CN205920091U - Return bend automated inspection system of detecting a flaw - Google Patents
Return bend automated inspection system of detecting a flaw Download PDFInfo
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- CN205920091U CN205920091U CN201620949235.XU CN201620949235U CN205920091U CN 205920091 U CN205920091 U CN 205920091U CN 201620949235 U CN201620949235 U CN 201620949235U CN 205920091 U CN205920091 U CN 205920091U
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- portal frame
- mechanical hand
- bend pipe
- manipulator
- detection system
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Abstract
The utility model discloses a return bend automated inspection system of detecting a flaw relates to the heat -stewed bend automated inspection flaw detection technology field, including portal frame, the horizontal running gear of manipulator, manipulator, laser identify bodies, the manipulator slides and sets up on the horizontal running gear of manipulator, the horizontal running gear of manipulator spanes on the portal frame and can follow portal frame longitudinal sliding motion, laser identify bodies sets up on the portal frame and can follow portal frame longitudinal sliding motion. Through adopting the utility model discloses a return bend automated inspection system of detecting a flaw, manipulator move about can on the horizontal running gear of manipulator, and the horizontal running gear of manipulator can longitudinal movement on the portal frame, combine the structural feature of mechanical hand itself, and the optional position that the probe arrived the portal frame within range can by the centre gripping to the manipulator, and the route is looked into through sweeping of automatic generation after scanning the return bend to these removals, have advantages such as efficient, degree of automation height.
Description
Technical field
This utility model is related to hot-bending bends automatic detection inspection technique field, more particularly to a kind of bend pipe automatic detection
Fault detection system.
Background technology
Bended pipe is the important component part of the long conveyance conduit of oil gas, and long distance pipeline passes through many with a varied topography, weathers
The area of inclement condition, therefore, needs using heavy caliber hot-bending bends in pipeline laying.Over nearly 20 years, bend pipe is at home and abroad
Obtain more and more widely using in major diameter, high-pressure oil gas feed-line.It is applied to major diameter, the thickness of different work condition environments
Wall, low temperature, the applied research of High Pressure Bend Pipe is also deepening continuously, and achieves some engineer applied achievements, the application of bend pipe
Field is also more and more extensive.
Stress is complicated in use for bend pipe, and technology difficulty is big during bending, the factor of impact capability and performance
Many, the quality of the manufacture of bend pipe and its quality (including the aspect such as mechanical property and dimension limit deviation), directly influence oil gas
The safe and reliable property of conveyance conduit and economic benefit of investment.If security reliability is poor, pipeline will occur explosive failure, leads
Lives and properties are caused to be badly damaged.Severe social influence is caused to be also to be difficult to estimate；As produced waste product in making in bend pipe,
Great economic loss will be caused.Therefore, bend pipe is carried out using rational lossless detection method during manufacturing
Control of product quality is very necessary.
Non-Destructive Testing, as a requisite link in bend pipe production, finds in time in bend pipe production process
, it is ensured that the quality of production important role of bend pipe, national departments concerned requirement manufacturing enterprise must be according to product standard for defect
Carry out the detection of High Pressure Bend Pipe.Current detecting system can carry out Automatic continuous and crawl carrying out flaw detection to straight tube, but for a long time
Since, at home in related petroleum pipeline production industry, bend pipe Non-Destructive Testing is all detected using manual work mode substantially,
Reuse portable ultraphonic detector after mode completes Magnetic testing by hand in workman to be detected, the testing result to bend pipe
Remain in experience and various chart, not only process is loaded down with trivial details, workload is big, and detection efficiency is low, and master under one's control
The property seen impact, the timely discovery for detection defect there is also certain erroneous judgement.Traditional bend pipe manual inspection method and detection
Instrument all cannot meet enterprise's large batch of bend pipe production requirement in detection speed or accuracy of detection.
