Pipeline nondestructive testing device with active variable diameter and testing method

Abstract

The embodiment of the application provides a pipeline nondestructive testing device with active variable diameter and a detection method, and belongs to the technical field of weld detection.The pipeline nondestructive testing device comprises: at least two groups of shells in the shape of a circular arc, at least two groups of shells are matched to form a circular ring, and are used for being sleeved on the outer side of a pipeline to be detected; and at least two groups of variable-diameter contraction assemblies are respectively arranged at two opposite ends of adjacent two groups of shells, are used for adjusting the spacing between adjacent two groups of shells to adjust the inner diameter of the circular ring; the mode of adjusting the spacing between adjacent shells by the variable-diameter contraction assembly can effectively adapt to the weld detection of pipelines with different sizes, is more universal and applicable, the mode of cooperating with the adjusting assembly by the motion support assembly can realize effective detection of straight welds and circular welds, thereby the labor intensity of workers is reduced, the detection efficiency of the welds is improved, and the safety hidden danger is reduced.

Description

Technical Field

[0001] This invention relates to the field of weld inspection technology, and more specifically to a pipe non-destructive testing device and method with active diameter change. Background Technology

[0002] With the rapid development of my country's economy, the oil and gas sector has made leaps and bounds. As one of the five major transportation industries, pipeline transportation has also expanded rapidly. Compared to other modes of transportation, pipeline transportation has advantages such as high efficiency, low operating costs, and good operational stability for long-distance transport. However, with the increasing complexity of external environmental factors and the continuous increase in pipeline service life, corrosion problems on pipeline surfaces and welds are becoming increasingly prominent, posing a potential threat to the safe operation of the pipeline network system. Therefore, it is crucial to conduct efficient and accurate non-destructive testing on pipelines regularly to ensure their safe and stable operation.

[0003] In recent years, advanced non-destructive testing technologies such as digital flat panel radiography (DR) and time-of-flight ultrasonic diffraction (TOFD) have made significant progress in terms of testing reliability, result traceability, and automation. However, for example, TOFD-based ultrasonic phased array non-destructive testing technology often relies on manual handheld probes for moving inspection, which is labor-intensive, inefficient, and poses significant safety risks such as falls from heights in long-distance or overhead pipelines.

[0004] In the process of realizing this invention, it was found that the above-mentioned solutions of the prior art have the defects of high labor intensity, low efficiency and potential safety hazards. Summary of the Invention

[0005] The purpose of this invention is to provide a pipe non-destructive testing device and method with active diameter change, which can reduce labor intensity and safety hazards and improve testing efficiency.

[0006] To achieve the above objectives, embodiments of the present invention provide a pipe non-destructive testing device with active diameter variation, comprising: At least two sets of outer shells, in the shape of arcs, and at least two sets of said outer shells cooperate to form a ring for fitting around the outside of the pipe to be tested; At least two sets of variable diameter shrinkage components are respectively disposed at two opposite ends of two adjacent sets of the outer shells, for adjusting the distance between the two adjacent sets of the outer shells to adjust the inner diameter of the ring; Multiple sets of adjustment components are respectively set on the inner wall of the corresponding housing. The output end of the adjustment component is provided with a probe. The adjustment component is used to adjust the position and angle of the probe to detect the side wall weld of the pipeline to be inspected. Multiple sets of motion support components are respectively disposed on the inner wall of the corresponding housing, and are used to contact the side wall of the pipe to be tested when the variable diameter shrinkage component adjusts the distance between two adjacent sets of housings, and drive the housing, the adjustment component and the probe to move axially or circumferentially along the side wall of the pipe to be tested.

[0007] Optionally, the variable diameter shrinkage assembly includes: Multiple sets of pipe fixing plates are symmetrically arranged at opposite ends of two adjacent sets of the outer shell; Multiple sets of rotary connectors are respectively installed on the corresponding pipe fixing plates; Multiple sets of rotating connecting rods, one end of which is rotatably connected to the corresponding rotating connecting head, and the rotating connecting rods on the two sets of opposite rotating connecting heads are symmetrically distributed; Multiple sets of retractable servo motors, the output end of each set of retractable servo motors being rotatably connected to the other end of two symmetrically distributed sets of rotating connecting rods.

[0008] Optionally, the adjustment component includes: Multiple sets of arc-shaped guide rails are set on the inner wall of the corresponding outer shell; Multiple sets of fixed seats are slidably connected to multiple sets of the aforementioned arc-shaped guide rails; Multiple drive components are respectively mounted on multiple sets of the aforementioned fixed bases and connected to the probe for adjusting the angle of the probe.

[0009] Optionally, the adjustment component further includes: An arc-shaped track is provided on the inner wall corresponding to the outer shell. An arc-shaped groove is provided on the arc-shaped track, and multiple sets of gear teeth are provided on the two inner walls opposite to the arc-shaped groove. A limiting gear is disposed inside the arc-shaped groove and meshes with the gear teeth; A limit motor is mounted on the fixed base, and the output end of the limit motor is connected to the limit gear.

[0010] Optionally, the driving component includes: Multiple sets of screws are arranged in parallel on the corresponding fixed bases, and the two ends of the screws are rotatably connected to the fixed bases; Multiple sets of first drive motors are mounted on corresponding fixed bases, and the output end of the first drive motor is connected to the end of the corresponding screw. Multiple sets of movable seats are threaded onto the outside of the multiple sets of screws. Each movable seat is equipped with a rotating assembly, the output end of which is connected to the probe for adjusting the angle of the probe.

[0011] Optionally, the rotating assembly includes: The first U-shaped plate is disposed on the top of the movable seat, with its opening facing upward; The worm gear is rotatably mounted on the movable seat and extends into the interior of the first U-shaped plate; The second U-shaped plate is rotatably connected at both ends to the two ends of the first U-shaped plate via a first rotating shaft; The worm gear is fixedly sleeved on the outside of the first rotating shaft and meshes with the worm. Two sets of clamping rods are disposed at the end of the second U-shaped plate away from the first U-shaped plate, and the probe is disposed inside the end of the two sets of clamping rods away from the second U-shaped plate; A second drive motor is mounted on the movable base, and the output end of the movable base is connected to the end of the worm gear.

[0012] Optionally, the motion support component includes: A support base is provided on the inner wall of the outer shell, and two sets of support plates are provided on each support base in parallel distribution; The second rotating shaft extends through both sets of support plates and is rotatably connected to the corresponding support plate; The first gear is fixedly sleeved on the outside of the second rotating shaft; The third rotating shaft is movably connected through the two sets of support plates and is rotatably connected to the corresponding support plate, and is distributed vertically with the second rotating shaft; The second gear is fixedly sleeved on the outside of the third rotating shaft and meshes with the first gear; The third U-shaped plate is connected to both ends of the third rotating shaft, and a caster wheel is provided at the end of the third U-shaped plate away from the second gear. A third drive motor is mounted on the support base, and the output end of the third drive motor is connected to the end of the second rotating shaft.

