CN1208618C - Robot automatic detection system of intersecting pipeline welded seam - Google Patents
Robot automatic detection system of intersecting pipeline welded seam Download PDFInfo
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- CN1208618C CN1208618C CN 03129274 CN03129274A CN1208618C CN 1208618 C CN1208618 C CN 1208618C CN 03129274 CN03129274 CN 03129274 CN 03129274 A CN03129274 A CN 03129274A CN 1208618 C CN1208618 C CN 1208618C
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Abstract
The present invention relates to a robot automatic detection system of an intersecting pipeline welded seam, which comprises a split type fixing seat, a split type circumferential rotating mechanism and a robotic arm, wherein the split type fixing seat adopts a moving slide block structure; the split type circumferential rotating mechanism is composed of a motor, a planetary pinion, a big gear ring, an upper connecting plate and a lower connecting plate. The split type fixing seat is fixed to a branch pipe to be detected by a rapid positioning connecting device to form the assembling platform and the positioning reference of the detection system. The split type circumferential rotating mechanism is arranged on the platform. The present invention adopts a split type structure to adapt the automatic detection of on-line, in-service, sealed and ultra-long pipeline welding seams, enlarge the accommodation range of a tightly clamped branch pipe and ensure accuracy required by detection. The present invention is applied to the automatic detection of the communicated pipeline welding seams of nuclear industries, chemical industries, natural gas, etc.
Description
Technical field:
The present invention relates to a kind of pipe welding seam robot automatic checkout system of passing through mutually, be applicable to the industries such as conveying of nuclear energy, chemical industry, oil, G﹠W.Can be installed on the detected pipeline, passing through remote control technology away from detecting in the on-the-spot security context, operation is finished vertical automatic detection of passing through pipe welding seam mutually with the control robot system, the labour intensity that elimination manual detection process is brought is big, detection efficiency is low, the detection quality be cannot say for sure to demonstrate,prove and nuclear radiation environment to operating personnel's problems such as injury.Belong to the mechanical ﹠ electrical technology field.
Background technology:
The industries such as conveying of nuclear energy, chemical industry, oil, G﹠W have a large amount of grafting to pass through pipeline mutually, these grafting are passed through common employing of pipeline mutually and are welded to connect, grafting weld seam pipeline need carry out safety detection and maintenance, to guarantee various device safety, steady operation, the conventional sense method is that the testing staff carries ultrasonic transducer and enters nuclear power station inside, manually carries ultrasonic transducer and realizes that weld seam manually detects.This detection mode has very big harm to operating personnel, and the nuclear radiation scene is very big to operator's personal safety influence, labour intensity is big, and detection efficiency is low; It is higher that the testing staff is operated competency profiling, and it is different that the different operating personnel detect the possibility of result that obtains, and detects quality and can not get guaranteeing.The PS-Scan4 that Denmark Force company produces is a kind of grafting weld inspection system, this detection system be a kind ofly cost an arm and a leg, the Long-distance Control ultrasonic wave detecting system, this detection system can detect grafting and pass through the weld seam that pipeline forms mutually, but its robot installation employing is decided the diameter shell ring and is adapted to online, in-service pipeline installation, to the bad adaptability of diameter change pipe detection, make the application of this grafting weld inspection system be subjected to very big restriction.
Summary of the invention:
The objective of the invention is at the deficiencies in the prior art, develop a kind of be adapted to online, pass through pipeline grafting weld seam robot automatic checkout system mutually in labour, can adapt to the different requirements that detected pipe diameter changes, replace manual detection mode to alleviate testing staff's labour intensity, improve detection efficiency, guarantee to detect quality.
For realizing such purpose, the present invention adopts special dissection type hold-down support structure, forms the robot automatic checkout system around a tube's axis dissection type circumferencial direction rotating mechanism and six-DOF robot arm, adopt the subdivision structure to adapt to online, in-service pipeline weld seam detection, designed quick connection locating device and guaranteed that easy installation and removal fast reaches subdivision front and back function and can not change.The moving slider clamp structure has enlarged the range of application of clamped arm, and detected arm diameter can be changed in 100～ 400mm scope.Adopt a planetary gear construction around tube's axis dissection type circumferencial direction rotating mechanism, realize online, the in-service pipeline circumferencial direction function that rotatablely moves, with guarantee to detect need precision.Robot arm adopts the six degree of freedom structure, realizes the purpose of robot arm end plane position control and spatial attitude control, guarantees the obedient better tight detected person in charge of ultrasonic transducer surface.The present invention carries ultrasonic transducer by network remote control mode control robot automatic checkout system and realizes that weld seam detects automatically.The result that the robot automatic checkout system obtains detection sends to the computing machine at operating personnel place and handles.
