CN106353401A - Automatic bend flaw detection system - Google Patents
Automatic bend flaw detection system Download PDFInfo
- Publication number
- CN106353401A CN106353401A CN201610731366.5A CN201610731366A CN106353401A CN 106353401 A CN106353401 A CN 106353401A CN 201610731366 A CN201610731366 A CN 201610731366A CN 106353401 A CN106353401 A CN 106353401A
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- portal frame
- detection system
- bend pipe
- mechanical hand
- pipe
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/023—Solids
- G01N2291/0234—Metals, e.g. steel
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/04—Wave modes and trajectories
- G01N2291/042—Wave modes
- G01N2291/0422—Shear waves, transverse waves, horizontally polarised waves
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- Acoustics & Sound (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The invention discloses an automatic bend flaw detection system and relates to the technical field of automatic flaw detection of hot-bending bends. The system comprises a portal frame, a horizontal manipulator running mechanism, a manipulator and a laser identification mechanism, wherein the manipulator is arranged on the horizontal manipulator running mechanism in a sliding manner; the horizontal manipulator running mechanism stretches across the portal frame and can longitudinally slide along the portal frame; and the laser identification mechanism is arranged on the portal frame and can longitudinally slide along the portal frame. According to the automatic bend flaw detection system disclosed by the invention, the manipulator can move leftwards and rightwards on the horizontal manipulator running mechanism, the horizontal manipulator running mechanism can longitudinally move on the portal frame, the manipulator can clamp a probe to reach any position in the scope of the portal frame by combining with the structural characteristics of the manipulator, while the movements are all scanning paths which are automatically generated after scanning the bends, and the automatic bend flaw detection system has the advantages of high efficiency, and high degree of automation.
Description
Technical field
The present invention relates to hot-bending bends automatic detection inspection technique field, more particularly to a kind of flaw detection of bend pipe automatic detection
System.
Background technology
Bended pipe is the important component part of the long conveyance conduit of oil gas, and long distance pipeline passes through many with a varied topography, weathers
The area of inclement condition, therefore, needs using heavy caliber hot-bending bends in pipeline laying.Over nearly 20 years, bend pipe is at home and abroad
Obtain more and more widely using in major diameter, high-pressure oil gas feed-line.It is applied to major diameter, the thickness of different work condition environments
Wall, low temperature, the applied research of High Pressure Bend Pipe is also deepening continuously, and achieves some engineer applied achievements, the application of bend pipe
Field is also more and more extensive.
Stress is complicated in use for bend pipe, and technology difficulty is big during bending, the factor of impact capability and performance
Many, the quality of the manufacture of bend pipe and its quality (including the aspect such as mechanical property and dimension limit deviation), directly influence oil gas
The safe and reliable property of conveyance conduit and economic benefit of investment.If security reliability is poor, pipeline will occur explosive failure, leads
Lives and properties are caused to be badly damaged.Severe social influence is caused to be also to be difficult to estimate；As produced waste product in making in bend pipe,
Great economic loss will be caused.Therefore, bend pipe is carried out using rational lossless detection method during manufacturing
Control of product quality is very necessary.
Non-Destructive Testing, as a requisite link in bend pipe production, finds in time in bend pipe production process
, it is ensured that the quality of production important role of bend pipe, national departments concerned requirement manufacturing enterprise must be according to product standard for defect
Carry out the detection of High Pressure Bend Pipe.Current detecting system can carry out Automatic continuous and crawl carrying out flaw detection to straight tube, but for a long time
Since, at home in related petroleum pipeline production industry, bend pipe Non-Destructive Testing is all detected using manual work mode substantially,
Reuse portable ultraphonic detector after mode completes Magnetic testing by hand in workman to be detected, the testing result to bend pipe
Remain in experience and various chart, not only process is loaded down with trivial details, workload is big, and detection efficiency is low, and master under one's control
The property seen impact, the timely discovery for detection defect there is also certain erroneous judgement.Traditional bend pipe manual inspection method and detection
Instrument all cannot meet enterprise's large batch of bend pipe production requirement in detection speed or accuracy of detection.
