CN108333307B - Steam turbine rotor welded joint detecting system - Google Patents
Steam turbine rotor welded joint detecting system Download PDFInfo
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- CN108333307B CN108333307B CN201810121198.7A CN201810121198A CN108333307B CN 108333307 B CN108333307 B CN 108333307B CN 201810121198 A CN201810121198 A CN 201810121198A CN 108333307 B CN108333307 B CN 108333307B
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Abstract
The invention relates to the technical field of detection equipment, in particular to a steam turbine rotor welding joint detection system, which at least comprises a scanning robot for clamping a detection probe to move along the surface of a welding joint, wherein the scanning robot comprises a base capable of walking along the surface of the welding joint, a clamping component arranged in the middle of the base and used for clamping the detection probe, a first driving component arranged on the base and used for driving the clamping component to adjust relative to the position of the base, a driving wheel arranged at the bottom of the base, a second driving component used for driving the driving wheel to rotate, a controller respectively communicated with the first driving component and the second driving component and used for controlling the working state of the controller, and a power device for respectively providing power for the first driving component, the second driving component and the controller, and can conveniently realize the detection of the welding joint, thereby ensuring the stable and efficient operation of the turboset.
Description
Technical Field
The invention relates to the technical field of detection equipment, in particular to a steam turbine rotor welded joint detection system.
Background
The welded rotor has the advantages of compact structure, high strength, convenient processing, reasonable material utilization, good rotor rigidity and the like, but the welded rotor has the defects at the back with prominent advantages, such as: the requirements on the welding performance of materials are high, the requirements on the welding process and the detection technology are high, and a welding joint performance weak area exists. Due to the presence of the weak zones, it is very important to regularly check the quality and performance of the welded joints in order to guarantee safe operation of the rotor.
The safety and reliability of the steam turbine, which is an important component of the power station, directly affect the safe and economic operation of the power station. With the development of steam turbine technology, the application of a steam turbine welded rotor is increasingly wide, and a reliable solution is required to be developed to ensure the safe, stable and efficient operation of a unit.
The detection of the rotor weld joint at the manufacturing stage is arranged before the installation of the blade, and because the blade is not installed, the width and depth between adjacent impellers meet the conditions of manual detection. The following inspection steps are typically employed in the manufacturing stage: the method comprises the steps of detecting the defects of the surface of the welded joint in a visual mode by naked eyes, detecting the defects of the surface and the near surface of the welded joint by a magnetic powder detection method, and detecting the internal defects of the welded joint by a conventional ultrasonic detection method.
However, in the operation stage of the turbine rotor, all the blades are installed in place and are limited by space, many parts of the welded joint of the rotor are difficult to directly inspect in a close range or manually place a probe at a designated position, and the stress distribution of the welded joint is changed under the working condition after the turbine operates, and the generated defects are greatly different from those in the manufacturing stage, so that the detection process in the manufacturing stage is not applicable in the operation stage of the turbine unit, and therefore, a new detection device suitable for the welded joint of the turbine rotor needs to be developed.
Disclosure of Invention
The invention provides a steam turbine rotor welded joint detection system which can conveniently realize the detection of the surface and internal defects of a welded joint, thereby ensuring the stable and efficient operation of a steam turbine unit.
In order to achieve the purpose, the invention adopts the technical scheme that: the utility model provides a steam turbine rotor welded joint detecting system, includes at least and follows the robot of looking into of sweeping that is used for centre gripping test probe along the motion of welded joint surface, the robot of looking into of sweeping is including following the frame of welded joint surface walking, installing the frame middle part is used for the centre gripping test probe's centre gripping subassembly, installing be used for the drive on the frame the centre gripping subassembly is relative the drive wheel of frame position adjustment, installing the drive wheel of frame bottom, be used for ordering about drive wheel pivoted second drive assembly, respectively with first drive assembly with second drive assembly communication connection carries out the controller controlled to its operating condition, and does first drive assembly second drive assembly with the power device that the controller provided power respectively.
Furthermore, the scanning robot further comprises a remote controller communicated with the controller, and a wireless communication module is arranged in the controller.
Furthermore, the first driving assembly comprises a first horizontal driver, a first horizontal driving motor connected with the first horizontal driver and used for driving the clamping assembly to move along the horizontal direction, a first vertical driver, and a first vertical driving motor connected with the first vertical driver and used for driving the clamping assembly to move along the vertical direction, and the first horizontal driver and the first vertical driver are in communication connection with the controller respectively.
Furthermore, an output shaft of the first horizontal driving motor is connected with a support piece through a ball screw, the support piece is erected above the ball screw and faces the two side portions of the ball screw to extend, the base is located on the two sides of the ball screw, first sliding rails are arranged on the two side portions of the support piece respectively in a sliding fit mode, two ends of the support piece are arranged on the first sliding rails respectively in a sliding fit mode, two first vertical driving motors are fixedly arranged on the two sides of the support piece respectively, when the first horizontal driving motors rotate, and the support piece drives the first vertical driving motors to slide linearly along the first sliding rails.
Further, the centre gripping subassembly includes the voussoir group that constitutes by two voussoirs of relative setting, and be used for with the voussoir group with the coupling assembling that first vertical driving motor links to each other, two have between the voussoir and hold test probe's space, two first vertical driving motor is located respectively the both sides of voussoir group, two first vertical driving motor's output shaft passes through respectively coupling assembling with being located same one side the voussoir links to each other.
Further, coupling assembling include one end with the voussoir is fixed the connecting rod that links to each other, with the connecting rod with the connecting block group that the output shaft of a vertical driving motor links to each other respectively, and will the connecting rod with the spring that the connecting block group links to each other, the connecting block group includes that slidable sets up first connecting block, slidable on the connecting rod set up the second connecting block in the organism outside of a vertical driving motor and will first connecting block with the third connecting block that the second connecting block links to each other, a vertical driving motor's output shaft has the external screw thread, be equipped with on the third connecting block with a vertical driving motor's output shaft matched with nut works as when a vertical driving motor rotates, the third connecting block drives the voussoir moves along vertical direction.
Furthermore, the outer sides of the two wedge blocks are respectively provided with a closed storage cavity for containing a coupling agent, the bottom of the storage cavity is provided with an opening for releasing the coupling agent, and the top of the storage cavity is connected with an external high-pressure pump and a water supply device through a water pipe.
Further, the front end portion or the rear end portion of frame be equipped with position encoder and with position encoder coaxial coupling's runner, position encoder with controller communication connection, the drive wheel with the runner is the magnetic wheel.
Further, the detection system also comprises a cleaning robot which can walk along the surface of the welding joint and clean the surface of the welding joint.
Further, the detection system further comprises an auxiliary lifting device for conveying the scanning robot and the cleaning robot to the surface of the welding joint, the auxiliary lifting device at least comprises a guide rail for supporting the scanning robot or the cleaning robot and enabling the scanning robot or the cleaning robot to walk to the surface of the welding joint, and the auxiliary lifting device further comprises an adjusting mechanism for adjusting the height and the pitch angle of the guide rail.
After adopting the technical scheme, compared with the prior art, the invention has the following advantages: the cleaning robot is used for cleaning the surface of the welding joint before detection so as to meet the detection requirement; the scanning robot carries various detection probes to carry out detection on the surface of the rotor welding joint; the auxiliary lifting device can ensure that the scanning robot and the cleaning robot smoothly climb the rotor and ensure that the detection probe is placed in a designated area; the detection system can conveniently realize the detection of the welding joint and ensure the stable and efficient operation of the steam turbine set. By adopting the detection system, the rotor only needs to be arranged on the simple bracket without rotating in the detection process, and the axial movement of the rotor and the abrasion of the contact surface caused by the frequent rotation of the rotor can be effectively avoided.
Drawings
FIG. 1 is a schematic view of a turbine rotor of the present invention without blades attached;
FIG. 2 is a schematic view of the turbine rotor of the present invention after the blades have been installed;
FIG. 3 is a schematic structural view of a view angle of the scanning robot in the present invention;
FIG. 4 is a schematic structural view of another view angle of the scanning robot in the present invention;
FIG. 5 is a schematic view of a partial structure of a view angle of the scanning robot of the present invention;
FIG. 6 is a schematic view of a partial structure of another view angle of the scanning robot in the present invention;
FIG. 7 is a partial schematic structural view of another view angle of the scanning robot in the present invention;
FIG. 8 is a schematic diagram of a control structure of the scanning robot of the present invention;
FIG. 9 is a schematic structural view of an auxiliary lifting device according to the present invention;
fig. 10 is a schematic structural view of the auxiliary lifting device for conveying the scanning robot to the rotor.
Wherein the content of the first and second substances,
100. a rotor; 1. a main shaft; 2. An impeller; 3. welding a joint; 4. a blade;
200. scanning the robot; 5. a machine base; 501. a carriage; 502. a bracket; 6. a drive wheel; 7. a bellows interface; 8. a first horizontal driving motor; 9. a first vertical drive motor; 10. a support member; 11. a frame member; 12. a first slide rail; 13. a wedge block; 14. detecting a probe; 15. a connecting rod; 16. a connection block group; 1601. a first connection block; 1602. a second connecting block; 1603. a third connecting block; 17. a spring; 18. a storage chamber; 19. a position encoder; 20. a rotating wheel; 21. an encoder interface; 22. a motor control panel interface; 23. a distance sensor; 24. an anti-collision wheel; 25. disassembling the rod; 26. a pulley; 27. a magnet sucker; 28. reserving an interface;
300. an auxiliary lifting device; 29. a vehicle seat; 30. a guide rail; 31. a first lever; 32. a second lever; 33. a push rod; 34. a guard rail.
Detailed Description
The invention is further explained below with reference to the drawings and examples.
As shown in fig. 1 to 2, a steam turbine rotor 100 includes a main shaft 1 and a plurality of impellers 2 arranged on a periphery of the main shaft 1, all the impellers 2 are arranged at intervals along an axial direction of the main shaft 1, an outermost periphery of each impeller 2 is provided with an annular blade 4 extending outward along a radial direction of the main shaft 1, a welding joint 3 of the rotor 100 is an annular welding line arranged at intervals on the main shaft 1, and the welding joint 3 is located between adjacent impellers 2. The distance between every two adjacent impellers 2 is only 200mm at minimum, and the circumference of the main shaft 11 is 4-5 m.
The detection method of the welding joint 3 comprises the following steps: detecting the surface defects of the welding joint 3 by adopting a video detection method; detecting the surface and near-surface defects of the welding joint 3 by adopting an array eddy current detection method; the internal defects of the welded joint 3 are detected by an ultrasonic phased array detection method.
As shown in fig. 3 to 10, a steam turbine rotor welded joint detection system at least comprises a scanning robot 200 for clamping a detection probe 14 to move along the surface of a welded joint 3, wherein the scanning robot 200 comprises a base 5 capable of walking along the surface of the welded joint 3, a clamping component arranged in the middle of the base 5 for clamping the detection probe 14, a first driving component arranged on the base 5 for driving the clamping component to adjust the position relative to the base 5, a driving wheel 6 arranged at the bottom of the base 5, a second driving component for driving the driving wheel 6 to rotate, a controller respectively connected with the first driving component and the second driving component in a communication manner for controlling the working state of the controller, and a power device for respectively providing power for the first driving component, the second driving component and the controller.
The width of the scanning robot 200 needs to meet the requirement of the minimum axial scanning distance on both sides of the welding joint 3. When the traction device drives the base to move along the surface of the welding joint 3, the detection probe 14 detects. The inspection probe 14 may be an ultrasonic phased array probe, a TOFD probe, a conventional ultrasonic probe, an array eddy current probe, a video probe, or the like.
In this embodiment, the housing 5 includes two compartments 501 having closed chambers at front and rear ends and a bracket 502 for connecting the two compartments 501.
In this embodiment, there are four driving wheels 6, and the four driving wheels 6 are respectively disposed at the bottom of the carriage 501 and located at four corners of the base 5.
The second driving assembly comprises a second driver, a second driving motor connected with the second driver, and a transmission mechanism connected with the second driving motor and the driving wheels 6, the second driver is in communication connection with the controller, each driving wheel 6 is respectively provided with one second driving motor and one transmission mechanism in a matched mode, the second driving motor drives the driving wheels 6 to rotate through the transmission mechanism, and the second driving motor and the transmission mechanism are both arranged in the carriage 501.
Preferably, the driving wheels 6 are magnetic wheels, so as to be convenient to cling to the surface of the welding joint 3.
Preferably, at least one magnet suction cup 27 is further mounted on the bottom of each carriage 501. In this embodiment, the number of the magnet suction cups 27 is six, and three magnet suction cups 27 are installed at the bottom of each car 501.
The controller in this embodiment is connected to the frame 5 through a bellows joint 7 located at the front end of the frame. The controller is internally provided with a wireless communication module, and a remote controller is communicated with the controller to control the controller, so that the first driving assembly and the second driving assembly are controlled.
On bracket 502 was located to first drive assembly, first drive assembly included first horizontal drive, first horizontal drive motor 8, first vertical drive and first vertical drive motor 9. The first horizontal driving motor 8 is connected with the first horizontal driver, and the first horizontal driving motor 8 is used for driving the clamping assembly to move along the horizontal direction. The first vertical driving motor 9 is connected with the first vertical driver, and the first vertical driving motor 9 is used for driving the clamping assembly to move along the vertical direction. The first horizontal driver and the first vertical driver are respectively in communication connection with the controller.
In the present invention, when the scanning robot 200 performs detection on the surface of the welding joint 3, the horizontal direction means a direction parallel to the axial direction of the spindle 1, and the vertical direction means a direction along the radial direction of the spindle 1.
Specifically, the output shaft of the first horizontal driving motor 8 is connected to the support member 10 through a ball screw, and when the first horizontal driving motor 8 rotates, the support member 10 can move in the horizontal direction.
The supporting member 10 is erected above the ball screw and extends towards two side portions of the ball screw, the base 5 is provided with first sliding rails 12 on two sides of the ball screw, and two end portions of the supporting member 10 are arranged on the two first sliding rails 12 in sliding fit respectively. In this embodiment, there are two first vertical driving motors 9, and two first vertical driving motors 9 are respectively fixed to be disposed on two sides of the supporting member 10, and when the first horizontal driving motor 8 rotates, the supporting member 10 drives the first vertical driving motor 9 to slide linearly along the first slide rail 12. Therefore, the detection probe 14 can be moved to different positions away from the center of the welding joint 3, and the process requirements of the ultrasonic phased array detection method are met.
In this embodiment, the clamping assembly includes a wedge set composed of two wedges 13 disposed opposite to each other, and a connecting assembly for connecting the wedge set to the first vertical driving motor 9, a space for accommodating the inspection probe 14 is provided between the two wedges 13, and the inspection probe 14 and the wedge set can be fixed by a fastener. The two first vertical driving motors 9 are respectively positioned at two sides of the wedge block group, and output shafts of the two first vertical driving motors 9 are respectively connected with the wedge blocks 13 positioned at the same side through connecting components.
Specifically, coupling assembling includes one end and the fixed connecting rod 15 that links to each other of voussoir 13, the connecting block group 16 that links to each other respectively with connecting rod 15 and the output shaft of first vertical driving motor 9, and the spring 17 that links to each other connecting rod 15 and connecting block group 16, connecting block group 16 includes slidable setting first connecting block 1601 on connecting rod 15, slidable setting is at the second connecting block 1602 of the organism outside of first vertical driving motor 9 and the third connecting block 1603 that links to each other first connecting block 1601 and second connecting block 1602, the one end of spring 17 links to each other with first connecting block 1601, the output shaft of first vertical driving motor 9 has the external screw thread, be equipped with the nut with the output shaft matched with of first vertical driving motor 9 on the third connecting block 1603, the output shaft and the nut cooperation of first vertical driving motor 9 are connected.
When the first vertical driving motor 9 rotates, the third connecting block 1603 correspondingly moves linearly in the vertical direction. The third connecting block 1603 drives the detecting probe 14 to move in the vertical direction through the first connecting block 1601, the spring 17 and the connecting rod 15. When the third connection block 1603 is moved down until the lower end surface of the detection probe 14 has contacted the surface of the weld joint 3, the spring 17 between the first connection block 1601 and the connection rod is stretched while the connection rod does not continue to move down, when the third connection block 1603 continues to move down. Therefore, the rigid damage of the detection probe 14 caused by excessive downward movement of the third connecting block 1603 can be effectively avoided, and the front end face of the detection probe 14 can be always tightly attached to the surface of the welding joint 3 in the detection process, so that the continuity and effectiveness of signals acquired by the detection probe 14 are ensured.
In order to ensure that the detection probe 14 keeps a good coupling state in the ultrasonic phased array detection process, the outer sides of the two wedges 13 are respectively provided with a closed storage cavity 18 for containing a couplant, the bottom of the storage cavity 18 is provided with an opening for releasing the couplant, and the top of the storage cavity 18 is connected with an external high-pressure pump and a water supply device through water pipes. The coupling agent is saline water or distilled water, and can be introduced into the bottom of the detection probe 14 by using a high-pressure pump.
In this embodiment, the wedges 13 and the storage cavities 18 are further provided at their outer peripheral portions with frame members 11 for further fixing them.
The front end of the machine base 5 is provided with a position encoder 19 and a rotating wheel 20 coaxially connected with the position encoder 19, and when the scanning robot 200 walks on the surface of the welding joint 3, the rotating wheel 20 is contacted with the surface of the welding joint 3 and rotates. An encoder interface 21 is arranged at the lower end of the corrugated pipe interface 7, and the position encoder 19 is in communication connection with the controller through the encoder interface 21. Preferably, the wheel 20 is a magnetic wheel.
The lower end of the corrugated pipe interface 7 is also provided with a motor control panel interface 22, and the first horizontal driver, the first vertical driver and the second driver are connected with the controller through the motor control panel interface 22.
In addition, a reserved interface 28 is provided which can be connected to the controller for use when other devices are added to the scanning robot 200.
The power plant in this embodiment is a battery, and the battery is installed in the vehicle compartment 501.
In order to prevent the scanning robot 200 from rigidly colliding with the impellers 2 on the two sides of the welding joint 3, four corners of the base 5 are provided with anti-collision wheels 24.
In addition, the rear end of the machine base 5 is provided with a detaching rod 25 which is convenient for being held by hands, and the bottom of the detaching rod 25 is provided with a pulley 26.
Fig. 8 is a schematic control structure diagram of the scanning robot 200, in which an operator can control the position of the detection probe 14 through a remote controller, and the position information of the detection probe 14 can be displayed on the remote controller.
Preferably, the detection system further comprises a cleaning robot, the cleaning robot can walk along the surface of the welding joint 3, and the cleaning of the surface of the welding joint 3 is completed in the walking process, so that the subsequent detection requirements are met.
Due to the limitation of the axial scanning distance between the impellers 2, it is preferable that the inspection system further comprises an auxiliary lifting device 300, and the auxiliary lifting device 300 is used for conveying the scanning robot 200 and the cleaning robot to the surface of the welding joint 3.
As shown in fig. 9 and 10, the auxiliary lifting device 300 includes a traveling vehicle seat 29, and a guide rail 30 disposed on the vehicle seat 29, wherein the guide rail 30 is used to support and travel the scanning robot 200 or the cleaning robot, and when the scanning robot 200 or the cleaning robot needs to be transported to the surface of the weld joint 3, the free end of the guide rail 30 is inserted between the two impellers 2 and contacts with the surface of the weld joint 3.
The guide rail 30 can be height-adjusted and pitch-angle-adjusted. Specifically, the seat 29 is fixedly provided with a first rod 31 extending along the longitudinal direction, and the first rod 31 is provided with a second slide rail arranged along the vertical direction. One end of the guide rail 30 is hinged to a middle portion of a second rod 32, the second rod 32 is connected to the first rod 31, and the second rod 32 is slidable along a second slide rail. The second rod 32 can be driven to slide upwards or downwards along the second slide rail by arranging the first driving device, so that the height of the guide rail 30 can be adjusted. A push rod 33 is provided between the lower end of the second rod 32 and the lower bottom surface of the middle portion of the guide rail 30, and the pitch angle of the guide rail 30 is adjusted by adjusting the extension length of the push rod 33.
Preferably, guard rails 34 may be provided at both sides of the guide rail 30, thereby preventing the cleaning robot or the scanning robot 200 from falling off the guide rail 30.
When the detection system of the present invention is used to detect the defect of the welded joint 3 of the rotor 100, the auxiliary lifting device 300 is first adjusted to bring the free end of the guide rail 30 into contact with the surface of the welded joint 3; the cleaning robot climbs onto the rotor 100 through the auxiliary lifting device 300, and finishes cleaning the surface of the welding joint 3 in the process of walking around the surface of the welding joint 3, so that the detection requirement is met; the scanning robot 200 carrying the various types of inspection probes 14 climbs onto the rotor 100 through the auxiliary lifting device 300, and detects surface and internal defects of the welded joint 3.
The detection system can conveniently realize the detection of the welding joint 3 and ensure the stable and efficient operation of the steam turbine set.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (7)
1. The utility model provides a steam turbine rotor welded joint detecting system which characterized in that: the scanning robot at least comprises a scanning robot which is used for clamping a detection probe to move along the surface of a welding joint, and the scanning robot comprises a base which can walk along the surface of the welding joint, a clamping component which is arranged in the middle of the base and used for clamping the detection probe, a first driving component which is arranged on the base and used for driving the clamping component to adjust relative to the position of the base, a driving wheel which is arranged at the bottom of the base, a second driving component which is used for driving the driving wheel to rotate, a controller which is respectively in communication connection with the first driving component and the second driving component and controls the working state of the controller, and a power device which respectively provides power for the first driving component, the second driving component and the controller;
the first driving assembly comprises a first horizontal driver, a first horizontal driving motor, a first vertical driver and a first vertical driving motor, wherein the first horizontal driving motor is connected with the first horizontal driver and used for driving the clamping assembly to move along the horizontal direction, the first vertical driving motor is connected with the first vertical driver and used for driving the clamping assembly to move along the vertical direction, and the first horizontal driver and the first vertical driver are respectively in communication connection with the controller;
an output shaft of the first horizontal driving motor is connected with a supporting piece through a ball screw, the supporting piece is erected above the ball screw and extends towards two side parts of the ball screw, two first sliding rails are respectively arranged on two sides of the base, which are positioned on the ball screw, two end parts of the supporting piece are respectively arranged on the two first sliding rails in a sliding fit manner, two first vertical driving motors are respectively fixedly arranged on two sides of the supporting piece, and when the first horizontal driving motor rotates, the supporting piece drives the first vertical driving motors to slide linearly along the first sliding rails;
the clamping assembly comprises a wedge block group consisting of two oppositely-arranged wedge blocks and a connecting assembly used for connecting the wedge block group with the first vertical driving motor, wherein a space for accommodating the detection probe is arranged between the wedge blocks, the first vertical driving motor is respectively positioned at two sides of the wedge block group, and the output shaft of the first vertical driving motor is respectively connected with the wedge blocks positioned at the same side through the connecting assembly.
2. The turbine rotor weld joint detection system of claim 1, wherein: the scanning robot further comprises a remote controller communicated with the controller, and a wireless communication module is arranged in the controller.
3. The turbine rotor weld joint detection system of claim 1, wherein: coupling assembling include one end with the fixed connecting rod that links to each other of voussoir, with the connecting rod with the connecting block group that first vertical driving motor's output shaft links to each other respectively, and will the connecting rod with the spring that the connecting block group links to each other, the connecting block group sets up including slidable first connecting block, slidable on the connecting rod are in the second connecting block in first vertical driving motor's the organism outside and will first connecting block with the third connecting block that the second connecting block links to each other, first vertical driving motor's output shaft has the external screw thread, be equipped with on the third connecting block with first vertical driving motor's output shaft matched with nut works as when first vertical driving motor rotates, the third connecting block drives the voussoir moves along vertical direction.
4. The turbine rotor weld joint detection system of claim 1, wherein: the outer sides of the two wedges are respectively provided with a closed storage cavity for containing a coupling agent, the bottom of the storage cavity is provided with an opening for releasing the coupling agent, and the top of the storage cavity is connected with an external high-pressure pump and a water supply device through a water pipe.
5. The turbine rotor weld joint detection system of claim 1, wherein: the front end part or the rear end part of the machine base is provided with a position encoder and a rotating wheel coaxially connected with the position encoder, the position encoder is in communication connection with the controller, and the driving wheel and the rotating wheel are magnetic wheels.
6. The steam turbine rotor weld joint detection system according to any one of claims 1 to 5, wherein: the detection system further comprises a cleaning robot capable of walking along the surface of the welding joint and cleaning the surface of the welding joint.
7. The turbine rotor weld joint detection system of claim 6, wherein: the detection system further comprises an auxiliary lifting device used for conveying the scanning robot and the cleaning robot to the surface of the welding joint, the auxiliary lifting device at least comprises a guide rail which can support the scanning robot or the cleaning robot and enable the scanning robot or the cleaning robot to walk to the surface of the welding joint, and the auxiliary lifting device further comprises an adjusting mechanism which can adjust the height and the pitching angle of the guide rail.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810121198.7A CN108333307B (en) | 2018-02-07 | 2018-02-07 | Steam turbine rotor welded joint detecting system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810121198.7A CN108333307B (en) | 2018-02-07 | 2018-02-07 | Steam turbine rotor welded joint detecting system |
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| CN108333307A CN108333307A (en) | 2018-07-27 |
| CN108333307B true CN108333307B (en) | 2021-01-01 |
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| CN109682886A (en) * | 2019-01-31 | 2019-04-26 | 国电锅炉压力容器检验有限公司 | A kind of ultrasonic phase array pipe detection automatic scanning device |
| CN111272865A (en) * | 2020-03-11 | 2020-06-12 | 洛阳双瑞特种装备有限公司 | Method for detecting defects of metal corrugated pipe based on array eddy current |
| CN111562309B (en) * | 2020-05-09 | 2023-06-27 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Ultrasonic phased array welding line detection magnetic adsorption wall climbing robot and working method thereof |
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