CN109282766B - Wall climbing detection robot - Google Patents
Wall climbing detection robot Download PDFInfo
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- CN109282766B CN109282766B CN201811475163.XA CN201811475163A CN109282766B CN 109282766 B CN109282766 B CN 109282766B CN 201811475163 A CN201811475163 A CN 201811475163A CN 109282766 B CN109282766 B CN 109282766B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
- G01B17/02—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring thickness
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- 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
- G01N29/28—Details, e.g. general constructional or apparatus details providing acoustic coupling, e.g. water
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/028—Material parameters
- G01N2291/02854—Length, thickness
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Abstract
The invention relates to a detection device of large-scale pressure equipment. The technical proposal is as follows: wall climbing detection robot, its characterized in that: the device comprises a frame, detection wheels symmetrically arranged at the bottom of the frame, a power module for driving the detection wheels, a control module for controlling the action of a robot, a water-absorbing soft brush fixed on the frame and contacted with the detection wheels, and a water pump for spraying a water couplant to the water-absorbing soft brush through a water spray pipe; the detection wheels consist of a pair of ultrasonic thickness measurement detection wheels for detecting the thickness of the workpiece and a pair of TOFD detection wheels for detecting the defect of the workpiece; the ultrasonic thickness measurement detection wheel or the TOFD detection wheel is provided with a magnetic wheel for adsorbing on the surface of a workpiece and a large bevel gear for introducing driving force, and is fixed on the frame through a hollow shaft. The wall climbing detection robot can automatically perform ultrasonic thickness measurement and TOFD detection on a workpiece, reduces the labor intensity of manual operation, can ensure the ultrasonic coupling effect of the probe, and improves the detection sensitivity of the probe.
Description
Technical Field
The invention relates to a detection device of large-scale pressure equipment, in particular to a wall climbing detection robot capable of realizing ultrasonic thickness measurement and TOFD detection functions.
Background
The working environment of large-scale pressure-bearing equipment is very harsh, and many equipment needs to continuously run for a long time under high temperature, high pressure and corrosive medium, such as a hydrocracking device of an oil refinery, needs to operate under high temperature, high pressure and hydrogen-critical state, and multiple failures such as high temperature damage, high Wen Lin hydrogen damage, high temperature medium corrosion, hydrogen induced cracking of a build-up layer, tempering brittleness of chromium-molybdenum steel, build-up layer stripping and the like are easy to generate. Therefore, in the production, manufacture and service period of the equipment, nondestructive detection and monitoring are required to be carried out on the equipment so as to detect the internal defects of the equipment in advance and ensure the safe operation of the equipment. The automation level of China is lower in the aspect of high-efficiency detection technology of large-scale pressure equipment, the detection of the large-scale pressure equipment also depends on manual detection under most conditions at present, and a scaffold is needed during detection, so that the method has the advantages of large workload, low detection efficiency, long operation period, high cost, easiness in occurrence of personal safety accidents and difficulty in meeting the working requirements. Therefore, it is necessary to design a wall climbing robot with ultrasonic thickness measurement and TOFD detection functions instead of manually completing the work.
At present, a wall climbing robot with an additional ultrasonic detection device has been developed in China, wherein an ultrasonic probe needs to be detected and moved under the pressing and dragging of the robot, and the robot has the following defects: on one hand, the ultrasonic coupling of the probe is difficult to realize, and on the other hand, the probe is easy to wear in the pressing and dragging process, and the pressing force is difficult to control, so that the detection sensitivity of the probe is reduced. Accordingly, improvements to existing wall climbing detection robots are needed.
Disclosure of Invention
The invention aims to overcome the defects of the background technology, and provides a wall climbing detection robot which can automatically perform ultrasonic thickness measurement and TOFD detection on a workpiece, reduce the labor amount of manual operation, ensure the ultrasonic coupling effect of a probe and improve the detection sensitivity of the probe.
