Pipe fitting welding seam quality detection equipment

Abstract

The invention relates to the technical field of oil refining ship pipe fitting weld joint quality detection, in particular to pipe fitting weld joint quality detection equipment. The multi-axis moving device moves or rotates the annular detection device to a plurality of detection positions in sequence from the Y-axis direction, the X-axis direction, the Z-axis direction, the Y-axis rotation direction, the X-axis rotation direction and the Z-axis rotation direction, and the detected object is detected or marked; wherein the annular detection device is arranged on a detected object in a sleeving manner or is close to the detected object; therefore, surrounding type rotary detection or movable type comprehensive detection can be carried out on a detected object, the detected object can be marked, the defects of a traditional six-axis mechanical arm are greatly overcome, and the six-axis mechanical arm is low in cost, large in stroke, high in stability and wide in application range.

Description

Technical Field

[0001] The invention relates to the technical field of pipe fitting weld quality detection for oil refinery ships, and more specifically to a pipe fitting weld quality detection device. Background Art

[0002] There are many pipes in refineries with different shapes. There is no specific shape, and the diameter of the pipes is large. The traditional six-axis manipulator has limited travel and cannot move the X-ray machine to comprehensively photograph and inspect the welds of the pipes. When using the six-axis manipulator to move the X-ray machine to photograph the welds of the pipes, another six-axis manipulator needs to be set up to move the imaging plate to cooperate with the X-ray machine for photographing and imaging, which increases costs and has low work efficiency and can no longer meet people's needs. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a pipe fitting weld quality inspection device with low cost, large stroke and high degree of freedom in view of the above-mentioned defects of the prior art.

[0004] The technical solution adopted by the present invention to solve its technical problem is: A pipe fitting weld quality inspection device is constructed, comprising an annular inspection device and a multi-axis moving device; wherein the multi-axis moving device moves or rotates the annular inspection device in the Y-axis, X-axis, Z-axis, Y-axis rotation, X-axis rotation and Z-axis rotation directions to multiple inspection positions in sequence; The annular detection device is sleeved on the object to be detected or close to the object to be detected, and the annular detection device detects or marks the object to be detected.

[0005] The pipe weld quality inspection equipment of the present invention, wherein the annular inspection device automatically adjusts the working distance after detecting the working distance between the annular inspection device and the inspected object.

[0006] The pipe fitting weld quality inspection equipment of the present invention, wherein the multi-axis moving device comprises: an X-axis rotating mechanism, a Z-axis rotating mechanism, a Y-axis rotating mechanism, a Y-axis moving mechanism, an X-axis moving mechanism and a Z-axis moving mechanism; The X-axis moving mechanism is slidably connected to the Y-axis moving mechanism, and the Z-axis moving mechanism is slidably connected to the X-axis moving mechanism; The X-axis moving mechanism moves back and forth along the Y-axis direction on the Y-axis moving mechanism, the Z-axis moving mechanism moves back and forth along the X-axis direction on the X-axis moving mechanism, and the X-axis rotating mechanism moves up and down along the Z-axis direction on the Z-axis moving mechanism; The Z-axis moving mechanism is also rotatably connected to the X-axis rotating mechanism, the X-axis rotating mechanism is fixedly connected to the Z-axis rotating mechanism, the Z-axis rotating mechanism is rotatably connected to the Y-axis rotating mechanism, and the Y-axis rotating mechanism is rotatably connected to the annular detection device; The X-axis rotating mechanism rotates around the X-axis, the Z-axis rotating mechanism rotates around the Z-axis, and the annular detection device rotates around the Y-axis.

[0007] The pipe weld quality inspection equipment described in the present invention, wherein the first end of the X-axis rotating mechanism is rotatably connected to the Z-axis moving mechanism and the second end is fixedly connected to the Z-axis rotating mechanism, and the second end of the X-axis rotating mechanism can rotate left and right on a horizontal plane and is rotatably connected to the first end.

[0008] The pipe weld quality inspection device of the present invention, wherein the X-axis moving mechanism drives the X-axis moving mechanism to move back and forth along the Y-axis direction on the Y-axis moving mechanism, and drives the Z-axis moving mechanism to move back and forth along the X-axis direction on the X-axis moving mechanism; The Z-axis moving mechanism drives the X-axis rotating mechanism to move up and down along the Z-axis direction on the Z-axis moving mechanism, and drives the X-axis rotating mechanism to rotate around the X-axis on the Z-axis moving mechanism; The X-axis rotation mechanism drives the second end to rotate left and right on the horizontal plane; The Z-axis rotation mechanism drives the Y-axis rotation mechanism to rotate around the Z-axis on the Z-axis rotation mechanism; The Y-axis rotation mechanism drives the annular detection device to rotate around the Y-axis on the Y-axis rotation mechanism.

