A touch-type detection device for health diagnosis of large submarine pipelines

Abstract

A tactile detection device for health diagnosis of large submarine pipelines, comprising a front support wall device, a cleaning platform, a scanning platform, a rear support wall device, and a first damping connecting ring, a second damping connecting ring, and a third damping connecting ring; the front support wall device and the cleaning platform are connected by a first damping connecting ring, the cleaning platform and the scanning platform are connected by a second damping connecting ring, and the scanning platform and the rear support wall device are connected by a third damping connecting ring; the front support wall device and the rear support wall device have the same structure and are arranged at both ends of the device, and a plurality of hydraulic support rods are arranged on the support wall device and the rear support wall device; the scanning platform is provided with a plurality of retractable probes; the cleaning platform is provided with a physical cleaning device and an ultrasonic cleaning device. The present invention overcomes the difficulties in the prior art such as the difficulty of magnetizing the pipeline wall, the low imaging resolution, and the difficulty of instrument operation, and develops a tactile detection device for health diagnosis of large submarine pipelines.

Description

Technical Field

[0001] The invention belongs to the field of marine machinery, and in particular relates to a probe-type detection device used for health diagnosis of large submarine pipelines. Background Art

[0002] In recent decades, with the rapid development of marine resources, a large number of submarine pipeline networks have been formed in the waters surrounding my country. Over time, submarine pipelines in complex marine environments face increasing risks of corrosion and damage. As an important method for monitoring the health of submarine pipelines, pipeline detection technology plays an important role in ensuring the safe operation of submarine pipelines. In particular, in recent years, the state has launched a project to develop seawater pumped storage power generation technology, requiring larger diameters of pipelines for extracting seawater, smaller curvature of pipeline routes, and stronger corrosion resistance of pipelines, which puts higher requirements on the construction, detection, operation and maintenance of large submarine pipelines.

[0003] According to the physical area of ​​the inspection pipeline, large submarine pipeline inspection methods can be divided into two categories: inside the pipeline inspection and outside the pipeline inspection. At present, the world's submarine pipeline inspection technology mainly uses ultrasonic imaging, magnetic flux leakage detection, far-field eddy current, electromagnetic ultrasound and other technologies, which can realize the automatic identification and intelligent detection of metal cracks, damage, corrosion and anti-corrosion coating defects and peeling inside the submarine pipeline. However, they often face some technical difficulties, such as the difficulty of magnetizing the pipe wall, low imaging resolution, and difficulty in instrument operation. Therefore, the development of new large-scale submarine pipeline inspection equipment to make up for the defects of existing equipment will meet the needs of my country's marine engineering research, especially seawater pumped storage power generation, and has important application value. Summary of the invention

[0004] The technical problem to be solved by the present invention is: to overcome the difficulties in the prior art such as the difficulty of magnetizing the pipeline wall, the low imaging resolution, and the difficulty in instrument operation, to develop a probe detection device for health diagnosis of large submarine pipelines, to provide a new solution for internal detection of submarine pipelines, to meet the needs of submarine pipeline detection, especially the needs of seawater pumped storage power generation, and to continuously narrow the gap between my country's marine engineering field and the world's advanced level.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a tactile detection equipment for health diagnosis of large submarine pipelines, including a front support wall device, a cleaning platform, a scanning platform, a rear support wall device and a first damping connecting ring, a second damping connecting ring and a third damping connecting ring; the front support wall device and the cleaning platform are connected by a first damping connecting ring, the cleaning platform and the scanning platform are connected by a second damping connecting ring, and the scanning platform and the rear support wall device are connected by a third damping connecting ring; the front support wall device and the rear support wall device have the same structure and are arranged at both ends of the equipment, and a plurality of hydraulic support rods are arranged on the support wall device and the rear support wall device; a plurality of retractable probes are arranged on the scanning platform; and a physical cleaning device and an ultrasonic cleaning device are arranged on the cleaning platform.

[0006] Preferably, one end of the hydraulic support rod is connected to the hydraulic cylinder, and the other end is provided with a spherical tire. The hydraulic cylinder is fixed to the front support wall device and the rear support wall device through a mounting seat, and a hydraulic warehouse shell is provided outside the hydraulic cylinder.

[0007] Preferably, the spherical tire includes a tire shell and a spherical roller enclosed in the tire shell. A stepper motor and a transmission roller for driving the spherical roller to rotate are also provided in the tire shell. The stepper motors are provided in plurality, and a transmission roller is provided on the output shaft of each stepper motor. A circular groove is provided on the surface of the spherical roller, and a circular protrusion matching the circular groove is provided on the surface of the transmission roller.

