Speed ​​regulating device for detector in pipeline

Abstract

A speed control device for a detector in a pipeline includes a brake and a control device. The brake's piston is annular, with the exterior of the brake piston welded to a hole in the piston's metal frame. A brake connecting rod is located within the piston, with the end of the piston sheathed in high-wear-resistant rubber. One end of the brake connecting rod is fixed to the high-wear-resistant rubber, and the other end is connected to a transmission connecting rod via a movable bearing. The middle of the transmission connecting rod is also connected via a movable bearing. The brake main shaft has a built-in torque motor, the motor's rotating shaft is riveted to a bearing hole in the middle of the brake main shaft, and the ends of each transmission connecting rod are welded to the rotating shaft of the torque motor. The brake main shaft is riveted to the detector's universal joint. The control device can collect the flow rate of the medium in the pipeline and feed it back to a microcontroller. The microcontroller controls the rotation of the torque motor, which in turn controls the displacement of the transmission connecting rod, thereby varying the friction between the brake and the pipeline wall to adjust the detector speed. The present invention can accurately adjust the detector speed.

Description

Technical Field

[0001] The invention relates to a speed control device for an in-pipeline detector, in particular to an in-pipeline detector driven by a medium pressure difference. Background Art

[0002] In-pipeline inspection technology uses an in-pipeline detector to magnetize the pipeline being inspected and simultaneously detect the leakage magnetic field near the pipeline. Through analysis and processing of this leakage magnetic field, qualitative and quantitative judgments can be made about pipeline defects. The pipeline leakage magnetic field directly influences the inspection conclusions, and the magnetization of the pipeline directly affects the characteristics of the stimulated leakage magnetic field. Therefore, ensuring sufficient magnetization of the pipeline is key to achieving accurate measurements.

[0003] Existing in-pipeline detectors are generally driven by medium pressure differentials. After the detector is deployed from a pipeline inspection station, the medium pushes against the detector cup, controlling the detector's speed in an open-loop manner. Based on the requirement for sufficient pipeline magnetization, the industry generally considers the detector's operating speed to be less than 5 m / s. However, in practice, the speed of in-pipeline detectors generally matches the flow velocity of the medium, typically around 2 m / s in oil pipelines and exceeding 10 m / s in gas pipelines. Therefore, controlling the in-pipeline detector speed within an appropriate range is difficult.

[0004] Patents CN212695932U, CN212627548U, and CN213065124U propose a method of controlling the speed of the detector in the pipeline by controlling the area of ​​the detector's leakage channel. This method can control the speed of the detector to a certain extent. However, when the medium flow is too large, even if the leakage channel is opened to the maximum, other structures of the detector are pushed by the medium. Due to the excessive pressure difference, the speed may still exceed the appropriate range, resulting in the pipeline not being fully magnetized. Summary of the Invention

[0005] The object of the present invention is to provide a speed regulation system for a detector in a pipeline, which can accurately regulate the speed of the detector.

[0006] To achieve the above object, the technical solution of the present invention is:

[0007] The speed control device of the in-pipe detector includes a brake and a control device. The brake includes: a piston metal frame, a brake piston, and a brake spindle. The piston metal frame is annular and has several holes evenly distributed on it. The outside of the brake piston is welded to the holes of the piston metal frame. A brake connecting rod is installed in the piston. The end of the piston is covered with high-wear-resistant rubber. One end of the brake connecting rod is fixed to the high-wear-resistant rubber, and the other end is connected to the transmission connecting rod through a movable bearing. The middle of the transmission connecting rod is also connected through a movable bearing. The brake spindle has a built-in torque motor. The rotating shaft of the motor is riveted to the bearing hole in the middle of the brake spindle. The ends of each transmission connecting rod are welded to the rotating shaft of the torque motor. The brake spindle is riveted to the universal joint of the detector.

[0008] The control device includes a microcontroller, an auxiliary power supply, an incremental encoder, and an absolute encoder. The incremental encoder collects the flow rate of the medium in the pipeline in real time and feeds it back to the microcontroller; the absolute encoder detects the rotation angle of the torque motor and can indirectly measure the displacement of the brake connecting rod. The microcontroller converts the feedback data and outputs a control signal. By controlling the rotation of the torque motor, the displacement of the transmission connecting rod is controlled, and the friction between the brake and the pipeline wall is changed to adjust the detector speed.

