Pipeline automatic flaw detection and positioning detection device

Abstract

The present invention discloses an automatic flaw detection and positioning device for pipelines, comprising: a fixed mounting plate, which has a first receiving groove for accommodating pipelines and is arranged around the outer circumference of the pipeline; a positioning and detection mechanism, which is rotatably connected to the first side of the fixed mounting plate and is used to penetrate the pipeline using rays during the rotation of the outer circumference of the pipeline and display the damage of the pipeline in an imaging manner; a walking mechanism, which is connected to the second side of the fixed mounting plate opposite to the positioning and detection mechanism and is used to roll and clamp the outer wall of the pipeline and drive the fixed mounting plate and the positioning and detection mechanism to move along the axial direction of the pipeline by changing the clamping positioning position and rolling and walking cycles. The present invention can perform automatic flaw detection and positioning detection on pipelines, is suitable for the detection of longer pipelines, does not require manual climbing of the pipeline with the detection equipment on the back, can conveniently and effectively detect pipelines, improve detection work efficiency, and reduce manual work intensity and the incidence of pressure pipeline accidents.

Description

Technical Field

[0001] The invention relates to the technical field of nondestructive testing, and in particular to an automatic pipeline flaw detection and positioning detection device. Background Art

[0002] The safety of gas and other pressure pipelines is related to the safety of life and property of gas and other pressure pipeline companies and the majority of gas and other pressure pipeline users. Especially in the supply and use of gas and other pressure pipelines, special attention should be paid to the safety of gas and other pressure pipelines, so pressure pipelines need to be inspected.

[0003] At present, the way to inspect pressure pipelines is to manually carry a detection device weighing about 100 kilograms and climb up to the pipeline several meters high for inspection. This method is prone to safety accidents and has low work efficiency. Therefore, how to safely and effectively detect damage on pipelines to reduce the incidence of accidents in pressure pipelines such as gas is a technical problem that urgently needs to be solved. Summary of the invention

[0004] The invention provides a pipeline automatic flaw detection and positioning detection device to solve the technical problems that the existing detection method is prone to cause safety accidents and has low working efficiency.

[0005] The technical solution adopted by the present invention is as follows:

[0006] A pipeline automatic flaw detection positioning detection device comprises: a fixed mounting plate, which has a first receiving groove for accommodating a pipeline and is used to be arranged around the outer circumference of the pipeline; a positioning detection mechanism, which is rotatably connected to a first side of the fixed mounting plate and is used to penetrate the pipeline using rays during the rotation of the outer circumference of the pipeline and display the damage of the pipeline in an imaging manner; a walking mechanism, which is connected to a second side of the fixed mounting plate opposite to the positioning detection mechanism and is used to roll and clamp the outer wall of the pipeline and drive the fixed mounting plate and the positioning detection mechanism to move along the axial direction of the pipeline by changing the clamping positioning position and rolling and walking cycles.

[0007] Furthermore, the fixed mounting plate has a first opening for the pipe to enter, and the first receiving groove is connected to the first opening; or the fixed mounting plate includes two arc-shaped plates that are assembled and fixed to the periphery of the pipe, and the first receiving groove is formed between the two arc-shaped plates.

[0008] Furthermore, the positioning detection mechanism includes a rotating plate and a driving mechanism; the rotating plate has a second receiving groove for accommodating the pipe, and the rotating plate is rotatably connected to the first side of the fixed mounting plate, and is used to be arranged around the outer circumference of the pipe and rotate around the outer circumference of the pipe; the driving mechanism is connected to the fixed mounting plate and the rotating plate, and is used to drive the rotating plate to rotate circumferentially around the pipe relative to the fixed mounting plate.

[0009] Furthermore, the driving mechanism includes at least four gears and a motor for driving the gears to rotate, the at least four gears are connected to the first side of the fixed mounting plate and are evenly distributed around the periphery of the first receiving groove; the rotating plate is circular, and a second opening is provided on the rotating plate for the pipe to enter, the second opening is connected to the second receiving groove, the rotating plate is installed in a circular area formed by the gears on the fixed mounting plate, and the outer periphery of the rotating plate is provided with a toothed edge meshing with at least three gears on the fixed mounting plate, and the toothed edge is supported and driven by at least three gears to rotate around the pipe circumferentially.

[0010] Furthermore, a plurality of cams for rolling support to the outer wall of the pipe are circumferentially arranged on the inner wall surface of the second receiving groove on the rotating plate.

[0011] Furthermore, the walking mechanism includes two sets of half-side components that are relatively buckled on both sides of the pipe, and the two sets of half-side components are respectively located on both sides of the first opening; the half-side components include a guide mechanism connected to the second side of the fixed mounting plate and extending axially along the pipe, a walking unit connected to the guide mechanism, a locking mechanism arranged on the walking unit for locking to the outer wall of the pipe, and a driving member for driving the walking unit to move along the outer wall of the pipe.

[0012] Preferably, the guide mechanism includes two guide worms arranged side by side, and a spiral rack is provided on the outer periphery of the guide worms; the half-side assembly includes two walking units arranged front and back along the walking direction, each walking unit includes a connecting frame arranged between the two guide worms, and the connecting frame is provided with a plurality of magnetic wheels for adsorbing to the outer wall of the pipeline, and the outer side of the connecting frame is connected to a rod sleeve for being sleeved on the guide worms, and a through hole is opened on the rod sleeve of at least one of the walking units, and a turbine with a rack on the outer periphery is provided in the through hole, and the rack on the turbine is meshed and connected with the spiral rack of the guide worm; the driving member is a walking motor with an output shaft sleeved in the turbine, and the walking motor is used to drive the turbine to rotate, thereby driving the rod sleeve and the connecting frame connected thereto to translate along the guide worm, and then driving the magnetic wheel on the connecting frame to roll along the outer wall of the pipeline.

