An apparatus for ultrasonic inspection of the inner surface of a pipe

Abstract

The application discloses a pipeline inner surface ultrasonic inspection equipment, which comprises a frame, an ultrasonic probe mechanism installed on the frame and used for scanning and detecting the inner surface of the pipeline, and a running mechanism installed on the frame and used for driving the frame to axially step and / or circumferentially step in the pipeline. The ultrasonic probe mechanism can comprehensively detect the inner surface of the pipeline by running in the pipeline in the axial direction or the circumferential direction through the running mechanism, without manual inspection, so that the detection efficiency is high and the practicality is strong.

Description

Technical Field

[0001] This invention relates to the field of pipeline inspection technology, and in particular to an ultrasonic inspection device for the inner surface of a pipeline. Background Technology

[0002] Carbon steel and stainless steel pipes are widely used in industries such as nuclear power, chemical, oil, and natural gas. These pipes typically serve for decades after manufacturing, operating under complex high-temperature and high-pressure environments throughout their service life. Therefore, regular inspections of the pipes' health are necessary to assess their continued serviceability. Currently, pipeline safety assessments commonly employ non-destructive testing (NDT) methods, with ultrasonic testing playing an irreplaceable role as a crucial NDT approach. However, due to technological and environmental limitations, ultrasonic testing of pipelines often relies on external surface inspection. Because of the attenuation characteristics of ultrasonic waves, relying solely on external surface ultrasonic testing for thick-walled pipes may result in missed defects, affecting the accuracy of safety assessments. This is particularly problematic for high-standard industries like nuclear power, where missed defects can pose nuclear safety risks. Furthermore, the confined space inside pipelines, coupled with the presence of radioactive materials during service, makes manual inspection impossible. This necessitates an automated robot capable of performing internal surface ultrasonic testing. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an ultrasonic inspection device for the inner surface of a pipe.

[0004] The technical solution adopted by this invention to solve its technical problem is: to provide an ultrasonic inspection device for the inner surface of a pipe, comprising:

[0005] frame;

[0006] An ultrasonic probe mechanism, mounted on the frame, is used to scan and inspect the inner surface of the pipe; and

[0007] A traveling mechanism, mounted on the frame, is used to drive the frame to move axially and / or circumferentially within the pipe.

[0008] Furthermore, in the aforementioned ultrasonic inspection device for the inner surface of a pipe, the ultrasonic probe mechanism preferably includes a vertical adjustment component that elastically adjusts the height along the vertical direction of the frame. The vertical adjustment component includes a connecting plate, a fixing plate, a first elastic element, and an ultrasonic probe.

[0009] The connecting plate is mounted on the frame, the fixing plate is slidably mounted on the connecting plate along the vertical direction of the frame, the first elastic member is elastically supported by the fixing plate along the vertical direction of the frame and mounted between the connecting plate and the fixing plate, and the ultrasonic probe is mounted on the top of the fixing plate.

[0010] Furthermore, in the ultrasonic inspection device for the inner surface of a pipe, the ultrasonic probe mechanism preferably further includes an arc-direction adjustment component for elastically adjusting the ultrasonic probe to adaptively conform to the curvature of the inner wall of the pipe. The arc-direction adjustment component includes a fixing block, multiple rollers, and an arc-shaped slide rail.

[0011] The fixing block is installed on the top of the fixing plate, and the multiple rollers are installed on the fixing block in the form of two semi-circular tracks. The arc-shaped slide rail is slidably installed between the two semi-circular tracks formed by the multiple rollers, and the ultrasonic probe is installed between the two ends of the arc-shaped slide rail.

[0012] Furthermore, in the aforementioned ultrasonic inspection device for the inner surface of a pipe, the ultrasonic probe mechanism preferably further includes a rotating shaft rotatably mounted at both ends of an arc-shaped slide rail, and the ultrasonic probe is mounted on the rotating shaft.

[0013] Furthermore, in the aforementioned ultrasonic inspection device for the inner surface of a pipe, the driving mechanism preferably includes multiple sets of wheel assemblies respectively installed on both sides of the frame, for driving the frame to move axially and / or circumferentially within the pipe.

[0014] Furthermore, in the aforementioned ultrasonic inspection device for the inner surface of a pipe, preferably each wheel assembly includes a support arm, a motor, and a wheel;

[0015] One end of the support arm is mounted on the frame, the motor is mounted on the support arm, the wheel is rotatably mounted on the other end of the support arm, and the output shaft of the motor is engaged with the wheel.

[0016] Furthermore, in the aforementioned ultrasonic inspection device for the inner surface of a pipe, the wheel is preferably a Mecanum wheel.

