JP7416545B2 - Inspection instrument transport system with condition sensing function - Google Patents

Description

TECHNICAL FIELD The present application relates to the technical field of transport systems, and more particularly to a test instrument transport system with condition sensing functionality.

Pipeline integrity management is a huge system engineering, and risk analysis and safety assessment of data are the core of the entire system engineering. As a result, there is a demand for pipeline inspection using a pipeline inspection device before shipment. Pipeline inspection devices are also called pipeline inspection robots, and are currently divided into non-powered pipeline inspection devices and powered pipeline inspection devices.

Non-powered pipeline inspection equipment always requires a smart conveyance system to perform its work. The substance of the design of a powered pipeline tester requires that the entirety of the pipeline tester be inserted into the pipeline in order to carry out the test, and as such, the pipeline tester There is an inspection dead zone that cannot be inspected for a length of , and cutting this section wastes resources and increases manufacturing costs.

The tester transport system with condition sensing function in this application is such that unpowered pipeline testers require a smart transport system to perform their work, and powered pipeline testers require a pipeline tester. This was done to solve the problem of the existence of an inspection dead zone where the length cannot be inspected.

The inspection device transport system with a state detection function in the present application includes a pipeline transport device, a pig trap, a pig trap gripping device, a control device,
The pig trap gripping device is provided above the pipeline conveyance device, the pig trap gripping device is connected to the pig trap, the control device is connected to the pipeline conveyance device, the pig trap, and the pig trap gripping device, respectively, and the pig trap gripping device is connected to the pipeline conveyance device, the pig trap, and the pig trap gripping device, and The apparatus includes a pipeline conveyance frame, a first powered roller, a first hydraulic strut, and a fixed strut, the first powered roller being connected to a plurality of first conveying rollers and a first powered roller. The plurality of first conveyance rollers are arranged parallel to each other at sequential intervals on the pipeline conveyance frame, and the first power roller transmission member includes a power roller transmission member and a first power roller braking member. is connected to the first transport roller, the first powered roller braking member is connected to the first transport roller, the first hydraulic strut is hinged to the pipeline transport frame, and the fixed strut is connected to the pipeline transport frame. the pig trap gripper is hingedly connected to the pipeline transport frame, the fixed post is located at a rear end location of the pipeline transport frame, and the pig trap gripper includes the gripper frame, a first rail, a first linear drive mechanism; a robot arm and a second displacement sensor, the gripper frame is provided above the pipeline transfer frame, and the first linear drive mechanism is mounted on a first rail provided in the gripper frame. a robot arm is provided on the first linear drive mechanism, the robot arm is located below the first linear drive mechanism, the robot arm is connected to the pig trap, and the second displacement sensor is connected to the first linear drive mechanism. 1 linear drive mechanism.

Optionally, the conveying system further includes an auxiliary conveying device provided at the tip of the pipeline conveying device, coaxially with the pipeline conveying device, and connected to the control device, the auxiliary conveying device comprising an auxiliary conveying frame. a second powered roller, a second hydraulic strut, a tilting mechanism frame, a first electric cylinder, and a first mechanical tray, the second powered roller being connected to a plurality of second hydraulic columns; , a second power roller transmission member, and a second power roller braking member, the plurality of second transport rollers are arranged parallel to each other at sequential intervals on the auxiliary transport frame. provided, the second power roller transmission member is connected to the second conveyance roller, the second power roller braking member is connected to the second conveyance roller, and the second hydraulic strut is connected to the auxiliary conveyance frame. The number of second hydraulic struts is four, and the four second hydraulic struts are respectively located at four corners of the auxiliary transport frame, and the tilting mechanism frame is fixedly connected to the auxiliary transport frame. Fixedly connected, the tilt mechanism frame is located below the auxiliary transport frame, the first electric cylinder is provided on the tilt mechanism frame, and the first mechanical tray is provided on the first electric cylinder.

Optionally, the auxiliary transport device includes a second buffer bracket, a second auxiliary column, and a third displacement sensor, the second buffer bracket being fixedly connected to the auxiliary transport frame, and the second buffer bracket being fixedly connected to the auxiliary transport frame; a buffer bracket is provided below the auxiliary transport frame, a second auxiliary column is provided below the second buffer bracket, the second auxiliary column contacts the second buffer bracket, and a third auxiliary column is provided below the second buffer bracket; A displacement sensor is provided on the second hydraulic column.

Optionally, the conveying system further includes a pig trap receiving device disposed below the pipeline conveying frame and connected to the control device, the pig trap receiving device including the receiving device frame, the second rail and the second rail. a linear drive mechanism, a second electric cylinder, and a second mechanical tray, the receiver frame is fixedly connected to the pipeline transport frame, and the receiver frame is at a rear end location of the pipeline transport frame. the second rail is mounted on the receiver frame, the second linear drive mechanism is mounted on the second rail, the second electric cylinder is mounted on the second linear drive mechanism, and the second electric cylinder is mounted on the second linear drive mechanism; Two mechanical trays are provided on the second electric cylinder.

Optionally, the pig trap receiver further includes a third buffer bracket, a third auxiliary column, a fourth displacement sensor, and a limit switch, the third buffer bracket being fixed to the receiver frame. connected, a third buffer bracket is provided below the receiver frame, a third auxiliary post is provided below the third buffer bracket, and a third auxiliary post is provided below the third buffer bracket. In contact, the fourth displacement sensor is provided on the second linear drive mechanism, the limit switch is provided on the second rail, and the limit switch is located at the tip of the second rail.

