CN112254999A - Pipeline robot comprehensive testing device - Google Patents
Pipeline robot comprehensive testing device Download PDFInfo
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- CN112254999A CN112254999A CN202011126276.6A CN202011126276A CN112254999A CN 112254999 A CN112254999 A CN 112254999A CN 202011126276 A CN202011126276 A CN 202011126276A CN 112254999 A CN112254999 A CN 112254999A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/005—Testing of complete machines, e.g. washing-machines or mobile phones
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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Abstract
The invention discloses a pipeline robot comprehensive testing device, which comprises a pipeline assembly, a sensor assembly and a medium supply assembly, wherein the pipeline assembly comprises a circumferential weld testing pipeline, and at least one protrusion which surrounds along the circumferential direction is arranged on the circumferential weld testing pipeline; the sensor assembly is used for detecting the vibration of the circumferential weld test pipeline and the moving speed of the pipe cleaner; the pipeline assembly is of a closed structure and is used for the pipe cleaner to circularly move; the media supply assembly is used to power the movement of the pig. According to the comprehensive testing device for the pipeline robot, the pipeline assembly is arranged and comprises the circumferential weld testing pipeline, the influence of the circumferential weld testing pipeline on the movement of the pipe cleaner is analyzed by the aid of the circular movement of the pipe cleaner in the pipeline assembly, accurate experimental data are acquired through the sensor assembly, and the influence of the pipe cleaner on the circumferential weld of the pipe in actual use can be effectively guided.
Description
Technical Field
The invention relates to the field of pipeline detection, in particular to a comprehensive testing device for a pipeline robot.
Background
The PIG PIG is a detection device which runs along with a medium in an operating oil and gas pipeline, and is mainly used for nondestructive detection, namely thickness measurement (thickness loss after the pipeline is corroded) and crack detection. The principle of the Ultrasonic intelligent pipeline Pig (ultrasonics Intellignet Pig) is as follows: the ultrasonic pulse sent from the probe generates an echo when meeting the surface of the pipe wall and an echo when meeting the bottom of the pipe wall, and the wall thickness value can be obtained by dividing the interval time of the first echo and the second echo by the known sound velocity. The method also allows for the inspection of cracks in the pipe based on the analysis of the echo signals.
However, the current ultrasonic intelligent pipeline pig is only applied to the detection of the pipeline in actual use, however, for the pipeline with the characteristics of circumferential weld and the like, when the pipeline is matched with the ultrasonic intelligent pipeline pig, the influence can be generated on the ultrasonic intelligent pipeline pig and the pipeline.
Therefore, how to judge the influence between the pipeline and the ultrasonic intelligent pipeline pig so as to guide the practical application is a technical problem which needs to be solved by the technical personnel in the field at present.
Disclosure of Invention
The invention aims to provide a comprehensive testing device for a pipeline robot, which is used for acquiring relevant data of a pipeline and a pipe cleaner when the pipeline is matched with the pipe cleaner and can effectively guide practical application.
In order to achieve the purpose, the invention provides the following technical scheme:
a pipeline robot comprehensive testing device comprises a pipeline assembly, a sensor assembly and a medium supply assembly, wherein the pipeline assembly comprises a circumferential weld testing pipeline, and at least one protrusion which surrounds along the circumferential direction is arranged on the circumferential weld testing pipeline;
the sensor assembly is used for detecting the vibration of the circumferential weld test pipeline and the moving speed of the pipe cleaner; the pipeline assembly is of a closed structure and is used for the pipe cleaner to circularly move; the media supply assembly is used to power the movement of the pig.
Preferably, the pipeline pig comprises a pig body, a pig head, a pig tail and a pig tail; the media supply assembly is also for powering the ball dispenser assembly.
Preferably, the service robot assembly comprises a quick-opening blind pipe, a service barrel, a service indicating component for detecting whether service is successful or not, a pressure gauge for detecting the pressure in the service barrel, and an exhaust valve and a safety valve for releasing the pressure.
Preferably, the medium supply assembly comprises an air compressor, a water pump and a gas-liquid mixer, wherein the input end of the gas-liquid mixer is respectively communicated with the air compressor and the water pump, and the output end of the gas-liquid mixer is respectively connected with the pipeline assembly and the ball dispenser assembly.