[0017] Furthermore, in the aforementioned ultrasonic inspection device for the inner surface of a pipe, the traveling mechanism preferably further includes an elastic adjustment component, wherein the middle part of the support arm is connected to the frame via the elastic adjustment component, for adaptively and elastically adjusting the angle of rotation of the support arm on the frame.

[0018] Furthermore, in the aforementioned ultrasonic inspection device for the inner surface of a pipe, the elastic adjustment component preferably includes a connector, a sliding component, a second elastic component, and a connecting rod;

[0019] One end of the connector is mounted on the frame, the slider is slidably mounted on the connector, the second elastic member is sleeved around the connector, and the two ends of the second elastic member are respectively mounted on the other end of the connector and the slider, providing elastic tension between the connector and the slider, the support arm is rotatably mounted on the frame, one end of the connecting rod is rotatably mounted on the slider, and the other end of the connecting rod is rotatably mounted in the middle of the support arm.

[0020] The present invention has the following advantages: the present invention uses a traveling mechanism to travel axially or circumferentially inside the pipe, thereby enabling the ultrasonic probe mechanism to perform all-round inspection of the inner surface of the pipe. This eliminates the need for manual inspection, resulting in high inspection efficiency and strong practicality. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings:

[0022] Figure 1 This is a first-view structural schematic diagram of the ultrasonic inspection device for the inner surface of a pipe in some embodiments of the present invention;

[0023] Figure 2 This is a schematic diagram of the frame and driving mechanism of the ultrasonic inspection equipment for the inner surface of a pipe in some embodiments of the present invention;

[0024] Figure 3 This is a schematic diagram of the ultrasonic probe mechanism of the ultrasonic inspection device for the inner surface of a pipe in some embodiments of the present invention;

[0025] Figure 4 This is a clockwise schematic diagram of the wheel of the ultrasonic inspection device for the inner surface of a pipe in some embodiments of the present invention;

[0026] Figure 5 This is a schematic diagram of the counterclockwise rotation of the wheel of the ultrasonic inspection device for the inner surface of a pipe in some embodiments of the present invention.

[0027] Explanation of the labels in the diagram:

[0028] 1. Framework;

[0029] 2. Ultrasonic probe mechanism; 21. Connecting plate; 22. Fixing plate; 23. First elastic element; 24. Ultrasonic probe; 25. Fixing block; 26. Roller; 27. Arc-shaped slide rail; 28. Rotating shaft;

[0030] 3. Traveling mechanism; 31. Support arm; 32. Motor; 33. Wheel;

[0031] 4. Connecting component; 41. Sliding component; 42. Second elastic component; 43. Connecting rod. Detailed Implementation

[0032] To provide a clearer understanding of the technical features, objectives, and effects of this invention, specific embodiments are now described in detail with reference to the accompanying drawings. In the following description, it should be understood that the orientations or positional relationships indicated by terms such as "front," "rear," "upper," "lower," "left," "right," "longitudinal," "horizontal," "vertical," "horizontal," "top," "bottom," "inner," "outer," "head," and "tail" are based on the orientations or positional relationships shown in the accompanying drawings, and are constructed and operated in a specific orientation. They are only for the convenience of describing this technical solution and do not indicate that the device or element referred to must have a specific orientation; therefore, they should not be construed as limitations on this invention.

[0033] It should also be noted that, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "linking," "fixing," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. When an component is referred to as being "on" or "below" another component, the component can be located "directly" or "indirectly" on the other component, or there may be one or more intermediary components. The terms "first," "second," "third," etc., are only for the convenience of describing this technical solution and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first," "second," "third," etc., may explicitly or implicitly include one or more of that feature. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0034] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the invention with unnecessary detail.

[0035] The technical solution adopted by this invention to solve its technical problem is:

[0036] like Figures 1 to 3As shown in some embodiments of the present invention, an ultrasonic inspection device for the inner surface of a pipe is disclosed. This device may include a frame 1, an ultrasonic probe mechanism 2, and a traveling mechanism 3. The ultrasonic probe mechanism 2 is mounted on the frame 1 and scans and inspects the inner surface of the pipe. The traveling mechanism 3 is mounted on the frame 1 and drives the frame 1 to move axially and / or circumferentially within the pipe. This ultrasonic inspection device for the inner surface of a pipe, by traveling axially or circumferentially within the pipe via the traveling mechanism 3, allows the ultrasonic probe mechanism 2 to perform omnidirectional inspection of the inner surface of the pipe, eliminating the need for manual inspection, resulting in high inspection efficiency and strong practicality.

