CN205120671U - Guided wave detects with intraductal robot of integrated form - Google Patents
Guided wave detects with intraductal robot of integrated form Download PDFInfo
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- CN205120671U CN205120671U CN201520970976.1U CN201520970976U CN205120671U CN 205120671 U CN205120671 U CN 205120671U CN 201520970976 U CN201520970976 U CN 201520970976U CN 205120671 U CN205120671 U CN 205120671U
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Abstract
The utility model discloses a guided wave detects with intraductal robot of integrated form. It includes telescopic machanism and two sets of supporting mechanism, and telescopic machanism's both ends link to each other with a set of supporting mechanism respectively, telescopic machanism is the cylinder, be equipped with the reset spring who is used for the piston to reset in the cylinder, the supporting mechanism includes cone, voussoir, permanent magnet A, permanent magnet B, two coaxial and syntropy settings of cone, one of them cone is connected with the piston rod of cylinder, another cone is connected with the cylinder body of cylinder, the voussoir is three and all slide sets up on the conical surface of cone, the lateral surface of voussoir be can with pipeline medial surface complex arc surface, every voussoir internal fixation is provided with permanent magnet B, the one end of cone fixed be provided with three permanent magnet A respectively with permanent magnet B corresponds, and permanent magnet A is the same with the magnetism of the adjacent magnetic pole of permanent magnet B, and the piezoelectricity that the embedding has certain vibration mode in the voussoir of supporting mechanism or the cone is popped one's head in.
Description
Technical field
The utility model relates to a kind of Guided waves integrated form in-pipe robot, is mainly used in the Non-Destructive Testing of online pipeline.
Background technology
As one of five large means of transports, pipeline has been widely used in the every field of human lives and defence and military, along with the increase of active time, occur successively, as defects such as crack, etch pit, fouling, perforation, fractures, causing grave danger to social production life and national defense safety at pipe surface.In order to address this problem, people expand the in-pipe robot and Dynamic Non-Destruction Measurement research monitored for pipeline conditions.According to the difference of non-destructive detecting device present position, existing detection method is divided in pipe outside detection and pipe and detects, and the former is the impact such as easy managed outer coverture, coating, flange in implementation process, and latter needs the traction of in-pipe robot.
In-pipe robot technology starts from the forties in 20th century, and it can draw non-destructive detecting device and move in pipeline and carried out the Detection task of twin conduit.
Quick, the comprehensive detection appearing as pipeline of supersonic guide-wave technology provides possibility.Supersonic guide-wave be from ultrasound wave in the medium of limited space repeatedly toward interflection go forward side by side that a step produces that complicated superposition interference and geometry disperse formed along the total cross-section solid ripple perpendicular to thickness of slab direction or pipeline axial propagation.Guided wave is propagated along pipeline axial, as run into the defect such as pore, crackle or damage on travel path, sound wave can reflect, reflect, scattering, absorption and MODAL TRANSFORMATION OF A, Received signal strength is caused to change, include the bulk information of transmitting and receiving point-to-point transmission structural integrity in Received signal strength, the defect in the whole propagation cross section of detected pieces can be found.Supersonic guide-wave technology have detection efficiency high, cover along travel path decay little, one-time detection distance, total cross-section, the advantages such as non-rectilinear detection can be realized, have been a great concern.Guided wave technology comes across in the flaw detection process of thin plate the earliest, until the general solution that nineteen fifty-seven Gazis utilizes theory of elasticity to try to achieve simple harmonic wave to be propagated in the hollow cylinder of endless, guided wave technology just starts to be applied to gradually in the engineering practice of pipe detection.Greenspon is studied theory of elasticity, and has delivered the paper about cylindrical shell smeared cracking and displacement field.1979, Electromagnetic Acoustic Transducer was applied to the Crack Detection of steam-driven generator pipeline by Thompson etc.Silk and Bainton utilizes piezoelectric supersonic to pop one's head in and encourage supersonic guide-wave in heat exchanging pipe, demonstrates the possibility of supersonic guide-wave technology to pipe detection by experiment.On the basis of theoretical research, develop a series of Guided waves product for pipeline in the world successively, as the WavemakerG4 of GuidedUltrasonic company of Britain exploitation, the Guidedwavetestingsystem that Subsea-integrity company of Britain produces, the TeletestFocus+ long-distance pipe corrosion ultrasonic guided wave focusing detection system of PI Corp. of Britain development, the long distance ultrasonic guided wave detecting system of South West USA research institute development, and the MSGW ultrasonic guided wave detecting instrument of the representative products of domestic Guided waves to be Zhejiang reach lean.These products are widely used in Petroleum and Petrochemical Industry oil and gas pipeline network, electric power energy industrial pipeline network, bridge suspension pipeline, high temperature pipe and heat tracing pipe.Guided wave detection technology in the application such as the detection of long distance, on-line monitoring, built on stilts buried pipeline detection, has obvious technical advantage compared with other conventional Non-Destructive Testings (Ultrasonic Detection, EDDY CURRENT, Magnetic Flux Leakage Inspecting, ray detection, Liquid penetrant testing etc.).
