CN104049632A - Walking equipment used for TOFD testing and application method thereof - Google Patents
Walking equipment used for TOFD testing and application method thereof Download PDFInfo
- Publication number
- CN104049632A CN104049632A CN201410228460.XA CN201410228460A CN104049632A CN 104049632 A CN104049632 A CN 104049632A CN 201410228460 A CN201410228460 A CN 201410228460A CN 104049632 A CN104049632 A CN 104049632A
- Authority
- CN
- China
- Prior art keywords
- walking
- tofd
- tracks
- control box
- head
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The invention discloses walking equipment used for TOFD testing, and belongs to the technical field of nondestructive testing. The walking equipment comprises a scanning mechanism, a support angle adjusting block, a main machine frame, a walking mechanism, an encoder, an antenna and a main control box. The scanning mechanism is fixed onto the support angle adjusting block, the support angle adjusting block is fixedly connected with the walking mechanism, the main machine frame is fixedly connected with the walking mechanism, the main control box is fixedly connected with the walking mechanism and the main machine frame and the antenna is installed on the main control box. The invention further provides an application method of the walking equipment. According to the walking equipment used for TOFD testing and the application method of the walking equipment, a trailing head of the scanning mechanism is used for automatically controlling the advancing direction of the walking equipment, the advancing track of the walking equipment can be corrected more accurately and timely, and the accuracy of TOFD testing data is effectively improved. Through a Zigbee wireless communication protocol, the purpose of remotely controlling the walking equipment is realized, the operation range of the walking equipment used for TOFD testing is greatly widened, and the detecting efficiency is effectively improved.
Description
Technical field
The present invention relates to technical field of nondestructive testing, particularly a kind of walking arrangement and using method thereof detecting for TOFD.
Background technology
TOFD (Time Of Flight Diffraction, ultrasonic wave diffraction time difference method) diffraction energy that to be a kind of dependence obtain from " the end angle " and " end points " of test specimen inner structure to be checked (mainly referring to defect) detects the method for defect, for the detection of defect, quantitative and location, recordable shows testing process by collection of illustrative plates form, observe more intuitively the inner case of detected object.TOFD detection technique adopts two wideband-short pulses probes of one one receipts to detect, and probe is arranged symmetrically with respect to axis of a weld.Transmitting probe produces non-focusing compressional wave wave beam and incides at a certain angle in tested workpiece, and wherein part wave beam receives along the received probe of nearly surface propagation, and part wave beam is popped one's head in and received after bottom reflection.Receiving transducer is by receiving the diffracted signal at defect tip and position and the oneself height of definite defect of the time difference thereof.
At present TOFD detects the walking arrangement adopting and mostly is magnetic adsorption type dolly, and this dolly has little, the lightweight and simple operation and other advantages of volume, for example: OLYMPUS WeldROVER product.But this dolly needs operating personnel to control by wired mode, manually estimate dolly and advance whether depart from weld seam.When dolly departs from weld seam, need the handle on manual control car to adjust the working direction of dolly, if manually will affect not in time the accuracy that TOFD detects data; When dolly from operating personnel away from time cannot manually adjust, so also can affect the accuracy that TOFD detects data.In addition, the travel distance of this magnetic adsorption type dolly is shorter, and detection efficiency is low.
Summary of the invention
In order to solve existing TOFD, detect the prohibited data detection that exists with walking arrangement really and measure the problems such as efficiency is low, the invention provides a kind of walking arrangement and using method thereof detecting for TOFD.
The walking arrangement detecting for TOFD provided by the invention, comprising: scanning and searching mechanism, support angle regulating block, mainframe, travel mechanism, scrambler, antenna and master control box; Described scanning and searching mechanism is fixed on described support angle regulating block; Described support angle regulating block is fixedly connected with described travel mechanism; Described mainframe is fixedly connected with described travel mechanism; Described master control box is fixedly connected with mainframe with described walking structure; Described antenna is arranged on described master control box; Described scrambler is arranged in described travel mechanism.
