CN112255311A

CN112255311A - Dual-drive scanning device

Info

Publication number: CN112255311A
Application number: CN202011085591.9A
Authority: CN
Inventors: 李志军; 田文清; 王玉来
Original assignee: Lipap Beijing Testing Technology Co ltd
Current assignee: Atami Intelligent Equipment Beijing Co ltd
Priority date: 2020-10-12
Filing date: 2020-10-12
Publication date: 2021-01-22

Abstract

The invention relates to a dual-drive scanning device, which comprises a scanning vehicle, an ultrasonic device, a power supply device, a control device and a probe loading device, wherein the ultrasonic device, the power supply device, the control device and the probe loading device are arranged on the scanning vehicle, the scanning vehicle comprises a vehicle frame and two groups of driving units which are symmetrically distributed left and right, the driving units comprise a driving wheel device and a driven wheel device which are oppositely arranged on the vehicle frame in front and back, the driven wheel device comprises a driven wheel component and a locking gear box, locking handle, transmission swing arm and elastic push rod, from the driving wheel subassembly including the supporting seat, eccentric camshaft and from the driving wheel, the locking gear box includes the box, first pivot and second pivot, be equipped with intermeshing's first gear and second gear in first pivot and the second pivot, locking handle and first pivot fixed connection, the one end and the second pivot fixed connection of transmission swing arm, the other end of transmission swing arm is articulated with elastic push rod's one end, elastic push rod's the other end is articulated with eccentric camshaft's rotating part. The device has the advantages of stable structure, strong adaptability, safety and reliability.

Description

Dual-drive scanning device

Technical Field

The invention relates to a welding seam detection device, in particular to a dual-drive scanner for detecting a circumferential welding seam of a pipeline.

Background

In the field of petroleum and natural gas transportation, circumferential weld detection is often required to be carried out on pipelines so as to judge whether defects exist in welding seams. With the development of technology, pipeline girth weld detection systems based on ultrasonic waves are widely used. The scanner is used as a core component of a pipeline girth weld detection system and plays an important role in running along the circumferential direction of a pipeline and detecting weld data. The existing pipeline circumferential weld detection system usually adopts a structure form that an ultrasonic acquisition instrument and a scanner are separated, the ultrasonic acquisition instrument and the scanner need to be connected through a cable during detection, and the scanner adopts a single driving system, so that the following problems exist in practical application: 1. the operation is inconvenient, the safety is poor, time and labor are wasted, and the operation of the scanner and the reliability of weld detection are influenced once the dragging action of the cable is generated because the scanner runs along the circumferential direction of the pipeline and the cable needs to be supported and smoothed by manpower so as to adapt to the operation of the scanner around the pipeline; 2. the operation is unstable, the reliability is poor, the balance of a single driving system is poor, and the driven wheel has the defects of insecure locking and poor adaptability, so that the safety of welding seam detection is influenced.

Disclosure of Invention

The invention aims to provide a dual-drive scanner which has the advantages of stable structure, high reliability, strong adaptability and good safety.

In order to solve the problems in the prior art, the invention provides a dual-drive scanning device, which comprises a scanning vehicle, an ultrasonic device, a power supply device, a control device and a probe loading device, wherein the ultrasonic device, the power supply device, the control device and the probe loading device are arranged on the scanning vehicle, the scanning vehicle comprises a vehicle frame and two groups of driving units which are symmetrically distributed left and right, each driving unit comprises a driving wheel device and a driven wheel device which are oppositely arranged on the vehicle frame from front to back, each driven wheel device comprises a driven wheel component, a locking gear box, a locking handle, a transmission swing arm and an elastic push rod, each driven wheel component comprises a supporting seat, an eccentric cam shaft and a driven wheel, the supporting seat is fixed on the vehicle frame, each eccentric cam shaft comprises a rotating part and a supporting shaft which are distributed up and down, the, the locking gear box is including fixing the box on the frame, installs first pivot and second pivot through the bearing in the box, corresponds in first pivot and the second pivot and is equipped with intermeshing's first gear and second gear, the one end of locking handle and the end fixed connection that stretches out of first pivot, the one end of transmission swing arm and the end fixed connection that stretches out of second pivot, the other end of transmission swing arm is articulated with the one end of elasticity push rod, and the other end of elasticity push rod is articulated with the rotating part of eccentric camshaft.

Further, the dual-drive scanning device comprises a shell, a transmission shaft, a motor, a driving shaft and a driving wheel, wherein the shell is fixed on a frame, the transmission shaft is transversely installed in the shell through a bearing, a worm and a third gear are coaxially fixed on the transmission shaft, the motor is installed in the shell, a fourth gear meshed with the third gear is coaxially fixed on an output shaft of the motor, the upper half part of the driving shaft is vertically installed in the shell through a bearing, a worm wheel meshed with the worm is coaxially fixed on the driving shaft, and the driving wheel is coaxially fixed at the lower end of the driving shaft.

Further, the dual-drive scanning device comprises an elastic push rod, wherein the elastic push rod comprises a cylinder body, a left rod, a right rod and a pressure spring, a left cover and a right cover are correspondingly fixed at two ends of the cylinder body, a left hinged joint is arranged at the left end of the left rod, a spring seat is fixed at the right end of the left rod after penetrating through the left cover, a right hinged joint is arranged at the right end of the right rod, the left end of the right rod is screwed in a threaded hole in the right cover, a fastening nut is screwed at the right side of the right cover by the right rod, and two ends of the pressure spring are correspondingly pressed on the spring seat and the right cover.

