CN114397316B - Self-positioning pipe fitting elbow defect ray detection device - Google Patents
Self-positioning pipe fitting elbow defect ray detection device Download PDFInfo
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- CN114397316B CN114397316B CN202111603030.8A CN202111603030A CN114397316B CN 114397316 B CN114397316 B CN 114397316B CN 202111603030 A CN202111603030 A CN 202111603030A CN 114397316 B CN114397316 B CN 114397316B
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- 238000001514 detection method Methods 0.000 title claims abstract description 33
- 230000007547 defect Effects 0.000 title claims abstract description 22
- 239000012636 effector Substances 0.000 claims abstract description 22
- 238000003384 imaging method Methods 0.000 claims abstract description 7
- 238000012806 monitoring device Methods 0.000 claims abstract description 5
- 230000007246 mechanism Effects 0.000 claims description 11
- 238000007689 inspection Methods 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000005855 radiation Effects 0.000 abstract description 6
- 238000003466 welding Methods 0.000 abstract description 6
- 230000009471 action Effects 0.000 description 4
- 238000013459 approach Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 239000000126 substance Substances 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000035515 penetration Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000003471 anti-radiation Effects 0.000 description 1
- 230000002238 attenuated effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005670 electromagnetic radiation Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000002601 radiography Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
- G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
- G01N23/06—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and measuring the absorption
- G01N23/18—Investigating the presence of flaws defects or foreign matter
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
- G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
- G01N23/06—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and measuring the absorption
- G01N23/083—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and measuring the absorption the radiation being X-rays
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2223/00—Investigating materials by wave or particle radiation
- G01N2223/30—Accessories, mechanical or electrical features
- G01N2223/309—Accessories, mechanical or electrical features support of sample holder
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- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Toxicology (AREA)
- Analysing Materials By The Use Of Radiation (AREA)
Abstract
The invention discloses a self-positioning pipe fitting elbow defect ray detection device which comprises a detection lead room and a control module, wherein the upper end of one side inner wall of the detection lead room is fixedly connected with a mechanical arm, the tail end of the mechanical arm is fixedly provided with a ray machine position adjusting component, the ray machine position adjusting component is fixedly provided with an end effector, the bottom of the inner side of the detection lead room is fixedly provided with a driving component, the output end of the driving component is in meshed connection with a turntable adjusting component, the control module comprises a picture monitoring device, a real-time imaging control device and a control panel, and the middle of the top of the detection lead room and the inner walls of two sides of the detection lead room are fixedly provided with industrial cameras. According to the invention, the mechanical arm is controlled by the control panel to drive the position adjusting component of the ray machine to move, and then the position adjusting component of the ray machine adjusts the position of the ray machine through the end effector, so that the symmetry of the head of the ray machine and the radiation protection baffle on two sides of a welding seam is ensured, and the X-ray head can adapt to pipe fittings elbows with different curvature radiuses.
Description
Technical Field
The invention relates to the technical field of pipe fitting elbow defect detection, in particular to a self-positioning pipe fitting elbow defect ray detection device.
Background
Radiation detection is essentially the use of electromagnetic waves or the energy of electromagnetic radiation (X-rays and gamma rays). The radiation interacts with the substance during penetration through the object and is attenuated by absorption and scattering. The degree of intensity attenuation depends on the attenuation coefficient of the substance and the thickness of the penetration of the radiation in the substance.
Principle of radiography: if a defect exists in a part of the object (workpiece) to be transilluminated, and the attenuation coefficient of the substance constituting the defect is different from that of the test piece (for example, in a weld joint, the attenuation coefficient of air in the defect of an air hole is far lower than that of steel), the intensity of transmitted rays in the part area is different from that of the surroundings. The film is put in proper position to make it sensitive under the action of transmitted ray, and then the film is obtained after being processed by darkroom. After the rays penetrate through the workpiece, the blackness difference can occur at the corresponding parts on the negative film due to the different transmitted ray intensities of the defect parts and the intact parts. By observing the negative film, the ray detector can identify the position and the property of the defect according to the difference of the black degree.