Optionally, the conveying system further includes a centerline adjustment device provided on the pipeline conveyance frame and/or the auxiliary conveyance frame and connected to the control device, the centerline adjustment device comprising a pair of electric sliding tables; It includes an adjustment block and a distance sensor, the adjustment block and the distance sensor are installed on an electric slide table, and the electric slide table is installed on a pipeline conveyance frame and/or an auxiliary conveyance frame.

Optionally, the pipeline conveyance device includes a first buffer bracket, a first auxiliary strut, a first displacement sensor, a first tilt angle sensor, an infrared transmitter, an infrared receiver, further comprising: a first buffer bracket fixedly connected to the pipeline conveyance frame; the first buffer bracket provided below the pipeline conveyance frame; and a first auxiliary strut of the first buffer bracket. The first auxiliary strut is provided below, the first auxiliary strut is in contact with the first buffer bracket, the first displacement sensor is disposed on the first hydraulic strut, and the first tilt angle sensor is disposed on the pipeline conveying frame. The first inclination angle sensor is located at the rear end of the pipeline conveyance frame, and the infrared transmitter and the infrared receiver are installed as a pair on the pipeline conveyance frame. The infrared receivers are located on both sides of the pipeline conveying frame, and the optical path formed between the infrared transmitter and the infrared receiver is perpendicular to the central axis of the pipeline conveying frame, and the infrared transmitter and There are two pairs of infrared receivers, and the two pairs of infrared transmitters and infrared receivers are located at the tip of the pipeline conveyance frame.

Optionally, the pig trap includes a cylindrical pig trap case with openings at both ends, a sling, a first electric latch, a second electric latch, a first infrared ranging sensor, and a second electric latch. an infrared ranging sensor, a third infrared ranging sensor, and a second tilt angle sensor, the hanging device is provided on an upper outer wall of the pig trap case, and the hanging device is connected to the robot arm. the first motorized latch is fixed to the outer wall of one end of the pig trap case, the second motorized latch is fixed to the outer wall of the other end of the pig trap case, and the first infrared ranging sensor is fixed to the outer wall of one end of the pig trap case. The second infrared ranging sensor is provided on the outer wall of one end of the case, the second infrared ranging sensor is provided on the inner wall of one end of the pig trap case, and the third infrared ranging sensor is provided on the inner wall of the other end of the pig trap case. A second tilt angle sensor is provided on the pig trap case.

The inspection device transport system with a state detection function according to the present application includes a pipeline transport device, a pig trap, a pig trap gripping device, a control device, and the pig trap gripping device is provided above the pipeline transport device, The pig trap gripping device is connected to the pig trap case, and the control device is connected to the pipeline conveying device, the pig trap, and the pig trap gripping device, respectively. The conveying system can be used with both unpowered and powered pipeline testers, and there is no test dead zone. First displacement sensor, first inclination angle sensor, infrared transmitter, infrared receiver, first infrared ranging sensor, second infrared ranging sensor, third infrared ranging sensor, second inclination angle Using multiple types of sensors such as a sensor, a second displacement sensor, a distance sensor, a third displacement sensor, and a fourth displacement sensor, it is equipped with a state sensing function for the operating state of each mechanism, and is capable of automated pipeline transportation. and inspection can be effectively realized.

Below, in order to explain the technical solution of the present application more clearly, we will briefly introduce the drawings that need to be used in the examples, and those skilled in the art will be able to refer to these drawings without any creative effort. It is clear that other drawings can be obtained based on the drawings.
1 is a structural schematic diagram of a tester transport system with state sensing functionality as described in the present application; FIG. 1 is a front view of a tester transport system with condition sensing functionality as described herein. FIG. FIG. 2 is a plan view of an auxiliary transport device as described in the present application. 1 is a schematic diagram of an operating state of a tester transport system with state sensing functionality as described herein; FIG. 1 is a schematic diagram of a control device according to the present application; FIG. 1 is a schematic diagram of one embodiment of a tester transport system with condition sensing capabilities as described herein; FIG.

Hereinafter, embodiments will be described in detail with reference to the drawings. Where the following description refers to figures, the same numerals in different figures represent the same or similar elements, unless stated otherwise. The embodiments described in the following examples are not intended to represent all embodiments consistent with the present application. These are merely examples of systems and methods consistent with certain aspects of the present application, as particularly set forth in the claims.

Inspection methods for pipeline products mainly include visual inspection, penetrant testing, magnetic particle testing, leakage magnetic flux testing, eddy current testing, ultrasonic testing, and radiographic testing. However, most of the inspection methods can only inspect defects on or near the surface, and the work cycle is long. To overcome the above-mentioned drawbacks, pipeline inspection machines, also called pipeline inspection robots, can be used.

Pipeline testers can be divided into non-powered pipeline testers and powered pipeline testers. Non-powered pipeline inspection equipment always requires a smart conveyance system to perform its work. The substance of the design of a powered pipeline tester requires that the entirety of the pipeline tester be inserted into the pipeline in order to carry out the test, and as such, the pipeline tester There is an inspection dead zone that cannot be inspected for a length of , and cutting this section wastes resources and increases manufacturing costs. If used directly, there may be defects inside this part of the pipeline, and there is a risk of safety accidents.

