Nondestructive detection tool and detection method for hydrogen conveying pipeline

Abstract

The invention belongs to the technical field of pipeline nondestructive testing, particularly relates to a nondestructive testing tool and a testing method for a hydrogen conveying pipeline, and aims to solve the problem of long time consumption in the testing process in the prior art. The nondestructive testing tool comprises a cylindrical carrier, a carrier seat, an intelligent scanning marker, a defect reinspection probe and a walking mechanism, the carrier seat is arranged at one end of the cylindrical carrier, the intelligent scanning marker can move around a to-be-detected pipeline, the walking mechanism is in frictional contact with the outer pipe wall of the to-be-detected pipeline and drives the cylindrical carrier to move in the axial direction of the to-be-detected pipeline, and after the intelligent scanning marker detects the ring surface defect of the to-be-detected pipeline, the intelligent scanning marker is driven to move in the axial direction of the to-be-detected pipeline. According to the method, the defect reinspection coordinate data is generated and uploaded to the control terminal, the control terminal activates the defect reinspection probe at the corresponding location to execute coverage detection according to the defect reinspection coordinate data, the data acquisition amount, the transmission bandwidth requirement and the data processing calculation complexity in the nondestructive testing process can be reduced, and meanwhile the detection time can be greatly shortened.

Description

Technical Field

[0001] The present invention belongs to the technical field of non-destructive testing of pipelines, and particularly relates to a non-destructive testing tooling and a testing method for hydrogen transmission pipelines. Background Art

[0002] Hydrogen pipelines are one of the important ways to solve hydrogen storage and transportation. Since hydrogen transportation is in a high-pressure environment, and hydrogen is prone to cause an aggravated hydrogen embrittlement effect on the vulnerable defect positions of pipelines under high-pressure conditions, the crack content and size, internal cleanliness, stress conditions, deformation conditions, etc. of the pipelines are all related to the risk of hydrogen-induced cracking, and it is more sensitive than static hydrogen storage, natural gas pipelines, etc. Especially in the case of converting pipelines into hydrogen-blended pipelines, there may be a large number of micro-cracks in the old pipelines, which are prone to cause hydrogen embrittlement cracking of the pipelines. Therefore, it is necessary to strictly ensure the structural safety of hydrogen transmission pipelines before they are put into use.

[0003] For the detection of pipeline defects, different non-destructive testing technologies are adopted according to different usage scenarios. Non-destructive testing is to detect internal and surface defects of various engineering materials, components, structural parts, and complete products, etc., and make judgments and evaluations on the type, nature, quantity, shape, position, size, distribution, and changes of the defects, by using the changes in the responses of sound, light, electricity, magnetism, heat, etc. caused by structural abnormalities or defect existence inside the material, under the condition of not damaging the service performance of the object to be detected.

[0004] Common non-destructive testing methods are divided into: ultrasonic testing, radiographic testing, magnetic particle testing, penetrant testing, eddy current testing. The applicability of various testing technologies is different, and in some usage scenarios, multiple non-destructive testing technologies need to be combined to complete the testing. For the non-destructive testing of metal pipelines, phased array ultrasonic testing based on ultrasonic waves is often used. Phased array ultrasonic testing is a technology that excites and receives each independent array element of an array sensor according to a certain delay rule, synthesizes a sound field of a specific form, and performs ultrasonic scanning imaging testing. By changing the delay value of the excitation electrical pulse of the piezoelectric wafer array combination unit, the focusing depth, beam angle, and waveform of the sound beam can be changed. Thus, effective detection of various directional defects in the workpiece, accurate positioning, and quantitative analysis of the defects can be achieved. Compared with A-scan, phased array testing technology has unique advantages, such as a large fan-shaped scanning area, good accessibility, the function of real-time on-site recording when performing B-scan and C-scan simultaneously, and the ability to simulate 3D images of defects. However, it also has some drawbacks of A-scan, such as certain difficulties in the qualitative analysis of defects and the measurement of the height of the defects themselves. Moreover, with the large-scale of hydrogen transmission pipeline devices, the diameter of hydrogen transmission pipelines is relatively large and the pipe wall is relatively thick. The nominal diameter of hydrogen transmission pipelines is usually between DF20 and DF600. Therefore, for the phased array ultrasonic testing of hydrogen transmission pipelines with a diameter above DF300, a relatively large number of independent array elements need to be used to be excited and received according to a certain delay rule to synthesize a sound field of a specific form. The more independent array elements, the longer this process takes. Especially for the testing of the long straight section of hydrogen transmission pipelines before welding, since it is necessary to scan and detect one by one along the axial direction of the pipeline, for the long straight section of hydrogen transmission pipelines with a diameter above DF300 before welding, a large amount of data to be processed will be generated during the non-destructive testing process, increasing the difficulty of data acquisition, transmission, storage, and processing, posing higher requirements for the computing and processing performance of the equipment, and the testing time is also relatively long. Summary of the Invention

[0005] In order to solve the problem of long testing time in the prior art, on the one hand, some embodiments of the present invention provide a non-destructive testing tooling for hydrogen transmission pipelines, including: A cylindrical carrier coaxially sleeved outside the pipeline to be inspected, and the cylindrical carrier is a straight cylinder structure with both ends open; A carrier seat arranged at one end of the cylindrical carrier, and the carrier seat is annularly arranged; An intelligent scanning marker arranged on the carrier seat, and the intelligent scanning marker can move around the pipeline to be inspected; Defect re-inspection probes, and a plurality of the defect re-inspection probes are spaced along the circumferential direction of the carrier seat and point to the pipeline to be inspected; The traveling mechanisms, a plurality of the traveling mechanisms are evenly spaced along the circumferential direction of the carrier seat and point to the pipeline to be inspected. The traveling mechanisms are in frictional contact with the outer pipe wall of the pipeline to be inspected and drive the cylindrical carrier to move along the axial direction of the pipeline to be inspected; Wherein, after the intelligent scanning marker detects a circumferential surface defect of the pipeline to be inspected, it generates defect re-inspection coordinate data and uploads it to the control terminal. The control terminal activates the defect re-inspection probe in the corresponding area according to the defect re-inspection coordinate data to perform coverage detection.