Further, the dual-drive scanner comprises a frame, wherein the frame comprises a middle connecting plate, a front supporting piece and a rear supporting piece are correspondingly fixed at the front end and the rear end of the middle connecting plate, a left mounting plate and a right mounting plate are correspondingly hinged to the left side and the right side of the middle connecting plate, curvature adjusting plates are respectively fixed between the front sides of the left mounting plate and the right mounting plate and the front supporting piece and between the rear sides of the left mounting plate and the right mounting plate and the rear supporting piece through screws; a cable bridge is also fixed between the front supporting piece and the rear supporting piece, and adapter plates are fixed on the upper sides of the front supporting piece, the rear supporting piece and the cable bridge; and the two groups of driving units are correspondingly arranged on the left mounting plate and the right mounting plate.

Further, the dual-drive scanning device comprises a shell, wherein the shell comprises an upper seat, a first mounting hole and a second mounting hole which are communicated left and right are formed in the rear half part of the upper seat, a first protective cover and a second protective cover are correspondingly fixed on two sides of the rear half part of the upper seat, a third mounting hole with an opening at the lower end is formed in the front half part of the upper seat, and a lower seat is fixed at the opening of the third mounting hole; the transmission shaft is installed in the first installation hole, the motor is installed in the second installation hole, and the upper half portion of the driving shaft penetrates through the lower seat and is installed in the third installation hole.

Further, the dual-drive scanner is characterized in that a first supporting sleeve and a second supporting sleeve are correspondingly mounted at two ports of the first mounting hole through screws, a first limiting table is arranged on the peripheral wall of the transmission shaft, a first bearing is clamped between the left side of the first limiting table and the first supporting sleeve, the worm is sleeved on the transmission shaft, a flat key is arranged between the worm and the transmission shaft, the left end of the worm is pressed against the first limiting table, and a second bearing is clamped between the right end of the worm and the second supporting sleeve; the upper end of drive shaft is fixed with first pressure disk through the screw is coaxial, is equipped with the spacing platform of second on the perisporium of drive shaft, the worm wheel cover is equipped with the parallel key on the drive shaft and between the two, and the cover is equipped with third bearing and upper gasket on the drive shaft between worm wheel and the first pressure disk, and the outer lane upper end top of third bearing is pressed on the upper seat, and the cover is equipped with lower gasket and fourth bearing on the drive shaft between worm wheel and the spacing platform of second, and the outer lane lower extreme top of fourth bearing is pressed on the lower seat.

Further, the dual-drive scanning device is characterized in that the third gear is fixed at one end of the transmission shaft, a fifth gear is coaxially fixed at the other end of the transmission shaft, the second supporting sleeve is provided with an encoder, and a sixth gear meshed with the fifth gear is coaxially fixed on a rotating shaft of the encoder; the driving wheel includes wheel seat and the second pressure disk of fixing at the drive shaft lower extreme through the screw is coaxial, and the wheel seat is big-end-up's cylindrical, and the top of wheel seat is equipped with the spacing groove, and the drive shaft be equipped with spacing groove complex ka tai, the lower half cover of wheel seat is equipped with knurling wheel, switch board and knurling wheel down, goes up knurling wheel, switch board and is equipped with the parallel key down between knurling wheel and the wheel seat.

Further, the dual-drive scanning device comprises a supporting seat, a first limiting platform and a second limiting platform, wherein the supporting seat comprises a flange plate and a connecting sleeve which are connected into a whole; the lower end of the rotating part is provided with a fourth limiting table, a cylindrical adapter is coaxially fixed on the upper side of the rotating part, a rotating swing arm is fixed on the upper side of the adapter, and a hinge column is fixed on the rotating swing arm; the fifth bearing and the sixth bearing are sleeved between the connecting sleeve and the rotating part side by side, the upper ends of the inner ring and the outer ring of the fifth bearing are correspondingly pressed on the adapter and the first flange cover, and the lower ends of the inner ring and the outer ring of the sixth bearing are correspondingly pressed on the fourth limiting table and the third limiting table.

Further, the dual-drive scanning device is characterized in that a connecting column is installed at the lower end of the supporting shaft through threads, a fifth limiting table is arranged at the lower end of the connecting column, a sixth limiting table is arranged at the lower end of the inner wall of the driven wheel, a second flange cover is coaxially fixed on the upper side of the driven wheel, a seventh bearing and an eighth bearing are sleeved between the driven wheel and the connecting column side by side, the upper ends of an inner ring and an outer ring of the seventh bearing are correspondingly pressed on the supporting shaft and the second flange cover, and the lower ends of the inner ring and the outer ring of the eighth bearing are correspondingly pressed on the fifth limiting table and the sixth limiting table.

Further, the dual-drive scanning device comprises a box body and a cover plate, wherein the box body comprises a bottom shell and the cover plate is fixed on the bottom shell through screws; the oil seal is sleeved between the driving shaft and the lower seat, the first protective cover, the second protective cover, the lower seat and the upper seat are respectively provided with a sealing ring, and the second protective cover is provided with a sealing threading head.

