CN101852778B - Auxiliary robot for ultrasonic flaw detection - Google Patents
Auxiliary robot for ultrasonic flaw detection Download PDFInfo
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- CN101852778B CN101852778B CN201010171868XA CN201010171868A CN101852778B CN 101852778 B CN101852778 B CN 101852778B CN 201010171868X A CN201010171868X A CN 201010171868XA CN 201010171868 A CN201010171868 A CN 201010171868A CN 101852778 B CN101852778 B CN 101852778B
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- frame
- ultrasonic probe
- drive motor
- coupling agent
- ultrasonic
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Abstract
The invention discloses an auxiliary robot for ultrasonic flaw detection, which comprises a frame, a frame travel mechanism, a detection executing part, a coupling agent coating part and a moving mechanism for the executing part. In the frame travel mechanism, each pedrail drive motor acts separately or cooperatively to enable the frame to go forward, backward or turn. The detection executing part is moved by a synchronous belt in the moving mechanism for the executing part. A probe rotating motor and an ultrasonic probe clamping part are arranged on an internal mounting bracket. An ultrasonic probe clamping part is moved up and down by a linear reciprocating motor through the internal mounting bracket. In the coupling agent coating part, a coupling agent brush is fixed on the ultrasonic probe clamping part. The coupling agent brush coats the coupling agent in the front, and then the ultrasonic probe executes the process of flaw detection behind the coupling agent brush. The invention accomplishes heavy works such as coupling agent coating, probe clamping and the like per se, which greatly reduces labor intensity of detectors and improves the efficiency and precision of detection.
Description
Technical field
The present invention relates to ultrasonic flaw detection auxiliary device, promptly relate to a kind of auxiliary robot for ultrasonic flaw detection.
Background technology
UT (Ultrasonic Testing) has following characteristics: have good directivity, have quite high intensity, on the interface of two kinds of propagation mediums, can produce reflection, refraction and waveform transformation, have very strong penetration capacity, and human body is not had injury etc.UT (Ultrasonic Testing) is one of lossless detection method commonly used in the device fabrication processes such as pressure vessel, shipbuilding, boiler.Particularly in the seam inspection in the pressure vessel manufacture process, mainly adopt the method for manual detection, have shortcomings such as inefficiency, accuracy of detection deficiency and labour intensity are big.Existing UT (Ultrasonic Testing) main operational steps mainly comprises cleaning, brush couplant, to detect defective, defective locations and shape definite etc. except preliminary works such as flaw detection requires to confirm, defectoscope adjustment; In scale removal process, instrument cleanings such as employing steel brush need the flaw detection position to reach dirts such as iron filings on every side, welding slag, dust; In brush couplant process; The thin pulp paste that UT (Ultrasonic Testing) wheat flour specially commonly used is done, machine oil etc. are as couplant; On the position that needs detect, artificial ultrasound wave inspection method adopts one section couplant of brush to operating personnel, detects one section method of detection with the couplant brushing; In the ultrasound examination process; Principle and national standard requirement according to ultrasound examination; Angle probe should be placed on the detection faces perpendicular to axis of a weld, does the sawtooth pattern scanning, and the scope that moves forward and backward of probe should guarantee that scanning arrives whole welding joints cross section; When keeping the probe vertical weld to move forward and backward, also should make 10 °～15 ° left-right rotation; In judging the defect shape process, if in testing process, find defective position, need stop to detect, judge position, the kind of defective through all around rotation with around rotation, and keep a record.Adopting manual method to carry out UT (Ultrasonic Testing) detects and has inefficiency, influences shortcomings such as follow-up work progress and labour intensity are big; Such as inefficiency because the circular characteristics of the cylindrical shell of pressure vessel, the top and near the position be unfavorable for brushing couplant and detection; General single detects 120 °; Through special tooling pressure vessel is rotated 120 ° then, detect again, need could shell ring detection of pressure vessel be finished for three times; Not only labour intensity is big, and work efficiency is very low; Influence the postorder job schedule; The manufacture process of pressure vessel generally is to weld earlier; Just can repair through after detecting, welded attachment, pressure test and work such as paint; When ultrasound examination, must stop other work, the poor efficiency of UT (Ultrasonic Testing) has a strong impact on the manufacturing speed of pressure vessel; Ratio of precision is lower; National standard all has clear and definite requirement for the maximum translational speed of probe, the distance that serrate moves; Since fertilization ability intensity, operation careful degree and testing staff's aspects such as tired degree influence requirement; Be difficult to reach standard-required, influence the result of actual detected; Labour intensity is big, and the pressure vessel UT (Ultrasonic Testing) generally needs two operating personnel at least, and operating personnel brush couplant, and another one detects.When the rotation pressure container, also need a people to operate to the outside, another one people observes rotational angle.Long-time hand hold transducer adopts anchor and uniform snap-in force to cause testing staff's labour intensity bigger.
