Automatic walking scanning type pipe inner wall water spraying coupling ultrasonic flaw detection device

Abstract

The utility model relates to an automatic walking scanning type pipe inner wall water spraying coupling ultrasonic flaw detection device which comprises a vehicle body, a scanning device and a plurality of walking devices are arranged on the vehicle body, each walking device comprises a plurality of walking wheels connected with the vehicle body, and the scanning device comprises a rotating disc, a plurality of probe assemblies and a rotating disc driving mechanism for driving the rotating disc to rotate. A middle hole penetrating through the turntable is formed in the surface of the turntable, the probe assembly comprises a probe frame, a plurality of probes arranged on the probe frame and a probe driving mechanism for driving the probe frame to move, and the probe driving mechanism comprises a connecting rod rotationally arranged on the turntable and a first actuator with a machine body fixedly arranged on the turntable; the connecting rod is connected with the output end of the first actuator and the probe frame, and at least one of the walking devices comprises a driver for driving the walking wheels to rotate. The automatic walking scanning type pipe inner wall water spraying coupling ultrasonic flaw detection device is simple in structure, short in length, high in universality, convenient to store and transport and small in longitudinal walking scanning blind area.

Description

Technical Field

[0001] The utility model relates to a flaw detection device, in particular to an automatic walking scanning type pipe inner wall water spray coupling ultrasonic flaw detection device. Background Art

[0002] In the field of oil exploration and production, pipelines of various models and diameters are widely used, and pipelines are often prepared by welding. In order to ensure the quality of pipeline welding, it is necessary to use a flaw detection device to detect it before use, thereby ensuring the safety of oil extraction and transportation.

[0003] In order to detect pipelines and ensure the effectiveness of pipeline detection, the flaw detection device usually detects the inner wall of the pipeline from the inside. The welds inside the pipeline include longitudinal and circumferential welds. In order to detect the longitudinal and circumferential welds respectively, the flaw detection device needs to be equipped with longitudinal and circumferential weld detection probes to detect the above two welds respectively.

[0004] At the same time, there may be steps or grooves of various diameters in the inner wall of the pipeline. In order to enable the detection probe to fit with pipelines of different inner diameters, the flaw detection device must also be equipped with an expansion device so that both weld detection probes can fit with the inner walls of different pipe diameters, thereby achieving effective flaw detection.

[0005] To this end, the Chinese patent with the publication number "CN206638627U" discloses a pipeline inspection scanner, which uses a rotatable rotating mechanism to drive the weld scanning frame to rotate, and realizes the straightening of the entire mechanism through the crawling mechanisms at both ends, so that the device fits the inner wall of the pipeline, and then drives the scanner as a whole to move along the inner wall of the pipeline through the driving vehicle. During the movement of the scanner, the TOFD probe assembly and the PAUT (phased array) probe assembly set on the weld scanning frame respectively detect the longitudinal weld or circumferential weld of the pipeline, thereby realizing the scanning operation of the pipeline.

[0006] The existing pipeline inner wall scanning devices are mostly similar to the above-mentioned pipeline inspection scanners, and all adopt the technical solution of "travel motor, centering and scanning rotating frame" separation. This type of scanner mainly has the following problems.

[0007] 1. Crawling mechanisms must be installed at both ends of the device to achieve the righting and crawling functions, which makes the overall length of the equipment very long, resulting in a large blind area for longitudinal walking scanning, and the long scanner is inconvenient to transport and store.

[0008] 2. The crawling mechanism is composed of several linkage components such as connecting rod assemblies, which has a complex structure, high preparation cost, short service life and is difficult to maintain.

[0009] 3. The symmetrically designed crawling mechanism makes the overall center of the scanner coincide with the center of the pipeline, but the height of the longitudinal weld is not necessarily at the middle height. Although the operator can adjust the probe height through the rotating mechanism, when the longitudinal weld is too high or too low, it is difficult for the detection probe to align with the weld, thereby reducing the flaw detection effect.

[0010] 4. The crawling mechanism is symmetrically designed. When it expands or contracts, the ends of several linked connecting rod assemblies have a circular outer contour, which makes this type of detection device suitable for detecting pipes with circular cross-sections. When detecting non-circular special-shaped pipes, there is a gap between the walking wheels at the ends of some connecting rod assemblies and the pipe wall, which reduces the fit between the device and the inner wall of the pipe, thereby affecting the flaw detection of the probe assembly on the pipe wall. Therefore, its versatility is poor. Summary of the invention

[0011] In order to solve the above technical problems, the utility model provides an automatic walking and scanning type pipe inner wall water spray coupling ultrasonic flaw detection device which has a simple structure, short length, high universal cost performance, is easy to store and transport, and has a small longitudinal walking and scanning blind area.

