CN106168319B - A kind of bend pipe detects flaw detection gantry frame structure automatically - Google Patents
A kind of bend pipe detects flaw detection gantry frame structure automatically Download PDFInfo
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- CN106168319B CN106168319B CN201610731998.1A CN201610731998A CN106168319B CN 106168319 B CN106168319 B CN 106168319B CN 201610731998 A CN201610731998 A CN 201610731998A CN 106168319 B CN106168319 B CN 106168319B
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- longeron
- bend pipe
- guide rail
- frame structure
- flaw detection
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
Abstract
The invention discloses a kind of bend pipes to detect flaw detection gantry frame structure automatically, it is related to hot-bending bends and detects inspection technique field automatically, including crossbeam, longeron, the longitudinal and cross beam connects into rectangular frame structure, guide rail is provided with along the longeron upper surface is longitudinally fixed, rack I is longitudinally equipped with along the guide rail.Flaw detection gantry frame structure is detected automatically by using the bend pipe of the present invention, it can be moved left and right on manipulator transverse direction operating mechanism for manipulator and stable framework is provided, manipulator can hold any position within the scope of probe arrival portal frame, and these movements are all by scanning the scanning route automatically generated after bend pipe, has many advantages, such as efficient, high degree of automation, and gantry frame structure itself has stable structure, advantage easy to maintain.
Description
Technical field
The present invention relates to hot-bending bends to detect inspection technique field automatically, and flaw detection is detected automatically more particularly to a kind of bend pipe
Gantry frame structure.
Background technology
Bended pipe is the important component of the long conveyance conduit of oil gas, and long distance pipeline passes through many with a varied topography, weathers
Therefore the area of inclement condition needs to use heavy caliber hot-bending bends in pipeline laying.In the past 20 years, bend pipe is at home and abroad
More and more extensive use is obtained in major diameter, high-pressure oil gas feed-line.Major diameter, thickness suitable for different work condition environments
The application study of wall, low temperature, High Pressure Bend Pipe is also deepening continuously, and achieves some engineer application achievements, the application of bend pipe
Field is also more and more extensive.
Bend pipe stress in use is complicated, and technology difficulty is big during the bending process, influences the factor of capability and performance
It is more, the manufacture of bend pipe and its quality（Including mechanical property and dimension limit deviation etc.）Quality, directly influence oil gas
The safe and reliable property and economic benefit of investment of conveyance conduit.If security reliability is poor, explosive failure will occur for pipeline, lead
Lives and properties are caused to be badly damaged.It is also to be difficult to estimate to cause severe social influence；Waste product such as is generated in bend pipe making,
It will cause great economic loss.Therefore, bend pipe is carried out during manufacturing using rational lossless detection method
Control of product quality is very necessary.
An essential link during non-destructive testing is produced as bend pipe, for being found in time in bend pipe production process
Defect ensures that the quality of production important role of bend pipe, national departments concerned require manufacturing enterprise must be according to product standard
Carry out the detection of High Pressure Bend Pipe.Current detecting system can carry out straight tube automatic continuous and crawl carrying out flaw detection, but long-term
Since, at home in related petroleum pipeline production industry, bend pipe non-destructive testing is all detected using manual work mode substantially,
In worker, mode is completed to reuse portable ultraphonic detector after Magnetic testing and is detected by hand, to the testing result of bend pipe
It remains in experience and various charts, not only process is cumbersome, and heavy workload, detection efficiency is low, and master under one's control
The property seen influences, and timely for detection defect finds that there is also certain erroneous judgements.Traditional bend pipe manual inspection method and detection
No matter instrument all cannot be satisfied the large batch of bend pipe production requirement of enterprise in detection speed or accuracy of detection.
Invention content
In view of problem above, it is an object of the invention to be directed in bended pipe detection generally to detect using portable ultraphonic
Instrument carries out the present situation of artificial non-destructive testing, provides bend pipe and detects flaw detection gantry frame structure automatically, branch is provided for automatic checkout system
Support frame frame.
