RU2739853C1 - Universal platform on magnetic wheels for in-pipe devices - Google Patents

Abstract

FIELD: transportation.

SUBSTANCE: invention relates to pipeline transport and can be used in designing in-pipe diagnostics devices, as well as other devices used in construction and overhaul of objects having piping. Purpose of the present invention is creation of universal platform on magnetic wheels for in-tube devices, which allows: independently get on wheels after possible overturning in pipe and allowing to install on it single unit of in-tube device, which makes it more compact and convenient for internal mounting; manoeuvring in complex piping with DN ≥ 300 mm. Proposed platform comprises chassis, magnetic motor-wheel modules, swinging mechanism of cargo platform, which provides possibility of rotation of unit with equipment at preset angle to 360°. Each of motor-wheel modules has independent spring-loaded suspension and rotary mechanism by a specified angle of up to 90°. This allows the platform to perform its accurate positioning relative to the object of interest without additional manoeuvring and turning, stopping in side branches, perform circular motion in tube and spirally only due to rotation of preset angles of motor-wheel modules and unit with equipment. Radius roof surface of unit with equipment, as well as rotary mechanisms of cargo platform and motor-wheel modules provide optimum positions for installation of universal platform on magnetic wheels after its falling in pipe.

EFFECT: proposed universal platform on magnetic wheels for in-tube devices is optimal for construction on its basis of in-tube flaw detectors and other devices, and possibility to independently get on wheels excludes occurrence of extraordinary situations during diagnostic works.

1 cl, 5 dwg

Description

The invention relates to pipeline transport and can be used to create devices for in-line diagnostics, as well as other devices used in the construction and overhaul of facilities with piping.

Currently, both traditional in-line flaw detectors and autonomous robotic scanners-flaw detectors are used for in-line diagnostics.

In-tube shells move in the pipe under the influence of the gas flow, while the pipe should not change the flow area. Such devices can only be used on existing main gas pipelines.

Known universal platform on magnetic wheels for in-line devices (RF patent No. 2644432), containing magnetic motor-wheel modules, a lever lifting mechanism mounted on its front axle and pivotally connected to a lifting cargo platform, providing the optimal geometric shape of a universal platform on magnetic wheels for maneuvering in the piping, as well as the contact of all four wheels with a curved support surface, while the lever lifting mechanism provides an optimal, adjustable distance of the working body of the inline device installed on the cargo platform from the pipe surface when performing diagnostic and other types of work.

The disadvantage of the known platform is that when it falls in the pipe, while moving along the lateral surface of the pipe, due to adhesion of metal debris to the magnetic wheels or other reasons, the autonomously moving platform becomes unrecoverable.

The closest in technical essence and the achieved result to the claimed invention is a platform for an in-line flaw detector on magnetic wheels (RF patent No. 2605234), containing magnetic motor-wheel modules, a longitudinal axis connecting the triaxial chassis of the platform to each other with longitudinal hinges with rotation limiters, while the longitudinal axis has a transverse hinge, and the extreme longitudinal pivot bushings are connected to the shafts of the gear motors installed on the extreme axes of the platform chassis in the longitudinal direction.

The disadvantage of the known platform is a three-axle chassis, on which it is impossible to mount a single block of the in-line device, since for setting the platform on the wheels, after tipping it, it is necessary to rotate each of the three axles of the chassis relative to each other.

The aim of the present invention is to create a universal platform on magnetic wheels for in-line devices that allows:

- ensuring its accurate positioning relative to the object of interest without additional maneuvering;

- use only one video camera for visual monitoring of the condition of the internal surface of the pipeline (front, back, side);

- independently stand on wheels after a possible overturning in a pipe and allowing to install a single unit with equipment on it, which makes it more compact and convenient for indoor installation;

- to carry out maneuvering in complex piping with DN≥300 mm.

The essence of the present invention lies in the fact that the claimed universal platform on magnetic wheels for in-line devices, containing a chassis, magnetic motor-wheel modules, according to the invention, additionally contains a rotating mechanism of the cargo platform, which provides the ability to rotate the unit with equipment placed on it at a predetermined angle up to 360 °, each of the motor-wheel modules has an independent spring-loaded suspension and a swivel mechanism at a predetermined angle of up to 90 °, which allows a universal platform, only by turning the motor-wheel modules and the unit with equipment at specified angles, without additional maneuvering and turning , to carry out its precise positioning relative to the object of interest, to drive into the side bends, to move in a ring and a spiral in the pipe, and to provide actions for setting the universal platform on magnetic wheels, after it falls in the pipe, it is provided with a radius surface of the block roof with equipment, which ensures its fall on the side surface, as well as rotary mechanisms of the cargo platform and motor-wheel modules, providing their optimal positions for this operation.

FIG. 1, 2 shows a universal platform on magnetic wheels for in-line devices, where:

1 - chassis;

2 - motor-wheel module;

3 - gear motor;

4 - wheel;

5 - non-magnetic pad;

6 - ring magnet;

7 - bracket;

8 - tension spring;

9 - rotary mechanism

10 - cargo platform;

11 - rotary mechanism;

12 - block with equipment;

13 - video camera;

14 - orientation unit;

15 - pipe.

FIG. 3-4 shows the procedure for positioning a universal platform on magnetic wheels for inline devices relative to the object of interest.

FIG. 5 shows the sequence of actions for setting on wheels a universal platform on magnetic wheels for in-line devices when it falls in a pipe.

A universal platform on magnetic wheels for in-line devices consists of a chassis 1, on which four spring-loaded motor-wheel modules 2 are installed, each of which consists of a gear motor 3, a wheel 4, a non-magnetic pad 5, an annular magnet 6, an arm 7 and a tension spring 8. The gear motor 3 is pivotally mounted on the bracket 7 and pressed against it by the tension spring 8. The brackets 7 are installed on the vertical output shafts of the rotary mechanisms 9, which are mounted on the chassis 1. On the chassis 1, there is also a cargo platform 10 with a rotary mechanism 11, on which has a unit with equipment 12, a video camera 13 and an orientation unit 14.

The claimed universal platform on magnetic wheels works as follows.

A universal platform on magnetic wheels for in-line devices is installed on the inner surface of the pipe 15 (steel). Ring magnets 6 through wheels 4, made of electrical steel with high magnetic properties, ensure the magnetization of the product to the inspected pipe 15. The spring-loaded motor-wheel modules 2 ensure full adherence of all wheels 4 to the curved surface of the pipe 15 during straight motion and slight steering, for this the available angle of rotation a of the spring-loaded motor-wheel modules 2 is sufficient (see Fig. 1). Steering is carried out by the front pair of wheels 4 by turning the spring-loaded motor-wheel modules 2 using the rotary mechanisms 9.

The rotary mechanism 11 of the cargo platform 10 provides the ability to rotate the unit located on it with the equipment 12 and the video camera 13 at a given angle (up to 360 °), each of the motor-wheel modules 2 has a rotary mechanism 9 at a given angle (up to 90 °), which allows universal platform, to carry out its precise positioning relative to the object of interest, without additional maneuvering and turns, to enter the side bends, to make a circular motion in the pipe and in a spiral only by turning the motor-wheel modules 2 and the unit with equipment 12 at the given angles, while itself a universal platform on magnetic wheels for in-line devices does not change its position relative to the pipe axis 15. To ensure positioning accuracy and ensure movement along a given trajectory, all electric motors of the above mechanisms must be stepping.

FIG. 3 shows a variant of examining a welded seam, in which the operator of a universal platform on magnetic wheels for in-line devices, using a video camera 13 detecting a weld seam, gives a command to rotate the unit with equipment 12 by 90 °, while continuing to move forward until the weld seam hits the crosshair camera lens 13. The universal platform stops, each motor wheel module 2 is rotated by 90 ° according to the arrows (see Fig. 3), and then it makes an annular movement in the pipe 15, while visual inspection of the weld or another type of its control with using special sensors. After the inspection, the motor-wheel modules 2 and the unit with equipment 12 return to their original position. It should be noted that the overall dimensions of the universal platform on magnetic wheels for in-line devices do not change with the above mentioned manipulation (dimensions A and B are equal - see Fig. 3, 4), it can make spiral movements in pipe 15 (by turning the motor-wheel modules 2 at a given angle), drive into the bends (see Fig. 4) and so on.

When a universal platform on magnetic wheels for in-line devices falls in a pipe 15, due to the presence of a radius surface on the roof of the unit with equipment 12, it will tip over onto one of the side surfaces. Next, the universal platform must be brought into position in accordance with FIG. 5. If the chassis 1 is located along the axis of the pipe 15, then the operator, being guided by the readings of the orientation unit 14, turns the two support wheels 4 across the axis of the pipe. Further, the support wheels 4 (see Fig. 5) rotate clockwise and raise the universal platform on magnetic wheels for in-line devices until it overturns on four wheels 4, i.e. until its center of gravity moves to the left of the reference axis. Next, the operator returns the wheels 4 to their original position, after which the universal platform on magnetic wheels for in-line devices is ready to continue work in the normal mode. It should be noted that the presence of a radius surface on the roof of the unit with equipment 12 greatly facilitates lifting and excludes snags, for example, for weld beads.

If the chassis 1 is located transversely to the axis of the pipe 15, then the operator, guided by the readings of the orientation unit 14, turns two support wheels 4 along the axis of the pipe 15 and, rotating them in opposite directions, turns the chassis 1 along the axis of the pipe 15, i.e. to the position corresponding to FIG. 5. Further actions of the operator - see above.

The presence of non-magnetic pads 5 on the wheels 4 allows to reduce the torque when performing the operation to place the universal platform on the wheels, since when it is tilted on its side, the magnetization of the wheels 4 to the pipe 15 is excluded.

The proposed universal platform on magnetic wheels for in-line devices is optimal for building in-line flaw detectors and other devices on its basis, and the ability to independently stand on wheels eliminates the occurrence of emergency situations during diagnostic work.

Claims (1)

A universal platform on magnetic wheels for in-line devices, containing a chassis, magnetic motor-wheel modules, characterized in that it additionally contains a rotating mechanism of the cargo platform, which provides the ability to rotate the unit with equipment located on it at a predetermined angle up to 360 °, each of the motor- wheel modules have an independent spring-loaded suspension and a swivel mechanism at a predetermined angle up to 90 °, which allows the universal platform only by turning the motor-wheel modules and the unit with equipment at specified angles, without additional maneuvering and turning, to carry out its precise positioning relative to the object of interest, to drive in into the side bends, to move in a ring and spiral in the pipe, and to ensure actions for setting the universal platform on magnetic wheels, after falling in the pipe, it is provided with a radius surface of the roof of the unit with equipment, which ensures its fall onto the side surface, as well as the swivel mechanisms of the load platform and motor-wheel modules, which ensure their optimal positions for this operation.

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