Pipe fitting welding seam quality detection equipment

Abstract

The utility model relates to the technical field of oil refining ship pipe fitting weld joint quality detection, in particular to pipe fitting weld joint quality detection equipment. The multi-axis moving device moves or rotates the annular detection device to a plurality of detection positions in sequence from the Y-axis direction, the X-axis direction, the Z-axis direction, the Y-axis rotation direction, the X-axis rotation direction and the Z-axis rotation direction, and the detected object is detected or marked; wherein the annular detection device is arranged on a detected object in a sleeving manner or is close to the detected object; therefore, surrounding type rotary detection or movable type comprehensive detection can be carried out on a detected object, the detected object can be marked, the defects of a traditional six-axis mechanical arm are greatly overcome, and the six-axis mechanical arm is low in cost, large in stroke, high in stability and wide in application range.

Description

Technical Field

[0001] This utility model relates to the field of quality inspection technology for weld seams of oil refinery vessel pipe fittings, and more specifically, to a pipe fitting weld seam quality inspection device. Background Technology

[0002] Oil refinery vessels have a large number of pipes with various shapes and sizes, and the diameters of these pipes are relatively large. Traditional six-axis robotic arms have limited travel and cannot move the X-ray machine to perform comprehensive imaging and inspection of the weld seams of the pipes. Furthermore, when using a six-axis robotic arm to move the X-ray machine to image the weld seams, another six-axis robotic arm is still needed to move the imaging plate in conjunction with the X-ray machine, which increases costs and reduces work efficiency, and can no longer meet people's needs. Utility Model Content

[0003] The technical problem to be solved by this utility model is to provide a pipe fitting weld quality inspection device that is low in cost, has a large stroke, and a high degree of freedom, in view of the above-mentioned defects of the prior art.

[0004] The technical solution adopted by this utility model to solve its technical problem is:

[0005] A pipe fitting weld quality inspection device is constructed, comprising a ring inspection device and a multi-axis moving device; wherein, the multi-axis moving device moves or rotates the ring inspection device sequentially to multiple inspection positions from the Y-axis, X-axis, Z-axis, Y-axis rotation, X-axis rotation, and Z-axis rotation directions;

[0006] The annular detection device is fitted onto or near the object being tested, and the annular detection device performs detection or marking on the object being tested.

[0007] The pipe fitting weld quality inspection equipment of this utility model includes an annular detection device that automatically adjusts the working distance after detecting the working distance between itself and the object being inspected.

[0008] The pipe fitting weld quality inspection equipment of this utility model includes a multi-axis moving device comprising: an X-axis rotation mechanism, a Z-axis rotation mechanism, a Y-axis rotation mechanism, a Y-axis moving mechanism, an X-axis moving mechanism, and a Z-axis moving mechanism.

[0009] The X-axis moving mechanism is slidably connected to the Y-axis moving mechanism, and the Z-axis moving mechanism is slidably connected to the X-axis moving mechanism;

[0010] The X-axis moving mechanism moves back and forth along the Y-axis on the Y-axis moving mechanism, the Z-axis moving mechanism moves back and forth along the X-axis on the X-axis moving mechanism, and the X-axis rotating mechanism moves up and down along the Z-axis on the Z-axis moving mechanism.

[0011] The Z-axis moving mechanism is also rotatably connected to the X-axis rotating mechanism, the X-axis rotating mechanism is fixedly connected to the Z-axis rotating mechanism, the Z-axis rotating mechanism is rotatably connected to the Z-axis rotating mechanism, and the ring detection device is rotatably connected to the Y-axis rotating mechanism.

[0012] The X-axis rotation mechanism rotates around the X-axis, the Z-axis rotation mechanism rotates around the Z-axis, and the ring detection device rotates around the Y-axis.

[0013] The pipe fitting weld quality inspection equipment of this utility model, wherein the first end of the X-axis rotation mechanism is rotatably connected to the Z-axis moving mechanism and the second end is fixedly connected to the Z-axis rotating mechanism, and the second end of the X-axis rotating mechanism can rotate left and right on the horizontal plane and is rotatably connected to the first end.

[0014] The pipe fitting weld quality inspection equipment of this utility model includes an X-axis moving mechanism that drives the X-axis moving mechanism to move back and forth along the Y-axis direction on the Y-axis moving mechanism, and drives the Z-axis moving mechanism to move back and forth along the X-axis direction on the X-axis moving mechanism.

