CN104597128A - Phased array ultrasonic nondestructive testing robot system applicable to steam turbine welding rotor - Google Patents
Phased array ultrasonic nondestructive testing robot system applicable to steam turbine welding rotor Download PDFInfo
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- CN104597128A CN104597128A CN201510008530.5A CN201510008530A CN104597128A CN 104597128 A CN104597128 A CN 104597128A CN 201510008530 A CN201510008530 A CN 201510008530A CN 104597128 A CN104597128 A CN 104597128A
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Abstract
The invention discloses a phased array ultrasonic nondestructive testing robot system applicable to a steam turbine welding rotor. The system comprises a movable platform, a positioning rod, a phased array probe, a phased array probe clamp, a control platform and ultrasonic testing equipment. The system has the advantages that manual work is replaced and a working range is expanded; testing operation can be carried out in a narrow space; and the clamp is provided with a motor drive so that the testing position of the probe can be accurately adjusted, the position of the probe can be changed under the condition that the probe is not detached, and the testing work can be efficiently finished. The system has the advantages of stability and rapidness, and has a good application prospect.
Description
Technical field
The invention belongs to measuring robots field, particularly a kind of phased-array ultrasonic Non-Destructive Testing robot system being applicable to steam turbine welded disc turbine rotor.
Background technology
Rotor is the core component of steam turbine, and its version is a lot, as integral rotor, rotor bushing, welded disc turbine rotor and combined rotor etc.Compared with conventional fired power generating unit turbine rotor, steam turbine for nuclear power station rotor volume and weight are all large, and requirement on machining accuracy is high, generally all adopts welded disc turbine rotor.
For ensureing the quality of welded disc turbine rotor, in process processed, prepare after, the phased-array ultrasonic that all needs to carry out weld seam in in-service process detects, phased array probe and voussoir are comparatively large, and needs are at weld seam diverse location, adopt different voussoirs to detect.Particularly after preparation completes and in in-service process, because rotor is equipped with blade, working space becomes extremely narrow and small.
At present, for phased array ultrasonic detection, there is ripe fixture and detection system, but due to the special circumstances of welded disc turbine rotor application scenario, existing scheme all cannot in enterprising the enforcements use of welded disc turbine rotor.
If number of patent application is 201010248503.2, the date of application is on August 14th, 2010, the patent of invention of " ultrasonic inspecting and scanning device of welding line " by name; And application number is 201310685223.1, date of application is on Dec 13rd, 2013, " thick-walled takeover welding line ultrasonic pick-up unit " by name, these two schemes all can clamp ultrasonic probe and detect, but two schemes all do not have Design Orientation device, in the detection of welded disc turbine rotor, the position of scanning can not be fixed, make whole scanning data unreliable; Secondly two sets of plan is all without driving mechanism, can not carry out self-verifying on workpiece.Based on above 2 points, two schemes can not be applied to welded disc turbine rotor occasion.
And for example number of patent application is 201210192602.2, date of application is on June 12nd, 2012, the patent of invention of " weld seam intelligent-tracking Ultrasonic Detection robot and software analysis system thereof " by name, this invention describes a kind of Ultrasonic Detection robot positioned according to vision sensor and thickness measuring ultrasonic probe, due to welded disc turbine rotor weld seam processed after, cannot be identified by vision sensor, and welded disc turbine rotor thickness immobilizes, so the method for vision and thickness measuring cannot use in the detection of welded disc turbine rotor, be not suitable for the use of welded disc turbine rotor occasion.
Summary of the invention
Do not have to locate to overcome in background technology, the defect of drive unit and utilize vision and thickness measuring method to detect the deficiency of welded disc turbine rotor weld seam, the present invention spy proposes a kind of novel phased-array ultrasonic Non-Destructive Testing robot system.