Summary of the invention
Task of the present invention is to provide a kind of auxiliary robot for ultrasonic flaw detection, and this auxiliary robot for ultrasonic flaw detection can be assisted manually-operated, accomplishes the flaw detection task, helps increasing work efficiency and reducing labour intensity.
Its technical solution is:
A kind of auxiliary robot for ultrasonic flaw detection comprises frame and carries the frame travel mechanism that frame moves, and is positioned at detection execution portion, the couplant brushing portion on the frame and carries the travel mechanism of execution portion that detection execution portion moves back and forth as left and right directions; The frame travel mechanism is provided with two magnetic traveling crawlers; Wherein a magnetic traveling crawler is provided with sprocket wheel, driving chain, magnetic crawler belt and first drive motor; First drive motor drives sprocket rotation, carries the magnetic crawler belt through driving chain and advances, and another magnetic traveling crawler is provided with sprocket wheel, driving chain, magnetic crawler belt and second drive motor; Second drive motor drives sprocket rotation; Carry the magnetic crawler belt through driving chain and advance, above-mentioned first drive motor and second drive motor single movement or the interoperation are made frame and are advanced, retreat or turning action; Travel mechanism of execution portion comprise power wheel, synchronously the band and the step-by-step movement drive motor; Detecting execution portion carries mobile by synchronous band; Detect execution portion and comprise ultrasonic probe clamping part, probe electric rotating machine and the internal fixation frame that is positioned at the below; The motor shaft of probe electric rotating machine is towards the below, and the ultrasonic probe clamping part is connected with the motor shaft of probe electric rotating machine, and the linear reciprocating motor cooperates with the transmission of internal fixation frame; Above-mentioned probe electric rotating machine and ultrasonic probe clamping part are arranged on this internal fixation frame, and the linear reciprocating motor carries probe electric rotating machine and ultrasonic probe clamping part lifting position or down position through the internal fixation frame; Couplant brushing mechanism comprises couplant container, hydraulic pump and coupling agent brush; Through connecting line the three is coupled together; Coupling agent brush is fixed on the ultrasonic probe clamping part; Coupling agent brush is positioned at the front side of ultrasonic probe clamping part clamping ultrasonic probe, and coupling agent brush is the brushing couplant in front, and ultrasonic probe is detected a flaw following closely.
Above-mentioned first drive motor is positioned at the rear side of frame travel mechanism; First drive motor is connected with rear sprocket wheel in the magnetic traveling crawler of place; Above-mentioned second drive motor is positioned at the front side of frame travel mechanism, and second drive motor is connected with the place ahead sprocket wheel in the magnetic traveling crawler of place.
Above-mentioned detection execution portion comprises square bearer and following square bearer; The internal fixation chord position is in last square bearer docks formed space, back with following square bearer in; The support partial fixing of linear reciprocating motor is up on the cabane plate of framework; The motor shaft of linear reciprocating motor stretches into square bearer and is connected with the last frame plate of inner fixed stand; The support partial fixing of probe electric rotating machine is on frame plate on the inner fixed stand, and the transition axis that stretches in inner fixed stand and the ultrasonic probe clamping part of motor shaft of probe electric rotating machine is in transmission connection, and is fixedly connected through axle sleeve between the top of transition axis and the inner fixed stand; Transition axis passes down square bearer and is in transmission connection with the probe clamping head that is positioned at the below, is provided with compression spring in the following spindle nose and the probe clamping head connecting part of transition axis.
The above-mentioned square bearer of going up is fixedly connected with synchronous band at place, rear side docking site with following square bearer; Be provided with guide rail sleeve on the fronk rack plate of framework and the back frame plate up; Be nested with at each self-corresponding on the cross slide way that stretches on the left and right directions through guide rail sleeve; Frame plate is provided with the longitudinally guiding bar on the internal fixation frame, and the longitudinally guiding bar passes the spacing hole that is positioned on the square bearer cabane plate.
Above-mentioned probe clamping head comprises shift fork shape connecting portion, and the ultrasonic probe that is positioned at the below is hinged on the prong position of shift fork shape connecting portion through transverse axis.
The present invention can have following useful technique effect:
1, can reduce labour intensity.The present invention is accomplished heavy work contents such as brushing couplant and probe clamping by himself, generally need not the rotation pressure container and can accomplish detection, has greatly reduced testing staff's labour intensity.