Technical solution includes content in detail below：A kind of bend pipe detects flaw detection gantry frame structure automatically, which is characterized in that packet
Crossbeam, longeron are included, the longitudinal and cross beam connects into rectangular frame structure, is led along longitudinally fixed be provided in longeron upper surface
Rail is longitudinally equipped with rack I along the guide rail.
Further, further include supporting leg, at least two supporting legs, the supporting leg are set on the every longeron and are fixed at
The lower surface of longeron.
Further, further include laser identification walking beam, laser identification walking beam be arranged below longeron and with
Longeron is parallel.
Further, the side of the laser identification walking beam is equipped with two " I " fonts guide rails, " work " word described in two
Between type guide rail be equipped with rack II, the " I " fonts guide rail, rack II along laser identification walking beam be longitudinally arranged and with
Laser identification walking beam is fixedly connected.
Further, the cross sectional shape of the longeron is " convex " font.
Further, the guide rail is in plane tabular, and the width of the guide rail is more than the upper surface width of longeron.
Further, the rack I is an integral structure with guide rail.
Further, the guide rail is equipped with counterbore, and the longeron is equipped with threaded hole corresponding with counterbore.
Further, the guide rail is divided into left and right two parts along longitudinal direction, and the setting of the rack I is in two, described guide rail or so
/.
Beneficial effects of the present invention：
The present invention adds probing to hinder gantry frame structure automatically using a kind of bend pipe provided, and portal frame is in giant frame structure,
It is equipped with guide rail in the upper surface of longeron, the design feature of guide rail provides condition for ultrasonic examination scanning system, on longeron
Guide rail can make scanning manipulator complete longitudinal movement, also, it can be to automatically control scanning to move towards identical rack with guide rail
The walking of mechanism provides condition, has the characteristics that walk accurate；Laser identifies on walking beam in two " I " fonts guide rail cooperations
Between rack the function of automatically walk is provided for laser identification mechanism；Entire gantry frame structure is rigidly good, and stability is reliable, for
The precision of automatic scanning system provides guarantee.
Description of the drawings：
Fig. 1 is that bend pipe detects fault detection system structural schematic diagram automatically；
Fig. 2 is that bend pipe detects robot manipulator structure schematic diagram in fault detection system automatically；
Fig. 3 is that bend pipe detects flaw detection portal frame schematic diagram automatically；
Fig. 4 is the sectional view of longeron and guide rail；
Fig. 5 is the vertical view of longeron and guide rail；
Fig. 6 is the sectional view that laser identifies walking beam.
Specific implementation mode：
It is described in further detail below by specific embodiment and in conjunction with attached drawing to the present invention：
Fig. 1 shows that a kind of bend pipe detects fault detection system structural schematic diagram automatically, including portal frame 4, manipulator are laterally transported
Row mechanism 3, manipulator 10, laser identification mechanism 5, the setting of laser identification mechanism 5 are described on a laser identification walking beam 8
Manipulator 10 is slidably arranged on manipulator transverse direction operating mechanism 3, and manipulator transverse direction operating mechanism 3 is across on portal frame and can
Along 4 longitudinal sliding motion of portal frame, laser identification mechanism 5 is arranged on portal frame 4 and can be along 4 longitudinal sliding motion of portal frame.Preferably,
It further includes carrying pipe vehicle that bend pipe detects flaw detection gantry frame structure automatically, carries pipe vehicle and is arranged two sets, respectively carries pipe vehicle 1 and carries pipe vehicle 7,
It carries pipe vehicle 1 and carries horizontal span of the width less than the portal frame 4 of pipe vehicle 7；The track 6 that 4 lower section of portal frame is arranged is managed in load
Vehicle 1 and load pipe vehicle 7 match, and track 6 is in the lower section of portal frame 4 along portal frame 4 longitudinally through positioned at two branch of portal frame 4
Between leg 9, at least two supporting legs 9, supporting leg 9 are set on every longeron 16 and are fixed at the lower surface of longeron 16, here vertical
To the traffic direction for referring to 4 longer direction of portal frame and manipulator transverse direction operating mechanism 3.It carries pipe vehicle 1 and carries pipe vehicle 7
All it is by the power being arranged in the motor for carrying pipe car bottom as walking.
