Mechanical arm digital ray detection tool

Abstract

The utility model relates to a mechanical arm digital radiographic inspection tool. The device is composed of mechanical arm devices, pipe clamping devices, an imaging plate hanging piece and an X-ray machine hanging piece, each mechanical arm device comprises a supporting column, a vertical moving mechanism, a fixing base, a dustproof cover, a supporting guide rail A, a supporting guide rail B, a supporting guide rail C, a supporting guide rail D and a horizontal moving mechanism, the two mechanical arm devices are arranged on the two sides of a detected pipe panel respectively, one imaging plate hanging piece is installed on one mechanical arm device, and the other imaging plate hanging piece is installed on the other mechanical arm device. One of the two tube clamping devices is used for installing a ray machine hanging piece, the two tube clamping devices are fixed on two tubes on the outermost side of a tested tube panel up and down, and each tube clamping device comprises a tube clamping seat, a tube clamp A, a tube clamp B and a tube clamp fixing bolt. During detection, the mechanical arm devices are installed on the two sides of a detected tube panel through the tube clamping devices, the digital ray machine is installed on one side, the imaging plate is installed on the other side, the digital ray machine and the imaging plate can move synchronously or independently, continuous exposure imaging of a 2.8 square meter area is achieved, the detection speed is high, and the device is suitable for continuous shooting and multi-point detection.

Description

Technical Field

[0001] The utility model belongs to the technical field of nondestructive testing, and particularly relates to a mechanical arm digital ray testing tooling for intelligent detection of oxide scale inside superheater and reheater tubes of power plant boilers. Background Art

[0002] The screen superheater, high-temperature superheater and high-temperature reheater of the boiler are made of SA-213T91 ferritic CrMo high alloy steel and SA-213TP347 austenitic stainless steel. When these two materials are used at steam temperatures above 566°C, a loose and unstable oxide layer will form on the inner wall of the tube, which will fall off and block the tube, causing the furnace tube to leak due to overheating, or cause the main steam valve of the steam turbine to be stuck and the steam chamber components to be seriously blown. In the SA-213T91 ferritic material serving under supercritical (ultracritical) conditions, the heat-affected zone at the welded joint is prone to produce holes due to high-temperature creep. After a period of development, multiple holes are connected to form IV-type creep cracking. On the thermal power unit equipment that has been in service for a long time and is used for peak regulation, the oxide scale peeling and blockage cause the hidden danger of overheating and overheating tube bursting. The IV-type creep cracking defect that is difficult to detect seriously restricts the long-term safe operation of the thermal power unit. In order to ensure that the amount of oxide scale accumulation can be detected accurately and efficiently and that type IV creep cracks can be detected in a timely manner, and to realize automatic or semi-automatic, digital, and information-based detection work, improve work efficiency, reduce labor intensity, meet the inspection requirements of different materials, and ensure the long-term safe operation of boiler equipment, it is necessary to develop a digital radiographic inspection tool that can be quickly assembled and disassembled, has a small size, light weight, is convenient to transport, and is easy to operate. By using the tooling to carry a digital radiograph and an imaging board to detect oxide scale on the tube screen, the accumulation of oxide scale inside the tube screen can be accurately discovered, thereby improving the efficiency of digital radiographic inspection.

[0003] During digital radiographic inspection, the digital radiograph and imaging board need to be installed on both sides of the inspected tube screen, placed relatively and fixed, and the distance between the two needs to be set according to the actual inspection focal length. If the tooling is not used, the digital radiograph and imaging board need to be moved, focused, photographed, and the next point taken, and the operation repeated for each inspection point. The repeated movement, fixation, and focusing of the inspection equipment takes a long time, which wastes time for continuous multi-point inspection and has low work efficiency. Therefore, it is necessary to develop a digital radiographic inspection tooling for the inspection of oxide scale inside the superheater and reheater tubes of power plant boilers, which can solve the problem that the digital radiograph and imaging board need to be re-placed and focused every time they work, resulting in low efficiency, especially for continuous shooting and multi-point inspection. Summary of the invention

[0004] In order to overcome the deficiencies in the above-mentioned prior art, the utility model provides a robot arm digital radiation detection tooling, which can be equipped with a digital radiation machine and an imaging plate for X-ray photography and detection, and can replace manual inspection of the oxide scale inside the tube panel.

