CN202305435U - Automatic radioscopy arm for circumferential weld joint of tube body - Google Patents
Automatic radioscopy arm for circumferential weld joint of tube body Download PDFInfo
- Publication number
- CN202305435U CN202305435U CN2011203944952U CN201120394495U CN202305435U CN 202305435 U CN202305435 U CN 202305435U CN 2011203944952 U CN2011203944952 U CN 2011203944952U CN 201120394495 U CN201120394495 U CN 201120394495U CN 202305435 U CN202305435 U CN 202305435U
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- arm
- square casing
- telescopic arm
- inspection
- sleeve pipe
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Abstract
The utility model discloses an automatic radioscopy arm for a circumferential weld joint of a tube body. The automatic radioscopy arm comprises an inspection component for examining the weld joint, and a telescopic arm for feeding the inspection component to the position of the weld joint, wherein a radial adjusting mechanism capable of adjusting the inspection component in the radial direction of the tube body is arranged between the inspection component and the telescopic arm; and three groups pf support leg components are equidistantly arranged on the inspection component. Owing to a gap between convex points on the circumferential wall of a collimator in the inspection component and a hollow shaft and a through hole on a mounting flange plate of the collimator, obvious hydraulic difference on two sides of an air bag component does not exist, so that the operation stability of the radioscopy arm is improved; owing to the support leg components in equidistant distribution on the air bag component, the center of the air bag component can be automatically aligned with that of the tube body; and after the position of the telescopic arm is fixed by the radial adjusting mechanism, the position of the inspection component can be adjusted to eliminate influence caused by positioning errors of the telescopic arm, the control action is flexible, and the automatic radioscopy arm is suitable for in-service inspection of circumferential weld joints on tube bodies with liquid flowing therein.
Description
Technical field
the utility model relates to a kind of robotization radiological survey X arm, particularly, relates to the robotization radiological survey X arm that a kind of girth seam that is applicable to body is used.
Background technology
In
some fields; Being connected of pressure vessel and pipeline must the form with site welding be implemented in the installation site; For example nuclear power plant reactor pressure vessel and trunk line is connected; Usually because site welding technology is restricted and the complicacy of running environment, these weld seams are weak links of whole pressure vessel and piping system.For the security of assurance system operation, quality that must butt welded seam in addition strict control also is implemented in the labour Non-Destructive Testing termly.Ultrasound examination and radiography detect be often adopt at the labour lossless detection method; Under some situation; Arrange in the pipe welding seam outside radiography film, with the ray irradiation source be placed on the inboard center of pipe welding seam to implement radiography be the most effectively or specify must implement at the labour test item; For example France is according to French RSEM standard (In-Service Inspection Rules for Mechanical components of PWR Nuclear islands; " pressurized-water reactor nuclear power plant nuclear island plant equipment inservice inspection rule "), regulation must be carried out microradiography X from the inboard to the weld seam of nuclear reactor pressure container and trunk line junction.
during ray detection, often there is flow in body inside in labour, and there is very strong shielding action in radiographic source, thus make for such inside have flow the girth seam on body have technical difficulty at the labour radiological survey X.The MIS machine of prior art scheme such as utility model patent CN101598683A and French AREVA group company is when carrying out radiological survey X to nuclear power plant reactor pressure vessel and trunk line attachment weld; Mainly be that choked flow and draining are carried out in inside; Correspondingly; Its scrutiny program clearly proposes when this equipment of use carries out inservice inspection, requires the liquid in loop, trunk line place must keep static.In fact, because always there are leakage to a certain degree in the various valves and the bypass of piping system, so have born the very big pressure differential along the conduit axis direction on the checkout facility, bring certain potential safety hazard to inservice inspection work.In addition; Since drainage arrangement should with pipeline center's dead in line; The technical scheme that the MIS machine of utility model patent CN101598683A and French AREVA group company is adopted is to being used to support the detent mechanism of drainage arrangement and the bearing accuracy of sway brace has all proposed very high requirement, strengthened manufacturing and designing and controlling difficulty of positioning equipment.
