CN116381061A - Hydrogen pipeline internal crack detection equipment - Google Patents

Hydrogen pipeline internal crack detection equipment Download PDF

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Publication number
CN116381061A
CN116381061A CN202310611197.1A CN202310611197A CN116381061A CN 116381061 A CN116381061 A CN 116381061A CN 202310611197 A CN202310611197 A CN 202310611197A CN 116381061 A CN116381061 A CN 116381061A
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crawling
wall
mounting
hydrogen
frame body
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CN202310611197.1A
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CN116381061B (en
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孙鹤
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Tianjin University
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Tianjin University
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
    • B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C7/00—Apparatus specially designed for applying liquid or other fluent material to the inside of hollow work
    • B05C7/06—Apparatus specially designed for applying liquid or other fluent material to the inside of hollow work by devices moving in contact with the work
    • B05C7/08—Apparatus specially designed for applying liquid or other fluent material to the inside of hollow work by devices moving in contact with the work for applying liquids or other fluent materials to the inside of tubes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto 
    • B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
    • B08B9/027—Cleaning the internal surfaces; Removal of blockages
    • B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
    • B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N19/00—Investigating materials by mechanical methods
    • G01N19/08—Detecting presence of flaws or irregularities
    • 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
    • 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
    • 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
    • G01N29/04—Analysing solids
    • 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
    • G01N29/28—Details, e.g. general constructional or apparatus details providing acoustic coupling, e.g. water
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/30—Hydrogen technology
    • Y02E60/32—Hydrogen storage

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  • General Health & Medical Sciences (AREA)
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  • Chemical Kinetics & Catalysis (AREA)
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  • Monitoring And Testing Of Nuclear Reactors (AREA)
  • Investigating Or Analyzing Materials By The Use Of Electric Means (AREA)

Abstract

The invention discloses a device for detecting cracks in a hydrogen transmission pipeline, which comprises the following components: the cylinder is provided with a plurality of groups of profiling crawling mechanisms which are annularly distributed on the outer wall of the cylinder and used for enabling the detection equipment to adhere to the inside of the hydrogen conveying pipeline for advancing; each group of profiling crawling mechanism comprises a frame body, first crawling plates which are arranged on the frame body and are respectively positioned on two opposite sides of the bottom of the frame body, electric telescopic columns are arranged at the bottoms of the first crawling plates and the second crawling plates, and detection disc assemblies which are respectively arranged at the bottoms of the two electric telescopic columns are used for stably detecting the adherence of a hydrogen conveying pipeline. The invention realizes a stepping type adherence detection process, namely an equidistant stepping test process through a plurality of groups of profiling crawling mechanisms distributed annularly on the outer wall of the cylinder body, and solves the problems of difficult long-distance operation and poor detection stability in the traditional pipeline.

Description

Hydrogen pipeline internal crack detection equipment
Technical Field
The invention relates to the technical field of hydrogen transmission pipelines, in particular to equipment for detecting cracks in a hydrogen transmission pipeline.
Background
Along with the production and long-time operation of the long-distance pipeline, the cleanliness, the service life and the safety coefficient of the pipeline are reduced. The method is characterized in that the method is used for solving the problems of complex and changeable dangerous chemical product explosion phenomena, cleaning the pipe, detecting the inside, maintaining and nursing the pipe in a targeted manner, achieving the purposes of removing sundries in the pipe and accurately knowing the corrosion condition in the pipe, and aiming at factors such as long-distance conveying of a hydrogen conveying pipe, unstable detection environment in the pipe and the like, the internal crack detection equipment of the hydrogen conveying pipe is provided.
Disclosure of Invention
The invention aims to provide the internal crack detection equipment for the hydrogen transmission pipeline, which realizes a stepping type adherence detection process, namely an equidistant stepping test process, and solves the problems of difficult long-distance operation and poor detection stability in the existing pipeline.
