Axial butt joint shaft deflection angle measuring and correcting device and method

Abstract

The invention belongs to the technical field of nondestructive testing, aims to solve the problem that axes are not coaxial when two sections of pipelines are in butt joint, and discloses an axial butt joint shaft deflection angle measuring and correcting device and method.The device comprises an inspection equipment pipeline, a carrying trolley, a lifting platform, a rotating platform and a butt joint moving platform; the inspection equipment pipeline is installed below the carrying trolley and used for achieving position and posture adjustment of the inspection equipment pipeline in the X direction, and the lifting platform is installed on the carrying trolley and used for achieving position and posture adjustment of the inspection equipment pipeline in the R direction, the Y direction and the Z direction. The rotating platform penetrates through the lifting platform to be installed on the carrying trolley to achieve position and posture adjustment of the inspection equipment pipeline in the R direction, the X direction and the Z direction, the butt joint moving platform is installed below the carrying trolley to achieve butt joint movement of the inspection equipment pipeline in the Z direction, and according to the method, the device is used for achieving coaxial axes during pipeline butt joint. The structure is simple, the method is reliable, and the axis deviation trend can be accurately judged according to the indicating value.

Description

Technical Field

[0001] This application belongs to the field of nondestructive testing technology, and in particular relates to a device and method for measuring and correcting the axial misalignment angle of an axially mating shaft. Background Technology

[0002] During the implementation of non-destructive testing (NDT) at nuclear power plants, some mobile inspection equipment pipes with the same inner diameter and roughly the same wall thickness need to be connected to fixed pipes. During connection, the coaxial deviation of the two pipe sections must be minimized. This necessitates the design of a dedicated axis deviation measurement module and correction method to correct the axis deviation, ensuring coaxiality of the two pipe sections with the same inner diameter. This facilitates the subsequent use of a specialized mechanism to clamp the two pipe sections together. Simultaneously, pressurized liquid inside will not leak from the connection point, and with the two pipe sections coaxial, inspection tools will not be jammed due to inner diameter deviation when passing through, facilitating NDT of the fixed pipe's interior. Summary of the Invention

[0003] The purpose of this application is to provide an axial docking shaft deviation measurement and correction device and method, which solves the problem of misalignment of the axes when two pipe sections are docked, and minimizes the coaxial deviation of the axes of the two pipe sections. On the one hand, it ensures that the sealing ring between the pipes is uniformly compressed to achieve a reliable sealing effect. On the other hand, it ensures a smooth transition in the internal connection of the two pipe sections with the same inner diameter.

[0004] To achieve the above objectives, this application provides the following technical solution: In a first aspect, this application provides an axial docking shaft offset angle measurement and correction device, including an inspection equipment pipeline, a transport trolley, a lifting platform, a rotating platform, and a docking moving platform. The inspection equipment pipeline is installed below the transport trolley to achieve position adjustment of the inspection equipment pipeline in the X direction. The lifting platform is installed on the transport trolley to achieve position adjustment of the inspection equipment pipeline in the R, Y, and Z directions. The rotating platform passes through the lifting platform and is installed on the transport trolley to achieve position adjustment of the inspection equipment pipeline in the R, X, and Z directions. The docking moving platform is installed below the transport trolley to achieve docking movement of the inspection equipment pipeline in the Z direction.

[0005] In some embodiments, the lifting platform includes a Y1 lifting axis, a Y2 lifting axis, and a Y3 lifting axis, which can move independently of each axis, move synchronously with two axes, or move synchronously with three axes to complete the position adjustment of the pipeline of the inspection equipment in the R, Y, and Z directions.

[0006] In some embodiments, the Y1 lifting shaft, the Y2 lifting shaft, and the Y3 lifting shaft are mounted on the platform frame. A Y1 linear displacement sensor is mounted on the side of the Y1 lifting shaft to measure the lifting height of the Y1 shaft. A Y2 linear displacement sensor is mounted on the side of the Y2 lifting shaft to measure the lifting height of the Y2 shaft. A Y3 linear displacement sensor is mounted on the side of the Y3 lifting shaft to measure the lifting height of the Y3 shaft.

