CN113049683B - Ultrasonic flaw detection device for underwater pipeline - Google Patents
Ultrasonic flaw detection device for underwater pipeline Download PDFInfo
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- CN113049683B CN113049683B CN202110261612.6A CN202110261612A CN113049683B CN 113049683 B CN113049683 B CN 113049683B CN 202110261612 A CN202110261612 A CN 202110261612A CN 113049683 B CN113049683 B CN 113049683B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
- G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
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Abstract
The invention discloses an underwater pipeline-oriented ultrasonic flaw detection device which comprises a single-degree-of-freedom mechanical arm, an ultrasonic flaw detection module and a main control module, wherein the single-degree-of-freedom mechanical arm and the ultrasonic flaw detection module are both annular and are connected through threaded engagement. Through the control command of the main control module, the surrounding fixation and nondestructive inspection of the underwater pipeline by the inspection device can be realized: the main control module sends out a suction instruction to control the mechanical arm to realize the adsorption of the underwater pipeline; sending a polling instruction, controlling an ultrasonic flaw detection module to realize forward and reverse flaw detection operation flows of an underwater pipeline, and recording pose information of a phased array ultrasonic probe in the flaw detection operation process; and the main control module realizes high-precision nondestructive inspection of the underwater pipeline based on the ultrasonic inspection information and the pose information. The invention provides a full-automatic, continuous, stable and efficient underwater ultrasonic flaw detection device.
Description
Technical Field
The invention relates to the technical field of nondestructive inspection, in particular to an ultrasonic inspection device for an underwater pipeline.
Background
Pipeline transportation has become the main transportation means of energy such as transport oil, natural gas, and pipeline leakage accident that china's submarine pipeline caused because of reasons such as corruption, deformation has happened occasionally in recent years, in order to ensure the safe operation of pipeline in service, should carry out periodic inspection to it in order to discover the problem in time, take measures. As for the underwater flaw detection technology, the ultrasonic nondestructive flaw detection technology is the most mature, but at present, manual launching is still needed to realize the ultrasonic flaw detection operation process of the pipeline. If the underwater automatic flaw detection system can be invented, the phenomenon of inaccurate flaw detection caused by the fact that the professional level of a worker is not too close can be greatly avoided.
Disclosure of Invention
The present invention is directed to an ultrasonic testing apparatus for underwater pipelines, which solves the above-mentioned problems of the background art.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an ultrasonic inspection device towards pipeline under water, ultrasonic inspection device comprises single degree of freedom arm, ultrasonic inspection module and host system, single degree of freedom arm and ultrasonic inspection module are the annular, single degree of freedom arm and ultrasonic inspection module are connected through the thread engagement, single degree of freedom arm, ultrasonic inspection module connect host system respectively.
Preferably, the single degree of freedom mechanical arm comprises: the robot comprises a left arm body, a right arm body, a left arm body power shaft, a left arm body connecting pin, a left arm body power shaft connecting screw, a mechanical arm and flaw detection module connecting shaft, a mechanical arm elastic connecting rod, a right arm body power shaft, a right arm body connecting pin, a right arm body power shaft connecting screw, a threaded connecting rod, a left arm body electromagnet and a right arm body electromagnet; the left arm body and the right arm body are identical in structure; the left arm body connecting pin and the right arm body connecting pin are identical in specification and are provided with standard M30 threads; the specifications of the left arm body power shaft connecting screw rod and the right arm body power shaft connecting screw rod are the same, the center part of the left arm body power shaft connecting screw rod is a hollow cylindrical groove, and the groove is internally provided with standard M10 threads; the mechanical arm and flaw detection module connecting shaft is a screw with a standard M8 thread; the number of the elastic connecting rods of the mechanical arm is four, and the elastic connecting rods are symmetrically distributed on the mechanical arm; the threaded connecting rods are screws with standard M5 threads and are distributed on the mechanical arm in a circle with the radius of 173mm and 180mm respectively; the left arm body electromagnet and the right arm body electromagnet are identical in structure and opposite in magnetism.
Preferably, the left arm body power shaft and the right arm body power shaft are identical in structure and are composed of a hollow cup servo motor, an aluminum cooling fin, a power shaft, a connecting rod and a connecting nut; the aluminum radiating fins are uniformly distributed on the hollow cup servo motor and are connected with the surface of the hollow cup servo motor through silicone grease; the power shaft is provided with M10 standard threads, nuts with M22 standard threads are arranged on two sides of the connecting rod, and the power shaft of the left arm body is meshed with the left arm body through the nuts on the two sides.