2, can increase work efficiency.When carrying out the UT (Ultrasonic Testing) detection, the testing staff only need or not artificial brushing couplant in the pressure vessel built-in function, does not need the rotation pressure container can carry out omnibearing detection, has improved detection efficiency greatly; Be accompanied by the raising of detection efficiency, can accelerate the efficient that whole machining process is produced, reduce the phenomenon of delaying work that causes because detection efficiency is low.
3, can improve accuracy of detection.The present invention can make has proper and stable snap-in force between ultrasonic probe and the pressure vessel wall, avoid because the uneven phenomenon of pressure that human factors such as testing staff's fatigue, anxiety cause and direction.
Description of drawings
Below in conjunction with accompanying drawing and embodiment the present invention is described further:
Fig. 1 is the structural principle synoptic diagram of one embodiment of the present invention.
Fig. 2 is the plan structure principle schematic of Fig. 1 mode.
Fig. 3 is the side-looking structural principle synoptic diagram of Fig. 1 mode.
Embodiment
In conjunction with Fig. 1, Fig. 2 and Fig. 3, a kind of auxiliary robot for ultrasonic flaw detection, its frame 1 is provided with the frame travel mechanism.The frame travel mechanism is provided with the magnetic traveling crawler 2 and No. two magnetic traveling crawlers 3 that are positioned at the frame right side that two magnetic traveling crawlers promptly are positioned at the frame left side.No. one magnetic traveling crawler 2 is provided with sprocket wheel, driving chain 202, magnetic crawler belt 203 and first drive motor 204; First drive motor 204 is positioned at the rear side of frame travel mechanism; With its place magnetic traveling crawler is that the rear sprocket wheel 201 in the magnetic traveling crawler 2 is connected; Drive sprocket rotation by first drive motor 204, drive the magnetic crawler belt through driving chain and advance.No. two magnetic traveling crawler 3 is provided with sprocket wheel, driving chain 302, magnetic crawler belt 303 and second drive motor 304; Second drive motor 304 is positioned at the front side of frame travel mechanism; With its place magnetic traveling crawler is that No. two the place ahead sprocket wheels 301 in the magnetic traveling crawler 3 are connected; Drive sprocket rotation by second drive motor, drive the magnetic crawler belt through driving chain and advance.Above-mentioned first drive motor 204 and second drive motor, 304 single movements or interoperation are made frame and are advanced, retreat or turning action.It detects execution portion and comprises the probe electric rotating machine 5 at the ultrasonic probe clamping part 4 that is positioned at the below, middle part and the linear reciprocating motor 6 of top, and internal fixation frame 7, goes up square bearer 8 and following square bearer 9.Above-mentioned internal fixation frame 7 is positioned at square bearer 8 and docks formed space, back with following square bearer 9; The support partial fixing of linear reciprocating motor 6 is up on the cabane plate 801 of framework 8; The motor shaft of linear reciprocating motor 6 stretches into square bearer 8 and is connected with the last frame plate 701 of inner fixed stand 7, and linear reciprocating motor 6 carries probe electric rotating machine and ultrasonic probe clamping part lifting position or down position through internal fixation frame 7.The support partial fixing of above-mentioned probe electric rotating machine 5 is on frame plate 701 on the inner fixed stand 7; The motor shaft of probe electric rotating machine 5 stretches into inner fixed stand 7 and is connected with transition axis 401 in the ultrasonic probe clamping part 4; The top of transition axis 401 is fixedly connected through axle sleeve etc. with the following frame plate 702 of inner fixed stand; The probe clamping head 402 of the ultrasonic probe clamping part 4 below transition axis 401 passes down square bearer 9 and is arranged in is in transmission connection, and is provided with compression spring 403 in the following spindle nose and the probe clamping head connecting part of transition axis 401.Above-mentioned probe clamping head 402 comprises shift fork shape connecting portion 404, and the ultrasonic probe 10 that is positioned at the below is hinged on the prong position of shift fork shape connecting portion 404 through transverse axis.Its travel mechanism of execution portion comprises power wheel 11, is with 12 and step-by-step movement drive motor 13 synchronously; Above-mentioned upward square bearer 8 is located in the rear side docking site with following square bearer 9 and is with 12 to be fixedly connected synchronously; Be provided with guide rail sleeve 14 on the fronk rack plate 802 of framework 8 and the back frame plate 803 up; Be nested with at each self-corresponding on the cross slide way that stretches on the left and right directions through guide rail sleeve 14; Frame plate 701 is provided with longitudinally guiding bar 15 on the internal fixation frame 7, and longitudinally guiding bar 15 passes the spacing hole that is positioned on square bearer 8 cabane plates.Above-mentioned detection execution portion can be carried on the left and right directions by synchronous band and move back and forth.Its couplant brushing mechanism comprises couplant container 16, hydraulic pump 17 and coupling agent brush 18; Is that couplant container 16, hydraulic pump 17 couple together with coupling agent brush 18 through connecting line with the three; Coupling agent brush 18 is fixed on the ultrasonic probe clamping part 4; Coupling agent brush 18 is positioned at the front side of ultrasonic probe clamping part clamping ultrasonic probe 10, and coupling agent brush is the brushing couplant in front, and ultrasonic probe is detected a flaw following closely.
