Multi-station wiping tool for nuclear power station pipeline welding seam penetration detection

Abstract

The invention particularly relates to a multi-station wiping tool for nuclear power station pipeline weld penetration testing, which is mounted at the tail end of a mechanical arm of a robot and comprises an adapter plate (1), a middle mounting seat (2), an electromagnet (3), a reversing module (4), a positioning pin (5) and an electromagnet mounting seat (6), the adapter plate (1) is connected with the tail end of a mechanical arm of the robot, and the middle mounting seat (2) is fixedly connected with the electromagnet mounting seat (6) and the adapter plate (1) respectively; one end of the electromagnet (3) is fixedly connected with the electromagnet mounting seat (6), and the other end of the electromagnet (3) is in magnetic attraction connection with the reversing module (4); and the positioning pin (5) is fixedly connected to the electromagnet mounting seat (6) and is used for guiding and positioning when the electromagnet (3) is magnetically connected with the reversing module (4). The invention realizes the automatic execution of the whole process of nuclear power station pipeline weld penetration detection.

Description

Technical Field

[0001] The invention relates to the technical field of nuclear industry robots, in particular to a multi-station wiping tool for penetration detection of nuclear power plant pipeline welds. Background Art

[0002] The main equipment of a nuclear power plant is connected by pipelines, and each pipeline is welded and spliced ​​by short pipelines. The main weak point is the welding joint. It is of great significance to ensure the safety and integrity of the pipeline by performing non-destructive testing on it to ensure the safe operation of the nuclear power plant. Penetrant testing is a commonly used method for non-destructive testing of nuclear power plant pipeline welds. The penetrant testing process involves two contact process actions: cleaning and removing excess penetrants. That is, a wiping tool is used to wipe the weld surface to remove dirt or wipe away excess penetrants. The wiping tool is generally gauze. In order to ensure the wiping effect, each process action will be repeated many times. That is, after performing a wiping action, the wiping tool needs to be replaced to a clean part for multiple wiping. The traditional method of using pure manual penetration testing is cumbersome. In order to reduce the labor intensity of operators and the radiation damage in the radioactive environment of nuclear power plants, it is urgent to adopt an intelligent penetration testing method. Summary of the invention

[0003] The purpose of the present invention is to provide a multi-station wiping tool for nuclear power plant pipeline weld penetration detection, which is installed at the end of a robot's mechanical arm. The robot's mechanical arm picks up the wiping tools in an orderly manner to realize the automatic execution of the entire process of nuclear power plant pipeline weld penetration detection.

[0004] In order to achieve the above object, the present invention provides the following technical solutions:

[0005] A multi-station wiping tool for nuclear power plant pipeline weld penetration detection is installed at the end of a robot's mechanical arm, and comprises an adapter plate, an intermediate mounting seat, an electromagnet, a reversing module, a positioning pin and an electromagnet mounting seat; the adapter plate is connected to the end of the robot's mechanical arm, and the intermediate mounting seat is fixedly connected to the electromagnet mounting seat and the adapter plate respectively; one end of the electromagnet is fixedly connected to the electromagnet mounting seat, and the other end of the electromagnet is magnetically connected to the reversing module; the positioning pin is fixedly connected to the electromagnet mounting seat, and is used for guiding and positioning when the electromagnet is magnetically connected to the reversing module.

