阅读说明：本技术 一种管道内部x射线探伤设备 (Pipeline internal X-ray flaw detection equipment ) 是由 夏雨 陈永刚 于 2019-12-06 设计创作，主要内容包括：本发明公开的一种管道内部X射线探伤设备,包括圆柱形的车体,所述车体内设有开口朝右的车腔,所述车体环向端面上设有能自动适应管道内壁直径自适应装置,且所述自适应装置能对管道内壁施加恒定的正压力,所述车体环向端面上环向阵列分布有四个行走装置,所述行走装置用于在管道内壁上行走,所述车腔内设有为所述自适应装置适应管道内径提供动力的动力装置,所述车腔内设有位于所述动力装置右侧的夹持装置,所述夹持装置能为不同类型的便携式X射线探伤机探伤提供所需的运动,所述夹持装置内设有夹持固定所述便携式X射线探伤机的夹具,本发明能实现自适应管道内径和自动定心。(The invention discloses an X-ray flaw detection device in a pipeline, which comprises a cylindrical vehicle body, wherein a vehicle cavity with a right opening is arranged in the vehicle body, a self-adaptive device capable of automatically adapting to the diameter of the inner wall of the pipeline is arranged on the circumferential end surface of the vehicle body, the self-adaptive device can apply constant positive pressure on the inner wall of the pipeline, four walking devices are distributed on the circumferential end surface of the vehicle body in an annular array manner, the walking device is used for walking on the inner wall of the pipeline, a power device which provides power for the self-adaptive device to adapt to the inner diameter of the pipeline is arranged in the vehicle cavity, the clamping device is arranged in the vehicle cavity and positioned on the right side of the power device, the clamping device can provide required movement for flaw detection of portable X-ray flaw detectors of different types, the clamping device is internally provided with a clamp for clamping and fixing the portable X-ray flaw detector, and the invention can realize self-adaption of the inner diameter of the pipeline and automatic centering.)

1. An X-ray flaw detection device in the pipeline comprises a cylindrical vehicle body;

the self-adaptive pipeline inner wall pressure gauge is characterized in that a vehicle cavity with a rightward opening is arranged in the vehicle body, a self-adaptive device capable of automatically adapting to the diameter of the inner wall of the pipeline is arranged on the circumferential end face of the vehicle body and capable of applying constant positive pressure to the inner wall of the pipeline and comprises four auxiliary fixed blocks distributed on the end face of the outer side of the vehicle body in an circumferential array mode, two auxiliary connecting rods rotatably connected to the end face of the auxiliary fixed blocks, a moving platform hinged to the auxiliary connecting rods, an auxiliary air cylinder fixedly connected to the moving platform, an auxiliary air cavity arranged in the auxiliary air cylinder, a sliding plug slidably connected to the inside of the auxiliary air cavity, a compression spring connected between the sliding plug and the inner wall of the auxiliary air cavity on the side far away from the circle center, a sliding rod fixedly connected to the sliding plug and extending out of the end face of the auxiliary air cavity on the side, Rotate connect in vice dabber, fixed connection on the commentaries on classics piece terminal surface in the last vice walking wheel of vice dabber, through vice connecting rod rotates can realize the automatic adaptation pipeline internal diameter, can realize four simultaneously vice connecting rod rotates can automatic centering to conveniently detect, need not manual adjustment and center, ring array distribution has four running gear on the automobile body hoop terminal surface, running gear is used for walking on the pipeline inner wall, be equipped with in the automobile cavity and do self-adaptation device adaptation pipeline internal diameter provides the power device of power, be equipped with in the automobile cavity and be located the clamping device on power device right side, clamping device can detect a flaw for the portable X-ray radiographic inspection machine of different grade type provides required motion, it is fixed to be equipped with the centre gripping in the clamping device portable X-ray radiographic inspection machine's anchor clamps.