[0015] The Z-axis moving mechanism drives the X-axis rotating mechanism to move up and down along the Z-axis on the Z-axis moving mechanism, and drives the X-axis rotating mechanism to rotate around the X-axis on the Z-axis moving mechanism;

[0016] The X-axis rotation mechanism drives the second end to rotate left and right on the horizontal plane;

[0017] The Z-axis rotation mechanism drives the Y-axis rotation mechanism to rotate around the Z-axis on the Z-axis rotation mechanism;

[0018] The Y-axis rotation mechanism drives the ring detection device to rotate around the Y-axis on the Y-axis rotation mechanism.

[0019] The pipe fitting weld quality inspection equipment of this utility model, wherein the multi-axis moving device is a six-axis robot or an AGV trolley.

[0020] The pipe fitting weld quality inspection equipment of this utility model further includes: multiple cable chains and multiple cable troughs;

[0021] Multiple cable chains and multiple cable trays cooperate to guide the cable from the Y-axis moving mechanism to the X-axis rotating mechanism; all multiple cable chains and multiple cable trays are fixedly connected to the multi-axis moving device;

[0022] An arc-shaped drag chain groove is fixedly connected to the Y-axis rotation mechanism. One end of the arc-shaped drag chain is installed in the arc-shaped drag chain groove and the other end is fixedly connected to the ring detection device.

[0023] The arc-shaped cable guides the cable on the X-axis rotation mechanism to the ring detection device.

[0024] The pipe fitting weld quality inspection equipment of this utility model includes a conductive slip ring sleeved on the Z-axis rotation mechanism. The stator of the conductive slip ring is fixedly connected to the X-axis rotation mechanism and the rotor is fixedly connected to the Y-axis rotation mechanism.

[0025] The cable is cut into two sections and connected in series with the conductive slip ring.

[0026] The pipe fitting weld quality inspection equipment of this utility model, wherein the annular inspection device includes: an annular base plate and a driving device;

[0027] The driving device drives the X-ray transmitter and the imaging plate to move closer or further away from each other synchronously. The X-ray transmitter and the imaging plate are both fixedly connected to the driving device. The driving device is fixedly connected to the annular base plate. The annular base plate is rotatably connected to the Y-axis rotation mechanism. The Y-axis rotation mechanism drives the annular base plate to rotate.

[0028] The annular base plate is either a circular annular base plate or a C-shaped base plate;

[0029] The X-ray emitted by the X-ray transmitter passes through the object being tested and then irradiates the imaging plate to generate a test image or a scanned video; the ring detection device detects the object being tested by generating the test image or the scanned video.

[0030] The irradiation range of the X-ray emitted by the X-ray transmitter is adjustable.

[0031] The pipe fitting weld quality inspection equipment of this utility model includes a laser marking mechanism, a paint spraying marking mechanism, and a labeling marking mechanism that are fixedly connected to the driving device for marking the inspected object.

[0032] It also includes a visual scanning unit, which performs visual scanning imaging on the object to be tested, and then controls the ring detection device to be mounted on the object to be tested through the multi-axis moving device to detect or mark the object.

[0033] The beneficial effects of this utility model are as follows: the multi-axis moving device moves or rotates the ring detection device sequentially to multiple detection positions from the Y-axis, X-axis, Z-axis, Y-axis rotation, X-axis rotation, and Z-axis rotation directions to detect or mark the object being detected; wherein, the ring detection device is fitted on or close to the object being detected; thereby realizing the ring-shaped rotation detection or moving comprehensive detection of the object being detected, and can also mark the object being detected, which greatly makes up for the shortcomings of traditional six-axis robots, and has low cost, large stroke, high stability, and wide applicability. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the utility model will be further described below in conjunction with the accompanying drawings and embodiments. The drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a three-dimensional view from the first observation angle of the pipe fitting weld quality inspection equipment of the preferred embodiment of this utility model;

[0036] Figure 2 This is a three-dimensional view of the second observation angle of the pipe fitting weld quality inspection equipment of the preferred embodiment of this utility model;

[0037] Figure 3 This is a three-dimensional view of the third observation angle of the pipe fitting weld quality inspection equipment of the preferred embodiment of this utility model;

[0038] Figure 4 This is a three-dimensional view of the fourth observation angle of the pipe fitting weld quality inspection equipment of the preferred embodiment of this utility model. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, a clear and complete description will be provided below in conjunction with the technical solutions in the embodiments of this utility model. Obviously, the described embodiments are some, but not all, embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0040] The preferred embodiment of the pipe weld quality inspection equipment of this utility model is as follows: Figure 1 As shown, see also Figures 2 to 4 It includes a ring detection device 100 and a multi-axis moving device 200; wherein, the multi-axis moving device 200 moves or rotates the ring detection device 100 sequentially to multiple detection positions from the Y-axis, X-axis, Z-axis, Y-axis rotation, X-axis rotation, and Z-axis rotation directions;

[0041] The ring detection device 100 is mounted on or near the object to be tested (not shown in the figure) and performs detection or marking on the object.