As shown in FIG. 6, the inspection device transport system with a state detection function according to the present application includes a pipeline transport device 1, a pig trap 2, a pig trap gripping device 3, and a control device 7. The pig trap gripping device 3 is provided above the pipeline transport device 1 and is connected to the pig trap 2, and the control device 7 is connected to the pipeline transport device 1, the pig trap 2, and the pig trap gripping device 3, respectively.

The pipeline transport device 1 is used to transport a pipeline to be inspected. Pig trap 2 is used for launching and receiving pipeline testers. The pig trap gripping device 3 is used to transport the pig trap 2.

As shown in FIG. 5, the control device 7 is used to receive signals fed back from each sensor and to control the operation of each device and mechanism. As an example, the control device 7 may be a computer, a server, an industrial computer, a one-chip microcomputer, a PLC (Programmable Logic Controller), a DSP (digital signal processor), or an FPGA (Field Programmable Gate). Array, field The device may be a device having storage and calculation functions, such as a programmable gate array (programmable gate array) or an ASIC (application-specific integrated circuit), and the embodiments of the present application are not limited thereto.

The pipeline conveyance device 1 includes a pipeline conveyance frame 11 , a first power roller 12 , a first hydraulic strut 13 , and a fixed strut 14 . The first power roller 12 includes a plurality of first conveyance rollers, a first power roller transmission member, and a first power roller braking member. The first power roller transmission member is connected to the first conveyance roller, and the first power roller braking member is connected to the first conveyance roller. Ru.

The first power roller 12 is used to transport the pipeline to be inspected. The pipeline to be inspected is disposed on a first conveyance roller, and the first power roller transmission member controls the rotation of the first conveyance roller to convey the pipeline to be inspected to an area to be inspected. The power roller braking member controls the braking of the first conveying roller to clamp the pipeline to be inspected, thereby immovably fixing the pipeline to be inspected in the area to be inspected. inspection becomes easier.

The first hydraulic strut 13 is hinged to the pipeline conveying frame 11 , the fixed strut 14 is hinged to the pipeline conveying frame 11 , and the fixed strut 14 is located at the rear end of the pipeline conveying frame 11 do.

In the present application, the leading end is in the A-end direction shown in FIG. 1, and the rear end is in the B-end direction shown in FIG. The first hydraulic strut 13 is used to raise the pipeline transport frame 11. Since the rear end of the pipeline conveyance frame 11 is hingedly connected to the fixed column 14, when the first hydraulic column 13 moves the pipeline conveyance frame 11, the pipeline conveyance frame 11 is in an inclined state with its tip raised. becomes.

In an exemplary embodiment, the pipeline conveying device 1 includes a first buffer bracket 15, a first auxiliary strut 16, a first displacement sensor 17, a first tilt angle sensor 18, and an infrared transmitter. 19 and an infrared receiver 110. The first buffer bracket 15 is fixedly connected to the pipeline transport frame 11, the first buffer bracket 15 is provided below the pipeline transport frame 11, and the first auxiliary support strut 16 is connected to the pipeline transport frame 11. A first auxiliary support column 16 is provided below the first buffer bracket 15 and contacts the first buffer bracket 15 .

The first auxiliary support column 16 and the first buffer bracket 15 may be provided one or more and provide auxiliary support for the pipeline conveyance frame 11, and deformation of the pipeline conveyance frame 11 due to the weight of the pipeline to be inspected. Used to prevent

A first displacement sensor 17 is provided on the first hydraulic column 13 . The first displacement sensor 17 is used to detect the rising height of the first hydraulic column 13 and feed back the rising height data to the control device 7, and when a preset height is reached, the control device 7 The device 7 can control the first hydraulic strut 13 to stop raising.

The first inclination angle sensor 18 is provided at the rear end of the pipeline conveyance frame 11 . The first inclination angle sensor 18 is used to detect the inclination angle of the pipeline conveyance frame 11 and feed back the inclination angle data to the control device 7. If the inclination angle exceeds a set value, the control device 7 , the first hydraulic column 13 is interlocked and controlled to issue an alarm and adjust in the opposite direction.

The infrared transmitter 19 and the infrared receiver 110 are provided as a pair on the pipeline conveyance frame 11, and as shown in FIG. The optical path formed between the infrared transmitter 19 and the infrared receiver 110 is perpendicular to the central axis of the pipeline conveyance frame 11, and the number of infrared transmitters 19 and infrared receivers 110 is The two pairs of infrared transmitters 19 and infrared receivers 110 are located at the tip of the pipeline conveyance frame 11.

Of the two pairs of infrared transmitter 19 and infrared receiver 110, one pair is provided at the end point of the tip of the pipeline conveyance frame 11, and the other pair is provided at a preset distance from the end point of the tip. and the preset distance is smaller than the length of the pipeline to be inspected. When the pipeline to be inspected does not enter the area to be inspected, the optical path between the two pairs of infrared transmitters 19 and infrared receiver 110 is not interrupted, and when the pipeline to be inspected begins to enter the area to be inspected, the tip of the The optical path between the pair of infrared transmitters 19 and the infrared receiver 110 at the end point is blocked, and when the pipeline to be inspected completely enters the area to be inspected, the optical path between the pair of infrared transmitters 19 and the infrared receiver 110 at the end point of the tip is interrupted. The optical path with the transmitter 110 is not blocked, and the optical path with the other pair of infrared transmitter 19 and infrared receiver 110 is blocked. The infrared transmitter 19 and the infrared receiver 110 feed back a signal indicating whether the optical path is blocked to the control device 7, and the control device 7 controls the pipeline conveyance device 1 based on the fed back signal. , the pipeline to be inspected can enter the area to be inspected.