As shown in figure 3, portal frame 4 includes crossbeam 17, longeron 16, longeron 16 and crossbeam 17 connect into rectangular frame structure, edge
16 upper surface of longeron is longitudinally fixed to be provided with guide rail 19, is one along longitudinal rack I 25, rack I 25 and the guide rail 19 of being equipped with of guide rail 19
Body formula structure, that is to say, that rack I 25 processes on rails 19.Rack I 25 can clearly be seen in figures 4 and 5
To its structure.Guide rail 19 and longeron 16 can be integral structures, the fixed forms such as can also weld.
As shown in Figure 4, Figure 5, in the present embodiment, the cross sectional shape of longeron 16 is " convex " font, and guide rail 19 is in surface plate
Shape, the width of guide rail 19 are more than the upper surface width of longeron 16, and guide rail 19 is equipped with counterbore, and longeron 16 is equipped with right with counterbore 20
The threaded hole answered, guide rail 19 are fixedly connected with mode compared with more convenient maintenance for welding and integral type with longeron 16.And make
To be preferred, as shown in figure 4, guide rail 19 is divided into left and right two parts left side 23, the right side 24 along longitudinal direction in the present embodiment, rack I 25 is set
It sets between 19 or so two parts of guide rail, that is to say, that rack I 25 can be on a left side 23 or the right side 24, in the present embodiment, rack
I 25 on the right surface on a left side 23, and after guide rail 19 is divided into two parts, counterbore 20 can only fix that part of a left side 23, then the right side 24 with it is vertical
It can weld, can also be compressed only by pressing plate 18 between beam 16, can also be connected using rigidity by the both ends in guide rail 19
Connect, can also three be applied in combination, purpose is provided to guide rail 19 being compressed tightly against on longeron 16, facilitates the shifting of manipulator
It is dynamic.
As shown in fig. 6, further include laser identification walking beam 8, laser identify walking beam 8 be arranged below longeron 16 and with
Longeron 16 is parallel, we identify that the side of walking beam 8 is equipped with two " I " fonts guide rails 21 in laser, and side described herein is
Refer to the direction on the inside of portal frame, rack II 22, " I " fonts guide rail 21, tooth are equipped between two " I " fonts guide rails 21
Item II 22 is fixedly connected along the parallel longitudinal arrangement of laser identification walking beam 8 and with laser identification walking beam 8.
As shown in Fig. 2, manipulator 10 is four axis robots, including large arm swinging axle 11, forearm swinging axle 12, wrist are circumferential
Four axis such as rotary shaft 13 and wrist rotational axial shaft 14；In the present embodiment, the manipulator 10 used is rectangular co-ordinate coordinate
Manipulator, 10 root of manipulator are connect with manipulator transverse direction operating mechanism 3, the end of manipulator 10, that is, manipulator 3 wrist
Be provided on portion's rotational axial shaft 14 visit frame 15, visit frame 15 to achieve the effect that it is easy to disassemble, effect be clamping flaw detection visit
Head.
The course of work of bend pipe automatic crack detection system in the present embodiment：
As shown in Figure 1, A:First load pipe vehicle 7 will be sent to detection station with detection bend pipe 2, carry pipe vehicle 7 and be slided by track 6
The lower section detection station of portal frame 4；
B:Laser identification mechanism 5 positions bend pipe profiling；After bend pipe 2 to be detected reaches detection station, known with this laser
Other mechanism 5 is scanned bend pipe, and real-time display goes out the form of bend pipe 2 to be detected and generates graphics, and corresponding data is passed
To host computer, the movement locus of manipulator 10 is generated, motion controller carries out scanning according to this TRAJECTORY CONTROL manipulator 10.
