CN111257433A - Ultrasonic automatic flaw detection device for large-scale casting and forging - Google Patents
Ultrasonic automatic flaw detection device for large-scale casting and forging Download PDFInfo
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- CN111257433A CN111257433A CN202010208846.XA CN202010208846A CN111257433A CN 111257433 A CN111257433 A CN 111257433A CN 202010208846 A CN202010208846 A CN 202010208846A CN 111257433 A CN111257433 A CN 111257433A
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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
- G01N29/225—Supports, positioning or alignment in moving situation
- G01N29/226—Handheld or portable devices
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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
- G01N29/227—Details, e.g. general constructional or apparatus details related to high pressure, tension or stress conditions
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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
Abstract
The invention discloses an ultrasonic automatic flaw detection device for large-scale casting and forging pieces. The probe bracket assembly is used for placing and fixing the ultrasonic probe, and can freely move on a large-scale casting and forging piece by adopting a double-guide-wheel structure and a compression spring structure, so that errors in the flaw detection process are reduced, and the stability is improved; the mechanical arm comprises a waist mechanism, a large arm mechanism, a swing mechanism, a small arm mechanism and a wrist mechanism, and four degrees of freedom are arranged on the mechanical arm, so that the probe can detect each position of the forge piece; the lifting mechanism and the movable trolley respectively realize the vertical movement and the horizontal movement of the mechanical arm, the large-scale forge piece does not need to be moved when the flaw detection device is used, the workload of workers in the flaw detection process of the large-scale forge piece is greatly reduced, and meanwhile, the flaw detection device can be divided into four parts, is convenient to carry and has the advantages of portability, simplicity in operation and convenience in movement.
Description
Technical Field
The invention relates to the field of nondestructive testing, in particular to an automatic ultrasonic flaw detection device for flaw detection of large-scale casting and forging pieces.
Background
The large forging piece is large in shape and weight, large in manufacturing technical difficulty and high in quality requirement, and is an important basic piece of various large key equipment required by national economy construction departments such as metallurgy, electric power, petrifaction, traffic, mines, weapons and the like. With the rapid development of national economy and the improvement of industrialization degree, the demand for large castings and forgings is increasing. Large castings and forgings are the main components used for equipment manufacturing and engineering, and therefore the quality of large castings and forgings is the core to ensure the quality and safety of key technical equipment and engineering. The nondestructive testing technology refers to a testing method for judging whether a product is qualified or not by measuring certain physical quantities of the product on the premise of not damaging the original structure and performance, and the ultrasonic flaw detection technology belongs to one of the nondestructive testing technologies. The principle is designed according to the principle that the ultrasonic wave is transmitted in the material and can be reflected and refracted when meeting a medium, if no defect exists in the material, the other end of the material transmitted by the ultrasonic wave can be reflected, after the material is captured by a probe, the thickness of the material is judged according to the sound velocity of the wave in the material and the time consumed between the transmitted wave and the received echo in actual detection, if the defect also exists, the reflected echo exists, and the probe can capture the reflected echo, the travel of the defect echo is shorter than that of the echo on the other surface of the material, so that whether the defect is formed or not is judged. In recent years, techniques for nondestructive inspection have been diversified, but nondestructive inspection equipment for large-sized forging pieces has not been perfected. At present, ultrasonic detection equipment is a main detection method for nondestructive testing of castings and forgings in China, but the equipment has the problems of high manufacturing cost, high maintenance cost, high requirement on operators and the like, and the cost and the workload of workers are greatly increased by moving large castings and forgings to flaw detection equipment, so that the development and popularization of the ultrasonic detection equipment are problems to be solved urgently in the field of nondestructive testing in China.
Disclosure of Invention
The invention aims to provide an ultrasonic automatic flaw detection device for large-scale casting and forging pieces, which aims to solve the problems that the cost and the workload of workers are greatly increased when the large-scale casting and forging pieces are moved to flaw detection equipment, and the flaw detection reliability and accuracy of the large-scale casting and forging pieces are influenced due to the fact that manual operation is unstable during manual flaw detection.
