CN110187007B - Trackless ultrasonic flaw detection system and control method - Google Patents
Trackless ultrasonic flaw detection system and control method Download PDFInfo
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- CN110187007B CN110187007B CN201910549243.3A CN201910549243A CN110187007B CN 110187007 B CN110187007 B CN 110187007B CN 201910549243 A CN201910549243 A CN 201910549243A CN 110187007 B CN110187007 B CN 110187007B
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- 238000001514 detection method Methods 0.000 title claims abstract description 119
- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000010168 coupling process Methods 0.000 claims abstract description 86
- 238000005859 coupling reaction Methods 0.000 claims abstract description 86
- 239000007788 liquid Substances 0.000 claims abstract description 86
- 230000008878 coupling Effects 0.000 claims abstract description 83
- 230000007246 mechanism Effects 0.000 claims abstract description 48
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 238000007689 inspection Methods 0.000 claims description 10
- 230000009194 climbing Effects 0.000 claims description 8
- 238000012544 monitoring process Methods 0.000 claims description 8
- 238000001179 sorption measurement Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 abstract description 4
- 239000000523 sample Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000035699 permeability Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005507 spraying Methods 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005192 partition Methods 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 238000001816 cooling Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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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
- G01N29/04—Analysing solids
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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
- G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
- G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
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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
- G01N2291/023—Solids
- G01N2291/0234—Metals, e.g. steel
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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
- G01N2291/0289—Internal structure, e.g. defects, grain size, texture
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- Chemical & Material Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Health & Medical Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Pathology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Acoustics & Sound (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The invention provides a trackless ultrasonic flaw detection system and a control method, wherein the trackless ultrasonic flaw detection system comprises: the trackless moving assembly is used for moving on a surface to be detected; the coupling liquid supply assembly is connected with the trackless moving assembly through a transmission pipeline and is used for providing coupling liquid; the ultrasonic flaw detection executing mechanism is arranged on the trackless moving assembly and is used for executing flaw detection operation; the control box assembly is respectively and electrically connected with the coupling liquid supply assembly, the trackless moving assembly and the ultrasonic flaw detection executing mechanism and is used for controlling the flow rate and the flow velocity of the coupling liquid supply assembly, the moving amount of the trackless moving assembly and the ultrasonic flaw detection executing mechanism to execute flaw detection operation. The trackless ultrasonic flaw detection system is composed of a plurality of parts, is convenient to carry, can realize automatic control under the action of the control box assembly, does not need to manually smear coupling liquid, and can detect by holding a flaw detection head, so that the working efficiency is greatly improved.
Description
Technical Field
The invention relates to the technical field of flaw detection robots, in particular to a trackless ultrasonic flaw detection system and a control method.
Background
Currently, large-sized pipelines, ships, steel bridges and other equipment bodies made of magnetic permeability material members such as steel are increasingly used in various fields. After a period of use, these large devices need to be inspected periodically to prevent defects. However, at present, the ultrasonic flaw detection of the large-scale equipment still uses manual smearing coupling liquid, and the handheld flaw detection head detects the steel materials, so that the detection efficiency is low. In addition, the large-scale equipment has larger appearance, the detection belongs to high-altitude operation, and meanwhile, potential safety hazards exist.
Disclosure of Invention
The invention solves the problems of manual flaw detection, low efficiency and potential safety hazard.
In order to solve the above problems, the present invention provides a trackless ultrasonic flaw detection system, comprising:
The trackless moving assembly is used for moving on a surface to be detected;
the coupling liquid supply assembly is connected with the trackless moving assembly through a transmission pipeline and is used for providing coupling liquid;
The ultrasonic flaw detection executing mechanism is arranged on the trackless moving assembly and is used for executing flaw detection operation;
The control box assembly is respectively and electrically connected with the coupling liquid supply assembly, the trackless moving assembly and the ultrasonic flaw detection executing mechanism and is used for controlling the flow rate and the flow velocity of the coupling liquid supply assembly, the moving amount of the trackless moving assembly and the ultrasonic flaw detection executing mechanism to execute flaw detection operation.
Optionally, the trackless moving assembly is a magnetic adsorption wall climbing robot, and the trackless moving assembly is connected with the control box assembly through a cable.
