CN109270086B - Nondestructive internal detection device and detection method for pipeline girth weld - Google Patents
Nondestructive internal detection device and detection method for pipeline girth weld Download PDFInfo
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
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- G01N21/88—Investigating the presence of flaws or contamination
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- G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
- G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
- G01N27/83—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws by investigating stray magnetic fields
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
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Abstract
The invention discloses a nondestructive internal detection device and a detection method for a pipeline girth weld, and relates to the technical field of nondestructive inspection of butt welding seams, wherein the nondestructive internal detection device comprises a main control box, a central tube, a fixed seat fixedly sleeved on two ends of the central tube and a rotating mechanism rotatably sleeved on two ends of the central tube; the two fixing seats are provided with travelling wheels; a mounting frame is further connected between the two rotating mechanisms, and a cleaning device, a high-definition visual acquisition device, a micro-magnetic acquisition device, an air-coupling ultrasonic detection and signal transceiver, an automatic magnetic powder detection device and a variable magnetic excitation detection device are uniformly arranged at intervals in the circumferential direction of the mounting frame; the head of the central tube is also fixedly provided with a welding seam identification probe. The invention not only can realize automatic propulsion, but also can accurately identify the welding seam position in the advancing process, and can realize the circumferential accurate positioning of the welding seam through the rotation of the rotating mechanism, thereby ensuring the detection accuracy.
Description
Technical Field
The invention relates to the technical field of butt weld nondestructive inspection, in particular to a pipeline girth weld nondestructive internal detection device and a detection method thereof.
Background
Pipeline engineering is a construction technology which is widely applied, plays an important role in construction projects, and has a plurality of types of pipelines mainly used for conveying air and fluid media. At present, the pipeline is mainly formed by welding steel pipes. Because the pipeline is influenced by welding heat in the welding process, the structure and performance of a welding joint of the pipeline can be greatly changed, and the overall mechanical property of the pipeline can be seriously influenced, the detection methods such as ray detection, ultrasonic detection, electromagnetic induction detection, chemical component analysis and the like are adopted at present to detect the welding seam of the pipeline, but the detection rate and the identification rate of the existing detection method are low (less than 60 percent), the requirement of production operation can not be met, and the detection of single defects of the girth weld in a targeted manner becomes necessary.
Disclosure of Invention
The invention aims to provide a nondestructive internal detection device and a detection method for a pipeline girth joint, which can greatly improve the detection rate and the identification rate of the pipeline girth joint (> 95%).
In order to achieve the aim of the invention, the technical scheme adopted is as follows: the nondestructive internal detection device for the pipeline girth weld comprises a main control box, a central tube, a fixed seat fixedly sleeved on two ends of the central tube and a rotating mechanism rotatably sleeved on two ends of the central tube; the two fixing seats are provided with travelling wheels; a mounting frame is further connected between the two rotating mechanisms, and a cleaning device, a high-definition visual acquisition device, a micro-magnetic acquisition device, an air-coupling ultrasonic detection and signal transceiver, an automatic magnetic powder detection device and a variable magnetic excitation detection device are uniformly arranged at intervals in the circumferential direction of the mounting frame; the head of the central tube is also fixedly provided with a welding seam identification probe; the high-definition visual acquisition device, the micro-magnetic acquisition device, the automatic magnetic powder detection device, the variable magnetic excitation detection device, the air-coupling ultrasonic detection and signal receiving and transmitting device and the welding line identification probe are connected with the main control box in a bidirectional manner, and the cleaning device and the travelling wheels are connected with the output end of the main control box.
Further, two all be provided with a plurality of walking wheel brackets on the fixing base, a plurality of walking wheel brackets are evenly spaced along the circumferencial direction of fixing base and are arranged, and a plurality of walking wheels are installed on a plurality of walking wheel brackets respectively one by one.
Furthermore, the head of the central tube is fixedly sleeved with a mounting head; the welding seam identification probes are uniformly distributed at intervals along the circumferential direction of the mounting head, and are connected with the main control box in a bidirectional manner.
Furthermore, two mounting plates are fixedly sleeved on the central tube, and two rotating mechanisms are respectively mounted on the two mounting plates.
Further, the outer sides of the two mounting plates are fixedly provided with limiting plates, and the end parts of the rotating mechanisms are propped against the limiting plates.
Further, the two rotating mechanisms comprise inner rings sleeved on the mounting plate and gear rings fixedly mounted on the inner walls of the inner rings, and two ends of the mounting frame are respectively fixed on the two inner rings.
Further, each mounting plate is provided with at least one first driving motor, the output shafts of the plurality of first driving motors are provided with driving gears, the plurality of driving gears are meshed with the gear ring together, and the plurality of first driving motors are connected with the output end of the main control box.
Further, the mounting frame comprises a plurality of connecting frames which are uniformly distributed at intervals along the circumferential direction of the inner rings, two ends of the plurality of connecting frames are respectively fixed with the two inner rings, and the cleaning device, the high-definition visual acquisition device, the micro-magnetic acquisition device, the air-coupling ultrasonic detection and signal transceiver, the automatic magnetic powder detection device and the variable magnetic excitation detection device are respectively arranged on the plurality of connecting frames one by one; the two ends of the connecting frames are respectively sleeved with an outer ring together.
Further, the cleaning device comprises a second driving motor and a polishing control power supply which are fixedly arranged on the connecting frame, and the second driving motor is respectively connected with the polishing control power supply and the output end of the main control box; and the output shaft of the second driving motor is fixedly provided with a cleaning wheel.
Further, the high-definition visual acquisition device comprises a high-definition camera and a camera control power supply which are fixedly arranged on the connecting frame, the high-definition camera is connected with the output end of the camera control power supply, and the high-definition camera is in bidirectional connection with the main control box.
Further, the micro-magnetic acquisition device comprises a micro-magnetic probe and a micro-magnetic control power supply which are fixedly arranged on the connecting frame, wherein the micro-magnetic probe is respectively connected with the output end of the micro-magnetic control power supply, and the micro-magnetic probe is in bidirectional connection with the main control box.
Further, the empty-coupling ultrasonic detection and signal receiving and transmitting device comprises a signal receiving and transmitting control box fixedly installed on the connecting frame and two probe boxes axially sliding along the connecting frame, wherein the two probe boxes are connected with the output end of the signal receiving and transmitting control box, and the signal receiving and transmitting control box is in bidirectional connection with the main control box.