[0007] In some embodiments, the inspection equipment pipeline includes an outer cylinder, a docking pipe, and an end-face parallelism detection module. The outer cylinder is installed outside the docking pipe, and the end-face parallelism detection module is installed on the outer wall of the outer cylinder.

[0008] In some embodiments, the number of end face parallelism detection modules is 4, and the 4 end face parallelism detection modules are evenly arranged in the circumferential direction.

[0009] In some embodiments, the end face parallelism detection module includes a probe, a probe steering shaft, a probe mounting base, a spring, a linear displacement sensor mounting base, and a linear displacement sensor. The probe steering shaft is mounted on the outside of the probe and is movably mounted on the probe mounting base. The tail of the probe is connected to one end of the spring, and the other end of the spring is connected to the core rod of the linear displacement sensor. The linear displacement sensor is mounted on the outer wall of the outer cylinder.

[0010] In some embodiments, the probe heads are located on the same circumference, and the probe heads are arranged parallel to the XY plane at positions of 0°, 90°, 180°, and 270°. Each probe head is about 1mm to 2mm higher than the docking plane of the docking pipe, ensuring that when the docking surfaces are in contact, the probe is squeezed and the reading changes.

[0011] Secondly, this application provides a method for measuring and correcting the axial mating shaft misalignment angle, including: Step 1: Connect the standard pipe to the inspection equipment pipeline in a free state and calibrate the parallelism detection module of the four end faces. In the calibration state, Y+=Y- and X+=X-. Step 2: Remove the standard pipe and adjust the X, Y, Z, and R coordinates of the inspection equipment pipe 2 so that it is approximately coaxial with the fixed pipe under visual inspection. Step 3: The inspection equipment pipe is connected to the fixed pipe, the probe is squeezed, and the values ​​of Y+, Y-, X+, and X- are recorded; Step 4: Calculate ΔY 同步运动 ΔY1 运动 ΔR 运动 ΔX 运动The values ​​are used to drive the X-axis, Y1, Y2, Y3, and R-axis movements according to the above values; Step 5: Repeat step 3 and record the values ​​of Y+, Y-, X+, and X-. If the deviations ΔX and ΔY are less than 0.1mm, the axis deviation requirement is met; otherwise, continue repeating step 4 until the requirement is met.

[0012] In some embodiments, the Y-axis correction value is calculated as follows: The distance Y1 moves is ΔY1 运动 =L1*ΔY / L; The synchronous motion distance of the three axes Y1, Y2, and Y3 is ΔY. 同步运动 =L2*ΔY / L.

[0013] In some embodiments, the X-axis correction value is calculated as follows: The distance R moves is ΔR 运动 =-arctan(ΔX / L); The distance X moves is ΔX 运动 =L3*ΔX / L.

[0014] Move ΔY according to the calculated value 同步运动 ΔY1 运动 ΔR 运动 ΔX 运动 .

[0015] Compared with the prior art, the axial mating shaft misalignment measurement and correction device and method provided in this application have the following advantages: This application enables two pipe sections to be connected with coaxial axes, minimizing the coaxial deviation between the two pipe sections. This ensures that the sealing rings between the pipe sections are evenly compressed, achieving a reliable sealing effect. Furthermore, it allows for a smooth transition in the internal connection of the two pipe sections with the same inner diameter.

[0016] The present application has a simple structure and reliable method for measuring the deviation angle of the docking shaft; and the deviation trend of the shaft can be accurately determined based on the indicated value. Attached Figure Description

[0017] To more clearly illustrate the technical solution of this application, the accompanying drawings used in the technical description will be briefly introduced below.

