CN112109093A - Nondestructive testing robot - Google Patents
Nondestructive testing robot Download PDFInfo
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- CN112109093A CN112109093A CN202010883902.XA CN202010883902A CN112109093A CN 112109093 A CN112109093 A CN 112109093A CN 202010883902 A CN202010883902 A CN 202010883902A CN 112109093 A CN112109093 A CN 112109093A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/9515—Objects of complex shape, e.g. examined with use of a surface follower device
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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
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/9515—Objects of complex shape, e.g. examined with use of a surface follower device
- G01N2021/9518—Objects of complex shape, e.g. examined with use of a surface follower device using a surface follower, e.g. robot
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Abstract
The application provides a nondestructive testing robot, include: an annular frame; the detection mechanism is used for detecting the columnar body; the rotating mechanism is arranged on the annular frame and used for driving the detection mechanism to rotate around the cylindrical body, and the detection mechanism is fixed at the moving end of the rotating mechanism; and the crawling mechanism is arranged on the annular frame and is used for driving the rotating mechanism and the detection mechanism to crawl along the axial direction of the columnar body. The application provides a nondestructive test robot can replace the manual work to carry out high altitude dangerous work to release the people from dangerous, abominable, heavy working environment, improve workman's operational environment, on the other hand, nondestructive test robot's use is with greatly reduced detection cost, improvement productivity.
Description
Technical Field
The application belongs to the technical field of hydraulic hoist detection, and particularly relates to a nondestructive testing robot.
Background
After a piston rod of the hydraulic hoist of the hydropower station runs for a long time, the surface of the piston rod can be corroded, and after the piston rod is corroded seriously, pollutants falling off due to corrosion can cause pollution of oil, blockage and failure of a control valve can also be caused, and finally the hoist can not be normally started or stopped. This greatly impairs the power generation, flood control and dam safety of the hydropower station.
At present, the manual detection of a carried scaffold is still mainly used in the detection work of corrosion on the surface of a piston rod of a hydraulic hoist of a hydropower station and internal flaw detection in China. The existing detection technology for carrying the scaffold has the disadvantages of low efficiency, high cost, high labor intensity of workers and high personal safety risk of the workers.
Disclosure of Invention
An object of the embodiment of the application is to provide a nondestructive testing robot to solve the technical problems of low efficiency, high cost, high labor intensity of workers and high personal safety risk of manual flaw detection in the prior art.
In order to achieve the purpose, the technical scheme adopted by the application is as follows: provided is a nondestructive inspection robot including:
an annular frame;
the detection mechanism is used for detecting the columnar body;
the rotating mechanism is arranged on the annular frame and used for driving the detection mechanism to rotate around the cylindrical body, and the detection mechanism is fixed at the moving end of the rotating mechanism; and
and the crawling mechanism is arranged on the annular frame and is used for driving the rotating mechanism and the detection mechanism to crawl along the axial direction of the columnar body.
In one embodiment, the crawling mechanism comprises a compression driving piece, a mounting frame fixedly connected to a moving end of the compression driving piece, and a crawling wheel assembly arranged on the mounting frame and used for being compressed on the periphery of the cylindrical body.
In one embodiment, the climbing wheel assembly comprises a climbing wheel motor, a first synchronous wheel assembly driven by the climbing wheel motor, a second synchronous wheel assembly and two rollers for rolling along the axial direction of the columnar body; the first belt wheel of the first synchronous wheel component is fixed at the moving end of the wheel climbing motor, the second belt wheel of the first synchronous wheel component, one of the idler wheels and the third belt wheel of the second synchronous wheel component are coaxially arranged and synchronously rotate, and the fourth belt wheel of the second synchronous wheel component and the other idler wheel are coaxially arranged and synchronously rotate.
In one embodiment, the compression driving member comprises a compression electric cylinder fixed on the annular frame and a guide rod used for guiding a moving end of the compression electric cylinder, the moving end of the compression electric cylinder moves along the radial direction of the annular frame, one end of the guide rod is fixedly connected to the mounting frame, and the other end of the guide rod is slidably connected to the annular frame.
