Internal weld bead inspection equipment for long-distance pipeline
By designing an expansion-contraction adjustable walking device and image acquisition mechanism that can adapt to different pipe diameters, efficient and automated detection of long-distance pipeline welds is achieved, solving the problems of high detection cost and poor environmental adaptability in existing technologies, and improving detection accuracy and efficiency.
Patent Information
- Application Number
- CN202423115458.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-17
- Publication Date
- 2025-10-10
- Estimated Expiration
- 2034-12-17
AI Technical Summary
Existing technologies are unable to efficiently and cost-effectively inspect the weld conditions of long-distance pipelines, and inspection equipment equipped with visual systems is expensive and has poor environmental adaptability.
A long-distance pipeline internal weld inspection device is designed. It adopts an expansion-contraction adjustable travel device and an image acquisition mechanism. The expansion-contraction claw frame and travel wheels can adapt to different pipe diameters. The displacement sensor and induction wheel are combined to accurately locate the weld and automatically detect the weld image.
It improves detection efficiency and accuracy, reduces dependence on specific pipeline specifications, reduces manual intervention, and provides high-quality image data support.
Smart Images
Figure CN223424929U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of pipeline transportation, and in particular to a device for inspecting internal welds of long-distance pipelines. Background Art
[0002] With the advancement of my country's urban modernization and the improvement of people's living standards, people's demand for oil resources is increasing. With the launch of the West-East Gas Pipeline Project, pipeline transportation is becoming more and more popular in transporting gas and fluids. However, after the pipeline welding is completed, people cannot know the condition of the pipeline welds. Directly using ultrasonic testing, radiographic testing, magnetic particle testing and other testing methods to inspect the welds will increase the workload and cost of workers. How to reduce the number of unnecessary inspections of pipeline welds and reduce the inspection cost and inspection time has always been a difficult problem to solve.
[0003] It has been proposed to use a visual system to inspect welds, which helps reduce inspection costs and inspection links. However, pipeline weld inspection robots equipped with a visual system are expensive, have a single inspection pipeline, and have poor environmental adaptability. Summary of the Invention
[0004] The technical problem to be solved by the present invention is to provide a long-distance pipeline internal weld inspection device in response to the above-mentioned problems. A continuous oil pipe is then lowered into the pipe string to realize forward and reverse gas lift of the gas well, thereby discharging the accumulated liquid in the wellbore, reducing the bottom hole back pressure, increasing the gas well production, and further increasing the gas well recovery rate.
[0005] The embodiment of the present application is implemented as follows:
[0006] The present application provides equipment for inspecting welds inside long-distance pipelines. The equipment mounting frame comprises a front guide frame and a rear guide frame, symmetrically arranged front and rear. The front and rear guide frames are indirectly connected via a connecting frame. Each guide frame is equipped with an adjustable expansion and contraction travel device. The adjustable expansion and contraction travel device comprises an expansion claw frame, an expansion and contraction drive mechanism, and travel wheels. The expansion and contraction of the expansion claw frame is adjusted by the expansion and contraction drive mechanism, and the travel wheels are driven by the travel drive mechanism to rotate and travel along the inner wall of the pipeline. A detection device is provided on the expansion claw frame on the front guide frame. The detection device comprises an image acquisition mechanism and a rotation mechanism. The rotation mechanism drives the image acquisition mechanism to rotate and capture images of the weld.
[0007] In some optional embodiments, the front guide frame and the rear guide frame both include a fork-shaped protrusion and a guide shaft, the fork-shaped protrusion is provided with a plurality of guide protrusions evenly distributed along the circumference, one end of the guide shaft is fixed to the inner center position of the fork-shaped protrusion, the guide protrusion is provided with a straight opening along the axial direction, and guide grooves are provided on both sides of the straight opening, and guide columns are embedded in the guide grooves on both sides.
[0008] In some optional embodiments, the expansion and contraction claw frame includes multiple rotating arms, sliding ring disks, fixed ring disks and sliding ring frames, the outer end of the rotating arm fixes the walking wheel, the middle part of the rotating arm is connected to the guide column, the inner end of the rotating arm is hingedly connected to the outer ring of the sliding ring disk, the sliding ring disk, fixed ring disk and sliding ring frame are sequentially arranged along the guide shaft, the inner ring of the fixed ring disk is fixedly connected to the guide shaft, the disk surface of the fixed ring disk is evenly spaced along the circumference with through holes, the sliding ring disk and the sliding ring frame are connected by sliding rods evenly distributed along the circumference, the sliding rods pass through the through holes and slide along the through holes.
