Method and device for regulating welding residual stress of flexible unitary inner reflection pipe

Abstract

The present application relates to the technical fields of pipeline regulation, especially to a flexible unit type inner reflection pipeline weld residual stress regulation device, which comprises a monitoring cable, the outer wall of the monitoring cable is provided with a regulation mechanism, the bottom end of the monitoring cable is electrically connected with an endoscope, the upper and lower parts of the regulation mechanism are both provided with a connecting cable, the top of the connecting cable is fixedly connected with a connecting female jack, the bottom of the connecting cable is fixedly connected with a connecting male plug, the upper and lower parts of the regulation mechanism and the right side of the connecting cable are both provided with a connecting air pipe, and the outer wall of the regulation mechanism is provided with a connecting mechanism, the flexible unit type inner reflection pipeline weld residual stress regulation device is designed, the regulation mechanism in the device is used to regulate weld residual stress, the current general method of directly contacting the weld residual stress with a transducer to regulate the weld residual stress is solved, the method has low efficiency, the transducer is difficult to operate, and the regulation effect is poor.

Description

Technical Field

[0001] This invention relates to the field of pipeline control technology, specifically to a method and apparatus for controlling residual stress in weld seams of flexible unit-type internal reflection pipelines. Background Technology

[0002] Most oil and gas pipelines are welded together in sections, including straight pipes and curved pipes. Pipelines with small diameters and thin walls require stress regulation using high-energy sound waves. Currently, the existing method of directly contacting the transducer to regulate the residual stress in the weld is generally used. This method is not only inefficient, but also difficult to operate and has poor regulation effect.

[0003] Therefore, a flexible unit-type internal reflection pipeline weld residual stress control method and device are needed to solve the problems mentioned in the background art. Summary of the Invention

[0004] The purpose of this invention is to provide a method and apparatus for controlling residual stress in welds of flexible unit-type internal reflective pipes, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A flexible unit-type internal reflection pipeline weld residual stress control device includes a monitoring cable, an adjustment mechanism on the outer wall of the monitoring cable, an endoscope electrically connected to the bottom end of the monitoring cable, connecting cables above and below the adjustment mechanism, a female connector fixedly connected to the top of the connecting cable, a male connector fixedly connected to the bottom of the connecting cable, connecting air tubes above and below the adjustment mechanism and on the right side of the connecting cable, a connecting mechanism on the outer wall of the adjustment mechanism, and a connecting rubber strip inside the connecting air tube. The control mechanism includes a central bolt slidably connected to the outer wall of the monitoring cable. A transducer is fixedly connected to the outer wall of the central bolt. A power supply cable is fixedly connected inside the central bolt at a corresponding position on the connecting cable. A female connector is fixedly connected to the top of the power supply cable outside the central bolt. A male connector is fixedly connected to the bottom of the power supply cable below the central bolt. A fixed air tube is fixedly connected inside the central bolt to the right side of the monitoring cable. Connecting sleeves are fixedly connected to the top and bottom of the fixed air tube outside the central bolt. A resistance heating wire is installed inside the sleeve. A connecting rod is threaded to the bottom of the transducer and directly below the central bolt. An inner reflective wedge is fixedly connected to the bottom end of the connecting rod. An expansion airbag is fixedly connected to the outer wall of the inner reflective wedge. An outer guide tube is fixedly connected to the inside of the expansion airbag and near the position of the inner reflective wedge. An annular groove is formed inside the inner reflective wedge and at the corresponding position of the outer guide tube. An inner guide tube is fixedly connected to the inner wall of the annular groove and near the position of the fixed air tube. Pushing steel wires are slidably connected to both the front and back of the fixed air tube.

[0006] As a preferred embodiment of the present invention, the connecting mechanism includes a connecting plate fixedly connected to the outer wall of the transducer, a limiting rod fixedly connected to the top center of the connecting plate, positioning holes being provided on both sides of the limiting rod, and a conductive plate fixedly connected to the top center of the connecting plate.