In one embodiment, the rotating mechanism includes an annular rack fixed to the annular frame, a rotating motor, and a gear driven by the rotating motor, the gear being intermeshed with the annular rack.
In one embodiment, the rotating mechanism further comprises a cover plate, and the rotating motor and the detecting mechanism are both fixed on the cover plate; the cover plate is further provided with at least two guide wheels, an annular groove is formed in the peripheral wall of each guide wheel, the two guide wheels are respectively arranged on the inner side and the outer side of the annular rack, and inserting portions used for extending into the annular groove are arranged on the inner side and the outer side of the annular rack.
In one embodiment, the detection device comprises a camera assembly and a probe assembly, wherein the camera assembly comprises a camera electric cylinder and a camera arranged at the moving end of the camera electric cylinder, and the probe assembly comprises a probe electric cylinder and an ultrasonic probe arranged at the moving end of the probe electric cylinder.
In one embodiment, the camera assembly further comprises an extension plate fixed to the camera power cylinder movement end, a camera adjustment plate, a light source, a first fastener, and a second fastener; the camera adjusting plate is fixed on the camera, a first adjusting hole is formed in the extending plate, a second adjusting hole is formed in the camera adjusting plate, and the first fastener penetrates through the first adjusting hole and the second adjusting hole; the light source regulating plate is fixed on the light source, a third regulating hole is formed in the extending plate, a fourth regulating hole is formed in the light source regulating plate, and the second fastener penetrates through the third regulating hole and the fourth regulating hole.
In one embodiment, the annular frame is provided with a mounting plane for mounting the rotating mechanism, one side of the mounting plane is provided with a first controller and a first battery for providing power for the first controller, and the other side of the mounting plane is provided with a second controller and a second battery for providing power for the second controller.
In one embodiment, the nondestructive testing robot further comprises a displacement sensor for detecting the distance between the annular frame and the bottom of the column body and a stalling magnet for attracting the column body tightly to prevent falling.
The application provides a nondestructive test robot's beneficial effect lies in: compared with the prior art, this application nondestructive test robot includes annular frame, detection mechanism, rotary mechanism and the mechanism of crawling, and rotary mechanism is used for driving detection mechanism along the motion of columnar body circumference, detects each position of columnar body circumference, and the mechanism of crawling is used for crawling along the axial of columnar body to drive rotary mechanism and detection mechanism and crawl along the columnar body axial, can detect each position of columnar body axial as required. Therefore, the nondestructive testing robot can replace manual work to carry out high-altitude dangerous operation, so that people are liberated from dangerous, severe and heavy working environments, the working environment of workers is improved, and on the other hand, the nondestructive testing robot is used to greatly reduce the testing cost and improve the labor productivity.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a first perspective view of a nondestructive inspection robot according to an embodiment of the present disclosure;
fig. 2 is a second perspective view of the nondestructive inspection robot according to the embodiment of the present application;
FIG. 3 is a perspective view of a climbing mechanism according to an embodiment of the present disclosure;
FIG. 4 is a side view of a crawling mechanism provided by an embodiment of the present application;
fig. 5 is a first perspective view of a rotating mechanism and a detecting mechanism provided in the embodiment of the present application;
fig. 6 is a second perspective view of the rotating mechanism and the detecting mechanism provided in the embodiment of the present application;
fig. 7 is a cross-sectional view of a rotating mechanism provided in an embodiment of the present application at a guide wheel;
fig. 8 is a perspective view of an extension board according to an embodiment of the present application.
