Tube socket fillet weld phased array ultrasonic detection automatic scanning device and installation method

Abstract

The invention provides an automatic scanning device for phased array ultrasonic detection of a fillet weld of a tube socket and an installation method. A pipe seat fillet weld phased array ultrasonic detection automatic scanning device comprises a rail, a crawling trolley, a sliding rod, a sliding assembly and a probe frame, the crawling trolley is movably installed on the rail, the sliding rod is installed on the crawling trolley, the sliding assembly is installed on the sliding rod in a sliding mode, and the probe frame is installed on the sliding assembly. The probe frame is installed on the sliding assembly, and an ultrasonic phased array probe and a wedge block are installed on the probe frame.

Description

Technical Field

[0001] The invention relates to the technical field of nondestructive testing of corner welds of pipe sockets in oil and gas storage and transportation engineering construction, and in particular to an automatic scanning device for phased array ultrasonic testing of corner welds of pipe sockets and an installation method. Background Art

[0002] The pipe socket is an important pipe fitting for transitional connection between the main pipeline and the branch pipeline in the oil and gas pipeline station. Its connection with the main pipeline is completed by welding to form the pipe socket fillet weld. For many years, the detection of pipe socket fillet welds has been a technical problem, and there is no particularly suitable detection method: X-ray detection is difficult to implement due to its large equipment and limited detection position; ultrasonic detection is difficult to judge defects due to the interference of structural geometric signals; currently, magnetic powder or penetration is mainly used. This surface detection cannot comprehensively judge the internal structure of the pipe socket fillet weld. Therefore, the pipe socket fillet weld is a safety hazard of the station process pipeline, and its quality problem has always plagued all parties involved in the station construction.

[0003] Phased array ultrasonic testing uses sector scanning and (or) line scanning, which can simultaneously excite ultrasonic waves at multiple angles, which is equivalent to probes at multiple angles working at the same time. Therefore, phased array testing does not require sawtooth scanning. It only needs to scan once along the direction of the weld at a certain distance from the weld to complete the entire weld inspection. The inspection efficiency is higher and it is suitable for automated production. Phased array ultrasonic testing has a focusing function, and the detection sensitivity and resolution are higher than conventional ultrasonic testing.

[0004] Due to the special structure of the fillet weld, the movement trajectory of the phased array ultrasonic probe is a saddle-shaped intersection line. At the same time, the step offset distance of the probe needs to be precisely controlled, and the focused sound beam must always point to the center of the intersection line. It is difficult to ensure the quality of inspection by using a manual handheld phased array probe for scanning, and there are problems such as inaccurate defect positioning, poor detection effect, and poor repeatability of detection results. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a phased array ultrasonic detection automatic scanning device and an installation method for a pipe socket corner weld in view of the deficiencies in the prior art.

[0006] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: A phased array ultrasonic automatic scanning device for pipe seat corner welds, comprising: a track, a crawling trolley, a sliding rod, a sliding assembly, and a probe frame, wherein the crawling trolley is movably mounted on the track, the sliding rod is mounted on the crawling trolley, the sliding assembly is slidably mounted on the sliding rod, the probe frame is mounted on the sliding assembly, and an ultrasonic phased array probe and a wedge are mounted on the probe frame.

[0007] The beneficial effects of the technical solution of the present invention are: through the installation and operation of the automatic scanning device for phased array ultrasonic detection of pipe seat corner welds such as rails, crawling trolleys, sliding rods, sliding components, and probe racks, the probe and wedge can be adaptively raised and lowered as the curved surface of the main pipe changes, so that the probe and wedge can be stably fitted on the main pipe detection surface, the ultrasonic beam can be stably directed toward the center of the branch pipe, and the step offset of the probe is stable, meeting the technical parameter requirements of the focusing law, and at the same time realizing the automation of the detection process, reducing the influence of human factors on the detection results, and ensuring the repeatability and reliability of the phased array ultrasonic detection results. The clamping and movement of the phased array ultrasonic probe are realized and reliable detection effects are guaranteed. Phased array ultrasonic detection is used for pipe seat corner weld detection, and accurate qualitative and quantitative evaluation of weld defects can be performed. The step offset of the phased array ultrasonic probe and wedge set by the focusing law on the main pipe detection surface of the pipe seat corner weld can be stable, the movement in three-dimensional directions and the detection data recording can be realized, with a high degree of automation, a stable detection process, a good coupling effect, and high detection accuracy.

[0008] Furthermore, the track includes: a pair of track guides, multiple support screws and a latch structure, the track guide is an arc plate, one end of the pair of track guides is hinged, the other end of the pair of track guides is connected by the latch structure, and the multiple support screws are installed on the inner wall of the pair of track guides.

[0009] The beneficial effect of adopting the above further technical solution is: the track is pressed from a flat plate into an arc plate corresponding to the outer diameter of the branch pipe, and two arc plates are connected by a latch locking structure to form a 360° circular track. Four circular holes are evenly and symmetrically opened in the middle of the track, and support screws are installed in the four circular holes for fastening to the branch pipe.

[0010] Furthermore, the crawling trolley includes: two pairs of inner-side rolling wheels for clinging to the upper and lower parts of the inner wall of the track, two pairs of driving wheels for clinging to the outer wall of the track, and two pairs of guide rollers for clinging to the upper and lower edges of the track. The two pairs of inner-side rolling wheels, the two pairs of driving wheels, and the two pairs of guide rollers are all rotatably mounted on the crawling trolley.

[0011] The beneficial effect of adopting the above further technical solution is: when locked, the four guide rollers are close to the upper and lower edges of the track, the two pairs of inner rolling wheels of the track are close to the upper and lower parts of the inner wall of the track, and the four narrow wheels of the two sets of driving wheels are close to the upper and lower parts of the outer wall of the track, so that the crawling trolley can be firmly clamped on the track, ensuring that the crawling trolley runs smoothly 360° along the track. The driving wheel serves as the power output of the motor-driven moving device. At the same time, an encoder assembly is installed on the driving wheel to accurately collect the distance moved by the probe.

