Circumferentially adjustable pipeline welding seam detection device and method

Abstract

The invention belongs to the technical field of nondestructive testing of pipeline welding seams in narrow and small spaces, and particularly relates to a circumferentially-adjustable pipeline welding seam detection device and method. Comprising a mobile carrying platform and an inspection implementation platform; the mobile carrying platform comprises a mobile driving module, a lifting module and a mobile end quick-change module; the moving driving module comprises a driving motor, a speed reducer, a synchronous belt and Mecanum wheels, each Mecanum wheel is driven by the independent driving motor and the speed reducer, and different set speeds of all moving wheels are achieved. The device has the advantages that the device is small, remote control can be achieved, and ray inspection of horizontal pipeline welding seams in a narrow space can be achieved; the device can realize multi-angle ray inspection, is simple in structure, and does not need to replace an inspection tool.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of narrow space pipeline weld nondestructive testing, and particularly relates to a circumferentially adjustable pipeline weld detection device and method. BACKGROUND

[0002] A pipeline is a device for conveying gas, liquid, or fluid containing solid particles, which is connected by pipes, pipe connecting parts, and valves. Generally, the fluid is pressurized by a blower, compressor, pump, and boiler, and then flows from the high-pressure part to the low-pressure part of the pipeline. The fluid can also be conveyed by its own pressure or gravity.

[0003] During the long-term service of the pipeline, corrosion and other faults may occur, and at this time, the defect part needs to be repaired, including cutting and welding. After welding, various nondestructive testing methods need to be performed on the weld, and radiographic inspection is one of the commonly used methods. For pipeline weld radiographic inspection, the weld needs to be penetrated from multiple directions to ensure 100% radiographic inspection of the inspection area. However, in the inaccessible area, the weld radiographic inspection device cannot automatically position and detect the direction of the pipeline weld by manpower, so there is currently a lack of a device that can remotely control the pipeline positioning and automatically adjust the detection direction to ultimately realize the radiographic inspection of the pipeline weld in a narrow space. SUMMARY

[0004] The purpose of the present application is to provide a circumferentially adjustable pipeline weld detection device and method, which can remotely control the detection device to realize the automatic change of the positioning and detection direction of the weld to be inspected, and ultimately realize the radiographic inspection of the pipeline weld in a narrow space.

[0005] The technical solution of the present application is as follows: a circumferentially adjustable pipeline weld detection device, comprising a mobile carrier platform and an inspection implementation platform; the mobile carrier platform comprises a mobile drive module, a lifting module, and a mobile end quick-change module; the mobile drive module comprises a drive motor, a speed reducer, a synchronous belt, and a Mecanum wheel, each Mecanum wheel is driven by a separate drive motor and speed reducer, and different speeds of each mobile wheel are realized.

[0006] The lifting module comprises a drive motor, a speed reducer, a synchronous belt, a screw nut, a lifting guide column, and a lifting platform, the motor drives the synchronous belt to transmit power to the screw, the screw rotates, the nut installed on the screw can move up and down along the screw, the lifting platform is connected to the nut, the nut drives the lifting platform to lift, and the lifting guide column serves as a guide support for the lifting platform.

[0007] The mobile end quick-change module is installed on the lifting platform and can lift together with the lifting platform.

[0008] The inspection implementation platform comprises a tool end quick change module, a lifting buffer module, a platform direction changing module, a source fixing module and a video monitoring module.

[0009] The tool end quick change module is located at the bottom of the inspection implementation platform and can be quickly connected and separated from the mobile carrying platform.

[0010] The lifting buffer module comprises a mounting plate and steel wire rope springs, the steel wire rope springs are evenly distributed on the mounting plate, and the upper parts of the steel wire rope springs are connected with the platform direction changing module.

[0011] The platform direction changing module comprises a base, lifting cylinders, a sliding block and a guide rail, the sliding block and the guide rail are installed below the source fixing module, the four lifting cylinders are arranged in two groups on a single side, and the two groups are respectively a first cylinder and a second cylinder; when the piston support rods of the first cylinder and the second cylinder are in a retracted state, the source fixing module forms an inspection direction one posture; when the piston support rod of the first cylinder is pushed to rise, the piston support rod of the second cylinder is retracted, the top end of the piston support rod of the first cylinder is connected with the sliding block, the piston support rod pushes the sliding block to slide along the guide rail, the top end of the second cylinder is connected with the sliding block, the piston support rod pushes the source fixing module to rotate, an inspection direction two is formed, the piston support rod of the second cylinder is pushed to rise, the piston support rod of the first cylinder is retracted, the piston support rod pushes the source fixing module to rotate in the opposite direction, and an inspection direction three is formed.

[0012] The source fixing module comprises a bottom plate, a positioning block, a source fixing frame, a dark box and a radioactive source, the source fixing module is installed above the platform direction changing module and is turned over through the platform direction changing module, the dark box is fixed above the bottom plate, and the radioactive source is fixed on the source fixing frame.

