CN209784259U - Automatic wall-climbing far-field vortex and video detection system for water wall tube of power station boiler - Google Patents
Automatic wall-climbing far-field vortex and video detection system for water wall tube of power station boiler Download PDFInfo
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- CN209784259U CN209784259U CN201920350953.9U CN201920350953U CN209784259U CN 209784259 U CN209784259 U CN 209784259U CN 201920350953 U CN201920350953 U CN 201920350953U CN 209784259 U CN209784259 U CN 209784259U
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Abstract
The utility model belongs to far field vortex and video detection field. The technical scheme is as follows: the utility model provides an automatic wall far field vortex and video detection system of climbing of power plant boiler water wall pipe which characterized in that: the detection system comprises a crawler, a plurality of motors, a controller, a camera, an encoder, a plurality of far-field eddy current detection probes, a far-field eddy current host and a computer, wherein the bottom of the crawler is provided with a plurality of magnetic wheels so as to be adsorbed on the surface of a water wall tube, the motors are fixed at the bottom of the crawler and are connected with the magnetic wheels in a one-to-one correspondence mode to drive the magnetic wheels, the controller controls the crawler to move through the motors, the camera is installed on the crawler, the encoder is fixed on the crawler so as to collect position data of the crawler, and the. The detection system combines a far-field eddy current detection technology and a video detection technology, can acquire and record images of the surface of the water-cooled wall pipe, and detects and analyzes the thickness of the pipe wall, so that whether defects exist or not is judged, and the defects in the water-cooled wall pipe cannot be missed.
Description
Technical Field
The utility model belongs to far field vortex and video detection field relate to an automatic wall climbing far field vortex of power plant boiler water wall pipe and video detection system.
Background
The boiler is the most important production equipment of a thermal power station, and water wall tubes of the boiler are corroded by smoke, coal ash, flame and the like in long-term service, so that the phenomena of abrasion, corrosion and the like are easily caused, the tube walls are locally thinned, and serious accidents such as tube body burst and leakage are finally caused under the action of high-pressure and high-temperature steam in the tubes. The leakage of the boiler is different from the leakage of a common pipeline, the boiler cannot be maintained in production operation, the boiler is usually shut down and repaired, the economic loss of the boiler is huge, and therefore the water wall pipe is a key part for inspection and monitoring of the boiler.
The existing power station mainly depends on visual detection on the detection of the water wall tube of the boiler, and carries out fixed-point thickness measurement on the outer surface blowing loss thinning and high-temperature corrosion area with macroscopic view. This way of checking presents the following problems:
1. The water wall pipe cannot be comprehensively and effectively inspected. When present staff inspects the water wall tube of power station boiler, a lifting platform or an installation scaffold needs to be arranged inside a boiler furnace. Because of the internal structure of the utility boiler, the lifting platform can only reach the area below the flame break angle, and the scaffold is often difficult to reach for the position of high position, unsettled position for some positions of the water wall tube of the utility boiler can not be inspected.
2. The repeatability of the detection result is poor. At present, the inspection of the water wall tube of the power station mainly depends on visual inspection and thickness measurement, and slag or furnace dust is often attached to the water wall tube of the boiler, so that the accuracy of visual inspection is influenced; meanwhile, due to the influence of human factors such as responsibility, experience and the like of inspectors, detection results of different workers are not completely the same, so that the detection results are inaccurate, and errors are large.
3. The defects of the outer surface of the water wall tube can only be detected, and the defects inside the water wall tube are easy to leak and detect. Boiler water wall pipes often have defects such as internal corrosion, which are difficult to find in visual inspection. At present, the corrosion condition in the pipe can be locally checked by an ultrasonic thickness gauge, but the number of measurement is limited due to preparation procedures of descaling, couplant smearing and the like before measurement. Individual corrosion pits, like large sea fishing needles, are to be found in thousands of water wall tubes of several tens of meters height.
therefore, it is necessary to design a detection system capable of detecting the water wall tube by using a far-field eddy current detection technology to replace manual visual inspection, so that the water wall tube is comprehensively inspected, and the accuracy of an inspection result is improved.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming the defects of the background technology and providing an automatic wall-climbing far-field vortex and video detection system for a water wall tube of a power station boiler, which combines the far-field vortex detection technology with the video detection technology, can acquire and record images on the surface of the water wall tube and detect the thickness of the tube wall, thereby judging whether defects exist or not and avoiding missing the detection of the defects of the inner wall of the water wall tube; the detection system can be used for positioning the defect position and has the characteristics of convenience in use, accurate detection result and high working efficiency.