[0012] The utility model discloses an automatic walking scanning type pipe inner wall water spray coupling ultrasonic flaw detection device, which comprises a vehicle body, on which a scanning device and a plurality of walking devices are arranged, the walking device comprises a plurality of walking wheels connected to the vehicle body, the scanning device comprises a turntable, a plurality of probe assemblies and a turntable driving mechanism for driving the turntable to rotate, the turntable surface has a middle hole penetrating the turntable, the vehicle body passes through the middle hole, the probe assembly comprises a probe frame, a plurality of probes arranged on the probe frame, and a probe driving mechanism for driving the probe frame to move, the probe driving mechanism comprises a connecting rod rotatably arranged on the turntable, a first actuator fixedly arranged on the turntable by a machine body, the connecting rod is respectively connected to the output end of the first actuator and the probe frame, and at least one of the plurality of walking devices comprises a driver for driving the walking wheel to rotate.

[0013] The advantage of the automatic walking scanning type pipe inner wall water spray coupled ultrasonic flaw detection device is that the turntable for carrying the probe assembly has a center hole penetrating the turntable, the turntable is directly arranged on the vehicle body through the center hole, the vehicle body is driven to move by the walking device, and the turntable is also provided with a probe driving mechanism for driving the probe frame to move.

[0014] Compared with the existing flaw detection device driven by a crawling mechanism and a driving trolley, the flaw detection device realizes the displacement drive of the entire flaw detection device through a traveling device on the vehicle body, and its traveling wheel is driven to rotate by a driver, and the driver can be directly arranged on the vehicle body. Compared with the crawling mechanism formed by a plurality of connecting rods hinged together, its structure is simpler and the overall length is shorter. At the same time, the turntable of the flaw detection device is directly arranged on the vehicle body through its hole, and the overall structure of the device is more streamlined, which further reduces the overall length of the device, thereby reducing the longitudinal scanning blind area of ​​the flaw detection device.

[0015] In addition, each probe assembly on the turntable is driven by its corresponding probe drive mechanism, so that several probe assemblies form an expansion mechanism as a whole. This not only enables each probe assembly to better fit the pipe wall, but also eliminates the need for a straightening device similar to a crawling structure. Only simple walking wheels are needed to support and walk the entire device, which reduces the overall structural complexity and length of the equipment, improves operational stability, and reduces the longitudinal scanning blind area. Moreover, the scanning device can conveniently scan the inner wall of a pipe with a boss or groove, and is very convenient to operate. At the same time, when the flaw detection device scans a different-diameter pipe, each probe assembly can be displaced separately under the drive of the corresponding probe drive mechanism, so that the probe can better fit the pipe wall, thereby achieving effective flaw detection of the pipeline and improving its general performance.

[0016] Furthermore, in the automatic walking scanning type pipe inner wall water spray coupled ultrasonic flaw detection device of the utility model, the turntable is arranged in the middle of the vehicle body, and the two ends of the vehicle body are respectively provided with a base frame.

[0017] The turntable is arranged in the middle of the vehicle body so that the overall operation of the flaw detection device is more stable, and the arrangement of the chassis facilitates the installation of the traveling device.

[0018] Furthermore, in the automatic walking scanning type pipe inner wall water spray coupling ultrasonic flaw detection device of the utility model, the number of the walking devices is two, and the two walking devices are respectively arranged at the two ends of the vehicle body;

[0019] The walking device also includes a shell, and walking wheels are respectively arranged at both ends of the shell. The driver is a second driving motor, and the body of the second driving motor is fixed to the surface of the shell. The output shaft of the second driving motor is connected to the input shaft of the right-angle reducer. The right-angle reducer is arranged in the inner cavity of the shell, and the two output shafts of the right-angle reducer are respectively connected to the main shafts of the walking wheels on both sides.

[0020] The setting of two walking devices makes the flaw detection device run more smoothly.

[0021] The setting of the housing facilitates the installation of the second drive motor, the right-angle reducer, the running wheels and other components. The second drive motor drives the running wheels on both sides to rotate through the right-angle reducer, thereby driving the device as a whole to move.

[0022] Furthermore, in the automatic walking scanning type pipe inner wall water spray coupled ultrasonic flaw detection device of the utility model, the front and rear ends of the vehicle body are respectively provided with a lifting drive device, the lifting drive device body is fixed on the vehicle body, and the output end of the lifting drive device is connected to the walking device.

[0023] The setting of the independent lifting drive device at the front and rear realizes the lifting drive of the walking device, so that the vehicle body can be lifted to a predetermined height, and then the parallelism between the vehicle body and the center line of the pipe body is adjusted to adapt to the concave and convex surface or the reduced diameter part in the pipe, so that the probe is aligned with the weld. The lifting drive device is preferably an electric cylinder.

