Detection device in gas pipeline

Abstract

The invention discloses a gas pipeline internal detection device, and relates to the technical field of gas pipeline detection, the gas pipeline internal detection device comprises a driving joint, a defect detection joint and a power supply control joint which are arranged in sequence, the driving joint is connected with the defect detection joint through a first universal joint, and the defect detection joint is connected with the power supply control joint through a second universal joint; wherein motor driving wheels are arranged at the two ends of the driving joint, the motor driving wheels are used for driving the driving joint to move, pneumatic leather cups are arranged at the two ends of the driving joint in the circumferential direction, and the diameter of the pneumatic leather cups is smaller than the inner diameter of a gas pipeline; supporting wheels are arranged at the two ends of the defect detection joint, and a defect detection sensor is arranged on the defect detection joint and used for detecting the defects of the gas pipeline; a supporting wheel and an odometer wheel are respectively arranged at two ends of the power supply control section, and a power supply unit and a main control system are arranged on the power supply control section. The robot has good trafficability, can realize autonomous operation, and is controllable in speed.

Description

Technical Field

[0001] The present invention relates to the technical field of gas pipeline detection, and in particular to a gas pipeline internal detection device. Background Art

[0002] At present, the traditional fluid-driven pipeline detector is widely used in the field of oil and gas pipeline inspection engineering. It relies on the pressure difference of the fluid medium at the head and tail ends to achieve self-drive, which solves the energy supply problem well and is especially suitable for inspection operations of long-distance in-service oil and gas pipelines.

[0003] However, this type of pipeline detector must have sufficient operating power, and generally does not have the ability to change the operating speed autonomously. During operation, speed fluctuations often occur, such as stopping and starting, or speeding up and slowing down. In addition, at elbows and thinning pipe walls, the power cup deforms and the compressive stress increases, so the overall resistance of the equipment is greater than the resistance of conventional pipe sections. Under low-pressure and low-flow conditions, the equipment often does not have enough driving force to pass smoothly, and it often requires the rear end of the equipment to be pressurized until the pressure difference between the front and rear is large enough before it can pass through the blocked point. The driving force through the straight pipe section and the blocked point is often very different. When the equipment passes through the elbow and enters the straight pipe section, the excess driving force cannot be released instantly, and the resistance of the straight pipe section suddenly decreases. At this time, a huge acceleration will be generated, causing the equipment to run at high speed, resulting in gas explosions. This speed fluctuation will not only cause impact damage to the detector, but also seriously affect the accuracy of the detection data due to excessive speed, and even collect invalid detection data.

[0004] In summary, fluid-driven pipeline detectors have two major disadvantages:

[0005] First, the leather cup is always in hard contact with the pipe wall. When passing through an elbow or a large depression, the compressive stress generated by the deformation of the leather cup will cause the overall operating resistance of the detector to increase sharply, causing the detector to get stuck in the pipeline. However, due to the low pressure in urban low-pressure pipelines, it is usually impossible to establish sufficient pressure difference to dislodge the detector.

[0006] Second, the speed is extremely dependent on the flow state of the gas in the pipeline, and the speed is usually difficult to control.

[0007] Therefore, it is urgent to provide a gas pipeline in-detection device to solve the above problems existing in the prior art. Summary of the invention

[0008] The purpose of the present invention is to provide a gas pipeline in-detection device to solve the problems existing in the above-mentioned prior art, which has good passability and can realize autonomous operation and controllable speed.

[0009] To achieve the above object, the present invention provides the following solutions:

[0010] The present invention provides a gas pipeline internal detection device, comprising a driving section, a defect detection section and a power control section which are arranged in sequence, wherein the driving section is connected to the defect detection section via a first universal joint, and the defect detection section is connected to the power control section via a second universal joint; wherein both ends of the driving section are provided with motor driving wheels, the motor driving wheels are used to drive the driving section to move, and both ends of the driving section are provided with pneumatic leather cups along the circumferential direction, the diameter of the pneumatic leather cups is smaller than the inner diameter of the gas pipeline; both ends of the defect detection section are provided with supporting wheels, and the defect detection section is provided with a defect detection sensor for detecting defects in the gas pipeline; both ends of the power control section are provided with supporting wheels and mileage wheels respectively, and the power control section is provided with a power supply unit and a main control system, the power supply unit is used to supply power to the motor driving wheel, the defect detection sensor and the main control system, and the main control system is connected with the motor driving wheel and the defect detection sensor signals.

[0011] Preferably, it also includes a data storage unit, which is connected to the defect detection sensor signal and is used to store data detected by the defect detection sensor, and the power supply unit is electrically connected to the data storage unit and is used to supply power to the data storage unit; wherein the data storage unit is axially loaded in the drive section.