[0007] As a preferred embodiment of the present invention, the control mechanism, the connecting air pipe, and the connecting cable are provided in multiple sets, and the connecting cable and the connecting air pipe are provided with different length specifications. The connecting air pipe is made of PVC plastic hose.

[0008] As a preferred embodiment of the present invention, the central bolt passes through and extends into the transducer, the transducer being a piezoelectric ceramic transducer, and the power supply cable, the fixed air pipe, the push wire, and the monitoring cable all sequentially pass through the central bolt, the transducer, and the connecting rod and extend to below the inner reflective wedge.

[0009] As a preferred embodiment of the present invention, the pushing steel wire is made of 4mm steel wire, and the monitoring cable, the fixed air tube and the central bolt are all connected to the pushing steel wire by sliding connection. The outer guide tube passes through the inflatable air bag and extends into the annular groove, and the inner guide tube passes through the inner reflective wedge and extends into the fixed air tube.

[0010] As a preferred embodiment of the present invention, the inner reflective wedge is made of high-density alloy, preferably tungsten alloy, and the inner reflective wedge has a conical structure design. The connection between the fixed female socket and the connecting male plug, and the connection between the fixed male plug and the connecting female socket are all plug-in connections. The connection between the connecting sleeve and the connecting air pipe is a sliding connection. The connection between the transducer and the resistance heating wire and the power supply cable is an electrical connection.

[0011] As a preferred embodiment of the present invention, the connecting plate and the limiting rod are both made of ABS plastic, and four sets of the connecting plate, the limiting rod and the conductive plate are provided. The conductive plate is made of copper and has a semi-circular structure design.

[0012] As a preferred embodiment of the present invention, the following steps are included: S1, pull the monitoring cable 1 to pull out the endoscope, disconnect the connecting cable from the power supply cable, then pull the connecting air tube from the fixed air tube, then pull out the push wire, put the transducer into the conveying device, the limit rod on the outer wall of the transducer 202 is inserted into the push plate in the conveying device, the conveying device will lock the limit rod and fix the transducer 202 in the conveying device; S2. Select a suitable length of connecting cable and fixed air pipe according to the distance between the pipe welds. Use the connecting cable to connect multiple transducers together. Then, put the connecting air pipe on the connecting sleeves at the top and bottom of the fixed air pipe. Repeat the operation to assemble multiple transducers together. Connect the connecting cable on the first transducer to the external controller. Then, connect the connecting air pipe on the first transducer to the air pump. The external controller starts the resistance heating wire through the connecting cable and power supply cable. The resistance heating wire heats and softens the connecting rubber strip. The softened connecting rubber strip will stick to the connecting sleeve. Turn off the resistance heating wire and the connecting rubber strip cools and fixes, thereby fixing the fixed air pipe and the connecting air pipe together. S3, insert the endoscope into the transducer. Move the endoscope below the last set of transducers, then insert the push wire into the center bolt. The fixing tube and the center bolt will clamp the push wire. Use the push wire to send the assembled sets of transducers into the pipeline. The endoscope will take pictures of the area below the transducers and transmit the data to the outside through the monitoring cable. The operator will judge whether the transducer has moved to the weld position based on the received image data. When the transducer moves to the weld position, stop pushing the push wire. S4, the external controller starts the conveying device through the connecting cable and power supply cable. The conveying device pushes out the transducer and starts the air pump. The air pump sends compressed air into the inner guide pipe through the connecting air pipe and the fixed air pipe. The compressed air in the inner guide pipe flows into the expansion air bladder through the annular groove and the outer guide pipe. The inflowing compressed air causes the expansion air bladder to expand. The expanded expansion air bladder will press against the inner wall of the pipe, thereby fixing the transducer inside the pipe. The external controller starts the transducer through the connecting cable and power supply cable. The transducer converts the input high-frequency current into high-energy sound waves and emits them. The emitted high-energy sound waves will be reflected after encountering the inner reflective wedge. The inner reflective wedge converts the vertically diffused high-energy sound waves into horizontally diffused ones. The horizontally diffused high-energy sound waves will be emitted to the pipe weld and the pipe wall around the weld, thereby regulating the residual stress in the circumferential pipe weld area. S5. After the adjustment is completed, the pump extracts the air from the expansion bladder through the connecting air pipe, fixed air pipe, inner guide pipe and outer guide pipe. The expansion bladder returns to its original shape. The external controller starts the conveying device through the connecting cable and power supply cable. The conveying device pulls the transducer into the interior and pulls the push wire. The push wire pulls the transducer and the conveying device out of the pipe and unloads the transducer from the conveying device.