In order to achieve the above purpose, the present invention provides the following technical solutions: an internal crack detection apparatus for a hydrogen delivery pipe, comprising: the cylinder is provided with a plurality of groups of profiling crawling mechanisms which are annularly distributed on the outer wall of the cylinder and used for enabling the detection equipment to adhere to the inside of the hydrogen conveying pipeline for advancing; each group of profiling crawling mechanisms comprises a frame body, first crawling plates, a connecting rod driving assembly and second crawling plates, wherein the first crawling plates are arranged on the frame body and are respectively positioned on two opposite sides of the bottom of the frame body, the connecting rod driving assembly is arranged in the middle of the frame body, the second crawling plates are arranged at the bottom of the connecting rod driving assembly, and the first crawling plates and the second crawling plates alternately move along the inner wall of a hydrogen conveying pipeline in an adhering manner; and the connecting parts are arranged on the frame body and are respectively positioned at two opposite sides of the top of the frame body, and when the frame body where the profiling crawling mechanism is positioned is in the front, the connecting parts are used for connecting the dynamic frame body with the cylinder body; the bottom of first climbing board and second climbing board all is provided with detects the dish subassembly for hydrogen pipeline adherence stability detects.
Preferably, the detection disc assembly comprises an electric telescopic column, a touch plate and a connecting piece connected between the touch plate and the electric telescopic column, and a pressure sensor is arranged inside the connecting piece.
Preferably, the connecting rod driving assembly comprises a supporting frame fixed in the middle of the frame body, a connecting rod and a driving rod which are respectively arranged in the middle of the vertical section of the supporting frame and at the lower part of the vertical section of the supporting frame and a transmission part, wherein the transmission part is of a T-shaped structure, two ends of the transverse section of the transmission part are respectively in rotary connection with the ends of the connecting rod and the driving rod, and the second climbing plate is in rotary connection with the bottom end of the vertical section of the transmission part through a mounting part; the motor is fixed at the rear side of the support frame and used for driving the driving rod to rotate.
Preferably, the connecting part comprises a rotatable mounting shaft and an elastic telescopic sleeve arranged on the upper surface of the mounting shaft, and the end part of the elastic telescopic sleeve, which is far away from the mounting shaft, is connected with the outer wall of the cylinder body.
Preferably, the connecting seats are arranged at two ends of the cylinder body, and one end part of one connecting seat is provided with a universal shaft connector for butt joint with another group of detection equipment.
Preferably, the cleaning assembly is arranged on the connecting seat and located in the advancing direction of the connecting seat respectively and used for pre-cleaning of detection, the cleaning assembly comprises a mounting frame, a plurality of rotatable cleaning brushes are sleeved on the annular portion of the mounting frame, and when the profiling crawling mechanism is in the advancing process, the cleaning assembly is used for cleaning the inner wall of the hydrogen conveying pipeline.
Preferably, the device further comprises an smearing wheel mechanism, wherein the smearing wheel mechanism comprises a first mounting disc, the first mounting disc is rotatably mounted on the outer wall of the cylinder body, which is close to the cleaning assembly, through a mounting frame, and a smearing ring sleeved on the outer wall of the first mounting disc is used for smearing liquid on the wall of the hydrogen transmission pipeline; the liquid storage barrel is arranged in the barrel and is used for storing liquid, and the liquid outlet head is arranged on the outer wall of the barrel and corresponds to the smearing ring, one end of the liquid outlet head extends into the barrel and is communicated with the liquid storage barrel, and a spraying port at the other end of the liquid outlet head is attached to the outer wall of the smearing ring; the device also comprises a plurality of groups of suction assemblies arranged on the outer wall of the cylinder body, wherein each group of suction assemblies corresponds to the profiling crawling mechanism one by one, and the suction assemblies are used for triggering the suction assemblies to work when the profiling crawling mechanism operates.
Preferably, the suction assembly comprises a piston sleeve, a piston column, a mounting block and a spring, wherein the piston sleeve extends into the cylinder body and is communicated with the liquid storage barrel, the piston column is arranged in the piston sleeve and can move in a telescopic mode, the mounting block is arranged at the lower portion of the piston column, and the spring is sleeved on the outer wall of the piston column between the mounting block and the piston sleeve; the spring is arranged at the bottom of the piston column, and the piston column further comprises a transmission plate fixed at the top of the frame body, and a groove matched with the spring is formed in the upper surface of the transmission plate; the one-way air inlet valve is arranged at the end part of the liquid storage barrel, is used for one-way entering of air, and is arranged in the liquid outlet head and used for one-way spraying of liquid.
