Ultrasonic automatic displacement flaw detection equipment for GIS (gas insulated switchgear) shell and detection method of ultrasonic automatic displacement flaw detection equipment

Abstract

The invention discloses ultrasonic automatic displacement flaw detection equipment for a GIS shell and a detection method thereof.The ultrasonic automatic displacement flaw detection equipment comprises a self-adaptive electric guide rail assembly, the self-adaptive electric guide rail assembly comprises a memory alloy base, a shaping support and a guide rail, the memory alloy base is in a long strip shape, and the cross section of the memory alloy base is in a U shape; the bottom wall of the memory alloy base is provided with a plurality of protruding strips protruding downwards in the length direction, grooves in one-to-one correspondence are formed in the inner side of the bottom wall, and a flexible electric heating wire is arranged in each groove. The shaping support is in a circular ring shape with the inner diameter larger than the outer diameter of a branch pipe of the GIS shell, the lower face of the shaping support is fixed to the upper end faces of the two side walls of the memory alloy base, and then the distance between the upper portions of the two side walls is kept unchanged. The ultrasonic flaw detection probe clamped by the universal mechanical arm is driven by the self-adaptive electric guide rail assembly to stably scan along the welding seam, so that the accuracy of the detection result and the detection efficiency are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of GIS shell manufacturing, and in particular relates to an ultrasonic automatic positioning flaw detection device for a GIS shell and a detection method thereof. Background Art

[0002] GIS tank is the metal shell of GIS (gas insulated switchgear). GIS is an electrical device that encloses circuit breakers, disconnectors, grounding switches, current transformers, voltage transformers, lightning arresters, busbars, connectors, and outgoing terminals in a GIS tank filled with insulating gas at a certain pressure. Welding is a particularly important process in the manufacture of GIS tanks. The connection between the GIS tank and the branch pipe is fixed by welding, but the quality of the weld seam is very high. The quality of the weld seam between the GIS tank and the branch pipe directly affects the airtightness of the GIS tank.

[0003] Existing GIS tank weld inspection methods include ultrasonic testing, radiographic testing, magnetic particle testing, etc. Ultrasonic testing uses the propagation characteristics of ultrasonic waves in the workpiece to detect welds. Ultrasonic waves are generated by the probe. When they propagate in the workpiece and encounter defects or interfaces, reflection, refraction, and scattering will occur. After these reflected waves are received by the probe, they are analyzed and processed by the ultrasonic flaw detector, and the location, size, and nature of the defects are determined based on the time, amplitude, frequency, and other characteristics of the reflected waves. The advantage of ultrasonic testing is that the detection cost is low and defects inside and on the surface of the weld can be detected.

[0004] The current ultrasonic flaw detection method is to hold a probe and move it along the weld, keeping the distance between the probe and the weld as unchanged as possible during the movement, and the probe sends the real-time detection data to the ultrasonic flaw detector. This detection method has the following shortcomings: 1. The manual handheld probe is unstable and cannot maintain a constant measuring distance, which has a great impact on the test results.

[0005] 2. The moving speed of the probe varies from person to person and there is no fixed standard. It should usually not exceed 150mm / s. It is best to move at a constant speed within this speed range. It is impossible to move at a constant speed by hand, which has little impact on the test results.

[0006] 3. Within the allowed moving speed range, it cannot move at the fastest speed, and the detection efficiency is low.

[0007] 4. During the test, the probe should be kept in direct relation with the weld. Moving the probe by hand may cause the probe to deviate to the left or right of the weld, which will have a significant impact on the test results. Summary of the invention

[0008] In view of the deficiencies of the prior art, the present invention provides an ultrasonic automatic positioning flaw detection device for a GIS shell, comprising an adaptive electric guide rail assembly, the adaptive electric guide rail assembly comprising a memory alloy base, a shaping bracket and a guide rail, the memory alloy base is in an elongated strip shape and has a U-shaped cross section, the bottom wall of the memory alloy base is provided with a plurality of convex strips protruding downward along the length direction, and a one-to-one corresponding groove is formed on the inner side of the bottom wall, and a flexible electric heating wire is provided in each groove; the shaping bracket is in a circular ring shape with an inner diameter larger than the outer diameter of the branch pipe of the GIS shell, and is fixed to the upper end surfaces of the two side walls of the memory alloy base through the bottom of the shaping bracket, so that the distance between the upper parts of the two side walls is The guide rail remains unchanged; the guide rail can be detachably connected to the forming bracket; the memory alloy base is distributed along the circumference of the branch pipe by deformation, and the bottom wall of the memory alloy base is adhered to the outer surface of the GIS shell by deformation, so that the adaptive electric guide rail assembly surrounds the side of the welding seam between the GIS shell and the branch pipe; it includes an electric slider sliding on the guide rail; the electric slider is provided with a universal mechanical arm close to the branch pipe; it includes a universal mechanical arm connected to the electric slider, and the clamping arm at the end of the universal mechanical arm is provided with an ultrasonic flaw detection probe facing the welding seam, and the universal mechanical arm is driven by the electric slider to slide along the guide rail, so that the detection end of the ultrasonic flaw detection probe scans along the welding seam.

