CN117329456A - Non-destructive detection device for trackless submarine pipeline - Google Patents
Non-destructive detection device for trackless submarine pipeline Download PDFInfo
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- CN117329456A CN117329456A CN202311229859.5A CN202311229859A CN117329456A CN 117329456 A CN117329456 A CN 117329456A CN 202311229859 A CN202311229859 A CN 202311229859A CN 117329456 A CN117329456 A CN 117329456A
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- 238000001514 detection method Methods 0.000 title claims abstract description 62
- 239000000523 sample Substances 0.000 claims abstract description 112
- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 238000009659 non-destructive testing Methods 0.000 claims abstract description 16
- 238000012360 testing method Methods 0.000 claims abstract description 5
- 230000007797 corrosion Effects 0.000 claims description 20
- 238000005260 corrosion Methods 0.000 claims description 20
- 238000003466 welding Methods 0.000 claims description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 13
- 238000005086 pumping Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 abstract description 4
- 230000001066 destructive effect Effects 0.000 abstract description 2
- 238000006073 displacement reaction Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 5
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- 230000007547 defect Effects 0.000 description 3
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- 238000000034 method Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000009189 diving Effects 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
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- 239000004215 Carbon black (E152) Substances 0.000 description 1
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- 230000000694 effects Effects 0.000 description 1
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- 238000005096 rolling process Methods 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
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- 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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
-
- 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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
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- 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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
- F16M11/425—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels along guiding means
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- 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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
- F16M13/022—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle repositionable
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- 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
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The invention relates to the technical field of marine equipment, and aims to provide a non-destructive detection device for a trackless submarine pipeline. The device is provided with a nondestructive testing mechanism capable of self-driving movement in a scanning cabin, and comprises an annular holding rail, an axial electric cylinder, a testing mechanism and a radial electric cylinder; the annular holding rail consists of a semicircular left holding rail and a semicircular right holding rail which are symmetrically arranged, a holding supporting wheel is arranged in the annular holding rail, and an annular rack and an annular rail which are spliced are arranged on the outer side of the annular holding rail; the axial electric cylinders are arranged along the axial direction, the radial electric cylinders are perpendicular to the axial electric cylinders, and the detection mechanism is fixedly arranged at the top end of the radial electric cylinders; the mounting frame of the detection mechanism is provided with a linear module, and three probes are arranged on the mounting frame and the sliding blocks of the linear module. According to the invention, no additional fixed support or guide rail or track mechanism for assisting movement is required, and the nondestructive detection mechanism for axial movement can be realized only by self-driving; the equipment can be simplified, the failure rate is reduced, and the equipment cost and maintenance work are reduced.
Description
Technical Field
The invention relates to the technical field of marine equipment, in particular to a non-destructive detection device for a trackless submarine pipeline.
Background
Offshore oil and gas transportation is not separated from submarine pipelines. Subsea hydrocarbon pipelines are typically subject to corrosion from both the inside and outside environments during operation. The internal corrosion is mainly the corrosion of conveying medium, liquid accumulation in the pipe, dirt and the like on the inner wall of the pipe. The external corrosion is caused by seawater infiltration due to the damage or failure of the coating, and the outer wall of the pipe is corroded by seawater. Sometimes the stresses to which the pipe wall is subjected act in combination with corrosion, causing very dangerous stress corrosion cracking. For this reason, it is necessary to periodically perform detection and repair work of the submarine pipeline.
Before and after the repair of the submarine pipeline, nondestructive detection is required to be carried out on the submarine pipeline. However, conventional submarine pipeline nondestructive testing requires divers to use underwater corrosion detection probes and can only perform corrosion detection of the pipeline walls. Diver detection has a number of drawbacks: (1) Nondestructive testing beyond 50m depth is difficult to accomplish due to diver diving depth limitations. (2) Due to the short diving time, the diver has a short single scanning length and needs to dive frequently. (3) The diver has a great personal risk during the underwater operation. (4) The common underwater detection can only detect cracks, corrosion and the like of the submarine pipeline, and is difficult to check the evolution condition of a welding seam of a welding position of the submarine pipeline.
Chinese patent application CN115468123 a discloses a tool and method for accurately mapping deformation defects of submarine pipeline. For a certain pipeline maintenance section, the scanning cabin holds the submarine pipeline, and then the seawater in the cabin is replaced by air by using a scanning cabin pumping device to form a dry cabin. And then the three-dimensional scanning driving device is used for driving the three-dimensional scanner to perform omnibearing scanning on the submarine pipeline in the cabin. The three-dimensional scanning driving device comprises a linear guide rail, an axial screw rod, a straight motor, an arc guide rail, an arc rack, a rotating motor and a corner motor, wherein the arc guide rail is connected to the linear guide rail in a sliding manner through a sliding block, the sliding block is in threaded connection with the axial screw rod, and the straight motor is connected with the axial screw rod and used for driving the axial screw rod to rotate; the arc rack is connected to the arc guide rail in a sliding way, a gear meshed with the arc rack is arranged on an output shaft of the rotating motor, and the arc rack can be driven to move along the arc guide rail through the rotating motor; the arc rack is connected with a mounting seat, the corner motor is mounted on the mounting seat, the shell of the corner motor is connected with the three-dimensional scanner cabin through the connecting plate, the three-dimensional scanner cabin is rotationally connected on the connecting plate through the scanning rotating shaft, the output shaft of the corner motor is in transmission connection with the scanning rotating shaft through the corner transmission device, the three-dimensional scanner is arranged in the three-dimensional scanner cabin, and the three-dimensional scanner cabin can be driven to rotate through the corner motor so as to drive the three-dimensional scanner to rotate.
