CN211741121U - A robot-based automatic detection device for tube and tube sheet ray digital imaging - Google Patents

Abstract

A tube and tube plate ray digital imaging automatic detection device based on a robot comprises the robot, a digital imaging unit, a video positioning unit, a pre-detection unit and a remote control unit; the digital imaging unit, the video positioning unit and the pre-detection unit are integrally arranged to serve as a digital imaging detection system and are respectively connected with the robot; the robot and the digital imaging detection system are respectively connected to the remote control unit in a wired or wireless communication mode and are arranged on the robot. The utility model discloses combine ray digital imaging detecting system and robot, can realize the efficient automated inspection of high accuracy, improve detection efficiency greatly, reduce personnel's intensity of labour, realize high image quality, efficient ray detection.

Description

A robot-based automatic detection device for tube and tube sheet ray digital imaging

technical field

The utility model relates to the field of detection of fillet welds of heat exchanger tubes and tube sheets, in particular to a robot-based automatic detection device for ray digital imaging of tube sheets of tubes.

Background technique

At present, the non-destructive testing methods for fillet welds of tubes and tube sheets for heat exchangers mainly include penetration, eddy current and radiographic methods; the penetration testing method can only detect the surface defects of the weld, and the eddy current testing method can detect surface and near-surface defects , none of the above methods can detect the defects inside the weld; and the ray detection method can detect all the defects of the weld, and it is the only effective means to detect the internal and external defects of the fillet weld of the heat exchanger tube tube sheet at present. The ray detection method mainly adopts the film photography technology of X-ray or γ-ray, which will cause environmental pollution, and the heat exchanger is welded by hundreds or even tens of thousands of tubes and tube sheets, and the fillet weld is successful. There are hundreds of thousands of welds, and each fillet weld requires manual layout and manual inspection. The inspection is labor-intensive and work efficiency is low, so all inspections cannot be achieved. The automatic non-destructive testing method for the fillet weld of the tube and tube sheet used in the heat exchanger is only the eddy current automatic testing device.

Utility model content

The purpose of the present utility model is to provide a robot-based automatic detection device for ray digital imaging of tube and tube sheet, so as to solve the aforementioned problems existing in the prior art.

In order to achieve the above purpose, the technical scheme adopted by the present utility model is as follows:

A robot-based automatic detection device for digital imaging of tube and sheet radiation, comprising a robot, a digital imaging unit, a video positioning unit, a pre-detection unit and a remote control unit; the digital imaging unit, the video positioning unit and the pre-detection unit Installed in one body, as a digital imaging detection system, and connected with the robot respectively; the robot, the digital imaging unit, the video positioning unit and the pre-detection unit are respectively communicated and interconnected with the remote control unit; The digital imaging detection system is fixedly installed on the robot; the robot is provided with crawling claws, and the robot is fixed on the tube tube plate through the crawling claws, and is on the tube tube plate according to the control of the remote control unit. move up.

Preferably, the digital imaging unit includes a rod anode and a detector.

Preferably, the radiographic digital imaging detection of a fillet weld includes one or more than one transillumination imaging; when multiple transillumination imaging is performed, the digital imaging unit performs one rotation each time a transillumination imaging is completed.

Preferably, a detection system is provided in the remote control unit, and the robot moves according to the path planned by the design drawing of the tube sheet introduced into the detection system.

Preferably, an anti-collision structure is provided on the rod anode, and an elastic component is installed to ensure the combination of the detector and the surface of the tube sheet.

Preferably, the video positioning unit takes pictures of the tube hole to be detected, and determines the central position of the tube hole through the remote control calculator; the pre-detection unit inserts a pre-detection rod according to the central position of the tube hole to perform position correction .

The beneficial effects of the utility model are as follows: the robot-based automatic detection device for ray digital imaging of tube and tube sheet of the utility model combines the ray digital imaging detection system with the automatic detection device, so that high-precision and high-efficiency automatic detection can be realized, Greatly improve the detection efficiency, reduce the labor intensity of personnel, and achieve high image quality and efficient ray detection; set a video positioning unit in the automatic detection device to correct the rod anode, achieve precise positioning, and improve the detection quality; in the automatic detection device A pre-detection rod is added to the heat exchange tube to be tested to determine whether there is any blockage of foreign matter to prevent damage to the rod anode; it is also equipped with an anti-collision structure to protect the rod anode.

