CA2975417A1 - Driving device of all-directional automatic weld seam flaw detection instrument and application thereof - Google Patents
Driving device of all-directional automatic weld seam flaw detection instrument and application thereof Download PDFInfo
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- CA2975417A1 CA2975417A1 CA2975417A CA2975417A CA2975417A1 CA 2975417 A1 CA2975417 A1 CA 2975417A1 CA 2975417 A CA2975417 A CA 2975417A CA 2975417 A CA2975417 A CA 2975417A CA 2975417 A1 CA2975417 A1 CA 2975417A1
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- flaw detection
- weld seam
- driving device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
- G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
- B60R2011/0092—Adjustable or movable supports with motorization
Abstract
A driving device of an all-directional automatic weld seam flaw detection instrument, comprising a travelling mechanism (1), a three-dimensional adjusting frame (2), a rotary driving device (4), and an all-directional adaption device (5). The three-dimensional adjusting frame (2) is disposed on the travelling mechanism (1); the rotary driving device (4) is disposed on the three-dimensional adjusting frame (2); the rotary driving device (4) is connected to the all-directional adaption device (5). The driving device of an all-directional automatic weld seam flaw detection instrument implements automation of flaw detection and improves the precision and efficiency of weld seam flaw detection. Also disclosed is an application of the driving device of an all-directional automatic weld seam flaw detection instrument.
Description
Description DRIVING DEVICE OF ALL-DIRECTIONAL AUTOMATIC WELD SEAM FLAW
DETECTION INSTRUMENT AND APPLICATION THEREOF
Technical Field The present invention relates to a comprehensive automatic weld seam flaw detection instrument driving device and an application of the comprehensive automatic weld seam flaw detection instrument driving device, which belongs to the technical field of non-destructive flaw detection techniques for weld seams.
Background Art Ultrasonic flaw detection has become one of major techniques for internal flaw detection in equipment manufacturing processes for pressure vessels, ships, and boilers, etc., owing to its advantages such as high directionality, high intensity, high penetration capability, and free of injury or damage to human body, etc. At present, ultrasonic flaw detection is mainly accomplished through manual operations, including weld seam cleaning, couplant application, flaw detection, flaw positioning, and shape determination, etc., which require collaboration among workers.
Operating in a single posture for a long time may result in fatigue, and has shortcomings such as low working efficiency, high labor intensity, low accuracy, and missing inspection, etc. Though existing flaw detection aiding mechanisms can aid flaw detection of weld seams to a certain degree, especially flaw detection of large-size welded structural parts such as hydraulic supports, it is difficult to realize mechanical flaw detection owing to shape irregularity of weld seams.
The Chinese patent document CN204758540U has disclosed an ultrasonic rapid non-destructive flaw detection apparatus for narrow lapped weld seams of sheets, which comprises two probes, a flaw detection instrument, and an arithmetic device, wherein, in an entire process that the ultrasonic wave emitted by a left probe is emitted, propagated, reflected by a left side wall of the weld seam, and received by a chip of the left probe, the ultrasonic propagation distance (i.e., sound distance) is S I, the ultrasonic sound distance on the right side is S2; the ultrasonic wave emitted by the probe encounters the nearest wall of weld seam and is reflected by the wall, and then is received by the original probe; in that process, the ultrasonic propagation distance S is two times of the distance from the emitting chip of the probe to the nearest wall of weld seam, the weld seam width W is W=L+2L0-(S I +S2)/2, where, LO is the length of leading edge of the probe; the two probes can slide along the weld seam, and the detection result can be obtained rapidly with the arithmetic device once the probe scanning process is finished. The apparatus can detect the pool width of weld seams, detect the quality of lapped weld seams, especially non-destructive ultrasonic detection technology which measures the pool width of narrow weld seams especially, can carry out rapid ultrasonic detection of laser lapped weld seams of sheets, support quality assessment of laser lapped weld seams of sheets, find flaws in the weld seams in advance and ensure product quality. However, the apparatus carries out flaw detection only for weld seams in regular shapes, directly excludes weld seams with unacceptable pool width when it defects the pool width of weld seams, and cannot carry out surface flaw detection for weld seams; in addition, when the apparatus is used for weld seams in irregular shapes, the detection result is not reliable, and the detection accuracy is too low to meet the actual requirement for weld seam detection.
In view of the huge impact of flaws and defects of weld seams on the quality of weld seams, it is very important to carry out flaw detection of weld seams, especially weld seams in irregular shapes.
There is an urgent need for a comprehensive automatic weld seam flaw detection instrument driving device to improve flaw detection effect for weld seams and improve accuracy of detection result.
= i =
Description Contents of the Invention To overcome the drawbacks in the prior art, the present invention provides a comprehensive automatic weld seam flaw detection instrument driving device.
The present invention further provides a method for applying the comprehensive automatic weld seam flaw detection instrument driving device.
The technical scheme of the present invention is as follows:
A comprehensive automatic weld seam flaw detection instrument driving device, comprising a travelling mechanism, a three-dimensional adjusting frame, a rotary driving device and a comprehensive adaption device, wherein, the three-dimensional adjusting frame is arranged on the travelling mechanism, the rotary driving device is arranged on the three-dimensional adjusting frame, and the rotary driving device is connected with the comprehensive adaption device. In the comprehensive weld seam flaw detection instrument driving device provided in the present invention, a required flaw detection instrument can be mounted on the comprehensive adaption device, and can be moved in a three-dimensional space by dint of the flexible adjusting ability of the three-dimensional adjusting frame and the comprehensive adaption device, so that the probe approaches to the weld seam for ultrasonic flaw detection. In the flaw detection process, the probe is kept at a position tangent to the weld seam all the time by means of adjustment of the comprehensive adaption device at small angles, and thereby the weld seam can be effectively detected under the condition that the weld seam is not flat or has small angles, etc., and the accuracy of detection can be improved.
Preferably, the travelling mechanism comprises a car body, wheels are arranged on the two sides of the car body, motors are arranged on the bottom of the car body, and the output shafts of the motors are drive-jointed with wheels.
Preferably, the motors are step motors. An advantage of the design is that the output shafts of the step motors are connected with the driving shafts of the wheels via couplings, and thereby the wheels are driven to run; the step motors can achieve accurate positioning and speed adjustment, and can meet the requirement for accurate flaw detection of weld seams.
Preferably, a first slide rail, a first connecting block, and a first motor are arranged on the top of the car body, wherein, the first motor is arranged at one side of the first slide rail and drives the first connecting block via a driving belt to move horizontally in the first slide rail.
Preferably, the three-dimensional adjusting frame comprises a second slide rail, a second connecting block, a second motor, and a telescopic cylinder, wherein, the bottom end of the second slide rail is fixedly connected with the first connecting block, the second motor is arranged at one side of the second slide rail and drives the second connecting block via a driving belt to move vertically in the second slide rail, and one end of the telescopic cylinder is fixedly connected with the second connecting block.
