High-flexibility ultrasonic probe tracking connecting device and nondestructive testing method in pipeline

Abstract

The invention relates to the field of nondestructive testing, in particular to a high-flexibility ultrasonic probe tracking and connecting device and a nondestructive testing method in a pipeline, the high-flexibility ultrasonic probe tracking and connecting device comprises tracking type probes which are uniformly arranged along the circumferential direction of a testing cabin, each tracking type probe is hinged and matched with the testing cabin, and the hinge axis is perpendicular to the axis of the testing cabin; the tracking type probe comprises a tracking block advancing along the pipeline and an electromagnetic ultrasonic probe; at least one group of springs are arranged in front of and behind the ultrasonic probe along the advancing direction of the detection cabin, and the ultrasonic probe is elastically arranged on the tracking block in a floating manner through the springs; at least one group of guide mechanisms advancing along the pipe wall and / or the welding seam is arranged in front of and behind the ultrasonic probe in the advancing direction of the detection cabin, and a working gap exists between the guide surface of each guide mechanism and the detection surface of the ultrasonic probe in the radial direction of the detection cabin. According to the invention, the operation posture of the electromagnetic ultrasonic probe is optimized, so that the electromagnetic ultrasonic probe is always parallel to the pipe wall of the pipeline or the welding seam of the bent bulge, and the detection error is greatly reduced.

Description

Technical Field

[0001] The invention relates to the field of nondestructive testing, in particular to a highly flexible ultrasonic probe tracking connection device and a nondestructive testing method in a pipeline. Background Art

[0002] Industrial pipelines are prone to corrosion, cracking, leakage and other problems under complex operating conditions. In daily processes, pipelines need to be inspected regularly to promptly discover and deal with various hidden dangers to ensure that they are always in the best operating state. Currently, common non-destructive testing methods for pipelines include magnetic flux leakage testing, eddy current testing, magnetic particle testing, ultrasonic testing, electromagnetic ultrasonic testing and other testing methods. Among them, electromagnetic ultrasonic testing mainly excites and receives ultrasonic echoes through electromagnetic fields, does not require coupling agents, is resistant to high temperatures, can have a certain lift-off height, and can detect pipeline defects and thickness in high temperature environments.

[0003] Although the electromagnetic ultrasonic probe has the advantage of non-contact, the lifting distance will reduce the conversion efficiency of ultrasonic energy and electromagnetic energy. As described in the publication number "CN118425294A", the traditional electromagnetic ultrasonic probe can perform circumferential detection on the tested pipeline by sliding the electromagnetic ultrasonic probe on the sliding guide rail. When the pipeline robot pulls the electromagnetic ultrasonic probe along the pipeline, the running posture of the electromagnetic ultrasonic probe will be affected by the protrusion of the weld and the bending of the pipeline elbow during the process of passing through the pipeline elbow and weld. The ultrasonic probe cannot always remain parallel to the pipe wall of the pipeline or the bent and protruding weld, resulting in a larger detection error of the probe, which needs to be solved urgently. Summary of the invention

[0004] In order to avoid and overcome the technical problems existing in the prior art, the present invention provides a highly flexible ultrasonic probe tracking connection device and a non-destructive testing method in a pipeline. The present invention optimizes the running posture of the electromagnetic ultrasonic probe so that it always remains parallel to the pipe wall or the bent and raised weld of the pipeline, greatly reducing the detection error.

[0005] To achieve the above object, the present invention provides the following technical solutions: A highly flexible ultrasonic probe tracking and connecting device comprises tracking probes uniformly arranged along the circumference of a detection cabin, each tracking probe is hingedly matched with the detection cabin, and the hinge axis is perpendicular to the axis of the detection cabin; the tracking probe comprises a tracking block moving along a pipeline and an electromagnetic ultrasonic probe; along the moving direction of the detection cabin, at least one set of springs is arranged in front of and behind the ultrasonic probe, and the ultrasonic probe is elastically floated on the tracking block by the springs; along the moving direction of the detection cabin, at least one set of guiding mechanisms moving along the pipe wall and / or weld is arranged in front of and behind the ultrasonic probe, and along the radial direction of the detection cabin, there is a working gap between the guiding surface of the guiding mechanism and the detection surface of the ultrasonic probe.