Preferably, the mechanical arm elastic connecting rod is composed of a hollow shaft connecting rod, a left spring, a right spring and a pipeline fitting device; the equivalent diameters of the left spring and the right spring are slightly larger than that of the hollow shaft connecting rod, and the left spring and the right spring can be split into three independent bodies; the pipeline fitting device is composed of a Fulai wheel, a left connecting rod and a right connecting rod, the left connecting rod and the right connecting rod are structurally the same and are made of hollow aluminum materials, the diameter of the left connecting rod is slightly larger than that of the hollow shaft connecting rod, and the left connecting rod and the right connecting rod are the same as that of a left spring and a right spring; the hollow shaft connecting rod is inserted into the hollow shaft in the vertical direction of the left connecting rod, the left spring is placed at the upper end of the left connecting rod, and the right spring is placed at the lower end of the left connecting rod.
Preferably, the ultrasonic inspection module includes: the ultrasonic flaw detection system comprises an ultrasonic flaw detection module, a hollow cup servo motor, a servo motor aluminum radiating fin, a servo motor main power wheel, a servo motor power conversion shaft, an ultrasonic flaw detection module power crawler, a crawler driven wheel, a flaw detection module driven shaft, a connecting groove and a flaw detection module phased array ultrasonic transducer; the ultrasonic flaw detection module servo motor is connected with the mechanical arm through a screw and is fixed on the mechanical arm; the main power wheel of the servo motor and the power conversion wheel of the servo motor form a speed reducer gear, the output rotating speed of the servo motor of the ultrasonic flaw detection module is reduced, and the output torque is increased; the power crawler of the ultrasonic flaw detection module moves clockwise and anticlockwise in the forward direction along with the power conversion shaft of the servo motor; the crawler driven wheels are uniformly distributed on the power crawler of the ultrasonic flaw detection module, and the diameter of the crawler driven wheels is the same as the interval of the crawler; the connecting groove is a hollow cylinder with a standard M5 thread on the surface, and the connection between the ultrasonic flaw detection module and the mechanical arm is realized through thread engagement.
Preferably, the flaw detection module phased array ultrasonic transducer includes: the system comprises an ultrasonic transducer driven gear, an ultrasonic transducer power shaft, a high-precision nine-shaft attitude sensor and a phased array ultrasonic probe; the phased array ultrasonic transducer of the flaw detection module is connected with the power crawler of the ultrasonic flaw detection module through the driven gear of the ultrasonic transducer, moves along with the power crawler of the ultrasonic flaw detection module, and the pose information of the phased array ultrasonic probe is recorded through the high-precision nine-axis attitude sensor.
Preferably, the work flow of the ultrasonic flaw detection device comprises two work flows of pipeline suction and inspection operation; wherein, pipeline actuation flow specifically is: the main control module sends a suction instruction, and the mechanical arm responds to the instruction, taking the left arm body as an example: the left arm body hollow cup servo motor rotates anticlockwise and reversely, the power shaft moves along with the hollow cup servo motor, the left arm body rotates anticlockwise, the linear distance between the coming wheel of the mechanical arm elastic connecting rod and a pipeline to be detected is reduced, the pipeline is finally touched, and the suction instruction is finished; the main control module then sends out an engagement instruction, and the mechanical arm and the ultrasonic flaw detection module respond to the instruction; the left arm body is taken as an example of the mechanical arm, the mechanical arm continues to rotate anticlockwise and reversely, a right spring in the elastic connecting rod of the mechanical arm is extruded by a pipeline to generate elastic deformation, and the left arm body electromagnet and the right arm body electromagnet are influenced by alternating currents with different phases to generate suction force so as to enable the left arm body and the right arm body to be meshed; a servo motor of an ultrasonic flaw detection module in the ultrasonic flaw detection module rotates clockwise and forwardly, a main power wheel of the servo motor rotates clockwise along with the servo motor, a power conversion shaft of the servo motor is influenced by the main power wheel of the servo motor and rotates reversely at the same angular velocity and anticlockwise, a power crawler of the ultrasonic flaw detection module follows the power conversion shaft of the servo motor, rotates at the same linear velocity and anticlockwise, and a driven gear of an ultrasonic transducer follows the power crawler of the ultrasonic flaw detection module and rotates at the same linear velocity and anticlockwise; and the ultrasonic transducer of the flaw detection module phased array moves anticlockwise to one side of the ultrasonic flaw detection module, so that the pipeline is sucked.