Described scanning and searching mechanism comprises the head that tracks, spring support arm, head bracket and scanning support track; The described head that tracks is arranged on described spring support arm; Described spring support arm is connected with the described head bracket that tracks; The described head bracket that tracks is fixed on described scanning support; Described scanning support is fixed on described support angle regulating block.
A plurality of infrared emission receivers are installed on the described head that tracks.
Described travel mechanism comprises: electric machine support, direct current generator, magnet-wheel, walking gear case and curvature gear case; Described electric machine support is connected with described support angle regulating block; Described magnet-wheel is arranged on described walking gear case, and described walking gear case is connected with described curvature gear case by flange; Described direct current generator is arranged on described electric machine support, and is connected with described curvature gear case; Described direct current generator drives described magnet-wheel to rotate by described walking gear case and curvature gear case; Described scrambler is arranged on the output shaft of described direct current generator.
Described master control box is fixedly connected with mainframe with described electric machine support; Described master control box upper end is provided with pallet, and described pallet is used for installing TOFD checkout equipment.
Described walking arrangement also comprises handle and mainframe handle; Described mainframe handle and handle are fixedly connected on described mainframe.
The present invention also provides a kind of using method of the above-mentioned walking arrangement detecting for TOFD, comprising: on the route of walking arrangement process, lay in advance black magnetic stripe, the head that tracks on walking arrangement is aimed to the center of described magnetic stripe; Master control box passes through antenna reception steering order, and according to described steering order, sets the rotating speed of direct current generator; Direct current generator drives magnet-wheel to rotate, and the head that tracks described in making is advanced along the center of described magnetic stripe; The upper infrared emission receiver of installing of the described head that tracks sends infrared light to described magnetic stripe; When the described head that tracks is while shifting out the center of described magnetic stripe, described infrared emission receiver receives the infrared light being reflected back, described in the first-born one-tenth that tracks position encoded, and by the described position encoded described master control box that is sent to; Described master control box, according to described position encoded, is adjusted the rotating speed of described direct current generator, and the head that tracks described in making turns back to the center of described magnetic stripe.
Walking arrangement and the using method thereof detecting for TOFD provided by the invention, the head that tracks by scanning and searching mechanism is controlled the direct of travel of walking arrangement automatically, thereby can correct more precisely, in time the travel track of walking arrangement, the TOFD checkout equipment that makes to install on walking arrangement remains at the center of weld seam, effectively improves the accuracy that TOFD detects data; Meanwhile, the present invention is by Zigbee home control network communication protocol, and sending controling instruction, has realized long-distance remote control walking arrangement, has improved widely TOFD and has detected the opereating specification with walking arrangement, has effectively improved detection efficiency.
Accompanying drawing explanation
Fig. 1 is the front left shaft side figure of the walking arrangement detecting for TOFD that provides of the embodiment of the present invention;
Fig. 2 is the rear right shaft side figure of the walking arrangement detecting for TOFD that provides of the embodiment of the present invention.
Embodiment
Below in conjunction with drawings and Examples, technical solution of the present invention is further described.
Referring to Fig. 1 and Fig. 2, the embodiment of the present invention provides a kind of walking arrangement detecting for TOFD, comprising: scanning and searching mechanism, support angle regulating block 5, mainframe 7, travel mechanism, scrambler, antenna 12 and master control box 9; Scanning and searching mechanism is fixed on support angle regulating block 5; Support angle regulating block 5 is fixedly connected with travel mechanism; Mainframe 7 is fixedly connected with travel mechanism; Master control box 9 is fixedly connected with mainframe 7 with walking structure; Antenna is arranged on master control box 9, for receiving telecommand; Scrambler is arranged in travel mechanism.