C:Manipulator 10 is moved at+0 ° of the outer arc of 2 pipe end circumference of bend pipe（It is to be justified by 2 end surfaces of bend pipe in Fig. 1
The horizontal plane of the heart and the intersection point of tube outer surface）, manipulator 10 drive be clamped in visit frame 15 on probe from from tube head along bend pipe
Heart line carries out scanning, and after probe reaches pipe tail, wrist rotational axial shaft 14 drives spy frame to rotate 180 °, then backtracking tube head
Place, the purpose for the arrangement is that ensureing the two-way detection of shear wave；Manipulator 10, which drives, visits frame 15 in 2 circumferential offset of bend pipe, one step
Away from the step pitch cannot be more than effective cover width of probe, repeat the above steps, the scanning until completing 2 upper surface of bend pipe；
D:First load pipe vehicle 7 leaves detection station, and second, which carries pipe vehicle 1, enters detection station, is carried on pipe vehicle 7 for first
Bend pipe overturning, to second carry pipe vehicle on bend pipe implementation steps C；
E：First load pipe vehicle 7 reenters detection station, and the second load pipe vehicle 1 leaves detection station, pipe vehicle 1 is carried for second
On bend pipe overturning, the bend pipe implementation steps C on pipe vehicle 7 is carried to first；
F：Second load pipe vehicle 1 reenters detection station, and the first load pipe vehicle 7 leaves detection station, pipe vehicle 1 is carried for second
Upper bend pipe implementation steps C；
D, the implementation of E, F-step when to winding turn-over to be detected, is detected a flaw to improve the utilization rate of fault detection system
System is constantly in operation.
G：Flaw detection 3 dimensional drawing is automatically generated, position and the size of defect are identified.
Preferably, in step C, visits frame 15 and reciprocal scanning of popping one's head in, the arc chord angle on scanning bend pipe surface is driven to be more than
180 °, in order to ensure between scanning twice after turn-over not having before turn-over the gap of blank, before turn-over with scanning twice after turn-over
Circumferential angle ensure repeat 2 degree.
Preferably, in step C, checking method is ultrasonic scanning, and the probe used is shear wave probe；More into one
Step, layered weighting probe is additionally provided on manipulator 10, layered weighting probe is responsible for the layered weighting of pipe end 100mm.Layering
Detection probe only just falls during manipulator 10 drives shear wave probe from tube head to pipe tail and carries out scanning.
Preferably, in step C, when scanning encounters weld seam, step pitch is adjusted, frame 15 is visited and drives probe along concordant with weld seam
And the spacing of 25mm is kept to move.（Because when seam inspection, for the layered weighting of weld heat-affected zone, being scheduled one
Group probe carries out the covering of 25mm）.
The foregoing is merely the preferred embodiments of the present invention, are not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.Any modification made by all within the spirits and principles of the present invention,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (6)
1. a kind of bend pipe detects flaw detection gantry frame structure automatically, which is characterized in that including crossbeam, longeron, the longitudinal and cross beam
Rectangular frame structure is connected into, is provided with guide rail along the longeron upper surface is longitudinally fixed, rack I is longitudinally equipped with along the guide rail；
Further include supporting leg, at least two supporting legs, the supporting leg are set on the every longeron and are fixed at the lower surface of longeron；Also wrap
Laser identification walking beam is included, the laser identification walking beam setting is below longeron and parallel with longeron；The laser identification
The side of walking beam is equipped with two " I " fonts guide rails, and rack II is equipped between two " I " fonts guide rails, described " work "
Font guide rail, rack II are longitudinally arranged along laser identification walking beam and are fixedly connected with laser identification walking beam.