[0009] The incremental encoder is installed on the pipeline detector, the microcontroller and the auxiliary power supply are installed in the middle of the brake main shaft, the absolute encoder is installed on the rotating shaft of the torque motor, and the various components of the control device are connected through circuits and powered by the auxiliary power supply.

[0010] The torque motor is a frameless torque motor consisting of only two parts: a rotor ring and a permanent magnet stator ring. The rotor is embedded with a rotating shaft, which drives the brake.

[0011] The beneficial effects of the present invention are as follows: the present invention provides an automatic control system for the speed of a magnetic flux leakage internal detector. Under high dielectric pressure differentials, the present invention can detect the liquid flow rate within a pipeline and then control the speed of a torque motor via a microcontroller. The torque is transmitted to the high-wear-resistant rubber of the brake, which adheres closely to the pipe wall. The brake is fixedly connected to the detector, thereby controlling the speed of the detector. Furthermore, this speed is adjustable simply by adjusting the speed of the torque motor. Closed-loop speed control ensures that the detector speed can be reduced to an appropriate range, reversing the previous situation where automatic control could not be achieved or where the control speed could be unsatisfactory under high dielectric pressure differentials. This ensures that the detector fully magnetizes the inspected pipeline at an appropriate speed, thereby increasing the reliability of defect detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a structural diagram of the brake of the present invention;

[0013] Figure 2 This is a control principle diagram of the present invention. DETAILED DESCRIPTION

[0014] The present invention will be further described below with reference to the accompanying drawings.

[0015] See also Figure 1-2 The present invention comprises two parts: a brake and a control device. The brake comprises a piston metal frame 3, a brake piston 4, and a brake spindle 11. The piston metal frame 3 is annular and has several holes evenly distributed thereon. The outside of the brake piston 4 is welded and fixed in the holes of the piston metal frame 3. The inside of the brake piston 4 is provided with a brake connecting rod 9. The end of the brake piston 4 is covered with a high-wear-resistant rubber 10. One end of the brake connecting rod 8 is fixed to the high-wear-resistant rubber 10, and the other end is connected to the transmission connecting rod 6 through a movable bearing 7. The middle of the transmission connecting rod 6 is also connected through a movable bearing. The movable bearing and the transmission connecting rod form a crank-connecting rod mechanism that can convert the rotation of the motor shaft into the reciprocating motion of the connecting rod 8. A bearing is embedded in the bearing hole 5 in the middle of the brake spindle 11. The outer ring of the bearing is welded to the wall of the hole in the spindle, and the inner ring is fixed to the rotating shaft of the torque motor by riveting. The end of the transmission connecting rod 6 is welded to the rotating shaft of the torque motor. The connecting rod 6 as a whole can move on the brake main shaft 11. Except for the connection points at both ends, the two are not connected. The brake main shaft 11 is riveted to the universal joint of the pipeline detector.

[0016] The control device includes a microcontroller, an auxiliary power supply, an incremental encoder, and an absolute encoder. The incremental encoder collects the flow rate of the medium in the pipeline in real time and feeds it back to the microcontroller; the absolute encoder detects the rotation angle of the torque motor and can indirectly measure the displacement of the brake connecting rod. The microcontroller converts the feedback data and outputs a control signal. By controlling the rotation of the torque motor, the displacement of the connecting rod is controlled, and the friction between the brake and the pipeline wall is changed to adjust the detector speed. The incremental encoder is installed on the pipeline detector, the microcontroller and the auxiliary power supply are installed in the middle of the brake main shaft, and the absolute encoder is installed on the rotating shaft of the torque motor. The various components of the control device are connected through circuits and powered by the auxiliary power supply.

[0017] The torque motor is a frameless torque motor consisting of a rotor ring and a permanent magnet stator ring. The rotor is embedded in a rotating shaft, which drives the brake, generating a constant torque to control the brake linkage. The aforementioned absolute encoder is mounted on the rotating shaft embedded in the torque motor rotor to detect the rotor's rotation angle.

[0018] The brake is fixed to the detector's universal joint in the pipeline by riveting the main shaft. It adopts a hollow structure and has a built-in torque motor, microcontroller, auxiliary power supply, etc. The remaining devices on the controller can be installed on the brake.