Preferably, the device further comprises a support frame for supporting the pipeline assembly, and the medium supply assembly is arranged in the support frame and is pressed against the support frame; the support frame comprises a support body, a V-shaped block arranged on the support body and used for supporting the pipeline assembly, and a base plate positioned at the bottom of the inner side of the support body, wherein the medium supply assembly is arranged on the base plate.
Preferably, the pipeline cleaner further comprises a one-way valve circulation structure assembly for allowing the pipeline cleaner to pass in one way and taking out the pipeline cleaner, and the one-way valve circulation structure assembly is mounted on the pipeline assembly.
Preferably, the check valve circulation structure component comprises a reducing inlet pipe, a reducing outlet pipe and a flap type check valve, the flap type check valve is located between the reducing inlet pipe and the reducing outlet pipe, and a taking-out hole cover plate is further arranged on the reducing inlet pipe.
Preferably, the pipeline assembly further comprises a circulating support pipeline, the circumferential weld test pipeline is detachably connected with the circulating support pipeline, and the circulating support pipeline and the circumferential weld test pipeline jointly form a waist-shaped structure.
Preferably, the sensor assembly comprises an acceleration sensor mounted on the circumferential weld test pipe and a displacement sensor mounted on the circulation support pipe for detecting the moving speed of the pig.
Preferably, the circumferential weld test pipeline comprises a middle circumferential weld steel pipe and a middle circumferential weld acrylic pipe which are in sealing connection.
The comprehensive testing device for the pipeline robot comprises a pipeline assembly, a sensor assembly and a medium supply assembly, wherein the pipeline assembly comprises a circumferential weld testing pipeline, and at least one protrusion which surrounds along the circumferential direction is arranged on the circumferential weld testing pipeline; the sensor assembly is used for detecting the vibration of the circumferential weld test pipeline and the moving speed of the pipe cleaner; the pipeline assembly is of a closed structure and is used for the pipe cleaner to circularly move; the media supply assembly is used to power the movement of the pig. According to the comprehensive testing device for the pipeline robot, the pipeline assembly is arranged and comprises the circumferential weld testing pipeline, the influence of the circumferential weld testing pipeline on the movement of the pipeline cleaner is analyzed by the aid of the circular movement of the pipeline cleaner in the pipeline assembly, accurate experimental data are acquired through the sensor assembly, and the influence of the pipeline cleaner on the circumferential weld during actual use can be effectively guided.
In a preferred embodiment, the girth weld test conduit comprises a center girth weld steel pipe and a center girth weld acrylic pipe in sealed connection. Above-mentioned setting, through inciting somebody to action the girth weld test pipeline divide into two parts, can observe the motion of dredging pipe ware through transparent girth weld ya keli pipe to simulate actual pipeline through the girth weld steel pipe, when guaranteeing the experimental result accuracy, be convenient for observe, further improve the experiment degree of accuracy.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an embodiment of the comprehensive testing device for pipeline robots, provided by the invention;
FIG. 2 is a simplified schematic structural diagram of an embodiment of the comprehensive testing device for pipeline robots, provided by the present invention;
FIG. 3 is a schematic diagram illustrating an operation process of the pipeline robot comprehensive testing device provided by the present invention;
wherein: a quick-open blind pipe-11; a ball serving barrel-12; pressure gauge-13; a safety valve-14; an exhaust valve-15; a serving indication means-16; DN150 ball valve-21; a lane change tee-22; 6D 180-degree elbow-23; a laser displacement sensor mounting cylinder-24; a steel pipe-25; a steel pipe-31 with a circumferential weld is arranged in the middle; a ring weld seam acrylic pipe-32 is arranged in the middle; a variable diameter lead-in pipe-41; a variable diameter delivery pipe-42; flap check valve-43; taking out the hole cover plate-44; an air compressor-51; a water pump-52; a media transport pipe-53; a drain-54; a water tank-55; a gas-liquid mixer-56; a first valve-561; a second valve-562; a third valve-563; a fourth valve-564; a temperature transmitter-57; -a flow meter-58; a stent body-61; v-shaped block-62; a backing plate-63; an acceleration sensor-71; a laser displacement sensor-72; a controller-8; a pressure transmitter-81; pig-9.