The technical content disclosed by the document shows that the precondition that the three-dimensional scanner in the accurate mapping tool for the deformation defects of the submarine pipeline can stably displace along the axial direction of the pipeline is that a plurality of linear guide rails on which the arc guide rails are mounted are required to be always parallel to the pipeline. However, the linear guide rail cannot be kept in parallel by itself on the one hand, and on the other hand, can realize axial translation by self-driving to replace the detection area. Thus, there is a need for an additional configuration of a fixed support and moving mechanism (i.e., the three-dimensional scanning driving device described in this document). This tends to lead to a more complex related structure. Further, the problems of easy parallel deviation, difficult stable operation, easy damage, increased maintenance workload and the like are caused.
Therefore, it would be desirable to provide a three-dimensional scanner support structure that is simpler in structure and more stable in operation.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects in the prior art and providing a non-rail type submarine pipeline nondestructive testing device.
In order to solve the technical problems, the invention adopts the following solutions:
the non-destructive testing device for the trackless submarine pipeline comprises an outer frame, a scanning cabin and a scanning cabin pumping device; the scanning cabin is internally provided with a nondestructive testing mechanism capable of self-driving movement, and the nondestructive testing mechanism comprises an annular holding rail, an axial electric cylinder, a testing mechanism and a radial electric cylinder; wherein,
the annular holding rail is arranged around the pipeline to be tested and consists of a semicircular left holding rail and a semicircular right holding rail which are symmetrically arranged; the outer side of the annular holding rail is provided with an annular rack and an annular rail which are spliced, and at least 3 holding supporting wheels are uniformly arranged on the inner side of the annular holding rail along the circumferential direction; the rollers at the bottom of the enclasping supporting wheel are arranged on the annular enclasping rail through the bracket and the elastic component and are used for enclasping the tested pipeline and assisting the annular enclasping rail to axially move along the pipeline;
the axial electric cylinders are arranged along the axial direction of the measured pipeline, the cylinder bodies of the axial electric cylinders are arranged on the annular holding rail through the rotary table, and the top ends of the telescopic rods are fixedly connected with the cylinder bodies of the radial electric cylinders; the rotary table comprises a pulley, a gear and a rotary motor, wherein the pulley is embedded on the annular track, the gear is meshed with the annular rack, and the tail end of an output shaft of the rotary motor is connected with the gear; the radial electric cylinder is perpendicular to the axial electric cylinder, the telescopic rod of the radial electric cylinder faces the central axis of the tested pipeline, and the top end of the radial electric cylinder is fixedly provided with a detection mechanism;
the detection mechanism comprises a mounting frame, and the upper part of the mounting frame is fixedly connected with the top end of a telescopic rod of the radial electric cylinder; the lower part of the mounting frame is provided with a linear module arranged along the axial direction of the tested pipeline, the linear module comprises a servo motor, a linear guide rail, a ball screw and a sliding block, and the sliding block is positioned on the linear guide rail and driven by the ball screw to realize movement; the detection mechanism comprises a plurality of probes, at least comprises a first probe and a second probe for detecting welding seams and a third probe for detecting corrosion; the first probe is fixedly arranged on the mounting frame through a probe clamp, and the second probe and the third probe are respectively fixedly arranged on the same sliding block through the probe clamp; the first probe and the second probe are arranged oppositely, and an adjustable distance for detecting the welding line is reserved between the first probe and the second probe.
As a preferable scheme of the invention, the top parts of the left holding rail and the right holding rail are connected through a rotating shaft; electromagnets are respectively arranged at the joint of the bottoms of the two parts and are used for attracting and fixing when the pipeline is held tightly; lifting lugs are respectively arranged at the rotating shaft, the middle part of the left holding rail and the middle part of the right holding rail and used for installing a stranded rope for lifting or traction.
As a preferable scheme of the invention, a group of butt wheels are respectively arranged on the side surfaces of two butt ends of the left holding rail and the right holding rail; the butt-joint wheel comprises a cam and a concave wheel, the shapes of the outer edges of the cam and the concave wheel are matched with each other, and the butt-joint wheel plays a guiding role when the left holding rail and the right holding rail are closed.
As a preferable scheme of the invention, the left holding rail and the right holding rail have the same main body structure and each comprise two semicircular sheets which are alternately arranged and a plurality of middle transverse plates for connecting the two semicircular sheets; a semicircular rack is arranged between the two semicircular sheet bodies, and one sheet body is used as a track for installing a rotary table; the enclasping supporting wheel is arranged on the middle transverse plate.
