Experimental research on the development of X-ray pipeline crawler Zhang Licheng Huabo Zhang Hongliang (China National Petroleum Pipeline Company, Panjin Application Effect and its specific development process, including some key issues that should be considered in the hardware and software design process, and will radiate New methods such as field feedback and internal timing are applied to the pipeline crawler. Through a large number of practical tests and technical data comparisons, this crawler has proved to be economical and efficient. The subject term radiographic crawler pipeline hardware software DEDEVOPMENTOFX-RADIOGRAPHICCRAWLER The overall development of the industry has involved many foreign oil infrastructure projects. The first large foreign oil pipeline constructed by China, the Sudan Oil Pipeline Project, began construction in 1998. The pipeline is 1500km long, 711mm (28in) in diameter, and has a duration of 1a. (Year), 100% radiographic inspection of pipeline butt welds is required, and the total inspection volume will be more than 150,000 crossings. This is an international bidding project. If the commonly used domestic inspection methods are still used, that is, the directional X-ray machine double-wall single shadow method Inspection, regardless of construction speed, number of personnel or cost The only feasible way to have no competitive ability is to use the ray pipeline crawler for filming. Due to wall thickness and standard reasons, the Y-ray pipeline crawler is difficult to apply here. Only the X-ray pipeline crawler is used, which uses internal exposure and has negatives. Good quality, fast speed and other advantages, but it needs to be imported, it is expensive, the daily maintenance workload is large and the maintenance is difficult. In this case, we developed the X-ray pipeline crawler and successfully constructed a large-scale oil pipeline in Sudan It has been put into trial operation in practice. Practice has proved that the crawler is easy to operate and maintain, stable and reliable, and the positioning accuracy meets the requirements for use. The quality of the camera meets the US 1104-94 standard. It fully meets the use level of imported products and replaces imported products. 1 According to the data survey, foreign countries have studied X-ray pipeline crawlers for many years. The technology is relatively mature and has been sold in series. The main countries are France, the United Kingdom, the United States and Belgium. No large-scale application and product sales have been seen.

In China, radiographic testing is still mainly relying on X-ray flaw detectors and Y-ray sources to pass through the double-wall transmission outside the pipeline. Due to the double-wall single-shot transillumination, the thickness plus the large tube voltage is necessary, and the long focal length requires the exposure time. So not only is the sensitivity of the film negative, but also the detection efficiency is very low compared to the internal exposure.

At present, the price of an imported X-ray pipeline crawler is about 1 million yuan. It is generally out of stock. The order period is at least 3 months. Not only is it expensive, but the after-sales service is difficult to solve in a timely and effective manner. We have successfully developed it in 1997 The first Y-ray pipeline crawler has been passed, and it has passed the certification of the bureau level. In addition, the company has more than 10 years of experience in applying imported X-ray pipeline crawlers. On this basis, there are no technical obstacles in the development of X-ray pipeline crawlers. The long-distance oil pipeline has already been widely used for 10% radiation testing, and the country is developing in this direction. Therefore, it is difficult to meet the current situation of rapid increase in inspection workload with current external transillumination, especially when participating in foreign engineering construction. It is necessary to improve the existing detection methods 2 Overall design 2.1 Overall scheme During the three-month investigation, the relevant technical information of recent foreign crawler manufacturers was consulted, and the performance and control of the existing imported X-ray pipeline crawler Methods, scope of application, working conditions, etc. were compared and analyzed, and went to domestic manufacturers of related flaw detection equipment After the investigation, the following scheme was determined: 21.1 The main part The main part is divided into three parts: electric vehicle (including control) X-ray machine and charging power supply vehicle (specially powered by the ray machine). See the generating device for the circuit block diagram of the whole machine, driven by the mechanical walking part The ray generating device walks inside the pipeline, sticks X-ray special film and marks on the butt weld outside the pipeline, and can be positioned and exposed in the pipeline through the cooperation of the remote control device outside the pipeline, so as to perform X-ray penetration on the butt joint weld of the pipeline According to the above, the non-destructive detection of the pipe butt joint welding seam can be realized, in addition, the forward, backward and stop motions of the crawler can be remotely controlled.

2.22 Hardware design Hardware design includes mechanical walking part, ray generating part, positioning sensor, controller (circuit) part, power supply part and automatic ambulance part.