[0042] The multi-axis moving device 200 moves or rotates the ring detection device 100 sequentially to multiple detection positions along the Y-axis, X-axis, Z-axis, Y-axis rotation, X-axis rotation, and Z-axis rotation to detect or mark the object being inspected. The ring detection device 100 is mounted on or close to the object being inspected, thereby enabling ring-shaped rotational detection or moving comprehensive detection of the object being inspected. It can also mark the object being inspected, greatly compensating for the shortcomings of traditional six-axis robots. It is also low in cost, has a large stroke, high stability, and a wide range of applications.

[0043] like Figures 1 to 4 As shown, the annular detection device 100 automatically adjusts the working distance after detecting the working distance between itself and the object being inspected. The annular detection device 100 is equipped with a distance detection unit to detect the working distance between itself and the object being inspected. The distance detection unit is a distance sensor 124 or multiple cameras (not shown in the figure) for distance detection; or the working distance is obtained from a visual scanning unit; the working distance is automatically adjusted to adapt to the inspection / marking of pipe fittings of different diameters.

[0044] like Figures 1 to 4 As shown, the multi-axis moving device 200 includes: an X-axis rotation mechanism 210, a Z-axis rotation mechanism 220, a Y-axis rotation mechanism 230, a Y-axis moving mechanism 240, an X-axis moving mechanism 250, and a Z-axis moving mechanism 260.

[0045] The X-axis moving mechanism 250 is slidably connected to the Y-axis moving mechanism 240, and the Z-axis moving mechanism 260 is slidably connected to the X-axis moving mechanism 250.

[0046] The X-axis moving mechanism 250 moves back and forth along the Y-axis direction on the Y-axis moving mechanism 240, the Z-axis moving mechanism 260 moves back and forth along the X-axis direction on the X-axis moving mechanism 250, and the X-axis rotating mechanism 210 moves up and down along the Z-axis direction on the Z-axis moving mechanism 260; wherein, the Z-axis moving mechanism 260 is also provided with a counterweight (not shown in the figure) to pull the X-axis rotating mechanism 210, so as to prevent the center of gravity of the multi-axis moving device 200 from shifting and affecting the stability of the structure;

[0047] The Z-axis moving mechanism 260 is also rotatably connected to the X-axis rotating mechanism 210, the X-axis rotating mechanism 210 is fixedly connected to the Z-axis rotating mechanism 220, the Z-axis rotating mechanism 220 is rotatably connected to the Y-axis rotating mechanism 230, and the Y-axis rotating mechanism 230 is rotatably connected to the ring detection device 100.

[0048] The X-axis rotation mechanism 210 rotates around the X-axis, the Z-axis rotation mechanism 220 rotates around the Z-axis, and the ring detection device 100 rotates around the Y-axis; it has high degrees of freedom and a large stroke.

[0049] like Figures 1 to 4 As shown, the first end of the X-axis rotation mechanism 210 is rotatably connected to the Z-axis moving mechanism 260 and the second end is fixedly connected to the Z-axis rotation mechanism 220. The second end of the X-axis rotation mechanism 210 can rotate left and right on the horizontal plane and is rotatably connected to the first end; thus further improving the degree of freedom.

[0050] like Figures 1 to 4 As shown, the X-axis moving mechanism 250 drives the X-axis moving mechanism 250 to move back and forth along the Y-axis direction on the Y-axis moving mechanism 240, and drives the Z-axis moving mechanism 260 to move back and forth along the X-axis direction on the X-axis moving mechanism 250.

[0051] The Z-axis moving mechanism 260 drives the X-axis rotating mechanism 210 to move up and down along the Z-axis on the Z-axis moving mechanism 260, and drives the X-axis rotating mechanism 210 to rotate around the X-axis on the Z-axis moving mechanism 260;

[0052] X-axis rotation mechanism 210 drives the second end to rotate left and right on the horizontal plane;

[0053] Z-axis rotation mechanism 220 drives Y-axis rotation mechanism 230 to rotate around the Z-axis on Z-axis rotation mechanism 220;

[0054] The Y-axis rotation mechanism 230 drives the ring detection device 100 to rotate around the Y-axis on the Y-axis rotation mechanism 230; it has a high degree of intelligence.

[0055] like Figures 1 to 4 As shown, the multi-axis moving device 200 is a six-axis robotic arm or AGV trolley; to meet different usage requirements.