The present invention mainly is made up of dissection type hold-down support, dissection type circumferencial direction rotating mechanism and robot arm three parts.The dissection type hold-down support is by moving slider, leading screw and quick locating connector and interlock tooth. and wheel is formed, dissection type circumferencial direction rotating mechanism mainly is made up of motor, planet pinion, last lower connecting plate, large gear ring and quick locating connector, and robot arm is made up of the mechanism in six degree of freedom arm.Dissection type circumferencial direction rotating mechanism is by being bolted on the hold-down support; Last lower connecting plate becomes as a whole by bolt, the motor flange dish is fixed on the lower connecting plate, planet pinion is fixed on the motor output shaft, can rotate around the large gear ring external toothing at the cavity that last lower connecting plate forms, and robot arm is fixed on the lower connecting plate; Ultrasonic transducer then is fixed on the robot arm end.
Work of the present invention (process) principle is: the testing staff enters detected weld seam scene when carrying out weld seam detection, with the dissection type hold-down support by quick locating connector location and connect into as a whole, rotational lead screw and moving slider make it to be fixed on the detected arm.Also be fixed on the detected arm with the dissection type hold-down support by the dissection type circumferencial direction rotating mechanism that bolt links together thereupon, connect into dissection type circumferencial direction rotating mechanism as a whole by quick locating connector, robot arm is fixed on the dissection type circumferencial direction rotating mechanism then, promptly finishes the robot automatic checkout system and install.The testing staff leaves detected weld seam scene, motor by Long-distance Control mode control robot each joint of arm and dissection type circumferencial direction rotating mechanism, realize the position control and the attitude control of robot arm, carry ultrasonic transducer and realize that saddle-shaped seam detects.After detection finishes, the testing staff at first disassembles the quick locating connector of dissection type circumferencial direction rotating mechanism, quick locating connector with the dissection type hold-down support disassembles then, rotational lead screw disassembles the dissection type hold-down support from arm, promptly finish to pass through the task that pipe welding seam detects automatically mutually.
That robot of the present invention automatic checkout system can adapt to is online, pass through pipe welding seam mutually in labour detects, and adopts special split type structure jig Design, adapt on a large scale in the requirement of change diameter pipeline weld seam detection, enlarged the accommodation of detected pipeline; Realized having improved the detection quality around the high-precision circumferencial direction motion of detected arm.The present invention installs at the scene, convenient disassembly is quick; realize the Long-distance Control of robot system by the control mode of Long-distance Control Network Based; the signal that detection obtains sends to operating personnel place computing machine and handles; can replace the manual detection mode of testing staff; avoid operating personnel to be in dangerous nuclear radiation environment or other hostile environment, greatly protected the testing staff, alleviate labor intensity of operating personnel; improve detection efficiency, guaranteed the detection quality.The present invention can be applicable to nuclear industry, chemical industry, oil, rock gas etc. and passes through pipe welding seam mutually and detect automatically, has broad application prospects.
Description of drawings:
Fig. 1 is for passing through pipe welding seam robot automatic checkout system general structure synoptic diagram mutually.
Among Fig. 1,1 is the detected person in charge, and 2 is ultrasonic transducer, 3 is the six-DOF robot arm, 4 is last lower connecting plate, and 5 is the coupling bolt of last lower connecting plate, and 6 is large gear ring, 7 is the coupling bolt of dissection type circumferencial direction rotating mechanism and dissection type hold-down support, 8 is quick locating connector, and 9 is the dissection type hold-down support, and 10 is planet pinion, 11 is motor, and 12 is detected arm.
Fig. 2 is for passing through pipe welding seam robot automatic checkout system cross-sectional view mutually.
Among Fig. 2,1 is the detected person in charge, and 2 is ultrasonic transducer, and 3 is the six-DOF robot arm, 4 is last lower connecting plate, 5 is the coupling bolt of last lower connecting plate, and 6 is large gear ring, and 7 is the coupling bolt of dissection type circumferencial direction rotating mechanism and dissection type hold-down support, 9 is the dissection type hold-down support, 10 is planet pinion, and 11 is motor, and 12 is detected arm.
Fig. 3 is the structural representation of dissection type hold-down support 9.
Among Fig. 3,13 is leading screw, and 14 is moving slider, and 15 is linkage gear.
Embodiment:
Below in conjunction with accompanying drawing technical scheme of the present invention is further described.