Detailed Description
The core of the invention is to provide a comprehensive testing device for a pipeline robot, which is used for acquiring relevant data of a pipeline and a pipe cleaner when the pipeline and the pipe cleaner are matched and can effectively guide practical application.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 to 3, fig. 1 is a schematic structural diagram of an embodiment of a comprehensive testing apparatus for a pipeline robot according to the present invention; FIG. 2 is a simplified schematic structural diagram of an embodiment of the comprehensive testing device for pipeline robots, provided by the present invention; fig. 3 is a schematic diagram of an operation process of the comprehensive testing device for the pipeline robot provided by the invention.
In this embodiment, the pipe robot comprehensive testing apparatus includes a pipe assembly, a sensor assembly, and a medium supply assembly.
The pipeline assembly comprises a circumferential weld test pipeline, for example, a replacement pipe II in fig. 2, wherein at least one protrusion which surrounds circumferentially is arranged on the circumferential weld test pipeline, and specifically, the protrusion can be continuous or discontinuous so as to simulate the structure of the actual circumferential weld pipeline; the circumferential weld test pipeline is used as a test pipeline, specifically, the circumferential weld test pipeline is used as a part of a pipeline assembly, and a pipe cleaner 9 passes through the circumferential weld test pipeline when moving in the pipeline assembly; the sensor assembly is used for detecting the vibration of the circumferential weld test pipeline and the moving speed of the pipe cleaner 9, and is specifically arranged on the pipeline assembly; the pipeline assembly is of a closed structure, and the pipeline cleaner 9 circularly moves, preferably annularly moves, so that the pipeline cleaner 9 can pass through the circumferential weld to test the pipeline for multiple times, and more accurate experimental data can be acquired; the medium supply assembly is used for providing power for the movement of the cleaning pig 9, and may specifically be a liquid medium, a gas medium or a gas-liquid mixed medium. Preferably, the PIG 9 is an ultrasonic intelligent PIG.
According to the comprehensive testing device for the pipeline robot, the pipeline assembly is arranged and comprises the circular welding seam testing pipeline, the influence of the circular welding seam testing pipeline on the movement of the pipe cleaner 9 is analyzed by the aid of the circular movement of the pipe cleaner 9 in the pipeline assembly, accurate experimental data are acquired through the sensor assembly, and the influence of the pipeline in actual use on the pipe cleaner 9 when the circular welding seam exists can be effectively guided.
On the basis of the above embodiments, the pipeline cleaner further comprises a ball dispenser assembly, wherein the ball dispenser assembly is used for conveying the pipeline cleaner 9 into the pipeline assembly; the media supply assembly is also for powering the ball dispenser assembly. Specifically, the ball serving device is connected to a certain position of the pipeline assembly, preferably one side of the pipeline assembly, which is far away from the circumferential weld test pipeline, so that the influence of the ball serving process on the detection result is reduced.
On the basis of the above embodiments, the service machine assembly comprises a quick-opening blind pipe 11, a service barrel 12, a service indication part 16 for detecting whether service is successful, a pressure gauge 13 for detecting the pressure in the service barrel 12, and an exhaust valve 15 and a safety valve 14 for releasing the pressure. In particular, the service indicating means 16 is preferably a service indicator light, and the service cartridge 12 is inclined upward relative to the pipe assembly by judging whether it is lighted or not, reducing the influence on the movement of the pig 9, i.e., the pipe robot, in the pipe.
Wherein, the quick-opening blind pipe 11 is used as a sealing plate at the inlet of the ball-sending cylinder 12 and is used for quickly opening and closing the cylinder body of the ball-sending cylinder 12; the ball sending barrel 12 is a slow reducing pipeline and is used for placing a pipe cleaner 9 and sending the pipe cleaner 9, and is connected with the DN150 ball valve 21 through a flange bolt; the pressure gauge 13 is used for monitoring the pressure in the ball serving barrel 12 and is connected with the ball serving barrel 12 through a threaded hole; the safety valve 14 is used for relieving pressure when in overpressure and is connected with the ball serving barrel 12 through a threaded hole; the exhaust valve 15 is used for exhausting redundant pressure gas and is connected with the ball serving barrel 12 through a threaded hole.
