Pipeline defect nondestructive testing experimental device

Abstract

The utility model belongs to pipeline defect nondestructive testing experiment device, belong to nondestructive testing experiment device technical field, include: electric rotary platform, its top platform horizontal placement is driven to rotate by motor, and the rotating speed is controlled by controller, mechanical arm, install in electric rotary platform, adopt direct current power supply, and the nondestructive testing probe is installed on the actuator, and the detection data is stored in the probe self storage unit, and can be read through computer after experiment, annular groove body, be formed by complete circular ring pipeline axial cutting, be semicircular pipe type, top opening, bottom arc, the probe is located in the groove, when the mechanical arm rotates with the platform, the probe is always in the groove and does not contact interference with the groove body, the groove surface is equipped with defect, and the relative displacement speed of probe and groove body is 2-6m / s, and the mechanical arm controls the angle of probe and defect. The device can obtain the nondestructive testing data of probe and defect under different speeds.

Description

Technical Field

[0001] This utility model belongs to the field of non-destructive testing technology, specifically relating to an experimental device for non-destructive testing of pipeline defects. Background Technology

[0002] Non-destructive testing (NDT) is a core technology for ensuring the safe operation of pipelines. Its core purpose is to accurately detect defects, damages and potential hazards inside or on the surface of pipelines without damaging their structure and performance, thereby avoiding safety accidents, economic losses and environmental damage caused by pipeline failure. The "lip cup," a tool equipped with corresponding non-destructive testing (NDT) sensors, is widely used in pipeline NDT. In specific NDT operations, a split tee fitting is typically welded and sealed near the pipe section to be inspected. A clamp valve and a hole-drilling machine are then installed on the tee fitting to create a hole. After drilling, the clamp valve is closed and the hole-drilling machine is removed. The clamp valve is then reopened, and the lip cup is inserted into the pipe through this opening. The movement of the pressure cup in gas pipelines and other pipes is not driven by its own power, but by the pressure difference of the gas, making its movement speed uncontrollable, typically between 2-6 m / s. Since the defect detection effect is related to the pressure cup's movement speed, the noise interference generated during non-destructive testing varies at different speeds, and the difficulty of subsequent algorithm analysis also differs. Therefore, under uncontrollable speed conditions, it cannot be guaranteed that the algorithm can effectively eliminate noise and retain useful defect information in the defect detection data. Based on this, it is essential to develop a non-destructive testing experimental device for pipelines. Its purpose is to obtain relevant non-destructive testing data at different speeds under laboratory conditions, providing experimental tools for subsequent algorithm processing of noisy non-destructive testing data. Currently, the main experimental equipment is the "traction test device," which uses a winch to pull a rubber cup within a straight pipe to obtain defect data. However, this device has significant drawbacks: Firstly, to avoid accidents caused by the rubber cup detaching from the pipe and being ejected due to excessive speed, the rubber cup's speed is usually slow at the end of the pipe, only increasing in speed in the middle. This results in a short length of the straight pipe from which effective non-destructive testing data can be obtained. To increase the amount of data acquired in a single experiment, the pipe length needs to be increased, often exceeding 15 meters, which is difficult to conduct in a laboratory environment due to space constraints. Secondly, during the process of the winch pulling the rubber cup, the experiment is completed once the cup moves from one end of the pipe to the other. To obtain new non-destructive testing data, the rubber cup needs to be reset within the pipe and the pulling process repeated, increasing the complexity of the operation.

[0003] To avoid the drawbacks of the traditional "traction test device", this utility model proposes a non-destructive testing device for pipeline defects. Utility Model Content

[0004] This utility model provides a non-destructive testing experimental device for pipeline defects, which can continuously acquire pipeline non-destructive testing data, improving the efficiency and convenience of data acquisition.