Further, the automatic magnetic powder detection device comprises a fixed plate fixedly arranged on the connecting frame, a second magnetic powder injury control instrument, a suspension and contrast agent controller; the suspension spray gun and the contrast agent spray gun are fixedly arranged on the fixing plate, a magnetic suspension hydraulic cylinder and a contrast agent cylinder are fixedly arranged on the outer side of each outer ring, the magnetic suspension hydraulic cylinder is communicated with the magnetic suspension hydraulic cylinder, and the contrast agent cylinder is communicated with the contrast agent spray gun; the suspension spray gun and the contrast agent spray gun are connected with the output ends of the suspension and contrast agent controller; the automatic magnetic powder detection controller is fixedly arranged on the fixing plate, the second magnetic powder injury control instrument is connected with the output end of the automatic magnetic powder detection controller, and the automatic magnetic powder detection controller is in bidirectional connection with the main control box.
Further, the variable magnetic excitation detection device comprises a bracket fixedly arranged on the connecting frame and a magnetic flushing control power supply; the first magnetic powder control wound instruments which are symmetrically distributed are arranged on the support, the two first magnetic powder control wound instruments are respectively connected with the output end of the magnetic flushing control power supply, and the two first magnetic powder control wound instruments are both connected with the input end of the main control box.
The detection method of the nondestructive internal detection device for the pipeline girth weld comprises the following specific detection steps:
(1) The detection device is sent into the pipeline, the main control box sends a forward signal to the travelling wheels, and the travelling wheels start to rotate, so that the detection device is advanced in the pipeline;
(2) In the advancing process of the detection device, the weld joint identification probe identifies the weld joint in the pipeline, after the weld joint identification probe identifies the weld joint, data are transmitted to the control box, after the control box receives a signal, the control box sends a signal to the travelling wheel, the travelling wheel continues to rotate, so that the detection device continues to advance in the pipeline, and when the cleaning device, the high-definition visual acquisition device, the micro-magnetic acquisition device, the air-coupling ultrasonic detection and signal transceiver, the automatic magnetic powder detection device and the variable magnetic excitation detection device are aligned with the weld joint, the travelling wheel stops rotating, so that the detection device stops advancing in the pipeline;
(3) The main control box sends signals to the high-definition visual acquisition device and the two rotating mechanisms, the high-definition visual acquisition device acquires the signals, and the two rotating mechanisms rotate simultaneously during the acquisition, so that the high-definition visual acquisition device circumferentially acquires welding seams, and the high-definition visual acquisition device synchronously transmits acquired data to the main controller during the acquisition of the welding seams;
(4) The main control box sends a signal to the cleaning device, the cleaning device starts to clean the welding line, and in the cleaning process of the cleaning device, the cleaning device finishes cleaning the whole welding line along with the rotation of the two rotating mechanisms, and the high-definition visual acquisition device continuously acquires the welding line while the cleaning device cleans the welding line;
(5) The main control box can send out detection signals to one or more of the micro-magnetic acquisition device, the variable magnetic excitation detection device and the air-coupled ultrasonic detection and signal receiving and transmitting device, and the micro-magnetic acquisition device is responsible for acquiring and storing stress signals and defect signals of the welding line; the variable magnetic excitation detection device is responsible for magnetic leakage detection of volume defects and shallow cracks and collection and storage of data; the empty-coupling ultrasonic detection and signal receiving and transmitting device is responsible for collecting and storing stress signals and defect signals; the micro-magnetic acquisition device, the variable magnetic excitation detection device and the air-coupled ultrasonic detection and signal transceiver device are used for directly transmitting acquired data to the main control box;
(6) The automatic magnetic powder detection device of the total control box sends out signals, and after receiving the model of the total control box, the automatic magnetic powder detection device carries out magnetization treatment on the annular welding seam and transmits data in the magnetization treatment process to the total control box;
(7) After the welding seam is magnetized, detecting the magnetized welding seam by a high-definition visual acquisition device, and acquiring, storing and processing detected images;
(8) After the detection is finished, the condition of the welding line is still not clear, the steps 3 to 7 are repeated, and the welding line is detected again.
The invention has the advantages that,
1. the invention not only can realize automatic propulsion, but also can accurately identify the welding seam position in the advancing process, and can accurately position the circumference of the welding seam through the rotation of the rotating mechanism, thereby ensuring the detection accuracy; meanwhile, the invention can select different detection modes to detect the defects at the weld joint according to the needs of users, is very convenient to use and has strong pertinence, so that the detection rate and the recognition rate are improved to more than 95 percent.
2. The invention has the advantages of strong adaptability, simple structure, convenient use, high detection speed and high detection accuracy.
Drawings
FIG. 1 is a perspective view of a nondestructive internal detection device for pipeline girth welds, provided by the invention;
FIG. 2 is a perspective view of the nondestructive internal detection device for the circumferential weld of the pipeline, provided by the invention;
FIG. 3 is a perspective view of the nondestructive internal detection device for pipeline girth welds provided by the invention;
FIG. 4 is a block diagram of the rotational mechanism and mounting bracket of FIG. 1;
FIG. 5 is a block diagram of the rotary mechanism of FIG. 4;
fig. 6 is a structural view of the mounting bracket of fig. 4.
The reference numerals and corresponding part names in the drawings:
1. the device comprises a central tube, 2, a fixed seat, 3, a rotating mechanism, 4, travelling wheels, 5, a mounting rack, 6, a cleaning device, 7, a high-definition visual acquisition device, 8, a micromagnetic acquisition device, 9, a hollow coupling ultrasonic detection and signal receiving and transmitting device, 10, an automatic magnetic powder detection device, 11, a variable magnetic excitation detection device, 12, a welding line identification probe, 13, a travelling wheel bracket, 14, a mounting head, 15, a mounting disc, 16 and a limiting disc;
31. the inner ring, 32, the gear ring, 33, the first driving motor, 34 and the driving gear;
51. a connecting frame 52 and an outer ring;
61. the second driving motor, 62, polishing control power, 63, cleaning wheel;
71. the high-definition camera, 72, camera control power;
81. the micro-magnetic probe, 82, micro-magnetic control power supply;
91. the signal receiving and transmitting control box, 92 and the probe box;
101. a fixed plate, 102, a second magnetic powder injury control instrument, 103, a suspension and contrast agent controller, 104, an automatic magnetic powder detection controller, 105, a suspension spray gun, 106, a contrast agent spray gun, 107, a magnetic suspension cylinder, 108 and a contrast agent cylinder;
111. The device comprises a bracket 112, a magnetic control power supply 113 and a first magnetic powder injury control instrument.