The pig trap gripping device 3 includes a gripping device frame 31, a first rail 32, a first linear drive mechanism 33, a robot arm (manipulator) 34, and a second displacement sensor 35. The gripper frame 31 is provided above the pipeline conveyance frame 11 , the gripper frame 31 is provided with a first rail 32 , and the first linear drive mechanism 33 is provided with the first rail 32 . The robot arm 34 is provided on the first linear drive mechanism 33 , the robot arm 34 is located below the first linear drive mechanism 33 , and the robot arm 34 is connected to the pig trap 2 .

As shown in FIG. 2, the robot arm 34 is used to hold the pig trap 2 and move the pig trap 2 up and down. The first linear drive mechanism 33 is used to drive the robot arm 34 to move on the first rail 32 and to enable the pig trap 2 to be moved to the front or rear end of the pipeline to be inspected. As an example, a rack is provided on the first rail 32, and the first linear drive mechanism 33 includes a slider mounted on the first rail 32, a stepping motor provided on the slider, and an output of the stepping motor. a gear mounted on the shaft and meshing with a rack on the first rail 32 to control rotation of the stepping motor to enable the slider to move on the first rail 32; Two sets of the first linear drive mechanism 33 and the robot arm 34 are provided, and the pig trap 2 can be more stably held using the two sets of the robot arm 34.

The second displacement sensor 35 is provided in the first linear drive mechanism 33. The second displacement sensor 35 is used to detect the displacement distance of the first linear drive mechanism 33 and feed back the displacement distance data to the control device 7, and the displacement distance is determined according to the length of the pipeline to be inspected. is set, and the control device 7 can control the first linear drive mechanism 33 to reach a preset displacement distance.

In the exemplary embodiment, the pig trap 2 includes a cylindrical pig trap case 21 that is open at both ends, a sling 22 provided on the upper outer wall of the pig trap case 21 and connected to a robot arm 34, and a cylindrical pig trap case 21 that is open at both ends. a first electric latch 23, a second electric latch 24, a first infrared distance measurement sensor 25, a second infrared distance measurement sensor 26, a third infrared distance measurement sensor 27, and a second inclination angle. A sensor 28 is included.

As an example, the robot arm 34 may be hinged to the sling 22 or may be removably connected to the sling 22 using a gripper method; is simple, and using the gripper method is more active and scalable.

The first electric latch 23 is fixed to the outer wall at one end of the pig trap case 21 , and the second electric latch 24 is fixed to the outer wall at the other end of the pig trap case 21 . The first electric latch 23 and the second electric latch 24 are used to block the pipeline inspection device and prevent the pipeline inspection device from falling from the openings at both ends during the transport process of the pig trap 2.

The first infrared ranging sensor 25 is provided on the outer wall at one end of the pig trap case 21, the second infrared ranging sensor 26 is provided on the inner wall at one end of the pig trap case 21, and the third infrared ranging sensor 26 is provided on the inner wall at one end of the pig trap case 21. The sensor 27 is provided on the inner wall of the other end of the pig trap case 21 .

As shown in FIG. 3, the first infrared distance measurement sensor 25 is used to detect the distance between the pig trap 2 and the pipeline to be inspected. The first infrared distance measuring sensor 25 feeds back the detected distance data to the control device 7, and the control device 7 controls the pig trap gripping device 3 based on the fed back distance data to hold the pig trap 2 and the pipe to be inspected. The distance to the line can be maintained within a preset range. The second infrared distance measurement sensor 26 and the third infrared distance measurement sensor 27 are used to detect the distance between the pipeline inspection device and the openings at both ends of the pig trap 2. The second infrared distance measurement sensor 26 and the third infrared distance measurement sensor 27 feed back detected distance data to the control device 7, and the control device 7 controls the first electric latch 23 based on the fed back distance data. and second motorized latch 24 can be controlled to enable separation of the pipeline tester from pig trap 2 or to prevent pigtrap 2 from receiving the pipeline tester.

A second tilt angle sensor 28 is provided in the pig trap case 21. The second inclination angle sensor 28 is used to detect the inclination angle of the pig trap case 21 and feed back the inclination angle data to the control device 7. When the inclination angle exceeds a set value, the control device 7 issues an alarm. emits.

In an exemplary embodiment, as shown in FIG. 1, the transport system further includes an auxiliary transport device 5. The auxiliary conveyance device 5 is provided at the tip of the pipeline conveyance device 1 so as to be coaxial with the pipeline conveyance device 1, and is connected to the control device 7.

The auxiliary conveyance device 5 is used to more accurately control the distance between the pig trap 2 and the pipeline to be inspected by auxiliary conveyance of the pig trap 2.