The utility model content
The purpose of
the utility model provides a kind of robotization radiological survey X arm that is used for circumferential weld seam on the body.
For solving the problems of the technologies described above, the utility model adopts following technical scheme:
A kind of body girth seam robotization radiological survey X arm is characterized in that: comprise the inspection assembly that is used for the butt welded seam place and carries out radiological survey X, the telescopic arm that is used for described inspection assembly is delivered to the weld seam position,
Described inspection assembly comprises pneumatophore, carries the skeleton of described pneumatophore; Described skeleton comprises quill shaft, is installed in the fore beam and the back seat plate at described quill shaft two ends; Described pneumatophore be enclosed within on the described quill shaft and be positioned described fore beam and described back seat plate between, the described pneumatophore after the inflation is adjacent to discharge the liquid at this place with the inwall of body mutually; Described pneumatophore after the venting separates with the inwall of body,
Described telescopic arm comprises sheathed one by one outer square casing, third side's sleeve pipe, interior square casing and takes in the main tank of carrying shield; The relative both sides of described third side's sleeve pipe are embedded with the two ends of two pulleys and the two described third side's sleeve pipe of living apart respectively; The relative both sides of square casing are embedded with the two ends of two pulleys and the described interior square casing of the two separation respectively in described; Described outer square casing through the wire rope two described pulleys, equal in length on two described third side's sleeve pipes of walking around homonymy the other way around be connected to described in square casing; Described third side's sleeve pipe walks around the other way around through two that wire rope two described pulleys, equal in length on the square casing is connected to described main tank in homonymy described; Be provided with screw body between described outer square casing and the described third side's sleeve pipe; Described outer square casing is provided with electric machine assembly; This electric machine assembly is controlled described third side's sleeve pipe through described screw mechanism and is moved to the direction that stretches or shrink; When described third side's sleeve pipe when the direction that stretches moves, described in square casing and described main tank under the effect of the described wire rope of correspondence and described pulley, all move to the direction that stretches; When described third side's sleeve pipe when the direction of shrinking moves, described in square casing and described main tank under the effect of the described wire rope of correspondence and described pulley, all move to the direction of shrinking,
The front end of
described main tank is installed with a substrate; Being provided with between described back seat plate and the described substrate can be along the radiai adjustment mechanism of the position of the described inspection assembly of body radiai adjustment; This radiai adjustment mechanism comprises the horizontal slide rail that is arranged on the described substrate, is arranged on the vertical slide rail on the described back seat plate; One side has the rebound that transverse slider, another side have vertical slide block and is slidably disposed between described substrate and the described back seat plate; Circumferentially equidistant on the described back seat plate three groups of supporting leg assemblies are installed, wherein have one group of supporting leg assembly vertically to be provided with, this supporting leg assembly that vertically is provided with is provided with two follower levers that vertically are provided with; The lower end of every follower lever is equipped with roller; The upper end of described substrate is provided with " U " type gathering sill, and when touching the minimum point of described " U " type gathering sill when two described rollers declines, described back seat plate is located with described substrate mutually; When two described roller Be Controlled rose, along body free adjustment radially, three groups of described supporting leg assemblies stretched out and hold out against on inboard wall of tube body described inspection assembly with respect to described telescopic arm, checked that assembly locatees with inboard wall of tube body mutually this moment.
preferably; Be provided with in the described main tank and send the source motor; This send the source motor to be connected through driving cable with the radiographic source of described carrying shield, and the described described driving cable of source Electric Machine Control that send is delivered to the working position in the described tubular shaft with described radiographic source.
preferably; Be provided with collimating apparatus in the described tubular shaft; This collimating apparatus comprises that outside surface has the urceolus of a plurality of salient points; One end of this urceolus is mounting flange, the stem pipe of the other end for supplying described driving cable to pass, and described mounting flange is fixedly mounted on the described fore beam, offers the through hole that supplies water and flow through on the described mounting flange.
preferably are provided with urgent recovering mechanism between described screw mechanism and the described outer square casing, and it is connected with leading screw screw drive in the described screw mechanism with control when electric machine assembly is malfunctioning and reclaims described telescopic arm.
preferably also are provided with monitoring camera on the described telescopic arm.