Wherein, in the figures, the respective reference numerals:
1-an annular frame; 11-an arc-shaped frame; 111-an arc; 112-a mounting portion; 2-a detection mechanism; 21-a camera assembly; 211-camera electric cylinder; 212-an extension plate; 2121-a first adjustment aperture; 2122-a third adjustment aperture; 213-camera adjustment plate; 2131-a second adjustment aperture; 214-a camera; 215-light source adjusting plate; 2151-a fourth adjustment aperture; 216-a light source; 22-a probe assembly; 221-probe electric cylinder; 222-an ultrasonic probe; 3-a rotating mechanism; 31-a rotating electrical machine; 32-gear; 33-a ring-shaped rack; 330-an insertion part; 331-a second guiding ramp; 332-a third guide ramp; 34-a guide wheel; 341-annular groove; 342-a first guide ramp; 35-a cover plate; 4-a crawling mechanism; 41-pressing the driving piece; 411-compacting the electric cylinder; 412-a guide bar; 42-a mounting frame; 43-a climbing wheel assembly; 431-a wheel climbing motor; 432 — a first synchronizing wheel assembly; 4321-first pulley; 4322-second pulley; 4323-first belt; 433-a second synchronizing wheel assembly; 4331-third pulley; 4332-fourth pulley; 4333-second belt; 4334-tensioning wheel; 434-a roller; 51-a first battery; 52-a first controller; 61-a second battery; 62-a second controller; 71-a displacement sensor; 72-stall magnet.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
The nondestructive inspection robot provided in the embodiment of the present application will now be described. The nondestructive robot can be used for detecting columns such as piston rods of hydraulic hoists and the like, and detecting whether the columns are rusted, cracked and the like.
Referring to fig. 1 and 2, in one embodiment of the present application, the nondestructive inspection robot includes a ring frame 1, an inspection mechanism 2, a rotating mechanism 3, and a crawling mechanism 4, wherein the inspection mechanism 2 is used for inspecting whether a cylindrical body is rusted or has a crack. The detection mechanism 2 is fixed at the moving end of the rotating mechanism 3 and is driven by the rotating mechanism 3 to rotate around the cylindrical body, so that the cylindrical body can be circumferentially detected. The crawling mechanism 4 is arranged on the annular frame 1, and when the crawling mechanism 4 works, the nondestructive testing robot wholly crawls along the axial direction of the columnar body, so that the rotating mechanism 3 and the detecting mechanism 2 crawl along the axial direction of the columnar body. In this way, the detection mechanism 2 can move along the circumferential direction of the cylindrical body and also can move along the axial direction of the cylindrical body, so that the detection mechanism 2 can detect each position of the cylindrical body, and manual detection can be completely replaced.
The nondestructive testing robot in the above embodiment includes annular frame 1, detection mechanism 2, rotary mechanism 3 and crawl mechanism 4, and rotary mechanism 3 is used for driving detection mechanism 2 along columnar body circumferential motion, detects each position of columnar body circumference, and crawl mechanism 4 is used for crawling along the axial of columnar body to drive rotary mechanism 3 and detection mechanism 2 and all crawl along the columnar body axial, can detect each position of columnar body axial as required. Therefore, the nondestructive testing robot can be driven to replace manpower to carry out high-altitude dangerous operation, so that people are liberated from dangerous, severe and heavy working environments, the working environment of workers is improved, and on the other hand, the nondestructive testing robot is greatly reduced in detection cost and improved in labor productivity.
In one embodiment of the present application, please refer to fig. 3 and 4, the crawling mechanism 4 includes a pressing driving member 41, an installation frame 42 and a climbing wheel assembly 43, the installation frame 42 is fixed at a moving end of the pressing driving member 41, the climbing wheel assembly 43 is disposed on the installation frame 42 and can be pressed on the periphery of the cylindrical body under the action of the pressing driving member 41, and the climbing wheel assembly 43 crawls on the cylindrical body to drive the whole nondestructive testing robot to move axially relative to the cylindrical body. The pressing driving member 41 is used for driving the mounting frame 42 and the climbing wheel assembly 43 to move towards or away from the cylindrical body, and more specifically, the pressing driving member 41 is used for driving the mounting frame 42 and the climbing wheel assembly 43 to move along the radial direction of the cylindrical body, so that the device can be applied to cylindrical bodies with various diameters, the applicable diameter range can be 200mm to 388mm, and the pressure between the climbing wheel assembly 43 and the cylindrical body can be adjusted. The fixed end of the compression driver 41 may be fixed to the ring frame 1.
Alternatively, the crawling mechanism 4 is provided in plurality, and is uniformly distributed along the circumference of the cylindrical body and is uniformly distributed on the annular frame 1. For example, the number of the crawler mechanisms 4 is three or four.
