A device for detecting and positioning defects on the inner wall of an oil pipeline

Abstract

The application relates to the field of pipeline detection and discloses an oil pipeline inner wall defect detection positioning device which comprises a monitor and a taking and placing mechanism. The monitor comprises a machine body, the outer surface of the machine body is provided with a middle ring groove and a side ring groove, a monitoring element is arranged in the middle ring groove, a transparent cover is arranged at the slot opening of the middle ring groove, a driving ring is sleeved on the groove bottom of the side ring groove, a plurality of rotating shafts are arrayed and installed on the groove wall of the side ring groove in the circumferential direction, the shaft center lines of the rotating shafts are parallel to the shaft center line of the driving ring, the end of the rotating shaft is provided with a connecting rod, a protruding pin arranged at the end of the connecting rod and a linkage hole arranged on the driving ring form a sliding fit, when the driving ring rotates, the rotating shaft can be driven to rotate through the fit of the linkage hole and the protruding pin, the outer part of the rotating shaft is connected with an arc arm, after the monitor is put into the oil pipeline, the end of the arc arm extends out of the side ring groove and approaches the pipe wall of the oil pipeline.

Description

Technical Field

[0001] This invention relates to the field of pipeline inspection, specifically to the field of oil pipeline inner wall inspection, and particularly to a device for detecting and locating defects in the inner wall of an oil pipeline. Background Technology

[0002] Defects on the inner wall of oil pipelines (such as corrosion pits, cracks, and dents) can weaken the pipeline's pressure-bearing capacity, potentially leading to pipe bursts or leaks over time. Therefore, regular monitoring of the inner wall of oil pipelines is necessary to prevent leaks and ensure safety.

[0003] A search for oil pipeline inner wall monitoring technology revealed a Chinese invention patent application, publication number CN113048329A, which discloses a piezoelectric ultrasonic testing probe section and an in-pipe detector for oil pipelines. Multiple wafers are combined to form an ultrasonic testing array probe, which is connected to an electronics compartment via a multi-core cable. In use, the detector moves within the oil pipeline in the same way as existing "in-pipe detector" technologies. Specifically, the detector is inserted into the upstream oil pipeline. Driven by the flow of oil and gas media within the pipeline, the detector moves, simultaneously detecting and storing data on the inner wall of the pipeline. When the detector moves to the downstream oil pipeline, it is removed, and the stored data is retrieved to obtain the detection results of the inner wall of the oil pipeline. This mobile detection method has some shortcomings, such as:

[0004] 1. During the process of the detector being pushed by the flowing oil and gas medium in the oil pipeline, it may shake and deviate due to reasons such as center of gravity shift and circumferential rotation. These unexpected movements will not only affect the detection accuracy and reliability, but also cause the detector to collide with the oil pipeline wall.

[0005] 2. When the detector enters or exits the oil pipeline, the flow of oil and gas in the pipeline needs to be paused, the reserved port needs to be opened, the detector needs to be inserted or removed, and the reserved port needs to be closed to resume the flow of oil and gas. Therefore: on the one hand, the operation is relatively complicated and requires the flow of oil and gas to be paused, which delays the transportation of oil and gas; on the other hand, considering the opening and closing of the reserved port, the reserved port cannot be set as an integrated structure, but needs to be set as an openable and closable structure, which can easily cause the oil and gas in the oil pipeline to come into contact with the external environment and be easily contaminated.

[0006] Based on the above, the present invention proposes a device for detecting and locating defects in the inner wall of an oil pipeline. Summary of the Invention

[0007] To address the problems mentioned in the background above, the present invention provides a device for detecting and locating defects in the inner wall of an oil pipeline.

[0008] To achieve the above-mentioned technical objectives, the technical solution adopted by the present invention is as follows.

[0009] A device for detecting and locating defects in the inner wall of an oil pipeline includes a monitor and two picking and placing mechanisms installed on the oil pipeline. The monitor includes an elliptical body with a central annular groove and two side annular grooves on its outer surface.

[0010] The middle ring groove is located in the middle of the outer surface of the machine body and contains a micro battery and monitoring elements. A transparent cover is installed at the opening of the middle ring groove.

[0011] Two side ring grooves are located near the two ends of the machine body. Clamping units are installed in the side ring grooves. The clamping units include a drive ring sleeved on the bottom of the side ring groove. Several rotating shafts are arranged in an array along the circumferential direction on the groove wall of the side ring groove. The axis of the rotating shaft is parallel to the axis of the drive ring. A connecting rod is provided at the end of the rotating shaft. A protruding pin extends from the end of the connecting rod. The protruding pin and the linkage hole provided on the drive ring form a sliding fit. When the drive ring rotates, the rotating shaft can be driven to rotate through the fit between the linkage hole and the protruding pin. An arc arm is connected to the outside of the rotating shaft.

