CN2937755Y - Detection robot for petroleum pipeline - Google Patents
Detection robot for petroleum pipeline Download PDFInfo
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- CN2937755Y CN2937755Y CNU2005201445600U CN200520144560U CN2937755Y CN 2937755 Y CN2937755 Y CN 2937755Y CN U2005201445600 U CNU2005201445600 U CN U2005201445600U CN 200520144560 U CN200520144560 U CN 200520144560U CN 2937755 Y CN2937755 Y CN 2937755Y
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Abstract
The utility model provides a robot for detecting the petroleum pipeline, adopting the driven type structure, and is a wheeled carrier. The robot comprises a body, a driving mechanism and a detecting apparatus; the detecting apparatus is an ultrasonic wave probe, which is arranged at the front position of the robot. It is characterized in that a rubber disc 1 is provided at the tail of the robot (providing power for robot), the body is composed of two round cylinders and is divided into two parts of the front part 2 and the back part 3; the front part 2 and the back part 3 are connected through the universal joint 4 (enable the robot to pass the curved way automatically, in particular the curved way of larger camber); the driving mechanism is a driving wheel, which is arranged respectively at the front part 2 and the back part 3; the detection method adopts dynamic ultrasonic wave measurement. With the advantages of simple structure, low energy consumption, very long working distance, four ultrasonic wave probes rotating with the movement of the robot, the utility model realizes the dynamic ultrasonic wave detecting in the pipeline, improves the efficiency of detecting and can meet the requirements for the pipeline detecting.
Description
Technical field
The utility model relates to a kind of petroleum pipeline detection machine people, is the petroleum pipeline detection machine people that a kind of hyperacoustic detecting method of usefulness of passive type detects petroleum pipeline.
Background technique
The working space of pipeline robot is various pipelines complicated, sealing, comprises horizontal straight tube, each angle bend pipe, slope pipe, vertical tube and reducer pipe interface etc., and its range ability is generally longer.Therefore, the necessary flexibility and reliability of the mechanical structure of robot, and bigger tractive force is arranged.In order to have versatility, adapt to the pipe detection of different radii, robot should have the can regulate radius.
At present, the petroleum pipeline detection machine people's who has developed driving mode, mainly comprise two kinds of active and slave modes, active can control to the movement velocity of robot, but consume lot of energy, so the general method that inserts cable that adopts provides power and carries out data transfer to robot, this has just limited the move distance of robot greatly; Slave mode is to rely on flowing of oil pipe PetroChina Company Limited. to move, so the energy that consumes seldom, mechanical structure is simple, but the movement velocity of robot is not very stable, and the movement velocity of robot is also uncontrolled.
More external leading companys such as NKK, Pipetonix, TD-Willianson etc. carry out often aspect development in the exploitation of detecting robot of pipe, and domestic research to this respect still is in the starting stage.The external main polynary honeycomb detecting head that adopts, it can be loaded with more than 566 ultrasonic probe at most.Each ultrasonic probe directly to tube wall emission broadband ultrasonic wave, directly receives reflected wave again.The inside of this robot also is provided with pendulum and automatic controlling mechanism, in order to avoid the deflection of self takes place in the process of advancing in robot, this detecting method is static ultrasound examination.Also have detection of dynamic, so-called detection of dynamic is exactly several (we adopt four) ultrasonic heads mobile rotated detection of doing with oil in petroleum pipeline in the dribbling of popping one's head in.Comparatively speaking, the advantage of detection of dynamic is: cost is low, detects comprehensively, is easy to adopt.
Summary of the invention
The utility model provides a kind of petroleum pipeline detection machine people, we adopt the probe dribbling this detecting robot of pipe of detection of dynamic of four ultrasonic heads, can be implemented in the detection in the petroleum pipeline, can adapt to certain pipeline change in radius automatically, and can be by the bigger bend of radius of curvature.This robot can record testing result in the storage by single-chip microcomputer, and energy consumption is very low, has solved the problem of the long distance work of detecting robot of pipe.