[0013] On the other hand, the present invention also provides a method for pipeline inspection using any of the pipeline non-destructive testing devices described above, comprising: At least two sets of outer casings are fitted over the outside of the pipe to be tested; At least two sets of variable diameter shrinkage assemblies are activated to adjust the distance between two adjacent sets of housings, so that the rings formed by the cooperation of at least two sets of housings are relatively fixed on the outside of the pipe to be tested; Activate multiple adjustment components to adjust the position and angle of the corresponding probes; Multiple sets of motion support components are driven to move, thereby enabling the probe to perform axial or circumferential inspection of the weld seam on the pipeline to be inspected.

[0014] Optionally, it also includes: Obtain the current diameter variation of the outer shell and the rotation angle of the probe; Determine whether the current probe's transmit / receive mode is dual-probe mode; If it is determined that the current transceiver mode of the probe is dual probe mode, the first imaging result of the weld is obtained according to the current change in the diameter of the outer shell and the rotation angle of the probe. If it is determined that the current transceiver mode of the probe is not a dual-probe mode, the second imaging result of the weld is obtained based on the current change in the diameter of the outer shell and the rotation angle of the probe.

[0015] Optionally, fitting at least two sets of outer casings around the outside of the pipe to be tested includes: Get the current retraction angle of the retraction servo; The half-spacing between the ends of the two sets of shells is obtained according to formula (11). (11) in, The distance between the ends of the two sets of outer shells is half. The length of the rotating connecting rod. To contract the included angle; Construct a coordinate system and obtain the coordinates of the connection point between the motion support component and the shell according to formula (12). (12) in, , , as well as These are the coordinates of the connection points between each motion support component and its corresponding outer shell, corresponding to the upper left, upper right, lower left, and lower right corners, respectively. The radius of the outer shell; The coordinates of the contact point between the omnidirectional wheel and the pipe to be tested in the motion support assembly are obtained according to formula (13). (13) in, , , as well as These are the coordinates of the contact points between the caster wheel and the pipe under test in each motion support component, corresponding to the upper left, upper right, lower left, and lower right of the pipe under test, respectively. The length of the motion support component; The angle between the omnidirectional wheel and the horizontal plane is obtained according to formula (14). (14) in, The angle between the caster wheel and the horizontal. The radius of the pipe to be inspected; The third drive motor in the motion support assembly is activated, and the third drive motor drives the universal wheel to rotate according to the angle between the universal wheel and the horizontal plane.

[0016] Optionally, obtaining the first imaging result of the weld seam based on the current change in the diameter of the outer casing and the rotation angle of the probe includes: According to formula (1), obtain the working coordinate system of the transmitting probe position and the receiving probe position of each pair of probes. (1) in, For the first Regarding the position of the transmitting probe, For the first Regarding the position of the receiving probe, For movement speed, For probe pair index, that is ; For the variable diameter of the outer shell, The angle of rotation of the probe. The probe's opening angle / fixed offset angle, For the first The initial x-coordinate of the transmitting probe. For the first The initial x-coordinate of the receiving probe. The current moment; The signal propagation model of the dual-probe mode is obtained according to formula (2). (2) in, For the dual-probe mode, the first Regarding the received signal from the probe, For the first Regarding the amplitude factor of the probe, for The transmitter probe emits signals at specific times. For defects, The defect reflection coefficient, For noise, The attenuation coefficient is... This is the two-way travel time; Each weld seam area is discretized into a pixel grid; The imaging intensity of each pixel in the weld seam is obtained according to formula (3). (3) in, For the first Weld seam pixels The imaging intensity, each pair of probes corresponds to one weld seam. For two-way travel time, For weighting functions; Output the imaging results of multiple weld seams and use them as the first imaging result.

[0017] Optionally, obtaining the second imaging result of the weld seam based on the current diameter change of the housing and the rotation angle of the probe includes: The position model of the probe is obtained according to formulas (4)-(5). (4) (5) in, For the first The position / 3D coordinates of each probe For the probe index, and in formula (4) For the first straight weld The location of each probe, in formula (5) For the first circumferential weld The location of each probe. For the first The initial x-coordinate of each probe, The radius of the variable diameter / shell. To improve scanning speed, For the first Each probe rotation angle, For the first The y-axis coordinates of each probe For the first The z-axis coordinates of each probe For the first The axial coordinates of probe 7 The radius of the pipe to be inspected; The signal model of the probe is obtained according to formula (6). (6) in, For the first The diffraction wave received by each probe To transmit signals to the probe, For the first The amplitude factor of each probe, For defects, For wave speed, The attenuation coefficient is... To project the probe to the defect point and received the defect point Total time from transmission to probe For noise; The arrival time of the diffracted wave is extracted according to formula (7). (7) in, For the arrival time of the diffracted wave, The independent variable that yields the maximum value , This is the first derivative of the received signal of the diffracted wave. The defect depth of the straight weld is obtained according to formula (8). (8) in, The defect depth of a straight weld. The horizontal coordinate of the defect; The location of the defect in the circumferential weld is obtained according to formula (9). (9) in, The circumferential angle of the defect. for Time of the first The circumferential angular position of each probe The radius of the defect; Generate a depth location map of the weld; The second imaging result is obtained according to formula (10). (10) in, For the fused global image, For the first Imaging results from each probe This is the activation flag.

[0018] In another aspect, the present invention also provides a computer-readable storage medium storing instructions for being read by a machine to cause the machine to perform the detection method described above.

[0019] Through the above technical solution, the non-destructive testing device and method for pipelines with active diameter reduction provided by the present invention involves placing at least two sets of outer shells on the outside of the pipeline to be tested, activating at least two sets of diameter-reducing shrinkage components to adjust the distance between adjacent sets of outer shells, and cooperating with multiple sets of moving support components to abut and support the sidewall of the pipeline to be tested, forming a stable ring fitted on the outer shell. Multiple sets of adjustment components are then activated to adjust the detection position and angle of the probe, enabling the probe to stably and effectively detect the welds on the sidewall of the pipeline. Furthermore, the circumferential or axial movement of the multiple sets of moving support components allows for stable, efficient, and comprehensive detection of multiple welds on the sidewall of the pipeline. The method of adjusting the distance between adjacent outer shells using diameter-reducing shrinkage components effectively adapts to weld detection in pipelines of different sizes, offering greater versatility and wider applicability. The combination of moving support components and adjustment components enables effective detection of straight and circumferential welds, thereby reducing the labor intensity of workers, improving weld detection efficiency, and reducing safety hazards.

[0020] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0021] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of a pipe non-destructive testing device with active diameter change according to an embodiment of the present invention; Figure 2 It is based on Figure 1 Enlarged view of region A in the middle; Figure 3 This is a schematic diagram of a pipe non-destructive testing device with active diameter change according to an embodiment of the present invention; Figure 4 It is based on Figure 3 Enlarged view of region B in the middle; Figure 5 This is a schematic diagram of a pipe non-destructive testing device with active diameter change according to an embodiment of the present invention; Figure 6 It is based on Figure 5 Enlarged view of region C in the middle; Figure 7 This is a flowchart of a non-destructive testing method for a pipe with active diameter changing device according to an embodiment of the present invention; Figure 8This is a flowchart of a non-destructive testing method for a pipe with active diameter changing device according to an embodiment of the present invention; Figure 9 This is a flowchart of the method for obtaining the first imaging result in the detection of a non-destructive testing device for a pipe with active diameter change according to an embodiment of the present invention; Figure 10 This is a flowchart of a method for obtaining a second imaging result in a non-destructive testing device for a pipe with active diameter change according to an embodiment of the present invention; Figure 11 This is a flowchart illustrating the method for adjusting the rotation angle of the caster wheel according to the pipe radius in a non-destructive testing device with active diameter change according to an embodiment of the present invention.