[0013] Compared with the prior art, the beneficial effects of the present invention are: 1. In this invention, a flexible unit-type internal reflection pipe weld residual stress control device is designed. The control mechanism in this device is used to control the residual stress of the weld. When the transducer is activated, it converts the input high-frequency current into high-energy sound waves and emits them. The emitted high-energy sound waves are reflected when they encounter the internal reflection wedge. The internal reflection wedge converts the vertically diffused high-energy sound waves into horizontally diffused ones. The horizontally diffused high-energy sound waves are emitted to the pipe weld and the surrounding pipe wall, thereby controlling the residual stress in the circumferential pipe weld area. The high-energy sound waves can be vertically absorbed into the weld, maximizing their utilization. There is no need to adjust the transducer position, making the operation more convenient. At the same time, when the sound energy propagates to the pipe wall with the liquid, the high-energy sound waves can cause the oil to vibrate at high frequency, weakening the bonding force between the oil and the pipe wall, making it easier for the oil to detach from the pipe wall, thus cleaning the oil on the inner wall of the pipe. This solves the problems of the current method of controlling the residual stress of the weld by direct contact of the transducer, which is not only inefficient but also difficult to operate and has poor control effect.

[0014] 2. By designing a flexible unit-type internal reflective pipe weld residual stress control method and device, the transducer is fixed to the inner wall of the pipe using the control mechanism in the device. The air pump is started, and the air pump sends compressed air into the inner guide pipe through the connecting air pipe and the fixed air pipe. The compressed air in the inner guide pipe flows into the expansion air bladder through the annular groove and the outer guide pipe. The inflowing compressed air causes the expansion air bladder to expand. The expanded expansion air bladder will press against the inner wall of the pipe, thereby fixing the transducer inside the pipe. The operation of fixing the transducer is relatively convenient, and the problem of transducer shaking when controlling residual stress is easily solved. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a three-dimensional structural diagram of the transducer of the present invention; Figure 3 This is a schematic diagram of the three-dimensional structure of the connecting cable of the present invention; Figure 4 This is a cross-sectional view of the transducer of the present invention; Figure 5 For the present invention Figure 4 Enlarged view of point A in the middle; Figure 6 For the present invention Figure 4 Enlarged view at point B in the middle; Figure 7 For the present invention Figure 4 Enlarged view at point C; Figure 8 This is a schematic diagram of the three-dimensional structure of the internal reflective wedge block of the present invention.

[0016] In the diagram: 1. Monitoring cable; 2. Control mechanism; 3. Endoscope; 4. Connecting cable; 5. Connecting female connector; 6. Connecting male connector; 7. Connecting air tube; 8. Connecting mechanism; 9. Connecting adhesive strip; 201. Center bolt; 202. Transducer; 203. Power supply cable; 204. Fixing female connector; 205. Fixing male connector; 206. Fixing air tube; 207. Connecting sleeve; 208. Resistance heating wire; 209. Connecting rod; 210. Inner reflective wedge; 211. Inflatable airbag; 212. Outer guide tube; 213. Annular groove; 214. Inner guide tube; 215. Pushing wire; 801. Connecting plate; 802. Limiting rod; 803. Positioning hole; 804. Conductive plate. Detailed Implementation

[0017] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0018] To facilitate understanding of the present invention, a more comprehensive description of the invention will be given below with reference to the accompanying drawings, and several embodiments of the invention will be provided. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of the invention will be more thorough and complete.