Optionally, the coupling liquid supply assembly comprises a coupling liquid barrel, a flowmeter, a hydraulic pump and the transmission pipeline; the coupling liquid barrel comprises a first cavity and a second cavity, the hydraulic pump is arranged in the first cavity, and an inlet of the hydraulic pump is communicated with the second cavity; the flowmeter is positioned in the first cavity and communicated with the hydraulic pump outlet and the transmission pipeline; the hydraulic pump and the flowmeter are connected with the control box assembly through a cable.
Optionally, the ultrasonic flaw detection executing mechanism comprises a Z-direction sliding table, an X-direction sliding table, an ultrasonic flaw detection head, a coupling liquid nozzle and a distance sensor; the Z-direction sliding table is arranged on the X-direction sliding table, a mounting plate is arranged on the Z-direction sliding table, and the coupling liquid nozzle, the ultrasonic flaw detection head and the distance sensor are arranged on the mounting plate.
Optionally, two coupling liquid nozzles are provided, and the two coupling liquid nozzles are symmetrically arranged at the left side and the right side of the mounting plate.
Optionally, a flow dividing device is further arranged on the mounting plate and is electrically connected with the control box assembly, and the flow dividing device is provided with two flow paths which are respectively communicated with the two coupling liquid nozzles.
Optionally, the trackless moving assembly is detachably provided with a connecting plate, and one end of the connecting plate is rotatably connected with the ultrasonic flaw detection executing mechanism.
Optionally, a video monitoring component is arranged on the connecting plate and is electrically connected with the control box component, so as to monitor the state of the surface to be detected and the state of the ultrasonic flaw detection executing mechanism.
Optionally, the control box assembly comprises an industrial personal computer, a flaw detector and a display screen; the flaw detector is electrically connected with the ultrasonic flaw detection executing mechanism, and the industrial personal computer is electrically connected with the flaw detector and the display screen respectively.
Compared with the prior art, the trackless ultrasonic flaw detection system is composed of a plurality of parts, is convenient to carry, can realize automatic control under the action of the control box assembly, does not need to manually smear coupling liquid, and is used for detecting by a handheld flaw detection head, so that the working efficiency is greatly improved.
The invention further aims to provide a trackless ultrasonic flaw detection method, which aims to solve the problems of low efficiency and potential safety hazard caused by manual flaw detection.
In order to achieve the above object, the present invention provides a trackless ultrasonic flaw detection control method, comprising the steps of:
S1, a control box assembly sends a command to a trackless moving assembly, and the trackless moving assembly moves to a surface to be detected and reaches a designated position;
s2, after the trackless moving assembly moves to a designated position, the control box assembly controls the ultrasonic flaw detection executing mechanism to adjust to a working state;
S3, after the ultrasonic flaw detection executing mechanism is adjusted to a working state, the control box assembly sends a command to the coupling liquid supply assembly and the ultrasonic flaw detection executing mechanism;
and S4, performing flaw detection operation by the coupling liquid supply assembly in cooperation with the ultrasonic flaw detection executing mechanism.
Compared with the prior art, the trackless ultrasonic flaw detection method can realize automatic flaw detection work under the action of the control box assembly, replaces the traditional manual mode, and is high in efficiency and good in safety.