The mechanical part is composed of an electric car, a charging power car 24V DC motor, a reducer rubber wheel, a wheel shaft and connecting accessories.

The charging power car uses 1mm thick stainless steel plate, which is made by stamping and welding. It requires certain rigidity and is not easy to deform. The wear-resistant material wheels are installed. The overall length is determined by the battery volume. It cannot be too long to avoid increasing the turning radius and increasing the difficulty of transportation. The split design of the battery wiring side is conducive to handling and multi-functional realization. When it needs to be changed to a Y-ray crawler, the X-ray machine and the charging power car can be replaced with a Y-ray source with an electric open source collection mechanism.

When it needs to be used as an ambulance, it can be used to replace the X-ray machine and charging power car. Among them, the electric car part is made of a battery-driven DC motor driven deceleration mechanism, the X-ray machine part is specially developed DC-powered circumferential X-ray machine, and the charging power car part is a valve-controlled sealed maintenance-free battery connected in series to form a 21.2 crawler design. The main technical indicators: crawling distance> 8km, climbing slope of 10, positioning accuracy The positioning sensor part can be fault-tolerant in the program design for the jitter and misoperation problems, thereby reducing its design complexity. Because of the large vibration during transportation, it is made The process requirements are high, the components are strictly selected, and anti-vibration measures are taken.

The controller (circuit) part continues to use the original programmable controller (FXO series 20-point relay output type) based on the experience of developing the Y-ray crawler. It has the characteristics of small size, convenient power supply and high reliability. The circuit wiring should be as simple as possible to facilitate maintenance. Arrange the strong electric parts nearby to separate the strong electric current from the weak electric current, so as not to cause interference to the control system. The electric vehicle power supply takes into account the convenience of the controller power supply and the power supply time of the electric motor. 24V DC power supply, walking speed up to 18m / min, calculated with an average working current of 4A, can continuously crawl about 7.6h (calculated by 8 (% discharge capacity), crawling distance 8208m crawling distance is an important feature It can be adapted to the construction technology requirements of a crawler working in turns on several working faces and "two-by-one" interval detection. There are four power supply modes for the X-ray pipeline crawler powered by the ray machine: â‘  fuel generator power supply â‘¡ DC inverter power supply â‘¢Wired cable power supply â‘£Pure DC high-voltage power supply The current development trend is pure DC high-voltage power supply, which has the advantages of high efficiency, no noise, light weight, flexible use and convenience. Therefore, from the perspective of technological progress, pure DC is used High voltage power supply is better, after comprehensive consideration, the DC voltage is selected to be 120V, which is convenient for X-ray machine and charging The design of the vehicle. The automatic ambulance part uses a 12V DC motor to drive the lifting arm through the turbo worm drive. It needs to be raised and lowered in place and can stop automatically. This part is a separate part, and it can be used with any ordinary crawler electric car when needed. Connected to form an automatic ambulance, and uses a plug-and-play "control mode, when converted to an ambulance, no additional transfer switch is required to control the crawler used for movement due to power supply problems or drive motor failure. Ambulance can automatically pull the faulty crawler out of the pipeline. In addition, the design of the link between the charging power car, the ray machine, and the electric car has been designed abroad, which is convenient for hooking, flexible in operation, and does not affect the positioning accuracy. 22.3 Software Design Software design mainly includes programmatic description of the operating process and PLC programming.

The programmatic description of the operation process is to make user needs analysis based on actual work requirements and accumulated work experience on site, and to perform timing operation arrangements for external peripherals through programming within the controller. Peripherals include positioning sensors, buttons, indicators, and alarms Device, timer motor (relay group), ray machine and automatic ambulance etc.

