CN102809612A - Surrounding type internal-external double arm ultrasonic automatic defect detecting device - Google Patents
Surrounding type internal-external double arm ultrasonic automatic defect detecting device Download PDFInfo
- Publication number
- CN102809612A CN102809612A CN2012102646851A CN201210264685A CN102809612A CN 102809612 A CN102809612 A CN 102809612A CN 2012102646851 A CN2012102646851 A CN 2012102646851A CN 201210264685 A CN201210264685 A CN 201210264685A CN 102809612 A CN102809612 A CN 102809612A
- Authority
- CN
- China
- Prior art keywords
- outside
- guide rail
- horizontal annular
- annular guide
- travelling car
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention discloses a surrounding type internal-external double arm ultrasonic automatic defect detecting device, wherein a circular working table is arranged at the upper end of a cylindrical support steel structure frame; three centering clamping jaws of the same structure are uniformly arranged on the upper surface of the circular working table along the circumference direction in accordance with an equal central angle; the centering clamping jaws are in moving pair connection with the circular working table through a radial sliding groove; inner and outer horizontal annular guide tracks which surround the structure frame for one circle are arranged at the inner side and the outer side of the upper part of the cylindrical support steel structure frame respectively; inner and outer annular moving trolleys are arranged on the inner and outer horizontal annular guide tracks respectively; inner and outer vertical moving guide tracks are arranged at the outer sides of the inner and outer annular moving trolleys through moving pairs respectively; inner and outer defect detecting robots of 3 rotation freedom degree are arranged at the upper ends of the inner and outer vertical moving guide tracks respectively; and probes are arranged at both the rear ends of the arms of the robot. The defect detecting device is simple in structure, low in cost, low in energy consumption, and capable of improving the production efficiency, improving the working condition and ensuring the security quality of a product.
Description
Technical field
The invention belongs to the ultrasonic test equipment technical field, particularly a kind of automatic ultrasonic inspection device.
Background technology
UT (Ultrasonic Testing) can be checked its internal volume defective under the prerequisite of not destroying workpiece, be a gordian technique of quality assurance during national Important Project and all kinds of important civil goods are made.Field large-scale workpieces such as the main parts size of nuclear power plant equipment, large-scale generating set and various large-scale pipeline, bridge member, ocean, aviation etc. all need carry out UT (Ultrasonic Testing) or other form nondestructive examination, to guarantee the safe operation of equipment.
Ultrasound wave robotization flaw detection developed countries such as U.S.A, day, moral have use, but and its gordian technique reference information is difficult to obtain.At home, the ultrasound wave robotization of steel pipe seam flaw detection is used more extensive.Utility model patent: " a kind of gate-type driving defectoscope " (CN201653987U); The weld seam that is primarily aimed at the large-scale spiral welded tube carries out automated ultrasonic flaw detecting; During flaw detection, driving is moved on the track of portal frame, moves towards flaw detection along weld seam; It can not realize surveying the requirement of incompatible whole detection process rules for surface of the work and whole volume.
The UT (Ultrasonic Testing) of use at present is most to be manual operations, promptly surface of the work subregion, operator's hand hold transducer, observe oscillographic mode, mainly pass judgment on according to individual skill and experience, Effect on Detecting, individual level are difficult to unification.Manual flaw detection labor strength is big, and each workpiece flaw detection required time is longer, and the production cycle significantly prolongs, even has become the bottleneck of some enterprise's whole production technology chain of restriction, has a strong impact on manufacturing schedule and production efficiency; In addition; Because it is less to have the operating personnel of flaw detection qualification, the workman often works extra shifts or extra hours, and causes tired operation; Detection process is easy to produce erroneous judgement; Human body physiological characteristics particularly all can not be lasting like notice, manual manipulation power, speed, stability, influences the reliability and the accuracy of workpiece flaw detection to a certain extent.
Summary of the invention
The object of the present invention is to provide and a kind ofly can improve flaw detection throughput rate, shorten the production cycle, strengthen reliability, improve the inside and outside both arms automatic ultrasonic inspection device of labour intensity circulating type.The present invention supports the location workpiece by three claws; It is centering adjustment; Utilize inside and outside dolly to move as annular circumferential, simultaneously, constitute the up-down that moving sets is realized the robot location by dolly and vertical guide rail along ring-shaped guide rail; And cooperate the robot motion who supports ultrasonic probe, realize detection to various workpiece.