Drawings
FIG. 1 is a schematic diagram of one embodiment of a trackless ultrasonic inspection system;
FIG. 2 is a schematic diagram of one embodiment of a control box assembly;
FIG. 3 is a schematic diagram of an embodiment of a coupling fluid supply assembly;
FIG. 4 is a schematic illustration of the operation of the trackless moving assembly and the ultrasonic inspection actuator;
FIG. 5 is a schematic view of the rail mounted mobile assembly and the ultrasonic inspection actuator in a closed position;
FIG. 6 is a schematic diagram of one embodiment of a trackless moving assembly;
FIG. 7 is a schematic view of an embodiment of an ultrasonic inspection actuator;
FIG. 8 is a schematic view of a part of the structure of an ultrasonic flaw detection actuator;
FIG. 9 is a schematic flow chart of a trackless ultrasonic inspection method;
Reference numerals illustrate:
the device comprises a 1-control box assembly, a 2-coupling liquid supply assembly, a 3-trackless moving assembly, a 4-ultrasonic flaw detection executing mechanism and a 5-video monitoring assembly;
The device comprises an 11-industrial personal computer, a 12-partition board, a 13-controller, a 14-power supply, a 15-cooling fan, a 16-keyboard, a 17-display screen, an 18-flaw detector, a 19-cabinet, a 21-coupling liquid barrel, a 22-hydraulic pump, a 23-flowmeter, a 24-transmission pipeline, a 31-connecting plate, a 32-fixing plate, a 33-second motor, a 41-X-direction sliding table, a 42-Z-direction sliding table, a 43-coupling liquid nozzle, a 44-flow dividing device, a 45-mounting plate, a 46-first motor, a 47-ultrasonic flaw detector and a 48-distance sensor;
211-a first cavity, 212-a second cavity, 311-a clamping groove and 411-a rotating shaft.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
As shown in fig. 1-8, a trackless ultrasonic flaw detection system comprises a trackless moving assembly 3, a coupling liquid supply assembly 2, an ultrasonic flaw detection executing mechanism 4 and a control box assembly 1; wherein, the trackless moving assembly 3 is used for moving on a surface to be detected; the coupling liquid supply assembly 2 is connected with the trackless moving assembly 3 through a transmission pipeline 24 and is used for providing coupling liquid; the ultrasonic flaw detection executing mechanism 4 is arranged on the trackless moving assembly 3 and is used for executing flaw detection operation; the control box assembly 1 is respectively and electrically connected with the coupling liquid supply assembly 2, the trackless moving assembly 3 and the ultrasonic flaw detection executing mechanism 4 and is respectively used for controlling the flow rate and the flow velocity of the coupling liquid supply assembly 2, the moving amount of the trackless moving assembly 3 and the ultrasonic flaw detection executing mechanism 4 to execute flaw detection operation.
Specifically, the trackless moving assembly 3 is a magnetic attraction wall climbing robot, which is connected with the control box assembly 1 through a cable. Because the invention mostly detects the flaw of the component made of the magnetic permeability material, the magnetic adsorption wall climbing robot can be adsorbed on the magnetic permeability wall surface of the component and can flexibly move.
The magnetic adsorption wall climbing robot is of a four-wheel structure, runs stably and reliably, CAN freely move on a plane, a concave curved surface and a convex curved surface, CAN also span obstacles with the height below 25mm, and is generally connected with the control box assembly 1 through a CAN bus.
Specifically, the coupling liquid supply assembly 2 includes a coupling liquid tank 21, a flow meter 23, a hydraulic pump 22, and a transmission line 24; the coupling liquid barrel 21 comprises a first cavity 211 and a second cavity 212, the hydraulic pump 22 is arranged in the first cavity 211, and the inlet of the hydraulic pump 22 is communicated with the second cavity 212; a flow meter 23 is positioned in the first cavity 211, the flow meter 23 communicating with the outlet of the hydraulic pump 22 and the transfer line 24; the hydraulic pump 22 and the flow meter 23 are connected by a cable to the control box assembly 1.
The second cavity 212 is used for containing coupling liquid, and in order to facilitate the addition of coupling liquid to the inside of the second cavity, a liquid inlet hole capable of being opened and closed is generally formed in the outer wall of the coupling liquid barrel 21.
Wherein, the first cavity 211 is located above the second cavity 212, and the two cavities are separated by a plate, so that the hydraulic pump 22 can conveniently pump the coupling liquid in the second cavity 212, the inlet of the hydraulic pump 22 is provided with a hose extending into the second cavity 212, and one end of the hose extending into the second cavity 212 is close to the bottom end surface of the second cavity 212.
Meanwhile, in order to facilitate the electrical connection of the coupling liquid supply assembly 2 with the control box assembly 1, the coupling liquid supply assembly 2 is further provided with a control device disposed in the first cavity 211 and electrically connected with the control box assembly 1, the hydraulic pump 22 and the flow meter 23, respectively.
Specifically, the ultrasonic flaw detection actuator 4 includes a Z-direction slide table 42, an X-direction slide table 41, an ultrasonic flaw detection head 47, a coupling liquid nozzle 43, and a distance sensor 48; the Z-direction sliding table 42 is installed on the X-direction sliding table 41, a mounting plate 45 is arranged on the Z-direction sliding table 42, and a coupling liquid nozzle 43, an ultrasonic flaw detection head 47 and a distance sensor 48 are arranged on the mounting plate 45.