[0006] As a further solution of the present invention: the guiding mechanism is an inner floating roller installed at the end of the ultrasonic probe, and the ultrasonic probe rolls along the pipe wall and / or the weld through the inner floating roller; outer floating rollers are also arranged at the front and rear ends of the tracking block, and the rolling axis of the outer floating roller is parallel to the axis of the inner floating roller.

[0007] As a further solution of the present invention: along the traveling direction of the detection cabin, two groups of inner floating rollers are provided and symmetrically arranged on both sides of the ultrasonic probe.

[0008] As a further solution of the present invention: the tracking probe is hinged to the body of the detection cabin through a connecting rod, the hinge axis is parallel to the axis of the inner floating roller, and a torsion spring is also provided on the detection cabin to apply elastic thrust to the connecting rod toward the pipe wall.

[0009] As a further solution of the present invention: a mounting cavity for mounting the ultrasonic probe is provided at the center of the tracking block, and springs are provided at the four corner ends of the mounting cavity so as to be connected and fixed to the four corner ends of the ultrasonic probe.

[0010] As a further solution of the present invention: the detection cabin is coaxially fixed with the signal cabin by a connecting rod, a universal joint is arranged at the axis of the detection cabin and / or the signal cabin, and the universal joint shell is made of polyurethane material; the outer ring of the detection cabin is evenly provided with first righting wheels along the circumference, and the outer ring of the signal cabin is evenly provided with second righting wheels along the circumference.

[0011] A nondestructive testing method comprises the following steps: S1. Installing the highly flexible ultrasonic probe tracking connection device in the pipeline; S2. Measure the radial support force of the ultrasonic probe through the sensor F , adjust the spring type and / or the excitation voltage of the coil in the ultrasound probe U , so that the detection surface of the ultrasonic probe is kept in close contact with the pipe wall and / or the weld; ; in, k It represents the elastic constant of the spring; l Indicates the length of the spring in the working state; l 0 represents the original length of the spring; Indicates the angle between the spring and the axis of the ultrasonic probe in the working state; U Represents the excitation voltage of the coil in the ultrasound probe; d 1 Indicates the wire diameter of the coil in the ultrasound probe; ρ Represents the resistivity of the coil wire in the ultrasound probe; D Represents the average diameter of the coil in the ultrasound probe; It represents the differential of the air gap length of the electromagnet in the ultrasonic probe; Indicates the magnetic attraction force of the permanent magnet on the ultrasonic probe; S3. The pipeline robot pulls the detection cabin and the signal cabin to move in the pipeline, so that each tracking probe passes through the weld to detect the weld.

[0012] As a further solution of the present invention: in step S2, the length of the spring in the working state l The following conditions must be met: ; in, a Indicates the length of the tracking block; b Indicates the width of the tracking block; c Indicates the length of the ultrasound probe; d Indicates the width of the ultrasound probe; h 1 Indicates the height difference between the detection surface of the ultrasound probe and the tracking block; h 0 Indicates the distance between the connection point between the spring and the ultrasonic probe and the detection surface of the ultrasonic probe.

[0013] As a further solution of the present invention: before the device is operated, when the ultrasonic probe is not powered on, the measurement .

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The electromagnetic ultrasonic probe of the present invention is elastically floatingly arranged on the tracking block. When the tracking block moves along the pipeline and passes through an elbow or a weld, the ultrasonic probe elastically floats under the action of a spring, and moves along the elbow or weld through the inner floating rollers at both ends thereof, thereby ensuring that the detection surface of the ultrasonic probe always maintains a parallel and close contact state with the elbow or weld, giving the ultrasonic probe multiple degrees of freedom in multiple directions, optimizing the running posture of the electromagnetic ultrasonic probe, making it always maintain parallelism with the pipe wall of the pipeline or the bent and raised weld, and greatly reducing the detection error.

