Crawling type ultrasonic peening device for treating welding seam on wall of large pressure vessel

Abstract

The invention discloses a crawl type ultrasonic peening device for processing a welding seam on the wall of a large pressure vessel, and relates to the technical field of ultrasonic peening devices.The crawl type ultrasonic peening device comprises a device body, a control system is arranged on the device body, the control system is controlled by a single chip microcomputer and a PLC in a combined mode, and six mechanical legs are arranged on the device body; the six mechanical legs are arranged at the four ends of the device body and the middles of the front end and the rear end of the device body respectively, and the ultrasonic impact treatment equipment is arranged on the lower portion of the device body. According to the crawl type ultrasonic peening device for treating the welding seam on the wall of the large pressure vessel, the bionic spiders crawl, and automatic treatment of the welding seam on the wall of the large pressure vessel can be better and more flexibly carried out; an induction heating coil is installed in the ultrasonic impact treatment equipment, under the high-temperature impact effect, the welding seam structure and residual stress distribution can be remarkably improved, and the anti-fatigue performance of the welding seam can be remarkably improved.

Description

Technical Field

[0001] The invention relates to the technical field of ultrasonic impact devices, in particular to a crawling ultrasonic impact device for processing the weld seams of large pressure vessel walls. Background Art

[0002] In the field of high-pressure gas storage, large pressure vessels are prone to metal fatigue failure due to residual stress in long welds. Manual processing of welds has the characteristics of high risk factor and low work efficiency. Mechanical processing is not flexible enough and cannot complete the weld processing of complex containers. Therefore, the present invention discloses a crawling ultrasonic impact device for processing the wall welds of large pressure vessels. Summary of the invention

[0003] The purpose of the present invention is to provide a crawling ultrasonic impact device for processing the welds of large pressure vessels, so as to solve the problems of low working efficiency and inflexible mechanical processing in the process of weld processing.

[0004] To achieve the above-mentioned purpose, the present invention provides a crawling ultrasonic impact device for processing the wall welds of large pressure vessels, including a device body, a control system is arranged on the device body, the control system is jointly controlled by a single-chip microcomputer and a PLC, mechanical legs are arranged on the device body, and there are six mechanical legs. The six mechanical legs are respectively arranged at the four ends of the device body and in the middle of the front and rear ends of the device body, and an ultrasonic impact processing device is arranged at the lower part of the device body.

[0005] Preferably, the ultrasonic impact processing equipment includes a transducer, a fixed iron plate and an ultrasonic impact needle, the ultrasonic impact needle is connected to the fixed iron plate, the fixed iron plate is connected to the transducer, the transducer is connected to the telescopic shaft, four telescopic shafts are provided, connecting shaft movable joints are provided on the four telescopic shafts, and the connecting shaft movable joints are connected to the device body.

[0006] Preferably, the mechanical leg includes a calf portion and a thigh portion, the thigh portion is connected to the device body, the thigh portion includes a thigh left side plate, a thigh right side plate, a thigh top plate and a thigh bottom plate, a servo is installed between the thigh bottom plate and the thigh top plate, the thigh top plate is connected to a bearing, the bearing is connected to a mounting frame, the mounting frame is connected to a thigh steering shaft, the thigh steering shafts are both connected to the thigh left side plate and the thigh right side plate, and the thigh right side plate and the thigh left side plate are both connected to the calf portion.

[0007] Preferably, the calf part includes a calf, a vacuum pump and a suction cup, the suction cup is connected to the calf, the calf is connected to the vacuum pump through a vacuum pump fixing ring, and the vacuum pump is connected to the vacuum pump fixing ring through a nut.

[0008] Preferably, the vacuum pump is connected to the suction cup via an air pipe, the air pipe is arranged inside the calf, and the air pipe is made of metal material.

[0009] Preferably, the fixed iron plate is made of alloy steel and is provided with a heat dissipation ring.

[0010] Preferably, an induction heating coil is provided on the ultrasonic impact needle.

[0011] Preferably, a battery is provided on the device body, a battery cover is provided on the outside of the battery, and a sensor camera is provided on the device body.

[0012] Therefore, the present invention adopts the above-mentioned crawling ultrasonic impact device for processing the weld of the wall of a large pressure vessel, which has the following beneficial effects: (1) The ultrasonic impact device of the present invention uses bionic spider crawling to better and more flexibly perform automated processing of welds on the wall of large pressure vessels. It uses a crawling robot for automated processing and adopts a sensor vision system. The sensor camera can track the weld throughout the process, which more intelligently solves the residual stress problem of long welds in large pressure vessels.

