Nondestructive testing robot for cracks of offshore oil and gas pipeline

Abstract

The utility model relates to a nondestructive testing robot for cracks of an offshore oil and gas pipeline. The nondestructive testing robot comprises a lifting ring, a positioning linear motor, a surrounding driving device and a detection executing device, the four lifting rings are located over the equipment and used for lifting the equipment by being connected with the steel cable. Three groups of positioning linear motors are symmetrically distributed above and below the equipment up and down to realize positioning and fastening of the equipment; the surrounding driving device is located below the equipment, power is provided through a driving motor, a driving gear drives a driven gear ring to achieve circumferential rotation, a V-shaped wheel ring is supported through a V-shaped grooved wheel, separation of the driven gear ring, the V-shaped wheel ring and a lower supporting plate is achieved, and abrasion is reduced. The detection execution device sends and receives rays through the ray sending device and the ray receiving device which are symmetrically arranged by 180 degrees, and the detection execution device is matched with the surrounding driving device to achieve whole-circle detection of cracks of the oil and gas pipeline with the specific depth. The device is positioned and fastened on the outer wall of an offshore oil and gas pipeline, rotates around the outer wall of the oil and gas pipeline by 360 degrees, and performs step-by-step nondestructive testing operation on pipeline cracks.

Description

Technical Field

[0001] The utility model belongs to the technical field of pipeline detection robots, and particularly relates to a nondestructive detection robot for cracks in marine oil and gas pipelines. Background Art

[0002] The ocean contains many valuable resources, such as minerals, oil, and natural gas. With the rapid growth of population, urbanization, and industrialization, various non-renewable resources are facing the possibility of serious shortage. Therefore, the rational development and utilization of non-renewable resources such as oil and natural gas is imminent.

[0003] Marine oil and gas pipelines are the safest, most reliable, fastest and most economical way to continuously transport large amounts of oil and gas resources, and they undertake the important mission of gathering and transporting marine oil and gas. However, the cost of marine pipelines is very high, ranging from 300,000 to 1 million US dollars per kilometer. Marine pipelines are located in a very complex marine environment with many uncertainties. With the extension of the length of marine pipelines and the increase in operating time, the probability of accidents is also increasing. Once cracks occur in marine pipelines and no timely measures are taken, pipeline damage or oil and gas leakage may occur, posing a serious threat to nearby personnel and the environment. At the least, oil and gas leakage will waste resources, and at worst, explosions will be caused by the leakage of natural gas or crude oil, causing serious property losses and casualties, and causing serious damage to the surrounding ecological environment.

[0004] More and more marine pipeline damage accidents indicate that the research on the safety and reliability of marine pipelines is of great significance. Therefore, it is necessary to conduct regular or periodic inspections on the cracks of marine oil and gas pipelines, which can not only reduce economic losses, but also avoid the leakage of oil and gas resources, which is of great significance to reducing environmental pollution.

[0005] At present, marine oil and gas pipeline inspection can be divided into two types: traditional manual inspection and unmanned inspection. Traditional manual inspection is carried out by relevant personnel carrying inspection equipment to dive underwater to inspect the pipeline. This method has low inspection efficiency, high labor costs and great danger. Unmanned inspection mainly relies on visual inspection, magnetic particle inspection, ultrasonic inspection, X-ray inspection and other technologies. By carrying different inspection technology modules on unmanned underwater equipment such as underwater vehicles (ROVs), autonomous underwater robots (AUVs), and hybrid-drive underwater robots (HUGs), it is possible to detect cracks in underwater oil and gas pipelines. In view of factors such as the complex marine environment, this type of unmanned inspection method has shortcomings such as unstable operation, incomplete inspection range, and high technical cost.

[0006] In summary, this utility model patent proposes a non-destructive detection robot for cracks in marine oil and gas pipelines, which aims to achieve efficient detection of cracks in marine oil and gas pipelines, reduce the risks of artificial seabed operations, and avoid serious disasters such as oil and gas leaks. Utility Model Content

[0007] In view of the above technical problems, the purpose of the utility model is to provide a marine oil and gas pipeline crack non-destructive detection robot, which realizes positioning and fastening on the outer wall of the marine oil and gas pipeline, and surrounds the outer wall of the oil and gas pipeline 360 ​​degrees, and uses the carried radiation detection device to perform step-by-step non-destructive detection operations on the cracks of the marine oil and gas pipeline.