As a preferable scheme of the invention, the enclasping supporting wheel comprises a gas spring, a ball bearing and a bracket which are connected in sequence; the two rollers are arranged in parallel in the bracket and are axially arranged along the tested pipeline; the gas spring is fixed on the annular holding rail, can extend and contract along the radial direction of the measured pipeline while keeping the constant extension state, and is used for realizing a passive compensation function after the annular holding rail holds the pipeline; the roller can roll along the axial direction of the pipeline under the drive of the annular holding rail so as to reduce friction force.
As a preferable scheme of the invention, the rotary table comprises a clamping mounting seat, and a cylinder body of the axial electric cylinder is fixed on the side surface of the rotary table; the rotary motor is arranged in the middle of the clamping mounting seat, an output shaft of the motor penetrates through the clamping mounting seat, and the gear is fixed at the tail end of the output shaft; the inside of the clamping installation seat is provided with 4 pulleys, two sides of the output shaft of the rotating motor are respectively provided with a group, and each group of pulleys are movably embedded at two sides of the annular track in a matched mode.
As the preferable scheme of the invention, the probe clamp comprises a rear support piece, a middle sliding rail, a front support piece and a horizontal support piece; the front support piece is Z-shaped and bent, the bent angle is a right angle, one vertical bent edge is fixed on the side part of the sliding block or the mounting bracket through a screw, and the other vertical bent edge is fixedly connected with the middle sliding rail; the rear support piece is in sliding fit with the middle sliding rail and can slide up and down in the vertical direction; the bottom of the rear support piece is movably connected with the horizontal support piece through a screw in the x-axis direction, and the horizontal support piece can rotate around the x-axis; the probe is movably connected with the horizontal support piece through a screw in the y 'axis direction, and the probe can rotate around the y' axis; the rear support piece and the front support piece are connected through a spring and form downward pretightening force, and the pretightening force is used for providing passive compensation so that the probe is clung to the surface of the detected pipeline.
As the preferable scheme of the invention, the probe comprises a probe body and a wedge block, wherein the wedge block is positioned below the probe body, the probe body is used for converting an electric signal into an acoustic signal, and the wedge block is used for tightly clinging to a pipeline to transmit the acoustic signal of the probe body to the inner wall of the pipeline; the upper side of the wedge block is provided with a water pipe joint, the bottom of the wedge block is provided with a slot and is communicated with the inner channel; the water pipe joint is connected with the couplant box through a hose, and clean water is filled in the couplant box to serve as the couplant.
As a preferable scheme of the invention, the axial electric cylinder, the radial electric cylinder, the rotating motor, the servo motor and the electromagnet are respectively connected to a control host of an ultrasonic detection system arranged on the mother ship through cables.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the enclasping supporting wheel in the annular enclasping rail plays a role in enclasping the tested pipeline and assisting the annular enclasping rail to axially move along the pipeline. After the radial electric cylinder presses the probe on the pipeline to be tested, the annular holding rail can be axially displaced along the pipeline to be tested by utilizing the action of the axial electric cylinder. Therefore, in the effective scanning area provided by the scanning cabin, the invention can realize the nondestructive detection mechanism of axial movement only by self-driving without additionally arranging additional fixed support and a guide rail or a track mechanism for assisting movement.
2. In the invention, the annular holding rail consists of a semicircular left holding rail and a semicircular right holding rail which are symmetrically arranged, and the annular holding rail after being spliced forms a stable structure by virtue of a rotating shaft and an electromagnet; therefore, the circumferential action of the whole detection mechanism can be realized by only driving one rotating motor; compared with the prior art (in the background art), the performance of the circumferential support structure can be enhanced, and meanwhile, the use of the circumferential operation driving equipment is reduced.
3. According to the invention, the probe is tightly attached to the surface of the tested pipeline by utilizing the downward pretightening force formed by the sliding fit of the rear support piece and the middle sliding rail and the connection of the rear support piece and the front support piece through the spring in the probe clamp and the passive compensation. Meanwhile, the movable connection of the rear support piece and the horizontal support piece is utilized, the movable connection of the probe and the horizontal support piece can provide the adjustable fitting degree between the probe and the pipeline surface in two mutually perpendicular directions. In addition, compared with the prior art (in the background art), the invention can reduce the interference in the ultrasonic detection process and obtain a better detection effect.
4. The invention carries out nondestructive testing based on the dry cabin technology, can evaluate the damaged condition of the surface and the welding seam of the submarine pipeline at the same time, and provides data support for the next maintenance work. Meanwhile, based on a more simplified structural design, the invention can simplify equipment, reduce the failure rate, reduce the equipment cost and maintain the work.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a nondestructive testing mechanism according to the present invention;
FIG. 2 is a schematic view of the structure of the annular rail;
FIG. 3 is a schematic view of the structure of the clasping support wheel;
FIG. 4 is a diagram showing the cooperation of a turntable and an annular rail;
FIG. 5 is a schematic view of the direction of the corrosion detection probe;
FIG. 6 is a schematic diagram of the direction of a weld inspection probe;
fig. 7 is a schematic structural view of a probe clip.
