CN115452849A - Automatic inspection system for build-up welding layer in container - Google Patents
Automatic inspection system for build-up welding layer in container Download PDFInfo
- Publication number
- CN115452849A CN115452849A CN202211123532.5A CN202211123532A CN115452849A CN 115452849 A CN115452849 A CN 115452849A CN 202211123532 A CN202211123532 A CN 202211123532A CN 115452849 A CN115452849 A CN 115452849A
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- inspection
- camera
- flange
- container
- display
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- 238000007689 inspection Methods 0.000 title claims abstract description 46
- 238000003466 welding Methods 0.000 title description 3
- 239000007788 liquid Substances 0.000 claims abstract description 12
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 9
- 238000000034 method Methods 0.000 claims abstract description 9
- 239000010959 steel Substances 0.000 claims abstract description 9
- 230000035515 penetration Effects 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 7
- 239000012530 fluid Substances 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 238000005286 illumination Methods 0.000 claims 1
- 239000007921 spray Substances 0.000 claims 1
- 238000001514 detection method Methods 0.000 description 15
- 238000005507 spraying Methods 0.000 description 5
- 230000007547 defect Effects 0.000 description 4
- 230000006872 improvement Effects 0.000 description 4
- 238000011179 visual inspection Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 238000001035 drying Methods 0.000 description 2
- 230000008595 infiltration Effects 0.000 description 2
- 238000001764 infiltration Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 239000012459 cleaning agent Substances 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000003204 osmotic effect Effects 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/90—Investigating the presence of flaws or contamination in a container or its contents
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume or surface-area of porous materials
- G01N15/08—Investigating permeability, pore-volume, or surface area of porous materials
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
- G01N2021/0106—General arrangement of respective parts
- G01N2021/0112—Apparatus in one mechanical, optical or electronic block
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Chemical & Material Sciences (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Dispersion Chemistry (AREA)
- Monitoring And Testing Of Nuclear Reactors (AREA)
Abstract
The invention discloses an automatic inspection system for a surfacing layer in a container, which comprises a mechanical unit, a control unit and a camera and recording unit, wherein the mechanical unit comprises an outer positioning flange, a supporting platform, a sliding disc, a mechanical arm, a workbench, a hook and a steel wire pull buckle; the control unit comprises a control computer, an interface box and a control cabinet; the camera shooting and recording unit comprises a monitor, a video recorder and a camera; the support platform and the outer positioning flange are fixed on the manhole flange face, the sliding disc is loaded with the mechanical arm, the workbench and the camera, the mechanical arm slides to the top end of the support platform and enables the hook to be locked with the support platform, the mechanical arm is unfolded, the workbench is close to an inspection area through pitching and rotation, and then the inspection is completed by matching with the control unit and the camera shooting and recording unit. The method can be used for liquid permeation and video inspection of the surfacing layer in the nuclear power plant container, so that the operability is improved, the human errors are reduced, and the operation risk of personnel is reduced.
Description
Technical Field
The invention relates to an automatic inspection system, in particular to an automatic inspection system for a surfacing layer in a container.
Background
With the rapid development of modern social economy, visual inspection is used by a plurality of enterprises, has high detection rate on cracks and high detection rate on large defects, is high in detection speed, simple to operate, economical and reasonable, can be used in small space, belongs to one of visual inspection, transmits video signals through an instrument, completes visual inspection on a monitor, and greatly reduces the personnel operation risk of a complex area and a sealed area. The liquid permeation inspection is a method for detecting the surface defects of the non-porous material, and the liquid permeation inspection can ensure the quality of the product, ensure the safe use of the device, improve the manufacturing process and reduce the production cost. Fluid penetration tests and visual tests are essential during overhaul of nuclear power plants. However, during the overhaul of the nuclear power plant, due to high on-site dosage and complex environment, manual inspection of the interior of some equipment parts is difficult to realize, high-intensity operation of personnel, personnel contamination, closed space operation and the like are easy to occur, and with the increase of the operation time of the nuclear power plant, the interior of the container must be subjected to the influences of ultrahigh water pressure, extreme temperature and nuclear radiation, so that the defects of cracks, depressions and the like are easy to generate.
