外文文獻翻譯--智能管道檢測機器人

1、<p>　　Intelligent Robot pipeline inspection</p><p>　　We have developed a test for small-calibre oil pipeline smart pipeline inspection robot that uses ultrasound to the principle of residual oil pipelin

2、e wall thickness was detected, the entire inspection system into the intelligence within and outside of the two most. The aircraft are small, flexible movements, power, the pipe is not sensitive, there is no specific thi

3、ckness of the ceiling, high precision, without checking, and other characteristics, reached a basic long-distance pipeline in servi</p><p>　　1 Principle</p><p>　　Figure 1 shows the basic princip

4、les of ultrasonic testing</p><p>　　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 p

5、ipeline wall reflection back to the pulse, which can be measured with the probe inside the distance between A; then, to receive from the probe to the outer reflection pulse through, the time difference echo wall to wall

6、thickness calculation B. A height of the curve shows that the depth of internal defects, the height of the c</p><p>　　2 Detection </p><p>　　Development of the ultrasonic testing machine by the

7、traction module, detection module and power module components, they were placed equipment, power, electrical and other components. Pressure from the high temperature of the body made of materials between each other and s

8、end signals to the universal adoption of flexible coupling connected to facilitate change. Detection module and power module and exposed to external plugs, sockets and wiring have all taken measures to seal. </p>

9、<p>　　(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 detectio

10、n of movement. 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 pr

11、obe the hours it uses a single-probe, and use Specular reflection on th</p><p>　　(2) detection module in the cabin equipped with ultrasonic flaw detector test, data acquisition card, memory and control circ

12、uits. 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 memory of a missio

13、n, 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 pipel</p><p>　　(3) power module At present, the detection

14、 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 reduce the size

15、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 gradual

16、ly change, so the</p><p>　　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 servi

17、ces. No way cable does not exist Cable friction with the wall so the problem can walk longer distances (one can test for 100 KM ~ 200KM long pipeline).</p><p>　　3 Positioning System </p><p>　　In

18、 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 close to

19、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

20、 in the corresponding pipeline traversed the distance. How</p><p>　　4 cabin all the communications and data analysis system </p><p>　　Cabin to the socket, plug in the form of communication. Trac

21、tion bubble of the probe and detection of ultrasonic tanks fired receiving device connected through the micro-motor test module connected with the electrical power supply tanks, power bubble milestone reached the round o

22、f 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, through memory and co

23、</p><p>　　5 hydraulic control </p><p>　　In order to simulate the actual testing environment, the experiment using specially designed hydraulic system. The whole system mainly by the supply of el

24、ectrical 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 oil overflow Diao Yafa, the governor valves an

25、d pipes connecting institutions and other equipment; some of the major electrical and mechanical control, including close to s</p><p><b>　　智能管道檢測機器人</b></p><p>　　我們所研制的一種用于檢測小口徑石油管道的

26、智能管道檢測機器人，它采用超聲波原理對石油管道殘余壁厚進行檢測，整個智能檢測系統(tǒng)分為管內(nèi)和管外兩大部分。該機體積小，動作靈活，動力大，具有對管材不敏感、沒有特定的壁厚上限、精度高、無需校驗等特點，基本達到了在役管道長距離檢測的要求。</p><p><b>　　1工作原理</b></p><p>　　圖1所示為超聲波檢測的基本原理</p><p&g

27、t;　　超聲波探頭置于被測管道內(nèi)部，并以垂直于管壁的方向向管壁發(fā)射寬頻超聲波脈沖。探頭首先接收到由管道內(nèi)壁反射回的脈沖，由此可測得探頭與內(nèi)壁之間的距離A；然后，探頭接收到由外壁反射回的脈沖，通過內(nèi)、外壁回波時間差可計算出壁厚B。高度為A的曲線表明內(nèi)部缺陷的深度，高度為B的曲線則可確定實際壁厚。當(dāng)內(nèi)壁有缺陷時，A、B曲線呈鏡面對稱，而外壁缺陷對A曲線沒有影響，因此，曲線A、B結(jié)合可以區(qū)分內(nèi)、外壁缺陷。</p><p&g

28、t;<b>　　2 檢測機的構(gòu)成</b></p><p>　　研制的超聲波檢測機由牽引艙、檢測艙和電源艙組成，它們分別放置儀器、電源、電機等部件。由耐壓耐高溫材料制成的各艙體之間可以互相傳遞信號并通過柔性的萬向聯(lián)軸節(jié)相連，以利轉(zhuǎn)彎。檢測艙和電源艙及暴露在外部的插頭、插座和電線等均采取了密封措施。</p><p>　　(1)牽引艙牽引艙結(jié)構(gòu) 如圖2所示。通過管道內(nèi)輸送介

29、質(zhì)作用于牽引艙的壓力差可以推動其前進，從而帶動整個檢測機運動。牽引艙內(nèi)主要裝有反射鏡、齒輪、水浸式雙晶聚焦探頭及微型馬達，目前，根據(jù)所用探頭的個數(shù)有單探頭、雙探頭和多探頭之分，該機采用單探頭，并利用鏡面反射裝置實現(xiàn)對管壁的周向掃描。工作時，探頭的一個晶片發(fā)出的寬頻超聲波經(jīng)鏡面反射，垂直射向管壁，另一個晶片接收反射回的超聲波，微型馬達經(jīng)齒輪傳動帶動反射鏡旋轉(zhuǎn)，從而檢測整個周向內(nèi)壁。對于多探頭陣列式結(jié)構(gòu)，最多可使用500個探頭。它們在檢測機