[0012] Preferably, it further comprises a low-frequency electromagnetic signal transmitting unit for positioning; wherein the low-frequency electromagnetic signal transmitting unit is arranged at the end of the driving section.

[0013] Preferably, a plurality of the motor drive wheels are evenly distributed along the circumferential direction at both ends of the drive section.

[0014] Preferably, the motor drive wheel is arranged on the drive joint through a spring support device; wherein the spring support device includes a fixed frame, an extension plate, a tension spring and a rib plate, the rib plate is fixed on the drive joint, the motor drive wheel is installed on the fixed frame, and the fixed frame is rotatably connected to the rib plate so that the motor drive wheel can shrink or expand along the radial direction of the gas pipeline, and the fixed frame is also connected to the rib plate through the tension spring; the extension plate is fixed on the fixed frame and covers the motor drive wheel.

[0015] Preferably, the pneumatic leather cup is made of polyurethane.

[0016] Preferably, the defect detection sensor is a low-resistance eddy current detection sensor, which includes a plurality of electromagnetic probes, and the plurality of electromagnetic probes are evenly distributed along the circumference of the defect detection section; wherein, the electromagnetic probe is a contact probe, and in a free state, the diameter of the low-resistance eddy current detection sensor is larger than the inner diameter of the gas pipeline, and when the low-resistance eddy current detection sensor enters the gas pipeline, the low-resistance eddy current detection sensor is deformed so that the electromagnetic probe fits the inner wall of the gas pipeline.

[0017] Preferably, a plurality of the support wheels are evenly distributed along the circumferential direction at both ends of the defect detection section.

[0018] Preferably, one end of the power control section close to the defect detection section is evenly distributed with a plurality of the support wheels along the circumference, and the other end is evenly distributed with a plurality of the mileage wheels along the circumference;

[0019] The power supply unit and the main control system are axially loaded in the power control node.

[0020] Preferably, both the first universal joint and the second universal joint are axially flexible universal joints.

[0021] Compared with the prior art, the present invention has achieved the following technical effects:

[0022] Both ends of the driving section of the present invention are provided with pneumatic leather cups along the circumferential direction. The diameter of the pneumatic leather cup is smaller than the inner diameter of the gas pipeline. In the straight pipe section, it will not contact the pipe wall of the gas pipeline to generate resistance. The gas will flow through the annular area between the pneumatic leather cup and the pipe wall. After the pipeline gas flows through the pneumatic leather cup, a gas pressure difference will be generated, which provides a passive fluid driving force for the overall equipment, and improves the passability in view of the characteristics of many small elbows in urban gas. In addition, motor drive wheels are provided at both ends of the driving section. The motor drive ensures that the detection device in the gas pipeline itself has sufficient power. When the gas pressure difference force is insufficient, the motor driving force will compensate for the power in time, realize autonomous operation and controllable speed, avoid the accumulation of gas pressure difference, and thus avoid problems such as gas explosion and jamming of equipment.

[0023] Moreover, in the present invention, the driving section, defect detection section and power control section are all in contact with the inner wall of the gas pipeline through the wheel body structure, which converts sliding friction into rolling friction, further reduces the running friction resistance and improves the passability.

[0024] Furthermore, in the present invention, the driving section, defect detection section and power control section are connected by two axial flexible universal joints, which not only realizes the power transmission between the three sections, but also realizes the characteristic of being able to pass through any elbow, ensuring the passability of the equipment in the gas pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 It is a schematic diagram of the structure of a gas pipeline detection device in an embodiment of the present invention;

[0027] Figure 2 It is a schematic diagram of the structure of the driving section in an embodiment of the present invention;

[0028] Figure 3 It is a structural schematic diagram of a spring support device in an embodiment of the present invention;

[0029] Figure 4 Schematic diagram of the structure of the defect detection section in an embodiment of the present invention.

[0030] In the figure: 1-pneumatic leather cup, 2-motor driving wheel, 3-low-resistance eddy current detection sensor, 4-support wheel, 5-power supply unit, 6-storage unit, 7-first universal joint, 8-second universal joint, 9-main control system, 10-mileage wheel, 11-driving section, 12-defect detection section, 13-power control section, 14-extension plate, 15-fixed skeleton, 16-rib plate, 17-tension spring. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] The purpose of the present invention is to provide a gas pipeline in-detection device to solve the problems existing in the above-mentioned prior art, which has good passability and can realize autonomous operation and controllable speed.