[0009] The beneficial effects of the ultrasonic automatic positioning flaw detection device for GIS shell in the present invention are: 1. The memory alloy base can be bent arbitrarily at room temperature and recover into a long line after being heated. This feature can be used to bend it to adapt to the outer surface of GIS shells of different sizes. The position of the memory alloy base can be adjusted according to the welding seam, and the ultrasonic flaw detection probe can be moved along the welding seam, which greatly reduces the probability of misalignment between the ultrasonic flaw detection probe and the welding seam, thereby improving the accuracy of the detection results.

[0010] 2. The ultrasonic flaw detection probe clamped by the universal robotic arm is driven by the adaptive electric guide rail assembly to stably scan along the welding seam. The speed of the electric slider on the adaptive electric guide rail assembly is adjustable. The moving speed of the ultrasonic flaw detection probe can be adjusted according to the detection requirements and the type of ultrasonic flaw detector, thereby further improving the accuracy of the detection results and improving the detection efficiency.

[0011] The preferred solution of the ultrasonic automatic positioning flaw detection equipment for GIS shell in the present invention is: the bottom of the inner side of the memory alloy base is filled with deformable thermal grease, all flexible electric heating wires are buried in the thermal grease, and the heat of the flexible electric heating wires is transferred to the memory alloy base through the thermal grease. The thermal grease has two functions. One is to exert the original thermal conductivity of the thermal grease to transfer the heat of the flexible electric heating wire to the memory alloy base, so that the memory alloy base is heated evenly and has a good recovery effect. The second is to act as a filler. The thermal grease is squeezed by a tool. The thermal grease transmits pressure to deform the bottom wall of the memory alloy base to fully fit the outer surface of the GIS shell, thereby transmitting pressure. In addition, the thermal grease can protect the flexible electric heating wires therein to prevent the flexible electric heating wires from being damaged by direct contact with the tools.

[0012] The preferred solution of the ultrasonic automatic positioning flaw detection device for GIS shell in the present invention is: a plurality of retaining rods connected between the two side walls of the memory alloy base are provided at the upper part of the inner side of the memory alloy base, and the shaping bracket is provided with a plurality of notches facing downward, all of which are evenly distributed along the circumference, and all of which are staggered with all of the retaining rods. During the bending and extrusion process of the memory alloy base, the retaining rods are not compressed and deformed, and the two side walls of the memory alloy base are kept parallel at all times, making it easier to install the guide rails on the two side walls. The notches are reserved for the installation space of the tool for extruding the thermal conductive silicone grease, meeting the requirements of the installation process.

[0013] The preferred solution of the ultrasonic automatic positioning flaw detection device for GIS shell in the present invention is: a positioning groove is provided on the inner side of one side wall of the shaping bracket, a positioning boss corresponding to the positioning groove is provided on the side of the guide rail, and the upper end surface of the other side wall of the shaping bracket is located on the lower surface of the guide rail. It includes a positioning ring sleeved on the outside of the branch pipe, a limiting boss is provided on the side of the positioning ring, a limiting groove corresponding to the limiting boss is provided on one side wall of the shaping bracket, and the limiting groove and the positioning groove are located on the same side wall of the shaping bracket, and the spacing between the guide rail and the branch pipe is limited by sliding the limiting boss into the limiting groove. Since the welding seam protrudes from the outer surface of the branch pipe, the inner diameter of the positioning ring is slightly larger than the outer diameter of the branch pipe, and the positioning ring cannot be deformed, so the positioning ring can be stuck on the upper edge of the welding seam. After the positioning ring is positioned, the positioning ring is used as a reference, and the limiting boss and the limiting groove are limited, and the positioning groove and the positioning boss are limited, so that the lateral distance and longitudinal distance between the side wall of the guide rail close to the branch pipe and the welding seam are locked, that is, the distance between the inner wall of the guide rail and the welding seam is as uniform as possible, reducing the subsequent adjustment work of the deviation position point, and improving the detection accuracy of the ultrasonic flaw detection probe.