Compared with the prior art, the dual-drive scanner has the following advantages: the invention is provided with a scanning vehicle, an ultrasonic device, a power supply device, a control device and a probe loading device, wherein the ultrasonic device, the power supply device, the control device and the probe loading device are arranged on the scanning vehicle, the scanning vehicle comprises a vehicle frame and two groups of driving units which are symmetrically distributed left and right, the driving units are provided with a driving wheel device and a driven wheel device which are oppositely arranged on the vehicle frame in front and back, the driven wheel device is provided with a driven wheel component, a locking gear box, a locking handle, a transmission swing arm and an elastic push rod, the driven wheel component is provided with a supporting seat, an eccentric cam shaft and a driven wheel, the supporting seat is fixed on the vehicle frame, the eccentric cam shaft is provided with a rotating part and a supporting shaft which are distributed up and down, the axis of the supporting shaft is deviated to one side relative to the rotating part, the rotating part, the first gear and the second gear which are meshed with each other are correspondingly arranged on the first rotating shaft and the second rotating shaft, one end of the locking handle is fixedly connected with the extending end of the first rotating shaft, one end of the transmission swing arm is fixedly connected with the extending end of the second rotating shaft, the other end of the transmission swing arm is hinged with one end of the elastic push rod, and the other end of the elastic push rod is hinged with the rotating part of the eccentric cam shaft. Therefore, the double-drive scanner with stable structure, high reliability, strong adaptability and good safety is formed. In practical application, the scanner is arranged on an annular track arranged along the circumferential direction of the pipeline through the scanner, and in the process of moving along the track, the circumferential weld of the pipeline can be detected through a probe on the probe loading device. According to the invention, the ultrasonic device, the power supply device, the control device and the probe loading device are integrated on the scanning vehicle, and the power supply device supplies power to relevant equipment, so that in the operation process of the scanning device, a connecting cable between the equipment can move along with the scanning device, the phenomenon that the operation of the scanning device is influenced due to the dragging of the cable is avoided, the stability and the reliability of welding line detection are ensured, the following cable is not required to be manually supported and stroked, and the labor force is saved; the scanning vehicle is provided with the two groups of driving units which are symmetrically distributed left and right, so that on one hand, the balance and the stability of the structure are improved, on the other hand, the running reliability of the scanning device is improved, and when one group of driving units breaks down or fails, the other group of driving units can continuously drive the scanning device to run along a track; through making from driving wheel device set up driven wheel subassembly, locking gear box, locking handle, transmission swing arm and elastic push rod, only need to control the locking handle and can realize locking from the driving wheel or unblock from the purpose of driving the wheel, have control convenient, occupation space is little, strong adaptability, the reliable advantage of locking. The specific process is as follows: can make first gear and second gear rotate relatively and drive the transmission swing arm rotation through rotatory locking handle, the rotary motion of transmission swing arm can produce push-and-pull effect to elastic push rod, and elastic push rod's push-and-pull action can make eccentric camshaft use the rotating part to rotate as the axle, because of the axle center of back shaft for the rotating part one side of squinting, the rotation of eccentric camshaft can make from the driving wheel extrusion on the track or break away from the track to realize locking from the technical purpose of driving wheel or unblock from the driving wheel. When the vehicle frame is locked, the locking handle is rotated to enable the transmission swing arm to generate a forward pushing effect on the elastic push rod, the forward pushing action of the elastic push rod enables the eccentric cam shaft to rotate and enables the driven wheel to be extruded on the track, and at the moment, the locking handle is rotated to the upper side of the vehicle frame to save space; when unlocking, the locking handle is rotated reversely, so that the transmission swing arm generates a back-pulling effect on the elastic push rod, and the back-pulling action of the elastic push rod enables the eccentric cam shaft to rotate reversely and the driven wheel to be separated from the track. The locking gear box is used as a locking transmission mechanism, and the locking gear box has the advantages of simple structure, reliable transmission and small occupied space; when the locking mechanism is locked, the driven wheel can be always extruded on the track under the action of the elastic force of the elastic push rod, so that the locking reliability is improved, and the running stability and safety of the scanner are ensured.

The dual-drive scanner according to the present invention will be described in detail with reference to the embodiments shown in the drawings.

Drawings

FIG. 1 is a front view of a dual drive scanner of the present invention;

FIG. 2 is a top view of a dual drive scanner according to the present invention;

FIG. 3 is a first perspective view of a dual drive scanner of the present invention;

FIG. 4 is a second perspective view of a dual drive scanner of the present invention;

FIG. 5 is a front view of a scanning vehicle of a dual drive scanner of the present invention;

FIG. 6 is a top view of a scanning vehicle in a dual drive scanner of the present invention;

FIG. 7 is a first perspective view of a scanning vehicle of the dual drive scanner of the present invention;

FIG. 8 is a second perspective view of a scanning vehicle in the dual drive scanner of the present invention;

FIG. 9 is a front view of a frame of a dual drive scanner of the present invention;

FIG. 10 is a perspective view of a frame of a dual drive scanner of the present invention;

FIG. 11 is an elevation view of a driven wheel assembly of a dual drive scanner according to the present invention;

FIG. 12 is a top view of a driven wheel assembly in a dual drive scanner according to the present invention;

FIG. 13 is a perspective view of a driven wheel assembly in a dual drive scanner of the present invention;

FIG. 14 is a view taken along line A-A of FIG. 12;

FIG. 15 is a front view of a lock gear box in a dual drive scanner of the present invention;

FIG. 16 is a view taken along line B-B of FIG. 15;

FIG. 17 is a top view of a lock-up gearbox in a dual drive scanner according to the present invention;

FIG. 18 is a perspective view of a locking gear box in a dual drive scanner of the present invention;

FIG. 19 is a front view of the resilient push rod of a dual drive scanner of the present invention;

FIG. 20 is a top view of the resilient push rod of a dual drive scanner of the present invention;

FIG. 21 is a view from the direction C-C in FIG. 20;

FIG. 22 is a perspective view of a resilient push rod in a dual drive scanner of the present invention;

FIG. 23 is a front view of a drive wheel assembly of a dual drive scanner of the present invention;

FIG. 24 is a bottom view of a drive wheel assembly of a dual drive scanner of the present invention;

FIG. 25 is a first perspective view of a drive wheel assembly of a dual drive scanner of the present invention;

FIG. 26 is a second perspective view of a drive wheel assembly of a dual drive scanner of the present invention;

FIG. 27 is a view from direction D-D of FIG. 23;

fig. 28 is a view from direction E-E in fig. 23.