The beneficial effect of
the utility model is: slit and the through hole on the collimating apparatus mounting flange through forming between salient point and the tubular shaft on the collimating apparatus perisporium make the air bag component both sides not have obvious hydraulic pressure difference, have improved the job stability of inspection arm; Through the supporting leg assembly that is equally spaced that is provided with on the air bag component, make that the center of air bag component can be automatically and the center-aligned of body; Be connected through a radiai adjustment mechanism between inspection assembly and the telescopic arm; Make after the stationkeeping of telescopic arm, can body radially to the inspection assembly the position adjust so that the alignment accuracy at air bag component and body center does not rely on the alignment accuracy at telescopic arm and body center; Thereby the influence that the positioning error that absorbs telescopic arm is brought; Reliable in structure, control action is sensitive, is applicable to inner inservice inspection of flowing the girth seam on the body that liquid is arranged.
Description of drawings
Accompanying drawing 1 is the structural representation of the inspection arm of the utility model;
Accompanying drawing 2 is the principle schematic of the telescopic arm in the inspection arm of the utility model;
Accompanying drawing 3 is the principle schematic of the screw mechanism of the telescopic arm in the inspection arm of the utility model;
Accompanying drawing 4 is main tank and the assembling principle schematic of inspection assembly in the inspection arm of the utility model;
Accompanying drawing 5 is looked synoptic diagram for the master of the radiai adjustment mechanism in the inspection arm of the utility model;
Accompanying drawing 7 is the structural representation of the collimating apparatus in the inspection arm of the utility model;
accompanying drawing 8 is the scheme of installation (part is analysed and observe) of the collimating apparatus in the inspection arm of the utility model.
In
accompanying drawing: 1, telescopic arm; 2, radiai adjustment mechanism; 3, air bag component; 4, outer square casing; 5, third side's sleeve pipe; 6, interior square casing; 7, main tank; 8, pulley; 9, wire rope; 10, leading screw screw rod; 11, feed screw nut; 12, electric machine assembly; 13, substrate; 14, horizontal slide rail; 15, transverse slider; 16, vertical slide rail; 17, vertical slide block; 18, tubular shaft; 19, fore beam; 20, back seat plate; 21, supporting leg assembly; 22, follower lever; 23, roller; 24, gathering sill; 25, send the source motor; 26, drive cable; 27, collimating apparatus; 28, salient point; 29, urceolus; 30, mounting flange; 31, stem pipe; 32, through hole; 33, urgent recovering mechanism; 34, monitoring camera.