The present invention is a kind of phased-array ultrasonic Non-Destructive Testing robot system being applicable to steam turbine welded disc turbine rotor, and described system mainly comprises mobile platform (1), backstay (2), phased array probe (3), phased array probe fixture (4), control desk (5) and ultrasonic detection equipment (6); Described mobile platform (1) is adsorbed on welded disc turbine rotor surface; Described backstay (2) has four groups, wherein the position, front and back of mobile platform (1) has two groups, the position, front and back of fixture (4) has two groups, and backstay (2) contacts with welded disc turbine rotor both sides sidewall (10), is fixed the position of mobile platform (1) and fixture (4); Described phased array probe (3) is clamped by phased array probe fixture (4); Described phased array probe fixture (4) is connected by ball hinge connector (9) with mobile platform (1), and phased array probe fixture (4) itself does not drive power, can move freely, and is driven mobile by mobile platform (1); Described ultrasonic detection equipment (6) is connected with phased array probe (3) by probe line (8); Described control desk (5) is connected by power supply and communication cable (7) with mobile platform (1).
Backstay (2) is by the sidewall (10) of rotor, mobile platform (1) and phased array probe fixture (4) are accurately located, mobile platform (1) and phased array probe fixture (4) can not move left and right in moving process, ensure that the status requirement in testing process; The length of backstay (2) can regulate freely according to the position of weld seam.
Connected by probe line between ultrasonic detection equipment (6) and phased array probe (3), ultrasonic detection equipment (6) accepts, the signal of process phased array probe (3), and the oil circuit of phased array probe (3) is provided, gets rid of the air between phased array probe (3) and welded disc turbine rotor.
Further, the bottom of described mobile platform (1) is made up of permanent magnetic iron (20) and anti-pulley (19), and described permanent magnetic iron (20) gap is adsorbed on the surface of welded disc turbine rotor; Adopt permanent magnetic iron (20) gap to be adsorbed on the surface of welded disc turbine rotor, permanent magnetic iron (20) does not contact with welded disc turbine rotor surface, leaves gap, relies on the attractive force of permanent magnetic iron (20) mobile platform to be adsorbed on the surface of welded disc turbine rotor.
Further, described fixture (4) comprises fixture skeleton (12), probe clamper (11), universal wheel (15), scroll wheel (14), fixture drive motor (16), shifting sledge (13) and orienting sleeve (17); The two ends of fixture skeleton (12) comprise two universal wheels (15) and two scroll wheels (14) respectively, and four wheels can move freely; Fixture skeleton (12) fixedly mounts shifting sledge (13), the lateral attitude of orienting sleeve (17) can have been changed by motor (16); Orienting sleeve (17) is connected with probe clamper (11).
Further, described phased array probe fixture (4) clamping phased array probe (3), the position of phased array probe (3) can be as required, regulated by fixture drive motor (16), the probe clamper (11) of clamping phased array probe (3) ensure that probe fully contacts with rotor.
Further, described mobile platform (1) comprises brush direct current motor, scrambler, driver, ARM control panel, stepper motor driver and limit switch interface circuit; Described mobile platform inside adopts left and right two cover driver to drive two brush direct current motors in left and right respectively; Described ARM control panel is connected with two drivers by RS232, and described ARM control panel sends movement instruction, and reads Drive Status, completes the function of motion control; Described scrambler is installed on motor shaft and carries out velocity feedback.
Further, described mobile platform (1) is connected with fixture drive motor (16) by fixture driving cable (21); Described ARM control panel accepts the signal of limit switch interface circuit, drives fixture drive motor (16).
Further, described control desk (5) comprises power unit, ATOM computer and interactive software; Described power unit is used for conversion and the defencive function of power supply, for ARM control panel and driver provide power supply to supply; ATOM computer, as host computer, runs interactive software, completes the control of mobile platform.
Control desk (5) is the control assembly of whole system, provides power supply and the human-computer interaction function of robot system, can be set the mode of operation switching robot by control desk (5), the running parameter of setting robot.
Can control mobile platform (1) with given speed by control desk (5), front and back are moved; Mobile platform (1) is the mobile agent of whole system; Probe is movable mainly to be driven by mobile platform; Mobile platform devises handle, facilitates the dismounting of mobile platform.
Further, described interactive software adopts the software configuration of layering, is divided into and drives interface, motion control, upper machine communication, man-machine interaction four functional hierarchies.
Under the above control structure set forth, can realize the robotization phased-array ultrasonic Non-Destructive Testing of welded disc turbine rotor easily, the job step of this cover robot system is:
1, be connected with ultrasonic detection equipment by phased array probe by probe line, probe can normally detect.
