WO2012167380A1 - Appareil robotique de contrôle intérieur ultrasonique automatisé de soudures circonférentielles de pipelines - Google Patents

Appareil robotique de contrôle intérieur ultrasonique automatisé de soudures circonférentielles de pipelines Download PDF

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Publication number
WO2012167380A1
WO2012167380A1 PCT/CA2012/050383 CA2012050383W WO2012167380A1 WO 2012167380 A1 WO2012167380 A1 WO 2012167380A1 CA 2012050383 W CA2012050383 W CA 2012050383W WO 2012167380 A1 WO2012167380 A1 WO 2012167380A1
Authority
WO
WIPO (PCT)
Prior art keywords
cart
pipe
robotic arm
pipeline
ultrasonic array
Prior art date
Application number
PCT/CA2012/050383
Other languages
English (en)
Inventor
Garth Rodney Prentice
Stephen Geoffrey DRAKE
Original Assignee
Shawcor Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shawcor Ltd. filed Critical Shawcor Ltd.
Priority to AU2012267129A priority Critical patent/AU2012267129A1/en
Priority to EP12796247.0A priority patent/EP2718741A1/fr
Priority to CA2838608A priority patent/CA2838608A1/fr
Priority to RU2013156530/28A priority patent/RU2013156530A/ru
Priority to MX2013014458A priority patent/MX2013014458A/es
Publication of WO2012167380A1 publication Critical patent/WO2012167380A1/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G01N29/06—Visualisation of the interior, e.g. acoustic microscopy
    • G01N29/0654—Imaging
    • G01N29/069—Defect imaging, localisation and sizing using, e.g. time of flight diffraction [TOFD], synthetic aperture focusing technique [SAFT], Amplituden-Laufzeit-Ortskurven [ALOK] technique
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0276—Carriages for supporting the welding or cutting element for working on or in tubes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0282—Carriages forming part of a welding unit
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
    • F17D—PIPE-LINE SYSTEMS; PIPE-LINES
    • F17D3/00—Arrangements for supervising or controlling working operations
    • F17D3/03—Arrangements for supervising or controlling working operations for controlling, signalling, or supervising the conveyance of several different products following one another in the same conduit, e.g. for switching from one receiving tank to another
    • F17D3/08—Arrangements for supervising or controlling working operations for controlling, signalling, or supervising the conveyance of several different products following one another in the same conduit, e.g. for switching from one receiving tank to another the different products being separated by "go-devils", e.g. spheres
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
    • F17D—PIPE-LINE SYSTEMS; PIPE-LINES
    • F17D5/00—Protection or supervision of installations
    • F17D5/02—Preventing, monitoring, or locating loss
    • F17D5/06—Preventing, monitoring, or locating loss using electric or acoustic means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/225—Supports, positioning or alignment in moving situation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
    • G01N29/262—Arrangements for orientation or scanning by relative movement of the head and the sensor by electronic orientation or focusing, e.g. with phased arrays
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/26—Scanned objects
    • G01N2291/263—Surfaces
    • G01N2291/2636—Surfaces cylindrical from inside

Definitions

  • the line-up clamp 72 When the line-up clamp 72 is re-introduced into the new pipe length prior to welding, the line-up clamp 72 first 'docks' with the docking device 74, engages and locks to the plug and socket arrangement, releases docking clamps 76, and positions itself and the docking device 74 at the correct position for accurate welding to take place external to the pipe. [0043] On completion of welding of a new pipe length 78 onto the pipeline 80, the line-up clamp 72 and docking device 74 are retracted (i.e. displaced) to the open end 82 of the new pipe length 78. The docking device 74 is clamped at the open end 82 and un-docked from the line-up clamp 72, breaking the umbilical connection.
  • the umbilical cable 70 is routed from gland 86 to a control room 90 and terminated in plant control box 92.
  • the plant control box 92 distributes the signals received from umbilical cable 70 to an interpretation workstation 94, which includes an operator display 96 and a video monitoring station 98.
  • Water 100 is fed to water storage tank 58 by a water replenishment system 102.
  • a human operator in the control room 90 controls the complete inspection cycle by operating interpretation workstation 94.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Acoustics & Sound (AREA)
  • Optics & Photonics (AREA)
  • General Engineering & Computer Science (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)

