Equipment for flaw detection of steel pipe

Abstract

The utility model discloses equipment for flaw detection of a steel pipe, which comprises a sliding plate (2) connected with a robot ground rail (1), the sliding plate (2) and the robot ground rail (1) are in sliding guide fit, a six-axis robot (3) is fixed on the sliding plate (2), a mechanical arm (31) of the six-axis robot (3) is connected with a mounting mechanism (4), the mounting mechanism (4) is respectively connected with a detection wheel (5) and a serial mechanism (6), and the robot ground rail (1) and the serial mechanism (6) are in sliding guide fit. The detection wheel (5) is arranged close to the outer end part of the mounting mechanism (4), the detection wheel (5) extends into the pipe end (7) and is arranged opposite to the inner wall of the pipe end (7), the serial mechanism (6) is arranged close to one side of the mechanical arm (31), and the serial mechanism (6) is tightly attached to the outer wall of the pipe end (7) and walks along the length direction of a welding seam. The ultrasonic flaw detection device has the advantages that flaw detection can be performed on a pipe end groove, the ultrasonic flaw detection device is suitable for performing ultrasonic flaw detection on ovality and unevenness inside a pipe end, the ultrasonic flaw detection device is suitable for centering and flaw detection work of weld joints under different pipe diameters, and the working efficiency and the accuracy of detection data are improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of pipe end flaw detection, and particularly relates to a device for steel pipe flaw detection. Background Art

[0002] Generally, the detection of the pipe end of a welded pipe needs to involve the longitudinal and transverse detection of the weld within 300 mm of the pipe end, the delamination detection of the base metal within 25 mm on both sides of the weld, the delamination and non - delamination detection of the base metal within 50 mm of the pipe end, and the detection of the pipe end bevel surface. Since there may be bevels at some pipe ends, and there is a certain degree of ovality and unevenness inside, it will have an adverse effect on ultrasonic flaw detection; in addition, when detecting the weld of the pipe material, the flaw detection device cannot achieve weld centering, and it is easy to deviate during flaw detection. Moreover, with the change of the pipe end diameter, the distance of the probe is fixed and non - adjustable, which brings inconvenience to the operation, is not conducive to the progress of detection and flaw detection, and reduces the accuracy of data. Content of the Utility Model

[0003] The purpose of the utility model is to solve the problems that the existing steel pipe flaw detection equipment is easily affected by the ovality and unevenness of the pipe end and has low adaptability and inconvenient operation. A device for steel pipe flaw detection is provided, which can not only detect the bevel of the pipe end, adapt to the ovality and unevenness inside the pipe end for ultrasonic flaw detection, but also adapt to the weld centering and flaw detection under different pipe diameters, has a wide application range, is convenient to operate, and improves the working efficiency and the accuracy of detection data.

[0004] In order to achieve the above purpose, the utility model adopts the following technical scheme:

[0005] A device for steel pipe flaw detection includes a sliding plate connected to a robot ground rail, and the two form a sliding guiding fit. A six - axis robot is fixed on the sliding plate. An installation mechanism is connected to the robotic arm of the six - axis robot. A detection wheel and a tandem mechanism for detection are respectively connected to the installation mechanism. The detection wheel is arranged near the outer end of the installation mechanism, the detection wheel extends into the pipe end and is arranged facing the inner wall of the pipe end, the tandem mechanism is arranged near one side of the robotic arm, and the tandem mechanism closely adheres to the outer wall of the pipe end and travels along the length direction of the weld.

[0006] Further, the installation mechanism includes an installation rod. The inner end of the installation rod is connected with a fixed disc, the fixed disc is adapted to the end face of the robotic arm of the six - axis robot and the two are fixedly connected. An installation seat 43 is connected to one side of the installation rod close to the robotic arm, the tandem mechanism is fixed on the installation seat. A rectangular block is connected to the side of the installation rod far from the robotic arm. The rectangular block is sleeved on the installation rod through an opening in the middle, and the detection wheel is fixed on the rectangular block. The detection wheel and the tandem mechanism are on the same - side surface of the installation rod.

[0007] Further, the inner end of the mounting rod is fixedly connected along the radial direction of the fixed disk, and the fixed disk is perpendicular to the mounting rod. A set of triangular reinforcing ribs are also connected between the two to maintain the stability and firmness of the connection end.