The technical scheme provided by the invention is as follows:
wall climbing detection robot, its characterized in that: the device comprises a frame, detection wheels symmetrically arranged at the bottom of the frame, a power module for driving the detection wheels, a control module for controlling the action of a robot, a water-absorbing soft brush fixed on the frame and contacted with the detection wheels, and a water pump for spraying a water couplant to the water-absorbing soft brush through a water spray pipe;
the detection wheels consist of a pair of ultrasonic thickness measurement detection wheels for detecting the thickness of the workpiece and a pair of TOFD detection wheels for detecting the defect of the workpiece; the ultrasonic thickness measurement detection wheel or the TOFD detection wheel is provided with a magnetic wheel for being adsorbed on the surface of a workpiece and a large bevel gear for introducing driving force, and is fixed on the frame through a hollow shaft;
the power module comprises a gear shaft, a small bevel gear fixedly connected with the gear shaft and meshed with the large bevel gear, and a stepping motor fixed on the frame for driving the gear shaft to rotate;
the control module consists of a control box and an operating platform; the control box comprises a power supply, a singlechip and an ultrasonic instrument for processing ultrasonic signals; the console comprises a display device for displaying detection results and an external input device for controlling the robot through the singlechip.
Each ultrasonic thickness measuring detection wheel comprises two bearings rotatably positioned on a hollow shaft, a thickness measuring probe positioned between the two bearings, bearing covers symmetrically arranged on two sides of the thickness measuring probe and arranged on the periphery of the bearings, a magnetic wheel fixedly sleeved on the periphery of the bearing covers, a polystyrene wheel rotatably sleeved on the periphery of the thickness measuring probe and fixedly connected with the bearing covers, and a large bevel gear fixed on the outer side of the bearing covers and matched with the power module; the hollow shaft, the polystyrene wheel, the bearing gland, the magnetic wheel and the large bevel gear are coaxially arranged;
each TOFD detection wheel comprises two bearings rotatably positioned on a hollow shaft, a TOFD probe positioned between the two bearings, bearing covers symmetrically arranged on two sides of the TOFD probe and arranged on the periphery of the bearings, a magnetic wheel fixedly sleeved on the periphery of the bearing covers, a polystyrene wheel rotatably sleeved on the periphery of the TOFD probe and fixedly connected with the bearing covers, and a large bevel gear fixed on the outer side of the bearing covers and matched with the power module; the hollow shaft, the polystyrene wheel, the bearing gland, the magnetic wheel and the large bevel gear are coaxially arranged.
The thickness measuring probe in the ultrasonic thickness measuring detection wheel comprises a cylindrical damping block, a thickness measuring wafer and a thickness measuring probe wire, wherein the cylindrical damping block is sleeved and fixed on the hollow shaft, the thickness measuring wafer is fixed on one plane of the outer circumference of the cylindrical damping block and used for transmitting and receiving ultrasonic waves, one end of the thickness measuring probe wire is connected with the thickness measuring wafer, and the other end of the thickness measuring probe wire is connected with the ultrasonic instrument through a through hole formed in the hollow shaft; the thickness measuring wafer is arranged parallel to the surface of the workpiece so as to ensure that the emitting direction of ultrasonic waves is vertical to the surface of the workpiece.
The TOFD probe in the TOFD detection wheel comprises a conical damping block, a TOFD wafer and a TOFD probe wire, wherein the conical damping block is sleeved and fixed on the hollow shaft, the TOFD wafer is fixed on one plane of the outer conical surface of the conical damping block and is used for transmitting and receiving ultrasonic waves, one end of the TOFD probe wire is connected with the TOFD wafer, and the other end of the TOFD probe wire is connected with the ultrasonic instrument through a perforation arranged on the hollow shaft; the TOFD wafer is arranged obliquely to the surface of the workpiece so as to ensure that the emitting direction of ultrasonic waves forms a certain angle with the surface of the workpiece; two TOFD probes of a pair of TOFD control wheels mounted on the same hollow shaft, one of which transmits ultrasound and the other of which receives ultrasound.
The outer diameter of the polystyrene wheel is the same as that of the magnetic wheel so as to ensure that the outer peripheral surface of the detection wheel is level; the peripheries of the magnetic wheel and the polystyrene wheel are adhered with a polystyrene protective film with certain elasticity and sound permeability; the difference in radius between the polystyrene wheel and the magnetic wheel is approximately equal to half the wavelength of the polystyrene protective film.
