KR20210001379U - Ultrasonic Wave Detection Device Using a Collaborative robot - Google Patents

Abstract

The present invention relates to an ultrasonic flaw inspection apparatus using a collaborative robot, and more specifically, the size of defects inside the test object by transmitting ultrasonic waves through the test object to detect the defects existing inside the test object and analyzing the ultrasonic signal reflected from the defects when the defect occurs. An ultrasonic detector for detecting internal defects by irradiating an ultrasonic wave to a test object to detect the shape of a cooperating robot, the ultrasonic detector is coupled to one side, and the ultrasonic detector is movably supported in three directions, the test object and A guide rail part installed on the ground in a state parallel to the longitudinal direction of the test body at an interval and slidably installed on the upper part of the guide rail part, the cooperative robot is installed on one side of the upper part, and the operation of the cooperative robot is controlled And, it relates to an ultrasonic flaw detection apparatus using a cooperative robot, characterized in that it comprises a control console for storing the detected data input from the ultrasonic detector.

Description

Ultrasonic Wave Detection Device Using a Collaborative robot

The present invention relates to an ultrasonic flaw inspection apparatus using a cooperative robot. More specifically, the size and shape of defects inside the test object are detected by irradiating ultrasonic waves to the test object to detect defects existing inside the test object and analyzing the ultrasonic signal reflected from the defects. It relates to an ultrasonic flaw inspection apparatus using a cooperative robot to detect

As a method of inspecting defects inside a steam turbine of a power plant, a non-destructive inspection method that can detect internal defects without damaging the specimen is mainly used.

In order to inspect the internal defects of the steam turbine of a power plant, it is common for a person to directly carry a detector to the steam turbine and detect the defect. There was a problem that it could not be done.

In addition, when a person directly picks up the non-destructive testing device and detects the outer peripheral surface of the turbine, there is a problem in that it is difficult to obtain reliable detection results due to overlapping detection of sections and occurrence of missing parts.

As such, if the steam turbine is operated in a state where the internal defect of the steam turbine is not clearly detected, the blades of the steam turbine are damaged, and when the blades are damaged, the power generation is stopped and the surrounding facilities are damaged, resulting in a huge cost loss. There was a problem that the steam turbine had to be repaired for a long time.

In general, non-destructive inspection has inspection methods such as liquid penetration method, magnetic inspection method, ultrasonic inspection method, acoustic radiation method, radiographic method, and eddy current inspection method. Inspection methods are often applied to power plants.

Ultrasound refers to a sound wave in the form of a frequency, has directivity, has straightness when transmitted through an object such as a metal, and has a property of being reflected at the interface between space and an object.

Therefore, in order to perform ultrasonic flaw detection, a transducer, which is a device that can transmit ultrasonic waves, a receiver that receives an ultrasonic signal reflected from a defect inside the test body, a display unit that displays the signal received by the reception as a pulse signal, the probe and the test object A non-destructive test should be carried out with a tool consisting of a liquid supply to prevent friction.

At this time, in order to perform ultrasonic flaw detection, as described above, the inspector moves along the inspection site while in direct contact with the surface, and detects defects inside the specimen.

In addition, since the detector works with the ultrasonic probe, it may take a long time due to lack of work skill, and when inspecting the pipe of a plant or power generation facility, the working environment is poor and inconvenient because the detector must work directly on the pipe line The musculoskeletal system is accompanied by diseases of the musculoskeletal system when performing the work in posture, and thus the reliability of the detection results is lowered and the accuracy of the detection results cannot be trusted.

Prior utility model technology has been proposed for the work of measuring internal defects of a steam turbine by attaching a transducer to a machine rather than directly performing the detection by a person. Republic of Korea Utility Model Publication No. 10-0446621 of Prior Document 001 is an installation device for an automatic ultrasonic scanner, and an automatic ultrasonic inspection scanner installed in the automatic scanner driving unit to inspect inspection objects such as pipes and pressure vessels using ultrasonic waves. Disclosed is an "installation device for an automatic ultrasonic inspection scanner" capable of performing ultrasonic flaw detection while a machine moves without a person directly holding and detecting a probe.