[0008] Further, the detection wheel includes a probe holder. The upper part of the probe holder is connected to a buffer plate through a guide rod. A spring is sleeved on the guide rod and is arranged between the probe holder and the buffer plate. The buffer plate is fixedly connected to a rectangular block on the mounting mechanism. A wire threading shaft is connected to the probe holder. The wire threading shaft is connected to a hub through a bearing, and the hub is further connected to the detection wheel rubber through a pressing plate. A probe system for flaw detection is arranged between the two hubs on both sides.

[0009] Further, a lip seal is provided at the end of the wire threading shaft to play a sealing role.

[0010] Further, a liquid adding nozzle and an atomizing nozzle are also provided on the detection wheel. The liquid adding nozzle is arranged on the hub and is directed towards the inside of the detection wheel. The atomizing nozzle is arranged at the lower end of the probe holder and is directed towards the lower part of the detection wheel rubber.

[0011] Further, the tandem mechanism includes a weld alignment mechanism, a left adjustment mechanism, a right adjustment mechanism and a rotating rod seat that cooperate with each other. The left adjustment mechanism and the right adjustment mechanism are respectively arranged on both sides of the weld alignment mechanism. The left adjustment mechanism is connected to the rotating rod seat through a universal joint, and tandem probe seats are connected to the ends of the left and right adjustment mechanisms. The tandem probe seats are arranged facing the outer wall of the pipe end.

[0012] Compared with the prior art, the advantages of the technical solution of the present utility model are specifically as follows:

[0013] (1) The equipment of the present utility model can adapt to the influence of the ovality and unevenness inside the pipe end on ultrasonic flaw detection, can perform flaw detection on the pipe end groove, integrates the detection wheel and the tandem mechanism, and can not only perform flaw detection on the inner wall of the pipe end, but also perform flaw detection on the weld of the outer wall of the pipe end;

[0014] (2) The equipment of the present utility model can quickly realize the adjustment of the weld alignment of the tandem mechanism through the adjustment mechanism, so as to perform detection and flaw detection work on different diameter pipe ends with ovality and unevenness;

[0015] (3) Only a small amount of water is needed at the bottom of the detection wheel of the present utility model to achieve ultrasonic coupling, and the tandem probe seat can also adjust the distance between the two groups of probes to adapt to different diameter pipe ends;

[0016] (4) The present utility model adopts the cooperation of an industrial six-axis robot and a flaw detection mechanism. The robot is the execution mechanism of the system and realizes the execution function of flaw detection actions. It has the characteristics of flexible movement, strong versatility and multiple degrees of freedom, making the flaw detection more efficient. Description of the Drawings

[0017] Figure 1 is a three-dimensional view of the device for steel pipe flaw detection of the present utility model Figure 1 ;

[0018] Figure 2 is a three-dimensional view of the device for steel pipe flaw detection of the present utility model Figure 2 ;

[0019] Figure 3 is a schematic diagram of the flaw detection of the detection wheel of the device in this embodiment;

[0020] Figure 4 is a schematic diagram of the flaw detection of the array mechanism of the device in this embodiment;

[0021] Figure 5 is a schematic diagram of the structure of the detection wheel in this embodiment;

[0022] Figure 6 is a schematic diagram of the structure of the array mechanism in this embodiment. Detailed Description of the Preferred Embodiment Embodiment

[0023] To make the present utility model more clearly understood, the following further describes a device for steel pipe flaw detection of the present utility model in conjunction with the accompanying drawings. The specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model.

[0024] In this embodiment, referring to Figure 1 and Figure 2 , a device for steel pipe flaw detection, the detection wheel 5 and the array mechanism 6 are installed on the installation mechanism 4, and the end of the installation mechanism 4 is connected to the arm of the six-axis robot 3. Referring to Figure 1 , Figure 2 and Figure 4 , the installation mechanism 4 includes an installation rod 41, the inner end of the installation rod 41 is connected with a fixed disk 42, the fixed disk 42 is adapted to the end face of the robotic arm 31 of the six-axis robot 3 and the two are fixedly connected, the inner end of the installation rod 41 is connected and fixed along the radial direction of the fixed disk 42, and the fixed disk 42 and the installation rod 41 are arranged perpendicular to each other, and a group of triangular reinforcing ribs 45 are also connected between the two to maintain the stability and firmness of the connection end.