Detailed Description
The invention will now be described in further detail by way of specific examples of embodiments in connection with the accompanying drawings.
Fig. 1 to 6 show a nondestructive internal detection device for a pipeline girth weld, which is provided by the invention, and comprises a main control box, a central pipe 1, fixing seats 2 fixedly sleeved on two ends of the central pipe 1 and rotating mechanisms 3 rotatably sleeved on two ends of the central pipe 1; the two fixed seats 2 are provided with travelling wheels 4; a mounting frame 5 is further connected between the two rotating mechanisms 3, and a cleaning device 6, a high-definition visual acquisition device 7, a micro-magnetic acquisition device 8, an air-coupling ultrasonic detection and signal transceiver 9, an automatic magnetic powder detection device 10 and a variable magnetic excitation detection device 11 are uniformly arranged in the circumferential direction of the mounting frame 5 at intervals; the head of the central tube 1 is also fixedly provided with a welding seam identification probe 12; the high-definition visual acquisition device 7, the micro-magnetic acquisition device 8, the automatic magnetic powder detection device 10, the variable magnetic excitation detection device 11, the air-coupling ultrasonic detection and signal transceiver 9 and the weld joint identification probe 12 are connected with the total control box in a bidirectional manner, and the cleaning device 6 and the travelling wheel 4 are connected with the output end of the total control box.
The central tube 1 is a hollow tube, the fixed seat 2 is disc-shaped, the fixed seat 2 and the central tube 1 can be directly welded or fixed by adopting key connection, and the travelling wheel 4 is rotatably supported on the fixed seat 2; the two fixing seats 2 and the two rotating mechanisms 3 are symmetrically arranged along the middle part of the central tube 1; the two ends of the mounting frame 5 are respectively fixed with the two rotating mechanisms 3, and the cleaning device 6, the high-definition visual acquisition device 7, the micro-magnetic acquisition device 8, the empty coupling ultrasonic detection and signal receiving and transmitting device 9, the automatic magnetic powder detection device 10 and the variable magnetic excitation detection device 11 are all arranged on the same circular ring; and the cleaning device 6, the high-definition visual acquisition device 7, the micro-magnetic acquisition device 8, the air-coupling ultrasonic detection and signal transceiving device 9, the automatic magnetic powder detection device 10 and the variable magnetic excitation detection device 11 are all positioned in the middle of the mounting frame 5, namely the distances from the cleaning device 6, the high-definition visual acquisition device 7, the micro-magnetic acquisition device 8, the air-coupling ultrasonic detection and signal transceiving device 9, the automatic magnetic powder detection device 10 and the variable magnetic excitation detection device 11 to two ends of the mounting frame 5 are equal.
The weld joint identification probe 12 is an infrared probe and is used for identifying weld joints; the cleaning device 6 is used for cleaning the welding seam, so that the position of the welding seam is cleaner and clearer; the high-definition visual acquisition device 7 is used for carrying out image recognition on the condition and the position of the welding line; the micromagnetic acquisition device 8 is used for checking and monitoring the surface of the welding line; the automatic magnetic powder detection device 10, the air-coupled ultrasonic detection and signal receiving and transmitting device 9 and the variable magnetic excitation detection device 11 are all used for detecting defects of welding seams. The model of the total control box is MAM-200. The model of the travelling wheel 4 is 24V750W, and the travelling wheel 4 is provided with a driving motor, namely, the travelling wheel 4 does not need an additional driving motor to drive the travelling wheel 4. The main control box is used for sending signals to the rotating mechanism 3, the travelling wheel 4, the cleaning device 6, the high-definition visual acquisition device 7, the micro-magnetic acquisition device 8, the empty-coupling ultrasonic detection and signal receiving and transmitting device 9, the automatic magnetic powder detection device 10, the variable magnetic excitation detection device 11 and the welding seam identification probe 12, so that the rotating mechanism 3, the travelling wheel 4, the cleaning device 6, the high-definition visual acquisition device 7, the micro-magnetic acquisition device 8, the empty-coupling ultrasonic detection and signal receiving and transmitting device 9, the automatic magnetic powder detection device 10, the variable magnetic excitation detection device 11 and the welding seam identification probe 12 do corresponding work after receiving the signals, and automatic detection of the welding seam of a pipeline is realized.
Two all be provided with a plurality of walking wheel brackets 13 on the fixing base 2, a plurality of walking wheel brackets 13 are evenly spaced along the circumferencial direction of fixing base 2 and are arranged, and a plurality of walking wheels 4 are installed on a plurality of walking wheel brackets 13 respectively one by one. The plurality of travelling wheels 4 are fixedly arranged on the fixed seats 2 through screws, the quantity of the travelling wheel brackets 13 on the two fixed seats 2 is equal, and the installation positions of the travelling wheel brackets 13 on the two fixed seats 2 are the same, so that the travelling wheels 4 positioned at the two ends of the central tube 1 are symmetrically arranged, and the detection device is more stable in the advancing process.
The head of the central tube 1 is also fixedly sleeved with a mounting head 14; the number of the weld joint identification probes 12 is plural, the weld joint identification probes 12 are uniformly distributed at intervals along the circumferential direction of the mounting head 14, and the weld joint identification probes 12 are connected with the total control box in a bidirectional manner. The head of the central tube 1 is the end of the central tube 1 which enters the pipeline in the use process of the detection device, the tail of the central tube 1 is the end far away from the head of the central tube 1, and specifically, the mounting head 14 and the central tube 1 can be welded or connected and fixed by a key. The weld joint identification probe 12 can be fixed or embedded on the mounting heads 14 through screws or welding, and can identify the whole circumferential direction of the weld joint through the cooperation of a plurality of the mounting heads 14, so that the accuracy of weld joint identification is higher, and the accurate positioning of the weld joint is realized.