[0019] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0021] For examples, please refer to Figure 1-8 The present invention provides a technical solution: A flexible unit-type internal reflection pipe weld residual stress control device includes a monitoring cable 1, a control mechanism 2 on the outer wall of the monitoring cable 1, an endoscope 3 electrically connected to the bottom end of the monitoring cable 1, connecting cables 4 above and below the control mechanism 2, a female connector 5 fixedly connected to the top of the connecting cable 4, a male connector 6 fixedly connected to the bottom of the connecting cable 4, connecting air pipes 7 above and below the control mechanism 2 and on the right side of the connecting cable 4, a connecting mechanism 8 on the outer wall of the control mechanism 2, and a connecting rubber strip 9 inside the connecting air pipe 7. The control mechanism 2, the connecting air pipe 7, and the connecting cable 4 are all provided in multiple sets, and the connecting cable 4 and the connecting air pipe 7 are provided in different length specifications. The connecting air pipe 7 is made of PVC plastic hose. In this embodiment, reference Figure 2 , Figure 4 , Figure 5 , Figure 6as well as Figure 8 The control mechanism 2 includes a central bolt 201 slidably connected to the outer wall of the monitoring cable 1. A transducer 202 is fixedly connected to the outer wall of the central bolt 201. A power supply cable 203 is fixedly connected inside the central bolt 201 at a corresponding position on the connecting cable 4. A female socket 204 is fixedly connected to the top of the power supply cable 203 outside the central bolt 201. A male plug 205 is fixedly connected to the bottom of the power supply cable 203 below the central bolt 201. A fixed air pipe 206 is fixedly connected inside the central bolt 201 on the right side of the monitoring cable 1. Connecting sleeves 207 are fixedly connected to the top and bottom of the fixed air pipe 206 outside the central bolt 201. The transducer 202 is equipped with a resistance heating wire 208. A connecting rod 209 is threadedly connected to the bottom of the transducer 202 and directly below the central bolt 201. An inner reflective wedge 210 is fixedly connected to the bottom end of the connecting rod 209. An expansion airbag 211 is fixedly connected to the outer wall of the inner reflective wedge 210. An outer guide tube 212 is fixedly connected to the inside of the expansion airbag 211 and near the position of the inner reflective wedge 210. An annular groove 213 is opened inside the inner reflective wedge 210 and at the corresponding position of the outer guide tube 212. An inner guide tube 214 is fixedly connected to the inner wall of the annular groove 213 and near the position of the fixed air tube 206. Pushing steel wires 215 are slidably connected to the front and back of the fixed air tube 206. The central bolt 201 passes through and extends into the transducer 202, which is a piezoelectric ceramic transducer. The power supply cable 203, the fixed air tube 206, the push wire 215, and the monitoring cable 1 all pass through the central bolt 201, the transducer 202, and the connecting rod 209 in sequence and extend below the inner reflective wedge 210. The push wire 215 is made of 4mm thick steel wire. The monitoring cable 1, the fixed air tube 206, and the connection between the central bolt 201 and the push wire 215 are all sliding connections. The outer guide tube 212 passes through the inflatable airbag 2. 11 and extends into the annular groove 213. The inner guide tube 214 passes through the inner reflective wedge 210 and extends into the fixed air tube 206. The inner reflective wedge 210 is made of high-density alloy, preferably tungsten alloy. The inner reflective wedge 210 has a conical structure design. The fixed female socket 204 and the connecting male plug 6, and the fixed male plug 205 and the connecting female socket 5 are all plug-in connections. The connecting sleeve 207 and the connecting air tube 7 are connected by a sliding connection. The transducer 202 and the resistance heating wire 208 are all connected by an electrical connection to the power supply cable 203. In this embodiment, reference Figure 2 and Figure 7The connecting mechanism 8 includes a connecting plate 801 fixedly connected to the outer wall of the transducer 202, a limiting rod 802 fixedly connected at the top center of the connecting plate 801, positioning holes 803 on both sides of the limiting rod 802, and a conductive plate 804 fixedly connected at the top center of the connecting plate 801. The connecting plate 801 and the limiting rod 802 are both made of ABS plastic. The connecting plate 801, the limiting rod 802 and the conductive plate 804 are all provided with four sets. The conductive plate 804 is made of copper and has a semi-circular structure design. Furthermore, this includes the following steps: S1, pull the monitoring cable 1 to pull out the endoscope 3, disconnect the connecting cable 4 from the power supply cable 203, then pull the connecting air tube 7 from the fixed air tube 206, then pull out the push wire 215, put the transducer 202 into the conveying device, the limiting rod 802 on the outer wall of the transducer 202 is inserted into the push plate in the conveying device, the conveying device will lock the limiting rod 802, and fix the transducer 202 in the conveying device; S2. Select a suitable length of connecting cable 4 and fixed air pipe 206 according to the distance between the pipe welds. Use connecting cable 4 to connect multiple sets of transducers 202 together. Then, put connecting air pipe 7 on the connecting sleeves 207 at the top and bottom of the fixed air pipe 206. Repeat the operation to assemble multiple sets of transducers 202 together. Connect the connecting cable 4 on the first set of transducers 202 to the external controller. Then connect the connecting air pipe 7 on the first set of transducers 202 to the air pump. The external controller starts the resistance heating wire 208 through the connecting cable 4 and the power supply cable 203. The resistance heating wire 208 heats and softens the connecting rubber strip 9. The softened connecting rubber strip 9 will stick to the connecting sleeve 207. Turn off the resistance heating wire 208. The connecting rubber strip 9 cools and fixes, thereby fixing the fixed air pipe 206 and the connecting air pipe 7 together. S3, insert the endoscope 3 into the transducer 202. Move the endoscope 3 below the last set of transducers 202, and then insert the push wire 215 into the center bolt 201. The fixed air tube 206 and the center bolt 201 will clamp the push wire 215. Use the push wire 215 to send the assembled sets of transducers 202 into the pipeline. The endoscope 3 will take pictures of the area below the transducers 202 and transmit the data to the outside through the monitoring cable 1. The operator will judge whether the transducer 202 has moved to the weld position based on the received image data. When the transducer 202 moves to the weld position, stop pushing the push wire 215. S4, the external controller starts the conveying device through the connecting cable 4 and the power supply cable 203. The conveying device pushes out the transducer 202 and starts the air pump. The air pump sends compressed air into the inner guide pipe 214 through the connecting air pipe 7 and the fixed air pipe 206. The compressed air in the inner guide pipe 214 flows into the expansion air bag 211 through the annular groove 213 and the outer guide pipe 212. The inflowing compressed air causes the expansion air bag 211 to expand. The expanded expansion air bag 211 will press against the inner wall of the pipe, thereby fixing the transducer 202 inside the pipe. The external controller starts the transducer 202 through the connecting cable 4 and the power supply cable 203. The transducer 202 converts the input high-frequency current into high-energy sound waves and emits them. The emitted high-energy sound waves will be reflected after encountering the inner reflective wedge 210. The inner reflective wedge 210 converts the vertically diffused high-energy sound waves into horizontally diffused ones. The horizontally diffused high-energy sound waves will be emitted to the pipe weld and the surrounding pipe wall, thereby regulating the residual stress in the circumferential pipe weld area. S5. After the adjustment is completed, the pump extracts the air from the expansion airbag 211 through the connecting air pipe 7, the fixed air pipe 206, the inner guide pipe 214 and the outer guide pipe 212. The expansion airbag 211 returns to its original state. The external controller starts the conveying device through the connecting cable 4 and the power supply cable 203. The conveying device pulls the transducer 202 into the interior and pulls the push wire 215. The push wire 215 pulls the transducer 202 and the conveying device out of the pipe and removes the transducer 202 from the conveying device.

