外文文献翻译--智能管道检测机器人-其他专业
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1、Intelligent Robot pipeline inspectionWe 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 two mo
2、st. 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 PrincipleFigure 1 shows the basic pri
3、nciples of ultrasonic testingUltrasound 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 distance
4、 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 wall wh
5、en 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 DetectionDevelopment of the ultrasonic testing machine by the traction module, detection module and power module comp
6、onents, they were placed equipment, power, electrical and other 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 and expose
7、d 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 movement. Tract
8、ion 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 achieve the we
9、eks 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 use up to 500
10、 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 module in the ca
11、bin 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 deposited in the mem
12、ory 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 the preservati
13、on 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 cable from the external access to energy. In this way not only can greatly
14、 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-range detection,
15、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 problem can walk
16、 longer distances (one can test for 100 KM 200KM long pipeline).3 Positioning SystemIn 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 spring support clo
17、se 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. However, this metho
18、d 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 enhance the stability o
19、f the wheels running, but also improve the positioning accuracy.4 cabin all the communications and data analysis systemCabin to the socket, plug in the form of communication. Traction bubble of the probe and detection of ultrasonic tanks fired receiving device connected through the micro-motor test
20、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 completion of the mission, th
21、rough 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 controlIn order to simulate the actua
22、l 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 pumping station, Diao Yafa overflow into the oil to return to the oi
23、l overflow Diao Yafa, the governor valves and pipes connecting institutions and other equipment; some of the major electrical and mechanical control, including close to switch sensors, computers, A / D, D / A converter equipment, relays and circuit connectivity components, to achieve the various com
