CN113252781B - Ultrasonic automatic detection device and cable internal damage detection method - Google Patents
Ultrasonic automatic detection device and cable internal damage detection method Download PDFInfo
- Publication number
- CN113252781B CN113252781B CN202110447651.5A CN202110447651A CN113252781B CN 113252781 B CN113252781 B CN 113252781B CN 202110447651 A CN202110447651 A CN 202110447651A CN 113252781 B CN113252781 B CN 113252781B
- Authority
- CN
- China
- Prior art keywords
- ultrasonic
- hydraulic telescopic
- connecting disc
- hydraulic
- automatic detection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
- G01B17/06—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring contours or curvatures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/225—Supports, positioning or alignment in moving situation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
Abstract
The invention discloses an ultrasonic automatic detection device and a cable internal damage detection method. The inspection device comprises an ultrasonic detection module and a mechanical arm moving device. The ultrasonic detection module comprises a pressure sensor, a first connecting disc, a hydraulic telescopic tube, a second connecting disc, a distance measuring sensor and an ultrasonic transceiver. The first connecting disc is arranged at the tail end of the mechanical arm moving device through a pressure sensor. The second connecting disc is connected with the first connecting disc through a plurality of hydraulic telescopic tubes. The hydraulic telescopic pipes are uniformly distributed along the circumferential direction of the axis of the first connecting disc. A spiral limiting layer is arranged in the side wall of the hydraulic telescopic pipe. Each hydraulic telescopic pipe is connected to a hydraulic source and can be independently controlled in liquid filling and discharging. An ultrasonic transceiver and a plurality of ranging sensors are installed at the outer side of the second connecting disc. Each ranging sensor is uniformly distributed along the circumference of the ultrasonic transceiver. The invention can realize automatic detection of the flexible structure, does not need manual operation of the ultrasonic detection device, and effectively improves the working efficiency.
Description
Technical Field
The invention belongs to the technical field of ultrasonic detection, and particularly relates to an ultrasonic automatic detection device and a cable internal damage detection method.
Background
Ultrasonic waves generally refer to high frequency sound waves with frequencies greater than 20kHz, and are capable of continuous propagation in a medium, have relatively strong reflectivity, and are very readily available. These advantages of ultrasound make it often used in non-destructive testing. In general, the frequency range used in ultrasonic detection is 0.2 to 25MHz. Conventional ultrasonic inspection is generally used for an object having a certain structure, and if the shape, structure, size, etc. of the object are changed, the corresponding ultrasonic probe is replaced. For unstructured detected objects, the detection effect is poor, and because the ultrasonic probe does not have the flexible matching characteristic with the structure, ultrasonic signal emission is scattered, and the ultrasonic probe does not have the signal concentration capability of a part to be detected. In addition, conventional ultrasonic detection generally requires manual operation, which is intensive. Therefore, the invention provides an ultrasonic automatic detection device and a working method thereof, which can be widely applied to the field of flexible structure detection and can be used for detecting the structure without damaging the flexible structure.
Disclosure of Invention
The invention aims to provide an ultrasonic automatic detection device and a cable internal damage detection method.
The invention discloses an ultrasonic automatic detection device which comprises an ultrasonic detection module and a mechanical arm moving device. The ultrasonic detection module comprises a pressure sensor, a first connecting disc, a hydraulic telescopic tube, a second connecting disc, a distance measuring sensor and an ultrasonic transceiver. The first connecting disc is arranged at the tail end of the mechanical arm moving device through a pressure sensor. The second connecting disc is arranged at the outer side of the first connecting disc at intervals and is connected with the first connecting disc through a plurality of hydraulic telescopic tubes. The hydraulic telescopic pipes are uniformly distributed along the circumferential direction of the axis of the first connecting disc. A spiral limiting layer is arranged in the side wall of the hydraulic telescopic pipe. Each hydraulic telescopic pipe is connected to a hydraulic source and can be independently controlled in liquid filling and discharging. An ultrasonic transceiver and a plurality of ranging sensors are installed at the outer side of the second connecting disc. Each ranging sensor is uniformly distributed along the circumference of the ultrasonic transceiver.
Preferably, the shape of the outer end of the ultrasonic transceiver corresponds to the shape of the object to be measured.
Preferably, a torsion limiting spring is connected between the center positions of the second connecting disc and the first connecting disc. The torsion limiting spring is spiral and elastic.
Preferably, each distance measuring sensor is aligned with the bottom end of each hydraulic telescopic tube.
Preferably, the spiral limiting layer adopts an inner-outer double-layer structure; the inner layer is made of elastic material which can stretch out and draw back, and the outer layer is a corrugated nylon woven net.
Preferably, the pressure sensor is a six-axis force/torque sensor.