However, according to Prior Document 001, there is a problem that only the line to which the belt is attached can be inspected, although it is necessary to circulate and inspect the outer peripheral surface of the specimen, and there is a problem that it may fall without forming a supporting force during the detection of the specimen by sitting on the curvature.

In addition, there is a problem that the outer surface of the test body may be scratched because the contact medium is not sprayed to prevent scratches generated while moving the outer circumferential surface of the test body.

In addition, there is a problem in that, when measuring the specimen while cycling, the measurement may be omitted due to mechanical error, and the reliability of detection may be lost due to overlapping imaging.

(Prior Document 001) Republic of Korea Registered Utility Model No. 20-0446621 (2009.11.05.)

The problem to be solved by the present invention is to provide a collaborative robot ultrasonic flaw inspection device that detects defects on the inner surface of a test object by attaching a detector to a robot, rather than detecting defects on the inner surface of the test object by holding the probe and touching the outer peripheral surface of the test object. will do

Another problem to be solved by the present invention is that, when detecting defects inside the test body, there may be a detection site that is accidentally omitted and a site that duplicates ultrasonic waves, so to prevent this, continuous location information is transmitted and received to detect It is to provide a collaborative robot ultrasonic flaw inspection apparatus capable of providing reliability of data.

Another problem to be solved by the present invention is to attach an approach proximity sensor to recognize an object approaching the working radius in order to improve the problem that the operation proceeds even when the object approaches or the operator approaches during automatic detection. To provide a collaborative robot ultrasonic flaw inspection device that can catch human life problems due to malfunction of the device.

In order to achieve the above technical task, the present invention is an ultrasonic detector for detecting internal defects by irradiating ultrasonic waves to a test body, the ultrasonic detector is coupled to one side, and the ultrasonic detector is movably supported in three axis directions. A robot, a guide rail part installed on the ground at a distance from the test body and parallel to the longitudinal direction of the test body, is slidably installed on the upper part of the guide rail part, the cooperative robot is installed on one side of the upper part, It controls the operation of the robot and proposes an ultrasonic flaw detection apparatus using a cooperative robot, characterized in that it comprises a control console for storing the detected data input from the ultrasonic detector.

The ultrasonic detector is installed on one side of the detector frame, the detector frame, a rotating roller part rotatably installed in a state of protruding from the detector frame so as to be in sliding contact with the outer curved surface of the test body, and installed on one side of the detector frame to measure internal defects of the test body An ultrasonic probe for generating and irradiating ultrasonic waves to generate and irradiating ultrasonic waves, a contact medium injection hole installed on the detector frame to spray a contact medium to increase the efficiency of ultrasonic transmission between the ultrasonic probe and the test body, and one side of the detector frame, and installed on one side of the detector frame It may include an encoder unit for transmitting the detection value of the ultrasonic probe.

A cooperative robot support is installed on the control console, a front and rear control handle device capable of moving the cooperative robot support in front and rear directions, and an up and down direction of the robot support capable of moving up and down An adjustment transmission may further be included.

A robot control unit that transmits information on the curvature of a specimen measured by a curved surface information measuring device mounted on the detector frame to a control console, and controls the operation of the cooperative robot so that the ultrasonic detector slides the outer curved portion of the specimen with the curvature information, the robot The control unit may further include a teaching pendant capable of inputting the detection range of the cooperative robot.

The control console may further include a PLC monitor for displaying the information detected by the ultrasonic detector.

According to the embodiments of the present invention, work efficiency is achieved by combining the ultrasonic detection device with the cooperative robot to facilitate the detection of defects inside the test body by sliding the outer circumferential surface of the test body in three axes without a person directly holding the probe and measuring the defect. can promote

According to the embodiments of the present invention, there is an effect of reducing the detection error due to the repeated detection of the detection site due to the mechanical error and the non-measurement of the portion to be detected.

According to the embodiments of the present invention, there is an effect that the size and shape of the defect inside the test body can be checked by directly transmitting the detection data to the monitoring device of the detector using the ultrasonic flaw detection device.