The auxiliary conveyance device 5 includes an auxiliary conveyance frame 51, a second power roller 51, a second hydraulic support column 53, a tilting mechanism frame 54, a first electric cylinder 55, and a first mechanical tray 56. including. The second power roller 52 includes a plurality of second conveyance rollers, a second power roller transmission member, and a second power roller braking member, and the second conveyance roller is sequentially attached to the auxiliary conveyance frame. Disposed parallel to each other at intervals, the second power roller transmission member is connected to the second conveyance roller, and the second power roller braking member is connected to the second conveyance roller.

The second power roller 52 is used to transport the pipeline to be inspected and the pig trap 2, and the function of the second power roller 52 is similar to that of the first power roller 12.

The second hydraulic struts 53 are fixedly connected to the auxiliary transport frame 51, the number of the second hydraulic struts 53 is four, and the four second hydraulic struts 53 are each connected to the auxiliary transport frame 51. Located at the four corners. The second hydraulic strut 53 is used to raise the auxiliary transport frame 51.

The tilt mechanism frame 54 is fixedly connected to the auxiliary transport frame 51, the tilt mechanism frame 54 is located below the auxiliary transport frame 51, the first electric cylinder 55 is provided on the tilt mechanism frame 54, and the first A mechanical tray 56 is provided on the first electric cylinder 55 . The first electric cylinder 55 is used to raise the first mechanical tray 56 and tilt the pig trap 2 by contacting the first mechanical tray 56 with the pig trap 2 .

In the exemplary embodiment, the auxiliary transport device 5 includes a second buffer bracket 57 , a second auxiliary column 58 and a third displacement sensor 59 . The second buffer bracket 57 is fixedly connected to the auxiliary transport frame 51 , the second buffer bracket 57 is provided below the auxiliary transport frame 51 , and the second auxiliary column 58 is connected to the second buffer bracket 57 . A second auxiliary support column 58 provided below contacts the second buffer bracket 57 .

The second auxiliary support column 58 and the second buffer bracket 57 may be provided one or more and provide auxiliary support for the auxiliary transport frame 51 and prevent deformation of the auxiliary transport frame 51 due to the weight of the pipeline to be inspected. used for

A third displacement sensor 59 is provided on the second hydraulic column 53. The third displacement sensor 59 is used to detect the rising height of the second hydraulic strut 53 and feed back the rising height data to the control device 7, and when it reaches a preset height, The control device 7 can control the second hydraulic strut 53 to stop raising.

In the exemplary embodiment, the conveying system further comprises a pig trap receiving device 6 provided below the pipeline conveying frame 11 and connected to the control device 7 .

The pig trap receiving device 6 is used to further stabilize the pig trap 2 at the rear end of the pipeline to be inspected by auxiliary receiving the pig trap 2 at the rear end of the pipeline to be inspected.

The pig trap receiver 6 includes a receiver frame 61 , a second rail 62 , a second linear drive mechanism 63 , a second electric cylinder 64 , and a second mechanical tray 65 . The receiving device frame 61 is fixedly connected to the rear end portion of the pipeline conveying frame 11 , the second rail 62 is provided on the receiving device frame 61 , and the second linear drive mechanism 63 is connected to the second rail 62 . A second electric cylinder 64 is provided on the second linear drive mechanism 63 , and a second mechanical tray 65 is provided on the second electric cylinder 64 .

A second linear drive mechanism 63 is used to drive a second electric cylinder 64 and a second mechanical tray 65 to move on the second rail 62 . As an example, a rack is provided on the second rail 62, and the second linear drive mechanism 63 is provided with a slider attached to the second rail 62, a stepping motor provided on the slider, and an output shaft of the stepping motor. and a gear that meshes with a rack on the second rail 62 to enable the slider to move on the second rail 62 by controlling rotation of the stepping motor. Two sets of the second linear drive mechanism 63, the second electric cylinder 64, and the second mechanical tray 65 are provided, and the two sets of the second mechanical tray 65 are used to more stably receive the pig trap 2. be able to.

In the exemplary embodiment, the pig trap receiving device 6 further includes a third buffer bracket 66, a third auxiliary column 67, a fourth displacement sensor 68, and a limit switch 69. The bracket 66 is fixedly connected to the receiver frame 61 , the third buffer bracket 66 is provided below the receiver frame 61 , and the third auxiliary column 67 is provided below the third buffer bracket 66 . , the third auxiliary strut 67 contacts the third buffer bracket 66.

One or more third buffer brackets 66 and third auxiliary supports 67 may be provided, and provide auxiliary support to the receiver frame 61 to prevent deformation of the receiver frame 61 due to the weight of the pipeline to be inspected. used for

The fourth displacement sensor 68 is provided in the second linear drive mechanism 63. The fourth displacement sensor 68 is used to detect the displacement distance of the second linear drive mechanism 63 and feed back the displacement distance data to the control device 7, and is used to detect the displacement distance according to the length of the pipeline to be inspected. is set, and the control device 7 can control the second linear drive mechanism 63 to reach a preset displacement distance.

The limit switch 69 is provided at the tip of the second rail 62 and is used to limit the stroke of the second linear drive mechanism 63.

In the exemplary embodiment, the conveying system further comprises a centerline adjustment device 4 provided on the pipeline conveying frame 11 and/or on the auxiliary conveying frame 51 and connected to the control device 7. The center line adjustment device 4 includes a pair of electric slide table 41, an adjustment block 42, and a distance sensor 43. The adjustment block 42 and the distance sensor 43 are provided on the electric slide table 41, and the electric slide table 41 are provided on the pipeline conveyance frame 11 and/or the auxiliary conveyance frame 51.