Preferably, the end part of the hydraulic telescopic tube connected with the second connecting disc is closed by a hard end cover.
Preferably, the hydraulic telescopic tube is prepared by using a hydraulic telescopic tube preparation device. The hydraulic telescopic tube preparation device comprises an injection tube, an upper end cover, an outer barrel body, a connecting lug and a lower end cover. Two sides of the bottom of the outer lateral surface of the outer barrel are respectively fixed with a connecting lug. The top surface of the lower end cover is provided with a cylinder body installation position. Connecting seats are fixed on two sides of the cylinder body installation position. The bottom end of the outer barrel is arranged in a barrel installation position on the lower end cover. The two connecting seats on the lower end cover are detachably connected with the two connecting lugs on the outer barrel through screws. The top end of the outer barrel body is detachably connected with the bottom of the upper end cover. The bottom surface of the upper end cover is provided with a limiting layer fixing interface. The injection tube vertically arranged passes through the center position of the upper end cover and is arranged at intervals with the top surface of the lower end cover. When the spiral limiting layer is installed on the limiting layer fixing interface, the spiral limiting layer surrounds the periphery of the injection tube and is not contacted with the injection tube.
Preferably, the mechanical arm moving device is mounted on the slewing base. The swivel base include upper support plate, ball, steering support rod, rotatory steering wheel and lower backup pad. The lower supporting plate is fixed on the fixed platform. A plurality of steering support rods which are vertically arranged and uniformly distributed along the circumferential direction of the axis of the lower support plate are fixed on the lower support plate. The top of the steering support rod is provided with a ball seat. The top of ball seat is provided with spherical recess. And balls capable of freely rotating are arranged in the spherical grooves. The upper supporting plate is coaxially arranged right above the lower supporting plate. An annular groove is arranged on the bottom surface of the upper supporting plate. The balls are propped against the annular groove at the bottom of the upper supporting plate. The upper supporting plate is driven to rotate by a rotating steering engine.
Preferably, the mechanical arm moving device comprises a bottom bracket, a first motor, a first connecting frame, a second motor, a second connecting frame, a third motor and a tail end mounting frame. The bottom bracket is fixed on the upper supporting plate through bolts. The inner end of the first connecting frame is hinged with the middle part of the bottom bracket. The outer end of the first connecting frame is hinged with the inner end of the second connecting frame. The outer end of the second connecting frame is hinged with the inner end of the tail end mounting frame. The first motor is arranged on the bottom bracket, and the output shaft is fixed with the inner end of the first connecting frame. The second motor is arranged at the inner end of the second connecting frame, and the output shaft is fixed with the outer end of the first connecting frame. The third motor is installed on terminal mounting bracket, and the output shaft is fixed with the outer end of second link. The ultrasonic detection module is arranged on the tail end mounting frame.
Preferably, the hydraulic source adopts a hydraulic injection pump. Each hydraulic bellows is connected to a respective hydraulic syringe pump. The hydraulic injection pump comprises a stepping motor, an injector, a motor bracket and a piston push plate. The cylinder body of the injector and the stepping motor are both arranged on the motor bracket. The output shaft of the stepping motor is coaxially fixed with the screw rod. The screw rod is screwed with a threaded hole on the piston push plate. The piston rod of the injector is fixed with the piston push plate. The injection port of the injector is connected with the corresponding hydraulic telescopic pipe through a hose.
The ultrasonic automatic detection device can be applied to the eccentric detection of the cable core wire. The cable production needs extrusion molding, vulcanization, cooling treatment and other steps. The cooling treatment is carried out in a sealed pipeline pressurized by nearly hundred meters long. If the core wire is detected at the outlet whether it is eccentric, the loss which has generated the loss cannot be compensated. It is therefore important to detect the position of the core wire. The cable has an outer diameter of several tens to hundreds of millimeters depending on the transmission voltage and the material. The ultrasonic automatic detection device can detect whether the cable core wire is eccentric or not at the extrusion molding head of power cable production. The method comprises the following specific steps:
step one, placing a cable to be tested on a workbench. The workbench is in the moving range of the tail end of the mechanical arm moving device.
And secondly, the mechanical arm moving device drives the ultrasonic detection module to approach the cable to be detected, and each ranging sensor detects the distance from the sensor to the cable. When the distance value detected by one of the distance measuring sensors is smaller than the distance threshold value, the moving speed of the mechanical arm moving device is reduced. And when the pressure sensor detects the pressure and the pressure value reaches the pressure threshold value, the mechanical arm moving device stops moving.