[0012] After the monitor is placed inside the oil pipeline, the end of the arc arm extends out of the side annular groove and the distance between the end of the arc arm and the oil pipeline wall is 1-2 cm.

[0013] Furthermore, a through hole is provided at the end of the body and a propeller is installed inside the through hole. Several tail blades are arranged in an array along the circumferential direction on the outer surface of one end of the body. When the monitor is located inside the oil pipeline, the propeller can start to make the body move in the opposite direction to the flow of oil in the oil pipeline.

[0014] Furthermore, a gear ring is coaxially provided on the end face of the drive ring, and a gear is meshed with the gear ring. A connecting shaft is provided between the gears of the two clamping units, and the connecting shaft forms a power connection with the micro motor provided in the middle ring groove.

[0015] Furthermore, the exterior of the arc arm is covered with a soft material.

[0016] Furthermore, the pick-and-place mechanism includes a pump housing, and a connecting seat is provided at the bottom of the pump housing. The connecting seat is open on both sides along the center line of the oil pipeline, and the internal area formed therein is connected to the pump housing through a connecting hole. Both open ends of the connecting seat are provided with sealing plates, and the sealing plates are provided with fixing holes.

[0017] The oil pipeline consists of several sub-pipes, and the fixing holes on the two sealing plates are connected to the two sub-pipes respectively.

[0018] Furthermore, the outer circular surface of the pump casing is provided with a side pipe and a side hole parallel to the oil pipeline. The side hole and the side pipe are coaxial. A linear module is provided inside the side pipe. The output end of the linear module is connected to a socket and a shoulder is formed at the connection. An electromagnet is provided on the shoulder.

[0019] A piston is fitted inside the pump casing, and a sleeve is installed at the bottom of the piston via a fixing rod;

[0020] The sleeve is open at both ends and its center line is parallel to the oil pipeline. The sleeve is divided into a cylindrical section and a frustum section along the axis. The small diameter end of the frustum section is connected to the cylindrical section. The frustum sections of the sleeve in the two pick-up and drop mechanisms are arranged facing each other. The cylindrical section is provided with a built-in step at the end away from the frustum section.

[0021] The outer diameter of the end of the monitor is greater than the inner diameter of the built-in step, which is greater than the outer diameter of the socket. The outer diameter of the socket is smaller than the inner diameter of the end of the monitor.

[0022] Furthermore, when the piston contacts the upper end of the pump housing, the center line of the sleeve coincides with the center line of the side hole; when the piston contacts the lower end of the pump housing, the center line of the sleeve coincides with the center line of the oil pipeline.

[0023] Furthermore, the picking and placing mechanism also includes an inlet and outlet assembly, which includes a housing, a rotating core fitted inside the housing, a housing cover set at the closed end of the housing, and a rotary motor for driving the rotating core to rotate. The end face of the rotating core is provided with three inlet and outlet holes arranged in an array along the circumferential direction. The end face of the housing cover is provided with a protruding tube, and the closed end of the housing is provided with a protruding nozzle, which is connected to the side hole.

[0024] The position of the inlet and outlet hole coaxial with the convex tube is named the pick-and-place position, the position of the inlet and outlet hole coaxial with the convex nozzle is named the inlet and outlet position, and the position of the last inlet and outlet hole is named the suction position.

[0025] Furthermore, the pick-and-place mechanism also includes a drive assembly, which includes an oil pump;

[0026] The oil pump has a three-way pipe a at the inlet and a three-way pipe b at the outlet. The remaining two ports of the three-way pipe a and the remaining two ports of the three-way pipe b are connected by pipe a and pipe b respectively. A valve is installed at the connection between pipe a and three-way pipe a, a valve is installed at the connection between pipe a and three-way pipe b, a valve is installed at the connection between pipe b and three-way pipe a, and a valve is installed at the connection between pipe b and three-way pipe b.

[0027] The end of pipe a is connected to the oil pipeline, and in the upstream pick-and-place mechanism, the sleeve is located downstream of the connection between pipe a and the oil pipeline;

[0028] Pipe b is connected to pipe c, which is connected to an oil hole located at the upper end of the pump casing, and valve six is ​​installed at the connection.

[0029] Furthermore, the end of pipe b is connected to a suction hole on the shell cover, and a valve five is provided at the connection. The shell cover is also provided with an air hole, and pipe d is provided at the opening of the air hole. The end of pipe d is higher than the inlet and outlet hole of the suction position. Both the suction hole and the air hole are connected to the inlet and outlet hole of the suction position.

[0030] Compared with the prior art, the beneficial effects of this invention are as follows:

[0031] I. This case utilizes a pick-and-place mechanism to insert or remove the monitor from the oil pipeline, enabling the detection of pipeline wall defects. Its technical advantages are:

[0032] Technical effect 1: The retrieval and placement mechanism places the monitor into the oil pipeline upstream and intercepts and retrieves the monitor downstream. Throughout the process, the oil medium in the oil pipeline has no contact with the external environment, thus avoiding contamination of the oil medium.