Content of the invention
In view of problem above, present invention aims in bended pipe detection, commonly use portable ultraphonic detection
Instrument carries out the present situation of artificial Non-Destructive Testing, provides a kind of bended pipe automatic crack detection system, and technical scheme includes interior in detail below
Hold: a kind of bend pipe automatic detection fault detection system it is characterised in that include portal frame, the horizontal travelling mechanism of mechanical hand, mechanical hand,
Laser identification mechanism, described mechanical hand is slidably arranged on the horizontal travelling mechanism of mechanical hand, the horizontal travelling mechanism of described mechanical hand
Across on portal frame and can be along portal frame longitudinal sliding motion, described laser identification mechanism be arranged on portal frame and can be along portal frame
Longitudinal sliding motion.
Further, described mechanical hand is four axis robot, including large arm swinging axle, forearm swinging axle, wrist circumference rotation
Four axles such as rotating shaft and wrist rotational axial shaft.
Further, described mechanical hand adopts rectangular coordinate coordinate robots.
Further, also include visiting frame, described spy frame is removably disposed on described mechanical wrist part rotational axial shaft.
Further, described portal frame has been longitudinally arranged rail system, the horizontal travelling mechanism of described mechanical hand passes through institute
State rail system along portal frame longitudinal sliding motion.
Further, also include carrying pipe car, the width of described load pipe car is less than the horizontal span of described portal frame.
Further, described load pipe car arranges two sets.
Further, also include and carry the load pipe track road that pipe car mates, described load pipe track road is arranged under portal frame
Side.
Beneficial effects of the present invention:
The present invention carries out flaw detection scanning using ultrasonic transverse wave, has very high sensitivity, it can be found that bend pipe is internal tiny
Defect；The framework of fault detection system is portal frame, and in the underface of portal frame, track supports load pipe car in dragon to detection flaw detection station
The lower section of door frame is moved, and is provided with two load pipe cars, can be while carry the bend pipe turn-over on pipe car to first, fault detection system
The bend pipe continuing as on the second load pipe car carries out scanning；Mechanical hand can move left and right on the horizontal travelling mechanism of mechanical hand, machine
The horizontal travelling mechanism of tool handss can vertically move on portal frame, and in conjunction with the construction featuress of mechanical hand itself, mechanical hand can press from both sides
Hold the optional position in the range of probe arrival portal frame, and these movements are all the scannings being automatically generated after scanning bend pipe
Route, has the advantages that efficiency high, high degree of automation.
Brief description:
Fig. 1 bend pipe automatic detection fault detection system structural representation；
Fig. 2 is robot manipulator structure schematic diagram.
Specific embodiment:
Below by specific embodiment and combine accompanying drawing the present invention is described in further detail:
Fig. 1 shows a kind of structure chart of bend pipe automatic detection fault detection system, including portal frame 4, the horizontal travelling mechanism of mechanical hand
3rd, mechanical hand 10, laser identification mechanism 5, laser identification mechanism 5 is arranged on a laser identification mechanism walking beam 8, mechanical hand
10 are slidably arranged on the horizontal travelling mechanism of mechanical hand 3, and the horizontal travelling mechanism of mechanical hand 3 is across on portal frame and can be along gantry
Frame 4 longitudinal sliding motion, laser identification mechanism 5 is arranged on portal frame 4 and can be along portal frame 4 longitudinal sliding motion.Preferably, bend pipe is certainly
Dynamic detection fault detection system also includes carrying pipe car, carries pipe car and arranges two sets, respectively carries pipe car 1 and carries pipe car 7, carries pipe car 1 and carries
The width of pipe car 7 is less than the horizontal span of described portal frame 4；The track 6 of portal frame 4 lower section setting in load pipe car 1 and carries pipe car 7
Coupling, track 6 in the lower section of portal frame 4 along portal frame 4 longitudinally through between two supporting legs 9 of portal frame 4, here
Longitudinal direction refer to the longer direction of portal frame 4, be also the traffic direction of the horizontal travelling mechanism of mechanical hand 3.Carry pipe car 1 and carry pipe
Car 7 is all to rely on to be arranged on the power carrying the motor in pipe underbody portion as walking.