Specifically, utilize the check valve can realize the isolated of medium pressure and the circulation of dredging pipe ware 9 in the experimental tube way, dredging pipe ware 9 sends out through a balling-up section of thick bamboo 12, at experimental tube internal circulation motion, stops defeatedly until the medium, dredging pipe ware 9 finally stops in the balling-up section of thick bamboo, opens and takes out apron 44, can take out dredging pipe ware 9.
On the basis of the above embodiments, the pipeline cleaning device further comprises a lane changing tee 22 connected with the ball serving barrel 12 and the pipeline assembly, and a ball valve used for releasing the cleaning pig 9 to the lane changing tee 22; specifically, the lane changing tee 22 is used for connecting the service cylinder 12 to a pipeline assembly, the ball valve is preferably a DN150 ball valve 21, and the ball valve is used for releasing the cleaning pig 9 to enter a main pipeline and is connected with the service cylinder 12 and the lane changing tee 22 through flange bolts; the lane changing tee 22 is used for communicating the service barrel 12 with an experimental pipeline and is connected with the service barrel 12 and the steel pipe 25 through flange bolts.
On the basis of the above embodiments, the medium supply assembly includes the air compressor 51, the water pump 52 and the gas-liquid mixer 56, the input end of the gas-liquid mixer 56 is respectively communicated with the air compressor 51 and the water pump 52, and the output end of the gas-liquid mixer 56 is respectively connected with the pipeline assembly and the ball dispenser assembly. Specifically, the air compressor 51 and the water pump 52 are used for supplying medium under pressure, so that multiphase flow mixed transportation of gas, liquid, gas liquid and the like can be realized. In actual use, only the air compressor 51 or only the water pump 52 may be turned on, or the air compressor 51 and the water pump 52 may be turned on at a set ratio.
Further, a first valve 561 is provided between the air compressor 51 and the gas-liquid mixer 56, a second valve 562 is provided between the water pump 52 and the gas-liquid mixer 56, a third valve 563 is provided between the gas-liquid mixer 56 and the pipe assembly, and a fourth valve 564 is provided between the gas-liquid mixer 56 and the barrel 12.
In addition to the above embodiments, the flow meter 58 and the temperature transmitter 57 are provided in the communication line between the air compressor 51 and the gas-liquid mixer 56 and in the communication line between the water pump 52 and the gas-liquid mixer 56. Further, the medium supply assembly further includes a medium feed pipe 53 and a drain pipe 54.
Specifically, the air compressor 51 is used for providing high-pressure and high-flow air and is naturally placed on the backing plate 63; the water pump 52 is used for providing high-pressure high-flow water and is naturally placed on the backing plate 63; the medium conveying pipe 53 is used for conveying air and water into an auxiliary pipeline and is connected with the water pump 52, the air compressor 51, the service barrel 12 and the reducing delivery pipe 42 through flange bolts; the drain pipe 54 is used for draining water and is connected with the reducing leading-in pipe 41 through a flange bolt; the water tank 55 is used for storing water and is naturally placed on the pad 63. Wherein, the ball valve, the lane-changing tee 22, the elbow, the laser displacement sensor mounting cylinder 24 and the steel pipe 25 form an auxiliary pipeline component.
On the basis of the above embodiments, the pipe assembly further comprises a support frame for supporting the pipe assembly, and the medium supply assembly is installed in the support frame and presses the support frame. Specifically, the support frame can be used for effectively supporting the pipeline assembly, so that the medium supply assembly can be conveniently placed.
Specifically, the support frame includes a frame body 61, a V-block 62 mounted on the frame body 61 for supporting the pipe assembly, and a pad 63 located at the bottom of the inner side of the frame body 61, and the medium supply assembly is placed on the pad 63. Above-mentioned V type piece 62's structure can guarantee the stability of pipe assembly, reduces rocking of pipeline in the experimentation, and the preferred frame construction of support body 61, backing plate 63 are placed in the bottom of support body 61 to compress tightly support body 61, make the weight of medium supply subassembly apply on support body 61, guarantee support body 61's stability.
