Airborne Rayleigh wave and Lamb wave robot for detecting complex system condition in pipeline
A complex system and pipeline detection technology, which is applied to special pipes, pipe components, mechanical equipment, etc., can solve problems such as high cost and complex structure
Pending Publication Date: 2022-03-04
张家港市光武智能科技有限公司
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Problems solved by technology
However, its structure is very complicated, and it is not easy to carry cameras and other equipment; at the same time, its cost is expensive, and the current inspection cost per kilometer of pipeline is calculated at more than ten thousand dollars
Method used
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[0019] specific implementation plan
[0020] Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.
[0021] combine figure 1, the present invention is used to detect the airborne Rayleigh wave and Lamb wave robot of complex system conditions inside the pipeline, and its main body includes a car body frame 4, wheels 5, shock absorbers 29, a motor 6, a battery pack 7, and an onboard computer 8 , data collector 9, pressurized water storage tank 11, controller module 10, waterproof camera 12, environmental sensor array 27, gyroscope 28, multi-axis robotic arm 30, airborne two-way radio transmitter and receiver 18 and the execution end of the robotic arm carrying equipment. The manipulator is multi-axis. In this embodiment, the multi-axis manipulator 30 is a six-axis manipulator, including six hinges, namely the manipulator joints 31, 32, 33, 34, 35, 36, which realize the mechanical arm Movement in six degrees of f...
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The invention discloses an airborne Rayleigh wave and Lamb wave robot for detecting complex system conditions in a pipeline. The robot realizes remote control through a bidirectional wireless link. Meanwhile, the robot can autonomously advance and retreat in the pipeline, and an operator can check complex conditions in the pipeline with the assistance of the camera. The robot is provided with a multi-degree-of-freedom mechanical arm, the executing tail end of the mechanical arm is provided with a Rayleigh wave and Lamb wave transmitting and receiving array assembly, and after the Rayleigh wave and Lamb wave transmitting and receiving array assembly makes contact with the pipe wall, Lamb waves and Rayleigh waves are excited and received on the pipe wall through piezoelectric ceramics on an assembly probe. The robotic arm may be rotationally deployed, extending the probe at the end of execution to the pipe wall where it is to be inspected, for example, placed at the circumferential weld of the pipe, and then rotated about the weld to provide 100% weld inspection. Detection data acquired by the robot can be stored in a vehicle-mounted computer and processed in real time, and the flaw and crack conditions of the closed pipeline are analyzed or transmitted to an external computer for large-scale operational analysis.
Description
technical field [0001] The invention relates to an airborne Rayleigh wave and Lamb wave robot for detecting complex system conditions inside a pipeline, in particular to a robot loaded with various environmental sensors, Rayleigh wave and Lamb wave excitation and receiving devices, a mechanical arm and A pipe inspection robot with an onboard computer. Background technique [0002] Pipelines, especially long-distance oil pipelines, are usually assembled and welded segment by segment. The ends of each pipe section are put together seam-welded for a girth weld. The quality of these girth welds is variable as they are often welded under extreme conditions, such as on barges where the pipeline is laid or in the desert, while over a long period of use, various complex systems are formed inside the pipeline, including imperfections in the pipe wall / The evolution of cracks, the qualitative change of welds, the nonlinear changes of temperature and humidity, acidity and alkalinity,...
Claims
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IPC IPC(8): F16L55/40F16L55/34F16L101/30
CPCF16L55/40F16L55/34F16L2101/30
Inventor 王泽峰桂琪珍马一男
Owner 张家港市光武智能科技有限公司