Optionally, the annular frame 1 is enclosed by a plurality of arc-shaped frames 11 and is formed, so that the assembly and disassembly are convenient, when the columnar body is long, each arc-shaped frame 11 can be respectively arranged on the periphery of the columnar body, and then the annular frame 1 is formed by installation. The quantity of the arc-shaped frames 11 can be selected to be the same as that of the crawling mechanisms 4, each arc-shaped frame 11 is provided with one crawling mechanism 4, so that the device is stressed uniformly, and the crawling mechanisms 4 can be prevented from being arranged at the joint of the two arc-shaped frames 11. The arc-shaped frame 11 comprises an arc-shaped part 111 and mounting parts 112 formed by bending two sides of the arc-shaped part 111, and fasteners are adopted to penetrate through two adjacent mounting parts 112, so that the two adjacent arc-shaped frames 11 are fixedly connected.
In one embodiment of the present application, referring to fig. 3 and 4, the pressing driving member 41 includes a pressing electric cylinder 411 and a guide rod 412, the pressing electric cylinder 411 is fixed on the ring frame 1, one end of the guide rod 412 is fixed on the mounting frame 42, and the other end of the guide rod 412 is slidably connected to the ring frame 1. The moving end of the electric cylinder 411 is pressed to move along the radial direction of the annular frame 1, so that the climbing wheel assembly 43 can be close to or far away from the columnar body, the pressure between the climbing wheel assembly 43 and the columnar body is adjusted, and the climbing wheel assembly 43 is ensured to have enough friction force between the climbing wheel assembly 43 and the columnar body to be crawled by the climbing wheel assembly 43. The guide rod 412 is used for guiding the movement of the moving end of the compaction electric cylinder 411, preventing the moving end of the compaction electric cylinder 411 from rotating along the circumferential direction of the cylinder shaft of the compaction electric cylinder 411, and providing torsional resistance for the annular frame 1, so that the annular frame 1 can move axially along with the crawling mechanism 4. Specifically, when the electric compressing cylinder 411 works, the moving end of the electric compressing cylinder 411 drives the mounting frame 42 to move, and the guide rod 412 moves along with the mounting frame 42, so that the guide rod 412 slides relative to the ring frame 1 to guide the electric compressing cylinder 411. Compress tightly electronic jar 411 and can select for accurate electronic jar, the precision of accurate electronic jar can be selected about 0.02mm, the accurate compression volume of climbing wheel subassembly 43 of being convenient for is adjusted, and then ensures that nondestructive test robot and the columnar body keep highly concentric, and the detection mechanism 2 of being convenient for realizes the high accuracy and detects.
Alternatively, the number of guide rods 412 is two, three, four, etc. Preferably, the number of guide rods 412 is four, the smaller the number of guide rods 412, the less stable the climbing mechanism 4, the phenomena of instability during climbing may occur, and the stability of the climbing mechanism 4 may be increased when the number of guide rods 412 is increased to four.
In one embodiment of the present application, referring to fig. 3 and 4, the wheel climbing assembly 43 includes a wheel climbing motor 431, a first synchronous wheel assembly 432, a second synchronous wheel assembly 432, and two rollers 434. The climbing wheel motor 431 drives the first synchronizing wheel assembly 432 and the second synchronizing wheel assembly 432 to move in sequence, and a speed reducer is arranged in the climbing wheel motor 431. When the nondestructive testing robot works, the two rollers 434 are tightly attached to the surface of the columnar body, and the rollers 434 can be rubber wheels and slightly deform and press the surface of the columnar body under the action of pressure. The first synchronizing wheel assembly 432 includes a first pulley 4321, a second pulley 4322 and a first belt 4323, the first pulley 4321 is fixed to the moving end of the climbing wheel motor 431, the moving end of the climbing wheel motor 431 drives the first synchronizing wheel to rotate, and the second pulley 4322 and the first pulley 4321 rotate synchronously through the arrangement of the first belt 4323. The second synchronizing wheel assembly 432 includes a third pulley 4331, a fourth pulley 4332, and a second belt 4333, the third pulley 4331 and the second pulley 4322 are coaxially disposed and synchronously rotated, and the third pulley 4331 and the fourth pulley 4332 are synchronously rotated by the disposition of the second belt 4333. One of the rollers 434 is coaxially disposed with the second belt pulley 4322 and the fourth belt pulley 4332 and synchronously rotates, and the other roller 434 is coaxially disposed with the fourth belt pulley 4332 and synchronously rotates, so that the nondestructive inspection robot axially crawls relative to the cylindrical body as a whole through the synchronous rotation of the two rollers 434. The linear velocities of the third pulley 4331 and the fourth pulley 4332 are the same, and the linear velocities of the two rollers 434 are also the same. The roller 434 can be selected as a rubber wheel, and the pressure between the roller 434 and the columnar body can be adjusted by pressing the driving piece 41, so that the stable crawling of the nondestructive testing robot is ensured.
