Weld joint flaw detection intelligent detection system for submarine pipeline
By designing an intelligent detection system including a propulsion mechanism and multiple ultrasonic detectors, the problem of reduced transportation efficiency caused by subsea pipeline weld detection in the prior art is solved, and efficient and accurate detection of subsea pipeline welds is achieved.
Patent Information
- Application Number
- CN202510722629.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-30
- Publication Date
- 2025-08-12
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
In the prior art, when using pipeline crawling flaw detection devices to detect subsea pipeline welds, the problem of reducing the efficiency of subsea pipeline transportation.
An intelligent detection system including a propulsion mechanism and a plurality of ultrasonic detection mechanisms is designed. The detection mechanism is pushed to the target weld through the propulsion mechanism, and a plurality of ultrasonic detectors are used to conduct all-round detection in the circumferential direction, avoiding the use of a pipeline crawling flaw detection device.
It realizes efficient and accurate detection of subsea pipeline welds, avoids the impact on transportation efficiency, has good detection effect and is suitable for pipelines of different sizes.
Smart Images
Figure CN120468288A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of underwater detection technology, and in particular to an intelligent detection system for weld flaw detection of submarine pipelines. Background Art
[0002] Submarine pipelines are closed pipes that continuously transport large amounts of oil (gas) on the seabed. They are a major component of offshore oil (gas) field development and production systems, and are also the fastest, safest, most economical and reliable way to transport offshore oil and gas.
[0003] Submarine pipelines typically include the following types: seamless steel pipe, straight seam submerged arc welded pipe (SAW), straight seam high-frequency electric resistance welded pipe (HFERW), and threaded welded pipe. Seamless steel pipe is generally used for small-diameter submarine coils with special requirements. Therefore, when selecting submarine pipelines, straight seam submerged arc welded pipe (SAW), straight seam high-frequency electric resistance welded pipe (HFERW), and threaded welded pipe are typically used.
[0004] In practice, submarine pipeline welds are susceptible to damage due to external factors such as wind, waves, currents, ice, and impact. Pipeline crawling flaw detection devices are commonly used to inspect welds. During inspection, the device is typically placed directly inside the pipeline and crawls along the pipeline to the weld for inspection. However, the presence of the device significantly reduces submarine pipeline transportation efficiency during transportation. Summary of the Invention
[0005] The purpose of the embodiments of the present application is to provide an intelligent detection system for weld flaw detection of submarine pipelines to solve the technical problem in the prior art that the transportation efficiency of submarine pipelines is reduced when using a pipeline climbing flaw detection device to detect pipeline welds.
[0006] To achieve the above objectives, the technical solution adopted in this application is to provide an intelligent weld flaw detection system for submarine pipelines, comprising: promotion agencies; a first detection mechanism, comprising a first drive assembly and a first ultrasonic detector, wherein the first drive assembly is mounted on the propulsion mechanism, and the first ultrasonic detector is mounted on the first drive assembly, and the first drive assembly is configured to drive the first ultrasonic detector to rotate in a first direction to form a first detection area; a second detection mechanism, comprising a second drive assembly and a second ultrasonic detector, wherein the second drive assembly is mounted on the propulsion mechanism, and the second ultrasonic detector is mounted on the second drive assembly, and the second drive assembly is configured to drive the second ultrasonic detector to rotate about a first direction to form a second detection area; a third detection mechanism, comprising a third drive assembly and a third ultrasonic detector, wherein the third drive assembly is mounted on the propulsion mechanism, and the third ultrasonic detector is mounted on the third drive assembly, and the third drive assembly is configured to drive the third ultrasonic detector to rotate about the first direction to form a third detection area; The first detection area, the second detection area and the third detection area can be enclosed to surround the submarine pipeline.