In order to achieve the purpose, the invention provides the following technical scheme:
an ultrasonic automatic flaw detection device for large-scale cast and forged parts comprises a probe bracket assembly, a mechanical arm, a lifting mechanism and a moving trolley, wherein the probe bracket assembly is used for placing and fixing an ultrasonic probe and comprises a probe seat, a pressing connecting rod, a pressing spring, a sleeve, a fixing plate, a guide wheel structure and a baffle; the first end of the probe seat is provided with a probe mounting cylinder, the probe mounting cylinder is used for placing an ultrasonic probe, the two guide wheel structures are respectively mounted on two sides of the probe seat, and the guide wheel structures can rotate relative to the probe seat; the first end of the pressing connecting rod is connected with the second end of the probe seat, the second end of the pressing connecting rod is fixedly connected with the first end face of the baffle, and a pressing spring is arranged on the pressing connecting rod; the sleeve is fixedly connected with the second end face of the baffle, a fixing plate is arranged on the sleeve, and the fixing plate is used for connecting the mechanical arm; the mechanical arm comprises a waist mechanism, a large arm mechanism, a swing mechanism, a small arm mechanism and a wrist mechanism, wherein the waist mechanism comprises a waist base, a first swing support and a first swing joint, the waist base is internally provided with the first swing joint, the first swing support is arranged above the waist base and connected with the first swing joint, the outer box base of the waist base is provided with a first motor, and the first motor drives the first swing joint to drive so as to realize the horizontal rotation of the first swing support; the big arm mechanism comprises a big arm and a second rotating joint, the second rotating joint is arranged on the first rotating support and is connected with the first end of the big arm, the second end of the big arm is connected with the rotating mechanism, and a second motor arranged on the outer box machine base of the first rotating support drives the big arm to swing through the second rotating joint; the small arm mechanism comprises a small arm, a second rotary support and a third rotary joint, the third rotary joint is arranged in the rotary mechanism and connected with the second rotary support, the first end of the small arm is hinged with the second rotary support, and a third motor arranged at the bottom of the rotary mechanism drives the second rotary support and the small arm to horizontally rotate through the third rotary joint; the wrist mechanism comprises a third rotary support and a fourth rotary joint, the wrist mechanism is connected with the probe bracket assembly through the third rotary support, the fourth rotary joint is connected with the second end of the forearm, a fourth motor is arranged on an outer box base of the wrist mechanism, and the fourth motor drives the third rotary support and the probe bracket assembly to rotate through the fourth rotary joint; the lifting mechanism is a scissor type lifting platform; the moving trolley is a four-wheel steering electric platform truck.
Preferably, the guide wheel structure includes leading wheel, leading wheel seat and leading wheel connecting rod, the leading wheel is installed on the leading wheel seat, the leading wheel seat with the leading wheel connecting rod fixed connection, the leading wheel seat with the probe seat is articulated.
Preferably, first revolute joint includes worm, first transmission shaft and sets up epaxial first reduction gear of first transmission, the worm with first slewing bearing connects, first motor through first shaft coupling with first transmission shaft is connected, thereby first motor can drive first reduction gear with thereby the worm drive realizes first slewing bearing's horizontal rotation.
Preferably, the second revolute joint includes second transmission shaft, third transmission shaft, sets up second reduction gear on the second transmission shaft is in with the setting third reduction gear of third transmission shaft, the second transmission shaft with the third transmission shaft sets up on the first slewing bearing, the first end of big arm with the third transmission shaft is connected, the second motor pass through the second shaft coupling with the second transmission shaft is connected, thereby the second motor can drive second reduction gear with the transmission of third reduction gear realizes the swing of big arm.
Preferably, the third rotating joint includes a fourth transmission shaft, a fifth transmission shaft, a fourth reduction gear disposed on the fourth transmission shaft, and a fifth reduction gear disposed on the fifth transmission shaft, the second rotating support is connected to the rotating mechanism through the fifth transmission shaft, the third motor is connected to the fourth transmission shaft through a third coupling, and the third motor drives the fourth reduction gear and the fifth reduction gear to perform transmission, so as to achieve horizontal rotation of the second rotating support and the small arm.
Preferably, the fourth revolute joint includes first reduction gear set, second reduction gear set, sixth transmission shaft and seventh transmission shaft set up the second end of forearm, the third slewing bearing with the seventh transmission shaft is connected, the fourth motor pass through the fourth shaft coupling with the sixth transmission shaft is connected, the fourth motor can drive first reduction gear set with thereby the transmission is carried out to second reduction gear set realizes the third slewing bearing with the rotation of probe bracket assembly.