Embodiment
Below in conjunction with embodiment shown in the drawings the technical scheme of the utility model is done following detailed description the in detail:
are shown in accompanying drawing 1 to accompanying drawing 8; The body girth seam robotization radiological survey X arm of the utility model comprises the inspection assembly that is used for the butt welded seam place and carries out radiological survey X, the telescopic arm 1 that is used for the inspection assembly is delivered to the weld seam position; The inspection assembly comprises pneumatophore, carries the skeleton of pneumatophore; Skeleton comprises quill shaft, is installed in the fore beam 19 and the back seat plate 20 at quill shaft two ends; Pneumatophore be enclosed within on the quill shaft and be positioned fore beam 19 and back seat plate 20 between; Telescopic arm 1 comprises sheathed one by one outer square casing 4, third side's sleeve pipe 5, interior square casing 6 and takes in the main tank 7 of carrying shield; The relative both sides of third side's sleeve pipe 5 are embedded with the two ends of two pulleys 8 and the two separation third side sleeve pipe 5 respectively; The relative both sides of interior square casing 6 are embedded with the two ends of square casing 6 in two pulleys 8 and the two separation respectively; Square casing 6 in outer square casing 4 is connected to through the wire rope 9 two pulleys 8, equal in length on two third side's sleeve pipes 5 of walking around homonymy the other way around, third side's sleeve pipe 5 is connected to main tank 7 through the wire rope 9 two pulleys 8, equal in length on two interior square casings 6 of walking around homonymy the other way around, is provided with screw body between outer square casing 4 and the third side's sleeve pipe 5; Its leading screw screw rod 10 is rotatably installed on the inwall of outer square casing 4, feed screw nut 11 is fixed on the outer wall of third side's sleeve pipe 5; Outer square casing 4 is provided with electric machine assembly 12, and this electric machine assembly 12 is in transmission connection (output shaft of electric machine assembly 12 and leading screw screw rod 10 parallel) through two groups of bevel gears and leading screw screw rod 10 and moves to the direction that stretches or shrink through screw mechanism control third side sleeve pipe 5, when middle square casing 5 when the direction that stretches moves; Interior square casing 6 and main tank 7 all move to the direction that stretches under the effect of the wire rope 9 of correspondence and pulley 8; When middle square casing 5 when the direction of shrinking moves; Interior square casing 6 and main tank 7 are under the effect of the wire rope 9 of correspondence and pulley 8; All move to the direction of shrinking; The front end of main tank 7 is installed with a substrate 13, and being provided with between back seat plate 20 and the substrate 13 can be along the radiai adjustment mechanism 2 of the position of body radiai adjustment inspection assembly, and this radiai adjustment mechanism 2 comprises the horizontal slide rail 14 that is arranged on the substrate 13, is arranged on the vertical slide rail 16 on the back seat plate 20; One side has the rebound that transverse slider 15, another side have vertical slide block 17 and is slidably disposed between substrate 13 and the back seat plate 20; Circumferentially equidistant on the back seat plate 20 three groups of supporting leg assemblies 21 are installed, wherein have one group of supporting leg assembly 21 vertically to be provided with, this supporting leg assembly 21 that vertically is provided with is provided with two vertically follower levers 22 of settings; The lower end of every follower lever 22 is equipped with roller 23; The upper end of substrate 13 is provided with " U " type gathering sill 24, and when touching the minimum point of " U " type gathering sill 24 when 23 declines of two rollers, back seat plate 20 is located with substrate 13 mutually; When two roller 23 Be Controlled rise; Three groups of supporting leg assemblies 21 stretch out and hold out against on inboard wall of tube body, check that assembly locatees with inboard wall of tube body mutually this moment, are provided with in the main tank 7 and send source motor 25; This send source motor 25 to be connected through driving cable 26 with the radiographic source of carrying shield; Send source motor 25 controlling and driving cables 26 that radiographic source is delivered to the working position in the tubular shaft 18, be provided with collimating apparatus 27 in the tubular shaft 18, this collimating apparatus 27 comprises that outside surface has the urceolus 29 of a plurality of salient points 28; One end of this urceolus 29 is that mounting flange 30, the other end are for supplying to drive the stem pipe 31 that cable 26 passes; Mounting flange 30 is fixedly mounted on the fore beam 19, offers the through hole 32 that supplies water and flow through on the mounting flange 30, is provided with urgent recovering mechanism 33 between screw mechanism and the outer square casing 4; Leading screw screw rod 10 in itself and the screw mechanism is in transmission connection and reclaims telescopic arm 1 with control when electric machine assembly 12 is malfunctioning; Also be provided with monitoring camera 34 on the telescopic arm 1, be used for keeping watch on the orientation situation that telescopic arm 1 stretches into body, so that FEEDBACK CONTROL.