[0005] To achieve the above objectives, the present invention proposes the following technical content: The non-destructive testing apparatus for pipeline defects includes the following components: An electric rotating platform, with the top platform placed horizontally and driven to rotate by a motor whose speed is controlled by a controller; The robotic arm is mounted on an electric rotating platform and is powered by DC. The actuator of the robotic arm is equipped with a non-destructive testing probe. The data detected by the probe is stored in its own storage unit and can be retrieved by a computer or other devices after the experiment. The annular groove is formed by cutting a complete circular pipe along the axial direction, retaining the overall shape of the ring. The cross-section is semi-circular, with an open top and an arc bottom. The probe on the robotic arm actuator is located in the groove of the annular groove, ensuring that the probe remains in the groove and does not contact or interfere with the annular groove when the robotic arm rotates with the electric rotating platform. A defect is set on the surface of the annular groove. The relative displacement velocity between the probe and the annular groove is 2-6 m / s, controlled by the controller signal. The robotic arm controls the relative angle between the probe and the defect.

[0006] By replacing the traditional straight pipe with an annular groove, the probe's cyclic detection is achieved through circular motion. This eliminates the need for the linear space of a long straight pipe, allowing multiple sets of experiments to be completed within the limited space of a laboratory. This solves the space limitation problem of traditional traction devices due to excessive pipe length. It can acquire relevant data at different speeds, probe angles, and different types of defects, providing a large amount of effective data for subsequent algorithm processing.

[0007] Furthermore, a notch is cut into the annular groove, and a defective body can be detachably installed at the notch. The curvature and surface roughness of the inner wall of the defective body are consistent with the groove wall of the annular groove, and the material of the defective body is consistent with the annular groove. After installation, it is seamlessly connected with the annular groove. The detachable structure between the defective body and the annular groove is located outside the groove of the annular groove and the groove of the defective body. One type or a combination of multiple types of defects can be processed inside the groove of the defective body. Different types of defective bodies can be installed at the notch according to experimental requirements.

[0008] By replacing different defect bodies, it is possible to quickly switch between single defects (such as cracks of a specific size) and combined defects (such as cracks + grooves) without the need for overall machining of the annular groove. This significantly reduces the preparation cost for diverse defect scenarios and allows for efficient acquisition of detection data for different defect types, meeting the algorithm's requirements for samples from multiple scenarios. The defect body maintains the same curvature and surface roughness as the inner wall of the annular groove, and the seamless connection after installation avoids additional interference signals caused by structural abrupt changes. This ensures that the detection environment when the probe passes through the defect body is consistent with other areas of the annular groove, guaranteeing the authenticity of the defect signal and the reliability of the data.

[0009] Furthermore, the two joints between the annular groove and the defect are named Joint A and Joint B, respectively. During the rotation of the electric rotary platform, the probe first passes through Joint A and then through Joint B. An infrared pair is installed on the actuator of the robotic arm. A protrusion is installed near Joint A and Joint B on the annular groove, with the protrusion at Joint A being longer and the protrusion at Joint B being shorter. When the infrared pair passes the protrusion at Joint A, a longer high-level signal is generated, which is read by the controller. When the infrared pair passes the protrusion at Joint B, a shorter high-level signal is generated, which is also read by the controller. When the infrared pair does not pass through either of the two protrusions, a low-level signal is generated, which is also read by the controller.

[0010] By marking the entry point of the defect body with a long-term high-level signal from joint A (long protrusion) and marking the exit point with a short-term high-level signal from joint B (short protrusion), a clear data interception window is formed. This allows for the accurate separation of effective information about the defect body region from continuous detection data, eliminating redundant data from non-defect areas, significantly reducing the amount of data processed by subsequent algorithms, and improving analysis efficiency.

[0011] Furthermore, a base with a horizontal bottom surface is installed below the annular groove.

[0012] The horizontal base provides uniform support for the annular trough, dispersing the weight of the trough itself and vibrations that may occur during the experiment (such as slight shaking caused by the rotation of the electric rotating platform), preventing the annular trough from tilting or shifting due to uneven force, ensuring the stability of the 3-5mm movement margin between the probe and the trough, and eliminating the potential for motion interference from the basic structure.

[0013] Furthermore, a base plate is provided below the electric rotating platform and the base, and both the electric rotating platform and the annular groove are fixedly connected to the upper surface of the base plate.