[0012] Furthermore, one pair of the two pairs of guide rollers is fixedly mounted on the bottom of the crawling trolley, and the other pair of the two pairs of guide rollers is slidably mounted on the top of the crawling trolley through guide knob screws; the two pairs of inner track rolling wheels are symmetrically arranged, and the two pairs of inner track rolling wheels are slidably mounted on the crawling trolley through longitudinal adjustment pairs and curvature adjustment pairs, and the longitudinal adjustment pairs are smooth transition pads with two thicknesses; the driving wheel includes: a pair of side wheels and an intermediate wheel, the width of the intermediate wheel is greater than the width of the side wheels, the intermediate wheel is located between the pair of side wheels, and the driving wheel is connected with a driving mechanism and an encoder.

[0013] The beneficial effects of adopting the above further technical solution are: the lower two are fixed guide rollers, and the upper two guide rollers are adapted to the track width by adjusting the guide knob screw feed. When locking, adjust the guide knob screw feed and press it down to make the edges of the two guide rollers close to the upper edge of the track; when disassembling the trolley, reversely adjust the guide knob screw to loosen it, and the two guide rollers are disengaged from the track. The two pairs of track inner rolling wheels are symmetrically distributed, and their longitudinal adjustment pairs are pads with smooth transitions of two thicknesses. When the thick side is used, the track inner rolling wheels are respectively close to the upper and lower parts of the inner wall of the track; when the thin side is used, the track inner rolling wheels are away from the track. The curvature radius of the track inner rolling wheels is changed by the curvature adjustment pair to adapt to the track curvature. When locked, the four guide rollers are close to the upper and lower edges of the track, the two pairs of inner rolling wheels are close to the upper and lower inner walls of the track, and the four narrow wheels of the two sets of driving wheels are close to the upper and lower outer walls of the track, so that the crawling trolley can be firmly clamped on the track to ensure that the crawling trolley runs smoothly 360° along the track. The driving wheel serves as the power output of the motor-driven moving device. At the same time, the encoder assembly is installed on the driving wheel to accurately collect the distance moved by the probe.

[0014] Furthermore, the sliding rod is a built-in dual-axis linear slide, a rack linear guide is installed on the side of the sliding rod, a slider is installed at the bottom of the sliding assembly, the slider is installed in the sliding rod, and a radial positioning caliper adapted to the rack linear guide is installed on the side of the sliding assembly, and the radial positioning caliper is engaged with the rack linear guide; an encoder and a drive mechanism are provided in the sliding assembly.

[0015] The beneficial effect of adopting the above further technical solution is that one end of the sliding rod is fixed to the bottom of the crawling trolley, and its main structure is a built-in dual-axis linear slide, and a rack linear guide is fixed on the side. The built-in dual-axis linear slide and the rack linear guide provide support for the movement and fixation of the sliding assembly. The sliding assembly has a slider under it, which is installed in the built-in dual-axis linear slide; a radial positioning caliper is fastened on the side and meshes with the rack. The sliding assembly is installed on the sliding rod through the built-in dual-axis linear slide and the rack linear guide. When the radial positioning caliper is released, the sliding assembly can move back and forth closely along the slide; when the radial positioning caliper is not released, the sliding assembly is stuck and cannot move. The sliding assembly has a built-in encoder and drive mechanism inside to adjust and record the step offset value of the probe in real time, meet the requirements of real-time adjustment of the step offset value of the probe, and realize fully automated scanning.

[0016] Furthermore, the probe rack includes: a slide seat, a spring, a slide rod and a probe clamping component, the slide rod is slidably mounted on the slide seat, the probe clamping component is mounted on the slide rod, and both ends of the spring are connected to the slide seat and the slide rod in a one-to-one correspondence.

[0017] The beneficial effect of adopting the above further technical solution is: the spring is used to adjust the pressure of the probe, and the probe clamping component is adjusted up and down by moving the spring and the slide rod to adapt to the change of the probe height caused by the change of the outer wall curve of the main pipe, keep the probe closely fit the detection surface of the main pipe, and ensure the coupling effect and detection quality.

[0018] Furthermore, the probe clamping component comprises: a pair of probe clamping arms, one probe clamping arm is mounted on the bottom of the sliding rod, and the other probe clamping arm is slidably mounted on the other probe clamping arm.

[0019] The beneficial effect of adopting the above further technical solution is that the two probe clamping arms of the probe clamping component have an adjustable middle width and can clamp ultrasonic phased array probes and wedges of different widths.

[0020] In addition, the present invention also provides an installation method for a phased array ultrasonic detection automatic scanning device for pipe seat corner welds, which is used to install any one of the above-mentioned phased array ultrasonic detection automatic scanning device for pipe seat corner welds. The installation method for the phased array ultrasonic detection automatic scanning device for pipe seat corner welds includes: S1, installing a track; S2, installing a crawling trolley on the track; S3, installing a sliding rod on the crawling trolley; S4, slidingly installing the sliding assembly on the sliding rod; S5, installing a probe frame on the sliding assembly; S6, installing an ultrasonic phased array probe and a wedge block on the probe frame.

[0021] The beneficial effects of the technical solution of the present invention are: through the installation and operation of the automatic scanning device for phased array ultrasonic detection of pipe seat corner welds such as rails, crawling trolleys, sliding rods, sliding components, and probe racks, the probe and wedge can be adaptively raised and lowered as the curved surface of the main pipe changes, so that the probe and wedge can be stably fitted on the main pipe detection surface, the ultrasonic beam can be stably directed toward the center of the branch pipe, and the step offset of the probe is stable, meeting the technical parameter requirements of the focusing law, and at the same time realizing the automation of the detection process, reducing the influence of human factors on the detection results, and ensuring the repeatability and reliability of the phased array ultrasonic detection results. The clamping and movement of the phased array ultrasonic probe are realized and reliable detection effects are guaranteed. Phased array ultrasonic detection is used for pipe seat corner weld detection, and accurate qualitative and quantitative evaluation of weld defects can be performed. The step offset of the phased array ultrasonic probe and wedge set by the focusing law on the main pipe detection surface of the pipe seat corner weld can be stable, the movement in three-dimensional directions and the detection data recording can be realized, with a high degree of automation, a stable detection process, a good coupling effect, and high detection accuracy.