Optionally, referring to fig. 3 and 4, the two rollers 434, the first pulley 4321, the second pulley 4322, the third pulley 4331, the fourth pulley 4332 and the climbing wheel motor 431 are disposed on the mounting frame 42. Two rollers 434 are respectively provided on both sides of the mounting frame 42 in the axial direction of the ring frame 1, to ensure stability of the crawling mechanism 4 during crawling. The climbing wheel motor 431 can be arranged in the middle of the mounting frame 42, so that the space of the mounting frame 42 is fully utilized, and the space required by the second belt wheel 4322 component is avoided being occupied.
Optionally, one of the rollers 434 is disposed between the second pulley 4322 and the third pulley 4331, so that the components mounted on the mounting bracket 42 are more symmetrical, and the center of mass is closer to the geometric center thereof, which can further enhance the stability of the crawling mechanism 4 during crawling.
In one embodiment of the present application, referring to fig. 5 and fig. 6, the rotating mechanism 3 includes a ring-shaped rack 33, a rotating motor 31 and a gear 32. The annular rack 33 is fixed on the annular frame 1, and the annular rack 33 is arranged coaxially with the annular frame 1. The rotary motor 31 is used for driving the gear 32 to rotate, and the gear 32 is meshed with the annular rack 33, so that when the rotary motor 31 works, the gear 32 rotates and revolves relative to the annular rack 33, and the whole rotary motor 31 is driven to revolve relative to the annular rack 33. The detection mechanism 2 is provided on the rotation mechanism 3, and revolves together with the rotation mechanism 3 relative to the annular rack 33, and the detection mechanism 2 can rotate around the columnar body.
Alternatively, the annular rack 33 includes a plurality of arc-shaped racks surrounded by the arc-shaped racks.
Alternatively, the rotating mechanism 3 includes an annular rack 33, a rotating motor 31, and a gear 32, and further includes a cover plate 35 and a guide wheel 34. Rotating electrical machines 31 and detection mechanism 2 all are fixed in on apron 35, and apron 35 sets up to rotating electrical machines 31 and detection mechanism 2 and provides the mounted position, and apron 35 optionally is the arc, and its centre of a circle coincides with the center axis of ring frame 1. The guide wheels 34 are disposed on the cover plate 35, the guide wheels 34 are used for guiding the annular rack 33, the number of the guide wheels 34 is at least two, and the two guide wheels 34 are disposed on the inner side and the outer side of the annular rack 33 and respectively guide the inner side and the outer side of the annular rack 33. The number of the guide wheels 34 may be four, five, six, etc., and the same number or different numbers of the guide wheels 34 may be provided on the inner and outer sides of the circular rack 33. The rotating shaft of the guide wheel 34 is fixedly connected to the cover plate 35, the guide wheel 34 can rotate relative to the rotating shaft, and the rotating shaft of the guide wheel 34 is arranged in parallel with the rotating shaft of the gear 32.