As shown in FIG. 2, the centerline adjustment device 4 is used to adjust the pipeline to be inspected and/or the pig trap 2 to position it on the central axis of the pipeline conveyance frame 11. The electric slide table 41 drives and operates the adjustment block 42. The electric slide tables 41 are arranged symmetrically on both sides of the pipeline to be inspected. The distance sensor 43 is used to detect the distance on both sides of the pipeline to be inspected and feed back the distance data to the control device 7. If the distance data on both sides of the pipeline to be inspected exceeds a set value, the control device 7 , by controlling the operation of the electric slide table 41, the adjustment block 42 is brought into contact with the pipeline to be inspected, and the pipeline to be inspected is adjusted to be located on the central axis of the pipeline conveyance frame 11. As an example, the distance sensor 43 can be an ultrasonic sensor, and the adjustment block 42 can be in the form of a roller.

During operation, assuming that the pipeline inspection device is non-powered, the pipeline inspection device is mounted in the pig trap 2, and the first electric latch 23 and the second electric latch 24 in the pig trap 2 are Close it and block the pipeline inspector inside it. The pig trap holding device 3 holds the pig trap 2 and holds it in the air. The pipeline to be inspected is conveyed from the tip to the inspection area by the second power roller 52 of the auxiliary conveyance device 5, and a pair of infrared transmitter 19 and an infrared receiver 110 are placed at the end point of the tip of the pipeline conveyance frame 11. This indicates that the pipeline to be inspected begins to enter the area to be inspected when the optical path between the pair of infrared transmitters 19 and the infrared receiver 110 at the end point of the pipeline conveyance frame 11 is interrupted. is not blocked and the optical path between the other pair of infrared transmitter 19 and infrared receiver 110 is blocked, indicating that the pipeline to be inspected has completely entered the area to be inspected; in this case, the control device 7 controls the first power roller 12 so that the pipeline to be inspected stays in the area to be inspected. During the process of transporting the pipeline to be inspected, the centerline adjustment device 4 constantly adjusts the pipeline to be inspected so that the pipeline to be inspected is positioned on the central axis of the pipeline transport frame 11 .

The control device 7 causes the first hydraulic column 13 and the second hydraulic column 53 to rise to a preset height based on the inspection data of the first displacement sensor 17 and the third displacement sensor 59. control so that the pipeline conveying frame 11 and the pipeline to be inspected are tilted. The first inclination angle sensor 18 detects the inclination angle of the pipeline conveyance frame 11, and the control device 7 issues an alarm when the inclination angle exceeds a set value, and controls the first hydraulic pressure to perform reverse adjustment. The pillars 13 are controlled in conjunction with each other.

As shown in FIG. 4, the pig trap holding device 3 places the pig trap 2 on the auxiliary transport device 5, and detects the distance between the pig trap 2 and the pipeline to be inspected using the first infrared distance measuring sensor 25 in the pig trap 2. The control device 7 then controls the auxiliary conveyance device 5 and the centerline adjustment device 4 to finely adjust the pig trap 2 so that the distance from the pipeline to be inspected satisfies a preset value. The control device 7 controls the first electric latch 23 to open, and controls the first electric cylinder 55 to raise the first mechanical tray 56. The contact of the first mechanical tray 56 with the pig trap 2 causes the pig trap 2 to tilt, and the inspection begins when the pipeline tester enters the pipeline to be inspected from the pig trap 2 due to gravity. The second tilt angle sensor 28 detects the tilt angle of the pig trap 2, and the control device 7 issues an alarm when the tilt angle exceeds a set value.

When the second infrared distance measurement sensor 26 detects that the pipeline inspection device has left the pig trap 2, the control device 7 controls the first electric latch 23 to close, and controls the robot arm 34 to close the pig trap 2. 2 is raised, and then the first linear drive mechanism 33 is controlled to move it to the rear end of the pipeline to be inspected. The moving distance of the first linear drive mechanism 33 is set according to the length of the pipeline to be inspected, and the second displacement sensor 35 detects the moving distance of the first linear drive mechanism 33. Further, the moving distance of the second linear drive mechanism 63 is detected by the fourth displacement sensor 68, and the pig trap receiving device 6 is also controlled to move to the rear end of the pipeline to be inspected. After the pig trap receiving device 6 reaches the receiving position, the controller 7 controls the second electric cylinder 64 to raise the second mechanical tray 65 to the receiving position, and then controls the robot arm 34 to raise the pig trap receiving position. 2 on the second machine tray 65 and open the second motorized latch 24.

After the inspection is completed, the pipeline inspection device enters the pig trap 2 from the rear end of the pipeline to be inspected, and when the third infrared ranging sensor 27 detects that the pipeline inspection device has entered the pig trap 2. , the control device 7 controls the second electric latch 24 to close, and then controls the pig trap gripping device 3 to transport the pig trap 2 to the initial position of the tip, and also controls the pig trap receiving device 6, the first liquid The pressure strut 13 and the second hydraulic strut 53 are controlled to return to their initial positions. Finally, the pipeline transport device 1 is controlled to transport the pipeline to be inspected to the next process, completing one inspection work.