2, fixing phased array probe is on fixture, and according to technological requirement, the lateral attitude of adjustment phased array probe.
3, phased array probe fixture and mobile platform are fixed connection.
4, according to position while welding, the backstay of adjustment mobile platform and fixture the right and left.
4, be connected with control desk by mobile platform, mobile platform can move according to the instruction of control desk.
5, mobile platform and probe gripper are together positioned over the surface of welded disc turbine rotor, by the walking of control desk control, and observe the result of phased array detection.
The invention has the advantages that:
1, this cover system extends working space by the working space deployment Ultrasonic Detection robot system narrow and small at welded disc turbine rotor, greatly simplify the phased array ultrasonic detection of welded disc turbine rotor.
2, this cover system has the mobile platform being adsorbed on welded disc turbine rotor surface, and this mobile platform moves according to setting speed, in testing process, without the need to artificial intervention, alleviates operation intensity greatly, improves the precision of detection.
3, this cover system adopts backstay to position, and this mode is simple, and reliably, precision is high, and the automatic ultrasonic being particularly suitable for this environment of welded disc turbine rotor detects.
4, phased array probe fixture, has drive system, laterally can change position, in detection operation, without the need to just can carry out the change of position to probe dismounting, improves the efficiency of detection.
Accompanying drawing explanation
The phased-array ultrasonic Non-Destructive Testing robot system connection layout of Fig. 1 the present invention design.
In figure, 1 is mobile platform, and 2 is backstays, and 3 is phased array probes, 4 is phased array probe fixtures, and 5 is control desks, and 6 is ultrasonic detection equipment, and 7 is power supply and communication cable, 8 is probe lines, and 9 is ball hinge connectors, and 10 is welded disc turbine rotor sidewalls, and 21 is fixture driving cables
The phased-array ultrasonic Non-Destructive Testing robot clamp structural representation of Fig. 2 the present invention design.
In figure, 3 is phased array probes, and 11 is probe clampers, and 12 is fixture skeletons, and 13 is shifting sledges, and 14 is scroll wheels, and 15 is universal wheels, and 16 is drive motor, and 17 is orienting sleeves
The phased-array ultrasonic Non-Destructive Testing robot moving platform structural representation of Fig. 3 the present invention design.
18 is mobile platform handles, and 19 is mobile platform anti-pulleys, and 20 is permanent magnetic irons
The robot control system hardware structure diagram of Fig. 4 the present invention design.
The robot control system software architecture diagram of Fig. 5 the present invention design.
Embodiment
Below in conjunction with accompanying drawing, this project is implemented in detail, the present invention is described in further detail.
As shown in Figure 1, 2, 3, mobile platform 1 adopts four anti-pulleys 19 to drive, contact is on the surface of welded disc turbine rotor, anti-pulley 19 is driven by drive motor 16, the bottom of mobile platform 1 is provided with permanent magnetic iron 20, gap is left on permanent magnetic iron 20 and welded disc turbine rotor surface, relies on the attractive force of permanent magnetic iron 20 mobile platform 1 to be adsorbed on the surface of welded disc turbine rotor, ensures the contact of mobile platform 1 and workpiece; Fixture skeleton 12 in phased array probe fixture 4 is longitudinal support structure of phased array probe fixture 4, fixture skeleton 12 secures moving guide rail 13, moving guide rail 13 is connected with orienting sleeve 17, orienting sleeve is connected with probe clamper 11, and phased array probe is arranged on probe clamper 11; By drive motor 16, the lateral attitude of orienting sleeve 17 can be changed.Mobile platform 1 carries out contacting location with welded disc turbine rotor sidewall 10 by backstay 2 with phased array probe fixture 4, ensure that the position of probe relative to weld seam.