The utility model provides a technical scheme is:
the utility model provides an automatic wall far field vortex and video detection system of climbing of power plant boiler water wall pipe which characterized in that: the detection system comprises a crawler, a plurality of motors, a controller, a camera, an encoder, a plurality of far-field eddy current detection probes, a far-field eddy current host and a computer, wherein the bottom of the crawler is provided with a plurality of magnetic wheels so as to be adsorbed on the surface of a water wall tube;
The encoder and the plurality of far-field eddy current detection probes are respectively connected with the far-field eddy current host through data lines; the camera and the far-field eddy current host are respectively connected with a computer through data lines; the creeper is connected with the motors through cables.
The size of the far-field eddy current detection probe is suitable for the size of the water wall tube, so that the optimal coupling effect of the far-field eddy current detection probe is ensured.
The far-field eddy current detection probes are five groups, each group of detection probes is an independent detection channel, and the distance between adjacent detection probes is suitable for the distance between the water wall tubes, so that a plurality of water wall tubes can be detected simultaneously.
The motor adopts a servo motor.
The utility model has the advantages that:
1) The crawler of the utility model is adsorbed on the surface of the pipe wall through the magnetic wheel, and the movement of the crawler can be controlled by the controller of the working personnel, thus the construction of a scaffold is not needed, and the operation is simple and convenient;
2) The camera in the utility model can collect the image of the surface of the water wall pipe and store and record the collected image into the computer, thereby replacing the visual inspection work of the staff, and the image record can be played back at any time, thus greatly reducing the workload of the staff;
3) the utility model provides a far field eddy current inspection probe detects the wall thickness of water-cooling wall pipe, and the computer judges whether water-cooling wall pipe has the defect according to the wall thickness data that detect, therefore even the defect exists in the inner wall of water-cooling wall pipe, as long as the pipe wall takes place the wearing and tearing attenuate, wall thickness data will change, can judge whether this position has the defect, can not miss the defect of examining water-cooling wall pipe inner wall, has improved the accuracy of testing result;
4) the utility model provides an encoder can fix a position defective position, makes things convenient for the staff to find defective position fast accurately, improves work efficiency.
5) The utility model adopts a plurality of groups of far field eddy current test probes, each group of test probes is an independent test channel, thereby enabling the test system to simultaneously detect the defects of a plurality of water-cooled wall pipes and improving the test efficiency;
6) The utility model discloses the equipment of well use is conventional equipment to easy operation, job stabilization is reliable, is fit for using widely.
Drawings
fig. 1 is a schematic view of the connection mode of the present invention.
Detailed Description
The following further description is made with reference to the embodiments shown in the drawings.
The automatic wall-climbing far-field eddy current and video detection system for the water wall tube of the power station boiler, which is shown in fig. 1, combines a far-field eddy current detection technology with a video detection technology, and comprises a crawler 1, a plurality of magnetic wheels 9, a plurality of motors (not shown in the figure), a controller 5, a camera 4, a plurality of far-field eddy current detection probes 2, an encoder 3 and a far-field eddy current host 6 (comprising a computer 7). The controller is connected with the motors through cables 11, so that the controller can control the crawler to move; the encoder and the far field eddy current detection probes are respectively connected with a far field eddy current host through data lines 10, so that the far field eddy current host can receive data collected by the encoder and the far field eddy current detection probes conveniently; the camera and the far-field eddy current host are respectively connected with the computer through data lines, so that the computer can record and process images acquired by the camera and data received by the far-field eddy current host.
The quantity of magnetic wheel and motor is the same, the utility model discloses in be four. The four magnetic wheels are symmetrically arranged at the bottom of the crawler so as to adsorb the crawler on the surface of the water wall tube. The four motors are fixed at the bottom of the crawler and are respectively connected with the four magnetic wheels in a one-to-one correspondence manner so as to drive the magnetic wheels to rotate; the motor is preferably a servo motor, and the crawling controller controls the rotation of the servo motor to accurately control the moving speed and direction of the crawling device.
The camera is installed on the crawler and used for collecting images (including videos) on the surface of the water wall pipe and storing and recording the collected images into a computer through a data line, so that the visual inspection work of workers is replaced, the image records can be played back at any time, and the workload of the workers is greatly reduced.
The far-field eddy current detection probe is fixedly connected to the crawler through a connecting rod 8 and used for collecting wall thickness data of the water wall pipe, the collected wall thickness data are received by the far-field eddy current host, the far-field eddy current host transmits the received wall thickness data to the computer, the computer performs recording processing, and whether the wall thickness has defects or not is judged through the wall thickness change. The far-field eddy current detection probe is connected with the crawler into a whole, and the position of the crawler is the detection position of the far-field eddy current detection probe; when the computer judges that the wall thickness of the water wall pipe changes (namely the detected wall thickness is smaller than the preset wall thickness data), the position of the pipe wall where the change occurs can be determined to have a defect, and the position of the defect can be determined as long as the position of the crawler is determined.
the utility model discloses well five groups of far field eddy current test probes of adoption, every group far field eddy current test probe is independent test passage, and distance between the adjacent test probe is fit for with the distance between the water wall pipe to make this detecting system can carry out the defect detection to many water wall pipes simultaneously, improve detection efficiency. The size of each group of far-field eddy current detection probes is suitable for the size of the water wall tube, so that the optimal coupling effect is ensured, and the accuracy of the detection result is improved.