Shown in Figure 2 as Fig. 1, dissection type circumferencial direction rotating mechanism mainly is made up of critical pieces such as motor 11, planet pinion 10, last lower connecting plate 4, large gear ring 6, quick locating connector 8, coupling bolts 5; Robot arm mainly is made up of critical pieces such as six-DOF robot arm 3 and ultrasonic transducers 2.Six-DOF robot arm 3 is realized the position control and the attitude control of ultrasonic transducer.
Each several part structure annexation is: dissection type hold-down support 9 connects into as a whole with large gear ring 6 by bolt 7, last lower connecting plate 4 connects into as a whole by bolt 5, the ring flange of motor 11 is fixed on the lower connecting plate 4, planet pinion 10 is fixed on the output shaft of motor 11, and can be around large gear ring 6 external toothings rotation between the cavity that last lower connecting plate 4 forms, six-DOF robot arm 3 and motor 11 are fixed on the both sides of lower connecting plate 4 symmetrically.Last lower connecting plate 4 embeds in the groove of large gear rings 6, can rotate freely around arm 12 axial lines under the drive of motor 11, realizes the circumferencial direction function that rotatablely moves thereby drive robot arm 3 around arm 12 axial lines.Robot arm 3 has the space six degree of freedom, and position control requirement in ultrasonic transducer 2 planes is realized in three joints, and ultrasonic transducer 2 attitudes control requirement is realized in three joints.
The structure of dissection type hold-down support 9 mainly is made up of leading screw 13, moving slider 14, linkage gear 15 as shown in Figure 3.Two rhizoid thick sticks 13 are distributed in the both sides of dissection type hold-down support symmetrically, and the two ends of every rhizoid thick stick 13 connect a moving slider 14 that rotation direction is opposite, rotational lead screw 13, and two slide blocks are just realized the motion that direction is opposite on the same leading screw.Two rhizoid bars, 13 1 ends connect linkage gear 15 jointly, linkage gear 15 makes two rhizoid thick sticks 13 realize interlock, when any rhizoid thick stick 13 moves, drive four moving sliders 14 like this and realize entad motion or centrifugal motion, utilize the cammed surface and the tangent function of clamped arm of four moving sliders 14, realize clamping the function of arm.The extreme position of four moving sliders 14 has been determined the minimax diameter of clamped pipeline.
Adopt the present invention to carry out weld seam when detecting automatically, the testing staff at first is located by connecting into dissection type hold-down support 9 as a whole by quick locating connector 8 shown in Figure 1, and rotational lead screw 14 makes it to be fixed on the detected arm 12.Dissection type hold-down support 9 forms the mounting platform and the positioning reference of dissection type circumferencial direction rotating mechanism, lower connecting plate on the dissection type 4 is installed on the large gear ring 6, it is as a whole to adopt quick locating connector 8 that dissection type circumferencial direction rotating mechanism is located by connecting into, promptly finishes the robot automatic checkout system and is fixed on operation on the detected arm 12.
When the robot automatic checkout system is carried out actual detected, motor 11 energising rear drive planet pinions 10 rotate around large gear ring 6 external toothings, realization is around large gear ring 6 axial line circular motion, because the ring flange of motor 11 is fixed on up and down on two web joints 4, last lower connecting plate 4 rotatablely moves as circumferencial direction around detected arm 12 with planet pinion wheel 10, drives robot arm 3 and rotatablely moves as circumferencial direction around detected arm 12.The ultrasonic transducer 2 that drives the robot arm end is realized around detected arm 12 circumferencial direction weld seam detection, then finishes by the position control joint and the attitude control joint of robot arm 3 along the weld seam detection of arm radial direction.Passing through pipe welding seam thus mutually can be finished by automatic checkout system in the weld seam detection of circumferencial direction and radial direction.
After detecting operation is finished, the testing staff disassembles the quick locating connector 8 of dissection type circumferencial direction rotating mechanism, robot arm 3 and dissection type circumferencial direction rotating mechanism are disassembled from large gear ring 6, quick locating connector 8 with dissection type hold-down support 9 disassembles subsequently, rotational lead screw disassembles dissection type hold-down support 9 from detected arm, and leave detected scene, pass through pipe welding seam detection task mutually thereby finish.The testing staff just rests on detected scene when robot system mounts and dismounts in the weld seam detection process, adopt quick locating connector, the installation and removal time of robot system has all shortened as far as possible, guaranteed testing staff's personal safety, realize that by Long-distance Control mode control robot system weld seam detects automatically, alleviated labor intensity of operating personnel.