The outer surface of the magnetic wheel is processed with metal grains so as to increase the friction force between the magnetic wheel and the workpiece.
Lubricant oil is filled between the thickness measuring probe or the TOFD probe and the polystyrene wheel, and the lubricant oil is used as a sound transmission medium between the thickness measuring probe or the TOFD probe and the polystyrene wheel; the lubricant oil is glycerol.
A sealing ring is arranged between the polystyrene wheel and the bearing gland; an embedded penetrating cover is arranged between the thickness measuring probe or the TOFD probe and the bearing to prevent lubricant oil leakage.
And a video camera is also arranged on the frame.
The water pump, the stepping motor, the external input device and the video camera are respectively and electrically connected with the single chip microcomputer.
The beneficial effects of the invention are as follows:
1. the detection wheel integrates driving, steering, wall surface adsorption and detection functions. The ultrasonic thickness measurement detection wheel and the TOFD detection wheel can respectively measure thickness of a workpiece and detect TOFD, wherein the polystyrene wheel, the bearing gland and the magnetic wheel are fixedly connected into a whole, and the power module is meshed with a large bevel gear fixed on the bearing gland for transmission, so that the robot is driven to move and turn; the robot is adsorbed on the surface of the workpiece and is realized through a magnetic wheel.
2. According to the invention, the glycerin is filled between the thickness measuring probe or the TOFD probe and the polystyrene wheel, so that on one hand, a lubrication effect is realized, and on the other hand, the glycerin thin layer between the wafer and the polystyrene wheel is equivalent to a convex acoustic lens, so that ultrasonic waves can be transmitted and focused, and the detection sensitivity of the probe is improved.
3. The thickness measuring probe or the TOFD probe is arranged in the detection wheel and is not directly contacted with the workpiece, ultrasonic waves emitted by the probe enter the polystyrene wheel through lubricant oil, and then enter the workpiece through the polystyrene protective film and the water coupling agent, so that the abrasion of the probe is avoided.
4. The water-absorbing soft brush absorbs the sprayed water couplant and smears the sprayed water couplant on the polystyrene protective film of the detection wheel, and simultaneously erases sundries stuck on the polystyrene protective film, thereby ensuring the ultrasonic coupling effect of the probe.
5. The wall climbing robot has the advantages of simple structure, small volume, convenient use, good detection effect and suitability for popularization and application.
Drawings
Fig. 1 is a schematic diagram of the front view structure of the present invention (in an operating state).
Fig. 2 is a right-side view of the present invention.
Fig. 3 is a schematic perspective view of an ultrasonic thickness measuring wheel according to the present invention.
Fig. 4 is a schematic diagram of a front view structure of a thickness measuring probe in an ultrasonic thickness measuring detection wheel according to the present invention.
Fig. 5 is a schematic bottom view of a thickness measuring probe in an ultrasonic thickness measuring test wheel according to the present invention.
Fig. 6 is a schematic perspective view of a TOFD detection wheel according to the present invention.
Fig. 7 is a schematic diagram of a front view of a TOFD probe in a TOFD test wheel according to the present invention.
Fig. 8 is a schematic bottom view of a TOFD probe in a TOFD test wheel according to the present invention.
Fig. 9 is a schematic perspective view of the power transmission relationship between the detection wheel and the power module in the present invention.
Fig. 10 is a schematic diagram of the operation principle of TOFD detection in the present invention.
Detailed Description
Further description will be given below of embodiments shown in the drawings.
The wall climbing detection robot shown in fig. 1 comprises a frame 5, a detection wheel, a power module 4, a control module, a water absorption soft brush 9, a water pump 11 and a video camera 3, wherein the detection wheel consists of a pair of ultrasonic thickness detection wheels 1 for detecting the thickness of a workpiece and a pair of TOFD detection wheels 2 for detecting the defect of the workpiece; the video camera is mounted on the frame.