More specifically, referring to fig. 7, the circumferential wall of the guide wheel 34 is provided with an annular groove 341, the inner side and the outer side of the annular rack 33 are provided with inserting portions 330, and the inserting portions 330 are inserted into the annular groove 341, so that the cover plate 35 and the rotating mechanism 3 and the detecting mechanism 2 on the cover plate 35 are more stable during rotation. Alternatively, a plane perpendicular to the central axis of the circular rack 33 is a standard plane, both inner walls of the circular groove 341 are first guiding inclined planes 342, and the first guiding inclined planes 342 are obliquely arranged with respect to the standard plane, so that the width of the circular groove 341 from the bottom to the opening thereof gradually increases. Correspondingly, two opposite side surfaces of the inner side of the annular rack 33 are second guide inclined surfaces 331, and the two second guide inclined surfaces 331 are respectively matched with the two first guide inclined surfaces 342, so that the thickness from the middle part to the inner side of the annular rack 33 is gradually reduced; two opposite side surfaces of the outer side of the annular rack 33 are third guide inclined surfaces 332, and the two third guide inclined surfaces 332 are respectively matched with the two first guide inclined surfaces 342, so that the thickness from the middle part to the outer side of the annular rack 33 is gradually reduced.
In one embodiment of the present application, referring to fig. 1 and 6, the detecting mechanism 2 includes a camera assembly 21 and a probe assembly 22, the camera assembly 21 includes a camera electric cylinder 211 and a camera 214, and the probe assembly 22 includes a probe electric cylinder 221 and an ultrasonic probe 222, so that the positions of the camera 214 and the ultrasonic probe 222 are adjustable. The camera 214 is used to photograph the columnar body and detect whether the columnar body is rusted or not and whether the surface is cracked or not, and the ultrasonic probe 222 is used to detect flaws inside the columnar body and detect whether the columnar body is cracked or not. The positions of the camera 214 and the ultrasonic probe 222 are adjustable relative to the columnar body, so that the ultrasonic probe can be applied to columnar bodies with different thicknesses, and the distances between the camera 214, the ultrasonic probe 222 and the surface of the columnar body are kept constant.
The camera 214 is disposed at the moving end of the camera electric cylinder 211, the position of the camera 214 can be adjusted through the camera electric cylinder 211, the ultrasonic probe 222 is disposed at the moving end of the probe electric cylinder 221, and the position of the ultrasonic probe 222 can be adjusted through the probe electric cylinder 221. The adjustment accuracy of the camera electric cylinder 211 and the probe electric cylinder 221 is at least 0.1mm, and the distance between the camera electric cylinder and the columnar body is adjusted through a dovetail groove sliding table. The camera electric cylinder 211 and the probe electric cylinder 221 may be fixed to the cover plate 35 described above. It should be noted that the clamping electric cylinder 411, the camera electric cylinder 211, and the probe electric cylinder 221 are all common precision adjusting devices, and the specific structure thereof is not limited herein.
In one embodiment of the present application, referring to fig. 6 and 8, the camera assembly 21 further includes an extension plate 212, a camera adjustment plate 213, a light source adjustment plate 215, a light source 216, a first fastener and a second fastener. The extension plate 212 is fixed at the moving end of the camera electric cylinder 211, the camera adjusting plate 213 is fixed on the camera 214, the camera adjusting plate 213 is fixedly connected with the extension plate 212 through a first fastener, the extension plate 212 is provided with a first adjusting hole 2121, the camera adjusting plate 213 is provided with a second adjusting hole 2131, and the first fastener penetrates through the first adjusting hole 2121 and the second adjusting hole 2131, so that the camera adjusting plate 213 and the extension plate 212 are mutually fixed. The number of the first adjusting holes 2121 is multiple, and the first adjusting holes are round holes and are distributed along the circumferential direction and/or the radial direction of the annular frame 1; the first adjusting holes 2121 can also be annular holes extending along the circumferential direction of the annular frame 1 and/or strip-shaped holes extending along the radial direction of the annular frame 1; the second adjusting hole 2131 may be a single circular hole, or an annular hole extending along the circumferential direction of the annular frame 1, or a strip-shaped hole extending along the radial direction of the annular frame 1, and when the camera adjusting plate 213 and the extending plate 212 are fixed, the position of the camera adjusting plate 213 may be adjusted, so as to ensure that the first adjusting hole 2121 and the second adjusting hole 2131 partially face each other. In this way, the axial and radial positions of the camera 214 can be adjusted preliminarily, and then the position of the camera 214 can be adjusted accurately by the camera electric cylinder 211.