[0056] like Figures 1 to 4 As shown, it also includes: multiple cable chains 300 and multiple cable trays 400;

[0057] Multiple cable chains 300 and multiple cable troughs 400 cooperate to guide the cable from the Y-axis moving mechanism 240 to the X-axis rotating mechanism 210; the multiple cable chains 300 and multiple cable troughs 400 are all fixedly connected to the multi-axis moving device 200; wherein, one end of the cable chain 300 is installed in the cable chain trough and the other end moves with the X-axis moving mechanism 250, the Z-axis moving mechanism 260 or the X-axis rotating mechanism 210.

[0058] An arc-shaped drag chain groove 310 is fixedly connected to the Y-axis rotation mechanism 230. One end of the arc-shaped drag chain 311 is installed in the arc-shaped drag chain groove 310 and the other end is fixedly connected to the ring detection device 100.

[0059] The arc-shaped cable chain 311 guides the cable (not shown in the figure) on the X-axis rotation mechanism 210 to the ring detection device 100; the cable is fixedly connected to the cable chain 300 and the arc-shaped cable chain 311; thus realizing the routing of the cable of the ring detection device 100.

[0060] like Figures 1 to 4 As shown, a conductive slip ring (not shown in the figure) is fitted on the Z-axis rotation mechanism 220. The stator of the conductive slip ring is fixedly connected to the X-axis rotation mechanism 210 and the rotor is fixedly connected to the Y-axis rotation mechanism 230.

[0061] The cable is cut into two sections and connected in series with a conductive slip ring; this avoids interference between the cable and the movement of the multi-axis moving device 200.

[0062] like Figures 1 to 4 As shown, the annular detection device 100 includes: an annular base plate 110 and a driving device 120;

[0063] The driving device 120 drives the X-ray transmitter 121 and the imaging plate 122 to move closer or further away from each other synchronously. Both the X-ray transmitter 121 and the imaging plate 122 are fixedly connected to the driving device 120. The driving device 120 is fixedly connected to the annular base plate 110. The annular base plate 110 is rotatably connected to the Y-axis rotation mechanism 230. The Y-axis rotation mechanism 230 drives the annular base plate 110 to rotate.

[0064] The annular base plate 110 can be either a circular annular base plate 110 or a C-shaped base plate to meet different usage requirements. The C-shaped base plate is more convenient to use. The curvature of the C-shaped base plate is greater than 1πrad and less than 2πrad.

[0065] The X-ray emitted by the X-ray transmitter 121 passes through the object being inspected and irradiates the imaging plate 122 to generate an inspection image or scanned video; the ring inspection device 100 inspects the object being inspected, including generating an inspection image or scanned video.

[0066] The irradiation range of the X-ray emitted by the X-ray transmitter 121 is adjustable to avoid slow reflection caused by an excessively large irradiation range, which could lead to X-ray contamination of surrounding electronic equipment. The angle of the X-ray emitted by the X-ray transmitter 121 is adjusted by a dimming mechanism 1211 that is fixedly connected to the X-ray transmitter 121.

[0067] like Figures 1 to 4 As shown, the drive device 120 is also fixedly connected to any one of the following: a laser marking mechanism 123, a paint spraying marking mechanism (not shown in the figure), or a labeling marking mechanism (not shown in the figure) for marking the object to be inspected; to meet different usage needs, for example: if a certain part / weld on the object to be inspected fails the inspection, a defective mark is marked, which is convenient for manual quick discovery and rework;

[0068] It also includes: a visual scanning unit (not shown in the figure), which performs visual scanning imaging on the object to be inspected, and then controls the ring detection device 100 to be mounted on the object to be inspected through the multi-axis moving device 200, so as to detect or mark the object; it has a high degree of intelligence.

[0069] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A pipe weld quality inspection apparatus comprising a ring inspection device and a multi-axis movement device; characterized in that, The multi-axis moving device moves or rotates the annular detection device sequentially to multiple detection positions from the Y-axis, X-axis, Z-axis, Y-axis rotation, X-axis rotation, and Z-axis rotation directions; The annular detection device is fitted onto or near the object being tested, and the annular detection device performs detection or marking on the object being tested.

2. The pipe weld quality inspection apparatus of claim 1, wherein, The ring detection device automatically adjusts the working distance after detecting the working distance between itself and the object being detected.