[0033] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] Embodiment 1

[0035] like Figure 1-Figure 4As shown, in this embodiment, a gas pipeline detection device is provided, which mainly includes a driving section 11, a defect detection section 12 and a power control section 13 which are arranged in sequence, the driving section 11 and the defect detection section 12 are connected via a first universal joint 7, and the defect detection section 12 and the power control section 13 are connected via a second universal joint 8; wherein, the first universal joint 7 and the second universal joint 8 are preferably axially flexible universal joints, the driving section 11, the defect detection section 12 and the power control section 13 are connected via two axially flexible universal joints, and while realizing power transmission between the three sections, it also realizes the characteristic of being able to pass through any elbow, thereby ensuring the passability of the equipment in the gas pipeline.

[0036] In this embodiment, pneumatic leather cups 1 are circumferentially arranged at both ends of the driving section 11. The diameter of the pneumatic leather cup 1 is smaller than the inner diameter of the gas pipeline. In the straight pipe section, it will not contact the pipe wall of the gas pipeline to generate resistance. The gas will flow through the annular area between the pneumatic leather cup 1 and the pipe wall. After the pipeline gas flows through the pneumatic leather cup 1, a gas pressure difference will be generated, thereby providing a passive fluid driving force for the overall equipment. Moreover, the pneumatic leather cup 1 is preferably made of a low-hardness polyurethane material to minimize the resistance change caused by deformation.

[0037] Furthermore, multiple motor drive wheels 2 are evenly arranged along the circumferential direction at both ends of the drive section 11, and the motor drive wheels 2 are used to drive the drive section 11 to move; the motor drive ensures that the detection device in the gas pipeline itself has sufficient power, and the motor drive force compensates for the power in time when the gas pressure difference force is insufficient, avoiding the accumulation of gas pressure difference, thereby avoiding problems such as gas explosion and blockage of equipment.

[0038] In this embodiment, multiple support wheels 4 are evenly arranged along the circumference at both ends of the defect detection section 12, and a defect detection sensor is also arranged on the defect detection section 12 for detecting defects in the gas pipeline; and multiple support wheels 4 and multiple mileage wheels 10 are evenly arranged along the circumference at both ends of the power control section 13, and a power supply unit 5 and a main control system 9 are axially loaded in the power control section 13, and the power supply unit 5 is used to power the electronic components such as the motor drive wheel 2, the defect detection sensor and the main control system 9, and the main control system 9 is connected with the motor drive wheel 2 and the defect detection sensor signal, and obtains and processes data through the main control system 9, and controls the motor drive wheel 2. Among them, the power supply unit 5 and the main control system 9 can be selected according to work needs, for example, the power supply unit 5 can be a battery, and the main control system 9 can be a PLC controller.

[0039] In this embodiment, the driving node 11, the defect detection node 12 and the power control node 13 are all in contact with the inner wall of the gas pipeline through the wheel structure, which converts the sliding friction into rolling friction and further reduces the running friction resistance.

[0040] In this embodiment, a data storage unit 6 is also included, which is connected to the defect detection sensor signal and is used to store the data detected by the defect detection sensor, and the power supply unit 5 is electrically connected to the data storage unit 6 and is used to supply power to the data storage unit 6; wherein the data storage unit 6 can be axially loaded in the drive section 11.

[0041] In this embodiment, a low-frequency electromagnetic signal transmitting unit is further included for device positioning; wherein the low-frequency electromagnetic signal transmitting unit is disposed at the end of the driving section 11 .

[0042] In this embodiment, the motor drive wheel 2 is arranged on the drive section 11 through a spring support device; wherein the spring support device mainly includes a fixed skeleton 15, an extension piece 14, a tension spring 17 and a rib plate 16, the rib plate 16 is fixed on the drive section 11, the motor drive wheel 2 is installed on the fixed skeleton 15, and the fixed skeleton 15 is rotatably connected to the rib plate 16, so that the motor drive wheel 2 can shrink or expand along the radial direction of the gas pipeline to adapt to different pipeline diameters; the fixed skeleton 15 is also connected to the rib plate 16 through the tension spring 17, and the tension spring 17 provides a tensioning force so that the motor drive wheel 2 can fit the inner wall of the gas pipeline; the extension piece 14 is fixed on the fixed skeleton 15, and covers the motor drive wheel 2.

[0043] Specifically, when the inner diameter of the gas pipeline decreases, the motor drive wheel 2 radially displaces toward the axis of the pipeline. At this time, the tension spring 17 is stretched to provide sufficient supporting force for the motor drive wheel 2; when the inner diameter of the gas pipeline increases, the motor drive wheel 2 radially displaces toward the pipe wall. At this time, the tension spring 17 is always in a stretched state, preventing the motor drive wheel 2 from being in a free state and unable to obtain sufficient radial pressure.