Detailed Description

First, it should be noted that, the directional terms such as up, down, left, right, front, rear, etc. described in the present invention are only described with reference to the accompanying drawings for easy understanding, and do not limit the technical solution and the claimed scope of the present invention.

As shown in fig. 1 to 28, the dual-drive scanner according to the embodiment of the present invention includes a scanning vehicle 1, and an ultrasonic device 11, a power supply device 12, a control device 13, and a probe loading device 14 mounted on the scanning vehicle 1, where the scanning vehicle 1 includes a vehicle frame 2 and two sets of driving units symmetrically distributed left and right, and the driving units include a driving wheel device 3 and a driven wheel device mounted on the vehicle frame 2 in a front-back opposite manner. The driven wheel device is provided with a driven wheel component 4, a locking gear box 5, a locking handle 6, a transmission swing arm 7 and an elastic push rod 8. The driven wheel assembly 4 is provided with a support base 41, an eccentric cam shaft 42 and a driven wheel 43, the support base 41 is fixed on the frame 2, the eccentric cam shaft 42 is provided with a rotating part 421 and a support shaft 422 which are distributed up and down, the axis of the support shaft 422 is deviated to one side relative to the rotating part 421, the rotating part 421 is installed in the support base 41 through a bearing, and the driven wheel 43 is installed at the lower end of the support shaft 422 through a bearing. The lock gear box 5 is provided with a box body 51 fixed on the frame 2, a first rotating shaft 52 and a second rotating shaft 53 are arranged in the box body 51 through bearings, and a first gear 54 and a second gear 55 which are meshed with each other are correspondingly arranged on the first rotating shaft 52 and the second rotating shaft 53. One end of the locking handle 6 is fixedly connected with the extending end of the first rotating shaft 52, one end of the transmission swing arm 7 is fixedly connected with the extending end of the second rotating shaft 53, the other end of the transmission swing arm 7 is hinged with one end of the elastic push rod 8, and the other end of the elastic push rod 8 is hinged with the rotating part 421 of the eccentric cam shaft 42.

The dual-drive scanner with stable structure, high reliability, strong adaptability and good safety is formed by the structural arrangement. In practical application, the scanner is mounted on an annular track arranged along the circumferential direction of the pipeline through the scanner vehicle 1, and in the process of moving along the track, the circumferential weld of the pipeline can be detected through a probe on the probe loading device 14. According to the invention, the ultrasonic device 11, the power supply device 12, the control device 13 and the probe loading device 14 are integrated on the scanning vehicle 1, and the power supply device 12 supplies power to relevant equipment, so that in the operation process of the scanner, a connecting cable between the equipment can move along with the scanner, the phenomenon that the operation of the scanner is influenced due to the dragging of the cable is avoided, the stability and the reliability of welding line detection are ensured, manual support and cable smoothing are not needed, and the labor is saved. The scanning vehicle 1 is provided with the two groups of driving units which are symmetrically distributed left and right, so that on one hand, the balance and the stability of the structure are improved, on the other hand, the running reliability of the scanner is improved, and when one group of driving units breaks down or fails, the other group of driving units can continuously drive the scanner to run along the track. Through making from driving wheel device set up driven wheel subassembly 4, locking gear box 5, locking handle 6, transmission swing arm 7 and elastic push rod 8, only need to control locking handle 6 and can realize locking from the driving wheel or unblock from the purpose of driving the wheel, have control convenient, occupation space is little, strong adaptability, the reliable advantage of locking. The specific process is as follows: the first gear 54 and the second gear 55 can relatively rotate by rotating the locking handle 6 to drive the transmission swing arm 7 to rotate, the rotation action of the transmission swing arm 7 can generate a push-pull action on the elastic push rod 8, the push-pull action of the elastic push rod 8 can enable the eccentric cam shaft 42 to rotate by taking the rotating part 421 as a shaft, the shaft center of the supporting shaft 422 deviates to one side relative to the rotating part 421, the rotation of the eccentric cam shaft 42 can enable the driven wheel 43 to be extruded on the track or separated from the track, and therefore the technical purpose of locking or unlocking the driven wheel is achieved. During locking, the locking handle 6 is rotated to enable the transmission swing arm 7 to generate a forward pushing effect on the elastic push rod 8, the forward pushing action of the elastic push rod 8 enables the eccentric cam shaft 42 to rotate and enables the driven wheel 43 to be extruded on the track, and at the moment, the locking handle 6 is rotated to the upper side of the frame 2 to save space; when unlocking, the locking handle 6 is rotated reversely to enable the transmission swing arm 7 to generate a back-pulling effect on the elastic push rod 8, and the back-pulling action of the elastic push rod 8 enables the eccentric cam shaft 42 to rotate reversely and the driven wheel 43 to be separated from the track. The locking gear box 5 is used as a locking transmission mechanism, and the locking gear box has the advantages of simple structure, reliable transmission and small occupied space; when in locking, the driven wheel 43 can be always extruded on the track under the action of the elastic force of the elastic push rod 8, so that the locking reliability is improved, and the running stability and safety of the scanner are ensured. It should be noted that the interconnection relationship among the ultrasonic device 11, the power supply device 12, the control device 13 and the probe loading device 14 is well known to those skilled in the art, wherein the ultrasonic device 11 refers to an ultrasonic acquisition instrument and an integrated battery module, the control device 13 is provided with a wireless communication module for wirelessly connecting with an upper computer, the probe loading device 14 includes a loading frame and a probe disk installed on the loading frame through a loading arm, in order to improve the comprehensiveness and accuracy of the weld detection, two types of probe disks are generally provided in the art, namely, a phased array probe disk and a bicrystal probe disk, and both types of probe disks are composed of a hinged frame, a wedge block and a probe installed on the wedge block. It should be noted that the forward direction of the elastic pushing rod 8 should be the same direction as the biasing direction of the supporting shaft 422 to ensure that the driven wheel 43 is pressed against the rail instead of being far away from the rail during locking. In the present invention, the axis of the supporting shaft 422 is usually shifted to the left or right with respect to the rotating portion 421, and the hinge point between the axis of the supporting shaft 422 and the elastic push rod 8 forms a 90-degree central angle with respect to the axis of the rotating portion 421, so as to enhance the force application effect of the elastic push rod 8. In order to prevent the locking handle 6 from automatically rotating when in locking, the invention also arranges a mechanism (not shown in the figure) for limiting the locking handle 6 on the frame 2.