The central tube 1 is fixedly sleeved with two mounting plates 15, and the two rotating mechanisms 3 are respectively mounted on the two mounting plates 15. The two installation plates 15 can be directly welded or fixed with the central tube 1 through key connection, the two rotating machine mechanisms respectively rotate on the two installation plates 15, and the installation frames 5 are jointly driven to rotate through the rotation of the two rotating mechanisms 3, so that the cleaning device 6, the high-definition visual acquisition device 7, the micro-magnetic acquisition device 8, the air-coupling ultrasonic detection and signal transceiving device 9, the automatic magnetic powder detection device 10 and the variable magnetic excitation detection device 11 which are positioned on the installation frames 5 rotate along with the rotation of the installation frames 5, and the circumferential detection of welding seams in the circumferential direction is realized, so that the detection of the welding seams is more accurate.
The outer sides of the two mounting plates 15 are fixedly provided with limiting plates 16, and the end parts of the rotating mechanism 3 are propped against the limiting plates 16. The limiting disc 16 is annular, the small diameter of the limiting disc 16 is smaller than the large diameter of the mounting disc 15, the large diameter of the limiting disc 16 is larger than the large diameter of the mounting disc 15, the limiting disc 16 is fixedly connected with the mounting disc 15 through screws, and the limiting disc 16 is used for limiting, so that the outer sides of the two rotating mechanisms 3 can be respectively limited through the two limiting discs 16, the axial distance of the mounting frame 5 is limited, the axial positions of the cleaning device 6, the high-definition visual acquisition device 7, the micro-magnetic acquisition device 8, the air-coupling ultrasonic detection and signal transceiver 9, the automatic magnetic powder detection device 10 and the variable magnetic excitation detection device 11 on the mounting frame 5 are fixed, the mounting frame 5 generates axial displacement along with the rotating mechanisms 3, and the detection precision is higher.
Both the rotating mechanisms 3 comprise an inner ring 31 sleeved on the mounting plate 15 and a gear ring 32 fixedly mounted on the inner wall of the inner ring 31, and two ends of the mounting frame 5 are respectively fixed on the two inner rings 31. The small diameter of the inner ring 31 is in clearance fit with the large diameter of the mounting plate 15, so that the inner ring 31 can sufficiently rotate on the mounting plate 15; the length of the inner ring 31 is larger than the thickness of the mounting plate 15, so that one end of the inner ring 31 is sleeved on the mounting plate 15, and the other end of the inner ring 31 is suspended; the gear rings 32 and the inner rings 31 can be fixed through screw fixation or through key connection, and two ends of the mounting frame 5 are respectively welded and fixed with the two inner rings 31, so that the rotation of the two gear rings 32 respectively drives the two inner rings 31 to rotate, and the two inner rings 31 jointly drive the mounting frame 5 to rotate.
Each mounting plate 15 is provided with at least one first driving motor 33, the output shafts of the first driving motors 33 are provided with driving gears 34, the driving gears 34 are meshed with the gear ring 32 together, and the first driving motors 33 are connected with the output end of the total control box. The plurality of first driving motors 33 on each mounting plate 15 are uniformly distributed at intervals along the circumferential direction of the mounting plate 15, the driving gears 34 on the output shafts of the first driving motors 33 are fixedly connected through keys, and the driving gears 34 on the plurality of first driving motors 33 on each mounting plate 15 are jointly meshed with the gear rings 32, so that the gear rings 32 can be prevented from radial displacement in the rotating process, the gear rings 32 can rotate more stably, the inner ring 31 finally drives the mounting frame 5 to rotate more stably, and the cleaning device 6, the high-definition visual acquisition device 7, the micro-magnetic acquisition device 8, the air-coupling ultrasonic detection and signal transceiving device 9, the automatic magnetic powder detection device 10 and the variable magnetic excitation detection device 11 on the mounting frame 5 are prevented from shaking.
The mounting frame 5 comprises a plurality of connecting frames 51 which are uniformly distributed at intervals along the circumferential direction of the inner rings 31, two ends of the plurality of connecting frames 51 are respectively fixed with the two inner rings 31, and the cleaning device 6, the high-definition visual acquisition device 7, the micro-magnetic acquisition device 8, the air-coupled ultrasonic detection and signal transceiver 9, the automatic magnetic powder detection device 10 and the variable magnetic excitation detection device 11 are respectively arranged on the plurality of connecting frames 51 one by one; the two ends of the plurality of connecting frames 51 are respectively sleeved with an outer ring 52. The connecting frame 51 is rectangular frame-shaped, the width direction of the connecting frame 51 and the radial direction of the inner rings 31 are on the same straight line, two ends of the connecting frame 51 are respectively welded and fixed with the two inner rings 31, and the cleaning device 6, the high-definition visual acquisition device 7, the micro-magnetic acquisition device 8, the air-coupled ultrasonic detection and signal transceiver 9, the automatic magnetic powder detection device 10 and the variable magnetic excitation detection device 11 are all fixed on the connecting frames 51 one by one through mounting supports by adopting screws. The two outer rings 52 are coaxially and alternately arranged with the two inner rings 31 respectively, the lengths of the inner rings 31 and the outer rings 52 are equal, and the two ends of the inner rings 31 are aligned with the two ends of the outer rings 52 respectively, so that the installation of the two ends of the plurality of connecting frames 51 is facilitated; the outer surface of the inner ring 31 and the inner surface of the outer ring 52 may be also provided with regular polygon, when the outer surface of the inner ring 31 and the inner surface of the outer ring 52 are polygonal, the number of sides of the outer surface of the inner ring 31 is equal to the number of sides of the inner surface of the outer ring 52, specifically, the number of sides is equal to the number of the connecting frames 51, so that when the two ends of the connecting frames 51 are installed, the end parts of the connecting frames 51 are welded and fixed with the outer surface of the inner ring 31 and the inner surface of the outer ring 52 together, and the two ends of the connecting frames 51 are installed more conveniently.
The cleaning device 6 comprises a second driving motor 61 and a polishing control power supply 62 which are fixedly arranged on the connecting frame 51, and the second driving motor 61 is respectively connected with the polishing control power supply 62 and the output end of the main control box; the output shaft of the second driving motor 61 is also fixedly provided with a cleaning wheel 63. The second driving motor 61 and the polishing control power supply 62 are both fixed on the connecting frame 51 through a mounting support by adopting screws, the cleaning wheel 63 is fixedly mounted on an output shaft of the second driving motor 61 through screws, the polishing control power supply 62 is a 12V direct current power supply, the polishing control power supply 62 supplies power to the second driving motor 61, so that the second driving motor 61 can rotate, the cleaning wheel 63 on the output shaft of the second driving motor 61 rotates, and the cleaning wheel 63 cleans welding seams; the main control box sends signals to the polishing control power supply 62 and the second driving motor 61 respectively, so that the control of the polishing control power supply 62 and the second driving motor 61 by the main control line is realized.