[0015] 2. The tracking device of the present invention is based on more degrees of freedom of the probe, combined with the adsorption force between the permanent magnet in the electromagnetic ultrasonic probe and the ferromagnetic pipe. The electromagnetic ultrasonic probe carried by the detection cabin can change its own angle in the elbow to ensure that it fits with both sides of the pipe. Since the present invention adopts a universal joint with a polyurethane shell, it has a certain elasticity and can effectively limit the excessive twisting and deformation of the universal joint in the pipe, thereby stabilizing the operating posture of the detection cabin and the signal cabin.

[0016] 3. The present invention establishes a calculation formula for the support force exerted on the ultrasonic probe, changes the extension length or elastic coefficient of the spring by adjusting the spring model, or adjusts the excitation voltage of the coil in the ultrasonic probe, thereby changing the support force exerted on the ultrasonic probe. The optimal support force in the equilibrium state can be obtained by calculation, thereby avoiding excessive support force that increases the travel resistance of the device, and also avoiding excessive support force that causes the inner floating rollers on both sides of the ultrasonic probe to lose contact with the pipe wall or weld. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the present invention.

[0018] Figure 2 It is a schematic diagram of the structure of the tracking probe in the present invention.

[0019] Figure 3 It is a top view of the tracking probe in the present invention.

[0020] Figure 4a It is a schematic diagram of the state when the ultrasonic probe in the present invention does not pass through the weld.

[0021] Figure 4b It is a schematic diagram of the state when the ultrasonic probe passes through the starting end of the weld in the present invention.

[0022] Figure 4c It is a schematic diagram of the state when the ultrasonic probe passes through the middle section of the weld in the present invention.

[0023] Figure 4d It is a schematic diagram of the state when the ultrasonic probe passes through the tail end of the weld in the present invention.

[0024] Figure 5a It is a schematic diagram of the state when the existing ultrasonic probe does not pass through the weld.

[0025] Figure 5b It is a schematic diagram of the state of the existing ultrasonic probe when it passes through the starting end of the weld.

[0026] Figure 5c This is a schematic diagram of the state of an existing ultrasonic probe when it passes through the middle section of a weld.

[0027] Figure 5d This is a schematic diagram of the state of an existing ultrasonic probe when passing through the tail end of a weld.

[0028] Figure 6 It is a schematic diagram of the state of the ultrasonic probe when passing through the pipe elbow in the present invention.

[0029] Figure 7 This is a schematic diagram of the state of an existing ultrasonic probe when passing through a pipe elbow.

[0030] In the figure: 1. Inspection chamber; 11. Tracking probe; 111. Tracking block; 112. Ultrasonic probe; 113. Inner floating roller; 114. External floating roller; 115. Spring; 12. Connecting rod; 13. First righting wheel; 2. Signal cabin; 21. Second righting wheel; 3. Connecting rod; 4. Universal joint. DETAILED DESCRIPTION

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

[0032] See also Figures 1 to 7 In an embodiment of the present invention, a highly flexible ultrasonic probe tracking connection device includes a detection cabin 1 and a signal cabin 2, and the detection cabin 1 and the signal cabin 2 are coaxially connected and fixed by a connecting rod 3. Universal joints 4 are provided at the ends of the detection cabin 1 and the signal cabin 2, which can be connected to the connecting rod 3 through the universal joint 4, or connected to a pipeline robot through the universal joint 4, and move along the pipeline by the traction of the pipeline robot. The distance between the detection cabin 1 and the signal cabin 2 can be changed by replacing the connecting rod 3 of different lengths to meet the needs of different pipeline inspections. The shell of the universal joint 4 can be set to a polyurethane shell, and the elastic connection between the detection cabin 1 and the signal cabin 2 can be adaptively changed by replacing polyurethane shells of different specifications.