The reference numerals in the figures are: the device comprises a ring-shaped rail, a 1-1 butt joint wheel, a 1-2 left rail, a 1-3 tightly-held supporting wheel, a 1-3-1 gas spring, a 1-3-2 ball bearing, a 1-3-3 roller, a 1-4 rotary table, a 1-4-1 sliding plate, a 1-4-2 pulley, a 1-5 rotary motor, a 1-6 lifting lug, a 1-7 rack, a 1-8 right rail, a 2 axial electric cylinder, a 3 detection system, a 3-1 control host, a 3-2 third probe, a 3-3 probe clamp, a 3-3-1 rear support piece, a 3-3-2 middle slide rail, a 3-3 front support piece, a 3-3-4 horizontal support piece, a 3-4 linear module, a 3-5 servo motor, a 3-6 couplant box, a 3-7 second probe, a 3-8 first probe, a 4 radial electric cylinder and a 5 tested pipeline.
Detailed Description
The reference numerals used for the components in this application, such as "first," "second," etc., are used merely to distinguish between the described objects, and do not have any sequential or technical meaning. The terms "coupled" and "connected," as used herein, are intended to encompass both direct and indirect coupling (coupling), unless otherwise indicated. In the description of the present application, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," etc. indicate or refer to an orientation or positional relationship based on that shown in the drawings, merely for convenience of description and to 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 application.
In this application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
The technical scheme of the present invention will be described in detail by way of examples with reference to the accompanying drawings. It should be noted that the description of these examples is for aiding in understanding the present invention, but is not intended to limit the present invention.
The invention relates to a non-rail submarine pipeline nondestructive testing device, which comprises an outer frame, a scanning cabin and a scanning cabin pumping device; the implementation of these structures may be described in chinese patent application CN115468123 a or other publications, and the present invention is not particularly limited as long as similar structures that can provide anhydrous detection conditions for the scanning pod are applicable.
In the scanning cabin, a nondestructive detection mechanism capable of self-driving movement as shown in fig. 1 is provided. The nondestructive detection mechanism comprises an annular holding rail 1, an axial electric cylinder 2, a detection mechanism 3 and a radial electric cylinder 4; the annular holding rail 1 is arranged around a detected pipeline 5 and consists of a semicircular left holding rail 1-2 and a right holding rail 1-8 which are symmetrically arranged. The left holding rail 1-2 and the right holding rail 1-8 have the same main structure and both comprise two semicircular sheets which are alternately arranged and a plurality of middle transverse plates which are used for connecting; a semicircular rack 1-7 is arranged between the two semicircular pieces and one of the pieces is used as a track for mounting the rotary table 1-4. The tops of the two holding rails are connected through a rotating shaft, and electromagnets are respectively arranged at the joint of the bottoms of the two holding rails and used for being sucked and fixed when the annular holding rail 1 holds a pipeline tightly. A group of butt wheels 1-1 are respectively arranged on the side surfaces of the butt ends of the two holding rails; the butting wheel 1-1 comprises a cam and a concave wheel, and the shapes of the outer edges of the cam and the concave wheel are matched with each other, so that the butting wheel plays a guiding role when the holding rail is closed. Lifting lugs are respectively arranged at the rotating shaft and the middle parts of the left rail and the right rail, and are used for installing a winch rope for lifting or traction, and the other end of the winch rope is connected to an electric winch arranged in the scanning cabin. The outer circumference of the annular holding rail 1 is provided with an annular rack and an annular rail which are spliced, and at least 3 holding supporting wheels 1-3 are uniformly arranged on the inner circumference of the annular holding rail.
As shown in fig. 2 and 3, the enclasping supporting wheel 1-3 comprises a gas spring 1-3-1, a ball bearing 1-3-2 and a bracket which are sequentially connected, wherein the two rollers 1-3-3 are arranged in the bracket in parallel along the axial direction of a measured pipeline 5, and the gas spring 1-3-1 is fixed on a middle transverse plate of the annular enclasping rail 1. The plurality of enclasping supporting wheels 1-3 are commonly used for enclasping the measured pipeline 5 and assist the annular enclasping rail 1 to axially move along the pipeline, and can radially extend and retract along the measured pipeline 5 while keeping an always-extending state. When the annular holding rail 1 holds the pipeline, the passive compensation function can be realized. Under the action cooperation of the axial electric cylinder 2, the detection mechanism 3 and the radial electric cylinder 4, the roller can axially roll along the pipeline under the drive of the annular holding rail 1 so as to reduce friction force.
As shown in fig. 4, the rotary table 1-4 includes a clamping mount 1-4-1 to the side of which a cylinder body of an axial cylinder 2 is fixed. The rotary motor 1-5 is arranged in the middle of the clamping mounting seat 1-4-1, an output shaft of the motor transversely passes through the clamping mounting seat 1-4-1, a gear is fixedly arranged at the tail end of the output shaft, and the gear is meshed with the annular rack. 4 pulleys 1-4-2 are arranged in the clamping mounting seat 1-4-1, a group of pulleys are respectively arranged on two sides of the output shaft of the rotating motor 1-5, and each group of pulleys are movably embedded on two sides of the annular track in a mutually matched mode.