Wherein, scanning and searching mechanism comprise track 1, spring support arm 2, head bracket 3 and scanning support 4 track; Tracking 1 is screwed onto on spring support arm 2, for automatically adjust the gap with magnetic stripe according to the high and low position of preset magnetic stripe, can rise and fall with weld seam, is close to weld seam; Spring support arm 2 is connected by bolt with the head bracket 3 that tracks; The head bracket 3 that tracks is screwed onto on scanning support 4; Scanning support 4 is screwed onto on support angle regulating block 5, by support angle regulating block 5, comes adjusting angle to adapt to different curve.
Wherein, travel mechanism comprises: electric machine support 6, direct current generator 13, magnet-wheel 16, walking gear case 14 and curvature gear case 15; Electric machine support 6 is spirally connected with support angle regulating block 5; Magnet-wheel 16 is arranged on walking gear case 14, and walking gear case 14 is connected with curvature gear case 15 by flange 17; Direct current generator 13 is arranged on electric machine support 6, and is connected with curvature gear case 15; Direct current generator 13 drives magnet-wheel 16 to rotate by walking gear case 14 and curvature gear case 15.Curvature gear case 15 can be adjusted angle automatically according to different curve.Master control box 9 is spirally connected with mainframe 7 and electric machine support 6.Master control box 9 upper ends and pallet 10 are spirally connected, and pallet 10 is for installing TOFD checkout equipment.Scrambler is arranged on the output shaft of direct current generator 13.
In actual applications, the magnet-wheel 16 of the present embodiment is two groups, is separately positioned on the left and right sides of electric machine support 6; Correspondingly, direct current generator 13, walking gear case 14, flange 17 and curvature gear case 15 are two; Each direct current generator 13 all drives magnet-wheel 16 to rotate by curvature gear case 15 and walking gear case 14.
In order to facilitate the carrying of walking arrangement, the walking arrangement of the embodiment of the present invention also comprises handle 11 and mainframe handle 8, and mainframe handle 8 and handle 11 are bolted to connection on mainframe 7.
The using method of the walking arrangement detecting for TOFD of the present embodiment, comprising: on the route of walking arrangement process, lay in advance the opaque magnetic stripe of black, the head that tracks on walking arrangement is aimed to the center of magnetic stripe; Master control box passes through antenna reception steering order, and according to steering order, sets the rotating speed of direct current generator; Direct current generator drives magnet-wheel to rotate, and the head that makes to track is advanced along the center of magnetic stripe; The upper infrared emission receiver of installing of the head that tracks sends infrared light to magnetic stripe; When the head that tracks shifts out the center of magnetic stripe, infrared emission receiver receives the infrared light being reflected back, and the first-born one-tenth that tracks is position encoded, and by the position encoded master control box that is sent to; Master control box, according to position encoded, is adjusted the rotating speed of direct current generator, and a center that turns back to magnetic stripe makes to track.