[0013] Preferably, a locking mechanism is respectively provided on each walking unit; the locking mechanism includes a locking motor arranged on the connecting frame and a locking block connected to the locking motor, the locking block has a locking surface facing the outer wall of the pipe, and the locking block moves toward or away from the outer wall of the pipe under the drive of the locking motor so that the locking surface is pressed against the outer wall of the pipe to lock or moves away from the outer wall of the pipe to unlock.

[0014] Preferably, one end of the guide mechanism is fixedly connected to the fixed mounting plate through a connecting plate, and the other end is supported and connected through an arc-shaped fixing plate, wherein the plate surfaces of the arc-shaped fixing plate and the connecting plate are arranged perpendicular to the extension direction of the guide mechanism, and both plate surfaces are provided with adjustment mechanisms for adjusting the distance between the walking mechanism and the outer wall of the pipeline to adapt to pipelines of different diameters, and the connecting plate and / or the arc-shaped fixing plate are also provided with fixing parts for fixing the end of the guide mechanism after adjusting the position of the walking mechanism.

[0015] Preferably, the positioning detection mechanism also includes: a radiation mechanism, fixedly connected to one side of the free side surface of the rotating plate, and used for providing radiation that penetrates the pipe from the outside of the pipe circumference; an imaging mechanism, fixedly connected to the other side of the free side surface of the rotating plate, and arranged on both sides of the pipe respectively and opposite to the radiation mechanism, and used for receiving the radiation that penetrates the pipe from the outside of the pipe circumference and forming an image; the radiation mechanism includes a base fixedly connected to the free side surface of the rotating plate, an X-ray machine is installed on the base, and the radiation emission position of the X-ray machine faces the outer wall of the pipe; the base is also connected to a support extending in the direction of the pipe, and a universal wheel for rolling support on the outer wall of the pipe is installed at the end of the support; the imaging mechanism includes a counterweight mounting seat fixedly connected to the free side surface of the rotating plate, and an imaging mounting plate for mounting a camera is provided at the end of the counterweight mounting seat, and a shift motor for driving the imaging mounting plate to move closer to or away from the outer wall of the pipe radially along the pipe.

[0016] The present invention has the following beneficial effects:

[0017] The automatic pipeline flaw detection positioning and detection device of the present invention fixes the positioning and detection mechanism on the pipeline by fixing the mounting plate, and the positioning and detection mechanism realizes the circumferential transillumination and imaging of the pipeline, and the walking mechanism drives the entire device to translate along the pipeline axial direction, and when the rolling part of the walking mechanism rolls and walks on the pipeline surface, the part other than the rolling part is clamped and fixed; when the rolling part is clamped and positioned on the pipeline surface, the part other than the rolling part drives the positioning and detection mechanism to approach the rolling part, and this cycle is performed to realize the axial movement of the entire automatic pipeline flaw detection positioning and detection device on the pipeline, which can realize automatic flaw detection positioning and detection of the pipeline (especially the pipeline in use), and can be suitable for the detection of longer pipelines, without the need for manual climbing of the pipeline with the detection equipment on the back, and can conveniently and effectively detect the pipeline, effectively improve the efficiency of the detection work, reduce the labor intensity of manual work, and reduce the incidence of accidents of pressure pipelines such as gas.

[0018] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0020] Figure 1 It is a structural schematic diagram of a pipeline automatic flaw detection and positioning detection device according to a preferred embodiment of the present invention;

[0021] Figure 2 It is a schematic diagram of a pipeline automatic flaw detection and positioning detection device according to a preferred embodiment of the present invention when it is installed on a pipeline;

[0022] Figure 3 is a structural schematic diagram of a fixed mounting plate of a preferred embodiment of the present invention;

[0023] Figure 4 is a structural schematic diagram of a rotating plate in a preferred embodiment of the present invention;

[0024] Figure 5 It is a structural schematic diagram of the walking mechanism of a preferred embodiment of the present invention;

[0025] Figure 6 yes Figure 5 Schematic diagram of the structure from another angle;

[0026] Figure 7 It is a schematic structural diagram of an arc-shaped fixing plate according to a preferred embodiment of the present invention.

[0027] Description of Figure Numbers:

[0028] 1. fixed mounting plate; 10. first receiving groove; 11. first opening; 12. base; 13. arm; 14. convex portion;

[0029] 2. rotating plate; 20. second receiving groove; 21. second opening; 22. toothed edge; 23. cam;

[0030] 3. X-ray mechanism; 30. Machine base; 31. X-ray machine; 32. Support; 33. Universal wheel;

[0031] 4. Imaging mechanism; 40. Counterweight mounting seat; 41. Imaging mounting plate; 42. Shift motor;

[0032] 5. driving mechanism; 50. gear; 51. motor;

[0033] 6. Traveling mechanism; 60. Guide worm; 61a. First traveling unit; 61b. Second traveling unit; 62a. First locking mechanism; 62b. Second locking mechanism; 63. Traveling motor; 611. Connecting frame; 612. Magnetic wheel; 613. Rod sleeve; 614. Turbine; 621. Locking motor; 622. Locking block; 6110. Connecting rod;

[0034] 7. Connecting plate;

[0035] 8. Arc-shaped fixed plate; 80. Arc-shaped slideway;

[0036] 9. Pipeline. DETAILED DESCRIPTION

[0037] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0038] In order to realize the multifunctional fully automatic intelligent flaw detection and positioning detection of gas and other pressure pipelines, the present invention provides a pipeline automatic flaw detection and positioning detection device, which can be used for non-destructive detection of weld defects, cracks, and fissures on the outer wall of the pipeline in use. The layout direction of the pipeline can be various, for example, it can be a horizontally arranged pipeline or a vertically arranged pipeline.