Abstract

La présente invention concerne un procédé et appareil destinés à contrôler des soudures circonférentielles de pipelines par l'intérieur d'un pipeline au moyen d'un chariot robotique, télécommandé extérieurement par un cordon ombilical ou une liaison sans fil bidirectionnelle. Le chariot robotique peut être autopropulsé et peut être piloté d'une soudure à une autre par un opérateur, aidé par des caméras en circuit fermé. Un réseau de sondes ultrasoniques est déployé à partir d'un bras robotique rotatif qui s'étend de l'avant du chariot à la paroi de la conduite, permettant d'amener le réseau ultrasonique jusqu'à la soudure puis de le faire tourner autour de la soudure pour assurer un contrôle à 100% de la soudure. Les données de contrôle ultrasonique acquises peuvent être stockées sur un ordinateur embarqué en vue d'une analyse ultérieure et / ou envoyées à un ordinateur extérieur en vue d'une analyse immédiate.
PCT/CA2012/050383 2011-06-08 2012-06-07 Appareil robotique de contrôle intérieur ultrasonique automatisé de soudures circonférentielles de pipelines WO2012167380A1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
AU2012267129A AU2012267129A1 (en) 2011-06-08 2012-06-07 Robotic apparatus for automated internal pipeline girth weld ultrasonic inspection
EP12796247.0A EP2718741A1 (fr) 2011-06-08 2012-06-07 Appareil robotique de contrôle intérieur ultrasonique automatisé de soudures circonférentielles de pipelines
CA2838608A CA2838608A1 (fr) 2011-06-08 2012-06-07 Appareil robotique de controle interieur ultrasonique automatise de soudures circonferentielles de pipelines
RU2013156530/28A RU2013156530A (ru) 2011-06-08 2012-06-07 Роботизированное устройство для автоматической ультразвуковой дефектоскопии кольцевых сварных швов внутреннего трубопровода
MX2013014458A MX2013014458A (es) 2011-06-08 2012-06-07 Aparato robotico para la inspeccion automatizada de soldadura utrasonica de la circunferencia interna de una tuberia.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201161494602P 2011-06-08 2011-06-08
US61/494,602 2011-06-08

Publications (1)

Publication Number Publication Date
WO2012167380A1 true WO2012167380A1 (fr) 2012-12-13

Family

ID=47295310

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CA2012/050383 WO2012167380A1 (fr) 2011-06-08 2012-06-07 Appareil robotique de contrôle intérieur ultrasonique automatisé de soudures circonférentielles de pipelines

Country Status (6)

Country Link
EP (1) EP2718741A1 (fr)
AU (1) AU2012267129A1 (fr)
CA (1) CA2838608A1 (fr)
MX (1) MX2013014458A (fr)
RU (1) RU2013156530A (fr)
WO (1) WO2012167380A1 (fr)

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014200398A1 (fr) * 2013-06-12 2014-12-18 Vretmaskin El & Mekanik Ab Dispositif d'inspection de tuyau
US9037419B2 (en) 2011-05-10 2015-05-19 Edison Welding Institute, Inc. Portable matrix phased array spot weld inspection system
US9063059B2 (en) 2011-05-10 2015-06-23 Edison Welding Institute, Inc. Three-dimensional matrix phased array spot weld inspection system
EP3059484A1 (fr) * 2015-02-19 2016-08-24 Adrian Tomoiaga Robot autonome pour l'inspection et l'entretien des tuyaux de grande taille et la méthode de son exploitation
US9588085B2 (en) 2013-05-28 2017-03-07 General Electric Company Device and system for ultrasonic inspection
US9678043B2 (en) 2015-11-12 2017-06-13 Bp Corporation North America Inc. Methods, systems, and fixtures for inspection of gasket welds
CN107727738A (zh) * 2017-09-29 2018-02-23 烟台工程职业技术学院 一种检测部件的劣化的电气设备
WO2018136769A1 (fr) * 2017-01-19 2018-07-26 Aegion Coating Services, Llc Inspection de joint de tuyau
CN108500424A (zh) * 2018-03-28 2018-09-07 武汉理工大学 一种带视频监控的管道焊接控制器
WO2018148712A3 (fr) * 2017-02-13 2018-11-29 General Electric Company Inspection ultrasonore automatique de joints soudés par adhésion et procédé d'inspection à cet effet
WO2019195329A1 (fr) * 2018-04-02 2019-10-10 Du Shuyong Paul Système et procédé intelligents d'acquisition de données pour pipelines
US20190344390A1 (en) * 2018-05-10 2019-11-14 James M. Cain Mobile Weld Inspection Carriage
CN111060592A (zh) * 2019-12-11 2020-04-24 宁波明峰检验检测研究院股份有限公司 基于射线检测的自动扫查装置及其在管道内的行径方法
KR20210006731A (ko) * 2019-07-09 2021-01-19 한국전력공사 고정자의 웨지체결강도 검사 장치 및 이를 이용한 검사 방법
WO2021076354A3 (fr) * 2019-10-16 2021-05-27 Saudi Arabian Oil Company Procédé et système optimisés pour le revêtement interne de soudures d'entretoises sur le terrain
CN113154263A (zh) * 2021-03-30 2021-07-23 西南石油大学 一种管道缺陷快速磁检测装置与方法
CN113369763A (zh) * 2021-08-16 2021-09-10 烟台蓬莱区鑫鹏机械有限公司 锅炉筒体焊接同步探伤检测装置

Families Citing this family (11)

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US10695876B2 (en) 2013-05-23 2020-06-30 Crc-Evans Pipeline International, Inc. Self-powered welding systems and methods
US10480862B2 (en) 2013-05-23 2019-11-19 Crc-Evans Pipeline International, Inc. Systems and methods for use in welding pipe segments of a pipeline
US10589371B2 (en) * 2013-05-23 2020-03-17 Crc-Evans Pipeline International, Inc. Rotating welding system and methods
US11767934B2 (en) 2013-05-23 2023-09-26 Crc-Evans Pipeline International, Inc. Internally welded pipes
AU2015308646A1 (en) 2014-08-29 2017-02-09 Crc-Evans Pipeline International Inc. Method and system for welding
US11458571B2 (en) 2016-07-01 2022-10-04 Crc-Evans Pipeline International, Inc. Systems and methods for use in welding pipe segments of a pipeline
US10783623B2 (en) 2018-12-03 2020-09-22 Mistras Group, Inc. Systems and methods for inspecting pipelines using a robotic imaging system
US11143599B2 (en) 2018-12-03 2021-10-12 Mistras Group, Inc. Systems and methods for inspecting pipelines using a pipeline inspection robot
US10890505B2 (en) 2018-12-03 2021-01-12 Mistras Group, Inc. Systems and methods for inspecting pipelines using a robotic imaging system
RU197520U1 (ru) * 2019-12-27 2020-05-12 Акционерное общество «Диаконт» Роботизированный дефектоскоп для неразрушающего контроля трубопроводов
CN115943268A (zh) * 2020-05-21 2023-04-07 萧时英 用于管道线路和斜度检查的轮胎式电机/电动车

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Cited By (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9063059B2 (en) 2011-05-10 2015-06-23 Edison Welding Institute, Inc. Three-dimensional matrix phased array spot weld inspection system
US9037419B2 (en) 2011-05-10 2015-05-19 Edison Welding Institute, Inc. Portable matrix phased array spot weld inspection system
US10634651B2 (en) 2013-05-28 2020-04-28 General Electric Company Device and system for inspection
US10197540B2 (en) 2013-05-28 2019-02-05 General Electric Company Device and system for inspection
US9588085B2 (en) 2013-05-28 2017-03-07 General Electric Company Device and system for ultrasonic inspection
WO2014200398A1 (fr) * 2013-06-12 2014-12-18 Vretmaskin El & Mekanik Ab Dispositif d'inspection de tuyau
US10697901B2 (en) 2013-06-12 2020-06-30 Vretmaskin El & Mekanik Ab Pipe inspection device
WO2016131646A1 (fr) * 2015-02-19 2016-08-25 Adrian Tomoiaga Robot autonome destiné à l'inspection et à l'entretien de conduites de grande taille, et son procédé d'exploitation
EP3059484A1 (fr) * 2015-02-19 2016-08-24 Adrian Tomoiaga Robot autonome pour l'inspection et l'entretien des tuyaux de grande taille et la méthode de son exploitation
US9678043B2 (en) 2015-11-12 2017-06-13 Bp Corporation North America Inc. Methods, systems, and fixtures for inspection of gasket welds
US11085885B2 (en) 2017-01-19 2021-08-10 Aegion Coating Services, Llc Pipe joint inspection
WO2018136769A1 (fr) * 2017-01-19 2018-07-26 Aegion Coating Services, Llc Inspection de joint de tuyau
WO2018148712A3 (fr) * 2017-02-13 2018-11-29 General Electric Company Inspection ultrasonore automatique de joints soudés par adhésion et procédé d'inspection à cet effet
US10782268B2 (en) 2017-02-13 2020-09-22 General Electric Company Automated ultrasonic inspection of adhesively-bonded joints and inspection method therefor
CN107727738A (zh) * 2017-09-29 2018-02-23 烟台工程职业技术学院 一种检测部件的劣化的电气设备
CN108500424A (zh) * 2018-03-28 2018-09-07 武汉理工大学 一种带视频监控的管道焊接控制器
WO2019195329A1 (fr) * 2018-04-02 2019-10-10 Du Shuyong Paul Système et procédé intelligents d'acquisition de données pour pipelines
CN111699379B (zh) * 2018-04-02 2024-01-30 杜书勇 用于管道的智能数据采集系统和方法
CN111699379A (zh) * 2018-04-02 2020-09-22 杜书勇 用于管道的智能数据采集系统和方法
US20190344390A1 (en) * 2018-05-10 2019-11-14 James M. Cain Mobile Weld Inspection Carriage
KR20210006731A (ko) * 2019-07-09 2021-01-19 한국전력공사 고정자의 웨지체결강도 검사 장치 및 이를 이용한 검사 방법
KR102244037B1 (ko) 2019-07-09 2021-04-26 한국전력공사 고정자의 웨지체결강도 검사 장치 및 이를 이용한 검사 방법
WO2021076354A3 (fr) * 2019-10-16 2021-05-27 Saudi Arabian Oil Company Procédé et système optimisés pour le revêtement interne de soudures d'entretoises sur le terrain
US11344974B2 (en) 2019-10-16 2022-05-31 Saudi Arabian Oil Company Optimized method and system for internal coating of field girth welds
CN111060592A (zh) * 2019-12-11 2020-04-24 宁波明峰检验检测研究院股份有限公司 基于射线检测的自动扫查装置及其在管道内的行径方法
CN113154263A (zh) * 2021-03-30 2021-07-23 西南石油大学 一种管道缺陷快速磁检测装置与方法
CN113369763A (zh) * 2021-08-16 2021-09-10 烟台蓬莱区鑫鹏机械有限公司 锅炉筒体焊接同步探伤检测装置
CN113369763B (zh) * 2021-08-16 2021-10-15 烟台蓬莱区鑫鹏机械有限公司 锅炉筒体焊接同步探伤检测装置

Also Published As

Publication number Publication date
CA2838608A1 (fr) 2012-12-13
MX2013014458A (es) 2014-07-24
AU2012267129A1 (en) 2014-01-09
RU2013156530A (ru) 2015-07-20
EP2718741A1 (fr) 2014-04-16

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