[0009] In some optional embodiments, the expansion and contraction drive mechanism includes a telescopic cylinder, a lifting seat and a hinged plate. The telescopic cylinder is fixed to the center position of the connecting frame, the top of the plunger of the telescopic cylinder is connected to the lifting seat, and the hinged plate consists of two pieces, which are symmetrically arranged on the left and right sides of the lifting seat, and the two ends of the hinged plate are respectively hinged to the lifting seat and the sliding ring frame.
[0010] In some optional embodiments, the walking drive mechanism includes a driving motor, a power gear, a transmission gear, a driving shaft, a driving end face gear and driving teeth evenly distributed along the outer circumference of the walking wheel. The output shaft of the driving motor is connected to the power gear and is connected to the fixed ring disk through a bearing. There are multiple transmission gears, which are evenly spaced along the circumference of the inner end face of the fixed ring disk and mesh with the power gear. The driving shaft is arranged through the rotating arm, one end is connected to the driving end face gear, and the other end is connected to the transmission gear through a transmission soft shaft. The driving teeth are meshed with the driving end face gear.
[0011] In some optional embodiments, the rotating mechanism includes a rotating motor, a rotating gear and a rotating ring. The rotating motor is installed on the end face of the fixed ring disk through a bracket. The rotating gear is connected to the output shaft of the rotating motor. Rotating teeth are evenly distributed on the outer circumference of the rotating ring. The rotating teeth are engaged with the rotating gear. The rotating ring is sleeved on the outer circumference of the fixed ring disk and is embedded in the sliding groove on the outer circumference of the fixed ring disk through a guide slider. It rotates along the sliding groove. The image acquisition mechanism is fixed on the end face of the rotating ring.
[0012] In some optional embodiments, a sensing arm is provided at the outer end of the rotating arm, a sensing wheel is installed at the end of the sensing arm, a displacement sensor is provided on the rotating arm corresponding to the bottom of the sensing wheel, an external protrusion is provided on the rotating arm, a spring is provided on the external protrusion, and the top of the spring is connected to the sensing arm.
[0013] In some optional embodiments, the outer end of the rotating arm is provided with a U-shaped notch, the driving end face gear is located at the bottom of the U-shaped notch, the walking wheel is fixed to one side of the U-shaped notch, and the sensing arm is hinged to the other side of the U-shaped notch.
[0014] In some optional embodiments, the tail ends of the two driving motors located on the front guide frame and the rear guide frame are connected.
[0015] The beneficial effects of the present application are: 1. The present application provides an internal weld inspection device for long-distance pipelines, in which the position of the travel wheels can be adjusted through an expansion-contraction adjustable travel device, and the device can adapt to pipelines of different diameters, which greatly increases the application range of the device and reduces the dependence on pipelines of specific specifications; 2. The degree of automation is high, and the entire inspection process requires almost no human intervention, thereby improving work efficiency; 3. Through the combination of displacement sensors and induction wheels, the weld position can be accurately located, with high detection accuracy, providing high-quality data support for subsequent image recognition. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.
[0017] Figure 1 This is an axonometric diagram of a detection device according to an embodiment of the present application;
[0018] Figure 2 This is an exploded view of the detection device according to an embodiment of the present application. DETAILED DESCRIPTION
[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.
[0020] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.
[0021] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.
[0022] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of this application is typically placed when in use. These terms are intended only to facilitate the description of this application and simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.
[0023] It should also be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.
[0024] In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.
[0025] The features and performance of the present application are further described in detail below with reference to the embodiments.