But, existing guided wave equipment all acts on outside tube wall, need first by barrier removings such as the earth near equipment installation position before use, then by manual operation, piezoelectric probe is installed in pipeline external, Installation and Debugging process is each time all more consuming time, although disposable detecting distance can reach more than 200 meter in the ideal case, relatively existing duct length, manual operation still cannot satisfy the demands far away.And the real time status of people to pipe interior is more paid close attention to.
In sum, although Robotics and guided wave technology all make some progress in pipe detection, but still there are some open questions.How at maintenance guided wave technology in pipe detection while advantage, give full play to the strong point of in-pipe robot, energized position outer is transferred in pipe by managing, strengthen guided wave no matter in theory or technical all unresolved good problem the detectability of posted sides pipeline, effective combination of realizing in-pipe robot technology and guided wave technology be at present both at home and abroad.
Summary of the invention
For the above-mentioned defect existed in prior art, the utility model provides the Guided waves integrated tube pipeline robot that a kind of structure is simple, locomitivity by force, conveniently realizes guided wave detection device work, excite in pipe.
The utility model is achieved by the following technical solution: a kind of Guided waves integrated form in-pipe robot, its special character is: it comprises telescoping mechanism and two groups of supporting mechanisms, the two ends of described telescoping mechanism are connected with the supporting mechanism described in a group respectively, described telescoping mechanism is cylinder, the back-moving spring for piston reset is provided with in described cylinder, described supporting mechanism comprises cone, voussoir, permanent magnet A, permanent magnet B, two described cones are coaxially also arranged in the same way, cone described in one of them is connected with the piston rod of described cylinder, cone described in another is connected with the cylinder body of described cylinder, described voussoir is three and is all slidably arranged on the conical surface of described cone, the lateral surface of described voussoir is the arc surface that can coordinate with insides of pipes face, each described voussoir internal fixtion is provided with described permanent magnet B, the permanent magnet B of permanent magnet A respectively with described be fixedly installed in one end of described cone described in three is corresponding, the Magnetic Phase of described permanent magnet A and permanent magnet B adjacent pole is same, the voussoir of described supporting mechanism or cone embed the piezoelectric probe with certain mode of oscillation.