[0033] The outer circles of the detection cabin 1 and the signal cabin 2 are respectively provided with a first righting wheel 13 and a second righting wheel 21 along the circumferential direction, which are used to maintain the stability and directionality of the robot in the pipeline, ensuring that the robot can smoothly pass through the pipeline and perform effective detection and maintenance work.

[0034] Connecting rods 12 are evenly arranged along the circumference of the detection chamber 1. The connecting rods 12 are hinged with the detection chamber 1. The hinge axis and the axis of the detection chamber 1 are perpendicular to each other. A tracking probe 11 is installed at the end of the connecting rod 12. The rotation of the connecting rod 12 drives the tracking probe 11 to move toward the inner wall of the pipeline, so that the tracking probe 11 is close to the pipeline wall. A torsion spring can be arranged between the connecting rod 12 and the detection chamber 1, and an elastic force is applied to the connecting rod 12 by the torsion spring, so that the tracking probe 11 always abuts against the pipeline wall.

[0035] The tracking probe 11 includes a tracking block 111, and a cavity is provided at the center of the tracking block 111 for installing an electromagnetic ultrasonic probe 112. The cavity of the tracking block 111 is a rectangular cavity, and four groups of springs 115 are respectively provided at the four corners of the cavity, so as to be connected and fixed to the four corners of the ultrasonic probe 112, so that an elastic floating connection is formed between the ultrasonic probe 112 and the tracking block 111.

[0036] Along the moving direction of the detection cabin 1, the front and rear ends of the tracking block 111 are both provided with outer floating rollers 114 that can move along the pipe wall, and the two outer floating rollers 114 are symmetrically arranged on both sides of the ultrasonic probe 112. The front and rear ends of the ultrasonic probe 112 are also equipped with inner floating rollers 113 through brackets, and the inner floating rollers 113 and the ultrasonic probe 112 are connected by a pin shaft. The axes of the inner floating rollers 113 and the outer floating rollers 114 are arranged in parallel and parallel to the tangent of the outer wall. The inner floating rollers 114 are preferably a bearing structure.

[0037] While the tracking block 111 moves along the pipeline via the outer floating roller 114, the outer ring of the inner floating roller 113 rolls along the pipe wall or weld of the pipeline. When the inner floating roller 113 is attached to the pipe wall or weld, there is still a certain distance between the detection surface of the ultrasonic probe 112 and the pipe wall or weld. By changing the radius of the inner floating roller 113, the lifting height of the electromagnetic ultrasonic probe 112 and the pipe wall can be changed.

[0038] Assume that the lifting height of the ultrasonic probe 112 is T The height difference between the pipe contact surface of the inner floating roller 113 and the detection surface of the ultrasonic probe 112 is H , the radius of the pipeline to be detected is R , the width of the inner floating roller 113 is d 0 ,but T satisfy: .

[0039] The present invention comprises the following steps when detecting: S1. Install a highly flexible ultrasonic probe tracking connection device in the pipeline; S2. Measure the radial support force of the ultrasonic probe 112 by using a sensor F, adjust the type of spring 115 and / or the excitation voltage of the coil in the ultrasonic probe 112 U , so that the detection surface of the ultrasonic probe 112 is kept in close contact with the pipe wall and / or the weld; ; in, k represents the elastic constant of the spring 115; l Indicates the length of the spring 115 in the working state; l 0 represents the original length of the spring 115; represents the angle between the spring 115 and the axis of the ultrasonic probe 112 in the working state; U represents the excitation voltage of the coil in the ultrasonic probe 112; d 1 represents the wire diameter of the coil in the ultrasonic probe 112; ρ represents the resistivity of the coil wire in the ultrasonic probe 112; D represents the average diameter of the coil in the ultrasound probe 112; represents the differential of the air gap length of the electromagnet in the ultrasonic probe 112; represents the magnetic attraction force of the permanent magnet on the ultrasonic probe 112; The elastic force exerted by the four springs 115 on the ultrasonic probe 112 needs to satisfy ; in F 0 represents the elastic force exerted by the single spring 115 on the ultrasonic probe 112; G represents the gravity of the ultrasound probe 112 itself.