In use, operating personnel use the Digiplex that is built-in with Zigbee module, by Zigbee home control network communication protocol, to the master control box of walking arrangement, send the steering order with check byte, command content comprises initial order, cease and desist order and starting velocity, walk instruction, the manually instruction etc. of walking automatically, walking arrangement realized and advanced, retreat and turn etc.The present embodiment utilization track head infrared external reflection principle, the running orbit of walking arrangement is carried out to automatic deviation correction, be in particular in: when the head that tracks is advanced along the center of magnetic stripe, the infrared light sending due to infrared emission receiver is absorbed by black magnetic stripe, so infrared emission receiver cannot receive the infrared light being reflected back; When the head that tracks shifts out the center of magnetic stripe, the infrared light sending due to infrared emission receiver cannot be absorbed by black magnetic stripe, so infrared emission receiver can receive the infrared light being reflected back.As can be seen here, whether receive the infrared light being reflected back by infrared emission receiver, whether the head that just can automatic decision goes out to track advances along weld seam; Meanwhile, when the infrared emission receiver on the head that tracks receives the infrared light being reflected back, can produce position encodedly, master control box, according to position encoded, is adjusted the rotating speed of direct current generator in time, revises the center that the head that tracks turns back to magnetic stripe.Than the mode of artificial visually examine and manual manipulation, can correct more precisely, in time the travel track of walking arrangement, effectively improve the accuracy that TOFD detects data.In addition, the walking arrangement of the embodiment of the present invention is by Zigbee home control network communication protocol, realized long-distance remote control walking arrangement, the travel distance that has overcome existing magnetic adsorption type dolly is shorter, defect that cannot remote control, improve widely TOFD and detected the opereating specification with walking arrangement, effectively improved detection efficiency.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any modification of making, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (7)
1. the walking arrangement detecting for TOFD, is characterized in that, comprising: scanning and searching mechanism, support angle regulating block, mainframe, travel mechanism, scrambler, antenna and master control box; Described scanning and searching mechanism is fixed on described support angle regulating block; Described support angle regulating block is fixedly connected with described travel mechanism; Described mainframe is fixedly connected with described travel mechanism; Described master control box is fixedly connected with mainframe with described walking structure; Described antenna is arranged on described master control box; Described scrambler is arranged in described travel mechanism.
2. the walking arrangement detecting for TOFD as claimed in claim 1, is characterized in that, described scanning and searching mechanism comprises the head that tracks, spring support arm, head bracket and scanning support track; The described head that tracks is arranged on described spring support arm; Described spring support arm is connected with the described head bracket that tracks; The described head bracket that tracks is fixed on described scanning support; Described scanning support is fixed on described support angle regulating block.
3. the walking arrangement detecting for TOFD as claimed in claim 2, is characterized in that, described in track on head a plurality of infrared emission receivers be installed.
4. the walking arrangement detecting for TOFD as claimed in claim 1, is characterized in that, described travel mechanism comprises: electric machine support, direct current generator, magnet-wheel, walking gear case and curvature gear case; Described electric machine support is connected with described support angle regulating block; Described magnet-wheel is arranged on described walking gear case, and described walking gear case is connected with described curvature gear case by flange; Described direct current generator is arranged on described electric machine support, and is connected with described curvature gear case; Described direct current generator drives described magnet-wheel to rotate by described walking gear case and curvature gear case; Described scrambler is arranged on the output shaft of described direct current generator.
5. the walking arrangement detecting for TOFD as claimed in claim 4, is characterized in that, described master control box is fixedly connected with mainframe with described electric machine support; Described master control box upper end is provided with pallet, and described pallet is used for installing TOFD checkout equipment.
6. the walking arrangement detecting for TOFD as described in arbitrary claim in claim 1-5, is characterized in that, described walking arrangement also comprises handle and mainframe handle; Described mainframe handle and handle are fixedly connected on described mainframe.