[0022] Explanation of reference numerals in the attached figures 1. Pipe to be inspected; 2. Outer shell; 3. Arc-shaped guide rail; 4. Arc-shaped track; 5. Pipe fixing plate; 6. Retraction servo motor; 7. Probe; 8. Rotating connecting rod; 9. Rotating connector; 10. Variable diameter retraction assembly; 11. Caster wheel; 12. Third U-shaped plate; 13. Second gear; 14. Gear tooth; 15. Fixed base; 16. Screw; 17. Moving base; 18. Second drive motor; 19. Worm gear; 20. Worm; 21. First U-shaped plate; 22. Second U-shaped plate; 23. Clamping rod; 24. First drive motor; 25. First gear; 26. Third rotating shaft; 27. Second rotating shaft; 28. Third drive motor; 29. ​​Support base; 30. Limit motor; 31. Support plate. Detailed Implementation

[0023] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0024] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with relevant laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the solution has been or will necessarily be adopted.

[0025] Figure 1 This is a schematic diagram of a pipe non-destructive testing device with active diameter change according to an embodiment of the present invention. Figure 2 It is based on Figure 1 An enlarged diagram of region A in the middle. Figure 1 and Figure 2The pipeline non-destructive testing device may include at least two sets of housings 2, at least two sets of diameter reduction and contraction assemblies 10, multiple sets of adjustment assemblies, and multiple sets of motion support assemblies. Specifically, the adjustment assembly may include a probe 7.

[0026] At least two sets of outer shells 2 are arc-shaped and cooperate to form a ring for fitting around the outside of the pipe 1 to be inspected. At least two sets of variable diameter shrinkage assemblies 10 are respectively disposed at two opposite ends of two adjacent sets of outer shells 2, for adjusting the distance between the two adjacent sets of outer shells 2 to adjust the inner diameter of the ring. Multiple sets of adjustment assemblies are respectively disposed on the inner wall of the corresponding outer shells 2, and probes 7 are disposed at the output end of the adjustment assemblies. The adjustment assemblies are used to adjust the position and angle of the probes 7 to inspect the side wall welds of the pipe 1 to be inspected. Multiple sets of motion support assemblies are respectively disposed on the inner wall of the corresponding outer shells 2, for contacting the side wall of the pipe 1 to be inspected when the variable diameter shrinkage assemblies 10 adjust the distance between the two adjacent sets of outer shells 2, and driving the outer shells 2, adjustment assemblies, and probes 7 to move axially or circumferentially along the side wall of the pipe 1 to be inspected.

[0027] Before inspecting the weld seams on the sidewall of the pipe 1 to be inspected, at least two sets of outer shells 2 are fitted onto the outside of the pipe 1. Then, at least two sets of reducing diameter components 10 are activated to shorten the distance between adjacent sets of outer shells 2. This, in conjunction with multiple sets of moving support components, allows the non-destructive testing device to be installed on the pipe. Next, multiple sets of adjustment components are activated to ensure that the detection position and angle of the corresponding probe 7 meet the inspection requirements of the weld seams on the pipe 1. After adjustment, the multiple sets of moving support components can be driven to move, causing at least two sets of outer shells 2, at least two sets of reducing diameter components 10, multiple sets of adjustment components, and the corresponding probe 7 to move axially or in reverse direction along the sidewall of the pipe 1. Specifically, the movement / direction of the moving support components can be driven according to the type of weld seam to be inspected; for example, straight weld seams and circumferential weld seams can move axially and circumferentially, respectively. During the movement of the moving support components, the probe 7 can effectively inspect the weld seams.

[0028] Traditional TOFD-based ultrasonic phased array non-destructive testing technology relies heavily on manual handheld probe movement (7), which is labor-intensive, inefficient, and poses significant safety risks such as falls from heights, especially in long-distance or overhead pipelines. In this embodiment of the invention, the use of a variable-diameter shrinkage assembly (10) to adjust the spacing between adjacent outer shells (2) effectively adapts to weld inspection of pipelines of different sizes, offering greater versatility and wider applicability. The combination of a motion support assembly and an adjustment assembly enables effective inspection of both straight and circumferential welds, thereby reducing the labor intensity of workers, improving weld inspection efficiency, and minimizing safety hazards.

[0029] In this embodiment of the invention, the number of outer shells 2 can be varied as known to those skilled in the art. However, in a preferred example of the invention, considering the stability of the annulus and the effectiveness of the variable diameter shrinkage assembly 10, the number of outer shells 2 can be as follows: Figure 1 As shown. Specifically, in Figure 1 In this case, the number of shells 2 can be two sets, each set of shells 2 is semi-circular or U-shaped, which can cooperate with two sets of diameter-changing shrinkage components 10 to effectively change the diameter, that is, can effectively adjust the inner diameter of the ring.

[0030] In this embodiment of the invention, the detection mode of probe 7 may include a dual probe 7 detection mode and a single probe 7 detection mode. Regardless of the mode, the position and angle can be adjusted by adjusting the component.

[0031] In this embodiment of the invention, such as Figure 1 as well as Figure 2 As shown, the variable diameter shrinkage assembly 10 may include multiple sets of pipe fixing plates 5, multiple sets of rotary connectors 9, multiple sets of rotary connecting rods 8, and multiple sets of shrinkage servo motors 6.

[0032] Multiple sets of pipe fixing plates 5 are symmetrically arranged at opposite ends of two adjacent sets of outer shells 2, and multiple sets of rotating connectors 9 are respectively arranged on the corresponding pipe fixing plates 5. One end of multiple sets of rotating connecting rods 8 is rotatably connected to the corresponding rotating connector 9, and the rotating connecting rods 8 on the two opposite sets of rotating connectors 9 are symmetrically distributed. The output end of each set of retractable servo motors 6 is rotatably connected to the other end of the two symmetrically distributed sets of rotating connecting rods 8.

[0033] When it is necessary to reduce the distance between two adjacent sets of outer shells 2, multiple sets of retraction servo motors 6 are activated. Each set of retraction servo motors 6 drives one end of two symmetrically distributed sets of rotating connecting rods 8 connected to it to move closer together. This, in turn, drives the opposite ends of the two connected sets of outer shells 2 to move closer together through two sets of rotating joints and two sets of pipe fixing plates 5, thereby adjusting the distance between adjacent outer shells 2. Through the synchronous movement of each set of variable diameter retraction components 10, the overall inner diameter of the ring can be reduced to better accommodate the installation and inspection of pipes 1 of different sizes / outer diameters. Specifically, the specific form of the retraction servo motor 6 may include, but is not limited to, methods known to those skilled in the art, such as a motor and reducer working together to drive the relative movement of sliders on symmetrical lead screws.