2. The inside-pipe X-ray inspection apparatus according to claim 1, wherein: the self-adaptive device also comprises an air cylinder fixedly connected on the upper end face of the vehicle body, an air cavity is arranged in the air cylinder, an electromagnetic valve is arranged on the upper end face of the air cavity, an auxiliary piston is connected in the air cavity in a sliding manner, a reset spring is connected between the auxiliary piston and the inner wall of the left side of the air cavity, a piston rod which extends rightwards to the outside of the end face of the air cavity is fixedly connected on the end face of the right side of the auxiliary piston, a sliding ring which is positioned on the right side of the piston rod is connected on the circumferential end face of the vehicle body in a sliding manner, the sliding ring is fixedly connected with the piston rod, four convex blocks are distributed on the end face of one side of the sliding ring, which is far away from the center of the circle, in an annular array manner, the air pump is characterized in that red oil in the valve body is communicated with a valve body cavity communicated with the air pipe, a cut-off block capable of stopping the air pipe is connected in the valve body cavity in a sliding mode, the auxiliary air cavity is communicated with the valve body cavity and is connected with an air pump, a lifting rod extending into the air pump is fixedly connected to the end face of the upper side of the cut-off block, and an auxiliary sliding plug connected into the air pump in a sliding mode is fixedly connected to the lifting rod.

3. The inside-pipe X-ray inspection apparatus according to claim 1, wherein: running gear includes fixed connection in fixed block on the automobile body hoop terminal surface, it has the bull stick to articulate on the fixed block, bull stick and left it has the horizontal pole to articulate between the vice connecting rod, fixedly connected with motor cabinet on the centre of a circle side end face is kept away from to the bull stick, it is connected with the dabber to rotate on the motor cabinet, dabber power connection have fixed connection in vice motor in the motor cabinet, dabber fixedly connected with can with the vice walking wheel of pipeline inner wall contact.

4. The inside-pipe X-ray inspection apparatus according to claim 2, wherein: the power device including rotate connect in on the inner wall of car chamber left side and the motor shaft that extends right, power connection has fixed connection in on the motor shaft motor on the inner wall of car chamber left side, the parallel key is connected with the master gear on the motor shaft, fixedly connected with gear section of thick bamboo on the master gear right side terminal surface, just gear section of thick bamboo with motor shaft sliding connection, the air pump internal rotation is connected with and extends right to the gear shaft in the car intracavity, fixedly connected with gear on the gear shaft, the gear can with master gear meshing is connected.

5. The inside-pipe X-ray inspection apparatus according to claim 1, wherein: clamping device include that four hoop array distribute in telescopic cylinder on the car intracavity wall, be equipped with the piston chamber in the telescopic cylinder, sliding connection has the piston in the piston chamber, the piston is close to fixedly connected with supporting rod on the centre of a circle side end face, just the supporting rod extends to being close to centre of a circle one side the car intracavity, fixedly connected with is located on the supporting rod the grip block of car intracavity, the piston with the piston chamber is kept away from and is connected with extension spring between the inner wall of centre of a circle one side, the piston chamber is close to fixedly connected with electro-magnet on the inner wall of centre of a circle one side, it is connected with the pivot that extends right to rotate on the piston chamber right side end face, fixedly connected with.

6. The inside-pipe X-ray inspection apparatus according to claim 5, wherein: anchor clamps are including being provided with in the car intracavity and with be located four anchor clamps section of thick bamboo between the runner, anchor clamps section of thick bamboo opening towards the right side and with the runner butt, be equipped with the centre gripping chamber of two longitudinal symmetries in the runner, just centre gripping chamber opening towards symmetry center one side, centre gripping intracavity sliding connection has vice grip block, but vice grip block centre gripping is fixed portable X-ray radiographic inspection machine, portable X-ray inspection machine can divide into directional radiation, circumference radiation two kinds, fixedly connected with on the anchor clamps section of thick bamboo left side terminal surface can with the interior ring gear that gear section of thick bamboo meshing is connected, fixed connection couple adsorption electromagnet on the inner wall of interior ring gear right side, adsorption electromagnet with be connected with vice compression spring between the gear section of thick bamboo.

Technical Field

The invention relates to the technical field of X-ray flaw detection, in particular to X-ray flaw detection equipment in a pipeline.