[0039] Reference Figure 1 and Figure 2 The preferred embodiment of the present invention provides a pipeline automatic flaw detection positioning detection device, comprising: a fixed mounting plate 1, which has a first receiving groove 10 for accommodating a pipeline 9, and is arranged around the outer periphery of the pipeline 9; a positioning detection mechanism, which is rotatably connected to the first side (i.e., Figure 1 The walking mechanism 6 is connected to the second side of the fixed mounting plate 1 opposite to the positioning detection mechanism (i.e., the lower side of the positioning detection mechanism), and is used to penetrate the pipeline 9 with rays during the peripheral rotation of the pipeline 9 and display the damage of the pipeline 9 in an imaging manner; Figure 1 The upper side of the pipeline 9 is used for sliding support on the outer wall of the pipeline 9 to drive the fixed mounting plate 1 and drive the positioning detection mechanism to move along the axial direction of the pipeline 9.

[0040] The automatic pipeline flaw detection positioning and detection device of the present invention fixes the positioning and detection mechanism on the pipeline by fixing the mounting plate, and the positioning and detection mechanism realizes the circumferential illumination and imaging of the pipeline, and the walking mechanism drives the entire device to translate along the pipeline axial direction, and when the rolling part of the walking mechanism rolls and walks on the pipeline surface, the part other than the rolling part is clamped and fixed; when the rolling part is clamped and positioned on the pipeline surface, the part other than the rolling part drives the positioning and detection mechanism to approach the rolling part, and this cycle is performed to realize the axial walking and movement of the entire automatic pipeline flaw detection positioning and detection device on the pipeline, which can realize automatic detection of the pipeline (especially the pipeline in use), can be suitable for the detection of longer pipelines, and there is no need for manual climbing of the pipeline with the detection equipment on the back, and the pipeline can be detected conveniently and effectively, which effectively improves the efficiency of the detection work, reduces the labor intensity of manual work, and reduces the incidence of accidents of pressure pipelines such as gas.

[0041] In this preferred embodiment, the positioning detection mechanism includes a rotating plate 2, a radiation mechanism 3, an imaging mechanism 4 and a driving mechanism 5. The rotating plate 2 has a second receiving groove 20 for accommodating the pipe 9. The rotating plate 2 is rotatably connected to the first side of the fixed mounting plate 1, and is used to surround the outer circumference of the pipe 9 and rotate around the outer circumference of the pipe 9. The driving mechanism 5 is connected to the fixed mounting plate 1 and the rotating plate 2, and is used to drive the rotating plate 2 to rotate around the pipe 9 relative to the fixed mounting plate 1, thereby driving the radiation mechanism 3 to irradiate the circumference of the pipe 9 and the imaging mechanism 4 to image the circumference of the pipe 9. The radiation mechanism 3 is fixedly connected to one side of the free side surface of the rotating plate 2, and is used to provide radiation that penetrates the pipe 9 from the outside of the circumference of the pipe 9. The imaging mechanism 4 is fixedly connected to the other side of the free side surface of the rotating plate 2, and is arranged on both sides of the pipe 9 and opposite to the radiation mechanism 3, and is used to receive the radiation that penetrates the pipe 9 from the outside of the circumference of the pipe 9 and to form an image.

[0042] Reference Figure 1 and Figure 3 , the fixed mounting plate 1 has a first opening 11 for the pipe 9 to enter, and the first opening 11 is connected to the first receiving groove 10. In this embodiment, the fixed mounting plate 1 is generally U-shaped as a whole, and includes a base 12 and arms 13 extending from both ends of the base 12. The first opening 11 is formed between the ends of the two arms 13, and the connecting portion of the arm 13 and the base 12 forms an arc-shaped first receiving groove 10. When the detection device of the present invention is installed on the pipe 9, the pipe 9 enters the first receiving groove 10 from the first opening 11. The distance between the ends of the two arms 13, that is, the size of the first opening 11, is not less than the maximum outer diameter of the pipe 9, so as to ensure that the pipe 9 can smoothly enter the first receiving groove 10 from the first opening 11.

[0043] In this embodiment, four through holes are evenly distributed on the fixed mounting plate 1 for the output shaft of the motor 51 in the driving mechanism 5 to pass through. Specifically, through holes are respectively provided at both ends of the base 12, and a through hole is also provided at the end of the arm 13. Of course, the number of through holes can be appropriately increased. In this embodiment, three protrusions 14 are also provided on the inner wall of the first receiving groove 10 for mounting the shaft on the cam 23 of the fixed rotating plate 2. The fixed mounting plate 1 of the present invention has a simple structure, is easy to form, can reduce costs, and has a more secure support connection and is easy to install.

[0044] In other embodiments, the fixed mounting plate 1 may also include two arc-shaped plates joined and fixed to the periphery of the pipe 9, and the first receiving groove 10 is formed between the two arc-shaped plates. Two through holes are provided on each arc-shaped plate for mounting the output shaft of the motor 51.

[0045] The driving mechanism 5 includes at least four gears 50 and a motor 51 for driving the gears 50 to rotate. At least four gears 50 are connected to the first side of the fixed mounting plate 1 and are evenly distributed around the first receiving groove 10. In the preferred embodiment, the driving mechanism 5 uses a high-precision servo motor, and the servo motor is equipped with a motor shaft locking device (power-off brake clutch) to effectively ensure that the motor shaft is locked when the power is off. Each servo motor has a positive limit, a negative limit and an origin switch, and the servo motor control adopts a closed-loop control method to ensure accurate positioning.