As shown in fig. 2, 3 and 6, the ultrasonic thickness measuring detection wheels are symmetrically arranged at two sides of the bottom of the frame, and each ultrasonic thickness measuring detection wheel comprises a thickness measuring probe 18, a bearing gland 24, a magnetic wheel 25, a polystyrene wheel 16 and a large bevel gear 26 and is fixed on the frame through a hollow shaft 20. The hollow shaft is penetrated along the axial direction and fixed on the frame through the wheel axle bracket 7, and a through hole 27 is formed in the middle of the hollow shaft. The thickness measuring probe is fixedly sleeved on the hollow shaft so as to transmit and receive ultrasonic waves. The bearing covers are symmetrically arranged on two sides of the thickness measuring probe and are rotatably positioned on the hollow shaft through bearings 23. The magnetic wheel is fixedly sleeved on the periphery of the bearing gland so as to adsorb the robot on the surface of the workpiece 13; the outer surface of the magnetic wheel is processed with metal grains to increase the friction force between the magnetic wheel and the surface of the workpiece. The polystyrene wheel is rotatably sleeved on the periphery of the thickness measuring probe; the polystyrene wheel is fixedly connected with the bearing gland through bolts, so that the polystyrene wheel, the bearing gland and the magnetic wheel are fixedly connected into a whole. The large bevel gear is fixed on the outer side of the bearing gland and is matched with the power module for transmission. The hollow shaft, the polystyrene wheel, the bearing gland, the magnetic wheel and the large bevel gear are coaxially arranged. When the robot works, the power module drives the large bevel gear to rotate, and the large bevel gear drives the magnetic wheel and the polystyrene wheel to rotate through the bearing gland, so that the movement and the steering of the robot are realized.
The TOFD detection wheel has the same structure as the ultrasonic thickness measurement detection wheel, except that the TOFD probe 21 is used for replacing the thickness measurement probe; the specific structure is not described in detail.
The thickness measuring probe of each ultrasonic thickness measuring detection wheel comprises a cylindrical damping block 31 (the damping block material is preferably epoxy resin), a thickness measuring wafer 28 and a thickness measuring probe wire 30. The outer circumferential surface of the damping block is provided with a plane (the plane is parallel to the axis of the hollow shaft and also parallel to the surface of the workpiece), and the thickness measuring wafer is arranged on the plane to transmit and receive ultrasonic waves; the axis part of the damping block is provided with a shaft hole to be sleeved and fixed on the hollow shaft. A cylindrical thickness probe housing 29 (which is preferably an aluminum alloy housing) may also be used to house the fixed damping blocks (the portion of the thickness probe housing corresponding to the wafer is provided with a notch matching the planar size to avoid interfering with the emission of ultrasonic waves) and may be sleeved and secured to the hollow shaft. One end of the thickness measuring probe wire is connected with the thickness measuring wafer, and the other end of the thickness measuring probe wire penetrates through the perforation to be connected with the ultrasonic instrument.
The TOFD probe of each TOFD test wheel includes a conical damping block 34, a TOFD wafer 32, and a TOFD probe wire 33. The outer circumferential surface of the damping block is provided with a plane (the plane is inclined to the axis of the hollow shaft and also inclined to the surface of the workpiece, the inclination angle is determined according to the requirement), and the TOFD wafer is arranged on the plane to transmit and receive ultrasonic waves; the axis part of the damping block is provided with a shaft hole to be sleeved and fixed on the hollow shaft. A conical shaped TOFD probe housing 35 may also be used to house the fixed damping blocks (the portion of the TOFD probe corresponding to the TOFD wafer is notched to match the planar size to avoid interfering with the emission of ultrasound) and may be sleeved on the hollow shaft. One end of the TOFD probe wire is connected with the TOFD wafer, and the other end of the TOFD probe wire penetrates through the perforation to be connected with the ultrasonic instrument.