Preferably, the device further comprises a plurality of detection wheel assemblies arranged on the outer wall of the cylinder body, the detection wheel assemblies are in one-to-one correspondence with the smearing wheel mechanisms, each detection wheel assembly comprises a second mounting plate, the second mounting plates are rotatably mounted with the outer wall of the cylinder body through mounting frames, the lamination blocks distributed on the second mounting plates in an annular mode are arranged, triangular parts on two sides of the lamination blocks are rotatably connected with the second mounting plates through pin shafts, and detection sensors are arranged on each lamination block and used for wall adhesion detection when equipment goes forward.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, through the plurality of groups of profiling crawling mechanisms distributed annularly on the outer wall of the cylinder, after the two first crawling plates are attached to the pipe wall and supported, the second crawling plates are emptied and separated from the pipe wall, so that the two first crawling plates and the second crawling plates can alternately operate, when the bottom of the electric telescopic column is provided with the detection disc assembly, a stepping type wall attachment detection process, namely an equidistant stepping test process, can be realized, and the problems of difficult long-distance operation and poor detection stability in the existing pipeline are solved.
When the pressure sensor is arranged in the connecting piece, the convex-concave state of the pipe wall can be judged according to the pressure value change of the pressure sensor, namely, when the pressure sensor is lower than a standard value, the surface test part is in a concave state, and similarly, when the pressure sensor is higher than the standard value, the surface test part is in a convex state, and the corrosion condition of the inner wall of the pipeline can be obtained through the concave-convex degree of the test part.
As another embodiment of the invention, the universal shaft connector arranged at the end part of the connecting seat can be used for connection and combination, the second group and the first group have an angle difference, the third group and the second group have an angle difference, and the distribution state of the angle difference enables the first group, the second group and the third group to completely cover the detection process of the inner wall of the pipeline, so that the detection range and the precision degree are further improved, and meanwhile, the connection relation of the universal shaft connector can be suitable for the operation process of the bent pipeline.
As other embodiments of the invention, through the coating wheel mechanism, when the liquid is clear water, the clear water coating rolling brush containing the coating ring can further clean the inner wall of the pipeline which is detected immediately, and in this state, the electromagnetic wave sensing detection technology and the leakage magnetic flux detection technology are applied.
Through the further setting of structure, cooperation is paintd a round mechanism, when liquid is the couplant, can be with the even pipeline inner wall of painting that will detect of couplant, under this state, be suitable for piezoelectricity ultrasonic detection technique, adopt the higher couplant of cleanliness to guarantee the continuity of coupling.
Through the detection wheel subassembly that sets up, when the laminating piece roll and stable attached when the pipeline inner wall, can stabilize the completion testing process of attaching, further improve the detection precision, this wheel body structural design simultaneously, the detection sensor of mountable certain quantity satisfies different detection environment.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of a second perspective view of FIG. 1;
FIG. 3 is a schematic perspective view of the third view of FIG. 1;
FIG. 4 is a schematic plan view of the structure of FIG. 1;
FIG. 5 is a partially disassembled perspective view of the present invention;
FIG. 6 is a schematic view of a combined assembly structure in embodiment 2 of the present invention;
FIG. 7 is an enlarged schematic view of the structure of the group profiling crawling mechanism of the present invention;
FIG. 8 is a schematic view of a second perspective view of FIG. 7;
FIG. 9 is an enlarged schematic view of the structure of FIG. 7 at A;
FIG. 10 is an enlarged schematic view of the detection wheel assembly mechanism of the present invention;
FIG. 11 is an enlarged schematic view of the painting wheel mechanism of the present invention;
fig. 12 is a schematic view of a specific structure of a second crawling plate according to the present invention.
In the figure: 1. a cylinder; 2. a connecting seat; 3. a frame; 4. a support frame; 5. cleaning a brush; 6. a mounting frame; 7. a universal shaft connector; 9. a motor; 10. a first crawling plate; 11. a second crawling plate; 12. a bonding block; 13. a smearing ring; 14. a first mounting plate; 15. a second mounting plate; 16. an elastic telescopic sleeve; 17. a mounting shaft; 18. a transmission member; 19. a connecting rod; 20. a driving rod; 21. a spring; 22. a piston column; 23. a drive plate; 24. a mounting block; 25. a piston sleeve; 26. a liquid outlet head; 27. a one-way air inlet valve; 28. a liquid storage barrel; 30. an electric telescopic column; 31. a connecting piece; 32. a touch panel.