When the utility model works in pipeline, gases at high pressure are to telescoping mechanism air feed, the piston rod of the cylinder of telescoping mechanism is pushed out, under the promotion of piston and cylinder block intermolecular forces and reacting force, the supporting mechanism being positioned at cylinder side is subject to external force left, and the supporting mechanism of opposite side is subject to external force to the right, because two groups of supporting mechanisms are arranged in the same way, therefore, under external force, voussoir wherein in one group of supporting mechanism, cone and inner-walls of duct have the trend of clamping, if the bevel angle of voussoir meets certain requirements, this three will produce locking phenomenon, and the supporting mechanism of opposite side is owing to being subject to rightabout external force, the voussoir of supporting mechanism will separate with inner-walls of duct under the effect of friction force, this collateral support mechanism under the effect of external force by forward slip.Voussoir is just of short duration with separating of tube wall, and voussoir can fast again generation with inner-walls of duct contact under the effect of permanent magnet A with the magnetic repulsion of permanent magnet B very much.Under the promotion of air pressure, back-moving spring is compressed to the shortest active length by cylinder piston, then cylinder pressure release, back-moving spring promotes piston reset, suffered by the supporting mechanism of now cylinder both sides, external force is with contrary before, the supporting mechanism of the side of originally sliding under external force with inner-walls of duct generation locking, opposite side was in the supporting mechanism of lockup state originally then under external force to cylinder place Slideslip, perseveration like this, realizes the motion of robot in pipeline.When robot moves in pipeline, to form the guided wave of certain mode by being arranged on piezoelectric probe in the voussoir of supporting mechanism or cone at pipeline underexcitation, pipeline situation is detected.
Further, described supporting construction is skewback incident-type supporting mechanism, it equidistantly embeds along cone circumference the piezoelectric probe C vibrated along the thickness direction in described cone, the compressional wave of generation by voussoir by inner-walls of duct incidence and generate in pipeline L (0, m) mode guided wave.
Further, described supporting construction is laminating incident-type supporting mechanism, it along the circumferential direction equidistantly embeds the piezoelectric probe A vibrated along its length and the piezoelectric probe B along the circumferential direction vibrated at described voussoir outside surface, piezoelectric probe A and piezoelectric probe B arranges circlewise separately and arranges arrangement more, excitation forms L (0 respectively, m) mode guided wave and T (0, m) mode guided wave.
Slide along cone for ease of voussoir, the conical surface of described cone is evenly provided with three dovetail grooves, the bottom of described voussoir is swallowtail-shaped structure, and described voussoir is coordinated with the dovetail groove in described cone by the swallowtail-shaped structure of its underpart.
Fix for ease of permanent magnet, have square hole in described voussoir, described permanent magnet B is fixedly installed in described square hole.
The utility model has compact conformation, locomitivity is strong, by guided wave piezoelectric probe is integrated on in-pipe robot body, pipeline guided wave is encouraged while robot motion, achieve the Guided waves excited in pipe, and the present invention is without the need to repeatedly installing testing equipment, without the need to carrying out the previous works such as the cleaning of pipeline coverture, the installing process of piezoelectric probe very consuming time can be saved in each testing process, the segmentation achieving long-distance pipe detects, thus promote the accuracy of detection of every section of tested pipeline, and existing guided wave detecting method needs to reduce detection frequency to obtain longer single detecting distance length, increase determined wavelength, cause the loss of accuracy of detection, meanwhile, because the present invention can realize the guided wave that excites in pipe, this makes internal and external double-circular encourage guided wave to become possibility, and then breaks through the restriction that pipeline wall thickness applies guided wave detecting method.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model and motion principle figure, and wherein, a is original state, and b is that piston rod stretches out state, and c is piston rod retracted mode, and d is that action completes;
Fig. 2 is the structural representation (not comprising piezoelectric probe) of the supporting mechanism in the utility model;
Fig. 3 is the cross-sectional schematic of the supporting mechanism in Fig. 2;
Fig. 4 is the structural representation of the voussoir in Fig. 2;
Fig. 5 is the outer guided wave motivational techniques schematic diagram of pipe of the prior art, and wherein, a is thickness direction vibrating inclined incident-type, and b is length direction vibration laminating incident-type, and c is circumferencial direction vibration laminating incident-type;
Fig. 6 is the schematic diagram of thickness direction vibrating inclined incident-type in guided wave motivational techniques in pipe of the present utility model;
Fig. 7 is the schematic diagram of length direction vibration laminating incident-type in guided wave motivational techniques in pipe of the present utility model;
Fig. 8 is the schematic diagram of circular vibration laminating incident-type in guided wave motivational techniques in pipe of the present utility model;
Fig. 9 is the oblique incidence integrated form piezoelectric probe arrangement schematic diagram in the utility model;
Figure 10 is the A-A schematic diagram in Fig. 9;
Figure 11 is laminating of the present utility model incident integrated form piezoelectric probe inner structure schematic diagram;
Figure 12 is the schematic side view of Figure 11;
In figure, 1 is telescoping mechanism, and 11 is cylinders, 12 is pistons, and 13 is back-moving springs, and 2 is supporting mechanisms, 21 is cones, and 211 is dovetail grooves, and 22 is voussoirs, 221 is inclined-planes, and 222 is square holes, and 223 is arc surfaces, 224 is swallowtail-shaped structures, and 23 is permanent magnet A, and 24 is permanent magnet B, 25 is piezoelectric probe C, and 26 is piezoelectric probe A, and 27 is piezoelectric probe B, 3 is pipelines, and 4 is pneumatic circuits, and 5 is wires, 51 is positive wires, 52 is cathode conductors, and 6 is in-pipe robots, and 7 is direction of vibration, 8 is magnetic repulsions, and 9 is external force.