Technical scheme of the present invention is following:
The present invention mainly comprises: cylindrical shape support steel structure frame, inside and outside horizontal annular guide rail, inside-and-outside ring travelling car, inside and outside vertical moving guide rail, inside and outside flaw detection robot, inside and outside probe, centering jaw and worktable.Wherein, Cylindrical shape support steel structure frame is as the pedestal of complete machine; Upper end at cylindrical shape support steel structure frame is provided with circular table; Along the circumferential direction by waiting central angle evenly to arrange three centering jaws that structure is identical, this centering jaw constitutes moving sets with circular table through radial groove and is connected this circular table upper surface; Be respectively equipped with around the structure-steel framing outer horizontal annular guide rail and the interior horizontal annular guide rail in one week in the medial and lateral on cylindrical shape support steel structure frame top, the axis of inside and outside horizontal annular guide rail confirms that with three centering jaws the center line strictness of circle overlaps.Be respectively equipped with identical in structure inside-and-outside ring travelling car on the inside and outside horizontal annular guide rail; This travelling car is a C type draw-in groove structure; The inboard draw-in groove of this inside-and-outside ring travelling car meshes with inside and outside horizontal annular guide rail respectively; Can do continuously or the rotation of discontinuity circumference along outer horizontal annular guide rail, inside and outside vertical moving guide rail is installed through moving sets respectively in the outside of this inside-and-outside ring travelling car, vertical moving about this inside and outside vertical moving guide rail can be done as requested; The upper end of being somebody's turn to do inside and outside vertical moving guide rail is respectively equipped with the outer flaw detection robot of 3 rotational freedoms, and this robot arm end is provided with probe.
When off working state, all inside and outside vertical guide rails and robot may contract to below the work top; And in working order the time, can rise and stretch again, so the above space of work top is unrestricted; The motion and the flexible of probe of the up-down of vertical guide rail, the circulatory motion of dolly, flaw detection robot self cooperatively interact, and guaranteed various complex part technological requirements, have realized flaw detection.
The present invention compared with prior art has following advantage:
1, worktable universalization, device support rigidity is big, and is simple in structure, and cost is low.
2, workpiece need not move, energy consumption reduces.
3, the relative motion of workpiece and probe is simplified, and the motion state variation range is wide and be easy to control.
4, enhance productivity, improve working conditions, guarantee the product safety quality.
Description of drawings
Fig. 1 looks simplified schematic diagram for master of the present invention.
The working state schematic representation that Fig. 2 detects a flaw to straight shell ring for the present invention.
The working state schematic representation that Fig. 3 detects a flaw to transition segment for the present invention.
The working state schematic representation that Fig. 4 detects a flaw to pancake for the present invention.
The working state schematic representation that Fig. 5 detects a flaw to end socket for the present invention.
Embodiment
As shown in Figure 1, the inside and outside both arms automatic ultrasonic inspection center of circulating type involved in the present invention is formed and is comprised cylindrical shape support steel structure frame 1, outer horizontal annular guide rail 2, interior horizontal annular guide rail 3, outer ring travelling car 4, interior annular movement dolly 5, outer vertical moving guide rail 6, interior vertical moving guide rail 7, outer flaw detection robot 8, interior flaw detection robot 9, pops one's head in 10 outward, interior probe 11, centering jaw 12 and worktable 13.
Both arms automatic ultrasonic inspection device master looks in the synoptic diagram inside and outside circulating type shown in Figure 1; The cylindrical shape support steel structure frame 1 of hollow is as the pedestal of complete machine; Upper end at this cylindrical shape support steel structure frame is provided with circular table 13; This circular table upper surface is along the circumferential direction by waiting central angle evenly to arrange three centering jaws 12 that structure is identical; This centering jaw constitutes moving sets with circular table through radial groove and is connected, and three centering jaws can be moved radially synchronously, is used for supporting and the centering workpiece for measurement; Be respectively equipped with the outer horizontal annular guide rail 2 and interior horizontal annular guide rail 3 in one week of loops framework in the medial and lateral on cylindrical shape support steel structure frame top; Above-mentioned three centering jaws confirm that the center line of circle overlaps with the axis of inside and outside horizontal annular guide rail is strict.