Preferably, the rotary driving device comprises a connecting clamp, a first rotating motor, and a motor housing, wherein, one end of the connecting clamp is fixedly connected with one end of a piston rod in the telescopic cylinder, the first rotating motor is arranged on the other end of the connecting clamp and is drive-jointed with the rotating shaft, and the rotating shaft is fixedly connected with the motor housing. An advantage of the design is that the first rotating motor is drive-jointed with the rotating shaft, the rotating shaft is fixedly connected with the motor housing, the first rotating motor drives the rotating shaft to rotate when it operates, the rotating shaft drives the motor housing to rotate accordingly when it rotates, and thereby corresponding adjustment can = -) .
Description be made to the comprehensive adaption device.
Preferably, the comprehensive adaption device comprises a second rotating motor, a spherical hinged mandrel housing, a pressure spring, a spherical hinged mandrel, and a spherical hinged casing, wherein, the top end of the spherical hinged mandrel housing is drive-jointed with an output shaft of the second rotating motor, the bottom end of the spherical hinged mandrel housing is arranged with a spherical body that includes a spherical cavity, the pressure spring is arranged in the spherical cavity, one end of the pressure spring is connected with the spherical hinged mandrel housing, the other end of the pressure spring is connected with the spherical hinged mandrel, the spherical hinged mandrel is arranged in the spherical hinged casing, the spherical hinged casing is connected with the spherical hinged mandrel housing, and the second rotating motor is mounted in the motor housing.
Preferably, the spherical body is arranged with three openings that communicate with the spherical cavity. An advantage of the design is: utilizing the three openings arranged on the spherical body, the spherical body turns into a structure with three jaws, where a soft material is used; when the spherical body is not subject to external force, the mandrel and the spherical hinged mandrel housing lock with each other and the spherical hinged mandrel abuts against the bottom surface of the housing; when the spherical hinged mandrel is subject to external force, the sphere at the mandrel is pushed into the spherical hinged mandrel housing, and the three-jaw structure is pushed open; after the sphere on the head part of the mandrel enters into the spherical hinged mandrel housing, the mandrel is seized.
Preferably, the weld seam flaw detection instrument driving device further comprises an angular ultrasonic probe fixedly connected with one end of the spherical hinged mandrel.
A method for applying the comprehensive automatic weld seam flaw detection instrument driving device, comprising the following steps:
Starting the travelling mechanism so that the angular ultrasonic probe approaches to a surface to be detected when ultrasonic weld seam flaw detection is to be carried out, and then extending the piston rod in the telescopic cylinder so that the angular ultrasonic probe fits closely with the weld seam, contacts with the surface to be detected and is stressed owing to the movement of the telescopic cylinder, and thereby transfers the force to the spherical hinged mandrel, the spherical hinged mandrel pushes open the spherical hinged mandrel housing and enters into the spherical hinged mandrel housing, so that the spherical hinged mandrel and the spherical hinged mandrel housing lock with each other and the spherical hinged mandrel and the angular ultrasonic probe thereon move together with the spherical hinged mandrel housing; starting the first motor and the second motor so that the angular ultrasonic probe detects the surface to be detected step by step by dint of the horizontal movement of the first connecting block and the vertical movement of the second connecting block; retracting the telescopic cylinder after the flaw detection is finished, so that the angular ultrasonic probe is separated from the detected surface, the compressed pressure spring resets and the spherical hinged mandrel is ejected out of the spherical hinged mandrel housing and returns to its initial position.
The present invention attains the following beneficial effects:
With the comprehensive automatic weld seam flaw detection instrument driving device provided in the present invention, the work pattern of conventional manual weld seam flaw detection is changed, manual flaw detection is replaced, and flaw detection automation is achieved;
in addition, utilizing the novel comprehensive adaption device and the three-dimensional adjusting frame, the position of a probe can be comprehensively adjusted under the condition that a detected surface is not flat or has small angles, or the shape of the weld seam is irregular, the probe is tangent to the weld seam all the time, and thereby accuracy and efficiency of weld seam flaw detection are improved. The = 3 =
Description beneficial effects are obvious and remarkable, and the device is worthy of wide application.
Description of Drawings Fig. 1 is a 3D view of the weld seam flaw detection instrument driving device in the present invention;
Fig. 2 is a 3D view of the travelling mechanism in the present invention;
Fig. 3 is a bottom 3D view of the travelling mechanism in the present invention;
Fig. 4 is a schematic structural diagram of the three-dimensional adjusting frame in the present invention;
Fig. 5 is a schematic structural diagram of the telescopic cylinder in the present invention;
Fig. 6 is a schematic structural diagram of the rotary driving device in the present invention;
Fig. 7a is a 3D view of the comprehensive adaption device in the present invention;
Fig. 7b is a front view of the comprehensive adaption device in the present invention;
Fig. 7c is a sectional view along the A-A direction of the structure shown in Fig. 7b;
Fig. 7d is a right view of the comprehensive adaption device in the present invention;
Fig. 7e is a sectional view along the B-B direction of the structure shown in Fig. 7d;
Fig. 8a is a front view of the comprehensive adaption device with a spherical hinged casing in the present invention;
Fig. 8b is a sectional view along the C-C direction of the structure shown in Fig. 8a;
In the figures: 1 - travelling mechanism; 2 - three-dimensional adjusting frame; 3 - telescopic cylinder; 4 - rotary driving device; 5 - comprehensive adaption device; 6 -car body; 7 - first connecting block; 8 - first motor; 9 - first slide rail; 10 - wheel; 11 - step motor; 12 - wheel; 13 -second motor; 14 - second connecting block; 15 - connecting base; 16 -cylinder tube; 17 - front end cover; 18 - piston rod; 19 - connecting clamp; 20 - first rotating motor; 21 -second rotating motor;
22 - motor housing; 23 - spherical hinged mandrel housing; 24 - pressure spring; 25 - spherical hinged mandrel; 26 - angular probe; 27 - spherical hinged casing.
Embodiments Hereunder the present invention will be further detailed in embodiments with reference to the accompanying drawings, but the present invention is not limited to those embodiments.
Example 1:
As shown in Figs. 1-8b, this example provides a comprehensive automatic weld seam flaw detection instrument driving device, which comprises a travelling mechanism 1, a three-dimensional adjusting frame 2, a rotary driving device 4 and a comprehensive adaption device 5, wherein, the three-dimensional adjusting frame 2 is arranged on the travelling mechanism I, the rotary driving device 4 is arranged on the three-dimensional adjusting frame
DETECTION INSTRUMENT AND APPLICATION THEREOF
Technical Field The present invention relates to a comprehensive automatic weld seam flaw detection instrument driving device and an application of the comprehensive automatic weld seam flaw detection instrument driving device, which belongs to the technical field of non-destructive flaw detection techniques for weld seams.