Optionally, the extension plate 212 and the light source adjusting plate 215 are fixedly coupled by a second fastener, and the light source adjusting plate 215 is fixed to the light source 216. The extension plate 212 is provided with a third adjusting hole 2122, the light source adjusting plate 215 is provided with a fourth adjusting hole 2151, and the second fastener passes through the third adjusting hole 2122 and the fourth adjusting hole 2151. The third adjusting hole 2122 may be selected to have the same structure as the first adjusting hole 2121, and the fourth adjusting hole 2151 may be selected to have the same structure as the second adjusting hole 2131, so that the position of the light source 216 may be primarily adjusted by adjusting the position of the light source adjusting plate 215.
In one embodiment of the present application, please refer to fig. 1 and 2, the ring frame 1 has a mounting plane for mounting the rotating mechanism 3, and both sides of the mounting plane have mechanisms requiring cable connection. One side of the installation plane is provided with a rotating mechanism 3, a detection mechanism 2 and the like, and the other side of the installation plane is provided with a crawling mechanism 4. The first controller 52 and the first battery 51 are arranged on one side of the mounting plane, and the second controller 62 and the second battery 61 are arranged on the other side of the mounting plane, so that the cables can be prevented from passing from one side to the other side of the mounting plane, and the cables can be prevented from being wound. The first battery 51 supplies power to the first controller 52, the rotating mechanism 3, the detecting mechanism 2, and the like, the first controller 52 is used for controlling the rotating mechanism 3 and the detecting mechanism 2, the first controller 52 can be a microcomputer, and the first battery 51 is detachably connected to the cover plate 35. The second battery 61 supplies power to the second controller 62 and the crawling mechanism 4, the second controller 62 is used for controlling the crawling mechanism 4, the second controller 62 can be an ARM board, the number of the second batteries 61 is not limited here, and the second batteries 61 are detachably connected to the ring frame 1. For example, the number of the second cells 61 is three, and is circumferentially uniformly distributed in the inside of the annular frame 1. The first controller 52 and the second controller 62 are connected wirelessly to operate cooperatively.
In one embodiment of the present application, referring to fig. 2, the nondestructive inspection robot further includes a displacement sensor 71 and a stall magnet 72. The displacement sensor 71 is used for detecting the distance between the displacement sensor 71 and the bottom of the column, and when the displacement sensor 71 detects that the distance between the displacement sensor 71 and the bottom of the column is too small, the stall magnet 72 can be tightly attracted to the surface of the column, so that the robot can be prevented from accidentally falling. Displacement sensor 71 can be selected as a stay wire displacement sensor, stall magnet 72 can be selected as an electromagnet, and whether stall magnet 72 needs to work or not is judged according to a detection signal of displacement sensor 71. The number of stall magnets 72 is not limited herein and may be selected from three, four, etc.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A nondestructive inspection robot, comprising:
an annular frame;
the detection mechanism is used for detecting the columnar body;
the rotating mechanism is arranged on the annular frame and used for driving the detection mechanism to rotate around the cylindrical body, and the detection mechanism is fixed at the moving end of the rotating mechanism; and
and the crawling mechanism is arranged on the annular frame and is used for driving the rotating mechanism and the detection mechanism to crawl along the axial direction of the columnar body.
2. The nondestructive inspection robot of claim 1, wherein: the crawling mechanism comprises a compression driving piece, an installation frame fixedly connected to a motion end of the compression driving piece and a crawling wheel assembly arranged on the installation frame and used for compressing the periphery of the columnar body.
3. The nondestructive inspection robot of claim 2, wherein: the climbing wheel assembly comprises a climbing wheel motor, a first synchronous wheel assembly, a second synchronous wheel assembly and two rollers, wherein the first synchronous wheel assembly and the second synchronous wheel assembly are driven by the climbing wheel motor; the first belt wheel of the first synchronous wheel component is fixed at the moving end of the wheel climbing motor, the second belt wheel of the first synchronous wheel component, one of the idler wheels and the third belt wheel of the second synchronous wheel component are coaxially arranged and synchronously rotate, and the fourth belt wheel of the second synchronous wheel component and the other idler wheel are coaxially arranged and synchronously rotate.