[0022] Workflow of this invention: When the flexible unit-type internal reflection pipeline weld residual stress control device designed in this solution is running, pull the monitoring cable 1 to pull out the endoscope 3, disconnect the connecting cable 4 from the power supply cable 203, then pull the connecting air tube 7 from the fixed air tube 206, then pull out the push wire 215, put the transducer 202 into the conveying device, the limiting rod 802 on the outer wall of the transducer 202 is inserted into the push plate in the conveying device, the conveying device will lock the limiting rod 802, and fix the transducer 202 in the conveying device; Select the appropriate length of connecting cable 4 and fixed air pipe 206 according to the distance between the pipe welds. Use connecting cable 4 to connect multiple sets of transducers 202 together. Then, put connecting air pipe 7 on the connecting sleeves 207 at the top and bottom of the fixed air pipe 206. Repeat the operation to assemble multiple sets of transducers 202 together. Connect the connecting cable 4 on the first set of transducers 202 to the external controller. Then connect the connecting air pipe 7 on the first set of transducers 202 to the air pump. The external controller starts the resistance heating wire 208 through the connecting cable 4 and the power supply cable 203. The resistance heating wire 208 heats and softens the connecting rubber strip 9. The softened connecting rubber strip 9 will stick to the connecting sleeve 207. Turn off the resistance heating wire 208 and the connecting rubber strip 9 cools and fixes, thereby fixing the fixed air pipe 206 and the connecting air pipe 7 together. Insert the endoscope 3 into the transducer 202. Move the endoscope 3 below the last set of transducers 202. Then insert the push wire 215 into the center bolt 201. The fixed air tube 206 and the center bolt 201 will clamp the push wire 215. Use the push wire 215 to send the assembled sets of transducers 202 into the pipeline. The endoscope 3 will take pictures of the area below the transducers 202 and transmit the data to the outside through the monitoring cable 1. The operator will judge whether the transducer 202 has moved to the weld position based on the received image data. When the transducer 202 moves to the weld position, stop pushing the push wire 215. The external controller starts the conveying device through the connecting cable 4 and the power supply cable 203. The conveying device pushes out the transducer 202 and starts the air pump. The air pump sends compressed air into the inner guide pipe 214 through the connecting air pipe 7 and the fixed air pipe 206. The compressed air in the inner guide pipe 214 flows into the expansion air bag 211 through the annular groove 213 and the outer guide pipe 212. The inflowing compressed air causes the expansion air bag 211 to expand. The expanded expansion air bag 211 will press against the inner wall of the pipe, thereby fixing the transducer 202 inside the pipe. The external controller starts the transducer 202 through the connecting cable 4 and the power supply cable 203. The transducer 202 converts the input high-frequency current into high-energy sound waves and emits them. The emitted high-energy sound waves will be reflected after encountering the inner reflective wedge 210. The inner reflective wedge 210 converts the vertically diffused high-energy sound waves into horizontally diffused ones. The horizontally diffused high-energy sound waves will be emitted to the pipe weld and the surrounding pipe wall, thereby regulating the residual stress in the circumferential pipe weld area. After adjustment, the pump extracts air from the expansion bladder 211 through the connecting air pipe 7, the fixed air pipe 206, the inner guide pipe 214, and the outer guide pipe 212. The expansion bladder 211 returns to its original shape. The external controller starts the conveying device through the connecting cable 4 and the power supply cable 203. The conveying device pulls the transducer 202 into the interior and pulls the push wire 215. The push wire 215 pulls the transducer 202 and the conveying device out of the pipe and removes the transducer 202 from the conveying device.