Outside above-mentioned, be provided with outer ring travelling car 4 on the horizontal annular guide rail, this travelling car is a C type draw-in groove structure, and draw-in groove and outer horizontal annular guide rail 2 engagements that this travelling car is inboard can be done continuously or the discontinuity circumduction along outer horizontal annular guide rail 2; The outside of this outer ring travelling car is connected with outer vertical moving guide rail 6 through moving sets; Should can do mobile vertically as requested by outer vertical moving guide rail; The upper end of being somebody's turn to do outer vertical moving guide rail is provided with the outer flaw detection robot 8 of 3 rotational freedoms, and this robot arm end is provided with outer probe 10.
Equally; Annular movement dolly 5 in the horizontal annular guide rail is provided with in above-mentioned; The structure and the outer ring travelling car 4 of annular movement dolly 5 are identical in being somebody's turn to do, and the inboard draw-in groove of this travelling car is meshed with interior horizontal annular guide rail 3, and continuous or discontinuity circulatory motion can be done along interior horizontal annular guide rail in inboard of annular movement dolly in this; Should be connected with interior vertical moving guide rail 7 through moving sets in the interior annular movement dolly outside; The vertical moving guide rail can be done as requested vertically and move in being somebody's turn to do, and upper end of vertical moving guide rail is provided with the interior flaw detection robot 9 of 3 rotational freedoms in this, pops one's head in 11 in this robot end is provided with.
When outer ring travelling car and interior annular movement dolly are done circulatory motion; Outer vertical moving guide rail and interior vertical moving guide rail are done vertical up-or-down movement; The arm of outer flaw detection robot and interior flaw detection robot is done additional movement, can satisfy technology, the track requirement of any complex part, accomplishes flaw detection.
Whole machine installation can adopt dual mode: complete machine places on the ground fixing, or complete machine crouches and fixes in underground certain depth.
During off working state, flaw detection robot, probe and inside and outside vertical guide rail all are hidden in below the work top, can not bump when so then hanging in workpiece.When inhomogeneity parts such as straight shell ring, transition segment, pancake and end socket are detected a flaw duty respectively like Fig. 2,3,4, shown in 5; At first workpiece is hung in; Be positioned on the centering jaw of table plane, through moving three centering jaw centering workpiece centres and location; Rise from inside and outside vertical guide rail afterwards to specified altitude assignment, adjustment flaw detection robot and popping one's head in to assigned address; Start inside and outside travelling car and make it make circular motion, simultaneously vertical guide rail moves up and down and the robot end is popped one's head in move axially along workpiece, or additional machine people's motion, the common automatic detection that realizes being scheduled to complicated track of two or three interlocks.Flaw detection finishes the back and regains guide rail, robot and probe, according to record, carries out artificial criticism and reinspection, hangs out workpiece at last.