[0014] The preferred solution of the ultrasonic automatic positioning flaw detection equipment for GIS shell in the present invention is: the base of the universal mechanical arm can be detachably connected to the top of the guide rail, and the universal mechanical arm is close to the side where the branch pipe is located; an extension rod is provided between the ultrasonic flaw detection probe and the clamp arm, and the detection end of the ultrasonic flaw detection probe is brought close to the weld by the extension rod.

[0015] The preferred solution of the ultrasonic automatic positioning flaw detection device for GIS shell in the present invention is: comprising a controller, a distance sensor and an image collector; the distance sensor and the image collector are both installed on the ultrasonic flaw detection probe, the input end of the controller is electrically connected to the distance sensor and the image collector respectively, and the output end of the controller is electrically connected to the universal mechanical arm and the electric slider respectively. The controller automatically makes corresponding adjustments according to the real-time data fed back by the distance sensor and the image collector to ensure that the distance between the ultrasonic flaw detection probe and the weld is kept within the allowable error range.

[0016] The present invention also provides a GIS shell welding seam detection method, based on the above-mentioned fully automatic welding equipment of the adaptive GIS shell, the steps are as follows: The first step is to install the adaptive electric guide rail assembly along the welding seam: bend the memory alloy base to deform the memory alloy base so that it fits the outer surface of the GIS shell along the outer side of the welding seam. Insert the positioning ring from the upper end of the branch pipe, and move the positioning ring down to the welding seam. The upper side of the welding seam supports the positioning ring, and the gap between the inner diameter of the positioning ring and the outer diameter of the branch pipe does not exceed 3 mm. The limiting boss of the positioning ring slides into the positioning groove of the shaping bracket so that the distance between the side wall of the branch pipe close to the shaping bracket and the welding seam remains unchanged. Squeeze the bottom wall of the memory alloy base in a direction perpendicular to the outer surface of the GIS shell, and the convex strip of the bottom wall is deformed so that the bottom wall of the memory alloy base fits the outer surface of the GIS shell. The positioning boss on the side of the guide rail is inserted into the positioning groove so that the guide rail is installed on the shaping bracket, and the positioning ring is removed; The second step is to install the ultrasonic flaw detection probe: install the electric slider on the guide rail, install the universal mechanical arm on the electric slider, then clamp the upper end of the extension rod with the clamping arm of the universal mechanical arm, and finally install the ultrasonic flaw detection probe on the lower end of the extension rod, with the detection end of the ultrasonic flaw detection probe close to the weld.

[0017] The third step is to adjust the distance between the ultrasonic flaw detection probe and the weld: the controller moves the electric slider along the guide rail for one circle, and the distance sensor sends the distance data L of each detection point to the controller in real time. The controller determines whether the deviation between the distance data L1 corresponding to all detection points and the set value distance data L2 exceeds 20%. If the deviation exceeds 20% and the controller marks all detection points exceeding 20%, adjust the positions of all detection points exceeding 20% ​​on the memory alloy base until the deviation of all detection points does not exceed 20%. If the deviation does not exceed 20%, the controller moves the electric slider along the guide rail for at least one circle. During the movement of the electric slider, the controller adjusts the distance between the detection end and the weld through the universal mechanical arm according to the real-time feedback distance data L1, so that the deviation between L1 and L2 is kept within 2%. The controller adjusts the detection end to keep it facing the weld through the universal mechanical arm according to the real-time feedback image collector.