[0023] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A flexible unit-type internal reflection pipeline weld residual stress control device, comprising a monitoring cable (1), characterized in that: The monitoring cable (1) is provided with an adjustment mechanism (2) on its outer wall. An endoscope (3) is electrically connected to the bottom end of the monitoring cable (1). A connecting cable (4) is provided above and below the adjustment mechanism (2). A female connector (5) is fixedly connected to the top of the connecting cable (4). A male connector (6) is fixedly connected to the bottom of the connecting cable (4). A connecting air tube (7) is provided above and below the adjustment mechanism (2) and on the right side of the connecting cable (4). A connecting mechanism (8) is provided on the outer wall of the adjustment mechanism (2). A connecting rubber strip (9) is provided inside the connecting air tube (7). The control mechanism (2) includes a central bolt (201) slidably connected to the outer wall of the monitoring cable (1). A transducer (202) is fixedly connected to the outer wall of the central bolt (201). A power supply cable (203) is fixedly connected inside the central bolt (201) at the corresponding position of the connecting cable (4). A fixed female socket (204) is fixedly connected to the top of the power supply cable (203) outside the central bolt (201). A fixed male plug (205) is fixedly connected to the bottom of the power supply cable (203) below the central bolt (201). A fixed air tube (206) is fixedly connected inside the central bolt (201) on the right side of the monitoring cable (1). A connecting sleeve (207) is fixedly connected to the top and bottom of the fixed air tube (206) outside the central bolt (201). A resistance heating wire (208) is installed inside the transducer (202). A connecting rod (209) is threadedly connected to the bottom of the transducer (202) and directly below the central bolt (201). An inner reflective wedge (210) is fixedly connected to the bottom end of the connecting rod (209). An expansion airbag (211) is fixedly connected to the outer wall of the inner reflective wedge (210). An outer guide tube (212) is fixedly connected to the inside of the expansion airbag (211) and near the position of the inner reflective wedge (210). An annular groove (213) is opened inside the inner reflective wedge (210) and at the corresponding position of the outer guide tube (212). An inner guide tube (214) is fixedly connected to the inner wall of the annular groove (213) and near the position of the fixed air tube (206). Pushing steel wires (215) are slidably connected to the front and back of the fixed air tube (206).