[0008] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0009] A nondestructive detection robot for cracks in marine oil and gas pipelines, comprising a lifting ring 1, a positioning linear motor 2, a surrounding driving device, and a detection execution device;

[0010] The lifting rings 1 are located directly above the equipment, and there are four of them, which are fastened to the upper support plate 13 by nuts. The user can lift the equipment through the steel cable connected to the lifting rings 1, and control the diving depth of the equipment by himself, so as to realize the step-by-step detection operation of the equipment;

[0011] The positioning linear motor 2 is located directly above and below the equipment, with three groups of motors arranged symmetrically in the upper and lower directions; the positioning linear motor 2 controls the extension and retraction of the push rod so that it is close to the outer wall of the oil and gas pipeline, thereby achieving the positioning and tightening of the equipment;

[0012] The surround drive device is located below the equipment, and is composed of a drive motor 7, a driving gear 8, three groups of V-groove wheels 9, a driven gear ring 10, a V-shaped wheel 11, and two groups of fastening plates 12; the drive motor 7 is located below the lower support plate 15, and the driving gear 8, the V-groove wheel 9, the driven gear ring 10, the V-shaped wheel 11, and the fastening plate 12 are located above the lower support plate 15; the drive motor 7 is fixedly connected to the driving gear 8, the driving gear 8 is meshed with the driven gear ring 10, and the driven gear ring 10 and the V-shaped wheel 11 are fixedly connected as a whole; the drive motor 7 outputs power to drive the driving gear 8, and then drives the driven gear ring 10 and the V-shaped wheel 11 to rotate in a circle; the three groups of V-groove wheels 9 mesh and support the V-shaped wheel 11, so as to separate the driven gear ring 10, the V-shaped wheel 11 and the lower support plate 15, thereby reducing wear;

[0013] There are two groups of fastening plates 12, which are distributed at a specific angle on the annular whole formed by the driven gear ring 10 and the V-shaped wheel rim 11, and divide the annular whole into two sections, a major arc and a minor arc; each group of fastening plates 12 includes two upper and lower pieces, which are respectively located above the driven gear ring 10 and below the V-shaped wheel rim 11, and each group of fastening plates is fixed to the annular whole by bolts; by loosening the bolts, the minor arc section of the annular whole can be removed, and the equipment can be deployed on the oil and gas pipeline;

[0014] The detection execution device is located above the surrounding driving device, and is composed of a ray sending device 3, a ray receiving device 4, a U-shaped bracket 5 for the ray sending device, and a U-shaped bracket 6 for the ray receiving device; the ray sending device 3 is fastened to the U-shaped bracket 5 for the ray sending device, and the ray receiving device 4 is fastened to the U-shaped bracket 6 for the ray receiving device; the ray sending device 3 and the ray receiving device 4 are arranged 180 degrees symmetrically, and the detection of the pipeline is realized by carrying the ray detection device;

[0015] The upper support plate 13 , the lower support plate 15 and the support rod 14 constitute the equipment support structure; the upper support plate 13 and the lower support plate 15 are fixedly connected by the support rod 14 .

[0016] Compared with the prior art, the beneficial effects of the utility model are:

[0017] The utility model is a nondestructive testing robot for cracks in marine oil and gas pipelines. The robot is connected to a steel cable hoisting device through a lifting ring to realize a step-by-step testing operation of the equipment. The pipeline is pressed by three groups of positioning linear motors arranged symmetrically in the upper and lower directions to realize the positioning and fastening of the equipment on the surface of the oil and gas pipeline. The driving motor drives the driving gear to drive the circular rotation of the driven gear ring. At the same time, the V-groove wheel supports the V-shaped wheel ring to realize the separation of the driven gear ring, the V-shaped wheel ring and the lower support plate to reduce wear. The ray sending device and the ray receiving device arranged symmetrically at 180 degrees are used in combination with a 360-degree surrounding driving device to scan the oil and gas pipeline for a whole circumference, so as to implement a full range of nondestructive testing operations for cracks in the oil and gas pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the structure of the nondestructive detection robot for cracks in marine oil and gas pipelines of the utility model;

[0019] Figure 2 It is a schematic diagram of the structure of the equipment surrounding driving device of the utility model;

[0020] Figure 3 This is a schematic diagram of the structure of the equipment detection execution device of the utility model;

[0021] Figure 4 This is a schematic diagram of the equipment support structure of the utility model;

[0022] The accompanying drawings are denoted as follows:

[0023] 1 Ring

[0024] 2 Positioning linear motor

[0025] 3. Ray sending device

[0026] 4. Radiation receiving device

[0027] 5. U-shaped bracket for ray sending device

[0028] 6 U-shaped bracket for ray receiving device

[0029] 7. Drive Motor

[0030] 8 Driving gear

[0031] 9 V-groove pulley

[0032] 10 Driven ring gear

[0033] 11 V-rim

[0034] 12 Fastening plate

[0035] 13 Upper support plate

[0036] 14 Support rod

[0037] 15 Lower support plate DETAILED DESCRIPTION

[0038] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0039] like Figure 1 As shown, a nondestructive detection robot for cracks in marine oil and gas pipelines includes a lifting ring 1, a positioning linear motor 2, a surrounding drive device, and a detection execution device;

[0040] The lifting rings 1 are located directly above the equipment, and there are four of them, which are fastened to the upper support plate 13 by nuts. The steel cable lifting equipment is connected through the lifting rings 1 to control the diving depth of the equipment and realize the step-by-step detection operation of the equipment.