Utility model content
In view of problem above, the purpose of this utility model commonly uses portable ultraphonic in being to detect for bended pipe
Detector carries out the present situation of artificial Non-Destructive Testing, provides a kind of bended pipe automatic crack detection system, and technical scheme includes following tool
Internal appearance: a kind of bend pipe automatic detection fault detection system is it is characterised in that include portal frame, the horizontal travelling mechanism of mechanical hand, machinery
Handss, laser identification mechanism, described mechanical hand is slidably arranged on the horizontal travelling mechanism of mechanical hand, and described mechanical hand laterally runs machine
Across on portal frame and can be along portal frame longitudinal sliding motion, described laser identification mechanism be arranged on portal frame and can be along gantry structure
Frame longitudinal sliding motion.
Further, described mechanical hand is four axis robot, including large arm swinging axle, forearm swinging axle, wrist circumference rotation
Four axles such as rotating shaft and wrist rotational axial shaft.
Further, described mechanical hand adopts right angle coordinate manipulator.
Further, also include visiting frame, described spy frame is removably disposed on described mechanical wrist part rotational axial shaft.
Further, described portal frame has been longitudinally arranged rail system, the horizontal travelling mechanism of described mechanical hand passes through institute
State rail system along portal frame longitudinal sliding motion.
Further, also include carrying pipe car, the width of described load pipe car is less than the horizontal span of described portal frame.
Further, described load pipe car arranges two sets.
Further, also include and carry the load pipe track road that pipe car mates, described load pipe track road is arranged under portal frame
Side.
The beneficial effects of the utility model:
This utility model carries out flaw detection scanning using ultrasonic transverse wave, has very high sensitivity, it can be found that in bend pipe
The tiny defect in portion；The framework of fault detection system is portal frame, and in the underface of portal frame, track supports load to detection flaw detection station
Pipe car the lower section of portal frame move, be provided with two load pipe cars, can to first carry pipe car on bend pipe turn-over while,
The bend pipe that fault detection system continues as on the second load pipe car carries out scanning；Mechanical hand can left and right on the horizontal travelling mechanism of mechanical hand
Mobile, the horizontal travelling mechanism of mechanical hand can vertically move on portal frame, in conjunction with the construction featuress of mechanical hand itself, mechanical hand
The optional position in the range of probe arrival portal frame can be hold, and these movements are all to be automatically generated after scanning bend pipe
Scanning route, there is efficiency high, high degree of automation.
Brief description:
Fig. 1 bend pipe automatic detection fault detection system structural representation；
Fig. 2 is robot manipulator structure schematic diagram.
Specific embodiment:
Below by specific embodiment and combine accompanying drawing this utility model is described in further detail:
Fig. 1 shows a kind of structure chart of bend pipe automatic detection fault detection system, laterally runs including portal frame 4, mechanical hand
Mechanism 3, mechanical hand 10, laser identification mechanism 5, laser identification mechanism 5 is arranged on a laser identification mechanism walking beam 8, machine
Tool handss 10 are slidably arranged on the horizontal travelling mechanism of mechanical hand 3, and the horizontal travelling mechanism of mechanical hand 3 is across on portal frame and can edge
Portal frame 4 longitudinal sliding motion, laser identification mechanism 5 is arranged on portal frame 4 and can be along portal frame 4 longitudinal sliding motion.Preferably, it is curved
Pipe automatic detection fault detection system also includes carrying pipe car, carries pipe car and arranges two sets, respectively carries pipe car 1 and carries pipe car 7, carries pipe car 1
It is less than the horizontal span of described portal frame 4 with the width carrying pipe car 7；The track 6 of portal frame 4 lower section setting in load pipe car 1 and carries
Pipe car 7 mates, track 6 the lower section of portal frame 4 along portal frame 4 longitudinally through, between two supporting legs 9 of portal frame 4,
Here longitudinal direction refers to the longer direction of portal frame 4, is also the traffic direction of the horizontal travelling mechanism of mechanical hand 3.Carry pipe car 1 He
Carrying pipe car 7 is all to rely on to be arranged on the power carrying the motor in pipe underbody portion as walking.
Preferably, as shown in Fig. 2 mechanical hand 10 is four axis robot, including large arm swinging axle 11, forearm swinging axle
12nd, wrist rotates in a circumferential direction four axles such as axle 13 and wrist rotational axial shaft 14；In the present embodiment, the mechanical hand 10 of employing is straight
Angular coordinate mechanical hand, mechanical hand 10 root travelling mechanism 3 horizontal with mechanical hand is connected, the end of mechanical hand 10, that is, machinery
Spy frame 15 is provided with the wrist rotational axial shaft 14 of handss 3, visits the effect that frame 15 will reach convenient dismounting, its effect is clamping
Flaw detection probe.
The work process of the bend pipe automatic crack detection system in the present embodiment:
As shown in figure 1, a: the first load pipe car 7 will carry detection bend pipe 2 to deliver to detection station, carry pipe car 7 and slided into by track 6
The lower section detection station of portal frame 4；
B: laser identification mechanism 5 positions to bend pipe profiling；After bend pipe 2 to be detected reaches detection station, known with this laser
Other mechanism 5 is scanned to bend pipe, shows the form of bend pipe 2 to be detected in real time and generates graphics, and corresponding data is passed
To host computer, generate the movement locus of mechanical hand 10, motion controller carries out scanning according to this TRAJECTORY CONTROL mechanical hand 10.
It (is to be justified by bend pipe 2 end surfaces in FIG that c: mechanical hand 10 moves at+0 ° of the outer arc of bend pipe 2 pipe end circumference
The horizontal plane of the heart and the intersection point of tube outer surface), mechanical hand 10 drives the probe being clamped on spy frame 15 at tube head along along bend pipe
Heart line carries out scanning, and after probe reaches pipe tail, wrist rotational axial shaft 14 drives visits 180 ° of frame rotation, then backtracking tube head
Place, the purpose of do so is to ensure that the two-way detection of shear wave；Mechanical hand 10 drives visits frame 15 in one step of bend pipe 2 circumferential offset
Away from this step pitch can not be more than effective cover width of probe, and repeat the above steps, until completing the scanning of bend pipe 2 upper surface；
D: the first load pipe car 7 leaves detection station, and second carries pipe car 1 enters detection station, carries on pipe car 7 for first
Bend pipe upset, to second carry pipe car on bend pipe implementation steps c；
E: the first load pipe car 7 reenters detection station, and the second load pipe car 1 leaves detection station, for the second load pipe car 1
On bend pipe upset, to first carry pipe car 7 on bend pipe implementation steps c；
F: the second load pipe car 1 reenters detection station, and the first load pipe car 7 leaves detection station, for the second load pipe car 1
Upper bend pipe implementation steps c；
The enforcement of d, e, f step, is the utilization rate in order to improve fault detection system, when to winding turn-over to be detected, flaw detection
System is constantly in operation.
G: automatically generate flaw detection 3 dimensional drawing, the position of mark defect and size.
Preferably, in step c, visiting frame 15 and drive reciprocal scanning of popping one's head in, the arc chord angle on scanning bend pipe surface is more than
180 °, in order to ensure not have between scanning twice the gap of blank before turn-over and after turn-over, before turn-over with turn-over after scanning twice
Circumferential angle ensure repeat 2 degree.
Preferably, in step c, checking method is ultrasonic scanning, the probe of employing is shear wave probe；Further
Ground, mechanical hand 10 is additionally provided with layered weighting probe, and layered weighting probe is responsible for the layered weighting of pipe end 100mm.Layering inspection
Probing head only just falls to carrying out scanning during mechanical hand 10 drive shear wave probe is from tube head to pipe tail.
Preferably, in step c, when scanning runs into weld seam, adjusting step pitch, visiting frame 15 and driving probe edge concordant with weld seam
And keep the spacing of 25mm to move.(because during seam inspection, for the layered weighting of weld heat-affected zone, being scheduled that one
Group probe carries out the covering of 25mm).