2. The flexible unit-type internal reflection pipeline weld residual stress control device according to claim 1, characterized in that: The connecting mechanism (8) includes a connecting plate (801) fixedly connected to the outer wall of the transducer (202). A limiting rod (802) is fixedly connected to the top center of the connecting plate (801). Positioning holes (803) are provided on both sides of the limiting rod (802). A conductive plate (804) is fixedly connected to the top center of the connecting plate (801).

3. The flexible unit-type internal reflection pipeline weld residual stress control device according to claim 1, characterized in that: The control mechanism (2), connecting air pipe (7), and connecting cable (4) are all provided in multiple sets, and the connecting cable (4) and connecting air pipe (7) are provided with different length specifications. The connecting air pipe (7) is made of PVC plastic hose.

4. The flexible unit-type internal reflection pipeline weld residual stress control device according to claim 1, characterized in that: The central bolt (201) passes through and extends into the transducer (202), which is a piezoelectric ceramic transducer. The power supply cable (203), the fixed air pipe (206), the push wire (215), and the monitoring cable (1) all pass through the central bolt (201), the transducer (202), and the connecting rod (209) in sequence and extend to the area below the inner reflective wedge (210).

5. The flexible unit-type internal reflection pipeline weld residual stress control device according to claim 1, characterized in that: The push wire (215) is made of steel wire with a diameter of 4mm. The monitoring cable (1), the fixed air tube (206) and the center bolt (201) are all connected to the push wire (215) by sliding connection. The outer guide tube (212) passes through the inflatable air bag (211) and extends into the annular groove (213). The inner guide tube (214) passes through the inner reflective wedge (210) and extends into the fixed air tube (206).

6. The flexible unit-type internal reflection pipeline weld residual stress control device according to claim 1, characterized in that: The inner reflective wedge (210) is made of high-density alloy, preferably tungsten alloy. The inner reflective wedge (210) has a conical structure design. The fixed female socket (204) and the connecting male plug (6), and the fixed male plug (205) and the connecting female socket (5) are all plug-in connections. The connecting sleeve (207) and the connecting air pipe (7) are connected by a sliding connection. The transducer (202) and the resistance heating wire (208) are all connected by an electrical connection to the power supply cable (203).