Embodiment
Embodiment below by indefiniteness is also further described the utility model by reference to the accompanying drawings:
As shown in drawings, a kind of Guided waves integrated form in-pipe robot, it comprises telescoping mechanism 1 and two groups of supporting mechanisms 2, and the two ends of described telescoping mechanism 1 are connected with the supporting mechanism 2 described in a group respectively.Described telescoping mechanism 1 is cylinder, is provided with the back-moving spring 13 for piston reset in cylinder.Described supporting mechanism 2 comprises cone 21, voussoir 22, permanent magnet A23, permanent magnet B24, cone 21 is elongated shape revolution frustum, and cone angle is α, and two cones 21 are coaxially also arranged in the same way, one of them cone 21 is connected with the piston rod of cylinder, and another cone 21 is connected with the cylinder body of cylinder.Described voussoir 22 is three, and be all slidably arranged on the conical surface of described cone 21, three voussoirs 22 are angularly arranged along the conical surface circumferencial direction of cone 21, three voussoirs 22 can rise in axial sliding along cone 21 simultaneously or decline, the lateral surface of described voussoir 22 is the arc surface 223 that can coordinate with insides of pipes face, the bottom of voussoir 22 is inclined-plane, and in voussoir 22 sliding process, its arc surface 223 keeps level, to realize contacting preferably with pipeline 3 inwall; Each voussoir 22 internal fixtion is provided with described permanent magnet B24, the permanent magnet A23 described in three is fixedly installed at the small end of described cone 21, these three permanent magnet A23 respectively permanent magnet B24 described with three are corresponding, and the Magnetic Phase of described permanent magnet A23 and permanent magnet B24 is same.Under the effect of the magnetic repulsion of permanent magnet A23 and permanent magnet B24, permanent magnet B24 and the voussoir 22 be mated are pushed to the top of cone 21.According to the difference of guided wave energisation mode, the voussoir 22 of described supporting mechanism 2 or cone 21 embed the piezoelectric probe with certain mode of oscillation.Described supporting mechanism 2 is divided into skewback incident-type supporting mechanism and laminating incident-type supporting mechanism two type according to the difference of guided wave energisation mode, wherein, skewback incident-type supporting mechanism, it equidistantly embeds along cone circumference the piezoelectric probe C25 vibrated along the thickness direction in described cone 21, the compressional wave generated by voussoir 22 by inner-walls of duct incident and generate in pipeline L (0, m) mode guided wave; Laminating incident-type supporting mechanism, it along the circumferential direction equidistantly embeds the piezoelectric probe A26 vibrated along its length and the piezoelectric probe B27 along the circumferential direction vibrated at described voussoir 22 outside surface, piezoelectric probe A26 and piezoelectric probe B27 arranges circlewise separately and arranges arrangement more, excitation forms L (0 respectively, m) mode guided wave and T (0, m) mode guided wave.