The foregoing is only preferred embodiment of the present utility model, be not limited to this utility model, for this area
Technical staff for, this utility model can have various modifications and variations.All of the present utility model spirit and principle within,
Any modification, equivalent substitution and improvement made etc., should be included within protection domain of the present utility model.
Claims (8)
1. a kind of bend pipe automatic detection fault detection system is it is characterised in that include portal frame, the horizontal travelling mechanism of mechanical hand, machinery
Handss, laser identification mechanism, described mechanical hand is slidably arranged on the horizontal travelling mechanism of mechanical hand, and described mechanical hand laterally runs machine
Across on portal frame and can be along portal frame longitudinal sliding motion, described laser identification mechanism be arranged on portal frame and can be along gantry structure
Frame longitudinal sliding motion.
2. bend pipe automatic detection fault detection system according to claim 1 is it is characterised in that described mechanical hand is four shaft mechanicals
Handss, rotate in a circumferential direction four axles such as axle and wrist rotational axial shaft including large arm swinging axle, forearm swinging axle, wrist.
3. bend pipe automatic detection fault detection system according to claim 2 is it is characterised in that described mechanical hand adopts right angle to sit
Mark mechanical hand.
4. bend pipe automatic detection fault detection system according to claim 2 is it is characterised in that also include visiting frame, described spy frame
It is removably disposed on described mechanical wrist part rotational axial shaft.
5. bend pipe automatic detection fault detection system according to claim 1 is it is characterised in that be longitudinally arranged on described portal frame
There is rail system, the horizontal travelling mechanism of described mechanical hand is by described rail system along portal frame longitudinal sliding motion.
6. according to the arbitrary described bend pipe automatic detection fault detection system of claim 1-5 it is characterised in that also including carrying pipe car,
The described width carrying pipe car is less than the horizontal span of described portal frame.
7. bend pipe automatic detection fault detection system according to claim 6 is it is characterised in that described load pipe car arranges two sets.
8. bend pipe automatic detection fault detection system according to claim 7 is it is characterised in that also including and carrying what pipe car mated
Carry pipe track road, described load pipe track road is arranged on below portal frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620949235.XU CN205920091U (en) | 2016-08-26 | 2016-08-26 | Return bend automated inspection system of detecting a flaw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620949235.XU CN205920091U (en) | 2016-08-26 | 2016-08-26 | Return bend automated inspection system of detecting a flaw |
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| Publication Number | Publication Date |
|---|---|
| CN205920091U true CN205920091U (en) | 2017-02-01 |
Family
ID=57868509
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620949235.XU Active CN205920091U (en) | 2016-08-26 | 2016-08-26 | Return bend automated inspection system of detecting a flaw |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106353401A (en) * | 2016-08-26 | 2017-01-25 | 四川石油天然气建设工程有限责任公司 | Automatic bend flaw detection system |
| CN112903585A (en) * | 2021-01-19 | 2021-06-04 | 中国石油天然气集团有限公司 | Automatic detection device and automatic detection method for weld defects of bent pipe |
| CN113063347A (en) * | 2021-03-04 | 2021-07-02 | 华东交通大学 | Three-dimensional coordinate measuring device for complex bent pipe |
-
2016
- 2016-08-26 CN CN201620949235.XU patent/CN205920091U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106353401A (en) * | 2016-08-26 | 2017-01-25 | 四川石油天然气建设工程有限责任公司 | Automatic bend flaw detection system |
| CN112903585A (en) * | 2021-01-19 | 2021-06-04 | 中国石油天然气集团有限公司 | Automatic detection device and automatic detection method for weld defects of bent pipe |
| CN112903585B (en) * | 2021-01-19 | 2023-02-21 | 中国石油天然气集团有限公司 | Automatic detection device and automatic detection method for weld defects of bent pipe |
| CN113063347A (en) * | 2021-03-04 | 2021-07-02 | 华东交通大学 | Three-dimensional coordinate measuring device for complex bent pipe |
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