[0040] because , ; Then the length of spring 115 in the working state is l The following conditions must be met: ; in, a Indicates the length of the tracking block 111; b represents the width of the tracking block 111; c represents the length of the ultrasonic probe 112; d represents the width of the ultrasound probe 112; h 1 represents the height difference between the detection surface of the ultrasound probe 112 and the tracking block 111; h 0 It represents the distance between the connection point between the spring 115 and the ultrasonic probe 112 and the detection surface of the ultrasonic probe 112.

[0041] The supporting force of the ultrasonic probe 112 F Apply elastic force to spring 115 Magnetic attraction to ultrasound probe The sum of .and is the magnetic attraction force of the permanent magnet The electromagnetic attraction generated when the coil in the ultrasonic probe 112 is energized The sum of .

[0042] ; In the formula, IN is the magnetic potential generated when the coil is energized, where I is the current passing through the coil, N is the number of turns of the coil, represents the differential of the air gap length of the electromagnet in the ultrasonic probe 112. When the mechanical size of the electromagnet is determined, It can be considered as a definite value.

[0043] Assume that the average diameter of the coil in the ultrasonic probe 112 is D , the coil wire diameter is d 1 The average voltage of the power supply is U The resistivity of the coil wire is ρ , then the resistance of the coil R It can be expressed as: ; Where: is the cross-sectional area of ​​the conductor; is the average turn length of the coil.

[0044] Combining the above formula with Ohm's law Available , so It can be expressed as: .

[0045] S3, the pipeline robot pulls the detection cabin 1 and the signal cabin 2 to move in the pipeline, so that each tracking probe 11 passes through the weld to detect the weld.

[0046] Before the device is operated, when the ultrasonic probe 112 is not powered, the size.

[0047] like Figure 5a to Figure 5d As shown, when a traditional ultrasonic probe passes through a concave or convex weld in a pipeline, the ultrasonic probe can only move in a direction parallel to the pipe wall and cannot always stay close to the curved weld.

[0048] The present invention Figure 4a to Figure 4d As shown, when passing through a concave and convex weld, due to the elastic floating setting of the ultrasonic probe 112, under the action of the magnetic attraction, the ultrasonic probe 112 can always move close to the weld, and the distance between the ultrasonic probe 112 and the weld remains constant, which greatly improves the accuracy of detection.

[0049] like Figure 6-7 As shown, compared with the existing ultrasonic probe that cannot adaptively rotate and change direction when passing through a pipe elbow, when the ultrasonic probe of the present invention passes through a pipe elbow, each probe on the outer circle of the detection cabin 1 can change its own angle through elastic floating, and always adaptively adhere to the pipe wall of the elbow section.

[0050] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0051] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

Claims

1. A highly flexible ultrasonic probe tracking connection device, characterized in that: The invention comprises tracking probes (11) uniformly arranged along the circumference of a detection chamber (1), each tracking probe (11) being hingedly matched with the detection chamber (1), and the hinge axis being perpendicular to the axis of the detection chamber (1); the tracking probe (11) comprising a tracking block (111) moving along the pipeline and an electromagnetic ultrasonic probe (112); along the moving direction of the detection chamber (1), at least one set of springs (115) is arranged in front of and behind the ultrasonic probe (112), and the ultrasonic probe (112) is elastically floated on the tracking block (111) by means of the springs (115); along the moving direction of the detection chamber (1), at least one set of guiding mechanisms moving along the pipe wall and / or the weld is arranged in front of and behind the ultrasonic probe (112), and along the radial direction of the detection chamber (1), a working gap exists between the guiding surface of the guiding mechanism and the detection surface of the ultrasonic probe (112).