Preferably, the pipeline inspection process specifically comprises: the main control module sends out a polling command, and the ultrasonic flaw detection module responds to the command to poll the pipelines in the forward direction and the reverse direction. And in the forward routing inspection process: a servo motor of an ultrasonic flaw detection module in the ultrasonic flaw detection module rotates anticlockwise and reversely, a main power wheel of the servo motor rotates anticlockwise along with the servo motor, a power conversion shaft of the servo motor is influenced by the main power wheel of the servo motor to rotate clockwise at the same angular velocity in the reverse direction, a power crawler of the ultrasonic flaw detection module rotates clockwise along with the power conversion shaft of the servo motor at the same linear velocity, and a driven gear of an ultrasonic transducer rotates clockwise along with the power crawler of the ultrasonic flaw detection module; the ultrasonic transducer of the phased array of the flaw detection module moves anticlockwise to the other side of the ultrasonic flaw detection module; thus, completing forward inspection; in the reverse routing inspection process: a servo motor of an ultrasonic flaw detection module in the ultrasonic flaw detection module rotates clockwise and forwardly, a main power wheel of the servo motor rotates clockwise along with the servo motor, a power conversion shaft of the servo motor is influenced by the main power wheel of the servo motor and rotates reversely at the same angular velocity and anticlockwise, a power crawler of the ultrasonic flaw detection module follows the power conversion shaft of the servo motor, rotates at the same linear velocity and anticlockwise, and a driven gear of an ultrasonic transducer follows the power crawler of the ultrasonic flaw detection module and rotates at the same linear velocity and anticlockwise; the phased array ultrasonic transducer of the flaw detection module moves anticlockwise to an initial position, and then reverse routing inspection is completed; and the main control module performs coupling processing on the acoustic information and pose information acquired in the routing inspection process and inputs the acoustic information and pose information into a multi-weight neural network to realize detection on pipeline surface damage.
Compared with the prior art, the invention has the beneficial effects that: according to the ultrasonic flaw detection device for the underwater pipeline, provided by the invention, the target inspection pipeline can be efficiently adsorbed, and the pipeline is surrounded, so that the distance between the ultrasonic probe and the pipeline is changed due to the fluctuation of water flow, and the damage and the positioning of the pipeline are inaccurate; furthermore, the method can realize the underwater full-autonomous ultrasonic flaw detection operation process, and the flaw detection judgment process is completely separated from manual work and is judged by a multi-weight neural network. By the aid of the flaw detection method, missed detection and false detection of damage to the pipeline caused by professional ability of workers can be avoided to the greatest extent.
Drawings
FIG. 1 is a block diagram of an underwater pipeline ultrasonic inspection apparatus of the present invention;
FIG. 2 is a view of the robotic arm of the present invention;
FIG. 3 is a view of the power shaft of the robot arm of the present invention;
FIG. 4 is a view of the construction of the mechanical arm elastic connecting rod of the present invention;
FIG. 5 is a view showing the structure of the robot line-jointing apparatus of the present invention;
FIG. 6 is a block diagram of an ultrasonic inspection module of the present invention;
FIG. 7 is a block diagram of a phased array ultrasonic transducer of the present invention;
reference numerals are as follows: 1. a mechanical arm; 3. an ultrasonic flaw detection module; 4. a main control module; 18. a left arm body; 20. a right arm body; 11. a left arm body power shaft; 12. a left arm body connecting pin; 13. the power shaft of the left arm body is connected with a screw rod; 17. the mechanical arm is connected with the flaw detection module; 19. the mechanical arm elastic connecting rod; 14. a right arm body power shaft; 15. the right arm body is connected with a pin; 16. the power shaft of the right arm body is connected with a screw rod; 21. a threaded connecting rod; 24. a servo motor; 23. an aluminum heat sink; 22. a power shaft; 26. a connecting rod; 25. a connecting nut; 27. a Fulai wheel; 28. a left side connecting rod; 29. a right side connecting rod; 35. an ultrasonic flaw detection module servo motor; 34. the servo motor is made of aluminum radiating fins; 37. a main power wheel of the servo motor; 36. a servo motor power conversion shaft; 39. the ultrasonic flaw detection module is a power crawler; 40. a track driven wheel; 38. a flaw detection module driven shaft; 41. a connecting groove; 42. the flaw detection module is a phased array ultrasonic transducer; 30. a hollow shaft connecting rod; 31. a left spring; 32. a right spring; 45. a driven gear of the ultrasonic transducer; 46. an ultrasonic transducer power shaft; 47. a high-precision nine-axis sensor; 48. phased array ultrasonic probe.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1, a structure of an underwater ultrasonic testing apparatus according to the present invention includes: the ultrasonic flaw detection device comprises a mechanical arm 1, an ultrasonic flaw detection module 3 and a main control module 4, wherein the ultrasonic flaw detection device consists of a single-degree-of-freedom mechanical arm, the ultrasonic flaw detection module and the main control module, the single-degree-of-freedom mechanical arm and the ultrasonic flaw detection module are both annular, the single-degree-of-freedom mechanical arm and the ultrasonic flaw detection module are connected through threaded engagement, and the single-degree-of-freedom mechanical arm and the ultrasonic flaw detection module are respectively connected with the main control module; the main control module 4 is located on a central axis of the ultrasonic flaw detection device, and the main control module 4 is an industrial personal computer carrying a multi-weight neuron network.