Compared with the prior art, the invention has the following beneficial effects:
1. the whole device can be divided into four parts, namely a probe bracket assembly, a mechanical arm, a lifting mechanism and a movable trolley, is convenient to carry, simple to operate and convenient to move, and is beneficial to popularization of flaw detection technology;
2. the large-scale casting and forging pieces are generally very high and very large, so the large-scale casting and forging pieces do not need to be moved when the large-scale casting and forging pieces are used, the large-scale casting and forging pieces are kept still, the flaw detection device moves to detect flaws, the ultrasonic probe is arranged on the probe support assembly, and the probe support assembly is arranged on a four-freedom-degree mechanical arm;
3. the probe bracket component adopts a double-guide-wheel structure and a compression spring structure, can freely move on a large-scale casting and forging piece, and meanwhile, the spring has certain pre-tightening pressure, so that errors in the flaw detection process are reduced, and the stability is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an ultrasonic automatic flaw detection device for large-scale casting and forging pieces;
FIG. 2 is a schematic structural view of a probe carrier assembly of the present invention;
FIG. 3 is a schematic view of a robotic arm of the present invention;
FIG. 4 is a schematic view of the connection structure of the waist mechanism and the boom mechanism of the robot arm of the present invention;
FIG. 5 is a schematic view showing a connection structure of a large arm mechanism and a small arm mechanism of the robot arm according to the present invention;
FIG. 6 is a schematic view of the connection structure of the small arm mechanism and the wrist mechanism of the robot arm according to the present invention;
FIG. 7 is a schematic structural diagram of the lifting mechanism of the present invention; and
fig. 8 is a schematic structural view of the mobile cart of the present invention.
In the figure: 1. moving the trolley; 2. a lifting mechanism; 3. a mechanical arm; 4. a probe bracket assembly; 5. a fixing plate; 6. a sleeve; 7. a baffle plate; 8. a compression connecting rod; 9. a compression spring; 10. a probe base; 11. a guide wheel seat; 12. a probe mounting cylinder; 13. a guide wheel; 14. a waist frame; 15. a first swivel support; 16. a large arm; 17. a swing mechanism; 18. a small arm; 19. a second swivel support; 20. a third swivel support; 21. a fourth motor; 211. a sixth drive shaft; 212. a first reduction gear set; 213. a seventh drive shaft; 214. a fourth coupling; 215. a second reduction gear set; 22. a third motor; 221 a third coupling; 222. a fourth drive shaft; 223. a fifth reduction gear; 224. a fourth reduction gear; 225. a fifth drive shaft; 23. a second motor; 231. a second drive shaft; 232. a third drive shaft; 233. a third reduction gear; 234. a second reduction gear; 235. a second coupling; 24. a first motor; 241. a worm; 242. a first reduction gear; 243. a first drive shaft; 244. a first coupling; 25. a lifting mechanism base; 26. a hydraulic cylinder; 27. a scissor arm; 28. a lifting platform; 29. a hub motor; 30. a coupling; 31. a stepping motor; 32. a frame; 33. and (7) wheels.
Detailed Description
As shown in fig. 1, the invention provides an ultrasonic automatic flaw detection device for large-scale casting and forging pieces, which mainly comprises a probe bracket assembly 4, a mechanical arm 3, a lifting mechanism 2 and a moving trolley 1; the probe bracket assembly 4 is used for placing and fixing the ultrasonic probe; the mechanical arm 3 has four degrees of freedom, so that the probe can detect each position of the casting and forging piece; the lifting mechanism 2 is used for moving the probe bracket assembly 4 and the mechanical arm 3 up and down; and the moving trolley 1 greatly increases the flexibility of the whole device.