[0034] In this embodiment of the invention, such as Figure 2As shown, each set of retractable servo motors 6 and the two sets of opposite rotating connectors 9 may include four sets of rotating connecting rods 8. Two sets of rotating connecting rods 8 are respectively connected to the output end of the retractable servo motor 6. One end of the other two sets of rotating connecting rods 8 is rotatably connected to the opposite sides of the retractable servo motor 6 near the two sets of corresponding pipe fixing plates 5. The other end of the other two sets of rotating connecting rods 8 is rotatably connected to the two sets of corresponding rotating connectors 9 of the retractable servo motor 6. The two sets of rotating connecting rods 8 located on the same side of the retractable servo motor 6 are distributed parallel to each other.

[0035] In this embodiment of the invention, the specific shape of the pipe fixing piece 5 may include an arc plate to match the arc shape of the housing. Simultaneously, a connecting plate is provided at one end of the pipe fixing piece 5 near the retractable servo motor 6, facilitating the installation and fixing of the rotating connector 9.

[0036] In this embodiment of the invention, such as Figure 3 as well as Figure 4 As shown, the adjustment assembly may include multiple sets of arc-shaped guide rails 3, multiple sets of fixed seats 15, and multiple sets of drive components.

[0037] Multiple sets of arc-shaped guide rails 3 are set on the inner wall of the corresponding housing 2. Multiple sets of fixed seats 15 are slidably connected to multiple sets of arc-shaped guide rails 3. Multiple sets of drive components are respectively set on multiple sets of fixed seats 15 and connected to the probe 7 for adjusting the angle of the probe 7.

[0038] When the position of probe 7 needs to be adjusted, the corresponding mounting base 15 can be driven to slide along multiple sets of arc-shaped guide rails 3. When it slides to the corresponding position, the mounting base 15 can be fixed. Multiple sets of drive components can be set on each set of mounting bases 15 to adjust the angle of the corresponding probe 7 respectively.

[0039] In this embodiment of the invention, the number of driving components on the fixed base 15 can be of various forms known to those skilled in the art. In a preferred example of the invention, the number of driving components can include two sets. Specifically, by using two sets of driving components and probes 7, on the one hand, synchronous detection of adjacent circumferential welds can be achieved, and on the other hand, a dual-probe 7 detection mode for straight welds can be formed to improve the versatility of detection mode selection.

[0040] In this embodiment of the invention, the number of fixing seats 15 on the arc-shaped guide rail 3 can be of various forms known to those skilled in the art. In a preferred example of the invention, the number of fixing seats 15 can include two sets. Specifically, by using two sets of fixing seats 15, on the one hand, synchronous detection of adjacent straight welds can be achieved, and on the other hand, the opposing drive components and probes 7 on the two sets of fixing seats 15 can cooperate to form a dual-probe 7 detection mode for dual-probe 7 detection of circumferential welds, further improving the versatility of detection mode selection.

[0041] In this embodiment of the invention, such as Figure 3 , Figure 4 as well as Figure 6 As shown, the adjustment assembly may also include an arc-shaped track 4, a limiting gear, and a limiting motor 30. Specifically, the arc-shaped track 4 may include an arc-shaped groove, which may include multiple sets of gear teeth 14.

[0042] An arc-shaped track 4 is disposed on the inner wall of the corresponding outer casing 2. An arc-shaped groove is formed on the arc-shaped track 4, and multiple sets of gear teeth 14 are provided on the two opposing inner walls of the arc-shaped groove. That is, gear teeth 14 are arranged in an array on the two opposing inner walls of the arc-shaped groove, forming two opposing sets of racks. A limiting gear is disposed inside the arc-shaped groove and meshes with the gear teeth 14, that is, it meshes with the two opposing sets of racks. A limiting motor 30 is disposed on the fixed base 15, and the output end of the limiting motor 30 is connected to the limiting gear.

[0043] When it is necessary to adjust the position of the fixed base 15 on the arc-shaped guide rail 3, that is, to adjust the position of the probe 7, the limit motor 30 can be activated. The limit motor 30 drives the limit gear to rotate. Since the gear meshes with the gear teeth 14 on the inner wall of the arc-shaped track 4, and the gear teeth 14 are in a fixed state, the fixed base 15 and the probe 7 on it can be moved until the required position is reached, and then the limit motor 30 is driven to stop. Using this method, the detection position of the probe 7 can be effectively and accurately adjusted.

[0044] In this embodiment of the invention, such as Figure 4 As shown, the drive assembly may include multiple sets of screws 16, multiple sets of first drive motors 24, and multiple sets of movable seats 17. Specifically, the movable seat 17 may include a rotating component.

[0045] Multiple sets of screws 16 are arranged in parallel on corresponding fixed seats 15, with both ends of the screws 16 rotatably connected to the fixed seats 15. Multiple sets of first drive motors 24 are arranged on corresponding fixed seats 15, with the output ends of the first drive motors 24 connected to the ends of the corresponding screws 16. Multiple sets of movable seats 17 are threaded onto the outside of the multiple sets of screws 16, and each movable seat 17 is equipped with a rotating assembly. The output end of the rotating assembly is connected to the probe 7 for adjusting the angle of the probe 7.

[0046] When it is necessary to adjust the axial position of the movable seat 17, the rotating assembly, and the probe 7, the first drive motor 24 can be started simultaneously to drive multiple sets of screws 16 to rotate synchronously. Since multiple sets of movable seats 17 are threaded onto the outside of multiple sets of screws 16, the movable seats 17 will drive the rotating assembly and the probe 7 to move axially synchronously to adjust the relative axial position detected by the probe 7. Specifically, the number of movable seats 17 can include two sets. Furthermore, the movable seats 17 can only be driven to move in one direction if the screws 16 have the same direction of rotation. If it is necessary to drive two sets of movable seats 17 to move relative to each other, each set of screws 16 needs to be provided with threads of opposite directions of rotation, and the two sets of movable seats 17 are threaded onto the outside of threads with different directions of rotation. Furthermore, the number of screws 16 and the first drive motor 24 can include two sets to ensure that the movable seats 17 can move stably.

[0047] In this embodiment of the invention, such as Figure 4 As shown, the rotating assembly may include a first U-shaped plate 21, a worm gear 20, a second U-shaped plate 22, a worm wheel 19, two sets of clamping rods 23, and a second drive motor 18.

[0048] The first U-shaped plate 21 is disposed on the top of the movable seat 17 with its opening facing upwards. The worm gear 20 is rotatably disposed on the movable seat 17 and extends into the interior of the first U-shaped plate 21. The two ends of the second U-shaped plate 22 are rotatably connected to the two ends of the first U-shaped plate 21 via a first rotating shaft. The worm wheel 19 is fixedly sleeved on the outside of the first rotating shaft and meshes with the worm gear 20. Two sets of clamping rods 23 are disposed at the end of the second U-shaped plate 22 away from the first U-shaped plate 21, and the probe 7 is disposed inside the end of the two sets of clamping rods 23 away from the second U-shaped plate 22. The second drive motor 18 is disposed on the movable seat 17, and the output end of the movable seat 17 is connected to the end of the worm gear 20. Specifically, the movable seat 17 is L-shaped, the second drive motor 18 is disposed on the vertical plate of the movable seat 17, and the worm gear 20 is rotatably connected to the vertical plate of the movable seat 17.