As Fig. 4, phased-array ultrasonic Non-Destructive Testing robot adopts two brush direct current motors in left and right, and is provided with scrambler at motor shaft and carries out velocity feedback; The integrated 2 cover drivers of robot, drive two direct current generators in left and right respectively; Motor on fixture adopts stepper motor, is furnished with motor driver, and is configured with limit switch at two ends, can limit the position of fixture swing in both sides; With ARM control panel for master control borad, complete the function of mobile platform motion control; ARM control panel is connected with two drivers by RS232, sends the instruction driven, and reads the state of driver; ARM also controls to swing by stepper motor driver, and provides spacing position according to limit switch; Brush direct current motor, scrambler, driver, ARM control panel, interface circuit are all in the inside of mobile platform.
In the console have power unit, be responsible for the conversion and the defencive function that carry out power supply, be supplied to the supply of ARM plate, drive power supply; ATOM computer is then as host computer, and operation software, completes the control of mobile platform.
As Fig. 5, the software of system is divided into four levels, is respectively driving, motion control, upper machine communication, man-machine interaction four functional hierarchies.The running software of man-machine interaction is in ATOM computer, and the running software of other levels is in ARM plate; Drive interface to be responsible for the steering order accepting key-course, control motor in real time, and to key-course feed back motion state; Limit switch interface can read the state of limit switch in real time; The control that mobile platform has advanced, retreated under having controlled mobile platform friction speed; Chucking position has controlled the adjustment of the position of fixture; Communication is carried out in upper machine communication and man-machine interaction, accepts the order of host computer, and feeds back the state of robot; Man-machine interaction completes parameter configuration, the function of state display, robot controlling.
Description for the understanding of embodiment be only for help understand the present invention, instead of be used for restriction of the present invention.Those skilled in the art all can utilize thought of the present invention to carry out some and change and change, as long as its technological means does not depart from thought of the present invention and main points, still within protection scope of the present invention.
Claims (8)
1. be applicable to a phased-array ultrasonic Non-Destructive Testing robot system for steam turbine welded disc turbine rotor, it is characterized in that: described system mainly comprises mobile platform (1), backstay (2), phased array probe (3), phased array probe fixture (4), control desk (5) and ultrasonic detection equipment (6); Described mobile platform (1) is adsorbed on welded disc turbine rotor surface; Described backstay (2) has four groups, and wherein the position, front and back of mobile platform (1) has two groups, and the position, front and back of fixture (4) has two groups, and backstay (2) contacts with welded disc turbine rotor both sides sidewall (10); Described phased array probe (3) is clamped by phased array probe fixture (4); Described phased array probe fixture (4) is connected by ball hinge connector (9) with mobile platform (1); Described ultrasonic detection equipment (6) is connected with phased array probe (3) by probe line (8); Described control desk (5) is connected by power supply and communication cable (7) with mobile platform (1).
2. a kind of phased-array ultrasonic Non-Destructive Testing robot system being applicable to steam turbine welded disc turbine rotor as claimed in claim 1, it is characterized in that: the bottom of described mobile platform (1) is made up of permanent magnetic iron (20) and anti-pulley (19), and described permanent magnetic iron (20) gap is adsorbed on the surface of welded disc turbine rotor.
3. a kind of phased-array ultrasonic Non-Destructive Testing robot system being applicable to steam turbine welded disc turbine rotor as claimed in claim 1, it is characterized in that: described fixture (4) comprises fixture skeleton (12), probe clamper (11), universal wheel (15), scroll wheel (14), fixture drive motor (16), shifting sledge (13) and orienting sleeve (17); The two ends of fixture skeleton (12) comprise two universal wheels (15) and two scroll wheels (14) respectively, and four wheels can move freely; Fixture skeleton (12) fixedly mounts shifting sledge (13), the lateral attitude of orienting sleeve (17) can have been changed by motor (16); Orienting sleeve (17) is connected with probe clamper (11).
4. a kind of phased-array ultrasonic Non-Destructive Testing robot system being applicable to steam turbine welded disc turbine rotor as claimed in claim 3, it is characterized in that: described phased array probe fixture (4) clamping phased array probe (3), the position of phased array probe (3) can be as required, regulated by fixture drive motor (16), the probe clamper (11) of clamping phased array probe (3) ensure that probe fully contacts with rotor.