Detailed Description
In the description of the present invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Examples
Referring to fig. 1 to 12, the present invention preferably provides the following technical solutions: an internal crack detection apparatus for a hydrogen delivery pipe, comprising: the cylinder body 1 is provided with a plurality of groups of profiling crawling mechanisms which are annularly distributed on the outer wall of the cylinder body 1 and are used for detecting that equipment is attached to the inside of the hydrogen conveying pipeline to advance; each group of profiling crawling mechanisms comprises a frame body 3, first crawling plates 10 arranged on the frame body 3 and respectively positioned on two opposite sides of the bottom of the frame body, a connecting rod driving assembly arranged in the middle of the frame body 3, and second crawling plates 11 arranged at the bottom of the connecting rod driving assembly, wherein the first crawling plates 10 and the second crawling plates 11 alternately move along the inner wall of the hydrogen conveying pipeline in an adhering manner; and connecting parts which are arranged on the frame body 3 and are respectively positioned at two opposite sides of the top of the frame body, wherein when the frame body 3 where the profiling crawling mechanism is positioned moves forwards, the connecting parts are used for connecting the dynamic frame body 3 with the cylinder body 1; the bottoms of the first crawling plate 10 and the second crawling plate 11 are provided with detection disc assemblies for the stable detection of the adherence of the hydrogen conveying pipeline.
In this embodiment, as shown in fig. 1, 2 and 3, the number of profiling crawling mechanisms is preferably 8, and the frame 3 is in a u-shaped structure, under the action of the link driving assembly, that is, in the state of fig. 7, after the bottom of the second crawling plate 11 contacts with the pipe wall, the link driving assembly continues to run anticlockwise, at this time, the front side first crawling plate 10 of the frame 3 is partially lifted and moves forwards, the rear side first crawling plate 10 moves along, and after the two first crawling plates 10 are completely attached to the pipe wall and supported, the second crawling plate 11 vacates and breaks away from the pipe wall, and thus reciprocates, so that the two first crawling plates 10 and the second crawling plate 11 can alternately run, and when the bottom of the electric telescopic column 30 is provided with the detection disk assembly, a stepping type wall attaching detection process, that is, an equidistant stepping type test process is, and the existing problem of difficult long distance running and poor detection stability in a pipeline is solved.
Because the frame body 3 can incline in the forward lifting and adherence process, the structure of the connecting part is arranged, and the connection relation between the profiling crawling mechanism and the cylinder body 1 can be well realized.
Further, the detection disc assembly includes an electric telescopic column 30 and a touch plate 32, and a connection member 31 connected between the touch plate 32 and the electric telescopic column 30, and a pressure sensor is provided inside the connection member 31.
As shown in fig. 1 and 12, preferably, the detection disc assemblies at the bottoms of the first crawling plate 10 and the second crawling plate 11 are composed of an electric telescopic column 30, a connecting piece 31 and a connecting piece 31, the electric telescopic column 30 is telescopic and convenient for meeting the use of pipelines with different diameters, the pressure sensor arranged in the connecting piece 31 is used for recording the pressure value obtained by testing the pressure sensor in a standard pipeline as a standard value, when the profiling crawling mechanism is in front of the pipeline adherence, the convex-concave state of the pipeline wall can be judged according to the pressure value change of the pressure sensor, namely, when the pressure sensor is lower than the standard value, the surface test part is in a concave state, and similarly, when the pressure sensor is higher than the standard value, the surface test part is in a convex state, and the corrosion condition of the pipeline inner wall can be obtained through the concave-convex degree of the test part.
The contact plate 32 is preferably of a resilient rubber material to facilitate better engagement with the tube wall and form a stable support structure for the measurement.
Further, the connecting rod driving assembly comprises a supporting frame 4 fixed in the middle of the frame body 3, a connecting rod 19 and a driving rod 20 which are respectively arranged in the middle of the vertical section of the supporting frame 4 and at the lower part of the vertical section of the supporting frame and are rotatable, and a transmission piece 18, wherein the transmission piece 18 is of a T-shaped structure, two ends of the transverse section of the transmission piece 18 are respectively in rotary connection with the ends of the connecting rod 19 and the driving rod 20, and the second climbing plate 11 is in rotary connection with the bottom end of the vertical section of the transmission piece 18 through a mounting piece; and a motor 9 fixed at the rear side of the support frame 4 for driving the driving rod 20 to rotate.
Through the connecting rod drive assembly that sets up, as shown in fig. 7 and 8, because the driving medium 18 is T shape structure, and the both ends that the horizontal section of driving medium 18 is located are rotated with the tip of connecting rod 19 and actuating lever 20 respectively and are connected, in the state of fig. 7, when motor 9 during operation, can drive actuating lever 20 anticlockwise rotation, so that second climbing plate 11 forward operation until laminating with the pipe wall after, when actuating lever 20 continues anticlockwise rotation, under the connecting rod drive assembly reaction force, can realize that left side first climbing plate 10 lifts up and moves forward, rear side first climbing plate 10 is followed the motion, after two first climbing plates 10 accomplish laminating pipe wall and support, second climbing plate 11 vacates and breaks away from the pipe wall, so reciprocating, can realize the alternate operation of two first climbing plates 10 and second climbing plate 11.
Further, the connecting part comprises a rotatable mounting shaft 17 and an elastic telescopic sleeve 16 arranged on the upper surface of the mounting shaft 17, and the end part of the elastic telescopic sleeve 16 away from the mounting shaft 17 is connected with the outer wall of the cylinder body 1.
As shown in fig. 1 and 7, under the operation of the link driving assembly, the frame body 3 can incline in a state in the process of lifting forward and attaching, the frame body 3 can rotate relative to the mounting shaft 17, and the elastic telescopic sleeve 16 is characterized by being elastically telescopic, preferably, the elastic telescopic sleeve 16 is internally hinged with an elastic telescopic rod, the top of the elastic telescopic rod can be hinged with the outer wall of the cylinder body 1, and the connection relationship between the profiling crawling mechanism and the cylinder body 1 can be well realized.
Examples
As another embodiment of the present invention, and the connection bases 2 are provided at both ends of the cylinder 1, one of the connection bases 2 is provided at an end with a universal shaft connector 7 for docking another group of inspection apparatuses.
Under this embodiment, through the cardan shaft connector 7 that connecting seat 2 tip set up, and the connection combination is as shown in fig. 6, under the connected action of cardan shaft connector 7, preferably three group's check out test set, and there is an angle difference in second group and first group, there is an angle difference in third group and second group, the distribution state of angle difference makes, and first group, second group and third group can cover the testing process of pipeline inner wall completely, further improves the scope and the accurate degree of detection, and the relation of connection of cardan shaft connector 7 simultaneously can adapt to the running process of crooked pipeline.
Examples
As other embodiments of the invention, the cleaning components are arranged on the connecting seat 2 and respectively positioned in the advancing directions of the connecting seat, the cleaning components are used for pre-cleaning for detection, the cleaning components comprise a mounting frame 6, the annular part of the mounting frame 6 is sleeved with a plurality of rotatable cleaning brushes 5, and when the profiling crawling mechanism advances, the cleaning components are used for cleaning the inner wall of the hydrogen conveying pipeline.
Under this embodiment, as shown in fig. 1, through the annular installation mode of a plurality of cardan shaft connectors 7, the support body structure of cooperation mounting bracket 6, when connector holder 2 advances the operation, a plurality of cardan shaft connectors 7 can roll formula and clean in the pipeline inside, can realize the precleaning before the pipeline detects, further improves detection precision.
Examples
As other embodiments of the invention, the invention further comprises an smearing wheel mechanism, wherein the smearing wheel mechanism comprises a first mounting disc 14, the first mounting disc 14 is rotatably mounted on the outer wall of the cylinder body 1, which is close to the cleaning assembly, through a mounting frame, and a smearing ring 13 sleeved on the outer wall of the first mounting disc 14 is used for smearing liquid on the wall of the hydrogen transmission pipeline; the liquid storage barrel 28 is arranged in the barrel 1 and is used for storing liquid, the liquid outlet head 26 is arranged on the outer wall of the barrel 1 and corresponds to the smearing ring 13, one end of the liquid outlet head 26 extends into the barrel 1 and is communicated with the liquid storage barrel 28, and a spraying opening where the other end of the liquid outlet head 26 is positioned is attached to the outer wall of the smearing ring 13; the device also comprises a plurality of groups of suction assemblies arranged on the outer wall of the cylinder body 1, wherein each group of suction assemblies corresponds to the profiling crawling mechanism one by one, and the suction assemblies are used for triggering the suction assemblies to work when the profiling crawling mechanism operates.
In this embodiment, the liquid is preferably a coupling agent or clear water, when the profiling crawling mechanism drives the whole cylinder 1 to move forward, the smearing ring 13 can roll along the inner wall of the pipeline, and meanwhile, the running of the profiling crawling mechanism drives the suction assembly to work, as shown in fig. 5 and 11, the running of the suction assembly can realize intermittent liquid spraying of the liquid outlet head 26 and acts on the smearing ring 13;
when the liquid is clear water, the clear water containing the smearing ring 13 smears the inner wall of the pipeline to be detected immediately, so that the inner wall of the pipeline can be further cleaned, and in this state, the electromagnetic wave sensing detection technology and the leakage magnetic flux detection technology are applied;
when the liquid is the couplant, the couplant can be uniformly smeared on the inner wall of the pipeline to be detected, and in the state, the method is applicable to the piezoelectric ultrasonic detection technology, and the couplant with higher cleanliness is adopted to ensure the continuity of coupling.
Further, the suction assembly comprises a piston sleeve 25, the piston sleeve 25 is communicated with a liquid storage barrel 28 extending into the barrel 1, a piston column 22 which is arranged in the piston sleeve 25 and can move in a telescopic mode, and a mounting block 24 which is arranged at the lower part of the piston column 22, wherein a spring 21 is sleeved on the outer wall of the piston column 22 between the mounting block 24 and the piston sleeve 25; the spring 21 is arranged at the bottom of the piston column 22, and further comprises a transmission plate 23 fixed at the top of the frame body 3, and a groove matched with the spring 21 is formed in the upper surface of the transmission plate 23; a one-way air inlet valve 27 arranged at the end of the liquid storage barrel 28, which is used for one-way air inlet, and a one-way valve arranged inside the liquid outlet head 26, which is used for one-way liquid ejection.
Through the suction assembly provided, as shown in fig. 1, 7, 8 and 9, when the profiling crawling mechanism operates, in embodiment 1, the frame body 3 can incline in a state in the process of lifting forward and attaching to the wall, and as described with reference to fig. 7 and 9, when the driving plate 23 lifts forward, the groove where the driving plate 23 is located contacts with the spring 21 and makes the spring 21 slide in the groove in a limited manner, the piston column 22 where the spring 21 is located further contracts and compresses the spring 21, and similarly, when in the horizontal state of 3, the spring 21 is separated from the groove where the driving plate 23 is located, under the elastic force of the compression spring 21, the reset of the piston column 22 can be realized, and the unidirectional air inlet valve 27 at the end part of the liquid storage barrel 28 is matched through the telescopic movement of the piston column 22 in the piston sleeve 25, and the unidirectional air inlet valve arranged in the liquid outlet head 26 is matched for unidirectional ejection of liquid, so that intermittent liquid spraying of the liquid outlet head 26 can be realized.
Further, still including setting up a plurality of detection wheel subassemblies on barrel 1 outer wall, and detect wheel subassembly and scribble the wheel mechanism one-to-one, every detection wheel subassembly includes second mounting disc 15, and second mounting disc 15 passes through mounting bracket and barrel 1 outer wall rotation installation, sets up the laminating piece 12 that annular distributes on second mounting disc 15, and the triangle portion of laminating piece 12 both sides is rotated through round pin axle and second mounting disc 15 and is connected to and set up the detection sensor on every laminating piece 12 for the adherence when equipment is preceding detects.
Through the detection wheel subassembly that sets up, as shown in fig. 1 and first climbing board 10, laminating piece 12 through annular distribution on the second mounting plate 15, and the triangle portion of laminating piece 12 both sides is rotated through the round pin axle and is connected with second mounting plate 15, when the profile modeling mechanism of crawling is preceding, can realize that second mounting plate 15 rolls along the pipeline inner wall, and the linking effect of laminating piece 12, can self-adaptation attach on the inner wall of pipeline, owing to detect the sensor setting on laminating piece 12, when laminating piece 12 rolls and stably attach at the pipeline inner wall, can stably attached completion testing process, further improve the detection precision, this wheel body structural design simultaneously, can install a certain quantity of detection sensor, satisfy different detection environment.