[0007] Optionally, the first drive assembly includes a first mounting frame, an arc-shaped rack, an arc-shaped track, a slider, a first driver and a gear, the first mounting frame is mounted on the propulsion mechanism, the arc-shaped rack is mounted on the first mounting frame, the arc-shaped track is mounted on the side of the arc-shaped rack facing away from the first mounting frame, the slider is mounted on the arc-shaped track and can rotate in a first direction, the first driver is mounted on the slider, and the gear is mounted on the output end of the first driver and engages with the arc-shaped rack.
[0008] Optionally, the first driving assembly further includes a first regulator, which is mounted on the slider and is capable of driving the first ultrasonic detector to move radially along the seabed pipeline.
[0009] Optionally, the second detection mechanism includes a second mounting frame, a first arc tube, two second drivers, two first clamping rollers and a first arc rod, the second mounting frame is mounted on the propulsion mechanism, the first arc tube is mounted on the second mounting frame, the two second drivers are both mounted on the propulsion mechanism, the two first clamping rollers are mounted on the output ends of the two second drivers, and are arranged in a one-to-one correspondence with the two second drivers, the first arc rod is slidably mounted in the first arc tube, and is clamped between the two first clamping rollers, and is also configured to rotate around the first direction driven by the two first clamping rollers.
[0010] Optionally, the second detection mechanism further includes a second regulator, which is installed at the end of the first arc-shaped rod and can drive the second ultrasonic detector to move radially along the seabed pipeline.
[0011] Optionally, the third detection mechanism includes a third mounting frame, a second arc tube, two third drivers, two second clamping rollers and a second arc rod, the third mounting frame is mounted on the propulsion mechanism, the second arc tube is mounted on the third mounting frame, the two third drivers are both mounted on the propulsion mechanism, the two second clamping rollers are mounted on the output ends of the two third drivers, and are arranged in a one-to-one correspondence with the two third drivers, the second arc rod is slidably mounted in the second arc tube, and clamped between the two second clamping rollers, and is also configured to rotate around the first direction driven by the two second clamping rollers.
[0012] Optionally, the third detection mechanism further includes a third regulator, which is installed at the end of the second arc-shaped rod and can drive the third ultrasonic detector to move radially along the seabed pipeline.
[0013] Optionally, the propulsion mechanism includes a propulsion frame, multiple first propellers, multiple second propellers and multiple third propellers, multiple first propellers are all installed on the propulsion frame and can drive the propulsion frame to move along the first direction, multiple second propellers are all installed on the propulsion frame and can drive the propulsion frame to move along the second direction, and multiple third propellers are all installed on the propulsion frame and can drive the propulsion frame to move along the third direction.
[0014] Optionally, the propulsion mechanism further includes a V-shaped slot, and the V-shaped slot is opened on the propulsion frame.
[0015] Optionally, the first drive assembly, the second drive assembly and the third drive assembly are stacked in a radial direction along the submarine pipeline.
[0016] The beneficial effects of the intelligent detection system for weld flaw detection of submarine pipelines provided by this application are: The present application provides an intelligent inspection system for weld flaw detection on submarine pipelines. When performing flaw detection on submarine pipeline welds, a propulsion mechanism can push the first, second, and third inspection mechanisms to the target weld, making them easy to move. During the inspection process, the first, second, and third inspection areas are used, and with the cooperation of the first, second, and third ultrasonic detectors, the submarine pipeline welds can be inspected in all directions along the circumference, achieving excellent inspection results. Compared to related technologies, there is no need to place the pipeline crawling inspection device inside the submarine pipeline. The welds can be accurately inspected directly from the outside of the submarine pipeline, without affecting the transportation efficiency of the submarine pipeline. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.
[0018] Figure 1 A first-perspective stereoscopic image of an intelligent weld flaw detection system for submarine pipelines provided in an embodiment of the present application; Figure 2 A cross-sectional view of a submarine pipeline provided by an intelligent detection system for weld flaw detection in a submarine pipeline according to an embodiment of the present application; Figure 3 for Figure 1 A partial enlarged view of point A in the middle; Figure 4 for Figure 1 A partial enlarged view of point B in the middle; Figure 5 for Figure 1 A partial enlarged view of point C in the middle; Figure 6 A second perspective stereoscopic image of an intelligent detection system for weld flaw detection of submarine pipelines provided in an embodiment of the present application.