7. a using method for the walking arrangement detecting for TOFD as claimed in claim 1, is characterized in that, comprising: on the route of walking arrangement process, lay in advance black magnetic stripe, the head that tracks on walking arrangement is aimed to the center of described magnetic stripe; Master control box passes through antenna reception steering order, and according to described steering order, sets the rotating speed of direct current generator; Direct current generator drives magnet-wheel to rotate, and the head that tracks described in making is advanced along the center of described magnetic stripe; The upper infrared emission receiver of installing of the described head that tracks sends infrared light to described magnetic stripe; When the described head that tracks is while shifting out the center of described magnetic stripe, described infrared emission receiver receives the infrared light being reflected back, described in the first-born one-tenth that tracks position encoded, and by the described position encoded described master control box that is sent to; Described master control box, according to described position encoded, is adjusted the rotating speed of described direct current generator, and the head that tracks described in making turns back to the center of described magnetic stripe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410228460.XA CN104049632A (en) | 2014-05-27 | 2014-05-27 | Walking equipment used for TOFD testing and application method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410228460.XA CN104049632A (en) | 2014-05-27 | 2014-05-27 | Walking equipment used for TOFD testing and application method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104049632A true CN104049632A (en) | 2014-09-17 |
Family
ID=51502628
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410228460.XA Pending CN104049632A (en) | 2014-05-27 | 2014-05-27 | Walking equipment used for TOFD testing and application method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104049632A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104359984A (en) * | 2014-12-02 | 2015-02-18 | 台州市中奥特种设备检测技术服务有限公司 | Manual multichannel TOFD (time of flight diffraction) scanning frame |
| CN104655722A (en) * | 2015-01-23 | 2015-05-27 | 湘潭大学 | Acoustic wave non-destructive detection method, device and system |
| CN105319277A (en) * | 2015-11-12 | 2016-02-10 | 深圳市神视检验有限公司 | Mixed type weld joint detection trolley |
| CN107839779A (en) * | 2017-11-13 | 2018-03-27 | 清华大学天津高端装备研究院 | A kind of TOFD flaw detections climbing robot |
| CN108508096A (en) * | 2018-03-09 | 2018-09-07 | 广东省特种设备检测研究院珠海检测院 | A kind of weld seam detection of laser positioning automatic scanning device |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1229685A1 (en) * | 1985-01-04 | 1986-05-07 | Научно-производственное объединение "Атомкотломаш" | Scanning device to ultrasonic flaw detector |
| JPS61130867A (en) * | 1984-11-30 | 1986-06-18 | Toshiba Corp | Remote-controlled automatic ultrasonic flaw detector |
| JP2000227424A (en) * | 1999-02-08 | 2000-08-15 | Kaijo Corp | Scanner for scanning scope using ultrasonic wave |
| CN101368932A (en) * | 2008-09-19 | 2009-02-18 | 哈尔滨工程大学 | Full-automatic detection apparatus suitable for multi-diameter pipe welding seam |
| CN101852778A (en) * | 2010-05-14 | 2010-10-06 | 山东科技大学 | Auxiliary robot for ultrasonic flaw detection |
| CN202583127U (en) * | 2012-04-28 | 2012-12-05 | 中国石油天然气集团公司 | Automatic ultrasonic testing system for crack of automatic deviation rectification bending pipe |
| CN102901772A (en) * | 2012-06-12 | 2013-01-30 | 过宾 | Robot for intelligent tracking ultrasonic detection of welding line, and software analysis system therefor |
| KR101377454B1 (en) * | 2014-01-28 | 2014-04-07 | (주)인스펙트 | Automatic ultrasonic testing device |
| CN104656642A (en) * | 2013-11-22 | 2015-05-27 | 中国石油天然气集团公司 | Traveling equipment for TOFD (time of flight diffraction) detection and use method |
-
2014
- 2014-05-27 CN CN201410228460.XA patent/CN104049632A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61130867A (en) * | 1984-11-30 | 1986-06-18 | Toshiba Corp | Remote-controlled automatic ultrasonic flaw detector |
| SU1229685A1 (en) * | 1985-01-04 | 1986-05-07 | Научно-производственное объединение "Атомкотломаш" | Scanning device to ultrasonic flaw detector |
| JP2000227424A (en) * | 1999-02-08 | 2000-08-15 | Kaijo Corp | Scanner for scanning scope using ultrasonic wave |