Background Art Ultrasonic flaw detection has become one of major techniques for internal flaw detection in equipment manufacturing processes for pressure vessels, ships, and boilers, etc., owing to its advantages such as high directionality, high intensity, high penetration capability, and free of injury or damage to human body, etc. At present, ultrasonic flaw detection is mainly accomplished through manual operations, including weld seam cleaning, couplant application, flaw detection, flaw positioning, and shape determination, etc., which require collaboration among workers.
Operating in a single posture for a long time may result in fatigue, and has shortcomings such as low working efficiency, high labor intensity, low accuracy, and missing inspection, etc. Though existing flaw detection aiding mechanisms can aid flaw detection of weld seams to a certain degree, especially flaw detection of large-size welded structural parts such as hydraulic supports, it is difficult to realize mechanical flaw detection owing to shape irregularity of weld seams.
The Chinese patent document CN204758540U has disclosed an ultrasonic rapid non-destructive flaw detection apparatus for narrow lapped weld seams of sheets, which comprises two probes, a flaw detection instrument, and an arithmetic device, wherein, in an entire process that the ultrasonic wave emitted by a left probe is emitted, propagated, reflected by a left side wall of the weld seam, and received by a chip of the left probe, the ultrasonic propagation distance (i.e., sound distance) is S I, the ultrasonic sound distance on the right side is S2; the ultrasonic wave emitted by the probe encounters the nearest wall of weld seam and is reflected by the wall, and then is received by the original probe; in that process, the ultrasonic propagation distance S is two times of the distance from the emitting chip of the probe to the nearest wall of weld seam, the weld seam width W is W=L+2L0-(S I +S2)/2, where, LO is the length of leading edge of the probe; the two probes can slide along the weld seam, and the detection result can be obtained rapidly with the arithmetic device once the probe scanning process is finished. The apparatus can detect the pool width of weld seams, detect the quality of lapped weld seams, especially non-destructive ultrasonic detection technology which measures the pool width of narrow weld seams especially, can carry out rapid ultrasonic detection of laser lapped weld seams of sheets, support quality assessment of laser lapped weld seams of sheets, find flaws in the weld seams in advance and ensure product quality. However, the apparatus carries out flaw detection only for weld seams in regular shapes, directly excludes weld seams with unacceptable pool width when it defects the pool width of weld seams, and cannot carry out surface flaw detection for weld seams; in addition, when the apparatus is used for weld seams in irregular shapes, the detection result is not reliable, and the detection accuracy is too low to meet the actual requirement for weld seam detection.
In view of the huge impact of flaws and defects of weld seams on the quality of weld seams, it is very important to carry out flaw detection of weld seams, especially weld seams in irregular shapes.
There is an urgent need for a comprehensive automatic weld seam flaw detection instrument driving device to improve flaw detection effect for weld seams and improve accuracy of detection result.
= i =
Description Contents of the Invention To overcome the drawbacks in the prior art, the present invention provides a comprehensive automatic weld seam flaw detection instrument driving device.
The present invention further provides a method for applying the comprehensive automatic weld seam flaw detection instrument driving device.
The technical scheme of the present invention is as follows:
A comprehensive automatic weld seam flaw detection instrument driving device, comprising a travelling mechanism, a three-dimensional adjusting frame, a rotary driving device and a comprehensive adaption device, wherein, the three-dimensional adjusting frame is arranged on the travelling mechanism, the rotary driving device is arranged on the three-dimensional adjusting frame, and the rotary driving device is connected with the comprehensive adaption device. In the comprehensive weld seam flaw detection instrument driving device provided in the present invention, a required flaw detection instrument can be mounted on the comprehensive adaption device, and can be moved in a three-dimensional space by dint of the flexible adjusting ability of the three-dimensional adjusting frame and the comprehensive adaption device, so that the probe approaches to the weld seam for ultrasonic flaw detection. In the flaw detection process, the probe is kept at a position tangent to the weld seam all the time by means of adjustment of the comprehensive adaption device at small angles, and thereby the weld seam can be effectively detected under the condition that the weld seam is not flat or has small angles, etc., and the accuracy of detection can be improved.
Preferably, the travelling mechanism comprises a car body, wheels are arranged on the two sides of the car body, motors are arranged on the bottom of the car body, and the output shafts of the motors are drive-jointed with wheels.
Preferably, the motors are step motors. An advantage of the design is that the output shafts of the step motors are connected with the driving shafts of the wheels via couplings, and thereby the wheels are driven to run; the step motors can achieve accurate positioning and speed adjustment, and can meet the requirement for accurate flaw detection of weld seams.
Preferably, a first slide rail, a first connecting block, and a first motor are arranged on the top of the car body, wherein, the first motor is arranged at one side of the first slide rail and drives the first connecting block via a driving belt to move horizontally in the first slide rail.
Preferably, the three-dimensional adjusting frame comprises a second slide rail, a second connecting block, a second motor, and a telescopic cylinder, wherein, the bottom end of the second slide rail is fixedly connected with the first connecting block, the second motor is arranged at one side of the second slide rail and drives the second connecting block via a driving belt to move vertically in the second slide rail, and one end of the telescopic cylinder is fixedly connected with the second connecting block.
Preferably, the rotary driving device comprises a connecting clamp, a first rotating motor, and a motor housing, wherein, one end of the connecting clamp is fixedly connected with one end of a piston rod in the telescopic cylinder, the first rotating motor is arranged on the other end of the connecting clamp and is drive-jointed with the rotating shaft, and the rotating shaft is fixedly connected with the motor housing. An advantage of the design is that the first rotating motor is drive-jointed with the rotating shaft, the rotating shaft is fixedly connected with the motor housing, the first rotating motor drives the rotating shaft to rotate when it operates, the rotating shaft drives the motor housing to rotate accordingly when it rotates, and thereby corresponding adjustment can = -) .
Description be made to the comprehensive adaption device.
Preferably, the comprehensive adaption device comprises a second rotating motor, a spherical hinged mandrel housing, a pressure spring, a spherical hinged mandrel, and a spherical hinged casing, wherein, the top end of the spherical hinged mandrel housing is drive-jointed with an output shaft of the second rotating motor, the bottom end of the spherical hinged mandrel housing is arranged with a spherical body that includes a spherical cavity, the pressure spring is arranged in the spherical cavity, one end of the pressure spring is connected with the spherical hinged mandrel housing, the other end of the pressure spring is connected with the spherical hinged mandrel, the spherical hinged mandrel is arranged in the spherical hinged casing, the spherical hinged casing is connected with the spherical hinged mandrel housing, and the second rotating motor is mounted in the motor housing.