[0019] When the present invention is in use, it is placed together with the pipeline detector in the pipeline to be detected, and a pipeline gap 2 is left between the pipeline to facilitate the flow of the medium.

[0020] When the medium speed in the pipeline is less than 5 m / s, the device does not work, and the detector detects the inside of the pipeline as the medium flows in the pipeline.

[0021] When the medium speed in the pipeline exceeds 5 m / s, the high-pressure medium drives the rubber cup of the pipeline detector to move. At this time, the incremental encoder can collect the real-time flow rate of the medium and feed the signal back to the microcontroller. The microcontroller outputs a control signal through a regulation algorithm and transmits it to the torque motor. The torque motor rotates the brake spindle, thereby driving the transmission connecting rod 6. The transmission connecting rod 6 converts the rotational motion into linear motion, driving the brake connecting rod 8, and ultimately ejecting the high-wear-resistant rubber 10 on the top of the brake piston 4. The high-wear-resistant rubber 10 adheres to the inner wall 1 of the pipeline, generating friction, thereby controlling the speed of the pipeline detector. When the brake connecting rod 8 is extended and retracted to its maximum length, the pressure between the high-wear-resistant rubber 10 and the inner wall 1 of the pipeline reaches its maximum, completely braking the entire mechanism.

[0022] By adjusting the torque motor's speed, torque is transmitted through the connecting rod to the high-wear-resistant rubber on the brake piston, thereby controlling the pressure between the high-wear-resistant rubber and the inner wall of the pipe. The brake is fixed to the pipe detector, allowing the speed of the pipe detector to be adjusted. This speed adjustment is also fully controllable.

[0023] In order to prevent excessive pressure between the high-wear-resistant rubber 10 and the inner wall 1 of the pipe, the rotor rotation angle is detected in real time by the absolute value encoder built into the torque motor.

[0024] By controlling the torque motor, the pressure value between the high-wear-resistant rubber and the inner wall of the pipe can be controlled, thereby controlling the flow rate of the pipeline detector in the pipeline to reach a specified range, thereby improving the accuracy of the detection results.

Claims

1. A speed regulating device for a detector in a pipeline, including a brake and a control device, characterized in that: Brakes include: Piston metal frame, brake piston, brake spindle; The piston metal frame is annular and has several holes evenly distributed on it. The outside of the brake piston is welded in the holes of the piston metal frame. There is a brake connecting rod inside the piston. The end of the piston is covered with high wear-resistant rubber. One end of the connecting rod is fixed on high-wear-resistant rubber, and the other end is connected to the transmission connecting rod through a movable bearing. The middle of the transmission connecting rod is also connected through a movable bearing. The movable bearing and the transmission connecting rod form a crank-connecting rod mechanism, which can convert the rotation of the motor shaft into the reciprocating motion of the brake connecting rod; the brake main shaft has a built-in torque motor, the rotating shaft of the torque motor is riveted into the bearing hole in the middle of the brake main shaft, the ends of each transmission connecting rod are welded to the rotating shaft of the torque motor, and the brake main shaft is riveted to the detector universal joint; the control device includes a microcontroller, an auxiliary power supply, an incremental encoder, and an absolute encoder. The incremental encoder collects the flow rate of the medium in the pipeline in real time and feeds it back to the microcontroller; the absolute encoder detects the rotation angle of the torque motor, which can indirectly measure the displacement of the brake connecting rod. The microcontroller converts the feedback data and outputs a control signal. By controlling the rotation of the torque motor, the displacement of the transmission connecting rod is controlled, and then the friction between the brake and the pipeline wall is changed to adjust the detector speed.

2. The speed regulating device for a detector in a pipeline according to claim 1, characterized in that: The incremental encoder is installed on the pipeline detector, the microcontroller and the auxiliary power supply are installed in the middle of the brake main shaft, the absolute encoder is installed on the rotating shaft of the torque motor, and the various components of the control device are connected through circuits and powered by the auxiliary power supply.

3. The speed regulating device for an in-pipe detector according to claim 1 or 2, characterized in that: The torque motor is a frameless torque motor consisting of only two parts: a rotor ring and a permanent magnet stator ring. The rotor is embedded with a rotating shaft, which drives the brake.

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