The ultrasonic thickness measuring detection wheel is different from the TOFD detection wheel in the mounting mode of the wafer. The ultrasonic thickness measuring detection wheel comprises a workpiece, a thickness measuring wafer, a ultrasonic thickness measuring detection wheel, a ultrasonic thickness measuring device and a ultrasonic thickness measuring device, wherein the thickness measuring wafer in the ultrasonic thickness measuring detection wheel faces the workpiece and is parallel to the surface of the workpiece, so that the emitting direction of ultrasonic waves is vertical to the surface of the workpiece; when the ultrasonic wave contacts the inner wall of the workpiece, reflected waves are generated, the reflected waves return along the original path and are received by the thickness measuring wafer, and the thickness of the workpiece can be measured according to the time for receiving the reflected waves. The TOFD wafer of the TOFD detection wheel faces the workpiece but is obliquely arranged, so that the emission direction of ultrasonic waves and the surface of the workpiece form a certain oblique angle; the two TOFD detection wheels are also arranged on the same hollow shaft to be matched in pairs; when the ultrasonic wave emitted by the TOFD wafer in one TOFD detection wheel encounters defects such as cracks, diffraction waves are generated at the tips of the defects, the diffraction waves are received by the TOFD wafer in the other TOFD detection wheel which is symmetrically arranged, and the heights and the depths of the defects are obtained according to different sound paths and positions of the diffraction waves received by the TOFD wafer. In addition, the detection requirements of different defects can be met by adjusting the distance between two TOFD detection wheels.
Lubricant oil is filled between the thickness measuring probe and the polystyrene wheel or between the TOFD probe and the polystyrene wheel; the lubricant oil is glycerol. Glycerol is used as a lubricant oil for the following reasons: firstly, the acoustic impedance of glycerol is very small compared with that of polystyrene, the primary sound pressure reflectivity is only 8%, and the secondary sound pressure reflectivity is less than one thousandth, so that most of ultrasonic waves can penetrate into the polystyrene, and a glycerol thin layer cannot cause repeated sound pressure reflection and detection blind areas; secondly, the glycerol has certain lubricating property, can not run off in a large amount, and is convenient for the polystyrene wheel to smoothly rotate; thirdly, the inner circumferential surface parts of the thickness measuring wafer and the polystyrene wheel corresponding to the thickness measuring wafer are convex gaps, the inner circumferential surface parts of the TOFD wafer and the polystyrene wheel corresponding to the TOFD wafer are also convex gaps, and glycerin which enters the convex gaps is filled to form a convex thin layer; the sound velocity of the glycerin is smaller than that of the polystyrene, so that the glycerin thin layer with the convex surface is equivalent to a convex sound lens, and when ultrasonic waves focused by the polystyrene enter the steel, sound beams can be further focused, so that the detection sensitivity of the detection probe can be improved. In order to prevent the leakage of lubricant oil, a sealing ring 19 is arranged between the bearing gland and the polystyrene wheel, and an embedded penetrating cover 22 for sealing is arranged between the thickness measuring probe or the TOFD probe and the bearing (both end surfaces of the bearing are provided with the embedded penetrating covers).
The outer diameter of the polystyrene wheel is the same as that of the magnetic wheel so as to ensure that the outer peripheral surfaces of the detection wheels are flush. The peripheries of the magnetic wheel and the polystyrene wheel are adhered with a polystyrene protective film 17 with certain elasticity and sound permeability. During operation, ultrasonic waves emitted by the probe enter the polystyrene wheel through lubricant oil, and then enter the workpiece through the polystyrene protective film and the water couplant, so that abrasion of the probe is avoided. In addition, under the action of the adsorption force of the magnetic wheel, the contact part of the compressed polystyrene protective film and the surface of the workpiece is in surface contact, so that the ultrasonic wave penetrating through the polystyrene protective film is also in surface contact with the workpiece. The difference of the radius of the polystyrene wheel and the radius of the magnetic wheel are approximately equal to half of the wavelength of the polystyrene protective film, so that the thickness of the polystyrene protective film is exactly half of the wavelength in a fully compressed state, and the effect of a half-wave sound-transmitting layer is achieved.