Preferably, the spherical body is arranged with three openings that communicate with the spherical cavity. An advantage of the design is: utilizing the three openings arranged on the spherical body, the spherical body turns into a structure with three jaws, where a soft material is used; when the spherical body is not subject to external force, the mandrel and the spherical hinged mandrel housing lock with each other and the spherical hinged mandrel abuts against the bottom surface of the housing; when the spherical hinged mandrel is subject to external force, the sphere at the mandrel is pushed into the spherical hinged mandrel housing, and the three-jaw structure is pushed open; after the sphere on the head part of the mandrel enters into the spherical hinged mandrel housing, the mandrel is seized.
Preferably, the weld seam flaw detection instrument driving device further comprises an angular ultrasonic probe fixedly connected with one end of the spherical hinged mandrel.
A method for applying the comprehensive automatic weld seam flaw detection instrument driving device, comprising the following steps:
Starting the travelling mechanism so that the angular ultrasonic probe approaches to a surface to be detected when ultrasonic weld seam flaw detection is to be carried out, and then extending the piston rod in the telescopic cylinder so that the angular ultrasonic probe fits closely with the weld seam, contacts with the surface to be detected and is stressed owing to the movement of the telescopic cylinder, and thereby transfers the force to the spherical hinged mandrel, the spherical hinged mandrel pushes open the spherical hinged mandrel housing and enters into the spherical hinged mandrel housing, so that the spherical hinged mandrel and the spherical hinged mandrel housing lock with each other and the spherical hinged mandrel and the angular ultrasonic probe thereon move together with the spherical hinged mandrel housing; starting the first motor and the second motor so that the angular ultrasonic probe detects the surface to be detected step by step by dint of the horizontal movement of the first connecting block and the vertical movement of the second connecting block; retracting the telescopic cylinder after the flaw detection is finished, so that the angular ultrasonic probe is separated from the detected surface, the compressed pressure spring resets and the spherical hinged mandrel is ejected out of the spherical hinged mandrel housing and returns to its initial position.
The present invention attains the following beneficial effects:
With the comprehensive automatic weld seam flaw detection instrument driving device provided in the present invention, the work pattern of conventional manual weld seam flaw detection is changed, manual flaw detection is replaced, and flaw detection automation is achieved;
in addition, utilizing the novel comprehensive adaption device and the three-dimensional adjusting frame, the position of a probe can be comprehensively adjusted under the condition that a detected surface is not flat or has small angles, or the shape of the weld seam is irregular, the probe is tangent to the weld seam all the time, and thereby accuracy and efficiency of weld seam flaw detection are improved. The = 3 =
Description beneficial effects are obvious and remarkable, and the device is worthy of wide application.
Description of Drawings Fig. 1 is a 3D view of the weld seam flaw detection instrument driving device in the present invention;
Fig. 2 is a 3D view of the travelling mechanism in the present invention;
Fig. 3 is a bottom 3D view of the travelling mechanism in the present invention;
Fig. 4 is a schematic structural diagram of the three-dimensional adjusting frame in the present invention;
Fig. 5 is a schematic structural diagram of the telescopic cylinder in the present invention;
Fig. 6 is a schematic structural diagram of the rotary driving device in the present invention;
Fig. 7a is a 3D view of the comprehensive adaption device in the present invention;
Fig. 7b is a front view of the comprehensive adaption device in the present invention;
Fig. 7c is a sectional view along the A-A direction of the structure shown in Fig. 7b;
Fig. 7d is a right view of the comprehensive adaption device in the present invention;
Fig. 7e is a sectional view along the B-B direction of the structure shown in Fig. 7d;
Fig. 8a is a front view of the comprehensive adaption device with a spherical hinged casing in the present invention;
Fig. 8b is a sectional view along the C-C direction of the structure shown in Fig. 8a;
In the figures: 1 - travelling mechanism; 2 - three-dimensional adjusting frame; 3 - telescopic cylinder; 4 - rotary driving device; 5 - comprehensive adaption device; 6 -car body; 7 - first connecting block; 8 - first motor; 9 - first slide rail; 10 - wheel; 11 - step motor; 12 - wheel; 13 -second motor; 14 - second connecting block; 15 - connecting base; 16 -cylinder tube; 17 - front end cover; 18 - piston rod; 19 - connecting clamp; 20 - first rotating motor; 21 -second rotating motor;
22 - motor housing; 23 - spherical hinged mandrel housing; 24 - pressure spring; 25 - spherical hinged mandrel; 26 - angular probe; 27 - spherical hinged casing.
Embodiments Hereunder the present invention will be further detailed in embodiments with reference to the accompanying drawings, but the present invention is not limited to those embodiments.
Example 1:
As shown in Figs. 1-8b, this example provides a comprehensive automatic weld seam flaw detection instrument driving device, which comprises a travelling mechanism 1, a three-dimensional adjusting frame 2, a rotary driving device 4 and a comprehensive adaption device 5, wherein, the three-dimensional adjusting frame 2 is arranged on the travelling mechanism I, the rotary driving device 4 is arranged on the three-dimensional adjusting frame
2, and the rotary driving device 4 is connected with the comprehensive adaption device 5.
Wherein, the travelling mechanism 1 comprises a car body 6, four wheels 10 and 12 are fixedly = 4 =
Description mounted on the two sides of the car body 6 symmetrically in the front-rear direction, two step motors 11 are fixedly mounted on the bottom of the car body 6 diagonally, and the two step motors are drive-jointed with two wheels (one front wheel and one rear wheel) respectively. Wherein, the wheels 12 are connected with the step motor 11 via existing structures including coupling, shaft, bearing, and shaft sleeve, etc., and are fixed to the car body 6 through threaded connections; the wheels 10 are fixed to the car body 6 through threaded connections via existing structures including shaft, bearing, and shaft sleeve, etc.
A first slide rail 9, a first connecting block 7 and a first motor 8 are arranged on the top of the car body 6, wherein, the first motor 8 is a step motor, mounted at one side of the first slide rail 9, and drives the first connecting block 7 via a belt to move horizontally in the first slide rail 9, the top surface of the first connecting block 7 is a flat surface arranged with threaded mounting holes, so that the first connecting block 7 can be connected to the connecting base 15 at the bottom end of the second slide rail by bolts. The flat bottom surface of the first connecting block is fixed to the belt by four sets of bolts via the fixing hole structures on the belt, and the bolts are fixed in two small grooves on the other end surface of the slide rail; utilizing the belt and slide rail structure, the space can be saved, and the left-right sliding distance along the rail can be increased; in addition, since the belt and slide rail structure are driven by a step motor, precision control can be realized, and the moving speed of the slide rail can be adjusted more easily when flaw detection is carried out for weld seams that are irregular in shape and the weld seams have a spatial structure.