Disclosure of Invention
Aiming at the problems, the on-site detection work is convenient, the personnel risk and other factors inconvenient for on-site detection are reduced, and the invention provides the automatic detection system for the surfacing layer in the container.
The invention is realized by adopting the following technical scheme:
an automated inspection system for weld overlay on the interior of a container, comprising:
an automatic penetrant inspection system for discovering relevant displays;
the remote video inspection system is used for analyzing and displaying and measuring the length of the display;
the mechanical unit is used for carrying the operation of the penetrating liquid nozzle on the workbench to complete the inspection work;
the control unit is used for controlling the mechanical unit and the camera shooting and recording unit to complete automatic penetration inspection and remote video inspection;
and the camera shooting and recording unit is used for shooting and recording the whole process of automatic penetration inspection and remote video inspection, and can analyze and judge the discovered display in time.
The invention has the further improvement that the mechanical unit comprises an outer positioning flange, a supporting platform, a sliding disc, a mechanical arm, a workbench, a hook and a steel wire pull buckle;
during operation, fix outer positioning flange in the position under the container manhole flange, send supporting platform into inside the manhole, tightly paste with outer positioning flange supporting disk, supporting platform flange face passes through the bolt fastening with outer positioning flange face on the manhole flange, and the slip dish pushes away it to the supporting platform top through supporting platform's track, expandes the arm, and the workstation setting is held stretching out at the arm of machinery, and steel wire zip fastener and couple are used for fixing the slip dish position.
The invention is further improved in that the control unit comprises a control computer, an interface box and a control cabinet;
the control computer is connected with the interface box through a network cable and a data cable to control the operation of the whole system, the control cabinet is connected with the interface box, the control cabinet is connected with the mechanical unit through the data cable and a cable, the control computer sends out an instruction through operation software, and the interface box and the control cabinet receive the instruction to control the operation of the mechanical unit.
The invention is further improved in that the camera and recording unit comprises a monitor, a video recorder and a camera; the monitor and the video recorder are both connected with the interface box, the camera feeds back real-time pictures to the monitor, and the video recorder is used for recording the whole process of automatic permeation and remote video process and display.
A further improvement of the invention is that the robotic arm is capable of pitch and rotation with the inspection area position.
The invention is further improved in that the camera has the functions of camera shooting, photographing, illuminating and laser ranging.
The invention is further improved in that the camera comprises two groups of lenses, namely a wide-angle lens and a focusing lens, wherein the wide-angle lens is used for finding the penetration display of the inspection area and carrying out coordinate positioning on the penetration display, and the focusing lens is used for carrying out qualitative and length measurement on the display.
A further improvement of the invention is that the injection of the osmotic liquid uses pneumatic actuation to reduce the cabling and other components of the device itself.
The invention is further improved in that the outer positioning flange is arranged right below the manhole flange and is fixed by bolts.
The invention has at least the following beneficial technical effects:
the automatic detection system for the surfacing layer in the container is used for automatically detecting the surfacing layer in the container, and aiming at the detection characteristic of the surfacing layer in the container, the liquid permeation and video detection of the surfacing layer can be finished by driving the workbench and the camera through the pitching and the rotation of the mechanical arm. The video inspection of the whole inspection area is carried out while the surface opening defect is inspected, and the video recording, display analysis and length measurement can be completed, the display change is tracked, and the risk of operators in the closed space is reduced.
To the characteristics of the inside build-up welding layer of container, install outer positioning flange under the manhole flange, inside the sliding tray loading arm passed through the supporting platform track and got into the container, every single move and rotatory arm drive the workstation, can realize the purpose of inspection range full coverage, improve accuracy and maneuverability.
Drawings
FIG. 1 is a connection diagram of the units of the automatic weld overlay inspection system inside a container;
FIG. 2 is an expanded view of the mechanical unit of the system for automated weld overlay inspection inside a container;
FIG. 3 is a front view of the mechanical unit of the automated weld overlay inspection system inside the container;
fig. 4 is a top view of the mechanical unit of the automated weld overlay inspection system inside the container.