[0005] The assembly and disassembly speed of the mechanical arm digital radiographic inspection tooling is fast and easy to carry. The mechanical arm device is fixed on both sides of the tested pipe screen through the pipe clamp device. One mechanical arm device is installed with an imaging board, and the other mechanical arm device is installed with a ray machine. The vertical movement mechanism of the mechanical arm device controls the vertical movement of the mechanical arm, and the horizontal movement mechanism of the mechanical arm device controls the horizontal movement of the mechanical arm to adjust the position to be tested, thereby realizing fast and continuous digital X-ray imaging detection. During the detection, the digital ray machine and the imaging board can move synchronously or separately, and continuously expose the image, which greatly reduces the labor intensity and improves the work efficiency. For pipes that require continuous shooting and multi-point detection, especially elbows, the detection speed is fast, which saves the time of re-placing the detection equipment and repeatedly focusing. It has the characteristics of simple disassembly and assembly, fast speed, and easy to carry, which greatly improves the work efficiency of the digital ray detection device in the oxide scale detection of power plant boilers, especially suitable for continuous shooting and multi-point detection, realizing intelligent and digital oxide scale detection.

[0006] In order to solve the above technical problems, the technical solution adopted by the utility model is: a mechanical arm digital radiographic detection tooling, which is composed of four parts: a mechanical arm device, a pipe clamp device, an imaging plate hanger, and a radiographic machine hanger, and is characterized in that the mechanical arm device includes a support column, a vertical moving mechanism, a fixing seat, a dust cover, a supporting guide rail A, a supporting guide rail B, a supporting guide rail C, a supporting guide rail D, and a horizontal moving mechanism;

[0007] There are two mechanical arm devices, which are respectively placed on both sides of the tube screen to be tested, one for installing the imaging plate hanger and the other for installing the X-ray machine hanger;

[0008] The upper and lower parts of the support column each have a hole for passing a hanging rod, so that the mechanical arm device is suspended on both sides of the pipe clamp device through the hanging rod, the upper end of the support column is movably connected to the mechanical arm, the lower end of the support column is fixed on a fixed seat, the mechanical arm is fixedly connected to the upper end of the vertical moving mechanism, the lower end of the vertical moving mechanism is fixed on the fixed seat, a motor for controlling the vertical telescopic movement of the vertical moving mechanism is also installed on the fixed seat, the mechanical arm is provided with a horizontal moving mechanism for controlling the horizontal telescopic movement of the mechanical arm, and the horizontal moving mechanism has a built-in motor for controlling the horizontal telescopic movement of the horizontal moving mechanism;

[0009] There are two pipe clamps, one above and one below, fixed on the two outermost pipes of the pipe screen to be tested;

[0010] The pipe clamp device comprises a pipe clamp seat, a pipe clamp A, a pipe clamp B, and a pipe clamp fixing bolt. The pipe clamp seat is set to have an opening on one side in order to insert the pipe panel. There are two pipe clamps A with different inner diameters. The pipe clamps A are movably installed on the same side of the pipe clamp seat. There are two pipe clamps B with different inner diameters. The pipe clamps B are movably installed on the other side of the pipe clamp seat. The pipe clamp B is provided with a pipe clamp fixing bolt for locking the pipe panel. A hole that can pass through the hanging rod is provided on the side corresponding to the open side of the pipe clamp seat.

[0011] Wherein, the mechanical arm of the mechanical arm device is covered with a dust cover.

[0012] Among them, the mechanical arm of the mechanical arm device is also provided with support rails A, support rails B, support rails C and support rails D for bearing weight and auxiliary supporting the mechanical arm.