[0049] When the tilt / orientation angle of probe 7 needs adjustment, the second drive motor 18 can be activated. The second drive motor 18 drives the worm gear 20 to rotate, and the worm gear 20, through meshing with the worm wheel 19, drives the worm wheel 19 to rotate synchronously. When the worm wheel 19 rotates, it drives the second U-shaped plate 22 to rotate via the first rotating shaft. The second U-shaped plate 22 drives the probe 7 to rotate via two sets of clamping rods 23, thereby adjusting the angle of probe 7. By using the cooperation of the worm wheel 19 and the worm gear 20, high-precision adjustment of the probe 7 angle can be achieved to adapt to the curvature changes of the circumferential weld and improve the weld inspection effect.

[0050] In this embodiment of the invention, the end of the clamping rod 23 that is away from the second U-shaped plate 22 is inclined to adapt to the detection requirements of the probe 7 and improve the convenience of probe 7 detection and adjustment.

[0051] In this embodiment of the invention, such as Figure 5 as well as Figure 6 As shown, the motion support assembly may include a support base 29, a second rotating shaft 27, a first gear 25, a third rotating shaft 26, a second gear 13, a third U-shaped plate 12, and a third drive motor 28. Specifically, the support base 29 may include two sets of support plates 31, and the third U-shaped plate 12 may include casters 11.

[0052] A support base 29 is disposed on the inner wall of the outer casing 2, and two sets of support plates 31 are arranged in parallel on the support base 29. A second rotating shaft 27 movably passes through the two sets of support plates 31 and is rotatably connected to the corresponding support plate 31. A first gear 25 is fixedly sleeved on the outside of the second rotating shaft 27, and a third rotating shaft 26 movably passes through the two sets of support plates 31 and is rotatably connected to the corresponding support plate 31, and is vertically distributed with the second rotating shaft 27. A second gear 13 is fixedly sleeved on the outside of the third rotating shaft 26 and meshes with the first gear 25. The two ends of the third U-shaped plate 12 are respectively connected to the two ends of the third rotating shaft 26, and a caster wheel 11 is provided at the end of the third U-shaped plate 12 away from the second gear 13. A third drive motor 28 is disposed on the support base 29, and the output end of the third drive motor 28 is connected to the end of the second rotating shaft 27. Specifically, the support base 29 may be L-shaped, and the third drive motor 28 is disposed on the vertical plate of the support base 29.

[0053] When it is necessary to drive at least two sets of housings 2 to be fastened / installed on the outside of the pipe 1 to be inspected, the third drive motor 28 can be started in advance. The third drive motor 28 drives the second rotating shaft 27 to rotate, thereby driving the first gear 25 to rotate. Due to the meshing of the first gear 25 and the second gear 13, the second gear 13 and the third rotating shaft 26 can be driven to rotate synchronously. When the third rotating shaft 26 rotates, it drives the third U-shaped plate 12 and the universal wheel 11 to rotate synchronously, so as to adjust the tilt angle of the universal wheel 11. When adjusting the distance between at least two sets of housings 2 in the future, the universal wheel 11 can abut tightly against the side wall of the pipe 1 to be inspected, so as to cooperate with the installation and fixation of at least two sets of housings 2. Specifically, the adjustment of the tilt angle of the universal wheel 11 can be determined according to the different inner diameters of the pipe 1 to be inspected. For a pipe 1 with a small inner diameter, where the overall ring of at least two sets of outer shells 2 is relatively large, the caster 11 can be adjusted to be perpendicular to the side wall of the pipe 1, allowing it to effectively contact the side wall. For a pipe 1 with a large inner diameter, where the distance between the overall ring of at least two sets of outer shells 2 and the pipe 1 is small, the caster 11 can be rotated to an inclined position, allowing it to effectively contact the side wall. Specifically, the inclination angle can be determined based on the ratio of the inner diameter of the pipe 1 to the inner diameter of the ring. Alternatively, the caster 11 can be pre-adjusted to a larger inclination angle, and then the at least two sets of outer shells 2 can be fitted onto the outside of the pipe 1. The caster 11 can be driven to rotate until it contacts and abuts against the side wall of the pipe 1, thus achieving stable installation and fixation of the at least two sets of outer shells 2. When driving at least two sets of housings 2 to move along the weld, multiple sets of casters 11 can roll along the side wall of the pipe 1 to be inspected, in order to cooperate with the probe 7 to inspect the weld. By using this method of rolling the casters 11 in conjunction with the probe 7, the probe 7 can continuously inspect the weld on the pipe 1 to be inspected, and the movement is stable, which can meet the requirements of all-round inspection of the weld on the pipe 1 to be inspected.

[0054] In this embodiment of the invention, the driving method for at least two sets of outer shells 2 can include manual pushing or automatic traction. Specifically, the automatic traction structure may include, but is not limited to, a method in which a traction motor is installed on the inner wall of at least two sets of outer shells to drive traction rollers to rotate.

[0055] On the other hand, the present invention also provides a method for pipeline inspection using any of the above-mentioned non-destructive testing devices, such as... Figure 7 As shown, the detection method may include: In step S1, at least two sets of outer shells 2 are fitted onto the outside of the pipe 1 to be tested.

[0056] In step S2, at least two sets of variable diameter shrinkage assemblies 10 are activated to adjust the distance between two adjacent sets of outer shells 2, so that the ring formed by the cooperation of at least two sets of outer shells 2 is relatively fixed on the outside of the pipe 1 to be tested.

[0057] In step S3, multiple sets of adjustment components are activated to adjust the position and angle of the corresponding probe 7.

[0058] In step S4, multiple sets of motion support components are driven to move, so as to drive the probe 7 to perform axial or circumferential inspection on the weld seam of the pipeline 1 to be inspected.

[0059] In steps S1 to S4, the outer shell 2 is first fitted onto the outside of the pipe 1 to be inspected. Then, the distance between the two is adjusted by the diameter-reducing shrinkage assembly 10 of the adjacent outer shell 2 supports, adjusting the inner diameter of the annulus formed by at least two sets of outer shells 2 so that at least two sets of outer shells 2 are fixed to the outside of the pipe 1 to be inspected by the motion support assembly. Then, multiple sets of adjustment assemblies are activated to adjust the position and angle of the probe 7 so that it can effectively inspect the weld on the pipe 1 to be inspected. At the same time, in coordination with the movement of the motion support assembly, the probe 7 is moved along the extension direction of the weld on the pipe 1 to be inspected, including axial and circumferential movement, to achieve axial and circumferential inspection respectively.

[0060] In this embodiment of the invention, when inspecting the weld on the pipe 1 to be inspected, the imaging method used will differ for different probe modes, specifically as follows: Figure 8 As shown. Specifically, in Figure 8 In addition, the detection method may also include: In step S5, the diameter change of the current outer shell 2 and the rotation angle of the probe 7 are obtained. This invention uses eight probes 7 as an example.

[0061] In step S6, it is determined whether the current transmit / receive mode of probe 7 is dual probe mode.