And thirdly, according to the distance values detected by the distance measuring sensors, extending or shortening the hydraulic telescopic pipes, and adjusting the posture of the ultrasonic transceiver, so that the range of the distance values detected by the distance measuring sensors is smaller than a preset value, and the ultrasonic transceiver is opposite to the outer contour tangent plane of the cable.
And fourthly, the ultrasonic transceiver carries out ultrasonic detection on the cable and transmits the detection result back to the controller. The controller generates an ultrasonic image and judges whether the tested cable core wire is eccentric or not.
The invention has the beneficial effects that:
1. the invention can realize the automatic detection of the flexible structure, does not need manual operation of the ultrasonic detection device, effectively improves the working efficiency, and can also select to remotely operate the automatic detection device through the operating lever by workers on the basis of automatic detection, and detect the flexible structure through a network and other ways.
2. The ultrasonic detection module is driven by a soft structure, can detect the pressure on the surface of the flexible structure in real time, and can effectively avoid damage to the flexible structure in the process of contacting the ultrasonic detection module with the flexible structure. The hydraulic telescopic pipe adopts hydraulic drive, has high driving efficiency, accurate movement and strong load capacity, and can play a role in buffering and damping when in contact with the flexible structure.
3. According to the invention, the distance between the ultrasonic detection module and the flexible structure can be detected, so that the moving speed of the mechanical arm is reduced in a short distance, the safety of the flexible structure is ensured, and in addition, the gesture of the ultrasonic transceiver can be adjusted through the detection of the distances at a plurality of different positions, so that the ultrasonic transceiver can be opposite to the surface of the flexible structure, and the detection effect is improved.
Drawings
Fig. 1 is a schematic overall outline of the present invention.
Fig. 2 is a schematic structural view of a swivel base in the present invention.
Fig. 3 is a schematic structural view of a mechanical arm moving device in the present invention.
FIG. 4 is a schematic diagram of the structure of an ultrasonic detection module according to the present invention.
Fig. 5 is a schematic view of the internal structure of the hydraulic telescopic tube of the present invention.
Fig. 6 is a schematic view of the hydraulic syringe pump of the present invention.
Fig. 7 is a schematic structural view of a hydraulic telescopic tube preparation device according to the present invention.
Fig. 8 is a schematic diagram of the operation of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Example 1
As shown in fig. 1, an ultrasonic automatic detection device comprises an ultrasonic detection module 1, a swivel base 2 and a mechanical arm moving device 3. The swivel base 2 is mounted on a fixed platform. The mechanical arm moving device 3 is arranged on the swivel base 2. The ultrasonic detection module 1 is mounted at the end of the mechanical arm moving device 3.
As shown in fig. 2, the swivel base 2 comprises an upper support plate 2.1, balls 2.2, a steering support rod 2.3, a rotary steering engine 2.4 and a lower support plate 2.5. The lower support plate 2.5 is fixed on a fixed platform. The rotary steering engine 2.4 is fixed at the center of the top surface of the lower supporting plate 2.5. Five steering support rods 2.3 which are vertically arranged and uniformly distributed along the circumferential direction of the axis of the lower support plate 2.5 are fixed on the lower support plate 2.5. The top end of the steering support rod 2.3 is provided with a ball seat. The top of ball seat is provided with spherical recess. And the ball bearings 2.2 capable of freely rotating are arranged in each spherical groove. The upper support plate 2.1 is coaxially arranged right above the lower support plate 2.5. An annular groove is provided on the bottom surface of the upper support plate 2.1. Each ball 2.2 bears against an annular groove in the bottom of the upper support plate 2.1 to provide support for the upper support plate 2.1 without impeding rotation of the upper support plate 2.1 about the vertical axis. The output shaft of the rotary steering engine 2.4 is fixed with the bottom center of the upper supporting plate 2.1. When the rotary steering engine 2.4 rotates, the lower supporting plate 2.5 is fixed, the upper supporting plate 2.1 rotates, and the balls roll along the annular groove below the upper supporting plate.
As shown in fig. 3, the mechanical arm moving device 3 includes a bottom bracket 3.1, a first motor 3.2, a first connection frame 3.3, a second motor 3.4, a second connection frame 3.5, a third motor 3.6, and a terminal mounting frame 3.7. The bottom bracket 3.1 is fixed to the upper support plate 2.1 by bolts. The inner end of the first connecting frame 3.3 is hinged with the middle part of the bottom bracket 3.1. The outer end of the first connecting frame 3.3 is hinged with the inner end of the second connecting frame 3.5. The outer end of the second link 3.5 is hinged to the inner end of the end mount 3.7. The first motor 3.2 is mounted on the bottom bracket 3.1, and the output shaft is fixed with the inner end of the first connecting frame 3.3 to drive the first connecting frame 3.3 to rotate. The second motor 3.4 is mounted at the inner end of the second connecting frame 3.5, and the output shaft is fixed with the outer end of the first connecting frame 3.3. The second motor 3.4 drives the second connecting frame 3.5 to rotate. The third motor 3.6 is mounted on the end mounting frame 3.7 and the output shaft is fixed with the outer end of the second connecting frame 3.5. The third motor 3.6 drives the end mount 3.7 to rotate.