[0046] In this preferred embodiment, four through holes are evenly distributed on the fixed installation plate 1. Figure 1 A motor 51 is provided corresponding to each through hole, and the output shaft of the motor 51 extends through the through hole to the first side (i.e., the upper side) of the fixed mounting plate 1. Figure 1 The lower side of the first receiving groove 10). A gear 50 is correspondingly sleeved on the output shaft of each motor 51, that is, in this embodiment, four gears 50 are arranged on the first side of the fixed mounting plate 1, and the four gears 50 are evenly arranged on the periphery of the first receiving groove 10 to support the rotation of the rotating plate 2. In other embodiments, the number of gears 50 can be appropriately increased. The driving mechanism 5 of the present invention has a simple structure and a simple and reliable control method. In other embodiments, the number of motors 51 can also be set to only one, and by the transmission effect of the rotating plate 2, at least one gear 50 can be driven to achieve synchronous rotation of other gears 50.

[0047] Combination Figure 4 , the rotating plate 2 is roughly circular. A second opening 21 for the pipe 9 to enter is provided on the rotating plate 2 from the circumference to the center. The arc-shaped second receiving groove 20 is arranged at the center of the rotating plate 2, and the second opening 21 is connected to the second receiving groove 20. The size of the second opening 21 is not less than the maximum outer diameter of the pipe 9 to ensure that the pipe 9 can smoothly enter the second receiving groove 20 from the second opening 21. In other embodiments, the rotating plate 2 can also be composed of two plates that are assembled and fixed to the periphery of the pipe 9, and the second receiving groove 20 is formed between the two plates.

[0048] In this preferred embodiment, the rotating plate 2 is installed in a circular area formed by the gears 50 on the fixed mounting plate 1. The outer periphery of the rotating plate 2 is provided with a toothed edge 22 meshingly connected with at least three gears 50 on the fixed mounting plate 1, and the toothed edge 22 is supported and driven by at least three gears 50 to rotate circumferentially around the pipe 9. In this preferred embodiment, the distance between the two ends of the toothed edge 22 is not greater than the distance between two adjacent gears 50, thereby ensuring that no matter to which angle the rotating plate 2 rotates, the toothed edge 22 is supported and driven by at least three gears 50 and will not fall off the fixed mounting plate 1, thereby ensuring that its rotation drives the radiation mechanism 3 and the imaging mechanism 4 to realize circumferential detection of the outer wall of the pipe 9. Figure 2 and Figure 3 In this preferred embodiment, four gears 50 are supported on the outer circumference of the circular rotating plate 2, the connecting line of the four gears 50 is a square, and the connecting line of the two gears 50 located on the diagonal line passes through the center of the circular rotating plate 2. Such a design can make the support of the rotating plate 2 by the gears 50 more stable and reliable.

[0049] Preferably, a plurality of cams 23 for rolling support to the outer wall of the pipe 9 are arranged on the inner wall surface of the second receiving groove 20 on the rotating plate 2 along the circumferential direction. The arrangement of the cams 23 can facilitate the rotating plate 2 to smoothly rotate around the outer wall of the pipe 9. Specifically, in this preferred embodiment, three cams 23 are arranged on the inner wall surface of the second receiving groove 20 along the circumferential direction, and the three cams 23 are respectively connected to the protrusions 14 on the fixed mounting plate 1 through shafts.

[0050] like Figure 1 and Figure 2 As shown in the figure, the radiation mechanism 3 is fixedly connected to one side of the free side surface of the rotating plate 2, and is used to provide radiation penetrating the pipe 9 from the outside of the circumference of the pipe 9. In this embodiment, the radiation mechanism 3 includes a base 30 fixedly connected to the free side surface of the rotating plate 2 (i.e., the surface on the rotating plate 2 opposite to the fixed side fixed to the fixed mounting plate 1), and an X-ray machine 31 is installed on the base 30, and the radiation emission position of the X-ray machine 31 is facing the outer wall of the pipe 9. Specifically, the base 30 is arranged on the side of the rotating plate 2 facing the second opening 21, and it is roughly L-shaped. The end of the base 30 is also connected to a support 32 extending in the direction of the pipe 9, and the end of the support 32 is installed with a universal wheel 33 for rolling support on the outer wall of the pipe 9. In this embodiment, by arranging the support 32 at the end of the L-shaped base 30 and arranging the universal wheel 33 at the end of the support 32, the outer wall of the pipe 9 can be supported, and the support points of the base 30 are increased, making it more stable and convenient for detection.

[0051] The imaging mechanism 4 is fixedly connected to the other side of the free side surface of the rotating plate 2, and is arranged on both sides of the pipe 9 and opposite to the radiation mechanism 3, and is used to receive the radiation after penetrating the pipe 9 from the outside of the circumference of the pipe 9 and form an image. In this embodiment, the imaging mechanism 4 includes a counterweight mounting seat 40 fixedly connected to the rotating plate 2 on the side close to the second opening 21, and the counterweight mounting seat 40 can balance the force at both ends of the rotating plate 2 to ensure its rotation stability. An imaging mounting plate 41 for mounting a camera and a shifting motor 42 for driving the imaging mounting plate 41 to move radially toward or away from the outer wall of the pipe 9 are provided at the end of the counterweight mounting seat 40. The output shaft of the shifting motor 42 can be connected to the imaging mounting plate 41 through a worm gear structure, and the movement of the imaging mounting seat is realized by this structure. In the present invention, the imaging mounting plate 41 is driven away from the pipe 9 by the shift motor 42, so that the walking mechanism 6 can drive the entire device to move along the pipe 9 and the rotating plate 2 can rotate circumferentially around the pipe 9; the imaging mounting plate 41 is driven close to the outer wall of the pipe 9 by the shift motor 42, so that the camera installed thereon can be close to the outer wall of the pipe 9 to image the weld seam to be irradiated. In this preferred embodiment, multiple cameras are installed on the imaging mounting plate 41, and the cameras send image data to the remote control system in a wireless manner. The camera can use a photographing method to form an image, or a continuous video method to form an image.