In order to improve the ultrasonic coupling effect, the side surface of each detection wheel is provided with a water-absorbing soft brush 9 (prior art) fixed on the frame, and the water-absorbing soft brush is contacted with the detection wheel. The water inlet pump sprays water couplant to the water absorbing soft brush through the water spraying pipe 15 and the nozzle 8 arranged at the tail end of the water spraying pipe, the water absorbing soft brush absorbs the sprayed water couplant and smears the sprayed water couplant on the polystyrene protective film of the detection wheel, and meanwhile sundries adhered on the polystyrene protective film are erased, so that the ultrasonic coupling effect is improved.
The power module is used for driving the detection wheel to move and comprises a gear shaft 49, a bevel pinion 50 and a stepping motor 51. The small bevel gear is fixedly connected with the gear shaft through a coupler 48, and the small bevel gear is meshed with the large bevel gear for transmission; the stepping motor is fixed on the frame to drive the gear shaft to rotate, and then drive the bevel pinion and the detection wheel to rotate. In the embodiment, each detection wheel is driven by a power module, and the control module can control each detection wheel by controlling the rotating speed and the steering of the stepping motor, so that the movement and the steering of the robot are realized.
The control module is used for controlling the actions of the robot and consists of a control box 6 and a console 12. The control box comprises a power supply, a singlechip and an ultrasonic instrument (all not shown in the figure); the console comprises a display device (a display is adopted in the invention and is not shown in the figure) for displaying the detection result and an external input device (an operation handle is adopted in the invention and is not shown in the figure) for controlling the robot through the singlechip. The ultrasonic instrument is respectively connected with the probe and the display equipment so as to process ultrasonic signals and then display the detection result on the display equipment in real time. The water pump, the camera, the stepping motor and the external input device are respectively and electrically connected with the single chip microcomputer through the combined cable 10, and the water spraying pipe can be packaged in the combined cable.
All of the elements described above are available by outsourcing.
Finally, it should be noted that the above list is only specific embodiments of the present invention. Obviously, the invention is not limited to the above embodiments, but many variations are possible. All modifications directly derived or suggested to one skilled in the art from the present disclosure should be considered as being within the scope of the present invention.
Claims (8)
1. Wall climbing detection robot, its characterized in that: the robot comprises a frame (5), detection wheels symmetrically arranged at the bottom of the frame, a power module (4) for driving the detection wheels, a control module for controlling the action of the robot, a water-absorbing soft brush (9) fixed on the frame and contacted with the detection wheels, and a water pump (11) for spraying a water couplant to the water-absorbing soft brush through a water spray pipe (15);
the detection wheel consists of a pair of ultrasonic thickness measurement detection wheels (1) for detecting the thickness of a workpiece (13) and a pair of TOFD detection wheels (2) for detecting the defect of the workpiece; the ultrasonic thickness measurement detection wheel or the TOFD detection wheel is provided with a magnetic wheel (25) for being adsorbed on the surface of a workpiece and a large bevel gear (26) for introducing driving force, and is fixed on the frame through a hollow shaft (20);
the power module comprises a gear shaft (49), a small bevel gear (50) fixedly connected with the gear shaft and meshed with the large bevel gear, and a stepping motor (51) fixedly arranged on the frame for driving the gear shaft to rotate;
the control module consists of a control box (6) and an operating platform (12); the control box comprises a power supply, a singlechip and an ultrasonic instrument for processing ultrasonic signals; the control console comprises display equipment for displaying detection results and external input equipment for controlling the robot through the singlechip;
each ultrasonic thickness measuring detection wheel comprises two bearings (23) rotatably positioned on a hollow shaft, a thickness measuring probe (18) positioned between the two bearings, bearing covers (24) symmetrically arranged on two sides of the thickness measuring probe and arranged on the periphery of the bearings, a magnetic wheel (25) fixedly sleeved on the periphery of the bearing covers, a polystyrene wheel (16) rotatably sleeved on the periphery of the thickness measuring probe and fixedly connected with the bearing covers, and a large bevel gear (26) fixedly arranged on the outer side of the bearing covers and matched with the power module; the hollow shaft, the polystyrene wheel, the bearing gland, the magnetic wheel and the large bevel gear are coaxially arranged;
each TOFD detection wheel comprises two bearings (23) rotatably positioned on a hollow shaft, a TOFD probe (21) positioned between the two bearings, bearing covers (24) symmetrically arranged on two sides of the TOFD probe and arranged on the periphery of the bearings, a magnetic wheel (25) fixedly sleeved on the periphery of the bearing covers, a polystyrene wheel (16) rotatably sleeved on the periphery of the TOFD probe and fixedly connected with the bearing covers, and a large bevel gear (26) fixedly arranged on the outer side of the bearing covers and matched with the power module; the hollow shaft, the polystyrene wheel, the bearing gland, the magnetic wheel and the large bevel gear are coaxially arranged;
lubricant oil is filled between the thickness measuring probe or the TOFD probe and the polystyrene wheel, and the lubricant oil is used as a sound transmission medium between the thickness measuring probe or the TOFD probe and the polystyrene wheel; the lubricant oil is glycerol;
the sound transmission medium is in particular a convex acoustic lens.