As shown in fig. 2, the probe holder assembly 4 includes a probe holder 10, a hold-down link 8, a hold-down spring 9, a sleeve 6, a fixing plate 5, two guide wheel structures, and a baffle 7; a probe mounting cylinder 12 is arranged at the first end of the probe seat, and the probe mounting cylinder 12 is used for placing an ultrasonic probe; the guide wheel structure comprises a guide wheel 13, a guide wheel seat 11 and a guide wheel connecting rod, wherein the guide wheel 13 is arranged on the guide wheel seat 11, the guide wheel seat 11 is fixedly connected with the guide wheel connecting rod, the guide wheel seat 11 is hinged with the probe seat 10, the guide wheel seat 11 can rotate relative to the probe seat 10, and the two guide wheels 13 are symmetrically distributed relative to the central line of the probe installation cylinder 12; the compression spring 9 is arranged on the compression connecting rod 8 between the baffle 7 and the probe seat 10, wherein the second end of the compression connecting rod 8 is fixedly connected with the first end surface of the baffle 7 through a bolt and a nut, the first end of the compression connecting rod 8 is connected with the second end of the probe seat 10, and the probe seat 10 is in sliding fit with the compression connecting rod 8; the sleeve 6 is fixedly connected with the second end face of the baffle 7 through bolts and nuts, and the fixing plate 5 is arranged on the sleeve 6 and used for being connected with the mechanical arm 3.
As shown in fig. 3 to 6, the robot arm 3 includes a waist mechanism, a large arm mechanism, a swing mechanism, a small arm mechanism, and a wrist mechanism;
the waist mechanism comprises a waist base 14, a first rotary support 15 and a first rotary joint, the first rotary joint is arranged in the waist base 14 and comprises a first transmission shaft 243, a first reduction gear 242 and a worm 241, the first transmission shaft 243 is provided with the first reduction gear 242, and the first rotary support 15 is arranged above the waist base 14 and connected with the worm 241. The first motor 24 is arranged on the outer box base of the waist base 14, the first motor 24 is connected with the first transmission shaft 243 through the first coupler 244 to drive the first reduction gear 242 and the worm 241 to transmit, so that the horizontal rotation of the first rotary support 15 is realized, and the rotatable angle range of the first rotary support 15 is 360 degrees. The lumbar base 14 needs to have a large enough mounting base to support all of its upper load and weight to ensure the overall stability of the robot during operation.
The large arm mechanism comprises a large arm 16 and a second rotating joint, the second rotating joint comprises a second transmission shaft 231, a third transmission shaft 232, a second reduction gear 234 and a third reduction gear 233, the second transmission shaft 231 and the third transmission shaft 232 are arranged on the first rotating support 15, the first end of the large arm 16 is connected with the third transmission shaft 232, the second end of the large arm 18 is connected with the rotating mechanism 17, the second transmission shaft 231 is provided with the second reduction gear 234, and the third transmission shaft 232 is provided with the third reduction gear 233. The second motor 23 is mounted on the outer box base on the first rotary support 15 and connected with the second transmission shaft 231 through the second coupling 235, the second motor 23 drives the second reduction gear 234 and the third reduction gear 233 to transmit, so that the swing of the large arm 16 is realized, and the rotatable angle range of the large arm 16 is 180 degrees.
The small arm mechanism comprises a small arm 18, a second rotary support 19 and a third rotary joint, the third rotary joint is arranged in the rotary mechanism 17, the third rotary joint comprises a fourth transmission shaft 222, a fifth transmission shaft 225, a fourth reduction gear 224 and a fifth reduction gear 223, the first end of the small arm 18 is connected with the second rotary support 19, the second rotary support 19 is connected with the large arm 16 through the fifth transmission shaft 225, the bottom of the rotary mechanism 17 is provided with a third motor 22, the third motor 22 is connected with the fourth transmission shaft 222 through a third coupling 221, the third motor 22 drives the fourth reduction gear 224 on the fourth transmission shaft 222 and the fifth reduction gear 223 on the fifth transmission shaft 225 to transmit, so that the horizontal rotation of the second rotary support is realized, the range of the rotary angle of the second rotary support 19 is 360 degrees, and the small arm mechanism and the large arm mechanism are fixed.
The wrist mechanism comprises a third swivel support 20 and a fourth swivel joint comprising a first reduction gear set 212, a second reduction gear set 215, a sixth drive shaft 211 and a seventh drive shaft 213, the sixth drive shaft 211 and the seventh drive shaft 213 being arranged at the second end of the forearm 18, the third swivel support 20 being connected to the seventh drive shaft 213. The outer box frame of wrist mechanism is provided with fourth motor 21, and fourth motor 21 is connected with sixth transmission shaft 211 through fourth shaft coupling 214, and fourth motor 21 drives first reduction gear set 212 and second reduction gear set 215 and carries out the transmission to realize the swing of third slewing bearing 20, wrist mechanism is connected with probe bracket assembly's fixed plate 5 through third slewing bearing 20, thereby realizes probe bracket assembly's rotation.