Description of reference numerals:
1 is an outer positioning flange; 2 is a supporting platform; 3 is a sliding disk; 4 is a mechanical arm; 5 is a workbench; 6 is a camera; 7 is a carrying handle; 8 is a steel wire pull buckle; and 9 is a hook.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
In the invention, the information such as the size, the material and the like of each part is not fixed, and the design can be reasonably designed according to the working requirement when in use.
As shown in fig. 2, the automatic inspection system for the weld overlay inside a container provided by the invention comprises an outer positioning flange 1, a supporting platform 2, a sliding disc 3, a mechanical arm 4, a workbench 5, a carrying handle 7, a steel wire pull buckle 8, a hook 9 and a camera 6 of a camera and recording unit.
As shown in fig. 2, the outer positioning flange 1 is fixed under the manhole flange by 4 bolts through the carrying handle 7, during installation, the outer positioning flange 1 is installed under the manhole flange and attached to the flange surface, and the outer positioning flange supporting disk extends into the manhole and is attached to the inner wall of the manhole.
As shown in fig. 2, the supporting platform 2 is inserted into the manhole and attached to the supporting plate of the outer positioning flange 1, and the flange of the supporting platform 2 is attached to the surface of the outer positioning flange 1 and fixed to the manhole flange by 2 bolts;
as shown in fig. 2, the robot arm 4 is fixed to the slide tray 3, and the robot arm 4 is always kept in a closed state when the slide tray 3 is mounted.
As shown in figure 2, the two sides of the supporting platform 2 are provided with tracks, the sliding disc 3 drives the mechanical arm 4 to be installed on the supporting platform 2, the sliding part of the sliding disc 3 is ensured to be installed in the track of the supporting platform 2, the sliding disc 3 is pushed manually to reach the top end of the supporting platform 2, meanwhile, the hook 9 can automatically hook the sliding disc 3 to play a role in fixing, the 'click' sound can be heard while hooking, the fixation is proved, and therefore the active part of the detection system is sent into the container through the manhole.
As shown in fig. 2, a table 5 and a camera 6 are mounted on top of the robot arm 4. The camera comprises two groups of lenses, namely a wide-angle lens and a focusing lens, wherein the wide-angle lens is used for finding penetration display of a detection area and carrying out coordinate positioning on the penetration display, and the focusing lens is used for carrying out qualitative and length measurement on the display. A coordinate system is built into the remote video inspection system to accurately position the marked display images. The automatic infiltration inspection system workbench 5 comprises a cleaning nozzle capable of spraying cleaning agent and is used for cleaning an inspection area in the infiltration process; the penetrating nozzle is used for uniformly spraying penetrating fluid to the surface to be detected; a developing nozzle for spraying a developing agent; and a drying nozzle for drying the surface to be inspected by spraying natural air. The nozzles are installed in a staggered mode, so that the detection liquid is sprayed out without affecting other nozzles, the detection liquid is prevented from polluting other nozzles, and the other nozzles are prevented from polluting liquid when spraying the liquid. The detection liquid is arranged outside the container, is connected with a nozzle air pipe and is pneumatically operated. The inspector may observe the implementation of the fluid penetration inspection through the remote camera 6.
As shown in fig. 2, after the mechanical unit is mounted, the robot arm 4 is electrically operated to expand, and the table 5 is brought close to the region to be inspected by tilting and rotating each part of the robot arm 4, thereby completing the inspection.
As shown in fig. 2, the hook 9 and the steel wire pull buckle 8 are connected through a steel wire, after the inspection is completed, when the device is disassembled, the steel wire pull buckle 8 is pressed, at the moment, the hook 9 is automatically separated from the sliding disc 3, the sliding disc 3 slides to the manhole through a rail, an inspector moves the sliding disc 3 and the mechanical arm 4 out of the manhole, and then the supporting platform 2 and the outer positioning flange 1 are sequentially disassembled.