As shown in fig. 2, which is a structural diagram of a mechanical arm 1 in the present invention, the mechanical arm 1 is composed of a left arm body 18, a right arm body 20, a left arm body power shaft 11, a left arm body connecting pin 12, a left arm body power shaft connecting screw 13, a mechanical arm and flaw detection module connecting shaft 17, a mechanical arm elastic connecting rod 19, a right arm body power shaft 14, a right arm body connecting pin 15, a right arm body power shaft connecting screw 16, a threaded connecting rod 21, a left arm body electromagnet 9, and a right arm body electromagnet 10, and the left arm body 18 and the right arm body 20 are identical in structure; the left arm body connecting pin 12 and the right arm body connecting pin 15 are identical in specification and are provided with standard M30 threads; the specifications of the left arm power shaft connecting screw rod 13 and the right arm power shaft connecting screw rod 16 are completely the same, the center part of the left arm power shaft connecting screw rod 13 is a hollow cylindrical groove, and the groove is provided with standard M10 threads; the mechanical arm and flaw detection module connecting shaft 17 is a screw with a standard M8 thread; the number of the mechanical arm elastic connecting rods 19 is four, and the mechanical arm elastic connecting rods are symmetrically distributed on the mechanical arm 1; the threaded connecting rod 21 is a screw rod with a standard M5 thread, and is respectively distributed on the mechanical arm 1 in a circle with the radius of 173mm and 180 mm; the left arm body electromagnet 9 and the right arm body electromagnet 10 are identical in structure and opposite in magnetism, and after the mechanical arm 1 finishes attraction, the main control module 4 sends out an engagement instruction. The left arm body electromagnet 9 and the right arm body electromagnet 10 are electrified, and the left arm body electromagnet 9 and the right arm body electromagnet 10 have opposite polarities due to different phases of the electrified alternating current, so that the two electromagnets can be adsorbed under the action of magnetic force.
The left arm power shaft 11 and the right arm power shaft 14 are identical in structure, and as shown in fig. 3, the left arm power shaft and the right arm power shaft are composed of a hollow cup servo motor 24, an aluminum cooling fin 23, a power shaft 22, a connecting rod 26 and a connecting nut 25. The aluminum radiating fins 23 are uniformly distributed around the hollow cup servo motor 24 and are connected with the surface of the hollow cup servo motor 24 through silicone grease; the power shaft 22 is provided with M10 standard threads, both sides of the connecting rod 26 are provided with M15 standard threaded nuts 25, and the left arm body power shaft 11 is meshed with the left arm body 18 through the nuts 25 on both sides. When the mechanical arm 1 is in suction operation, taking the left arm body 18 as an example: the hollow cup servo motor 24 rotates anticlockwise and reversely, the power shaft 22 follows up, meanwhile, the threads of the power shaft 22 are meshed with the left arm body power shaft connecting screw rod 13, the linear distance between the mechanical arm power shaft 11 and the left arm body power shaft connecting screw rod 13 is increased, and the left arm body 18 moves anticlockwise.