Claims (1)
1. the inside and outside both arms automatic ultrasonic inspection device of a circulating type; It mainly comprises: cylindrical shape support steel structure frame, inside and outside horizontal annular guide rail, inside-and-outside ring travelling car, inside and outside vertical moving guide rail, inside and outside flaw detection robot, inside and outside probe, centering jaw and worktable; It is characterized in that: its cylindrical shape support steel structure frame is as the pedestal of complete machine; Upper end at cylindrical shape support steel structure frame is provided with circular table; Along the circumferential direction by waiting central angle evenly to arrange three centering jaws that structure is identical, this centering jaw constitutes moving sets with circular table through radial groove and is connected this circular table upper surface; Be respectively equipped with around the structure-steel framing outer horizontal annular guide rail and the interior horizontal annular guide rail in one week in the medial and lateral on cylindrical shape support steel structure frame top; The axis of inside and outside horizontal annular guide rail confirms that with three centering jaws the center line strictness of circle overlaps; Be respectively equipped with identical in structure inside-and-outside ring travelling car on the inside and outside horizontal annular guide rail; Should be C type draw-in groove structure by inside and outside travelling car; The inboard draw-in groove of this inside-and-outside ring travelling car meshes with inside and outside horizontal annular guide rail respectively; Inside and outside vertical moving guide rail is installed through moving sets respectively in the outside of this inside-and-outside ring travelling car, and the upper end of this inside and outside vertical moving guide rail is respectively equipped with the outer flaw detection robot of 3 rotational freedoms, and this robot arm end is provided with probe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210264685.1A CN102809612B (en) | 2012-07-30 | 2012-07-30 | Surrounding type internal-external double arm ultrasonic automatic defect detecting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210264685.1A CN102809612B (en) | 2012-07-30 | 2012-07-30 | Surrounding type internal-external double arm ultrasonic automatic defect detecting device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102809612A true CN102809612A (en) | 2012-12-05 |
| CN102809612B CN102809612B (en) | 2014-11-12 |
Family
ID=47233372
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210264685.1A Expired - Fee Related CN102809612B (en) | 2012-07-30 | 2012-07-30 | Surrounding type internal-external double arm ultrasonic automatic defect detecting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102809612B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105571785A (en) * | 2016-02-01 | 2016-05-11 | 常熟理工学院 | Barrel wall automatic leak detection device applied to oil barrel remanufacturing |
| CN105890743A (en) * | 2016-03-19 | 2016-08-24 | 李涛 | Ultrasonic-wave automatic coupling probe combination apparatus |
| CN107328797A (en) * | 2017-09-05 | 2017-11-07 | 常州工程职业技术学院 | A kind of girth joint sensitivity of film segmentation chalker and method |
| CN108872376A (en) * | 2018-04-12 | 2018-11-23 | 河海大学 | A kind of underwater cylinder bridge pier visits the fixation bracket and its application method of damage detecting instrument device |
| CN110057914A (en) * | 2019-05-29 | 2019-07-26 | 山东大学 | The automation non-destructive testing device and method of composite material curved-surface structure |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4044594A (en) * | 1976-07-22 | 1977-08-30 | Krautkramer-Branson, Incorporated | Ultrasonic track testing carriage |
| CN201122156Y (en) * | 2007-11-27 | 2008-09-24 | 北京赛诚工控科技有限责任公司 | Probe frame for spiral welded pipe supersonic inspection |
| CN201503419U (en) * | 2009-09-05 | 2010-06-09 | 湖北新冶钢有限公司 | Transmission device used for ultrasonic detection of large-size steel ferrule finished products |
| CN101893605A (en) * | 2010-05-24 | 2010-11-24 | 北京欧宁航宇检测技术有限公司 | Modularized multi-axis ultrasonic water immersion detecting system |
| CN201653987U (en) * | 2010-03-19 | 2010-11-24 | 鞍山长风无损检测设备有限公司 | Portal traveling crane fault detection machine |
| CN102507750A (en) * | 2011-11-02 | 2012-06-20 | 中国农业大学 | Ultrasonic flaw detection scanning frame of porcelain post insulator |
| CN202329668U (en) * | 2011-11-11 | 2012-07-11 | 上海宝信软件股份有限公司 | Three-claw centering device |
-
2012
- 2012-07-30 CN CN201210264685.1A patent/CN102809612B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4044594A (en) * | 1976-07-22 | 1977-08-30 | Krautkramer-Branson, Incorporated | Ultrasonic track testing carriage |