5. any as described in Claims 1-4 is applicable to the phased-array ultrasonic Non-Destructive Testing robot system of steam turbine welded disc turbine rotor, it is characterized in that: described mobile platform (1) comprises brush direct current motor, scrambler, driver, ARM control panel, stepper motor driver and limit switch interface circuit; Described mobile platform inside adopts left and right two cover driver to drive two brush direct current motors in left and right respectively; Described ARM control panel is connected with two drivers by RS232, and described ARM control panel sends movement instruction, and reads Drive Status, completes the function of motion control; Described scrambler is installed on motor shaft and carries out velocity feedback.
6. a kind of phased-array ultrasonic Non-Destructive Testing robot system being applicable to steam turbine welded disc turbine rotor as claimed in claim 5, is characterized in that: described mobile platform (1) is connected with fixture drive motor (16) by fixture driving cable (21); Described ARM control panel accepts the signal of limit switch interface circuit, drives fixture drive motor (16).
7. any as described in Claims 1-4 is applicable to the phased-array ultrasonic Non-Destructive Testing robot system of steam turbine welded disc turbine rotor, it is characterized in that: described control desk (5) comprises power unit, ATOM computer and interactive software; Described power unit is used for conversion and the defencive function of power supply, for ARM control panel and driver provide power supply to supply; ATOM computer, as host computer, runs interactive software, completes the control of mobile platform.
8. a kind of phased-array ultrasonic Non-Destructive Testing robot system being applicable to steam turbine welded disc turbine rotor as claimed in claim 7, it is characterized in that: described interactive software adopts the software configuration of layering, be divided into and drive interface, motion control, upper machine communication, man-machine interaction four functional hierarchies.
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| CN201510008530.5A CN104597128A (en) | 2015-01-08 | 2015-01-08 | Phased array ultrasonic nondestructive testing robot system applicable to steam turbine welding rotor |
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| CN201510008530.5A CN104597128A (en) | 2015-01-08 | 2015-01-08 | Phased array ultrasonic nondestructive testing robot system applicable to steam turbine welding rotor |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104597127A (en) * | 2015-01-08 | 2015-05-06 | 中国东方电气集团有限公司 | TOFD ultrasonic nondestructive testing robot system applicable to steam turbine welding rotor |
| CN105445371A (en) * | 2015-11-19 | 2016-03-30 | 中国航空工业集团公司北京航空材料研究院 | Ultrasonic phased array rapid scanning device and detection method of electronic beam welding line |
| CN106442724A (en) * | 2016-08-31 | 2017-02-22 | 成都铁安科技有限责任公司 | Ultrasonic flaw detection scanner for axle |
| CN110031546A (en) * | 2019-03-12 | 2019-07-19 | 无锡金诚工程技术服务有限公司 | Bridge cable saddle friction plate welding line ultrasonic phased array failure detector and its method of detection |
| CN112557503A (en) * | 2020-11-23 | 2021-03-26 | 内蒙古电力(集团)有限责任公司内蒙古电力科学研究院分公司 | Pressure-bearing equipment fillet weld phased array detection wall-climbing robot and working method thereof |
| CN112697880A (en) * | 2020-12-08 | 2021-04-23 | 苏州热工研究院有限公司 | Phased array ultrasonic detection method for sleeved rotor impeller |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104597127A (en) * | 2015-01-08 | 2015-05-06 | 中国东方电气集团有限公司 | TOFD ultrasonic nondestructive testing robot system applicable to steam turbine welding rotor |
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| CN110031546B (en) * | 2019-03-12 | 2024-02-09 | 无锡金诚工程技术服务有限公司 | Ultrasonic phased array flaw detection device and flaw detection method for bridge cable saddle friction plate weld joint |
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| CN112557503B (en) * | 2020-11-23 | 2024-04-02 | 内蒙古电力(集团)有限责任公司内蒙古电力科学研究院分公司 | Wall climbing robot for detecting fillet weld phased array of pressure-bearing equipment and working method thereof |
| CN112697880A (en) * | 2020-12-08 | 2021-04-23 | 苏州热工研究院有限公司 | Phased array ultrasonic detection method for sleeved rotor impeller |
| CN112697880B (en) * | 2020-12-08 | 2023-08-22 | 苏州热工研究院有限公司 | Phased array ultrasonic detection method for sleeved rotor impeller |
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