相控阵探头扫查器检测管节点焊缝的位姿

Pose of ultrasonic phased array scanner in inspecting tuhbular joint welds

关键词:  扫查器  相控阵探头  管节点  焊缝  位姿矩阵

Key words:  scanner  phased array probe  tubular joint  weld  pose matrix

摘要:

海洋平台多为钢质材料焊接而成,其焊缝主要为管节点焊缝。这种焊缝与以往管道的环形、直线和螺旋线焊缝相比,具有形状复杂,不易实现焊缝自动检测的难点问题。根据管节点焊缝的特点,设计制造出了具有三自由度的超声相控阵探头扫查器,建立了该扫查器与管节点焊缝之间的位姿关系,给出了相控阵探头与管节点焊缝及扫查器基体之间的位姿矩阵计算方法,为扫查器的运动控制提供了理论基础。该扫查器可实现对管节点复杂焊缝的自动检测。用该扫查器对对比试块进行了检测试验,结果表明,能够准确检测出对比试块的缺陷,可满足对管节点焊缝质量进行自动检测的要求。

Abstract:

At present,offshore platforms are welded with steel material.The main weld seams are tubular joint welds and have very complicated shape,which are ditticult to realize automatic testing for defect in contrast with the girth welds,longitudinal welds and twist weld seams.An ultrasonic phased array probe scanner with three degrees of freedom was designed and made based on the specialities of tubular joint welds on offshore platform.The pose relation between the scanner and tubular joint weld was set up,the concrete expression methods of pose matrix between phased array probe and weld seam and scanner base were given.The pose matrix method provided automatic control foundation to scanner.The automatic testing to complicated shape welds of tubular joint could be realized by the scanner.The experiments on reference block with the scanner were carried out and the results indicates that the artificial defect on the reference block can be truely inspection.It can satisfy the requirement of automatic testing to tubular joint welds.