As a specific embodiment, as shown in fig. 23 to 28, the present invention provides the drive wheel device 3 with a housing 31, a transmission shaft 32, a motor 33, a drive shaft 34, and a drive wheel 35. The housing 31 is fixed to the frame 2, the transmission shaft 32 is mounted transversely in the housing 31 through a bearing, and the worm 321 and the third gear 322 are coaxially fixed to the transmission shaft 32. The motor 33 is mounted in the housing 31, and a fourth gear 331 that meshes with the third gear 322 is coaxially fixed to an output shaft of the motor 33. The upper half of the drive shaft 34 is vertically mounted in the housing 31 through a bearing, a worm wheel 341 meshing with a worm 321 is coaxially fixed to the drive shaft 34, and a drive wheel 35 is coaxially fixed to the lower end of the drive shaft 34. The driving wheel device 3 with the structure improves the compactness of a strong structure and reduces the occupied space by arranging the shell 31 and arranging the transmission shaft 32, the motor 33 and the driving shaft 34 in the shell 31; through setting up worm gear motion pair, improved driven stationarity when realizing slowing down, and then improved the stability and the fail safe nature of scanning ware operation.

As a specific embodiment, as shown in fig. 19 to 22, the present invention adopts the following structure for the elastic push rod 8: the pressure spring comprises a cylinder 81, a left rod 82, a right rod 83 and a pressure spring 84, wherein a left cover 811 and a right cover 812 are correspondingly fixed at two ends of the cylinder 81, a left hinged joint 821 is arranged at the left end of the left rod 82, the right end of the left rod 82 penetrates through the left cover 811 and fixes a spring seat 822, a right hinged joint 831 is arranged at the right end of the right rod 83, the left end of the right rod 83 is screwed in a threaded hole in the right cover 812, a fastening nut 832 is screwed on the right rod 83 on the right side of the right cover 812, and two ends of the pressure spring 84 are correspondingly pressed on the spring seat 822 and the right cover 812. The elastic push rod 8 has the advantages of being stable in structure and high in adaptability, the technical purpose of adjusting the jacking pressure degree can be achieved by adjusting the length of the right rod 83 screwed into the right cover 812, and the elastic push rod has the advantages of being simple to operate and convenient to adjust.

As a specific embodiment, as shown in fig. 5 to 10, the present invention adopts the following structure for the vehicle frame 2: the middle connecting plate 21 is provided, a front support 22 and a rear support 23 are correspondingly fixed at the front end and the rear end of the middle connecting plate 21, a left mounting plate 24 and a right mounting plate 25 are correspondingly hinged at the left side and the right side of the middle connecting plate 21, and a curvature adjusting plate 26 is respectively fixed between the front side of the left mounting plate 24 and the right mounting plate 25 and the front support 22 and between the rear side of the left mounting plate 24 and the right mounting plate 25 and the rear support 23 through screws. The symmetrical triple-linkage frame is formed by the structural arrangement, the convenience is brought to equipment installation, the supporting strength is improved, the left mounting plate 24 and the right mounting plate 25 are hinged to the middle connecting plate 21, the left mounting plate 24 and the right mounting plate 25 are fixedly connected with the front supporting piece 22 and the rear supporting piece 23 through the curvature adjusting plates 26, the structural stability is enhanced on one hand, the technical purpose of adjusting the curvature of the bottom of the frame can be achieved by replacing different curvature adjusting plates 26 on the other hand, the triple-linkage frame is suitable for pipelines with different pipe diameters, the application range of the scanning device is improved, and the triple-linkage frame has the advantages of simplicity in operation and convenience in adjustment. Meanwhile, the present embodiment further fixes a cable bridge 27 between the front support 22 and the rear support 23 by screws, and fixes an adapter plate 28 on the upper sides of the front support 22, the rear support 23, and the cable bridge 27 by screws. The cable bridge 27 is arranged, so that equipment wiring is facilitated, the supporting strength is enhanced, and the integrity and the structural strength of the frame are enhanced by arranging the adapter plate 28. Wherein, two sets of driving units are correspondingly arranged on the left mounting plate 24 and the right mounting plate 25.