[0014] The base plate provides a unified rigid support foundation for the electric rotary platform and the annular trough, eliminating the relative displacement that might occur when the two are placed independently through a fixed connection. This ensures that the rotation center of the electric rotary platform always coincides with the center of the annular trough, avoiding center offset due to long-term operation or vibration, and thus preventing collision interference between the probe and the trough. This provides structural protection for the stable movement of the probe at a relative speed of 2-6 m / s.

[0015] Furthermore, after the electric rotary platform rotates at a certain speed for a set number of X revolutions, the controller controls the electric rotary platform to adjust the speed. The speed adjustment process adopts a smooth transition, and X is set to 3.

[0016] By adjusting the rotation speed after every three revolutions, sufficient repeatable samples (three revolutions of data) can be accumulated at the same speed, ensuring the statistical validity of the data under a single speed condition. Simultaneously, multiple speed adjustments can cover different speeds within the 2-6 m / s range, obtaining detection data for diverse speed conditions and meeting the algorithm's requirement for multi-speed samples. The smooth transition of the rotation speed adjustment method avoids additional vibrations caused by sudden changes in rotation speed, preventing interference between the probe and the annular groove.

[0017] Furthermore, the detachable structure is a flange.

[0018] The beneficial effects that can be achieved by adopting the above-mentioned technology are: 1. In laboratory settings, the design of annular troughs eliminates the dependence on space inherent in traditional straight pipes, enabling the continuous and uninterrupted acquisition of effective data.

[0019] 2. The detection data is obtained by simulating different rotation speeds using an electric rotary platform, providing the algorithm with detection data at different speeds.

[0020] 3. Relying on a robotic arm, it can change the relative position and angle between the probe and the defect, thereby achieving diverse detection data. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of Example 1; Figure 2 This is a top view of the annular groove in Example 1; Figure 3 This is a top view of the annular groove and the defect in Example 2; Figure 4 This is a top view of the annular groove in Embodiment 2; Figure 5 Schematic diagram of the overall structure of Example 3; Figure 6 This is a top view of the annular groove, defect, and protrusion in Example 3.

[0022] 1. Electric rotating platform; 2. Robotic arm; 3. Annular groove; 4. Base; 5. Base plate; 6. Probe; 7. Infrared pair; 8. Protrusion block; 9. Defect body; 10. Flange. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0024] Example 1: As Figure 1 As shown, the non-destructive testing apparatus for pipeline defects includes: Base plate 5 is fixed to the laboratory floor by expansion bolts; An electric rotating platform 1 is placed on the upper surface of the base plate 5 and fixedly installed thereto, with its top platform placed horizontally. The top platform is driven to rotate by its motor, and the motor speed is controlled by a controller.

[0025] Robotic arm 2 is mounted on the upper surface of the electric rotating platform 1 and is powered by 24V DC. The end effector of robotic arm 2 is equipped with a non-destructive testing probe 6, such as an electromagnetic probe, eddy current probe, or pulse-echo ultrasonic probe. All of these probes are self-emitting and self-receiving. The data detected by probe 6 is stored in its own storage unit and can be retrieved by a computer or other devices after the experiment.

[0026] The annular groove 3 is formed by axially cutting a complete circular pipe, retaining the overall shape of the ring, with a semi-circular tube cross-section (open at the top and arc-shaped at the bottom). The probe 6 on the actuator of the aforementioned robotic arm 2 is located in the groove of the annular groove 3, ensuring that the probe 6 remains in the groove of the annular groove 3 as the robotic arm 2 rotates with the electric rotating platform 1. There is a 3-5mm margin of movement between the non-destructive testing probe 6 and the inner wall of the annular groove 3 to ensure no motion interference. To facilitate the stable placement of the annular groove 3 on the laboratory floor, a base 4 with a horizontal bottom surface is welded and installed at the bottom of the annular groove 3, allowing the annular groove 3 to be stably placed on the laboratory floor. Furthermore, to prevent the annular groove 3 from moving arbitrarily and causing relative displacement between the probe 6 and the inner wall of the annular groove 3 during the rotation of the electric rotating platform 1, resulting in collision and interference, the bottom of the base 4 is welded and fixed to the upper surface of the base plate 5.