The three-dimensional adjusting frame 2 comprises a second slide rail, a second connecting block 14, a second motor 13, and a telescopic cylinder 3, wherein, a connecting base 15 is arranged at the bottom end of the second slide rail, and has threaded mounting holes corresponding to the threaded mounting holes in the first connecting block 7, the second slide rail is connected to the top surface of the first connecting block 7 by bolts via the connecting base 15 at the bottom end of the second connecting block 14, the second motor 13 is mounted at one side of the top part of the second slide rail by bolts, the output shaft of the second motor 13 extends into the second slide rail and drives the second connecting block 14 to move vertically in the second slide rail via the driving belt; one end of the cylinder tube 16 of the telescopic cylinder 3 is connected with the second connecting block 14 by bolts, and the other end of the cylinder tube 16 is the end where the piston rod 18 extends.
The rotary driving device 4 comprises a connecting clamp 19, a first rotating motor 20, and a motor housing 22, wherein, the connecting clamp 19 is a L-shaped annular structure with a cavity in the middle part, one end of the connecting clamp 19 is fixedly connected with one end of the piston rod 18 of the telescopic cylinder 3 via a pin shaft, the first rotating motor 20 is mounted at one side of the other end of the connecting clamp 19, the output shaft of the first rotating motor 20 is connected with a rotating shaft that penetrates through the connecting clamp 19 and is fixedly connected with the motor housing 22; when the first rotating motor 20 operates, the output shaft drives the rotating shaft to rotate, and the rotating shaft drives the motor housing 22 to rotate accordingly when it rotates. The rotating shaft is fixedly connected with the second rotating motor 21 and drives the second rotating motor 21 to rotate when the rotating shaft rotates, so as to adjust the position of the comprehensive adaption device 5 and thereby adjust the position of the angular ultrasonic probe.
The comprehensive adaption device 5 comprises a second rotating motor 21, a spherical hinged mandrel housing 23, a pressure spring 24, a spherical hinged mandrel 25, and a spherical hinged casing 27, wherein, the top end of the spherical hinged mandrel housing 23 is drive-jointed with the output shaft of the second rotating motor 21, the bottom end of the spherical hinged mandrel housing 23 is arranged with a spherical body that contains a spherical cavity and has three openings, the spherical body is designed into a three-jaw structure and is made of a soft material, the pressure spring 24 is disposed in the spherical cavity and hung from a circular ring structure on the inner surface of the spherical cavity hole, the bottom end of the pressure spring 24 contacts with the spherical hinged mandrel 25 naturally, and the spherical hinged mandrel 25 is fixedly connected = 5 =
Description with an angular ultrasonic probe 26 via the end of a long extension rod. The pressure spring 24, the spherical hinged mandrel 25, and the spherical body at the bottom end of the spherical hinged mandrel housing 23 are disposed in a spherical hinged casing 27, the spherical hinged casing 27 is a hollow casing, the top end of the spherical hinged casing 27 is connected with the spherical hinged mandrel housing 23 into an integral assembly, and the spherical hinged mandrel 25 contacts with the inner wall of the spherical hinged casing 27. The second rotating motor 21 is mounted in the motor housing 22.
The spherical hinged mandrel 25 contacts with the pressure spring 24 naturally without connection, because slight relative sliding may occur between the spherical hinged mandrel 25 and the pressure spring 24 in the automatic adjusting process, but in an initial state, the pressure spring 24 applies low pressure to the spherical hinged mandrel 25, the spring pressure works with the bottom end of the spherical hinged mandrel housing to press the spherical hinged mandrel 25 on the inner wall of the spherical hinged casing 27; the spherical hinged mandrel 25 and the spherical hinged mandrel housing 23 are two parts, in the initial state, the spherical hinged mandrel 25 contacts with the bottom end of the spherical hinged mandrel housing 23, and the spherical hinged mandrel 25 and the spherical hinged mandrel housing 23 abut against each other; when the spherical hinged mandrel 25 is subjected to high force (i.e., contacts with the working surface and is stressed), the spherical hinged mandrel 25 is pressed into the spherical cavity of the spherical hinged mandrel housing 23, and the spherical hinged mandrel 25 is seized by the three-jaw structure at the bottom end of the spherical hinged mandrel housing 23, so that the spherical hinged mandrel housing 23 and the spherical hinged mandrel 25 are moved together.
Example 2:
A comprehensive automatic weld seam flaw detection instrument driving device, having a structure as described in embodiment 1, with the following differences: a hydraulic system is used to drive the first connecting block 7 and the second connecting block 14, the piston rod of the hydraulic cylinder is connected with the first connecting block 7 or the second connecting block 14, and the first connecting block 7 or the second connecting block 14 is driven to move in the first slide rail 9 or the second slide rail under the telescopic action of the piston rod.
Example 3:
A method for applying the comprehensive automatic weld seam flaw detection instrument driving device as described in the embodiment 1, comprising the following steps:
When ultrasonic weld seam flaw detection is to be carried out, the travelling mechanism 1 is started, the step motor 11 operates and drives the wheels 10 and 12 to rotate, so that the angular ultrasonic probe 26 approaches to a surface to be detected as the car body 6 approaches to the object to be detected, and then the step motor 11 is stopped, the piston rod 18 in the telescopic cylinder 3 extends so that the angular ultrasonic probe 26 fits closely with the weld seam, contacts with the surface to be detected and is stressed owing to the movement of the telescopic cylinder 3, and thereby transfers the force to the spherical hinged mandrel 25, the spherical hinged mandrel 25 pushes open the spherical hinged mandrel housing 23 and enters into the spherical hinged mandrel housing 23, so that the spherical hinged mandrel 25 and the spherical hinged mandrel housing 23 lock with each other, the spherical hinged mandrel 25 and the angular ultrasonic probe 26 thereon move together with the spherical hinged mandrel housing 23. Then, the first motor 8 and the second motor 13 are started, so that the angular ultrasonic probe 26 detects the surface to be detected step by step by dint of the horizontal movement of the first connecting block 7 and the vertical movement of the second connecting block 14; when the angular ultrasonic probe 26 encounters an irregular weld seam in the detection process, the comprehensive adaption device 5 makes adjustment to the angular ultrasonic probe 26 in real time. When flaw detection is to be carried out = 6 =
Description for weld seams on an inclined surface, the rotary driving device 4 is turned to a position where the bottom surface of the ultrasonic probe is essentially parallel to the surface to be detected, before the next step of operation is executed; when flaw detection is to be carried out for a weld seam that is irregular in shape or has a spatial structure, the control system (i.e., a single-chip microcomputer) is programmed to control the movement among the first slide rail 9, the second slide rail, the telescopic cylinder 3, and the rotary driving device 4, so that an expected travel trajectory (path) is formed by the movements and the angular ultrasonic probe 26 is tangent to the weld seam to be detected all the time to detect flaws accurately.