The Z-direction sliding table 42, the X-direction sliding table 41, the ultrasonic flaw detection head 47 and the distance sensor 48 are respectively connected with the electric cabinet assembly through cables; when the X-direction sliding table 41 moves, other parts can be driven to move in the left-right direction as a whole, and when the Z-direction sliding table 42 moves, the coupling liquid nozzle 43, the ultrasonic flaw detection head 47 and the distance sensor 48 can be driven to move up and down; the distance sensor 48 detects the distance from the surface to be detected, and after the distance sensor feeds data back to the control box assembly 1, the control box assembly 1 controls the Z box sliding table to move up and down, so that the ultrasonic probe is always clung to the surface to be detected; the ultrasonic probe is detachably fixed on the mounting plate 45 through a bracket, the detection range is 0-10000 mm, the working frequency is 0.25-20 MHz, and a straight probe, an inclined probe, a bicrystal probe and a penetrating probe are used for different plate thicknesses and detection positions.
The X-direction sliding table 41 has three different strokes of 200mm, 400mm and 650mm, and is suitable for measuring surfaces to be detected in different sizes and positions.
Alternatively, two coupling liquid nozzles 43 are provided, and the two coupling liquid nozzles 43 are symmetrically disposed on both left and right sides of the mounting plate 45. The spraying of the coupling liquid on both sides of the mounting plate 45 can be achieved.
Wherein, be equipped with the stand on the mounting panel 45, coupling liquid nozzle 43 is through holding the cover of climbing on the stand, simultaneously, is equipped with first motor 46 on the stand, and first motor 46 passes through the cable connection with control box subassembly 1, and the pivot of first motor 46 is connected and is held the climbing, and when first motor 46 pivot rotated, holds the climbing and can rotate round the stand to adjust coupling liquid nozzle 43's position.
Specifically, the mounting plate 45 is further provided with a flow dividing device 44, the flow dividing device 44 is connected with the control box assembly 1 through a cable, and the flow dividing device 44 is provided with two flow paths which are respectively communicated with the two coupling liquid nozzles 43. Thereby achieving the conduction and the closing of the two coupling liquid nozzles 43.
The flow dividing device 44 may be a two-way electromagnetic valve, the inlet of which is connected with the transmission pipeline 24 of the coupling liquid supply assembly 2, and the two outlets of which are respectively communicated with the two coupling liquid nozzles 43, so as to realize the connection and the disconnection of the coupling liquid nozzles 43.
Specifically, the trackless moving assembly 3 is detachably provided with a connecting plate 31, and one end of the connecting plate 31 is rotatably connected with the ultrasonic flaw detection executing mechanism 4. Therefore, the ultrasonic flaw detection executing mechanism 4 can form different angles on the trackless moving assembly 3, is put down when in operation, is retracted when not in operation, and can achieve the purpose of protecting the ultrasonic flaw detection executing mechanism 4.
Wherein, be equipped with draw-in groove 311 on the connecting plate 31, and the one end of draw-in groove 311 is equipped with the second motor 33 that is connected with control box subassembly 1, be equipped with pivot 411 on the ultrasonic flaw detection actuating mechanism 4, specifically in the central point of X to slip table 41 upper end edge, pivot 411 rotation is located draw-in groove 311, and its one end is connected with the motor shaft of second motor 33, and from this second motor 33 rotates, can realize the regulation of ultrasonic flaw detection actuating mechanism 4 different angles. In a normal idle state, the ultrasonic flaw detection executing mechanism 4 is in a closed state, the angle between the whole ultrasonic flaw detection executing mechanism and the trackless moving assembly 3 is 45-60 degrees, and the second motor 33 is provided with a self-locking brake, so that the ultrasonic flaw detection executing mechanism 4 can still be in the closed state after power failure; when the Z-direction sliding table 42 is vertical, the ultrasonic flaw detection executing mechanism 4 is in an operating state.