[0019] Among them, the reference numerals in the figures are: 1. Propulsion mechanism; 11. Propulsion frame; 12. First propeller; 13. Second propeller; 14. Third propeller; 15. V-shaped slot; 2. First detection mechanism; 21. First drive assembly; 211. First mounting bracket; 212. Arc-shaped rack; 213. Arc-shaped track; 214. Slider; 215. First driver; 216. Gear; 217. First regulator; 22. First ultrasonic detector; 23. First detection area; 3. Second detection mechanism; 31. Second drive assembly; 311. Second mounting bracket; 312. First arc tube; 313. Second driver; 314. First clamping roller; 315. First arc rod; 316. Second adjuster; 32. Second ultrasonic detector; 33. Second detection area; 4. Third detection mechanism; 41. Third drive assembly; 411. Third mounting bracket; 412. Second arc tube; 413. Third driver; 414. Second clamping roller; 415. Second arc rod; 416. Third regulator; 42. Third ultrasonic detector; 43. Third detection area. DETAILED DESCRIPTION
[0020] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.
[0021] It should be noted that when an element is referred to as being “mounted on,” “fixed on,” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.
[0022] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.
[0023] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.
[0024] like Figures 1 to 6As shown, the present application provides an intelligent weld flaw detection system for submarine pipelines, comprising a propulsion mechanism 1, a first detection mechanism 2, a second detection mechanism 3, and a third detection mechanism 4. The first detection mechanism 2 comprises a first drive assembly 21 and a first ultrasonic detector 22. The first drive assembly 21 is mounted on the propulsion mechanism 1, and the first ultrasonic detector 22 is mounted on the first drive assembly 21. The first drive assembly 21 is configured to drive the first ultrasonic detector 22 to rotate about a first direction to form a first detection area 23. The second detection mechanism 3 comprises a second drive assembly 31 and a second ultrasonic detector 32. The second drive assembly 31 is mounted on the propulsion mechanism 1, and the second ultrasonic detector 32 is mounted on the second drive assembly 31. The second drive assembly 31 is configured to drive the second ultrasonic detector 32 to rotate about the first direction to form a second detection area 33. The third detection mechanism 4 comprises a third drive assembly 41 and a third ultrasonic detector 42. The third drive assembly 41 is mounted on the propulsion mechanism 1, and the third ultrasonic detector 42 is mounted on the third drive assembly 41. The third drive assembly 41 is configured to drive the third ultrasonic detector 42 to rotate about the first direction to form a third detection area 43. The first detection area 23 , the second detection area 33 and the third detection area 43 can be enclosed to surround the submarine pipeline.
[0025] It should be noted that the first direction mentioned above and below refers to the bidirectional direction of the submarine pipeline axis. Figure 1 It should be noted that the first detection area 23, the second detection area 33 and the third detection area 43 can be enclosed to surround the submarine pipeline, which means that the first detection area 23, the second detection area 33 and the third detection area 43 can be enclosed to form a circular detection area, and the circular detection area can surround the submarine pipeline. Among them, the first detection area 23 refers to Figure 2 The second detection area 33 refers to the area L in Figure 2 The third detection area 43 refers to the area M in Figure 2 The area N in .
[0026] The present application provides an intelligent detection system for weld flaw detection of submarine pipelines. When performing flaw detection on the welds of submarine pipelines, the propulsion mechanism 1 can push the first detection mechanism 2, the second detection mechanism 3, and the third detection mechanism 4 to the target weld, making them easy to move. During the detection process, through the first detection area 23, the second detection area 33, and the third detection area 43, with the cooperation of the first ultrasonic detector 22, the second ultrasonic detector 32, and the third ultrasonic detector 42, the welds of the submarine pipeline can be fully inspected along the circumferential direction, with good detection effect. Compared with related technologies, there is no need to place the pipeline crawling flaw detection device inside the submarine pipeline. The welds can be accurately inspected directly from the outside of the submarine pipeline, which will not affect the transportation efficiency of the submarine pipeline.