[0027] The groove surface of the annular groove 3 has defects (see Figure 2For example, cracks and grooves (crack length can be set to 5-20mm, groove depth can be set to 1-15mm); the angle between probe 6 and the crack is controlled by the movement of robotic arm 2. From a top-down view, the movement trajectory of probe 6 is circular, with its center coinciding with the center of the annular groove 3, and a radius of approximately 3m. The relative speed between probe 6 and the annular groove 3 can be calculated from the motor's rotational speed using the formula: V 相 =V 转 *2πR, where V 转 The value represents the motor speed, expressed in r / s. R represents the horizontal projected distance from the center point of the electric rotary platform 1 to the probe 6, which is 3m. V 相 The relative velocity (m / s) between the annular groove 3 and the probe 6, i.e. the relative velocity between the defect and the probe 6, is controlled between 2-6 m / s.

[0028] The procedure for using this device is as follows: When the electric rotary platform 1 is started, the probe 6 mounted on the actuator of the robotic arm 2 rotates with the platform, always remaining within the groove of the annular groove 3 and moving along the circumference of the groove. This creates different relative speeds between the probe 6 and the defects on the annular groove 3, ranging from 2 to 6 m / s. During this process, the controller randomly generates rotational speed information and transmits it to the electric rotary platform 1 in real time. Upon receiving the information, the electric rotary platform 1 operates at the set speed. Notably, the rotational speed adjustment of the electric rotary platform 1 follows the rule of "randomly adjusting once every set X revolutions (e.g., 3 revolutions)". Furthermore, during the switching between different rotational speeds, a smooth transition is achieved through the control system to prevent instability in the movement of the probe 6 or interference with the annular groove 3 due to sudden changes in rotational speed.

[0029] During the rotation of the electric rotary platform 1, the robotic arm 2 is controlled by the controller signal and can independently adjust the positional relationship between the probe 6 and the defect. This is not linked to the rotation speed control of the electric rotary platform 1, and ensures that there is no contact interference between the non-destructive testing probe 6 and the annular groove 3, which is used to generate data on different positional relationships between the defect and the probe 6.

[0030] Therefore, the device in this scheme can collect non-destructive testing data under different relative velocities, different defect types, and different probe-defect position relationships within the 2-6 m / s range. This data provides a massive amount of experimental samples for subsequent algorithm development, especially crucial data support for algorithms to eliminate noise signals under different speed conditions and accurately extract effective defect feature signals.

[0031] Example 2: See Figure 3 and Figure 4 The non-destructive testing apparatus for pipeline defects differs from that in Example 1 in that, in this example, a notch is cut into the annular groove 3 (see Example 1). Figure 4A defective body 9 is detachably installed at the notch via flange 10. The curvature and surface roughness of the inner wall of the defective body 9 are consistent with the groove wall of the annular groove 3, and the material of the defective body 9 is also consistent with the original annular groove 3. After installation, it is seamlessly connected with the annular groove 3, ensuring the continuity of the probe 6's movement trajectory and the detection environment, and avoiding the introduction of additional interference signals due to structural differences. Flange 10 is located outside the grooves of the annular groove 3 and the defective body 9 to prevent the probe 6 from touching and interfering with the annular groove 3 or the defective body 9 when they move relative to each other.

[0032] The groove of defect body 9 can be machined to form a certain type of defect, such as a crack. Different defect bodies 9 have different types of defects. Similarly, the groove of defect body 9 can be machined to form a variety of combination types of defects, such as cracks and grooves. Different defect bodies 9 have different combinations of defect types. No defects are set in the annular groove body 3 except in the area of ​​defect body 9.

[0033] The experimenters can install different types of defective bodies 9 at the notch according to the experimental requirements. The advantage of this design is that it allows for arbitrary changes in the defect type, enabling the experimental device to generate more non-destructive testing data of different defect types. At the same time, it concentrates the defects in one place, making processing easier.