As shown in figure 1, an axial electric cylinder 2 is arranged along the axial direction of a measured pipeline 5, a cylinder body of the axial electric cylinder is arranged on an annular holding rail 1 through a rotary table 1-4, and the top end of a telescopic rod is fixedly connected with the cylinder body of a radial electric cylinder 4. The radial electric cylinder 4 is perpendicular to the axial electric cylinder 2, the telescopic rod of the radial electric cylinder faces the central axis of the tested pipeline 5, and the detection mechanism 3 is fixedly arranged at the top end of the radial electric cylinder. Because the clasping supporting wheel 1-3 can clasp the pipeline by utilizing the elastic supporting force, the gear can walk along the annular rack under the action of the rotating motor 1-5, so that the axial electric cylinder 2, the detecting mechanism 3 and the radial electric cylinder 4 are driven by the rotating table 1-4 to integrally rotate around the shaft along the circumferential direction of the tested pipeline 5.
As shown in fig. 5 and 6, the detection mechanism 3 comprises a mounting frame, and the upper part of the mounting frame is fixedly connected with the top end of a telescopic rod of the radial electric cylinder 4; the lower part of the mounting frame is provided with a linear module 3-4 axially arranged along a measured pipeline, the linear module 3-4 comprises a servo motor 3-5, a linear guide rail, a ball screw and a sliding block, and the sliding block is positioned on the linear guide rail and driven by the ball screw driven by the servo motor 3-5 to realize movement; the detection mechanism 3 comprises a plurality of probes including at least a first probe 3-8 and a second probe 3-7 for detecting welds, and a third probe 3-2 for detecting corrosion. The first probe 3-8 is fixedly arranged on the mounting frame through a probe clamp 3-3, and the second probe 3-7 and the third probe 3-2 are respectively fixedly arranged on two sides of the same sliding block through the probe clamp 3-3; the first probe 3-8 is arranged opposite to the second probe 3-7 with an adjustable distance reserved between the two for detecting the weld. The main structures of the probes are basically similar, each probe comprises a probe body and a wedge block, the wedge blocks are positioned below the probe body, the probe body is used for converting electric signals into acoustic signals, and the wedge blocks are used for tightly clinging to a pipeline to transmit the acoustic signals of the probe body to the inner wall of the pipeline; the upper side of the wedge block is provided with a water pipe joint, the bottom is provided with a slot and communicated with the inner channel. The water pipe joint is connected with the couplant box 3-6 through a hose, and clean water is filled in the water pipe joint to serve as the couplant. In the invention, probes for detecting welding lines and corrosion are all made of the existing ultrasonic detection technology, and the invention does not have special requirements.
As shown in FIG. 7, the probe clamp 3-3 comprises a rear support 3-3-1, a middle slide rail 3-3-2, a front support 3-3-3 and a horizontal support 3-3-4; the front support sheet 3-3-3 is in a Z-shaped bending shape, the bending angle is a right angle, one vertical bending edge is fixed on the side part of the sliding block or the mounting bracket through a screw, and the other vertical bending edge is fixedly connected with the middle sliding rail 3-3-2; the rear support piece 3-3-1 is in sliding fit with the middle sliding rail 3-3-2 and can slide up and down in the vertical direction; the bottom of the rear supporting piece 3-3-1 is movably connected with the horizontal supporting piece 3-3-4 through a screw in the x-axis direction, and the horizontal supporting piece 3-3-4 can rotate around the x-axis; the probe is movably connected with the horizontal support piece 3-3-4 through a screw in the y 'axis direction, and the probe can rotate around the y' axis; the rear support piece 3-3-1 is connected with the front support piece 3-3-3 through a spring and forms downward pretightening force, and the pretightening force is used for providing passive compensation so that the probe is clung to the surface of the tested pipeline 5.
In the invention, an axial electric cylinder 2, a radial electric cylinder 4, a rotary motor 1-5 and a servo motor 3-5 are respectively connected to a control host of an ultrasonic detection system arranged on a mother ship through cables. The control technology of the ultrasonic detection system belongs to the mature technology, and the invention does not need to be particularly required.
A more detailed description is as follows:
as shown in fig. 1, the non-rail submarine pipeline nondestructive testing device is realized based on a dry cabin technology, and the structure and operation of a dry cabin and an ultrasonic testing system can be referred to the description of the prior publication.
Wherein, nondestructive test device includes: the device comprises an annular holding rail 1, an axial electric cylinder 2, a detection system 3 and a radial electric cylinder 4. The annular holding rail 1 is used for holding a pipeline tightly and fixing the pipeline, and the axial electric cylinder 2 is used for realizing axial displacement of the detection system 3 along the pipeline; the bottom of the axial electric cylinder 2 is fixed on the rotary table 1-4, can axially stretch along the pipeline and is used for realizing the displacement of the detection system 3 along the pipeline axial direction. The bottom of the radial electric cylinder 4 is fixed at the end part of the telescopic rod of the axial electric cylinder 2, can radially stretch along a pipeline, and is used for realizing radial displacement of the detection system 3 along the pipeline. Wherein, the axial electric cylinder 2 and the radial electric cylinder 4 are both underwater high-precision electric cylinders, and the displacement precision reaches 0.01mm. The detection system 3 is used for detecting the corrosion of the surface of the submarine pipeline 5 and the evolution condition of the welding seam.
