Mechanical arm centering method for horn mouth cylinder ring pipe

Abstract

The invention particularly relates to a bell mouth cylinder ring pipe mechanical arm centering method which comprises the following steps: calculating an included angle between a pointing angle of a mechanical arm and a central axis of a pipe according to an included angle t between a bus and the central axis of the pipe and position parameters obtained when the mechanical arm horizontally enters two near points of the pipe from a plane where the central axis of the pipe is located; the horizontal rotation angle of the mechanical arm moving from the initial position to the central axis of the pipe is adjusted; according to the included angle t between the bus and the central axis of the pipe, position parameters obtained when the mechanical arm horizontally enters two near points of the pipe from the plane where the central axis of the pipe is located and the included angle between the pointing angle of the mechanical arm and the central axis of the pipe, the horizontal displacement of the mechanical arm moving from the initial position to the central axis of the pipe is calculated, and the position of the mechanical arm is adjusted in parallel. According to the mechanical arm centering method for the horn-mouth-shaped cylinder ring pipe, the mechanical arm enters the horn-mouth-shaped cylinder ring pipe along the central axis of the horn-mouth-shaped cylinder ring pipe.

Description

technical field [0001] The invention relates to the technical field of positioning of a mechanical arm in ultrasonic testing, in particular to a method for centering a bell mouth tube ring pipe mechanical arm. Background technique [0002] In the ultrasonic testing of the bell-mouth tube ring pipe in nuclear power plants, the movement of the mechanical arm equipped with the ultrasonic probe is realized by machine instructions, and this movement determines the position and direction of the probe. Therefore, it is required that the mechanical arm must run on the central axis of the bell-mouth tube ring pipe, so that the ultrasonic image obtained by the probe can detect information such as structures and defects more effectively. However, in actual operation, it cannot be guaranteed that the mechanical arm just enters the center of the bell-mouth tube ring pipe. Because the center of the entrance of the horn ring tube and the position of the mechanical arm are usually not coin...

AI Technical Summary

Problems solved by technology

[0003] Based on this, it is necessary to solve the problem that the mechanical arm deviates from the central axis of the bell-mouth tube ring pipe in the ultrasonic detection of the horn-mouth tube ring pipe in nuclear power plants. The present invention provides a method for centering the bell-mouth tube ring pipe mechanical arm. The angle between the busbar of the tube ring pipe and the central axis and the position parameters obtained by the mechanical arm from the starting position horizontally entering the two near points of the bell mouth tube ring tube determine the horizontal rotation angle and horizontal displacement of the mechanical arm, so that the mechanical arm moves along the The central axis of the bell-mouth tube ring pipe enters the bell-mouth tube ring tube

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