[0044] In this embodiment, the defect detection sensor is a low-resistance eddy current detection sensor 3, which includes a plurality of electromagnetic probes, which are evenly distributed along the circumference of the defect detection section 12; wherein, the electromagnetic probe is a contact probe, and in a free state, the diameter of the low-resistance eddy current detection sensor 3 is larger than the inner diameter of the gas pipeline, and when the low-resistance eddy current detection sensor 3 enters the gas pipeline, the low-resistance eddy current detection sensor 3 is deformed so that the electromagnetic probe fits the inner wall of the gas pipeline. wherein, the low-resistance eddy current detection sensor 3 uses electromagnetic eddy current technology to detect the gas pipeline, and the electromagnetic eddy current technology can effectively identify the corrosion and crack defects distributed on the pipe wall, and can determine the specific size of the defect, and the detection data will be transmitted to the data storage unit 6 for storage.

[0045] Furthermore, every eight electromagnetic probes are connected to the same data storage unit 6 , and the eight electromagnetic probes are selected alternately to avoid continuous data loss due to damage to the data storage unit 6 .

[0046] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A gas pipeline detection device, characterized in that: It includes a driving section, a defect detection section and a power control section which are arranged in sequence, the driving section and the defect detection section are connected by a first universal joint, and the defect detection section and the power control section are connected by a second universal joint; wherein, motor driving wheels are arranged at both ends of the driving section, the motor driving wheels are used to drive the driving section to move, and pneumatic leather cups are arranged circumferentially at both ends of the driving section, and the diameter of the pneumatic leather cups is smaller than the inner diameter of the gas pipeline; supporting wheels are arranged at both ends of the defect detection section, and a defect detection sensor is arranged on the defect detection section for detecting defects of the gas pipeline; supporting wheels and mileage wheels are arranged at both ends of the power control section, respectively, and a power supply unit and a main control system are arranged on the power control section, the power supply unit is used to supply power to the motor driving wheel, the defect detection sensor and the main control system, and the main control system is connected with the motor driving wheel and the defect detection sensor signals.

2. The gas pipeline in-line detection device according to claim 1, characterized in that: It also includes a data storage unit, which is connected to the defect detection sensor signal and is used to store data detected by the defect detection sensor, and the power supply unit is electrically connected to the data storage unit and is used to supply power to the data storage unit; wherein the data storage unit is axially loaded in the drive section.

3. The gas pipeline in-detection device according to claim 1, characterized in that: It also includes a low-frequency electromagnetic signal transmitting unit for positioning; wherein the low-frequency electromagnetic signal transmitting unit is arranged at the end of the driving section.

4. The gas pipeline in-detection device according to any one of claims 1 to 3, characterized in that: Both ends of the driving section are evenly distributed with a plurality of motor driving wheels along the circumferential direction.

5. The gas pipeline internal detection device according to claim 4, characterized in that: The motor drive wheel is arranged on the drive joint through a spring support device; wherein the spring support device includes a fixed frame, an extension plate, a tension spring and a rib plate, the rib plate is fixed on the drive joint, the motor drive wheel is installed on the fixed frame, and the fixed frame is rotatably connected to the rib plate so that the motor drive wheel can shrink or expand along the radial direction of the gas pipeline, and the fixed frame is also connected to the rib plate through the tension spring; the extension plate is fixed on the fixed frame and covers the motor drive wheel.

6. The gas pipeline in-detection device according to claim 1, characterized in that: The pneumatic leather cup is made of polyurethane.

7. The gas pipeline in-detection device according to claim 1, characterized in that: The defect detection sensor is a low-resistance eddy current detection sensor, which includes a plurality of electromagnetic probes, and the plurality of electromagnetic probes are evenly distributed along the circumference of the defect detection section; wherein the electromagnetic probe is a contact probe, and in a free state, the diameter of the low-resistance eddy current detection sensor is larger than the inner diameter of the gas pipeline, and when the low-resistance eddy current detection sensor enters the gas pipeline, the low-resistance eddy current detection sensor is deformed so that the electromagnetic probe fits the inner wall of the gas pipeline.

8. The gas pipeline in-detection device according to claim 1, characterized in that: Both ends of the defect detection section are evenly distributed with a plurality of support wheels along the circumferential direction.

9. The gas pipeline in-detection device according to claim 1, characterized in that: The power control section has a plurality of support wheels evenly distributed along the circumference at one end close to the defect detection section, and a plurality of mileage wheels evenly distributed along the circumference at the other end; The power supply unit and the main control system are axially loaded in the power control node.

10. The gas pipeline in-detection device according to claim 1, characterized in that: The first universal joint and the second universal joint are both axially flexible universal joints.

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