As shown in fig. 1, 4 and 5, the ultrasonic detection module 1 is mounted at the bottom of the end mount 3.7. The ultrasonic detection module 1 comprises a pressure sensor 1.1, a first connecting disc 1.2, a torsion limiting spring 1.3, a hydraulic telescopic tube 1.4, a second connecting disc 1.5, a distance measuring sensor 1.6 and an ultrasonic transceiver 1.7. The pressure sensor 1.1 is a six-axis force/torque sensor. The pressure sensor 1.1 is mounted on a terminal mounting 3.7 of the robot arm displacement device 3. The first connecting disk 1.2 is fixed with the detection surface at the bottom of the pressure sensor 1.1. The second connecting disc 1.5 is arranged below the first connecting disc 1.2 at intervals and is connected with the first connecting disc 1.2 through the torsion limiting springs 1.3 and the three hydraulic telescopic tubes 1.4. The three hydraulic telescopic pipes 1.4 are uniformly distributed along the circumferential direction of the torsion limiting spring 1.3. The torsion limiting spring 1.3 is spiral and elastic, can limit torsion of the second connecting disc 1.5 relative to the first connecting disc 1.2, and has small limitation on posture adjustment of the second connecting disc 1.5 in the rest direction. The torsion limiting spring 1.3 can avoid the great torsion of the ultrasonic detection module 1, so that the driving stability of the ultrasonic detection module 1 is higher. The torsion limiting spring 1.3 adopts an inner-outer double-layer structure; the inner layer is made of smooth and soft material (latex material in the embodiment), and the outer layer is a corrugated nylon woven net.
The hydraulic telescopic tube 1.4 is in a circular tube shape, and the end part is closed by a hard end cover 4.4. A spiral limiting layer 4.3 is arranged in the side wall of the hydraulic telescopic tube 1.4. The spiral limiting layer 4.3 is made of nylon fiber material, and can limit the expansion of the hydraulic telescopic tube 1.4 to be performed along the length direction. The spiral confinement layer 4.3 separates the hydraulic bellows 1.4 into an outer housing layer 4.1 and an inner housing layer 4.2. The outer shell layer 4.1 and the inner shell layer 4.2 are made of elastic materials, in particular silicone rubber. When the hydraulic telescopic pipe 1.4 inputs or discharges liquid, the liquid stretches, and the gesture and the position of the first connecting disc 1.2 can be adjusted by controlling the volume of driving liquid in the hydraulic telescopic pipe 1.4. Three liquid inlet round holes uniformly distributed along the circumferential direction of the axis of the first connecting disc 1.2 are formed. The bottom ends of the three liquid inlet round holes are respectively butted with the top ends of the three hydraulic telescopic pipes 1.4, and the top ends are respectively connected with the three hydraulic sources through hoses.
An ultrasonic transceiver 1.7 and three ranging sensors 1.6 are mounted at the bottom of the second connecting disc 1.5. The ultrasonic transceiver 1.7 is located at the center of the bottom of the second connection disc 1.5. The three distance measuring sensors 1.6 are uniformly distributed along the circumference of the ultrasonic transceiver 1.7 and are respectively aligned with the bottom ends of the three hydraulic telescopic pipes 1.4. When the hydraulic source pressurizes the hydraulic telescopic pipe 1.4, the hydraulic telescopic pipe 1.4 expands and stretches, and under the constraint of an internal structure, the hydraulic telescopic pipe 1.4 stretches, so that the pitching angle of the second connecting disc is changed, and the ultrasonic transceiver can detect a detected object in multiple angles.
As shown in fig. 6, the hydraulic pressure source adopts a hydraulic injection pump 5. The hydraulic injection pump 5 comprises a stepping motor 5.4, an injector 5.3, a motor bracket 5.2 and a piston push plate 5.1. The barrel of the injector 5.3 and the stepper motor 5.4 are mounted on a motor mount 5.2. The output shaft of the stepping motor 5.4 is coaxially fixed with the screw. The screw rod is screwed with a threaded hole on the piston push plate 5.1. The piston rod of the injector 5.3 is fixed with the piston push plate 5.1. The injection port of the injector 5.3 is connected with the corresponding hydraulic telescopic tube 1.4 by a hose. When the stepping motor 5.4 rotates, the rotation of the output shaft is converted into linear motion of the piston of the injector through the screw pair, so that injection liquid in the injector is pushed to enter the hydraulic telescopic tube, and finally the hydraulic telescopic tube 1.4 is injected. The injection is deionized water.