Petroleum pipeline detection machine people adopts the slave mode structure, it is wheeled carrier, robot is made up of fuselage, traveling mechanism and detection device, detection device is ultrasonic probe (containing ultrasound emission and Receiver), be installed in the front fuselage of robot, be characterized in: one rubber disc (for robot provides power) is arranged at the robot afterbody, fuselage is made of two cylindrical bodys, be divided into front and rear two-part, fore-body is connected (making robot can pass through the bigger bend of bend, especially curvature automatically) with the rear portion by universal joint; Traveling mechanism is a follower, is installed in fore-body and rear portion respectively; Detection device is installed on the forebody, and detecting method adopts dynamic ultrasound ripple detection method.
When the robot motion, 4 ultrasonic probes are around rotating in a circumferential direction, and the emission ultrasound, and the ultrasound that reflects through pipeline acceptances of being popped one's head in is handled the generation pulse through amplifying, and obtains the inner case of pipeline through inter-process, thereby has realized the detection to oil pipe.
The invention has the beneficial effects as follows:
1. simple in structure, energy consumption is low, can adapt to this rugged environment of petroleum pipeline, and work distance is very long, and can the real-time situation in the petroleum pipeline write down storage.
2. the variation of pipe diameter can be adapted to automatically, and the adjustment of self can be carried out to the bigger bend of curvature by universal joint.
3. detecting method adopts dynamic ultrasound ripple detection method, by 4 ultrasonic probes along with the motion of robot is rotated, thereby realized that the dynamic ultrasound ripple detects in the pipeline, improved the efficient that detects, can satisfy the requirement of pipe detection.
4. adopt the method for ultrasound examination,, calculate the thickness of petroleum pipeline by the time difference that the emission of ultrasound in the pipeline medial and lateral produces.Thickness and pre-set thickness are compared, if thickness leaves in the storage then with time for reading information, and with it less than the thickness of setting.
5. after robot work is finished, read data in the storage, can analyze and handle the situation in the pipeline by computer.
Description of drawings:
Fig. 1 is robot architecture's schematic representation.
Fig. 2 is the extending means schematic representation of wheel.
Fig. 3 is the testing process schematic representation.
Fig. 4 is the ultrasonic measurement principle.
Fig. 5 is the signal processing sequential chart.
Fig. 6 is that detection of dynamic scans overlapping schematic representation.
Fig. 7 is the data processing unit block diagram.
Embodiment
As shown in Figure 1 and Figure 2, the utility model provides a kind of petroleum pipeline detection machine people, robot adopts the slave mode structure, and robot is made up of fuselage, traveling mechanism and detection device, and detection device is a ultrasonic probe, contain ultrasound emission and Receiver, be installed in the front fuselage of robot, it is characterized in that: at the robot afterbody one rubber disc 1 is arranged, fuselage is made of two cylindrical bodys, be divided into front portion 2 and rear portion 3 two-part, fore-body 2 is connected by universal joint 4 with rear portion 3; Traveling mechanism is a follower, is installed in fore-body and rear portion respectively; Detection device is installed on the forebody.During enforcement, detection device has used four ultrasonic probes.
Traveling mechanism is six groups of followers, and two wheels 5 are one group, and every group of wheel differs 120 degree, is installed in fore-body 2 and rear portion 3 respectively.The wheel at robot rear portion is the mileage wheel, is used for the interior location of robot, rotates along with the walking of robot.By measuring its parameter, establish robot displacement distance, thereby draw detected defective in ducted position.
During enforcement, battery and data processing equipment are housed also in the robot fuselage afterbody 3.
See Fig. 1, Fig. 2, follower is made up of wheel 5, wheel carrier 6, main shaft 7, torsion spring 12 and slidercrank mechanism, wheel 5 is installed on the wheel carrier 6, slidercrank mechanism comprises rotary disk 8, crank 9, slide block 10 and supporting frame 11 compositions, crank 9 one ends are arranged on rotary disk 8 edges, crank 9 the other ends link to each other with slide block 10, slide block 10 the other ends are connected with wheel carrier 6, rotary disk 8 is installed in the fuselage by supporting frame 11, and rotary disk 8 is enclosed within on the main shaft 7, realize the flexible of wheel by slidercrank mechanism, and can adapt to certain pipe diameter variation.
See Fig. 3, Fig. 4, testing process is as follows:
When ultrasonic probe sent a ultrasonic pulse to tube wall after, probe at first received the pulse that the internal surface by tube wall reflects, and the spacing between this pulse and the reference pulse is easy to measure, and this distance values is expressed as t1.Then, ultrasonic probe can receive the pulse that the outer surface by tube wall reflects again, and the spacing between the pulse that this pulse and internal surface produce is t2, and the t2 value has just reflected the thickness of tube wall.