The high-definition visual acquisition device 7 comprises a high-definition camera 71 and a camera control power supply 72 which are fixedly installed on the connecting frame 51, the high-definition camera 71 is connected with the output end of the camera control power supply 72, and the high-definition camera 71 is in bidirectional connection with the total control box. The high-definition camera 71 and the camera control power supply 72 are fixed on the connecting frame 51 through the mounting support by using screws, the high-definition camera 71 is an SGMC-Ex-W infrared high-definition camera 71, the camera control power supply 72 is a 12V direct-current power supply, the camera control power supply 72 supplies power to the high-definition camera 71, the total control box sends signals to the high-definition camera 71 and the camera control power supply 72, control over the high-definition camera 71 and the camera control power supply 72 is achieved, the conditions of the welded seam surface are collected by the high-definition camera 71, and after the conditions of the welded seam surface are collected by the high-definition camera 71, images collected by the high-definition camera 71 are transmitted to the total control box.
The micro-magnetic acquisition device 8 comprises a micro-magnetic probe 81 and a micro-magnetic control power supply 82 which are fixedly arranged on the connecting frame 51, the micro-magnetic probe 81 is respectively connected with the output end of the micro-magnetic control power supply 82, and the micro-magnetic probe 81 is in bidirectional connection with the main control box. The micro-magnetic probe 81 and the micro-magnetic control power supply 82 are both fixed on the connecting frame 51 through the mounting support by bolts, the model of the micro-magnetic probe 81 is SSH207, the micro-magnetic control power supply 82 is 12V direct current power supply, the micro-magnetic control power supply 82 supplies power to the micro-magnetic probe 81, the master control box sends signals to the micro-magnetic probe, the micro-magnetic probe 81 is controlled, the surface condition of a welded seam of the micro-magnetic probe 81 is detected, and after detection, the detected condition of the micro-magnetic probe 81 is transmitted to the master control box in an electric signal mode.
The air-coupled ultrasonic detection and signal transceiving device 9 comprises a signal transceiving control box 91 fixedly installed on the connecting frame 51 and two probe boxes 92 axially sliding along the connecting frame 51, wherein the two probe boxes 92 are connected with the output end of the signal transceiving control box 91, and the signal transceiving control box 91 is in bidirectional connection with the main control box. Specifically, the connecting frame 51 is provided with a linear driving element such as a bidirectional cylinder, a rack-and-pinion structure, a ball screw structure, or the like through a mounting support, and the two probe boxes 92 are mounted on the linear driving element, so that the two probe boxes 92 can slide along the length direction of the connecting frame 51. The model of the probe box 92 is TT130H, and the model of the signal receiving and transmitting control box 91 is an iRHB001 infrared transceiver; the main control box sends out a signal to the signal transmission/reception control box 91, and after receiving the signal, the signal transmission/reception control box 91 sends out detection signals to the two probe boxes 92, and the two probe boxes 92 start to detect, and the signal transmission/reception control box 91 feeds back the data detected by the probe boxes 92 to the main control box.
The automatic magnetic powder detection device 10 comprises a fixed plate 101 fixedly installed on a connecting frame 51, a second magnetic powder injury control instrument 102, a suspension and contrast agent controller 103; a suspension spray gun 105 and a contrast agent spray gun 106 are fixedly arranged on the fixed plate 101, a magnetic suspension cylinder 107 and a contrast agent cylinder 108 are fixedly arranged on the outer side of each outer ring 52, the magnetic suspension cylinder 107 is communicated with the magnetic suspension cylinder 107, and the contrast agent cylinder 108 is communicated with the contrast agent spray gun 106; the suspension spray gun 105 and the contrast agent spray gun 106 are connected to the output of the suspension and contrast agent controller 103; an automatic magnetic powder detection controller 104 is fixedly mounted on the fixing plate 101, the second magnetic powder injury control instrument 102 is connected with the output end of the automatic magnetic powder detection controller 104, and the automatic magnetic powder detection controller 104 is in bidirectional connection with the main control box.
The fixing plate 101, the second magnetic powder injury control instrument 102, the suspension and the contrast agent controller 103 are all arranged on the connecting frame 51 through mounting supports, and the two first magnetizing blocks 104 are respectively fixed and adhered to the left side and the right side of the fixing plate 101 through adhesives; the model of the second magnetic powder injury control instrument 102 is MP-A2L, and the model of the suspension and contrast agent controller 103 is KY12S; the suspension spray gun 105 and the contrast agent spray gun 106 are both embedded on the fixed plate 101, and the suspension spray gun 105 and the magnetic suspension cylinder 107 are communicated through a plastic hose, and the contrast agent spray gun 106 and the contrast agent cylinder 108 are also communicated through a plastic hose. When the welding seam needs to be checked, the total control box sends signals to the second magnetic powder control wound instrument 102, the suspension and contrast agent controller 103 respectively, the suspension and contrast agent controller 103 sends signals to the contrast agent spray gun 106 after receiving the signals, the contrast agent spray gun 106 sprays contrast agent to the welding seam, the suspension and contrast agent controller 103 sends signals to the suspension spray gun 105, the suspension spray gun 105 sprays suspension to the welding seam, finally the second magnetic powder control wound instrument 102 sends detection signals to the two first magnetizing blocks 104 respectively after receiving the signals of the total control box, the two first magnetizing blocks 104 jointly detect the welding seam and transmit detected data to the second magnetic powder control wound instrument 102, and finally the second magnetic powder control wound instrument 102 transmits the received data to the total control box.