[0034] Example 3: See Figure 5 and Figure 6 The pipeline defect non-destructive testing experimental device is further designed based on Example 2. Since the defect exists on the defect body 9, the distribution of the defect exhibits a very obvious locational characteristic; that is, apart from the location of the defect body 9, there are no defects on the annular groove 3. Therefore, when generating test data, interference data when the probe 6 is located at the annular groove 3 should be removed as much as possible, retaining only the valid data when the probe 6 is located at the defect body 9.

[0035] To achieve the above objectives, the two joints between the annular groove 3 and the defect 9 are named Joint A and Joint B, respectively. During the rotation of the electric rotating platform 1, the probe 6 first passes through Joint A and then through Joint B. The probe 6 is set to... Figure 6 If rotated counterclockwise, then Figure 6 The upper middle part is seam A, and the lower part is seam B.

[0036] See Figure 6 An infrared pair 7 is installed on the actuator of the robotic arm 2 (avoiding interference with the probe 6 during installation). A protrusion 8 is installed on the outside of the annular groove 3, near joint A and joint B respectively. The two protrusions 8 are of different lengths (the protrusion 8 at joint A is longer, about 6-8mm, and the protrusion 8 at joint B is shorter, 2-4mm). The protrusions 8 are welded and fixed to the annular groove 3.

[0037] Because the probe 6 can only rotate a small angle within the annular groove 3 due to the movement of the robotic arm, the angle change of the infrared pair 7 is also small. During the experiment, the beam of the infrared pair 7 can be considered to be vertically downward. When the infrared pair 7 on the actuator of the robotic arm 2 rotates relative to the outside of the annular groove 3, the beam emitted by the infrared pair 7 can illuminate the surface of the corresponding protrusion 8 and then be reflected back to the infrared pair 7. The specific process is as follows: As the actuator of the robotic arm 2 rotates under the action of the electric rotary platform 1, when the light beam emitted by the infrared pair 7 shines on the upper surface of the protrusion 8 at the joint A, the light beam emitted by the infrared pair 7 is reflected back to the infrared pair 7 by the protrusion 8 at the joint A and transmitted to the controller. The controller reads this high-level signal, indicating that it is about to reach the defect area 9. When the infrared pair 7 leaves the protrusion 8 at the joint A, no light beam can be reflected back to the infrared pair 7, and the controller reads this low-level signal.

[0038] When the beam emitted by the infrared pair 7 shines on the upper surface of the protrusion 8 at joint B again, the controller reads a high-level signal again, indicating that it is about to leave the defect area 9. When the infrared pair 7 leaves the protrusion 8 at joint B, no beam can be reflected back to the infrared pair 7, and the controller reads the low-level signal.

[0039] Since the two high-level signals are related to the length of the two protrusions 8, there is a clear difference in duration. The longer high-level signal is generated when the infrared pair 7 passes the protrusion 8 at joint A; the shorter high-level signal is generated when the infrared pair 7 passes the protrusion 8 at joint B.

[0040] When processing data, the algorithm uses the high-level signal of the protrusion 8 at joint A as the starting timestamp and the high-level signal of the protrusion 8 at joint B as the ending timestamp, automatically extracting the detection data between the two timestamps, directly retaining the effective information of the defective body 9 area, and effectively reducing the amount of data processing.

[0041] The controller can extract the non-destructive testing data related to the defective part of probe 6 based on two high-level signals as trigger signals, reducing the data dimensionality. At the same time, the high-level signal of the protrusion 8 at the joint A serves as the starting point for one revolution of the electric rotating platform 1. The speed adjustment after each X revolutions is also triggered by the high level of the protrusion 8 at the joint A. The acquisition of the two sets of non-destructive testing data does not require the electric rotating platform 1 to stop rotating, making the data acquisition method more convenient compared to traditional tensile testing devices.