As shown in fig. 7, the hydraulic bellows 1.4 is manufactured using a hydraulic bellows manufacturing apparatus. The hydraulic telescopic tube preparation device comprises a syringe 6.1, an upper end cover 6.2, an outer barrel 6.3, a connecting lug 6.4 and a lower end cover 6.5. Two sides of the bottom of the outer lateral surface of the outer barrel 6.3 are respectively fixed with a connecting lug 6.4. The top surface of the lower end cover 6.5 is provided with a cylinder body installation position. Connecting seats are fixed on two sides of the cylinder body installation position. The bottom end of the outer barrel 6.3 is arranged in a barrel mounting position on the lower end cap 6.5. The two connecting seats on the lower end cover 6.5 are detachably connected with the two connecting lugs on the outer barrel 6.3 through screws. The top end of the outer barrel 6.3 is detachably connected to the bottom of the upper end cap 6.2. The bottom surface of the upper end cap 6.2 is provided with a confinement layer fixing interface. The confinement layer fixing interface can be detachably fixed with the spiral confinement layer 4.3. The vertically arranged injection tube 6.1 passes through the central position of the upper end cover 6.2 and is arranged at intervals with the top surface of the lower end cover 6.5. When the screw limiter 4.3 is mounted on the limiter fixing interface, the screw limiter 4.3 will wrap around the syringe 6.1 and not be in contact with the syringe 6.1. The spiral limiting layer 4.3 is prepared independently by wrapping nylon woven mesh on a spiral latex strip. And injecting the silicone rubber liquid into the outer barrel 6.3 through a syringe, and dismantling the hydraulic telescopic tube preparation device after the silicone rubber is solidified to obtain the hydraulic telescopic tube.
The ultrasonic automatic detection device can be applied to the eccentric detection of the cable core wire. The cable production needs extrusion molding, vulcanization, cooling treatment and other steps. The cooling treatment is carried out in a sealed pipeline pressurized by nearly hundred meters long. If the core wire is detected at the outlet whether it is eccentric, the loss which has generated the loss cannot be compensated. It is therefore important to detect the position of the core wire. The cable has an outer diameter of several tens to hundreds of millimeters depending on the transmission voltage and the material. The ultrasonic automatic detection device can detect whether the cable core wire is eccentric or not at the extrusion molding head of power cable production. The method comprises the following specific steps:
step one, as shown in part a of fig. 8, the cable to be tested is laid on the workbench. The workbench is in the moving range of the tail end of the mechanical arm moving device 3.
Step two, as shown in part b of fig. 8, the mechanical arm moving device drives the ultrasonic detection module to approach the cable to be detected, and each ranging sensor 1.6 detects the distance from itself to the outer contour of the cable. When the distance value detected by one of the distance measuring sensors 1.6 is smaller than the distance threshold value, the moving speed of the mechanical arm moving device is reduced until the pressure sensor 1.1 detects the pressure, and the mechanical arm moving device stops moving when the pressure value reaches the pressure threshold value.
Step three, as shown in part c of fig. 8, according to the distance values detected by the ranging sensors 1.6, the three hydraulic injection pumps 5 drive the corresponding hydraulic telescopic pipes 1.4 to extend or shorten respectively, and the posture of the ultrasonic transceiver 1.7 is adjusted, so that the range of the distance values detected by the ranging sensors 1.6 is smaller than a preset value, and the ultrasonic transceiver 1.7 is opposite to the outer profile section of the cable.
And fourthly, the ultrasonic transceiver 1.7 carries out ultrasonic detection on the cable and transmits the detection result back to the controller. The controller generates an ultrasonic image so as to judge whether structural damage or gaps exist in the tested cable and whether the core wires in the cable are eccentric.
Example 2
The difference between the embodiment and the embodiment 1 is that the invention can be applied to nondestructive testing of other flexible structures, and the ultrasonic transceiver 1.7 is replaced according to the change of the external contour of the tested object, so that the probe of the ultrasonic transceiver 1.7 can be more attached to the surface of the tested flexible structure.