In the aforesaid way:
Through first drive motor in the frame travel mechanism and second drive motor single movement or the interoperation, the present invention is made advance, retreat or action such as turning;
Detect execution portion and can be made in the to-and-fro movement on the left and right directions, it carries out organic serrate of accomplishing in the ultrasound examination that cooperates with frame walking motion of mechanism and detects route;
Detect execution portion and implement moving up and down of its ultrasonic probe clamping part etc. through the driving of linear reciprocating motor; And can final stressedly in the scope of regulation, change through what compression spring controlled ultrasonic probe; Keep stressed between ultrasonic probe and the pressure vessel wall; Before the present invention starts working and behind the end-of-job, promote through the ultrasonic probe of linear reciprocating motor ultrasonic probe clamping part and clamping thereof, avoid the unnecessary wearing and tearing of ultrasonic probe; Adopt the probe electric rotating machine to drive ultrasonic probe and rotate, can accomplish the rotation action when normally detecting and judging defect shape;
Ultrasonic probe is hinged on the prong position of shift fork shape connecting portion through transverse axis, can realize the Automatic Levelling of popping one's head in, and convenient girth joint at the detected pressures container satisfies all around rotation requirement by a small margin of popping one's head in during with longitudinal seam.
Need to prove that also under the instruction of this instructions, any equivalents or obvious variant that those skilled in the art have done the present invention all should be in protection scope of the present invention.
Claims (5)
1. auxiliary robot for ultrasonic flaw detection; Be characterised in that it comprises frame and carries the frame travel mechanism that frame moves, and be positioned at detection execution portion, the couplant brushing portion on the frame and carry the travel mechanism of execution portion that detection execution portion moves back and forth as left and right directions; The frame travel mechanism is provided with two magnetic traveling crawlers; Wherein magnetic traveling crawler is provided with the magnetic crawler belt and first drive motor of sprocket wheel, driving chain, parcel driving chain; First drive motor drives sprocket rotation, drives the magnetic crawler belt through driving chain and advances, and another magnetic traveling crawler is provided with the magnetic crawler belt and second drive motor of sprocket wheel, driving chain, parcel driving chain; Second drive motor drives sprocket rotation; Drive the magnetic crawler belt through driving chain and advance, above-mentioned first drive motor and second drive motor single movement or the interoperation are made frame and are advanced, retreat or turning action; Travel mechanism of execution portion comprise power wheel, synchronously the band and the step-by-step movement drive motor; Detecting execution portion carries mobile by synchronous band; Detect execution portion and comprise ultrasonic probe clamping part, probe electric rotating machine, linear reciprocating motor and the internal fixation frame that is positioned at the below; The motor shaft of probe electric rotating machine is towards the below; The ultrasonic probe clamping part is connected with the motor shaft of probe electric rotating machine; The linear reciprocating motor cooperates with the transmission of internal fixation frame, and above-mentioned probe electric rotating machine and ultrasonic probe clamping part are arranged on this internal fixation frame, and the linear reciprocating motor carries probe electric rotating machine and ultrasonic probe clamping part lifting position or down position through the internal fixation frame; Couplant brushing mechanism comprises couplant container, hydraulic pump and coupling agent brush; Through connecting line the three is coupled together; Coupling agent brush is fixed on the ultrasonic probe clamping part; Coupling agent brush is positioned at the front side of ultrasonic probe clamping part clamping ultrasonic probe, and coupling agent brush is the brushing couplant in front, and ultrasonic probe is detected a flaw following closely.
2. auxiliary robot for ultrasonic flaw detection according to claim 1; It is characterized in that: said first drive motor is positioned at the rear side of frame travel mechanism; First drive motor is connected with rear sprocket wheel in the magnetic traveling crawler of place; Above-mentioned second drive motor is positioned at the front side of frame travel mechanism, and second drive motor is connected with the place ahead sprocket wheel in the magnetic traveling crawler of place.