Description of drawings

Fig. 1 is a schematic diagram of the structure of a robot automatic detection device for pipe and tube sheet fillet welds;

Figure 2 is a schematic structural diagram of a robot automatic detection device for pipe and tube sheet fillet welds;

In the figure, 1—robot, 2—digital imaging unit, 3—video positioning unit, 4—pre-detection unit, 5—crawling claw, 6—tube tube sheet.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present utility model more clearly understood, the present utility model will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

A robot-based automatic detection device for tube tube sheet ray digital imaging, as shown in Figures 1 and 2, includes a robot 1, a digital imaging unit 2, a video positioning unit 3, a pre-detection unit 4 and a remote control unit; the digital The imaging unit 2 , the video positioning unit 3 and the pre-detection unit 4 are installed in one body as a radiographic digital imaging detection system, and are installed on the robot 1 . The robot 1 is provided with a crawling claw 5 , and the crawling claw 5 is gripped on the tube tube sheet 6 and can move on the tube tube sheet 6 . The digital imaging unit 2 includes a rod anode and a detector.

The connection structure is as follows: the digital imaging unit 2, the video positioning unit 3 and the pre-detection unit 4 are fixedly installed in one, and are installed on the robot 1; and the digital imaging unit 2, the video The positioning unit 3 and the pre-detection unit 4 are connected with the remote control unit by means of wired or wireless connection;

According to the control of the remote control unit, the robot 1 drives the radiographic digital imaging detection system to move on the tube plate 6 through the crawling claw 5, and adjusts the digital imaging unit 2 and the tube hole to be detected. control the rotation of the digital imaging unit 2; insert and pull out the rod anode in the digital imaging unit 2; and complete the entire tube sheet angle according to the path planned in the remote control unit Transillumination imaging of welds.

The digital imaging unit 2 includes a rod anode and a detector, the rod anode emits cone beam rays to perform transillumination imaging on the fillet weld, and receives the rays through the detector, thereby realizing the detection of the fillet weld. .

The video positioning unit 3 uses a photographing device to take pictures of the pipe hole to be detected, and transmits it to the detection system in the remote control unit to determine the center position of the pipe hole, and the robot 1 controls the digital according to the center position of the pipe hole. The imaging unit 2 performs position correction on the rod anode.

The pre-detection unit 4 inserts a pre-detection rod into the to-be-detected pipe hole according to the center position of the pipe hole determined in the remote control unit, realizes position correction, and detects whether there is foreign matter in the pipe hole, and corrects all Check the pipe hole to be detected.

An anti-collision structure is installed on the rod anode mounting assembly. In the case of control errors or misalignment of the center of the hole, if the rod anode collides with the plate surface, it can protect the rod anode and prevent damage to all parts. The rod anode is installed; an elastic component is arranged on the installation component of the rod anode, and a distance sensor is installed at the rear end, so that after the rod anode is inserted into the tube hole, it is ensured that the detector is in contact with the surface of the tube sheet, and the The rod anode emits cone-shaped X-rays.

Example 1

The working process of the radiation digital imaging automatic detection device is: running the detection system in the remote control unit, importing the design drawing of the tube sheet to be detected, and setting detection parameters; the remote control unit The motion information is transmitted to the computer 1 according to the design drawing, and the robot 1 receives the information and controls the crawling claw 5 to move to the first weld to be inspected; the robot 1 moves to the weld to be inspected When the welding seam is at the seam, the remote control unit controls the video positioning unit 3 to align the pipe hole to be detected to take a picture of the welding seam, and upload it to the remote control unit to determine the center position of the pipe hole; The detection unit inserts a pre-detection rod into the pipe hole according to the center position of the pipe hole determined by the remote control unit to realize position correction, and detects whether there is foreign matter in the pipe hole, and checks the pipe hole to be detected; Then, the digital imaging unit 2 is controlled to align the rod anode and enter the tube hole, start the rod anode and the detector to perform transillumination imaging on the weld, and the rod anode emits cone beam rays to perform transillumination imaging on the fillet weld. ; After completing the radiographic digital imaging detection of a fillet weld, turn off the switches of the rod anode and the detector, and pull out the rod anode from the pipe hole; according to the above working process, according to the pipe to be tested In the path of the design drawing of the tube sheet, the crawling claw 5 of the robot 1 moves to the next fillet weld to be inspected, and completes the radiographic digital imaging inspection of all fillet welds accordingly.