| CN101368932A (en) * | 2008-09-19 | 2009-02-18 | 哈尔滨工程大学 | Full-automatic detection apparatus suitable for multi-diameter pipe welding seam |
| CN101852778A (en) * | 2010-05-14 | 2010-10-06 | 山东科技大学 | Auxiliary robot for ultrasonic flaw detection |
| CN202583127U (en) * | 2012-04-28 | 2012-12-05 | 中国石油天然气集团公司 | Automatic ultrasonic testing system for crack of automatic deviation rectification bending pipe |
| CN102901772A (en) * | 2012-06-12 | 2013-01-30 | 过宾 | Robot for intelligent tracking ultrasonic detection of welding line, and software analysis system therefor |
| CN104656642A (en) * | 2013-11-22 | 2015-05-27 | 中国石油天然气集团公司 | Traveling equipment for TOFD (time of flight diffraction) detection and use method |
| KR101377454B1 (en) * | 2014-01-28 | 2014-04-07 | (주)인스펙트 | Automatic ultrasonic testing device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104359984A (en) * | 2014-12-02 | 2015-02-18 | 台州市中奥特种设备检测技术服务有限公司 | Manual multichannel TOFD (time of flight diffraction) scanning frame |
| CN104655722A (en) * | 2015-01-23 | 2015-05-27 | 湘潭大学 | Acoustic wave non-destructive detection method, device and system |
| CN105319277A (en) * | 2015-11-12 | 2016-02-10 | 深圳市神视检验有限公司 | Mixed type weld joint detection trolley |
| CN107839779A (en) * | 2017-11-13 | 2018-03-27 | 清华大学天津高端装备研究院 | A kind of TOFD flaw detections climbing robot |
| CN108508096A (en) * | 2018-03-09 | 2018-09-07 | 广东省特种设备检测研究院珠海检测院 | A kind of weld seam detection of laser positioning automatic scanning device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104049632A (en) | Walking equipment used for TOFD testing and application method thereof | |
| US11555912B2 (en) | Automatic wall climbing type radar photoelectric robot system for non-destructive inspection and diagnosis of damages of bridge and tunnel structure | |
| CN104359983B (en) | The center support system and method for a kind of steel rail flaw detection device | |
| CN202274979U (en) | Device for optical measurement for deflection of wind wheel blade, and wind power generation device | |
| CN104536008B (en) | Drill jumbo blast hole laser ranging and positioning method | |
| CN105158337A (en) | Automatic detector for welding line of storage tank bottom plate based on wireless transmission | |
| CN106707123B (en) | A kind of distribution overhead line partial discharge detection device based on unmanned plane during flying platform | |
| CN102095384A (en) | Multiparameter internal-diameter measurement system and method based on high-precision coaxial positioning | |
| CN104330049A (en) | Portable locomotive vehicle wheel pair surface wearing automatic detection device and detection method | |
| CN102590795A (en) | Microwave scattering property test system based on vector network analyzer | |
| CN104391038B (en) | Pointer-type wind power flange end surface nondestructive detection device | |
| CN104748689B (en) | Train contact net height contactless measuring system based on parallel laser radar | |
| CN103345262B (en) | A kind of turntable servo follow-up tracing alignment device for three-dimensional antenna cover performance test | |
| CN102279045A (en) | Device for measuring characteristics of sound field of air-coupled ultrasonic detection transducer | |
| CN104514686B (en) | A kind of device and method of real-time monitoring blower fan tower barrel running status | |
| CN104597841A (en) | System and method for compensating planeness of compact field plane scanning frame | |
| CN104677989A (en) | Following type ultrasonic flaw detector for rolling stock wheels | |
| CN103592371A (en) | Porcelain post insulator vibration acoustic online monitoring apparatus | |
| CN106323201A (en) | Straightness detection system | |
| CN109425650A (en) | Pipeline internal inspection device and detection method | |
| CN203786086U (en) | Probe rack for ultrasonic flaw detection on welding seam of straight seam steel pipe | |
| CN103558591A (en) | Ground testing method under satellite-borne microwave radar non-darkroom condition | |
| CN202196044U (en) | Scanner for scanning circumferential welds and longitudinal welds of storage tank | |
| CN208313234U (en) | A kind of level crossing deformation of rail monitoring system based on Principles of Laser | |
| CN202676290U (en) | Electric power cable terminal infrared thermal imaging intelligent measuring system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20140917 |