The program design uses the ladder diagram language to compile the flow chart, and the handheld programmer is used for debugging (the specific program is omitted). The fault tolerance of the positioning sensor fault timer fault and the ray machine fault is designed in the software, which can be automatically repaired or protected to a certain extent. The pipeline prevents the occurrence of cutting pipes to the greatest extent. At the same time, we also designed a new technology, so that the exposure time of the crawler during the work process can be adjusted remotely through the outside of the pipeline, which provides convenience for the pipeline detection of the wall thickness change. It also pre-designed a supporting program such as water accumulation sensor and current overcurrent sensor in the tube to facilitate future function expansion. 3 Performance test. The measured data is as follows. The applicable pipe diameter is 400 ~ 1200mm, and the running speed can reach 18m / min , The maximum crawling distance is 10.8km, the maximum gradient is 15, the positioning accuracy is shown in Table 1. Table 2. Comparison between homemade crawler and imported machine. Weight and length of the applicable pipe diameter range / mm price. Homemade imports. Relays and battery charging cause the machine to stay in the pipeline, and then automatically save The car also played for the rejection of this study is expected to get a lot of help Gui Peng Weihua Zhang Sen and other comrades in this together thanks.

Hair Removal

When it comes to removing unwanted hair, you have options. With so much misinformation available about these options, it can be difficult to know which one(s) is best for you. To help you make an informed decision, here are the basic facts that dermatologists share with their patients about 7 popular ways to remove unwanted hair.

Shaving
When you shave, the razor cuts the hairs at the surface of your skin so that you cannot see the hairs.

Fast facts: Here are the long and short of shaving:

You can shave any area of the body.

You can quickly learn how to shave.

Shaving is painless (unless you cut yourself), unlike waxing or laser hair removal.

The results are short-lived, so you may need to shave daily or every few days to maintain your results.

Frequent shaving can irritate your skin.

Injuries, such as cuts, nicks, and razor burns, happen.

Some people who shave develop ingrown hairs.

How to get the best results: The following tips from dermatologists can help you reduce injuries and get a close, comfortable shave.

How to shave: For men and women - Discover 6 simple steps that can help you get a clean, comfortable shave and minimize irritated skin. (video)

How to shave your face - Men, using the right technique can go a long way toward getting soft, smooth, and hairless skin. (video)

7 ways to prevent injuries while trimming pubic hair - Find research-proven ways to reduce these all-too-common injuries.

Waxing
You apply wax (hot or cold) to your skin and then quickly remove it, which pulls out the hairs.

Fast facts: Here are the cold facts about this option:

The results can last a few weeks or longer.

You can wax any area of your body, including large areas, such as your legs, and delicate areas, such as the skin above your upper lip.

Waxing takes practice to learn.

Removing the wax can be painful.

Your newly waxed skin can be red and irritated for a short while after you wax.

If the wax is too hot, it can burn your skin.

How to get the best results: These dermatologists` tips can help you keep it safe and effective:

Waxing is not recommended if you are currently:
Taking isotretinoin (a prescription medication approved to treat severe acne) or have taken it within the past 6 months.
Using an antibiotic
Applying tretinoin (also known as retinoic acid) to your skin.
These medications thin your skin. When the wax is removed, your skin could tear.

If you wax at home, be sure to see what dermatologists recommend by watching this short video, Hair removal: How to wax.
If you go to a salon for a wax, make sure the estheticians:
Use wooden sticks rather than a metal spatula to apply the hot wax.

Dip an unused wooden stick into the wax each time they apply wax to your skin.

Dipping the stick into the wax more than once is called double dipping. This unsanitary practice can transfer bacteria and other germs from previous clients to you. Heated wax is not hot enough to kill bacteria and other germs.

Depilatories
You apply a cream, lotion, or gel to the skin, which can dissolve unwanted hair.

Fast facts: The following can help wash away any misconceptions about using a depilatory:

The results tend to last longer than when you shave.

It`s quick and easy to use at home. You simply apply, wait, and rinse off the product at the time stated in the instructions.

These products can irritate your skin, so dermatologists recommend that you test them. (instructions below under How to get best results from a depilatory).

Some people can use a product for months or years before it starts to irritate their skin.

Some people dislike the odor of these products.

How to get the best results from a depilatory: Always, test first. Before using a depilatory for the first time or using it on a different part of your body, here`s how to test the product:

Apply a small amount to an area on which you want to use it.

Keep it on your skin for the time stated in the instructions (or until your skin starts to burn or sting).

Rinse it off immediately and thoroughly at the time stated or at the first sign of burning or stinging.

If you experience burning or stinging, don`t use the product. Find another depilatory to test.

If within 24 hours of applying the product you don`t have a skin reaction, you can use the product in that area.

China Depilatory Suppliers

SOLO GLOW HAIR COSMETICS , https://www.skinbeautymaskfactory.com