The variable magnetic excitation detection device 11 comprises a bracket 111 fixedly arranged on the connecting frame 51 and a magnetic flushing control power supply 112; the first magnetic powder injury control instruments 113 which are symmetrically arranged are arranged on the support 111, the two first magnetic powder injury control instruments 113 are respectively connected with the output end of the magnetic flushing control power supply 112, and the two first magnetic powder injury control instruments 113 are both connected with the input end of the main control box. The bracket 111 is fixedly arranged on the connecting frame 51 through a mounting support, and the bracket 111 is fixedly welded with the mounting support; the two first magnetic powder injury control instruments 113 are fixedly adhered to the left side and the right side of the support 111 through an adhesive, the magnetic control power supply 112 is a 12V direct current power supply, the magnetic control power supply 112 is used for respectively providing electric energy for the two first magnetic powder injury control instruments 113, and after the two first magnetic powder injury control instruments 113 are charged, the two first magnetic powder injury control instruments 113 jointly detect welding seams and transmit detected data to a main control box.
The detection method of the nondestructive internal detection device for the pipeline girth weld comprises the following specific detection steps:
(1) The detection device is sent into the pipeline, the main control box is positioned outside the pipeline, and the main control box sends a forward signal to the travelling wheels 4, so that the travelling wheels 4 start to rotate, and the detection device is made to advance in the pipeline.
(2) In the advancing process of the detection device, the weld joint recognition probe 12 recognizes the weld joint in the pipeline, the weld joint recognition probe 12 conveys data to the control box after recognizing the weld joint, the control box sends a signal to the travelling wheel 4 after receiving the signal, the travelling wheel 4 continues to rotate, so that the detection device continues to advance in the pipeline, and after the cleaning device 6, the high-definition visual acquisition device 7, the micro-magnetic acquisition device 8, the air-coupling ultrasonic detection and signal transceiver 9, the automatic magnetic powder detection device 10 and the variable magnetic excitation detection device 11 are aligned with the weld joint, the travelling wheel 4 stops rotating, so that the detection device stops advancing in the pipeline.
When the welding seam identification probe 12 is used for identifying the welding seam, the total control box sends a fixed distance for the detection device to continuously advance to the travelling wheel 4, the fixed distance is the distance between the welding seam identification probe 12 and the middle part of the detection device, after the travelling wheel 4 is advanced by the fixed distance, the travelling wheel 4 stops rotating, so that the detection device integrally stops advancing, and at the moment, the cleaning device 6, the high-definition visual acquisition device 7, the micro-magnetic acquisition device 8, the air-coupling ultrasonic detection and signal transceiving device 9, the automatic magnetic powder detection device 10 and the variable magnetic excitation detection device 11 on the detection device are aligned with the welding seam, and at the moment, the circle centers of the circles enclosed by the cleaning device 6, the high-definition visual acquisition device 7, the micro-magnetic acquisition device 8, the air-coupling ultrasonic detection and signal transceiving device 9, the automatic magnetic powder detection device 10 and the variable magnetic excitation detection device 11 are coincident with the circle centers of the welding seam.
(3) The general control box sends signals to the high-definition visual acquisition device 7 and the two rotating mechanisms 3, the high-definition visual acquisition device 7 acquires, and the two rotating mechanisms 3 rotate simultaneously when acquiring, so that the high-definition visual acquisition device 7 circumferentially acquires welding seams, and the high-definition visual acquisition device 7 synchronously transmits acquired data to the general controller when acquiring the welding seams.
Specifically, in the collection process of the high-definition visual collection device 7, the camera control power supply 72 in the high-definition visual collection device 7 provides electric energy for the high-definition camera 71, the high-definition camera 71 collects welding seams, in the collection process of the high-definition camera 71, the first driving motors 33 in the two rotating mechanisms 3 start rotating, the driving gears 34 on the output shafts of the first driving motors 33 in the two rotating mechanisms 3 respectively drive the gear rings 32 in the two rotating mechanisms 3, the two gear rings 32 respectively drive the two inner rings 31 to rotate, the two inner rings 31 rotate together to drive the mounting frame 5 to synchronously rotate, the high-definition camera 71 realizes circumferential scanning collection of the welding seams, the high-definition camera 71 scans the collection process of the welding seams and transmits the scanned collected images to the master controller, and the master controller can not only primarily know the conditions of the welding seams, but also check whether the high-definition camera 71 is aligned with the welding seams accurately.
When the high-definition camera 71 detects that the high-definition camera 71 is not aligned with the welding line accurately, the total control box continuously sends signals to the travelling wheel 4 after receiving data transmitted by the high-definition camera 71, so that the travelling wheel 4 is subjected to fine adjustment, when the high-definition camera 71 achieves accurate scanning acquisition on the welding line, the total control box sends stop signals to the travelling wheel 4, and at the moment, the travelling wheel 4 stops rotating, so that the cleaning device 6, the high-definition visual acquisition device 7, the micro-magnetic acquisition device 8, the air-coupling ultrasonic detection and signal transceiving device 9, the automatic magnetic powder detection device 10 and the variable magnetic excitation detection device 11 on the mounting frame 5 are aligned with the welding line accurately, and in the process of stopping rotating the travelling wheel 4, the first driving motor 33 continuously rotates, so that the mounting frame 5 continuously rotates.
(4) The general control box sends a signal to the cleaning device 6, the cleaning device 6 starts to clean the welding line, the cleaning device 6 is rotated along with the two rotating mechanisms 3 in the cleaning process, the cleaning device 6 is enabled to clean the whole welding line, and the high-definition visual acquisition device 7 continuously acquires the welding line when the cleaning device 6 is cleaning.
Specifically, when the cleaning device 6, the high-definition visual acquisition device 7, the micro-magnetic acquisition device 8, the air-coupling ultrasonic detection and signal transceiver 9, the automatic magnetic powder detection device 10 and the variable magnetic excitation detection device 11 on the mounting frame 5 are aligned with the welding seam accurately, the total control box sends a rotation signal to the second driving motor 61 in the cleaning device 6, the second driving motor 61 starts to rotate after receiving the signal received by the total control box, and the rotation of the second driving motor 61 enables the cleaning wheel 63 fixed on the output shaft of the second driving motor 61 to synchronously rotate, so that the cleaning wheel 63 cleans the surface of the welding seam; in the process of cleaning the cleaning wheel 63, the mounting frame 5 is in the continuous rotation process, so that the mounting frame 5 can completely clean the welding line in the circumferential direction in the rotation process by the cleaning wheel 63, and the subsequent detection of the welding line is facilitated.