[0033] Technical Effect 2: When the monitor is pushed by the flowing oil inside the oil pipeline, fluctuations are inevitable, including deflection and swaying. This condition determines that only a coarse inspection of the pipeline wall can be performed. Therefore, in this case, the monitor is pushed by the oil medium to move inside the oil pipeline, thus achieving a preliminary inspection of the pipeline wall. When a defect is found, the position of the monitor is fixed. At this time, the center line of the monitor coincides with the center line of the oil pipeline and the monitor does not move. Therefore, a second precise monitoring of the location of the defect can be performed, improving the monitoring accuracy.

[0034] Technical Effect 3: After the monitor enters the oil pipeline and leaves the sleeve, it switches to a semi-deployed state: On the one hand, in the semi-deployed state, the distance between the end of the monitor's arc arm and the oil pipeline is between 1-2 cm, which can ensure that the monitor is roughly located near the center line of the oil pipeline. At the same time, the soft material on the arc arm can prevent collisions between the monitor and the oil pipeline that could cause damage. On the other hand, when it is necessary to fix the position of the monitor, it can be deployed and fixed more quickly and timely. For example, the position can be fixed within 0.1-1 seconds. With the propeller slowing down the movement speed of the monitor, it can ensure that the location of the defect found in the initial detection is within the monitoring range of the fixed monitor.

[0035] Second, in this case, the pick-up and drop mechanism uses a high-power oil pump to draw oil from the oil pipeline, thereby driving the monitor into the pipeline. Its technical advantage lies in:

[0036] Technical Effect 4: The oil pump draws oil from the oil pipeline and uses the oil as a medium to drive the piston downward, carrying the monitor into the oil pipeline. During this process, because the oil in the oil pipeline is drawn in, the oil flow rate at the connection between the upstream pick-and-place mechanism and the oil pipeline will decrease rapidly and become slow. The advantage is that if this were not the case, the oil in the oil pipeline would flow at a normal rate, and the monitor would be affected by the flowing oil as soon as it enters the oil pipeline, and would begin to leave the sleeve. That is, when the monitor leaves, it is closer to the upper pipe wall of the oil pipeline, and its posture is unstable, making it easy to collide with the upper pipe wall of the oil pipeline.

[0037] In contrast, in this case, oil is used as a medium to drive the monitor into the oil pipeline. This causes the oil flow rate near the monitor to drop rapidly. The slow-flowing oil has limited resistance to the monitor and is insufficient to detach it from the sleeve during the downward movement of the sleeve. This solves the aforementioned problems of unstable posture and easy collision with the oil pipeline. When the monitor moves rapidly down to coincide with the center line of the oil pipeline, the oil pump stops running, the oil flow rate in the oil pipeline recovers, and the recovered flowing oil pushes the monitor away from the sleeve and moves within the oil pipeline. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the structure of the present invention;

[0039] Figure 2 A cross-sectional view of the monitor being inserted into the upstream pick-and-place mechanism;

[0040] Figure 3 A cross-sectional view of the upstream loading and unloading mechanism placing the monitor into the oil pipeline;

[0041] Figure 4 A cross-sectional view of the monitor operating inside an oil pipeline;

[0042] Figure 5 A cross-sectional view of the monitor being intercepted and captured by the downstream pick-and-place mechanism;

[0043] Figure 6 A schematic diagram of the monitor in the retracted state;

[0044] Figure 7 A schematic diagram of the monitor in a semi-deployed state;

[0045] Figure 8 A schematic diagram of a monitor for the internal clamping state;

[0046] Figure 9 An exploded view of the monitor;

[0047] Figure 10 Schematic diagram of the internal clamping component Figure 1 ;

[0048] Figure 11 Schematic diagram of the internal clamping component Figure 2 ;

[0049] Figure 12 This is a schematic diagram of the loading and unloading mechanism and the infusion pipeline;

[0050] Figure 13 Cross-section of the pick-and-place mechanism Figure 1 ;

[0051] Figure 14 Cross-section of the pick-and-place mechanism Figure 2 ;

[0052] Figure 15 This is a schematic diagram showing the entry and exit of components;

[0053] Figure 16 This is a schematic diagram of the driving component.

[0054] The labels in the attached diagram are:

[0055] 100. Oil pipeline; 101. Housing; 200. Picking and placing mechanism; 201. Pump housing; 202. Connecting seat; 203. Sealing plate; 204. Piston; 205. Fixing rod; 206. Sleeve; 207. Side pipe; 208. Socket; 209. Linear module; 210. Inlet / outlet assembly; 2101. Housing; 2102. Rotary core; 2103. Inlet / outlet hole; 2104. Housing cover; 2105. Protruding tube; 2106. Rotary motor; 211. Drive assembly; 2111. Oil pump; 2112. T-joint a; 2 113. T-joint b; 2114. Pipe a; 2115. Pipe b; 2116. Pipe c; 2117. Pipe d; 300. Monitor; 301. Body; 3011. Middle ring groove; 3012. Side ring groove; 302. Transparent cover; 303. Tail rotor blade; 304. Internal clamping assembly; 3041. Micro motor; 3042. Drive ring; 3043. Arc arm; 3044. Rotating shaft; 3045. Connecting rod; 3046. Linkage hole; 3047. Protruding pin; 305. Propeller; 306. Monitoring element. Detailed Implementation

[0056] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below.

[0057] Reference Figures 1-5A device for detecting and locating defects in the inner wall of an oil pipeline includes a monitor 300 and two pick-and-place mechanisms 200 disposed on the oil pipeline 100. The pick-and-place mechanisms 200 are used to place the monitor 300 into or remove it from the oil pipeline 100, and during the placement or removal process, the internal environment of the oil pipeline 100 has no communication or contact with the external environment. The monitor 300 is used to detect defects in the inner wall of the oil pipeline 100.

[0058] Picking and placing mechanism 200:

[0059] Reference Figures 12-16 The pick-and-place mechanism 200 includes a pump housing 201. A connecting seat 202 is provided at the bottom of the pump housing 201. The connecting seat 202 is open on both sides of the axis of the oil pipeline 100, and the internal area formed therein is connected to the pump housing 201 through a connecting hole. Both open ends of the connecting seat 202 are provided with sealing plates 203. The sealing plates 203 are provided with fixing holes. The oil pipeline 100 itself is composed of sections of sub-pipes, such as welded sections. The fixing holes on the two sealing plates 203 are respectively connected to the two sections of sub-pipes, thereby realizing the connection between the pick-and-place mechanism 200 and the oil pipeline 100.

[0060] The outer circular surface of the pump housing 201 is provided with a side pipe 207 and a side hole parallel to the oil pipeline 100. The side hole and the side pipe 207 are coaxial. A linear module 209 is provided inside the side pipe 207. The output end of the linear module 209 is close to the center line of the pump housing 201 and is provided with a socket 208. The linear module 209 drives the socket 208 to move linearly, so that it can extend into or out of the side hole.

[0061] A piston 204 is fitted inside the pump housing 201. A sleeve 206 is provided at the bottom of the piston 204 via a fixing rod 205. Furthermore, the center line of the sleeve 206 is parallel to the oil pipeline 100, and both ends are open. It includes a cylindrical section and a frustum section. The smaller diameter end of the frustum section is connected to the cylindrical section. The frustum sections of the sleeves 206 in the two pick-and-place mechanisms 200 are arranged facing each other. The end of the cylindrical section away from the frustum section is provided with an internal step.

[0062] The outer diameter of the end of the monitor 300 is larger than the inner diameter of the built-in step and larger than the outer diameter of the socket 208. The outer diameter of the socket 208 is smaller than the inner diameter of the end of the monitor 300. Furthermore, a shoulder is formed at the connection between the socket 208 and the output end of the linear module 209. An electromagnet is provided on the shoulder. The body 301 of the monitor 300 is made of metal material, such as iron, or the end of the monitor 300 is inlaid with magnetic material. When the electromagnet is energized, it can achieve magnetic adsorption of the monitor 300, and when the power is off, it is removed.

[0063] When piston 204 contacts the upper end of pump housing 201, the center line of sleeve 206 coincides with the center line of side hole. When piston 204 contacts the lower end of pump housing 201, the center line of sleeve 206 coincides with the center line of oil pipeline 100.

[0064] The pick-and-place mechanism 200 also includes an in-and-out component 210 and a drive component 211. The in-and-out component 210 is used to remove the monitor 300 from the sleeve 206 or to deliver the monitor 300 to the location of the side hole. The drive component 211 is used to drive the piston 204 to move within the pump housing 201.

[0065] Reference Figure 15 The inlet / outlet assembly 210 includes a housing 2101, a rotating core 2102 fitted inside the housing 2101, a cover 2104 disposed at the closed end of the housing 2101, and a rotary motor 2106 for driving the rotating core 2102 to rotate. The rotary motor 2106 adopts servo motor technology.

[0066] The end face of the rotating core 2102 is provided with three inlet and outlet holes 2103 arranged in a circumferential direction, the end face of the cover 2104 is provided with a protruding tube 2105, and the closed end of the outer shell 2101 is provided with a protruding nozzle, which is connected to the side hole.

[0067] The position of the inlet / outlet hole 2103 coaxial with the convex tube 2105 is named the take-up / put-out position, the position of the inlet / outlet hole 2103 coaxial with the convex nozzle is named the inlet / outlet position, and the position of the last inlet / outlet hole 2103 is named the suction position.

[0068] Reference Figure 15 and Figure 16 The drive component 211 includes an oil pump 2111.

[0069] The oil pump 2111 has a three-way pipe a2112 at the inlet and a three-way pipe b2113 at the outlet. The remaining two ports of the three-way pipe a2112 and the remaining two ports of the three-way pipe b2113 are connected to each other by pipes a2114 and b2115, respectively. A valve is installed at the connection between pipe a2114 and the three-way pipe a2112, a valve is installed at the connection between pipe a2114 and the three-way pipe b2113, a valve is installed at the connection between pipe b2115 and the three-way pipe a2112, and a valve is installed at the connection between pipe b2115 and the three-way pipe b2113.

[0070] The end of pipe a2114 is connected to oil pipeline 100.

[0071] The end of pipe b2115 is connected to a suction hole on the cover 2104 and a valve is provided at the connection. The suction hole is connected to the inlet / outlet hole 2103 of the suction position. The cover 2104 is also provided with an air hole. Pipe d2117 is provided at the opening of the air hole. The end of pipe d2117 is higher than the inlet / outlet hole 2103 of the suction position. The air hole is connected to the inlet / outlet hole 2103 of the suction position.

[0072] Pipe b2115 is also connected to pipe c2116, which is connected to an oil hole located at the upper end of pump housing 201, and a valve is installed at the connection.

[0073] The process by which the upstream pick-and-place mechanism 200 places the monitor 300 into the oil pipeline 100:

[0074] Open the tube cap located at the end of the convex tube 2105, put the monitor 300 into the convex tube 2105 and push it into the inlet / outlet hole 2103 of the pick-up / placement position, close the tube cap, and at the same time, the piston 204 contacts the upper end of the pump housing 201.

[0075] The rotary motor 2106 drives the rotating core 2102 to rotate 120 degrees, so that the inlet / outlet port 2103 equipped with the monitor 300 moves to the inlet / outlet position;

[0076] The linear module 209 drives the socket 208 to move, so that the socket 208 passes through the sleeve 206, the side hole and the protrusion, and is inserted into the monitor 300. The end of the monitor 300 contacts the shaft shoulder and is magnetically attracted by the energized electromagnet.

[0077] The linear module 209 drives the socket 208 to move in the opposite direction. The socket 208 moves together with the monitor 300, so that the monitor 300 is located inside the sleeve 206. After the monitor 300 contacts the built-in step of the sleeve 206, the socket 208 continues to move, and the monitor 300 can no longer move and is disengaged from the socket 208. After that, the socket 208 continues to move to reset, and the electromagnet is de-energized.

[0078] Valve 1, Valve 4, and Valve 6 are opened, while Valve 2, Valve 3, and Valve 5 are closed. Oil pump 2111 starts, drawing oil from the oil pipeline 100 and injecting it into pump housing 201 through pipeline a2114, Valve 1, T-connector a2112, T-connector b2113, Valve 4, pipeline b2115, pipeline c2116, and Valve 6. This causes piston 204 to move downwards. Piston 204, along with sleeve 206 and monitor 300, moves downwards together. When piston 204 contacts the lower end of pump housing 201, monitor 300 is located inside oil pipeline 100, and their center lines coincide.

[0079] Furthermore, in the upstream pick-and-place mechanism 200, the sleeve 206 is located downstream of the connection between pipeline a2114 and oil pipeline 100, and its technical advantages are:

[0080] The oil pump draws oil from the oil pipeline, using the oil as a medium to drive the piston downward and carry the monitor into the oil pipeline. During this process, because the oil in the oil pipeline is drawn in, the oil flow rate at the connection between the upstream pick-and-place mechanism and the oil pipeline will decrease rapidly and become slow. The advantage is that if this were not the case, the oil in the oil pipeline would flow at a normal rate, and the monitor would be affected by the flowing oil as soon as it enters the oil pipeline, and would begin to leave the sleeve. That is, when the monitor leaves, it is closer to the upper pipe wall of the oil pipeline, and its posture is unstable, making it easy to collide with the upper pipe wall of the oil pipeline.

[0081] In contrast, in this case, oil is used as a medium to drive the monitor into the oil pipeline. This causes the oil flow rate near the monitor to drop rapidly. The slow-flowing oil has limited resistance to the monitor and is insufficient to detach it from the sleeve during the downward movement of the sleeve. This solves the aforementioned problems of unstable posture and easy collision with the oil pipeline. When the monitor moves rapidly down to coincide with the center line of the oil pipeline, the oil pump stops running, the oil flow rate in the oil pipeline recovers, and the recovered flowing oil pushes the monitor away from the sleeve and moves within the oil pipeline.

[0082] The process of the downstream pick-and-place mechanism 200 intercepting the monitor 300:

[0083] When the monitor 300 is in motion, it can be intercepted and captured by the sleeve 206 of the downstream pick-and-place mechanism 200;

[0084] Valve 2, Valve 3, and Valve 6 are opened, and Valve 1, Valve 4, and Valve 5 are closed. Oil pump 2111 starts, and oil in pump housing 201 is drawn in and flows back to oil pipeline 100 through valve 6, pipeline c2116, pipeline b2115, valve 3, tee pipe a2112, tee pipe b2113, valve 2, and pipeline a2114 in sequence, causing piston 204 to move upward until piston 204 contacts the upper end of pump housing 201.

[0085] The linear module 209 drives the socket 208 to move, so that the socket 208 passes through the sleeve 206, the side hole and the protrusion, and at the same time pushes the monitor 300 into the inlet / outlet hole 2103 of the inlet / outlet position. At the same time, oil will also enter the inlet / outlet hole 2103. After that, the linear module 209 drives the socket 208 to move in the opposite direction to reset.

[0086] The rotary motor 2106 drives the rotating core 2102 to rotate 120 degrees, so that the inlet / outlet port 2103 equipped with the monitor 300 is moved to the suction position;

[0087] Valve 2, Valve 3, and Valve 5 are opened, Valve 1, Valve 4, and Valve 6 are closed, oil pump 2111 is started, and oil in inlet and outlet port 2103 is drawn in and returns to oil pipeline 100 through valve 5, pipeline b2115, valve 3, tee pipe a2112, tee pipe b2113, valve 2, and pipeline a2114 in sequence.

[0088] The rotary motor 2106 drives the rotating core 2102 to rotate 120 degrees, so that the inlet / outlet 2103 containing the monitor 300 is moved to the pick-and-place position, the tube cover is opened and the monitor 300 is taken away.

[0089] Monitor 300:

[0090] Reference Figures 6-11 The monitor 300 includes an internal clamping assembly 304 and an elliptical body 301.

[0091] The end of the body 301 has a through hole and a propeller 305 is installed inside the through hole. Several tail blades 303 are arranged in an array along the circumferential direction on the outer surface of one end of the body 301. Furthermore, when the monitor 300 is located inside the oil pipeline 100, the start of the propeller 305 can cause the body 301 to move in the opposite direction to the flow of oil in the oil pipeline 100. The tail blades 303 can cooperate with the flowing oil to make the body 301 rotate. This rotation is used to overcome the reaction torque generated by the rotation of the propeller 305. Furthermore, when the propeller 305 starts, due to the opposite direction of movement, the monitor 300 can be kept near its current position with a very small movement distance.

[0092] The outer surface of the body 301 is provided with a central ring groove 3011 and two side ring grooves 3012. The central ring groove 3011 is located in the middle of the outer surface of the body 301, and the two side ring grooves 3012 are respectively close to the two ends of the body 301.

[0093] A transparent cover 302 is provided at the opening of the middle ring channel 3011. A micro battery and a monitoring element 306 are provided inside the middle ring channel 3011. The monitoring element 306 can adopt existing monitoring technology, such as several probes arrayed along the circumference. The monitoring range of several probes is sufficient to cover the circumference of the oil pipeline 100, ensuring monitoring without blind spots. The probes can adopt technologies such as camera elements, 3D scanning elements, and ultrasonic probe elements, which will not be elaborated here.

[0094] The inner clamping assembly 304 includes a micro motor 3041 disposed in the central ring groove 3011 and two clamping units disposed in the two side ring grooves 3012 respectively.

[0095] The clamping unit includes a drive ring 3042 sleeved on the bottom of the side ring groove 3012. A gear ring is coaxially provided on the end face of the drive ring 3042. The gear ring is meshed with a gear. A connecting shaft is provided between the gears of the two clamping units. The connecting shaft is connected to the micro motor 3041 to form a power connection. That is, the micro motor 3041 can drive the drive ring 3042 to rotate.

[0096] A rotating shaft 3044 is installed on the groove wall of the side ring groove 3012. The axis of the rotating shaft 3044 is parallel to the axis of the drive ring 3042. A connecting rod 3045 is provided at the end of the rotating shaft 3044. A protruding pin 3047 extends from the end of the connecting rod 3045. The protruding pin 3047 and the linkage hole 3046 provided on the drive ring 3042 form a sliding fit. When the drive ring 3042 rotates, the rotating shaft 3044 can be driven to rotate through the fit between the linkage hole 3046 and the protruding pin 3047.

[0097] The rotating shaft 3044 is externally connected to an arc arm 3043. When the rotating shaft 3044 rotates, it rotates along with the arc arm 3043, so that the end of the arc arm 3043 can extend out of the side annular groove 3012.