If the pipeline inspection device is powered, the whole inspection process is the same as the above process, but there is no need to control the elevation of the first hydraulic strut 13 and the second hydraulic strut 53, and the pipeline The difference is that the inspection starts when the inspection device is located in the pig trap 2, and there is no inspection dead zone after entering the pipeline to be inspected.

The inspection device transport system with a state detection function according to the present application includes a pipeline transport device 1, a pig trap 2, a pig trap gripping device 3, and a control device 7. The pig trap gripping device 3 is connected to the pig trap case 2, and the control device 7 is connected to the pipeline conveying device 1, the pig trap 2, and the pig trap gripping device 3, respectively. The conveying system can be used with both unpowered and powered pipeline testers, and there is no test dead zone. First displacement sensor 17, first tilt angle sensor 18, infrared transmitter 19, infrared receiver 110, first infrared distance sensor 25, second infrared distance sensor 26, third infrared distance sensor 27, using multiple types of sensors such as the second tilt angle sensor 28, the second displacement sensor 25, the distance sensor 43, the third displacement sensor 59, and the fourth displacement sensor 68, to determine the operating state of each mechanism. It is equipped with a condition sensing function and can effectively realize automated pipeline transportation and inspection.

Similar parts between the embodiments of the present application may be mutually referred to, and the specific embodiments described above are only some examples in the overall concept of the present application, which may limit the protection scope of the present application. It's not something you do. Those skilled in the art will realize that any other embodiments that can be extended based on the solution of the present application without any creative efforts will fall within the scope of protection of the present application.

1 Pipeline conveyance device 11 Pipeline conveyance frame 12 First power roller 13 First hydraulic strut 14 Fixed strut 15 First buffer bracket 16 First auxiliary strut 17 First displacement sensor 18 First inclination angle Sensor 19 Infrared transmitter 110 Infrared receiver 2 Pig trap 21 Pig trap case 22 Hanging tool 23 First electric latch 24 Second electric latch 25 First infrared ranging sensor 26 Second infrared ranging sensor 27 Third Infrared ranging sensor 28 Second tilt angle sensor 3 Pig trap gripping device 31 Gripping device frame 32 First rail 33 First linear drive mechanism 34 Robot arm 35 Second displacement sensor 4 Center line adjustment device 41 Electric slide table 42 Adjustment block 43 Distance sensor 5 Auxiliary conveyance device 51 Auxiliary conveyance frame 52 Second power roller 53 Second hydraulic column 54 Tilt mechanism frame 55 First electric cylinder 56 First mechanical tray 57 Second buffer bracket 58 2 auxiliary column 59 3rd displacement sensor 6 pig trap receiving device 61 receiving device frame 62 2nd rail 63 2nd linear drive mechanism 64 2nd electric cylinder 65 2nd mechanical tray 66 3rd buffer bracket 67 th 3 auxiliary column 68 4th displacement sensor 69 limit switch 7 control device

Claims (9)