In the present invention, as a specific embodiment, the housing 31 is provided with the upper seat 311, the rear half of the upper seat 311 is provided with the first mounting hole and the second mounting hole penetrating right and left, the first protecting cover 312 and the second protecting cover 313 are correspondingly fixed on both sides of the rear half of the upper seat 311, the front half of the upper seat 311 is provided with the third mounting hole with an opening at the lower end, and the lower seat 314 is fixed at the opening of the third mounting hole. Wherein the transmission shaft 32 is installed in the first installation hole, the motor 33 is installed in the second installation hole, and the upper half portion of the driving shaft 34 passes through the lower seat 314 and is installed in the third installation hole. This setting has easy dismounting's advantage, and can play effectual guard action to transmission shaft 32, motor 33, third gear 322, fourth gear 331 etc. through first protective cover 312 and second protective cover 313, has improved fail-safe nature. As a specific embodiment, the present invention provides the following mounting means for the drive shaft 32: the first support sleeve 315 and the second support sleeve 316 are correspondingly mounted at two ports of the first mounting hole through screws, a first limit table 323 is arranged on the peripheral wall of the transmission shaft 32, a first bearing 324 is clamped between the left side of the first limit table 323 and the first support sleeve 315, the worm 321 is sleeved on the transmission shaft 32, a flat key is arranged between the worm 321 and the first limit table 323, the left end of the worm 321 is pressed against the first limit table 323, and a second bearing 325 is clamped between the right end of the worm 321 and the second support sleeve 316. The mounting mode has the advantages of compact structure, convenient assembly and disassembly and stable action. As a specific embodiment, the present invention employs the following mounting method for the drive shaft 34: a first pressure plate 342 is coaxially fixed to the upper end of the drive shaft 34 by a screw, a second stopper 34 is provided on the peripheral wall of the drive shaft 34, a worm wheel 341 is fitted over the drive shaft 34 with a flat key provided therebetween, a third bearing 344 and an upper washer 345 are fitted over the drive shaft 34 between the worm wheel 341 and the first pressure plate 342, the upper end of the outer ring of the third bearing 344 is pressed against the upper seat 311, a lower washer 346 and a fourth bearing 347 are fitted over the drive shaft 34 between the worm wheel 341 and the second stopper 343, and the lower end of the outer ring of the fourth bearing 347 is pressed against the lower seat 314. The installation mode also has the advantages of compact structure, convenient disassembly and assembly and stable action.

Preferably, the third gear 322 is fixed at one end of the transmission shaft 32, the fifth gear 326 is coaxially fixed at the other end of the transmission shaft 32, the encoder 327 is mounted on the second support sleeve 316, and the sixth gear 328 engaged with the fifth gear 326 is coaxially fixed on the rotation shaft of the encoder 327, wherein the third gear 322 and the encoder 327 are respectively disposed in the first protective cover 312 and the second protective cover 313. This arrangement enhances functionality and utility by recording the path of travel during scanner operation via encoder 327 to determine weld defect location. As an optimized solution, the present embodiment makes the driving wheel 35 adopt the following structural form: the setting passes through the wheel seat 351 and the second pressure disk 352 of screw coaxial fixation in drive shaft 34 lower extreme, lets wheel seat 351 adopt big-end-up's cylindrical structure, sets up the spacing groove at wheel seat 351's top, sets up on drive shaft 34 with spacing groove complex ka tai, overlaps at the lower half of wheel seat 351 and establishes knurling wheel 353, switch board 354 and lower knurling wheel 355 to set up the parallel key between last knurling wheel 353, switch board 354 and lower knurling wheel 355 and wheel seat 351. The driving wheel 35 of this structure has the side of dismouting and makes, the operation is stable, safe and reliable's advantage, can avoid sliding relatively with the track through setting up the knurling wheel, has guaranteed the stability of scanning the ware operation and the reliability that detects, makes the driving wheel form upper and lower twice slot through setting up the switch board, has reduced the risk that the driving wheel drops from the track, has improved the security.

As a specific embodiment, as shown in fig. 11 to 14, the present invention employs the following mounting manner for the rotating portion 421 of the eccentric camshaft 42: the supporting seat 41 is provided with a flange 411 and a connecting sleeve 412 which are connected into a whole, a first flange cover 44 is coaxially fixed on the flange 411, and a third limiting table 413 is arranged at the lower end of the inner wall of the connecting sleeve 412; a fourth limit stage 423 is provided at the lower end of the rotating portion 421, a cylindrical adapter 45 is coaxially fixed on the upper side of the rotating portion 421, a rotating swing arm 46 is fixed on the upper side of the adapter 45, and a hinge post 47 is fixed on the rotating swing arm 46; a fifth bearing 424 and a sixth bearing 425 are arranged between the connection sleeve 412 and the rotating part 421, and the upper ends of the inner and outer rings of the fifth bearing 424 are correspondingly pressed against the adapter 45 and the first flange cover 44, and the lower ends of the inner and outer rings of the sixth bearing 425 are correspondingly pressed against the fourth limit stage 423 and the third limit stage 413. This setting has stable in structure, easy dismounting, rotates steady advantage, can conveniently articulate with elastic push rod 8 through setting up articulated post 47, has improved the convenience of connection operation. As a specific embodiment, the present invention employs the following mounting method for the driven pulley 43: the lower end of the supporting shaft 422 is coaxially provided with a connecting column 48 through threads, the lower end of the connecting column 48 is provided with a fifth limiting platform 481, the lower end of the inner wall of the driven wheel 43 is provided with a sixth limiting platform 431, the upper side of the driven wheel 43 is coaxially fixed with a second flange cover 49, a seventh bearing 432 and an eighth bearing 433 are sleeved between the driven wheel 43 and the connecting column 48 side by side, the upper ends of the inner ring and the outer ring of the seventh bearing 432 are correspondingly pressed on the supporting shaft 422 and the second flange cover 49, and the lower ends of the inner ring and the outer ring of the eighth bearing 433 are correspondingly pressed on the fifth limiting platform 481 and the sixth limiting platform 431. The device also has the advantages of stable structure, convenient assembly and disassembly and stable rotation. From driving wheel 13 through setting up twice slot, reduced the risk of droing, improved the security.