[0013] (2) The present invention has many advantages such as high efficiency, high precision, and multifunctionality. The ultrasonic impact device used can freely switch the connectors, wherein the ultrasonic impact needle connector and the ultrasonic impact ball connector can respectively cope with different scenarios. The internal sensor coil can better generate beneficial compressive stress, thereby significantly improving the fatigue strength of the specimen.

[0014] (3) The ultrasonic impact treatment equipment of the present invention is equipped with an induction heating coil. Under the action of high temperature impact, the weld structure and residual stress distribution can be significantly improved, and the fatigue resistance of the weld can be significantly improved.

[0015] (4) The present invention uses ultrasonic impact processing equipment to push the impact head to impact the surface of the metal object at a frequency of about 20,000 times per second. The high frequency, high efficiency and high energy under focusing cause the metal surface to produce large compressive plastic deformation. At the same time, the ultrasonic impact changes the original stress field and produces beneficial compressive stress. The transducer performs reciprocating telescopic motion in the longitudinal direction, causing the surface metal structure of the action area to change, which better solves the problem of large pressure wall welds in actual work.

[0016] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of an embodiment of a crawling ultrasonic impact device of the present invention; Figure 2It is an isometric diagram of the crawling ultrasonic impact device of the present invention; Figure 3 A top view of the crawling ultrasonic impact device of the present invention; Figure 4 A bottom view of the crawling ultrasonic impact device of the present invention; Figure 5 It is a schematic diagram of the structure of the ultrasonic impact treatment equipment of the present invention; Reference numerals 1. Vacuum pump fixing ring; 2. M6 nut; 3. Suction cup; 4. Vacuum pump; 5. Battery cover; 6. Battery handle; 7. Mounting bracket; 8. Power supply; 9. Battery bracket; 10. Thigh top plate; 11. Servo; 12. Thigh bottom plate; 13. Thigh steering shaft; 14. Calf; 15. Thigh right side plate; 16. Thigh left side plate; 17. Bearing; 18. Control system; 19. Sensor camera; 20. Device body; 21. Telescopic shaft; 22. Transducer; 23. Connecting shaft movable joint; 24. Heat dissipation ring; 25. Fixed iron plate; 26. Ultrasonic impact needle. DETAILED DESCRIPTION

[0018] The technical solution of the present invention is further described below through the accompanying drawings and embodiments.

[0019] Unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0020] Example See also Figure 1-Figure 5The present invention provides a crawling ultrasonic impact device for treating the weld of a large pressure vessel wall, including a device body 20, on which a control system 18 is arranged, and the control system 18 is used to control the telescopic distance of the machine telescopic shaft 21, the execution of the stress treatment route, and the moving distance of the suction cup 3. The control system 18 adopts a single-chip microcomputer and a PLC joint control to achieve an organic combination, give full play to their respective advantages, and achieve efficient, accurate, and reliable automatic control. The device body 20 is provided with mechanical legs, and there are six mechanical legs, which are respectively arranged at the four ends of the device body 20 and in the middle of the front and rear ends of the device body 20, and an ultrasonic impact treatment device is arranged at the lower part of the device body 20.

[0021] The ultrasonic impact processing equipment includes a transducer 22, a fixed iron plate 25 and an ultrasonic impact needle 26. The ultrasonic impact needle 26 is connected to the fixed iron plate 25. The fixed iron plate 25 is used to fix the stable operation of the ultrasonic impact processing equipment. The fixed iron plate 25 is made of alloy steel. A heat dissipation ring 24 is provided on the fixed iron plate 25. The fixed iron plate 25 is connected to the transducer 22. The transducer 22 is connected to the telescopic shaft 21. The telescopic shaft 21 can realize the up and down movement of the mechanical leg. The telescopic shaft adopts a high-quality electric telescopic shaft. The clean energy electricity used is lower in price and cost than oil and pneumatic energy. It is energy-efficient and generates greater force. There are four telescopic shafts 21. The four telescopic shafts 21 are provided with connecting shaft movable joints 23. The connecting shaft movable joints 23 are used to assist the telescopic shaft 21 in moving forward, backward, left and right. The connecting shaft movable joints 23 are connected to the device body 20.