[0006] According to a non-destructive testing tool for a hydrogen transmission pipeline provided by some embodiments of the present application, the intelligent scanning marker includes an arc-shaped carrier plate, a scanning servo motor, a transmission gear, and a roller rolling clamping mechanism; At least two groups of the roller rolling clamping mechanisms are fixedly arranged on the inner side of the arc-shaped carrier plate. The scanning servo motor is fixedly arranged on the outer side of the arc-shaped carrier plate. A magnetic memory scanner is also arranged on the outer side of the arc-shaped carrier plate. The roller rolling clamping mechanism is adaptively connected to the carrier seat and can limit the movement of the intelligent scanning marker. The output end of the scanning servo motor is fixed with the transmission gear that is in transmission connection with the circumferential surface of the carrier seat.

[0007] According to a non-destructive testing tool for a hydrogen transmission pipeline provided by some embodiments of the present application, the roller rolling clamping mechanism includes a roller bracket, a fixed roller, an adjustable roller, and an adjustment seat; The fixed roller is arranged at one end of the roller bracket. The other end of the roller bracket is provided with a U-shaped opening. The adjustment seat is arranged in the U-shaped opening. The adjustable roller is arranged on the adjustment seat. Connecting arms are arranged on both sides of the adjustment seat. A strip-shaped hole is arranged on the connecting arm. Screw holes corresponding to the strip-shaped hole are opened on both sides of the U-shaped opening. The adjustment seat is fixed at the U-shaped opening through the screw holes and screws.

[0008] According to a non-destructive testing tool for a hydrogen transmission pipeline provided by some embodiments of the present application, the magnetic memory scanner includes a magnetic memory probe and a coordinate data processor; The magnetic memory probe can judge the defect position based on the magnetic field gradient of the pipeline to be inspected. The magnetic memory signal data generated by the scanning is processed by the coordinate data processor at the local end of the magnetic memory scanner, and the defect position is generated into defect re-inspection coordinate data and uploaded to the control terminal.

[0009] According to a non-destructive testing tool for a hydrogen transmission pipeline provided by some embodiments of the present application, the carrier seat includes a carrier seat main body, an annular stepping gear ring, and a roller seat; The vehicle seat body is fixedly arranged at one end of the cylindrical vehicle, the roller seat is coaxially fixed to the outer end of the vehicle seat body, the annular stepping gear ring is coaxially fixed between the vehicle seat body and the roller seat, the transmission gear is in transmission engagement with the annular stepping gear ring, and roller limiting grooves adapted to the roller rolling clamping mechanism are arranged on the inner and outer circumferential surfaces of the roller seat.

[0010] According to a non-destructive testing tool for a hydrogen transmission pipeline provided by some embodiments of the present application, at least six defect re-inspection probes are provided, and the six defect re-inspection probes respectively correspond to the first area, the second area, the third area, the fourth area, the fifth area, and the sixth area on the outer circumferential ring of the pipeline to be inspected, and the first area, the second area, the third area, the fourth area, the fifth area, and the sixth area respectively cover an arc surface interval with an arc of 60° on the outer circumferential ring of the pipeline to be inspected.

[0011] According to a non-destructive testing tool for a hydrogen transmission pipeline provided by some embodiments of the present application, the defect re-inspection probe is a four-channel arc-shaped plate ultrasonic probe, and is equipped with a depth adjuster capable of adjusting the distance between the probe and the outer circumferential surface of the pipeline to be inspected; The depth adjuster includes a socket rod, a threaded rod, and a rotary adjustment handle. One end of the socket rod is detachably sleeved with the probe integrated housing, the other end of the socket rod is fixedly connected to one end of the threaded rod, the rotary adjustment handle is fixedly arranged at the other end of the threaded rod, a depth adjustment hole is formed on the circumferential ring surface of the vehicle seat body, the interior of the depth adjustment hole is composed of two hole segments, the hole segment close to the inner ring surface is a hole segment with a smooth hole wall adapted to the socket rod, and the hole segment close to the outer ring surface is a threaded hole segment adapted to the threaded rod.

[0012] According to a non-destructive testing tool for a hydrogen transmission pipeline provided by some embodiments of the present application, the traveling mechanism includes a fixed seat, adjustable struts, a transmission seat, a power assembly, and a synchronous traveling belt; The adjustable struts are fixed at both ends of the fixed seat, the transmission seat is arranged between the two adjustable struts, a synchronous traveling belt is arranged on the transmission seat, the fixed seat is fixedly arranged on the base on the inner side of the circumferential ring surface of the cylindrical vehicle, at least two assembly grooves are provided on the base, an installation base adapted to the assembly groove is arranged at the bottom of the fixed seat, and a power assembly for driving the synchronous traveling belt to rotate is fixedly arranged on the back side of the transmission seat.

[0013] According to a non-destructive testing tool for a hydrogen transmission pipeline provided by some embodiments of the present application, the power assembly includes a motor seat, an upper traveling servo motor, and a lower traveling servo motor; The motor base is fixedly arranged on the back side of the transmission base. The upper traveling servo motor and the lower traveling servo motor are arranged side by side vertically and fixed on the motor base. The output end of the upper traveling servo motor is provided with an upper synchronous pulley, and the output end of the lower traveling servo motor is provided with a lower synchronous pulley. Belt transmission shafts are respectively arranged at both ends of the transmission base. Both ends of the synchronous traveling belt are respectively sleeved on the two belt transmission shafts in a transmission manner. Power synchronous pulleys are respectively fixed at the same-side ends of the two belt transmission shafts. The synchronous power belt is sleeved between the two power synchronous pulleys in a transmission manner. The middle position of the synchronous power belt is located between the upper synchronous pulley and the lower synchronous pulley. The upper synchronous pulley and the lower synchronous pulley drive the synchronous power belt to rotate.