As shown in FIG. 2, the annular holding rail 1 comprises a butt joint wheel 1-1, a left holding rail 1-2, a holding supporting wheel 1-3, a rotary table 1-4, a rotary motor 1-5, lifting lugs 1-6, racks 1-7 and a right holding rail 1-8. The left holding rail 1-2 is composed of two semicircular sheets and a middle transverse plate. The top of one sheet body is provided with a rotating shaft, the lower part of the rotating shaft and the bottom of the semicircular sheet body are respectively provided with a butt joint wheel 1-1, and the butt joint wheels 1-1 are two circular wheels. The right holding rail 1-8 is similar in structure to the left holding rail 1-2. The rotating shaft is used for matching the rotation of the left holding rail 1-2 and the right holding rail 1-8 to realize the opening and closing of the bottom. The abutment wheel 1-1 is used for guiding when closed. Underwater electromagnets are arranged at the bottoms of the left holding rail 1-2 and the right holding rail 1-8 and used for sucking the left holding rail 1-2 and the right holding rail 1-8. The side surface of the other sheet body is fixedly provided with a rack 1-7, and after the left holding rail 1-2 and the right holding rail 1-8 are closed, the rack 1-7 of the left holding rail 1-2 and the right holding rail 1-8 just form a complete annular rack. The rotary tables 1-4 form rolling fit with the corresponding sheet bodies and can circumferentially rotate along the annular racks. The rotating motor 1-5 is fixed on the rotating table 1-4, and the rotating motor 1-5 drives a gear to enable the rotating table 1-4 to rotate along the rack 1-7. The middle transverse plate is fixedly provided with a clasping supporting wheel 1-3 for passive compensation, when the left clasping rail 1-2 and the right clasping rail 1-8 are closed, the annular clasping rail 1 can clasp a pipeline, and the annular clasping rail 1 is matched with the annular clasping rail 1 to move along the axial direction of the pipeline so as to reduce resistance.
As shown in FIG. 3, the enclasping supporting wheel 1-3 comprises a gas spring 1-3-1, a ball bearing 1-3-2 and a roller 1-3-3. The gas spring 1-3-1 is fixed on a transverse plate in the middle of the annular holding rail 1, can extend and contract along the radial direction of the pipeline and always has an extension force, and is used for realizing the passive compensation function after the annular holding rail 1 holds the pipeline. The end of the air spring 1-3-1 is connected with the roller 1-3-3 through the ball bearing 1-3-2, and the roller 1-3-3 can axially roll along the pipeline. The left holding rail 1-2, the right holding rail 1-8 and the rotating shaft are respectively fixed with a lifting lug 1-6, and correspondingly, an electric winch is respectively fixed on the left half part, the right half part and the top of the wall of the scanning cabin (dry cabin), and the winch is respectively connected with the three lifting lugs through a winch rope.
As shown in FIG. 4, the rotary table 1-4 includes a clamping mount 1-4-1 and a pulley 1-4-2. The clamping installation seat 1-4-1 is shaped like a Chinese character 'men', and a group of pulleys 1-4-2 are respectively arranged at two sides of an output shaft of the rotating motor 1-5. The two pulleys in each group are respectively positioned at two sides of the annular track and are movably embedded in a matched manner, so that the rotary tables 1-4 can rotate along the circumferential direction of the annular holding track 1 under the meshing and matching of the gear and the rack.
As shown in fig. 5 and 6, the detection system 3 is fixed at the end of the radial electric cylinder 4, and comprises a servo motor 3-5, a linear module 3-4, three groups of probe clamps 3-3 and three probes, and is used for detecting the submarine pipeline 5. The host 3-1 is a control host used by a conventional ultrasonic detection system and is arranged on a mother ship and used for transmitting and receiving ultrasonic electric signals and displaying the damage inside the pipe wall. The linear module 3-4 is a conventional product and consists of a servo motor 3-5, a linear guide rail, a ball screw and a sliding block, and is used for moving the second probe 3-7 and the third probe 3-2. The servo motor 3-5 is an underwater motor and is encapsulated underwater. The probe clamp 3-3 is used for clamping the probe and can enable the probe to be tightly attached to the outer wall of the pipeline. The structural design can realize the up-down and rotation of the probe, and can lead the probe to carry out passive compensation so as to be completely attached to the surface of the pipeline. The third probe 3-2 for corrosion detection is a conventional product and is fixed on a slide block of the linear module 3-4 through a probe clamp 3-3 for detecting cracks, corrosion and the like on the surface of a pipeline. The two probes for detecting the welding seam are totally arranged, one is fixed on the sliding block of the linear module 3-4 (opposite to the third probe 3-2) through the probe clamp 3-3, the other is fixed at the end part of the mounting bracket (or the linear module 3-4), and the first probe 3-8 and the second probe 3-7 are arranged at two sides of the welding seam for detecting the welding seam during detection. The three probes are generally identical in structure and comprise a probe body and a wedge below the probe body. The probe body is used for converting the electric signal into an acoustic signal, the wedge block is used for being clung to the pipeline, and the acoustic signal of the probe body is transmitted to the inner wall of the pipeline. A water pipe connector is arranged above the wedge block and is used for being connected with the couplant box 3-6 through a hose; the bottom of the wedge block is provided with a slot for filling water into the bottom of the wedge block. The couplant box 3-6 is filled with clean water and serves as a couplant between the acoustic wave probe and the surface of the pipeline.