[0098] At least two rotating shafts 3044 are arranged in an array along the circumferential direction of the side annular groove 3012, and multiple arc arms 3043, connecting rods 3045, protruding pins 3047 and linkage holes 3046 are respectively provided.

[0099] Therefore, the monitor 300 has three states: retracted state, semi-expanded state, and internal clamping state, specifically:

[0100] When the monitor 300 is placed into the oil pipeline 100 and removed from the oil pipeline 100, it is in a folded state and has an overall elliptical shape.

[0101] After the monitor 300 is placed inside the oil pipeline 100 and detached from the sleeve 206, the micro motor 3041 is started, causing the end of the arc arm 3043 to extend out of the side annular groove 3012 and the distance between the end of the arc arm 3043 and the wall of the oil pipeline 100 is 1-2 cm. The outside of the arc arm 3043 is covered with a soft material, such as silicone rubber. Its technical advantage is to avoid collisions between the arc arm 3043 and the wall of the oil pipeline 100 that could cause damage to the pipe wall.

[0102] When the monitor 300 is propelled by the flowing oil within the oil pipeline 100, it performs a preliminary inspection of the pipeline 100. Upon detecting a defect, the propeller 305 activates, rapidly reducing the monitor 300's speed. Simultaneously, the micro motor 3041 starts, driving the end of the arc arm 3043 to extend further until multiple arc arms 3043 work together to clamp the oil pipeline 100 internally. Even when the monitor 300 remains stationary, a secondary inspection of the pipeline wall is performed. Its technical advantage lies in the fact that the monitor 300, while moving within the oil pipeline... When the pipeline 100 is pushed by the flowing oil, fluctuations, including deflection and swaying, are inevitable. This condition determines that only a rough inspection can be performed on the pipe wall of the oil pipeline 100. Therefore, in this case, when a defect is found, the cooperation between the propeller 305 and the arc arm 3043 fixes the position of the monitor 300 in a very short time. During the fixing process, the moving speed of the monitor 300 is greatly slowed down, ensuring that the defect is still within the monitoring range of the fixed monitor 300 and can be subjected to secondary precise monitoring by the monitor 300, thereby improving the monitoring accuracy.

[0103] After the secondary monitoring is completed, if a defect exists, a signal is sent and the current position is sent to the controller. Then, it switches to the semi-deployed state and continues to move within the oil pipeline 100. If the defect does not exist, no signal is sent, it switches to the semi-deployed state, and continues to move.

[0104] Preferred embodiments, refer to Figure 1 A cover 101 can be matched and set outside the pick-and-place mechanism 200.

[0105] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A device for detecting and locating defects in the inner wall of an oil pipeline, comprising a monitor (300) and two pick-and-place mechanisms (200) disposed on the oil pipeline (100), characterized in that, The monitor (300) includes an elliptical body (301) with a central annular groove (3011) and two side annular grooves (3012) on the outer surface of the body (301). The middle ring groove (3011) is located in the middle of the outer surface of the body (301) and is equipped with a micro battery and monitoring element (306). A transparent cover (302) is provided at the opening of the middle ring groove (3011). Two side ring grooves (3012) are located near the two ends of the body (301). A clamping unit is provided in the side ring groove (3012). The clamping unit includes a drive ring (3042) sleeved on the bottom of the side ring groove (3012). Several rotating shafts (3044) are arranged in an array along the circumferential direction on the groove wall of the side ring groove (3012). The axis of the rotating shaft (3044) is parallel to the axis of the drive ring (3042). The end of the rotating shaft (3044) is provided with There is a connecting rod (3045), and a protruding pin (3047) extends from the end of the connecting rod (3045). The protruding pin (3047) and the connecting hole (3046) provided on the drive ring (3042) form a sliding fit. When the drive ring (3042) rotates, the rotating shaft (3044) can be driven to rotate through the fit between the connecting hole (3046) and the protruding pin (3047). An arc arm (3043) is connected to the outside of the rotating shaft (3044). After the monitor (300) is placed inside the oil pipeline (100), the end of the arc arm (3043) extends out of the side annular groove (3012) and approaches the pipe wall of the oil pipeline (100).

2. The oil pipeline inner wall defect detection and positioning device according to claim 1, characterized in that, The end of the body (301) is provided with a through hole and a propeller (305) is provided in the through hole. Several tail blades (303) are arranged in an array along the circumferential direction on the outer surface of one end of the body (301). When the monitor (300) is located in the oil pipeline (100), the propeller (305) can start to make the body (301) move in the opposite direction to the flow direction of the oil in the oil pipeline (100).

3. The oil pipeline inner wall defect detection and positioning device according to claim 1, characterized in that, The end face of the drive ring (3042) is coaxially provided with a gear ring, which is meshed with a gear. A connecting shaft is provided between the gears of the two clamping units, and the connecting shaft is connected to the micro motor (3041) provided in the middle ring groove (3011) for power connection.