In one embodiment, the bracket is used for supporting the experiment table main body and naturally placed on the ground; the V-shaped block 62 is used for reliably positioning and fixing the pipeline assembly and is fixed with the bracket through a bolt; the backing plate 63 is used for placing external equipment, such as medium supply equipment, can also reduce the center of gravity of the experiment table, improves the stability during the experiment, and is naturally placed on the bottom layer of the bracket.
On the basis of the above embodiments, the pipeline cleaning device further comprises a one-way valve circulation structure assembly for allowing the pipeline cleaning device 9 to pass in one way and taking out the pipeline cleaning device 9, and the one-way valve circulation structure assembly is installed on the pipeline assembly; the one-way valve circulation structure component is arranged, so that the pipe cleaner 9 can be taken out conveniently.
Specifically, the check valve circulation structure component comprises a reducing inlet pipe 41, a reducing outlet pipe 42 and a flap type check valve 43, the flap type check valve 43 is located between the reducing inlet pipe 41 and the reducing outlet pipe 42, and the reducing inlet pipe 41 is further provided with a take-out hole cover plate 44.
Further, the reducing leading-in pipe 41 is used for relieving the compression state of the pipe cleaner 9, reducing the motion resistance and guiding the pipe cleaner to the one-way valve, and is connected with the reducing leading-out pipe 42 and the 6D 180-degree bent pipe 23 through flange bolts, wherein the bending curvature radius of the 6D 180-degree bent pipe 23 is 6 times of the inner diameter of the bent pipe; the reducing delivery pipe 42 is used for enabling the pressure regained cleaning pig 9 to enter the pipeline assembly again and is connected with the reducing delivery pipe 41 and the steel pipe 25 through flange bolts; the flap type one-way valve 43 is used for one-way passing and front-back pressure isolation of the pipe cleaner 9 and is clamped and fixed by a flange connected with the reducing leading-in pipe 41 and the reducing leading-out pipe 42; the taking-out hole cover plate 44 is used for closing the pipeline and taking out the cleaning pig 9 after opening, and is connected with the reducing leading-in pipe 41 through bolts.
On the basis of the above embodiments, the pressure transmitters 81 are respectively disposed on the reducing inlet pipe 41 and the reducing outlet pipe 42, and are used for detecting the pressure in the reducing inlet pipe 41 and the reducing outlet pipe 42, and feeding back the pressure to the controller 8; the controller 8 is also connected to an acceleration sensor 71 and a laser sensor.
On the basis of each embodiment, the pipeline assembly further comprises a circulating support pipeline, the circumferential weld test pipeline is detachably connected with the circulating support pipeline, and the circulating support pipeline and the circumferential weld test pipeline jointly form a waist-shaped structure. Through the detachable connection of the circumferential weld test pipeline and the circulating support pipeline, the circumferential weld test pipelines of different types can be conveniently replaced, so that the applicability of the test device is improved.
It should be noted here that the girth weld test pipeline may also be replaced by a defect-characterized pipeline, i.e. a pipeline with defect characteristics, to detect the defect, e.g. a defect characteristic with a pit in the pipeline; of course, the girth weld test pipe may also be replaced by a passing test pipe, i.e. a pipe having at least one point with a predetermined radius of curvature, to test the passing performance of the pig 9.
Specifically, the circulating support pipeline comprises two bent pipes, preferably a 6D 180-degree bent pipe 23, the circular weld joint test pipeline is arranged on the same side of the two bent pipes, and a one-way valve circulating structure assembly, a steel pipe 25 and a lane changing tee 22 are connected between the other ends of the two bent pipes; namely, the two bent pipes, the circumferential weld test pipeline, the steel pipe 25 and the lane-changing tee 22 form an annular runway structure together, so that the pipeline cleaner 9 can circularly move in the pipeline assembly.
More specifically, the bent pipe is used for guiding the movement of the cleaning pipe cleaner 9 and is connected with the middle-placed girth weld steel pipe 31 and the channel-changing tee 22 through flange bolts; the steel pipe 25 is used for lengthening connection and is connected with the reducing delivery pipe 42 and the lane-changing tee 22 through flange bolts.