As shown in fig. 7, the lifting mechanism 2 is a scissor lift platform, and a hydraulic cylinder 26 is used to lift a scissor arm 27, so as to move the lifting platform 28 up and down. And meanwhile, the base 25 of the lifting mechanism is provided with a balancing weight, and the balancing weight is used for preventing the platform from toppling due to unbalance loading caused by overweight of the mechanical arm 3 when the platform is lifted so as to keep stable.
As shown in fig. 8, the moving trolley 1 is a four-wheel steering electric platform truck, the composite power supply system is used for outputting energy, the moving trolley provides power through the hub motor 29 when running, the steering of the platform truck is controlled through the stepping motor 31, and the wheels 33 are connected with the stepping motor 31 through the coupling 30, so that the steering is realized. The lifting mechanism 2 and the mechanical arm 3 and the probe bracket assembly 4 on the lifting mechanism are placed on the frame 32, and the size of the frame 32 is larger than that of the lower platform of the lifting mechanism 2, so that the frame 32 has enough space, and the stability of the whole device is ensured.
The working process of detecting the large-scale casting and forging by using the automatic ultrasonic flaw detection device of the invention comprises the following steps:
for a common large-scale casting and forging piece, firstly, the device is moved to the position near the large-scale casting and forging piece through the movable trolley, and the lifting mechanism is controlled so as to realize the up-and-down movement of the mechanical arm and the probe bracket component; starting a first motor to control the rotation of a first rotating support, wherein the rotating angle of the first rotating support is 360 degrees; starting a second motor to control the swing of the large arm; a third motor is started to control the rotation of the second rotary support, and the small arm is hinged with the second rotary support, so that the small arm can rotate for 360 degrees; starting a fourth motor to control the swinging of the probe bracket assembly; the ultrasonic probe is installed in the probe installation cylinder, a certain pre-tightening force is given to the spring, and meanwhile the mechanical arm is controlled to ensure that the ultrasonic probe is always attached to the surface of a detection workpiece in the detection process. Before the detection is started, the lifting mechanism is controlled to enable the ultrasonic probe to be located at the lowest position of a detected workpiece, and in the flaw detection process, the movable trolley, the lifting mechanism and the mechanical arm are controlled to enable the ultrasonic probe to cling to the surface of the detected workpiece to make circular motion around the workpiece from bottom to top until the whole flaw detection process is completed.
Finally, it should be noted that: the above embodiments are only used to illustrate the present invention and do not limit the technical solutions described in the present invention; thus, although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted; all such modifications and variations are intended to be included herein within the scope of this disclosure and the present invention and protected by the following claims.
Claims (6)
1. An ultrasonic automatic flaw detection device for large-scale casting and forging pieces is characterized by comprising a probe bracket assembly, a mechanical arm, a lifting mechanism and a moving trolley,
the probe bracket assembly is used for placing and fixing the ultrasonic probe and comprises a probe seat, a pressing connecting rod, a pressing spring, a sleeve, a fixing plate, a guide wheel structure and a baffle plate; the first end of the probe seat is provided with a probe mounting cylinder, the probe mounting cylinder is used for placing an ultrasonic probe, the two guide wheel structures are respectively mounted on two sides of the probe seat, and the guide wheel structures can rotate relative to the probe seat; the first end of the pressing connecting rod is connected with the second end of the probe seat, the second end of the pressing connecting rod is fixedly connected with the first end face of the baffle, and a pressing spring is arranged on the pressing connecting rod; the sleeve is fixedly connected with the second end face of the baffle, a fixing plate is arranged on the sleeve, and the fixing plate is used for connecting the mechanical arm;
the mechanical arm comprises a waist mechanism, a large arm mechanism, a swing mechanism, a small arm mechanism and a wrist mechanism, wherein the waist mechanism comprises a waist base, a first swing support and a first swing joint, the waist base is internally provided with the first swing joint, the first swing support is arranged above the waist base and connected with the first swing joint, the outer box base of the waist base is provided with a first motor, and the first motor drives the first swing joint to drive so as to realize the horizontal rotation of the first swing support; the big arm mechanism comprises a big arm and a second rotating joint, the second rotating joint is arranged on the first rotating support and is connected with the first end of the big arm, the second end of the big arm is connected with the rotating mechanism, and a second motor arranged on the outer box machine base of the first rotating support drives the big arm to swing through the second rotating joint; the small arm mechanism comprises a small arm, a second rotary support and a third rotary joint, the third rotary joint is arranged in the rotary mechanism and connected with the second rotary support, the first end of the small arm is hinged with the second rotary support, and a third motor arranged at the bottom of the rotary mechanism drives the second rotary support and the small arm to horizontally rotate through the third rotary joint; wrist mechanism includes third gyration support and fourth rotation joint, wrist mechanism passes through third gyration support with probe bracket assembly connects, the fourth rotation joint with the second end of forearm is connected, be provided with the fourth motor on wrist mechanism's the outer box frame, the fourth motor passes through drive on the fourth rotation joint the third gyration support with probe bracket assembly rotates.