3. auxiliary robot for ultrasonic flaw detection according to claim 1; It is characterized in that: said detection execution portion comprises square bearer and following square bearer; The internal fixation chord position is in last square bearer docks formed space, back with following square bearer in; The support partial fixing of linear reciprocating motor is up on the cabane plate of framework; The motor shaft of linear reciprocating motor stretches into square bearer and is connected with the last frame plate of inner fixed stand; The support partial fixing of probe electric rotating machine is on frame plate on the inner fixed stand, and the transition axis that stretches in inner fixed stand and the ultrasonic probe clamping part of motor shaft of probe electric rotating machine is in transmission connection, and is fixedly connected through axle sleeve between the top of transition axis and the inner fixed stand; The probe clamping head of the ultrasonic probe clamping part below transition axis passes down square bearer and is arranged in is in transmission connection, and is provided with compression spring in the following spindle nose and the probe clamping head connecting part of transition axis.
4. auxiliary robot for ultrasonic flaw detection according to claim 3; It is characterized in that: the said square bearer of going up is fixedly connected with synchronous band at place, rear side docking site with following square bearer; Be provided with guide rail sleeve on the fronk rack plate of framework and the back frame plate up; Be nested with at each self-correspondingly on the cross slide way that stretches on the left and right directions through guide rail sleeve, frame plate is provided with the longitudinally guiding bar on the internal fixation frame, and the longitudinally guiding bar passes the spacing hole that is positioned on the square bearer cabane plate.
5. auxiliary robot for ultrasonic flaw detection according to claim 3 is characterized in that: said probe clamping head comprises shift fork shape connecting portion, and the ultrasonic probe that is positioned at the below is hinged on the prong position of shift fork shape connecting portion through transverse axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010171868XA CN101852778B (en) | 2010-05-14 | 2010-05-14 | Auxiliary robot for ultrasonic flaw detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010171868XA CN101852778B (en) | 2010-05-14 | 2010-05-14 | Auxiliary robot for ultrasonic flaw detection |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101852778A CN101852778A (en) | 2010-10-06 |
| CN101852778B true CN101852778B (en) | 2012-05-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201010171868XA Expired - Fee Related CN101852778B (en) | 2010-05-14 | 2010-05-14 | Auxiliary robot for ultrasonic flaw detection |
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Families Citing this family (18)
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| CN101979223A (en) * | 2010-10-09 | 2011-02-23 | 贾聚华 | Ultrasonic inspection robot in pipeline |
| CN102230915B (en) * | 2011-04-07 | 2013-05-15 | 华南理工大学 | Device and method for flaw detection of small crawler-type rails based on three-way ultrasonic diffraction |
| CN102901772B (en) * | 2012-06-12 | 2015-06-10 | 过宾 | Robot for intelligent tracking ultrasonic detection of welding line, and software analysis system therefor |
| CN103293228A (en) * | 2013-03-04 | 2013-09-11 | 江苏省特种设备安全监督检验研究院镇江分院 | Adjustable weld seam flaw detection guided wave probe fixator |
| CN104656642B (en) * | 2013-11-22 | 2017-01-11 | 中国石油天然气集团公司 | Traveling equipment for TOFD (time of flight diffraction) detection and use method |
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| CN104049632A (en) * | 2014-05-27 | 2014-09-17 | 中国石油天然气集团公司 | Walking equipment used for TOFD testing and application method thereof |
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| CN104374824B (en) * | 2014-10-08 | 2017-04-05 | 顿向明 | One kind suffers from one's own actions flaw detection mechanism |
| CN104764807B (en) * | 2015-03-23 | 2017-03-29 | 国家电网公司 | In-service transmission of electricity steel pipe tower weld joint ultrasonic automated detection system |
| CN107132275A (en) * | 2016-02-29 | 2017-09-05 | 沈阳海纳自动化设备有限公司 | One kind flaw detection robot |
| CN106970152B (en) * | 2016-04-29 | 2019-09-03 | 宁波神钻工具有限公司 | Carbide drill Welding quality test device |
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| CN107677727A (en) * | 2017-06-04 | 2018-02-09 | 邬冯值 | Free of Automatic Ultrasonic Flaw Detector and couplant spraying cleaning equipment |
| CN109773804A (en) * | 2019-01-21 | 2019-05-21 | 浙江工业大学 | A kind of robot detection system based on steel construction ultrasonic examination |
| CN116399953B (en) * | 2023-06-09 | 2023-09-01 | 东鹏博大（天津）实业有限公司 | Detection device and detection method for steel pipe welding seam |
-
2010
- 2010-05-14 CN CN201010171868XA patent/CN101852778B/en not_active Expired - Fee Related
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| CN101852778A (en) | 2010-10-06 |
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