[0052] Reference Figure 1 , the walking mechanism 6 is arranged on the second side of the fixed mounting plate 1, and when the rolling part rolls on the pipeline surface, the part other than the rolling part is clamped and fixed; when the rolling part is clamped and positioned on the pipeline surface, the part other than the rolling part drives the positioning detection mechanism to approach the rolling part, and this cycle is performed to realize the entire pipeline automatic flaw detection positioning detection device to move along the axial direction on the pipeline, and realize the detection of multiple welds in the extension direction of the pipeline 9. The walking mechanism 6 of the pipeline automatic flaw detection positioning detection device of the present invention includes two sets of half-side components that are relatively buckled on both sides of the pipeline 9, and the two sets of half-side components are respectively arranged on both sides of the first opening 11 to ensure that the device will not be hindered from being installed on the pipeline 9. The two sets of half-side components can move along the outer walls of the two opposite sides of the pipeline 9 respectively.

[0053] Reference Figure 5 and Figure 6 , taking the structure of one set of half-side components as an example for explanation. Each set of half-side components includes a guide mechanism connected to the second side of the fixed mounting plate 1 and extending along the axial direction of the pipe 9, a travel unit connected to the guide mechanism, a locking mechanism provided on the travel unit for locking to the outer wall of the pipe 9, and a driving member for driving the travel unit to travel along the outer wall of the pipe 9.

[0054] Preferably, in this preferred embodiment, the guide mechanism includes two guide worms 60 arranged side by side, and the guide worms 60 extend axially along the pipeline 9. The outer periphery of the guide worm 60 is provided with a spiral rack for cooperating with the walking unit to realize walking on the pipeline 9.

[0055] Preferably, the half-side assembly includes two walking units arranged front and back along the walking direction. Each walking unit includes a connecting frame 611 arranged between two guide worms 60, and a plurality of magnetic wheels 612 for adsorbing to the outer wall of the pipe 9 are arranged on the connecting frame 611. A rod sleeve 613 for sleeved on the guide worm 60 is connected to the outer side of the connecting frame 611. A through hole is opened on the rod sleeve 613 of at least one of the walking units, and a turbine 614 with a rack on the outer periphery is arranged in the through hole. The rack on the turbine 614 is meshed and connected with the spiral rack of the guide worm 60. The driving member is a walking motor 63 whose output shaft is sleeved in the turbine 614. The walking motor 63 is used to drive the turbine 614 to rotate, thereby driving the rod sleeve 613 and the connecting frame 611 connected thereto to translate along the guide worm 60, and then driving the magnetic wheels 612 on the connecting frame 611 to roll along the outer wall of the pipe 9.

[0056] In this preferred embodiment, the half-side assembly includes a first walking unit 61a and a second walking unit 61b arranged front and back. Taking the first walking unit 61a as an example, the first walking unit 61a includes a first connecting frame 611, and the first connecting frame 611 includes two opposite connecting rods 6110 extending axially along the pipe 9. Two magnetic wheels 612 are connected between the two connecting rods 6110. The two ends of the central axis of the magnetic wheel 612 are respectively fixed to the connecting rod 6110 through bearings, so that the magnetic wheel 612 is fixed and can roll along the outer wall of the pipe 9. Each connecting rod 6110 is connected and fixed to a rod sleeve 613. The rod sleeve 613 is sleeved on the guide worm 60, and the inner wall of the rod sleeve 613 is provided with a rack that cooperates with the spiral rack on the guide worm 60, so that the movement of the rod sleeve 613 relative to the guide worm 60 can be realized.

[0057] Through holes are respectively provided on the two rod sleeves 613 of the first walking unit 61a, and turbines 614 are arranged in the through holes, and each turbine 614 is connected to the output shaft of the walking motor 63. The first walking unit 61a is equipped with two high-power walking motors 63, and the walking motors 63 drive the turbines 614 to rotate, thereby driving the rod sleeves 613 to translate relative to the guide worm 60, thereby driving the connecting frame 611 to translate, and driving the magnetic wheel 612 in the first walking unit 61a to roll along the outer wall of the pipeline 9.

[0058] Each walking unit is provided with a locking mechanism. The locking mechanism includes a locking motor 621 provided on the connecting frame 611 and a locking block 622 connected to the locking motor 621. The locking block 622 has a locking surface facing the outer wall of the pipe 9. The locking block 622 moves toward or away from the outer wall of the pipe 9 under the drive of the locking motor 621 so that the locking surface is pressed against the outer wall of the pipe 9 to lock or away from the outer wall of the pipe 9 to unlock. The locking mechanism is used to lock and fix the walking unit to the outer wall of the pipe 9, which can facilitate the walking mechanism 6 to crawl along the outer wall of the vertically arranged pipe 9 without sliding down along the pipe 9 due to gravity. In this preferred embodiment, the first walking unit 61a is provided with a first locking mechanism 62a, and the second walking unit 61b is provided with a second locking mechanism 62b. The locking mechanism adopts a servo motor torque mode plus position dual-mode control to ensure the locking torque and precise positioning of the pipe 9.