[0006] As one of the feasible ways, the reversing module includes a flip block, a wiping block, a first cam, a second cam, a central push rod, a second cam mounting seat, a mounting plate, a first cam mounting seat, a magnetic sheet, a tail end support and a compression spring; the second cam mounting seat, the first cam mounting seat and the tail end support are fixedly connected on the mounting plate, and the first cam mounting seat is between the second cam mounting seat and the tail end support; the first cam is fixedly connected to the first cam mounting seat, the second cam is fixedly connected to the second cam mounting seat, and the first cam is meshed with the second cam; the central push rod sequentially crosses the second cam mounting seat, the second cam , a first cam, a first cam mounting seat and a tail end support, a first linear bearing is provided between the first cam mounting seat and the center push rod, and a second linear bearing is provided between the tail end support and the center push rod; a flip block and a compression spring are sequentially sleeved on the center push rod between the first cam mounting seat and the tail end support, a flat key is provided between the flip block and the center push rod, the flip block is axially positioned on the center push rod by a set screw, and a compression spring guide sleeve is provided between the front end of the compression spring and the center push rod; a plurality of wiping blocks are evenly connected to the flip block in the circumferential direction along the axis direction of the center push rod; a magnetic suction sheet is fixedly connected to the bottom of the mounting plate, and the magnetic suction sheet is magnetically connected to the electromagnet.

[0007] As one of the feasible ways, the center push rod is formed by connecting a large diameter rod and a small diameter rod, the free end of the large diameter rod is a round head end, the large diameter rod is provided with a cylindrical boss, the small diameter rod is provided with a keyway, and the flat key is in the keyway.

[0008] As one possible implementation, the first cam and the second cam each have a plurality of oblique teeth and tooth grooves spaced circumferentially along their own axes; the oblique teeth of the second cam match the tooth grooves of the first cam.

[0009] As one possible implementation, the first cam and the second cam each have four oblique teeth and tooth grooves that are circumferentially spaced and distributed along their own axes.

[0010] As one achievable manner, a plurality of mounting grooves matching the wiping block are evenly arranged on the flip block along the circumferential direction of the central push rod axis, and one wiping block is adhered to one mounting groove.

[0011] As one achievable manner, four mounting grooves matching the wiping block are evenly arranged on the flip block along the circumferential direction of the central push rod axis, and one wiping block is adhered to one mounting groove.

[0012] As one of the feasible ways, the electromagnet is a power-off holding type permanent magnet electromagnet, and the magnetic attraction sheet is made of ferromagnetic material.

[0013] As one achievable manner, the flip block is axially limited on the central push rod by four set screws uniformly distributed circumferentially along the axis direction of the central push rod.

[0014] As one of the feasible ways, a positioning pin is fixedly connected to the electromagnet mounting seat, a positioning pin hole is provided at the bottom of the mounting plate, and the positioning pin matches the positioning hole.

[0015] As one of the feasible ways, the intermediate mounting seat is fixedly connected to the electromagnet mounting seat by screws; the intermediate mounting seat is fixedly connected to the adapter plate by screws; the electromagnet and the electromagnet mounting seat are fixedly connected by screws; the first cam is fixedly connected to the first cam mounting seat by screws; and the second cam is fixedly connected to the second cam mounting seat by screws.

[0016] Beneficial technical effects of the present invention:

[0017] The multi-station wiping tool for nuclear power plant pipeline weld penetration detection of the present invention realizes station switching in a purely mechanical manner without introducing an additional power source, which not only makes the wiping tool small in size but also improves the operating reliability of the wiping tool in the radioactive environment of the nuclear power plant; the reversing elements are closely arranged along the axial direction of the central push rod, making the wiping tool compact in structure.

[0018] The multi-station wiping tool for nuclear power plant pipeline weld penetration detection of the present invention has four wiping stations, and the wiping stations can be switched freely, thus realizing multiple wiping after one installation. Compared with the end tool with only one wiping station, the multi-station wiping tool has higher penetration detection efficiency.

[0019] The multi-station wiping tool for nuclear power plant pipeline weld penetration detection of the present invention adopts a modular design and uses a permanent magnet electromagnet to realize the movable connection of the reversing module at the front end of the tool, thereby ensuring that the reversing module at the front end of the tool will not fall off during the penetration detection process. At the same time, the electromagnetic attraction is overcome or demagnetization is achieved by manpower or by energizing the electromagnet, thereby realizing rapid disassembly of the front end reversing module.