The structure of the mechanical arm elastic connecting rod 19 is shown in fig. 4, and the mechanical arm elastic connecting rod is composed of a hollow shaft connecting rod 30, a left spring 31 and a right spring 32. The equivalent diameters of the left spring 31 and the right spring 32 are slightly larger than that of the hollow shaft connecting rod 30, and the left spring 31, the right spring 32 and the hollow shaft connecting rod can be split into three independent bodies. The mechanical arm elastic connecting rod 19 needs to be matched with a pipeline attaching device for use, the pipeline attaching device is composed of a Fulai wheel 27, a left connecting rod 28 and a right connecting rod 29 as shown in figure 5, the left connecting rod 28 and the right connecting rod are structurally the same and are made of hollow aluminum materials, the diameters of the left connecting rod 28 and the right connecting rod are slightly larger than those of a hollow shaft connecting rod 30, and the left connecting rod 28 and the right connecting rod are the same as those of a left spring 31 and a right spring 32. The mechanical arm elastic connecting rod 19 needs to be installed in combination with a pipeline fitting device, taking the left connecting rod 28 as an example: the hollow shaft connecting rod 30 is inserted into the hollow shaft of the left connecting rod 28 in the vertical direction, the left spring 31 is placed at the upper end of the left connecting rod 28, and the right spring 32 is placed at the lower end of the left connecting rod. Through the pipeline jointing device, the left spring 31 and the right spring 32 are urged to generate elastic deformation, so that the Fulai wheel 27 is fully jointed with the pipeline, the phased array ultrasonic probe 48 and the pipeline are always kept at a target distance, and the probability of measurement errors caused by the change of the distance between the phased array ultrasonic probe 48 and the pipeline is reduced.
The structure diagram of the ultrasonic flaw detection module is shown in fig. 6, and the ultrasonic flaw detection module is composed of an ultrasonic flaw detection module hollow cup servo motor 35, a servo motor aluminum radiating fin 34, a servo motor main power wheel 37, a servo motor power conversion shaft 36, an ultrasonic flaw detection module power crawler 39, a crawler driven wheel 40, a flaw detection module driven shaft 38, a connecting groove 41 and a flaw detection module phased array ultrasonic transducer 42. The ultrasonic flaw detection module servo motor 35 is connected with the mechanical arm 1 through screws and is fixed on the mechanical arm 1; the aluminum radiating fins 34 of the servo motor are uniformly distributed on the servo motor 35 of the ultrasonic flaw detection module; the main power wheel 37 of the servo motor and the power conversion wheel 36 of the servo motor form a speed reducer gear, the output rotating speed of the servo motor 35 of the ultrasonic flaw detection module is reduced, and the output torque is increased; the power crawler 39 of the ultrasonic flaw detection module moves clockwise and anticlockwise in the forward direction along with the power conversion shaft of the servo motor; the crawler driven wheels 40 are uniformly distributed in the power crawler 39 of the ultrasonic flaw detection module, the diameter of the crawler driven wheels is the same as the interval of the crawler, and the crawler driven wheels play a role in supporting the crawler; the connecting groove 41 is a hollow cylinder with standard M5 threads on the surface, and the connection of the ultrasonic inspection module 3 and the mechanical arm 1 is realized through threaded engagement.
The structure diagram of the flaw detection module phased array ultrasonic transducer 42 is shown in fig. 7, and the flaw detection module phased array ultrasonic transducer 42 is composed of an ultrasonic transducer driven gear 45, an ultrasonic transducer power shaft 46, a high-precision nine-shaft attitude sensor 47 and a phased array ultrasonic probe 48; the ultrasonic inspection module phased array transducer 42 is connected with the ultrasonic inspection module 3 through an ultrasonic transducer driven gear 45, moves along with the power crawler 39 of the ultrasonic inspection module, and records the pose information of the phased array ultrasonic probe 48 through a high-precision nine-axis attitude sensor 47.
According to the ultrasonic flaw detection device for the underwater pipeline, which is provided by the invention, the main control module 4 sends a suction instruction to realize adsorption of the pipeline, sends a patrol inspection instruction to realize forward and reverse direction flaw detection on the underwater pipeline, records the position information of the phased array ultrasonic probe, and finally realizes full-pose and high-precision nondestructive flaw detection on the pipeline based on the multi-weight neuron network.