3. The pipe weld quality inspection apparatus of claim 1, wherein, The multi-axis moving device includes: an X-axis rotation mechanism, a Z-axis rotation mechanism, a Y-axis rotation mechanism, a Y-axis moving mechanism, an X-axis moving mechanism, and a Z-axis moving mechanism; The X-axis moving mechanism is slidably connected to the Y-axis moving mechanism, and the Z-axis moving mechanism is slidably connected to the X-axis moving mechanism; The X-axis moving mechanism moves back and forth along the Y-axis on the Y-axis moving mechanism, the Z-axis moving mechanism moves back and forth along the X-axis on the X-axis moving mechanism, and the X-axis rotating mechanism moves up and down along the Z-axis on the Z-axis moving mechanism. The Z-axis moving mechanism is rotatably connected to the X-axis rotating mechanism, the X-axis rotating mechanism is fixedly connected to the Z-axis rotating mechanism, the Z-axis rotating mechanism is rotatably connected to the Z-axis rotating mechanism, and the ring detection device is rotatably connected to the Y-axis rotating mechanism. The X-axis rotation mechanism rotates around the X-axis, the Z-axis rotation mechanism rotates around the Z-axis, and the ring detection device rotates around the Y-axis.

4. The pipe weld quality inspection apparatus of claim 3, wherein, The first end of the X-axis rotating mechanism is rotatably connected to the Z-axis moving mechanism and the second end is fixedly connected to the Z-axis rotating mechanism. The second end of the X-axis rotating mechanism can rotate left and right on the horizontal plane and is rotatably connected to the first end.

5. The pipe weld quality inspection apparatus of claim 4, wherein, The X-axis moving mechanism drives the X-axis moving mechanism to move back and forth along the Y-axis direction on the Y-axis moving mechanism, and drives the Z-axis moving mechanism to move back and forth along the X-axis direction on the X-axis moving mechanism; The Z-axis moving mechanism drives the X-axis rotating mechanism to move up and down along the Z-axis on the Z-axis moving mechanism, and drives the X-axis rotating mechanism to rotate around the X-axis on the Z-axis moving mechanism; The X-axis rotation mechanism drives the second end to rotate left and right on the horizontal plane; The Z-axis rotation mechanism drives the Y-axis rotation mechanism to rotate around the Z-axis on the Z-axis rotation mechanism; The Y-axis rotation mechanism drives the ring detection device to rotate around the Y-axis on the Y-axis rotation mechanism.

6. The pipe weld quality inspection apparatus of claim 1, wherein, The multi-axis moving device is a six-axis robot or an AGV (Automated Guided Vehicle).

7. The pipe weld quality inspection apparatus of claim 3, wherein Also includes: Multiple cable chains and multiple cable trays; Multiple cable chains and multiple cable troughs cooperate to guide the cable from the Y-axis moving mechanism to the X-axis rotating mechanism; all multiple cable chains and multiple cable troughs are fixedly connected to the multi-axis moving device; An arc-shaped drag chain groove is fixedly connected to the Y-axis rotation mechanism. One end of the arc-shaped drag chain is installed in the arc-shaped drag chain groove and the other end is fixedly connected to the ring detection device. The arc-shaped cable guides the cable on the X-axis rotation mechanism to the ring detection device.

8. The pipe weld quality inspection apparatus of claim 7, wherein, A conductive slip ring is fitted on the Z-axis rotation mechanism. The stator of the conductive slip ring is fixedly connected to the X-axis rotation mechanism and the rotor is fixedly connected to the Y-axis rotation mechanism. The cable is cut into two sections and connected in series with the conductive slip ring.

9. The pipe weld quality inspection apparatus of claim 3, wherein, The annular detection device includes: an annular base plate and a driving device; The driving device drives the X-ray transmitter and the imaging plate to move closer or further away from each other synchronously. The X-ray transmitter and the imaging plate are both fixedly connected to the driving device. The driving device is fixedly connected to the annular base plate. The annular base plate is rotatably connected to the Y-axis rotation mechanism. The Y-axis rotation mechanism drives the annular base plate to rotate. The annular base plate is either a circular annular base plate or a C-shaped base plate; The X-ray emitted by the X-ray transmitter passes through the object being tested and then irradiates the imaging plate to generate a test image or a scanned video; the ring detection device detects the object being tested by generating the test image or the scanned video. The irradiation range of the X-ray emitted by the X-ray transmitter is adjustable.

10. The pipe weld quality inspection apparatus of claim 9, wherein, The drive device is also fixedly connected to any one of the following: a laser marking mechanism, a paint spraying marking mechanism, or a labeling marking mechanism for marking the object being tested; It also includes a visual scanning unit, which performs visual scanning imaging on the object to be tested, and then controls the ring detection device to be mounted on the object to be tested through the multi-axis moving device to detect or mark the object.

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