On the basis of the above embodiments, the sensor assembly comprises an acceleration sensor 71 mounted on the girth weld test pipe and a displacement sensor mounted on the circulation support pipe for detecting the moving speed of the cleaning pig 9. Specifically, the acceleration sensor 71 is used for detecting the acceleration of the circumferential weld test pipeline, and is adsorbed on a metal sheet bonded to the outer wall of the centrally-mounted circumferential weld acrylic tube 32 through a magnetic seat; the laser displacement sensor 72 is used for measuring the displacement of the pipe cleaner 9 in the experimental pipeline, and is fixed on the laser displacement sensor mounting cylinder 24 through threaded connection, so that the moving speed of the pipe cleaner 9 in the girth weld test pipeline can be detected through calculation.
Specifically, the displacement sensor is preferably a laser displacement sensor 72, and is mounted at a position of the pipe assembly close to the girth weld test pipe through a laser displacement sensor mounting cylinder 24, and preferably, the laser displacement sensor mounting cylinder 24 is connected with the elbow pipe through welding.
On the basis of the above embodiments, the circumferential weld test pipeline includes a middle circumferential weld steel pipe 31 and a middle circumferential weld acrylic pipe 32 which are connected in a sealing manner; at least one protrusion surrounding along the circumferential direction is arranged on each of the middle ring weld steel pipe 31 and the middle ring weld acrylic pipe 32. Preferably, acceleration sensors 71 are arranged on the middle girth welded steel pipe 31 and the middle girth welded acrylic pipe 32.
Specifically, the middle-placed circumferential weld steel pipe 31 is used for collecting and researching fluid-solid coupling excitation state data of the pipe cleaner 9 passing through the circumferential weld, and is connected with the middle-placed circumferential weld acrylic pipe 32 and the 6D 180-degree bent pipe 23 through flange bolts; the middle ring weld acrylic pipe 32 is used for data acquisition research and optical observation of a fluid-solid coupling excitation state of the pipe cleaner 9 passing through the ring weld, and is connected with the middle ring weld steel pipe 31 and the 6D 180-degree bent pipe 23 through flange bolts.
Above-mentioned setting is through dividing into two parts with the girth weld test pipeline, can observe the motion of dredging pipe ware 9 through transparent girth weld ya keli pipe to simulate actual pipeline through the girth weld steel pipe, when guaranteeing the experimental result accuracy, be convenient for observe, further improve the experiment degree of accuracy.
In a specific embodiment, the pipeline robot comprehensive testing device can form a set of annular ring experiment tables for pipeline robot comprehensive testing, and mainly comprises the following purposes:
1, cleaning technical research: wax removal, powder removal, particle cleaning and the like;
2, detection technology research: small pipe diameter inside and outside detection technology;
3, researching the communication control technology inside and outside the pipe;
4, monitoring the running state of the pipeline robot: the method comprises the following steps of (1) testing the running state and long-period running reliability of the pipeline robot, such as passing test, vibration test, in-pipe complex condition simulation test, route change simulation test and the like;
5, testing the performances of the jet flow pipe cleaner 9 and the speed regulation pipe cleaner 9;
6, researching the shape rule of the fluid in the pipe in the operation process of the pipeline robot;
7 comprehensive tests of pipeline stress, deformation, corrosion, crack, mechanical damage and the like, route change, operational reliability and the like are carried out.
Specifically, the pipeline robot comprehensive testing device provided by the embodiment has the following operation process:
opening the quick-opening blind pipe 11 → putting the cleaning pig 9 into the ball-sending barrel 12 → closing the quick-opening blind pipe 11 → leading in the medium → controlling the valve according to the type of the medium → judging whether the ball-sending indicator lamp lights up: when the ball-serving indicator light is not lighted, all valves are closed → the exhaust valve 15 is opened → the quick-opening blind pipe 11 is opened → the pig 9 is adjusted → the step of opening the quick-opening blind pipe 11 is returned again; when the ball sending indicator light is turned on, the third valve 563 is opened → the fourth valve 564 is closed → experimental data is collected → the first valve 561 is closed → the second valve 562 is closed → the third valve 563 is closed → the vent valve 15 is opened → the cover plate is opened → the ball retrieving plate is put in → the second valve 562 is opened → the third valve 563 is opened → the pig 9 reaches the ball retrieving cylinder → the second valve 562 is closed → the third valve 563 is closed → the vent valve 15 is opened → the pig 9 is taken out → the cover plate is closed.
The comprehensive testing device for the pipeline robot provided by the invention is described in detail above. The principle and the implementation of the present invention are explained herein by using specific examples, and the above description of the examples is only used to help understand the detection method and the core idea of the present invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. The comprehensive testing device for the pipeline robot is characterized by comprising a pipeline assembly, a sensor assembly and a medium supply assembly, wherein the pipeline assembly comprises a circumferential weld testing pipeline, and at least one protrusion which surrounds along the circumferential direction is arranged on the circumferential weld testing pipeline;
the sensor assembly is used for detecting the vibration of the girth weld test pipeline and the moving speed of the pipe cleaner (9); the pipeline assembly is of a closed structure and is used for the pipe cleaner (9) to circularly move; the medium supply assembly is used for powering the movement of the pig (9).
2. The pipeline robot comprehensive testing device of claim 1, further comprising a ball dispenser assembly for delivering the pig (9) inside the pipeline assembly; the media supply assembly is also for powering the ball dispenser assembly.
3. The comprehensive testing device for the pipeline robot according to claim 2, wherein the ball serving assembly comprises a quick-opening blind pipe (11), a ball serving barrel (12), a ball serving indicating component (16) for detecting whether the ball serving is successful, a pressure gauge (13) for detecting the pressure in the ball serving barrel (12), and an exhaust valve (15) and a safety valve (14) for releasing the pressure.
4. The pipe robot comprehensive testing device of claim 2, wherein the medium supply assembly comprises an air compressor (51), a water pump (52), and a gas-liquid mixer (56), wherein the input end of the gas-liquid mixer (56) is respectively communicated with the air compressor (51) and the water pump (52), and the output end of the gas-liquid mixer (56) is respectively connected with the pipe assembly and the ball dispenser assembly.
5. The comprehensive testing device for the pipeline robots as claimed in any one of claims 1 to 4, further comprising a support frame for supporting the pipeline assembly, the medium supply assembly being installed in the support frame and pressing the support frame; the support frame comprises a support frame body (61), a V-shaped block (62) which is arranged on the support frame body (61) and used for supporting the pipeline assembly, and a base plate (63) which is positioned at the bottom of the inner side of the support frame body (61), wherein the medium supply assembly is placed on the base plate (63).
6. The pipe robot comprehensive testing device according to any one of claims 1 to 4, characterized by further comprising a one-way valve circulation structure assembly through which the pipe pig (9) passes in one direction and from which the pipe pig (9) can be taken out, the one-way valve circulation structure assembly being mounted on the pipe assembly.
7. The comprehensive testing device of the pipeline robot as claimed in claim 6, wherein the one-way valve circulation structure component comprises a reducing inlet pipe (41), a reducing outlet pipe (42) and a flap-type one-way valve (43), the flap-type one-way valve (43) is located between the reducing inlet pipe (41) and the reducing outlet pipe (42), and a take-out hole cover plate (44) is further arranged on the reducing inlet pipe (41).
8. The comprehensive testing device for pipeline robots as claimed in any one of claims 1 to 4, wherein the pipeline assembly further comprises a circulation support pipeline, the circumferential weld test pipeline is detachably connected with the circulation support pipeline, and the circulation support pipeline and the circumferential weld test pipeline jointly form a waist-shaped structure.
9. The pipeline robot comprehensive testing device of claim 8, characterized in that the sensor assembly comprises an acceleration sensor (71) mounted on the girth weld test pipeline and a displacement sensor mounted on the circulation support pipeline for detecting the moving speed of the cleaning pig (9).
10. The robotic integrated testing device of any one of claims 1-4, wherein the girth weld test conduit comprises a middle girth weld steel pipe (31) and a middle girth weld acrylic pipe (32) which are hermetically connected.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116699079A (en) * | 2023-08-08 | 2023-09-05 | 四川空分设备(集团)有限责任公司 | Ultralow-temperature gas experiment platform and working method thereof |
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| CN116699079B (en) * | 2023-08-08 | 2023-11-24 | 四川空分设备(集团)有限责任公司 | Ultralow-temperature gas experiment platform and working method thereof |
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