Preferably, as shown in Fig. 2 mechanical hand 10 is four axis robot, including large arm swinging axle 11, forearm swinging axle
12nd, wrist rotates in a circumferential direction four axles such as axle 13 and wrist rotational axial shaft 14；In the present embodiment, the mechanical hand 10 of employing is straight
Angular coordinate coordinate robots, mechanical hand 10 root travelling mechanism 3 horizontal with mechanical hand is connected, the end of mechanical hand 10, that is,
Spy frame 15 is provided with the wrist rotational axial shaft 14 of mechanical hand 3, visits the effect that frame 15 will reach convenient dismounting, its effect is
Clamping flaw detection probe.
The work process of the bend pipe automatic crack detection system in the present embodiment:
As shown in figure 1, a: the first load pipe car 7 will carry detection bend pipe 2 to deliver to detection station, carry pipe car 7 and gantry is slided into by track 6
The lower section detection station of frame 4；
B: laser identification mechanism 5 positions to bend pipe profiling；After bend pipe 2 to be detected reaches detection station, with this laser cognitron
Structure 5 is scanned to bend pipe, shows the form of bend pipe 2 to be detected in real time and generates graphics, and corresponding data is passed to
Position machine, generates the movement locus of mechanical hand 10, and motion controller carries out scanning according to this TRAJECTORY CONTROL mechanical hand 10.
It (is to be justified by bend pipe 2 end surfaces in FIG that c: mechanical hand 10 moves at+0 ° of the outer arc of bend pipe 2 pipe end circumference
The horizontal plane of the heart and the intersection point of tube outer surface), mechanical hand 10 drives the probe being clamped on spy frame 15 at tube head along along bend pipe
Heart line carries out scanning, and after probe reaches pipe tail, wrist rotational axial shaft 14 drives visits 180 ° of frame rotation, then backtracking tube head
Place, the purpose of do so is to ensure that the two-way detection of shear wave；Mechanical hand 10 drives visits frame 15 in one step of bend pipe 2 circumferential offset
Away from this step pitch can not be more than effective cover width of probe, and repeat the above steps, until completing the scanning of bend pipe 2 upper surface；
D: the first load pipe car 7 leaves detection station, and second carries pipe car 1 enters detection station, carries curved on pipe car 7 for first
Pipe overturns, and carries bend pipe implementation steps c on pipe car to second；
E: the first load pipe car 7 reenters detection station, and the second load pipe car 1 leaves detection station, carries on pipe car 1 for second
Bend pipe overturns, and carries bend pipe implementation steps c on pipe car 7 to first；
F: the second load pipe car 1 reenters detection station, and the first load pipe car 7 leaves detection station, carries for second curved on pipe car 1
Pipe implementation steps c；
The enforcement of d, e, f step, is the utilization rate in order to improve fault detection system, when to winding turn-over to be detected, fault detection system
It is constantly in operation.
G: automatically generate flaw detection 3 dimensional drawing, the position of mark defect and size.
Preferably, in step c, visiting frame 15 and drive reciprocal scanning of popping one's head in, the arc chord angle on scanning bend pipe surface is more than
180 °, in order to ensure not have between scanning twice the gap of blank before turn-over and after turn-over, before turn-over with turn-over after scanning twice
Circumferential angle ensure repeat 2 degree.
Preferably, in step c, checking method is ultrasonic scanning, the probe of employing is shear wave probe；More enter one
Step ground, mechanical hand 10 is additionally provided with layered weighting probe, and layered weighting probe is responsible for the layered weighting of pipe end 100mm.Layering
Detection probe only just falls to carrying out scanning during mechanical hand 10 drive shear wave probe is from tube head to pipe tail.
Preferably, in step c, when scanning runs into weld seam, adjusting step pitch, visiting frame 15 and driving probe edge concordant with weld seam
And keep the spacing of 25mm to move.(because during seam inspection, for the layered weighting of weld heat-affected zone, being scheduled that one
Group probe carries out the covering of 25mm).