Specifically, the connection board 31 is provided with a video monitoring assembly 5, and the video monitoring assembly 5 is connected with the control box assembly 1 through a cable to monitor the state of the surface to be detected and the state of the ultrasonic flaw detection executing mechanism 4.
The video monitoring assembly 5 is a camera, and is disposed on the connecting plate 31 through an upwardly inclined fixing plate 32, so that a lens of the camera can detect a designated position. The camera monitors the spraying state and the flow of the coupling liquid in real time and feeds back signals to the control box assembly 1 in real time; the control box assembly 1 combines the flow rate of the coupling liquid counted by the flowmeter 23 to control the working state of the hydraulic pump 22, thereby adjusting the flow rate of the coupling liquid in real time, not wasting the coupling liquid, and meeting the flow rate requirement of flaw detection.
Specifically, the control box assembly 1 comprises an industrial personal computer 11, a flaw detector 18 and a display screen 17; the flaw detector 18 is electrically connected with the ultrasonic flaw detection executing mechanism 4, and the industrial personal computer 11 is electrically connected with the flaw detector 18 and the display screen 17. Thus, the waveform of flaw detection and the flaw detection result are displayed on the display screen 17.
In addition to the ultrasonic inspection head 47 being electrically connected to the inspection instrument 18, other devices connected to the control box assembly 1 are electrically connected to the industrial personal computer 11.
The control box assembly 1 further comprises a controller 13 and a power supply 14, the controller 13 is respectively and electrically connected with the industrial personal computer 11 and the power supply 14, wherein the industrial personal computer 11 and the controller 13 are cores of the whole system and are used for controlling movement of the trackless moving assembly 3 and flaw detection operation of the ultrasonic flaw detection executing mechanism 4, and the power supply provides electric energy for the whole system and has the voltage of 24V generally.
The control box assembly 1 further comprises a cabinet 19; the cabinet body 19 adopts a compact installation mode, is divided into an upper side and a lower side by the partition plate 12, and is respectively provided with various electric components, so that the internal space of the control box is fully utilized, and the external dimension of the control box is 400 x 300 x 250mm; the cabinet body 19 is provided with a pull rod and a universal roller, so that the movement and the transfer are convenient; the cabinet 19 is provided with a heat radiation fan 15 inside, which is close to the controller 13 for radiating heat from the controller 13. The upper end of the cabinet 19 is provided with a rotary flip cover, and the display screen 17 is embedded in the flip cover; the upper end face of the cabinet body 19 is provided with an embedded keyboard 16 and a mouse touch pad, so that control instructions can be input.
Another object of the present invention is to provide a trackless ultrasonic flaw detection control method, as shown in fig. 9, comprising the steps of:
s1, a control box assembly 1 sends a command to a trackless moving assembly 3, and the trackless moving assembly 3 moves to a surface to be detected and reaches a designated position;
S2, after the trackless moving assembly 3 moves to a designated position, the control box assembly 1 controls the ultrasonic flaw detection executing mechanism 4 to adjust to a working state;
S3, after the ultrasonic flaw detection executing mechanism 4 is adjusted to a working state, the control box assembly 1 sends a command to the coupling liquid supply assembly 2 and the ultrasonic flaw detection executing mechanism 4;
and S4, performing flaw detection operation by the coupling liquid supply assembly 2 in cooperation with the ultrasonic flaw detection executing mechanism 4.
After the method is adopted, the flaw detection work can be automatically carried out under the action of the control box assembly 1, a traditional manual mode is replaced, and the flaw detection machine is high in efficiency and good in safety.