[0018] Figure 1 A schematic diagram of the axial mating shaft misalignment measurement and correction device provided in this application; Figure 2 The pipeline end face diagram of the inspection equipment provided in this application; Figure 3 This is a diagram of the end face parallelism detection module provided in this application; Figure 4A structural schematic diagram of the lifting platform provided in this application; Figure 5 A flowchart of the method for measuring and correcting the axial mating shaft offset angle provided in this application.

[0019] Explanation of reference numerals in the attached figures: 1. Fixing pipelines; 2. Inspecting equipment pipelines; 3. Transport trolley; 4. Lifting platform; 5. Rotating platform; 6. Dock-up mobile platform; 21. Outer cylinder; 22. Connecting pipes; 23. End face parallelism detection module; 231. Probe; 232. Probe steering shaft; 233. Probe mounting base; 234. Spring; 235. Linear displacement sensor mounting base; 236. Linear displacement sensor; 41. Platform frame; 42. Y1 lifting axis; 43. Y1 linear displacement sensor; 44. Y2 lifting axis; 45. Y2 linear displacement sensor; 46. Y3 lifting axis; 47. Y3 linear displacement sensor. Detailed Implementation

[0020] The following detailed description provides further details on specific implementation methods.

[0021] like Figures 1 to 4 As shown, this application provides an axial docking shaft misalignment measurement and correction device, including an inspection equipment pipe 2, a transport trolley 3, a lifting platform 4, a rotating platform 5, and a docking moving platform 6. The lifting platform 4 is mounted on the transport trolley 3, the inspection equipment pipe 2 is installed below the transport trolley 3, the rotating platform 5 passes through the lifting platform 4 and is mounted on the transport trolley 3, and the transport trolley 3 is fixedly connected to the docking moving platform 6, which is installed below the transport trolley 3. The inspection equipment pipe 2 is installed below the docking moving platform 6 and is connected via a linear guide slider sliding pair, allowing it to move back and forth along the docking moving platform 6.

[0022] In order to achieve coaxiality between the equipment pipeline 2 to be inspected and the fixed pipeline 1, the equipment pipeline 2 is fixedly connected below the transport trolley 3, the lifting platform 4, the rotating platform 5, and the docking moving platform 6, so as to realize the position adjustment of the equipment pipeline 2 in the X, Y, Z, and R directions.

[0023] Fixed pipe 1 is the object to be inspected, and inspection equipment pipe 2 is the pipe that connects to fixed pipe 1. To achieve orientation adjustment between inspection equipment pipe 2 and fixed pipe 1, this application designs a transport trolley 3, a lifting platform 4, a rotating platform 5, and a docking moving platform 6 to achieve positional adjustment of inspection equipment pipe 2 in the X, Y, Z, and R directions. The transport trolley 3 moves in the X direction, and the lifting platform 4 includes three lifting axes: Y1, Y2, and Y3. Each of the Y1, Y2, and Y3 lifting axes moves independently, but two axes can move synchronously or all three axes can move synchronously, enabling positional adjustment in the Y and RZ directions.

[0024] Rotating platform 5 completes the orientation adjustment in the R, X, and Z directions. Docking moving platform 6 completes the docking movement in the Z direction. After docking, a special mechanism presses the fixed pipe 1 and the inspection equipment pipe 2 together, and the docking surfaces have end face sealing rings to achieve a seal.

[0025] like Figure 2 As shown, the inspection equipment pipeline 2 includes an outer cylinder 21, a connecting pipeline 22, and four end-face parallelism detection modules 23. The four end-face parallelism detection modules 23 are located in the XY plane and are named X+, X-, Y+, and Y- according to their orientation. The outer cylinder 21 is set outside the connecting pipeline 22, and the end-face parallelism detection modules 23 are installed on the outer wall of the outer cylinder 21.

[0026] The probe 231 heads of the end face parallelism detection module 23 are located on the same circumference. The probe 231 heads are arranged parallel to the XY plane and located at 0°, 90°, 180° and 270°. Each probe 231 head is about 1mm to 2mm higher than the docking plane of the docking pipe 22 to ensure that when the docking surfaces are in contact, the probe is squeezed and the reading changes.

[0027] like Figure 3 As shown, the end face parallelism detection module 23 includes a probe 231, a probe steering shaft 232, a probe mounting base 233, a spring 234, a linear displacement sensor mounting base 235, and a linear displacement sensor 236. The probe steering shaft 232 is mounted outside the probe 231 and is movably mounted on the probe mounting base 233. One end of the spring 234 is connected to the tail of the probe 231, and the other end of the spring 234 is connected to the core rod of the linear displacement sensor 236. The linear displacement sensor 236 is mounted on the outer wall of the outer cylinder 21 and is arranged parallel to the axis of the outer cylinder 21.

[0028] When the fixed pipe 1 contacts the end face of the docking pipe 22, the head of the probe 231 moves backward. Under the constraint of the probe steering shaft 232 and the probe fixing seat 233, the tail of the probe 231 moves forward, causing the core rod of the linear displacement sensor 236 to extend. The linear displacement sensor 236 can accurately display the extension length of the core rod. By comparing the readings of the four linear displacement sensors 236, the deviation angle of the docking end face can be calculated.

[0029] like Figure 4 As shown, the lifting platform 4 includes a platform frame 41, a Y1 lifting shaft 42, a Y1 linear displacement sensor 43, a Y2 lifting shaft 44, a Y2 linear displacement sensor 45, a Y3 lifting shaft 46, and a Y3 linear displacement sensor 47. The Y1 lifting shaft 42, Y2 lifting shaft 44, and Y3 lifting shaft 46 are fixed on the transport trolley 3, and each lifting shaft is driven by a high-precision screw jack to complete the lifting.

[0030] A Y1 linear displacement sensor 43 is installed near the Y1 lifting shaft 42 to accurately measure the lifting height of the Y1 shaft. A Y2 linear displacement sensor 45 is installed near the Y2 lifting shaft 44 to accurately measure the lifting height of the Y2 shaft. A Y3 linear displacement sensor 47 is installed near the Y3 lifting shaft 46 to accurately measure the lifting height of the Y3 shaft.

[0031] It should be noted that the coordinate system is set as follows: facing the fixed pipe 1, the horizontal direction is the X-axis, the vertical direction is the Y-axis, and the direction along the pipe axis is the Z-axis.

[0032] X-axis: Facing fixed pipe 1, positive indicates to the right; R-axis: When viewed from above, the 3rd trolley rotates clockwise (+). Z-axis: Along the axis of fixed pipe 1, the direction from the inspection equipment pipe 2 towards fixed pipe 1 is positive; Y-axis: Facing fixed pipe 1 upwards is positive. Y1: Facing the fixed pipe 1, located at the rear of the transport trolley 3; Y2: Facing the fixed pipeline 1, located at the front right of the transport trolley 3; Y3: Facing the fixed pipe 1, located at the front left of the transport trolley 3; After the inspection equipment pipe 2 has completed coarse positioning relative to the fixed pipe 1, the axis deviation correction means that the inner diameter circles of the two pipe sections are basically coincident or in a state of small deviation. The forward movement of the Z-axis can make the inspection equipment pipe 2 contact the end face of the fixed pipe. The probe 231 of the end face parallelism detection module 23 is compressed and a reading is obtained.

[0033] Based on the above design, the deviations in the Y and RZ directions are represented by the values ​​of Y+ and Y-, and correction is mainly achieved by adjusting Y1, Y2, and Y3. Similarly, the deviations in the X and RZ directions are represented by the values ​​of X+ and X-, and correction is mainly achieved by adjusting the X-axis and R-axis movements of the equipment. Ideally, X+ = X-, and Y+ = Y-. However, deviations are generally expected in engineering practice, and in actual operation, a deviation of <0.1 is considered the standard for coaxial alignment.

[0034] Read the calculated values ​​of Y+, Y-, X+, and X-, ΔY=(ΔY+)-(ΔY-), ΔX=(ΔX+)-(ΔX-); The horizontal and vertical spacing between the displacement sensor probes is L.

[0035] The distance between Y1 and Y2 and Y3 in the Z direction is L1; The distance between Y2 and Y3 and the end face of the fixed pipe is L2; The distance between the R-axis and the end face of the fixed pipe is L3; The Y-axis correction value is calculated as follows: The distance Y1 moves is ΔY1 运动 =L1*ΔY / L; The synchronous motion distance of the three axes Y1, Y2, and Y3 is ΔY. 同步运动 =L2*ΔY / L; The X-axis correction value is calculated as follows: The distance R moves is ΔR 运动 =-arctan(ΔX / L); The distance X moves is ΔX 运动 =L3*ΔX / L.

[0036] Move ΔY according to the calculated value 同步运动 ΔY1 运动 ΔR 运动 ΔX 运动 .

[0037] This can correct axial deviations and make the inspection equipment pipes coaxial with the fixed pipes.

[0038] Furthermore, based on the aforementioned device, this application also provides a method for measuring and correcting the axial mating shaft misalignment angle, such as... Figure 5 As shown, it includes the following steps: Step 1: Make a standard pipe and connect it to the inspection equipment pipe 2 in a free state. Calibrate the parallelism detection module 23 of the four end faces. In the calibration state, Y+=Y- and X+=X-.

[0039] Step 2: Take out the standard pipe and adjust the position of the inspection equipment pipe 2 (i.e., X, Y, Z, R coordinates) so that it is approximately coaxial with the fixed pipe 1 under visual inspection.

[0040] Step 3: Check the connection between equipment pipe 2 and fixed pipe 1. The probe 231 of the end face parallelism detection module 23 is squeezed and the value changes. Record the values ​​of Y+, Y-, X+, and X-.

[0041] Step 4: Calculate ΔY using the formula 同步运动 ΔY1 运动 ΔR 运动 ΔX 运动 The values ​​are used to drive the X-axis, Y1, Y2, Y3 and R-axis movements according to the above values.

[0042] Step 5: Repeat Step 3 and record the values ​​of Y+, Y-, X+, and X-. If the deviations ΔX and ΔY are less than 0.1mm, the axis deviation requirement is met; otherwise, continue repeating Step 4 until the requirement is met.

[0043] The above description is only a specific embodiment of this application, but the protection scope of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of this application.

Claims

1. A device for measuring and correcting axial misalignment angle of a mating shaft, characterized in that, The system includes an inspection equipment pipeline (2), a transport trolley (3), a lifting platform (4), a rotating platform (5), and a docking moving platform (6). The inspection equipment pipeline (2) is installed below the transport trolley (3) to achieve pose adjustment of the inspection equipment pipeline (2) in the X direction. The lifting platform (4) is installed on the transport trolley (3) to achieve pose adjustment of the inspection equipment pipeline (2) in the R, Y, and Z directions. The rotating platform (5) passes through the lifting platform (4) and is installed on the transport trolley (3) to achieve pose adjustment of the inspection equipment pipeline (2) in the R, X, and Z directions. The docking moving platform (6) is installed below the transport trolley (3) to achieve docking movement of the inspection equipment pipeline (2) in the Z direction.

2. The axial mating shaft misalignment measurement and correction device according to claim 1, characterized in that, The lifting platform (4) includes a Y1 lifting axis, a Y2 lifting axis and a Y3 lifting axis. Each axis moves independently or two axes move synchronously or three axes move synchronously to complete the position adjustment of the inspection equipment pipeline (2) in the R, Y and Z directions.

3. The axial mating shaft misalignment measuring and correction device according to claim 2, characterized in that, The Y1 lifting shaft, the Y2 lifting shaft, and the Y3 lifting shaft are mounted on the platform frame (41). A Y1 linear displacement sensor (43) is installed on the side of the Y1 lifting shaft to measure the lifting height of the Y1 shaft. A Y2 linear displacement sensor (45) is installed on the side of the Y2 lifting shaft to measure the lifting height of the Y2 shaft. A Y3 linear displacement sensor (47) is installed on the side of the Y3 lifting shaft to measure the lifting height of the Y3 shaft.

4. The axial mating shaft misalignment measurement and correction device according to claim 1, characterized in that, The inspection equipment pipeline (2) includes an outer cylinder (21), a docking pipeline (22), and an end face parallelism detection module (23). The outer cylinder (21) is installed outside the docking pipeline (22), and the end face parallelism detection module (23) is installed on the outer wall of the outer cylinder (21).

5. The axial mating shaft misalignment measuring and correction device according to claim 4, characterized in that, The number of the end face parallelism detection modules (23) is 4, and the 4 end face parallelism detection modules (23) are evenly arranged in the circumferential direction.

6. The axial mating shaft misalignment measuring and correction device according to claim 4, characterized in that, The end face parallelism detection module (23) includes a probe (231), a probe steering shaft (232), a probe mounting base (233), a spring (234), a linear displacement sensor mounting base (235), and a linear displacement sensor (236). The probe steering shaft (232) is installed outside the probe (231) and is movably installed on the probe mounting base (233). The tail of the probe (231) is connected to one end of the spring (234), and the other end of the spring (234) is connected to the core rod of the linear displacement sensor (236). The linear displacement sensor (236) is installed on the outer wall of the outer cylinder (21).

7. The axial mating shaft misalignment measuring and correction device according to claim 6, characterized in that, The heads of the probes (231) are located on the same circumference. The heads of the probes (231) are arranged parallel to the XY plane and located at 0°, 90°, 180° and 270°. The head of each probe (231) is 1mm to 2mm higher than the docking plane of the docking pipe (22).

8. A method for measuring and correcting the axial misalignment angle of an axially mating shaft, characterized in that, include: Step 1: Connect the standard pipe to the inspection equipment pipeline (2) in a free state, and calibrate the parallelism detection module (23) of the four end faces. In the calibration state, Y+=Y- and X+=X-. Step 2: Take out the standard pipe and adjust the X, Y, Z, and R coordinates of the inspection equipment pipe 2 so that it is approximately coaxial with the fixed pipe (1) under visual inspection. Step 3: The inspection equipment pipe (2) is connected to the fixed pipe (1), the probe (231) is squeezed, and the values ​​of Y+, Y-, X+, and X- are recorded; Step 4: Calculate ΔY 同步运动 ΔY1 运动 ΔR 运动 ΔX 运动 The values ​​are used to drive the X-axis, Y1, Y2, Y3, and R-axis movements according to the above values; Step 5: Repeat step 3 and record the values ​​of Y+, Y-, X+, and X-. If the deviations ΔX and ΔY are less than 0.1mm, the axis deviation requirement is met; otherwise, continue repeating step 4 until the requirement is met.

9. The axial mating shaft misalignment measuring and correction device according to claim 8, characterized in that, The Y-axis correction value is calculated as follows: The distance Y1 moves is ΔY1 运动 =L1*ΔY / L; The synchronous motion distance of the three axes Y1, Y2, and Y3 is ΔY. 同步运动 =L2*ΔY / L.

10. The axial mating shaft misalignment measuring and correction device according to claim 8, characterized in that, The X-axis correction value is calculated as follows: The distance R moves is ΔR 运动 =-arctan(ΔX / L); The distance X moves is ΔX 运动 =L3*ΔX / L.

11. Move ΔY according to the calculated value. 同步运动 ΔY1 运动 ΔR 运动 ΔX 运动 .

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