[0024] Furthermore, in the automatic walking scanning type pipe inner wall water spray coupled ultrasonic flaw detection device of the utility model, a lifting connecting plate is provided on the shell, the lifting connecting plate includes a horizontal plate and vertical plates on both sides of the horizontal plate, the bottom end of the horizontal plate is fixedly connected to the shell of the walking device, the top end of the horizontal plate is fixedly connected to the output end of the lifting drive device, the surface of the vertical plate is provided with guide strips, and the left and right sides of the lifting drive device are respectively provided with sliders adapted to the guide strips, and the sliders are fixed to the end surface of the vehicle body.

[0025] The setting of the lifting connection plate realizes the connection between the walking device and the lifting drive device, and the setting of components such as the guide bar and the slider makes the lifting of the walking device more stable.

[0026] The underframe and the traveling wheel pair are respectively arranged at both ends of the vehicle body, and the axles of the two traveling wheels are connected to the front / rear end of the vehicle body through electric cylinders, guide bars and other components, so as to realize the separate adjustment of the front and rear heights of the vehicle body, so that the flaw detection device can pass through the concave and convex areas of the inner wall of the pipe and the variable diameter area of ​​the pipe, thereby realizing the precise adjustment of the local fit between the probe and the inner wall.

[0027] Furthermore, in the automatic walking scanning type pipe inner wall water spray coupled ultrasonic flaw detection device of the utility model, a hinged rod is provided on the surface of the turntable, the bottom end of the hinged rod is fixed to the turntable surface, and the middle part of the connecting rod is rotatably connected to the top end of the hinged rod.

[0028] The setting of the hinged rod facilitates the installation of the connecting rod, and the middle part of the connecting rod is connected to the top end of the hinged rod, so that the overall volume of the probe drive mechanism is smaller, thereby facilitating storage, transportation and use.

[0029] Furthermore, in the automatic walking scanning type pipe inner wall water spray coupled ultrasonic flaw detection device of the utility model, movable grooves are respectively provided at both ends of the connecting rod, and pins are provided at the output ends of the probe frame and the first actuator, and the ends of the pins are arranged in the movable grooves.

[0030] The arrangement of components such as the moving groove and the pin enables the first actuator to drive the probe frame to move through the connecting rod, thereby making the probe fit with the pipe wall.

[0031] Furthermore, in the automatic walking scanning type pipe inner wall water spray coupled ultrasonic flaw detection device of the utility model, the probe frame includes a movable plate slidably arranged on the surface of the turntable, and a probe mounting plate fixedly connected to the movable plate. A plurality of fixed seats are arranged on the probe mounting plate, and a connecting rod is arranged on the fixed seat. One end of the connecting rod is fixedly connected to the spring connecting plate, and the other end of the connecting rod passes through the fixed seat and the probe mounting plate and is fixedly connected to the probe seat, and the probe is mounted on the probe seat.

[0032] The arrangement of the moving plate, the probe mounting plate, the fixing seat, the connecting rod and the probe seat realizes the installation of the probe and the probe wedge.

[0033] Furthermore, in the automatic walking scanning type pipe inner wall water spray coupled ultrasonic flaw detection device of the utility model, a spring is arranged between the spring connecting plate and the fixing seat, one end of the spring is connected to the spring connecting plate, and the other end is connected to the fixing seat.

[0034] The spring can drive the connecting rod and the probe seat fixedly connected to the connecting rod to move through the spring connecting plate, so that the probe and the probe wedge on the probe seat fit with the inner wall of the pipe, thereby realizing the scanning of the pipe wall.

[0035] Furthermore, in the automatic walking scanning type pipe inner wall water spray coupled ultrasonic flaw detection device of the utility model, the surface of the turntable is provided with a plurality of electromagnetic water valves and cameras, the number of the probe assemblies is three groups, and the probe is a PAUT probe or a TOFD probe.

[0036] The above description is only an overview of the technical solution of the utility model. In order to more clearly understand the technical means of the utility model and implement it in accordance with the contents of the specification, the following embodiments of the utility model are described in detail. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is the front view of the automatic walking scanning type pipe inner wall water spray coupled ultrasonic flaw detection device.

[0038] Figure 2 It is a side view of the automatic walking scanning type pipe inner wall water spray coupled ultrasonic flaw detection device.

[0039] Figure 3 It is the rear view of the automatic walking scanning type pipe inner wall water spray coupled ultrasonic flaw detection device.

[0040] Figure 4 It is a stereoscopic diagram of an automatic walking scanning type pipe inner wall water spray coupled ultrasonic flaw detection device.

[0041] Figure 5 It is a three-dimensional diagram of the vehicle body, running gear and other parts.

[0042] Figure 6 It is a three-dimensional diagram of the walking device.

[0043] Figure 7 This is a diagram of the internal structure of the walking device.

[0044] Figure 8 A stereogram of a turntable.

[0045] Fig. 9 This is a disassembled diagram of the turntable.

[0046] Fig.10 It is a three-dimensional diagram of a scanning device.

[0047] Fig.11 It is a three-dimensional coordination diagram of the probe assembly and the probe driving mechanism.

[0048] Fig.12 is a perspective view of the probe assembly.

[0049] Fig.13 This is a diagram showing the status of the automatic walking scanning type pipe inner wall water spray coupled ultrasonic flaw detection device in use.

[0050] In the figure, the vehicle body 1, the scanning device 2, the walking device 3, the walking wheel 4, the turntable 5, the probe assembly 6, the middle hole 7, the probe frame 8, the probe 9, the connecting rod 10, the first actuator 11, the driver 12, the inner disk body 13, the outer disk body 14, the middle disk body 15, the accommodating groove 16, the gear 17, the base frame 18, the shell 19, the right-angle reducer 20, the lifting drive device 21, the lifting connecting plate 22, the horizontal plate 23, the vertical plate 24, the guide bar 25, the moving plate 26, the probe mounting plate 27, the guide rail 28, the fixed seat 29, the connecting rod 30, the spring connecting plate 31, the probe seat 33, the spring 34, the water spray interface 35, the electromagnetic water valve 36, the camera 37, the hinged rod 38, the moving groove 39, the pin 40, and the pipeline 41. DETAILED DESCRIPTION

[0051] The following is a further detailed description of the specific implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0052] Example 1: See Figures 1 to 13The automatic walking scanning type pipe inner wall water spray coupling ultrasonic flaw detection device of this embodiment includes a vehicle body 1, on which a scanning device 2 and a plurality of walking devices 3 are provided, the walking device includes a plurality of walking wheels 4 connected to the vehicle body, the scanning device includes a turntable 5, a plurality of probe assemblies 6 and a turntable driving mechanism for driving the turntable to rotate, the turntable surface has a middle hole 7 penetrating the turntable, the vehicle body passes through the middle hole, the probe assembly includes a probe frame 8, a plurality of probes 9 arranged on the probe frame, and a probe driving mechanism for driving the probe frame to move, the probe driving mechanism includes a connecting rod 10 rotatably arranged on the turntable, and a first actuator 11 fixedly arranged on the turntable by the body, the connecting rod is respectively connected to the output end of the first actuator and the probe frame, and at least one of the plurality of walking devices includes a driver 12 for driving the walking wheel to rotate.

[0053] The advantage of the automatic walking scanning type pipe inner wall water spray coupled ultrasonic flaw detection device is that the turntable for carrying the probe assembly has a center hole penetrating the turntable, the turntable is directly arranged on the vehicle body through the center hole, the vehicle body is driven to move by the walking device, and the turntable is also provided with a probe driving mechanism for driving the probe frame to move.

[0054] Compared with the existing flaw detection device driven by a crawling mechanism and a driving trolley, the flaw detection device realizes the displacement drive of the entire flaw detection device through a traveling device on the vehicle body, and its traveling wheel is driven to rotate by a driver, and the driver can be directly arranged on the vehicle body. Compared with the crawling mechanism formed by a plurality of connecting rods hinged together, its structure is simpler and the overall length is shorter. At the same time, the turntable of the flaw detection device is directly arranged on the vehicle body through its hole, and the overall structure of the device is more streamlined, which further reduces the overall length of the device, thereby reducing the longitudinal scanning blind area of ​​the flaw detection device.

[0055] In addition, each probe assembly on the turntable is driven by its corresponding probe drive mechanism, so that several probe assemblies form an expansion mechanism as a whole. This not only enables each probe assembly to better fit the pipe wall, but also eliminates the need for a straightening device similar to a crawling structure. Only simple walking wheels are needed to support and walk the entire device, which reduces the overall structural complexity and length of the equipment, improves operational stability, and reduces the longitudinal scanning blind area. Moreover, the scanning device can conveniently scan the inner wall of a pipe with a boss or groove, and is very convenient to operate. At the same time, when the flaw detection device scans a different-diameter pipe, each probe assembly can be displaced separately under the drive of the corresponding probe drive mechanism, so that the probe can better fit the pipe wall, thereby achieving effective flaw detection of the pipeline and improving its general performance.

[0056] The vehicle body is used to install components such as a walking device and a scanning device, and can be in the shape of a rectangular parallelepiped. The above-mentioned turntable can be arranged in the middle of the vehicle body to make the vehicle body run more stably.

[0057] The turntable is used to install the probe assembly, the probe drive mechanism, the electromagnetic water valve, the camera and other components, and has a central hole penetrating the turntable. In this embodiment, the central hole of the turntable is a circular hole. The turntable can be an integrated disk body, or formed by a combination of several independent disk bodies.

[0058] The turntable can be installed on the vehicle body through bearings or cylindrical components on the vehicle body. Since the turntable has a small rotation angle and a low rotation speed, the middle part of the vehicle body can also be directly set to a cylindrical shape that matches the turntable, thereby realizing the connection between the vehicle body and the turntable.