[0022] Further, after step S6, the method includes: S7, adjusting the sliding component to meet the stepping offset requirement according to the parameter setting requirement of the phased array ultrasonic detection focusing law.

[0023] The beneficial effect of adopting the above-mentioned further technical scheme is: through the installation and operation of the phased array ultrasonic detection automatic scanning device for the corner weld of the pipe seat, such as the track, the crawling trolley, the sliding rod, the sliding assembly, and the probe holder, the probe and the wedge can be adaptively raised and lowered as the curved surface of the main pipe changes, so that the probe and the wedge can be stably fitted on the detection surface of the main pipe, the ultrasonic beam can be stably directed toward the center direction of the branch pipe, and the step offset of the probe is stable, meeting the technical parameter requirements of the focusing law, and at the same time realizing the automation of the detection process, reducing the influence of human factors on the detection results, and ensuring the repeatability and reliability of the phased array ultrasonic detection results.

[0024] Further, step S1 includes: S11, loosening the support screw and the latch structure; S12, docking a pair of track guide rails around the branch pipe; S13, locking the latch structure and tightening the support screw; step S2 includes: S21, loosening the guide knob screw of the guide roller; S22, applying the thin side of the pad to the longitudinal adjustment pair connected to the inner rolling wheel of the track; S23, aligning the middle wheel of the driving wheel with the center of the track; S24, applying the rear side of the pad to the longitudinal adjustment pair connected to the inner rolling wheel of the track; S25, locking the guide knob screw of the guide roller; S26, adjusting the curvature adjustment pair until the inner rolling wheel of the track adapts to the track curvature; S27, connecting the drive mechanism cable and the encoder cable; step S4 includes: S41, installing the slider of the sliding assembly in the built-in dual-axis linear slideway of the sliding rod; S42, engaging the radial positioning caliper with the rack linear guide.

[0025] The beneficial effects of adopting the above further technical solution are: the lower two are fixed guide rollers, and the upper two guide rollers are adapted to the track width by adjusting the guide knob screw feed. When locking, adjust the guide knob screw feed and press it down to make the edges of the two guide rollers close to the upper edge of the track; when disassembling the trolley, reversely adjust the guide knob screw to loosen it, and the two guide rollers are disengaged from the track. The two pairs of track inner rolling wheels are symmetrically distributed, and their longitudinal adjustment pairs are pads with smooth transitions of two thicknesses. When the thick side is used, the track inner rolling wheels are respectively close to the upper and lower parts of the inner wall of the track; when the thin side is used, the track inner rolling wheels are away from the track. The curvature radius of the track inner rolling wheels is changed by the curvature adjustment pair to adapt to the track curvature. When locked, the four guide rollers are close to the upper and lower edges of the track, the two pairs of inner rolling wheels are close to the upper and lower inner walls of the track, and the four narrow wheels of the two sets of driving wheels are close to the upper and lower outer walls of the track, so that the crawling trolley can be firmly clamped on the track to ensure that the crawling trolley runs smoothly 360° along the track. The driving wheel serves as the power output of the motor-driven moving device. At the same time, the encoder assembly is installed on the driving wheel to accurately collect the distance moved by the probe.

[0026] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A schematic diagram of the use status of the automatic scanning device for phased array ultrasonic detection of pipe socket corner welds provided in an embodiment of the present invention.

[0028] Figure 2 A schematic diagram of the structure of a track provided in an embodiment of the present invention.

[0029] Figure 3 This is one of the structural schematic diagrams of the automatic scanning device for phased array ultrasonic detection of pipe socket corner welds provided in an embodiment of the present invention.

[0030] Figure 4 The second structural schematic diagram of the automatic scanning device for phased array ultrasonic detection of pipe socket corner welds provided in an embodiment of the present invention.

[0031] Figure 5 The third structural schematic diagram of the automatic scanning device for phased array ultrasonic detection of pipe socket corner welds provided in an embodiment of the present invention.

[0032] Figure 6 The fourth structural schematic diagram of the automatic scanning device for phased array ultrasonic detection of pipe socket corner welds provided in an embodiment of the present invention.

[0033] Figure 7A schematic flowchart of a method for installing a phased array ultrasonic automatic scanning device for detecting corner welds of a pipe socket provided in an embodiment of the present invention.

[0034] Explanation of the accompanying numbers: 1. Track; 2. Crawling trolley; 3. Sliding rod; 4. Sliding assembly; 5. Probe frame; 6. Track guide; 7. Support screw; 8. Latch structure; 9. Guide roller; 10. Longitudinal adjustment pair; 11. Curvature adjustment pair; 12. Track inner rolling wheel; 13. Driving wheel; 14. Radial positioning caliper; 15. Sliding seat; 16. Spring; 17. Sliding rod; 18. Guide knob screw; 19. Probe clamping component. DETAILED DESCRIPTION

[0035] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention but not to limit the scope of the present invention.

[0036] like Figures 1 to 6 As shown, an automatic scanning device for phased array ultrasonic detection of pipe seat corner welds provided in an embodiment of the present invention includes: a track 1, a crawling trolley 2, a sliding rod 3, a sliding assembly 4, and a probe frame 5. The crawling trolley 2 is movably mounted on the track 1, the sliding rod 3 is mounted on the crawling trolley 2, the sliding assembly 4 is slidably mounted on the sliding rod 3, the probe frame 5 is mounted on the sliding assembly 4, and an ultrasonic phased array probe and a wedge are mounted on the probe frame 5.