[0062] In step S7, if the current transceiver mode of probe 7 is determined to be dual-probe mode, the first imaging result of the weld is obtained based on the current diameter change of the outer shell 2 and the rotation angle of probe 7. Specifically, eight probes 7 form four pairs of transceiver probe groups. The SAFT algorithm is used to achieve simultaneous three-dimensional imaging of multiple welds. Combined with the U-shaped diameter change (two sets of outer shells 2) to adapt to the weld angle, four straight welds or four circumferential welds are detected simultaneously, achieving high-precision defect imaging. Specifically, it can be based on... Figure 9 The steps shown are used to obtain the first imaging result: In step S70, the working coordinate system for the position of the transmitting probe and the position of the receiving probe of each pair of probes 7 is obtained according to formula (1). (1) in, For the first Regarding the position of the transmitting probe, For the first Regarding the position of the receiving probe, For movement speed, For probe pair index, that is ; For the variable diameter of outer shell 2, This is the rotation angle of probe 7. The opening angle / fixed offset angle of probe 7 is used to adapt to the weld bevel angle. For the first The probe emits its initial x-coordinate. For the first The probe receives the initial x-coordinate of the probe. This refers to the current moment. Specifically, the movement speed. The corresponding angular velocity for the movement of the straight weld seam and the corresponding angular velocity for the movement of the circumferential weld seam ,for It can be replaced with , Let be the radius of the pipe 1 to be inspected.

[0063] In step S71, the signal propagation model of the dual-probe mode is obtained according to formula (2). (2) in, For the dual-probe mode, the first Regarding the received signal from the probe, For the first The amplitude factor of the probe takes into account factors such as probe sensitivity, preamplifier gain, and coupling efficiency. for The transmitter probe emits signals at specific times. For defects, The defect reflection coefficient represents the value located at a point in space. The defect at the point of contact with the receiver allows it to reflect incident sound wave energy back to the receiving probe. For noise, The attenuation coefficient is... For the two-way propagation time, the sound wave travels from the transmitting probe Starting from, propagating to the defect point Then reflect / dissipate heat to the receiving probe. Total time required. Specifically, , representing the two-way propagation time of the defect. Wave speed (ultrasound / electromagnetic wave). For Euclidean distance.

[0064] In step S72, each weld seam region is discretized into a pixel grid. This pixel grid can be represented as... , Let be the position vector of a three-dimensional discrete pixel / pixel to be imaged within the weld seam area being inspected. For grid indexing, , , These are the x-axis, y-axis, and z-axis coordinates of a three-dimensional discrete pixel, respectively.

[0065] In step S73, the imaging intensity of each weld seam pixel is obtained according to formula (3). (3) in, For the first Weld seam pixels The imaging intensity, each pair of probes corresponds to one weld seam. This refers to the two-way propagation time, i.e., the time from the transmitting probe to the pixel and then to the receiving probe. Let be the weight function, and It is used to correct geometric attenuation.

[0066] In step S74, the imaging results of multiple weld seams are output and used as the first imaging result. The imaging results of four weld seams can be represented as follows: This is the first imaging result.

[0067] In steps S70 to S74, the U-shaped diameter is adjusted. and angle Real-time adjustments ensure probe 7 remains perpendicular to the weld surface. The SAFT algorithm utilizes the synthetic aperture principle to focus signals received from multiple locations to reconstruct the defect image, achieving a resolution far exceeding traditional B-scan. Dual-probe mode enhances the signal-to-noise ratio, making it particularly suitable for detecting minute cracks. Simultaneous imaging of four weld seams improves detection efficiency by 300% (compared to single-probe devices).

[0068] In step S8, if the current transceiver mode of probe 7 is not a dual-probe mode, the second imaging result of the weld is obtained based on the change in diameter of the outer shell 2 and the rotation angle of probe 7. Specifically, if the current transceiver mode of probe 7 is not a dual-probe mode, it indicates that the current transceiver mode of probe 7 is a single-probe mode. The eight probes 7 operate independently, combining the TOFD principle and adaptive path planning to locate defects in real time using diffraction wave signals. Simultaneously, eight straight welds or eight circumferential welds are detected, achieving high-speed, full-coverage scanning. Specifically, it can be based on... Figure 10 The steps shown are used to obtain the second imaging result: In step S80, the position model of probe 7 is obtained according to formulas (4)-(5). (4) (5) in, For the first Position / 3D coordinates of probe 7 The index of probe 7 is given, and in formula (4) For the first straight weld The position of probe 7, in formula (5) For the first circumferential weld The position of probe 7. For the first The initial x-coordinate of probe 7, The radius of the variable diameter / outer shell 2, To improve scanning speed, For the first Each probe rotates at 7 angles. For the first The y-axis coordinate of probe 7 is determined by the variable diameter radius. and rotation angle The function that determines For the first The z-axis coordinate of probe 7 is determined by the variable diameter radius. and rotation angle The function that determines For the first The axial coordinate of probe 7 is fixed, and it performs circular motion. Let be the radius of the pipe 1 to be inspected.

[0069] In step S81, the signal model of probe 7 is obtained according to formula (6). (6) in, For the first The diffraction wave received by probe 7 To transmit signals to the probe, For the first The amplitude factor of each probe (7) integrates probe sensitivity, gain, coupling efficiency, etc. For defects, For wave speed, The attenuation coefficient is... The probe 7 is used to project light onto the defect point. and received the defect point The total time from the launch to probe 7, and , It is noise.

[0070] In step S82, the arrival time of the diffracted wave is extracted according to formula (7). (7) in, This is the arrival time of the diffracted wave, which is the time elapsed from the emission time to the time when probe 7 receives and detects the diffracted wave from the defect tip. The independent variable that yields the maximum value , It is the first derivative of the received signal of the diffracted wave.

[0071] In step S83, the defect depth of the straight weld is obtained according to formula (8). (8) in, The defect depth of a straight weld. The lateral coordinate of the defect is the distance from the weld center.

[0072] In step S84, the location of the defect in the circumferential weld is obtained according to formula (9). (9) in, The circumferential angle of the defect. for Time of the first The circumferential angle position of probe 7 Here, represents the axial coordinate (height) of the defect, i.e., the defect depth in a straight weld. For circumferential weld inspection, the axial position of the defect is equal to the axial position of probe 7. Let be the radius of the defect. In the self-spontaneous transmission mode, the distance from probe 7 to the defect is . Therefore, the defect depth is The defect radius is .

[0073] In step S85, a depth location map of the weld is generated. This depth location map can be... or These also correspond to the depth location diagrams for straight welds and circumferential welds, respectively. For the first Image showing the depth-lateral position of a straight weld seam, with the horizontal axis representing the lateral offset. The vertical axis represents depth. Image grayscale or color represents the amplitude or signal-to-noise ratio of the diffracted wave; For the first Image showing the depth-circumferential angle of a circumferential weld, with the horizontal axis representing the circumferential angle. The vertical axis represents depth. It can be used to display the defect distribution of the entire weld seam.

[0074] In step S86, the second imaging result is obtained according to formula (10). (10) in, The resulting global image is a composite image obtained by overlaying or stitching together all local images. For the first Imaging results from probe 7 The activation flag is 1 when probe 7 is working normally, and 0 otherwise.

[0075] In steps S80 to S86, the eight probes 7 move independently (for straight welds) or rotate around the pipe 1 to be inspected (for circumferential welds). The U-shaped design ensures that the probes 7 are in close contact with the surface, and the rotation function adapts to the curvature of the weld. The TOFD method utilizes the diffraction waves at the defect tip, making it highly sensitive to cracks. The single-probe mode simplifies control, and the 8-channel parallel processing enables high-speed scanning. Simultaneous inspection of 8 welds improves efficiency by 700% (compared to a single-channel device) and achieves 100% coverage.

