Silicon carbide pipe defect detection equipment

Abstract

The utility model discloses silicon carbide tube defect detection equipment, which belongs to the technical field of manufacturing of silicon carbide tube heat exchangers and comprises a detection table provided with two rotary support components for placing and driving a tube to rotate. Each rotary supporting assembly is provided with one detection assembly, and the detection assemblies are used for scanning the surfaces of to-be-detected sections at the two ends of the pipe to obtain 3d point cloud data; the device further comprises a control system, and the control system is connected with the detection assembly and used for receiving and processing data obtained by the detection assembly. The two rotary supporting assemblies are collinearly arranged on the detection table, and the distance between the two rotary supporting assemblies is adjustable; according to the utility model, automatic detection can be realized, labor intensity is reduced, production cost is reduced, and detection efficiency is improved; the inspection quality can be improved, and the inspection consistency is ensured; and pipes with different lengths can be detected, and the application range is wide.

Description

Technical Field

[0001] The utility model relates to the technical field of silicon carbide tube heat exchanger manufacturing, in particular to a silicon carbide tube defect detection device. Background Art

[0002] Silicon carbide has stable chemical properties, high thermal conductivity, small thermal expansion coefficient, good wear resistance, and can withstand high concentrations of sulfuric acid, nitric acid, phosphoric acid, mixed acids, strong alkalis, oxidants, etc. Silicon carbide heat exchangers are used in chemical equipment manufacturing as a new type of material.

[0003] For pressure vessel equipment, scratches, bumps and other defects will reduce the strength of the material. Therefore, before assembling the silicon carbide tube and the orifice plate, scratches, bumps and stains should not be caused on the surface of the silicon carbide tube. The assembly connection parts of the silicon carbide tube (that is, the sections of about 50mm at both ends of the silicon carbide tube are the sections to be inspected) need to be inspected for surface scratches and pits and other defects. The existing inspection method is to observe the surface defects of the silicon carbide tube section to be inspected with the help of a microscope, and then manually divide qualified products and unqualified products; this existing inspection method mainly relies on human judgment, and has low labor skill requirements for the operator. It has the disadvantages of easy fatigue of the human eye, easy missed inspections, difficulty in unifying inspection standards, and low inspection efficiency, and the sealing quality of the product cannot be reliably guaranteed; in addition, the labor cost is high and it is not easy to produce on a large scale.

[0004] In summary, the prior art obviously has inconveniences and defects in practical use, so it is necessary to improve it. Utility Model Content

[0005] In order to solve the above technical problems or at least partially solve the above technical problems, the utility model provides a silicon carbide tube defect detection device, which can realize automatic detection, reduce labor intensity, reduce production costs, and improve detection efficiency; it can also improve the inspection quality and ensure the consistency of inspection; and it can detect tubes of different lengths and has a wide range of applications.

[0006] In order to solve the above technical problems, the utility model adopts the following technical solutions: a silicon carbide tube defect detection device, comprising a detection table, on which two rotating support assemblies for placing and driving the tube to rotate are provided;

[0007] It also includes a detection component, each of the rotating support components is provided with a detection component, which is used to scan the surface of the sections to be detected at both ends of the pipe to obtain 3D point cloud data;

[0008] It also includes a control system, which is connected to the detection component and is used to receive and process data obtained by the detection component to obtain data results on the surface defects of the tested pipe and whether it is qualified;

[0009] The two rotating support assemblies are arranged in a colinear manner on the detection platform, and the distance between the two rotating support assemblies is adjustable.

[0010] Furthermore, it also includes a feeding mechanism and a loading mechanism for removing the tested pipes and placing them according to qualified and unqualified categories; the loading mechanism and the feeding mechanism are respectively arranged on two opposite sides of the testing platform.

[0011] Furthermore, the rotating support assembly includes a detection frame and a wheel assembly mounted on the detection frame, and the detection frame can be slidably disposed on the detection platform.

[0012] Furthermore, the supporting wheel group includes two supporting wheels arranged at a relative interval, the two supporting wheels rotate synchronously in the same direction; the rotation axes of the two supporting wheels are on the same horizontal plane; the two supporting wheels support and drive the pipe to rotate;

[0013] The two supporting wheels are connected to the driving mechanism through a gear transmission structure.

[0014] Furthermore, the detection component includes a line laser camera; the line laser camera is installed on the detection frame, the shooting direction of the line laser camera is facing the surface of the section to be detected at the end of the pipe, and the shooting area of ​​the line laser camera covers the axial length of the section to be detected of the pipe; the line laser camera is connected to the control system.

[0015] Furthermore, the feeding mechanism comprises a feeding robot and a feeding tray, the feeding robot is connected to a control system; the feeding tray is arranged between the feeding robot and the testing platform;

[0016] The material unloading mechanism comprises a material unloading robot, and qualified material trays and unqualified material trays arranged on opposite sides of the material unloading robot; the material unloading robot is connected to a control system.

[0017] Furthermore, the detection platform is a long strip structure, and a guide rail extending along the length direction of the detection platform is installed on the top surface of the detection platform; the detection frame can be slidably arranged on the guide rail.

[0018] Furthermore, each supporting wheel is mounted on the detection frame via a supporting wheel shaft;

[0019] The driving mechanism is installed on the detection frame, and the driving mechanism includes a servo motor and a reducer in transmission connection; the gear transmission structure includes a driving gear, and two driven gears are meshed on the driving gear; the two driven gears are respectively fixed on the two supporting wheel shafts, and the driving gear is fixed on the output shaft of the reducer.

[0020] Furthermore, a structured light camera is installed on the mechanical arms of the loading robot and the unloading robot, and the shooting direction of the structured light camera is the same as the clamping direction of the gripper; the structured light camera is connected to the control system.

[0021] Furthermore, the rotating support assembly also includes a position sensor for detecting whether the pipe is in place, and the position sensor can be arranged on the detection frame.

[0022] Compared with the prior art, the utility model has the following advantages after adopting the above technical solution:

[0023] The utility model can realize automatic detection by arranging two rotating support components with adjustable distance and cooperating with a line laser camera, thereby reducing labor intensity, reducing production costs and improving detection efficiency; it can also improve the inspection quality and ensure the consistency of inspection; and it can detect pipes of different lengths and has a wide range of applications.

[0024] The utility model reduces the skill requirement for operators and ensures stable and reliable production.

[0025] The utility model arranges loading and unloading robots for loading and unloading, cooperates with a rotating support component and a line laser camera, realizes automation from loading, testing, and unloading, further improves production efficiency, and reduces labor intensity.

[0026] The utility model arranges a structured light camera on the mechanical arm of the loading and unloading robot to ensure the accuracy of grasping and placing during the loading and unloading process.

[0027] The utility model is suitable for batch production of pipes, has strong practicability and good application prospect.

[0028] The utility model is described in detail below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a three-dimensional schematic diagram of the utility model;

[0030] Figure 2 It is a front view of the utility model;

[0031] Figure 3 yes Figure 2 Enlarged view of point A in the middle;

[0032] Figure 4 It is a partial stereogram of the utility model;

[0033] Figure 5 yes Figure 4 Schematic diagram of the middle C direction;

[0034] Figure 6 yes Figure 5 Middle BB section view.

[0035] In the figure,

[0036] 1-inspection table, 2-loading tray, 3-guide rail, 4-loading robot, 5-unloading robot, 6-inspection frame, 7-support roller, 8-support roller shaft, 9-line laser camera, 10-servo motor, 11-reducer, 12-driving gear, 13-driven gear, 14-qualified tray, 15-unqualified tray, 16-structured light camera, 17-gripper, 18-control cabinet. DETAILED DESCRIPTION

[0037] In order to have a clearer understanding of the technical features, purposes and effects of the utility model, the specific implementation methods of the utility model are now described with reference to the accompanying drawings. Example

[0038] like Figure 1-6 As shown together, the utility model provides a silicon carbide tube defect detection device, including a detection platform 1, on which two rotation support assemblies with adjustable distance are arranged, and the two rotation support assemblies are arranged in a colinear manner, and are used to place and drive the tube to rotate;

[0039] It also includes a detection component, each rotating support component is provided with a detection component, which is used to scan the surface of the sections to be detected at both ends of the pipe to obtain 3D point cloud data;

[0040] It also includes a control system, which is used to receive and process data information obtained by the detection component to derive defects such as scratches and pits on the silicon carbide tube.