2. A highly flexible ultrasonic probe tracking connection device according to claim 1, characterized in that: The guide mechanism is an inner floating roller (113) installed at the end of the ultrasonic probe (112), and the ultrasonic probe (112) rolls along the pipe wall and / or the weld via the inner floating roller (113); outer floating rollers (114) are also provided at the front and rear ends of the tracking block (111), and the rolling axis of the outer floating roller (114) is parallel to the axis of the inner floating roller (113).

3. A highly flexible ultrasonic probe tracking connection device according to claim 2, characterized in that: Along the moving direction of the detection cabin (1), two groups of inner floating rollers (113) are provided and are symmetrically arranged on both sides of the ultrasonic probe (112).

4. A highly flexible ultrasonic probe tracking connection device according to claim 2 or 3, characterized in that: The tracking probe (11) is hingedly matched with the body of the detection chamber (1) via a connecting rod (12), the hinge axis is parallel to the axis of the inner floating roller (113), and the detection chamber (1) is also provided with a torsion spring for applying an elastic thrust to the connecting rod (12) in the direction of the pipe wall.

5. A highly flexible ultrasonic probe tracking connection device according to any one of claims 1 to 3, characterized in that: A mounting cavity for mounting an ultrasonic probe (112) is provided at the center of the tracking block (111), and springs (115) are provided at the four corner ends of the mounting cavity so as to be connected and fixed to the four corner ends of the ultrasonic probe (112).

6. A highly flexible ultrasonic probe tracking connection device according to any one of claims 1 to 3, characterized in that: The detection cabin (1) is coaxially fixed with the signal cabin (2) via a connecting rod (3); a universal joint (4) is arranged at the axis of the detection cabin (1) and / or the signal cabin (2); the outer shell of the universal joint (4) is made of polyurethane material; first righting wheels (13) are evenly arranged along the circumference of the outer ring of the detection cabin (1); and second righting wheels (21) are evenly arranged along the circumference of the outer ring of the signal cabin (2).

7. A non-destructive testing method, characterized in that: The steps include: S1. Installing a highly flexible ultrasonic probe tracking connection device as described in any one of claims 1 to 3 in a pipeline; S2. Measuring the radial support force of the ultrasonic probe (112) by a sensor F , adjust the type of spring (115) and / or the excitation voltage of the coil in the ultrasonic probe (112) U , so that the detection surface of the ultrasonic probe (112) is kept in close contact with the pipe wall and / or the weld; ； in, k represents the elastic constant of the spring (115); l represents the length of the spring (115) in the working state; l 0 represents the original length of the spring (115); represents the angle between the spring (115) and the axis of the ultrasonic probe (112) in the working state; U represents the excitation voltage of the coil in the ultrasonic probe (112); d 1 represents the wire diameter of the coil in the ultrasonic probe (112); ρ represents the resistivity of the coil wire in the ultrasonic probe (112); D represents the average diameter of the coil in the ultrasonic probe (112); represents the differential of the air gap length of the electromagnet in the ultrasonic probe (112); represents the magnetic attraction force of the permanent magnet exerted on the ultrasonic probe (112); S3, using the pipeline robot to pull the detection cabin (1) and the signal cabin (2) to move in the pipeline, so that each tracking probe (11) passes through the weld to detect the weld.

8. A nondestructive testing method according to claim 7, characterized in that: In step S2, the length of the spring (115) in the working state is l The following conditions must be met: ； in, a Indicates the length of the tracking block (111); b Indicates the width of the tracking block (111); c represents the length of the ultrasonic probe (112); d represents the width of the ultrasonic probe (112); h 1 Indicates the height difference between the detection surface of the ultrasonic probe (112) and the tracking block (111); h 0 Indicates the distance between the connection point between the spring (115) and the ultrasonic probe (112) and the detection surface of the ultrasonic probe (112).

9. A nondestructive testing method according to claim 7, characterized in that: Before the device is operated, the ultrasonic probe (112) is not powered on and the measurement is performed. .

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