The corresponding flow of the pull-in instruction is as follows: the main control module 4 sends out a suction instruction, the mechanical arm 1 responds to the instruction, taking the left arm body 18 as an example: the left arm body hollow cup servo motor 24 reversely rotates anticlockwise, the power shaft 22 moves along with the hollow cup servo motor 23, the left arm body 18 rotates anticlockwise, the linear distance between the Fulai wheel 27 of the mechanical arm elastic connecting rod 19 and a pipeline to be detected is reduced, the pipeline is finally touched, and the suction instruction is finished; the main control module 4 then sends out an engagement instruction, and the mechanical arm 1 and the ultrasonic flaw detection module 3 respond to the instruction; the mechanical arm 1, taking the left arm body 18 as an example, continues to rotate anticlockwise and reversely, the right spring 32 in the elastic connecting rod 19 of the mechanical arm is extruded by a pipeline to generate elastic deformation, and the left arm body electromagnet 9 and the right arm body electromagnet 10 are influenced by alternating currents with different phases to generate suction force so as to enable the left arm body 18 and the right arm body 20 to be meshed; a servo motor 35 of an ultrasonic flaw detection module in the ultrasonic flaw detection module 3 rotates clockwise and forwardly, a main power wheel 37 of the servo motor rotates clockwise along with the servo motor 35, a power conversion shaft 36 of the servo motor is influenced by the main power wheel 37 of the servo motor and rotates reversely at the same angular velocity and anticlockwise, a power crawler 39 of the ultrasonic flaw detection module rotates clockwise along with the power conversion shaft 36 of the servo motor at the same linear velocity, and a driven gear 45 of the ultrasonic transducer rotates anticlockwise along with the power crawler 39 of the ultrasonic flaw detection module at the same linear velocity; the ultrasonic transducer 42 of the flaw detection module phased array moves anticlockwise to one side of the ultrasonic flaw detection module 3. And then, the pipeline suction is finished.
The specific operation flow of the inspection instruction is as follows: the main control module 4 sends out a polling instruction, and the ultrasonic flaw detection module 3 responds to the command to carry out forward and reverse polling on the pipelines. And in the forward routing inspection process: the servo motor 35 of the ultrasonic flaw detection module in the ultrasonic flaw detection module 3 rotates anticlockwise and reversely, the main power wheel 37 of the servo motor rotates anticlockwise along with the servo motor 35, the power conversion shaft 36 of the servo motor is influenced by the main power wheel 37 of the servo motor to rotate reversely at the same angular velocity and clockwise, the power crawler 39 of the ultrasonic flaw detection module rotates clockwise along with the power conversion shaft 36 of the servo motor at the same linear velocity, and the driven gear 45 of the ultrasonic transducer rotates clockwise along with the power crawler 39 of the ultrasonic flaw detection module at the same linear velocity; the ultrasonic inspection device is characterized in that the flaw detection module phased array ultrasonic transducer 42 moves anticlockwise to the other side of the ultrasonic flaw detection module 3, in the process, the phased array ultrasonic probe 48 sends out high-frequency sound waves at fixed frequency to carry out nondestructive flaw detection on the surface of a pipeline, and the high-precision nine-axis sensor 47 records pose information of the phased array ultrasonic probe 48 in real time, so that forward inspection is completed. In the reverse routing inspection process: a servo motor 35 of an ultrasonic flaw detection module in the ultrasonic flaw detection module 3 rotates clockwise and forwardly, a main power wheel 37 of the servo motor rotates clockwise along with the servo motor 35, a power conversion shaft 36 of the servo motor is influenced by the main power wheel 37 of the servo motor and rotates reversely at the same angular velocity and anticlockwise, a power crawler 39 of the ultrasonic flaw detection module rotates clockwise along with the power conversion shaft 36 of the servo motor at the same linear velocity, and a driven gear 45 of the ultrasonic transducer rotates anticlockwise along with the power crawler 39 of the ultrasonic flaw detection module at the same linear velocity; the ultrasonic transducer 42 of the flaw detection module moves anticlockwise to the initial position, in the process, the ultrasonic probe 48 of the phased array sends out high-frequency sound waves at fixed frequency to carry out nondestructive flaw detection on the surface of the pipeline, and the high-precision nine-axis sensor 47 records pose information of the ultrasonic probe 48 of the phased array in real time, so that reverse inspection is completed. The main control module 4 couples the acoustic information and pose information acquired in the inspection process and inputs the acoustic information and pose information into a multi-weight neural network to realize the detection of pipeline surface damage.