[0037] In some embodiments, the device may consist of a frame 1, two sets of ultrasonic probe mechanisms 2, and a traveling mechanism 3, wherein the frame 1 may be a cube structure. The main function of the ultrasonic probe mechanism 2 is to carry the ultrasonic probe 24 and provide the probe with a constant clamping force and a certain degree of freedom to scan and inspect the inner wall of the pipe. The traveling mechanism 3 provides power for the movement and selection of the device, allowing it to travel or rotate inside the pipe. This device can automatically perform omnidirectional inspection of the inner surface of the pipe.

[0038] For example Figure 1 and Figure 3 As shown, the ultrasonic probe mechanism 2 may include a vertical adjustment assembly that elastically adjusts the height along the vertical direction of the frame 1. This vertical adjustment assembly may include a connecting plate 21, a fixing plate 22, a first elastic element 23, and an ultrasonic probe 24. The connecting plate 21 is mounted on the frame 1, the fixing plate 22 is slidably mounted on the connecting plate 21 along the vertical direction of the frame 1, and the first elastic element 23 elastically supports the fixing plate 22 between the connecting plate 21 and the fixing plate 22 along the vertical direction of the frame 1. The ultrasonic probe 24 is mounted on top of the fixing plate 22.

[0039] In some embodiments, the connecting plate 21 can be mounted on the frame 1 by bolts or other means. The connecting plate 21 and the fixed plate 22 are slidably mounted to each other via guide rails and sliders. The two ends of the first elastic element 23 are respectively mounted on the connecting plate 21 and the fixed plate 22, providing elastic contraction. The ultrasonic probe 24 is mounted on the top of the fixed plate 22. Under the influence of no external force, the constant force spring is tightened at the end of the fixed plate 22, at the farthest distance from the probe mounted at the beginning of the fixed plate 22. When the ultrasonic probe 24 is close to the surface of the workpiece, under the action of clamping force, the ultrasonic probe 24, together with the fixed plate 22 and the guide rail, slides relative to the slider. The distance between the ultrasonic probe 24 and the connecting plate 21 shortens, and the connecting plate 21 is fixed on the equipment frame. The effect is that the ultrasonic probe 24 is pressed down.

[0040] In some embodiments, the first elastic element 23 may be a constant force spring, providing a constant clamping force.

[0041] In some embodiments, during testing, the pipe needs to be submerged in water, or an additional water pump is used to keep the inner wall of the pipe moist. Water acts as a coupling fluid to increase the transmission of ultrasonic waves during testing by the ultrasonic probe 24.

[0042] In some embodiments, the ultrasonic probe mechanism 2 may further include an arc-direction adjustment component that elastically adjusts the ultrasonic probe 24 to adaptively conform to the curvature of the inner wall of the pipe. The arc-direction adjustment component includes a fixed block 25, a plurality of rollers 26, and an arc-shaped slide rail 27. The fixed block 25 is mounted on the top of the fixed plate 22, the plurality of rollers 26 are mounted on the fixed block 25 in the form of two semi-circular tracks, and the arc-shaped slide rail 27 is slidably mounted between the two semi-circular tracks formed by the plurality of rollers 26. The ultrasonic probe 24 is mounted between the two ends of the arc-shaped slide rail 27.

[0043] In some embodiments, three rollers 26 may be provided, and the three rollers 26 are mounted on the side of the fixing block 25 in a triangular structure. The rim surfaces of the three rollers 26 may be provided with grooves, and the arc-shaped slide rail 27 is installed between the triangular structures. In addition, a protrusion may be provided on one side of the arc-shaped slide rail 27, and the protrusion is slidably installed in the groove for limiting the movement. The arc-shaped slide rail 27 slides in an arc shape on the three rollers 26. The rotational freedom relative to the rollers 26 ensures that the ultrasonic probe 24 can fully conform to the complex pipe surface.

[0044] In some embodiments, the ultrasonic probe mechanism 2 may further include a rotating shaft 28 rotatably mounted at both ends of the arc-shaped slide rail 27, and the ultrasonic probe 24 is mounted on the rotating shaft 28 so that the ultrasonic probe 24 can swing.

[0045] In some embodiments, the ultrasonic probe 24 can rotate along the axial direction of the rotation shaft 28 to ensure that the ultrasonic probe 24 can better fit the complex inner surface of the pipe.

[0046] In some embodiments, the ultrasonic probe mechanism 2 enables multi-directional rotation angles and adaptive elastic height adjustment of the ultrasonic probe 24, allowing the ultrasonic probe 24 to reach the inner surface of the pipe and rotate accordingly, ensuring that the ultrasonic probe 24 fully conforms to the pipe surface. Thus, even when the inner wall of the pipe is uneven, the ultrasonic probe 24 remains in contact with the pipe surface, and when the pipe is at an angle, the ultrasonic probe 24 can rotate to conform to the inner surface of the pipe.