[0076] In this embodiment of the invention, the U-shaped variable diameter... and rotation Mathematical modeling enables probe 7 to adapt to different weld widths. and angle The dual-probe mode enables SAFT imaging of 4 weld seams, suitable for scenarios prioritizing accuracy. The single-probe mode enables TOFD scanning of 8 weld seams, suitable for scenarios prioritizing speed. The motion equation for probe 7... or Combined with path planning algorithms, it can automatically follow lines. Furthermore, SAFT can provide high-resolution 3D imaging, while TOFD can achieve high-speed 2D imaging.

[0077] In this embodiment of the invention, the pipeline non-destructive testing device can inspect welds of pipelines of different sizes, exhibiting strong versatility and applicability. For pipelines of different sizes, during installation and fixation, the pipe non-destructive testing device can set a corresponding rotation angle (tilt angle) for the casters 11 according to the radius of the pipeline 1 to be inspected and drive the casters 11 to rotate, so that the multiple casters 11 can stably abut against the sidewall of the pipeline 1 to be inspected, thereby achieving reliable installation of the pipeline non-destructive testing device. Specifically, taking the example of two sets of outer shells 2 forming a ring, each set of outer shells 2 being provided with two symmetrically distributed sets of motion support components, the angle conversion steps can be as follows: Figure 11 As shown, specifically, in Figure 11 In addition, the detection method may also include: In step S10, the retraction angle of the current retractable servo 6 is obtained. The retraction angle of the retractable servo 6 is also the angle formed by the interaction of the two sets of opposing rotating connecting rods 8. Furthermore, the retraction angle of the two sets of retractable servo motors 6 between the two sets of outer shells 2 is consistent. Further, the length of the rotating connecting rod 8 is a known value. Assuming the two sets of rotating connecting rods 8 cooperate to form " The shape corresponds to the two sides of an isosceles triangle, which facilitates subsequent conversions.

[0078] In step S11, the half-spacing at the ends of the two sets of outer shells is obtained according to formula (11). (11) in, The distance between the two ends of the two sets of outer shells is half of the distance between them. That is, the distance between the two ends of the two sets of outer shells.

[0079] In step S12, a coordinate system is constructed, and the coordinates of the connection point between the motion support component and the outer shell 2 are obtained according to formula (12). (12) in, , , as well as These are the coordinates of the connection point between each motion support component and the corresponding outer shell 2, corresponding to the upper left, upper right, lower left, and lower right, respectively. That is, the motion support component is treated as a single support arm, with one end rotatably connected to the outer shell 2; this end is the connection point, corresponding to the position of the third rotating axis 26, which is assumed to be located on the corresponding semicircle of the outer shell 2. Specifically, the origin is set as the midpoint between the centers of the two sets of outer shell 2 circles, and a coordinate system is constructed. Let be the horizontal distance from the center / origin of outer shell 2 to the connection point. The radii of both sets of outer shell 2 are . All of these are known parameters, and this For example, other parameters can also be used, such as , And so on. Based on the horizontal distance between the connection point and the center of the corresponding outer shell 2, and since the connection point is located on the semicircle corresponding to the outer shell 2, the formula for a circle can be used ( The vertical distance between the connection point and the center of the corresponding outer shell circle 2 is calculated to be... At the same time, based on the half-spacing at both ends of the two sets of outer shells... This allows us to obtain the y-axis coordinates of each connection point. Furthermore, considering the accuracy of coordinate calculation, the coordinate accuracy of the connection points (third rotating shaft 26) can also be adjusted based on the vertical distance between the third rotating shaft 26 and the inner wall of the outer shell 2, such as... etc., among which, The vertical distance between the third rotating shaft 26 and the inner wall of the outer shell 2 is given in the formula (12) for example.

[0080] In step S13, the coordinates of the contact point between the universal wheel 11 and the pipe 1 to be tested in the motion support assembly are obtained according to formula (13). (13) in, , , as well as These are the coordinates of the contact points between the universal wheel 11 and the pipe 1 to be tested in each motion support component, and they correspond to the upper left, upper right, lower left and lower right of the pipe 1 to be tested, respectively. The length of the motion support assembly is a known value, and can be assumed to be the maximum length from the corresponding support base 29 or the third pivot 26 to the caster wheel 11; specifically, if the motion support assembly is considered as a single support arm, then this length... This is the maximum length from the support base 29 to the caster wheel 11. Taking into account the vertical distance from the third pivot 26 to the inner wall of the outer casing 2, this length... This is the maximum length from the third pivot 26 to the omnidirectional wheel 11. The angle between the third rotating shaft 26 and the x-axis is generally taken as an acute angle, that is, the angle between the four universal wheels 11 on the two sets of outer shells 2 is an acute angle, and the angles between the two universal wheels 11 on each set of outer shells 2 are symmetrically distributed.

[0081] In step S14, the angle between the omnidirectional wheel 11 and the horizontal plane is obtained according to formula (14). (14) in, Let be the radius, or outer diameter, of the pipe 1 to be inspected. This radius is known when weld inspection of the pipe 1 is required. Specifically, to ensure effective contact between the contact points of all four casters 11 and the sidewall of the pipe 1, the contact points of the four casters 11 should be concircular, satisfying the formula for a circle (…). ), and thus we can obtain formula (15). (15) Expanding and using formula (15) Simplifying, we get formula (16). (16) Furthermore, formula (16) is of the form of ,in, , , .

[0082] Using trigonometric identities ,in, ,but .

[0083] Substituting formula (11) into the equation yields formula (17). (17) According to formula (17), we can finally obtain formula (14), which is the relationship between the contact point and the radius of the pipe 1 to be tested.

[0084] In addition, the above formula must satisfy... 1. That is, the constraints can be as shown in formula (18). (18) Specifically, the above constraints mean that the radius of the pipe 1 to be tested needs to be within a certain range; otherwise, the caster wheel 11 cannot reach or exceed the boundary of the outer shell 2.

[0085] In step S15, the third drive motor 28 in the motion support assembly is activated. The third drive motor drives the caster 11 to rotate according to the angle between the caster 11 and the horizontal plane. The rotation angle of the caster 11, obtained based on the radius of the pipe 1 to be inspected, allows the caster 11 to effectively contact and abut against the side wall of the pipe 1 to be inspected. This improves the stability and effectiveness of the inspection device installation and avoids the problem of low installation efficiency caused by the traditional installation method of constantly adjusting the rotation angle of the retractable servo motor 6 and the caster 11 for installation and fixation.

[0086] In this embodiment of the present invention, the angle adjustment of multiple sets of probes 7 can also refer to the steps S10 to S15, thereby enabling the probes 7 to quickly and effectively approach the side wall of the pipe 1 to be inspected without repeatedly adjusting the probes 7 to reach the inspection position, thereby improving the efficiency of inspecting the weld seam of the side wall of the pipe 1 to be inspected.

[0087] In another aspect, the present invention also provides a computer-readable storage medium storing instructions for being read by a machine to cause the machine to perform any of the detection methods described above.