(5) The main control box can send detection signals to one or more of the micro-magnetic acquisition device 8, the variable magnetic excitation detection device 11 and the air-coupled ultrasonic detection and signal receiving and transmitting device 9, and the micro-magnetic acquisition device 8 is responsible for acquiring and storing stress signals and defect signals of welding seams; the variable magnetic excitation detection device 11 is responsible for magnetic leakage detection of volume defects and shallow cracks and collection and storage of data; the air-coupled ultrasonic detection and signal receiving and transmitting device 9 is responsible for collecting and storing stress signals and defect signals; the micro-magnetic acquisition device 8, the variable magnetic excitation detection device 11 and the air-coupled ultrasonic detection and signal transceiver 9 directly transmit acquired data to the main control box;
specifically, after the cleaning wheel 63 cleans the weld seam, when the micro-magnetic acquisition device is used for acquiring and storing the stress signal and the defect signal of the weld seam, the micro-magnetic control power supply 82 in the micro-magnetic acquisition device 8 supplies power to the micro-magnetic probe 81, at this time, the main control box sends the acquisition signal to the micro-magnetic probe 81, the micro-magnetic probe 81 starts to acquire and store the stress signal and the defect signal of the weld seam after receiving the acquisition signal sent by the main control box, and the micro-magnetic probe 81 synchronously transmits the detected data to the main control box while acquiring and storing the stress signal and the defect signal of the weld seam.
When the variable magnetic excitation detection device 11 is used for detecting the magnetic leakage of the volume defects and shallow cracks of the welding seam and collecting and storing data, the magnetic flushing control power supply 112 in the variable magnetic excitation detection device 11 supplies power to the two first magnetic powder injury control instruments 113, the total control box sends detection signals to the first magnetic powder injury control instruments 113, the first magnetic powder injury control instruments 113 start to detect the welding seam after receiving the signals sent by the total control box, and the first magnetic powder injury control instruments 113 synchronously transmit detected data to the total control box when the first magnetic powder injury control instruments 113 detect the welding seam.
When the air-coupled ultrasonic detection and signal transceiving device 9 and the automatic magnetic particle detection device 10 are adopted to carry out matched detection, the automatic magnetic particle detection device 10 carries out detection, meanwhile, the total control box sends signals to the signal transceiving control box 91 in the air-coupled ultrasonic detection and signal transceiving device 9, after the signal transceiving control box 91 receives the signals sent by the total control box, the signal transceiving control box 91 respectively transmits the received signals to the two probe boxes 92, the two probe boxes 92 start to detect welding seams, and after the two probe boxes 92 detect welding seams, detected data are directly transmitted to the signal transceiving control box 91 and are transmitted to the total control box through the signal transceiving control box 91, so that the welding seams are detected.
(6) The automatic magnetic powder detection device 10 of the total control box sends out signals, the automatic magnetic powder detection device 10 carries out magnetization treatment on the annular welding seam after receiving the model of the total control box, and data in the magnetization treatment process are transmitted to the total control box.
After step 5 is completed, the master control box sends a detection signal to the automatic magnetic particle detection controller 104, and after the automatic magnetic particle detection controller receives the detection signal, the suspension in the automatic magnetic particle detection device 10 and the contrast agent controller 103 firstly open the contrast agent spray gun 106 to enable the contrast agent spray gun 106 to spray contrast agent to the welding line; then the suspension and contrast agent controller 103 opens the suspension spray gun 105 to spray the suspension onto the welding seam sprayed with contrast agent, at this time, the automatic magnetic powder detection controller 104 sends a signal to the second magnetic powder injury control instrument 103, the second magnetic powder injury control instrument 103 starts to magnetize the part of the welding seam after receiving the signal, the second magnetic powder injury control instrument 103 magnetizes the part of the welding seam, and the mounting frame 5 continuously rotates during the process of magnetizing the part of the welding seam, so that the second magnetic powder injury control instrument 103 magnetizes the whole welding seam, after the welding seam magnetizes the welding seam, the second magnetic powder injury control instrument 103 transmits the magnetized data and the magnetized data to the automatic magnetic powder detection controller 104, and the automatic magnetic powder detection controller 104 directly transmits the received data to the total control box.
(7) After the welding seam is magnetized, the high-definition visual acquisition device 7 detects the magnetized welding seam, and acquires, stores and processes the detected image.
Specifically, after the whole welding seam is magnetized, the high-definition camera 71 in the high-definition visual acquisition device 7 acquires the magnetized welding seam, in the acquisition process of the high-definition camera 71, as the two mounting frames 5 continuously rotate, the high-definition camera 71 realizes circumferential scanning acquisition of the welding seam, records the condition of the welding seam, and stores and processes the acquired image after the acquisition of the welding seam is completed.
(8) And (3) when the condition of the welding line is still not clear after the detection is finished, repeating the steps 3 to 7, and detecting the welding line again to realize the new detection of the welding line.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The nondestructive internal detection device for the pipeline girth weld is characterized by comprising a main control box, a central pipe, a fixed seat fixedly sleeved on two ends of the central pipe and a rotating mechanism rotatably sleeved on two ends of the central pipe; the two fixing seats are provided with travelling wheels; a mounting frame is further connected between the two rotating mechanisms, and a cleaning device, a high-definition visual acquisition device, a micro-magnetic acquisition device, an air-coupling ultrasonic detection and signal transceiver, an automatic magnetic powder detection device and a variable magnetic excitation detection device are uniformly arranged at intervals in the circumferential direction of the mounting frame; the head of the central tube is also fixedly provided with a welding seam identification probe; the high-definition visual acquisition device, the micro-magnetic acquisition device, the automatic magnetic powder detection device, the variable magnetic excitation detection device, the air-coupling ultrasonic detection and signal receiving and transmitting device and the welding seam identification probe are connected with the main control box in a bidirectional manner, and the cleaning device and the travelling wheel are connected with the output end of the main control box;
The central tube is fixedly sleeved with two mounting plates, and the two rotating mechanisms are respectively arranged on the two mounting plates; a limiting disc is fixedly arranged on the outer sides of the two mounting discs, and the end part of the rotating mechanism is propped against the limiting disc;
the two rotating mechanisms comprise an inner ring sleeved on the mounting plate and a gear ring fixedly mounted on the inner wall of the inner ring, and two ends of the mounting frame are respectively fixed on the two inner rings; at least one first driving motor is arranged on each mounting plate, driving gears are arranged on output shafts of the plurality of first driving motors, the plurality of driving gears are meshed with the gear ring together, and the plurality of first driving motors are connected with the output end of the main control box;
the mounting frame comprises a plurality of connecting frames which are uniformly distributed at intervals along the circumferential direction of the inner rings, two ends of the plurality of connecting frames are respectively fixed with the two inner rings, and the cleaning device, the high-definition visual acquisition device, the micro-magnetic acquisition device, the air-coupling ultrasonic detection and signal transceiving device, the automatic magnetic powder detection device and the variable magnetic excitation detection device are respectively arranged on the plurality of connecting frames one by one; the two ends of the connecting frames are respectively sleeved with an outer ring together.