Slide along cone 21 for ease of voussoir 11, the conical surface of cone 21 described in the present embodiment is evenly provided with three dovetail grooves 211 vertically, the bottom of described voussoir 22 is swallowtail-shaped structure 224, and described voussoir 22 is coordinated with the dovetail groove 211 in described cone 21 by the swallowtail-shaped structure 224 of its underpart.Dovetail groove 211 bottom bevel 221 and horizontal angle are similarly α.For ease of fixed permanent magnet, in the present embodiment, have square hole 222 in described voussoir 22, described permanent magnet B24 is fixedly installed in described square hole 222, permanent magnet A23 is fixedly installed on the direction along dovetail groove, make itself and permanent magnet B24 axially realize maximum area face-to-face in opposite directions.
The movement mechanism of the integrated form of Guided waves shown in 1 in-pipe robot can be described as with reference to the accompanying drawings:
In Fig. 1 (a), back-moving spring 13 is in maximum functional length condition, now gases at high pressure give telescoping mechanism 1 air feed via pneumatic circuit 4, piston 12 is pushed, the piston rod of cylinder 11 is pushed out, under the promotion of piston 12 and cylinder 11 intermolecular forces and reacting force, supporting mechanism 2 on the left of being positioned at is subject to external force 9 left, and Right side support mechanism 2 is subject to external force 9 to the right.Because two groups of supporting mechanisms 2 are arranged in the same way, therefore, under the effect of the external force 9 be subject to left, the voussoir 22 in Left-side support mechanism 2, cone 21 and pipeline 3 inwall have the trend of clamping, if the bevel angle α of voussoir meets certain requirements, this three will produce locking phenomenon.And Right side support mechanism 2 due to suffered external force 9 direction be right, voussoir 22 will separate with pipeline 3 inwall under the effect of friction force, and without the obstruction of friction force between voussoir 22 and pipeline 3 inwall, this collateral support mechanism 2 will slide to the right.It should be noted that voussoir 22 is just of short duration with separating of tube wall, voussoir 22 can fast again generation with pipeline 3 inwall contact under the effect of magnetic repulsion 8 very much.The voussoir 22 of left side shown in Fig. 1 (a) contacts completely with pipeline 3 inwall, right side voussoir 22 then leaves certain gap with pipeline 3 inwall, this is only used to the difference of both explanations in friction force size, and in actual motion, both contact all the time with pipeline 3 inwall.Under the promotion of air pressure, piston 12 and Right side support mechanism 2 move to position shown in Fig. 1 (b), and cylinder 11 and Left-side support mechanism 2 keep static when there being locking to occur with pipeline 3 inwall, and back-moving spring 13 is compressed into the shortest active length.Now pneumatic circuit 4 pressure release, cylinder 11 internal gas pressure reduces, and back-moving spring 13 promotes piston 12 and moves to left.Now, external force 9 suffered by left and right sides supporting mechanism 2 is with previously contrary, cause Right side support mechanism 2 and pipeline 3 inwall generation locking and Left-side support mechanism 2 slides along tube wall to the right, as shown in Fig. 1 (c), when arriving state shown in Fig. 1 (d), complete a motion process.Comparison diagram 1 (a) and Fig. 1 (d), both each unit statuss are identical, show that a period of motion completes, and obtain effective travel distance Δ s.So repeatedly, the motion of robot in pipeline is realized.When robot moves in pipeline, to form the guided wave of certain mode by being arranged on piezoelectric probe in the voussoir 22 of supporting mechanism 2 or cone 21 at pipeline underexcitation, pipeline situation is detected.
In pipe in the present embodiment, guided wave motivational techniques schematic diagram is as shown in accompanying drawing 6-Fig. 8.
In the present embodiment, oblique incidence guided wave forms the layout concrete form of required piezoelectric probe 25 as shown in accompanying drawing 9-Figure 10, the piezoelectric probe 25 of three thickness direction vibrations is embedded along cone 21 circumferencial direction, concordant with the inclined-plane of the bottom of voussoir 22, compressional wave is incident to inner surface of tube wall with cone angle, and control signal and data-signal are transmitted by wire 5.