2. The ultrasonic automatic flaw detection device for the large-scale cast and forged piece as claimed in claim 1, wherein the guide wheel structure comprises a guide wheel, a guide wheel seat and a guide wheel connecting rod, the guide wheel is mounted on the guide wheel seat, the guide wheel seat is fixedly connected with the guide wheel connecting rod, and the guide wheel seat is hinged with the probe seat.
3. The ultrasonic automatic flaw detection device for the large-scale cast and forged piece according to claim 1, wherein the first rotary joint comprises a worm, a first transmission shaft and a first reduction gear arranged on the first transmission shaft, the worm is connected with the first rotary support, the first motor is connected with the first transmission shaft through a first coupler, and the first motor can drive the first reduction gear and the worm to realize horizontal rotation of the first rotary support.
4. The ultrasonic automatic flaw detection device for the large-scale forged pieces, according to claim 1, wherein the second rotating joint comprises a second transmission shaft, a third transmission shaft, a second reduction gear disposed on the second transmission shaft, and a third reduction gear disposed on the third transmission shaft, the second transmission shaft and the third transmission shaft are disposed on the first rotating support, the first end of the large arm is connected with the third transmission shaft, the second motor is connected with the second transmission shaft through a second coupler, and the second motor can drive the second reduction gear and the third reduction gear to realize the swing of the large arm.
5. The ultrasonic automatic flaw detection device for the large-scale forged pieces according to claim 1, wherein the third rotating joint comprises a fourth transmission shaft, a fifth transmission shaft, a fourth reduction gear disposed on the fourth transmission shaft, and a fifth reduction gear disposed on the fifth transmission shaft, the second rotating support is connected to the rotating mechanism through the fifth transmission shaft, the third motor is connected to the fourth transmission shaft through a third coupling, and the third motor drives the fourth reduction gear and the fifth reduction gear to perform transmission so as to achieve horizontal rotation of the second rotating support and the small arm.
6. The ultrasonic automatic flaw detection device for the large-scale forged pieces, according to claim 1, wherein the fourth rotary joint comprises a first reduction gear set, a second reduction gear set, a sixth transmission shaft and a seventh transmission shaft, the sixth transmission shaft and the seventh transmission shaft are disposed at the second end of the small arm, the third rotary support is connected with the seventh transmission shaft, the fourth motor is connected with the sixth transmission shaft through a fourth coupler, and the fourth motor can drive the first reduction gear set and the second reduction gear set to perform transmission, so that the third rotary support and the probe carrier assembly can rotate.
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| CN202010208846.XA CN111257433A (en) | 2020-03-23 | 2020-03-23 | Ultrasonic automatic flaw detection device for large-scale casting and forging |
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| CN202010208846.XA CN111257433A (en) | 2020-03-23 | 2020-03-23 | Ultrasonic automatic flaw detection device for large-scale casting and forging |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112229791A (en) * | 2020-09-23 | 2021-01-15 | 南京电力设计研究院有限公司 | Grounding body underground device for detecting corrosion degree in real time |
| CN113504252A (en) * | 2021-06-29 | 2021-10-15 | 黄瑞添 | Power equipment device of detecting a flaw |
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