2. The nondestructive internal detection device for the circumferential weld of the pipeline according to claim 1, wherein the head of the central pipe is fixedly sleeved with a mounting head; the welding seam identification probes are uniformly distributed at intervals along the circumferential direction of the mounting head, and are connected with the main control box in a bidirectional manner.
3. The nondestructive internal detection device for the pipeline girth weld according to claim 1, wherein the cleaning device comprises a second driving motor and a polishing control power supply which are fixedly installed on the connecting frame, and the second driving motor is respectively connected with the polishing control power supply and the output end of the total control box; and the output shaft of the second driving motor is fixedly provided with a cleaning wheel.
4. The nondestructive internal detection device for pipeline girth welds according to claim 1, wherein the hollow coupling ultrasonic detection and signal transceiving device comprises a signal transceiving control box fixedly installed on a connecting frame and two probe boxes axially sliding along the connecting frame, wherein the two probe boxes are connected with the output end of the signal transceiving control box, and the signal transceiving control box is in bidirectional connection with the total control box.
5. The apparatus of claim 1, wherein the automatic magnetic powder inspection apparatus comprises a fixed plate fixedly mounted on a connection frame, a second magnetic powder control device, a suspension and contrast agent controller; the suspension spray gun and the contrast agent spray gun are fixedly arranged on the fixing plate, a magnetic suspension hydraulic cylinder and a contrast agent cylinder are fixedly arranged on the outer side of each outer ring, the magnetic suspension hydraulic cylinder is communicated with the magnetic suspension hydraulic cylinder, and the contrast agent cylinder is communicated with the contrast agent spray gun; the suspension spray gun and the contrast agent spray gun are connected with the output ends of the suspension and contrast agent controller; the automatic magnetic powder detection controller is fixedly arranged on the fixing plate, the second magnetic powder injury control instrument is connected with the output end of the automatic magnetic powder detection controller, and the automatic magnetic powder detection controller is in bidirectional connection with the main control box.
6. The nondestructive internal detection device for pipeline girth welds according to claim 1, wherein the variable magnetic excitation detection device comprises a bracket fixedly mounted on a connecting frame and a magnetic flushing control power supply; the first magnetic powder control wound instruments which are symmetrically distributed are arranged on the support, the two first magnetic powder control wound instruments are respectively connected with the output end of the magnetic flushing control power supply, and the two first magnetic powder control wound instruments are both connected with the input end of the main control box.
7. A detection method using the detection device according to any one of claims 1 to 6, comprising the following steps:
(1) The detection device is sent into the pipeline, the main control box sends a forward signal to the travelling wheels, and the travelling wheels start to rotate, so that the detection device is advanced in the pipeline;
(2) In the advancing process of the detection device, the weld joint identification probe identifies the weld joint in the pipeline, after the weld joint identification probe identifies the weld joint, data are transmitted to the control box, after the control box receives a signal, the control box sends a signal to the travelling wheel, the travelling wheel continues to rotate, so that the detection device continues to advance in the pipeline, and when the cleaning device, the high-definition visual acquisition device, the micro-magnetic acquisition device, the air-coupling ultrasonic detection and signal transceiver, the automatic magnetic powder detection device and the variable magnetic excitation detection device are aligned with the weld joint, the travelling wheel stops rotating, so that the detection device stops advancing in the pipeline;
(3) The main control box sends signals to the high-definition visual acquisition device and the two rotating mechanisms, the high-definition visual acquisition device acquires the signals, and the two rotating mechanisms rotate simultaneously during the acquisition, so that the high-definition visual acquisition device circumferentially acquires welding seams, and the high-definition visual acquisition device synchronously transmits acquired data to the main controller during the acquisition of the welding seams;
(4) The main control box sends a signal to the cleaning device, the cleaning device starts to clean the welding line, and in the cleaning process of the cleaning device, the cleaning device finishes cleaning the whole welding line along with the rotation of the two rotating mechanisms, and the high-definition visual acquisition device continuously acquires the welding line while the cleaning device cleans the welding line;
(5) The main control box can send out detection signals to one or more of the micro-magnetic acquisition device, the variable magnetic excitation detection device and the air-coupled ultrasonic detection and signal receiving and transmitting device, and the micro-magnetic acquisition device is responsible for acquiring and storing stress signals and defect signals of the welding line; the variable magnetic excitation detection device is responsible for magnetic leakage detection of volume defects and shallow cracks and collection and storage of data; the empty-coupling ultrasonic detection and signal receiving and transmitting device is responsible for collecting and storing stress signals and defect signals; the micro-magnetic acquisition device, the variable magnetic excitation detection device and the air-coupled ultrasonic detection and signal transceiver device are used for directly transmitting acquired data to the main control box;
(6) The automatic magnetic powder detection device of the total control box sends out signals, and after receiving the model of the total control box, the automatic magnetic powder detection device carries out magnetization treatment on the annular welding seam and transmits data in the magnetization treatment process to the total control box;
(7) After the welding seam is magnetized, detecting the magnetized welding seam by a high-definition visual acquisition device, and acquiring, storing and processing detected images;
(8) After the detection is finished, the condition of the welding line is still not clear, the steps 3 to 7 are repeated, and the welding line is detected again.
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| CN111257343A (en) * | 2020-03-02 | 2020-06-09 | 中国石油大学(华东) | Device, system and method for detecting quality of inner surface of pipeline welding seam |
| CN112113969A (en) * | 2020-09-18 | 2020-12-22 | 南京智能仿真技术研究院有限公司 | Defect detection device for pipeline and detection method thereof |
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| CN114851014B (en) * | 2022-07-05 | 2022-09-09 | 欧米勒电气有限公司 | Weld grinding device with accurate positioning function |
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