24、ponents of the control of the pipeline routing general, the exhaust valve pipeline, sensors of the pipeline, closing valves of the pipelines to keep oil pipelines and other components of the mouth. For a true simulation of the actual situation, the system installation, plumbing and horizontal plane
25、resettlement into 15 degrees. There are two pipelines in the loop closing valves, each valve close to the switch from a sensor and a set of electromagnetic valve control regulation. When the robot in the pipeline in 1998 come close to switch the location of sensors, sensor by sensor close to switchi
26、ng signals, the signals are transmitted to enlarge after magnet control circuit to control the corresponding electromagnetic valve, thereby closing valve in the pipe switch The work of state to ensure smooth passage of robots.智能管道检测机器人我们所研制的一种用于检测小口径石油管道的智能管道检测机器人,它采用超声波 原理对石油管道残余壁厚进行检测,整个智能检测系统分为管内
27、和管外两大部分。该机 体积小,动作灵活,动力大,具有对管材不敏感、没有特定的壁厚上限、精度高、无需 校验等特点,基本达到了在役管道长距离检测的要求。1工作原理图1所示为超声波检测的基本原理超声波探头置于被测管道内部,并以垂直于管壁的方向向管壁发射宽频超声波脉 冲。探头首先接收到由管道内壁反射回的脉冲,由此可测得探头与内壁之间的距离A; 然后,探头接收到由外壁反射回的脉冲,通过内、外壁回波时间差可计算出壁厚B。高 度为A的曲线表明内部缺陷的深度,高度为B的曲线则可确定实际壁厚。当内壁有缺陷 时,A、B曲线呈镜面对称,而外壁缺陷对A曲线没有影响,因此,曲线A、B结合可以 区分内、外壁缺陷。2检测机
28、的构成研制的超声波检测机由牵引舱、检测舱和电源舱组成,它们分别放置仪器、电源、 电机等部件。由耐压耐高温材料制成的各舱体之间可以互相传递信号并通过柔性的万向 联轴节相连,以利转弯。检测舱和电源舱及暴露在外部的插头、插座和电线等均采取了 密封措施。(1) 牵引舱牵引舱结构如图2所示。通过管道内输送介质作用于牵引舱的压力差可 以推动其前进,从而带动整个检测机运动。牵引舱内主要装有反射镜、齿轮、水浸式双 晶聚焦探头及微型马达,目前,根据所用探头的个数有单探头、双探头和多探头之分, 该机采用单探头,并利用镜面反射装置实现对管壁的周向扫描。工作时,探头的一个晶 片发出的宽频超声波经镜面反射,垂直射向管壁
29、,另一个晶片接收反射回的超声波,微 型马达经齿轮传动带动反射镜旋转,从而检测整个周向内壁。对于多探头阵列式结构, 最多可使用500个探头。它们在检测机外壁沿螺旋线方向错列分布并固定在保持架上。 这种结构一般内部都设有摆锤及自动调节机构,以免检测机在行走时发生转动。(2) 检测舱在检测舱内装有超声波探伤仪、数据采集卡、存储器及有关控制电路。 超声波探伤仪为超声波探头发射超声波脉冲,数据采集卡用来采集检测机检测到的各种 数据,并将其存入存储器中待检测机成任务后,在管外进行数据的二次处理,控制部分 完成速度以及位姿。为了让给定容量的存储器存储较长管道的数据可以对数据进行简 化。所谓数据简化是指仅存储
30、重要数据,如只保存低于一定值的壁厚数据。(3)电源舱目前,检测机能源供给方式分有缆和无缆两种。有缆方式不需要电源舱, 通过尾部的电缆从外部获得能源。采用这种方式不但可以大大减少检测机体积,而且可 使检测机在工作时获得足够的能量。但是当检测机行走距离达到一定程度时,尤其转弯 较多时,缆线与管壁的摩擦力会逐渐变大,因此这种检测机不能长距离检测,一般最多 只能检测3000M。检测机的能源供给采用无缆方式。电源舱内装有供工作所需的电源,它主要为机内 各探测装置和控制装置服务。无缆方式不存在缆线与管壁的摩擦问题因此可以行走较长 距离(一次可以连续检测100KM200KM长的管道)。3定位系统为了确定缺陷
31、所在的轴向位置,在电源舱尾部装有里程轮实现定位。通常只用一个 里程轮由弹簧支撑紧贴被测管壁,检测机行走时,里程轮随之转动,每转动一圈,检测 机在存储记录里设定一个标记,每两个标记之间的距离是里程轮的周长,也就是检测机 在管道内相应走过的距离。但这种方法并不十分可靠,因为管道内壁有大量的垢层(如 石蜡),它们会使轮子打滑,从而影响定位精度。因此,该机采用三个轮子同时记录数 据并取其平均值,这不仅提高了轮子行走的稳定性,而且提高了定位精度。4各舱间的通信及数据分析系统各舱间以插座、插头的形式实现通信。牵引舱中的探头与检测舱中的超声波发射接 收装置相连,微型马达通过检测舱与电源舱中电机相连,电源舱中
32、里程轮的定位信号传 到检测舱并被存储起来。此外,检测舱还有用于与外部计算机相连的接口。在检测机完 成任务后,通过接口将存储器与计算机相连进行二次数据处理并最终获得管道缺陷信 息。运用相关软件可以在屏幕上得到彩色的三维图形,它可用不同的颜色来表示不同程 度的缺陷。5管外液压控制部分为了模拟实际的检测环境,专门设计了实验用液压系统。整个系统主要由供油部分、 机电控制部分和管路部分组成。其中,供油部分主要包括泵站、进油溢流调压阀、回油 溢流调压阀、调速阀及管路连接机构等设备;机电控制部分主要包括接近开关传感器、 计算机、A/D、D/A转换设备、继电器及电路连接部件等,实现对各部件的控制;管路由 普通管道、排气阀管道、传感器段管道、截止阀段管道、放油口段管道等组成。为较为 真实地模拟实际情况,系统在安装时,管道平面安置与水平面成15度。管道回路中设 有两个截止阀,每个阀各由一个接近开关传感器及一套电磁换向阀进行控制调节。当机 器人在管道中行走到接近开关传感器所在位置时,接近开关传感器感应得到信号,将该 信号进行放大处理后传递给磁铁控制电路,以控制相应的电磁换向阀,从而切换管道中 截止阀的工作状态,保证机器人顺利通过。
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