[0088] Through the above technical solution, the non-destructive testing device and method for pipelines with active diameter change provided by the present invention involves placing at least two sets of outer shells 2 on the outside of the pipeline 1 to be tested, activating at least two sets of diameter-changing shrinkage components 10, adjusting the distance between adjacent sets of outer shells 2, and cooperating with multiple sets of moving support components to abut and support the side wall of the pipeline 1 to form a stable ring fitted on the outer shell 2. Multiple sets of adjustment components are then activated to adjust the detection position and angle of the probe 7, enabling the probe 7 to stably and effectively detect the weld seams on the side wall of the pipeline 1. Furthermore, the circumferential or axial movement of multiple sets of moving support components allows for stable, efficient, and comprehensive detection of multiple weld seams on the side wall of the pipeline 1. The method of adjusting the distance between adjacent outer shells 2 using diameter-changing shrinkage components 10 effectively adapts to weld seam detection of pipelines of different sizes, offering greater versatility and wider applicability. The combination of moving support components and adjustment components enables effective detection of straight and circumferential weld seams, thereby reducing the labor intensity of workers, improving weld seam detection efficiency, and reducing safety hazards.

[0089] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0090] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0091] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1The function specified in one or more boxes.

[0092] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0093] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0094] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0095] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0096] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0097] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A non-destructive testing device for pipelines with active diameter change, characterized in that, include: At least two sets of outer shells, in the shape of arcs, and at least two sets of said outer shells cooperate to form a ring for fitting around the outside of the pipe to be tested; At least two sets of variable diameter shrinkage components are respectively disposed at two opposite ends of two adjacent sets of the outer shells, for adjusting the distance between the two adjacent sets of the outer shells to adjust the inner diameter of the ring; Multiple sets of adjustment components are respectively set on the inner wall of the corresponding housing. The output end of the adjustment component is provided with a probe. The adjustment component is used to adjust the position and angle of the probe to detect the side wall weld of the pipeline to be inspected. Multiple sets of motion support components are respectively disposed on the inner wall of the corresponding housing, and are used to contact the side wall of the pipe to be tested when the variable diameter shrinkage component adjusts the distance between two adjacent sets of housings, and drive the housing, the adjustment component and the probe to move axially or circumferentially along the side wall of the pipe to be tested.

2. The pipeline non-destructive testing device according to claim 1, characterized in that, The variable diameter shrinkage assembly includes: Multiple sets of pipe fixing plates are symmetrically arranged at opposite ends of two adjacent sets of the outer shell; Multiple sets of rotary connectors are respectively installed on the corresponding pipe fixing plates; Multiple sets of rotating connecting rods, one end of which is rotatably connected to the corresponding rotating connecting head, and the rotating connecting rods on the two sets of opposite rotating connecting heads are symmetrically distributed; Multiple sets of retractable servo motors, the output end of each set of retractable servo motors being rotatably connected to the other end of two symmetrically distributed sets of rotating connecting rods.

3. The pipeline non-destructive testing device according to claim 1, characterized in that, The adjustment component includes: Multiple sets of arc-shaped guide rails are set on the inner wall of the corresponding outer shell; Multiple sets of fixed seats are slidably connected to multiple sets of the aforementioned arc-shaped guide rails; Multiple drive components are respectively mounted on multiple sets of the aforementioned fixed bases and connected to the probe for adjusting the angle of the probe.

4. The pipeline non-destructive testing device according to claim 3, characterized in that, The adjustment component further includes: An arc-shaped track is provided on the inner wall corresponding to the outer shell. An arc-shaped groove is provided on the arc-shaped track, and multiple sets of gear teeth are provided on the two inner walls opposite to the arc-shaped groove. A limiting gear is disposed inside the arc-shaped groove and meshes with the gear teeth; A limit motor is mounted on the fixed base, and the output end of the limit motor is connected to the limit gear.

5. The pipeline non-destructive testing device according to claim 3, characterized in that, The driving component includes: Multiple sets of screws are arranged in parallel on the corresponding fixed bases, and the two ends of the screws are rotatably connected to the fixed bases; Multiple sets of first drive motors are mounted on corresponding fixed bases, and the output end of the first drive motor is connected to the end of the corresponding screw. Multiple sets of movable seats are threaded onto the outside of the multiple sets of screws. Each movable seat is equipped with a rotating assembly, the output end of which is connected to the probe for adjusting the angle of the probe.

6. The pipeline non-destructive testing device according to claim 5, characterized in that, The rotating assembly includes: The first U-shaped plate is disposed on the top of the movable seat, with its opening facing upward; The worm gear is rotatably mounted on the movable seat and extends into the interior of the first U-shaped plate; The second U-shaped plate is rotatably connected at both ends to the two ends of the first U-shaped plate via a first rotating shaft; The worm gear is fixedly sleeved on the outside of the first rotating shaft and meshes with the worm. Two sets of clamping rods are disposed at the end of the second U-shaped plate away from the first U-shaped plate, and the probe is disposed inside the end of the two sets of clamping rods away from the second U-shaped plate; A second drive motor is mounted on the movable base, and the output end of the movable base is connected to the end of the worm gear.

7. The pipeline non-destructive testing device according to claim 1, characterized in that, The motion support component includes: A support base is provided on the inner wall of the outer shell, and two sets of support plates are provided on each support base in parallel distribution; The second rotating shaft extends through both sets of support plates and is rotatably connected to the corresponding support plate; The first gear is fixedly sleeved on the outside of the second rotating shaft; The third rotating shaft is movably connected through the two sets of support plates and is rotatably connected to the corresponding support plate, and is distributed vertically with the second rotating shaft; The second gear is fixedly sleeved on the outside of the third rotating shaft and meshes with the first gear; The third U-shaped plate is connected to both ends of the third rotating shaft, and a caster wheel is provided at the end of the third U-shaped plate away from the second gear. A third drive motor is mounted on the support base, and the output end of the third drive motor is connected to the end of the second rotating shaft.

8. A method for pipeline inspection using the pipeline non-destructive testing device as described in any one of claims 1-7, characterized in that, include: At least two sets of outer casings are fitted over the outside of the pipe to be tested; At least two sets of variable diameter shrinkage assemblies are activated to adjust the distance between two adjacent sets of housings, so that the rings formed by the cooperation of at least two sets of housings are relatively fixed on the outside of the pipe to be tested; Activate multiple adjustment components to adjust the position and angle of the corresponding probes; Multiple sets of motion support components are driven to move, thereby enabling the probe to perform axial or circumferential inspection of the weld seam on the pipeline to be inspected.

9. The detection method according to claim 8, characterized in that, Also includes: Obtain the current diameter variation of the outer shell and the rotation angle of the probe; Determine whether the current probe's transmit / receive mode is dual-probe mode; If it is determined that the current transceiver mode of the probe is dual probe mode, the first imaging result of the weld is obtained according to the current change in the diameter of the outer shell and the rotation angle of the probe. If it is determined that the current transceiver mode of the probe is not a dual-probe mode, the second imaging result of the weld is obtained based on the current change in the diameter of the outer shell and the rotation angle of the probe.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that are read by a machine to cause the machine to perform the detection method as described in claim 8 or 9.

Images