[0026] like Figure 1-Figure 2As shown, the present invention provides an internal weld inspection device for a long-distance pipeline, including an equipment mounting frame, the equipment mounting frame including a front guide frame 1 and a rear guide frame 2 symmetrically arranged front and rear, the front and rear guide frames being indirectly connected by a connecting frame 3, the front and rear guide frames being provided with an expansion-and-contraction adjustable walking device, the expansion-and-contraction adjustable walking device including an expansion-and-contraction claw frame, an expansion-and-contraction drive mechanism and a walking wheel 4, the expansion-and-contraction claw frame being adjusted to expand and contract by the expansion-and-contraction drive mechanism, the walking wheel being driven to rotate by the walking drive mechanism to walk along the inner wall of the pipeline, the expansion-and-contraction claw frame on the front guide frame being provided with a detection device, the detection device including an image acquisition mechanism 5 and a rotating mechanism, the rotating mechanism driving the image acquisition mechanism to rotate to acquire images of the weld.
[0027] Furthermore, the front guide frame and the rear guide frame both include a fork-shaped protrusion 6 and a guide shaft 7. The fork-shaped protrusion is provided with a plurality of guide protrusions 8 evenly distributed along the circumference. One end of the guide shaft is fixed to the inner center position of the fork-shaped protrusion. The guide protrusion is provided with a straight opening along the axial direction. Guide grooves 9 are provided on both sides of the straight opening, and guide columns 10 are embedded in the guide grooves on both sides.
[0028] Furthermore, the expansion and contraction claw frame includes multiple rotating arms 11, sliding ring discs 12, fixed ring discs 13 and sliding ring frames 14. The outer end of the rotating arm is fixed to the walking wheel, the middle part of the rotating arm is connected to the guide column, and the inner end of the rotating arm is hingedly connected to the outer ring of the sliding ring disc. The sliding ring disc, fixed ring disc and sliding ring frame are sequentially arranged along the guide shaft, the inner ring of the fixed ring disc is fixedly connected to the guide shaft, and the disk surface of the fixed ring disc is evenly spaced along the circumference with through holes. The sliding ring disc and the sliding ring frame are connected by sliding rods 15 evenly distributed along the circumference. The sliding rods pass through the through holes and slide along the through holes.
[0029] Furthermore, the expansion and contraction drive mechanism includes a telescopic cylinder 16, a lifting seat 17 and a hinged plate 18. The telescopic cylinder is fixed at the center position of the connecting frame, the top of the plunger of the telescopic cylinder is connected to the lifting seat, and the hinged plate consists of two pieces, which are symmetrically arranged on the left and right sides of the lifting seat. The two ends of the hinged plate are respectively hinged to the lifting seat and the sliding ring frame.
[0030] The telescopic cylinder drives the lifting seat up and down, and the hinged plate rotates accordingly. The sliding ring frame connected to the hinged plate moves laterally, driving the sliding ring plate to move, and the sliding ring plate drives the rotating arm to move. The rotating arm expands and contracts under the action of the guide column and guide groove, thereby achieving adjustment to adapt to pipes of different diameters, and making the walking wheel fit the inner wall of the pipe to form pressure.
[0031] Furthermore, the walking drive mechanism includes a driving motor 19, a power gear 20, a transmission gear 21, a driving shaft 22, a driving end face gear 23 and driving teeth 24 evenly distributed along the outer circumference of the walking wheel. The output shaft of the driving motor is connected to the power gear and is connected to the fixed ring disk through a bearing. There are multiple transmission gears, which are evenly spaced along the circumference of the inner end face of the fixed ring disk and mesh with the power gear. The driving shaft is arranged through the rotating arm, one end is connected to the driving end face gear, and the other end is connected to the transmission gear through a transmission soft shaft, and the driving teeth are meshed with the driving end face gear.
[0032] The driving motor works, driving the power gear to rotate, the power gear drives multiple transmission gears to rotate, the transmission gear drives the transmission flexible shaft to rotate, the transmission flexible shaft drives the driving shaft to rotate, the driving shaft drives the driving end face gear to rotate, the driving end face gear engages with the driving teeth, and then drives the travel wheel to rotate, driving the equipment to move along the inner wall of the pipeline.
[0033] Furthermore, a sensing arm 25 is provided at the outer end of the rotating arm, a sensing wheel 26 is installed at the end of the sensing arm, a displacement sensor is provided on the rotating arm corresponding to the lower part of the sensing wheel, an external protrusion 27 is provided on the rotating arm, a spring 28 is provided on the external protrusion, and the top of the spring is connected to the sensing arm.
