnetic ultrasonic probe 11 transmits the detection signal to the excitation acquisition and storage module 61, which processes and stores the signal. Simultaneously, the data can be transmitted in real time to the storage module 74 for backup, enhancing data storage security. After analyzing the stored data, the location and size of cracks and corrosion defects in the pipe, as well as the pipe wall thickness, can be determined. The power supply 72 can simultaneously power both the excitation acquisition and storage module 61 and the storage module 74. The excitation acquisition and storage module 61 simultaneously powers the electromagnetic ultrasonic probe 11 when sending an excitation signal to the probe. Therefore, this invention can accurately detect cracks and corrosion defects in pipelines.

[0092] When the internal detection device is placed in the pipeline, the first forward wheel 01, the first return wheel 16, and the electromagnetic ultrasonic probe 11 are first moved a certain distance closer to the front chamber 10. At this time, the second spring 06, the third spring 22, and the first spring 56 are all in a certain degree of compression. Similarly, the second forward wheel 33 and the second return wheel 43 are first moved a certain distance closer to the rear chamber 40. At this time, the fourth spring 38 and the fifth spring 48 are all in a certain degree of compression. In other words, when the internal detection device is placed in the pipeline, the first spring 56, the second spring 06, the third spring 22, the fourth spring 38, and the fifth spring 48 are all in a certain degree of compression. This ensures that the electromagnetic ultrasonic probe 11, the first forward wheel 01, the first return wheel 16, the second forward wheel 33, and the second return wheel 43 are tightly pressed against the inner wall of the pipeline. Furthermore, when encountering a depression in the inner wall, they can move away from the chamber and still press against the inner wall.

[0093] Compared with the prior art, this utility model not only has high convenience in installation and molding, but also facilitates detection in complex environments. It is highly efficient in pipeline safety detection. The floating design of the probe 11 and the chamber enhances the passability. The dual-section layout of the excitation acquisition and storage module 61 and the storage module 74 improves the safety of the detection process, because the storage module 74 can back up the data collected and stored by the excitation acquisition and storage module 61 for explosion-proof isolation and to ensure data storage safety.

[0094] As described above, the excitation acquisition and storage module 61 is connected to the probe body 66 via a first front-mounted connector and a first wire. In this embodiment, there are six probe bodies 66. Two first wires connect the excitation acquisition and storage module 61 to each probe body 66: one is an excitation wire (used by the excitation acquisition and storage module 61 to send an excitation signal to the probe body 66), and the other is a signal acquisition wire (used by the probe body 66 to send a detection signal to the excitation acquisition module). There are a total of 12 first wires connecting the excitation acquisition and storage module 61 to the six probe bodies 66, and these 12 first wires occupy interface points 1-12 of the first front-mounted connector.

[0095] To facilitate cable routing, cable routing holes are provided on the first front mounting flange 09, the second front mounting flange 14, the first rear mounting flange 32, and the second rear mounting flange 41.

[0096] To ensure better contact between the probe body 66 and the inner wall of the pipe, the side of the probe body 66 that contacts the inner wall of the pipe is designed as a curved surface. During the inspection process, the curved surface of the probe body 66 is attached to the inner wall of the pipe, i.e., it abuts against the inner wall of the pipe. This state is maintained throughout the inspection process, i.e., scanning along the axial direction of the pipe at a speed of 1-5 m / s.

[0097] Before the test begins, the power supply 72 and signal lines are connected. The test process involves the internal testing device entering from one end of the pipe and then being driven along the pipe by a robot. During this process, the coil in the electromagnetic ultrasonic probe 11, under the excitation of the excitation acquisition and storage module 61, generates an alternating magnetic field in the surrounding area. Under the influence of the alternating magnetic field, a skin current is generated on the inner wall surface of the pipe due to the skin effect. This skin current generates stress guided waves under the action of the permanent magnet in the electromagnetic ultrasonic probe 11. When there are cracks or corrosion defects on the inner wall surface of the pipe, abnormal propagation of the guided waves will occur due to acoustic impedance and other factors. This unusual propagation leads to abnormal distribution of the skin current near the surface, thereby causing distortion of the surrounding magnetic field and resulting in irregular changes in the regular voltage signal in the coil. The signal curve obtained after one test by the electromagnetic ultrasonic probe 11 clearly shows the anomaly of the signal. By judging the anomalies and the overall signal, the location and size characteristics of the defects can be determined.