According to the embodiments of the present invention, there is an effect of obtaining in advance the curvature information of the test object before detection, preventing the detection device from dropping during detection by inputting the sliding of the cooperative robot, and transmitting reliable detection information.

1 is a perspective view of an ultrasonic flaw inspection apparatus according to an embodiment of the present invention.
2 is a front view of an ultrasonic detector according to an embodiment of the present invention.
3 is a side view illustrating a cooperative robot and a cooperative robot support of a control console according to an embodiment of the present invention.
4 is a side view of a control console according to an embodiment of the present invention.
5 is a control block diagram of a cooperative robot according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings, embodiments of the present invention will be described in detail so that those of ordinary skill in the art to which the present invention pertains can easily implement it. However, this is not intended to limit the present invention to a specific embodiment, it should be understood to include all changes, equivalents, or substitutes included in the spirit and scope of the present invention.

When an element is referred to as being “connected” or “connected” to another element, it is understood that it may be directly connected or connected to the other element, but other elements may exist in between. it should be

On the other hand, when it is mentioned that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle.

The terms used herein are used only to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present application, terms such as “comprise” or “have” are intended to designate that a feature, number, process, operation, component, part, or combination thereof described in the specification exists, but one or more other features It is to be understood that this does not preclude the existence or addition of numbers, processes, operations, components, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

The terms or words used in the present specification and claims should not be construed as being limited to their ordinary or dictionary meanings, and the designer may properly define the concept of the term in order to best describe his/her invention. Based on the principle that there is, it should be interpreted as meaning and concept consistent with the technical idea of the present invention.

In addition, unless there are other definitions in the technical terms and scientific terms used, it has the meaning commonly understood by those of ordinary skill in the art to which this design belongs, and the gist of the present invention in the following description and accompanying drawings Descriptions of known functions and configurations that may be unnecessarily obscure will be omitted.

The drawings introduced below are provided as examples so that the spirit of the present invention can be sufficiently conveyed to those skilled in the art. Accordingly, the present invention is not limited to the drawings presented below and may be embodied in other forms. Also, like reference numerals refer to like elements throughout. It should be noted that the same components in the drawings are denoted by the same reference numerals wherever possible.

Hereinafter, it will be described in detail with reference to the accompanying drawings in this specification.

1 is a perspective view of an ultrasonic flaw inspection apparatus according to an embodiment of the present invention.

As shown in FIG. 1 , an ultrasonic detector 200 for detecting internal defects by irradiating ultrasonic waves to the test body 100 ; a cooperative robot 300 to which the ultrasonic detector 200 is coupled to one side and movably supports the ultrasonic detector 200 in a three-axis direction; a guide rail part 400 installed on the ground in a state parallel to the longitudinal direction of the test body 100 at a distance from the test body 100; And it is slidably installed on the upper portion of the guide rail 400, the cooperative robot 300 is installed on one side of the upper portion, controls the operation of the cooperative robot 300, the ultrasonic detector (200) It may be configured as; a control console 500 in which the detected data is stored.

The test body 100 refers to the test body 100 of at least any one of a generator, a steam turbine, and a rotor, and may include the test body 100 installed in any one of power plants such as thermal power, nuclear power, and hydraulic power.

At this time, in order to inspect the specimen 100, a non-destructive inspection is used. The type of non-destructive inspection is to detect defects on the inner surface of the test body 100 using at least one method of liquid penetration method, magnetic flaw detection method, ultrasonic inspection method, acoustic radiation method, radiation transmission method, and eddy current flaw detection method. For this reason, among the listed methods, ultrasound is mainly described. Here, the scope of the technology is not limited to the ultrasound examination method even if the ultrasound examination method is used.

The frequency used for ultrasonic testing (hereinafter referred to as "ultrasound detection detection") uses a frequency of 20,000 Hz or more, and generally uses a frequency in the range of 0.2 ~ 25 MHz.

The reason for ultrasonic flaw detection in non-destructive testing is that it has a longer wavelength than light, but shorter than normal radio waves, and in the case of radio waves, because they do not penetrate into metal, steel, aluminum, titanium, pressure vessels, ships, bridges, and power plants due to the characteristics of the specimen. This is to prevent damage to the specimen and observe the defects by detecting the outer surface of the specimen to find internal defects such as structural measurement of heavy particles and residual stress measurement.

A guide rail 400 may be formed so as to be spaced apart from the test body 100 by a predetermined interval, and to transport the control console 500 in the longitudinal direction to detect the test body 100 .

A rotary roller formed at one lower end of the control console 500 is mounted on the guide rail 400 rail, and may be slid on the rail by receiving power from a motor (not shown).

However, when the cooperative robot 300 detects the range to be detected, it does not slide with a certain speed just because it slides, but moves left and right to move to the next detection area, so that the control console 500 ), the movement can be formed.

2 is a front view of an ultrasonic detector according to an embodiment of the present invention.

2, the ultrasonic detector 200 includes a detector frame 201; a rotating roller unit 220 that is rotatably installed in a state of protruding from the detector frame 201 so as to be in sliding contact with the curved outer surface of the specimen; an ultrasonic probe 240 installed on one side of the detector frame 201 and generating and irradiating ultrasonic waves to measure internal defects of the test body 100; a contact medium injection hole 230 installed in the detector frame 201 to inject a contact medium to increase the efficiency of ultrasonic transmission between the ultrasonic probe 240 and the test body 100; And the encoder unit 250 installed on one side of the detector frame 201 and transmitting the detected value of the ultrasonic probe 240 may be coupled.

The ultrasonic detector 200 slides on the outer circumferential surface of the test body 100 and has to detect defects on the inner surface, so the rotating roller part 220 so as to move in the left and right directions based on the longitudinal direction of the test body 100 to facilitate sliding. ) is formed and the rotating roller 220 may be further formed so as to move up and down in the longitudinal direction of the test body 100 .

The rotating roller unit 220 may be coupled to a protruding portion to be coupled to the detector frame 201 with a bolt and nut, and form movement in the three-axis direction.

The contact medium (Couplant) is a medium for bringing the ultrasonic transducer 240 into contact with the surface of the test body 100. When the ultrasonic probe 240 is brought into contact with the test body 100, the ultrasonic wave is the air contained between the probe and the test body. It cannot be transmitted to the surface, and most of the ultrasonic waves can be reflected from the surface.

Therefore, a contact medium (couplant) is used to smoothly transmit the ultrasonic waves generated by the ultrasonic transducer 240 to the test body. At this time, the contact medium is sprayed to the contact medium spraying unit 230 to remove air between the ultrasonic probe 240 and the test body 100 , and the acoustic impedance of the ultrasonic probe 240 and the test body 100 is improved and ultrasonic waves It is possible to make the surface uniform by filling the space between the probe 240 and the test body 100 .

The contact medium should be composed of at least one of liquid water, oil, glycerin, and glue so that air bubbles and foreign substances should not be mixed so that the contact medium can enter even a small gap. Preferably, glycerin and water can be mixed to form a dry contact medium to be evaporated after a predetermined time has elapsed.

A contact medium supply unit 530 is located on one side of the control console 500 to be described later and is connected to the contact medium injection unit 230 , and a contact medium supply hose (not shown) is further configured to the contact medium injection unit 230 . can be connected

In this case, the contact medium spraying unit 230 may be manufactured in a tapered shape that is widened in the spraying direction.

The encoder unit 250 transmits/receives information about the detection position to the control unit 520 of the control console 500 continuously to detect overlapping detection or a detection target of an omitted and passed part during ultrasonic flaw detection operation. may be further formed.

3 is a side view illustrating a cooperative robot and a cooperative robot support of a control console according to an embodiment of the present invention.

As shown in FIG. 3, the cooperative robot support 310 is installed on the control console 500, and a front and rear adjustment handle device 320 capable of moving the cooperative robot support 310 in the forward and backward directions; An up-down and down-direction adjustment transmission device 330 may be installed for the robot support to move in up/down directions.

The cooperative robot 300 operates in three axis directions of left, right, front, rear, up and down along the outer peripheral surface of the test object 100 , and is installed on the control console 500 to detect defects in the test object 100 . The support 310 is formed, and as the control console 500 slides on the upper portion of the guide rail 400, left and right movements of the cooperative robot support 310 installed on the control console 500 are formed, Left and right sliding occurs on the cooperative robot 300 formed on one side of the cooperative robot support 310 , so that left and right observations in the longitudinal direction of the test object 100 can be performed.

The front and rear direction adjustment handle device 320 is formed so that the cooperative robot support 310 can move in the front and rear directions in the forward and backward directions, and the front and rear direction adjustment handle device is a gear (not shown). It is formed and forms accessibility so that the cooperative robot 300 can observe the outer circumferential surface of the test body 100 .

In addition, the control unit 520 and the front and rear direction adjustment handle device 320 are connected to set so as to detect the detection zone in advance, and move in the longitudinal direction of the test body 100 according to the curved surface of the test body 100 . The cooperative robot support 310 may move in the forward and backward directions.

A gear forming the movement of the upper and lower surfaces of the cooperative robot support 310 may be configured such that the cooperative robot 300 moves up and down of the test object 100 and detects it.

At this time, the gear forming the movement of the upper and lower surfaces may be interlocked with the controller 520 to move up and down through the control of the controller 520 .

Hereinafter, an ultrasonic detector 200 that can be placed on the outer peripheral surface of the test object 100 to detect the inner surface of the test object 100, and a cooperative robot 300 that forms a movement by coupling the ultrasonic detector 200 to one side, and a control console An individual embodiment according to ( 500 ) will be described in detail.

<Example 1>

In Example 1, a measurer can easily check the measurement area of the test object 100 through signal transmission/reception between the encoder unit 250 and the control console 500, and the test object 100 can be detected without missing or overlapping detection parts. have.

4 is a side view of a control console according to an embodiment of the present invention.

As shown in FIG. 4 , the test object curvature information measured by the curved surface information measuring device 210 mounted on the detector frame 201 is transmitted to the control console 500 , and the ultrasonic detector 200 is the outer surface of the test object with the curvature information. A robot control unit 510 that controls the operation of the cooperative robot 300 to slide the curved portion, and a teaching pendant 511 that can input a detection range of the cooperative robot 300 to the robot control unit 510 can be installed.

The control console 500 may include a PLC monitor 521 that displays information detected by the ultrasonic detector 200 , and a robot controller 510 that can control the movement of the cooperative robot 300 .

In consideration of the time for detecting the internal defect of the test body 100, the trigger signal generated from the encoder unit 250 of the ultrasonic detector 200 is generated so that there is no overlapping or skipping detection area. A calculator for calculating ? may be included in the controller 520 .

At this time, when the encoder unit 250 captures the internal defect of the test body 100 according to a trigger signal of a certain period, the trigger signal of the encoder unit 250 is not present so that there is no area in which the internal defect is repeatedly measured or skipped. Calculate the time of occurrence. That is, the trigger signal unit (not shown) formed in the control unit 520 further includes an operation unit.

The trigger signal unit (not shown) receives the operation result for the trigger signal generated by the encoder unit 250 . At this time, the trigger signal unit (not shown) generates a trigger signal so that the detection range is not skipped or overlapped according to the calculation result.

According to a trigger signal generated by a trigger signal unit (not shown), the ultrasonic detector 200 may detect an internal defect of the test body 100 . Accordingly, it is possible to detect defects formed inside the test body 100 without overlapping or skipping regions.

The ultrasonic detector 200 transmits the detected information to the control unit 520 of the control console 500 by performing detection of a specified range, and the transmitted information is stored in the control unit 520 , and connected to the control unit 520 . The location information and detailed data of the operation-processed detection signal are displayed on the PLC monitor 521 screen in real time to determine the internal defect location, shape, and size of the test body 100 .

<Example 2>

In Example 2, the curved surface information of the test body 100 is transmitted to the robot control unit 510 using the curved surface information measuring device 210, and the transmitted information is input to the teaching pendant 511 formed on one side of the robot control unit 510. It is to set the control so that it can be detected by sliding the outer peripheral surface of the specimen in three directions.

5 is a control block diagram of a cooperative robot according to an embodiment of the present invention.

As shown in FIG. 5 , the information received from the curved surface information measuring device 210 is input (S1) to the teaching pendant 511, and ultrasonic testing can be performed based on the input information (Ultrasonic Testing) setting (S2) ), the operation section of the cooperative robot support 310 on which the cooperative robot 300 is mounted is set (S3) to control the movement of the cooperative robot 300, and left, right, The system auto mode is executed (S4) so that it can move in the three axis directions of up, down, front, and back.

Here, the system automatic mode (S4) includes controlling the left and right sliding distances on the upper part of the guide rail unit 400 and the up and down movement and forward and backward movement of the cooperative robot support 310, once Detecting while sliding the range that can be moved during observation and the entire measurement range of the test object 100 is called the system automatic mode (S4).

At this time, the control unit 520 determines whether or not the inspection of the set section is completed (S5), and if the test of the set section is completed, the operation is stopped with the test completed (S7), and if the test of the set section is completed (S7) If not, the ultrasound examination may be performed again through the examination S6 of the remaining section.

Those of ordinary skill in the art to which the present invention pertains will understand that the present invention may be implemented in other specific forms without changing the technical spirit or essential features thereof.

Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. The scope of the present invention is indicated by the claims to be described later rather than the above detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalents are interpreted as being included in the scope of the present invention. should be

In addition, it is of course possible to implement various modifications without departing from the gist of the present invention claimed in the claims as well as the various scope of application.

100: test body 200: ultrasonic detector
201: detector frame 210: curved surface information measuring device
220: rotating roller unit 230: contact medium injection unit
240: ultrasonic transducer 250: encoder unit
300: cooperative robot 310: cooperative robot support
320: front and rear direction adjustment handle device 330: up and down adjustment electric device
400: guide rail 500: control console
510: robot control unit 511: teaching pendant
520: control unit 521: PLC monitor
530: contact medium supply 540: proximity sensor

Claims (5)

Ultrasonic detector for detecting internal defects by irradiating ultrasonic waves to the specimen;
a cooperative robot coupled to one side of the ultrasonic detector and movably supporting the ultrasonic detector in three-axis directions;
a guide rail part installed on the ground in a state parallel to the longitudinal direction of the test body at a distance from the test body; and
a control console slidably installed on the guide rail part, the cooperative robot installed on one side of the upper part, controlling the operation of the cooperative robot, and storing detected data input from the ultrasonic detector;
Ultrasonic flaw detection device using a collaborative robot, characterized in that it comprises a. According to claim 1,
The ultrasonic detector
detector frame;
a rotating roller unit rotatably installed in a state of protruding from the detector frame so as to be in sliding contact with the curved outer surface of the specimen;
an ultrasonic probe installed on one side of the detector frame and irradiated by generating ultrasonic waves to measure internal defects in the test body;
a contact medium injection hole installed in the detector frame to inject a contact medium to increase the efficiency of ultrasonic transmission between the ultrasonic probe and the test body; and
The ultrasonic flaw detection apparatus using a cooperative robot, characterized in that it is installed on one side of the frame and comprises an encoder for transmitting the detection value of the ultrasonic probe. According to claim 1,
A cooperative robot support is installed on the control console,
A front and rear control handle device capable of moving the cooperative robot support in forward and backward directions, and an up and down control transmission device capable of moving the robot support in up and down directions, characterized in that it further comprises Ultrasonic flaw detection device using collaborative robot. 3. The method of claim 2,
Transmitting the specimen curvature information measured by the curved surface information measuring device mounted on the detector frame to the control console,
A robot control unit that controls the operation of the cooperative robot so that the ultrasonic detector slides the outer curved surface of the test body with the curvature information;
The ultrasonic flaw detection apparatus using a cooperative robot, characterized in that the robot control unit further includes a teaching pendant capable of inputting the detection range of the cooperative robot. 5. The method of claim 4,
The ultrasonic flaw detection apparatus using a cooperative robot, characterized in that the control console further comprises a PLC monitor for displaying the information detected by the ultrasonic detector.

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