[0020] The multi-station wiping tool for nuclear power plant pipeline weld penetration testing of the present invention realizes the mechanical connection of various penetration process tools by adopting a magnetic suction installation interface, has a quick-change function, and provides hardware conditions for the automatic execution of the penetration testing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic structural diagram of an embodiment of a multi-station wiping tool for nuclear power plant pipeline weld penetration testing according to the present invention;

[0022] Figure 2 is a structural schematic diagram of an embodiment of a reversing module;

[0023] Figure 3 is a cross-sectional view of an embodiment of a reversing module;

[0024] Figure 4 is a structural schematic diagram of an embodiment of a central push rod;

[0025] Figure 5 is a structural schematic diagram of an embodiment of a cam;

[0026] Figure 6 A schematic diagram of the automatic switching process of wiping block positions of an embodiment of a multi-position wiping tool for nuclear power plant pipeline weld penetration detection of the present invention;

[0027] Figure 7 The present invention is a schematic diagram of a quick-change process of a penetrant application tool according to an embodiment of a multi-station wiping tool for nuclear power plant pipeline weld penetration testing of the present invention.

[0028] In the figure, 1, adapter plate; 2, middle mounting seat; 3, electromagnet; 4, reversing module; 5, positioning pin; 6, electromagnet mounting seat; 4-1, flip block; 4-2, wiping block; 4-3, first linear bearing; 4-4, first cam; 4-5, second cam; 4-6, center push rod; 4-7, second cam mounting seat; 4-8, mounting plate; 4-9, first cam mounting seat; 4-10, magnetic sheet; 4-11, set screw; 4-12, tail end support; 4-13, second linear bearing; 4-14, compression spring; 4-15, compression spring guide sleeve; 4-16, flat key. DETAILED DESCRIPTION

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used in the specification of the application are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0030] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0031] The technical solution of the present invention is clearly and completely described below in conjunction with the accompanying drawings and specific embodiments.

[0032] refer to Figure 1The present embodiment provides a multi-station wiping tool for nuclear power plant pipeline weld penetration detection, which is installed at the end of the robot's mechanical arm, including an adapter plate 1, an intermediate mounting seat 2, an electromagnet 3, a reversing module 4, a positioning pin 5 and an electromagnet mounting seat 6; the adapter plate 1 is connected to the end of the robot's mechanical arm, and the intermediate mounting seat 2 is fixedly connected to the electromagnet mounting seat 6 and the adapter plate 1 respectively; one end of the electromagnet 3 is fixedly connected to the electromagnet mounting seat 6, and the other end of the electromagnet 3 is magnetically connected to the reversing module 4; the positioning pin 5 is fixedly connected to the electromagnet mounting seat 6, and is used for guiding and positioning when the electromagnet 3 is magnetically connected to the reversing module 4.

[0033] In this embodiment, as one of the feasible ways, the intermediate mounting seat 2 is fixedly connected to the electromagnet mounting seat 6 by screws; the intermediate mounting seat 2 is fixedly connected to the adapter plate 1 by screws; the electromagnet 3 is fixedly connected to the electromagnet mounting seat 6 by screws.