[0009] The pipe weld quality inspection equipment described in the present invention, wherein the multi-axis moving device is a six-axis manipulator or an AGV trolley.

[0010] The pipe fitting weld quality inspection equipment of the present invention further comprises: a plurality of drag chains and a plurality of cable troughs; The plurality of drag chains and the plurality of cable troughs cooperate with each other to guide the cables from the Y-axis moving mechanism to the X-axis rotating mechanism; the plurality of drag chains and the plurality of cable troughs are fixedly connected to the multi-axis moving device; The Y-axis rotating mechanism is fixedly connected with an arc-shaped drag chain groove, one end of the arc-shaped drag chain is installed in the arc-shaped drag chain groove and the other end is fixedly connected to the annular detection device; The arc-shaped drag chain guides the cable on the X-axis rotating mechanism to the annular detection device.

[0011] The pipe weld quality inspection device of the present invention, wherein the Z-axis rotating mechanism is sleeved with a conductive slip ring, the stator of the conductive slip ring is fixedly connected to the X-axis rotating mechanism, and the rotor is fixedly connected to the Y-axis rotating mechanism; The cable is cut into two sections and then connected in series with the conductive slip ring.

[0012] The pipe fitting weld quality inspection device of the present invention, wherein the annular inspection device comprises: an annular bottom plate and a driving device; The driving device drives the X-ray transmitter and the imaging plate to move closer or farther from each other synchronously, the X-ray transmitter and the imaging plate are both fixedly connected to the driving device, the driving device is fixedly connected to the annular bottom plate, the annular bottom plate is rotationally connected to the Y-axis rotating mechanism, and the Y-axis rotating mechanism drives the annular bottom plate to rotate; The annular bottom plate is a circular ring bottom plate or a C-shaped bottom plate; The X-ray emitted by the X-ray transmitter passes through the object to be detected and then irradiates the imaging plate to generate a detection picture or a scanning video; the annular detection device detects the object to be detected, including: generating the detection picture or the scanning video; The irradiation range of the X-rays emitted by the X-ray transmitter is adjustable.

[0013] The pipe weld quality inspection device of the present invention, wherein the driving device is also fixedly connected with any one of a laser marking mechanism, a paint marking mechanism, and a label marking mechanism for marking the inspected object; It also includes: a visual scanning unit, which performs visual scanning and imaging on the object to be detected, and then controls the annular detection device to be sleeved on the object to be detected through the multi-axis moving device to detect or mark the object to be detected.

[0014] The beneficial effects of the present invention are as follows: the multi-axis moving device moves or rotates the annular detection device in the directions of Y-axis, X-axis, Z-axis, Y-axis rotation, X-axis rotation and Z-axis rotation to multiple detection positions in sequence to detect or mark the object to be detected; wherein the annular detection device is sleeved on the object to be detected or close to the object to be detected; thereby realizing an embracing rotation detection or a mobile comprehensive detection of the object to be detected, and the object to be detected can also be marked, which greatly makes up for the shortcomings of the traditional six-axis manipulator, and has low cost, large stroke, high stability and a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. The drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work: Figure 1 It is a three-dimensional diagram of the first observation angle of the pipe weld quality inspection device of the preferred embodiment of the present invention; Figure 2 It is a three-dimensional diagram of the second observation angle of the pipe weld quality inspection device of the preferred embodiment of the present invention; Figure 3 It is a three-dimensional diagram of the third observation angle of the pipe weld quality inspection device of the preferred embodiment of the present invention; Figure 4 It is a three-dimensional diagram of the fourth observation angle of the pipe weld quality inspection device of the preferred embodiment of the present invention. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the following will be described clearly and completely in combination with the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are partial embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of the present invention.

[0017] The pipe weld quality inspection equipment of the preferred embodiment of the present invention is as follows Figure 1 See also Figures 2 to 4 ; It includes a ring detection device 100 and a multi-axis moving device 200; wherein the multi-axis moving device 200 moves or rotates the ring detection device 100 from the Y axis, X axis, Z axis, Y axis rotation and X axis rotation and Z axis rotation direction to multiple detection positions in sequence; The annular detection device 100 is mounted on the object to be detected (not shown in the figure) or close to the object to be detected, and the annular detection device 100 detects or marks the object to be detected.

[0018] The multi-axis moving device 200 moves or rotates the annular detection device 100 in the Y-axis, X-axis, Z-axis, Y-axis rotation, X-axis rotation and Z-axis rotation directions to multiple detection positions in turn to detect or mark the object to be detected; wherein, the annular detection device 100 is mounted on the object to be detected or close to the object to be detected; thereby realizing an embracing rotation detection or a mobile comprehensive detection of the object to be detected, and the object to be detected can also be marked, which greatly makes up for the shortcomings of the traditional six-axis manipulator, and has low cost, large travel, high stability and a wide range of applications.

[0019] like Figures 1 to 4 As shown, the annular detection device 100 automatically adjusts the working distance after detecting the working distance between the annular detection device 100 and the object to be detected; wherein, a distance detection unit is provided on the annular detection device 100 to detect the working distance between the annular detection device 100 and the object to be detected, and the distance detection unit is a distance sensor 124 or a plurality of cameras (not shown in the figure) for distance detection; or obtains the working distance from the visual scanning unit; and automatically adjusts the working distance to adapt to the detection / marking of pipes of different diameters.

[0020] like Figures 1 to 4 As shown, the multi-axis moving device 200 includes: an X-axis rotating mechanism 210, a Z-axis rotating mechanism 220, a Y-axis rotating mechanism 230, a Y-axis moving mechanism 240, an X-axis moving mechanism 250 and a Z-axis moving mechanism 260; The X-axis moving mechanism 250 is slidably connected to the Y-axis moving mechanism 240 , and the Z-axis moving mechanism 260 is slidably connected to the X-axis moving mechanism 250 ; The X-axis moving mechanism 250 moves back and forth along the Y-axis direction on the Y-axis moving mechanism 240, the Z-axis moving mechanism 260 moves back and forth along the X-axis direction on the X-axis moving mechanism 250, and the X-axis rotating mechanism 210 moves up and down along the Z-axis direction on the Z-axis moving mechanism 260; wherein the Z-axis moving mechanism 260 is also provided with a counterweight block (not shown in the figure) for pulling the X-axis rotating mechanism 210, so as to prevent the center of gravity of the multi-axis moving device 200 from shifting and affecting the stability of the structure; The Z-axis moving mechanism 260 is also rotatably connected to the X-axis rotating mechanism 210, the X-axis rotating mechanism 210 is fixedly connected to the Z-axis rotating mechanism 220, the Z-axis rotating mechanism 220 is rotatably connected to the Y-axis rotating mechanism 230, and the Y-axis rotating mechanism 230 is rotatably connected to the annular detection device 100; The X-axis rotating mechanism 210 rotates around the X-axis, the Z-axis rotating mechanism 220 rotates around the Z-axis, and the annular detection device 100 rotates around the Y-axis; the degree of freedom is high and the stroke is large.

[0021] like Figures 1 to 4 As shown, the first end of the X-axis rotating mechanism 210 is rotatably connected to the Z-axis moving mechanism 260 and the second end is fixedly connected to the Z-axis rotating mechanism 220. The second end of the X-axis rotating mechanism 210 can rotate left and right on the horizontal plane and is rotatably connected to the first end, further improving the degree of freedom.

[0022] like Figures 1 to 4 As shown, the X-axis moving mechanism 250 drives the X-axis moving mechanism 250 to move back and forth along the Y-axis direction on the Y-axis moving mechanism 240, and drives the Z-axis moving mechanism 260 to move back and forth along the X-axis direction on the X-axis moving mechanism 250; The Z-axis moving mechanism 260 drives the X-axis rotating mechanism 210 to move up and down along the Z-axis direction on the Z-axis moving mechanism 260 , and drives the X-axis rotating mechanism 210 to rotate around the X-axis on the Z-axis moving mechanism 260 ; The X-axis rotation mechanism 210 drives the second end to rotate left and right on the horizontal plane; The Z-axis rotation mechanism 220 drives the Y-axis rotation mechanism 230 to rotate around the Z-axis on the Z-axis rotation mechanism 220; The Y-axis rotation mechanism 230 drives the annular detection device 100 to rotate around the Y-axis on the Y-axis rotation mechanism 230 ; the degree of intelligence is high.

[0023] like Figures 1 to 4 As shown, the multi-axis mobile device 200 is a six-axis manipulator or an AGV vehicle, which can meet different usage requirements.

[0024] like Figures 1 to 4 As shown, it also includes: a plurality of drag chains 300 and a plurality of cable troughs 400; Multiple drag chains 300 and multiple cable troughs 400 cooperate with each other to guide the cables from the Y-axis moving mechanism 240 to the X-axis rotating mechanism 210; multiple drag chains 300 and multiple cable troughs 400 are fixedly connected to the multi-axis moving device 200; wherein, one end of the drag chain 300 is installed in the drag chain trough and the other end moves with the X-axis moving mechanism 250, the Z-axis moving mechanism 260 or the X-axis rotating mechanism 210.

[0025] The Y-axis rotating mechanism 230 is fixedly connected with an arc-shaped drag chain groove 310, one end of the arc-shaped drag chain 311 is installed in the arc-shaped drag chain groove 310 and the other end is fixedly connected to the annular detection device 100; The arc-shaped drag chain 311 guides the cable (not shown) on the X-axis rotating mechanism 210 to the annular detection device 100 ; the cable is fixedly connected to the drag chain 300 and the arc-shaped drag chain 311 ; and the cable of the annular detection device 100 is routed.

[0026] like Figures 1 to 4 As shown, a conductive slip ring (not shown) is sleeved on the Z-axis rotating mechanism 220, the stator of the conductive slip ring is fixedly connected to the X-axis rotating mechanism 210 and the rotor is fixedly connected to the Y-axis rotating mechanism 230; The cable is cut into two sections and then connected in series with the conductive slip ring, thereby preventing the cable from interfering with the movement of the multi-axis moving device 200.

[0027] like Figures 1 to 4 As shown, the annular detection device 100 includes: an annular base plate 110 and a driving device 120; The driving device 120 drives the X-ray transmitter 121 and the imaging plate 122 to move closer to or farther from each other synchronously. The X-ray transmitter 121 and the imaging plate 122 are both fixedly connected to the driving device 120. The driving device 120 is fixedly connected to the annular bottom plate 110. The annular bottom plate 110 is rotatably connected to the Y-axis rotating mechanism 230. The Y-axis rotating mechanism 230 drives the annular bottom plate 110 to rotate. The annular bottom plate 110 is a circular annular bottom plate 110 or a C-shaped bottom plate to meet different usage requirements. It is more convenient to use the C-shaped bottom plate, wherein the curvature of the C-shaped bottom plate is greater than greater than 1Лrad and less than 2Лrad; The X-ray emitted by the X-ray transmitter 121 passes through the object to be detected and then irradiates the imaging plate 122 for imaging to generate a detection picture or a scanning video; the annular detection device 100 detects the object to be detected including: generating a detection picture or a scanning video; The irradiation range of the X-ray emitted by the X-ray transmitter 121 is adjustable to avoid slow reflection due to a large irradiation range and X-ray pollution to surrounding electronic equipment. The angle of the X-ray emitted by the X-ray transmitter 121 is adjusted by a dimming mechanism 1211 fixedly connected to the X-ray transmitter 121.

[0028] like Figures 1 to 4 As shown, the driving device 120 is also fixedly connected with any one of a laser marking mechanism 123, a paint marking mechanism (not shown in the figure), and a label marking mechanism (not shown in the figure) for marking the object to be inspected; to meet different usage requirements, for example: if a certain part / weld on the object to be inspected fails the inspection, an unqualified mark is marked, which is convenient for manual rapid discovery and rework; It also includes: a visual scanning unit (not shown in the figure). After the visual scanning unit visually scans and images the object to be inspected, the multi-axis moving device 200 controls the annular detection device 100 to be mounted on the object to be inspected, and inspects or marks the object to be inspected; the degree of intelligence is high.

[0029] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims

1. A pipe weld quality inspection device, comprising a ring inspection device and a multi-axis moving device; characterized in that: The multi-axis moving device moves or rotates the annular detection device in the Y-axis, X-axis, Z-axis, Y-axis rotation, X-axis rotation and Z-axis rotation directions to multiple detection positions in sequence; The annular detection device is sleeved on the object to be detected or close to the object to be detected, and the annular detection device detects or marks the object to be detected.

2. The pipe weld quality inspection equipment according to claim 1, characterized in that: The annular detection device automatically adjusts the working distance after detecting the working distance between the annular detection device and the detected object.

3. The pipe weld quality inspection equipment according to claim 1, characterized in that: The multi-axis moving device comprises: an X-axis rotating mechanism, a Z-axis rotating mechanism, a Y-axis rotating mechanism, a Y-axis moving mechanism, an X-axis moving mechanism and a Z-axis moving mechanism; The X-axis moving mechanism is slidably connected to the Y-axis moving mechanism, and the Z-axis moving mechanism is slidably connected to the X-axis moving mechanism; The X-axis moving mechanism moves back and forth along the Y-axis direction on the Y-axis moving mechanism, the Z-axis moving mechanism moves back and forth along the X-axis direction on the X-axis moving mechanism, and the X-axis rotating mechanism moves up and down along the Z-axis direction on the Z-axis moving mechanism; The Z-axis moving mechanism is also rotatably connected to the X-axis rotating mechanism, the X-axis rotating mechanism is fixedly connected to the Z-axis rotating mechanism, the Z-axis rotating mechanism is rotatably connected to the Y-axis rotating mechanism, and the Y-axis rotating mechanism is rotatably connected to the annular detection device; The X-axis rotating mechanism rotates around the X-axis, the Z-axis rotating mechanism rotates around the Z-axis, and the annular detection device rotates around the Y-axis.

4. The pipe weld quality inspection equipment according to claim 3, characterized in that: The first end of the X-axis rotating mechanism is rotatably connected to the Z-axis moving mechanism and the second end is fixedly connected to the Z-axis rotating mechanism. The second end of the X-axis rotating mechanism can rotate left and right on a horizontal plane and is rotatably connected to the first end.

5. The pipe fitting weld quality inspection equipment according to claim 4, characterized in that: The X-axis moving mechanism drives the X-axis moving mechanism to move back and forth along the Y-axis direction on the Y-axis moving mechanism, and drives the Z-axis moving mechanism to move back and forth along the X-axis direction on the X-axis moving mechanism; The Z-axis moving mechanism drives the X-axis rotating mechanism to move up and down along the Z-axis direction on the Z-axis moving mechanism, and drives the X-axis rotating mechanism to rotate around the X-axis on the Z-axis moving mechanism; The X-axis rotation mechanism drives the second end to rotate left and right on the horizontal plane; The Z-axis rotation mechanism drives the Y-axis rotation mechanism to rotate around the Z-axis on the Z-axis rotation mechanism; The Y-axis rotation mechanism drives the annular detection device to rotate around the Y-axis on the Y-axis rotation mechanism.

6. The pipe weld quality inspection equipment according to claim 1, characterized in that: The multi-axis mobile device is a six-axis manipulator or an AGV vehicle.

7. The pipe weld quality inspection equipment according to claim 1, characterized in that: Also includes: Multiple drag chains and multiple cable ducts; The plurality of drag chains and the plurality of cable troughs cooperate with each other to guide the cables from the Y-axis moving mechanism to the X-axis rotating mechanism; the plurality of drag chains and the plurality of cable troughs are fixedly connected to the multi-axis moving device; The Y-axis rotating mechanism is fixedly connected with an arc-shaped drag chain groove, one end of the arc-shaped drag chain is installed in the arc-shaped drag chain groove and the other end is fixedly connected to the annular detection device; The arc-shaped drag chain guides the cable on the X-axis rotating mechanism to the annular detection device.

8. The pipe fitting weld quality inspection equipment according to claim 7, characterized in that: The Z-axis rotating mechanism is sleeved with a conductive slip ring, the stator of the conductive slip ring is fixedly connected to the X-axis rotating mechanism, and the rotor is fixedly connected to the Y-axis rotating mechanism; The cable is cut into two sections and then connected in series with the conductive slip ring.

9. The pipe weld quality inspection equipment according to claim 3, characterized in that: The annular detection device comprises: an annular bottom plate and a driving device; The driving device drives the X-ray transmitter and the imaging plate to move closer or farther from each other synchronously, the X-ray transmitter and the imaging plate are both fixedly connected to the driving device, the driving device is fixedly connected to the annular bottom plate, the annular bottom plate is rotationally connected to the Y-axis rotating mechanism, and the Y-axis rotating mechanism drives the annular bottom plate to rotate; The annular bottom plate is a circular ring bottom plate or a C-shaped bottom plate; The X-ray emitted by the X-ray transmitter passes through the object to be detected and then irradiates the imaging plate to generate a detection picture or a scanning video; the annular detection device detects the object to be detected, including: generating the detection picture or the scanning video; The irradiation range of the X-rays emitted by the X-ray transmitter is adjustable.

10. The pipe weld quality inspection device according to claim 9, characterized in that: The driving device is also fixedly connected to any one of a laser marking mechanism, a paint marking mechanism, and a label marking mechanism for marking the object to be detected; It also includes: a visual scanning unit, which performs visual scanning and imaging on the object to be detected, and then controls the annular detection device to be sleeved on the object to be detected through the multi-axis moving device to detect or mark the object to be detected.

Images