The overall operation flow is as follows: the outer positioning flange 1 is connected with a manhole flange, the supporting platform 2 is installed on a supporting plate of the inner positioning flange 1 and the outer positioning flange 2 of the manhole, the mechanical arm 4 is conveyed into a container in a sliding mode on a rail of the supporting platform 2 through the sliding plate 3, the mechanical arm 4 is unfolded, the workbench 5 and the camera 6 are close to a detected area through pitching and rotating, the control unit controls the mechanical unit, and the control unit is matched with the camera shooting and recording unit to complete detection.
Although the invention has been described in detail hereinabove with respect to a general description and specific embodiments thereof, it will be apparent to those skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, it is intended that all such modifications and alterations be included within the scope of this invention as defined in the appended claims.
Claims (9)
1. An automatic weld overlay inspection system for the interior of a container, comprising:
an automatic penetrant inspection system for discovering relevant displays;
a remote video inspection system for analyzing the display and measuring the length of the display;
the mechanical unit is used for carrying the operation of the penetrating liquid nozzle on the workbench to complete the inspection work;
the control unit is used for controlling the mechanical unit and the camera shooting and recording unit to complete automatic penetration inspection and remote video inspection;
and the camera shooting and recording unit is used for shooting and recording the whole process of automatic penetration inspection and remote video inspection, and can analyze and judge the discovered display in time.
2. The system of claim 1, wherein the mechanical unit comprises an outer positioning flange, a support platform, a sliding disk, a robotic arm, a table, a hook, and a wire puller;
during operation, fix outer positioning flange in the position under the container manhole flange, send supporting platform into the manhole inside, tightly paste with outer positioning flange supporting disk, supporting platform flange face passes through the bolt fastening on the manhole flange with outer positioning flange face, and the slip bowl pushes away it to the supporting platform top through supporting platform's track, expandes the arm, and the workstation setting is at the end that stretches out of arm, and steel wire buckle and couple are used for fixing the slip bowl position.
3. The system of claim 2, wherein the control unit comprises a control computer, an interface box and a control cabinet;
the control computer is connected with the interface box through a network cable and a data cable to control the operation of the whole system, the control cabinet is connected with the interface box, the control cabinet is connected with the mechanical unit through the data cable and a cable, the control computer sends out an instruction through operation software, and the interface box and the control cabinet receive the instruction to control the operation of the mechanical unit.
4. The system of claim 3, wherein the camera and recording unit comprises a monitor, a video recorder and a camera; the monitor and the video recorder are both connected with the interface box, the camera feeds back real-time pictures to the monitor, and the video recorder is used for recording the whole process of automatic permeation and remote video process and display.
5. The automated inspection system for weld overlay on a container interior according to claim 4, wherein the robotic arm is capable of tilting and rotating with the location of the inspection area.
6. The system of claim 4, wherein the camera has a camera, an illumination and a laser ranging function.
7. The system of claim 4, wherein the camera comprises two sets of lenses, a wide angle lens for finding and coordinate positioning the penetration display of the inspection area and a focusing lens for qualitative and length measurement of the display.
8. The system of claim 4, wherein the spray of the penetration fluid is pneumatically driven to reduce the number of cables and other components of the apparatus.
9. The system of claim 4, wherein the outer locating flange is mounted directly below the manhole flange and is bolted thereto.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211123532.5A CN115452849A (en) | 2022-09-15 | 2022-09-15 | Automatic inspection system for build-up welding layer in container |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211123532.5A CN115452849A (en) | 2022-09-15 | 2022-09-15 | Automatic inspection system for build-up welding layer in container |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115452849A true CN115452849A (en) | 2022-12-09 |
Family
ID=84304461
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211123532.5A Pending CN115452849A (en) | 2022-09-15 | 2022-09-15 | Automatic inspection system for build-up welding layer in container |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115452849A (en) |
-
2022
- 2022-09-15 CN CN202211123532.5A patent/CN115452849A/en active Pending
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