[0013] Wherein, the pipe clamp device includes two pipe clamp devices for screen over detection and two pipe clamp devices for high over and high re-detection;

[0014] Among them, the inner diameter of a group of pipe clamps A and B close to the opening side of the pipe clamp seat of the pipe clamp device for screen detection is 51mm, and the inner diameter of the other group of pipe clamps A and B is 57mm;

[0015] Among them, the inner diameter of a group of pipe clamps A and pipe clamps B close to the opening side of the pipe clamp device for high over- and high re-detection is 45 mm, and the inner diameter of the other group of pipe clamps A and pipe clamps B is 51 mm.

[0016] Wherein, the imaging plate hanger is installed at the front end of the mechanical arm of the mechanical arm device through a hook, and the imaging plate hanger is used to install the imaging plate.

[0017] The X-ray machine hanger is installed at the front end of a mechanical arm of the mechanical arm device, and the X-ray machine hanger (4) is used to install a digital X-ray machine.

[0018] By adopting the above technical solution, the beneficial effects obtained by the utility model are:

[0019] The mechanical arm digital radiographic inspection tooling of the utility model has fast assembly and disassembly speed and is easy to carry. The mechanical arm device is fixed on both sides of the tube screen to be tested by a pipe clamp device. One mechanical arm device is installed with an imaging plate, and the other mechanical arm device is installed with a radiographic machine. The vertical movement mechanism of the mechanical arm device controls the vertical movement of the mechanical arm, and the horizontal movement mechanism of the mechanical arm device controls the horizontal movement of the mechanical arm to adjust the position to be tested, covering an area of ​​2.8 square meters, thereby realizing fast and continuous digital X-ray imaging detection. During the detection, the digital radiographic machine and the imaging plate can move synchronously or separately to realize continuous exposure imaging of the 2.8 square meter area, greatly reducing labor intensity and improving work efficiency.

[0020] In summary, the robotic arm digital X-ray detection tooling of the utility model has the characteristics of easy disassembly and assembly, fast detection speed and easy portability. For tubes that require continuous shooting and multi-point detection, the detection speed is fast, which saves the time of re-placing the detection equipment and repeated focusing. It greatly improves the working efficiency of the cold cathode digital X-ray detection device in the detection of oxide scale in power plant boilers, and is especially suitable for continuous shooting and multi-point detection, realizing intelligent and digitalized oxide scale detection.

[0021] The utility model is described in detail below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural diagram of a mechanical arm digital ray detection tooling of the utility model.

[0023] Figure 2 It is a structural diagram of a pipe clamp device of a mechanical arm digital ray detection tooling of the utility model.

[0024] In the figure: 1-mechanical arm device, 2-tube clamp device, 3-imaging plate hanger, 4-ray machine hanger, 11-support column, 12-vertical moving mechanism, 13-fixed seat, 14-dust cover, 15-support rail A, 16-support rail B, 17-support rail C, 18-support rail D, 19-horizontal moving mechanism, 21-tube clamp seat, 22-tube clamp A, 23-tube clamp B, 24-tube clamp fixing bolt. DETAILED DESCRIPTION

[0025] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, the implementation scheme of the present invention is described in detail below with reference to the accompanying drawings.

[0026] like Figure 1 As shown, the robotic arm digital X-ray detection tooling of the utility model is composed of four parts: a robotic arm device 1, a pipe clamp device 2, an imaging plate hanger 3, and a X-ray machine hanger 4. It is characterized in that the robotic arm device 1 includes a support column 11, a vertical moving mechanism 12, a fixed seat 13, a dust cover 14, a support rail A15, a support rail B16, a support rail C17, a support rail D18, and a horizontal moving mechanism 19.

[0027] In one embodiment of the utility model, there are two mechanical arm devices 1, which are respectively placed on both sides of the tube screen to be tested, one for installing the imaging plate hanger 3, and the other for installing the X-ray machine hanger 4.