[0041] The positioning linear motor 2 is located directly above and below the equipment, with three groups of motors arranged symmetrically in the upper and lower directions; the positioning linear motor 2 controls the extension and retraction of the push rod so that it is close to the outer wall of the oil and gas pipeline, thereby achieving the positioning and tightening of the equipment;

[0042] like Figure 2 and Figure 3As shown, the surrounding drive device is located below the equipment, and is composed of a driving motor 7, a driving gear 8, three groups of V-groove wheels 9, a driven gear ring 10, a V-shaped wheel 11, and two groups of fastening plates 12; the driving motor 7 is located below the lower support plate 15, and the driving gear 8, the V-groove wheel 9, the driven gear ring 10, the V-shaped wheel 11, and the fastening plate 12 are located above the lower support plate 15; the driving motor 7 is fixedly connected to the driving gear 8, the driving gear 8 is meshed with the driven gear ring 10, and the driven gear ring 10 and the V-shaped wheel 11 are fixedly connected as a whole; the driving motor 7 outputs power to drive the driving gear 8, thereby realizing the circumferential rotation of the driven gear ring 10 and the V-shaped wheel 11; the three groups of V-groove wheels 9 mesh and support the V-shaped wheel 11, so as to realize the separation of the driven gear ring 10, the V-shaped wheel 11 and the lower support plate 15, thereby reducing wear;

[0043] like Figure 3 As shown, there are two groups of fastening plates 12, which are distributed at a specific angle on the annular whole formed by the driven gear ring 10 and the V-shaped wheel rim 11, and divide the annular whole into two sections of a major arc and a minor arc; each group of fastening plates 12 includes an upper and a lower piece, which are respectively located above the driven gear ring 10 and below the V-shaped wheel rim 11, and each group of fastening plates is fixed to the annular whole by bolts; by loosening the bolts, the minor arc section of the annular whole can be removed, and the equipment can be deployed on the oil and gas pipeline.

[0044] like Figure 1 and Figure 3 As shown, the detection execution device is located above the surrounding driving device, and is composed of a ray sending device 3, a ray receiving device 4, a U-shaped bracket 5 for the ray sending device, and a U-shaped bracket 6 for the ray receiving device; the ray sending device 3 is fastened to the U-shaped bracket 5 for the ray sending device, and the ray receiving device 4 is fastened to the U-shaped bracket 6 for the ray receiving device; the ray sending device 3 and the ray receiving device 4 are arranged 180 degrees symmetrically, and the non-destructive detection of the pipeline is realized by carrying the ray detection device;

[0045] like Figure 4 As shown, the upper support plate 13 , the lower support plate 15 and the support rod 14 constitute the equipment support structure; the upper support plate 13 and the lower support plate 15 are fixedly connected by the support rod 14 .

[0046] The working process of the utility model is as follows:

[0047] First, the user loosens the bolts of the two sets of fastening plates 12, removes the inferior arc segment of the annular whole, and makes the marine oil and gas pipeline crack non-destructive detection robot of the present invention embrace the oil and gas pipeline, then puts the inferior arc segment back to its original position, and uses bolts to connect the fastening plates 12 and the annular whole again to complete the operational deployment of the equipment.

[0048] Secondly, four steel cables are respectively inserted into the four lifting rings 1 of the equipment and fixed, and the steel cables are lowered to control the diving depth of the equipment to realize the step-by-step detection operation of the equipment.

[0049] After diving to a certain unit depth, the equipment stops lifting and lowering, and three groups of positioning linear motors 2 arranged symmetrically in the upper and lower parts of the equipment control the extension and retraction of the push rods to make them close to the outer wall of the oil and gas pipeline, thereby achieving the positioning and tightening of the equipment.