The current X-ray real-time imaging detection system mainly comprises an X-ray machine, a flat panel detector, a computer, a detection tool and a protection device. The principle is as follows: the X-ray is received by the flat panel detector after penetrating through the member to be detected, the flat panel detector converts an invisible X-ray signal into a visible light image, then the visible light image is converted into a digital image through the image acquisition card and is input into a computer on site, and the acquisition and the display of the high-quality X-ray image are realized on the computer through control software and image processing software.
However, the existing pipe fitting elbow is easy to cause internal defects of welding seams in the production process, on the nondestructive detection of digital flat-plate type X-ray real-time imaging detection system degree, as an X-ray machine is mostly fixed or has only two degrees of freedom, the X-ray machine cannot be adjusted according to R of different elbows, so that the application range is narrow, the film image is distorted due to the special pipe fitting elbow structure, the defects cannot be accurately positioned, meanwhile, the requirement on operators is very high, and operators with pure technology are often required to carry out repeated attempts to carry out qualitative judgment, but the defect size cannot be quantitatively judged.
Disclosure of Invention
The invention aims to provide a self-positioning pipe fitting elbow defect ray detection device so as to solve the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: the utility model provides a pipe fitting elbow defect ray detection device of self-align, includes detects plumbous room and control module, detect the equal fixed mounting in one side inner wall upper end in plumbous room and arm, the terminal fixed mounting of arm has ray machine position control subassembly, fixed mounting has end effector on the ray machine position control subassembly, the inboard bottom fixed mounting in detecting plumbous room has drive assembly, drive assembly's output meshing is connected with carousel adjusting part, control module includes picture monitoring device, real-time imaging control device and control panel, detect the equal fixed mounting in top central authorities and both sides inner wall in plumbous room and have industrial camera, drive ray machine position control subassembly through control panel control arm and remove, then ray machine position control subassembly carries out position adjustment to the ray machine through end effector, guarantees that the aircraft nose and the radiation protection baffle of ray machine are symmetrical at the welding seam both sides.
Further, ray machine position adjustment subassembly includes the base, the top fixed mounting of base has annular curb plate, the inboard of annular curb plate is equipped with the ring gear, the outer wall of ring gear is along circumference fixedly connected with a plurality of slider, the annular spout with slider looks adaptation is seted up to the inner wall of annular curb plate, the fixed first motor that inlays in top of base, the output shaft fixed mounting of first motor has the driving gear, the driving gear is connected with the ring gear meshing, end effector fixed mounting is on the outer wall of ring gear, drives the driving gear through first motor and rotates, and the driving gear drives the ring gear rotation then, and the ring gear drives end effector and rotates then to at the inside position of adjusting end effector of pipe fitting elbow, make the pipe fitting elbow that X-ray machine head can adapt to different curvature radiuses.
Further, the end effector includes the duplex cylinder, the inside both sides of duplex cylinder all are equipped with the piston, two the equal fixed mounting of one side opposite to the piston has the connecting rod, the outside cover of connecting rod is equipped with reset spring, two the connecting rod passes through round pin axle swing joint and constitutes cross mechanism, two the equal fixed mounting of tip of connecting rod has the centre gripping finger portion, two the fixation clamp has X ray aircraft nose between the centre gripping finger portion, injects gas to duplex cylinder inside through the air pump, and the atmospheric pressure drives two pistons of duplex cylinder inside and removes to opposite direction to drive two connecting rods and remove, two connecting rods drive the centre gripping finger portion and be close to each other next, thereby with X ray aircraft nose fixed centre gripping.
Further, the driving assembly comprises an electric push rod, a rack is fixedly arranged at the output end of the electric push rod, the electric push rod drives the rack to horizontally move, and the rack is meshed with the first gear and then drives the turntable adjusting assembly to rotate.
Further, carousel adjusting part includes the back shaft, the back shaft rotates to be connected in detecting plumbous room inboard bottom, the lower extreme fixed mounting of back shaft has first gear, first gear is connected with the rack meshing, the top fixedly connected with installation piece of back shaft, the top fixed mounting of installation piece has the carousel, the top central authorities of carousel are fixed with positioning baffle, positioning baffle's the outside is equipped with a plurality of fixture along circumference, and the rack then drives the back shaft through meshing with first gear then and rotates, and the back shaft then drives the carousel rotation to adjust the angle between pipe fitting elbow and the arm on the carousel, make things convenient for the tip of arm to visit inside the pipe fitting elbow.