[0025] In this embodiment, an ABB industrial six-axis robot is used as the actuator of the system to realize the execution function of the flaw detection action. In view of the on-site dust and high temperature, the robot can be equipped with a customized protective suit to wrap and protect the whole machine. This six-axis industrial robot has the characteristics of flexible movement, strong versatility, and multiple degrees of freedom.

[0026] Referring to Figure 1 and Figure 2, to adapt to steel pipes of different lengths and reduce the requirements of the six-axis robot 3 for attitude changes, a robot floor rail 1 is added. A sliding plate 2 is connected to the robot floor rail 1, and the two form a sliding and guiding fit. The six-axis robot 3 is fixed to the sliding plate 2.

[0027] See Figure 3 and Figure 5 , the inspection wheel 5 includes a probe holder 51. The upper part of the probe holder 51 is connected to a buffer plate 53 through a guide rod 52. A spring 54 is sleeved on the guide rod 52, and the spring 54 is arranged between the probe holder 51 and the buffer plate 53. The buffer plate 53 is fixedly connected to a rectangular block 44 on the mounting mechanism 4. A wire threading shaft 55 is connected to the probe holder 51. The wire threading shaft 55 is connected to a hub 57 through a bearing 56. The hub 57 is further connected to a probe wheel rubber 59 through a pressing plate 58. A probe system 510 for flaw detection is arranged between the two hubs 57 on both sides.

[0028] In this embodiment, a lip seal 511 is provided at the end of the wire threading shaft 55. The inspection wheel 5 is also provided with a liquid filling nozzle 512 and an atomizing nozzle 513. The liquid filling nozzle 512 is arranged on the hub 57 and is set facing the inside of the inspection wheel 5. The atomizing nozzle 513 is arranged at the lower end of the probe holder 51 and is set facing the lower part of the probe wheel rubber 59.

[0029] The inside of the inspection wheel 5 is filled with a coupling liquid. The inspection wheel 5 contains three phased array probes. The three phased array probes are assembled on a probe fixing frame. The sound waves emitted by the three phased array probes intersect at a point at the bottom of the inspection wheel. The middle phased array probe is a combined probe. After passing through a certain water layer, the middle phased array probe is vertically incident into the steel pipe. The middle phased array probe is used to detect delamination defects; the two phased array probes on both sides are probes with two inclined angles symmetrically placed, and are used to detect transverse defects in two different directions. The two sides are inclined phased array probes. In the wheel-type probe, they are incident into the steel pipe at an inclination angle of 20°, generating a 45° shear wave signal, and are used to detect longitudinal defects in the steel pipe.

[0030] See Figure 4 and Figure 6 , the tandem mechanism 6 includes a weld alignment mechanism 61, a left adjustment mechanism 62, a right adjustment mechanism 63 and a rotating rod seat 64 that cooperate with each other. The rollers at the bottom of the weld alignment mechanism 61 are closely attached to the surface of the pipe end, and the ovality of pipe ends with different diameters is adapted through the adjustment of four tension springs; the left adjustment mechanism 62 and the rotating rod seat 64 are connected through a universal joint; the right adjustment mechanism 63 adjusts the position of the probe through a lead screw; the probe is installed on a tandem probe seat 65 and is fixed at the corresponding position through a fixed probe holder. In addition, the ovality of the pipe end can also be adapted by adjusting the distance between the two groups of probes.

[0031] During detection, four groups of array probes are formed into two pairs and placed on both sides of the weld to detect the flat-bottomed holes at the center of the weld on their respective sides. The four groups of probes can form a coupling monitor to ensure the validity of the data.

[0032] When the probe wheel 5 is closely attached to the inner wall of the steel rail, start the coupling liquid. The steel pipe is fixed and the probe wheel scans at the pipe end.

[0033] When detecting the 50-mm base metal at the pipe end, the robot drives the probe wheel 5 to rotate one circle to achieve the detection of one circle of the pipe end. To achieve the coverage of a 50-mm width range, the probe wheel can move once to achieve the full coverage detection of the 50-mm area.

[0034] When detecting the 300-mm weld at the pipe end, the robot drives the probe wheel 5 to perform spiral scanning in the corresponding area to achieve the detection of transverse and longitudinal defects in the entire weld area and the detection of the heat-affected zones on both sides of the weld. The array mechanism 6 is closely attached to the outer wall of the pipe end 7 and walks along the length direction of the weld during detection. Its array probes enter the steel pipe with shear waves through the water layer of the metal wedge block.