In one embodiment, after the whole system starts to work, the control box assembly 1 controls the trackless moving assembly 3 to walk on the vertical elevation to be detected; after the trackless moving assembly 3 moves to a position to be detected, the control box assembly 1 controls the second motor 33, and the second motor 33 drives the ultrasonic flaw detection executing mechanism 4 to be in a working state; the control box assembly 1 combines the data transmitted back by the distance sensor 48 to adjust the X-direction sliding table 41 and the Z-direction sliding table 42 to the initial working positions; the control box assembly 1 starts the coupling liquid supply assembly 2; the control box assembly 1 controls the hydraulic pump 22 to pump the coupling liquid and convey the coupling liquid to the coupling liquid nozzle 43 along the transmission pipeline 24 to start spraying the coupling liquid;
When the X-direction sliding table 41 moves from left to right, the position of the right coupling liquid nozzle 43 is adjusted by the first motor 46, the control box assembly 1 controls the flow dividing device 44, the right coupling liquid nozzle 43 sprays coupling liquid on the surface to be detected, and flaw detection is started to be performed from left to right; after the whole travel is finished, the control box assembly 1 controls the trackless moving assembly 3 to walk forwards for a certain distance (less than or equal to the width of transverse flaw detection); in the running process of the trackless moving assembly 3, the control box assembly 1 controls the hydraulic pump 22 to stop working, and simultaneously controls the shunt device 44 to be closed, so that the coupling liquid is not sprayed any more, and the first flaw detection is completed; after a period of time, when the X-direction sliding table 41 moves from right to left, the position of the left coupling liquid nozzle 43 is adjusted by the first motor 46, the control box assembly 1 controls the flow dividing device 44, the left coupling liquid nozzle 43 sprays coupling liquid on the surface to be detected, and flaw detection is started to be executed from right to left; after the whole travel is finished, the control box assembly 1 controls the trackless moving assembly 3 to walk forwards for a certain distance (less than or equal to the width of transverse flaw detection); in the running process of the trackless moving assembly 3, the control box assembly 1 controls the hydraulic pump 22 to stop working, and simultaneously controls the shunt device 44 to be closed, so that the coupling liquid is not sprayed any more, and the second flaw detection is completed; sequentially repeating the first flaw detection and the second flaw detection until the detection work of the whole detection surface is completed;
when the last section of detection surface is detected, the control box assembly 1 controls the hydraulic pump 22 in the coupling liquid supply assembly 2 to stop working; the second motor 33 controls the ultrasonic flaw detection executing mechanism 4 to be lifted to an idle state, and then the trackless moving assembly 3 is driven away from the surface to be detected or is moved to another working area to continue repeating the flow;
In the whole process, the camera is always in an on state, and the state of the detection surface and the state of the ultrasonic flaw detection executing mechanism 4 are monitored in real time.
In the above manner, the trackless moving assembly 3 is operated from left to right or from right to left, and in other embodiments, the trackless moving assembly 3 is operated from bottom to top or from top to bottom.
Although the present disclosure is described above, the scope of protection of the present disclosure is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the scope of the invention.
Claims (8)
1. A trackless ultrasonic inspection system, comprising:
A trackless moving assembly (3) for moving on a surface to be inspected;
A coupling liquid supply assembly (2) connected with the trackless moving assembly (3) through a transmission pipeline (24) for providing coupling liquid; the coupling liquid supply assembly (2) comprises a coupling liquid barrel (21), a flowmeter (23), a hydraulic pump (22) and the transmission pipeline (24); the coupling liquid barrel (21) comprises a first cavity (211) and a second cavity (212), the hydraulic pump (22) is arranged in the first cavity (211), and an inlet of the hydraulic pump (22) is communicated with the second cavity (212); the flowmeter (23) is positioned in the first cavity (211), and the flowmeter (23) is communicated with the outlet of the hydraulic pump (22) and the transmission pipeline (24); the hydraulic pump (22) and the flowmeter (23) are connected with the control box assembly (1) through a cable;
The ultrasonic flaw detection executing mechanism (4) is arranged on the trackless moving assembly (3) and is used for executing flaw detection operation; the ultrasonic flaw detection executing mechanism (4) comprises a Z-direction sliding table (42), an X-direction sliding table (41), an ultrasonic flaw detection head (47), a coupling liquid nozzle (43) and a distance sensor (48); the Z-direction sliding table (42) is arranged on the X-direction sliding table (41), a mounting plate (45) is arranged on the Z-direction sliding table (42), and the coupling liquid nozzle (43), the ultrasonic flaw detection head (47) and the distance sensor (48) are arranged on the mounting plate (45);
The control box assembly (1) is respectively and electrically connected with the coupling liquid supply assembly (2), the trackless moving assembly (3) and the ultrasonic flaw detection executing mechanism (4) and is used for controlling the flow and the flow velocity of the coupling liquid supply assembly (2), the moving amount of the trackless moving assembly (3) and the ultrasonic flaw detection executing mechanism (4) to execute flaw detection operation.