[0014] On the other hand, the present application also provides a non-destructive testing method for a hydrogen transmission pipeline, which is applied to the non-destructive testing tooling for a hydrogen transmission pipeline, and specifically includes the following steps: S1. Initial positioning of the non-destructive testing tooling: Taking one end of the cylindrical carrier corresponding to the carrier seat as the advancing end, sleeving the advancing end of the cylindrical carrier into the initial inspection end of the long straight section of the hydrogen transmission pipeline before welding, adjusting the traveling mechanism to make it abut against the outer pipe wall of the pipeline to be inspected, and adjusting the depth of each defect re-inspection probe; S2. Quick scanning and marking of pipeline circumferential surface defects: The traveling mechanism drives the non-destructive testing tooling to travel at a constant speed along the axial direction of the pipeline to be inspected. The intelligent scanning and marking device performs spiral circumferential scanning of several axial widths on the pipeline to be inspected. After detecting a defect signal, defect re-inspection coordinate data is generated and uploaded to the control terminal; S3. Defect re-inspection scanning: The control terminal activates the defect re-inspection probes in the corresponding areas according to the defect re-inspection coordinate data to perform coverage detection, and performs ultrasonic guided wave scanning on the defects at the defect re-inspection coordinates; S4. Defect image simulation: The ultrasonic guided wave scanning data is uploaded to the control terminal, and the control terminal fits and generates defect images corresponding to each defect, the distance between each defect and the outer surface of the pipeline wall, and the orthographic projection size of each defect according to the ultrasonic guided wave scanning data; S5. Generating a non-destructive testing report.

[0015] Advantages of the present invention: The cylindrical vehicle drives the vehicle seat to move at a constant speed along the axial direction of the pipeline. During this process, the intelligent scanning marker at the forward end is used to dynamically and rapidly scan the internal defects of the pipeline to be inspected. After detecting the internal defects of the pipeline to be inspected, defect re-inspection coordinate data is generated and uploaded to the control terminal, and the control terminal activates the defect re-inspection probe in the corresponding area according to the defect re-inspection coordinate data to perform coverage detection. By dynamically and rapidly scanning and marking the internal defects on the pipeline torus, and then controlling the defect re-inspection probe in the corresponding area to perform coverage detection on the marked defect positions, the data acquisition volume, transmission bandwidth requirements, and data processing and calculation complexity in the non-destructive testing process can be greatly reduced, and the detection time can also be significantly shortened. Description of the Drawings

[0016] Other features, objects, and advantages of the present application will become more apparent by reading the detailed description of the non-limiting embodiments with reference to the following drawings: Figure 1 is a perspective view of one perspective of some embodiments of the present application; Figure 2 is a perspective view of the corresponding forward end perspective of some embodiments of the present application; Figure 3 is a side view of some embodiments of the present application; Figure 4 is a side view of the corresponding forward end of some embodiments of the present application; Figure 5 is a schematic diagram of some embodiments of the present application with the intelligent scanning marker removed; Figure 6 is an assembly drawing of the intelligent scanning marker, the traveling mechanism, and the vehicle seat in some embodiments of the present application; Figure 7 is a perspective view of one perspective of the intelligent scanning marker in some embodiments of the present application; Figure 8 is a perspective view of another perspective of the intelligent scanning marker in some embodiments of the present application; Figure 9 is a cross-sectional view of the cylindrical vehicle in some embodiments of the present application; Figure 10 is a perspective view of the cylindrical vehicle in some embodiments of the present application; Figure 11 is a perspective view of one perspective of the traveling mechanism in some embodiments of the present application; Figure 12 is a perspective view of another perspective of the traveling mechanism in some embodiments of the present application; Figure 13 is Figure 12 a partial enlarged view of part "A" in Figure 14It is a perspective view of the roller rolling clamping mechanism of some embodiments of the present application; Figure 15 It is a structural diagram of the roller rolling clamping mechanism of some embodiments of the present application; Figure 16 It is a perspective view of the application in pipeline inspection of some embodiments of the present application; Figure 17 It is a state diagram of the application in pipeline inspection of some embodiments of the present application.

[0017] In the figure: 1. Cylindrical carrier; 11. Base; 111. Assembly groove; 2. Carrier seat; 21. Carrier seat body; 211. Depth adjustment hole; 22. Ring-shaped step gear ring; 23. Roller seat; 3. Intelligent scanning marker; 31. Arc-shaped carrier plate; 32. Scanning servo motor; 33. Transmission gear; 34. Roller rolling clamping mechanism; 341. Roller bracket; 342. Fixed roller; 343. Adjustable roller; 344. Adjusting seat; 3441. Connecting arm; 4. Magnetic memory scanner; 41. Magnetic memory probe; 5. Defect re-inspection probe; 51. Socket rod; 52. Threaded rod; 53. Rotating adjustment handle; 6. Travel mechanism; 61. Fixed seat; 62. Adjustable support; 621. Fixed column; 622. Adjusting column; 63. Transmission seat; 64. Belt transmission shaft; 65. Synchronous power belt; 66. Power assembly; 67. Synchronous travel belt; 661. Motor seat; 662. Upper travel servo motor; 6621. Upper synchronous pulley; 663. Lower travel servo motor; 6631. Lower synchronous pulley; 67. Synchronous travel belt; 100. Pipeline to be inspected. Detailed implementation manners

[0018] The present application will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related invention, rather than limiting the invention. Additionally, it should be noted that for the convenience of description, only parts related to the relevant invention are shown in the drawings.

[0019] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the drawings and embodiments.

[0020] As Figures 1 to 17 shown, wherein, Figure 16 is a perspective view of the non-destructive testing tooling of the present invention applied to pipeline inspection, Figure 17 is a state diagram of the non-destructive testing tooling of the present invention applied to pipeline inspection. The forward direction of the tooling on the pipeline 100 to be inspected is as shown by the arrow in the figure.