Claims (1)
1, a kind of pipe welding seam robot automatic checkout system of passing through mutually, it is characterized in that comprising dissection type hold-down support (9), by motor (11), planet pinion (10), large gear ring (6) reaches goes up dissection type circumferencial direction rotating mechanism and robot arm (3) three parts that lower connecting plate (4) is formed, dissection type hold-down support (9) connects into integral body with large gear ring (6) by bolt (7), last lower connecting plate (4) connects into integral body by bolt (5), and embed in the groove of large gear ring (6), six-DOF robot arm (3) and motor (11) are fixed on the both sides of lower connecting plate (4) symmetrically, robot arm (3) end carries ultrasonic transducer (2), planet pinion (10) is fixed on the output shaft of motor (11), and can between the cavity that last lower connecting plate (4) forms, rotate around large gear ring (6) external toothing, in the dissection type hold-down support (9), two rhizoid thick sticks (13) are symmetrically distributed in the both sides of hold-down support, the two ends of every rhizoid thick stick (13) connect a cammed surface moving slider (14) that rotation direction is opposite, two rhizoid bars (13) one ends connect the interlock that linkage gear (15) is realized two rhizoid thick sticks jointly, dissection type hold-down support (9) is fixed on the detected arm (12) by quick locating connector (8), form the mounting platform and the positioning reference of detection system, dissection type circumferencial direction rotating mechanism is installed on the mounting platform of dissection type hold-down support (9) formation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03129274 CN1208618C (en) | 2003-06-12 | 2003-06-12 | Robot automatic detection system of intersecting pipeline welded seam |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03129274 CN1208618C (en) | 2003-06-12 | 2003-06-12 | Robot automatic detection system of intersecting pipeline welded seam |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1477392A CN1477392A (en) | 2004-02-25 |
| CN1208618C true CN1208618C (en) | 2005-06-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 03129274 Expired - Fee Related CN1208618C (en) | 2003-06-12 | 2003-06-12 | Robot automatic detection system of intersecting pipeline welded seam |
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Families Citing this family (14)
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| CN102288680B (en) * | 2011-05-11 | 2013-03-20 | 哈尔滨工程大学 | Adjusting mechanism of TKY (T-type, K-type and Y-type) tube node flow detection scanning probe |
| CN102809604B (en) * | 2012-07-30 | 2014-11-12 | 燕山大学 | Wall-cross type robot type ultrasonic automatic defectoscope |
| CN102818846B (en) * | 2012-07-30 | 2014-09-10 | 燕山大学 | Automatic ultrasonic flaw-detecting machine for tray type large shell section parts |
| CN104751917B (en) * | 2013-12-30 | 2017-10-27 | 中核武汉核电运行技术股份有限公司 | A kind of Nozzle Zone of Vessels weld joint ultrasonic check device |
| CN104384742B (en) * | 2014-11-14 | 2017-02-08 | 深圳市神视检验有限公司 | Automatic detection trolley for intersecting line welding line |
| CN105842346B (en) * | 2015-01-15 | 2019-02-22 | 华北电力科学研究院有限责任公司 | Tube socket detects scanning frame and tube socket detects scanning equipment |
| CN104730094B (en) * | 2015-04-07 | 2017-06-13 | 武汉理工大学 | A kind of Radiographic Inspection of The Welds In Pipelines device |
| CN106645383B (en) * | 2016-11-17 | 2020-05-08 | 中国石油天然气股份有限公司 | Magnetic memory detection device for cross pipeline welding seam |
| CN108500422B (en) * | 2017-02-24 | 2023-06-09 | 国核电站运行服务技术有限公司 | Sealing weld bead surfacing maintenance device |
| CN107449390B (en) * | 2017-07-26 | 2020-02-07 | 山东大学 | Method for quantifying straightness deviation of main pipe of intersecting pipeline and application |
| CN107423510B (en) * | 2017-07-26 | 2020-02-11 | 山东大学 | Rotary deviation quantification method for intersecting pipeline branch pipe and application |
| CN107480430B (en) * | 2017-07-26 | 2020-02-11 | 山东大学 | Intersecting pipeline branch pipe Y coordinate deviation quantification method and application |
| CN109725056A (en) * | 2019-02-25 | 2019-05-07 | 无锡市星达石化配件有限公司 | The non-contact automatic detection device of flange pipe internal flaw |
| CN112518188B (en) * | 2020-12-09 | 2022-06-14 | 南昌大学 | Novel pipeline grafting looks through line welding robot device |
-
2003
- 2003-06-12 CN CN 03129274 patent/CN1208618C/en not_active Expired - Fee Related
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| CN1477392A (en) | 2004-02-25 |
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