2. bend pipe according to claim 1 detects flaw detection gantry frame structure automatically, which is characterized in that the section of the longeron
Shape is " convex " font.
3. bend pipe according to claim 2 detects flaw detection gantry frame structure automatically, which is characterized in that the guide rail is in plane
Plate, the width of the guide rail are more than the upper surface width of longeron.
4. bend pipe according to claim 1 detect automatically flaw detection gantry frame structure, which is characterized in that the rack I with lead
Rail is an integral structure.
5. bend pipe according to claim 1 detects flaw detection gantry frame structure automatically, which is characterized in that the guide rail is equipped with
Counterbore, the longeron are equipped with threaded hole corresponding with counterbore.
6. the bend pipe according to claim 1-5 any one detects flaw detection gantry frame structure automatically, which is characterized in that described
Guide rail is divided into left and right two parts along longitudinal direction, and the rack I is arranged between the guide rail or so two parts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610731998.1A CN106168319B (en) | 2016-08-26 | 2016-08-26 | A kind of bend pipe detects flaw detection gantry frame structure automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610731998.1A CN106168319B (en) | 2016-08-26 | 2016-08-26 | A kind of bend pipe detects flaw detection gantry frame structure automatically |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106168319A CN106168319A (en) | 2016-11-30 |
| CN106168319B true CN106168319B (en) | 2018-10-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610731998.1A Active CN106168319B (en) | 2016-08-26 | 2016-08-26 | A kind of bend pipe detects flaw detection gantry frame structure automatically |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110031542B (en) * | 2019-04-26 | 2023-02-28 | 射阳县智能探伤设备有限公司 | Magnetic particle flaw detector convenient to adjust |
| CN110977425B (en) * | 2019-11-29 | 2021-11-16 | 龙铁纵横（北京）轨道交通科技股份有限公司 | Automatic addressing multi-axis robot intelligent fastening system and method |
| CN112903585B (en) * | 2021-01-19 | 2023-02-21 | 中国石油天然气集团有限公司 | Automatic detection device and automatic detection method for weld defects of bent pipe |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101762636A (en) * | 2008-11-17 | 2010-06-30 | 靳未一 | Method for defect detection on ultrasonic basis |
| EP2390737A2 (en) * | 2010-05-28 | 2011-11-30 | Dörries Scharmann Technologie GmbH | Method for machine measurement |
| CN104316012A (en) * | 2014-11-25 | 2015-01-28 | 宁夏共享模具有限公司 | Industrial robot for measuring size of large part |
| CN105372270A (en) * | 2015-12-18 | 2016-03-02 | 丹东奥龙射线仪器集团有限公司 | Gantry-type X-ray nondestructive detection device |
| CN206130439U (en) * | 2016-08-26 | 2017-04-26 | 四川石油天然气建设工程有限责任公司 | Return bend automated inspection portal frame structure that detects a flaw |
-
2016
- 2016-08-26 CN CN201610731998.1A patent/CN106168319B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101762636A (en) * | 2008-11-17 | 2010-06-30 | 靳未一 | Method for defect detection on ultrasonic basis |
| EP2390737A2 (en) * | 2010-05-28 | 2011-11-30 | Dörries Scharmann Technologie GmbH | Method for machine measurement |
| CN104316012A (en) * | 2014-11-25 | 2015-01-28 | 宁夏共享模具有限公司 | Industrial robot for measuring size of large part |
| CN105372270A (en) * | 2015-12-18 | 2016-03-02 | 丹东奥龙射线仪器集团有限公司 | Gantry-type X-ray nondestructive detection device |
| CN206130439U (en) * | 2016-08-26 | 2017-04-26 | 四川石油天然气建设工程有限责任公司 | Return bend automated inspection portal frame structure that detects a flaw |
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|---|---|
| CN106168319A (en) | 2016-11-30 |
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