[0022] The ultrasonic impact treatment equipment is used to convert medium energy into high-frequency and high-voltage alternating current from the ultrasonic driving power supply, and transmit it to the ultrasonic transducer 22. Then the ultrasonic transducer 22 uses high-power energy to drive the impact head to impact the surface of the metal object at a frequency of about 20,000 times per second. The high frequency, high efficiency and high energy under focusing cause the metal surface to produce large compressive plastic deformation; at the same time, the ultrasonic impact changes the original stress field and produces beneficial compressive stress, thereby realizing the creeping ultrasonic impact treatment of the wall weld of a large pressure vessel. The ultrasonic impact needle 26 is provided with an induction heating coil, or it can be a ball bearing equipped with an induction heating coil, which is a multifunctional adjustable device. After being heated by the induction coil, the impact needle or ball bearing treats the weld in a high temperature environment, which can effectively improve the grain structure at the weld, and at the same time improve the residual stress distribution at the weld, thereby improving the mechanical properties of the weld.

[0023] The mechanical six legs of the crawling ultrasonic impact treatment equipment can make the robot more evenly disperse its weight, so that more legs can contact the ground at the same time when moving. Since the left and right pairs move forward in turn, they can stand up and squat freely, which helps to improve stability and reduce shaking. They can keep three points on the ground at any time to form a stable triangular support. Discrete ground support can also be used to achieve non-contact obstacle avoidance, obstacle crossing, up and down stairs, and movement on uneven ground. It can also rotate and move to a certain extent, which can facilitate the processing of welds. When the six-legged robot carries a large load such as a mechanical arm, each step will not be offset due to the load, so the repeat positioning accuracy can be very high, reaching within plus or minus 5cm, which is equivalent to the positioning level of a wheeled robot. Each leg of the six-legged structure can be controlled independently, and the pace can be flexibly adjusted according to the ups and downs of the ground. Compared with a four-legged robot, the two extra legs of the six-legged robot mean more flexibility and a certain degree of redundancy, which can produce more gaits.

[0024] The mechanical leg includes a calf part and a thigh part, the thigh part is connected to the device body 20, the thigh part includes a thigh left side plate 16, a thigh right side plate 15, a thigh top plate 10 and a thigh bottom plate 12, a servo 11 is installed between the thigh bottom plate 12 and the thigh top plate 10, the thigh top plate 10 is connected to the bearing 17, the bearing 17 is connected to the mounting frame 7, the mounting frame 7 is connected to the thigh steering shaft 13, the thigh steering shaft 13 is connected to the thigh left side plate 16 and the thigh right side plate 15, the thigh right side plate 15 and the thigh left side plate 16 are both connected to the calf part.

[0025] The calf part includes a calf 14, a vacuum pump 4 and a suction cup 3. The suction cup 3 is connected to the calf 14. The calf 14 is connected to the vacuum pump 4 through a vacuum pump fixing ring 1. A high-power vacuum pump 4 for conveying gas is used to ensure smooth ventilation of the equipment. The vacuum pump 4 is connected to the vacuum pump fixing ring 1 through an M6 nut 2.

[0026] The vacuum pump 4 is connected to the suction cup 3 through an air pipe. The suction cup 3 is made of a polyurethane composite material. Since the suction cup 3 made of silicone rubber is suitable for grasping products with rough surfaces, the suction cup 3 made of polyurethane can grasp the surface of relatively smooth objects, and has a long life and is durable, and can better achieve the adsorption function. The air pipe is set inside the calf 14, and the air pipe is set to a metal material. The air pipe uses a high-quality Norui brand PU pipe, which can withstand the transmission of high-speed gas and better provide high-speed airflow for the suction cup 3 and the telescopic shaft 21.

[0027] A battery is arranged on the device body 20, and a battery holder 9 and a battery cover 5 are arranged on the outside of the battery. The battery cover 5 is connected to the battery handle 6 to fix the battery. A sensor camera 19 is arranged on the device body 20. The sensor camera 19 adopts an advanced sensor vision positioning system, which can plan the processing route of the ultrasonic processing equipment. According to the different processing requirements of some welds, the power of the ultrasonic impact processing equipment can be intelligently improved to better complete the ultrasonic impact processing.