4. The oil pipeline inner wall defect detection and positioning device according to claim 1, characterized in that, The outer surface of the arc arm (3043) is covered with a soft material.

5. The oil pipeline inner wall defect detection and positioning device according to claim 2, characterized in that, The pick-and-place mechanism (200) includes a pump housing (201), and a connecting seat (202) is provided at the bottom of the pump housing (201). The connecting seat (202) is open on both sides along the axis of the oil pipeline (100) and the internal area formed therein is connected to the pump housing (201) through a connecting hole. Both open ends of the connecting seat (202) are provided with sealing plates (203), and the sealing plates (203) are provided with fixing holes. The oil pipeline (100) is composed of several sub-pipes, and the fixing holes on the two sealing plates (203) are respectively connected to the two sub-pipes.

6. The oil pipeline inner wall defect detection and positioning device according to claim 5, characterized in that, The outer circular surface of the pump casing (201) is provided with a side pipe (207) parallel to the oil pipeline (100) and a side hole. The side hole is coaxial with the side pipe (207). A linear module (209) is provided inside the side pipe (207). The output end of the linear module (209) is connected to a socket (208) and a shoulder is formed at the connection. An electromagnet is provided on the shoulder. A piston (204) is fitted inside the pump housing (201), and a sleeve (206) is provided at the bottom of the piston (204) through a fixing rod (205). The sleeve (206) is open at both ends and its center line is parallel to the oil pipeline (100). The sleeve (206) is divided into a cylindrical section and a frustum section along the axis. The small diameter end of the frustum section is connected to the cylindrical section. The frustum sections of the sleeve (206) in the two pick-and-place mechanisms (200) are arranged facing each other. The cylindrical section is provided with an internal step at the end away from the frustum section. The outer diameter of the end of the monitor (300) is greater than the inner diameter of the built-in step, which is greater than the outer diameter of the socket (208). The outer diameter of the socket (208) is smaller than the inner diameter of the end of the monitor (300).

7. The oil pipeline inner wall defect detection and positioning device according to claim 6, characterized in that, When the piston (204) contacts the upper end of the pump housing (201), the center line of the sleeve (206) coincides with the center line of the side hole. When the piston (204) contacts the lower end of the pump housing (201), the center line of the sleeve (206) coincides with the center line of the oil pipeline (100).

8. The oil pipeline inner wall defect detection and positioning device according to claim 6, characterized in that, The pick-and-place mechanism (200) also includes an in-and-out component (210), which includes a housing (2101), a rotating core (2102) fitted inside the housing (2101), a cover (2104) provided at the closed end of the housing (2101), and a rotary motor (2106) for driving the rotating core (2102) to rotate. The end face of the rotating core (2102) is provided with three in-and-out holes (2103) arranged in a circumferential direction. The end face of the cover (2104) is provided with a protruding tube (2105). The closed end of the housing (2101) is provided with a protruding nozzle, which is connected to the side hole. The position of the inlet / outlet hole (2103) coaxial with the convex tube (2105) is named the take-up position, the position of the inlet / outlet hole (2103) coaxial with the convex nozzle is named the inlet / outlet position, and the position of the last inlet / outlet hole (2103) is named the suction position.

9. A defect detection and location device for the inner wall of an oil pipeline according to claim 7 or 8, characterized in that, The pick-and-place mechanism (200) also includes a drive assembly (211), which includes an oil pump (2111). The oil pump (2111) has a three-way pipe a (2112) at the inlet end and a three-way pipe b (2113) at the outlet end. The remaining two ports of the three-way pipe a (2112) and the remaining two ports of the three-way pipe b (2113) are connected by pipe a (2114) and pipe b (2115) respectively. A valve is installed at the connection between pipe a (2114) and three-way pipe a (2112), a valve is installed at the connection between pipe a (2114) and three-way pipe b (2113), a valve is installed at the connection between pipe b (2115) and three-way pipe a (2112), and a valve is installed at the connection between pipe b (2115) and three-way pipe b (2113). The end of pipe a (2114) is connected to the oil pipeline (100), and in the upstream pick-and-place mechanism (200), the sleeve (206) is located downstream of the connection between pipe a (2114) and the oil pipeline (100); Pipe b (2115) is connected to pipe c (2116), and pipe c (2116) is connected to an oil hole located at the upper end of pump casing (201), and valve six is ​​provided at the connection.

10. A defect detection and positioning device for the inner wall of an oil pipeline according to claim 9, characterized in that, The end of pipe b (2115) is connected to the suction hole on the shell cover (2104) and a valve five is provided at the connection. The shell cover (2104) is also provided with an air hole. Pipe d (2117) is provided at the opening of the air hole. The end of pipe d (2117) is higher than the inlet / outlet hole (2103) of the suction position. Both the suction hole and the air hole are connected to the inlet / outlet hole (2103) of the suction position.

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