The piston rod 18 of the telescopic cylinder 3 is retracted after the flaw detection is finished, so that the angular ultrasonic probe 26 is separated from the detected surface, the compressed pressure spring 24 resets and the spherical hinged mandrel 25 is ejected out of the spherical hinged mandrel housing 23 and returns to its initial position.
= 7 =
Wherein, the travelling mechanism 1 comprises a car body 6, four wheels 10 and 12 are fixedly = 4 =
Description mounted on the two sides of the car body 6 symmetrically in the front-rear direction, two step motors 11 are fixedly mounted on the bottom of the car body 6 diagonally, and the two step motors are drive-jointed with two wheels (one front wheel and one rear wheel) respectively. Wherein, the wheels 12 are connected with the step motor 11 via existing structures including coupling, shaft, bearing, and shaft sleeve, etc., and are fixed to the car body 6 through threaded connections; the wheels 10 are fixed to the car body 6 through threaded connections via existing structures including shaft, bearing, and shaft sleeve, etc.
A first slide rail 9, a first connecting block 7 and a first motor 8 are arranged on the top of the car body 6, wherein, the first motor 8 is a step motor, mounted at one side of the first slide rail 9, and drives the first connecting block 7 via a belt to move horizontally in the first slide rail 9, the top surface of the first connecting block 7 is a flat surface arranged with threaded mounting holes, so that the first connecting block 7 can be connected to the connecting base 15 at the bottom end of the second slide rail by bolts. The flat bottom surface of the first connecting block is fixed to the belt by four sets of bolts via the fixing hole structures on the belt, and the bolts are fixed in two small grooves on the other end surface of the slide rail; utilizing the belt and slide rail structure, the space can be saved, and the left-right sliding distance along the rail can be increased; in addition, since the belt and slide rail structure are driven by a step motor, precision control can be realized, and the moving speed of the slide rail can be adjusted more easily when flaw detection is carried out for weld seams that are irregular in shape and the weld seams have a spatial structure.
The three-dimensional adjusting frame 2 comprises a second slide rail, a second connecting block 14, a second motor 13, and a telescopic cylinder 3, wherein, a connecting base 15 is arranged at the bottom end of the second slide rail, and has threaded mounting holes corresponding to the threaded mounting holes in the first connecting block 7, the second slide rail is connected to the top surface of the first connecting block 7 by bolts via the connecting base 15 at the bottom end of the second connecting block 14, the second motor 13 is mounted at one side of the top part of the second slide rail by bolts, the output shaft of the second motor 13 extends into the second slide rail and drives the second connecting block 14 to move vertically in the second slide rail via the driving belt; one end of the cylinder tube 16 of the telescopic cylinder 3 is connected with the second connecting block 14 by bolts, and the other end of the cylinder tube 16 is the end where the piston rod 18 extends.
The rotary driving device 4 comprises a connecting clamp 19, a first rotating motor 20, and a motor housing 22, wherein, the connecting clamp 19 is a L-shaped annular structure with a cavity in the middle part, one end of the connecting clamp 19 is fixedly connected with one end of the piston rod 18 of the telescopic cylinder 3 via a pin shaft, the first rotating motor 20 is mounted at one side of the other end of the connecting clamp 19, the output shaft of the first rotating motor 20 is connected with a rotating shaft that penetrates through the connecting clamp 19 and is fixedly connected with the motor housing 22; when the first rotating motor 20 operates, the output shaft drives the rotating shaft to rotate, and the rotating shaft drives the motor housing 22 to rotate accordingly when it rotates. The rotating shaft is fixedly connected with the second rotating motor 21 and drives the second rotating motor 21 to rotate when the rotating shaft rotates, so as to adjust the position of the comprehensive adaption device 5 and thereby adjust the position of the angular ultrasonic probe.
The comprehensive adaption device 5 comprises a second rotating motor 21, a spherical hinged mandrel housing 23, a pressure spring 24, a spherical hinged mandrel 25, and a spherical hinged casing 27, wherein, the top end of the spherical hinged mandrel housing 23 is drive-jointed with the output shaft of the second rotating motor 21, the bottom end of the spherical hinged mandrel housing 23 is arranged with a spherical body that contains a spherical cavity and has three openings, the spherical body is designed into a three-jaw structure and is made of a soft material, the pressure spring 24 is disposed in the spherical cavity and hung from a circular ring structure on the inner surface of the spherical cavity hole, the bottom end of the pressure spring 24 contacts with the spherical hinged mandrel 25 naturally, and the spherical hinged mandrel 25 is fixedly connected = 5 =
Description with an angular ultrasonic probe 26 via the end of a long extension rod. The pressure spring 24, the spherical hinged mandrel 25, and the spherical body at the bottom end of the spherical hinged mandrel housing 23 are disposed in a spherical hinged casing 27, the spherical hinged casing 27 is a hollow casing, the top end of the spherical hinged casing 27 is connected with the spherical hinged mandrel housing 23 into an integral assembly, and the spherical hinged mandrel 25 contacts with the inner wall of the spherical hinged casing 27. The second rotating motor 21 is mounted in the motor housing 22.
The spherical hinged mandrel 25 contacts with the pressure spring 24 naturally without connection, because slight relative sliding may occur between the spherical hinged mandrel 25 and the pressure spring 24 in the automatic adjusting process, but in an initial state, the pressure spring 24 applies low pressure to the spherical hinged mandrel 25, the spring pressure works with the bottom end of the spherical hinged mandrel housing to press the spherical hinged mandrel 25 on the inner wall of the spherical hinged casing 27; the spherical hinged mandrel 25 and the spherical hinged mandrel housing 23 are two parts, in the initial state, the spherical hinged mandrel 25 contacts with the bottom end of the spherical hinged mandrel housing 23, and the spherical hinged mandrel 25 and the spherical hinged mandrel housing 23 abut against each other; when the spherical hinged mandrel 25 is subjected to high force (i.e., contacts with the working surface and is stressed), the spherical hinged mandrel 25 is pressed into the spherical cavity of the spherical hinged mandrel housing 23, and the spherical hinged mandrel 25 is seized by the three-jaw structure at the bottom end of the spherical hinged mandrel housing 23, so that the spherical hinged mandrel housing 23 and the spherical hinged mandrel 25 are moved together.
Example 2:
A comprehensive automatic weld seam flaw detection instrument driving device, having a structure as described in embodiment 1, with the following differences: a hydraulic system is used to drive the first connecting block 7 and the second connecting block 14, the piston rod of the hydraulic cylinder is connected with the first connecting block 7 or the second connecting block 14, and the first connecting block 7 or the second connecting block 14 is driven to move in the first slide rail 9 or the second slide rail under the telescopic action of the piston rod.
