RU117568U1 - SYSTEM FOR MOVING DIAGNOSTIC DEVICES - Google Patents

Abstract

1. A system for moving diagnostic devices during non-destructive testing, connected, respectively, to a control unit, the inputs of which are connected to the power supply and control outputs to an external control device, and the outputs are connected to each of the inputs of a gear motor, which includes a motor combined with a gearbox, on the axle of which wheels are installed, and gear motors with wheels are mounted on a trolley, on which diagnostic tools are also located, characterized in that all wheels of the cart are all-wheel drive, with the possibility of their rotation in different directions, and the wheel itself consists of an even number of magnetic sectors , located on a hub mounted on the gearbox shaft, forming a motor-wheel, and the magnetization of each magnetic sector is performed along a radius with docking with each other by the poles of the same name. ! 2. The system for moving according to claim 1, characterized in that the magnetic sectors are made of rare-earth permanent magnets, and the wheel contacts the controlled surface through a tire, about 1.0-1.5 mm thick.

Description

The utility model relates to the field of instrumentation, in particular, to autonomous self-propelled means for moving diagnostic devices used for quality control of various parts, products, materials, as well as welds of pipe and other joints with X-ray, ultrasound, acoustic and other non-destructive testing methods .

The invention is known that relates to non-destructive testing of material and products by the ultrasonic method and can be used for inspection of products of predominantly cylindrical shape, for example, pipes used in the oil and gas industry: casing, drill and tubing. A device for ultrasonic inspection of pipes includes a base, in the form of a platform, installed on it, at least one ultrasonic transducer of normal waves connected to an ultrasonic flaw detector. The device also includes a reservoir for contact fluid, hydraulically connected with the control zone under the ultrasonic transducer, and a unit for fixing the base relative to the surface of the pipes. The base fixation unit relative to the pipe surface is made in the form of four magnetic wheels mounted on the base on swinging levers with the possibility of fixing their mutual angular position when the base is mounted on the surface of pipes of a certain diameter, each magnetic wheel is made in the form of an annular magnet with two ring disks fixed to its ends and made of magnetic material, and the ring magnet with ring disks mounted on bearings placed on a non-magnetic heart nick rigidly secured to the pivot arm, wherein the annular disks are made of steel, and their outer diameter greater than the outer diameter of the annular magnet.

The known device has the following disadvantages: the device is moved manually by rotating the magnetic wheels in the bearings; to avoid spontaneous movement along a non-linear surface, it is necessary to fix the device on the pipe; contact with the pipe is due to the ring disks adjacent to the permanent magnet, therefore, its magnetization is carried out in the direction of the end surfaces, which does not provide an optimal distribution of magnetic energy.

The invention is known relating to industrial vehicles, in particular, to self-propelled devices for moving various technological equipment on ferromagnetic surfaces of any spatial orientation (RF patent No. 2051058, publ. 12/27/1995). The essence of the invention lies in the fact that the design of the vehicle contains a technological platform based on drive modules, each of which contains magnetic wheels, gearboxes, electric motors and can be considered as an independent functional element. The use of drive modules allows automatic rearrangement of the magnetic wheels mounted on the module in order to be able to move in two mutually perpendicular directions without turning the platforms, and the attachment devices of the drive modules to the platform provide good adaptability of the magnetic wheels of the module to the configuration of the ferromagnetic surface. To rearrange the magnetic wheels, a pneumatic mechanism is used, which allows for reliable and efficient change of vehicle movement modes.

Each drive module includes a wheel block for longitudinal movement, a wheel block for lateral movement, a distribution gear, an electric motor with a gear for driving the main movement of the module. All of these nodes are mounted on a U-shaped frame, which is attached to the mounting frame via a swivel joint. The mounting frame is mounted with the possibility of pivoting about the axis on a sliding caliper, through which the entire drive module is connected to the guide rail and fixed in a predetermined position by a screw. Thrust pins limit the rotation of the mounting frame within an angle of 20 °.