[0034] When the equipment moves, the induction wheel on the forward direction side contacts the inner wall of the pipe synchronously under the action of the spring. When multiple displacement sensors detect a change in displacement, it means that the induction wheel has passed the weld. The rotation angle of the rotating arm can be determined according to the stroke of the telescopic cylinder, and then the distance between the induction wheel and the image acquisition mechanism can be determined. Then, when the equipment continues to move forward this distance, the drive motor stops running and the image acquisition mechanism is exactly at the weld.
[0035] Furthermore, the rotating mechanism includes a rotating motor 29, a rotating gear 30 and a rotating ring 31. The rotating motor is installed on the end face of the fixed ring disk through a bracket. The rotating gear is connected to the output shaft of the rotating motor. Rotating teeth are evenly distributed on the outer circumference of the rotating ring. The rotating teeth are engaged with the rotating gear. The rotating ring is sleeved on the outer circumference of the fixed ring disk and is embedded in the slide groove on the outer circumference of the fixed ring disk through a guide slider. It rotates along the slide groove. The image acquisition mechanism is fixed on the end face of the rotating ring.
[0036] The rotating motor drives the rotating gear to rotate, which in turn drives the rotating ring to rotate on the fixed ring disk, and at the same time drives the image acquisition mechanism to rotate. The image acquisition mechanism completes the acquisition after rotating 360°. When encountering the next weld bead, the image acquisition mechanism can rotate 360° in the opposite direction to complete the next acquisition. This process is repeated to complete the acquisition of the weld bead image. By uploading the acquired image information to the computer's image recognition system, the image recognition algorithm is used to determine whether there is a problem with the weld.
[0037] Embodiment 1
[0038] In the present embodiment, the outer end of the rotating arm is provided with a U-shaped notch 32, the driving end face gear is located at the bottom of the U-shaped notch, the walking wheel is fixed to one side of the U-shaped notch, and the sensing arm is hinged to the other side of the U-shaped notch.
[0039] In some optional embodiments, the tail ends of the two driving motors located on the front guide frame and the rear guide frame are connected.
[0040] When the above welding bead inspection device is used for welding bead detection, the following contents are included:
[0041] After the detection device is powered on and placed in the pipeline to be detected, the telescopic cylinder is started to drive the expansion claw frame to slide and adjust, so that the rotating arm is adjusted to the appropriate opening angle position, at which time the walking wheel is in close contact with the inner wall of the pipeline; the driving motor is started, and the rotation is transmitted to the walking wheel through the power gear, the transmission gear, the transmission soft shaft, the driving shaft and the driving end face gear in turn, the walking wheel advances along the inner wall of the pipeline, and the sensing wheel fixed on the front guide frame is in contact with the inner wall of the pipeline under the action of the spring; when the displacement sensors corresponding to the plurality of sensing wheels simultaneously detect the change of displacement, it indicates that this place is the welding bead position, at this time, according to the stroke of the telescopic cylinder, the rotation angle of the rotating arm is judged, and then the distance between the sensing wheel and the image acquisition mechanism is judged, when the distance continues to advance, the driving motor stops running; the rotary motor is started to drive the rotating ring to rotate, and the image acquisition device rotates 360° to complete the welding bead image acquisition, when the next welding bead is encountered, the image acquisition mechanism reverses 360° to complete the next acquisition, and the process is repeated to complete the welding bead image acquisition, and the collected image information is uploaded to the image recognition system of the external computer, and the welding quality is judged by the image recognition algorithm.
[0042] In summary, the above-mentioned long-distance pipeline internal welding bead inspection device not only realizes innovation in technology, but also greatly improves the efficiency and accuracy of pipeline welding bead detection, which is of great significance to ensure the safe operation of the pipeline.
Claims
1. A long-distance pipeline internal weld inspection device, characterized in that: It includes an equipment mounting frame, which includes a front guide frame and a rear guide frame symmetrically arranged front and back. The front and rear guide frames are indirectly connected by a connecting frame. The front and rear guide frames are both provided with expansion and contraction adjustable walking devices. The expansion and contraction adjustable walking devices include an expansion and contraction claw frame, an expansion and contraction drive mechanism and a walking wheel. The expansion and contraction of the expansion and contraction claw frame is adjusted by the expansion and contraction drive mechanism. The walking wheel is driven to rotate by the walking drive mechanism and walks along the inner wall of the pipeline. A detection device is provided on the expansion and contraction claw frame on the front guide frame. The detection device includes an image acquisition mechanism and a rotating mechanism. The rotating mechanism drives the image acquisition mechanism to rotate to acquire images of the weld.