[0018] The fourth step is to detect the quality of the weld: the controller makes the electric slider move one circle along the guide rail, and the detection data of the ultrasonic flaw detection probe is sent to the ultrasonic flaw detector. The ultrasonic flaw detector obtains the data of one circle of the weld, and the detection is completed; The fifth step is to restore the adaptive electric guide rail assembly: disassemble the universal robotic arm, electric slider, and guide rail in turn, remove the memory alloy base, and energize and heat all the flexible electric heating wires of the memory alloy base until the memory alloy base returns to a long strip shape. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 It is a schematic diagram of the memory alloy base in the present invention being installed on the outer surface of the GIS shell; Figure 2 for Figure 1 The three-dimensional image after adding the shaping bracket; Figure 3 for Figure 2 Schematic diagram after adding the guide rail; Figure 4 for Figure 3 The AA section view after adding the positioning ring; Figure 5 for Figure 4 Enlarged view of point B Figure 6 is a stereogram of the positioning ring in the present invention; Figure 7 for Figure 3 A schematic diagram of a positioning ring is added; Figure 8 for Figure 7 Schematic diagram after adding electric slider, universal robot arm, extension rod and ultrasonic flaw detection probe; Fig. 9 It is a schematic diagram of the ultrasonic flaw detection probe in the present invention.

[0021] Reference numerals: Memory alloy base 1, shaping bracket 2, guide rail 3, convex strip 4, flexible electric heating wire 5, retaining rod 6, notch 7, positioning groove 8, positioning boss 9, positioning ring 10, limiting boss 11, limiting groove 12, T-shaped limiting rail 13, T-slot 14, driving wheel 15, electric slider 16, universal mechanical arm 17, ultrasonic flaw detection probe 18, extension rod 19, distance sensor 20, image collector 21, GIS shell 22, branch pipe 23, welding seam 24, thermal grease 25. DETAILED DESCRIPTION

[0022] In view of the deficiencies in the prior art, the inventor of this case has proposed the technical solution of the present invention after long-term research and extensive practice. The following will further explain the technical solution, its implementation process and principle, etc. in conjunction with the drawings in the embodiments of this application and specific implementation cases.

[0023] Embodiment 1: Embodiment 1 provides an ultrasonic automatic positioning flaw detection device for a GIS shell, including an adaptive electric guide rail assembly. The adaptive electric guide rail assembly can be installed according to the welding seam 24 between the branch pipe 23 and the GIS shell 22. The specific structure is as follows: like Figure 1 As shown, the adaptive electric guide rail assembly includes a memory alloy base 1, a shaping bracket 2 and a guide rail 3. The memory alloy base 1 is in a long strip shape and has a U-shaped cross section. The bottom wall of the memory alloy base 1 is provided with a plurality of convex strips 4 protruding downward along the length direction, and a one-to-one corresponding groove is formed on the inner side of the bottom wall, and a flexible electric heating wire 5 is provided in each groove. The memory alloy base 1 can be bent arbitrarily at room temperature to fit the curved surface outside the GIS shell 22, and the flexible electric heating wire 5 can be bent arbitrarily at the same time. The bottom of the inner side of the memory alloy base 1 is filled with deformable thermal conductive silicone grease 25, and all the flexible electric heating wires 5 are buried in the thermal conductive silicone grease 25. The heat of the flexible electric heating wire 5 is transferred to the memory alloy base 1 through the thermal conductive silicone grease 25. If the initial state of the memory alloy base 1, i.e., the long strip shape, needs to be restored, it is only necessary to energize all the flexible electric heating wires 5 to release heat to increase the problem of the memory alloy base 1. After the memory alloy base 1 is heated, it automatically returns to the initial state, thereby achieving the purpose of repeated use.

[0024] like Figure 1 , Figure 2 and Figure 5 As shown, the shaping bracket 2 of the adaptive electric guide rail assembly is in the shape of a ring whose inner diameter is larger than the outer diameter of the branch pipe 23 of the GIS shell 22. The shaping bracket 2 is fixed to the upper end surface of the two side walls of the memory alloy base 1 through the bottom of the shaping bracket 2, so that the distance between the upper parts of the two side walls remains unchanged. The bending direction of the shaping bracket 2 here is consistent with the direction of the welding seam 24. The shaping bracket 2 is fixedly connected to the upper end of the memory alloy base 1. The shaping bracket 2 adopts elastically deformable plastic and can withstand a certain degree of bending deformation. Combined with the arbitrary deformation characteristics of the memory alloy base 1, the two are used in combination to fully fit the outer surface of the GIS shell 22 of different specifications. After the memory alloy base 1 is fitted to the outer surface of the GIS shell 22, it plays a supporting role for the shaping bracket 2. The shaping bracket 2 and the memory alloy base 1 of corresponding sizes are customized according to the GIS shell 22 of different sizes. The memory alloy base 1 can be reused, which is particularly suitable for the detection of the welding seam 24 of the GIS shell 22 of the same batch. In addition, eight retaining rods 6 connected between the two side walls of the memory alloy base 1 are provided on the upper part of the inner side of the memory alloy base 1. The function of the retaining rods 6 is to strengthen the shaping effect of the shaping bracket 2 and prevent the shaping bracket 2 from being damaged due to excessive deformation during the extrusion of the memory alloy base 1. The shaping bracket 2 is provided with a plurality of downward notches 7, and the number of notches 7 is determined according to the length of the welding seam 24, which is not limited in this embodiment. All notches 7 are evenly distributed along the circumference, and all notches 7 are staggered with all retaining rods 6. In the process of bending and extrusion of the memory alloy base 1, the retaining rods 6 are not compressed and deformed, and the two side walls of the memory alloy base 1 are kept parallel at all times, making it easier for the guide rails 3 to be installed on the two side walls. The notches 7 are reserved for the installation space of the tool for extruding the thermal conductive silicone grease 25, which meets the requirements of the installation process.