[0037] The beneficial effects of the technical solution of the present invention are: through the installation and operation of the automatic scanning device for phased array ultrasonic detection of pipe seat corner welds such as rails, crawling trolleys, sliding rods, sliding components, and probe racks, the probe and wedge can be adaptively raised and lowered as the curved surface of the main pipe changes, so that the probe and wedge can be stably fitted on the main pipe detection surface, the ultrasonic beam can be stably directed toward the center of the branch pipe, and the step offset of the probe is stable, meeting the technical parameter requirements of the focusing law, and at the same time realizing the automation of the detection process, reducing the influence of human factors on the detection results, and ensuring the repeatability and reliability of the phased array ultrasonic detection results. The clamping and movement of the phased array ultrasonic probe are realized and reliable detection effects are guaranteed. Phased array ultrasonic detection is used for pipe seat corner weld detection, and accurate qualitative and quantitative evaluation of weld defects can be performed. The step offset of the phased array ultrasonic probe and wedge set by the focusing law on the main pipe detection surface of the pipe seat corner weld can be stable, the movement in three-dimensional directions and the detection data recording can be realized, with a high degree of automation, a stable detection process, a good coupling effect, and high detection accuracy.

[0038] An automatic scanning device for phased array ultrasonic detection of pipe socket corner welds provided in an embodiment of the present invention can be a phased array ultrasonic detection device for pipe socket corner welds that can perform automatic scanning, and can achieve stable stepping offset of the focusing law setting of the phased array ultrasonic probe and the wedge on the main detection surface of the pipe socket corner weld, movement in three dimensions and detection data recording, with a high degree of automation, good coupling effect, stable detection process, high detection accuracy, and important engineering application value.

[0039] Phased array ultrasonic testing is used for pipe socket corner weld detection, which can accurately evaluate weld defects qualitatively and quantitatively. In order to achieve the clamping and movement of the phased array ultrasonic probe and ensure reliable detection results. The present invention adopts the following technical solutions:

[0040] An automatic scanning device for phased array ultrasonic detection of corner welds of pipe sockets provided in an embodiment of the present invention comprises: a track 1, a crawling trolley 2, a sliding rod 3, a sliding assembly 4, and a probe holder 5. The crawling trolley 2 comprises a locking device, a motor-driven moving device, and an encoder assembly; the sliding rod 3 is equipped with a built-in dual-axis linear slideway (trapezoidal slideway) and a rack linear guide (rack guide), and the sliding rod 3 is fixed on the crawling trolley 2; the sliding assembly 4 is installed on the sliding rod 3 through a slider (trapezoidal slider) and a rack, and has a built-in encoder; the probe holder 5 is fixed on the sliding assembly 4, and the up and down position is adjusted by a spring and the slide rail (slide seat) on the sliding assembly 4, and an ultrasonic phased array probe and a wedge are installed at the bottom of the probe holder 5.

[0041] like Figures 1 to 6 As shown, further, the track 1 includes: a pair of track guides 6, a plurality of support screws 7 and a latch structure 8, the track guide 6 is an arc plate, one end of a pair of the track guides 6 is hinged, and the other end of a pair of the track guides 6 is connected by the latch structure 8, and the plurality of support screws 7 are installed on the inner wall of the pair of track guides 6.

[0042] The beneficial effect of adopting the above further technical solution is: the track is pressed from a flat plate into an arc plate corresponding to the outer diameter of the branch pipe, and two arc plates are connected by a latch locking structure to form a 360° circular track. Four circular holes are evenly and symmetrically opened in the middle of the track, and support screws are installed in the four circular holes for fastening to the branch pipe.

[0043] Among them, multiple support screws 7 are connected to the track guide rails through threads, the number of the support screws 7 can be four, and the four support screws 7 are arranged at equal intervals along the circumference of a pair of track guide rails 6.

[0044] like Figures 1 to 6As shown, further, the crawling trolley 2 includes: two pairs of inner track rolling wheels 12 for clinging to the upper and lower parts of the inner wall of the track 1, two pairs of driving wheels 13 for clinging to the outer wall of the track 1, and two pairs of guide rollers 9 for clinging to the upper and lower edges of the track 1. The two pairs of inner track rolling wheels 12, the two pairs of driving wheels 13, and the two pairs of guide rollers 9 are all rotatably mounted on the crawling trolley 2.

[0045] The beneficial effect of adopting the above further technical solution is: when locked, the four guide rollers are close to the upper and lower edges of the track, the two pairs of inner rolling wheels of the track are close to the upper and lower parts of the inner wall of the track, and the four narrow wheels of the two sets of driving wheels are close to the upper and lower parts of the outer wall of the track, so that the crawling trolley can be firmly clamped on the track, ensuring that the crawling trolley runs smoothly 360° along the track. The driving wheel serves as the power output of the motor-driven moving device. At the same time, an encoder assembly is installed on the driving wheel to accurately collect the distance moved by the probe.

[0046] like Figures 1 to 6 As shown, further, one pair of guide rollers 9 in the two pairs of guide rollers 9 is fixedly installed at the bottom of the crawling trolley 2, and the other pair of guide rollers 9 in the two pairs of guide rollers 9 is slidably installed on the top of the crawling trolley 2 through the guide knob screw 18 respectively; the two pairs of inner track rolling wheels 12 are symmetrically arranged, and the two pairs of inner track rolling wheels 12 are slidably installed on the crawling trolley 2 through the longitudinal adjustment pair 10 and the curvature adjustment pair 11, and the longitudinal adjustment pair 10 is a pad with a smooth transition of two thicknesses; the driving wheel 13 includes: a pair of side wheels and an intermediate wheel, the width of the intermediate wheel is greater than the width of the side wheels, the intermediate wheel is located between the pair of side wheels, and the driving wheel 13 is connected with a driving mechanism and an encoder.