[0034] See also Figure 2-3In this embodiment, as one of the feasible ways, the reversing module 4 includes a flip block 4-1, a wiping block 4-2, a first cam 4-4, a second cam 4-5, a central push rod 4-6, a second cam mounting seat 4-7, a mounting plate 4-8, a first cam mounting seat 4-9, a magnetic sheet 4-10, a tail end support 4-12 and a compression spring 4-14; the second cam mounting seat 4-7, the first cam mounting seat 4-9 and the tail end support 4-12 are fixedly connected to the mounting plate 4-8, and the first cam mounting seat 4-9 is fixedly connected to the tail end support 4-12. The mounting seat 4-9 is between the second cam mounting seat 4-7 and the tail end support 4-12; the first cam 4-4 is fixedly connected to the first cam mounting seat 4-9, the second cam 4-5 is fixedly connected to the second cam mounting seat 4-7, and the first cam 4-4 is meshed with the second cam 4-5; the central push rod 4-6 sequentially crosses the second cam mounting seat 4-7, the second cam 4-5, the first cam 4-4, the first cam mounting seat 4-9 and the tail end support 4-12, and the first cam mounting seat 4-9 is meshed with the central push rod 4-6. A first linear bearing 4-3 is provided between the center push rod 4-6, and a second linear bearing 4-13 is provided between the tail end support 4-12 and the center push rod 4-6. The first linear bearing 4-3 and the second linear bearing 4-13 are used to support the center push rod 4-6; the flip block 4-1 and the compression spring 4-14 are sequentially sleeved on the center push rod 4-6 between the first cam mounting seat 4-9 and the tail end support 4-12, and a flat key 4-16 is provided between the flip block 4-1 and the center push rod 4-6. The flip block 4-1 is tightened by The fixed screw 4-11 is axially positioned on the center push rod 4-6, and a compression spring guide sleeve 4-15 is provided between the front end of the compression spring 4-14 and the center push rod 4-6; a plurality of wiping blocks 4-2 are evenly connected circumferentially along the axial direction of the center push rod 4-6 on the flip block 4-1, and the wiping blocks 4-2 are used for cleaning and wiping the nuclear power plant pipeline welds and removing excess penetrant during nuclear power plant pipeline weld penetration detection; the bottom of the mounting plate 4-8 is fixedly connected to the magnetic suction sheet 4-10, and the magnetic suction sheet 4-10 is magnetically connected to the electromagnet 3.

[0035] In this embodiment, as one of the feasible ways, the first cam 4-4 is fixedly connected to the first cam mounting seat 4-9 by screws; the second cam 4-5 is fixedly connected to the second cam mounting seat 4-7 by screws.

[0036] In this embodiment, as one of the feasible ways, a plurality of mounting grooves matching with the wiping block 4-2 are evenly arranged on the flip block 4-1 along the axial direction of the central push rod 4-6, and one wiping block 4-2 is adhered in one mounting groove.

[0037] In this embodiment, as one of the feasible ways, four mounting grooves matching with the wiping block 4-2 are evenly arranged on the flip block 4-1 along the axial direction of the central push rod 4-6, and one wiping block 4-2 is adhered in one mounting groove.

[0038] See also Figure 4 In this embodiment, as one of the feasible ways, the center push rod 4-6 is connected by a large diameter rod and a small diameter rod, the free end of the large diameter rod is a round head end, a cylindrical boss is provided on the large diameter rod, a keyway is provided on the small diameter rod, and the flat key 4-16 is in the keyway; the round head end is used to apply the active thrust for the reversing of the wiping block station.

[0039] In this embodiment, as one of the feasible ways, the magnetic attraction sheet 4-10 is made of ferromagnetic material.

[0040] In this embodiment, as one of the feasible ways, the flip block 4-1 is axially limited on the central push rod 4-6 by four set screws 4-11 which are evenly distributed circumferentially along the axial direction of the central push rod 4-6.

[0041] In this embodiment, as one of the feasible ways, a positioning pin is fixedly connected to the electromagnet mounting seat 6, and a positioning pin hole is provided at the bottom of the mounting plate 4-8, and the positioning pin matches the positioning hole.

[0042] In this embodiment, as one of the feasible ways, the electromagnet 3 is a permanent magnet electromagnet of power-off holding type.

[0043] See also Figure 5 In this embodiment, as one of the feasible ways, the first cam 4-4 and the second cam 4-5 both have a plurality of helical teeth and tooth grooves spaced circumferentially along their own axes; the helical teeth of the second cam 4-5 match the tooth grooves of the first cam 4-4.

[0044] In this embodiment, as one of the achievable ways, the first cam 4 - 4 and the second cam 4 - 5 each have four helical teeth and tooth grooves spaced circumferentially along their own axes.