Example 3:
A method for applying the comprehensive automatic weld seam flaw detection instrument driving device as described in the embodiment 1, comprising the following steps:
When ultrasonic weld seam flaw detection is to be carried out, the travelling mechanism 1 is started, the step motor 11 operates and drives the wheels 10 and 12 to rotate, so that the angular ultrasonic probe 26 approaches to a surface to be detected as the car body 6 approaches to the object to be detected, and then the step motor 11 is stopped, the piston rod 18 in the telescopic cylinder 3 extends so that the angular ultrasonic probe 26 fits closely with the weld seam, contacts with the surface to be detected and is stressed owing to the movement of the telescopic cylinder 3, and thereby transfers the force to the spherical hinged mandrel 25, the spherical hinged mandrel 25 pushes open the spherical hinged mandrel housing 23 and enters into the spherical hinged mandrel housing 23, so that the spherical hinged mandrel 25 and the spherical hinged mandrel housing 23 lock with each other, the spherical hinged mandrel 25 and the angular ultrasonic probe 26 thereon move together with the spherical hinged mandrel housing 23. Then, the first motor 8 and the second motor 13 are started, so that the angular ultrasonic probe 26 detects the surface to be detected step by step by dint of the horizontal movement of the first connecting block 7 and the vertical movement of the second connecting block 14; when the angular ultrasonic probe 26 encounters an irregular weld seam in the detection process, the comprehensive adaption device 5 makes adjustment to the angular ultrasonic probe 26 in real time. When flaw detection is to be carried out = 6 =
Description for weld seams on an inclined surface, the rotary driving device 4 is turned to a position where the bottom surface of the ultrasonic probe is essentially parallel to the surface to be detected, before the next step of operation is executed; when flaw detection is to be carried out for a weld seam that is irregular in shape or has a spatial structure, the control system (i.e., a single-chip microcomputer) is programmed to control the movement among the first slide rail 9, the second slide rail, the telescopic cylinder 3, and the rotary driving device 4, so that an expected travel trajectory (path) is formed by the movements and the angular ultrasonic probe 26 is tangent to the weld seam to be detected all the time to detect flaws accurately.
The piston rod 18 of the telescopic cylinder 3 is retracted after the flaw detection is finished, so that the angular ultrasonic probe 26 is separated from the detected surface, the compressed pressure spring 24 resets and the spherical hinged mandrel 25 is ejected out of the spherical hinged mandrel housing 23 and returns to its initial position.
= 7 =
Claims (10)
1. A comprehensive automatic weld seam flaw detection instrument driving device, wherein, comprising a travelling mechanism, a three-dimensional adjusting frame, a rotary driving device and a comprehensive adaption device, the three-dimensional adjusting frame is arranged on the travelling mechanism, the rotary driving device is arranged on the three-dimensional adjusting frame, and the rotary driving device is connected with the comprehensive adaption device; in the comprehensive weld seam flaw detection instrument driving device provided in the present invention, a required flaw detection instrument can be mounted on the comprehensive adaption device, and can be moved in a three-dimensional space by dint of the flexible adjusting ability of the three-dimensional adjusting frame and the comprehensive adaption device, so that the probe approaches to the weld seam for ultrasonic flaw detection; in the flaw detection process, the probe is kept at a position tangent to the weld seam all the time by means of adjustment of the comprehensive adaption device at small angles, and thereby the weld seam can be effectively detected under the condition that the weld seam is not flat or has small angles, etc., and the accuracy of detection can be improved.
2. The comprehensive automatic weld seam flaw detection instrument driving device according to claim 1, wherein, the travelling mechanism comprises a car body, wheels are arranged on the two sides of the car body, motors are arranged on the bottom of the car body, and the output shafts of the motors are drive-jointed with wheels.
3. The comprehensive automatic weld seam flaw detection instrument driving device according to claim 2, wherein, the motors are step motors.
4. The comprehensive automatic weld seam flaw detection instrument driving device according to claim 2, wherein, a first slide rail, a first connecting block, and a first motor are arranged on the top of the car body, the first motor is arranged at one side of the first slide rail and drives the first connecting block via a driving belt to move horizontally in the first slide rail.
5. The comprehensive automatic weld seam flaw detection instrument driving device according to claim 4, wherein, the three-dimensional adjusting frame comprises a second slide rail, a second connecting block, a second motor, and a telescopic cylinder, the bottom end of the second slide rail is fixedly connected with the first connecting block, the second motor is arranged at one side of the second slide rail and drives the second connecting block via a driving belt to move vertically in the second slide rail, and one end of the telescopic cylinder is fixedly connected with the second connecting block.
6. The comprehensive automatic weld seam flaw detection instrument driving device according to claim 5, wherein, the rotary driving device comprises a connecting clamp, a first rotating motor, and a motor housing, one end of the connecting clamp is fixedly connected with one end of a piston rod in the telescopic cylinder, the first rotating motor is arranged on the other end of the connecting clamp and is drive-jointed with the rotating shaft, and the rotating shaft is fixedly connected with the motor housing.
7. The comprehensive automatic weld seam flaw detection instrument driving device according to claim 6, wherein, the comprehensive adaption device comprises a second rotating motor, a spherical hinged mandrel housing, a pressure spring, a spherical hinged mandrel, and a spherical hinged casing, the top end of the spherical hinged mandrel housing is drive-jointed with an output shaft of the second rotating motor, the bottom end of the spherical hinged mandrel housing is arranged with a spherical body that includes a spherical cavity, the pressure spring is arranged in the spherical cavity, one end of the pressure spring is connected with the spherical hinged mandrel housing, the other end of the pressure spring is connected with the spherical hinged mandrel, the spherical hinged mandrel is arranged in the spherical hinged casing, the Claims spherical hinged casing is connected with the spherical hinged mandrel housing, and the second rotating motor is mounted in the motor housing.
8. The comprehensive automatic weld seam flaw detection instrument driving device according to claim 7, wherein, the spherical body is arranged with three openings that communicate with the spherical cavity.
9. The comprehensive automatic weld seam flaw detection instrument driving device according to claim 7, wherein, the weld seam flaw detection instrument driving device further comprises an angular ultrasonic probe fixedly connected with one end of the spherical hinged mandrel.