[0028] In one embodiment of the utility model, a hole for passing the suspension rod is respectively opened at the upper and lower parts of the support column 11, so that the mechanical arm device 1 is suspended on both sides of the pipe clamp device 2 through the suspension rod, the upper end of the support column 11 is movably connected to the mechanical arm, the lower end of the support column 11 is fixed on the fixed seat 13, the mechanical arm is fixedly connected to the upper end of the vertical moving mechanism 12, the lower end of the vertical moving mechanism 12 is fixed on the fixed seat 13, and a motor for controlling the vertical telescopic movement of the vertical moving mechanism 12 is also installed on the fixed seat 13, the mechanical arm is provided with a horizontal moving mechanism 19 for controlling the horizontal telescopic movement of the mechanical arm, and the horizontal moving mechanism 19 has a built-in motor for controlling the horizontal telescopic movement of the horizontal moving mechanism 19

[0029] In one embodiment of the utility model, there are two pipe clamp devices 2, one above and one below, which are fixed on the two outermost pipes of the pipe panel to be tested.

[0030] like Figure 2 As shown, the pipe clamp device 2 includes a pipe clamp seat 21, a pipe clamp A22, a pipe clamp B23, and a pipe clamp fixing bolt 24. The pipe clamp seat 21 is set to be open on one side in order to insert the pipe panel. There are two pipe clamps A22 with different inner diameters. The pipe clamps A22 are movably installed on the same side of the pipe clamp seat 21. There are two pipe clamps B23 with different inner diameters. The pipe clamps B23 are movably installed on the other side of the pipe clamp seat 21. The pipe clamp B23 is provided with a pipe clamp fixing bolt 24 for locking the pipe panel. A hole that can pass through the suspension rod is set on the side corresponding to the open side of the pipe clamp seat 21.

[0031] like Figure 1 As shown, the mechanical arm of the mechanical arm device 1 is covered with a dust cover 14.

[0032] like Figure 1 As shown, the robot arm of the robot arm device 1 is also provided with support rails A15, B16, C17 and D18 for bearing weight and auxiliary supporting the robot arm.

[0033] In one embodiment of the utility model, the pipe clamp device 2 includes two pipe clamp devices 2 for screen over detection and two pipe clamp devices 2 for high over and high re-detection. The inner diameter of one group of pipe clamps A22 and B23 near the opening side of the pipe clamp seat 21 of the pipe clamp device 2 for screen over detection is 51 mm, and the inner diameter of the other group of pipe clamps A22 and B23 is 57 mm. The inner diameter of one group of pipe clamps A22 and B23 near the opening side of the pipe clamp device 2 for high over and high re-detection is 45 mm, and the inner diameter of the other group of pipe clamps A22 and B23 is 51 mm.

[0034] In one embodiment of the present utility model, the imaging plate hanger 3 is installed at the front end of the robot arm of the robot arm device 1 through a hook, and the imaging plate hanger 3 is used to install the imaging plate.

[0035] In one embodiment of the present utility model, the X-ray machine hanger 4 is installed at the front end of the mechanical arm of the mechanical arm device 1, and the X-ray machine hanger 4 is used to install a digital X-ray machine.

[0036] In one embodiment of the utility model, during the inspection, first, the mechanical arm device 1 is fixed on both sides of the tube screen to be tested by the tube clamp device 2. On the two outermost tubes of the tube screen to be tested, a tube clamp device 2 is installed on the upper and lower parts, and a hanging rod is installed on the tube clamp device 2. The hanging rods placed on both sides of the tube clamp device 2 pass through the support column 11, and a mechanical arm device 1 is fixed respectively. One mechanical arm device 1 is installed with an imaging plate hanger 3 for installing an imaging plate, and the other mechanical arm device 1 is installed with a X-ray machine hanger 4 for installing a X-ray machine. Then, the vertical movement mechanism 12 of the mechanical arm device 1 controls the vertical movement of the mechanical arm, and the horizontal movement mechanism 19 of the mechanical arm device 1 controls the horizontal movement of the mechanical arm to adjust the position to be tested, thereby realizing continuous exposure imaging of an area of ​​2.8 square meters and rapid inspection.

[0037] To sum up, the mechanical arm digital radiographic inspection tooling of the utility model has the following advantages: it is easy to load and unload, fast, and easy to carry. It is especially suitable for continuous shooting and multi-point detection. It improves the efficiency of digital radiographic detection devices in the detection of oxide scale in power plant boilers, shortens the maintenance period, reduces labor intensity, and realizes intelligent and digital detection of oxide scale in power plant boilers, which is conducive to the application and promotion of digital radiographic detection devices in the field of industrial flaw detection.