Claims (10)
1. An ultrasonic automatic detection device comprises an ultrasonic detection module (1) and a mechanical arm moving device (3); the method is characterized in that: the ultrasonic detection module (1) comprises a pressure sensor (1.1), a first connecting disc (1.2), a hydraulic telescopic tube (1.4), a second connecting disc (1.5), a distance measuring sensor (1.6) and an ultrasonic transceiver (1.7); the first connecting disc (1.2) is arranged at the tail end of the mechanical arm moving device (3) through the pressure sensor (1.1); the second connecting discs (1.5) are arranged at intervals on the outer sides of the first connecting discs (1.2) and are connected with the first connecting discs (1.2) through a plurality of hydraulic telescopic tubes (1.4); all the hydraulic telescopic pipes (1.4) are uniformly distributed along the circumferential direction of the axis of the first connecting disc (1.2); a spiral limiting layer (4.3) is arranged in the side wall of the hydraulic telescopic pipe (1.4); each hydraulic telescopic pipe (1.4) is connected to a hydraulic source and can be independently controlled in liquid filling and discharging; an ultrasonic transceiver (1.7) and a plurality of ranging sensors (1.6) are arranged on the outer side of the second connecting disc (1.5); the distance measuring sensors (1.6) are uniformly distributed along the circumference of the ultrasonic transceiver (1.7).
2. An ultrasonic automatic detection apparatus according to claim 1, wherein: a torsion limiting spring (1.3) is connected between the center positions of the second connecting disc (1.5) and the first connecting disc (1.2); the torsion limiting spring (1.3) is spiral and elastic.
3. An ultrasonic automatic detection apparatus according to claim 1, wherein: the distance measuring sensors (1.6) are respectively aligned with the bottom ends of the hydraulic telescopic pipes (1.4).
4. An ultrasonic automatic detection apparatus according to claim 1, wherein: the spiral limiting layer (4.3) adopts an inner-outer double-layer structure; the inner layer is made of elastic material which can stretch out and draw back, and the outer layer is made of nylon woven mesh; the pressure sensor (1.1) adopts a six-axis force/moment sensor.
5. An ultrasonic automatic detection apparatus according to claim 1, wherein: the shape of the outer end part of the ultrasonic transceiver (1.7) corresponds to the shape of the measured object.
6. An ultrasonic automatic detection apparatus according to claim 1, wherein: the hydraulic telescopic pipe (1.4) is prepared by using a hydraulic telescopic pipe preparation device; the hydraulic telescopic tube preparation device comprises a syringe tube (6.1), an upper end cover (6.2), an outer barrel (6.3), a connecting lug (6.4) and a lower end cover (6.5); both sides of the bottom of the outer side surface of the outer barrel body (6.3) are fixedly provided with a connecting lug (6.4); a cylinder body mounting position is arranged on the top surface of the lower end cover (6.5); connecting seats are fixed on two sides of the cylinder body installation position; the bottom end of the outer barrel (6.3) is arranged in a barrel installation position on the lower end cover (6.5); two connecting seats on the lower end cover (6.5) are detachably connected with two connecting lugs on the outer barrel (6.3) through screws; the top end of the outer barrel body (6.3) is detachably connected with the bottom of the upper end cover (6.2); a limiting layer fixing interface is arranged on the bottom surface of the upper end cover (6.2); the injection tube (6.1) vertically arranged passes through the center position of the upper end cover (6.2) and is arranged at intervals with the top surface of the lower end cover (6.5); when the spiral limiting layer (4.3) is arranged on the limiting layer fixing interface, the spiral limiting layer (4.3) surrounds the injection tube (6.1) and is not contacted with the injection tube (6.1).
7. An ultrasonic automatic detection apparatus according to claim 1, wherein: the mechanical arm moving device (3) is arranged on the rotating base (2); the swivel base (2) comprises an upper supporting plate (2.1), balls (2.2), a steering supporting rod (2.3), a rotary steering engine (2.4) and a lower supporting plate (2.5); the lower supporting plate (2.5) is fixed on the fixed platform; a plurality of steering support rods (2.3) which are vertically arranged and uniformly distributed along the circumferential direction of the axis of the lower support plate (2.5) are fixed on the lower support plate (2.5); the ball seat is arranged at the top end of the steering support rod (2.3); the top of the ball seat is provided with a spherical groove; the ball bearings (2.2) capable of freely rotating are arranged in the spherical grooves; the upper supporting plate (2.1) is coaxially arranged right above the lower supporting plate (2.5); an annular groove is arranged on the bottom surface of the upper supporting plate (2.1); the balls (2.2) are propped against the annular groove at the bottom of the upper supporting plate (2.1); the upper supporting plate (2.1) is driven to rotate by the rotating steering engine (2.4).