[0098] The specific power supply connection of the internal detection device is as follows: the power supply 72 supplies power to the excitation acquisition and storage module 61 and the storage module 74 respectively. The excitation acquisition and storage module 61 provides excitation signal to the electromagnetic ultrasonic probe 11 through the excitation line and supplies power at the same time.

[0099] The specific signal flow is as follows: the excitation acquisition and storage module 61 provides an excitation signal to the electromagnetic ultrasonic probe 11 through the excitation line. The electromagnetic ultrasonic probe 11 transmits the detection signal (i.e., the voltage signal in the coil mentioned above) to the excitation acquisition and storage module 61 through the signal acquisition line. After processing and storage, the data is then transmitted to the storage module 74 for backup storage.

[0100] In summary, this invention enables the internal detection device to operate in pipelines with prominent deformation defects, ensuring the stability and effectiveness of the detection, improving the safety and passability of the detection, and reducing installation and operating costs.

[0101] The bidirectional wheel structure of this utility model (i.e., both the front compartment 10 and the rear compartment 40 include forward wheels and return wheels) not only has high safety and passability in actual operation, but also facilitates the detection of complex pipeline environments. It is highly efficient in installation and troubleshooting. The reasonable dual-section layout avoids certain equipment and operational risks and improves the detection accuracy of cracks and corrosion defects.

[0102] This invention enables effective pipeline inspection in complex environments, ensuring the stability and safety of the inspection process and improving the passability of the internal inspection device. Its beneficial technical effects are as follows:

[0103] (1) This utility model improves the efficiency of installation and maintenance of internal detection device by designing a double-section internal detection structure.

[0104] (2) By designing a floating probe housing 65 with inclined surface protection function, this utility model increases the passability of the internal detection device.

[0105] (3) The present invention is designed with a symmetrical connecting rod structure, which has a limiting function while ensuring the axial space requirement of probe 11 for extension and retraction.

[0106] (4) The front and rear covers of the chamber body in this utility model are designed with fixing grooves for installing sealing rings 67. The sealing rings 67 are installed in the fixing grooves to enhance the sealing between the cover and the chamber body, which is suitable for high-pressure environment testing scenarios.

[0107] (5) The separate design of the rear compartment 40 in this utility model means that the power supply 72 and the storage module 74 are respectively placed in the front cavity 76 and the rear cavity 77 of the rear compartment 40, which maximizes the safety of the storage module 74.

[0108] (6) The bidirectional wheel structure in this utility model is beneficial to reduce the resistance of the pipe wall when the internal detection device enters and exits in both directions.

[0109] (7) This utility model has a simple structure, high practicality, and is conducive to the detection of complex pipeline environments.

[0110] It should be noted that the terms "center", "upper", "lower", "front", "rear", "left", "right", "middle", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not 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.

[0111] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0112] The embodiments described above are merely preferred embodiments of the present utility model and are not intended to limit the scope of the present utility model. Various modifications and improvements made to the technical solutions of the present utility model by those skilled in the art without departing from the spirit of the present utility model should fall within the protection scope defined by the claims of the present utility model.

Claims

1. A double-section, bidirectional wheel-type electromagnetic ultrasonic pipeline internal inspection device, characterized in that: The device includes a movable front section and a rear section. The front section includes a front compartment with an electromagnetic ultrasonic probe mounted on its periphery via a floating bracket. A first forward wheel and a first return wheel are elastically connected to the front and rear ends of the front compartment, respectively. The rear section includes a rear compartment with a second forward wheel and a second return wheel elastically connected to its front and rear ends, respectively. An excitation, acquisition, and storage module is located within the front compartment and connected to the electromagnetic ultrasonic probe. A power supply and a storage module are located within the rear compartment. The power supply is connected to both the storage module and the excitation, acquisition, and storage module. The excitation, acquisition, and storage module is connected to the storage module. The front and rear sections are connected by a universal joint structure, which includes a universal joint body, a front connecting frame, and a rear connecting frame. The front connecting frame is fixedly connected to the front compartment, and the rear connecting frame is fixedly connected to the rear compartment. The universal joint body is connected between the front and rear connecting frames. The universal joint body includes a cross shaft, a first U-shaped arm, and a second U-shaped arm. The two ends of the first U-shaped arm are rotatably mounted on a set of opposite shaft arms of the cross shaft, and the two ends of the second U-shaped arm are rotatably mounted on another set of opposite shaft arms of the cross shaft. The first U-shaped arm is fixedly connected to the front connecting frame, and the second U-shaped arm is fixedly connected to the rear connecting frame.