[0059] The turntable drive mechanism is used to drive the turntable to rotate, so that the probe on the probe holder corresponds to the weld and realizes the scanning operation of the circumferential weld. The turntable drive mechanism may include a turntable drive motor, the body of which may be fixed on the vehicle body, and the output end of which is connected to the turntable through a transmission mechanism, thereby driving the turntable to rotate.

[0060] The transmission mechanism can be a gear rack, a synchronous wheel, a synchronous belt or a belt-type transmission mechanism.

[0061] For example, an inner gear ring may be provided on the surface of the turntable, and a gear meshing with the inner gear ring may be provided at the output end of the turntable drive motor, thereby driving the turntable to rotate.

[0062] In addition, the gear ring can also be fixed inside the turntable. Specifically, the turntable can include an inner disk body 13, an outer disk body 14 and an intermediate disk body 15. The intermediate disk body is located between the inner disk body and the outer disk body. The inner disk body, the outer disk body and the intermediate disk body can be fixed by bolts. The inner diameter of the middle hole of the intermediate disk body is larger than the inner diameter of the middle hole of the inner disk body and the outer disk body. In this way, the inner disk body, the outer disk body and the intermediate disk body can surround and form an annular receiving groove 16. A plurality of gears 17 fixedly connected to the disk body are arranged in the receiving groove. A sleeve is arranged on the vehicle body. The sleeve can be connected to the vehicle body through a bearing. One end of the sleeve is connected to the output end of the turntable drive motor through a belt, a gear or a synchronous belt mechanism. The other end of the sleeve is located in the receiving groove and connected to the gear ring, and the gear ring is meshed with the above gear. When driving, the turntable drive motor drives the sleeve and the gear ring to rotate through the transmission mechanism, thereby driving the gears on the turntable and the turntable to rotate.

[0063] The turntable drive motor can also be connected to the turntable through other similar mechanisms, which is conventional technology and will not be described in detail here.

[0064] Preferably, the number of the above-mentioned running devices can be two groups, and the two groups of running devices are respectively arranged at the left and right ends of the vehicle body to ensure the stability of the vehicle body when running.

[0065] In order to facilitate the installation of the running device, a chassis 18 for installing the running device can be respectively provided at both ends of the vehicle body, and the running device is installed on the chassis.

[0066] The walking device also includes a housing 19, and walking wheels are respectively arranged at both ends of the housing. The driver of the walking wheel can be a second driving motor, and its body can be fixed in the inner cavity of the housing or on the surface of the housing. The output shaft of the driver can be directly connected to one of the walking wheels, or connected to the walking wheels on both sides of the housing through a right-angle reducer 20.

[0067] Preferably, the body of the second drive motor is fixed to the top surface of the shell, and its output shaft is connected to the input shaft of the right-angle reducer. The right-angle reducer is arranged in the inner cavity of the shell, and its two output shafts are respectively connected to the main shafts of the walking wheels on both sides, thereby realizing the rotational drive of the walking wheels.

[0068] In order to facilitate the adjustment of the height of the vehicle body so that the probe on the turntable can be aligned with the longitudinal weld, a lifting drive device 21 for driving the travel device to rise and fall can be provided on the vehicle body. The lifting drive device body is fixed on the vehicle body, and the output end of the lifting drive device is connected to the travel device, thereby driving the travel device to rise and fall, and then the vehicle body can drive the turntable and the probe assembly thereon to rise and fall to a predetermined height. Preferably, the front and rear ends of the vehicle body are provided with lifting drive devices to respectively realize the lifting and lowering drive of the front and rear travel devices, so that the center of the vehicle body can be parallel to the center of the tube body, thereby realizing alignment with the weld.

[0069] The lifting drive device can be an electric cylinder, whose cylinder body is fixedly mounted at the end of the vehicle body. The housing is provided with a lifting connection plate 22, which is in a concave shape as a whole, and includes a horizontal plate 23 and vertical plates 24 on both sides of the horizontal plate. The bottom end of the horizontal plate is fixedly connected to the housing, and the top end of the horizontal plate is fixedly connected to the output end of the lifting drive device. The surface of the vertical plate is provided with a guide bar 25. The left and right sides of the lifting drive device are respectively provided with sliders adapted to the guide bar, and the sliders are fixed to the end surface of the vehicle body. When working, the output end of the lifting drive device drives the lifting connection plate to rise and fall along the sliders on both sides thereof, thereby driving the overall lifting and falling of the walking device, and realizing the adjustment of the height of the vehicle body.

[0070] The probe rack is used to install several probes for flaw detection on the pipe wall.