8. An ultrasonic automatic detection apparatus according to claim 1, wherein: the mechanical arm moving device (3) comprises a bottom bracket (3.1), a first motor (3.2), a first connecting frame (3.3), a second motor (3.4), a second connecting frame (3.5), a third motor (3.6) and a tail end mounting frame (3.7); the bottom bracket (3.1) is fixed on the upper supporting plate (2.1) through bolts; the inner end of the first connecting frame (3.3) is hinged with the middle part of the bottom bracket (3.1); the outer end of the first connecting frame (3.3) is hinged with the inner end of the second connecting frame (3.5); the outer end of the second connecting frame (3.5) is hinged with the inner end of the tail end mounting frame (3.7); the first motor (3.2) is arranged on the bottom bracket (3.1), and the output shaft is fixed with the inner end of the first connecting frame (3.3); the second motor (3.4) is arranged at the inner end of the second connecting frame (3.5), and the output shaft is fixed with the outer end of the first connecting frame (3.3); the third motor (3.6) is arranged on the tail end mounting frame (3.7), and the output shaft is fixed with the outer end of the second connecting frame (3.5); the ultrasonic detection module (1) is arranged on the tail end mounting frame (3.7).
9. An ultrasonic automatic detection apparatus according to claim 1, wherein: the hydraulic source adopts a hydraulic injection pump (5); each hydraulic extension tube (1.4) is connected to a hydraulic injection pump (5); the hydraulic injection pump (5) comprises a stepping motor (5.4), an injector (5.3), a motor bracket (5.2) and a piston push plate (5.1); the cylinder body of the injector (5.3) and the stepping motor (5.4) are both arranged on the motor bracket (5.2); an output shaft of the stepping motor (5.4) is coaxially fixed with the screw; the screw rod is screwed with a threaded hole on the piston push plate (5.1); the piston rod of the injector (5.3) is fixed with the piston push plate (5.1); the injection port of the injector (5.3) is connected with the corresponding hydraulic telescopic pipe (1.4) through a hose.
10. A cable internal damage detection method is characterized in that: an ultrasonic automatic detection device according to claim 1; the method comprises the following specific steps:
step one, laying a cable to be tested on a workbench; the workbench is in the moving range of the tail end of the mechanical arm moving device (3);
step two, the mechanical arm moving device drives the ultrasonic detection module to approach to the target detection position of the cable to be detected, and each ranging sensor (1.6) detects the distance from the sensor to the cable; when the distance value detected by one of the distance measuring sensors (1.6) is smaller than the distance threshold value, the moving speed of the mechanical arm moving device is reduced; when the pressure sensor (1.1) detects the pressure and the pressure value reaches a pressure threshold value, the mechanical arm moving device stops moving;
step three, according to the distance values detected by the distance measuring sensors (1.6), extending or shortening the hydraulic telescopic pipes (1.4), and adjusting the gesture of the ultrasonic transceiver (1.7) to enable the extreme difference of the distance values detected by the distance measuring sensors (1.6) to be smaller than a preset value, so that the ultrasonic transceiver (1.7) is opposite to the cable;
and fourthly, carrying out ultrasonic detection on the cable by an ultrasonic transceiver (1.7), generating an ultrasonic image, and judging whether the core wire in the cable to be tested is eccentric or damaged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110447651.5A CN113252781B (en) | 2021-04-25 | 2021-04-25 | Ultrasonic automatic detection device and cable internal damage detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110447651.5A CN113252781B (en) | 2021-04-25 | 2021-04-25 | Ultrasonic automatic detection device and cable internal damage detection method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113252781A CN113252781A (en) | 2021-08-13 |
| CN113252781B true CN113252781B (en) | 2023-10-10 |
Family
ID=77221624
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110447651.5A Active CN113252781B (en) | 2021-04-25 | 2021-04-25 | Ultrasonic automatic detection device and cable internal damage detection method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113252781B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117537741B (en) * | 2024-01-09 | 2024-03-22 | 北京中勘迈普科技有限公司 | Mechanical arm for moving laser scanning head |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4246794A (en) * | 1979-07-23 | 1981-01-27 | Huntington Alloys, Inc. | Apparatus and method for ultrasonic inspection of round stock such as tubing, pipe and rod |
| JPH11326288A (en) * | 1998-05-15 | 1999-11-26 | Babcock Hitachi Kk | Probe hold mechanism for use in tube inner face |
| KR20070013007A (en) * | 2005-07-25 | 2007-01-30 | 한국전력공사 | The automatic ultrasonic examination system and method using robotic arm for steam turbine of power plant |