Embodiment 2

In this embodiment, the digital imaging unit 2 performs transillumination imaging as follows: the digital imaging unit 2 starts the rod anode and the detector to perform the first transillumination imaging on the weld, and the ray source of the rod anode Cone beam rays are emitted to perform transillumination imaging on the fillet weld; after the first transillumination imaging is completed, the rod anode is closed, the digital imaging unit 2 is controlled to rotate at a certain angle, and the rod anode is turned on for the second transillumination imaging After the second transillumination imaging is completed, close the rod anode, control the digital imaging unit 2 to rotate again, open the rod anode to implement the next transillumination imaging, and carry out multiple transillumination on a fillet weld by the above method Imaging, and finally, the robot 1 controls the rod anode to pull out the tube hole; the above multiple transillumination imaging completes the ray digital imaging detection of a fillet weld; According to the path of the design drawing, the crawling claw 5 of the robot 1 moves to the next fillet weld to be detected, and completes the radiographic digital imaging inspection of all fillet welds accordingly.

By adopting the above-mentioned technical scheme disclosed by the present utility model, the following beneficial effects are obtained:

The robot-based automatic detection device for ray digital imaging of tube and tube sheet of the utility model combines the ray digital imaging detection system with the automatic detection device, which can realize automatic detection with high precision and high efficiency, greatly improve the detection efficiency, and reduce the labor cost of personnel. Labor-intensive, high-quality and efficient ray detection is achieved; a video positioning unit is set in the automatic detection device to correct the position of the rod anode to achieve precise positioning and improve the detection quality; a pre-detection rod is added to the automatic detection device to be detected The heat exchange tube is tested to determine whether there is any blockage of foreign matter to prevent damage to the rod anode; it is also equipped with an anti-collision structure to protect the rod anode.

The above are only the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the principles of the present invention, several improvements and modifications can be made. These improvements and Retouching should also be considered within the scope of protection of the present invention.

Claims (6)

1. A tube and tube plate ray digital imaging automatic detection device based on a robot is characterized by comprising the robot, a digital imaging unit, a video positioning unit, a pre-detection unit and a remote control unit; the digital imaging unit, the video positioning unit and the pre-detection unit are integrally arranged to serve as a digital imaging detection system and are respectively connected with the robot; the robot, the digital imaging unit, the video positioning unit and the pre-detection unit are respectively communicated and interconnected with the remote control unit; the digital imaging detection system is fixedly arranged on the robot; the robot is provided with a crawling claw, is fixed on the tube and tube plate through the crawling claw and moves on the tube and tube plate under the control of the remote control unit.

2. The robot-based tube-sheet radiographic digital imaging automatic detection device of claim 1, wherein the digital imaging unit comprises a rod anode and a detector.

3. The robot-based automated tube-sheet radiographic imaging inspection device of claim 1, wherein radiographic digital imaging inspection of a fillet weld comprises one or more transillumination imaging; when multiple transillumination imaging is carried out, the digital imaging unit rotates once every time transillumination imaging is completed.

4. The automated robot-based radiographic imaging inspection device for tube and tube sheets according to claim 1, wherein the remote control unit has an inspection system therein, and the robot moves according to a path planned by a tube and tube sheet design drawing introduced into the inspection system.

5. The robot-based automatic radiographic imaging detection device for tube and tube sheets according to claim 2, wherein the rod anode is provided with an anti-collision structure and is provided with an elastic component for ensuring the detector to be combined with the surface of the tube and tube sheet.

6. The robot-based automatic radiographic imaging detection device for the tube and the tube plate of the tube and the tube plate according to claim 1, wherein the video positioning unit photographs a tube hole to be detected and determines the center position of the tube hole through the remote control unit; and the pre-detection unit inserts a pre-detection rod according to the center position of the pipe hole to perform position correction.

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