2. The double-section bidirectional wheel-type electromagnetic ultrasonic pipeline internal inspection device according to claim 1, characterized in that: The floating support includes two connecting rod structures and an elastic telescopic structure. The two connecting rod structures are respectively located between the front end and the rear end of the electromagnetic ultrasonic probe and the front chamber. An elastic telescopic structure is provided between the electromagnetic ultrasonic probe and the front chamber.

3. The dual-section, bidirectional wheel-type electromagnetic ultrasonic pipeline internal inspection device according to claim 2, characterized in that: The front end and rear end of the front compartment are respectively fixed with front mounting flanges. The electromagnetic ultrasonic probe is located between the two front mounting flanges on the periphery of the front compartment. The linkage structure includes a first link and a second link that are hinged to each other. The end of the first link that is not hinged to the second link is hinged to the electromagnetic ultrasonic probe. The end of the second link that is not hinged to the first link is hinged to the side wall of the front mounting flange away from the front compartment. The second link is located on the side of the front mounting flange away from the front compartment. The front mounting flange is provided with a slot, and the first link passes through the slot.

4. The dual-section, bidirectional wheel-type electromagnetic ultrasonic pipeline internal inspection device according to claim 3, characterized in that: The elastic telescopic structure includes a first spring and a guide post. One end of the guide post is fixed to the outer wall of the front compartment. The first spring is fitted onto the guide post. The electromagnetic ultrasonic probe is provided with a guide groove. A boss is provided on the groove wall of the guide groove. The other end of the guide post is inserted into the guide groove. One end of the first spring abuts against the outer wall of the front compartment, and the other end of the first spring abuts against the boss of the guide groove.

5. The dual-section, bidirectional wheel-type electromagnetic ultrasonic pipeline inspection device according to claim 4, characterized in that: A probe ring is fixedly provided on the outer wall of the front compartment. The probe ring is provided with a receiving groove. One end of the guide post is fixedly provided on the bottom wall of the receiving groove. One end of the first spring is located in the receiving groove and abuts against the bottom wall of the receiving groove.

6. The dual-section, bidirectional wheel-type electromagnetic ultrasonic pipeline inspection device according to claim 5, characterized in that: The electromagnetic ultrasound probe includes a probe body and a probe housing. The probe housing has a mounting groove, and the probe body is fixedly installed in the mounting groove. The wiring terminal of the probe body extends through the bottom wall of the mounting groove to the outside of the probe housing. The excitation acquisition and storage module is connected to the wiring terminal of the probe body. The ends of the two first connecting rods that are not hinged to the second connecting rod are respectively hinged to the front end and the rear end of the probe housing. The probe housing has a guide groove. The front end face of the probe housing gradually tilts forward from back to front, and the rear end face of the probe housing gradually tilts forward from front to back.

7. The dual-section, bidirectional wheel-type electromagnetic ultrasonic pipeline internal inspection device according to claim 6, characterized in that: The two front mounting flanges are designated as a first front mounting flange and a second front mounting flange, respectively, and are fixedly mounted at the front end and rear end of the front compartment body. A first front clamping flange is provided on the side of the first front fixed flange away from the front compartment body, arranged in parallel and at intervals. The first front fixed flange and the first front clamping flange are fixedly connected by a first connecting post. The first forward wheel is rotatably mounted on one end of an L-shaped third connecting rod. The middle part of the third connecting rod is hinged to the side of the first front clamping flange near the first front fixed flange. The other end of the third connecting rod is hinged to one end of a fourth connecting rod. The other end of the fourth connecting rod is hinged to a first sleeve fitted on the first connecting post. A second spring is fitted on the first connecting post between the first sleeve and the first front clamping flange. The first sleeve abuts against the first front fixed flange under the action of the second spring. The first forward wheel is located circumferentially outside the first front fixed flange and the first front clamping flange. The second front fixed flange is provided with a second front clamping flange arranged in parallel and spaced apart on the side away from the front compartment body. The second front fixed flange and the second front clamping flange are fixedly connected by a second connecting column. The first return wheel is rotatably mounted on one end of an L-shaped fifth connecting rod. The middle part of the fifth connecting rod is hinged to the side of the second front clamping flange near the second front fixed flange. The other end of the fifth connecting rod is hinged to one end of a sixth connecting rod. The other end of the sixth connecting rod is hinged to a second sleeve fitted on the second connecting column. A third spring is fitted on the second connecting column between the second sleeve and the second front clamping flange. The second sleeve abuts against the second front fixed flange under the action of the third spring. The first return wheel is located on the circumferential outer side of the second front fixed flange and the second front clamping flange.