2. The trackless ultrasonic flaw detection system according to claim 1, wherein the trackless moving assembly (3) is a magnetic adsorption wall climbing robot, and the trackless moving assembly (3) is connected with the control box assembly (1) through a cable.
3. The trackless ultrasonic flaw detection system according to claim 1, wherein two coupling liquid nozzles (43) are provided, and two coupling liquid nozzles (43) are provided on both left and right sides of the mounting plate (45).
4. A trackless ultrasonic flaw detection system according to claim 3, wherein the mounting plate (45) is further provided with a flow dividing device (44), the flow dividing device (44) is electrically connected with the control box assembly (1), and the flow dividing device (44) is provided with two flow paths which are respectively communicated with the two coupling liquid nozzles (43).
5. The trackless ultrasonic flaw detection system according to claim 1, wherein the trackless moving assembly (3) is detachably provided with a connecting plate (31), and one end of the connecting plate (31) is rotatably connected with the ultrasonic flaw detection executing mechanism (4).
6. The trackless ultrasonic inspection system according to claim 5, wherein a video monitoring assembly (5) is provided on the connection board (31), and the video monitoring assembly (5) is electrically connected to the control box assembly (1) for monitoring the state of the surface to be inspected and the state of the ultrasonic inspection actuator (4).
7. The trackless ultrasonic flaw detection system according to claim 1, wherein the control box assembly (1) comprises an industrial personal computer (11), a flaw detector (18) and a display screen (17); the flaw detector (18) is electrically connected with the ultrasonic flaw detection executing mechanism (4), and the industrial personal computer (11) is electrically connected with the flaw detector (18) and the display screen (17) respectively.
8. A trackless ultrasonic flaw detection control method employing the trackless ultrasonic flaw detection system according to any one of claims 1 to 7, comprising the steps of:
S1, a control box assembly (1) sends a command to a trackless moving assembly (3), and the trackless moving assembly (3) moves to a surface to be detected and reaches a designated position;
S2, after the trackless moving assembly (3) moves to a designated position, the control box assembly (1) controls the ultrasonic flaw detection executing mechanism (4) to adjust to a working state;
s3, after the ultrasonic flaw detection executing mechanism (4) is adjusted to a working state, the control box assembly (1) sends a command to the coupling liquid supply assembly (2) and the ultrasonic flaw detection executing mechanism (4);
s4, performing flaw detection operation by the coupling liquid supply assembly (2) in cooperation with the ultrasonic flaw detection executing mechanism (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910549243.3A CN110187007B (en) | 2019-06-24 | 2019-06-24 | Trackless ultrasonic flaw detection system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| US4531413A (en) * | 1982-09-29 | 1985-07-30 | Hitachi, Ltd. | Ultrasonic flaw detector driving apparatus of a trackless type |
| JPH10148630A (en) * | 1996-11-15 | 1998-06-02 | Hitachi Ltd | Ultrasonic flaw detecting device and processing device |
| CN2616346Y (en) * | 2003-01-28 | 2004-05-19 | 上海市计祘技术研究所 | Ultrasonic checking job robot system |
| CN208408954U (en) * | 2018-04-18 | 2019-01-22 | 北京博清科技有限公司 | The device of seam inspection for all positon rail-free welding robot |
| CN210427459U (en) * | 2019-06-24 | 2020-04-28 | 广东省智能制造研究所 | Trackless ultrasonic flaw detection system |
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| US4531413A (en) * | 1982-09-29 | 1985-07-30 | Hitachi, Ltd. | Ultrasonic flaw detector driving apparatus of a trackless type |
| JPH10148630A (en) * | 1996-11-15 | 1998-06-02 | Hitachi Ltd | Ultrasonic flaw detecting device and processing device |
| CN2616346Y (en) * | 2003-01-28 | 2004-05-19 | 上海市计祘技术研究所 | Ultrasonic checking job robot system |
| CN208408954U (en) * | 2018-04-18 | 2019-01-22 | 北京博清科技有限公司 | The device of seam inspection for all positon rail-free welding robot |
| CN210427459U (en) * | 2019-06-24 | 2020-04-28 | 广东省智能制造研究所 | Trackless ultrasonic flaw detection system |
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