10. A method for applying the comprehensive automatic weld seam flaw detection instrument driving device according to any of claims 1-9, comprising the following steps:
starting the travelling mechanism so that the angular ultrasonic probe approaches to a surface to be detected when ultrasonic weld seam flaw detection is to be carried out, and then extending the piston rod in the telescopic cylinder so that the angular ultrasonic probe fits closely with the weld seam, contacts with the surface to be detected and is stressed owing to the movement of the telescopic cylinder, and thereby transfers the force to the spherical hinged mandrel, the spherical hinged mandrel pushes open the spherical hinged mandrel housing and enters into the spherical hinged mandrel housing, so that the spherical hinged mandrel and the spherical hinged mandrel housing lock with each other, the spherical hinged mandrel and the angular ultrasonic probe thereon move together with the spherical hinged mandrel housing; starting the first motor and the second motor so that the angular ultrasonic probe detects the surface to be detected step by step by dint of the horizontal movement of the first connecting block and the vertical movement of the second connecting block; retracting the telescopic cylinder after the flaw detection is finished, so that the angular ultrasonic probe is separated from the detected surface, the compressed pressure spring resets and the spherical hinged mandrel is ejected out of the spherical hinged mandrel housing and returns to its initial position.
starting the travelling mechanism so that the angular ultrasonic probe approaches to a surface to be detected when ultrasonic weld seam flaw detection is to be carried out, and then extending the piston rod in the telescopic cylinder so that the angular ultrasonic probe fits closely with the weld seam, contacts with the surface to be detected and is stressed owing to the movement of the telescopic cylinder, and thereby transfers the force to the spherical hinged mandrel, the spherical hinged mandrel pushes open the spherical hinged mandrel housing and enters into the spherical hinged mandrel housing, so that the spherical hinged mandrel and the spherical hinged mandrel housing lock with each other, the spherical hinged mandrel and the angular ultrasonic probe thereon move together with the spherical hinged mandrel housing; starting the first motor and the second motor so that the angular ultrasonic probe detects the surface to be detected step by step by dint of the horizontal movement of the first connecting block and the vertical movement of the second connecting block; retracting the telescopic cylinder after the flaw detection is finished, so that the angular ultrasonic probe is separated from the detected surface, the compressed pressure spring resets and the spherical hinged mandrel is ejected out of the spherical hinged mandrel housing and returns to its initial position.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510931092.XA CN105416436B (en) | 2015-12-11 | 2015-12-11 | A kind of comprehensive automatic weld seam defectoscope drive device and its application |
| CN201510931092.X | 2015-12-11 | ||
| PCT/CN2016/084709 WO2017096770A1 (en) | 2015-12-11 | 2016-06-03 | Driving device of all-directional automatic weld seam flaw detection instrument and application thereof |
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| CA2975417A1 true CA2975417A1 (en) | 2017-06-15 |
| CA2975417C CA2975417C (en) | 2020-03-24 |
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| CA2975417A Active CA2975417C (en) | 2015-12-11 | 2016-06-03 | Driving device of all-directional automatic weld seam flaw detection instrument and application thereof |
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| Country | Link |
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| CN (1) | CN105416436B (en) |
| AU (1) | AU2016367733B2 (en) |
| CA (1) | CA2975417C (en) |
| WO (1) | WO2017096770A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109719435A (en) * | 2019-03-08 | 2019-05-07 | 广东利元亨智能装备股份有限公司 | Automatic welding machine |
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| CN105416436B (en) * | 2015-12-11 | 2017-07-04 | 山东科技大学 | A kind of comprehensive automatic weld seam defectoscope drive device and its application |
| DE102017127864A1 (en) * | 2017-11-24 | 2019-05-29 | Actemium Cegelec GmbH | Apparatus and method for the nondestructive measurement of components |
| CN107991389B (en) * | 2017-12-01 | 2021-02-02 | 华中科技大学无锡研究院 | Ultrasonic nondestructive testing device |
| CN109270214B (en) * | 2018-08-30 | 2021-08-24 | 武汉船用机械有限责任公司 | Flaw detection device for cable saddle groove partition plate weld joint |
| CN110007050B (en) * | 2019-04-01 | 2022-01-25 | 四川纽赛特工业机器人制造有限公司 | Semi-automatic detection trolley for welding seam |
| CN110040218A (en) * | 2019-04-30 | 2019-07-23 | 上海海事大学 | Boom type body section weld seam detection vehicle |
| CN110243940A (en) * | 2019-07-04 | 2019-09-17 | 武汉思恒达科技有限公司 | A kind of detection vehicle that can detect railway tunnel automatically |
| CN110286156A (en) * | 2019-07-20 | 2019-09-27 | 深圳市实瑞建筑技术有限公司 | A kind of Steel Structure Weld automatic checkout system |
| CN110530974B (en) * | 2019-08-20 | 2021-12-07 | 浙江天洁磁性材料股份有限公司 | Self-propelled nondestructive testing device for steel plate |
| CN110749652A (en) * | 2019-11-18 | 2020-02-04 | 中国第一重型机械集团大连加氢反应器制造有限公司 | TOFD flaw detection auxiliary device and using method thereof |
| CN111537605A (en) * | 2020-04-15 | 2020-08-14 | 广东核电合营有限公司 | Butt weld detection device |
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| CN113340990B (en) * | 2021-06-15 | 2024-01-09 | 郝政研 | Tunnel lining quality safety detection device |
| CN114264725A (en) * | 2021-12-30 | 2022-04-01 | 合肥火眼智能科技有限公司 | Handheld general ultrasonic flaw detector |
| CN116475665A (en) * | 2023-04-27 | 2023-07-25 | 南京中荷寰宇环境科技有限公司 | Flaw detection structure, drill bit welding equipment special for drilling machine and welding method |
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| DE102005043776A1 (en) * | 2005-09-14 | 2007-03-22 | Bayerische Motoren Werke Ag | Ultrasonic test head positioning procedure uses camera fixed on industrial robot to image approximate weld position to create data to place test head in ideal position |
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| CN202770786U (en) * | 2012-09-27 | 2013-03-06 | 南京奥特电气股份有限公司 | Pipeline weld joint flaw detection driving device |
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- 2015-12-11 CN CN201510931092.XA patent/CN105416436B/en active Active
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- 2016-06-03 CA CA2975417A patent/CA2975417C/en active Active
- 2016-06-03 WO PCT/CN2016/084709 patent/WO2017096770A1/en active Application Filing
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109719435A (en) * | 2019-03-08 | 2019-05-07 | 广东利元亨智能装备股份有限公司 | Automatic welding machine |
| CN109719435B (en) * | 2019-03-08 | 2024-04-12 | 广东利元亨智能装备股份有限公司 | Automatic welding machine |
Also Published As
| Publication number | Publication date |
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| CN105416436A (en) | 2016-03-23 |
| AU2016367733A1 (en) | 2017-09-21 |
| WO2017096770A1 (en) | 2017-06-15 |
| CA2975417C (en) | 2020-03-24 |
| AU2016367733B2 (en) | 2020-02-27 |
| CN105416436B (en) | 2017-07-04 |
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