[0041] A loading mechanism and a unloading mechanism are arranged on both sides of the testing table 1. The loading mechanism places the tubes to be tested on the rotating support assembly; the unloading mechanism removes the tested tubes from the rotating support assembly and places them according to qualified and unqualified categories.

[0042] The testing platform 1 is a long strip structure, and a guide rail 3 extending along the length direction of the testing platform 1 is installed on the top surface of the testing platform 1; the rotating support assembly can move along the guide rail 3.

[0043] The rotating support assembly includes a detection frame 6 and a roller group installed on the detection frame 6, and the detection frame 6 can be slidably set on the guide rail 3; the roller group includes two rollers 7 arranged relatively spaced apart, and the two rollers 7 rotate synchronously in the same direction; the rotation axes of the two rollers 7 are on the same horizontal plane; the pipe is placed on the two rollers 7, and the two rollers 7 rotate synchronously to drive the pipe to rotate.

[0044] The two supporting wheels 7 are connected to the driving mechanism through a gear transmission structure, and the driving mechanism drives the two supporting wheels 7 to rotate synchronously in the same direction.

[0045] Furthermore, each supporting wheel 7 is mounted on the detection frame 6 via a supporting wheel shaft 8 .

[0046] The driving mechanism is installed on the detection frame 6, and the driving mechanism includes a servo motor 10 and a reducer 11 that are transmission-connected. The gear transmission structure includes a driving gear 12, and two driven gears 13 are meshed on the driving gear 12. The two driven gears 13 are arranged in an isosceles triangle with the rotation axis of the driving gear 12.

[0047] The two driven gears 13 are respectively fixed on the two supporting wheel shafts 8, and the driving gear 12 is fixed on the output shaft of the driving mechanism. Specifically, the driving gear 12 is fixed on the output shaft of the speed reducer.

[0048] The driving mechanism is a three-stage drive, in which the servo motor 10 drives the reducer 11 to work as a primary drive, the output shaft of the reducer 11 drives the driven gear 13 through the driving gear 12 as a secondary drive, and the driven gear 13 drives the supporting wheel 7 to rotate through the supporting wheel shaft 8 to drive the silicon carbide tube to rotate as a third-stage drive. The above three-stage drive can ensure that the silicon carbide tube is more stable and will not slip during high-speed rotation, thereby ensuring the authenticity and validity of the data.

[0049] Furthermore, the detection component includes a line laser camera 9, which is used to scan and detect the surface of the pipe to obtain 3D point cloud data; the line laser camera 9 is installed on the detection frame 6, and the shooting direction of the line laser camera 9 is facing the surface of the section to be detected at the end of the pipe, and the shooting area of ​​the line laser camera 9 covers the axial length of the section to be detected of the pipe.

[0050] The line laser camera 9 is connected to a control system. After receiving the 3D point cloud data obtained by the line laser camera 9 and processing it, the control system can clearly detect defects such as scratches and pits in the section to be inspected of the pipe, and store the processed data results in a database.

[0051] Furthermore, the loading mechanism includes a loading robot 4 and a loading tray 2. The loading tray 2 is used to hold the tubes to be tested. The loading robot 4 is connected to the control system, and the control system controls the loading robot 4 to grab the tubes on the loading tray 2 and accurately place them on the rotating support assembly. The loading tray 2 is arranged between the loading robot 4 and the testing platform 1.

[0052] The material unloading mechanism comprises a material unloading robot 5 , and qualified material trays 14 and unqualified material trays 15 arranged on opposite sides of the material unloading robot 5 .

[0053] The unloading robot 5 is connected to the control system; after the unloading robot 5 grabs the inspected tubes on the rotating support assembly, the control system controls the unloading robot 5 according to the data results of the processed tubes, and places the grabbed tubes into the qualified and unqualified material trays 14 and the unqualified material trays 15 according to the qualified and unqualified classifications.

[0054] Furthermore, in order to be able to accurately and completely place the area to be inspected of the tube within the detection range of the line laser camera 9 during loading, so as to avoid incomplete detection and improve detection efficiency; and to be able to accurately place the tube to the exact position of the qualified tray and the unqualified tray during unloading; a structured light camera 16 is installed on the mechanical arm of the loading robot 4 and the unloading robot 5, and the shooting direction of the structured light camera 16 is in the same direction as the clamp 17; the shooting area of ​​the structured light camera 16 can cover all grasped tubes, and can cover the trays (including the loading tray 2, the qualified tray 14, and the unqualified tray 15).

[0055] The structured light camera 16 is connected to the control system. The program of the control system pre-stores the approximate position information of the material trays (including the loading tray 2, the qualified material tray 14, and the unqualified material tray 15) and the inspection station (which is not very accurate and needs to be corrected by the structured light camera 16). The robotic arm moves to the designated position according to this information, and the structured light camera 16 starts shooting to obtain data information. After processing by the control system, the precise position of the tube in space can be obtained, thereby controlling the loading robot 4 to drive the gripper 17 to perform precise grasping and place it on the rotating support assembly; and controlling the unloading robot 5 to drive the gripper 17 to perform precise grasping, remove the tubes that have been inspected on the rotating support assembly, and arrange them neatly in the qualified material tray 14 or the unqualified material tray 15.

[0056] Furthermore, the detection device also includes a control cabinet 18 , and the control system is disposed in the control cabinet 18 .

[0057] Furthermore, the rotating support assembly also includes a position sensor for detecting whether the pipe is in place, and the position sensor can be arranged on the detection frame 6.

[0058] The working process of the utility model is as follows:

[0059] First, grab the silicon carbide tube to be tested and place it on the rotating support assembly

[0060] First, place the loading tray, qualified tray, and unqualified tray near the designated loading robot and unloading robot respectively, press the system control start button, and the loading robot drives the structured light camera to take pictures of the loading tray. The photo information data is received and processed by the control system and saved in the database. The loading robot automatically grabs the exact middle position of the silicon carbide tube on the loading tray with its gripper, and places it on the supporting wheel assembly, and ensures that the sections to be inspected at both ends of the silicon carbide tube are within the detection range of the linear laser camera, and the detection range is only within 50mm at both ends.

[0061] After the position sensor detects that the signal tube is in place, the feeding robot's gripper releases; at the same time, the feeding robot quickly reaches the position of the next silicon carbide tube to be grasped, preparing to grasp the next one.

[0062] Secondly, the rotating support assembly drives the silicon carbide tube to rotate, and the line laser camera is used to scan the sections to be inspected at both ends of the tube to obtain 3D point cloud data.

[0063] The starting motor indirectly drives the two supporting wheels to rotate synchronously in the same direction through the gear transmission structure, so that the silicon carbide tube rotates one circle. The line laser camera scans the sections to be inspected at both ends of the tube and obtains 3D point cloud data.

[0064] Again, the control system receives the 3D point cloud data obtained by the line laser camera and processes it, which can clearly detect the scratches and pit defects of the silicon carbide tube and obtain the data results of whether the tested tube is qualified.

[0065] Finally, the tested silicon carbide tubes are picked up and placed according to qualified and unqualified categories.

[0066] The unloading robot drives the structured light camera to take pictures of the silicon carbide tubes, qualified material trays and unqualified material trays on the rotating support assembly. After the captured data is processed by the control system, the parameters such as the center position of the silicon carbide tube on the current rotating support assembly, all tube positions in the qualified material tray and all tube positions in the unqualified material tray are obtained and stored in the database of the control system.

[0067] At this time, the control system will feed back the data results of whether the tested tube is qualified obtained by processing the data to the unloading robot. The unloading robot drives its gripper to grab and clamp the middle position of the silicon carbide tube on the rotating support assembly, and put it into the corresponding qualified material tray or unqualified material tray, arrange it neatly, and circulate in sequence until all the silicon carbide tubes in all the current loading trays are tested.

[0068] During this inspection process, there is no need for human assistance. The entire action process of a single tube is very efficient, from the loading robot grabbing the tube to the scratch defect detection results, and then to the unloading robot sorting and placing it in the corresponding material tray.

[0069] The above is an example of the best implementation of the utility model, and the parts not described in detail are common knowledge of ordinary technicians in this field. The protection scope of the utility model is based on the content of the claims, and any equivalent transformation based on the technical inspiration of the utility model is also within the protection scope of the utility model.

Claims

1. A silicon carbide tube defect detection device, characterized in that: The invention comprises a testing platform (1), wherein the testing platform (1) is provided with two rotating support assemblies for placing and driving the tube to rotate; It also includes a detection component, each of the rotating support components is provided with a detection component, which is used to scan the surface of the sections to be detected at both ends of the pipe to obtain 3D point cloud data; It also includes a control system, which is connected to the detection component and is used to receive and process data obtained by the detection component; The two rotating support assemblies are arranged in a colinear manner on the detection platform (1), and the distance between the two rotating support assemblies is adjustable.

2. A silicon carbide tube defect detection device as claimed in claim 1, characterized in that: It also includes a material unloading mechanism and a material loading mechanism for removing the tested tubes and placing them according to qualified and unqualified categories; the material loading mechanism and the material unloading mechanism are respectively arranged on two opposite sides of the testing platform (1).

3. A silicon carbide tube defect detection device according to claim 1, characterized in that: The rotating support assembly comprises a detection frame (6) and a wheel assembly mounted on the detection frame (6); the detection frame (6) can be slidably arranged on the detection platform (1).

4. A silicon carbide tube defect detection device as claimed in claim 3, characterized in that: The supporting wheel assembly comprises two supporting wheels (7) arranged at a relative interval, the two supporting wheels (7) rotate synchronously in the same direction; the rotation axes of the two supporting wheels (7) are on the same horizontal plane; the two supporting wheels (7) support and drive the pipe to rotate; The two supporting wheels (7) are connected to the driving mechanism via a gear transmission structure.

5. The silicon carbide tube defect detection device according to claim 3, characterized in that: The detection component comprises a line laser camera (9); the line laser camera (9) is mounted on the detection frame (6); the shooting direction of the line laser camera (9) faces the surface of the section to be detected at the end of the pipe; the shooting area of ​​the line laser camera (9) covers the axial length of the section to be detected of the pipe; and the line laser camera (9) is connected to the control system.

6. A silicon carbide tube defect detection device as claimed in claim 2, characterized in that: The loading mechanism comprises a loading robot (4) and a loading tray (2), the loading robot (4) being connected to a control system; the loading tray (2) being arranged between the loading robot (4) and the inspection platform (1); The material unloading mechanism comprises a material unloading robot (5), and qualified material trays (14) and unqualified material trays (15) arranged on opposite sides of the material unloading robot (5); the material unloading robot (5) is connected to a control system.

7. The silicon carbide tube defect detection device according to claim 3, characterized in that: The detection platform (1) is a long strip structure, and a guide rail (3) extending along its length direction is installed on the top surface of the detection platform (1); the detection frame (6) is slidably arranged on the guide rail (3).

8. The silicon carbide tube defect detection device according to claim 4, characterized in that: Each supporting wheel (7) is mounted on the detection frame (6) via a supporting wheel shaft (8); The driving mechanism is mounted on the detection frame (6), and comprises a servo motor (10) and a reducer (11) in transmission connection; the gear transmission structure comprises a driving gear (12), and two driven gears (13) are meshed on the driving gear (12); the two driven gears (13) are respectively fixed on the two supporting wheel shafts (8), and the driving gear (12) is fixed on the output shaft of the reducer (11).

9. The silicon carbide tube defect detection device according to claim 6, characterized in that: A structured light camera (16) is installed on the mechanical arms of the loading robot (4) and the unloading robot (5); the shooting direction of the structured light camera (16) is the same as the gripping direction of the gripper (17); and the structured light camera (16) is connected to a control system.

10. The silicon carbide tube defect detection device according to claim 3, characterized in that: The rotating support assembly also includes a position sensor for detecting whether the pipe is in place, and the position sensor can be arranged on the detection frame (6).

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