Automatic helium leak detection device for tube-tube plate seal welding of heat exchanger

Abstract

The utility model discloses an automatic helium leak detection device for tube-tube plate seal welding of a heat exchanger. The automatic helium leak detection device comprises a base, a robot, a robot control cabinet, an industrial personal computer and a helium leak detector, a tail end shaft of the robot is fixedly connected with a bias plate, and the bias plate is fixedly provided with a global camera, a local camera and a laser range finder; the bias plate is connected with a mounting disc, the mounting disc is provided with more than one suction gun, and the suction gun is connected with a helium leak detector; the helium leak detector, the global camera, the local camera and the laser range finder are all connected with the industrial personal computer; according to the utility model, systematization, automation and intellectualization of detection can be realized, wrong detection and missing detection caused by human factors can be avoided, and the detection accuracy and the detection efficiency are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a sealing welding helium leak detection device, especially for the sealing welding automatic helium leak detection device of heat exchanger tube sheet and tube. BACKGROUND

[0002] In the production and manufacturing process of the heat exchanger, the connection quality between the heat exchange pipe and the tube sheet is an important indicator for measuring the product quality. The connection between the tube and the tube sheet should be tight and have good sealing performance to ensure the heat transfer efficiency of the heat exchanger.

[0003] The tube and the tube sheet are connected by the "strength welding + expansion" method, which constitutes the boundary of the medium on both sides of the heat exchanger and is the weakest part of the entire heat exchanger. The welding (sealing welding) between the tube and the tube sheet requires high quality and is difficult. The tube-tube sheet eliminates the gap between them through expansion and diameter expansion, thereby protecting the sealing welding. During the operation of the equipment, the connection part is most likely to be damaged due to the reasons of structure and stress, etc. Therefore, during the manufacturing process, the welding and expansion quality need to be strictly checked to avoid welding failure due to improper expansion.

[0004] After the sealing welding, 100% PT detection and 100% helium leak detection are performed on the welding seam to ensure that the welding seam has no excessive defects, and then the tube-tube sheet expansion and 100% diameter expansion inspection are performed. Currently, helium leak detection needs to be performed manually. After helium is introduced into the tube, the tube is checked by a helium leak detection probe. Due to the large number of tubes and the dense distribution, the workload during detection is huge, the detection personnel cannot work continuously, and it is easy to miss detection. Moreover, the recorded data is huge, time-consuming and labor-intensive, and it is easy to make recording errors, which affects the accuracy and efficiency of detection. SUMMARY

[0005] The utility model aims at the above-mentioned insufficient of prior art, provides a kind of heat exchanger tube-tube sheet sealing welding automatic helium leak detection device, it can realize the systematization, automation, intelligentization of detection, can avoid the wrong detection caused by human factor, and improve detection accuracy and detection efficiency.

[0006] In order to achieve the above-mentioned purpose, the utility model of a kind of heat exchanger tube-tube sheet sealing welding automatic helium leak detection device, including base, robot, robot control cabinet, industrial computer, helium leak detector;Its characterized in that: bias plate is fixedly connected on the terminal shaft of robot, global camera, local camera and laser range finder are fixedly arranged on bias plate;Bias plate is connected with mounting disc, more than one suction gun is arranged on mounting disc, and suction gun is connected with helium leak detector;Helium leak detector, global camera, local camera and laser range finder are connected with industrial computer.

[0007] The utility model discloses a mobile robot end shaft makes the global camera shoot pipe plate whole image, according to initial image, automatic search pipe board coplanar three points, and then through laser range finder completes workpiece pose calibration, after the processing through contour extraction algorithm, obtains pipe hole center image coordinate and carries out numbering to the pipe hole of being measured, according to every center image coordinate, obtains the spatial coordinate of every pipe hole corresponding robot, again through mobile robot end shaft, local camera shoots high accuracy local each pipe hole image, according to the center and circle contour recognition extraction of graphic processing algorithm, and determine all the center coordinates of pipe hole being measured, according to the numbering of all pipe hole center coordinates, combine the calibration result of robot end position, the motion path of detection device is planned by navigation algorithm, and according to pipe hole design drawing, the quantity of pipe hole is verified, and whether the detection path is correct is verified, when detecting, helium is passed in the inside container, according to the motion path, the robot moves to the pipe and pipe plate weld ( seal weld) of gun, and helium leak detector judges whether the overproof leakage appears, and the measurement data is transmitted to industrial computer,

[0008] The utility model discloses a mobile robot end shaft makes the global camera shoot pipe plate whole image, according to initial image, automatic search pipe board coplanar three points, and then through laser range finder completes workpiece pose calibration, after the processing through contour extraction algorithm, obtains pipe hole center image coordinate and carries out numbering to the pipe hole of being measured, according to every center image coordinate, obtains the spatial coordinate of every pipe hole corresponding robot, again through mobile robot end shaft, local camera shoots high accuracy local each pipe hole image, according to the center and circle contour recognition extraction of graphic processing algorithm, and determine all the center coordinates of pipe hole being measured, according to the numbering of all pipe hole center coordinates, combine the calibration result of robot end position, the motion path of detection device is planned by navigation algorithm, and according to pipe hole design drawing, the quantity of pipe hole is verified, and whether the detection path is correct is verified, when detecting, helium is passed in the inside container, according to the motion path, the robot moves to the pipe and pipe plate weld ( seal weld) of gun, and helium leak detector judges whether the overproof leakage appears, and the measurement data is transmitted to industrial computer,

[0009] As a further improvement of the utility model, the offset plate is connected with the mounting disc through the quick-change disc. Through the quick-change disc, other detection devices such as an internal diameter instrument can be replaced on the mounting disc to detect the expansion diameter, thereby expanding the detection range.