2. The wall climbing detection robot according to claim 1, wherein: the thickness measuring probe in the ultrasonic thickness measuring detection wheel comprises a cylindrical damping block (31) which is sleeved and fixed on the hollow shaft, a thickness measuring wafer (28) which is fixed on one plane of the outer circumferential surface of the cylindrical damping block and used for transmitting and receiving ultrasonic waves, and a thickness measuring probe wire (30) which is connected with the thickness measuring wafer at one end and connected with an ultrasonic instrument at the other end through a perforation (27) arranged on the hollow shaft; the thickness measuring wafer is arranged parallel to the surface of the workpiece so as to ensure that the emitting direction of ultrasonic waves is vertical to the surface of the workpiece.
3. The wall climbing detection robot according to claim 2, wherein: the TOFD probe in the TOFD detection wheel comprises a conical damping block (34) which is sleeved and fixed on the hollow shaft, a TOFD wafer (32) which is fixed on one plane of the outer conical surface of the conical damping block and used for transmitting and receiving ultrasonic waves, and a TOFD probe wire (33) which is connected with the TOFD wafer at one end and connected with the ultrasonic instrument at the other end through a perforation arranged on the hollow shaft; the TOFD wafer is arranged obliquely to the surface of the workpiece so as to ensure that the emitting direction of ultrasonic waves is inclined at an angle with the surface of the workpiece; two TOFD probes of a pair of TOFD control wheels mounted on the same hollow shaft, one of which transmits ultrasound and the other of which receives ultrasound.
4. A wall climbing detection robot according to claim 3, wherein: the outer diameter of the polystyrene wheel is the same as that of the magnetic wheel so as to ensure that the outer peripheral surface of the detection wheel is level; the peripheries of the magnetic wheel and the polystyrene wheel are adhered with a layer of polystyrene protective film (17) with elasticity and sound permeability; the difference in radius between the polystyrene wheel and the magnetic wheel is approximately equal to half the wavelength of the polystyrene protective film.
5. The wall climbing detection robot according to claim 4, wherein: the outer surface of the magnetic wheel is processed with metal grains so as to increase the friction force between the magnetic wheel and the workpiece.
6. The wall climbing detection robot according to claim 5, wherein: a sealing ring (19) is arranged between the polystyrene wheel and the bearing gland; an embedded penetration cap (22) is arranged between the thickness measuring probe or the TOFD probe and the bearing to prevent lubricant oil leakage.
7. The wall climbing detection robot according to claim 6, wherein: and a video camera (3) is also arranged on the frame.
8. The wall climbing detection robot according to claim 7, wherein: the water pump, the stepping motor, the external input device and the video camera are respectively and electrically connected with the single chip microcomputer.
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| CN201811475163.XA CN109282766B (en) | 2018-12-04 | 2018-12-04 | Wall climbing detection robot |
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|---|---|---|---|
| CN201811475163.XA CN109282766B (en) | 2018-12-04 | 2018-12-04 | Wall climbing detection robot |
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| CN109282766A CN109282766A (en) | 2019-01-29 |
| CN109282766B true CN109282766B (en) | 2023-06-16 |
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| CN113819871B (en) * | 2021-11-02 | 2023-09-08 | 东莞市简从科技有限公司 | Thickness measuring robot and thickness detecting method |
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