[0027] In one embodiment of this application, see Figures 1 to 6 The first driving assembly 21 includes a first mounting frame 211, an arcuate rack 212, an arcuate track 213, a slider 214, a first driver 215 and a gear 216. The first mounting frame 211 is mounted on the propulsion mechanism 1, the arcuate rack 212 is mounted on the first mounting frame 211, the arcuate track 213 is mounted on the side of the arcuate rack 212 facing away from the first mounting frame 211, the slider 214 is mounted on the arcuate track 213 and can rotate around the first direction, the first driver 215 is mounted on the slider 214, and the gear 216 is mounted on the output end of the first driver 215 and engages with the arcuate rack 212.
[0028] With this arrangement, during the inspection process, the first driver 215, gear 216, and curved rack 212 enable the slider 214 to rotate along the curved track 213 in a first direction, thereby enabling the first ultrasonic detector 22 to ultrasonically inspect the local weld of the submarine pipeline in the first direction. This facilitates inspection and provides excellent structural stability. Furthermore, the curved rack 212 and curved track 213 enable the first ultrasonic detector 22 to perform circular motion around the outer circumference of the submarine pipeline, ensuring that the distance between the first ultrasonic detector 22 and the submarine pipeline remains approximately consistent, greatly ensuring the effectiveness of ultrasonic inspection.
[0029] In one embodiment of this application, please refer to Figures 1 to 6 The first driving assembly 21 further includes a first regulator 217 , which is mounted on the slider 214 and can drive the first ultrasonic detector 22 to move radially along the seabed pipeline.
[0030] With such an arrangement, during the detection process, the distance between the first ultrasonic detector 22 and the submarine pipeline can be adjusted by the first regulator 217, so that the first ultrasonic detector 22 can be as close to the submarine pipeline as possible, ensuring the ultrasonic detection effect. It can also be applied to submarine pipelines of different sizes, greatly improving the applicability of the detection system.
[0031] In one embodiment of the present application, see Figures 1 to 6The second detection mechanism 3 includes a second mounting frame 311, a first arc tube 312, two second drivers 313, two first clamping rollers 314 and a first arc rod 315. The second mounting frame 311 is installed on the propulsion mechanism 1, the first arc tube 312 is installed on the second mounting frame 311, the two second drivers 313 are both installed on the propulsion mechanism 1, the two first clamping rollers 314 are installed at the output ends of the two second drivers 313, and are arranged one-to-one with the two second drivers 313. The first arc rod 315 is slidably installed in the first arc tube 312 and clamped between the two first clamping rollers 314. It is also configured to rotate around the first direction driven by the two first clamping rollers 314.
[0032] With this arrangement, during the inspection process, the two second drivers 313, the two first clamping rollers 314, the first curved tube 312, and the first curved rod 315 enable the second ultrasonic detector 32 to perform ultrasonic inspection of a localized weld of the submarine pipeline around a first direction, facilitating inspection and ensuring structural stability. Furthermore, the first curved tube 312 and the first curved rod 315 enable the second ultrasonic detector 32 to perform circular motion around the outer circumference of the submarine pipeline, thereby ensuring that the distance between the second ultrasonic detector 32 and the submarine pipeline remains approximately consistent, significantly enhancing the effectiveness of ultrasonic inspection.
[0033] Optionally, the first curved rod 315 defines two first curved slots (not shown). The inner circumference of the first curved tube 312 includes two first curved clips (not shown). The two first curved clips engage with the two first curved slots and correspond one-to-one with the two first curved slots. The two first clamping rollers 314 engage with the two first curved slots and correspond one-to-one with the two first curved slots.
[0034] With this arrangement, the two first arc-shaped slots and the two first arc-shaped clips enable the first arc-shaped tube 312 and the first arc-shaped rod 315 to be clipped together, thereby improving the structural stability between the first arc-shaped tube 312 and the first arc-shaped rod 315, thereby improving the stability of the first arc-shaped rod 315 in rotation about the first direction, and further improving the detection accuracy of the second ultrasonic detector 32. The two first arc-shaped slots enable the first clamping roller 314 to be clipped together with the first arc-shaped rod 315, thereby improving the structural stability between the first clamping roller 314 and the first arc-shaped rod 315, allowing the two first clamping rollers 314 to stably drive the first arc-shaped rod 315 to rotate about the first direction, similarly improving the detection accuracy of the second ultrasonic detector 32.
[0035] In one embodiment of this application, see Figures 1 to 6The second detection mechanism 3 further includes a second regulator 316, which is installed at the end of the first arc-shaped rod 315 and can drive the second ultrasonic detector 32 to move radially along the seabed pipeline.
[0036] With such an arrangement, during the detection process, the distance between the second ultrasonic detector 32 and the submarine pipeline can be adjusted by the second regulator 316, so that the second ultrasonic detector 32 can be as close to the submarine pipeline as possible, ensuring the ultrasonic detection effect. It can also be applied to submarine pipelines of different sizes, greatly improving the applicability of the detection system.
[0037] In one embodiment of this application, please refer to Figures 1 to 6 The third detection mechanism 4 includes a third mounting frame 411, a second arc tube 412, two third drivers 413, two second clamping rollers 414 and a second arc rod 415. The third mounting frame 411 is installed on the propulsion mechanism 1, the second arc tube 412 is installed on the third mounting frame 411, the two third drivers 413 are both installed on the propulsion mechanism 1, the two second clamping rollers 414 are installed at the output ends of the two third drivers 413, and are arranged one-to-one with the two third drivers 413. The second arc rod 415 is slidably installed in the second arc tube 412 and clamped between the two second clamping rollers 414. It is also configured to rotate around the first direction driven by the two second clamping rollers 414.
[0038] With this arrangement, during the inspection process, the two third drivers 413, two second clamping rollers 414, second curved tube 412, and second curved rod 415 enable the third ultrasonic detector 42 to perform ultrasonic inspection of a localized weld of the submarine pipeline in a first direction, facilitating inspection and ensuring structural stability. Furthermore, the second curved tube 412 and second curved rod 415 enable the third ultrasonic detector 42 to perform circular motion around the outer circumference of the submarine pipeline, thereby ensuring that the distance between the third ultrasonic detector 42 and the submarine pipeline remains approximately constant, significantly enhancing the effectiveness of ultrasonic inspection.
[0039] Optionally, the second curved rod 415 defines two second curved slots (not shown). The inner circumference of the second curved tube 412 includes two second curved clips (not shown). The two second curved clips engage with the two second curved slots and correspond one-to-one with the two second curved slots. The two second clamping rollers 414 engage with the two second curved slots and correspond one-to-one with the two second curved slots.
[0040] With this arrangement, the two second arc-shaped slots and the two second arc-shaped clips enable the second arc-shaped tube 412 and the second arc-shaped rod 415 to be clipped together, thereby improving the structural stability between the second arc-shaped tube 412 and the second arc-shaped rod 415, thereby improving the stability of the second arc-shaped rod 415 in rotation about the first direction, and further improving the detection accuracy of the third ultrasonic detector 42. The two second arc-shaped slots enable the second clamping roller 414 to be clipped together with the second arc-shaped rod 415, thereby improving the structural stability between the second clamping roller 414 and the second arc-shaped rod 415, allowing the two second clamping rollers 414 to stably drive the second arc-shaped rod 415 to rotate about the first direction, and similarly improving the detection accuracy of the third ultrasonic detector 42.
[0041] In one embodiment of the present application, see Figures 1 to 6 The third detection mechanism 4 further includes a third regulator 416 , which is mounted on the end of the second arc-shaped rod 415 and can drive the third ultrasonic detector 42 to move radially along the seabed pipeline.
[0042] With such a configuration, during the detection process, the distance between the third ultrasonic detector 42 and the submarine pipeline can be adjusted by the third regulator 416, so that the third ultrasonic detector 42 can be as close to the submarine pipeline as possible, ensuring the ultrasonic detection effect. It can also be applied to submarine pipelines of different sizes, greatly improving the applicability of the detection system.
[0043] In one embodiment of this application, see Figures 1 to 6 The propulsion mechanism 1 includes a propulsion frame 11, multiple first propellers 12, multiple second propellers 13 and multiple third propellers 14. The multiple first propellers 12 are all installed on the propulsion frame 11 and can drive the propulsion frame 11 to move along the first direction. The multiple second propellers 13 are all installed on the propulsion frame 11 and can drive the propulsion frame 11 to move along the second direction. The multiple third propellers 14 are all installed on the propulsion frame 11 and can drive the propulsion frame 11 to move along the third direction.
[0044] It should be noted that the second direction mentioned above and below refers to the bidirectional direction of the shortest connection line between the two first thrusters 12, specifically Figure 1 The third direction mentioned above and below refers to a bidirectional direction that is perpendicular to the first direction and the second direction at the same time, as shown in FIG. Figure 1 The Z axis shown in .
[0045] With this arrangement, the propulsion frame 11 can be moved in a first direction under the action of the first thruster 12. The propulsion frame 11 can be moved in a second direction under the action of the second thruster 13. The propulsion frame 11 can be moved in a third direction under the action of the third thruster 14. In summary, the propulsion frame 11 can be moved to any position under the action of the first thruster 12, the second thruster 13, and the third thruster 14. During the inspection process, the first inspection mechanism 2, the second inspection mechanism 3, and the third inspection mechanism 4 can be used to inspect submarine pipeline welds at different locations, greatly improving the ease of use of the inspection system.
[0046] In one embodiment of this application, please refer to Figures 1 to 6 The propulsion mechanism 1 further includes a V-shaped slot 15 , which is provided on the propulsion frame 11 .
[0047] With such an arrangement, under the action of the V-shaped groove 15, the propulsion frame 11 can be stably clamped to the outer peripheral side of submarine pipelines of different diameters, thereby facilitating the first ultrasonic detector 22, the second ultrasonic detector 32 and the third ultrasonic detector 42 to stably perform ultrasonic detection on the submarine pipeline welds, which helps to improve the detection accuracy.
[0048] In one embodiment of the present application, see Figures 1 to 6 The first drive assembly 21, the second drive assembly 31 and the third drive assembly 41 are stacked along the radial direction of the seabed pipeline.
[0049] With such an arrangement, when the propulsion mechanism 1 is used to move the first ultrasonic detector 22, the second ultrasonic detector 32 and the third ultrasonic detector 42 close to the outer periphery of the submarine pipeline, it is possible to avoid interference between the first drive assembly 21, the second drive assembly 31 and the third drive assembly 41 and the submarine pipeline, resulting in the first ultrasonic detector 22, the second ultrasonic detector 32 and the third ultrasonic detector 42 being unable to approach the submarine pipeline.
[0050] The operating principle of an intelligent weld flaw detection system for submarine pipelines provided herein is as follows: When ultrasonically testing a submarine pipeline weld, a first propeller 12 drives a propulsion frame 11 in a first direction, a second propeller 13 drives a propulsion frame 11 in a second direction, and a third propeller 14 drives a propulsion frame 11 in a third direction. The first, second, and third propellers 12, 13, and 14 work together to propel the first, second, and third detection mechanisms 2, 3, and 4 to the target submarine pipeline weld until the submarine pipeline is engaged within the V-shaped groove 15. After the submarine pipeline is engaged within the V-shaped groove 15, the third driver 413 drives the propulsion frame 11 to continue moving toward the submarine pipeline, ensuring a stable engagement within the V-shaped groove 15. A first adjuster 217 drives the first ultrasonic detector 22 to move radially toward the submarine pipeline until the first ultrasonic detector 22 and the submarine pipeline weld are substantially aligned. The first driver 215 drives the gear 216 to rotate. Under the action of the curved rack 212, the gear 216 rotates along the rack surface in a first direction. The slider 214 slides along the curved track 213 in the first direction, ultimately causing the first ultrasonic detector 22 to rotate along the first direction on the weld surface. The first ultrasonic detector 22 can perform ultrasonic testing on one-third of the weld seam. The second adjuster 316 drives the second ultrasonic detector 32 to move radially along the pipeline toward the pipeline until the second ultrasonic detector 32 and the weld seam are substantially aligned. The two second drivers 313 drive the two first clamping rollers 314 to rotate toward each other. The two first clamping rollers 314 drive the first curved rod 315 to rotate in the first direction, ultimately causing the second ultrasonic detector 32 to rotate along the first direction on the weld surface. The second ultrasonic detector 32 can perform ultrasonic testing on the remaining one-third of the weld seam. The third adjuster 416 drives the third ultrasonic detector 42 to move radially along the pipeline toward the pipeline until the third ultrasonic detector 42 and the weld seam are substantially aligned. The two third drivers 413 drive the two second clamping rollers 414 to rotate toward each other. The two second clamping rollers 414 drive the second curved rod 415 to rotate in the first direction, ultimately causing the third ultrasonic detector 42 to rotate in the first direction on the weld surface. The third ultrasonic detector 42 can perform ultrasonic testing on the remaining one-third of the weld on the submarine pipeline. After testing, the two second drivers 313 reset the second ultrasonic detector 32, and the two third drivers 413 reset the third ultrasonic detector 42. Driven by the propulsion mechanism 1, ultrasonic testing continues on the next weld.
[0051] The one or more embodiments of this application are intended to encompass all such substitutions, modifications, and variations that fall within the broad scope of this application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of this application should be included in the scope of protection of this application.
Claims
1. An intelligent detection system for weld flaw detection of submarine pipelines, characterized in that: include: Propulsion mechanism (1); A first detection mechanism (2) comprises a first drive assembly (21) and a first ultrasonic detector (22), wherein the first drive assembly (21) is mounted on the propulsion mechanism (1), and the first ultrasonic detector (22) is mounted on the first drive assembly (21), and the first drive assembly (21) is configured to drive the first ultrasonic detector (22) to rotate around a first direction to form a first detection area (23); a second detection mechanism (3), comprising a second drive assembly (31) and a second ultrasonic detector (32), wherein the second drive assembly (31) is mounted on the propulsion mechanism (1), and the second ultrasonic detector (32) is mounted on the second drive assembly (31), and the second drive assembly (31) is configured to drive the second ultrasonic detector (32) to rotate around a first direction to form a second detection area (33); a third detection mechanism (4), comprising a third drive assembly (41) and a third ultrasonic detector (42), wherein the third drive assembly (41) is mounted on the propulsion mechanism (1), and the third ultrasonic detector (42) is mounted on the third drive assembly (41), and the third drive assembly (41) is configured to drive the third ultrasonic detector (42) to rotate around a first direction to form a third detection area (43); The first detection area (23), the second detection area (33) and the third detection area (43) can be enclosed to surround the submarine pipeline.
2. The intelligent detection system for weld flaw detection of submarine pipelines according to claim 1, characterized in that: The first driving assembly (21) comprises a first mounting frame (211), an arc-shaped rack (212), an arc-shaped track (213), a slider (214), a first driver (215) and a gear (216), wherein the first mounting frame (211) is mounted on the propulsion mechanism (1), the arc-shaped rack (212) is mounted on the first mounting frame (211), the arc-shaped track (213) is mounted on the side of the arc-shaped rack (212) facing away from the first mounting frame (211), the slider (214) is mounted on the arc-shaped track (213) and is capable of rotating about a first direction, the first driver (215) is mounted on the slider (214), and the gear (216) is mounted on the output end of the first driver (215) and is engaged with the arc-shaped rack (212).