7. The flexible unit-type internal reflection pipeline weld residual stress control device according to claim 2, characterized in that: The connecting plate (801) and the limiting rod (802) are both made of ABS plastic. The connecting plate (801), the limiting rod (802) and the conductive plate (804) are all provided in four sets. The conductive plate (804) is made of copper and has a semi-circular structure design.

8. The method of using the flexible unit-type internal reflection pipeline weld residual stress control device according to claims 1-7, characterized in that, Includes the following steps: S1, pull the monitoring cable 1 to pull out the endoscope (3), disconnect the connecting cable (4) from the power supply cable (203), then pull the connecting air tube (7) from the fixed air tube (206), then pull out the push wire (215), put the transducer (202) into the conveying device, insert the limiting rod (802) on the outer wall of the transducer 202 into the push plate in the conveying device, the conveying device will lock the limiting rod (802) and fix the transducer 202 in the conveying device; S2, select a suitable length of connecting cable (4) and fixed air pipe (206) according to the distance between the pipe welds, use connecting cable (4) to connect multiple sets of transducers (202) together, then put connecting air pipe (7) on the connecting sleeve (207) at the top and bottom of fixed air pipe (206), repeat the operation to assemble multiple sets of transducers (202) together, connect the connecting cable (4) on the first set of transducers (202) to the external controller, then connect the connecting air pipe (7) on the first set of transducers (202) to the air pump, the external controller starts the resistance heating wire (208) through connecting cable (4) and power supply cable (203), the resistance heating wire (208) heats and softens the connecting rubber strip (9), the softened connecting rubber strip (9) will stick to the connecting sleeve (207), turn off the resistance heating wire (208), the connecting rubber strip (9) cools and fixes, thereby fixing the fixed air pipe (206) and the connecting air pipe (7) together; S3, insert the endoscope (3) into the transducer (202), move the endoscope (3) below the last set of transducers (202), and then insert the push wire (215) into the center bolt (201). The fixed air tube (206) and the center bolt (201) will clamp the push wire (215). Use the push wire (215) to send the assembled multiple sets of transducers (202) into the pipeline. The endoscope (3) will take pictures of the transducer (202) below and transmit the data to the outside through the monitoring cable (1). The operator judges whether the transducer (202) has moved to the weld position based on the received image data. When the transducer (202) moves to the weld position, stop pushing the push wire (215). S4, the external controller starts the conveying device through the connecting cable (4) and the power supply cable (203). The conveying device pushes out the transducer (202) and starts the air pump. The air pump sends compressed air into the inner guide pipe (214) through the connecting air pipe (7) and the fixed air pipe (206). The compressed air in the inner guide pipe (214) flows into the expansion bladder (211) through the annular groove (213) and the outer guide pipe (212). The flowing compressed air will cause the expansion bladder (211) to expand. The expanded expansion bladder (211) will press against the inside of the pipe. The wall is used to fix the transducer (202) inside the pipe, so that the external controller can start the transducer (202) through the connecting cable (4) and the power supply cable (203). The transducer (202) converts the input high frequency current into high energy sound waves and emits them. The emitted high energy sound waves will be reflected after encountering the inner reflective wedge (210). The inner reflective wedge (210) converts the vertically diffused high energy sound waves into horizontally diffused ones. The horizontally diffused high energy sound waves will be emitted to the pipe weld and the pipe wall around the weld, thereby regulating the residual stress in the circumferential pipe weld area. S5. After the adjustment is completed, the pump extracts the air from the expansion airbag (211) through the connecting air pipe (7), the fixed air pipe (206), the inner guide pipe (214) and the outer guide pipe (212). The expansion airbag (211) returns to its original state. The external controller starts the conveying device through the connecting cable (4) and the power supply cable (203). The conveying device pulls the transducer (202) into the interior and pulls the push wire (215). The push wire (215) pulls the transducer (202) and the conveying device out of the pipe and removes the transducer (202) from the conveying device.

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