[0050] After positioning and tightening at a certain depth, the equipment starts to work. The drive motor 7 in the surrounding drive device outputs power to drive the driving gear 8, which in turn drives the driven gear ring 10 and the V-shaped wheel rim 11 to rotate in a circle; three sets of V-shaped groove wheels 9 mesh and support the V-shaped wheel rim 11, realizing the separation of the driven gear ring 10, the V-shaped wheel rim 11 and the lower support plate 15 to reduce wear;

[0051] Subsequently, the detection execution device above the surrounding driving device performs nondestructive detection on the cracks of the oil and gas pipeline. The detection execution device moves in a circle around the oil and gas pipeline, and the ray sending device 3 sends rays, which are received by the ray receiving device 4, to achieve a full-circle scan of the cracks in the deep sea oil and gas pipeline; the detection results are transmitted to the display terminal through the internal sensor, so that people can find the cracks in time and take corresponding measures.

[0052] After completing the detection work at a specific depth, the equipment is controlled to sink to a certain depth again and repeat the above work to achieve full-week detection of cracks in the oil and gas pipeline at the next depth.

[0053] After all the inspection work is completed, the user pulls up the steel cable, controls the equipment to float up, returns the equipment to a safe position, shuts down the equipment, unties the steel cable from the lifting ring 1, loosens the two sets of fastening plates 12 again, removes the annular integral inferior arc section, and separates the equipment from the oil and gas pipeline.

[0054] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A nondestructive testing robot for cracks in marine oil and gas pipelines, comprising a lifting ring (1), a positioning linear motor (2), a surrounding driving device, and a testing execution device; The lifting rings (1) are located directly above the equipment, there are four of them in total, and are fastened to the upper support plate (13) by nuts; The positioning linear motors (2) are located directly above and below the device, with a total of six groups, three groups above and three groups below, arranged symmetrically in the circumferential direction; The surrounding drive device is located below the equipment and is composed of a drive motor (7), a driving gear (8), three groups of V-groove wheels (9), a driven gear ring (10), a V-shaped wheel rim (11), and two groups of fastening plates (12); the drive motor (7) is located below the lower support plate (15), and the driving gear (8), the V-groove wheel (9), the driven gear ring (10), the V-shaped wheel rim (11), and the fastening plate (12) are located above the lower support plate (15); There are two groups of fastening plates (12), which are distributed at a specific angle on the annular whole formed by the driven gear ring (10) and the V-shaped wheel rim (11), and divide the annular whole into two sections, a major arc and a minor arc; each group of fastening plates (12) comprises two upper and lower pieces, which are respectively located above the driven gear ring (10) and below the V-shaped wheel rim (11); each group of fastening plates (12) is fixed to the annular whole by bolts; The detection execution device is located above the surrounding driving device, and is composed of a ray sending device (3), a ray receiving device (4), a U-shaped bracket (5) of the ray sending device, and a U-shaped bracket (6) of the ray receiving device; the ray sending device (3) is fastened to the U-shaped bracket (5) of the ray sending device, and the ray receiving device (4) is fastened to the U-shaped bracket (6) of the ray receiving device; The upper support plate (13), the lower support plate (15) and the support rod (14) constitute a device support structure.

2. The marine oil and gas pipeline crack nondestructive testing robot according to claim 1 is characterized in that: The lifting ring (1) is connected to a steel cable lifting device to achieve a step-by-step inspection operation of the device.

3. The marine oil and gas pipeline crack nondestructive testing robot according to claim 1 is characterized in that: The positioning linear motor (2) controls the extension and retraction of the push rod so that the push rod is closely attached to the outer wall of the oil and gas pipeline, thereby achieving the positioning and fastening of the equipment.

4. The marine oil and gas pipeline crack nondestructive testing robot according to claim 1 is characterized in that: The driving motor (7) is fixedly connected to the driving gear (8), the driving gear (8) is meshed with the driven gear ring (10), and the driven gear ring (10) and the V-shaped wheel rim (11) are fixedly connected as a whole; the driving motor (7) outputs power to drive the driving gear (8), thereby driving the driven gear ring (10) and the V-shaped wheel rim (11) to rotate in a circle; three groups of V-shaped groove wheels (9) mesh with and support the V-shaped wheel rim (11), thereby realizing the separation of the driven gear ring (10), the V-shaped wheel rim (11) and the lower support plate (15), thereby reducing wear.

5. The offshore oil and gas pipeline crack nondestructive testing robot according to claim 1, characterized in that: By loosening the bolts of the two sets of fastening plates (12), the inferior arc section of the annular whole can be removed, and the equipment can be deployed on the oil and gas pipeline.

6. The offshore oil and gas pipeline crack nondestructive testing robot according to claim 1, characterized in that: The ray sending device (3) and the ray receiving device (4) are arranged symmetrically at 180 degrees, and scanning detection of the pipeline is achieved by sending and receiving rays.

7. The offshore oil and gas pipeline crack nondestructive testing robot according to claim 1, characterized in that: The upper support plate (13) and the lower support plate (15) are fixedly connected via a support rod (14).

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