As shown in FIG. 7, the probe clamp 3-3 comprises a rear support plate 3-3-1, a middle sliding rail 3-3-2, a front support plate 3-3 and a horizontal support plate 3-3-4, and is used for passively compensating to enable the probe to be closely attached to the surface of the pipeline. The middle sliding rail 3-3-2 is fixed on the front supporting piece 3-3-3, and the rear supporting piece 3-3-1 is in sliding fit with the middle sliding rail 3-3-2 and can slide up and down along the middle sliding rail 3-3-2. The bottom of the rear supporting piece 3-3-1 and the horizontal supporting piece 3-3-4 are movably arranged through screws in the x-axis direction, and the horizontal supporting piece 3-3-4 can rotate around the x-axis. The probe is movably arranged with the horizontal support sheet 3-3-4 through a screw in the y 'axis direction, and the probe can rotate along the y' axis. The rear supporting piece 3-3-1 and the front supporting piece 3-3 form downward pretightening force through springs.
The specific use method of the invention is as follows:
(1) Preparation before launching
Before the left holding rail 1-2 and the right holding rail 1-8 are opened by tightening a winch rope tied on the lifting lug 1-6 by an electric winch arranged in the dry cabin. At this time, the radial cylinder 4 is in a contracted state.
(2) Release operation after launch
When the dry cabin is lowered to the submarine pipeline 5 and the enclosing operation is performed, the seawater in the cabin is replaced with air. And (3) utilizing a winch to release a nondestructive testing mechanism, after confirming that the openings of the left holding rail 1-2 and the right holding rail 1-8 are sleeved on a pipeline, releasing the stranded ropes at two sides to enable the holding rails to be closed, and electrifying the electromagnet to enable the bottoms of the two holding rails to be attracted.
(3) Weld detection
The axial electric cylinder 2 is extended until the weld joint to be detected is positioned between the first probe 3-8 and the second probe 3-7; the radial cylinder 4 is extended until the detection system 3 compresses the pipe and the weld is detected with two probes. The detection system 3 is capable of fine tuning the position of the second probe 3-7 on the linear module 3-4. The rotating motor 1-5 is used for driving the rotating table 1-4 to perform circumferential movement, and the detection system 3 is driven to start circumferential detection of the welding seam.
(4) Corrosion detection
After the welding line detection is finished, the third probe 3-2 is utilized to perform annular movement in the same mode, and the corrosion condition of the surface of the pipeline is detected.
(5) Self-driven displacement
Under the condition that the radial electric cylinder 4 compresses the probe, the axial electric cylinder 2 is extended to drive the annular holding rail 1 to axially displace along the surface of the pipeline, and then the detection of the next detection interval is carried out.
(6) Movable dry cabin
After the nondestructive testing mechanism finishes the detection of all the pipelines in the dry cabin in a self-driven displacement mode, the dry cabin is opened and moved to the next station section.
And (3) repeating the operations of the steps (2) to (5), and after enclosing and replacing air, performing self-driven displacement-based weld joint detection and corrosion detection again.
(7) Recovery detection device
The electromagnet is powered off, the winch is tightened, then the nondestructive detection mechanism is lifted, and the whole dry cabin is recovered according to conventional operation.
Claims (9)
1. A non-destructive testing device for a trackless submarine pipeline comprises an outer frame, a scanning cabin and a scanning cabin pumping device; the device is characterized in that a nondestructive testing mechanism capable of self-driving movement is arranged in the scanning cabin, and the nondestructive testing mechanism comprises an annular holding rail, an axial electric cylinder, a testing mechanism and a radial electric cylinder; wherein,
the annular holding rail is arranged around the pipeline to be tested and consists of a semicircular left holding rail and a semicircular right holding rail which are symmetrically arranged; the outer side of the annular holding rail is provided with an annular rack and an annular rail which are spliced, and at least 3 holding supporting wheels are uniformly arranged on the inner side of the annular holding rail along the circumferential direction; the rollers at the bottom of the enclasping supporting wheel are arranged on the annular enclasping rail through the bracket and the elastic component and are used for enclasping the tested pipeline and assisting the annular enclasping rail to axially move along the pipeline;
the axial electric cylinders are arranged along the axial direction of the measured pipeline, the cylinder bodies of the axial electric cylinders are arranged on the annular holding rail through the rotary table, and the top ends of the telescopic rods are fixedly connected with the cylinder bodies of the radial electric cylinders; the rotary table comprises a pulley, a gear and a rotary motor, wherein the pulley is embedded on the annular track, the gear is meshed with the annular rack, and the tail end of an output shaft of the rotary motor is connected with the gear; the radial electric cylinder is perpendicular to the axial electric cylinder, the telescopic rod of the radial electric cylinder faces the central axis of the tested pipeline, and the top end of the radial electric cylinder is fixedly provided with a detection mechanism;
the detection mechanism comprises a mounting frame, and the upper part of the mounting frame is fixedly connected with the top end of a telescopic rod of the radial electric cylinder; the lower part of the mounting frame is provided with a linear module arranged along the axial direction of the tested pipeline, the linear module comprises a servo motor, a linear guide rail, a ball screw and a sliding block, and the sliding block is positioned on the linear guide rail and driven by the ball screw to realize movement; the detection mechanism comprises a plurality of probes, at least comprises a first probe and a second probe for detecting welding seams and a third probe for detecting corrosion; the first probe is fixedly arranged on the mounting frame through a probe clamp, and the second probe and the third probe are respectively fixedly arranged on the same sliding block through the probe clamp; the first probe and the second probe are arranged oppositely, and an adjustable distance for detecting the welding line is reserved between the first probe and the second probe.