In conclusion, the ultrasonic flaw detection device for the underwater pipeline can efficiently adsorb a target to inspect the pipeline and embrace the pipeline, and the distance between the ultrasonic probe and the pipeline is changed due to the fluctuation of water flow, so that the damage and the positioning of the pipeline are inaccurate; furthermore, the method can realize the underwater full-autonomous ultrasonic flaw detection operation process, and the flaw detection judgment process is completely separated from manual work and is judged by a multi-weight neural network. By the aid of the flaw detection method, missed detection and false detection of damage to the pipeline caused by professional ability of workers can be avoided to the greatest extent.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (6)
1. The utility model provides an ultrasonic inspection device towards pipeline under water which characterized in that: the ultrasonic flaw detection device consists of a single-degree-of-freedom mechanical arm, an ultrasonic flaw detection module and a main control module, wherein the single-degree-of-freedom mechanical arm and the ultrasonic flaw detection module are both annular, the single-degree-of-freedom mechanical arm and the ultrasonic flaw detection module are connected through threaded engagement, and the single-degree-of-freedom mechanical arm and the ultrasonic flaw detection module are respectively connected with the main control module;
the single degree of freedom arm includes: the robot comprises a left arm body, a right arm body, a left arm body power shaft, a left arm body connecting pin, a left arm body power shaft connecting screw, a mechanical arm and flaw detection module connecting shaft, a mechanical arm elastic connecting rod, a right arm body power shaft, a right arm body connecting pin, a right arm body power shaft connecting screw, a threaded connecting rod, a left arm body electromagnet and a right arm body electromagnet; the left arm body and the right arm body are identical in structure; the left arm body connecting pin and the right arm body connecting pin are identical in specification and are provided with standard M30 threads;
the left arm power shaft and the right arm power shaft are identical in structure and are composed of a hollow cup servo motor, an aluminum cooling fin, a power shaft, a connecting rod and a connecting nut; the aluminum radiating fins are uniformly distributed on the hollow cup servo motor and are connected with the surface of the hollow cup servo motor through silicone grease; the power shaft is provided with M10 standard threads, nuts with M22 standard threads are arranged on two sides of the connecting rod, and the power shaft of the left arm body is meshed with the left arm body through the nuts on the two sides; the specifications of the left arm body power shaft connecting screw rod and the right arm body power shaft connecting screw rod are the same, the center part of the left arm body power shaft connecting screw rod is a hollow cylindrical groove, and the groove is internally provided with standard M10 threads; the power shaft connecting screw of the left arm body is in threaded engagement with the power shaft; the mechanical arm and flaw detection module connecting shaft is a screw with a standard M8 thread; the number of the elastic connecting rods of the mechanical arm is four, and the elastic connecting rods are symmetrically distributed on the mechanical arm; the threaded connecting rods are screws with standard M5 threads and are distributed on the mechanical arm in a circle with the radius of 173mm and 180mm respectively; the left arm body electromagnet and the right arm body electromagnet are identical in structure and opposite in magnetism.
2. An ultrasonic testing apparatus for underwater pipelines according to claim 1, characterized in that: the mechanical arm elastic connecting rod consists of a hollow shaft connecting rod, a left spring, a right spring and a pipeline fitting device; the equivalent diameters of the left spring and the right spring are slightly larger than that of the hollow shaft connecting rod, and the left spring and the right spring can be split into three independent bodies; the pipeline fitting device is composed of a Fulai wheel, a left connecting rod and a right connecting rod, the left connecting rod and the right connecting rod are structurally the same and are made of hollow aluminum materials, the diameter of the left connecting rod is slightly larger than that of the hollow shaft connecting rod, and the left connecting rod and the right connecting rod are the same as that of a left spring and a right spring; the hollow shaft connecting rod is inserted into the hollow shaft in the vertical direction of the left connecting rod, the left spring is placed at the upper end of the left connecting rod, and the right spring is placed at the lower end of the left connecting rod.
3. An ultrasonic testing apparatus for underwater pipelines according to claim 2, characterized in that: the ultrasonic inspection module includes: the ultrasonic flaw detection system comprises an ultrasonic flaw detection module, a hollow cup servo motor, a servo motor aluminum radiating fin, a servo motor main power wheel, a servo motor power conversion shaft, an ultrasonic flaw detection module power crawler, a crawler driven wheel, a flaw detection module driven shaft, a connecting groove and a flaw detection module phased array ultrasonic transducer; the ultrasonic flaw detection module servo motor is connected with the mechanical arm through a screw and is fixed on the mechanical arm; the main power wheel of the servo motor and the power conversion wheel of the servo motor form a speed reducer gear, the output rotating speed of the servo motor of the ultrasonic flaw detection module is reduced, and the output torque is increased; the power crawler of the ultrasonic flaw detection module moves clockwise and anticlockwise in the forward direction along with the power conversion shaft of the servo motor; the crawler driven wheels are uniformly distributed on the power crawler of the ultrasonic flaw detection module, and the diameter of the crawler driven wheels is the same as the interval of the crawler; the connecting groove is a hollow cylinder with a standard M5 thread on the surface, and the connection between the ultrasonic flaw detection module and the mechanical arm is realized through thread engagement.