[0045] See also Figure 6 In this embodiment, the multi-station wiping tool for nuclear power plant pipeline weld penetration detection performs automatic switching of wiping block stations, including the following steps:

[0046] The robot arm carries the reversing module 4 to move, so that the round end of the central push rod 4-6 touches the non-weld part of the pipeline;

[0047] Under the action of the touch thrust, the center push rod 4-6 moves linearly along its own axis toward the tail end support 4-12, and at the same time, the center push rod 4-6 rotates around its own axis along the long side of the helical teeth of the first cam 4-4 until the cylindrical boss of the center push rod 4-6 moves into the tooth groove of the first cam 4-4. At this time, the compression spring 4-14 is further compressed and subjected to greater pressure. Then, the robot arm is operated to carry the multi-station wiping tool to the round head end of the center push rod 4-6 to leave the pipe surface;

[0048] During this process, under the elastic force of the compression spring 4-14, the center push rod 4-6 moves linearly along its own axis toward the second cam mounting seat 4-7, and at the same time, the center push rod 4-6 rotates around its own axis along the long side of the helical teeth of the second cam 4-5 until the cylindrical boss of the center push rod 4-6 moves into the tooth groove of the second cam 4-5;

[0049] After the above operation, the central push rod 4-6 realizes a 90-degree rotation around its own axis. Due to the circumferential motion transmission effect of the flat key 416, the entire flip block 4-1 and the wiping block 4-2 realize a 90-degree rotation around the axis direction of the central push rod 4-6.

[0050] Repeat the above-mentioned whole set of actions to realize that the wiping block 4-2 continues to turn 90 degrees;

[0051] By executing the whole set of actions four times, full coverage of the four stations of the wiping block 4-2 can be achieved.

[0052] See also Figure 7 Taking the penetrant application tool as an example, the nuclear power plant pipeline weld penetration detection using a multi-station wiping tool is performed quickly by the penetrant application tool, and the steps include:

[0053] The electromagnet 3 is powered on and demagnetized, and the commutation module 4 is separated from the electromagnet 3 under the action of its own gravity;

[0054] The robot arm carries the wiping tool and moves vertically to the top of the penetrant application tool. With the help of the positioning pin 5, the penetrant application tool is aligned with the electromagnet 3 and is in full contact with the end of the electromagnet 3.

[0055] The electromagnet 3 is powered off to restore its magnetic force. Under the action of the magnetic attraction, the penetrant application tool is adsorbed on the electromagnet 3, completing the quick change of the penetrant application tool.

[0056] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A multi-station wiping tool for nuclear power plant pipeline weld penetration detection, characterized in that: The invention is installed at the end of the robot's mechanical arm, and comprises an adapter plate (1), an intermediate mounting seat (2), an electromagnet (3), a reversing module (4), a positioning pin (5) and an electromagnet mounting seat (6); the adapter plate (1) is connected to the end of the robot's mechanical arm, and the intermediate mounting seat (2) is fixedly connected to the electromagnet mounting seat (6) and the adapter plate (1) respectively; one end of the electromagnet (3) is fixedly connected to the electromagnet mounting seat (6), and the other end of the electromagnet (3) is magnetically connected to the reversing module (4); the positioning pin (5) is fixedly connected to the electromagnet mounting seat (6) and is used for guiding and positioning when the electromagnet (3) is magnetically connected to the reversing module (4).