[0025] like Figure 3 As shown, the guide rail 3 of the adaptive electric guide rail assembly can be detachably connected to the shaping bracket 2, the bending direction of the guide rail 3 is consistent with the direction of the welding seam 24, the bending degree of the guide rail 3 is the same as that of the shaping bracket 2, and the guide rail 3 also adopts elastically deformable plastic. The guide rail 3 can withstand a certain degree of deformation to adapt to the local deformation of the shaping bracket 2. The specific connection method of the guide rail 3 and the shaping bracket 2 is as follows: like Figures 4 to 7As shown, a positioning groove 8 is provided on the inner side of one side wall of the shaping bracket 2, a positioning boss 9 corresponding to the positioning groove 8 is provided on the side of the guide rail 3, and the upper end surface of the other side wall of the shaping bracket 2 is located on the lower surface of the guide rail 3. It includes a positioning ring 10 sleeved on the outside of the branch pipe 23, a limiting boss 11 is provided on the side of the positioning ring 10, a limiting groove 12 corresponding to the limiting boss 11 is provided on one side wall of the shaping bracket 2, and the limiting groove 12 and the positioning groove 8 are located on the same side wall of the shaping bracket 2, and the limiting boss 11 slides into the limiting groove 12, thereby limiting the distance between the guide rail 3 and the branch pipe 23. Since the welding seam 24 protrudes from the outer surface of the branch pipe 23, the inner diameter of the positioning ring 10 is slightly larger than the outer diameter of the branch pipe 23, and the positioning ring 10 cannot be deformed, so the positioning ring 10 can be stuck on the upper edge of the welding seam 24. After the positioning ring 10 is positioned, with the positioning ring 10 as a reference, the limiting boss 11 and the limiting groove 12 cooperate to limit the positioning, and the positioning groove 8 and the positioning boss 9 limit the positioning, so that the lateral distance and longitudinal distance between the side wall of the guide rail 3 close to the branch pipe 23 and the welding seam 24 are locked, that is, the distance between the inner wall of the guide rail 3 and the welding seam is as uniform as possible, thereby reducing the subsequent adjustment work of the deviation position point and improving the detection accuracy of the ultrasonic flaw detection probe 18.

[0026] like Figure 8 and Fig. 9As shown, the memory alloy base 1 in this embodiment is distributed along the circumference of the branch pipe 23 through deformation, and the bottom wall of the memory alloy base 1 is attached to the outer surface of the GIS housing 22 through deformation, and the upper end of the inner wall of the guide rail 3 is provided with a T-shaped limit rail 13, the electric slider 16 is provided with a T-shaped groove 14 adapted to the T-shaped limit rail 13, and the lower surface of the electric slider 16 is provided with three driving wheels 15 in contact with the upper surface of the guide rail 3. Because the guide rail 3 may be partially deformed, at least one of the three driving wheels 15 is in contact with the upper surface of the guide rail 3 to maintain the driving ability of the electric slider 16 relative to the slide rail. The reason for setting the T-shaped limiting rail 13 at the upper end of the inner wall of the guide rail 3 is that the inner wall of the guide rail 3 is closest to the welding seam 24, and the inner wall of the guide rail 3 is limited by the positioning ring 10, so that the distance between each point of the inner wall of the guide rail 3 and the welding seam 24 is as constant as possible, while the outer wall of the guide rail 3 is affected by the deformation of the guide rail 3, and the distance between each point of the outer wall and the welding seam 24 varies greatly. Therefore, the T-shaped limiting rail 13 of the inner wall of the guide rail 3 is used as the actual sliding track of the electric slider 16, and the upper surface of the guide rail 3 plays a role in supporting the driving wheel 15. A universal mechanical arm 17 is installed on the electric slide 16. The universal mechanical arm 17 is connected to the electric slide rail by bolts. The universal mechanical arm 17 is close to the side where the branch pipe 23 is located, that is, the universal mechanical arm 17 is located directly above the T-slot 14. The clamping arm at the end of the universal mechanical arm 17 is provided with an ultrasonic flaw detection probe 18 facing the weld 24. Specifically, an extension rod 19 is provided between the ultrasonic flaw detection probe 18 and the clamping arm, and the detection end of the ultrasonic flaw detection probe 18 is close to the weld through the extension rod 19. The universal mechanical arm 17 is driven by the electric slide 16 to slide along the guide rail 3, so that the detection end of the ultrasonic flaw detection probe 18 scans along the weld 24.