See Fig. 5, Fig. 6, detection of dynamic scans overlapping schematic representation, and border circular areas is wherein represented the coverage area of single ultrasonic pulse on tube wall, i.e. area of detection.The rotation of detecting head adds moving of robot body, will produce countless scanning stripes on the tube wall of tested pipeline, the travelling speed of control robot, and the repeat region of adjacent scanning stripe is 1/4, just can form a coherent Scanning Section.Along with detection machine people advancing in tested pipeline, just can finish detection to whole pipeline.
Need very big amount of calculation and long time owing to calculate the wall thickness of pipeline by ultrasound, thus by previous calculating, the pulse distance t2 that obtains allowing, when t2 is excessive, by single-chip microcomputer with in the time data write memory.The motion of robot can be similar to and be seen as uniform motion, thus for the record of time just to the record of position.
As Fig. 5, shown in Figure 7, under the effect of synchronizing signal rising edge, the ultrasound producer produces ultrasonic pulse, launches in medium through ultrasonic probe, runs into the transport pipe inwall and produces first reflection; Receive by this probe, amplify and handle the generation pulse, be called the A ripple; Also produce reflection for the second time at the transport pipe outer wall equally, received by this probe, the amplification processing obtains pulse and is called the B ripple.4 drive test amount receiving machines all measure 4 A ripples and 4 B ripples; And the temperature correction receiving machine obtains the At ripple of a temperature correction.Nine road reflected signals that the ultrasound receiving system is sent here are shaped to pulse signal, trigger single channel temperature wave door by the zero reference signal leading edge and form circuit, form ripple edge in front of the door, form ripple edge behind the door and trigger again at the At wavefront respectively, this ripple door is controlled 12 digit counters respectively, to clock count, meter efferent echo door internal clock number, deliver in the latch temperature correction that this is data represented.Equally, four road wall thickness ripple doors that do not triggered by the A wavelength-division form circuit, produce the forward position of ripple door, again by the other triggering for generating ripple of B wavelength-division edge behind the door, with this ripple gate control four-way 8-digit device, to clock count, try to achieve ripple door internal clock pulse number, deliver in the latch, it has represented the thickness of oil transportation tube wall, read wall thickness value by single-chip microcomputer from the latch circulation, by comparator, compare with the value that sets in advance, if wall thickness is less than setting value, then single-chip microcomputer time for reading information and wall thickness information, and it is recorded in the storage.
Claims (4)
1, a kind of petroleum pipeline detection machine people, robot adopts the slave mode structure, robot is made up of fuselage, traveling mechanism and detection device, detection device is a ultrasonic probe, be installed in the front fuselage of robot, be characterized in: at the robot afterbody one rubber disc (1) is arranged, fuselage is made of two cylindrical bodys, be divided into front portion (2) and rear portion (3) two-part, fore-body (2) is connected by universal joint (4) with rear portion (3); Traveling mechanism is a follower, is installed in fore-body (2) and rear portion (3) respectively.
2, petroleum pipeline detection machine people according to claim 1 is characterized in that: traveling mechanism is six groups of followers, and two wheels (5) are one group, and every group of wheel differs 120 degree, is installed in fore-body (2) and rear portion (3) respectively.
3, petroleum pipeline detection machine people according to claim 1, it is characterized in that: follower is by wheel (5), wheel carrier (6), main shaft (7), torsion spring (12) and slidercrank mechanism are formed, wheel (5) is installed on the wheel carrier (6), slidercrank mechanism comprises rotary disk (8), crank (9), slide block (10) and supporting frame (11) are formed, crank (9) one ends are arranged on rotary disk (8) edge, crank (9) the other end links to each other with slide block (10), slide block (10) the other end is connected with wheel carrier (6), rotary disk (8) is installed in the fuselage by supporting frame (11), and rotary disk (8) is enclosed within on the main shaft (7)..
4, petroleum pipeline detection machine people according to claim 1, it is characterized in that: the robot fuselage afterbody also is equipped with battery and data processing equipment in (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2005201445600U CN2937755Y (en) | 2005-12-12 | 2005-12-12 | Detection robot for petroleum pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2005201445600U CN2937755Y (en) | 2005-12-12 | 2005-12-12 | Detection robot for petroleum pipeline |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2937755Y true CN2937755Y (en) | 2007-08-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2005201445600U Expired - Fee Related CN2937755Y (en) | 2005-12-12 | 2005-12-12 | Detection robot for petroleum pipeline |
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| CN (1) | CN2937755Y (en) |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011103792A1 (en) * | 2010-02-24 | 2011-09-01 | Luo Yong | Device used for creeping on inner wall of pipeline |
| CN102392926A (en) * | 2011-10-18 | 2012-03-28 | 南京航空航天大学 | Pipe robot |
| CN102865432A (en) * | 2012-08-28 | 2013-01-09 | 浙江工业大学 | Walker in electric drive pipeline |
| CN103697285A (en) * | 2014-01-13 | 2014-04-02 | 浙江理工大学 | Wheel and crawler compounding radial adjustable pipeline robot |
| CN103727351A (en) * | 2013-12-10 | 2014-04-16 | 大连春光科技发展有限公司 | Pipeline crawling trolley |
| CN104565675A (en) * | 2014-06-20 | 2015-04-29 | 北京石油化工学院 | Pipeline detection robot |
| CN104816766A (en) * | 2015-04-26 | 2015-08-05 | 北京航空航天大学 | Foot earth contact detection mechanism suitable for legged robot |
| CN104896257A (en) * | 2015-04-20 | 2015-09-09 | 西南石油大学 | Circulating variable-pitch propeller pipeline robot |
| CN105437243A (en) * | 2015-12-17 | 2016-03-30 | 长安大学 | Multi-foot robot for removing trash in pipeline and working method |
| CN106224783A (en) * | 2016-09-08 | 2016-12-14 | 湖北工业大学 | A kind of magnetically-actuated pipe detection device |
| CN106324438A (en) * | 2016-10-19 | 2017-01-11 | 成都亚联科科技有限公司 | Mobile high-voltage cable detection device for electric power overhaul |
| CN106514662A (en) * | 2016-08-13 | 2017-03-22 | 浙江大学 | Submerged type pipeline welding joint polishing robot based on modular design |
| CN106594453A (en) * | 2017-01-23 | 2017-04-26 | 西安石油大学 | Automatic turning and creeping device |
| CN107339545A (en) * | 2017-07-15 | 2017-11-10 | 连雪芳 | A kind of flexible cone Screw Motion In-pipe Robot |
| CN108317339A (en) * | 2018-03-21 | 2018-07-24 | 华北理工大学 | A kind of pipeline rotation detection robot diameter changing mechanism |
| CN108488539A (en) * | 2018-03-12 | 2018-09-04 | 西安交通大学 | Actively all cloth Track-wheel type detecting robot of pipe of adaptive caliber change |
| CN110657315A (en) * | 2019-08-21 | 2020-01-07 | 中国石油天然气股份有限公司 | Self-crawling device in pipeline |
| CN110759018A (en) * | 2019-11-13 | 2020-02-07 | 徐州众信矿业科技有限公司 | Mining wall type conveying system |
| CN111043446A (en) * | 2019-11-20 | 2020-04-21 | 天津市万全设备安装有限公司 | Remote control robot for petroleum pipeline maintenance |
| CN111506077A (en) * | 2020-05-12 | 2020-08-07 | 上海众理环境科技有限公司 | Radial motion system and method of robot in pipe |
| CN111623192A (en) * | 2019-02-27 | 2020-09-04 | 香港理工大学 | Pipeline robot and system |
| CN117067234A (en) * | 2023-10-11 | 2023-11-17 | 常熟理工学院 | Full-coverage scanning imaging robot for smooth curvature inner wall |
-
2005
- 2005-12-12 CN CNU2005201445600U patent/CN2937755Y/en not_active Expired - Fee Related
Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011103792A1 (en) * | 2010-02-24 | 2011-09-01 | Luo Yong | Device used for creeping on inner wall of pipeline |
| CN102392926A (en) * | 2011-10-18 | 2012-03-28 | 南京航空航天大学 | Pipe robot |
| CN102392926B (en) * | 2011-10-18 | 2013-04-24 | 南京航空航天大学 | Pipe robot |
| CN102865432A (en) * | 2012-08-28 | 2013-01-09 | 浙江工业大学 | Walker in electric drive pipeline |
| CN103727351A (en) * | 2013-12-10 | 2014-04-16 | 大连春光科技发展有限公司 | Pipeline crawling trolley |
| CN103727351B (en) * | 2013-12-10 | 2016-01-27 | 大连大科科技咨询有限公司 | Pipeline crawl trolley |
| CN103697285B (en) * | 2014-01-13 | 2015-10-28 | 浙江理工大学 | A kind of wheel carries out compound radial adjustable pipeline robot |
| CN103697285A (en) * | 2014-01-13 | 2014-04-02 | 浙江理工大学 | Wheel and crawler compounding radial adjustable pipeline robot |
| CN104565675A (en) * | 2014-06-20 | 2015-04-29 | 北京石油化工学院 | Pipeline detection robot |
| CN104896257A (en) * | 2015-04-20 | 2015-09-09 | 西南石油大学 | Circulating variable-pitch propeller pipeline robot |
| CN104896257B (en) * | 2015-04-20 | 2016-10-05 | 西南石油大学 | Circulation variable-pitch propeller pipe robot |
| CN104816766A (en) * | 2015-04-26 | 2015-08-05 | 北京航空航天大学 | Foot earth contact detection mechanism suitable for legged robot |
| CN105437243A (en) * | 2015-12-17 | 2016-03-30 | 长安大学 | Multi-foot robot for removing trash in pipeline and working method |
| CN106514662B (en) * | 2016-08-13 | 2019-02-22 | 浙江大学 | Submersible pipeline-weld milling robot based on modularized design |
| CN106514662A (en) * | 2016-08-13 | 2017-03-22 | 浙江大学 | Submerged type pipeline welding joint polishing robot based on modular design |
| CN106224783A (en) * | 2016-09-08 | 2016-12-14 | 湖北工业大学 | A kind of magnetically-actuated pipe detection device |
| CN106324438A (en) * | 2016-10-19 | 2017-01-11 | 成都亚联科科技有限公司 | Mobile high-voltage cable detection device for electric power overhaul |
| CN106594453A (en) * | 2017-01-23 | 2017-04-26 | 西安石油大学 | Automatic turning and creeping device |
| CN107339545A (en) * | 2017-07-15 | 2017-11-10 | 连雪芳 | A kind of flexible cone Screw Motion In-pipe Robot |
| CN108488539B (en) * | 2018-03-12 | 2020-04-28 | 西安交通大学 | All-cloth crawler wheel type pipeline detection robot capable of actively and adaptively adapting to pipe diameter change |
| CN108488539A (en) * | 2018-03-12 | 2018-09-04 | 西安交通大学 | Actively all cloth Track-wheel type detecting robot of pipe of adaptive caliber change |
| CN108317339A (en) * | 2018-03-21 | 2018-07-24 | 华北理工大学 | A kind of pipeline rotation detection robot diameter changing mechanism |
| CN111623192A (en) * | 2019-02-27 | 2020-09-04 | 香港理工大学 | Pipeline robot and system |
| CN111623192B (en) * | 2019-02-27 | 2022-05-10 | 香港理工大学 | Pipeline robot and system |
| CN110657315A (en) * | 2019-08-21 | 2020-01-07 | 中国石油天然气股份有限公司 | Self-crawling device in pipeline |
| CN110759018A (en) * | 2019-11-13 | 2020-02-07 | 徐州众信矿业科技有限公司 | Mining wall type conveying system |
| CN111043446A (en) * | 2019-11-20 | 2020-04-21 | 天津市万全设备安装有限公司 | Remote control robot for petroleum pipeline maintenance |
| CN111506077A (en) * | 2020-05-12 | 2020-08-07 | 上海众理环境科技有限公司 | Radial motion system and method of robot in pipe |
| CN117067234A (en) * | 2023-10-11 | 2023-11-17 | 常熟理工学院 | Full-coverage scanning imaging robot for smooth curvature inner wall |
| CN117067234B (en) * | 2023-10-11 | 2023-12-22 | 常熟理工学院 | Full-coverage scanning imaging robot for smooth curvature inner wall |
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| CF01 | Termination of patent right due to non-payment of annual fee |