[0010] As a further improvement of the utility model, the suction gun is connected with the helium leak detector through a hose. When the suction gun is moved, the position of the helium leak detector does not need to be moved, thereby facilitating detection.

[0011] In summary, the utility model can realize systematic, automatic and intelligent detection, can avoid false detection caused by human factors, and improve detection accuracy and efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 It is a perspective view of the utility model embodiment.

[0013] Figure 2 For Figure 1 Enlarged view at A. DETAILED DESCRIPTION

[0014] The utility model is further explained below in connection with the drawings.

[0015] As Figures 1 to 2 The embodiment of the heat exchanger tube plate on the pipe diameter expansion automatic detection system, including base 1, robot 2, robot control cabinet 3, industrial computer 4, helium leak detector;The end shaft of robot 2 is fixedly connected with bias plate 5, and global camera 7, local camera 8 and laser range finder 9 are fixedly arranged on bias plate 5;Bias plate 5 is connected with mounting disc 6 through quick-change disc 11, and mounting disc 6 is provided with a suction gun 12, and suction gun 12 is connected with helium leak detector (not shown) through hose;Helium leak detector, global camera 7, local camera 8 and laser range finder 9 are connected with industrial computer 4.

[0016] The utility model discloses a mobile robot 2 end shaft, makes global camera 7 shoot pipe plate whole image, according to initial image, automatically searches pipe plate coplanar three points, and then completes workpiece pose calibration through laser range finder 9, obtains pipe hole center image coordinate and carries out the numbering to the pipe hole to be measured after the processing of contour extraction algorithm, according to each center image coordinate, obtains the robot space coordinate corresponding to each pipe hole;Again through the end shaft of mobile robot, local camera 8 shoots high-precision local each pipe hole image, according to the center of circle and circle contour recognition extraction of graphic processing algorithm, and determine the center coordinates of all pipe holes to be measured;According to the numbering of all pipe hole center coordinates, the calibration result of the end position of robot is combined, and the motion path of detection device is planned by navigation algorithm, and the number of pipe holes is verified according to the pipe hole design drawing, and whether the detection path is correct is verified;Helium is passed in the container during detection, according to the motion path, the robot moves suction gun 12 to the pipe and pipe plate weld (sealing weld), and helium leak detector judges whether there is excessive leakage, and measurement data is transmitted to industrial computer 4;

[0017] The utility model discloses a center is industrial computer, can send instruction to global camera 7, local camera 8 and laser range finder 9, realizes data acquisition, image processing, detection data analysis save, visual chart display, and the coordinate relation between the device and workpiece is established by the method of hand-eye calibration through the cooperation of robot and global camera 7, realizes the quick automatic alignment of tube plate, the system configures two industrial cameras: global camera 7 shoots the whole image of tube plate, and global big field camera is roughly positioned to workpiece, and then high-precision local tube hole image is shot through local camera 8, and the center coordinate of tube hole is accurately determined, and the optimal detection path is planned, solves the contradiction between big field planning and small area precision, realizes the double promotion of positioning efficiency and precision, the utility model discloses can realize the systematization, automation, intelligentization of detection, saves manpower, can avoid the mistake of human factor and leads to the detection, improves detection accuracy and detection efficiency,

[0018] Through quick change disc 11, other detection devices such as internal diameter instrument can be replaced, and the expansion of diameter detection can be carried out, and the detection range is expanded.

[0019] The above embodiments are described, but it should be understood that the above embodiments are only for the purpose of example and illustration, and are not intended to limit the utility model to the range of the described embodiments, such as 2-3 suction guns can also be arranged on the mounting disc.

Claims

1. An automatic helium leak detection device for heat exchanger tube-tube sheet sealing welds, comprising a base, a robot, a robot control cabinet, an industrial computer, and a helium leak detector; characterized in that: An offset plate is fixed to the end axis of the robot. A global camera, a local camera, and a laser rangefinder are fixed on the offset plate. A mounting plate is connected to the offset plate. One or more suction guns are mounted on the mounting plate. The suction guns are connected to a helium leak detector. The helium leak detector, the global camera, the local camera, and the laser rangefinder are all connected to an industrial control computer.

2. The automatic helium leak detection device for heat exchanger tube-tube sheet sealing welds as described in claim 1, characterized in that: The bias plate is connected to the mounting plate via a quick-change plate.

3. An automatic helium leak detection device for heat exchanger tube-tube sheet sealing welds as described in claim 1 or 2, characterized in that: The suction gun is connected to the helium leak detector via a hose.

Images