[0028] The specific working process is as follows: (1) The control system 18 is powered on by the power supply 8. The control system 18 controls the vacuum pump 4 to ventilate and deliver air through the trachea to complete the suction and release of the suction cup 3. The control system 18 controls the suction cup 3 of each pair of thigh steering shafts 13 and calf 14 to deflate and move forward until they reach the designated position and adsorb. Then, each pair of thigh steering shafts 13 and calf 14 that are arranged side by side move forward in sequence until a mechanical foot reaches the designated position. The mechanical six-legged feet start to rise and squat to adjust the distance between the ultrasonic impact treatment joint and the weld to be treated. After scanning, the sensor camera 19 transmits the acquired information to the control system 18. The control system 18 transmits the operation instruction to the transducer 22 and the ultrasonic impact needle 26, thereby carrying out the ultrasonic impact treatment work. After completing a working cycle, the mechanical foot repeats the above movement mode to the designated location, and then starts the ultrasonic impact treatment work again until the work is completed and stops.

[0029] (2) Specific working process of ultrasonic impact treatment: After reaching the designated weld position, the sensor camera 19 will scan the weld shape in detail and transmit it to the control system 18, and then control the telescopic shaft 21 and the connecting shaft movable joint 23, and the ultrasonic impact needle 26 can perform weld processing according to the planned path. At the same time, according to the morphological characteristics of different welds and actual working conditions, the ultrasonic impact needle 26 can be installed and removed and replaced with an ultrasonic impact round ball head.

[0030] Therefore, the present invention adopts the above-mentioned crawling ultrasonic impact device for processing the welds of the wall of large pressure vessels, and uses bionic spider crawling to better and more flexibly perform automated processing of welds on the wall of large pressure vessels; the ultrasonic impact actuator is equipped with an induction heating coil, and under the action of high temperature impact, the weld structure and residual stress distribution can be significantly improved, and the fatigue resistance of the weld can be significantly improved.

[0031] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A crawling ultrasonic impact device for treating the welds of large pressure vessels, characterized in that: The device includes a device body, a control system is arranged on the device body, the control system is jointly controlled by a single chip microcomputer and a PLC, the device body is provided with mechanical legs, six mechanical legs are provided, and the six mechanical legs are respectively arranged at the four ends of the device body and in the middle of the front and rear ends of the device body, and an ultrasonic impact processing device is arranged at the lower part of the device body.

2. A crawling ultrasonic impact device for treating the weld of a large pressure vessel wall according to claim 1, characterized in that: The ultrasonic impact processing equipment includes a transducer, a fixed iron plate and an ultrasonic impact needle, the ultrasonic impact needle is connected to the fixed iron plate, the fixed iron plate is connected to the transducer, the transducer is connected to a telescopic shaft, four telescopic shafts are provided, connecting shaft movable joints are provided on the four telescopic shafts, and the connecting shaft movable joints are connected to the device body.

3. The crawling ultrasonic impact device for treating the weld of a large pressure vessel wall according to claim 2 is characterized in that: The mechanical leg includes a calf part and a thigh part, the thigh part is connected to the device body, the thigh part includes a thigh left side plate, a thigh right side plate, a thigh top plate and a thigh bottom plate, a servo is installed between the thigh bottom plate and the thigh top plate, the thigh top plate is connected to a bearing, the bearing is connected to a mounting frame, the mounting frame is connected to a thigh steering shaft, the thigh steering shafts are both connected to the thigh left side plate and the thigh right side plate, and the thigh right side plate and the thigh left side plate are both connected to the calf part.

4. The crawling ultrasonic impact device for treating the weld of a large pressure vessel wall according to claim 3 is characterized in that: The calf part includes a calf, a vacuum pump and a suction cup, the suction cup is connected to the calf, the calf is connected to the vacuum pump through a vacuum pump fixing ring, and the vacuum pump is connected to the vacuum pump fixing ring through a nut.

5. A crawling ultrasonic impact device for treating the weld of a large pressure vessel wall according to claim 4, characterized in that: The vacuum pump is connected to the suction cup via an air pipe, the air pipe is arranged inside the calf, and the air pipe is made of metal material.

6. The crawling ultrasonic impact device for treating the weld of a large pressure vessel wall according to claim 5, characterized in that: The fixed iron plate is made of alloy steel and is provided with a heat dissipation ring.

7. A crawling ultrasonic impact device for treating the weld of a large pressure vessel wall according to claim 6, characterized in that: The ultrasonic impact needle is provided with an induction heating coil.

8. The crawling ultrasonic impact device for treating the weld of a large pressure vessel wall according to claim 7 is characterized in that: A battery is arranged on the device body, a battery cover is arranged outside the battery, and a sensor camera is arranged on the device body.

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