[0042] Example 4: Experimental method for non-destructive testing of pipeline defects, including the following steps: S1: Select a suitable defect body and install the pipeline defect non-destructive testing experimental device; S2: Start the electric rotating platform and make it operate according to the set rules. The controller randomly generates speed information and transmits it to the electric rotating platform in real time. After receiving the information, the platform operates at the set speed and achieves a smooth transition when adjusting the speed. S3: The robotic arm is controlled by the controller signal and independently adjusts the positional relationship between the probe and the defect to ensure that there is no contact interference between the non-destructive testing probe and the annular groove. During the rotation of the electric rotary platform, the probe mounted on the robotic arm actuator rotates with the platform and always moves along the circumference of the annular groove, so that the probe and the defect on the annular groove form different relative velocities in the range of 2-6m / s; the probe collects and stores data. S4: Stop the electric rotating platform and read the data collected by the probe; S5: Change the defect type and reinstall the pipeline defect non-destructive testing experimental device; repeat steps S2-S4 to obtain a preset number of data.

[0043] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A non-destructive testing apparatus for pipeline defects, characterized in that, Includes the following constructions: An electric rotating platform, with the top platform placed horizontally and driven to rotate by a motor whose speed is controlled by a controller; The robotic arm is mounted on an electric rotating platform and is powered by DC. The actuator of the robotic arm is equipped with a non-destructive testing probe. The data detected by the probe is stored in its own storage unit and can be retrieved by a computer or other devices after the experiment. The annular groove is formed by cutting a complete circular pipe along the axial direction, retaining the overall shape of the ring. The cross-section is semi-circular, with an open top and an arc bottom. The probe on the robotic arm actuator is located in the groove of the annular groove, ensuring that the probe remains in the groove and does not contact or interfere with the annular groove when the robotic arm rotates with the electric rotating platform. A defect is set on the surface of the annular groove. The relative displacement velocity between the probe and the annular groove is 2-6 m / s, controlled by the controller signal. The robotic arm controls the relative angle between the probe and the defect.

2. The non-destructive testing apparatus for pipeline defects according to claim 1, characterized in that, A notch is cut into the annular groove, and a defective body can be detachably installed at the notch. The curvature and surface roughness of the inner wall of the defective body are consistent with the groove wall of the annular groove, and the material of the defective body is the same as that of the annular groove. After installation, it is seamlessly connected to the annular groove. The detachable structure between the defective body and the annular groove is located outside the groove of the annular groove and the groove of the defective body. One type or a combination of multiple types of defects can be processed inside the groove of the defective body. Different types of defective bodies can be installed at the notch according to experimental requirements.

3. The non-destructive testing apparatus for pipeline defects according to claim 2, characterized in that, The two joints between the annular groove and the defect are named Joint A and Joint B, respectively. During the rotation of the electric rotary platform, the probe passes through Joint A first, then Joint B. An infrared sensor is installed on the actuator of the robotic arm. A protrusion is installed near Joint A and Joint B on the annular groove, with the protrusion at Joint A being longer than the one at Joint B. When the infrared sensor passes the protrusion at Joint A, a longer high-level signal is generated, which is read by the controller. When the infrared sensor passes the protrusion at Joint B, a shorter high-level signal is generated, which is also read by the controller. When the infrared sensor does not pass either of the two protrusions, a low-level signal is generated, which is also read by the controller.

4. The non-destructive testing apparatus for pipeline defects according to claim 1, characterized in that, A base with a horizontal bottom surface is installed below the annular groove.

5. The non-destructive testing apparatus for pipeline defects according to claim 4, characterized in that, A base plate is provided below the electric rotating platform and the base, and the electric rotating platform and the annular groove are both fixedly connected to the upper surface of the base plate.

6. The non-destructive testing apparatus for pipeline defects according to claim 1, characterized in that, After the electric rotary platform rotates at a certain speed for a set number of X revolutions, the controller controls the electric rotary platform to adjust the speed. The speed adjustment process adopts a smooth transition, and X is set to 3.

7. The non-destructive testing apparatus for pipeline defects according to claim 2, characterized in that, The detachable structure is a flange.

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