[0071] In this embodiment, the probe frame includes a movable plate 26 slidably arranged on the surface of the turntable and a probe mounting plate 27 fixedly connected to the movable plate, wherein the movable plate slidably cooperates with a guide rail 28 on the surface of the turntable through a slider, and the probe mounting plate is located on the outer side of the circumference of the turntable, one end of which is fixedly connected to the movable plate, and a plurality of fixed seats 29 are provided thereon, which are fixed to the probe mounting plate by screws, and a connecting rod 30 is provided on the fixed seat, one end of the connecting rod is fixedly connected to the spring connecting plate 31, and the other end of the connecting rod passes through the fixed seat and the probe mounting plate and is fixedly connected to the probe seat 33, and the above-mentioned probe is installed on the probe seat.

[0072] A spring 34 is arranged between the spring connecting plate and the fixing seat, one end of the spring is connected to the spring connecting plate, and the other end is connected to the fixing seat. The spring can drive the connecting rod and the probe seat fixed to the connecting rod to move through the spring connecting plate, so that the probe and the probe wedge on the probe seat fit with the inner wall of the pipe, thereby realizing the scanning of the pipe wall.

[0073] In this embodiment, the probe assembly includes three groups, and the three groups of probe assemblies are arranged on the turntable at 90 degrees. Two groups of probe assemblies are provided with two probes, and the other group of probe assemblies is provided with four probes.

[0074] The above-mentioned probe can be a PAUT probe or a TOFD probe, wherein the probe assembly located on the top of the turntable is provided with a pair of PAUT probes for flaw detection of the circumferential weld, the probe assembly located on one side of the turntable includes a pair of PAUT probes and a pair of TOFD probes for flaw detection of the longitudinal weld, and the probe assembly on the other side of the turntable is provided with a pair of TOFD probes for flaw detection of the circumferential weld.

[0075] The probe wedge of each probe is provided with a water spray interface 35 for connecting a water pipe, and correspondingly, a plurality of electromagnetic water valves 36 are provided on the turntable for controlling the water spray operation. The output port of the electromagnetic water valve is connected to the corresponding water spray interface through a pipeline, and the input port is connected to the pressure-stabilizing water pump through a pipeline, thereby realizing water supply.

[0076] In order to facilitate the observation of the operator, a plurality of cameras 37 are also arranged on the turntable. In this embodiment, three cameras are arranged on the surface of the turntable, corresponding to the three groups of probe assemblies respectively, for observing the internal conditions of the pipe wall.

[0077] In order to facilitate positioning, a laser marker may be provided on the probe mounting plate to assist in adjusting the vehicle body posture so that the probe is aligned with the weld.

[0078] The probe driving mechanism is used to drive the probe frame to move radially, so that the probe on the probe frame fits with the pipe wall, so that it can perform a scanning operation on the pipeline.

[0079] Specifically, the probe driving mechanism includes a connecting rod rotatably connected to the turntable, the probe frame and the first actuator are both connected to the connecting rod, and the first actuator is a linear displacement driver, thereby realizing displacement driving of the probe frame.

[0080] In this embodiment, the probe frame and the first actuator are respectively located at the two ends of the connecting rod, the middle part of the connecting rod is arranged at the top of the hinged rod 38, the bottom end of the hinged rod is arranged on the surface of the turntable, one end of the hinged rod is rotatably connected to one of the connecting rod and the turntable, and the other end of the hinged rod is fixedly connected to the other one of the connecting rod and the turntable.

[0081] In order to realize the driving of the probe frame, at least one moving groove 39 is provided on the surface of the connecting rod, and a pin 40 is fixedly connected to the output end of the probe frame or the first actuator. The pin is located in the moving groove. When driving, the pin moves in the moving groove, thereby causing the connecting rod to rotate around the hinge rod. Preferably, the number of the moving grooves is two, and the probe frame and the output end of the first actuator are both provided with pins corresponding to the moving grooves.

[0082] The setting of the probe driving mechanism not only realizes the independent displacement driving of each probe component, but also the lever-type design of the probe driving mechanism makes its overall volume smaller, thereby facilitating its installation, transportation and carrying.

[0083] The following is the specific working process of the flaw detection device.

[0084] Before flaw detection, the operator first connects the flaw detection device to the host through probe cables, control cables, video cables and other cables, and connects the probe wedge to the water outlet of the pressure-stabilizing water pump through a water pipe.

[0085] After adjusting the travel wheel and the probe assembly to the lowest position, the operator manually inserts the flaw detection device into the pipeline from the pipeline 41 port, and then the host controls the operation of the travel device through the cable to drive the overall movement of the device. During the walking process, the operator can observe the internal situation of the pipeline through the camera until the flaw detection device moves to the predetermined position of the pipeline.

[0086] The host can drive the height of the front and rear wheels through the lifting drive device to make the center line of the device as a whole basically flush with the center line of the girth weld. After that, the host drives the connecting rod to rotate through the first actuator driven by the probe driving mechanism, so that the probe frame at the other end of the connecting rod drives the probe on it to move along the guide rail on the turntable surface until the probe is attached to the pipe wall and aligned with the weld.

[0087] After the probe is aligned with the weld, the electromagnetic water valve opens to spray water on the pipe wall. During the water spraying process, the probe can detect flaws on the pipe wall.

[0088] During the flaw detection process, the vehicle body can move along the pipe wall driven by the traveling device so that the probe can detect the longitudinal weld. At the same time, the turntable is driven by the turntable driving mechanism to rotate 180 degrees to detect the circumferential weld.

[0089] Preferably, the turntable is arranged in the middle of the vehicle body, and base frames are respectively arranged at both ends of the vehicle body.

[0090] The turntable is arranged in the middle of the vehicle body so that the overall operation of the flaw detection device is more stable, and the arrangement of the chassis facilitates the installation of the traveling device.

[0091] Preferably, the number of the running devices is two, and the two running devices are respectively arranged at two ends of the vehicle body;

[0092] The walking device also includes a shell, and walking wheels are respectively arranged at both ends of the shell. The driver is a second driving motor, and the body of the second driving motor is fixed to the surface of the shell. The output shaft of the second driving motor is connected to the input shaft of the right-angle reducer. The right-angle reducer is arranged in the inner cavity of the shell, and the two output shafts of the right-angle reducer are respectively connected to the main shafts of the walking wheels on both sides.

[0093] The setting of two walking devices makes the flaw detection device run more smoothly.

[0094] The setting of the housing facilitates the installation of the second drive motor, the right-angle reducer, the running wheels and other components. The second drive motor drives the running wheels on both sides to rotate through the right-angle reducer, thereby driving the device as a whole to move.

[0095] Preferably, a lifting drive device is provided on the vehicle body, the lifting drive device body is fixed on the vehicle body, and the output end of the lifting drive device is connected to the walking device.

[0096] The arrangement of the lifting drive device realizes the lifting drive of the traveling device, so that the vehicle body can be lifted to a predetermined height so that the probe is aligned with the weld.

[0097] Preferably, a lifting connection plate is provided on the shell, and the lifting connection plate includes a horizontal plate and vertical plates on both sides of the horizontal plate. The bottom end of the horizontal plate is fixedly connected to the shell of the walking device, and the top end of the horizontal plate is fixedly connected to the output end of the lifting drive device. Guide bars are provided on the surface of the vertical plate, and sliders adapted to the guide bars are respectively provided on the left and right sides of the lifting drive device, and the sliders are fixed on the end surface of the vehicle body.

[0098] The setting of the lifting connection plate realizes the connection between the walking device and the lifting drive device, and the setting of components such as the guide bar and the slider makes the lifting of the walking device more stable.

[0099] Preferably, a hinged rod is provided on the surface of the turntable, the bottom end of the hinged rod is fixed on the surface of the turntable, and the middle part of the connecting rod is rotatably connected to the top end of the hinged rod.

[0100] The setting of the hinged rod facilitates the installation of the connecting rod, and the middle part of the connecting rod is connected to the top end of the hinged rod, so that the overall volume of the probe drive mechanism is smaller, thereby facilitating storage, transportation and use.

[0101] Preferably, both ends of the connecting rod are respectively provided with moving grooves, and the output ends of the probe frame and the first actuator are both provided with pins, and the ends of the pins are arranged in the moving grooves.

[0102] The arrangement of components such as the moving groove and the pin enables the first actuator to drive the probe frame to move through the connecting rod, thereby making the probe fit with the pipe wall.

[0103] Preferably, the probe frame includes a movable plate slidably arranged on the surface of the turntable, a probe mounting plate fixedly connected to the movable plate, a plurality of fixed seats are arranged on the probe mounting plate, a connecting rod is arranged on the fixed seat, one end of the connecting rod is fixedly connected to the spring connecting plate, the other end of the connecting rod passes through the fixed seat and the probe mounting plate and is fixedly connected to the probe seat, and the probe is mounted on the probe seat.

[0104] The arrangement of the moving plate, the probe mounting plate, the fixing seat, the connecting rod and the probe seat realizes the installation of the probe and the probe wedge.

[0105] Preferably, a spring is provided between the spring connecting plate and the fixing seat, one end of the spring is connected to the spring connecting plate, and the other end of the spring is connected to the fixing seat.

[0106] The spring can drive the connecting rod and the probe seat fixedly connected to the connecting rod to move through the spring connecting plate, so that the probe and the probe wedge on the probe seat fit with the inner wall of the pipe, thereby realizing the scanning of the pipe wall.

[0107] Preferably, a plurality of electromagnetic water valves and cameras are provided on the surface of the turntable, the number of the probe assemblies is three groups, and the probes are PAUT probes or TOFD probes.