[0047] For example Figures 1 to 2 As shown, in some embodiments, the traveling mechanism 3 may include multiple sets of wheel assemblies respectively mounted on both sides of the frame 1, for driving the frame 1 to move axially and / or circumferentially within the pipe. The traveling mechanism 3 can drive the frame 1 to travel and rotate within the pipe by moving the wheel assemblies in different directions on the inner surface of the pipe.

[0048] In some embodiments, the wheel assembly can be configured as eight groups, which can be respectively installed at the four corners of the upper and lower end faces of the frame 1 to support the frame 1 from multiple directions. The ends of the eight wheel assemblies away from the frame 1 all abut against the inner surface of the pipe.

[0049] In some embodiments, each wheel assembly includes a support arm 31, a motor 32, and a wheel 33. One end of the support arm 31 is mounted on the frame 1, the motor 32 is mounted on the support arm 31, and the wheel 33 is rotatably mounted on the other end of the support arm 31, with the output shaft of the motor 32 engaging with the wheel 33.

[0050] In some embodiments, the support arm 31 can be hinged to the frame 1, and the output end of the motor 32 can be connected to the wheel 33 through a helical gear set. The motor 32 can drive the wheel 33 to rotate through the helical gear set, so that it can travel on the inner wall of the pipe.

[0051] In some embodiments, wheel 33 is a Mecanum wheel to provide better multidirectional movement capability. Specifically, the Mecanum wheel set can achieve forward and rotational movements through different control methods, and the Mecanum wheel set can be installed in various ways. For example, if four Mecanum wheels on one side rotate clockwise simultaneously, their speeds and velocity components cancel each other out in the radial direction of the pipe, leaving only the axial velocity. The equipment then moves forward along the axial direction of the pipe. Figure 4 As shown. Like the four Mecanum wheels on one side, as... Figure 5 As shown, the axial velocities cancel each other out, leaving only the radial velocity component, and the equipment rotates along the pipe wall.

[0052] In some embodiments, the travel mechanism 3 may further include an elastic adjustment component, wherein the middle portion of the support arm 31 is connected to the frame 1 via the elastic adjustment component, for adaptively adjusting the angle of rotation of the support arm 31 on the frame 1. The elastic adjustment component allows the support arm 31 to extend and retract, enabling it to enter various types of pipes.

[0053] In some embodiments, the elastic adjustment assembly may include a connector 4, a slider 41, a second elastic element 42, and a connecting rod 43. One end of the connector 4 is mounted on the frame 1, the slider 41 is slidably mounted on the connector 4, the second elastic element 42 is sleeved on the periphery of the connector 4, and both ends of the second elastic element 42 are respectively mounted on the other end of the connector 4 and the slider 41, providing elastic tension between the connector 4 and the slider 41. The support arm 31 is rotatably mounted on the frame 1, one end of the connecting rod 43 is rotatably mounted on the slider 41, and the other end of the connecting rod 43 is rotatably mounted on the middle of the support arm 31.

[0054] In some embodiments, the frame 1 primarily serves to support the various components of the equipment. Besides its supporting function, the frame 1 also provides the support arm 31 with a certain degree of retraction capacity to accommodate potential pits, deformations, or diameter changes on the inner wall of the pipe. When the equipment enters the pipe to begin inspection, the second elastic element 42 is typically compressed to ensure sufficient friction between the roller 26 on the support arm 31 and the inner wall. If a support arm 31 encounters a pit, it's equivalent to an increase in the pipe's inner diameter. The second elastic element 42 rebounds, pushing the support arm 31 outward to maintain continuous contact with the inner wall. If the inner diameter decreases, the support arm 31 retracts, pushing the sliding element 41 outward to further compress the second elastic element 42. This design ensures the equipment's practicality with varying pipe diameters.

[0055] In some embodiments, the connector 4 is a round rod structure, and the second elastic member 42 is a spring.

[0056] The ultrasonic inspection equipment for the inner surface of the pipeline will be further explained below in conjunction with its usage.

[0057] When the ultrasonic inspection equipment for the inner surface of the pipeline is in use: After the motor 32 is powered on, it drives the wheel 33 to rotate. The wheel 33 drives the frame 1 to travel inside the pipeline, and the ultrasonic probe 24 on the frame 1 scans and inspects the inner surface of the pipeline. At this time, four of the eight Mecanum wheel assemblies can rotate clockwise simultaneously. Their speeds and velocity components cancel each other out in the radial direction of the pipeline, leaving only the axial velocity. The equipment can then move forward in the axial direction of the pipeline to perform an axial scan. In addition, the axial velocities of the other four Mecanum wheel assemblies on the same side cancel each other out, leaving only the radial velocity component. The equipment can then rotate along the pipe wall, and the ultrasonic probe 24 performs a circumferential scan of the pipeline.

[0058] It is understood that the above embodiments only illustrate preferred embodiments of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can freely combine the above technical features without departing from the concept of the present invention, and can also make several modifications and improvements, all of which fall within the protection scope of the present invention. Therefore, all equivalent transformations and modifications made with respect to the scope of the claims of the present invention should fall within the scope of the claims of the present invention.

Claims

1. An ultrasonic inspection device for the inner surface of a pipe, characterized in that, include: Framework (1); An ultrasonic probe mechanism (2) is mounted on the frame (1) and is used to scan and inspect the inner surface of the pipe; and A driving mechanism (3) is mounted on the frame (1) and is used to drive the frame (1) to move axially and / or circumferentially within the pipe. The ultrasonic probe mechanism (2) includes a vertical adjustment assembly for adjusting the height along the vertical direction of the frame (1). The vertical adjustment assembly includes a connecting plate (21), a fixing plate (22), a first elastic element (23), and an ultrasonic probe (24). The connecting plate (21) is mounted on the frame (1), the fixing plate (22) is slidably mounted on the connecting plate (21) along the vertical direction of the frame (1), the first elastic member (23) is elastically supported by the fixing plate (22) along the vertical direction of the frame (1) and mounted between the connecting plate (21) and the fixing plate (22), and the ultrasonic probe (24) is mounted on the top of the fixing plate (22); The ultrasonic probe mechanism (2) also includes an arc-direction adjustment component for adjusting the ultrasonic probe (24) to adaptively conform to the curvature of the inner wall of the pipe. The arc-direction adjustment component includes a fixed block (25), multiple rollers (26) and an arc-shaped slide rail (27). The fixing block (25) is installed on the top of the fixing plate (22), and the multiple rollers (26) are installed on the fixing block (25) in the form of two semi-circular tracks. The arc-shaped slide rail (27) is slidably installed between the two semi-circular tracks formed by the multiple rollers (26), and the ultrasonic probe (24) is installed between the two ends of the arc-shaped slide rail (27).

2. The ultrasonic inspection device for the inner surface of a pipe according to claim 1, characterized in that, The ultrasonic probe mechanism (2) further includes a rotating shaft (28) rotatably mounted at both ends of the arc-shaped slide rail (27), and the ultrasonic probe (24) is mounted on the rotating shaft (28).

3. The ultrasonic inspection device for the inner surface of a pipe according to claim 1, characterized in that, The driving mechanism (3) includes multiple sets of wheel assemblies respectively installed on both sides of the frame (1) for driving the frame (1) to move axially and / or circumferentially within the pipe.

4. The ultrasonic inspection device for the inner surface of a pipe according to claim 3, characterized in that, Each of the wheel assemblies includes a support arm (31), a motor (32), and a wheel (33). One end of the support arm (31) is mounted on the frame (1), the motor (32) is mounted on the support arm (31), the wheel (33) is rotatably mounted on the other end of the support arm (31), and the output shaft of the motor (32) is engaged with the wheel (33).

5. The ultrasonic inspection device for the inner surface of a pipe according to claim 4, characterized in that, The wheel (33) includes a Mecanum wheel.

6. The ultrasonic inspection device for the inner surface of a pipe according to claim 4, characterized in that, The driving mechanism (3) also includes an elastic adjustment component. The middle part of the support arm (31) is connected to the frame (1) through the elastic adjustment component, which is used to adaptively and elastically adjust the angle of rotation of the support arm (31) on the frame (1).

7. The ultrasonic inspection device for the inner surface of a pipe according to claim 6, characterized in that, The elastic adjustment assembly includes a connector (4), a slider (41), a second elastic element (42), and a connecting rod (43). One end of the connector (4) is mounted on the frame (1), the slider (41) is slidably mounted on the connector (4), the second elastic member (42) is sleeved on the periphery of the connector (4), and the two ends of the second elastic member (42) are respectively mounted on the other end of the connector (4) and the slider (41) to provide elastic tension between the connector (4) and the slider (41), the support arm (31) is rotatably mounted on the frame (1), one end of the connecting rod (43) is rotatably mounted on the slider (41), and the other end of the connecting rod (43) is rotatably mounted on the middle of the support arm (31).

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