It should be noted that, in practical applications, the present invention generally enables the box body 51 to adopt a structure including the bottom shell 511 and the cover plate 512, and enables the cover plate 512 to be fixed on the bottom shell 511 by screws, so as to facilitate the assembly and disassembly. In order to ensure the sealing performance and improve the stability of the structure and performance, the invention also arranges an oil seal 348 between the driving shaft 34 and the lower seat 314, arranges sealing rings between the first protective cover 312, the second protective cover 313, the lower seat 314 and the upper seat 311 respectively, and arranges a sealing threading head 317 on the second protective cover 313 to facilitate the connection of the encoder 327.

The above examples are only for describing the preferred embodiments of the present invention, and do not limit the scope of the claimed invention, and various modifications made by those skilled in the art according to the technical solutions of the present invention should fall within the scope of the invention defined by the claims without departing from the design concept of the present invention.

Claims

1. A dual-drive scanning device is characterized by comprising a scanning vehicle (1), an ultrasonic device (11), a power supply device (12), a control device (13) and a probe loading device (14) which are arranged on the scanning vehicle (1), wherein the scanning vehicle (1) comprises a vehicle frame (2) and two groups of driving units which are symmetrically distributed left and right, each driving unit comprises a driving wheel device (3) and a driven wheel device which are oppositely arranged on the vehicle frame (2) front and back, each driven wheel device comprises a driven wheel component (4), a locking gear box (5), a locking handle (6), a transmission swing arm (7) and an elastic push rod (8), each driven wheel component (4) comprises a supporting seat (41), an eccentric cam shaft (42) and a driven wheel (43), the supporting seat (41) is fixed on the vehicle frame (2), the eccentric cam shaft (42) comprises a rotating part (421) and a supporting shaft (422) which are distributed up and down, the axis of the supporting shaft (422) is deviated to one side relative to the rotating part (421), the rotating part (421) is installed in the supporting seat (41) through a bearing, the driven wheel (43) is installed at the lower end of the supporting shaft (422) through a bearing, the locking gear box (5) comprises a box body (51) fixed on the frame (2), a first rotating shaft (52) and a second rotating shaft (53) are installed in the box body (51) through bearings, a first gear (54) and a second gear (55) which are meshed with each other are correspondingly arranged on the first rotating shaft (52) and the second rotating shaft (53), one end of the locking handle (6) is fixedly connected with the extending end of the first rotating shaft (52), one end of the transmission swing arm (7) is fixedly connected with the extending end of the second rotating shaft (53), the other end of the transmission swing arm (7) is hinged to one end of the elastic push rod (8), and the other end of the elastic push rod (8) is hinged to the rotating part (421) of the eccentric camshaft (42).

2. A dual drive scanner according to claim 1, wherein said drive wheel arrangement (3) comprises a housing (31), a drive shaft (32), a motor (33), a drive shaft (34) and a drive wheel (35), the shell (31) is fixed on the frame (2), the transmission shaft (32) is transversely arranged in the shell (31) through a bearing, a worm (321) and a third gear (322) are coaxially fixed on the transmission shaft (32), the motor (33) is arranged in the shell (31), a fourth gear (331) meshed with the third gear (322) is coaxially fixed on an output shaft of the motor (33), the upper half part of the driving shaft (34) is vertically installed in the shell (31) through a bearing, a worm wheel (341) meshed with the worm (321) is coaxially fixed on the driving shaft (34), and the driving wheel (35) is coaxially fixed at the lower end of the driving shaft (34).

3. The dual-drive scanner according to claim 2, wherein the elastic push rod (8) comprises a cylinder (81), a left rod (82), a right rod (83) and a pressure spring (84), a left cover (811) and a right cover (812) are correspondingly fixed at two ends of the cylinder (81), a left hinge joint (821) is arranged at the left end of the left rod (82), the right end of the left rod (82) penetrates through the left cover (811) and is fixed with a spring seat (822), a right hinge joint (831) is arranged at the right end of the right rod (83), the left end of the right rod (83) is screwed in a threaded hole in the right cover (812), a fastening nut (832) is screwed on the right side of the right cover (812) of the right rod (83), and two ends of the pressure spring (84) are correspondingly pressed on the spring seat (822) and the right cover (812).

4. The dual-drive scanner is characterized in that the frame (2) comprises a middle connecting plate (21), a front support (22) and a rear support (23) are correspondingly fixed at the front end and the rear end of the middle connecting plate (21), a left mounting plate (24) and a right mounting plate (25) are correspondingly hinged at the left side and the right side of the middle connecting plate (21), a curvature adjusting plate (26) is respectively fixed between the front side of the left mounting plate (24) and the right mounting plate (25) and the front support (22), and between the rear side of the left mounting plate (24) and the right mounting plate (25) and the rear support (23) through screws; a cable bridge (27) is also fixed between the front supporting piece (22) and the rear supporting piece (23), and adapter plates (28) are fixed on the upper sides of the front supporting piece (22), the rear supporting piece (23) and the cable bridge (27); the two groups of driving units are correspondingly arranged on the left mounting plate (24) and the right mounting plate (25).