The body girth seam robotization radiological survey X arm of
the utility model; Slit through forming between salient point 28 and the tubular shaft 18 on collimating apparatus 27 perisporiums makes air bag component 3 both sides not have obvious hydraulic pressure difference with the through hole 32 on collimating apparatus 27 mounting flanges 30, has improved the job stability of checking arm; Through the supporting leg assembly that is equally spaced that is provided with on the air bag component, make that the center of air bag component can be automatically and the center-aligned of body; Be connected through a radiai adjustment mechanism 2 between inspection assembly and the telescopic arm 1; Make after the stationkeeping of telescopic arm 1, can be radially the position of inspection assembly being adjusted of body, so that the alignment accuracy at air bag component 3 and body center does not rely on the alignment accuracy at telescopic arm 1 and body center; Thereby the influence that the positioning error that absorbs telescopic arm 1 is brought; Reliable in structure, control action is sensitive, is applicable to inner inservice inspection of flowing the girth seam on the body that liquid is arranged.
the foregoing description is only for explaining the technical conceive and the characteristics of the utility model; Its purpose is to let the personage who is familiar with this technology can understand content of the utility model and enforcement according to this, can not limit the protection domain of the utility model with this.All equivalences of being done according to the utility model spirit change or modify, and all should be encompassed within the protection domain of the utility model.
Claims (5)
1. body girth seam robotization radiological survey X arm is characterized in that: comprise the inspection assembly that is used for the butt welded seam place and carries out radiological survey X, the telescopic arm that is used for described inspection assembly is delivered to the weld seam position,
Described inspection assembly comprises pneumatophore, carries the skeleton of described pneumatophore; Described skeleton comprises quill shaft, is installed in the fore beam and the back seat plate at described quill shaft two ends; Described pneumatophore be enclosed within on the described quill shaft and be positioned described fore beam and described back seat plate between, the described pneumatophore after the inflation is adjacent to discharge the liquid at this place with the inwall of body mutually; Described pneumatophore after the venting separates with the inwall of body,
Described telescopic arm comprises sheathed one by one outer square casing, third side's sleeve pipe, interior square casing and takes in the main tank of carrying shield; The relative both sides of described third side's sleeve pipe are embedded with the two ends of two pulleys and the two described third side's sleeve pipe of living apart respectively; The relative both sides of square casing are embedded with the two ends of two pulleys and the described interior square casing of the two separation respectively in described; Described outer square casing through the wire rope two described pulleys, equal in length on two described third side's sleeve pipes of walking around homonymy the other way around be connected to described in square casing; Described third side's sleeve pipe walks around the other way around through two that wire rope two described pulleys, equal in length on the square casing is connected to described main tank in homonymy described; Be provided with screw body between described outer square casing and the described third side's sleeve pipe; Described outer square casing is provided with electric machine assembly; This electric machine assembly is controlled described third side's sleeve pipe through described screw mechanism and is moved to the direction that stretches or shrink; When described third side's sleeve pipe when the direction that stretches moves, described in square casing and described main tank under the effect of the described wire rope of correspondence and described pulley, all move to the direction that stretches; When described third side's sleeve pipe when the direction of shrinking moves, described in square casing and described main tank under the effect of the described wire rope of correspondence and described pulley, all move to the direction of shrinking,
The front end of described main tank is installed with a substrate; Being provided with between described back seat plate and the described substrate can be along the radiai adjustment mechanism of the position of the described inspection assembly of body radiai adjustment; This radiai adjustment mechanism comprises the horizontal slide rail that is arranged on the described substrate, is arranged on the vertical slide rail on the described back seat plate; One side has the rebound that transverse slider, another side have vertical slide block and is slidably disposed between described substrate and the described back seat plate; Circumferentially equidistant on the described back seat plate three groups of supporting leg assemblies are installed, wherein have one group of supporting leg assembly vertically to be provided with, this supporting leg assembly that vertically is provided with is provided with two follower levers that vertically are provided with; The lower end of every follower lever is equipped with roller; The upper end of described substrate is provided with " U " type gathering sill, and when touching the minimum point of described " U " type gathering sill when two described rollers declines, described back seat plate is located with described substrate mutually; When two described roller Be Controlled rose, along body free adjustment radially, three groups of described supporting leg assemblies stretched out and hold out against on inboard wall of tube body described inspection assembly with respect to described telescopic arm, checked that assembly locatees with inboard wall of tube body mutually this moment.