30、外壁沿螺旋線方向錯列分布并固定在保持架上。這種結(jié)構(gòu)一般內(nèi)部都設(shè)有擺錘及自動調(diào)節(jié)機構(gòu)，以免檢測機在行走時發(fā)生轉(zhuǎn)動。</p><p>　　(2)檢測艙 在檢測艙內(nèi)裝有超聲波探傷儀、數(shù)據(jù)采集卡、存儲器及有關(guān)控制電路。超聲波探傷儀為超聲波探頭發(fā)射超聲波脈沖，數(shù)據(jù)采集卡用來采集檢測機檢測到的各種數(shù)據(jù)，并將其存入存儲器中待檢測機成任務(wù)后，在管外進行數(shù)據(jù)的二次處理，控制部分完成速度以及位姿。為了讓給定容量的存儲器存儲較長管道的

31、數(shù)據(jù)可以對數(shù)據(jù)進行簡化。所謂數(shù)據(jù)簡化是指僅存儲重要數(shù)據(jù)，如只保存低于一定值的壁厚數(shù)據(jù)。</p><p>　　(3)電源艙 目前，檢測機能源供給方式分有纜和無纜兩種。有纜方式不需要電源艙，通過尾部的電纜從外部獲得能源。采用這種方式不但可以大大減少檢測機體積，而且可使檢測機在工作時獲得足夠的能量。但是當(dāng)檢測機行走距離達到一定程度時，尤其轉(zhuǎn)彎較多時，纜線與管壁的摩擦力會逐漸變大，因此這種檢測機不能長距離檢測，一般最多只

32、能檢測3000M。</p><p>　　檢測機的能源供給采用無纜方式。電源艙內(nèi)裝有供工作所需的電源，它主要為機內(nèi)各探測裝置和控制裝置服務(wù)。無纜方式不存在纜線與管壁的摩擦問題因此可以行走較長距離(一次可以連續(xù)檢測100KM～200KM長的管道)。</p><p><b>　　3 定位系統(tǒng)</b></p><p>　　為了確定缺陷所在的軸向位置，在

33、電源艙尾部裝有里程輪實現(xiàn)定位。通常只用一個里程輪由彈簧支撐緊貼被測管壁，檢測機行走時，里程輪隨之轉(zhuǎn)動，每轉(zhuǎn)動一圈，檢測機在存儲記錄里設(shè)定一個標(biāo)記，每兩個標(biāo)記之間的距離是里程輪的周長，也就是檢測機在管道內(nèi)相應(yīng)走過的距離。但這種方法并不十分可靠，因為管道內(nèi)壁有大量的垢層（如石蠟），它們會使輪子打滑，從而影響定位精度。因此，該機采用三個輪子同時記錄數(shù)據(jù)并取其平均值，這不僅提高了輪子行走的穩(wěn)定性，而且提高了定位精度。</p>&l

34、t;p>　　4 各艙間的通信及數(shù)據(jù)分析系統(tǒng)</p><p>　　各艙間以插座、插頭的形式實現(xiàn)通信。牽引艙中的探頭與檢測艙中的超聲波發(fā)射接收裝置相連，微型馬達通過檢測艙與電源艙中電機相連，電源艙中里程輪的定位信號傳到檢測艙并被存儲起來。此外，檢測艙還有用于與外部計算機相連的接口。在檢測機完成任務(wù)后，通過接口將存儲器與計算機相連進行二次數(shù)據(jù)處理并最終獲得管道缺陷信息。運用相關(guān)軟件可以在屏幕上得到彩色的三維圖形，

35、它可用不同的顏色來表示不同程度的缺陷。</p><p>　　5 管外液壓控制部分</p><p>　　為了模擬實際的檢測環(huán)境，專門設(shè)計了實驗用液壓系統(tǒng)。整個系統(tǒng)主要由供油部分、機電控制部分和管路部分組成。其中，供油部分主要包括泵站、進油溢流調(diào)壓閥、回油溢流調(diào)壓閥、調(diào)速閥及管路連接機構(gòu)等設(shè)備；機電控制部分主要包括接近開關(guān)傳感器、計算機、A/D、D/A轉(zhuǎn)換設(shè)備、繼電器及電路連接部件等，實現(xiàn)對各

36、部件的控制；管路由普通管道、排氣閥管道、傳感器段管道、截止閥段管道、放油口段管道等組成。為較為真實地模擬實際情況，系統(tǒng)在安裝時，管道平面安置與水平面成15度。管道回路中設(shè)有兩個截止閥，每個閥各由一個接近開關(guān)傳感器及一套電磁換向閥進行控制調(diào)節(jié)。當(dāng)機器人在管道中行走到接近開關(guān)傳感器所在位置時，接近開關(guān)傳感器感應(yīng)得到信號，將該信號進行放大處理后傳遞給磁鐵控制電路，以控制相應(yīng)的電磁換向閥，從而切換管道中截止閥的工作狀態(tài)，保證機器人順利通過。&l