[0047] The beneficial effects of adopting the above further technical solution are: the lower two are fixed guide rollers, and the upper two guide rollers are adapted to the track width by adjusting the guide knob screw feed. When locking, adjust the guide knob screw feed and press it down to make the edges of the two guide rollers close to the upper edge of the track; when disassembling the trolley, reversely adjust the guide knob screw to loosen it, and the two guide rollers are disengaged from the track. The two pairs of track inner rolling wheels are symmetrically distributed, and their longitudinal adjustment pairs are pads with smooth transitions of two thicknesses. When the thick side is used, the track inner rolling wheels are respectively close to the upper and lower parts of the inner wall of the track; when the thin side is used, the track inner rolling wheels are away from the track. The curvature radius of the track inner rolling wheels is changed by the curvature adjustment pair to adapt to the track curvature. When locked, the four guide rollers are close to the upper and lower edges of the track, the two pairs of inner rolling wheels are close to the upper and lower inner walls of the track, and the four narrow wheels of the two sets of driving wheels are close to the upper and lower outer walls of the track, so that the crawling trolley can be firmly clamped on the track to ensure that the crawling trolley runs smoothly 360° along the track. The driving wheel serves as the power output of the motor-driven moving device. At the same time, the encoder assembly is installed on the driving wheel to accurately collect the distance moved by the probe.

[0048] The top of the guide knob screw 18 is connected to the guide roller 9, the middle of the guide knob screw is threadedly connected to the crawler, and the top of the guide knob screw is provided with a screw head. By rotating the guide knob screw, the guide knob screw moves up and down relative to the crawler, thereby realizing the up and down position adjustment of the guide roller.

[0049] The inner rolling wheel of the track at the top is installed on the first frame, and the inner rolling wheel of the track at the bottom is installed on the second frame. The first frame and the second frame are both slidably installed on the crawling trolley up and down. The longitudinal adjustment pair is connected with a connecting rod. The bottom of the connecting rod passes through the first frame and the second frame and is located at the bottom of the crawling trolley. A spring is sleeved on the connecting rod. The two ends of the spring are in one-to-one contact with the first frame and the second frame. A slope is provided in the longitudinal adjustment pair, and a slide groove is provided on the slope. The top of the connecting rod is slidably installed in the slide groove. When the longitudinal adjustment pair is moved, the connecting rod rises and falls along the slope, so that the first frame and the second frame move toward and away from each other in the up and down directions, thereby making the inner rolling wheel of the track at the top and the inner rolling wheel of the track at the bottom move toward and away from each other in the up and down directions.

[0050] The first frame is mounted on the third frame, the second frame is mounted on the fourth frame, the third frame and the fourth frame are both rotatably mounted on the crawling trolley, one end of the third frame and the fourth frame are hinged, and the curvature adjustment pair is respectively connected to the third frame and the fourth frame through positive and negative threads. The curvature adjustment pair is rotated to make the third frame and the fourth frame move toward and away from each other in the left and right directions, so that the inner rolling wheel of the track on the left and the inner rolling wheel of the track on the right move toward and away from each other in the left and right directions, thereby realizing the spacing adjustment of the inner rolling wheels of the left and right tracks, that is, curvature adjustment.

[0051] like Figures 1 to 6 As shown, further, the sliding rod 3 is a built-in dual-axis linear slide, a rack linear guide is installed on the side of the sliding rod 3, a slider is installed at the bottom of the sliding assembly 4, the slider is installed in the sliding rod 3, and a radial positioning caliper 14 adapted to the rack linear guide is installed on the side of the sliding assembly 4, and the radial positioning caliper 14 is engaged with the rack linear guide; an encoder and a driving mechanism are provided in the sliding assembly 4.

[0052] The beneficial effect of adopting the above further technical solution is that one end of the sliding rod is fixed to the bottom of the crawling trolley, and its main structure is a built-in dual-axis linear slide, and a rack linear guide is fixed on the side. The built-in dual-axis linear slide and the rack linear guide provide support for the movement and fixation of the sliding assembly. The sliding assembly has a slider under it, which is installed in the built-in dual-axis linear slide; a radial positioning caliper is fastened on the side and meshes with the rack. The sliding assembly is installed on the sliding rod through the built-in dual-axis linear slide and the rack linear guide. When the radial positioning caliper is released, the sliding assembly can move back and forth closely along the slide; when the radial positioning caliper is not released, the sliding assembly is stuck and cannot move. The sliding assembly has a built-in encoder and drive mechanism inside to adjust and record the step offset value of the probe in real time, meet the requirements of real-time adjustment of the step offset value of the probe, and realize fully automated scanning.

[0053] The radial positioning caliper 14 may be an L-shaped structure, and the radial positioning caliper is rotatably mounted on the sliding assembly 4 , and the bottom of the radial positioning caliper can be clamped between two adjacent teeth of the rack linear guide rail.

[0054] like Figures 1 to 6 As shown, further, the probe frame 5 includes: a slide seat 15, a spring 16, a slide rod 17 and a probe clamping component 19, the slide rod 17 is slidably installed on the slide seat 15, the probe clamping component 19 is installed on the slide rod 17, and the two ends of the spring 16 are connected to the slide seat 15 and the slide rod 17 one by one.

[0055] The beneficial effect of adopting the above further technical solution is: the spring is used to adjust the pressure of the probe, and the probe clamping component is adjusted up and down by moving the spring and the slide rod to adapt to the change of the probe height caused by the change of the outer wall curve of the main pipe, keep the probe closely fit the detection surface of the main pipe, and ensure the coupling effect and detection quality.

[0056] like Figures 1 to 6 As shown, further, the probe clamping component 19 includes: a pair of probe clamping arms, one probe clamping arm is installed at the bottom of the sliding rod 17, and the other probe clamping arm is slidably installed on the other probe clamping arm.

[0057] The beneficial effect of adopting the above further technical solution is that the two probe clamping arms of the probe clamping component have an adjustable middle width and can clamp ultrasonic phased array probes and wedges of different widths.