2. The long-distance pipeline internal weld inspection equipment according to claim 1, characterized in that: The front guide frame and the rear guide frame both include a fork-shaped protrusion and a guide shaft. The fork-shaped protrusion is provided with a plurality of guide protrusions evenly distributed along the circumference. One end of the guide shaft is fixed to the inner center position of the fork-shaped protrusion. The guide protrusion is provided with a straight opening along the axial direction. Guide grooves are provided on both sides of the straight opening, and guide columns are embedded in the guide grooves on both sides.
3. The long-distance pipeline internal weld inspection equipment according to claim 2, characterized in that: The expansion and contraction claw frame includes multiple rotating arms, sliding ring discs, fixed ring discs and sliding ring frames. The outer end of the rotating arm is fixed to the walking wheel, the middle part of the rotating arm is connected to the guide column, and the inner end of the rotating arm is hingedly connected to the outer ring of the sliding ring disc. The sliding ring disc, fixed ring disc and sliding ring frame are sequentially arranged along the guide shaft. The inner ring of the fixed ring disc is fixedly connected to the guide shaft. The disk surface of the fixed ring disc is evenly spaced along the circumference with through holes. The sliding ring disc and the sliding ring frame are connected by sliding rods evenly distributed along the circumference. The sliding rods pass through the through holes and slide along the through holes.
4. The long-distance pipeline internal weld inspection equipment according to claim 3, characterized in that: The expansion and contraction drive mechanism includes a telescopic cylinder, a lifting seat and a hinged plate. The telescopic cylinder is fixed to the center position of the connecting frame. The top of the plunger of the telescopic cylinder is connected to the lifting seat. The hinged plate consists of two pieces, which are symmetrically arranged on the left and right sides of the lifting seat. The two ends of the hinged plate are respectively hinged to the lifting seat and the sliding ring frame.
5. The long-distance pipeline internal weld inspection equipment according to claim 3 or 4, characterized in that: The walking drive mechanism includes a driving motor, a power gear, a transmission gear, a driving shaft, a driving end face gear and driving teeth evenly distributed along the outer circumference of the walking wheel. The output shaft of the driving motor is connected to the power gear and is connected to the fixed ring disk through a bearing. There are multiple transmission gears, which are evenly spaced along the circumference of the inner end face of the fixed ring disk and mesh with the power gear. The driving shaft is arranged through the rotating arm, one end is connected to the driving end face gear, and the other end is connected to the transmission gear through a transmission soft shaft. The driving teeth are meshed with the driving end face gear.
6. The long-distance pipeline internal weld inspection equipment according to claim 5, characterized in that: The rotating mechanism includes a rotating motor, a rotating gear and a rotating ring. The rotating motor is installed on the end face of the fixed ring disk through a bracket. The rotating gear is connected to the output shaft of the rotating motor. Rotating teeth are evenly distributed on the outer circumference of the rotating ring. The rotating teeth are engaged with the rotating gear. The rotating ring is sleeved on the outer circumference of the fixed ring disk and is embedded in the sliding groove on the outer circumference of the fixed ring disk through a guide slider. It rotates along the sliding groove. The image acquisition mechanism is fixed on the end face of the rotating ring.
7. The long-distance pipeline internal weld inspection equipment according to claim 6, characterized in that: The outer end of the rotating arm is provided with a sensing arm, the end of the sensing arm is equipped with a sensing wheel, a displacement sensor is provided on the rotating arm corresponding to the lower part of the sensing wheel, an external convex block is provided on the rotating arm, a spring is provided on the external convex block, and the top of the spring is connected to the sensing arm.
8. The long-distance pipeline internal weld inspection equipment according to claim 7, characterized in that: The outer end of the rotating arm is provided with a U-shaped notch, the driving end face gear is located at the bottom of the U-shaped notch, the walking wheel is fixed to one side of the U-shaped notch, and the sensing arm is hinged to the other side of the U-shaped notch.
9. The long-distance pipeline internal weld inspection equipment according to claim 5, characterized in that: The tail ends of the two driving motors located on the front guide frame and the rear guide frame are connected.