Further, the fixture is including locating the inside central cavity of carousel, the inboard lower extreme of cavity runs through and rotates and be connected with the pivot, the top of pivot extends to the cavity inside and fixed mounting has first bevel gear, a plurality of mounting groove has been seted up along circumference to the surface of carousel, ball screw is installed to the mounting groove internal rotation, ball screw's outer wall threaded connection has the nut, the top fixed mounting of nut has the holder, the one end of ball screw extends to in the cavity and fixed mounting has the second bevel gear, the second bevel gear is connected with first bevel gear meshing, and the pivot is through first bevel gear and second bevel gear meshing and then drives ball screw and rotate, and ball screw then drives the nut and remove along its length direction, and the nut then drives the holder and carries out the centre of a clamp fixedly to the curvature centre of pipe fitting elbow keeps the coincidence with the centre of a circle of carousel.
Further, the ball is equipped with four altogether, and the contained angle between two adjacent ball is ninety degrees, the inside of installation piece is fixed with the second motor, the output shaft and the pivot fixed connection of second motor, thereby the pivot drive pivot rotates, thereby the pivot drives fixture work.
Further, the holder includes the supporting shoe, the movable groove has been seted up to one side that the supporting shoe is close to the locating baffle, the inner wall fixedly connected with spring of movable groove, the terminal fixedly connected with grip block of spring, one side that the grip block is close to the locating baffle is equipped with the spacing groove, the spacing groove is V-arrangement or arc, the upper and lower both sides of movable groove all are fixed with the slider, the spout with slider looks adaptation has all been seted up to the upper and lower both sides of grip block, and when the holder is close to the pipe fitting elbow, the spacing groove is spacing with the pipe fitting elbow, under the pretightning force of spring, cooperates the slider to remove in the spout simultaneously, makes grip block and pipe fitting elbow in close contact to fix to the pipe fitting elbow.
Further, the lower extreme of arm is equipped with the air pump, the output of air pump is connected with the input of duplex cylinder through the pipeline, through air pump to duplex cylinder input gas to drive duplex cylinder work.
Further, control panel passes through the wire respectively with arm, electric putter, first motor, second motor and X ray aircraft nose electric connection, starts arm, electric putter, first motor, second motor and X ray aircraft nose respectively through control panel, convenient operation improves work efficiency.
Compared with the prior art, the invention has the following beneficial effects:
1. According to the invention, the position adjusting component of the X-ray machine and the industrial camera are arranged, the driving gear is driven by the first motor to rotate, then the driving gear drives the inner gear ring to rotate, and then the inner gear ring drives the end effector to rotate, so that the position of the end effector is adjusted inside the pipe elbow, the X-ray machine head can adapt to pipe elbows with different curvature radiuses, the circle center of the pipe elbow is calculated according to projection, the position of the X-ray machine head is further adjusted by the position adjusting component of the X-ray machine, and the machine head of the X-ray machine and the anti-radiation baffle are symmetrical at two sides of a welding seam;
2. According to the invention, the clamping mechanism is arranged, the rotating shaft is meshed with the second bevel gear through the first bevel gear so as to drive the ball screw to rotate, the ball screw then drives the nut to move along the length direction of the ball screw, the nut then drives the clamping piece to clamp and fix the pipe elbow, the curvature circle center of the pipe elbow is enabled to be coincident with the circle center of the turntable, so that the accuracy of a detection result is ensured, when the clamping piece approaches the pipe elbow, the limiting groove is limited with the pipe elbow, and under the pretightening force of the spring, the clamping piece and the pipe elbow are enabled to be in close contact with each other by matching with the sliding block to move in the sliding groove, so that the pipe elbow is fixed;