[0058] like Figures 1 to 6 As shown, an automatic scanning device for phased array ultrasonic detection of corner welds of pipe sockets provided by an embodiment of the present invention, the track 1 is made of a flat plate pressed into an arc plate corresponding to the outer diameter of the branch pipe, and two arc plates (track guide rails 6) are connected by a latch locking structure (latch structure 8) to form a 360° circular track, and four circular holes are evenly and symmetrically opened in the middle of the track, and support screws 7 are installed in the four circular holes for fastening to the branch pipe.

[0059] The crawling trolley 2 includes a locking device, a motor-driven moving device, and an encoder assembly. The locking device includes 4 guide pairs, 2 pairs of track inner side rolling wheels 12, and 2 sets of driving wheels 13. The 4 guide pairs are basically symmetrically distributed. The guide pairs are fixed at the bottom of the crawling trolley 2, and each is connected to a guide roller 9 below, wherein: the lower two are fixed guide rollers, and the upper two guide rollers are fed to adapt to the track width by adjusting the guide knob screw 18. When locking, the guide knob screw 18 is adjusted to feed and press down, so that the edges of the two guide rollers are close to the upper edge of the track; when disassembling the trolley, the guide knob screw 18 is adjusted in the reverse direction to loosen, and the two guide rollers are disengaged from the track. The two pairs of track inner side rolling wheels 12 are symmetrically distributed, and their longitudinal adjustment pairs 10 are smooth transition pads with two thicknesses. When the thick side is used, the track inner side rolling wheels 12 are respectively close to the upper and lower parts of the inner wall of the track; when the thin side is used, the track inner side rolling wheels 12 are far away from the track. The radius of curvature of the inner rolling wheel 12 of the track is changed by the curvature adjustment pair 11 to adapt to the curvature of the track. The two sets of driving wheels 13 each include a wide wheel (middle wheel) in the middle and two narrow wheels (side wheels) at both ends in the width direction of the track, and the two sets of driving wheels 13 are close to the outer wall of the track. In this way, when locked, the four guide rollers 9 are close to the upper and lower edges of the track, the two pairs of inner rolling wheels 12 of the track are close to the upper and lower parts of the inner wall of the track, and the four narrow wheels of the two sets of driving wheels 13 are close to the upper and lower parts of the outer wall of the track, so that the crawling trolley 2 can be firmly clamped on the track 1, ensuring that the crawling trolley 2 runs smoothly along the track 360°. The driving wheel 13 is used as the power output of the motor-driven moving device. The motor drive and transmission are conventional technologies and are not described in detail here. At the same time, an encoder assembly is installed on the driving wheel 13 to accurately capture the distance moved by the probe (ultrasonic phased array probe).

[0060] One end of the sliding rod 3 is fixed to the bottom of the crawling car 2. Its main structure is a built-in dual-axis linear slide, and a rack linear guide is fixed on the side. The built-in dual-axis linear slide and rack linear guide provide support for the movement and fixation of the sliding component 4.

[0061] The sliding assembly 4 has a slider below, which is installed in the built-in dual-axis linear slide; a radial positioning caliper 14 is fastened to the side and meshes with the rack. The sliding assembly 4 is installed on the sliding rod 3 through the built-in dual-axis linear slide and the rack linear guide. When the radial positioning caliper 14 is released, the sliding assembly 4 can move back and forth closely along the slide; when the radial positioning caliper 14 is not released, the sliding assembly 4 is stuck and cannot move. On the other side of the rack linear guide, the sliding assembly 4 is installed with the slide 15 of the probe holder 5. The sliding assembly 4 can also have a built-in encoder and a drive mechanism inside to adjust and record the step offset value of the probe in real time, meet the requirements of real-time adjustment of the step offset value of the probe, and realize fully automated scanning.

[0062] The probe holder 5 includes a linear guide rail and a probe clamping component. The linear guide rail includes a slide 15 (slide rail), a slide bar 17, a spring 16 and other parts. The probe clamping component 19 is fixed to the lower end of the slide bar 17. The spring 16 is used to adjust the pressure of the probe. The probe clamping component 19 is adjusted up and down by moving the spring 16 and the slide bar 17 to adapt to the change of the probe height caused by the change of the outer wall curve of the main pipe at any time, keep the probe closely fit the main pipe detection surface, and ensure the coupling effect and detection quality. The two probe clamping arms of the probe clamping component 19 have an adjustable middle width and can clamp ultrasonic phased array probes and wedges of different widths.

[0063] By adopting the above technical scheme, the present invention has the following beneficial effects: through the installation and operation of the phased array ultrasonic detection automatic scanning device for the corner weld of the pipe seat, such as the track, the crawling trolley, the sliding rod, the sliding assembly, and the probe holder, the probe and the wedge can be adaptively raised and lowered as the curved surface of the main pipe changes, so that the probe and the wedge can be stably fitted on the detection surface of the main pipe, the ultrasonic beam can be stably directed toward the center direction of the branch pipe, and the stepping offset of the probe is stable, so as to meet the technical parameter requirements of the focusing law, and at the same time realize the automation of the detection process, reduce the influence of human factors on the detection results, and ensure the repeatability and reliability of the phased array ultrasonic detection results.

[0064] like Figure 7 As shown, in addition, the present invention also provides an installation method for a phased array ultrasonic detection automatic scanning device for pipe seat corner welds, which is used to install a phased array ultrasonic detection automatic scanning device for pipe seat corner welds as described in any one of the above items. The installation method for the phased array ultrasonic detection automatic scanning device for pipe seat corner welds includes: S1, installing a track; S2, installing a crawling trolley on the track; S3, installing a sliding rod on the crawling trolley; S4, slidingly installing the sliding assembly on the sliding rod; S5, installing a probe frame on the sliding assembly; S6, installing an ultrasonic phased array probe and a wedge block on the probe frame.