2. The device of claim 1, wherein the top of the left holding rail and the right holding rail are connected through a rotating shaft; electromagnets are respectively arranged at the joint of the bottoms of the two parts and are used for attracting and fixing when the pipeline is held tightly; lifting lugs are respectively arranged at the rotating shaft, the middle part of the left holding rail and the middle part of the right holding rail and used for installing a stranded rope for lifting or traction.
3. The device according to claim 1, wherein a group of butting wheels are respectively arranged on the side surfaces of the two butting ends of the left holding rail and the right holding rail; the butt-joint wheel comprises a cam and a concave wheel, the shapes of the outer edges of the cam and the concave wheel are matched with each other, and the butt-joint wheel plays a guiding role when the left holding rail and the right holding rail are closed.
4. The device according to claim 1, wherein the left holding rail and the right holding rail have the same main body structure and each comprise two semi-circular sheets arranged at intervals and a plurality of middle transverse plates for connecting the two semi-circular sheets; a semicircular rack is arranged between the two semicircular sheet bodies, and one sheet body is used as a track for installing a rotary table; the enclasping supporting wheel is arranged on the middle transverse plate.
5. The device of claim 1, wherein the hugging support wheel comprises a gas spring, a ball bearing and a bracket which are connected in sequence; the two rollers are arranged in parallel in the bracket and are axially arranged along the tested pipeline; the gas spring is fixed on the annular holding rail, can extend and contract along the radial direction of the measured pipeline while keeping the constant extension state, and is used for realizing a passive compensation function after the annular holding rail holds the pipeline; the roller can roll along the axial direction of the pipeline under the drive of the annular holding rail so as to reduce friction force.
6. The apparatus of claim 1, wherein the rotary table includes a clamping mount to the side of which the cylinder body of the axial cylinder is secured; the rotary motor is arranged in the middle of the clamping mounting seat, an output shaft of the motor penetrates through the clamping mounting seat, and the gear is fixed at the tail end of the output shaft; the inside of the clamping installation seat is provided with 4 pulleys, two sides of the output shaft of the rotating motor are respectively provided with a group, and each group of pulleys are movably embedded at two sides of the annular track in a matched mode.
7. The apparatus of claim 1, wherein the probe clip comprises a rear support, a middle slide, a front support, and a horizontal support; the front support piece is Z-shaped and bent, the bent angle is a right angle, one vertical bent edge is fixed on the side part of the sliding block or the mounting bracket through a screw, and the other vertical bent edge is fixedly connected with the middle sliding rail; the rear support piece is in sliding fit with the middle sliding rail and can slide up and down in the vertical direction; the bottom of the rear support piece is movably connected with the horizontal support piece through a screw in the x-axis direction, and the horizontal support piece can rotate around the x-axis; the probe is movably connected with the horizontal support piece through a screw in the y 'axis direction, and the probe can rotate around the y' axis; the rear support piece and the front support piece are connected through a spring and form downward pretightening force, and the pretightening force is used for providing passive compensation so that the probe is clung to the surface of the detected pipeline.
8. The apparatus of claim 1, the probe comprising a probe body and a wedge, the wedge being located below the probe body, the probe body for converting electrical signals into acoustic signals, the wedge for transmitting acoustic signals of the probe body against the pipe to the pipe inner wall; the upper side of the wedge block is provided with a water pipe joint, the bottom of the wedge block is provided with a slot and is communicated with the inner channel; the water pipe joint is connected with the couplant box through a hose, and clean water is filled in the couplant box to serve as the couplant.
9. The apparatus of claim 1, wherein the axial electric cylinder, the radial electric cylinder, the rotary motor, the servo motor, and the electromagnet are connected to a control host of an ultrasonic detection system provided on a parent ship, respectively, by cables.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311229859.5A CN117329456A (en) | 2023-09-22 | 2023-09-22 | Non-destructive detection device for trackless submarine pipeline |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311229859.5A CN117329456A (en) | 2023-09-22 | 2023-09-22 | Non-destructive detection device for trackless submarine pipeline |
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| CN117329456A true CN117329456A (en) | 2024-01-02 |
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| CN202311229859.5A Pending CN117329456A (en) | 2023-09-22 | 2023-09-22 | Non-destructive detection device for trackless submarine pipeline |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117517196A (en) * | 2024-01-08 | 2024-02-06 | 烟台通瑞检测技术服务有限公司 | In-service pipeline nondestructive testing system |
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- 2023-09-22 CN CN202311229859.5A patent/CN117329456A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117517196A (en) * | 2024-01-08 | 2024-02-06 | 烟台通瑞检测技术服务有限公司 | In-service pipeline nondestructive testing system |
| CN117517196B (en) * | 2024-01-08 | 2024-03-26 | 烟台通瑞检测技术服务有限公司 | In-service pipeline nondestructive testing system |
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