The design of each wheel block includes a stepper motor mounted on the cover of a single-acting pneumatic cylinder, the piston of which is connected by a screw to the output shaft of the stepper motor. The rod of the pneumatic cylinder is rigidly connected either to the wheel node of the lateral movement, or to the wheel node of the longitudinal movement.

The wheel node of the transverse movement consists of a support frame moving along the sliding guides made on the U-shaped frame and the housing of the distribution gear, and mounted on the support frame of the magnetic wheel of the transverse movement. The magnetic wheel is rigidly connected to the gear shaft of the transmission of torque from the output shaft of the cam gear.

The wheel node of the longitudinal movement includes a flat truss, in the middle part of which a gear shaft with a gear is installed. Two sprockets are fixed on the opposite end of the shaft to be transmitted via chains of rotation of the shaft to the magnetic wheels of longitudinal movement, which are mounted at the ends of the flat truss and are driven by a sprocket. In this case, the design dimensions of the magnetic wheels of the longitudinal movement of the drive module are selected so that the total force of their pressing against the ferromagnetic surface is equal to the force of pressing the lateral movement of the magnetic wheel to the surface.

The known invention increases the functionality and reliability of moving a vehicle on ferromagnetic surfaces of various configurations and orientations in space, but this is achieved due to the complexity of the design and creates difficulties in its operation, because when changing the surface configuration or the direction of movement, the drive modules have to be reconfigured, which reduces the efficiency of the device.

The most famous vehicles are self-propelled vehicles (crawlers) designed to be used as an X-ray source for automated control of welded joints of pipelines by panoramic scanning. The crawler is a kit consisting of a self-propelled cart powered by a battery, the main X-ray emitter for radiography, and a command apparatus for controlling the movement of the crawler. Crawlers are available in several versions, designed for different diameters of pipelines, and differ in overall dimensions and design features, depending on their use inside or outside the pipe. ("Crowler" produced by the English company Solus Schall).

The crawler contains a motorized trolley that allows the unit to move along the pipe. Motor gearboxes are mounted on the frame (an engine combined with a gearbox). Each gear motor is electrically connected to the motor control unit, consisting of the number of motor controllers, corresponding to the number of drive wheels. Usually two drive wheels are used, but four can be used. (Prospectus of the company JME (England) Crowlers, Representative office of the company in Russia LLC Russian-British Enterprise Spectrum NTD, 2005).

The disadvantages of the known devices are the insufficiently efficient movement mechanism due to the parallel connection of electric motors with the motor controller, the low reliability of the movement mechanism due to the use of collector motors in gear motors, and the fact that the gearboxes have different shaft outputs, which can the wheel is attached, it can be on the right side of the gear case or on the left, i.e. they are not interchangeable, which creates certain difficulties when acquiring new gearboxes. All this reduces the efficiency and reliability of the device.

The closest technical solution to the claimed utility model is a utility model, protected by RF patent No. 103165, published March 27, 2011. The utility model relates to the field of instrumentation, in particular, to stand-alone self-propelled x-ray units designed to control the quality of welded joints, for example, gas and oil pipelines from the inside, and can be used in the energy, gas, oil and gas industries, with surface and underwater laying product pipelines.

The system for moving diagnostic devices comprises a control unit connected to a panoramic x-ray source, while its first and second inputs are connected, respectively, to an external control device and a power supply, and its control outputs are connected to motor controllers, according to the number of driving pairs of wheels, the control unit is connected to each motor controller, each of which in turn is bi-directionally connected to a motor controlled by it, combined with a gearbox, on the axis of which claimed wheel, thus as brushless motors, stepping motors are used. The wheels are mounted directly on the axis of the gearbox and move the unit along the pipe. Usually use two driving wheels.

The operation of the system for moving diagnostic devices is as follows. Operator control commands are sent to the processor for processing. Depending on the received commands, control signals are sent from the processor to the motor controllers, which, in turn, control the motors of the gear motors to carry out the process of moving the drive wheels. Depending on the signal from the motor controller, the system moves forward or backward to the point of control. After the system stops, a command is issued to the panoramic X-ray source. The results are sent to the processing system. The system moves to the next place to control the weld or along the surface of the controlled object.

The disadvantages of the device are that the fixation of the position of the system for moving the diagnostic devices is actually carried out through the use of a stepper motor, as well as the complexity of the control unit for the pairs of drive wheels. Each leading pair has an intermediate control element - motor - controller. This reduces the operational qualities of the system for moving diagnostic devices and reduces the possibilities of application and the reliability of its operation.

The technical task of the claimed utility model is to improve the performance of the moving system of the diagnostic device, expand its applicability and reliability of fixing the position of the system.

The technical result is achieved due to the fact that in the known system for moving diagnostic devices during non-destructive testing, respectively connected to the control unit, the inputs of which are connected to the power supply and control outputs with an external control device, and the outputs are connected to each of the inputs of the gearmotor, representing the engine, combined with the gearbox, on the axis of which the wheels are installed, and gearmotors with wheels are mounted on the trolley on which the means of diagnosis are located sticks changes are made, namely;

- all wheels of the trolley are driving (all-wheel drive), placed directly on the shaft of the corresponding gearbox, forming a motor-wheel, with the possibility of rotation of each of them in different directions;

- the wheel consists of an even number of magnetic sectors located on the hub, mounted on the gear shaft, and each sector is magnetized along the radis and they are joined by the same poles and made of rare earth magnets;

- the magnetic wheel is in contact with the controlled surface through a thin bus, about 1.0-1.5 mm thick.

In addition, as a control unit, you can use a processor equipped with special programs containing commands for moving the cart and diagnosing the controlled object.

The inventive system for moving the diagnostic device is illustrated by the following graphic materials:

In FIG. 1 - a general block is given — a diagram of a diagnostic system, using acoustic vibrations as an example of non-destructive testing, which can be used both for quality control of welded joints in pipelines and for railways in diagnosing wheel sets, carriage carriages, etc.

In FIG. 2 - schematically shows the design of a device for moving diagnostic devices, and in FIG. 3 - construction of a magnetic wheel.

In FIG. 1 shows a control unit 1, gear motors 2, the number of which depends on the number of magnetic wheels 3 of the cart 10 of the system for moving diagnostic devices. The gearmotor includes a reversible motor 2 "a" and a gearbox 2 "b", which are connected to the carriage 10. An electromagnetic drummer 4 is placed on the carriage 10 to excite acoustic vibrations in the controlled object. Acoustic free vibrations are received by the laser sensor 9 and the received signals are processed in the electronic unit (EBOS). Figure 1 shows the power supply 8, which, depending on its type, can be placed separately or directly on the trolley 10.

In FIG. 2 shows the design of the trolley 10 and the connection of the motor wheels (poses 2 and 3) with it, as well as the placement of an electromagnetic striker 4 on it.

In FIG. 3 shows the construction of the magnetic wheel, which consists of a tire 5, magnetic sectors 6 (in Fig. 3, 4 sectors are shown, but the more of them, the better, but there must be an even number), mounted on the wheel hub 3.

In statics, motor-wheels (2, 3) form the front and rear wheelsets. In each of the wheelsets, the motor-wheels are aligned, if we consider the common axis of the axis of rotation of the wheels and symmetrically with respect to the axis of the housing (shown by arrow). Each of the motor wheels has independent control and can rotate both forward and backward. In this case, the rotation speed of each of the motor wheels can also be set independently, since each equipped with an autonomous drive.

The magnetic sectors 6 are made of rare-earth superpower magnets, while the poles of each of the sectors are located so that the poles of the magnets are located along the radius of the wheel, while the same poles are the same for each sector. For example, as shown in Fig. 2. The number of sectors on the wheel is four or more. Heavy duty magnets allow the cart 10 to be held on a ferromagnetic surface and moved along it in any position. The tire must necessarily be thin, with a thickness of not more than 1-1.5 mm, which improves the adhesion of the wheel to the surface.

The movement of the cart 10 on the surface is due to the rotation of the wheels. In this case, the system can move forward or backward in a straight line, along an arc with a given radius, or - rotate in place.

Rectilinear movement occurs when all the wheels rotate in the same direction at the same speed.

Moving along an arc - when the left pair of wheels rotates with the same speed, and the right one also with the same speed, but the rotation speeds of the left and right pairs of wheels are different from each other.

The rotation in place is carried out when the left and right pairs of wheels rotate in the opposite direction.

We consider the operation of the movement system using the example of the quality control of a pipe weld, independently intended for what.

For the correct functioning of the complex, it is not necessary to clean the surface of the pipe along the edges of the seam. A laser transducer 9 and a trolley 10 (crawler) connected to an EBOS are installed on the heat-affected surface of the pipe with an electromagnetic hammer 4 mounted on it, and the crawler is installed on the other side of the seam from the transducer 9 so that when moving along the pipe surface it can move parallel to the seam around the entire circumference of the pipe, but the hammer 4 is located on the same side of the seam as the transducer. After fixing the crawler, using a hammer 4, successively produce shock excitation of the pipe zones directly adjacent to the seam and regularly located at the same distance from each other along the seam. The shock excitation of each zone of the pipe is produced by command from the control unit 1 or computer. In order to increase the reliability of the information obtained for each zone, the process of shock excitation is performed several times. Then the crawler is moved to the next zone and the process repeats. Moving the crawler can be done in semi-automatic mode, i.e. with the participation of the operator or in the automatic according to the signals from the control unit 1. In this case, after installing the crawler 10 and the transducer 9 (laser sensor) of damped acoustic vibrations, the signal from the operator or other source of external control is supplied to the power supply. In this case, the control signals are supplied to the corresponding motor-reductor 2, including the electric motor 2 "a" and gearbox 2 "b", connected to the magnetic wheel 3. Accordingly, the crawler 10 moves along the seam-forward-backward. If necessary, check for defects in the pipe itself, i.e. to ensure the movement of the crawler along the pipe, it is enough that signals from the control unit 1 to the motor wheel correspond to turning it in place and then signals to move forward and backward. In all these cases, regardless of the surface profile, the magnetic wheels, due to the design ensuring uniform distribution of the magnetic field around the entire circumference of the wheel, the crawler is securely fixed.

Regardless of whether there is a quality control of the weld or product defects, damped acoustic vibrations are recorded by a laser transducer 9, in which the optical signal is converted into an electrical signal, which is transmitted to the EBS unit for filtering and then to the computer. In the computer, the analog signal of the laser converter is digitized and all information obtained during the diagnosis is digitally stored.

The advantages of the proposed technical solution lies in the fact that the system of moving diagnostic devices allows you to simultaneously monitor not only the quality of welding, but allows you to identify any defect in the spatial product regardless of its shape and profile, ensuring reliable fixation of diagnostic tools.

Currently, prototypes of the moving system (crawler) are undergoing pilot-industrial tests at various railway facilities and metallurgical enterprises manufacturing pipes of various diameters and sizes. Widespread introduction of a system for moving diagnostic devices is scheduled for 2012.

Claims (2)

1. A system for moving diagnostic devices during non-destructive testing, respectively connected to a control unit, the inputs of which are connected to the power supply and control outputs with an external control device, and the outputs are connected to each of the inputs of the gear motor, including the motor, combined with the gear, on the axis of which the wheels are installed, and gear motors with wheels are mounted on the trolley, on which diagnostic tools are located, characterized in that all the wheels of the trolley are full drive alone, with the possibility of their rotation in different directions, and the wheel itself consists of an even number of magnetic sectors located on the hub mounted on the gearbox shaft, forming a motor wheel, and the magnetization of each magnetic sector is carried out along the radius with the poles connecting with the same. 2. The system for moving according to claim 1, characterized in that the magnetic sectors are made of rare-earth permanent magnets, and the wheel is in contact with a controlled surface through a tire, of the order of 1.0-1.5 mm thick.