[0027] The ultrasonic automatic positioning flaw detection equipment of this embodiment drives the ultrasonic flaw detection probe 18 clamped by the universal mechanical arm 17 to stably scan along the welding seam 24 through the adaptive electric guide rail assembly. The speed of the electric slider 16 on the adaptive electric guide rail assembly is adjustable, and the moving speed of the ultrasonic flaw detection probe 18 can be adjusted according to the detection requirements and the type of ultrasonic flaw detector, thereby further improving the accuracy of the detection results and improving the detection efficiency.

[0028] Embodiment 2: Embodiment 2 provides a GIS shell weld seam detection method, based on the fully automatic welding equipment of the adaptive GIS shell 22 of embodiment 1, this embodiment includes a controller, a distance sensor 20 and an image collector 21. The distance sensor 20 and the image collector 21 are both installed on the ultrasonic flaw detection probe 18, the input end of the controller is electrically connected to the distance sensor 20 and the image collector 21, respectively, and the output end of the controller is electrically connected to the universal mechanical arm 17 and the electric slider 16, respectively. The controller automatically makes corresponding adjustments based on the real-time data fed back by the distance sensor 20 and the image collector 21 to ensure that the distance between the ultrasonic flaw detection probe 18 and the weld is kept within the allowable error range. The specific method is as follows: First, install the adaptive electric guide rail assembly along the welding seam 24: bend the memory alloy base 1 so that the memory alloy base 1 is deformed to fit the outer surface of the GIS shell 22 along the outer side of the welding seam 24. Insert the positioning ring 10 from the upper end of the branch pipe 23, and move the positioning ring 10 downward to the welding seam 24. The upper side of the welding seam 24 supports the positioning ring 10, and the gap between the inner diameter of the positioning ring 10 and the outer diameter of the branch pipe 23 does not exceed 3 mm. The limiting boss 11 of the positioning ring 10 slides into the positioning groove 8 of the shaping bracket 2 so that the distance between the side wall of the branch pipe 23 close to the shaping bracket 2 and the welding seam 24 remains unchanged. Squeeze the bottom wall of the memory alloy base 1 in a direction perpendicular to the outer surface of the GIS shell 22, and the convex strip 4 of the bottom wall is deformed so that the bottom wall of the memory alloy base 1 fits the outer surface of the GIS shell 22. The positioning boss 9 on the side of the guide rail 3 is inserted into the positioning groove 8 so that the guide rail 3 is installed on the shaping bracket 2, and the positioning ring 10 is removed; The second step is to install the ultrasonic flaw detection probe 18: install the electric slider 16 on the guide rail 3, install the universal mechanical arm 17 on the electric slider 16, then, the clamping arm of the universal mechanical arm 17 clamps the upper end of the extension rod 19, and finally install the ultrasonic flaw detection probe 18 on the lower end of the extension rod 19, and the detection end of the ultrasonic flaw detection probe 18 is close to the weld.