[0059] In this preferred embodiment, only the worm gear 614 and the travel motor 63 need to be provided on the rod sleeve 613 of the first travel unit 61a, while the worm gear 614 and the travel motor 63 do not need to be provided on the second travel unit 61b. After unlocking the first locking mechanism 62a on the first travel unit 61a, the first travel unit 61a is driven to translate forward along the guide worm 60 by controlling the travel motor 63 on the first travel unit 61a to rotate forward; when the first travel unit 61a is in place, the first locking mechanism 62a can be used to lock the first travel unit 61a to the outer wall of the pipeline 9, and unlock the second locking mechanism 62b on the second travel unit 61b; and then the travel motor 63 is driven to reverse, so as to drive the guide worm 60 to translate forward, and then drive the second travel unit 61b connected to the guide worm 60 to translate forward together. In this way, a set of walking mechanism 6 can realize the crawling action on the outer wall of the pipeline 9, and can drive the fixed mounting plate 1 connected to the walking mechanism 6 and the radiation mechanism 3 and imaging mechanism 4 connected thereto to move along the outer wall of the pipeline 9, thereby realizing the detection of welds at different positions in the extension direction of the pipeline 9.

[0060] The other half of the components have the same structure and control method, which will not be described here.

[0061] In the present invention, in order to facilitate the adjustment of the spacing between the two sets of half-side components to adapt to crawling on pipes 9 of different diameters, one end of the guide mechanism is fixedly connected to the fixed mounting plate 1 through a connecting plate 7, and the other end is supported and connected through an arc-shaped fixing plate 8, wherein the plate surfaces of the arc-shaped fixing plate 8 and the connecting plate 7 are arranged perpendicular to the extension direction of the guide mechanism, and both of the plate surfaces are provided with adjustment mechanisms for adjusting the distance between the walking mechanism 6 and the outer wall of the pipe 9 to adapt to pipes 9 of different diameters, and the connecting plate 7 and / or the arc-shaped fixing plate 8 are also provided with fixings for fixing the end of the guide mechanism after adjusting the position of the walking mechanism 6.

[0062] In this preferred embodiment, one end of the guide mechanism of the two sets of half-side components is connected to the connecting plate 7. The adjustment mechanism on the connecting plate 7 can be a straight groove, or a plurality of through holes arranged at a predetermined interval, and the spacing of the through holes can be reasonably set to match the diameters of different pipes 9. For example, two straight grooves can be set on the connecting plate 7, and the distance between the two straight grooves is equal to the spacing between the two guide worms 60 in one set of half-side components. One end of the two guide worms 60 located in the same plane in the two sets of half-side components is slidably connected in the same straight groove. Of course, each straight groove can also be divided into two straight grooves, for a total of four straight grooves. Alternatively, two rows of through holes can be set on the connecting plate 7, and the distance between the two rows of through holes is equal to the spacing between the two guide worms 60 in one set of half-side components. By installing the end of the guide mechanism into different through holes, it is possible to match pipes 9 of different diameters.

[0063] After the end of the guide mechanism is adjusted on the connecting plate 7, it can be fixed by a fixing member. In the preferred embodiment, the fixing member can be a bolt and a nut. For example, when the adjustment mechanism is a row of through holes, a bolt hole is correspondingly set at the end of the guide worm 60. By passing the bolt through the bolt hole on the guide worm 60 and then locking it with a nut, the end of the guide worm 60 can be fixed to prevent it from escaping from the through hole. When the adjustment mechanism is a straight groove, a through hole can be set at the end of the guide worm 60. The fixing member includes a pull rod, a bolt, a nut, and a bolt hole arranged on the connecting plate 7 next to the through hole. Holes are also set at both ends of the pull rod. The pull rod is passed through the through hole on the guide worm 60, and the two ends of the pull rod are locked to the bolt holes on the connecting plate 7 by bolts and nuts. The guide worm 60 after the position is adjusted can also be fixed.

[0064] The other end of the guide mechanism is supported by an arc-shaped fixing plate 8. Figure 2 and Figure 7 In this preferred embodiment, two independent arc-shaped fixing plates 8 are arranged at the other end of the two sets of half-side components, and each arc-shaped fixing plate 8 supports two guide worms 60 located in the same plane in the two sets of half-side components. The adjustment mechanism on the arc-shaped fixing plate 8 is an arc-shaped slide groove 80 arranged at intervals at both ends and extending toward the middle. Of course, the adjustment mechanism can also be a plurality of through holes arranged at a predetermined interval. Accordingly, a fixing member with a structure similar to that of the fixing member used on the connecting plate 7 can be used on the arc-shaped fixing plate 8 to fix the guide worm 60 after the position is adjusted, which will not be repeated here.

[0065] The pipeline automatic flaw detection and positioning detection device of the present invention also includes a plurality of ultrasonic distance sensors installed outside the detection device. For example, the ultrasonic distance sensors can be installed on the fixed mounting plate 1 or the walking mechanism 6. The ultrasonic distance sensors detect external obstacles during operation, so as to stop the operation of the device in time and send out alarm information.

[0066] The motors in the driving mechanism 5, imaging mechanism 4 and walking mechanism 6 of the present invention adopt high-precision servo motors. The servo motors are equipped with motor shaft locking devices (power-off brake clutches), which effectively ensure that the motor shaft is locked when the power is off. Each servo motor has a positive limit, a negative limit and an origin switch. The servo motor control adopts a closed-loop control method to ensure accurate positioning. The present invention also adopts a dedicated motion controller connected to the servo motor to send a control signal to the servo motor; at the same time, the servo motor feeds back the position information of the servo motor to the motion controller for closed-loop control. At the same time, the external limit signal, origin signal, and ultrasonic distance sensor signal enter the motion controller. The use of control is more precise and more reasonable.