The encoder is installed on the crawler and used for collecting position data of the crawler relative to a starting point, the far-field vortex host receives the collected position data, the far-field vortex host transmits the received position data to the computer, and the computer performs recording processing to obtain the position of the crawler and further obtain the defect position on the water wall pipe according to the position of the crawler.
When the wall thickness is detected, the crawler needs to operate on the outer surface of the water wall pipe; if the image acquisition work is only carried out, the crawler can operate on the outer surface of the water wall tube.
the camera, the plurality of far-field eddy current detection probes, the encoder and the far-field eddy current host (including a computer) can be obtained by outsourcing; crawlers are also available from outsourcing.
finally, it should be noted that the above-mentioned embodiments illustrate only specific embodiments of the invention. Obviously, the present invention is not limited to the above embodiments, and many variations are possible. All modifications which can be derived or suggested by a person skilled in the art from the disclosure of the invention should be considered as within the scope of the invention.
Claims (4)
1. The utility model provides an automatic wall far field vortex and video detection system of climbing of power plant boiler water wall pipe which characterized in that: the detection system comprises a crawler (1) with a plurality of magnetic wheels (9) arranged at the bottom to be adsorbed on the surface of a water wall pipe, a plurality of motors which are fixed at the bottom of the crawler and are connected with the magnetic wheels in a one-to-one correspondence manner to drive the magnetic wheels, a controller (5) which controls the motion of the crawler through the motors, a camera (4) which is installed on the crawler and is used for collecting the surface image of the water wall pipe, an encoder (3) which is fixed on the crawler and is used for collecting the position data of the crawler, a plurality of far field eddy current detection probes (2) which are fixedly connected with the crawler through connecting rods (8) and are used for collecting the wall thickness data of the water wall pipe, a far field eddy current host (6) which is used for receiving the data collected by the encoder and the far field eddy current detection probes, and a computer (7) which;
The encoder and the plurality of far-field eddy current detection probes are respectively connected with a far-field eddy current host through data lines (10); the camera and the far-field eddy current host are respectively connected with a computer through data lines; the creeper is connected with a plurality of motors through cables (11).
2. The utility boiler water wall tube automatic wall climbing far field vortex and video detection system of claim 1, characterized in that: the size of the far-field eddy current detection probe is suitable for the size of the water wall tube, so that the optimal coupling effect of the far-field eddy current detection probe is ensured.
3. The utility boiler water wall tube automatic wall climbing far field vortex and video detection system of claim 2, characterized in that: the far-field eddy current detection probes are five groups, each group of detection probes is an independent detection channel, and the distance between adjacent detection probes is suitable for the distance between the water wall tubes, so that a plurality of water wall tubes can be detected simultaneously.
4. The utility boiler water wall tube automatic wall climbing far field vortex and video detection system of claim 3, characterized in that: the motor adopts a servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920350953.9U CN209784259U (en) | 2019-03-19 | 2019-03-19 | Automatic wall-climbing far-field vortex and video detection system for water wall tube of power station boiler |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920350953.9U CN209784259U (en) | 2019-03-19 | 2019-03-19 | Automatic wall-climbing far-field vortex and video detection system for water wall tube of power station boiler |
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| CN209784259U true CN209784259U (en) | 2019-12-13 |
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| CN201920350953.9U Active CN209784259U (en) | 2019-03-19 | 2019-03-19 | Automatic wall-climbing far-field vortex and video detection system for water wall tube of power station boiler |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114486932A (en) * | 2022-01-22 | 2022-05-13 | 石家庄东方热电热力工程有限公司 | Water-cooled wall climbing robot positioning method based on image information |
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2019
- 2019-03-19 CN CN201920350953.9U patent/CN209784259U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114486932A (en) * | 2022-01-22 | 2022-05-13 | 石家庄东方热电热力工程有限公司 | Water-cooled wall climbing robot positioning method based on image information |
| CN114486932B (en) * | 2022-01-22 | 2023-11-28 | 石家庄东方热电热力工程有限公司 | Positioning method of water-cooled wall climbing robot based on image information |
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Address after: 310020, 211 triumph Road, Hangzhou, Zhejiang, Jianggan District Patentee after: Zhejiang Institute of Special Equipment Science Address before: 310020, 211 triumph Road, Hangzhou, Zhejiang, Jianggan District Patentee before: ZHEJIANG PROVINCIAL SPECIAL EQUIPMENT INSPECTION AND Research Institute |
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