| CN103063743A (en) * | 2013-01-11 | 2013-04-24 | 浙江大学 | Moveable-feeding-mechanism-based ultrasonic flaw detection system for bent steel tubes |
| CN109846514A (en) * | 2019-04-08 | 2019-06-07 | 浙江大学 | A kind of medical ultrasonic scanning compression and hunting gear with voltage adaptive controlling ability |
| CN111823258A (en) * | 2020-07-16 | 2020-10-27 | 吉林大学 | Shear wave elastic imaging detection mechanical arm |
| CN112077850A (en) * | 2020-09-17 | 2020-12-15 | 中国矿业大学 | Ultrasonic nondestructive testing probe auto-collimation device based on manipulator and working method |
| CN112536800A (en) * | 2020-12-09 | 2021-03-23 | 杭州电子科技大学 | Rigid-flexible coupling mechanical arm with built-in vision sensor and deformation detection method thereof |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102721746A (en) * | 2012-07-04 | 2012-10-10 | 北京理工大学 | Double-manipulator ultrasonic transmission detection device |
| US9933396B2 (en) * | 2015-08-26 | 2018-04-03 | The Boeing Company | Automated ultrasonic inspection of elongated composite members using single-pass robotic system |
| JP6570600B2 (en) * | 2017-11-15 | 2019-09-04 | 株式会社東芝 | Inspection system, control device, angle adjustment method, program, and storage medium |
| US11187527B2 (en) * | 2019-10-07 | 2021-11-30 | The Boeing Company | Multi-probe non-destructive inspection system |
-
2021
- 2021-04-25 CN CN202110447651.5A patent/CN113252781B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4246794A (en) * | 1979-07-23 | 1981-01-27 | Huntington Alloys, Inc. | Apparatus and method for ultrasonic inspection of round stock such as tubing, pipe and rod |
| JPH11326288A (en) * | 1998-05-15 | 1999-11-26 | Babcock Hitachi Kk | Probe hold mechanism for use in tube inner face |
| KR20070013007A (en) * | 2005-07-25 | 2007-01-30 | 한국전력공사 | The automatic ultrasonic examination system and method using robotic arm for steam turbine of power plant |
| CN103063743A (en) * | 2013-01-11 | 2013-04-24 | 浙江大学 | Moveable-feeding-mechanism-based ultrasonic flaw detection system for bent steel tubes |
| CN109846514A (en) * | 2019-04-08 | 2019-06-07 | 浙江大学 | A kind of medical ultrasonic scanning compression and hunting gear with voltage adaptive controlling ability |
| CN111823258A (en) * | 2020-07-16 | 2020-10-27 | 吉林大学 | Shear wave elastic imaging detection mechanical arm |
| CN112077850A (en) * | 2020-09-17 | 2020-12-15 | 中国矿业大学 | Ultrasonic nondestructive testing probe auto-collimation device based on manipulator and working method |
| CN112536800A (en) * | 2020-12-09 | 2021-03-23 | 杭州电子科技大学 | Rigid-flexible coupling mechanical arm with built-in vision sensor and deformation detection method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113252781A (en) | 2021-08-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113252781B (en) | Ultrasonic automatic detection device and cable internal damage detection method | |
| CN103032678B (en) | Method, device and system for monitoring state of fluid transmission pipeline | |
| CN103063744B (en) | Moveable-gantry-based ultrasonic automatic flaw detection system for bent steel tubes | |
| CN112066271B (en) | Pipeline leakage point detection device and detection method thereof | |
| CN110873629B (en) | Pipeline external pressure detection device | |
| CN104459189A (en) | Actuator cylinder piston rod travel speed measurement device | |
| CN206177891U (en) | Outside of tubes circumferential weld is swept and is looked into ware | |
| CN109373203A (en) | A kind of intelligent water supply water pipe quality determining method | |
| CN110646180A (en) | Horizontal type soft arthropod robot joint testing device and testing method thereof | |
| CN215953490U (en) | Ultrasonic detection equipment | |
| CN108776069A (en) | A kind of pipeline strength detection device of pressure vessel | |
| CN212155332U (en) | Hydraulic cylinder opposite vertex experimental device | |
| CN220187651U (en) | Universal device for measuring inner diameter of pipeline | |
| CN110542548B (en) | Soft arthropod robot joint testing device and testing method | |
| CN209821129U (en) | Probe laminating device for weld joint detection | |
| CN105652896B (en) | A kind of turntable for legged type robot exercise testing | |
| CN112747192A (en) | Ultrasonic internal detection probe follow-up support | |
| CN113074674B (en) | Intelligent ultrasonic internal detection device and method thereof | |
| CN209355987U (en) | Elastomer connector pressure resistance and racking test device | |
| CN117538408A (en) | Magnetic memory detection probe for pressure pipeline | |
| CN219912226U (en) | Movable pipeline internal inspection device | |
| CN215599066U (en) | Automatic nondestructive testing device for inner surface of oil field manifold | |
| CN219189310U (en) | Pressure pipeline detects and repair welding equipment | |
| CN214951547U (en) | Fully-sealed anti-seismic vortex shedding flowmeter | |
| CN206161291U (en) | Trampoline static load testing arrangement |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |