Robot automatic detection system of intersecting pipeline welded seam

Abstract

A robotic automatic detection system for intersecting pipeline welds, including three parts: a split fixed support, a split circular rotation mechanism, and a robot arm. The split fixed support adopts a moving slider structure, and the split circumferential direction The rotating mechanism is composed of a motor, a planetary pinion, a large gear ring and an upper and lower connecting plate. The split fixed support is fixed on the detected branch pipe through a quick positioning connection device, forming the installation platform and positioning reference of the detection system. The split circumference The direction rotation mechanism is installed on the platform. The invention adopts a split structure to adapt to the automatic detection of online, in-service, closed and super-long pipeline welds, expands the scope of application of clamped branch pipes, ensures the accuracy required for detection, and can be applied to nuclear industry, chemical industry, natural gas Automatic detection of weld seams in equal intersecting pipes.

Description

Technical field: [0001] The invention relates to a robot automatic detection system for welding seams of intersecting pipelines, which is suitable for industries such as nuclear energy, chemical industry, oil, gas and water transportation. It can be installed on the pipeline to be inspected, and in a safe environment far away from the inspection site, the robot system can be operated and controlled by remote control technology to complete the automatic inspection of vertically intersecting pipe welds, eliminating the labor-intensive and labor-intensive inspections caused by the manual inspection process. Problems such as low efficiency, difficulty in guaranteeing detection quality, and damage to operators caused by nuclear radiation environment. It belongs to the field of electromechanical technology. Background technique: [0002] Nuclear energy, chemical industry, oil, gas and water transportation and other industries have a large number of plug-in intersecting pipelines....

AI Technical Summary

Problems solved by technology

This detection method is very harmful to the operators. The nuclear radiation site has a great impact on the personal safety of the operators, high labor intensity, and low detection efficiency. It may be different, and the quality of the test cannot be guaranteed

PS-Scan4 produced by Force Company of Denmark is a plug-in weld detection system, which is an expensive, remote-controlled ultrasonic detection system, which can detect welds formed by plug-in intersecting pipes. However, its robot installation adopts a fixed-diameter clamp ring to adapt to online and in-service pipeline installation, and its adaptability to the detection of variable-diameter pipelines is poor, which greatly limits the application of this insertion weld detection system.

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