The foregoing is only the preferred embodiment of the present invention, be not limited to the present invention, for those skilled in the art
For member, the present invention can have various modifications and variations.All any modifications within the spirit and principles in the present invention, made,
Equivalent, improvement etc., should be included within the scope of the present invention.
Claims (8)
1. a kind of bend pipe automatic detection fault detection system is it is characterised in that include portal frame, the horizontal travelling mechanism of mechanical hand, machinery
Handss, laser identification mechanism, described mechanical hand is slidably arranged on the horizontal travelling mechanism of mechanical hand, and described mechanical hand laterally runs machine
Across on portal frame and can be along portal frame longitudinal sliding motion, described laser identification mechanism be arranged on portal frame and can be along gantry structure
Frame longitudinal sliding motion.
2. bend pipe automatic detection fault detection system according to claim 1 is it is characterised in that described mechanical hand is four shaft mechanicals
Handss, rotate in a circumferential direction four axles such as axle and wrist rotational axial shaft including large arm swinging axle, forearm swinging axle, wrist.
3. bend pipe automatic detection fault detection system according to claim 2 is it is characterised in that described mechanical hand adopts right angle to sit
Mark coordinate robots.
4. bend pipe automatic detection fault detection system according to claim 2 is it is characterised in that also include visiting frame, described spy frame
It is removably disposed on described mechanical wrist part rotational axial shaft.
5. bend pipe automatic detection fault detection system according to claim 1 is it is characterised in that be longitudinally arranged on described portal frame
There is rail system, the horizontal travelling mechanism of described mechanical hand is by described rail system along portal frame longitudinal sliding motion.
6. according to the arbitrary described bend pipe automatic detection fault detection system of claim 1-5 it is characterised in that also including carrying pipe car,
The described width carrying pipe car is less than the horizontal span of described portal frame.
7. bend pipe automatic detection fault detection system according to claim 6 is it is characterised in that described load pipe car arranges two sets.
8. bend pipe automatic detection fault detection system according to claim 7 is it is characterised in that also including and carrying what pipe car mated
Carry pipe track road, described load pipe track road is arranged on below portal frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610731366.5A CN106353401A (en) | 2016-08-26 | 2016-08-26 | Automatic bend flaw detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610731366.5A CN106353401A (en) | 2016-08-26 | 2016-08-26 | Automatic bend flaw detection system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106353401A true CN106353401A (en) | 2017-01-25 |
Family
ID=57855722
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610731366.5A Pending CN106353401A (en) | 2016-08-26 | 2016-08-26 | Automatic bend flaw detection system |
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| Country | Link |
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| CN (1) | CN106353401A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107014961A (en) * | 2017-05-26 | 2017-08-04 | 江苏苏力机械股份有限公司 | A kind of bus car shell coating quality detection means |
| CN108627196A (en) * | 2017-03-23 | 2018-10-09 | 台湾积体电路制造股份有限公司 | Environmental monitoring system |
| CN112903585A (en) * | 2021-01-19 | 2021-06-04 | 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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| CN103235044A (en) * | 2013-05-06 | 2013-08-07 | 郑州大学 | Multi-degree of freedom large-scale ultrasound scanning automation equipment |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108627196A (en) * | 2017-03-23 | 2018-10-09 | 台湾积体电路制造股份有限公司 | Environmental monitoring system |
| CN108627196B (en) * | 2017-03-23 | 2024-02-20 | 台湾积体电路制造股份有限公司 | Environment monitoring system |
| CN107014961A (en) * | 2017-05-26 | 2017-08-04 | 江苏苏力机械股份有限公司 | A kind of bus car shell coating quality detection means |
| CN107014961B (en) * | 2017-05-26 | 2023-08-22 | 江苏苏力机械股份有限公司 | Bus shell coating quality detection device |
| CN112903585A (en) * | 2021-01-19 | 2021-06-04 | 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 |
| 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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Application publication date: 20170125 |
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