[0008] Preferably, the hydraulic cylinder is fixed to the mounting seat by bolts, and the hydraulic support rod is connected to the hydraulic cylinder by rivets.

[0009] Preferably, a pressure sensor is provided at the front end of the probe, a probe is provided at the front end of the pressure sensor, and a rack is provided at the tail end of the probe; it also includes a second stepper motor for driving the rack to move, a gear is provided at the output end of the second stepper motor, the gear is meshed with the rack, and a probe position measuring device is also provided on one side of the rack, and the pressure sensor, the second stepper motor and the needle position measuring device are all electrically connected to the central control chip.

[0010] Preferably, the probe is a magnetic probe.

[0011] Preferably, the probe is a non-magnetic probe.

[0012] Preferably, the probe surface is coated with a non-magnetic anti-scratch coating.

[0013] Preferably, the first damping connecting ring, the second damping connecting ring and the third damping connecting ring can be bent around the center line of the damping ring.

[0014] The present invention provides a contact detection device for large submarine pipeline health diagnosis, which has the following beneficial effects:

[0015] 1. A new large-scale submarine pipeline health diagnostic equipment is provided, which can detect the changes in the internal surface morphology of the submarine pipeline, so as to determine the corrosion site and degree of corrosion in the pipeline.

[0016] 2. The equipment adopts modular design, and each module is connected by a deformable damping ring, which improves the equipment's adaptability to curved pipes.

[0017] 3. The equipment provides two scanning modes: mechanical mode and magnetic mode, which can obtain the mechanical morphology and magnetic morphology characteristics of the inner surface of the pipeline. The two can verify each other and improve the accuracy of the image. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0019] Figure 1 It is a structural schematic diagram of the present invention;

[0020] Figure 2 It is a schematic diagram of the installation structure of the spherical tire of the present invention;

[0021] Figure 3 The schematic diagram of the installation structure of the probe of the present invention;

[0022] Figure 4 It is a structural schematic diagram of the damping ring of the present invention;

[0023] Figure 5 This is a schematic diagram of the effect of the present invention when scanning the pipe wall. DETAILED DESCRIPTION

[0024] like Figure 1 As shown, a tactile detection device for health diagnosis of large submarine pipelines includes a front supporting wall device 1, a cleaning platform 2, a scanning platform 3, a rear supporting wall device 4, and a first damping connecting ring 5, a second damping connecting ring 6, and a third damping connecting ring 7; the front supporting wall device 1 is connected to the cleaning platform 2 through the first damping connecting ring 5, the cleaning platform 2 and the scanning platform 3 are connected through the second damping connecting ring 6, and the scanning platform 3 and the rear supporting wall device 4 are connected through the third damping connecting ring 7; the front supporting wall device 1 and the rear supporting wall device 4 have the same structure and are arranged at both ends of the equipment, and a plurality of hydraulic support rods 8 are arranged on the supporting wall device 1 and the rear supporting wall device 4; a plurality of retractable probes 9 are arranged on the scanning platform 3; and a physical cleaning device 10 and an ultrasonic cleaning device 11 are arranged on the cleaning platform 2.

[0025] Preferably, Figure 2As shown, one end of the hydraulic support rod 8 is connected to the hydraulic cylinder 12 and can be freely extended and retracted, and the other end is provided with a spherical tire 13. The hydraulic cylinder 12 is fixed to the front support wall device 1 and the rear support wall device 4 through a mounting seat 14, and a hydraulic warehouse shell 15 is provided on the outside of the hydraulic cylinder 12.

[0026] Preferably, the spherical tire 13 includes a tire shell 16 and a spherical roller 17 wrapped in the tire shell 16. A stepper motor 18 and a transmission roller 19 for driving the spherical roller 17 to rotate are also provided in the tire shell 16. The stepper motor 18 is provided in plurality, and a transmission roller 19 is provided on the output shaft of each stepper motor 18. A circular groove 20 is provided on the surface of the spherical roller 17, and a circular protrusion 21 matching the circular groove 20 is provided on the surface of the transmission roller 19. The spherical roller 17 rolls under the drive of multiple groups of stepper motors that form a certain angle with each other, thereby driving the overall movement and rotation of the device. Preferably, the scanning platform 3 itself can be driven by a motor to drive it to rotate around the axis of the device.

[0027] Preferably, the hydraulic cylinder 12 is fixed to the mounting seat 14 by bolts 22 , and the hydraulic support rod 8 is connected to the hydraulic cylinder 12 by rivets 23 .

[0028] Preferably, Figure 3 As shown, a pressure sensor 24 is provided at the front end of the probe 9, a probe head 30 is provided at the front end of the pressure sensor 24, and a rack 25 is provided at the tail end of the probe 9; it also includes a second stepper motor 26 for driving the rack 25 to move, a gear 27 is provided at the output end of the second stepper motor 26, the gear 27 is meshed with the rack 25, and a probe position measuring device 28 is also provided on one side of the rack 25, and the pressure sensor 24, the second stepper motor 26 and the needle position measuring device 28 are all electrically connected to the central control chip 29.

[0029] In this embodiment, the pressure sensor 24 adopts a thin film pressure sensor DF9-40@5kg (Zhengzhou Weisheng Electronic Technology Co., Ltd.), the stepper motor adopts PFC55H (Japan Pulse Motor Group), the probe position measurement device 28 adopts aTiny point laser displacement sensor (Beijing Chuangxiang Intelligent Control Technology Co., Ltd.), and the central control chip 29 adopts the W-3175X set control chip.

[0030] Preferably, the probe 30 is a magnetic probe. Preferably, the probe 30 is a non-magnetic probe. When in use, the two types of probes can be arranged alternately on the scanning platform 3.

[0031] Preferably, the surface of the probe 30 is coated with a non-magnetic anti-scratch coating 31. To prevent the probe from scratching the inner wall of the pipeline and to protect the probe, a rubber coating may be used.

[0032] Preferably, Figure 4 The first damping connecting ring 5, the second damping connecting ring 6 and the third damping connecting ring 7 can be bent around the center line of the damping ring to adapt to the local curvature change in the pipeline route.

[0033] like Figure 5 As shown, the specific implementation of the present invention for large submarine pipeline health detection is as follows:

[0034] The device of the present invention is placed at the entrance of the submarine pipeline maintenance. With the support of the front and rear wall support devices, the device will be suspended in the pipeline. Turn on the stepper motor to drive the spherical roller to roll along the pipe wall, and the device of the present invention will move forward as a whole. During the movement, turn on the cleaning device to clean the pipe wall, and turn on the scanning platform. The platform will rotate at a constant speed around the central axis of the device. The magnetic probe and non-magnetic probe on the platform are extended out of the detection platform under the drive of the stepper motor to start scanning. Depending on whether the scanning probe is magnetic, the probe scanning method can be divided into two categories:

[0035] (1) Mechanical scanning mode of non-magnetic probe: When the non-magnetic probe reaches the inner wall of the scanned pipe 32, the pressure between the non-magnetic scanning probe and the scanned pipe wall is set to a constant value, and the scanning platform is rotated to scan the pipe wall. The dot matrix on the pipe wall is the scanning path. When the probe encounters corrosion sites 33, cracks 34 (or adsorbents) on the inner wall of the pipe, the pressure felt by the pressure sensor will decrease (or increase). At this time, the second stepper motor will drive the probe to extend further forward (or retract) to ensure that the pressure felt by the probe head is constant. At this time, the position recording device will record the length of the probe extending from the platform and input the data into the central control chip. The two-dimensional morphology of the inner wall of the pipe is thus derived 35.

[0036] (2) Magnetic scanning mode of magnetic probe: When the magnetic probe reaches the inner wall of the pipe to be scanned, if the pipe wall 32 is made of ferromagnetic metal such as steel, it will generate attraction to the probe magnetic head. The magnetic probe is brought close to the pipe wall but not in contact with it, and the position of the probe relative to the scanning platform is fixed, and the scanning platform is rotated to scan the pipe wall. Figure 5 As shown in the figure, when the magnetic probe encounters corrosion sites 33, cracks 34 (or adsorbents) on the inner wall of the pipeline, the magnetic attraction felt by the probe will become smaller (or larger) due to the change in the magnetic properties of the corrosion sites, cracks or pipelines. The pressure sensor records the magnitude of the magnetic attraction felt by the needle and transmits the data to the central control chip. From this, the two-dimensional magnetic morphology of the inner wall of the steel pipe is derived, and a picture similar to the two-dimensional morphology of the inner wall of the pipeline can be obtained. Combining the two, the internal health of the pipeline can be clearly judged.

[0037] The above embodiments are only preferred technical solutions of the present invention and should not be regarded as limiting the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A method for using a contact detection device for health diagnosis of large submarine pipelines, characterized in that: The probe-type detection device comprises a front supporting wall device (1), a cleaning platform (2), a scanning platform (3), a rear supporting wall device (4), and a first damping connecting ring (5), a second damping connecting ring (6), and a third damping connecting ring (7); the front supporting wall device (1) and the cleaning platform (2) are connected via the first damping connecting ring (5), the cleaning platform (2) and the scanning platform (3) are connected via the second damping connecting ring (6), and the scanning platform (3) and the rear supporting wall device (4) are connected via the third damping connecting ring (7); the front supporting wall device (1) and the rear supporting wall device (4) have the same structure and are arranged at both ends of the device; a plurality of hydraulic supporting rods (8) are arranged on the front supporting wall device (1) and the rear supporting wall device (4); a plurality of retractable probes (9) are arranged on the scanning platform (3); a physical cleaning device (10) and an ultrasonic cleaning device (11) are arranged on the cleaning platform (2); The front end of the probe (9) is provided with a pressure sensor (24), the front end of the pressure sensor (24) is provided with a probe (30), and the rear end of the probe (9) is provided with a rack (25); the probe (9) also includes a second stepper motor (26) for driving the rack (25) to move, the output end of the second stepper motor (26) is provided with a gear (27), the gear (27) is meshed with the rack (25), and a probe position measuring device (28) is also provided on one side of the rack (25); the pressure sensor (24), the second stepper motor (26) and the probe position measuring device (28) are all electrically connected to the central control chip (29); The probe (30) is a magnetic probe or a non-magnetic probe; Here’s how to use it: The touch detection equipment is placed at the entrance of the submarine pipeline maintenance. With the support of the front and rear wall support devices, the touch detection equipment will hover in the pipeline; turn on the first stepper motor to drive the spherical roller to roll along the pipe wall, and the equipment will move forward as a whole; during the movement, turn on the cleaning device to clean the pipe wall, and turn on the scanning platform, which will rotate at a constant speed around the central axis of the equipment. The probe on the scanning platform is driven by the second stepper motor to extend out of the detection platform and start scanning; according to whether the probe is magnetic, the probe scanning method is divided into two categories:

1. Mechanical scanning mode of non-magnetic probe: When the non-magnetic probe reaches the inner wall of the scanned pipe (32), the pressure between the non-magnetic probe and the scanned pipe wall is set to a constant value, and the scanning platform is rotated to scan the pipe wall. The dot matrix on the pipe wall is the scanning path; when the probe encounters a corrosion site (33), crack (34) or adsorbent on the inner wall of the pipe, the pressure felt by the pressure sensor will decrease or increase; at this time, the second stepper motor will drive the probe to extend forward or retract further to ensure that the pressure felt by the probe is constant. At this time, the position recording device will record the length of the probe extending from the platform and input the data into the central control chip; thereby, the two-dimensional morphology of the inner wall of the pipe is inversely derived (35); 2. Magnetic scanning mode of the magnetic probe: When the magnetic probe reaches the inner wall of the scanned pipe, if the pipe wall is made of ferromagnetic metal, it will generate attraction to the probe magnetic head; the magnetic probe is brought close to the pipe wall but does not contact the pipe wall, and the position of the probe relative to the scanning platform is fixed, the scanning platform is rotated, and the pipe wall is scanned; when the magnetic probe encounters corrosion sites (33), cracks (34) or adsorbents on the inner wall of the pipe, the magnetic attraction felt by the probe will become smaller or larger due to changes in the magnetic properties of the corrosion sites, cracks or adsorbents on the pipe; the magnitude of the magnetic attraction felt by the probe is recorded by the pressure sensor, and the data is transmitted to the central control chip; thereby, the two-dimensional magnetic morphology of the inner wall of the steel pipe is inverted to obtain a picture similar to the two-dimensional morphology of the inner wall of the pipe; the two are combined to determine the internal health of the pipe; One end of the hydraulic support rod (8) is connected to the hydraulic cylinder (12), and the other end is provided with a spherical tire (13); the hydraulic cylinder (12) is fixed to the front support wall device (1) and the rear support wall device (4) via a mounting seat (14); and a hydraulic chamber housing (15) is provided outside the hydraulic cylinder (12); The spherical tire (13) comprises a tire shell (16) and a spherical roller (17) enclosed in the tire shell (16). A first stepper motor (18) and a transmission roller (19) for driving the spherical roller (17) to rotate are also provided in the tire shell (16). A plurality of first stepper motors (18) are provided, and a transmission roller (19) is provided on the output shaft of each first stepper motor (18). A circular groove (20) is provided on the surface of the spherical roller (17), and a circular protrusion (21) matching the circular groove (20) is provided on the surface of the transmission roller (19).

2. The method for using the tactile detection device for health diagnosis of large submarine pipelines according to claim 1 is characterized by: The hydraulic cylinder (12) is fixed to the mounting seat (14) via bolts (22), and the hydraulic support rod (8) is connected to the hydraulic cylinder (12) via rivets (23).

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