[0021] The present invention provides a non-destructive testing tooling and a testing method for a hydrogen transmission pipeline. Some embodiments of the present invention provide a non-destructive testing tooling for a hydrogen transmission pipeline, including: A cylindrical carrier 1, sleeved on the outer periphery of the pipeline 100 to be inspected. The cylindrical carrier 1 is a straight cylinder structure with both ends open; A carrier seat 2, arranged at one end of the cylindrical carrier 1. The carrier seat 2 is annularly arranged. An intelligent scanning marker 3, arranged on the carrier seat 2. The intelligent scanning marker 3 can move around the pipeline 100 to be inspected; Defect re-inspection probes 5, a plurality of defect re-inspection probes 5 are distributed at intervals along the circumferential direction of the carrier seat 2 and point to the pipeline 100 to be inspected; A traveling mechanism 6, a plurality of traveling mechanisms 6 are evenly distributed at intervals along the circumferential direction of the carrier seat 2 and point to the pipeline 100 to be inspected. The traveling mechanism 6 is in frictional contact with the outer pipe wall of the pipeline 100 to be inspected and drives the cylindrical carrier 1 to move along the axial direction of the pipeline 100 to be inspected; Wherein, after the intelligent scanning marker 3 detects a circumferential defect of the pipeline 100 to be inspected, it generates defect re-inspection coordinate data and uploads it to the control terminal. The control terminal activates the defect re-inspection probes 5 in the corresponding area according to the defect re-inspection coordinate data to perform covering detection.

[0022] During specific implementation, as Figures 1 to 4 shown, the non-destructive testing tooling includes a cylindrical carrier 1 sleeved on the outer periphery of the pipeline 100 to be inspected. The cylindrical carrier 1 is a hollow straight cylinder structure with the same inner diameter at each part and both ends open. As Figures 1 to 3 shown, an annular carrier seat 2 is fixed at one end of the cylindrical carrier 1. Inside the circumferential surface of the carrier seat 2, there are several defect re-inspection probes 5 arranged in an annular array with the center of the carrier seat 2 as the center of symmetry.

[0023] As Figure 3 and Figure 4 shown, an intelligent scanning marker 3 capable of moving around the pipeline 100 to be inspected by at least 360° is arranged along the circumferential edge of the carrier seat 2. The intelligent scanning marker 3 is used to dynamically and quickly scan the internal defects of the pipeline 100 to be inspected. As the cylindrical carrier 1 advances forward, the intelligent scanning marker 3 performs a spiral circumferential scan on the pipeline 100 to be inspected. To realize the forward propulsion of the cylindrical carrier 1 along the axial direction of the pipeline, as Figure 6As shown in the figure, at least three circumferentially equally spaced walking mechanisms 6 are provided on the inner side of the circumferential surface of the cylindrical vehicle 1. The walking mechanisms 6 are in contact with the outer wall of the pipeline 100 to be inspected, and there is a frictional contact between them. After the walking mechanisms 6 output power, each walking mechanism 6 crawls on the outer wall of the pipeline 100 to be inspected, driving the cylindrical vehicle 1 to move along the axial direction of the pipeline 100 to be inspected. During the movement of the cylindrical vehicle 1, the intelligent scanning marker 3 rotates 360° along the circumferential edge of the vehicle seat 2 to dynamically and quickly scan the internal defects of the pipeline 100 to be inspected. Among them, after the intelligent scanning marker 3 detects the circumferential surface defects of the pipeline 100 to be inspected, it analyzes and processes the scanning data at the local end of the intelligent scanning marker 3, generates defect re-inspection coordinate data at the local end of the intelligent scanning marker 3, and uploads the defect re-inspection coordinate data to the control terminal. The control terminal activates the defect re-inspection probe 5 in the corresponding area according to the defect re-inspection coordinate data to perform the coverage detection of the corresponding defect re-inspection coordinate position, while the defect re-inspection probes 5 in the remaining irrelevant areas remain in the sleep state.

[0024] In some embodiments, the intelligent scanning marker 3 includes an arc-shaped carrier plate 31, a scanning servo motor 32, a transmission gear 33, and a roller rolling and clamping mechanism 34; At least two groups of roller rolling and clamping mechanisms 34 are fixedly arranged on the inner side of the arc-shaped carrier plate 31. The scanning servo motor 32 is fixedly arranged on the outer side of the arc-shaped carrier plate 31. A magnetic memory scanner 4 is also arranged on the outer side of the arc-shaped carrier plate 31. The roller rolling and clamping mechanism 34 is adaptively connected to the vehicle seat 2 and can limit the movement of the intelligent scanning marker 3. A transmission gear 33 that is in transmission connection with the circumferential surface of the vehicle seat 2 is fixed to the output end of the scanning servo motor 32.

[0025] During specific implementation, the cylindrical vehicle 1 drives the vehicle seat 2 to move at a constant speed along the axial direction of the pipeline. During this process, the intelligent scanning marker 3 located at the forward end dynamically and quickly scans the internal defects of the pipeline 100 to be inspected. After detecting the internal defects of the pipeline 100 to be inspected, defect re-inspection coordinate data is generated and uploaded to the control terminal. The control terminal activates the defect re-inspection probe 5 in the corresponding area according to the defect re-inspection coordinate data to perform the coverage detection. By dynamically and quickly scanning and marking the internal defects of the pipeline circumferential surface, and then controlling the defect re-inspection probe 5 in the corresponding area to perform the coverage detection on the marked defect positions, the data acquisition volume, transmission bandwidth requirements, and data processing and calculation complexity in the non-destructive testing process can be greatly reduced, and at the same time, the detection time can be significantly shortened.

[0026] In some embodiments, the roller rolling and clamping mechanism 34 includes a roller bracket 341, a fixed roller 342, an adjustable roller 343, and an adjustment seat 344; The fixed roller 342 is arranged at one end of the roller bracket 341. The other end of the roller bracket 341 is provided with a U-shaped opening. An adjusting seat 344 is arranged in the U-shaped opening. The adjustable roller 343 is arranged on the adjusting seat 344. Connecting arms 3441 are arranged on both sides of the adjusting seat 344. Strip-shaped holes are provided on the connecting arms 3441. Screw holes corresponding to the strip-shaped holes are opened on both sides of the U-shaped opening. The adjusting seat 344 is fixed at the U-shaped opening through the screw holes and screws.

[0027] During specific implementation, as Figure 7 and Figure 8 shown, the intelligent scanning marker 3 includes an arc-shaped carrier plate 31, two sets of roller rolling clamping mechanisms 34 fixed on the inner side of the arc-shaped carrier plate 31, and a scanning servo motor 32 and a magnetic memory scanner 4 fixed on the outer side of the arc-shaped carrier plate 31.

[0028] The roller rolling clamping mechanism 34 is rollably and limit-connected to the circumferential edge of the carrier seat 2. A transmission gear 33 drivingly connected to the circumferential surface of the carrier seat 2 is fixed to the shaft end of the scanning servo motor 32. When starting the circular scanning, the scanning servo motor 32 starts, and drives the entire arc-shaped carrier plate 31 to move around the circumferential edge of the carrier seat 2 through the transmission gear 33 drivingly connected to the circumferential surface of the carrier seat 2. The magnetic memory scanner 4 is fixed at a position near the pipeline side of the arc-shaped carrier plate 31. During the process of the arc-shaped carrier plate 31 moving around the circumferential edge of the carrier seat 2, dynamic and rapid scanning of the internal defects on the circumferential surface of the pipeline 100 to be inspected is performed. Specifically, when the cylindrical carrier 1 moves at a constant speed along the axial direction of the pipeline, the scanning path projected by the magnetic memory scanner 4 on the circumferential surface of the pipeline 100 during the scanning process is a spiral-wound strip-shaped scanning path. As a preferred implementation manner of the present invention, the scanning width of the magnetic memory scanner 4 is the same as the detection scanning width of the defect re-inspection probe 5.

[0029] While the cylindrical carrier 1 moves at a constant speed along the axial direction of the pipeline, the intelligent scanning marker 3 continuously rotates around the circumferential direction of the pipeline, so that the magnetic memory scanner 4 forms a spiral scanning path. By dynamically coordinating the axial moving speed and the circumferential rotation speed through the control terminal, it is ensured that when the cylindrical carrier 1 moves a distance of one scanning bandwidth, the intelligent scanning marker 3 exactly completes one rotation. Adjacent spiral scanning bands are therefore closely connected, without overlap or gap, and completely cover the outer surface of the pipeline to be inspected. The scanning bandwidth of the magnetic memory scanner 4 is the same as the detection width of the defect re-inspection probe 5, providing an accurate positioning basis for subsequent re-inspection.

[0030] As Figure 14 and Figure 15As shown, the roller rolling clamping mechanism 34 includes a roller bracket 341, a fixed roller 342 fixed to the upper end of the roller bracket 341, and an adjustable roller 343 provided at the lower end of the roller bracket 341 and capable of adjusting the distance between the two relative to the fixed roller 342. Specifically, a U-shaped opening is formed at the lower end of the roller bracket 341, an adjustment seat 344 is assembled in the U-shaped opening, connecting arms 3441 are formed on both sides of the adjustment seat 344, strip-shaped holes are provided on the connecting arms 3441, and screw holes are provided at positions corresponding to the strip-shaped holes on both sides of the U-shaped opening at the lower end of the roller bracket 341. The adjustment seat 344 is fixed to the lower end of the roller bracket 341 through screws in the screw holes. By adjusting the distance between the adjustable roller 343 and the fixed roller 342, the clamping force can be adaptively adjusted so that the roller rolling clamping mechanism 34 can be adapted to different carrier seats 2.

[0031] In some embodiments, the magnetic memory scanner 4 includes a magnetic memory probe 41 and a coordinate data processor; The magnetic memory probe 41 can judge the defect position based on the magnetic field gradient of the pipeline 100 to be inspected. The magnetic memory signal data generated by the scan is processed by the coordinate data processor at the local end of the magnetic memory scanner 4, and the defect position is generated into defect re-inspection coordinate data and uploaded to the control terminal.

[0032] During specific implementation, as Figure 7 shown, the magnetic memory scanner 4 includes a magnetic memory probe 41 and a coordinate data processor. The distribution characteristics of the magnetic memory signals of the pipeline 100 to be inspected can reflect its defect position. The magnetic memory probe 41 judges the defect position based on the magnetic field gradient of the pipeline 100 to be inspected. Through spiral circumferential scanning, rapid preliminary positioning of defects around the circumference of the pipeline 100 to be inspected can be realized. The magnetic memory signal data generated by the scan is processed by the coordinate data processor at the local end of the magnetic memory scanner 4, and the defect position is generated into defect re-inspection coordinate data and uploaded to the control terminal. In some embodiments, the defect re-inspection coordinate data includes two parameters, one is the displacement along the axial direction of the pipeline 100 to be inspected, and the other is the outer circumferential position of the pipeline 100 to be inspected. In some embodiments, the outer circumferential position of the pipeline 100 to be inspected is set according to the number of defect re-inspection probes 5, that is, the outer circumference of the pipeline 100 to be inspected is divided into several equal parts by 360°.

[0033] In some embodiments, the carrier seat 2 includes a carrier seat main body 21, an annular stepping gear ring 22, and a roller seat 23; The carrier seat main body 21 is fixedly arranged at one end of the cylindrical carrier 1, the roller seat 23 is coaxially fixed to the outer side end of the carrier seat main body 21, the annular stepping gear ring 22 is coaxially fixed between the carrier seat main body 21 and the roller seat 23, the transmission gear 33 is in transmission engagement with the annular stepping gear ring 22, and roller limiting grooves adapted to the roller rolling clamping mechanism 34 are arranged on the inner and outer circumferential surfaces of the roller seat 23.

[0034] In specific implementation, such as Figure 5 , Figure 9 and Figure 10 shown, the vehicle seat 2 includes a vehicle seat main body 21 fixed to one end of the cylindrical vehicle 1, a roller seat 23 fixed to the outer end of the vehicle seat main body 21, and an annular stepping gear ring 22 snap - fixed between the vehicle seat main body 21 and the roller seat 23. Among them, as Figure 6 shown, the transmission gear 33 is in transmission engagement with the annular stepping gear ring 22, and roller limiting grooves for assembling and connecting the roller rolling snap - connection mechanism 34 are formed on the inner and outer circumferential surfaces of the roller seat 23. Specifically, the fixed roller 342 is fitted in the roller limiting groove on the outer circumferential surface of the roller seat 23, and the adjustable roller 343 is fitted in the roller limiting groove on the inner circumferential surface of the roller seat 23. By adjusting the distance between the adjustable roller 343 and the fixed roller 342, two vertically arranged rollers can be firmly snapped and roll in the corresponding roller limiting grooves.

[0035] In some embodiments, at least six defect re - inspection probes 5 are provided. The six defect re - inspection probes 5 respectively correspond to the first area, the second area, the third area, the fourth area, the fifth area, and the sixth area on the outer circumference of the pipeline to be inspected 100. The first area, the second area, the third area, the fourth area, the fifth area, and the sixth area respectively correspond to arc - surface intervals covering an arc of 60° of the outer circumference of the pipeline to be inspected 100.

[0036] In specific implementation, such as Figure 3 and Figure 4 shown, the number of the defect re - inspection probes 5 is six, which respectively correspond to the first area, the second area, the third area, the fourth area, the fifth area, and the sixth area on the outer circumference of the pipeline to be inspected 100. Among them, the first area, the second area, the third area, the fourth area, the fifth area, and the sixth area respectively correspond to arc - surface intervals covering an arc of 60° of the outer circumference of the pipeline to be inspected 100. The defect re - inspection probe 5 is a four - channel arc - shaped plate ultrasonic probe, and a depth adjuster for adjusting the distance between it and the outer circumferential surface of the pipeline to be inspected 100 is connected to the probe integrated housing.

[0037] In some embodiments, the defect re - inspection probe 5 is a four - channel arc - shaped plate ultrasonic probe and is equipped with a depth adjuster capable of adjusting the distance from the outer circumferential surface of the pipeline to be inspected 100; The depth adjuster includes a socket rod 51, a threaded rod 52 and a rotary adjustment handle 53. One end of the socket rod 51 is pluggably sleeved with the probe integrated housing. The other end of the socket rod 51 is fixedly connected to one end of the threaded rod 52. The rotary adjustment handle 53 is fixedly arranged at the other end of the threaded rod 52. A depth adjustment hole 211 is formed on the circumferential annular surface of the carrier seat body 21. The interior of the depth adjustment hole 211 consists of two hole segments. The hole segment near the inner annular surface is a hole segment with a smooth hole wall adapted to the socket rod 51, and the hole segment near the outer annular surface is a threaded hole segment adapted to the threaded rod 52.

[0038] During specific implementation, as Figure 2 and Figure 3 shown, the depth adjuster includes a socket rod 51, a threaded rod 52 and a rotary adjustment handle 53. Among them, the front end of the socket rod 51 is pluggably sleeved with the probe integrated housing, the rear end of the socket rod 51 is fixedly connected to the threaded rod 52, and the rotary adjustment handle 53 is fixed to the outer end of the threaded rod 52. A depth adjustment hole 211 is formed on the circumferential annular surface of the carrier seat body 21. The interior of the depth adjustment hole 211 consists of two empty segments. The hole segment near the inner annular surface is a hole segment with a smooth hole wall adapted to the socket rod 51, and the hole segment near the outer annular surface is a threaded hole segment adapted to the threaded rod 52. When it is necessary to adjust the depth of the arc-shaped plate ultrasonic probe of the defect re-inspection probe 5, that is, the distance between the probe and the outer annular surface of the pipeline 100 to be inspected, it is necessary to first remove the arc-shaped plate ultrasonic probe from the socket rod 51, then rotate the adjustment handle 53. After adjusting to the appropriate distance, then plug the arc-shaped plate ultrasonic probe into the front end of the socket rod 51. Through the depth adjustment of this depth adjuster, it can be adapted to pipeline inspections with different pipe diameters and pipe wall thicknesses.

[0039] In some embodiments, the traveling mechanism 6 includes a fixed seat 61, adjustable struts 62, a transmission seat 63, a power assembly 66 and a synchronous traveling belt 67; The adjustable struts 62 are fixed to both ends of the fixed seat 61. The transmission seat 63 is arranged between the two adjustable struts 62. A synchronous traveling belt 67 is arranged on the transmission seat 63. The fixed seat 61 is fixedly arranged on the base 11 inside the circumferential surface of the cylindrical carrier 1. At least two assembly grooves 111 are provided on the base 11. The bottom of the fixed seat 61 is provided with an installation base adapted to the assembly grooves 111. A power assembly 66 for driving the synchronous traveling belt 67 to rotate is fixedly arranged on the back side of the transmission seat 63.

[0040] During specific implementation, as Figure 11 、 Figure 12As shown, the walking mechanism 6 includes a fixed seat 61, adjustable struts 62 fixed to both ends of the fixed seat 61, a transmission seat 63 connected between the two adjustable struts 62, and a synchronous walking belt 67 drivingly connected to the transmission seat 63. Among them, the fixed seat 61 is fixed on the base 11 on the inner circumferential surface of the cylindrical vehicle 1. At least two assembly grooves 111 are provided on the base 11, and an installation base adapted to the assembly groove 111 is formed at the bottom of the fixed seat 61. To drive the synchronous walking belt 67 to rotate, as Figure 12 shown, a power assembly 66 for driving the synchronous walking belt 67 to rotate is fixed to the back side of the transmission seat 63.

[0041] In some embodiments, the power assembly 66 includes a motor seat 661, an upper walking servo motor 662, and a lower walking servo motor 663; The motor seat 661 is fixedly arranged on the back side of the transmission seat 63. The upper walking servo motor 662 and the lower walking servo motor 663 are arranged side by side vertically and fixed on the motor seat 661. An upper synchronous pulley 6621 is provided at the output end of the upper walking servo motor 662, and a lower synchronous pulley 6631 is provided at the output end of the lower walking servo motor 663. Belt transmission shafts 64 are respectively provided at both ends of the transmission seat 63. Both ends of the synchronous walking belt 67 are respectively drivingly sleeved on the two belt transmission shafts 64. Power synchronous pulleys are respectively fixed at the same-side ends of the two belt transmission shafts 64. A synchronous power belt 65 is drivingly sleeved between the two power synchronous pulleys. The middle position of the synchronous power belt 65 is located between the upper synchronous pulley 6621 and the lower synchronous pulley 6631. The upper synchronous pulley 6621 and the lower synchronous pulley 6631 drive the synchronous power belt 65 to rotate.

[0042] During specific implementation, as Figure 13As shown in the figure, the power assembly 66 includes a motor base 661 fixed to the back side of the transmission base 63, and two upper and lower juxtaposed upper walking servo motors 662 and lower walking servo motors 663 fixed to the motor base 661. Among them, an upper synchronous pulley 6621 is fixed to the shaft end of the upper walking servo motor 662, and a lower synchronous pulley 6631 is fixed to the shaft end of the lower walking servo motor 663. Belt transmission shafts 64 are respectively provided at both ends of the transmission base 63, and both ends of the synchronous walking belt 67 are respectively sleeved on the two belt transmission shafts 64 in a transmission manner. Power synchronous pulleys are respectively fixed to the same-side ends of the two belt transmission shafts 64, and a synchronous power belt 65 is sleeved between the two power synchronous pulleys in a transmission manner. The middle position of the synchronous power belt 65 is located between the upper synchronous pulley 6621 and the lower synchronous pulley 6631, and the upper synchronous pulley 6621 and the lower synchronous pulley 6631 rotate in opposite directions. During operation, the upper walking servo motor 662 and the lower walking servo motor 663 are started synchronously. Through the cooperative rotation of the upper synchronous pulley 6621 and the lower synchronous pulley 6631 in opposite directions, a strong and stable power output is provided for the synchronous power belt 65, thereby driving the synchronous walking belt 67 to rotate. Since the synchronous walking belt 67 is in close frictional contact with the outer ring surface of the pipeline to be inspected 100, after the synchronous walking belt 67 rotates, the cylindrical carrier 1 can be pushed to move backward on the pipeline to be inspected 100.

[0043] As Figure 12 shown, the adjustable support column 62 includes a fixed column 621 and an adjustment column 622. The fixed column 621 is fixed to the fixed seat 61, one end of the adjustment column 622 is telescopically fixed to the fixed column 621, and the other end is fixedly connected to the transmission base 63. Specifically, as Figure 12 shown, an assembly groove is provided on the column surface of the fixed column 621, a positioning hole is provided on the assembly groove, and a matching positioning hole is also provided on the column surface of the adjustment column 622. The installation position of the adjustment column 622 in the assembly groove can be adjusted through the positioning hole, so as to adapt to pipelines with different diameters.

[0044] On the other hand, the present application also provides a non-destructive testing method for a hydrogen transmission pipeline, which is applied to a non-destructive testing tooling for a hydrogen transmission pipeline, and specifically includes the following steps: S1. Initial positioning of the non-destructive testing tooling. Taking one end of the cylindrical carrier 1 corresponding to the carrier seat 2 as the forward end, the forward end of the cylindrical carrier 1 is sleeved into the initial inspection end of the long straight section of the hydrogen transmission pipeline before welding, the walking mechanism 6 is adjusted to abut against the outer pipe wall of the pipeline to be inspected 100, and the depth of each defect re-inspection probe 5 is adjusted; S2. Rapid Scanning and Marking of Pipeline Toroidal Defects. The traveling mechanism 6 drives the non-destructive testing tooling to travel at a constant speed along the axial direction of the pipeline 100 to be inspected. The intelligent scanning marker 3 performs a spiral annular scan of several axial widths on the pipeline 100 to be inspected. After detecting a defect signal, it generates defect re-inspection coordinate data and uploads it to the control terminal. S3. Defect Re-inspection Scanning. The control terminal activates the defect re-inspection probe 5 at the corresponding location according to the defect re-inspection coordinate data to perform coverage detection and conduct ultrasonic guided wave scanning on the defect at the defect re-inspection coordinate. S4. Defect Image Simulation. The ultrasonic guided wave scanning data is uploaded to the control terminal. The control terminal fits and generates defect images corresponding to each defect, the distance of each defect from the outer surface of the pipeline wall, and the orthographic projection size of each defect according to the ultrasonic guided wave scanning data. S5. Generate a non-destructive testing report.

[0045] In the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0046] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] The term "comprising" or any other similar term is intended to cover non-exclusive inclusion, so that a process, method, article, or device / equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or also includes the elements inherent in these processes, methods, articles, or devices / equipment.

[0048] So far, the technical solution of the present invention has been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easily understood by those skilled in the art that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A non-destructive testing tool for a hydrogen transportation pipeline, characterized in that Including: A cylindrical carrier coaxially sleeved outside the pipeline to be inspected, and the cylindrical carrier is a straight cylinder structure with both ends open; A carrier seat arranged at one end of the cylindrical carrier, and the carrier seat is annularly arranged; An intelligent scanning marker arranged on the carrier seat and capable of moving around the pipeline to be inspected; Defect re-inspection probes, and a plurality of the defect re-inspection probes are spaced along the circumferential direction of the carrier seat and point to the pipeline to be inspected; Traveling mechanisms, and a plurality of the traveling mechanisms are evenly spaced along the circumferential direction of the carrier seat and point to the pipeline to be inspected. The traveling mechanisms are in frictional contact with the outer pipe wall of the pipeline to be inspected and drive the cylindrical carrier to move along the axial direction of the pipeline to be inspected; Wherein, after the intelligent scanning marker detects a circumferential surface defect of the pipeline to be inspected, it generates defect re-inspection coordinate data and uploads it to the control terminal, and the control terminal activates the defect re-inspection probes in the corresponding area according to the defect re-inspection coordinate data to perform coverage detection.

2. The non-destructive testing tooling for a hydrogen delivery pipeline according to claim 1, characterized in that, The intelligent scanning marker includes an arc-shaped carrier plate, a scanning servo motor, a transmission gear and a roller rolling clamping mechanism; At least two groups of the roller rolling clamping mechanisms are fixedly arranged on the inner side of the arc-shaped carrier plate, the scanning servo motor is fixedly arranged on the outer side of the arc-shaped carrier plate, a magnetic memory scanner is also arranged on the outer side of the arc-shaped carrier plate, the roller rolling clamping mechanism is adaptively connected with the carrier seat and can limit the movement of the intelligent scanning marker, and the output end of the scanning servo motor is fixed with the transmission gear that is in transmission connection with the circumferential surface of the carrier seat.

3. The non-destructive testing tooling for a hydrogen delivery pipeline according to claim 2, characterized in that, The roller rolling clamping mechanism includes a roller bracket, a fixed roller, an adjustable roller and an adjusting seat; The fixed roller is arranged at one end of the roller bracket, a U-shaped opening is arranged at the other end of the roller bracket, the adjusting seat is arranged in the U-shaped opening, the adjustable roller is arranged on the adjusting seat, connecting arms are arranged on both sides of the adjusting seat, strip-shaped holes are arranged on the connecting arms, and screw holes corresponding to the strip-shaped holes are arranged on both sides of the U-shaped opening. The adjusting seat is fixed at the U-shaped opening through the screw holes and screws.

4. The non-destructive testing tooling for a hydrogen delivery pipeline according to claim 2, characterized in that, The magnetic memory scanner includes a magnetic memory probe and a coordinate data processor; The magnetic memory probe can judge the defect position based on the magnetic field gradient of the pipeline to be inspected. The magnetic memory signal data generated by the scan is processed by the coordinate data processor at the local end of the magnetic memory scanner, and the defect position is generated into defect re-inspection coordinate data and uploaded to the control terminal.

5. The non-destructive testing tooling for a hydrogen transportation pipeline according to claim 2, characterized in that, The carrier seat includes a carrier seat main body, an annular stepping gear ring and a roller seat; The carrier seat main body is fixedly arranged at one end of the cylindrical carrier, the roller seat is coaxially fixed to the outer end of the carrier seat main body, the annular stepping gear ring is coaxially and fixedly arranged between the carrier seat main body and the roller seat, the transmission gear is in transmission engagement with the annular stepping gear ring, and roller limiting grooves adapted to the roller rolling clamping mechanism are arranged on the inner and outer circumferential surfaces of the roller seat.

6. The non-destructive testing tooling for a hydrogen delivery pipeline according to claim 5, characterized in that, At least six defect re-inspection probes are provided, and the six defect re-inspection probes respectively correspond to the first position, the second position, the third position, the fourth position, the fifth position and the sixth position on the outer circumference of the pipeline to be inspected. The first position, the second position, the third position, the fourth position, the fifth position and the sixth position respectively correspond to arc surface intervals covering an arc of 60° on the outer circumference of the pipeline to be inspected.

7. The non-destructive testing tooling for a hydrogen transportation pipeline according to claim 6, characterized in that, The defect re-inspection probe is a four-channel arc-shaped plate ultrasonic probe and is equipped with a depth adjuster capable of adjusting the distance between the probe and the outer circumferential surface of the pipeline to be inspected; The depth adjuster includes a socket rod, a threaded rod and a rotary adjustment handle. One end of the socket rod is detachably sleeved with the probe integrated housing. The other end of the socket rod is fixedly connected to one end of the threaded rod. The rotary adjustment handle is fixedly arranged at the other end of the threaded rod. A depth adjustment hole is formed on the circumferential ring surface of the carrier seat body. The interior of the depth adjustment hole forms two hole segments. The hole segment close to the inner ring surface is a hole segment with a smooth hole wall adapted to the socket rod, and the hole segment close to the outer ring surface is a threaded hole segment adapted to the threaded rod.

8. The non-destructive testing tooling for a hydrogen delivery pipeline according to claim 1, characterized in that, The traveling mechanism includes a fixed seat, adjustable struts, a transmission seat, a power assembly and a synchronous traveling belt; The adjustable struts are fixed at both ends of the fixed seat. The transmission seat is arranged between the two adjustable struts. A synchronous traveling belt is arranged on the transmission seat. The fixed seat is fixedly arranged on the base on the inner side of the circumferential surface of the cylindrical carrier. At least two assembly grooves are provided on the base. The bottom of the fixed seat is provided with a mounting base adapted to the assembly groove. A power assembly for driving the synchronous traveling belt to rotate is fixedly arranged on the back side of the transmission seat.

9. The non-destructive testing tooling for a hydrogen transportation pipeline according to claim 8, characterized in that, The power assembly includes a motor seat, an upper traveling servo motor and a lower traveling servo motor; The motor seat is fixedly arranged on the back side of the transmission seat. The upper traveling servo motor and the lower traveling servo motor are arranged side by side up and down and fixed on the motor seat. An upper synchronous pulley is arranged at the output end of the upper traveling servo motor. A lower synchronous pulley is arranged at the output end of the lower traveling servo motor. Belt transmission shafts are respectively arranged at both ends of the transmission seat. Both ends of the synchronous traveling belt are respectively sleeved on the two belt transmission shafts in a transmission manner. Power synchronous pulleys are respectively fixed at the same side ends of the two belt transmission shafts. A synchronous power belt is sleeved in a transmission manner between the two power synchronous pulleys. The middle position of the synchronous power belt is located between the upper synchronous pulley and the lower synchronous pulley. The upper synchronous pulley and the lower synchronous pulley drive the synchronous power belt to rotate.

10. A non-destructive testing method for a hydrogen transportation pipeline, characterized in that, Applied to the non-destructive testing tooling for a hydrogen transmission pipeline according to any one of claims 1-9, it specifically includes the following steps: S1. Initial positioning of the non-destructive testing tooling. Taking one end of the cylindrical carrier corresponding to the carrier seat as the forward end, sleeving the forward end of the cylindrical carrier into the initial inspection end of the long straight hydrogen transmission pipeline before welding, adjusting the traveling mechanism to make it abut against the outer pipe wall of the pipeline to be inspected, and adjusting the depth of each defect re-inspection probe; S2. Rapid Scanning and Marking of Pipe Toroidal Defects. The walking mechanism drives the nondestructive testing tooling to move at a constant speed along the axial direction of the pipeline to be inspected. The intelligent scanning marker performs spiral annular scanning of several axial widths on the pipeline to be inspected. After detecting a defect signal, it generates defect re-inspection coordinate data and uploads it to the control terminal; S3. Defect Re-inspection Scanning. The control terminal activates the defect re-inspection probe at the corresponding location according to the defect re-inspection coordinate data to perform coverage detection and conduct ultrasonic guided wave scanning on the defect at the defect re-inspection coordinate; S4. Defect Image Simulation. The ultrasonic guided wave scanning data is uploaded to the control terminal, and the control terminal generates defect images corresponding to each defect, the distance of each defect from the outer wall surface of the pipeline, and the orthographic projection size of each defect according to the ultrasonic guided wave scanning data; S5. Generate a nondestructive testing report.

Images