[0013] The video monitoring module comprises a camera, a camera mounting plate, a camera fixing ring and a camera fixing base, the camera fixing base is connected with the positioning block, the camera fixing ring cooperates with the camera fixing base to fix the camera, and the camera is provided with a holder.

[0014] A circumferentially adjustable pipeline weld joint detection method, specifically comprising the following steps:

[0015] The mobile transport platform is placed in a confined space through the equipment mounting hole, and then the inspection device is placed in the confined space. A remote control quick-change module connects the mobile transport platform to the inspection device, moving it closer to the pipeline to be inspected. First, the platform's direction-changing module determines the inspection angle by adjusting the strokes of the first and second cylinders. Then, the mobile transport platform moves and the lifting platform rises to position the pipeline to be inspected, ensuring it is positioned between the cassette and the positioning block. The positioning block and the source fixing frame are simultaneously tangent to the pipeline, guaranteeing it is on the perpendicular line between the radiation source and the cassette. During positioning, a camera observes the positioning process, allowing for real-time adjustments to the mobile transport platform's movement and lifting. Finally, the camera is turned off, the radiation source emits radiation, completing one radiographic inspection, and the cassette is retrieved. The cassette is then replaced, the platform's direction-changing module angle is adjusted, and the inspection process is repeated to complete radiographic examinations of pipeline welds at different angles.

[0016] The advantages of this invention are as follows: The equipment is small and remotely controllable; both the mobile transport platform and the inspection platform have an overall length of less than 300mm and a circumferential dimension of less than 220mm. It is also remotely controllable, enabling radiographic inspection of horizontal pipe welds in confined spaces. Inspection is convenient; radiographic inspection requires meeting certain exposure times, i.e., a certain number of radiographic exposures must be performed at certain angles along the circumference of the pipe to ensure 100% radiographic inspection of the inspection area. This invention's device can achieve multi-angle radiographic inspection, has a simple structure, and does not require changing inspection tools. It is omnidirectionally mobile; the mobile transport platform in this invention is independently driven and coupled with Mecanum wheels. The device features omnidirectional movement with high precision control; stable lifting; and a screw-nut drive for positioning the pipe to be inspected against the cassette during X-ray inspection, ensuring high precision and stable transmission. It is also safe and reliable, with a lifting buffer module that buffers the horizontal and vertical contact between the mobile transport platform and the pipe, preventing damage due to excessive impact during instantaneous contact. Furthermore, it allows for precise positioning, enabling real-time observation of the pipe's location via a camera and precise positioning of the pipe through the movement and lifting of the inspection device. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of a circumferentially adjustable pipe weld inspection device provided by the present invention.

[0018] Figure 2 This is a schematic diagram of a mobile transportation platform;

[0019] Figure 3 To examine the implementation platform diagram;

[0020] Figure 4 A schematic diagram of the inspection points;

[0021] Figure 5 This is a schematic diagram of inspection point two;

[0022] Figure 6 Schematic diagram of inspection point three;

[0023] Figure 7 This is a schematic diagram showing the location of a pipeline at an inspection point.

[0024] In the diagram: 1. Mobile transport platform; 2. Inspection implementation platform; 3. Pipeline to be inspected; 4. Pipeline weld; 11. Mobile drive motor; 12. Mobile reducer; 13. Mobile synchronous belt; 14. Mecanum wheel; 15. Lifting drive motor; 16. Lifting reducer; 17. Lifting synchronous belt; 18. Screw nut; 19. Lifting guide column; 110. Lifting platform; 111. Mobile end quick-change module; 21. Tool end quick-change module; 22. Mounting plate; 23. Wire rope spring; 24. Base; 25. First cylinder; 26. Second cylinder; 27. Piston support rod; 28. Slider; 29. ​​Guide rail; 210. Base plate; 211. Positioning block; 212. Source fixing bracket; 213. Dark box; 214. Source; 215. Camera mounting plate; 216. Camera fixing ring; 217. Camera. Detailed Implementation

[0025] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] like Figure 1 As shown, a circumferentially adjustable pipe weld inspection device includes a mobile transport platform 1 and an inspection implementation platform 2.

[0027] like Figure 2 As shown, the mobile transport platform 1's mobile drive module consists of a mobile drive motor 11, a mobile reducer 12, a mobile synchronous belt 13, and a Mecanum wheel 14. The mobile drive motor 11 drives the pulley to rotate, and the mobile synchronous belt 13 transmits power to the Mecanum wheel 14. The entire mobile transport platform 1 has four Mecanum wheels 14, which are driven by four mobile drive motors 11 respectively, enabling omnidirectional movement of the mobile transport platform.