8. The dual-section, bidirectional wheel-type electromagnetic ultrasonic pipeline internal inspection device according to claim 7, characterized in that: A first rear mounting flange is fixedly provided at the front end of the rear compartment, and a second rear mounting flange is fixedly provided at the rear end of the rear compartment. A first rear clamping flange is provided on the side of the first rear fixed flange away from the rear compartment body, arranged in parallel and at intervals. The first rear fixed flange and the first rear clamping flange are fixedly connected by a third connecting column. The second forward wheel is rotatably mounted on one end of an L-shaped seventh link. The middle part of the seventh link is hinged to the side of the first rear clamping flange near the first rear fixed flange. The other end of the seventh link is hinged to one end of an eighth link. The other end of the eighth link is hinged to a third sleeve fitted on the third connecting column. A fourth spring is fitted on the third connecting column between the third sleeve and the first rear clamping flange. The third sleeve abuts against the first rear fixed flange under the action of the fourth spring. The second forward wheel is located circumferentially outside the first rear fixed flange and the first rear clamping flange. The second rear fixed flange is provided with a second rear clamping flange arranged at intervals and in parallel on the side away from the rear compartment. The second rear fixed flange and the second rear clamping flange are fixedly connected by a fourth connecting column. The second return wheel is rotatably mounted on one end of an L-shaped ninth link. The middle part of the ninth link is hinged to the side of the second rear clamping flange near the second rear fixed flange. The other end of the ninth link is hinged to one end of a tenth link. The other end of the tenth link is hinged to a fourth sleeve fitted on the fourth connecting column. A fifth spring is fitted on the fourth connecting column between the fourth sleeve and the second rear clamping flange. The fourth sleeve abuts against the second rear fixed flange under the action of the fifth spring. The second return wheel is located on the circumferential outer side of the second rear fixed flange and the second rear clamping flange.

9. The dual-section, bidirectional wheel-type electromagnetic ultrasonic pipeline internal inspection device according to claim 8, characterized in that: The front compartment is cylindrical. A first front cover is sealed and fixedly mounted on the front end of the front compartment. A first front insertion interface for connecting to the excitation, acquisition, and storage module is sealed and fixedly mounted on the first front cover. A first front mounting flange is fixedly mounted on the first front cover, with its center hole corresponding to the first front insertion interface. A first rear cover is sealed and fixedly mounted on the rear end of the front compartment. A first rear insertion interface for connecting to the excitation, acquisition, and storage module is sealed and fixedly mounted on the first rear cover. A second front mounting flange is fixedly mounted on the first rear cover, with its center hole corresponding to the first rear insertion interface. The rear compartment is cylindrical, and its inner cavity is divided into a front cavity and a rear cavity by a partition. The power supply and storage module are respectively located in the front cavity and the rear cavity. A second front cover is sealed and fixedly installed at the front end of the rear compartment. A second front navigation connector connected to the power supply is sealed and fixedly installed on the second front cover. A first rear mounting flange is fixedly installed on the second front cover, and the center hole of the first rear mounting flange is arranged correspondingly to the second front navigation connector. A second rear cover is sealed and fixedly installed at the rear end of the rear compartment. A second rear navigation connector connected to the storage module is sealed and fixedly installed on the second rear cover. A second rear mounting flange is fixedly installed on the second rear cover, and the center hole of the second rear mounting flange is arranged correspondingly to the second rear navigation connector. The first front navigation connector is connected to the wiring terminal of the probe body. The first rear navigation connector is connected to both the second front navigation connector and the second rear navigation connector. The second front navigation connector is connected to the second rear navigation connector.

Images