2. The multi-station wiping tool for nuclear power plant pipeline weld penetration detection according to claim 1 is characterized in that: The reversing module (4) comprises a flip block (4-1), a wiping block (4-2), a first cam (4-4), a second cam (4-5), a central push rod (4-6), a second cam mounting seat (4-7), a mounting plate (4-8), a first cam mounting seat (4-9), a magnetic suction sheet (4-10), a tail end support (4-12) and a compression spring (4-14); the second cam mounting seat (4-7), the first cam mounting seat (4-9) and the tail end support (4-12) are fixedly connected to the mounting plate (4-8). The first cam mounting seat (4-9) is between the second cam mounting seat (4-7) and the tail end support (4-12); the first cam (4-4) is fixedly connected to the first cam mounting seat (4-9), the second cam (4-5) is fixedly connected to the second cam mounting seat (4-7), and the first cam (4-4) and the second cam (4-5) are meshedly connected; the central push rod (4-6) sequentially crosses the second cam mounting seat (4-7), the second cam (4-5), the first cam (4-4), the first cam A mounting seat (4-9) and a tail end support (4-12), a first linear bearing (4-3) is provided between the first cam mounting seat (4-9) and the central push rod (4-6), and a second linear bearing (4-13) is provided between the tail end support (4-12) and the central push rod (4-6); a flip block (4-1) and a compression spring (4-14) are sequentially sleeved on the central push rod (4-6) between the first cam mounting seat (4-9) and the tail end support (4-12), and the flip block (4-1) and the central push rod (4-6) are respectively sleeved. ), the flip block (4-1) is axially positioned on the central push rod (4-6) by a set screw (4-11), and a compression spring guide sleeve (4-15) is provided between the front end of the compression spring (4-14) and the central push rod (4-6); a plurality of wiping blocks (4-2) are evenly connected to the flip block (4-1) along the axial direction of the central push rod (4-6); the bottom of the mounting plate (4-8) is fixedly connected to a magnetic suction sheet (4-10), and the magnetic suction sheet (4-10) is magnetically connected to the electromagnet (3).

3. The multi-station wiping tool for nuclear power plant pipeline weld penetration detection according to claim 2 is characterized in that: The central push rod (4-6) is formed by connecting a large diameter rod and a small diameter rod. The free end of the large diameter rod is a round head end. The large diameter rod is provided with a cylindrical boss. The small diameter rod is provided with a keyway. The flat key (4-16) is in the keyway.

4. The multi-station wiping tool for nuclear power plant pipeline weld penetration detection according to claim 2 is characterized in that: Both the first cam (4-4) and the second cam (4-5) have a plurality of oblique teeth and tooth grooves which are distributed at intervals along the circumferential direction of their own axes; the oblique teeth of the second cam (4-5) match the tooth grooves of the first cam (4-4).

5. The multi-station wiping tool for nuclear power plant pipeline weld penetration detection according to claim 4 is characterized in that: The first cam (4-4) and the second cam (4-5) both have four oblique teeth and tooth grooves which are distributed at intervals in the circumferential direction along their own axes.

6. The multi-station wiping tool for nuclear power plant pipeline weld penetration detection according to claim 2, characterized in that: A plurality of mounting grooves matching the wiping block (4-2) are evenly arranged on the flip block (4-1) along the axial direction of the central push rod (4-6) in the circumferential direction, and one wiping block (4-2) is adhered to one mounting groove.

7. The multi-station wiping tool for nuclear power plant pipeline weld penetration detection according to claim 6, characterized in that: Four mounting grooves matching the wiping block (4-2) are evenly arranged on the flip block (4-1) along the axial direction of the central push rod (4-6) in the circumferential direction, and one wiping block (4-2) is adhered to one mounting groove.

8. The multi-station wiping tool for nuclear power plant pipeline weld penetration detection according to claim 2, characterized in that: The electromagnet (3) is a power-off holding type permanent magnet electromagnet, and the magnetic attraction sheet (4-10) is made of ferromagnetic material.

9. The multi-station wiping tool for nuclear power plant pipeline weld penetration detection according to claim 2, characterized in that: The flip block (4-1) is axially limited on the central push rod (4-6) by four set screws (4-11) uniformly distributed circumferentially along the axial direction of the central push rod (4-6).

10. The multi-station wiping tool for nuclear power plant pipeline weld penetration detection according to claim 2, characterized in that: A positioning pin is fixedly connected to the electromagnet mounting seat (6), and a positioning pin hole is provided at the bottom of the mounting plate (4-8), and the positioning pin matches the positioning hole.

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