[0065] The beneficial effects of the technical solution of the present invention are: through the installation and operation of the automatic scanning device for phased array ultrasonic detection of pipe seat corner welds such as rails, crawling trolleys, sliding rods, sliding components, and probe racks, the probe and wedge can be adaptively raised and lowered as the curved surface of the main pipe changes, so that the probe and wedge can be stably fitted on the main pipe detection surface, the ultrasonic beam can be stably directed toward the center of the branch pipe, and the step offset of the probe is stable, meeting the technical parameter requirements of the focusing law, and at the same time realizing the automation of the detection process, reducing the influence of human factors on the detection results, and ensuring the repeatability and reliability of the phased array ultrasonic detection results. The clamping and movement of the phased array ultrasonic probe are realized and reliable detection effects are guaranteed. Phased array ultrasonic detection is used for pipe seat corner weld detection, and accurate qualitative and quantitative evaluation of weld defects can be performed. The step offset of the phased array ultrasonic probe and wedge set by the focusing law on the main pipe detection surface of the pipe seat corner weld can be stable, the movement in three-dimensional directions and the detection data recording can be realized, with a high degree of automation, a stable detection process, a good coupling effect, and high detection accuracy.

[0066] Further, after step S6, the method includes: S7, adjusting the sliding component to meet the stepping offset requirement according to the parameter setting requirement of the phased array ultrasonic detection focusing law.

[0067] The beneficial effect of adopting the above-mentioned further technical scheme is: through the installation and operation of the phased array ultrasonic detection automatic scanning device for the corner weld of the pipe seat, such as the track, the crawling trolley, the sliding rod, the sliding assembly, and the probe holder, the probe and the wedge can be adaptively raised and lowered as the curved surface of the main pipe changes, so that the probe and the wedge can be stably fitted on the detection surface of the main pipe, the ultrasonic beam can be stably directed toward the center direction of the branch pipe, and the step offset of the probe is stable, meeting the technical parameter requirements of the focusing law, and at the same time realizing the automation of the detection process, reducing the influence of human factors on the detection results, and ensuring the repeatability and reliability of the phased array ultrasonic detection results.

[0068] Further, step S1 includes: S11, loosening the support screw and the latch structure; S12, docking a pair of track guide rails around the branch pipe; S13, locking the latch structure and tightening the support screw; step S2 includes: S21, loosening the guide knob screw of the guide roller; S22, applying the thin side of the pad to the longitudinal adjustment pair connected to the inner rolling wheel of the track; S23, aligning the middle wheel of the driving wheel with the center of the track; S24, applying the rear side of the pad to the longitudinal adjustment pair connected to the inner rolling wheel of the track; S25, locking the guide knob screw of the guide roller; S26, adjusting the curvature adjustment pair until the inner rolling wheel of the track adapts to the track curvature; S27, connecting the drive mechanism cable and the encoder cable; step S4 includes: S41, installing the slider of the sliding assembly in the built-in dual-axis linear slideway of the sliding rod; S42, engaging the radial positioning caliper with the rack linear guide.

[0069] The beneficial effects of adopting the above further technical solution are: the lower two are fixed guide rollers, and the upper two guide rollers are adapted to the track width by adjusting the guide knob screw feed. When locking, adjust the guide knob screw feed and press it down to make the edges of the two guide rollers close to the upper edge of the track; when disassembling the trolley, reversely adjust the guide knob screw to loosen it, and the two guide rollers are disengaged from the track. The two pairs of track inner rolling wheels are symmetrically distributed, and their longitudinal adjustment pairs are pads with smooth transitions of two thicknesses. When the thick side is used, the track inner rolling wheels are respectively close to the upper and lower parts of the inner wall of the track; when the thin side is used, the track inner rolling wheels are away from the track. The curvature radius of the track inner rolling wheels is changed by the curvature adjustment pair to adapt to the track curvature. When locked, the four guide rollers are close to the upper and lower edges of the track, the two pairs of inner rolling wheels are close to the upper and lower inner walls of the track, and the four narrow wheels of the two sets of driving wheels are close to the upper and lower outer walls of the track, so that the crawling trolley can be firmly clamped on the track to ensure that the crawling trolley runs smoothly 360° along the track. The driving wheel serves as the power output of the motor-driven moving device. At the same time, the encoder assembly is installed on the driving wheel to accurately collect the distance moved by the probe.

[0070] The first step is to install the track. Loosen the support screw 7 and the latch structure 8, then connect the two arc plates (track guide rails) around the branch pipe, lock the latch structure 8, and properly adjust the strength of the support screw 7 to prevent the track from sliding. Adjust the distance between the track and the weld according to the inspection requirements, and finally tighten the support screw 7. In the process of tightening the support screw 7, ensure that the feed amount of each support screw is uniform to reduce the deviation between the center of the track and the center of the branch pipe.

[0071] The second step is to install the crawler 2 on the track. Loosen the guide knob screws 18 of the two guide pairs (guide rollers 9) above, apply the thin side of the pad to the longitudinal adjustment pair 10 connected to the two pairs of track inner rolling wheels 12, align the wide wheels of the two sets of active wheels 13 of the crawler 2 with the center of the track, and then apply the thick side of the pad to the longitudinal adjustment pair 10 connected to the two pairs of track inner rolling wheels 12, lock the guide knob screws 18 of the two guide pairs above, and slightly turn the crawler 2. If the rotation is not smooth, adjust the curvature adjustment pair 11 of the inner rolling wheel of the track to adapt to the track curvature until the crawler 2 runs smoothly. Connect the motor drive cable and encoder cable.

[0072] The third step is to fix one end of the sliding rod 3 on the crawling trolley 2. This step can also be implemented before the second step.

[0073] The fourth step is to install the slider under the sliding assembly 4 in the built-in double-axis linear slideway of the sliding rod 3, and at the same time, mesh the radial positioning caliper 14 with the rack on the side.

[0074] The fifth step is to install the probe holder 5 and fix the ultrasonic phased array probe and the wedge.