Background

The present invention relates to a method for detecting defects in pipelines, which is characterized by that the X-ray flaw detector is used to detect defects in the pipeline by utilizing the attenuation property of X-ray penetrating material, and according to the characteristics of said X-ray flaw detector, it is applicable to metal or non-metal, so that its application range is very extensive.

Disclosure of Invention

The technical problem is as follows: the X-ray flaw detector equipment in the existing pipeline needs to manually perform centering and focusing work on pipelines with different pipe diameters.

In order to solve the problems, the embodiment designs an X-ray flaw detection device in the pipeline, which comprises a cylindrical vehicle body, wherein a vehicle cavity with a rightward opening is arranged in the vehicle body, a self-adaptive device capable of automatically adapting to the diameter of the inner wall of the pipeline is arranged on the circumferential end surface of the vehicle body, the self-adaptive device can apply constant positive pressure to the inner wall of the pipeline, and comprises four auxiliary fixed blocks distributed on the end surface of the outer side of the vehicle body in an circumferential array manner, two auxiliary connecting rods rotatably connected to the end surface of the auxiliary fixed blocks, a moving platform hinged on the auxiliary connecting rods, an auxiliary air cylinder fixedly connected to the moving platform, an auxiliary air cavity arranged in the auxiliary air cylinder, a sliding plug connected in the auxiliary air cavity in a sliding manner, and a compression spring connected between the sliding plug and the inner wall of the side, away from the center of the circle, of, The auxiliary device comprises a sliding rod fixedly connected to the sliding plug and extending out of the end face of the auxiliary air cavity to one side far away from the circle center, a rotating block fixedly connected to the sliding rod and positioned out of the end face of the auxiliary air cavity, an auxiliary mandrel rotatably connected to the end face of the rotating block, and auxiliary traveling wheels fixedly connected to the auxiliary mandrel, wherein the auxiliary connecting rod rotates to automatically adapt to the inner diameter of a pipeline, and the four auxiliary connecting rods rotate to automatically center so as to facilitate detection without manual adjustment, four traveling devices are distributed on the circumferential end face of the vehicle body in an annular array manner and used for traveling on the inner wall of the pipeline, a power device for providing power for the adaptive device to the inner diameter of the pipeline is arranged in the vehicle cavity, a clamping device positioned on the right side of the power device is arranged in the vehicle cavity, and the clamping device can provide required movement for the flaw detection of different types of portable X-ray flaw detectors, and a clamp for clamping and fixing the portable X-ray flaw detector is arranged in the clamping device.

Wherein, the self-adapting device also comprises an air cylinder fixedly connected on the upper end surface of the vehicle body, an air cavity is arranged in the air cylinder, an electromagnetic valve is arranged on the upper end surface of the air cavity, an auxiliary piston is connected in the air cavity in a sliding way, a reset spring is connected between the auxiliary piston and the inner wall of the left side of the air cavity, a piston rod which extends rightwards to the outside of the end surface of the air cavity is fixedly connected on the end surface of the right side of the auxiliary piston, a sliding ring which is positioned on the right side of the piston rod is connected on the circumferential end surface of the vehicle body in a sliding way, the sliding ring is fixedly connected with the piston rod, four convex blocks are distributed on the end surface of the sliding ring which is far away from the center of the circle in an annular array way, a connecting rod is, the air pump is characterized in that red oil in the valve body is communicated with a valve body cavity communicated with the air pipe, a cut-off block capable of stopping the air pipe is connected in the valve body cavity in a sliding mode, the auxiliary air cavity is communicated with the valve body cavity and is connected with an air pump, a lifting rod extending into the air pump is fixedly connected to the end face of the upper side of the cut-off block, and an auxiliary sliding plug connected into the air pump in a sliding mode is fixedly connected to the lifting rod.

Wherein, running gear include fixed connection in fixed block on the automobile body hoop terminal surface, it has the bull stick to articulate on the fixed block, bull stick and left it has the horizontal pole to articulate between the auxiliary connecting rod, fixedly connected with motor cabinet on the centre of a circle side end face is kept away from to the bull stick, it is connected with the dabber to rotate on the motor cabinet, dabber power connection have fixed connection in vice motor in the motor cabinet, dabber fixedly connected with can with the vice walking wheel of pipeline inner wall contact.