[0067] The imaging mechanism 4 of the present invention adopts multiple cameras to wirelessly send image data, which is convenient for remote real-time viewing of the operation status of the device and timely adjustment. The camera is connected to the control system by wireless communication connection. The servo motors in the imaging mechanism 4, the driving mechanism 5 and the walking mechanism 6 are also wirelessly connected to the control system. The present invention adopts a remote wireless control solution, and the effective distance can reach several kilometers. The control system includes a control console, which is divided into a control operation screen, an image monitoring screen, an emergency stop button, and a control button. The control operation screen integrates adjustment buttons, motor status, parameter settings, and fault alarms. The image monitoring screen can be displayed in split screens or enlarged separately. There is a "cross" cursor for welds, which can be accurately checked. The above matching makes the operation safer, more humane and more scientific. Combined with artificial intelligence image recognition technology, the efficiency of automatic identification of pipeline weld defects can be improved.

[0068] The pipeline automatic flaw detection and positioning detection device of the present invention takes a horizontally arranged pipeline 9 as an example, and the process of installing it to the pipeline 9 is roughly as follows:

[0069] Place the device under the pipe 9 so that the first opening 11 on the fixed mounting plate 1 is aligned with the pipe 9; use a lifting mechanism such as a lifting motor to lift the device. When the device is about to reach the pipe 9, control the motor 51 of the driving mechanism 5 to start, so that it drives the rotating plate 2 to rotate, so as to automatically adjust the angle of the second opening 21, so that the second opening 21 is aligned with the pipe 9 and rises to its position again; control the locking motor 621 in the locking mechanism to operate, so as to drive the locking block 622 to operate in the pressing direction and lock it on the pipe 9.

[0070] The pipeline automatic flaw detection and positioning detection device of the present invention has a walking process on the pipeline 9 as follows:

[0071] The first half of the walking mechanism 6 located on one side of the pipe 9 is locked; the second half of the other side moves forward, and after reaching the limit, the second half stops and locks; the first half moves forward, and after reaching the limit, the first half stops. This cycle is repeated, the walking speed and walking distance are adjustable, and the device stops automatically when the weld position is detected. The crawling action of the two sets of half-assemblies on the outer wall of the pipe 9 is similar to the action of a person climbing a pole with both feet.

[0072] When the device detects a weld, it accurately locates the weld. Through the camera, the weld can be seen through the wireless control system. When the weld is detected, both sets of half-side components lock the pipe 9. After the weld is accurately aligned, the flaw detection can be carried out. The flaw detection process is as follows: rotate the X-ray machine 31 and return to the starting position; set the detection speed and photo mode, and press the flaw detection button. The device starts automatic detection until the detection is completed.

[0073] There are two detection methods. (1) Photo mode: Set the number of photos to be taken, the camera and the X-ray machine 31 start from the starting position, take the first photo, rotate the X-ray machine 31 after the first photo is completed, start the X-ray machine 31, and the camera takes the second photo until the last photo is completed. (2) Continuous video mode: Set the rotation speed, start the X-ray machine 31, and start rotating the X-ray machine 31 at the set speed until it rotates one circle. The camera continuously shoots, saves the video file and records the pipeline 9 information for later viewing, and finally turns off the X-ray machine 31.

[0074] The pipeline automatic flaw detection positioning detection device of the present invention fixes the radiation mechanism 3 and the imaging mechanism 4 on the pipeline 9 by the fixed mounting plate 1, and the driving mechanism 5 drives the rotating plate 2 to rotate relative to the fixed mounting plate 1 to realize the circumferential transillumination and imaging of the pipeline 9, and the walking mechanism 6 drives the entire device to translate along the axial direction of the pipeline 9, which can realize the automatic detection of the pipeline 9 in use, and can be suitable for the detection of longer pipelines 9. There is no need for manual climbing of the pipeline 9 with the detection equipment on the back, and the pipeline 9 can be detected conveniently and effectively, which effectively improves the efficiency of the detection work, reduces the labor intensity of manual work, and reduces the incidence of accidents of pressure pipelines 9 such as gas. The present invention can perform fully automatic intelligent flaw detection on pipelines.

[0075] In the description of the present invention, it is necessary to understand that the terms "up", "down", "horizontal", "vertical", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specified direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0076] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A pipeline automatic flaw detection and positioning detection device, characterized in that: include: A fixed mounting plate (1) having a first receiving groove (10) for receiving the pipe (9) and arranged around the outer periphery of the pipe (9); A positioning detection mechanism is rotatably connected to a first side of the fixed mounting plate (1) and is used to penetrate the pipeline (9) with radiation during the peripheral rotation of the pipeline (9) and to display damage to the pipeline (9) in an imaging manner; A walking mechanism (6) is connected to a second side of the fixed mounting plate (1) opposite to the positioning detection mechanism, and is used for rolling and clamping the outer wall of the pipe (9) and driving the fixed mounting plate (1) and the positioning detection mechanism to move along the axial direction of the pipe (9) by changing the clamping positioning position and rolling and walking cycles; the walking mechanism (6) comprises two sets of half-side components that are relatively buckled on both sides of the pipe (9), and the two sets of half-side components are respectively located on both sides of the first opening (11); The half-side assembly comprises a guide mechanism connected to the second side of the fixed mounting plate (1) and extending axially along the pipe (9), a travel unit connected to the guide mechanism, a locking mechanism provided on the travel unit for locking to the outer wall of the pipe (9), and a driving member for driving the travel unit to travel along the outer wall of the pipe (9); The guide mechanism comprises two guide worms (60) arranged side by side, and the outer periphery of the guide worms (60) is provided with a spiral rack; The half-side assembly comprises two walking units arranged front and back along the walking direction, each walking unit comprises a connecting frame (611) arranged between two guide worms (60), a plurality of magnetic wheels (612) for adsorbing to the outer wall of the pipeline (9) are arranged on the connecting frame (611), a rod sleeve (613) for sleeved on the guide worm (60) is connected to the outer side of the connecting frame (611), a through hole is opened on the rod sleeve (613) of at least one of the walking units, a turbine (614) with a rack on the outer circumference is arranged in the through hole, and the rack on the turbine (614) is meshingly connected with the helical rack of the guide worm (60); The driving member is a travel motor (63) whose output shaft sleeve is arranged in the turbine (614), and the travel motor (63) is used to drive the turbine (614) to rotate, thereby driving the rod sleeve (613) and the connecting frame (611) connected thereto to translate along the guide worm (60), thereby driving the magnetic wheel (612) on the connecting frame (611) to roll along the outer wall of the pipeline (9); The fixed installation plate (1) has a first opening (11) for the pipe (9) to enter, and the first receiving groove (10) is connected to the first opening (11); or The fixed installation plate (1) comprises two arc-shaped plates which are joined together and fixed to the periphery of the pipe (9), and the first receiving groove (10) is formed between the two arc-shaped plates.