3. according to the invention, the driving assembly and the turntable adjusting assembly are arranged, the electric push rod drives the rack to horizontally move, the rack is meshed with the first gear and then drives the turntable adjusting assembly to rotate, the rack is meshed with the first gear and then drives the supporting shaft to rotate, and the supporting shaft then drives the turntable to rotate, so that the angle between the pipe fitting elbow on the turntable and the mechanical arm is adjusted, and the end part of the mechanical arm conveniently extends into the pipe fitting elbow.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a front view of the present invention;
FIG. 2 is a top view of the interior of the inspection lead chamber of the present invention;
FIG. 3 is a top view of the turntable and clamping mechanism of the present invention;
FIG. 4 is an enlarged schematic view of the structure of FIG. 1A according to the present invention;
FIG. 5 is a schematic view of the position adjustment assembly of the ray machine of the present invention;
FIG. 6 is a cross-sectional view of an end effector of the present invention;
Fig. 7 is a top view of the connection of the gear of the present invention with the ring gear;
In the figure: 1. detecting a lead room; 2. a control module; 21. a picture monitoring device; 22. a real-time imaging control device; 23. a control panel; 3. a mechanical arm; 4. a position adjusting component of the ray machine; 41. a base; 42. an annular side plate; 43. an inner gear ring; 44. a slide block; 45. an annular chute; 46. a first motor; 47. a drive gear; 5. an end effector; 51. a duplex cylinder; 52. a connecting rod; 53. a clamping finger; 54. a piston; 55. a return spring; 6. a drive assembly; 61. an electric push rod; 62. a rack; 7. a turntable adjustment assembly; 71. a support shaft; 72. a first gear; 73. a mounting block; 74. a turntable; 75. positioning a baffle; 76. a clamping mechanism; 761. a cavity; 762. a rotating shaft; 763. a first bevel gear; 764. a mounting groove; 765. a ball screw; 766. a nut; 767. a clamping member; 7671. a support block; 7672. a movable groove; 7673. a spring; 7674. a clamping block; 7675. a limit groove; 768. a second bevel gear; 77. a second motor; 8. an industrial camera; 9. an X-ray handpiece; 10. an air pump.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-7, the invention provides a self-positioning pipe fitting elbow defect ray detection device, which comprises a detection lead room 1 and a control module 2, wherein the upper end of one side inner wall of the detection lead room 1 is fixedly connected with a mechanical arm 3, the tail end of the mechanical arm 3 is fixedly provided with a ray machine position adjusting component 4, the ray machine position adjusting component 4 is fixedly provided with an end effector 5, the bottom of the inner side of the detection lead room 1 is fixedly provided with a driving component 6, the output end of the driving component 6 is in meshed connection with a turntable adjusting component 7, the control module 2 comprises a picture monitoring device 21, a real-time imaging control device 22 and a control panel 23, the middle of the top of the detection lead room 1 and the inner walls of the two sides are fixedly provided with industrial cameras 8, the mechanical arm 3 is controlled by the control panel 23 to drive the ray machine position adjusting component 4 to move, then the ray machine position adjusting component 4 adjusts the ray machine through the end effector 5, the head of the ray machine and the radiation-proof baffle of the ray machine are symmetrical at two sides of a welding seam, all acquired by the industrial cameras 8 are uploaded to a computer and stored, and the manual pipe fitting elbow is combined with software to realize the purpose of evaluating the surface defects of the pipe fitting elbow to realize the surface defect detection.
In a preferred embodiment, the position adjusting assembly 4 of the ray machine includes a base 41, an annular side plate 42 is fixedly installed at the top of the base 41, an inner gear ring 43 is provided at the inner side of the annular side plate 42, a plurality of sliding blocks 44 are fixedly connected to the outer wall of the inner gear ring 43 along the circumferential direction, an annular sliding groove 45 adapted to the sliding blocks 44 is provided at the inner wall of the annular side plate 42, a first motor 46 is fixedly embedded at the top of the base 41, a driving gear 47 is fixedly installed at the output shaft of the first motor 46, the driving gear 47 is in meshed connection with the inner gear ring 43, the driving gear 47 is driven to rotate by the first motor 46, the driving gear 47 then drives the inner gear ring 43 to rotate, and the inner gear ring 43 then drives the end effector 5 to rotate, so that the position of the end effector 5 is adjusted inside the pipe elbow, and the X-ray machine head 9 can adapt to pipe elbows with different curvature radiuses.