Wherein, power device including rotate connect in on the inner wall of car chamber left side and the motor shaft that extends right, power connection has fixed connection in on the motor shaft motor on the inner wall of car chamber left side, the parallel key is connected with the master gear on the motor shaft, fixedly connected with gear drum on the master gear right side terminal surface, just gear drum with motor shaft sliding connection, the air pump internal rotation is connected with and extends right to the gear shaft of car intracavity, fixedly connected with gear on the gear shaft, the gear can with master gear meshing is connected.

Wherein, clamping device include four hoop array distribution in telescopic cylinder on the car intracavity wall, be equipped with the piston chamber in the telescopic cylinder, sliding connection has the piston in the piston chamber, the piston is close to fixedly connected with supporting rod on the centre of a circle side end face, just the supporting rod extends to being close to centre of a circle one side the car intracavity, fixedly connected with is located on the supporting rod the grip block of car intracavity, the piston with the piston chamber is kept away from and is connected with extension spring between the inner wall of centre of a circle one side, the piston chamber is close to fixedly connected with electro-magnet on the inner wall of centre of a circle one side, it is connected with the pivot that extends right to rotate on the piston chamber right side end face, fixedly connected with runner.

Wherein, anchor clamps are including being provided with in the car intracavity and with be located four anchor clamps section of thick bamboo between the runner, anchor clamps section of thick bamboo opening towards the right side and with the runner butt, be equipped with the centre gripping chamber of two longitudinal symmetries in the runner, just centre gripping chamber opening towards symmetry center one side, centre gripping intracavity sliding connection has vice grip block, but vice grip block centre gripping is fixed portable X-ray radiographic inspection machine, portable X-ray inspection machine can divide into directional radiation, circumference radiation two kinds, fixedly connected with on the terminal surface of anchor clamps section of thick bamboo left side can with the inner ring gear that gear section of thick bamboo meshing is connected, fixed connection couple adsorption electromagnet on the inner ring gear right side inner wall, adsorption electromagnet with be connected with vice compression spring between the gear section of thick bamboo.

The invention has the beneficial effects that: the self-adaptive mechanism drives the piston rod and the sliding ring to move through the piston in the cylinder, can drive the four rotating rods distributed in an annular array mode to rotate, and achieves the functions of automatically adapting to the inner diameter of the pipeline and automatically centering.

Drawings

For ease of illustration, the invention is described in detail by the following specific examples and figures.

FIG. 1 is a schematic view of the overall structure of an X-ray inspection apparatus for the interior of a pipeline according to the present invention;

FIG. 2 is a schematic view of the structure in the direction "A-A" of FIG. 1;

FIG. 3 is a schematic view of the structure in the direction "B-B" of FIG. 1;

FIG. 4 is an enlarged view of the structure at "C" of FIG. 1;

FIG. 5 is an enlarged view of the structure at "D" of FIG. 4;

FIG. 6 is an enlarged view of the structure at "E" in FIG. 4;

FIG. 7 is an enlarged view of the structure at "F" in FIG. 1;

FIG. 8 is an enlarged view of the structure at "G" in FIG. 1;

fig. 9 is an enlarged view of the structure at "H" in fig. 3.

Detailed Description

The present invention will be described in detail with reference to fig. 1 to 9, and for the sake of convenience of description, the following orientations will be defined as follows: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.

The invention relates to a pipeline internal X-ray flaw detection device, which is mainly applied to X-ray flaw detection, and the invention is further explained by combining the attached drawings of the invention as follows:

the invention relates to a pipeline internal X-ray flaw detection device, which comprises a cylindrical vehicle body 11, wherein a vehicle cavity 12 with a right opening is arranged in the vehicle body 11, a self-adaptive device 101 capable of automatically adapting to the diameter of the inner wall of a pipeline is arranged on the circumferential end surface of the vehicle body 11, the self-adaptive device 101 can apply constant positive pressure to the inner wall of the pipeline, the self-adaptive device 101 comprises four auxiliary fixed blocks 27 distributed on the outer end surface of the vehicle body 11 in an circumferential array manner, two auxiliary connecting rods 28 rotatably connected to the end surface of the auxiliary fixed blocks 27, a moving platform 29 hinged to the auxiliary connecting rods 28, an auxiliary air cylinder 30 fixedly connected to the moving platform 29, an auxiliary air cavity 31 arranged in the auxiliary air cylinder 30, a sliding plug 32 connected in the auxiliary air cavity 31 in a sliding manner, a compression spring 33 connected between the sliding plug 32 and the inner wall of the auxiliary air cavity, A sliding rod 34 fixedly connected to the sliding plug 32 and extending to the outside of the end face of the auxiliary air cavity 31 to the side away from the center of the circle, a rotating block 36 fixedly connected to the sliding rod 34 and located outside the end face of the auxiliary air cavity 31, an auxiliary spindle 35 rotatably connected to the end face of the rotating block 36, and auxiliary traveling wheels 37 fixedly connected to the auxiliary spindle 35, wherein the auxiliary connecting rod 28 can rotate to automatically adapt to the inner diameter of the pipeline, and can rotate to automatically center the four auxiliary connecting rods 28, so that the detection is convenient, and the centering is performed without manual adjustment, four traveling devices 102 are circumferentially arrayed on the circumferential end face of the vehicle body 11, the traveling devices 102 are used for traveling on the inner wall of the pipeline, a power device 103 for providing power for the adaptive device 101 to adapt to the inner diameter of the pipeline is arranged in the vehicle cavity 12, and a clamping device 104 located on the right side of the power device 103 is arranged in, the clamping device 104 can provide required movement for the flaw detection of different types of portable X-ray flaw detectors 49, and a clamp 105 for clamping and fixing the portable X-ray flaw detectors 49 is arranged in the clamping device 104.

According to the embodiment, the following detailed description is made on the adaptive device 101, the adaptive device 101 further includes a cylinder 22 fixedly connected to the upper end surface of the vehicle body 11, an air chamber 81 is provided in the cylinder 22, an electromagnetic valve 58 is provided on the upper end surface of the air chamber 81, a secondary piston 82 is slidably connected in the air chamber 81, a return spring 57 is connected between the secondary piston 82 and the left inner wall of the air chamber 81, a piston rod 23 extending rightward to the outside of the end surface of the air chamber 81 is fixedly connected to the right end surface of the secondary piston 82, a slip ring 24 located at the right side of the piston rod 23 is slidably connected to the circumferential end surface of the vehicle body 11, the slip ring 24 is fixedly connected to the piston rod 23, four protrusions 25 are circumferentially distributed on the end surface of the slip ring 24 away from the center of the circle, and a connecting rod, an air pump 14 is fixedly connected to the inner wall of the upper side of the vehicle cavity 12, an air pipe 40 is connected between the air pump 14 and the air cavity 81, a valve body 75 is arranged on the air pipe 40, a valve body cavity 77 is formed between the valve body 75 and the air pipe 40, a cut-off block 76 capable of cutting off the air pipe 40 is connected in the valve body cavity 77 in a sliding manner, an air pump 18 is connected between the auxiliary air cavity 31 and the valve body cavity 77 in a communicating manner, a lifting rod 78 extending into the air pump 18 is fixedly connected to the end face of the upper side of the cut-off block 76, an auxiliary sliding plug 80 slidably connected to the air pump 18 is fixedly connected to the lifting rod 78, the auxiliary piston 82 and the piston rod 23 can be driven by air flow produced by the air pump 14 to move right to drive the auxiliary connecting rod 28 to rotate and open to adapt to the inner diameter of the pipeline, and then the auxiliary traveling wheel 37 is contacted with the inner wall of the pipeline and moves down to enable the sliding, and the airflow generated by the downward movement of the sliding plug 32 drives the cutoff block 76 to move downward to cut off the air pipe 40, so that the auxiliary traveling wheels 37 apply constant pressure to the inner wall of the pipe.

According to the embodiment, the following is explained in detail walking device 102, walking device 102 includes fixed connection in fixed block 15 on the 11 hoop terminal surfaces of automobile body, it has bull stick 16 to articulate on the fixed block 15, bull stick 16 and left it has horizontal pole 17 to articulate between the vice connecting rod 28, fixedly connected with motor cabinet 20 on centre of a circle side terminal surface is kept away from to bull stick 16, the last rotation of motor cabinet 20 is connected with dabber 39, power connection has fixedly connected in vice motor 38 in the motor cabinet 20 on the dabber 39, fixedly connected with can with the vice walking wheel 37 of pipeline inner wall contact on the dabber 39, through vice motor 38 drives dabber 39 with vice walking wheel 37 rotates, can realize walking along the pipeline inner wall.

In accordance with an embodiment, the power unit 103 is described in detail below, the power unit 103 includes a motor shaft 44 rotatably connected to the left inner wall of the vehicle cavity 12 and extending rightward, the motor shaft 44 is connected with a motor 13 fixedly connected to the left inner wall of the car cavity 12, a main gear 43 is connected to the motor shaft 44 through a flat key, a gear cylinder 69 is fixedly connected to the right end face of the main gear 43, and the gear cylinder 69 is slidably connected with the motor shaft 44, a gear shaft 41 extending rightwards into the vehicle cavity 12 is rotatably connected with the air pump 14, a gear 42 is fixedly connected to the gear shaft 41, the gear 42 can be meshed with the main gear 43, the motor shaft 44 and the main gear 43 are driven by the motor 13 to rotate, and the air pump 14 can be driven to work through the meshed connection to produce the air flow required for pushing the secondary piston 82.

In accordance with an embodiment, described in detail below, the gripping device 104 includes four telescoping cylinders 46 distributed in a circumferential array on the inner wall of the vehicle cavity 12, a piston cavity 51 is arranged in the telescopic cylinder 46, a piston 53 is connected in the piston cavity 51 in a sliding way, a clamping rod 54 is fixedly connected on the end surface of one side of the piston 53 close to the circle center, the clamping rod 54 extends into the car cavity 12 towards one side close to the circle center, a clamping block 56 positioned in the car cavity 12 is fixedly connected to the clamping rod 54, an extension spring 55 is connected between the piston 53 and the inner wall of the piston cavity 51 far away from the circle center, an electromagnet 52 is fixedly connected on the inner wall of one side of the piston cavity 51 close to the circle center, a rotating shaft 50 extending rightwards is rotatably connected on the end face of the right side of the piston cavity 51, a rotating wheel 47 is fixedly connected on the rotating shaft 50, the electromagnet 52 is electrified to adsorb the piston 53 to provide the clamping force required by the clamping block 56.

According to the embodiment, the following detailed description is made on the clamp 105, the clamp 105 includes a clamp barrel 48 disposed in the car cavity 12 and located between four rotating wheels 47, the clamp barrel 48 opens to the right and abuts against the rotating wheels 47, two clamping cavities 66 symmetrical up and down are disposed in the rotating wheels 47, the clamping cavity 66 opens to one side of the symmetry center, a sub-clamping block 65 is slidably connected in the clamping cavity 66, the sub-clamping block 65 can clamp and fix the portable X-ray inspection machine 49, the portable X-ray inspection machine 49 can be divided into two types of directional radiation and circumferential radiation, an inner gear ring 45 capable of meshing with the gear barrel 69 is fixedly connected on the left end face of the clamp barrel 48, an even adsorption electromagnet 73 is fixedly connected on the inner wall of the right side of the inner gear ring 45, and a sub compression spring 74 is connected between the adsorption electromagnet 73 and the gear barrel 69, the sub clamp block 65 clamps and fixes the portable X-ray flaw detector 49 by the elastic force of the clamp spring 67.