2. The pipeline automatic flaw detection and positioning detection device according to claim 1 is characterized in that: The positioning detection mechanism comprises a rotating plate (2) and a driving mechanism (5); The rotating plate (2) has a second receiving groove (20) for accommodating the pipe (9); the rotating plate (2) is rotatably connected to the first side of the fixed mounting plate (1) and is used to surround the outer periphery of the pipe (9) and rotate around the outer periphery of the pipe (9); The driving mechanism (5) is connected to the fixed mounting plate (1) and the rotating plate (2) and is used to drive the rotating plate (2) to rotate circumferentially around the pipe (9) relative to the fixed mounting plate (1).

3. The pipeline automatic flaw detection and positioning detection device according to claim 2 is characterized in that: The driving mechanism (5) comprises at least four gears (50) and a motor (51) for driving the gears (50) to rotate, wherein the at least four gears (50) are connected to the first side of the fixed mounting plate (1) and are evenly distributed on the periphery of the first receiving groove (10); The rotating plate (2) is circular in shape, and is provided with a second opening (21) for the pipe (9) to enter, the second opening (21) being in communication with the second receiving groove (20), the rotating plate (2) being mounted in a circular area enclosed by gears (50) on the fixed mounting plate (1), the outer periphery of the rotating plate (2) being provided with a toothed edge (22) meshingly connected with at least three of the gears (50) on the fixed mounting plate (1), the toothed edge (22) being supported and driven by at least three gears (50) to rotate circumferentially around the pipe (9).

4. The pipeline automatic flaw detection and positioning detection device according to claim 2 is characterized in that: A plurality of cams (23) for rolling support to the outer wall of the pipe (9) are arranged on the rotating plate (2) along the circumferential direction on the inner wall surface of the second receiving groove (20).

5. The pipeline automatic flaw detection and positioning detection device according to claim 4 is characterized in that: The locking mechanism is respectively provided on each of the walking units; The locking mechanism comprises a locking motor (621) arranged on a connecting frame (611) and a locking block (622) connected to the locking motor (621); the locking block (622) has a locking surface facing the outer wall of the pipe (9); the locking block (622) is driven by the locking motor (621) to move toward or away from the outer wall of the pipe (9) so that the locking surface is pressed against the outer wall of the pipe (9) to lock or moves away from the outer wall of the pipe (9) to unlock.

6. The pipeline automatic flaw detection and positioning detection device according to claim 5 is characterized in that: One end of the guide mechanism is fixedly connected to the fixed mounting plate (1) via a connecting plate (7), and the other end is supported and connected via an arc-shaped fixing plate (8), wherein: The plate surfaces of the arc-shaped fixing plate (8) and the connecting plate (7) are arranged perpendicular to the extension direction of the guide mechanism, and the plate surfaces of both are provided with adjustment mechanisms for adjusting the distance between the running mechanism (6) and the outer wall of the pipeline (9) to adapt to pipelines (9) of different diameters, and the connecting plate (7) and / or the arc-shaped fixing plate (8) are also provided with fixing parts for fixing the end of the guide mechanism after adjusting the position of the running mechanism (6).

7. The pipeline automatic flaw detection and positioning detection device according to claim 2 is characterized in that: The positioning detection mechanism also includes: A ray mechanism (3) fixedly connected to one side of the free side surface of the rotating plate (2) and used for providing rays penetrating the pipe (9) from the outside of the circumference of the pipe (9); An imaging mechanism (4) is fixedly connected to the other side of the free side surface of the rotating plate (2), and is arranged on both sides of the pipe (9) and opposite to the radiation mechanism (3), and is used to receive radiation that penetrates the pipe (9) from the outside of the circumference of the pipe (9) and to form an image; The radiation mechanism (3) comprises a base (30) fixedly connected to the free side surface of the rotating plate (2), an X-ray machine (31) being mounted on the base (30), and a radiation emission position of the X-ray machine (31) facing the outer wall of the pipe (9); The machine base (30) is also connected to a support (32) extending in the direction of the pipeline (9), and a universal wheel (33) is installed at the end of the support (32) for rolling support on the outer wall of the pipeline (9); The imaging mechanism (4) comprises a counterweight mounting seat (40) fixedly connected to the free side surface of the rotating plate (2), an imaging mounting plate (41) for mounting a camera and a shifting motor (42) for driving the imaging mounting plate (41) to move radially toward or away from the outer wall of the pipe (9) at the end of the counterweight mounting seat (40).

Images