[0075] Step 6: According to the parameter setting requirements of the phased array ultrasonic detection focusing law, adjust the sliding assembly 4 to meet the stepping offset requirements. The crawler 2 rotates a circle to observe the fit between the probe and the main detection surface. If the probe pressure is too large or too small, the track position needs to be readjusted until the spring force is appropriate.

[0076] After completing the above steps, you can start the pipe seat corner weld inspection.

[0077] By adopting the above technical solution, the probe and the wedge can be adaptively raised and lowered as the curved surface of the main pipe changes, so that the probe and the wedge can be stably fitted on the detection surface of the main pipe, the ultrasonic beam can be stably directed toward the center of the branch pipe, and the step offset of the probe is stable. At the same time, the automation of the detection process is realized, the influence of human factors on the detection results is reduced, and the repeatability and reliability of the phased array ultrasonic detection results are guaranteed.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic scanning device for phased array ultrasonic testing of pipe socket fillet welds, characterized in that: include: Track, crawling trolley, sliding rod, sliding assembly, probe frame, the crawling trolley is movably mounted on the track, the sliding rod is mounted on the crawling trolley, the sliding assembly is slidably mounted on the sliding rod, the probe frame is mounted on the sliding assembly, and the probe frame is equipped with an ultrasonic phased array probe and a wedge.

2. The automatic scanning device for phased array ultrasonic detection of pipe socket fillet welds according to claim 1 is characterized in that: The track includes: a pair of track guides, multiple support screws and a latch structure. The track guide is an arc plate. One end of the pair of track guides is hinged, and the other end of the pair of track guides is connected by the latch structure. The multiple support screws are installed on the inner walls of the pair of track guides.

3. The automatic scanning device for phased array ultrasonic detection of pipe socket fillet welds according to claim 1 is characterized in that: The crawling trolley includes: two pairs of inner-side rolling wheels for clinging to the upper and lower parts of the inner wall of the track, two pairs of driving wheels for clinging to the outer wall of the track, and two pairs of guide rollers for clinging to the upper and lower edges of the track. The two pairs of inner-side rolling wheels, the two pairs of driving wheels, and the two pairs of guide rollers are all rotatably mounted on the crawling trolley.

4. The automatic scanning device for phased array ultrasonic detection of pipe socket fillet welds according to claim 3 is characterized in that: One pair of guide rollers among the two pairs of guide rollers is fixedly mounted on the bottom of the crawling trolley, and the other pair of guide rollers among the two pairs of guide rollers is slidably mounted on the top of the crawling trolley through guide knob screws respectively; the two pairs of inner track rolling wheels are symmetrically arranged, and the two pairs of inner track rolling wheels are slidably mounted on the crawling trolley through longitudinal adjustment pairs and curvature adjustment pairs, and the longitudinal adjustment pairs are smooth transition pads with two thicknesses; the driving wheel comprises: a pair of side wheels and an intermediate wheel, the width of the intermediate wheel is greater than the width of the side wheels, the intermediate wheel is located between the pair of side wheels, and the driving wheel is connected with a driving mechanism and an encoder.

5. The automatic scanning device for phased array ultrasonic detection of pipe socket fillet welds according to claim 1 is characterized in that: The sliding rod is a built-in dual-axis linear slide, a rack linear guide is installed on the side of the sliding rod, a slider is installed at the bottom of the sliding assembly, the slider is installed in the sliding rod, and a radial positioning caliper adapted to the rack linear guide is installed on the side of the sliding assembly, and the radial positioning caliper is engaged with the rack linear guide; an encoder and a drive mechanism are provided in the sliding assembly.

6. The automatic scanning device for phased array ultrasonic testing of pipe socket fillet welds according to claim 1 is characterized in that: The probe frame includes: a slide seat, a spring, a slide rod and a probe clamping component. The slide rod is slidably mounted on the slide seat, the probe clamping component is mounted on the slide rod, and both ends of the spring are connected to the slide seat and the slide rod in a one-to-one correspondence.

7. The automatic scanning device for phased array ultrasonic testing of pipe socket fillet welds according to claim 6 is characterized in that: The probe clamping component comprises: a pair of probe clamping arms, one probe clamping arm is mounted on the bottom of the slide bar, and the other probe clamping arm is slidably mounted on the other probe clamping arm.

8. A method for installing a phased array ultrasonic detection automatic scanning device for a pipe socket fillet weld, characterized in that: The method for installing the automatic scanning device for phased array ultrasonic detection of pipe socket corner welds according to any one of claims 1 to 7 comprises: S1. Install the track; S2, install the crawler car on the track; S3, install the sliding rod on the crawling trolley; S4, slidingly installing the sliding assembly on the sliding rod; S5, installing the probe holder on the sliding assembly; S6. Install the ultrasonic phased array probe and wedge on the probe holder.

9. The method for installing the automatic scanning device for phased array ultrasonic detection of pipe socket fillet welds according to claim 8 is characterized in that: The method after step S6 includes: S7, adjusting the sliding component to meet the stepping offset requirement according to the parameter setting requirement of the phased array ultrasonic detection focusing law.

10. The method for installing the automatic scanning device for phased array ultrasonic detection of pipe socket fillet welds according to claim 8, characterized in that: Step S1 includes: S11, loosening the support screw and the latch structure; S12, butting a pair of track guide rails around the branch pipe; S13, lock the latch structure and tighten the support screw; Step S2 includes: S21, loosening the guide knob screw of the guide roller; S22, the thin side of the longitudinal adjustment pair applying the pad to connect the inner rolling wheel of the track; S23, aligning the middle wheel of the driving wheel with the center of the track; S24, connecting the longitudinal adjustment pair to the inner rolling wheel of the track, and applying the rear side of the pad; S25, guide knob screw for locking the guide roller; S26, adjusting the curvature adjustment pair until the inner rolling wheel of the track adapts to the track curvature; S27, connect the drive mechanism cable and encoder cable; Step S4 includes: S41, installing a slider of the sliding assembly in a built-in dual-axis linear slideway of the sliding rod; S42, engage the radial positioning caliper with the rack linear guide.

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