2. body girth seam robotization radiological survey X arm according to claim 1; It is characterized in that: be provided with in the described main tank and send the source motor; This send the source motor to be connected through driving cable with the radiographic source of described carrying shield, and the described described driving cable of source Electric Machine Control that send is delivered to the working position in the described tubular shaft with described radiographic source.
3. body girth seam robotization radiological survey X arm according to claim 2; It is characterized in that: be provided with collimating apparatus in the described tubular shaft; This collimating apparatus comprises that outside surface has the urceolus of a plurality of salient points; One end of this urceolus is mounting flange, the stem pipe of the other end for supplying described driving cable to pass, and described mounting flange is fixedly mounted on the described fore beam, offers the through hole that supplies water and flow through on the described mounting flange.
4. body girth seam robotization radiological survey X arm according to claim 1; It is characterized in that: be provided with urgent recovering mechanism between described screw mechanism and the described outer square casing, it is connected with leading screw screw drive in the described screw mechanism with control when electric machine assembly is malfunctioning and reclaims described telescopic arm.
5. body girth seam robotization radiological survey X arm according to claim 1 is characterized in that: also be provided with monitoring camera on the described telescopic arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203944952U CN202305435U (en) | 2011-10-17 | 2011-10-17 | Automatic radioscopy arm for circumferential weld joint of tube body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203944952U CN202305435U (en) | 2011-10-17 | 2011-10-17 | Automatic radioscopy arm for circumferential weld joint of tube body |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202305435U true CN202305435U (en) | 2012-07-04 |
Family
ID=46374307
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011203944952U Expired - Fee Related CN202305435U (en) | 2011-10-17 | 2011-10-17 | Automatic radioscopy arm for circumferential weld joint of tube body |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202305435U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102507610A (en) * | 2011-10-17 | 2012-06-20 | 中广核检测技术有限公司 | Automatic ray inspection arm for circumferential weld seam of pipe body |
| CN102539452A (en) * | 2012-02-14 | 2012-07-04 | 中国东方电气集团有限公司 | Radioactive source fixing support for radiographic inspection of large tube-shaped weld workpiece |
| CN106388844A (en) * | 2016-12-09 | 2017-02-15 | 中央军委后勤保障部卫生局药品仪器检验所 | Telescopic mechanism and portable type digital X-ray machine |
-
2011
- 2011-10-17 CN CN2011203944952U patent/CN202305435U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102507610A (en) * | 2011-10-17 | 2012-06-20 | 中广核检测技术有限公司 | Automatic ray inspection arm for circumferential weld seam of pipe body |
| CN102539452A (en) * | 2012-02-14 | 2012-07-04 | 中国东方电气集团有限公司 | Radioactive source fixing support for radiographic inspection of large tube-shaped weld workpiece |
| CN106388844A (en) * | 2016-12-09 | 2017-02-15 | 中央军委后勤保障部卫生局药品仪器检验所 | Telescopic mechanism and portable type digital X-ray machine |
| CN106388844B (en) * | 2016-12-09 | 2023-09-01 | 中央军委后勤保障部卫生局药品仪器检验所 | Telescopic mechanism and portable digital X-ray machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
Address after: Futian District, Shenzhen City Road 518000 Guangdong Province Science & Technology Building 1001, 1506 Patentee after: CGNPC Inspection Technology Co., Ltd. Patentee after: China General Nuclear Power Corporation Patentee after: Zhongkehua Nuclear Power Technology Institute Co., Ltd. Address before: Futian District, Shenzhen City Road 518000 Guangdong Province Science & Technology Building 1001, 1506 Patentee before: CGNPC Inspection Technology Co., Ltd. Patentee before: China Guangdong Nuclear Power Group Co., Ltd. Patentee before: Zhongkehua Nuclear Power Technology Institute Co., Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120704 Termination date: 20191017 |
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| CF01 | Termination of patent right due to non-payment of annual fee |