CN102809612B - 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
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- CN102809612B CN102809612B CN201210264685.1A CN201210264685A CN102809612B CN 102809612 B CN102809612 B CN 102809612B CN 201210264685 A CN201210264685 A CN 201210264685A CN 102809612 B CN102809612 B CN 102809612B
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- guide rail
- horizontal annular
- annular guide
- flaw detection
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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 ultrasonic test equipment technical field, particularly a kind of ultrasonic automatic flaw detection apparatus.
Background technology
UT (Ultrasonic Testing) can check its internal volume defect under the prerequisite of not destroying workpiece, is a gordian technique of quality assurance during national Important Project and all kinds of important civil goods are manufactured.The field large-scale workpieces such as the main parts size of nuclear power plant equipment, large power generating equipment and various large-scale pipeline, bridge member, ocean, aviation etc. all need to carry out UT (Ultrasonic Testing) or other form nondestructive examination, to guarantee the safe operation of equipment.
Ultrasound wave automatic flaw detection is applied in beautiful, day, existing institute of De Deng developed country, and its gordian technique can be difficult to obtain by reference information.At home, the application of the ultrasound wave automatic flaw detection of steel pipe seam is more extensive.Utility model patent: " a kind of portal traveling crane fault detection machine " (CN201653987U), weld seam mainly for large-scale spiral welded tube carries out automated ultrasonic flaw detecting, during flaw detection, driving is moved on the track of portal frame, along weld seam, move towards flaw detection, it can not be realized for surface of the work and all volume detections, is not suitable with the requirement of whole detection process rules.
At present conventional UT (Ultrasonic Testing) majority be hand-manipulated, surface of the work subregion, operator's hand hold transducer, observe oscillographic mode, Main Basis individual skill and experience are passed judgment on, Effect on Detecting, individual level are difficult to unify.Manual flaw detection labor strength is large, and each workpiece flaw detection required time is longer, and the production cycle significantly extends, and has even become the bottleneck of the whole production technology chain of some enterprise of restriction, has a strong impact on manufacturing schedule and production efficiency; In addition, due to have flaw detection qualification operating personnel less, workman often works extra shifts or extra hours, cause tired operation, detection process is easy to produce erroneous judgement, particularly human body physiological characteristics, as notice, manual manipulation power, speed, stability all can not be lasting, affects 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 ultrasonic automatic flaw detection apparatus of labour intensity circulating type.The present invention is mainly by three claw supporting and location workpiece, it is centering adjustment, utilize inside and outside dolly to move as annular circumferential along ring-shaped guide rail, simultaneously, by dolly and vertical guide rail, form the lifting that moving sets is realized robot location, and coordinate the robot motion who supports ultrasonic probe, realize the detection to various workpiece.
Technical scheme of the present invention is as follows:
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, this circular table upper surface is along the circumferential direction by waiting central angle to be evenly arranged three centering jaws that structure is identical, and this centering jaw forms moving sets with circular table by radial groove and is connected; In the medial and lateral on cylindrical shape support steel structure frame top, be respectively equipped with around the structure-steel framing outer horizontal annular guide rail of a week and interior horizontal annular guide rail, the axis of inside and outside horizontal annular guide rail determines that with three centering jaws the center line of circle strictly overlaps.On inside and outside horizontal annular guide rail, be respectively equipped with the identical inside-and-outside ring travelling car of structure, this travelling car is C type notch, the draw-in groove of this inside-and-outside ring travelling car inner side meshes with inside and outside horizontal annular guide rail respectively, can do continuously or discontinuity circular-rotation along outer horizontal annular guide rail, inside and outside vertical moving guide rail is installed by moving sets respectively in the outside of this inside-and-outside ring travelling car, this inside and outside vertical moving guide rail can be done up and down and vertically move as requested, 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, 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 work top; And in working order time, can rise and stretch again, therefore the above space of work top is unrestricted; Motion and the flexible of probe of the lifting 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 tool has the following advantages:
1, worktable universalization, device support rigidity is large, simple in structure, and cost is low.
2, workpiece does not need motion, Energy Intensity Reduction.
3, the relative motion of workpiece and probe is simplified, and motion state variation range is wide and be easy to control.
4, enhance productivity, improve working conditions, guarantee product safety quality.
Accompanying drawing explanation
Fig. 1 is that master of the present invention looks simplified schematic diagram.
Fig. 2 is the working state schematic representation that the present invention detects a flaw to straight tube joint.
Fig. 3 is the working state schematic representation that the present invention detects a flaw to transition segment.
Fig. 4 is the working state schematic representation that the present invention detects a flaw to pancake.
Fig. 5 is the working state schematic representation that the present invention detects a flaw to end socket.
Embodiment
As shown in Figure 1, the inside and outside both arms automatic ultrasonic inspection of circulating type involved in the present invention center forms and comprises 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, outer probe 10, interior probe 11, centering jaw 12 and worktable 13.