4. An ultrasonic testing apparatus for underwater pipelines according to claim 3, characterized in that: the module phased array ultrasonic transducer of detecting a flaw includes: the system comprises an ultrasonic transducer driven gear, an ultrasonic transducer power shaft, a high-precision nine-shaft attitude sensor and a phased array ultrasonic probe; the ultrasonic flaw detection module phased array ultrasonic transducer is connected with the ultrasonic flaw detection module power crawler through the ultrasonic transducer driven gear, moves along with the ultrasonic flaw detection module power crawler, and the high-precision nine-shaft attitude sensor records pose information of the phased array ultrasonic probe.
5. The ultrasonic testing apparatus for underwater pipelines according to claim 4, wherein: the working process of the ultrasonic flaw detection device comprises two working processes of pipeline suction and inspection operation; wherein, pipeline actuation flow specifically is: the main control module sends a suction instruction, and the mechanical arm responds to the instruction, taking the left arm body as an example: the left arm body hollow cup servo motor rotates anticlockwise and reversely, the power shaft moves along with the hollow cup servo motor, the left arm body rotates anticlockwise, the linear distance between the coming wheel of the mechanical arm elastic connecting rod and a pipeline to be detected is reduced, the pipeline is finally touched, and the suction instruction is finished; the main control module then sends out an engagement instruction, and the mechanical arm and the ultrasonic flaw detection module respond to the instruction; the left arm body is taken as an example of the mechanical arm, the mechanical arm continues to rotate anticlockwise and reversely, a right spring in the elastic connecting rod of the mechanical arm is extruded by a pipeline to generate elastic deformation, and the left arm body electromagnet and the right arm body electromagnet are influenced by alternating currents with different phases to generate suction force so as to enable the left arm body and the right arm body to be meshed; a servo motor of an ultrasonic flaw detection module in the ultrasonic flaw detection module rotates clockwise and forwardly, a main power wheel of the servo motor rotates clockwise along with the servo motor, a power conversion shaft of the servo motor is influenced by the main power wheel of the servo motor and rotates reversely at the same angular velocity and anticlockwise, a power crawler of the ultrasonic flaw detection module follows the power conversion shaft of the servo motor, rotates at the same linear velocity and anticlockwise, and a driven gear of an ultrasonic transducer follows the power crawler of the ultrasonic flaw detection module and rotates at the same linear velocity and anticlockwise; the ultrasonic transducer of the phased array of the flaw detection module moves anticlockwise to one side of the ultrasonic flaw detection module; and then, the pipeline suction is finished.
6. An ultrasonic testing apparatus for underwater pipelines according to claim 5, wherein: the pipeline inspection process specifically comprises the following steps: the main control module sends out a polling command, and the ultrasonic flaw detection module responds to the command and polls the pipeline in the forward direction and the reverse direction; and in the forward routing inspection process: a servo motor of an ultrasonic flaw detection module in the ultrasonic flaw detection module rotates anticlockwise and reversely, a main power wheel of the servo motor rotates anticlockwise along with the servo motor, a power conversion shaft of the servo motor is influenced by the main power wheel of the servo motor to rotate clockwise at the same angular velocity in the reverse direction, a power crawler of the ultrasonic flaw detection module rotates clockwise along with the power conversion shaft of the servo motor at the same linear velocity, and a driven gear of an ultrasonic transducer rotates clockwise along with the power crawler of the ultrasonic flaw detection module; the ultrasonic transducer of the phased array of the flaw detection module moves anticlockwise to the other side of the ultrasonic flaw detection module; thus, completing forward inspection; in the reverse routing inspection process: a servo motor of an ultrasonic flaw detection module in the ultrasonic flaw detection module rotates clockwise and forwardly, a main power wheel of the servo motor rotates clockwise along with the servo motor, a power conversion shaft of the servo motor is influenced by the main power wheel of the servo motor and rotates reversely at the same angular velocity and anticlockwise, a power crawler of the ultrasonic flaw detection module follows the power conversion shaft of the servo motor, rotates at the same linear velocity and anticlockwise, and a driven gear of an ultrasonic transducer follows the power crawler of the ultrasonic flaw detection module and rotates at the same linear velocity and anticlockwise; the phased array ultrasonic transducer of the flaw detection module moves anticlockwise to an initial position, and then reverse routing inspection is completed; and the main control module performs coupling processing on the acoustic information and pose information acquired in the routing inspection process and inputs the acoustic information and pose information into a multi-weight neural network to realize detection on pipeline surface damage.
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| CN118090487B (en) * | 2024-04-28 | 2024-07-30 | 中交第二公路工程局有限公司 | Suspension bridge main cable steel wire bending friction corrosion fatigue test device |
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