When the detection sensor on the attaching block 12 is preferably a piezoelectric ultrasonic detection sensor, that is, a piezoelectric ultrasonic detection technology, the sensor contacts the inner wall of the pipeline after being coupled by liquid, so as to judge the deformation problem of the pipeline, the piezoelectric ultrasonic detection sensor is the existing mature technology, and is not in redundancy, and specific reference is made to a piezoelectric ultrasonic sensor and a detection system (202121906156.8) for a high-temperature pipeline disclosed in Chinese patent publication;
when the pipe wall is in a uniform state, the ultrasonic energy propagates along the pipe wall to generate attenuation, and when the pipe wall is abnormal, namely, acoustic impedance mutation occurs at the edge of an abnormal area to generate wave reflection, refraction and diffuse reflection phenomena, the received wave form also transmits abnormal signals to realize detection of the pipeline, and the electromagnetic wave sensor is an existing mature technology and is not cumbersome, and is particularly referred to an ultrasonic nondestructive detection pipeline device (201811054496.5) disclosed in China patent publication;
when the detection sensor on the bonding block 12 is preferably a corrosion detector, deformation and corrosion detection can be performed on the pipeline, namely, the leakage magnetic flux detection technology is adopted, the data sampling distance of the corrosion detector is set to 4.791mm, namely, the number of corrosion probes corresponds to the number of the bonding blocks 12, the corrosion detector is the prior art, and no more details are needed here, and the patent publication of China is specifically referred to as a probe spring (200710100232.4) of the pipeline corrosion detector.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The detachable mounting mode is various, for example, the detachable mounting mode can be matched with the buckle through plugging, for example, the detachable mounting mode can be realized through a bolt connection mode, and the like.
The conception, specific structure, and technical effects produced by the present invention are clearly and completely described above in connection with the embodiments and the drawings so as to fully understand the objects, features, and effects of the present invention. It is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and that other embodiments obtained by those skilled in the art without inventive effort are within the scope of the present invention based on the embodiments of the present invention. In addition, all coupling/connection relationships mentioned herein do not refer to direct connection of the components, but rather, refer to the fact that a more optimal coupling structure may be formed by adding or subtracting coupling aids depending on the particular implementation.
The foregoing embodiments are provided for further explanation of the present invention and are not to be construed as limiting the scope of the present invention, and some insubstantial modifications and variations of the present invention, which are within the scope of the invention, will be suggested to those skilled in the art in light of the foregoing teachings.

Claims (9)

1. The utility model provides a hydrogen pipeline inside crack check out test set which characterized in that includes: the device comprises a cylinder body (1), a plurality of groups of profiling crawling mechanisms which are annularly distributed on the outer wall of the cylinder body (1) and are used for enabling detection equipment to adhere to the inside of a hydrogen conveying pipeline for advancing; each group of profiling crawling mechanisms comprises a frame body (3), first crawling plates (10) which are arranged on the frame body (3) and are respectively positioned on two opposite sides of the bottom of the frame body, a connecting rod driving assembly which is arranged in the middle of the frame body (3), and second crawling plates (11) which are arranged at the bottom of the connecting rod driving assembly, wherein the first crawling plates (10) and the second crawling plates (11) alternately move along the wall of the hydrogen delivery pipeline in an adherence way; and connecting parts which are arranged on the frame body (3) and are respectively positioned at two opposite sides of the top of the frame body, wherein when the frame body (3) where the profiling crawling mechanism is positioned is forwards moved, the connecting parts are used for connecting the dynamic frame body (3) with the cylinder body (1); the bottom of first climbing board (10) and second climbing board (11) all is provided with detects the dish subassembly for hydrogen delivery pipeline adherence stability detects.
2. The hydrogen pipeline internal crack detection device according to claim 1, wherein: the detection disc assembly comprises an electric telescopic column (30) and a touch plate (32), and a connecting piece (31) connected between the touch plate (32) and the electric telescopic column (30), wherein a pressure sensor is arranged inside the connecting piece (31).
