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Research on Orbit-holding Traveling Mechanism of Pipeline Girth Welds Scanning Equipment

Author: LiKai
Tutor: WangLiQuan
School: Harbin Engineering University
Course: Mechanical and Electronic Engineering
Keywords: girth welds ultrasonic scanning equipment orbit-holding traveling mechanism
CLC: TE973.3
Type: Master's thesis
Year: 2011
Downloads: 24
Quote: 0
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The girth welds defect which is hidden threat against operation safety is inevitable as a result of the special working atmosphere of oil and gas pipeline. Therefore the girth welds of pipeline must be tested. Automatic ultrasonic testing(AUT) is the most widely used testing method for girth welds of pipeline because of its unique advantages. The amount of new built pipeline is increasing rapidly in these years, it’s of great urgency to research and develop intelligentized ultrasonic testing equipments which can guarantee the reliability and raise the efficiency of girth welds defect testing. This paper did research on traveling mechanism of girth welds ultrasonic scanning equipment based on national "863 Program"——"Research on Domestic Technology of AUT Equipment".This paper first established overall design scheme of the girth welds automatic testing equipment, and then made brief introduction of mechanical structure and motion control system of the scanning equipment.This paper then made intensive research on mechanical structure of orbit-holding traveling mechanism and orbit based on overall design scheme of scanning equipment. As the carrier of scanning equipment, the orbit has connecting and orientating function. The traveling mechanism is composed of four parts:angle adjusting mechanism, self-locking holding mechanism, driving module and motion feedback module.In order to verify the reliability of this traveling mechanism, a prototype which works in the same way as the orbit-holding traveling mechanism was designed and manufactured in this paper. And the experiment that simulating the scanning equipment traveling along the orbit was completed, which shows that the traveling mechanism can travel along the orbit reliably when it weighs 24kg and is exerted a 600N force. Based on this result, this paper computed the contact force between driving wheel and orbit and made finite element analysis of orbit strength and stiffness.In order to guarantee the testing precision of pipeline girth welds, the scanning equipment must travel smoothly along the orbit at a constant speed. This paper established mathematical model of traveling mechanism speed closed loop control system, and the control system simulation was carried on which proves that the precision and the dynamic response characteristic of the control system is good; and then the hardware and software of the control system was designed in this paper, including singlechip control module, power driving module and communication module, the ideal traveling speed is set by host computer, and the actual traveling speed is sent to microcontroller by encoder, then the microcontroller compares the given speed with the actual speed and regulates the DC motor rotation speed with PID control algorithm, finally achieving the goal that the traveling speed is controlled accurately.This paper completed an engineering prototype of girth welds ultrasonic scanning equipment based on theoretical design, and the experiment that testing defect of girth welds was completed, which shows that the design of scanning equipment is reasonable and the defect testing effect is good. The ultrasonic scanning equipment can fully meet the demands of girth welds defect testing.

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CLC: > Industrial Technology > Oil and gas industry > Oil machinery and equipment and automation > Oil and gas storage and transportation machinery and equipment > Oil and gas pipelines > Welding, insulation,and insulation
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