5. The dual-drive scanner according to claim 4, wherein the housing (31) comprises an upper seat (311), a first mounting hole and a second mounting hole penetrating left and right are formed in the rear half portion of the upper seat (311), a first protecting cover (312) and a second protecting cover (313) are correspondingly fixed to two sides of the rear half portion of the upper seat (311), a third mounting hole with an opening at the lower end is formed in the front half portion of the upper seat (311), and a lower seat (314) is fixed to an opening of the third mounting hole; the transmission shaft (32) is installed in the first installation hole, the motor (33) is installed in the second installation hole, and the upper half portion of the driving shaft (34) passes through the lower seat (314) and is installed in the third installation hole.

6. The dual-drive scanner is characterized in that a first supporting sleeve (315) and a second supporting sleeve (316) are correspondingly mounted at two ports of the first mounting hole through screws, a first limiting table (323) is arranged on the peripheral wall of the transmission shaft (32), a first bearing (324) is clamped between the left side of the first limiting table (323) and the first supporting sleeve (315), the worm (321) is sleeved on the transmission shaft (32) and a flat key is arranged between the transmission shaft and the transmission shaft, the left end of the worm (321) is pressed against the first limiting table (323), and a second bearing (325) is clamped between the right end of the worm (321) and the second supporting sleeve (316); the upper end of the driving shaft (34) is coaxially fixed with a first pressure plate (342) through a screw, a second limiting table (343) is arranged on the peripheral wall of the driving shaft (34), the worm wheel (341) is sleeved on the driving shaft (34) and a flat key is arranged between the worm wheel (341) and the first pressure plate (342), a third bearing (344) and an upper gasket (345) are sleeved on the driving shaft (34) between the worm wheel (341) and the first pressure plate (342), the upper end of the outer ring of the third bearing (344) is pressed on the upper seat (311), a lower gasket (346) and a fourth bearing (347) are sleeved on the driving shaft (34) between the worm wheel (341) and the second limiting table (343), and the lower end of the outer ring of the fourth bearing (347) is pressed on the lower seat (314).

7. The dual-drive scanner according to claim 6, wherein the third gear (322) is fixed at one end of the transmission shaft (32), the other end of the transmission shaft (32) is coaxially fixed with a fifth gear (326), the second support sleeve (316) is provided with an encoder (327), and a rotating shaft of the encoder (327) is coaxially fixed with a sixth gear (328) engaged with the fifth gear (326); drive wheel (35) are including wheel seat (351) and second pressure disk (352) through the coaxial fixation of screw at drive shaft (34) lower extreme, wheel seat (351) are big-end-up's cylindrical, the top of wheel seat (351) is equipped with the spacing groove, drive shaft (34) be equipped with spacing groove complex ka tai, the lower half cover of wheel seat (351) is equipped with knurling wheel (353), switch board (354) and lower knurling wheel (355), go up knurling wheel (353), switch board (354) and lower knurling wheel (355) and be equipped with the parallel key between wheel seat (351).

8. The dual-drive scanner according to claim 7, wherein the supporting seat (41) comprises a flange (411) and a connecting sleeve (412) which are connected into a whole, a first flange cover (44) is coaxially fixed on the flange (411), and a third limiting table (413) is arranged at the lower end of the inner wall of the connecting sleeve (412); a fourth limiting table (423) is arranged at the lower end of the rotating part (421), a cylindrical adapter (45) is coaxially fixed on the upper side of the rotating part (421), a rotating swing arm (46) is fixed on the upper side of the adapter (45), and a hinge column (47) is fixed on the rotating swing arm (46); a fifth bearing (424) and a sixth bearing (425) are sleeved between the connecting sleeve (412) and the rotating part (421) side by side, the upper ends of the inner ring and the outer ring of the fifth bearing (424) are correspondingly pressed on the adapter (45) and the first flange cover (44), and the lower ends of the inner ring and the outer ring of the sixth bearing (425) are correspondingly pressed on the fourth limiting table (423) and the third limiting table (413).

9. The dual-drive scanner according to claim 8, wherein a connecting column (48) is installed at the lower end of the supporting shaft (422) through threads, a fifth limiting table (481) is arranged at the lower end of the connecting column (48), a sixth limiting table (431) is arranged at the lower end of the inner wall of the driven wheel (43), a second flange cover (49) is coaxially fixed at the upper side of the driven wheel (43), a seventh bearing (432) and an eighth bearing (433) are sleeved between the driven wheel (43) and the connecting column (48) side by side, the upper ends of the inner ring and the outer ring of the seventh bearing (432) are correspondingly pressed on the supporting shaft (422) and the second flange cover (49), and the lower ends of the inner ring and the outer ring of the eighth bearing (433) are correspondingly pressed on the fifth limiting table (481) and the sixth limiting table (431).

10. A dual drive scanner according to claim 9, wherein said box (51) comprises a bottom shell (511) and a cover plate (512) fixed to the bottom shell (511) by screws; the utility model discloses a sealing device, including drive shaft (34), first protective cover (312), second protective cover (313), lower seat (314) and upper seat (311), drive shaft (34) and lower seat (314) between the cover be equipped with oil blanket (348), be equipped with the sealing washer between first protective cover (312), second protective cover (313) and lower seat (314) and upper seat (311) respectively, be equipped with sealed threading head (317) on second protective cover (313).