4. The nondestructive inspection robot of claim 2, wherein: the compressing driving piece comprises a compressing electric cylinder fixed on the annular frame and a guide rod used for guiding the motion end of the compressing electric cylinder, the motion end of the compressing electric cylinder moves along the radial direction of the annular frame, one end of the guide rod is fixedly connected to the mounting frame, and the other end of the guide rod is connected to the annular frame in a sliding mode.
5. The nondestructive inspection robot of claim 1, wherein: the rotating mechanism comprises an annular rack fixed on the annular frame, a rotating motor and a gear driven by the rotating motor, and the gear is meshed with the annular rack.
6. The nondestructive inspection robot of claim 5, wherein: the rotating mechanism also comprises a cover plate, and the rotating motor and the detection mechanism are both fixed on the cover plate; the cover plate is further provided with at least two guide wheels, an annular groove is formed in the peripheral wall of each guide wheel, the two guide wheels are respectively arranged on the inner side and the outer side of the annular rack, and inserting portions used for extending into the annular groove are arranged on the inner side and the outer side of the annular rack.
7. The nondestructive inspection robot of claim 1, wherein: the detection device comprises a camera assembly and a probe assembly, wherein the camera assembly comprises an electric cylinder of a camera and a camera arranged at the moving end of the electric cylinder of the camera, and the probe assembly comprises an electric cylinder of a probe and an ultrasonic probe arranged at the moving end of the electric cylinder of the probe.
8. The nondestructive inspection robot of claim 7, wherein: the camera assembly further comprises an extension plate fixed at the moving end of the camera electric cylinder, a camera adjusting plate, a light source, a first fastener and a second fastener; the camera adjusting plate is fixed on the camera, a first adjusting hole is formed in the extending plate, a second adjusting hole is formed in the camera adjusting plate, and the first fastener penetrates through the first adjusting hole and the second adjusting hole; the light source regulating plate is fixed on the light source, a third regulating hole is formed in the extending plate, a fourth regulating hole is formed in the light source regulating plate, and the second fastener penetrates through the third regulating hole and the fourth regulating hole.
9. The nondestructive inspection robot of any one of claims 1 to 8, wherein: the annular frame is provided with a mounting plane for mounting the rotating mechanism, one side of the mounting plane is provided with a first controller and a first battery for providing power for the first controller, and the other side of the mounting plane is provided with a second controller and a second battery for providing power for the second controller.
10. The nondestructive inspection robot of any one of claims 1 to 8, wherein: the nondestructive testing robot also comprises a displacement sensor for detecting the distance between the annular frame and the bottom of the cylindrical body and a stall magnet for being tightly attracted to the cylindrical body to prevent falling.
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| CN202010883902.XA CN112109093A (en) | 2020-08-28 | 2020-08-28 | Nondestructive testing robot |
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| CN202010883902.XA CN112109093A (en) | 2020-08-28 | 2020-08-28 | Nondestructive testing robot |
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| CN112986397A (en) * | 2021-04-07 | 2021-06-18 | 四川省交通建设集团股份有限公司 | Acoustic wave detection device for compactness of pier stud |
| CN113123230A (en) * | 2021-05-04 | 2021-07-16 | 北华大学 | Bridge detection mechanism for civil engineering |
| CN113484494A (en) * | 2021-06-11 | 2021-10-08 | 浙江机电职业技术学院 | Nondestructive testing device for metal shaft body |
| CN113524228A (en) * | 2021-08-19 | 2021-10-22 | 中国建筑第八工程局有限公司 | Self-climbing type automatic detection robot for concrete engineering and detection method thereof |
| CN114019304A (en) * | 2021-11-01 | 2022-02-08 | 国网江苏省电力有限公司常州供电分公司 | Cable terminal defect detection device based on electric field and magnetic field change |
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| CN114113140A (en) * | 2021-11-26 | 2022-03-01 | 深圳市北科检测科技有限公司 | Multistation LED lamp plate detection device |
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| CN116223527A (en) * | 2023-03-31 | 2023-06-06 | 中国长江电力股份有限公司 | Corrosion detection device and detection method for hydraulic hoist piston rod |
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