3. The hydrogen pipeline internal crack detection device according to claim 1, wherein: the connecting rod driving assembly comprises a supporting frame (4) fixed in the middle of the frame body (3), a connecting rod (19) and a driving rod (20) which are respectively arranged in the middle of the vertical section of the supporting frame (4) and at the lower part of the supporting frame and are rotatable, and a transmission piece (18), wherein the transmission piece (18) is of a T-shaped structure, two ends of the transverse section of the transmission piece (18) are respectively connected with the connecting rod (19) and the end part of the driving rod (20) in a rotating way, and the second climbing plate (11) is connected to the bottom end of the vertical section of the transmission piece (18) in a rotating way through a mounting piece; the device also comprises a motor (9) fixed at the rear side of the support frame (4) and used for driving the driving rod (20) to rotate.
4. The hydrogen pipeline internal crack detection device according to claim 1, wherein: the connecting part comprises a rotatable mounting shaft (17) and an elastic telescopic sleeve (16) arranged on the upper surface of the mounting shaft (17), and the end part, far away from the mounting shaft (17), of the elastic telescopic sleeve (16) is connected with the outer wall of the cylinder body (1).
5. The hydrogen pipeline internal crack detection device according to claim 1, wherein: and connecting seats (2) arranged at two ends of the cylinder body (1), wherein one end part of the connecting seat (2) is provided with a universal shaft connector (7) for butt joint with another group of detection equipment.
6. The hydrogen pipeline internal crack detection device according to claim 5, wherein: the cleaning assembly is arranged on the connecting seat (2) and located in the advancing direction of the connecting seat respectively and used for detecting pre-cleaning, the cleaning assembly comprises a mounting frame (6), a plurality of rotatable cleaning brushes (5) are sleeved on the annular portion of the mounting frame (6), and when the profiling crawling mechanism advances, the cleaning assembly is used for cleaning the inner wall of the hydrogen conveying pipeline.
7. The hydrogen pipeline internal crack detection device according to claim 1, wherein: the device comprises a cylinder body (1), a cleaning assembly, a smearing wheel mechanism, a smearing ring (13) and a hydrogen conveying pipeline, wherein the smearing wheel mechanism comprises a first mounting plate (14), the first mounting plate (14) is rotatably mounted on the outer wall of the cylinder body (1) close to the cleaning assembly through a mounting frame, and the smearing ring is sleeved on the outer wall of the first mounting plate (14) to smear liquid on the wall of the hydrogen conveying pipeline; the liquid storage barrel (28) is arranged in the barrel (1) and is used for storing liquid, and the liquid outlet head (26) is arranged on the outer wall of the barrel (1) and corresponds to the smearing ring (13), one end of the liquid outlet head (26) extends into the barrel (1) and is communicated with the liquid storage barrel (28), and a spraying opening at the other end of the liquid outlet head (26) is attached to the outer wall of the smearing ring (13); the device also comprises a plurality of groups of suction assemblies arranged on the outer wall of the cylinder body (1), wherein each group of suction assemblies corresponds to the profiling crawling mechanism one by one, and the suction assemblies are used for triggering the suction assemblies to work when the profiling crawling mechanism operates.
8. The hydrogen pipeline internal crack detection device according to claim 7, wherein: the suction assembly comprises a piston sleeve (25), wherein the piston sleeve (25) is communicated with a piston column (22) which extends into the cylinder body (1) and is in telescopic movement with a liquid storage barrel (28), the piston column (22) is arranged in the piston sleeve (25), a mounting block (24) is arranged at the lower part of the piston column (22), and a spring (21) is sleeved on the outer wall of the piston column (22) between the mounting block (24) and the piston sleeve (25); the spring (21) is arranged at the bottom of the piston column (22), the piston column further comprises a transmission plate (23) fixed at the top of the frame body (3), and a groove matched with the spring (21) is formed in the upper surface of the transmission plate (23); a one-way air inlet valve (27) arranged at the end part of the liquid storage barrel (28) and used for one-way air inlet, and a one-way valve arranged inside the liquid outlet head (26) and used for one-way liquid ejection.
9. The hydrogen pipeline internal crack detection device according to claim 1, wherein: still including setting up a plurality of detection wheel subassemblies on barrel (1) outer wall, and detect wheel subassembly and paint a wheel mechanism one-to-one, every detect wheel subassembly and include second mounting disc (15), second mounting disc (15) rotate the installation through mounting bracket and barrel (1) outer wall, set up laminating piece (12) that annular distributes on second mounting disc (15), the triangle portion of laminating piece (12) both sides is rotated through round pin axle and second mounting disc (15) and is connected to and set up the detection sensor on every laminating piece (12) for the adherence when equipment is preceding detects.
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