[0038] The specific implementation modes of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above implementation modes, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. A mechanical arm digital radiographic inspection tool, comprising a mechanical arm device (1), a pipe clamp device (2), an imaging plate hanger (3), and a radiographic machine hanger (4), characterized in that The mechanical arm device (1) comprises a support column (11), a vertical moving mechanism (12), a fixing seat (13), a dust cover (14), a supporting guide rail A (15), a supporting guide rail B (16), a supporting guide rail C (17), a supporting guide rail D (18), and a horizontal moving mechanism (19); There are two mechanical arm devices (1), which are respectively placed on both sides of the tube screen to be tested, one for installing the imaging plate hanger (3) and the other for installing the X-ray machine hanger (4); The upper and lower parts of the support column (11) each have a hole for passing a suspension rod, so that the mechanical arm device (1) is suspended on both sides of the pipe clamp device (2) through the suspension rod; the upper end of the support column (11) is movably connected to the mechanical arm; the lower end of the support column (11) is fixed to a fixing seat (13); the mechanical arm is fixedly connected to the upper end of the vertical moving mechanism (12); the lower end of the vertical moving mechanism (12) is fixed to the fixing seat (13); a motor for controlling the vertical telescopic movement of the vertical moving mechanism (12) is also installed on the fixing seat (13); the mechanical arm is provided with a horizontal moving mechanism (19) for controlling the horizontal telescopic movement of the mechanical arm; the horizontal moving mechanism (19) has a built-in motor for controlling the horizontal telescopic movement of the horizontal moving mechanism (19); There are two pipe clamp devices (2), one above and one below, fixed on the two outermost pipes of the pipe panel to be tested; The pipe clamp device (2) comprises a pipe clamp seat (21), a pipe clamp A (22), a pipe clamp B (23), and a pipe clamp fixing bolt (24); the pipe clamp seat (21) is arranged to have one side open in order to be able to insert a pipe panel; the pipe clamps A (22) are two and have different inner diameters; the pipe clamps A (22) are movably mounted on the same side of the pipe clamp seat (21); the pipe clamps B (23) are two and have different inner diameters; the pipe clamps B (23) are movably mounted on the other side of the pipe clamp seat (21); the pipe clamp B (23) is provided with a pipe clamp fixing bolt (24) for locking the pipe panel; and a hole through which a hanging rod can pass is provided on one side of the pipe clamp seat (21) corresponding to the open side.

2. The robot arm digital radiographic inspection tooling according to claim 1 is characterized in that The mechanical arm device (1) has a mechanical arm upper outer cover dust cover (14).

3. The robot arm digital radiographic inspection tooling according to claim 1 is characterized in that The mechanical arm of the mechanical arm device (1) is also provided with a support rail A (15), a support rail B (16), a support rail C (17), and a support rail D (18) for bearing weight and assisting in supporting the mechanical arm.

4. The robot arm digital radiographic inspection tooling according to claim 1 is characterized in that The pipe clamp device (2) comprises two pipe clamp devices (2) for screen over detection and two pipe clamp devices (2) for high over and high re-detection; The inner diameter of a group of pipe clamps A (22) and B (23) close to the opening side of the pipe clamp seat (21) of the pipe clamp device (2) for screen detection is 51 mm, and the inner diameter of another group of pipe clamps A (22) and B (23) is 57 mm. The inner diameter of a group of pipe clamps A (22) and B (23) close to the opening side of the pipe clamp device (2) for high over- and high re-detection is 45 mm, and the inner diameter of another group of pipe clamps A (22) and B (23) is 51 mm.

5. The robot arm digital radiographic inspection tooling according to claim 1 is characterized in that The imaging plate hanger (3) is mounted on the front end of the mechanical arm of the mechanical arm device (1) via a hook, and the imaging plate hanger (3) is used to mount the imaging plate.

6. The robot arm digital radiographic inspection tooling according to claim 1 is characterized in that The X-ray machine hanger (4) is installed at the front end of the mechanical arm of the mechanical arm device (1), and the X-ray machine hanger (4) is used to install a digital X-ray machine.

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