An inspection device transport system having a function of sensing movement of a pipeline inspection device,
including a pipeline conveyance device, a pig trap, a pig trap gripping device, and a control device;
The pig trap gripping device is provided above the pipeline conveyance device, the pig trap gripping device is connected to the pig trap,
The control device is connected to the pipeline conveying device, the pig trap, and the pig trap gripping device, respectively,
The pipeline transport device is used to transport a pipeline to be inspected,
The pig trap is used to launch and receive the pipeline tester, and the pipeline tester enters the pipeline to be inspected from the pig trap and performs the test;
The pig trap gripping device is used for transporting the pig trap,
The pipeline conveyance device includes a pipeline conveyance frame, a first power roller, a first hydraulic strut, and a fixed strut,
The first power roller includes a plurality of first conveyance rollers, a first power roller transmission member, and a first power roller braking member, and the plurality of first conveyance rollers are connected to the pipe. are arranged parallel to each other at sequential intervals on the line conveyance frame ,
the first power roller transmission member is connected to the first conveyance roller,
the first power roller braking member is connected to the first conveyance roller,
the first hydraulic strut is hinged to the pipeline transport frame, the first hydraulic strut is used to raise the pipeline transport frame;
the fixed strut is hinged to the pipeline conveyance frame, the fixed strut is located at a rear end of the pipeline conveyance frame;
The pig trap gripper includes a gripper frame, a first rail, a first linear drive mechanism, a robot arm, and a second displacement sensor;
the gripping device frame is provided above the pipeline conveyance frame;
The first linear drive mechanism is provided on a first rail provided on the gripping device frame,
the robot arm is provided on the first linear drive mechanism, the robot arm is located below the first linear drive mechanism, and the robot arm is connected to the pig trap;
The second displacement sensor is provided in the first linear drive mechanism and detects a displacement distance of the first linear drive mechanism.
An inspection instrument transport system characterized by: The conveyance system further includes an auxiliary conveyance device provided at the tip of the pipeline conveyance device, coaxially with the pipeline conveyance device, and connected to the control device,
The auxiliary conveyance device includes an auxiliary conveyance frame, a second power roller, a second hydraulic column, a tilting mechanism frame, a first electric cylinder, and a first mechanical tray,
The second power roller includes a plurality of second transport rollers, a second power roller transmission member, and a second power roller braking member, and the plurality of second transport rollers include a plurality of second transport rollers, a second power roller transmission member, and a second power roller braking member. are arranged parallel to each other at sequential intervals on the conveyor frame,
the second power roller transmission member is connected to the second conveyance roller,
the second power roller braking member is connected to the second conveyance roller;
The second hydraulic struts are fixedly connected to the auxiliary transport frame, and the number of the second hydraulic struts is four, and each of the four second hydraulic struts is connected to the auxiliary transport frame. Located at the four corners,
the tilt mechanism frame is fixedly connected to the auxiliary transport frame, the tilt mechanism frame is located below the auxiliary transport frame,
the first electric cylinder is provided in the tilting mechanism frame,
the first mechanical tray is provided on a first electric cylinder;
The test device transport system according to claim 1, characterized in that: The auxiliary conveyance device includes a second buffer bracket, a second auxiliary support column, and a third displacement sensor,
the second buffer bracket is fixedly connected to the auxiliary transport frame, the second buffer bracket is provided below the auxiliary transport frame,
the second auxiliary strut is provided below the second buffer bracket, the second auxiliary strut contacts the second buffer bracket,
the third displacement sensor is provided on the second hydraulic column;
The test device transport system according to claim 2, characterized in that: The conveying system further includes a pig trap receiving device provided below the pipeline conveying frame and connected to the control device,
The pig trap receiver includes a receiver frame, a second rail, a second linear drive mechanism, a second electric cylinder, and a second mechanical tray;
the receiving device frame is fixedly connected to the pipeline conveying frame, the receiving device frame is located at a rear end location of the pipeline conveying frame;
the second rail is provided on the receiving device frame;
The second linear drive mechanism is provided on the second rail,
the second electric cylinder is provided in the second linear drive mechanism,
the second mechanical tray is provided on the second electric cylinder;
The test device transport system according to claim 1, characterized in that: The pig trap receiving device further includes a third buffer bracket, a third auxiliary column, a fourth displacement sensor, and a limit switch,
the third buffer bracket is fixedly connected to the receiver frame, the third buffer bracket is provided below the receiver frame;
the third auxiliary strut is provided below the third buffer bracket, the third auxiliary strut contacts the third buffer bracket,
the fourth displacement sensor is provided in the second linear drive mechanism,
The limit switch is provided on the second rail, and the limit switch is located at a tip of the second rail.
The test device transport system according to claim 4, characterized in that: The conveyance system further includes a centerline adjustment device provided on the pipeline conveyance frame and/or the auxiliary conveyance frame and connected to the control device,
The centerline adjustment device includes a pair of electric slide tables, an adjustment block, and a distance sensor,
The adjustment block and distance sensor are provided on the electric slide table,
The electric slide table is provided on the pipeline conveyance frame and/or the auxiliary conveyance frame,
The tester transport system according to claim 1 or 2, characterized in that: The pipeline conveyance device further includes a first buffer bracket, a first auxiliary support column, a first displacement sensor, a first tilt angle sensor, an infrared transmitter, and an infrared receiver,
the first buffer bracket is fixedly connected to the pipeline transport frame, the first buffer bracket is provided below the pipeline transport frame,
the first auxiliary strut is provided below the first buffer bracket, the first auxiliary strut contacts the first buffer bracket,
the first displacement sensor is provided on the first hydraulic column;
the first inclination angle sensor is provided on the pipeline conveyance frame, the first inclination angle sensor is located at a rear end of the pipeline conveyance frame,
The infrared transmitter and the infrared receiver are provided as a pair on the pipeline transport frame, and the infrared transmitter and the infrared receiver are respectively located on both sides of the pipeline transport frame,
an optical path formed between the infrared transmitter and the infrared receiver is perpendicular to the central axis of the pipeline conveying frame;
The number of the infrared transmitters and the infrared receivers is two pairs, and the two pairs of the infrared transmitters and the infrared receivers are located at the tip of the pipeline conveyance frame.
The test device transport system according to claim 1, characterized in that: The pig trap includes a cylindrical pig trap case with openings at both ends, a hanging device, a first electric latch, a second electric latch, a first infrared distance measurement sensor, and a second infrared distance measurement sensor. including a distance sensor, a third infrared distance measurement sensor, and a second tilt angle sensor,
The hanging tool is provided on an upper outer wall of the pig trap case, the hanging tool is connected to the robot arm,
the first electric latch is fixed to an outer wall of one end of the pig trap case;
the second electric latch is fixed to an outer wall of the other end of the pig trap case;
The first infrared ranging sensor is provided on an outer wall of one end of the pig trap case,
The second infrared ranging sensor is provided on an inner wall of one end of the pig trap case,
The third infrared ranging sensor is provided on the inner wall of the other end of the pig trap case,
the second tilt angle sensor is provided in the pig trap case;
The test device transport system according to claim 1, characterized in that: the pig trap gripping device is used to place the pig trap on an auxiliary transport device of the transport system;
The first infrared ranging sensor is used to detect a distance between the pig trap and the pipeline to be inspected,
The control device is used to adjust the pig trap so that the distance from the pipeline to be inspected satisfies a preset value by controlling the auxiliary conveyance device and the centerline adjustment device of the conveyance system,
the second tilt angle sensor is used to detect the tilt angle of the pig trap;
The control device is used to issue an alarm if the tilt angle exceeds a set value.
The test device transport system according to claim 8, characterized in that:

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