The following will explain in detail the use steps of an internal X-ray inspection apparatus for pipelines in the present document with reference to fig. 1 to 9:

at the beginning, the auxiliary piston 82 and the convex block 25 are positioned at the left limit position, the auxiliary sliding plug 80 and the cut-off block 76 are positioned at the upper limit position, the air pipe 40 is communicated with the air cavity 81, the auxiliary connecting rod 28 and the rotating rod 16 are positioned at the limit position at one side close to the circle center, the sliding plug 32 is positioned at the upper limit position, the main gear 43 is positioned at the left action position, the main gear 43 is meshed with the gear 42, the gear cylinder 69 is positioned at the left side of the inner gear ring 45, the electromagnet 52 and the adsorption electromagnet 73 are not electrified, the piston 53 is positioned at the limit position at one side far from the circle center, the portable X-ray flaw detector 49 is placed into the clamp cylinder 48, under the elastic force of the clamping spring 67, the,

when the portable X-ray flaw detector 49 is of a circumferential radiation type, the electromagnet 52 is electrified to adsorb the piston 53, so that the clamping rod 54 and the clamping block 56 are positioned at a limit position close to one side of the circle center, the clamping block 56 clamps the fixed clamp cylinder 48, the adsorption electromagnet 73 is not electrified,

when the portable X-ray inspection machine 49 is of the directional radiation type, the electromagnet 52 is not energized.

When the air pump works, the motor 13 is started to drive the motor shaft 44 to rotate, the motor shaft 44 is connected with the main gear 43 through a flat key to rotate, the main gear 43 is connected with the gear 42 to rotate through meshing, the gear 42 drives the gear shaft 41 to rotate to enable the air pump 14 to work to generate air flow, the air flow is conveyed into the air cavity 81 through the air pipe 40 and drives the auxiliary piston 82 to move rightwards, the auxiliary piston 82 drives the sliding ring 24 to move rightwards through the piston rod 23, the sliding ring 24 drives the connecting rod 26 to rotate through the lug 25, the connecting rod 26 drives the auxiliary connecting rod 28 to rotate rightwards and expand, meanwhile, the auxiliary connecting rod 28 drives the rotating rod 16 to rotate and expand through the cross rod 17, when the auxiliary traveling wheel 37 is abutted against the inner wall of the pipeline, the inner wall of the pipeline pushes the auxiliary traveling wheel 37 to move downwards to a lower limit position, the auxiliary traveling wheel 37 drives the sliding rod 34, the air flow generated in the downward moving process of the sliding plug 32 drives the auxiliary sliding plug 80 to move downwards to the lower limit position, the auxiliary sliding plug 80 drives the interception block 76 to move downwards to the lower limit position through the lifting rod 78, so that the air pipe 40 is not communicated with the air cavity 81, the motor 13 is turned off at the same time, the automatic adaptation to the inner diameter of the pipeline is realized, the constant positive pressure is applied to the inner wall of the pipeline, the reliable friction force is provided for the equipment to move in the pipeline, then the auxiliary motor 38 is started to drive the mandrel 39 and the auxiliary travelling wheels 37 to rotate, and the equipment moves along the inner wall of the,

when the portable X-ray flaw detector 49 is of a circumferential radiation type, the portable X-ray flaw detector 49 is started to detect flaws of the pipeline,

if the portable X-ray flaw detector 49 is of a directional radiation type, the adsorption electromagnet 73 is electrified to adsorb the gear drum 69, so that the gear drum 69 is meshed with the inner gear ring 45, the portable X-ray flaw detector 49 is started to detect the flaw in one direction of the pipeline, then the motor 13 is started, the motor 13 drives the main gear 43 and the motor shaft 44 to rotate through flat key connection, the motor shaft 44 drives the inner gear ring 45 and the clamp drum 48 to rotate through meshed connection, so that the portable X-ray flaw detector 49 is driven to rotate to the next angle, then the motor 13 stops rotating, the portable X-ray flaw detector 49 is started to detect the flaw in the next direction of the pipeline, the above movement is repeated to realize the flaw detection in the circumferential direction of the pipeline, and the flaw detection in a certain angle range can.

The invention has the beneficial effects that: the self-adaptive mechanism drives the piston rod and the sliding ring to move through the piston in the cylinder, can drive the four rotating rods distributed in an annular array mode to rotate, and achieves the functions of automatically adapting to the inner diameter of the pipeline and automatically centering.

In the above manner, a person skilled in the art can make various changes depending on the operation mode within the scope of the present invention.