[0108] The above is only a preferred implementation of the utility model, which is used to assist those skilled in the art to implement the corresponding technical solution, and is not used to limit the scope of protection of the utility model. The scope of protection of the utility model is defined by the attached claims. It should be pointed out that for ordinary technicians in this field, on the basis of the technical solution of the utility model, several equivalent improvements and variations can be made, and these improvements and variations should also be regarded as the scope of protection of the utility model. At the same time, it should be understood that although this specification is described in accordance with the above-mentioned implementation mode, not every implementation mode contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions of each embodiment can also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An automatic walking scanning type pipe inner wall water spray coupling ultrasonic flaw detection device, comprising a vehicle body (1), a scanning device (2) and a plurality of walking devices (3) are arranged on the vehicle body, the walking devices include a plurality of walking wheels (4) connected to the vehicle body, the scanning device includes a turntable (5), a plurality of probe assemblies (6) and a turntable driving mechanism for driving the turntable to rotate, characterized in that: The surface of the turntable has a central hole (7) penetrating the turntable, and the vehicle body passes through the central hole. The probe assembly includes a probe frame (8), a plurality of probes (9) arranged on the probe frame, and a probe driving mechanism for driving the probe frame to move. The probe driving mechanism includes a connecting rod (10) rotatably arranged on the turntable, and a first actuator (11) fixedly arranged on the turntable. The connecting rod is respectively connected to the output end of the first actuator and the probe frame. At least one of the plurality of walking devices includes a driver (12) for driving the walking wheel to rotate.

2. The automatic walking scanning type pipe inner wall water spray coupling ultrasonic flaw detection device according to claim 1 is characterized in that: The turntable is arranged in the middle of the vehicle body, and bottom frames are arranged at both ends of the vehicle body.

3. The automatic walking scanning type pipe inner wall water spray coupling ultrasonic flaw detection device according to claim 1 is characterized in that: There are two running devices, which are respectively arranged at two ends of the vehicle body; The walking device also includes a shell, and walking wheels are respectively arranged at both ends of the shell. The driver is a second driving motor, and the body of the second driving motor is fixed to the surface of the shell. The output shaft of the second driving motor is connected to the input shaft of the right-angle reducer. The right-angle reducer is arranged in the inner cavity of the shell, and the two output shafts of the right-angle reducer are respectively connected to the main shafts of the walking wheels on both sides.

4. The automatic walking scanning type pipe inner wall water spray coupling ultrasonic flaw detection device according to claim 3 is characterized in that: The front and rear ends of the vehicle body are respectively provided with lifting drive devices, the lifting drive device body is fixed on the vehicle body, and the output end of the lifting drive device is connected with the walking device.

5. The automatic walking scanning type pipe inner wall water spray coupling ultrasonic flaw detection device according to claim 4 is characterized in that: The shell is provided with a lifting connection plate, which includes a horizontal plate and vertical plates on both sides of the horizontal plate. The bottom end of the horizontal plate is fixedly connected to the shell of the walking device, and the top end of the horizontal plate is fixedly connected to the output end of the lifting drive device. The surface of the vertical plate is provided with guide bars, and the left and right sides of the lifting drive device are respectively provided with sliders adapted to the guide bars, and the sliders are fixed to the end surface of the vehicle body.

6. The automatic walking scanning type pipe inner wall water spray coupling ultrasonic flaw detection device according to claim 1 is characterized in that: A hinge rod is arranged on the surface of the rotating disk, the bottom end of the hinge rod is fixed on the surface of the rotating disk, and the middle part of the connecting rod is rotatably connected to the top end of the hinge rod.

7. The automatic walking scanning type pipe inner wall water spray coupling ultrasonic flaw detection device according to claim 6 is characterized in that: Both ends of the connecting rod are respectively provided with moving grooves, and the output ends of the probe frame and the first actuator are both provided with pins, and the ends of the pins are arranged in the moving grooves.

8. The automatic walking scanning type pipe inner wall water spray coupling ultrasonic flaw detection device according to claim 1 is characterized in that: The probe frame includes a movable plate slidably arranged on the surface of the turntable, and a probe mounting plate fixedly connected to the movable plate. A plurality of fixed seats are arranged on the probe mounting plate, and a connecting rod is arranged on the fixed seat. One end of the connecting rod is fixedly connected to the spring connecting plate, and the other end of the connecting rod passes through the fixed seat and the probe mounting plate and is fixedly connected to the probe seat. The probe is mounted on the probe seat.

9. The automatic walking scanning type pipe inner wall water spray coupling ultrasonic flaw detection device according to claim 8 is characterized in that: A spring is arranged between the spring connecting plate and the fixing seat, one end of the spring is connected to the spring connecting plate, and the other end is connected to the fixing seat.

10. The automatic walking scanning type pipe inner wall water spray coupling ultrasonic flaw detection device according to claim 1 is characterized in that: The surface of the turntable is provided with a plurality of electromagnetic water valves and cameras. The number of the probe assemblies is three groups, and the probes are PAUT probes or TOFD probes.

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