| CN201122156Y (en) * | 2007-11-27 | 2008-09-24 | 北京赛诚工控科技有限责任公司 | Probe frame for spiral welded pipe supersonic inspection |
| CN201503419U (en) * | 2009-09-05 | 2010-06-09 | 湖北新冶钢有限公司 | Transmission device used for ultrasonic detection of large-size steel ferrule finished products |
| CN201653987U (en) * | 2010-03-19 | 2010-11-24 | 鞍山长风无损检测设备有限公司 | Portal traveling crane fault detection machine |
| CN101893605A (en) * | 2010-05-24 | 2010-11-24 | 北京欧宁航宇检测技术有限公司 | Modularized multi-axis ultrasonic water immersion detecting system |
| CN102507750A (en) * | 2011-11-02 | 2012-06-20 | 中国农业大学 | Ultrasonic flaw detection scanning frame of porcelain post insulator |
| CN202329668U (en) * | 2011-11-11 | 2012-07-11 | 上海宝信软件股份有限公司 | Three-claw centering device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105571785A (en) * | 2016-02-01 | 2016-05-11 | 常熟理工学院 | Barrel wall automatic leak detection device applied to oil barrel remanufacturing |
| CN105890743A (en) * | 2016-03-19 | 2016-08-24 | 李涛 | Ultrasonic-wave automatic coupling probe combination apparatus |
| CN107328797A (en) * | 2017-09-05 | 2017-11-07 | 常州工程职业技术学院 | A kind of girth joint sensitivity of film segmentation chalker and method |
| CN108872376A (en) * | 2018-04-12 | 2018-11-23 | 河海大学 | A kind of underwater cylinder bridge pier visits the fixation bracket and its application method of damage detecting instrument device |
| CN110057914A (en) * | 2019-05-29 | 2019-07-26 | 山东大学 | The automation non-destructive testing device and method of composite material curved-surface structure |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102809612B (en) | 2014-11-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202994732U (en) | Rotary arm type short tube section class ultrasonic automatic flaw detection machine | |
| CN102818846B (en) | Automatic ultrasonic flaw-detecting machine for tray type large shell section parts | |
| CN102809612B (en) | Surrounding type internal-external double arm ultrasonic automatic defect detecting device | |
| CN102809605B (en) | Two-end internal-external synchronous type ultrasonic automatic defectoscope for large-sized shell ring piece | |
| CN102809602B (en) | Horizontally-concealed type automatic robot ultrasonic diagnostic machine with trolleys moving on inner-outer rings | |
| CN102809608B (en) | Trolley type automatic ultrasonic flaw-detecting machine with built-in robot for large cylindrical shell section parts | |
| CN104062353B (en) | Bent axle automation vortex, the compound the cannot-harm-detection device of Magnetic Memory | |
| CN202994733U (en) | Horizontal type automatic ultrasonic flaw-detecting machine of large-sized shell ring part | |
| CN104749246B (en) | A kind of large-size cylinder body and end socket forging ultrasonic wave automatic checking device | |
| CN107472910A (en) | A kind of method of work with vision-based detection functional glass transfer robot | |
| JP2015132603A (en) | Inspection apparatus and method of inspecting reactor component using same | |
| CN102809607B (en) | Two-ends-telescopic internally-externally-synchronous automatic ultrasonic diagnostic machine for large-scale cylindrical shell section parts | |
| CN203117166U (en) | Ultrasonic automatic flaw detection center for large piece on vertical rolling turntable with hidden guide rails below | |
| CN109187735A (en) | Testing agency and detection method in a kind of in-service long-distance transport pipes boxing seam defect magnetic powder | |
| CN203011893U (en) | Large automatic ultrasonic defectoscope with small-height vertical rolling turntable | |
| CN102809606B (en) | Crown block type ultrasonic automatic defectoscope of large-sized shell ring piece | |
| CN102809604B (en) | Wall-cross type robot type ultrasonic automatic defectoscope | |
| CN206780417U (en) | Rotary hull inner chamber welding robot | |
| CN102809603B (en) | Lower horizontal type ultrasonic automatic defectoscope for large-sized rolling shell ring piece | |
| CN206399898U (en) | A kind of huge revolving part ultrasound automatic flaw detector | |
| CN209664615U (en) | It is a kind of for pipe cutting and the device of welding | |
| CN113791081A (en) | Nondestructive testing device for welding seam of pressure vessel | |
| CN207742131U (en) | A kind of external application pipeline weld bond circumferential direction x-ray detection device | |
| CN208366964U (en) | A kind of spherical coordinates three-dimensional coordinate instrument | |
| CN206740671U (en) | A kind of formal dress larger storage tank weld seam ray detection auxiliary device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141112 Termination date: 20170730 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |