I NGHIEN euu-TRAODOI
NGHIEN CLFU THIET KE, CHE TAO MAY Kiewi TRA
M 6 I HAN TICH HQP HE T H O N G SIEU A M
RESEARCH TO DESIGN AND MANUFACTURE THE WELD INSPECTION MACHINE INTEGRATED ULTRASONIC SYSTEMS
T r i n Ngpc T h a n h S Vu Dire Minh*, Nguyen Van NghlaS TrSn ngoc Hien^ Nguyin Van Cirdng^ Biii Van Hirag^
'Vifn RINDT
^Trudng Dai hpc Giao thdng Van tai
T O M TAT
Bdi hao trinh bdy kit qud thiet ke, che tgo mdy kiim tra moi hdn su dung cong nghe mdng phased array (PA UT) vd TOFD. Mdy dugc thiet ke vai hon bdnh xe tu tinh dugc dieu chinh ddc lap, cd khd ndng tu dgng dieu chinh chuyin dgng vi dung quy dgo dudng hdn. Mdy duac su dung de kiem tra tu dgng moi hdn thang vd vdng cua dudmg ong thep nha su tich hgp bg mdy quit tu hdnh (SCANNER) vdi hi thdng sieu dm.
Tir khda: Robot tu hdnh, bdnh xe tie tinh, chuyen dgng, kit cdu.
ABSTRACT
The paper presents results of studies on the designing and manufacturing of a weld inspection machine using phased array (PAUT) and TOFD technologies. The machine is designed with four independently adjusted magnetical wheels, with automatically adjusted abilities to the correct trajectory of welds. The machine is used to automatically check the straight and the circular welds of steel tubes through the integration between the self-propelled scanner and the ultrasonic system.
Keywords: Mobile robot, magnetic wheel, motion, structure.
ISSN 0866 - 7056
TAP CHf CO KHf VlfiT NAM, Sd 11 nam 2015 www.cokhivietnam.vn
NGHIEN C U T U - T R A O D C I
1. DAT VAN D E
Tren the gidi, vifc sii dyng sieu am truyen thdng de kiem tra chat lupng cac mdi han trong cdng nghifp hang khdng vu tru, khai thac diu khi, nha may difn, difn hat nhan,... da cd tir lau va rit phd biln [1,2]. Khoang chye nam gan day, each mgng ve ky thuat va cdng nghf trong kilm tra khdng pha hiiy (Non-Destructive Test - NDT) da tgo ra hang loat san phim mdi.
Dac bift, trong kiem tra si6u am, phuang phap PHASED ARRAY va TOFD ra ddi lam kha nang dung sieu am de kiem tra chat lugng san phim chinh xac va nhanh hon nhilu so vdi sir dyng phuang phap sieu am truyin thing [3,4], Nhilu cdng viec, khu vyc kiem tra phuc tap trudc day phai dimg phuong phap chup anh phdng xg, nay da va dang dugc nghien ciiu d l thay t h i bing sieu am PHASED ARRAY.
De tao thugn lgi, tang tdc dp va tang dp chinh xac khi kiem tra bing d i u dd sieu am PHASED ARRAY phai cd cac bg scanner tuong thich vdi cac ddi tupng khac nhau. Chinh vi vgy, nhieu hang tren the gidi da thiet ke, che tgo bp scanner tii dang thu cdng, ban thu cdng d i n ty ddng gan nhu hoan toan phii hgp vdi tung loai ddi tugng kiem tra.
Tuy nhien, cac bd scanner nay v l n tdn tgi mpt sd nhugc diem co ban: Ddi vdi cac bd scanner ban thu cdng, vifc dieu chinh quy dao scan hoan toan do ngudi van hanh thyc hifn. Ddi vdi scanner tu ddng, quy dao chuyen dgng ciia scanner dugc xac dinh bdi thao tac dat va dieu chmh cua ngudi vgn hanh. Chua cho phep ty dpng dilu chinh va chuy6n dpng theo dung quy dao da dat. Do viy, khi thao tac tr6n dudng han thang, dpc true dng dudng kinh ldn va rat ldn, thi de ggp phai sai sd do scanner dich chuyen Ifch khdi dudng han. Ngudi van hanh bat budc phai theo ddi tryc tiip dp Ifch khi scanner djch chuyen nen rat khd khan khi thyc hifn do kiem
tren cac dudng dng ldn ngoai hifn trudng.
Bai bao, trinh bay thiet k8 che tgo thiet bi scanner cho phep ty dgng dieu chinh quy dao trong qua trinh kiem tra.
2. T H I E T KE, C H E T ^ O T H I E T BI SCAN C 6 N G N G H I E P T I C H H O P H f T H O N G SIEU AM SU'D VNG C O N G N G H f PHASED ARRAY VA T O F D
Xuit phat tu nhiing uu nhupc diem ciia cac bd scan da phan tich d tren, dgc bift khi phai kiem tra mdi han trSn cac dng bing thep dudng kinh tu 350 mm trd len, ciu tao cua scanner thiet ke se phiic tap ca ve cau tnic ca khi va cau tnic di6u khien.
Sa do quy trinh tinh todn thiit ki robot duac thi hiin a hinh 1:
f^*%istA^!S^*'l
Hinh 1: Sa do quy trinh tinh todn thiet ki robot Vi cdu true ca khi: Bd scanner cd kha nang dieu chinh dgc lap tung cap banh xe d l thay ddi hudng chuyen dpng cua scanner (hinh 2). Cac banh xe dugc truy6n dpng ddc lap tir hai ddng ca rieng biet. Khi xe di thing, hai banh xe se chuyln ddng ddng toe. D I tao chuyln dgng quay, dieu chmh hai banh xe d l cd tdc dp khac
nhau. ^
ISSN 0866-7056
TAP C H l CO KHf VI$T NAM, Sd 11 nam 2015 www.coldiivietnam.vn
NGHIEN CUfU - TRAO Ddi
Nguyen tie tinh tinh toan thiSt k§ kSt cfiu va bo truydn dpng la xet cac trucmg hgp scanner lam viec voi trang thai nguy hijm nhit, sau do chgn trudng hgp yiu ciu cong suit Ion nhat.
m
Oi hn
Hinh 2. Kit cdu truyin ddng scanner Cac trudng hgp lam viec cua scanner kiSm tra mdi han (hinh 3):
Hinh 3. Cdc trudng hgp chiu tdi cua scanner
Bdng 1. Gid tri do thy:c nghiem luc tie cho cdc trudng hgp ldm viec cua scanner
Luc tir cua mot banh xe
Kich thu6c nam cham Kich thuoc sit non
Dudng kinh trong (mm)
it)50 (|)50
Bvjmg kfnh ngoM (mm)
ijilOO i|il05
Luc hiit (Kg) THS, TH9,
THIO 33,04
TH3, TH6 130
ISSN 0866 - 7056
TAP CHf CO KHf V I | T NAM, Sd 11 nam 2015 www.cokhivietnam.vn
NGHIEN CUTU-TRAO Ddi
Tu phan tich, tmh toan cac trudng hgptai trpng ta thay cdng suit dpng co cin thilt ldn nhat la trudng hpp sd 9, trudng hgp scanner kiem tra di tu dudi len tren, dilu kifn lam vifc dupe can thda man:
Trong do: F - Lyc keo cua dgng co;
Pfcl, ,^„ - Trgng lyc ket ciu; F^^ - Lyc ma sat, dugc tinh theo cdng thiic sau: F_^^=f-FLT. vdi F^^^
la luc tir, cd gia tri khac nhau cho timg trudng hgp cy the (bang I).
Thay sd tinh toan ta dugc:
F^^>4 . 330,4 +200 =1521,6 N Cac banh xe mang tu tinh bam vao dudng dng, gift cho Scanner khdng bj rai trong qua trinh di chuyen kiem tra mdi han (hinh 4).
Hinh 4. Kit cdu bdnh xe: 1,2) Then; 3) Bdnh tie;
4) True; 5,6,7) Bdnh sdn non Vi cdu true diiu khiin: Xac djnh dugc do Ifch so vdi quy dgo yeu cau va dieu chinh scanner v§ quy dao dd, ed cac vdng phan hdi ve vgn tdc, vi tri, quang dudng va kha nang chay ddng tdc cua cac cym banh xe. Tinh nang va sy rang budc vl cau tnic dieu khien cua thiet bi dugc the hifn trong so do hinh 5.
Hinh 5: Sd do tinh nang vd cdu triic dieu khiin scanner
3. KET QUA DAT DU'pC
Bd SCANNER kiem tra mdi ban vdng va thing tren dudng dng bang thep nam ngang da thiet ke (hinh 6) va che tgo (hinh 7) vdi cac thdng sd ky thuat sau:
- Khdi lugng cua bp Scanner: 35 kg;
- Tdc dp di chuyen tien, liii khi kilm tra: 30-50 mm/s, dieu chinh vd cap;
- Tu ddng bam dudng chuan vdi dp chinh xac bam: ±7,5inm;
- Kha nang dieu chinh ve quy dao thing lOOmm/1000mm;
- Dp bam cua Scaimer: 30kg;
- Chiu chan ddng dp rung: 9,8ni/s^; ' ^
ISSN 0866 - 7056
TAP CHf CO KHf VIET NAM, Sd 11 nam 2015 www.cokhivietnam.vn
NGHIEN CUTU - TRAO Ddi
- Lap dupc 4 dau dd siSu am: 02 phased array (PAUT) va 02 TOFD;
- Khoang each dieu khien tir xa: Ldn nhat 5m;
- Cdng suat dgng co: SOW;
- Sd lupng ddng co: 02;
- Dudng kinh dng: tir 350mm trd len;
- Kha nang djnh vj vj tri: 600dpi, tuang duong 0,04 mm;
- Difn ap dau vao cung cap: 90V - 260V AC tu ddng dieu chinh;
- Cdng suit tieu thy: 250VA.
Hmh 6. Mo hinh mdy dugc thiet ki tren mdy tinh
Nguyen ly lam vifc ciia bd Scanner, nhd cd lyc hut ciia cac banh tir ma Scanner cd the chuydn dOng trdn quanh dng cin kidm tra. Cam biSn vi tri cho phep Scanner chuyen d^ng theo mdi han. Trong qua trinh chuyln ddng diu dd lien tyc phat ra sdng sieu am va thu lai tin hifu phan hdi cua sdng sieu am. Sdng phan hdi thu dugc truyen len bg xii ly va xir ly tin hifu de hi6n thi tren man hinh tii dd cd the xac dinh dupc cac khuylt tat ciia mdi han neu cd.
4. K E T LUAN
Bp Scanner da thiet ke, che tgo co kha nang quet dupc dudng dng theo qu5^ dgo dinh trudc va cd kha nang dieu chinh ve diing quy dgo, dgc bift cd y nghia vdi dudng dng kich thudc ldn hoac mat phing. •
Ngay nhan bai: 04/10/2015 Ngay phan bifn: 14/11/2015
Hinh 7. Hinh dnh scanner da thiet ki che tgo
Tai lifu t h a m khdo:
[1]. Quick Guide to Welding and Weld Inspection, S.E. Hughes (Author), CUfibrd Matthews (Editor), Publisher: ASME Press (American Society of Mechanical Engineers); 1 edition (November 30,2009).
[2]. Welding Inspection Technology, American Welding Society (Author), Publisher: American Welding Society Education Services; 5th Edition edition (2008).
[3]. "NondestmctivelnspectionbyPhasedAmiyUltrasomc Method for Steel Stmctures"JFE TECHNICAL REPORT No. 17 (Apr. 2012).
[4]. Tie GANG, Dazhao CHI "Ulttasonic TOFD Testing Model for Crack Measurement in Thick Wall Weldment" 17th World Conference on Nondestructive Testing, 25-28 Oct 2008, Shanghai, China.
ISSN 0866 - 7056
TAP CHf CO KHf V I £ T NAM, Sd 11 nam 2015 www.cokhivietnam.vn