Inside and outside the circulating type shown in Fig. 1, both arms ultrasonic automatic flaw detection apparatus master looks in schematic diagram, 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 to be evenly arranged three centering jaws 12 that structure is identical, this centering jaw forms moving sets with circular table by radial groove and is connected, three centering jaws can synchronously be moved radially, for supporting and centering workpiece for measurement; In the medial and lateral on cylindrical shape support steel structure frame top, be respectively equipped with the loops framework outer horizontal annular guide rail 2 of a week and interior horizontal annular guide rail 3; Above-mentioned three centering jaws determine that the center line of circle strictly overlaps with the axis of inside and outside horizontal annular guide rail.
On above-mentioned outer horizontal annular guide rail, be provided with outer ring travelling car 4, this travelling car is C type notch, and the draw-in groove of this travelling car inner side and 2 engagements of outer horizontal annular guide rail, can do continuously or 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 by moving sets, this outer vertical moving guide rail can be done vertically and move as requested, the upper end of this 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, above-mentioned interior horizontal annular guide rail is provided with interior annular movement dolly 5, the structure of this interior annular movement dolly 5 is identical with outer ring travelling car 4, the draw-in groove of this travelling car inner side is meshed with interior horizontal annular guide rail 3, the inner side of this interior annular movement dolly can be done continuously or discontinuity circulatory motion along interior horizontal annular guide rail, this interior annular movement dolly outside is connected with interior vertical moving guide rail 7 by moving sets, this interior vertical moving guide rail can be done vertically and move as requested, the upper end of this interior vertical moving guide rail is provided with the interior flaw detection robot 9 of 3 rotational freedoms, this robot end is provided with interior probe 11.
When outer ring travelling car and interior annular movement dolly are done circulatory motion, outer vertical moving guide rail is done vertical up-or-down movement with interior vertical moving guide rail, the arm of outer flaw detection robot and interior flaw detection robot is done additional movement, can meet technique, the track requirement of any complex part, completes flaw detection.
Whole machine installation can be adopted in two ways: complete machine is placed on 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 are all hidden in below work top, while so hanging in workpiece, can not bump.When the inhomogeneity parts such as straight tube joint, transition segment, pancake and end socket are detected a flaw, duty is respectively as shown in Fig. 2,3,4,5, first workpiece is hung in, be positioned on the centering jaw of table plane, by mobile three centering jaw centering workpiece centres location; Rise from afterwards inside and outside vertical guide rail to specified altitude assignment, adjust flaw detection robot and pop one's head in to assigned address; Start inside and outside travelling car it is circled, simultaneously vertical guide rail moves up and down and robot end is popped one's head in along workpiece, move axially, or additional machine people's motion, and two or three link realizes the automatic detection of predetermined complicated track jointly.Flaw detection finishes rear withdrawal guide rail, robot and probe, according to record, carries out artificial criticism and reinspection, finally hangs out workpiece.
Claims (1)
1. the inside and outside both arms ultrasonic automatic flaw detection apparatus 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: 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, this circular table upper surface is along the circumferential direction by waiting central angle to be evenly arranged three centering jaws that structure is identical, this centering jaw forms moving sets with circular table by radial groove and is connected, in cylindrical shape support steel structure frame top, outside is respectively equipped with around the structure-steel framing outer horizontal annular guide rail of a week and interior horizontal annular guide rail, the axis of inside and outside horizontal annular guide rail determines that with three centering jaws the center line of circle strictly overlaps, on inside and outside horizontal annular guide rail, be respectively equipped with the identical inside-and-outside ring travelling car of structure, this inside-and-outside ring travelling car is C type notch, the draw-in groove of this inside-and-outside ring travelling car inner side meshes with inside and outside horizontal annular guide rail respectively, inside and outside vertical moving guide rail is installed by moving sets respectively in the outside of this inside-and-outside ring travelling car, the upper end of this inside and outside vertical moving guide rail is respectively equipped with the inside and outside flaw detection robot of 3 rotational freedoms, this inside and outside flaw detection robot arm end is equipped 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 |
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| Publication Number | Publication Date |
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| CN102809612A CN102809612A (en) | 2012-12-05 |
| CN102809612B true CN102809612B (en) | 2014-11-12 |
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| CN201210264685.1A Expired - Fee Related CN102809612B (en) | 2012-07-30 | 2012-07-30 | Surrounding type internal-external double arm ultrasonic automatic defect detecting device |
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Families Citing this family (5)
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| 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 |
| CN107328797B (en) * | 2017-09-05 | 2023-08-01 | 常州工程职业技术学院 | Segmented scribing device and method for girth joint radiology |
| 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 |
| CN110057914B (en) * | 2019-05-29 | 2020-10-09 | 山东大学 | Automatic nondestructive testing device and method for 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 |
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| CN102809612A (en) | 2012-12-05 |
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Granted publication date: 20141112 Termination date: 20170730 |