In a preferred embodiment, the end effector 5 includes a duplex cylinder 51, pistons 54 are disposed on two sides of the interior of the duplex cylinder 51, connecting rods 52 are fixedly mounted on two opposite sides of the pistons 54, a return spring 55 is sleeved on the outer side of each connecting rod 52, the two connecting rods 52 are movably connected through a pin shaft and form a cross mechanism, clamping fingers 53 are fixedly mounted on the ends of each connecting rod 52, an X-ray machine head 9 is fixedly clamped between the two clamping fingers 53, air is injected into the duplex cylinder 51 through an air pump, air pressure drives the two pistons in the duplex cylinder 51 to move in opposite directions, and accordingly drives the two connecting rods 52 to move, and the two connecting rods 52 then drive the clamping fingers 53 to approach each other, so that the X-ray machine head 9 is fixedly clamped.
In a preferred embodiment, the driving assembly 6 includes an electric push rod 61, a rack 62 is fixed at the output end of the electric push rod 61, the electric push rod 61 drives the rack 62 to move horizontally, and the rack 62 then drives the turntable adjusting assembly 7 to rotate by being meshed with a first gear 72.
In a preferred embodiment, the turntable adjusting assembly 7 comprises a supporting shaft 71, the supporting shaft 71 is rotatably connected to the bottom of the inner side of the detection lead room 1, a first gear 72 is fixedly arranged at the lower end of the supporting shaft 71, the first gear 72 is in meshed connection with a rack 62, a mounting block 73 is fixedly connected to the top of the supporting shaft 71, a turntable 74 is fixedly arranged at the top of the mounting block 73, a positioning baffle 75 is fixedly arranged at the center of the top of the turntable 74, a plurality of clamping mechanisms 76 are circumferentially arranged on the outer side of the positioning baffle 75, the rack 62 is meshed with the first gear 72 and then drives the supporting shaft 71 to rotate, the supporting shaft 71 then drives the turntable 74 to rotate, and therefore the angle between a pipe elbow and the mechanical arm 3 on the turntable 74 is adjusted, and the end of the mechanical arm 3 is conveniently detected into the pipe elbow.
In a preferred embodiment, the clamping mechanism 76 includes a cavity 761 disposed in the center of the inside of the turntable 74, a rotating shaft 762 is rotatably connected to the inner lower end of the cavity 761, the top of the rotating shaft 762 extends into the cavity 761 and is fixedly provided with a first bevel gear 763, a plurality of mounting grooves 764 are circumferentially formed on the surface of the turntable 74, a ball screw 765 is rotatably mounted in the mounting grooves 764, a nut 766 is screwed on the outer wall of the ball screw 765, a clamping piece 767 is fixedly mounted on the top of the nut 766, one end of the ball screw 765 extends into the cavity 761 and is fixedly provided with a second bevel gear 768, the second bevel gear 768 is meshed with the first bevel gear 763, the rotating shaft 762 is meshed with the second bevel gear 768 through the first bevel gear 763 to drive the ball screw 765 to rotate, the ball screw 765 is then driven by the nut 766 to move along the length direction, and the clamping piece 766 is then driven by the nut 767 to clamp the pipe elbow.
In a preferred embodiment, four ball screws 765 are provided, an included angle between two adjacent ball screws 765 is ninety degrees, a second motor 77 is fixed inside the mounting block 73, an output shaft of the second motor 77 is fixedly connected with a rotating shaft 762, the second motor 77 drives the rotating shaft 762 to rotate, and the rotating shaft 762 drives the clamping mechanism 76 to work.
In a preferred embodiment, the clamping member 767 includes a supporting block 7671, a movable groove 7672 is provided on one side of the supporting block 7671 near the positioning baffle 75, a spring 7673 is fixedly connected to an inner wall of the movable groove 7672, a clamping block 7674 is fixedly connected to an end of the spring 7673, a limit groove 7675 is provided on one side of the clamping block 7674 near the positioning baffle 75, the limit groove 7675 is V-shaped or arc-shaped, sliding blocks are fixed on both upper and lower sides of the movable groove 7672, sliding grooves matched with the sliding blocks are provided on both upper and lower sides of the clamping block 7674, when the clamping member 767 approaches the pipe elbow, the limit groove 7675 and the pipe elbow are limited, and under the pretightening force of the spring 7673, the sliding blocks are matched to move in the sliding grooves at the same time, so that the clamping block 7674 and the pipe elbow are in close contact, and the pipe elbow are fixed.
In a preferred embodiment, the lower end of the mechanical arm 3 is provided with an air pump 10, the output end of the air pump 10 is connected with the input end of the duplex air cylinder 51 through a pipeline, and air is input into the duplex air cylinder 51 through the air pump 10, so that the duplex air cylinder 51 is driven to work.
In a preferred embodiment, the control panel 23 is electrically connected to the mechanical arm 3, the electric push rod 61, the first motor 46, the second motor 77 and the X-ray machine head 9 through wires, and the mechanical arm 3, the electric push rod 61, the first motor 46, the second motor 77 and the X-ray machine head 9 are started through the control panel 23 respectively, so that the operation is convenient, and the working efficiency is improved.
The working principle of the invention is as follows: firstly, a pipe elbow is placed on a turntable 74, then a second motor 77 is started, the second motor 77 drives a rotating shaft 762 to rotate, the rotating shaft 762 is meshed with a second bevel gear 768 through a first bevel gear 763 so as to drive a ball screw 765 to rotate, the ball screw 765 then drives a nut 766 to move along the length direction of the ball screw 766, the nut 766 then drives a clamping piece 767 to clamp and fix the pipe elbow, the curvature circle center of the pipe elbow is kept coincident with the circle center of the turntable 74, so that the accuracy of a detection result is ensured, the circle center of the pipe elbow is calculated according to projection, the position of an X-ray machine 9 is further adjusted through a ray machine position adjusting component 4, the X-ray machine 9 and a radiation protection baffle are symmetrical on two sides of a welding line, when the clamping piece 767 approaches to the pipe elbow, a limiting groove 7675 and the pipe elbow are limited, and under the pretightening force of a spring 7673, a slider is matched to move in a chute so that a clamping block 7674 is tightly contacted with the pipe elbow, and the pipe elbow is fixed; the electric push rod 61 drives the rack 62 to horizontally move, the rack 62 is meshed with the first gear 72 and then drives the turntable adjusting assembly 7 to rotate, the rack 62 is meshed with the first gear 72 and then drives the supporting shaft 71 to rotate, and the supporting shaft 71 then drives the turntable 74 to rotate, so that the angle between a pipe elbow on the turntable 74 and the mechanical arm 3 is adjusted, and the end part of the mechanical arm 3 conveniently extends into the pipe elbow; the first motor 46 drives the driving gear 47 to rotate, the driving gear 47 then drives the inner gear ring 43 to rotate, and the inner gear ring 43 then drives the end effector 5 to rotate, so that the position of the end effector 5 is adjusted inside the pipe elbow, and the X-ray machine head 9 can adapt to pipe elbows with different curvature radiuses.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. The utility model provides a pipe fitting elbow defect ray detection device of self-localization, includes detection plumbous room (1) and control module (2), its characterized in that: the automatic detection device is characterized in that a mechanical arm (3) is fixedly connected to the upper end of one side inner wall of the detection lead room (1), a ray machine position adjusting component (4) is fixedly installed at the tail end of the mechanical arm (3), an end effector (5) is fixedly installed on the ray machine position adjusting component (4), a driving component (6) is fixedly installed at the bottom of the inner side of the detection lead room (1), a turntable adjusting component (7) is connected with the output end of the driving component (6) in a meshed mode, the control module (2) comprises a picture monitoring device (21), a real-time imaging control device (22) and a control panel (23), and industrial cameras (8) are fixedly installed at the top center of the detection lead room (1) and on the front, back, left and right inner walls;
The radial machine position adjusting assembly (4) comprises a base (41), an annular side plate (42) is fixedly arranged at the top of the base (41), an inner gear ring (43) is arranged on the inner side of the annular side plate (42), a plurality of sliding blocks (44) are fixedly connected to the outer wall of the inner gear ring (43) along the circumferential direction, an annular sliding groove (45) matched with the sliding blocks (44) is formed in the inner wall of the annular side plate (42), a first motor (46) is fixedly embedded at the top of the base (41), a driving gear (47) is fixedly arranged on an output shaft of the first motor (46), the driving gear (47) is in meshed connection with the inner gear ring (43), and an end effector (5) is fixedly arranged on the outer wall of the inner gear ring (43);