[0028] The lifting module of the mobile transport platform 1 consists of a lifting drive motor 15, a lifting reducer 16, a lifting synchronous belt 17, a lead screw nut 18, a lifting guide column 19, and a lifting platform 110. The lifting drive motor 15 drives the pulley to rotate, and the lifting synchronous belt 17 transmits power to the lead screw, causing the lead screw to rotate and the nut on the lead screw to move up and down. The lifting platform 110 is connected to the nut, and the nut drives the lifting platform to move. The mobile end quick-change device 111 is located on the lifting platform and can move with the lifting platform.

[0029] like Figure 3As shown, the quick-change module of the implementation platform 2 is a tool-side quick-change module, which can be used in conjunction with the mobile terminal quick-change module of the mobile transportation platform.

[0030] The inspection implementation platform 2 lifting buffer platform consists of a mounting plate 22 and a wire rope spring 23. The platform reversing module is connected above the wire rope spring. The platform reversing module consists of a base 24, a lifting cylinder, a slider 28, and a guide rail 29. The lifting cylinder includes a first cylinder 25, a second cylinder 26, and a piston support rod 27. There are two cylinders for cylinder one and two cylinders for cylinder two. The guide rail is equipped with a limit block above it, which can limit the movement distance of the slider.

[0031] Above the platform reversing module is the source fixing module, which consists of a base plate 210, a positioning block 211, a source fixing frame 212, a dark box 213, and a radiation source 214. The radiation source can be fixed on the source fixing frame, and the dark box is fixed above the base plate. The distance between the radiation source and the dark box is constant, and the radiation emitted by the radiation source can be exposed on the film in the dark box. The camera monitoring module is fixed on the source fixing module and consists of a camera 217, a camera mounting plate 215, and a camera fixing ring 216. The camera fixing ring tightly fixes the camera body, and the camera pan-tilt unit protrudes from the mounting plate, which can realize the rotation and tilt of the lens.

[0032] like Figure 4 The image shows inspection point one during pipeline weld inspection. Pipeline 3 is a horizontally fixed pipeline with a defined height. The piston support rods 27 on the first cylinder 25 and the second cylinder 26 are in the retracted state. At this time, the sliders 28 at the ends of the piston support rods on both sides are at the same height. The sliders are fixed due to the limit blocks on the guide rail 29. The base plate 210 is in a horizontal state. The cassette is brought closer to pipeline 3 by moving and lifting the transport platform 1. During the movement, the camera 217 can monitor the relative position of the pipeline and the source fixing module. The positioning block 211 on the inspection implementation platform 2 is flush with one side of the source fixing frame 212 and is used to fix the relative position of the pipeline and the cassette, so that the center of the pipeline falls on the vertical line of the radiation source 214 and the cassette 213. The wire rope spring 23 can withstand longitudinal and lateral loads. When the source fixing module contacts the pipeline 3, if the transport platform moves or lifts too far, the wire rope spring 23 can deform to buffer the contact between the source fixing module and the cassette, giving the operator time to control the stopping of movement or lifting, and preventing damage to the pipeline being inspected due to excessive impact.

[0033] like Figure 5The image shows inspection point two during pipeline weld inspection. The piston support rod on the first cylinder 25 is in the extended state, and the piston support rod on the second cylinder 26 is in the retracted state. The slider 28 can rotate around the end of the piston support rod 27. When the piston support rod of the first cylinder is at the end of its stroke, it can contact the limit block on the guide rail. At this time, the piston support rod of the first cylinder and the slider 28 at the end of the piston support rod of the second cylinder form a height difference, causing the base plate 210 to be in an inclined state. The positioning of the pipeline 3 between the positioning block 211, the source fixing frame 212, and the dark box 213 is realized through the movement and lifting functions of the mobile transport platform 1.

[0034] like Figure 6 The image shows inspection point three during pipeline welding inspection. Its principle is the same as that of point two.

[0035] like Figure 7 The diagram shows the position of the pipeline after it has been positioned at inspection point one. At this time, the pipeline weld 7 and the radiation source 214 are on the same straight line.

[0036] A method for inspecting pipe welds with circumferential adjustment, using the aforementioned device, specifically includes the following:

[0037] The mobile transport platform is placed in a confined space through the equipment mounting hole, and then the inspection device is placed inside. A remote control quick-change module connects the mobile transport platform to the inspection device, which then moves closer to the pipe to be inspected. First, the platform's direction-changing module determines the inspection angle by adjusting the strokes of the first and second cylinders. Then, the mobile transport platform moves and the lifting platform rises and falls to position the pipe to be inspected, ensuring it is positioned between the cassette and the positioning block. The positioning block and the source fixing frame are simultaneously tangent to the pipe, guaranteeing it is on the perpendicular line between the radiation source and the cassette. During positioning, a camera observes the situation, allowing for real-time adjustments to the mobile transport platform's movement and elevation. Finally, the camera is turned off, the radiation source emits radiation, completing one X-ray inspection, and the cassette is retrieved.

[0038] Replace the cassette, adjust the angle of the platform's reversing module, repeat the inspection process, and complete the radiographic examination of the pipe weld at different angles.

Claims

1. A circumferentially adjustable pipe weld inspection device, characterized in that: It includes a mobile transport platform and an inspection implementation platform; the mobile transport platform includes a mobile drive module, a lifting module and a mobile quick-change module; the mobile drive module includes a drive motor, a reducer, a synchronous belt and a Mecanum pulley, each Mecanum pulley is driven by a separate drive motor and reducer to achieve different speeds for each mobile pulley.

2. The circumferentially adjustable pipe weld inspection device as described in claim 1, characterized in that: The lifting module consists of a drive motor, a reducer, a synchronous belt, a lead screw nut, a lifting guide column, and a lifting platform. The motor drives the synchronous belt to transmit power to the lead screw. The lead screw rotates, and the nut installed on the lead screw can move up and down along the lead screw. The lifting platform is connected to the nut, and the nut drives the lifting platform to rise and fall. The lifting guide column serves as a guide support for the lifting platform.

3. The circumferentially adjustable pipe weld inspection device as described in claim 1, characterized in that: The mobile terminal quick-change module is installed on the lifting platform and can rise and fall together with the lifting platform.

4. The circumferentially adjustable pipe weld inspection device as described in claim 1, characterized in that: The inspection implementation platform includes a tool-end quick-change module, a lifting and buffering module, a platform reversal module, a source fixing module, and a video monitoring module.

5. The circumferentially adjustable pipe weld inspection device as described in claim 4, characterized in that: The tool-end quick-change module is located at the bottom of the inspection implementation platform and can be quickly connected to and disconnected from the mobile transport platform.

6. The circumferentially adjustable pipe weld inspection device as described in claim 4, characterized in that: The lifting and buffer module includes a mounting plate and wire rope springs. The wire rope springs are evenly distributed on the mounting plate, and the upper part of the wire rope springs is connected to the platform reversing module.

7. The circumferentially adjustable pipe weld inspection device as described in claim 4, characterized in that: The platform reversing module includes a base, lifting cylinders, sliders, and guide rails. The sliders and guide rails are installed below the source fixing module. There are a total of four lifting cylinders, arranged in pairs on each side, namely the first cylinder and the second cylinder. When the piston support rods of the first and second cylinders are both in the retracted state, the source fixing module forms the inspection direction one posture. When the first cylinder pushes the piston support rod upward, the piston support rod of the second cylinder retracts. The top of the piston support rod of the first cylinder is connected to the slider, and the piston support rod pushes the slider to slide along the guide rail. The top of the second cylinder is connected to the slider, and the piston support rod pushes the source fixing module to rotate, forming the inspection direction two posture. When the second cylinder pushes the piston support rod upward, the piston support rod of the first cylinder retracts, and the piston support rod pushes the source fixing module to rotate in the opposite direction, forming the inspection direction three posture.

8. The circumferentially adjustable pipe weld inspection device as described in claim 4, characterized in that: The source fixing module includes a base plate, a positioning block, a source fixing frame, a dark box, and a radiation source. The source fixing module is installed above the platform reversing module and is flipped through the platform reversing module. The dark box is fixed above the base plate, and the radiation source is fixed on the source fixing frame.

9. The circumferentially adjustable pipe weld inspection device as described in claim 4, characterized in that: The video surveillance module includes a camera, a camera mounting plate, and a camera fixing ring. The camera fixing base is connected to the positioning block and cooperates with the camera fixing ring to fix the camera. The camera is equipped with a pan-tilt unit.

10. A method for inspecting pipe welds with circumferential adjustment, using the apparatus described in claims 1-9, specifically comprising the following: The mobile transport platform is placed in a confined space through the equipment mounting hole, and then the inspection device is placed in the confined space. A remote control quick-change module connects the mobile transport platform to the inspection device, moving it closer to the pipeline to be inspected. First, the platform's direction-changing module determines the inspection angle by adjusting the strokes of the first and second cylinders. Then, the mobile transport platform moves and the lifting platform rises to position the pipeline to be inspected, ensuring it is positioned between the cassette and the positioning block. The positioning block and the source fixing frame are simultaneously tangent to the pipeline, guaranteeing it is on the perpendicular line between the radiation source and the cassette. During positioning, a camera observes the positioning process, allowing for real-time adjustments to the mobile transport platform's movement and lifting. Finally, the camera is turned off, the radiation source emits radiation, completing one radiographic inspection, and the cassette is retrieved. The cassette is then replaced, the platform's direction-changing module angle is adjusted, and the inspection process is repeated to complete radiographic examinations of pipeline welds at different angles.

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