1、 1 Intelligent Robot pipeline inspection We have developed a test for small-calibre oil pipeline smart pipeline inspection robot that uses ultrasound to the principle of residual oil pipeline wall thickness was detected, the entire inspection system into the intelligence within and outside of the tw
2、o most. The aircraft are small, flexible movements, power, the pipe is not sensitive, there is no specific thickness of the ceiling, high precision, without checking, and other characteristics, reached a basic long-distance pipeline in service testing requirements. 1 Principle Figure 1 shows the bas
3、ic principles of ultrasonic testing Ultrasound probe placed within the pipe measured, and the direction perpendicular to the wall to wall launch broadband ultrasonic pulse. First to receive the probe by the pipeline wall reflection back to the pulse, which can be measured with the probe inside the d
4、istance between A； then, to receive from the probe to the outer reflection pulse through, the time difference echo wall to wall thickness calculation B. A height of the curve shows that the depth of internal defects, the height of the curve B will be to determine the actual wall thickness. When the
5、wall when defective, A, B curve of a mirror symmetry, and the outer wall defects have no impact on the A curve, therefore, of A, B combination can be distinguished, the outer wall defects. 2 Detection Development of the ultrasonic testing machine by the traction module, detection module and power mo
6、dule components, they were placed equipment, power, electrical and other 2 components. Pressure from the high temperature of the body made of materials between each other and send signals to the universal adoption of flexible coupling connected to facilitate change. Detection module and power module
7、 and exposed to external plugs, sockets and wiring have all taken measures to seal. (1) capsule traction traction module structure As shown in Figure 2. Through the pipeline transmission medium traction in the cabin pressure differential can promote their progress, thus boosting the detection of mov
8、ement. Traction with the main cabin mirror, gear, flooding of double-crystal micro-motor and focusing the probe, at present, according to the probe by the number of single-probe, more than double the probe and probe the hours it uses a single-probe, and use Specular reflection on the wall unit to ac
9、hieve the weeks to scan. Work, a probe of the chip as a mirror reflection of ultrasonic broadband, vertical wall, another reflection back to the chip to receive ultrasound, micro-motor drive led by the rotating mirror to detect the entire week to the wall . For the multi-probe array structure, can u
10、se up to 500 probes. They detected in the outer wall of the wrong direction along the spiral out of the shelves and in maintaining fixed. This structure is a general internal Pendulum and automatic adjusting mechanism, so as to avoid detection machines when walking in the rotation. (2) detection mod
11、ule in the cabin equipped with ultrasonic flaw detector test, data acquisition card, memory and control circuits. Ultrasonic flaw detector for the ultrasound probe launched ultrasonic pulse, data acquisition card collection detection machines used to detect the various data and testing to be deposit
12、ed in the memory of a mission, in possession of the second data processing, control of the Completion rate and posture. In order to let the memory storage capacity for a longer pipeline data to the data can be simplified. The so-called simplification of data storage is only important data, such as t
13、he preservation of only below a certain value of the thickness data. (3) power module At present, the detection methods of energy supply at a cable and two non-cable. Cable does not require a power supply module way through the rear of the 3 cable from the external access to energy. In this way not
14、only can greatly reduce the size detection machines, but also enable detection machines at work, access to sufficient energy. However, when detected Walking distance to a certain extent, especially when turning more, cable and wall friction will gradually change, so the machine can not detect long-r
15、ange detection, the general can only detect 3000 M. Detection of the energy supply by non-cable way. Power for the cabin equipped with the necessary power, mainly for aircraft within the detection devices and control equipment services. No way cable does not exist Cable friction with the wall so the
16、 problem can walk longer distances (one can test for 100 KM 200KM long pipeline). 3 Positioning System In order to determine the shortcomings of the axial position in the rear cabin equipped with the power to achieve mileage of round positioning. Usually use only one round of mileage measured by the
17、 spring support close to the wall, testing machine running, then turn round mileage per rotation lap, detection machines in storage in the record set a mark, each of the two tags Miles is from the round of the perimeter, which is testing machine in the corresponding pipeline traversed the distance.
18、However, this method is not very reliable, because a large number of pipeline wall of the scale (such as paraffin), they will make the wheels skid, thus affecting the positioning accuracy. Therefore, the aircraft used three wheels and comes at the same time recording data mean, this is not only enha
19、nce the stability of the wheels running, but also improve the positioning accuracy. 4 cabin all the communications and data analysis system Cabin to the socket, plug in the form of communication. Traction bubble of the probe and detection of ultrasonic tanks fired receiving device connected through
20、the micro-motor test module connected with the electrical power supply tanks, power bubble milestone reached the round of the positioning signal detection module was stored. In addition, the module is also available for testing with external computer connected to the interface. Detection of completi
21、on of the mission, through memory and computer interface will be connected to a second and final data-processing pipeline defect information. Use of software can be color on the screen 3-D graphics, it can be different colors to indicate different degrees of deficiencies. 5 hydraulic control In order to simulate the actual testing environment, the experiment using specially designed hydraulic system. The whole system mainly by the supply of electrical and mechanical control of the pipeline and components. Among them, including some of the major oil