The end effector (5) comprises a duplex cylinder (51), pistons (54) are arranged on two sides of the interior of the duplex cylinder (51), connecting rods (52) are fixedly arranged on two opposite sides of the pistons (54), a reset spring (55) is sleeved on the outer side of each connecting rod (52), the two connecting rods (52) are movably connected through a pin shaft and form a cross mechanism, clamping finger parts (53) are fixedly arranged at the end parts of the two connecting rods (52), and an X-ray machine head (9) is fixedly clamped between the two clamping finger parts (53);
the driving assembly (6) comprises an electric push rod (61), and a rack (62) is fixedly arranged at the output end of the electric push rod (61);
the rotary table adjusting assembly (7) comprises a supporting shaft (71), the supporting shaft (71) is rotationally connected to the bottom of the inner side of the lead detection room (1), a first gear (72) is fixedly arranged at the lower end of the supporting shaft (71), the first gear (72) is in meshed connection with the rack (62), a mounting block (73) is fixedly connected to the top of the supporting shaft (71), a rotary table (74) is fixedly arranged at the top of the mounting block (73), a positioning baffle (75) is fixedly arranged at the center of the top of the rotary table (74), and a plurality of clamping mechanisms (76) are arranged on the outer side of the positioning baffle (75) along the circumferential direction;
The clamping mechanism (76) comprises a cavity (761) arranged in the center of the inside of the rotary table (74), a rotary shaft (762) is connected to the lower end of the inner side of the cavity (761) in a penetrating and rotating mode, the top of the rotary shaft (762) extends into the cavity (761) and is fixedly provided with a first bevel gear (763), a plurality of mounting grooves (764) are formed in the surface of the rotary table (74) along the circumferential direction, a ball screw (765) is rotatably mounted in the mounting grooves (764), a nut (766) is connected to the outer wall of the ball screw (765) in a threaded mode, a clamping piece (767) is fixedly mounted at the top of the nut (766), one end of the ball screw (765) extends into the cavity (761) and is fixedly provided with a second bevel gear (768), and the second bevel gear (768) is in meshed connection with the first bevel gear (763).
Four ball screws (765) are arranged in total, the included angle between every two adjacent ball screws (765) is ninety degrees, a second motor (77) is fixed in the mounting block (73), and an output shaft of the second motor (77) is fixedly connected with the rotating shaft (762).
2. A self-locating pipe fitting elbow defect radiographic inspection device according to claim 1, wherein: the clamping piece (767) comprises a supporting block (7671), a movable groove (7672) is formed in one side, close to the positioning baffle (75), of the supporting block (7671), a spring (7673) is fixedly connected to the inner wall of the movable groove (7672), a clamping block (7674) is fixedly connected to the tail end of the spring (7673), a limiting groove (7675) is formed in one side, close to the positioning baffle (75), of the clamping block (7674), the limiting groove (7675) is in a V shape or an arc shape, sliding blocks are fixed on the upper side and the lower side of the movable groove (7672), and sliding grooves matched with the sliding blocks are formed in the upper side and the lower side of the clamping block (7674).
3. A self-locating pipe fitting elbow defect radiographic inspection device according to claim 1, wherein: the lower extreme of arm (3) is equipped with air pump (10), the output of air pump (10) is connected with the input of duplex cylinder (51) through the pipeline.
4. A self-locating pipe fitting elbow defect radiographic inspection device according to claim 1, wherein: the control panel (23) is electrically connected with the mechanical arm (3), the electric push rod (61), the first motor (46), the second motor (77) and the X-ray machine head (9) through wires respectively.
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| CN202111603030.8A CN114397316B (en) | 2021-12-24 | 2021-12-24 | Self-positioning pipe fitting elbow defect ray detection device |
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