3. The intelligent detection system for weld flaw detection of submarine pipelines according to claim 2, characterized in that: The first drive assembly (21) further includes a first regulator (217), which is mounted on the slider (214) and is capable of driving the first ultrasonic detector (22) to move radially along the seabed pipeline.
4. The intelligent detection system for weld flaw detection of submarine pipelines according to claim 1, characterized in that: The second detection mechanism (3) includes a second mounting frame (311), a first arc tube (312), two second drivers (313), two first clamping rollers (314) and a first arc rod (315), wherein the second mounting frame (311) is mounted on the propulsion mechanism (1), the first arc tube (312) is mounted on the second mounting frame (311), the two second drivers (313) are both mounted on the propulsion mechanism (1), the two first clamping rollers (314) are mounted on the output ends of the two second drivers (313), and are arranged in a one-to-one correspondence with the two second drivers (313), the first arc rod (315) is slidably mounted in the first arc tube (312), and is clamped between the two first clamping rollers (314), and is further configured to rotate around a first direction under the drive of the two first clamping rollers (314).
5. The intelligent detection system for weld flaw detection of submarine pipelines according to claim 4, characterized in that: The second detection mechanism (3) further includes a second regulator (316), which is mounted on the end of the first arc-shaped rod (315) and is capable of driving the second ultrasonic detector (32) to move radially along the seabed pipeline.
6. The intelligent detection system for weld flaw detection of submarine pipelines according to claim 1, characterized in that: The third detection mechanism (4) includes a third mounting frame (411), a second arc tube (412), two third drivers (413), two second clamping rollers (414) and a second arc rod (415), wherein the third mounting frame (411) is mounted on the propulsion mechanism (1), the second arc tube (412) is mounted on the third mounting frame (411), the two third drivers (413) are both mounted on the propulsion mechanism (1), the two second clamping rollers (414) are mounted on the output ends of the two third drivers (413), and are arranged in a one-to-one correspondence with the two third drivers (413), the second arc rod (415) is slidably mounted in the second arc tube (412), and is clamped between the two second clamping rollers (414), and is also configured to rotate around the first direction under the drive of the two second clamping rollers (414).
7. The intelligent detection system for weld flaw detection of submarine pipelines according to claim 6, characterized in that: The third detection mechanism (4) further includes a third regulator (416), which is mounted on the end of the second arc-shaped rod (415) and is capable of driving the third ultrasonic detector (42) to move radially along the seabed pipeline.
8. The intelligent detection system for weld flaw detection of submarine pipelines according to claim 1, characterized in that: The propulsion mechanism (1) comprises a propulsion frame (11), a plurality of first propellers (12), a plurality of second propellers (13) and a plurality of third propellers (14), wherein the plurality of first propellers (12) are all mounted on the propulsion frame (11) and are capable of driving the propulsion frame (11) to move along a first direction, the plurality of second propellers (13) are all mounted on the propulsion frame (11) and are capable of driving the propulsion frame (11) to move along a second direction, and the plurality of third propellers (14) are all mounted on the propulsion frame (11) and are capable of driving the propulsion frame (11) to move along a third direction.
9. The intelligent detection system for weld flaw detection of submarine pipelines according to claim 8, characterized in that: The propulsion mechanism (1) further comprises a V-shaped slot (15), and the V-shaped slot (15) is provided on the propulsion frame (11).
10. The intelligent detection system for weld flaw detection of submarine pipelines according to claim 1, characterized in that: The first drive assembly (21), the second drive assembly (31) and the third drive assembly (41) are stacked along the radial direction of the seabed pipeline.