In the present embodiment, the piezoelectric probe 26 of attaching type pipeline guided wave energisation mode and the arrangement of piezoelectric probe 27 are as shown in accompanying drawing 11-Figure 12, arc surface 223 place while being moved down by permanent magnet B24 above voussoir 22 embeds two groups of piezoelectric probes 26,27, wherein one group is telescopic type, and one group is circumferential concertina type.Because voussoir 22 can slide in the dovetail groove of cone 21, in order to realize good electric signal transmission, dovetail groove can be designed to hot shoe form, realize uninterruptedly being connected between voussoir 22 with cone 21 by slide plate, control signal and data-signal are transmitted by wire positive pole 51 and negative pole 52.
Other parts in the present embodiment adopt known technology, do not repeat them here.
Claims (5)
1. a Guided waves integrated form in-pipe robot, it is characterized in that: comprise telescoping mechanism (1) and two groups of supporting mechanisms (2), the two ends of described telescoping mechanism (1) are connected with the supporting mechanism (2) described in a group respectively, described telescoping mechanism (1) is cylinder, the back-moving spring (13) for piston reset is provided with in described cylinder, described supporting mechanism (2) comprises cone (21), voussoir (22), permanent magnet A (23), permanent magnet B (24), two described cones (21) are coaxially also arranged in the same way, cone described in one of them (21) is connected with the piston rod of described cylinder, cone described in another (21) is connected with the cylinder body of described cylinder, described voussoir (22) is three and is all slidably arranged on the conical surface of described cone (21), the lateral surface of described voussoir (22) is the arc surface that can coordinate with insides of pipes face, each described voussoir (22) internal fixtion is provided with described permanent magnet B (24), the permanent magnet A (23) be fixedly installed in one end of described cone (21) described in three is corresponding with described permanent magnet B (24) respectively, the Magnetic Phase of described permanent magnet A (23) and permanent magnet B (24) adjacent pole is same, the voussoir (22) of described supporting mechanism (2) or the upper embedding of cone (21) have the piezoelectric probe of certain mode of oscillation.
2. Guided waves integrated form in-pipe robot according to claim 1, it is characterized in that: described supporting construction (2) is skewback incident-type supporting mechanism, it equidistantly embeds along cone circumference the piezoelectric probe C (25) vibrated along the thickness direction in described cone (21).
3. Guided waves integrated form in-pipe robot according to claim 1, it is characterized in that: described supporting construction (2) is laminating incident-type supporting mechanism, more it along the circumferential direction equidistantly embeds the piezoelectric probe A (26) vibrated along its length and the piezoelectric probe B (27) along the circumferential direction vibrated, piezoelectric probe A (26) and piezoelectric probe B (27) arrangement arrange arrangement circlewise separately at described voussoir (22) outside surface.
4. the Guided waves integrated form in-pipe robot according to claim 1 or 2 or 3, it is characterized in that: the conical surface of described cone (21) is evenly provided with three dovetail grooves (211), the bottom of described voussoir (22) is swallowtail-shaped structure (224), and described voussoir (22) is coordinated with the dovetail groove in described cone (21) by the swallowtail-shaped structure of its underpart.
5. Guided waves integrated form in-pipe robot according to claim 4, it is characterized in that: have square hole (222) in described voussoir (22), described permanent magnet B (24) is fixedly installed in described square hole (222).
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| CN201520970976.1U CN205120671U (en) | 2015-11-27 | 2015-11-27 | Guided wave detects with intraductal robot of integrated form |
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| CN201520970976.1U CN205120671U (en) | 2015-11-27 | 2015-11-27 | Guided wave detects with intraductal robot of integrated form |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105424817A (en) * | 2015-11-27 | 2016-03-23 | 中国人民解放军***72465部队 | Integrated in-pipe robot for guided wave detection |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105424817A (en) * | 2015-11-27 | 2016-03-23 | 中国人民解放军***72465部队 | Integrated in-pipe robot for guided wave detection |
| CN105424817B (en) * | 2015-11-27 | 2018-07-10 | 齐鲁工业大学 | A kind of Guided waves integrated form in-pipe robot |
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