[0029] The third step is to adjust the distance between the ultrasonic flaw detection probe 18 and the weld 24: the controller moves the electric slider 16 along the guide rail 3 for one circle, and the distance sensor 20 sends the distance data L of each detection point to the controller in real time. The controller determines whether the deviation between the distance data L1 corresponding to all detection points and the set value distance data L2 exceeds 20%. If the deviation exceeds 20% and the controller marks all detection points exceeding 20%, adjust the positions of all detection points exceeding 20% ​​on the memory alloy base 1 until the deviation of all detection points does not exceed 20%. If the deviation does not exceed 20%, the controller moves the electric slider 16 along the guide rail 3 for at least one circle. During the movement of the electric slider 16, the controller adjusts the distance between the detection end and the weld 24 through the universal mechanical arm 17 according to the real-time feedback distance data L1, so that the deviation between L1 and L2 is kept within 2%. The controller adjusts the detection end to keep facing the weld 24 through the universal mechanical arm 17 according to the real-time feedback image collector 21.

[0030] Step 4: Detect the quality of the weld: the controller moves the electric slide 16 along the guide rail 3 for one circle, and the detection data of the ultrasonic flaw detection probe 18 is sent to the ultrasonic flaw detector, which obtains the data of one circle of the weld 24, and the detection is completed; The fifth step is to restore the adaptive electric guide rail assembly: disassemble the universal mechanical arm 17, the electric slider 16, and the guide rail 3 in sequence, remove the memory alloy base 1, and energize and heat all the flexible electric heating wires 5 of the memory alloy base 1 until the memory alloy base 1 returns to a long strip shape.

[0031] The GIS shell 22 weld seam 24 detection method of the present embodiment is applicable to the weld seam quality detection of the weld seam 24 between the GIS shell 22 and the branch pipe 23. The running trajectory of the ultrasonic flaw detection probe 18 is determined through the dual positioning of the positioning ring 10 and the shaping bracket 2 as well as the shaping bracket 2 and the guide rail 3. The trajectory of the ultrasonic flaw detection probe 18 is calibrated by the controller through the distance sensor 20 and the image acquisition device 21, which effectively ensures that the ultrasonic flaw detection probe 18 and the weld seam 24 are always in a positive relationship without deviation, and the distance between the two is always maintained within the allowable distance range, thereby improving the accuracy of the detection result and improving the detection efficiency.

[0032] It should be understood that the above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with this technology to understand the content of the present invention and implement it accordingly. It cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, some simple deductions or substitutions can be made without departing from the concept of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims

1. An ultrasonic automatic positioning flaw detection device for GIS shell, characterized by: The invention comprises an adaptive electric guide rail assembly, which comprises a memory alloy base, a shaping bracket and a guide rail. The memory alloy base is in the shape of an elongated strip and has a U-shaped cross section. The bottom wall of the memory alloy base is provided with a plurality of convex strips protruding downward along the length direction, and a one-to-one corresponding groove is formed on the inner side of the bottom wall. A flexible electric heating wire is arranged in each groove. The shaping bracket is in the shape of a ring with an inner diameter larger than the outer diameter of the branch pipe of the GIS shell. The shaping bracket is fixed to the upper end surface of the two side walls of the memory alloy base through the bottom of the shaping bracket, so that the distance between the upper parts of the two side walls remains unchanged. The guide rail can be detachably connected to the shaping bracket. The memory alloy base is distributed along the circumference of the branch pipe by deformation, and the bottom wall of the memory alloy base is attached to the outer surface of the GIS shell by deformation, so that the adaptive electric guide rail assembly surrounds the side of the welding seam between the GIS shell and the branch pipe; It includes an electric slider sliding on a guide rail; the electric slider is provided with a universal mechanical arm close to the branch pipe; It includes a universal mechanical arm connected to an electric slider, a clamping arm at the end of the universal mechanical arm is provided with an ultrasonic flaw detection probe facing the welding seam, the universal mechanical arm is driven by the electric slider to slide along the guide rail, and then the detection end of the ultrasonic flaw detection probe is scanned along the welding seam.

2. The ultrasonic automatic positioning flaw detection device for GIS shell according to claim 1 is characterized in that: The bottom of the inner side of the memory alloy base is filled with deformable thermal conductive silicone grease, and all the flexible electric heating wires are buried in the thermal conductive silicone grease, and the heat of the flexible electric heating wires is transferred to the memory alloy base through the thermal conductive silicone grease.

3. The ultrasonic automatic positioning flaw detection device for GIS shell according to claim 2 is characterized in that: The upper part of the inner side of the memory alloy base is provided with a plurality of retaining rods connected between the two side walls of the memory alloy base, and the shaping bracket is provided with a plurality of downward notches, all of which are evenly distributed along the circumference, and all of the notches are staggered with all of the retaining rods.

4. The ultrasonic automatic positioning flaw detection device for GIS shell according to claim 3 is characterized in that: A positioning groove is arranged on the inner side of one side wall of the shaping bracket, a positioning boss corresponding to the positioning groove is arranged on the side of the guide rail, and the upper end surface of the other side wall of the shaping bracket is located on the lower surface of the guide rail.

5. The ultrasonic automatic positioning flaw detection device for GIS shell according to claim 4 is characterized in that: It includes a positioning ring sleeved on the outside of the branch pipe, a limiting boss is provided on the side of the positioning ring, a side wall of the shaping bracket is provided with a limiting groove corresponding to the limiting boss, and the limiting groove and the positioning groove are located on the same side wall of the shaping bracket, and the limiting boss slides into the limiting groove, thereby limiting the distance between the guide rail and the branch pipe.

6. The ultrasonic automatic positioning flaw detection device for GIS shell according to claim 5 is characterized in that: The base of the universal mechanical arm can be detachably connected to the top of the guide rail, and the universal mechanical arm is close to the side where the branch pipe is located; an extension rod is provided between the ultrasonic flaw detection probe and the clamp arm, and the detection end of the ultrasonic flaw detection probe is brought close to the weld through the extension rod.

7. The ultrasonic automatic positioning flaw detection device for GIS shell according to claim 6 is characterized in that: It includes a controller, a distance sensor and an image collector; the distance sensor and the image collector are both installed on the ultrasonic flaw detection probe, the input end of the controller is electrically connected to the distance sensor and the image collector respectively, and the output end of the controller is electrically connected to the universal mechanical arm and the electric slider respectively.

8. A method for detecting welding seams of GIS shells, characterized in that: The fully automatic welding equipment for the adaptive GIS shell according to claim 7 comprises the following steps: S1, bending the memory alloy base to deform the memory alloy base so as to fit the outer surface of the GIS shell along the outer side of the welding seam; S2. Insert the positioning ring from the upper end of the branch pipe and move it down to the welding seam. The upper side of the welding seam supports the positioning ring. The gap between the inner diameter of the positioning ring and the outer diameter of the branch pipe does not exceed 3 mm. S3, the limiting boss of the positioning ring slides into the positioning groove of the shaping bracket, so that the spacing between the side wall of the branch pipe close to the shaping bracket and the welding seam remains unchanged; S4, the bottom wall of the memory alloy base is squeezed in a direction perpendicular to the outer surface of the GIS shell, and the convex strips of the bottom wall are deformed so that the bottom wall of the memory alloy base fits the outer surface of the GIS shell; S5. The positioning boss on the side of the guide rail is inserted into the positioning groove so that the guide rail is installed on the shaping bracket, and the positioning ring is removed; S6, the electric slide is installed on the guide rail, the universal mechanical arm is installed on the electric slide, the clamp arm of the universal mechanical arm clamps the upper end of the extension rod, the ultrasonic flaw detection probe is installed on the lower end of the extension rod, and the detection end of the ultrasonic flaw detection probe is close to the weld; S7, the controller moves the electric slider along the guide rail for one circle, and the distance sensor sends the distance data L of each detection point to the controller in real time. The controller determines whether the deviation between the distance data L1 corresponding to all detection points and the set value distance data L2 exceeds 20%; S701, if the deviation in S7 exceeds 20% and the controller marks all the detection points exceeding 20%, adjust the positions of all the detection points exceeding 20% ​​on the memory alloy base until the deviation of all detection points does not exceed 20%; S702, if the deviation in S7 does not exceed 20%, the controller moves the electric slider along the guide rail for at least one circle. During the movement of the electric slider, the controller adjusts the distance between the detection end and the welding seam through the universal mechanical arm according to the real-time feedback distance data L1, so that the deviation between L1 and L2 is kept within 2%; S8, the controller moves the electric slide along the guide rail for one circle, and the detection data of the ultrasonic flaw detection probe is sent to the ultrasonic flaw detector, and the ultrasonic flaw detector obtains the data of one circle of welding seams, and the detection is completed; S9. Disassemble the universal robot arm, electric slider, and guide rail in sequence, remove the memory alloy base, and energize and heat all the flexible electric heating wires of the memory alloy base until the memory alloy base returns to a long strip shape.

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