[0035] The equipment of the present utility model performs high-precision detection and defect statistics on the pipe end through phased array detection technology, which can not only obtain high-quality products, but also achieve the purposes of optimizing the product production process, improving the comprehensive performance of the product, and improving the product quality through defect statistical analysis.

[0036] In addition to the above embodiments, the present utility model may also have other implementation manners. All technical solutions formed by equivalent replacement or equivalent transformation fall within the protection scope required by the present utility model.

Claims

1. A device for flaw detection of steel pipes, characterized in that: The invention comprises a sliding plate (2) connected to a robot ground rail (1) on one side, the two forming a sliding guide cooperation, a six-axis robot (3) being fixed on the sliding plate (2), a mechanical arm (31) of the six-axis robot (3) being connected to a mounting mechanism (4), the mounting mechanism (4) being respectively connected to a detection wheel (5) and a serial mechanism (6) for detection, the detection wheel (5) being arranged near the outer end of the mounting mechanism (4), the detection wheel (5) extending into the interior of the pipe end (7) and being arranged facing the inner wall of the pipe end (7), the serial mechanism (6) being arranged near one side of the mechanical arm (31), the serial mechanism (6) being closely attached to the outer wall of the pipe end (7) and moving along the length direction of the weld.

2. The equipment for flaw detection of steel pipes according to claim 1, characterized in that: The mounting mechanism (4) comprises a mounting rod (41), the inner end of the mounting rod (41) is connected to a fixed disc (42), the fixed disc (42) is adapted to the end surface of the mechanical arm (31) of the six-axis robot (3) and the two are fixedly connected, the side of the mounting rod (41) close to the mechanical arm (31) is connected to a mounting seat (43), the serial mechanism (6) is fixed on the mounting seat (43), the side of the mounting rod (41) away from the mechanical arm (31) is connected to a rectangular block (44), the rectangular block (44) is sleeved on the mounting rod (41) through an opening in the middle, and the detection wheel (5) is fixed on the rectangular block (44), and the detection wheel (5) and the serial mechanism (6) are located on the side of the mounting rod (41) in the same direction.

3. The equipment for flaw detection of steel pipes according to claim 2, characterized in that: The inner end of the mounting rod (41) is connected and fixed along the radial direction of the fixed disc (42), and the fixed disc (42) and the mounting rod (41) are arranged perpendicular to each other, and a group of triangular reinforcing ribs (45) are connected between the two.

4. The equipment for flaw detection of steel pipes according to claim 2 or 3, characterized in that: The probe wheel (5) comprises a probe bracket (51), the upper part of the probe bracket (51) is connected to a buffer plate (53) via a guide rod (52), a spring (54) is sleeved on the guide rod (52), the spring (54) is arranged between the probe bracket (51) and the buffer plate (53), the buffer plate (53) is fixedly connected to a rectangular block (44) on the mounting mechanism (4), a threading shaft (55) is connected to the probe bracket (51), the threading shaft (55) is connected to a wheel hub (57) via a bearing (56), the wheel hub (57) is further connected to a probe wheel rubber (59) via a pressure plate (58), and a probe system (510) for flaw detection is arranged between the wheel hubs (57) on both sides.

5. The equipment for flaw detection of steel pipes according to claim 4, characterized in that: A lip-shaped sealing ring (511) is provided at the end of the threading shaft (55).

6. The equipment for flaw detection of steel pipes according to claim 4, characterized in that: The probe wheel (5) is also provided with a liquid adding nozzle (512) and an atomizing nozzle (513). The liquid adding nozzle (512) is arranged on the wheel hub (57) and is arranged facing the inside of the probe wheel (5). The atomizing nozzle (513) is arranged at the lower end of the probe bracket (51) and is arranged facing the lower part of the probe wheel rubber (59).

7. The equipment for flaw detection of steel pipes according to claim 2 or 3, characterized in that: The serial mechanism (6) comprises a weld centering mechanism (61), a left adjustment mechanism (62), a right adjustment mechanism (63) and a rotating rod seat (64) which cooperate with each other. The left adjustment mechanism (62) and the right adjustment mechanism (63) are respectively arranged on both sides of the weld centering mechanism (61). The left adjustment mechanism (62) and the rotating rod seat (64) are connected via a universal joint. The ends of the left and right adjustment mechanisms are connected to a serial probe seat (65). The serial probe seat (65) is arranged facing the outer wall of the pipe end (7).

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