CN113281418A - Ultrasonic flaw detection robot and flaw detection method for inner surface of large casting hole - Google Patents
Ultrasonic flaw detection robot and flaw detection method for inner surface of large casting hole Download PDFInfo
- Publication number
- CN113281418A CN113281418A CN202110536307.3A CN202110536307A CN113281418A CN 113281418 A CN113281418 A CN 113281418A CN 202110536307 A CN202110536307 A CN 202110536307A CN 113281418 A CN113281418 A CN 113281418A
- Authority
- CN
- China
- Prior art keywords
- supporting
- probe
- connecting rod
- pipeline
- bevel gear
- 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.)
- Granted
Links
Images
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
- G01N29/22—Details, e.g. general constructional or apparatus details
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
- G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/28—Details, e.g. general constructional or apparatus details providing acoustic coupling, e.g. water
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/023—Solids
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/26—Scanned objects
- G01N2291/263—Surfaces
Abstract
The invention provides an ultrasonic flaw detection robot for the inner surface of a large casting hole, which comprises a first supporting part, a rotary detection part and a second supporting part, wherein the two supporting parts are arranged on two sides of the rotary detection part, the first supporting part, the rotary detection part and the second supporting part are sequentially connected, and the two supporting parts are both crank slider mechanisms. The invention provides a rotary detection part with support through a front support part and a rear support part, wherein an ultrasonic probe and an oil brush are tightly attached to the surface of a hole to be detected through a probe support frame member arranged on the rotary detection part through a spring, a driving slip ring drives the probe support frame member to rotate, so that the scanning detection of the inner surface of the hole is realized, and the rear support part enables three motors and a driving wheel to be tightly attached to the inner surface of an object to be detected through a crank block controlled by a lead screw, so that the whole device is provided with advancing power. The oil box, the driving slip ring and the supporting rod are adopted, so that the whole structure of the equipment is compact under the condition of high adaptability, and the adaptability and the practicability are enhanced.
Description
Technical Field
The invention relates to the technical field of automatic nondestructive testing, in particular to an ultrasonic flaw detection robot for the inner surface of a large casting hole.
Background
The ultrasonic nondestructive testing technology is a technology for researching reflected, transmitted and scattered waves through interaction of ultrasonic waves and a test piece, carrying out macroscopic defect detection, geometric characteristic measurement, detection and characterization of change of tissue structure and mechanical property on the test piece and further evaluating specific applicability of the test piece.
The nondestructive detection of the inner surface of the hole has small diameter and large depth, so that the traditional handheld probe is difficult to finish detection work, and the couplant is difficult to be uniformly coated on the inner surface of the hole, thereby causing great difficulty to flaw detection work and influencing the detection efficiency.
In some cases, a method of fixing a probe by a bracket and externally connecting an extending mechanism and feeding an oil brush and the probe into a hole at a constant speed for detection is generally adopted for nondestructive detection of the inner surface of the hole, but in the method, the bracket has poor centering property, a certain time interval exists between the brushing of a coupling agent and the detection, and the limited probe is difficult to cover the whole inner surface of the hole, so that an effective detection result is difficult to obtain.
Disclosure of Invention
In view of the above situation, the present invention provides an ultrasonic flaw detection robot for the inner surface of a large casting hole, which includes a first support component, a rotary detection component and a second support component, wherein the first support component is connected with the first end of the rotary detection component through a sleeve structure, and the second end of the rotary detection component is connected with the second support component through a sleeve structure, that is, the three components are sequentially connected according to the sequence of "first support component-rotary detection component-second support component"; the first supporting component and the second supporting component adopt a slider-crank mechanism to achieve the purpose of adapting to different pipeline apertures, and the extended first supporting component and the extended second supporting component provide a working environment for the rotary detection component to perform central rotation operation; the rotary detection part carries an ultrasonic flaw detection probe to detect flaws on the inner surface of the pipeline.
The ultrasonic flaw detection robot comprises a first supporting part, a rotary detection part and a second supporting part, wherein the first supporting part and the second supporting part are respectively arranged on two sides of the rotary detection part, the first supporting part, the rotary detection part and the second supporting part are sequentially connected, and the first supporting part and the second supporting part are both crank slider mechanisms;
the first supporting part comprises a first end supporting sleeve, a first bevel gear gland, a locking first bevel gear, a locking second bevel gear, a second bevel gear bearing, a screw supporting plate, a first end main sliding block, a plurality of groups of first end connecting rod mechanisms, a first end guide wheel frame, a first end guide wheel, a first end supporting screw, a bearing shaft check ring, a bearing supporting sleeve and a bearing hole check ring;
a plurality of groups of locking first bevel gears are arranged along the circumferential direction, and the plurality of groups of locking first bevel gears are arranged in an annular groove formed by the first bevel gear gland and the first support sleeve; the locking second bevel gear and the second bevel gear bearing are respectively installed and fixed through a retaining ring for a bearing shaft and a retaining ring for a bearing hole; two ends of the first end supporting screw rod are respectively installed and fixed through screw rod supporting plates, the first end of the first end supporting screw rod is connected with the locking second bevel gear through a spline, and the second end of the first end supporting screw rod is matched with the first end main sliding block through threads; the first end connecting rod mechanism comprises a first end connecting rod I and a second end connecting rod II, the first end main pulley is hinged with the first end of the first end connecting rod I, the second end of the first end connecting rod I is hinged with the middle position of the first end connecting rod II, two ends of the first end connecting rod II are respectively hinged with the screw rod supporting plates at two ends of the first end supporting screw rod, a guide frame and a guide wheel are installed in a hole groove of the first end connecting rod II, the first end guide wheel is directly contacted with the inner wall of a pipeline to be detected, the first end main slider is driven to move through the rotation of the screw rod, so that the first end connecting rod II is stretched, and the first end connecting rod II is contacted with the inner surface of the pipeline through the first end guide wheel after being stretched;
the rotary detection component comprises a first end connecting sleeve, a driving slip ring, a plurality of probe support frame members, a rotating shaft, a retainer ring for a bearing hole, a retainer ring for a bearing shaft, a bearing, a signal wire and a second end connecting sleeve, wherein the first end connecting sleeve is sleeved at the tail end of the first end supporting component, and the bearing is installed in the first end connecting sleeve through the retainer ring for the bearing hole; the first end of the rotating shaft is arranged in the bearing, axial fixation is realized through a bearing retainer ring for the shaft, the second end of the rotating shaft is connected with the driving slip ring through a flange structure, a plurality of groups of probe supporting frames are arranged in the middle of the rotating shaft along the axial direction, a signal wire hole is formed in the center of the rotating shaft, and a plurality of probe supporting frame components are uniformly arranged in the circumferential direction;
the probe support frame component comprises an extending arm, a probe clamp, an upper limiting baffle, an ultrasonic probe and a return spring; the extending arm is used for supporting the probe; the probe clamp is arranged in the extending arm and can slide along the direction of the extending arm chute, the probe clamp is used for clamping an ultrasonic flaw detection probe, the reset spring is arranged in the extending arm and is positioned below the probe clamp, the reset spring is used for ensuring the automatic resetting of the probe clamp in the sliding direction of the extending arm, and the upper limiting baffle is arranged at the upper end of the extending arm and is used for limiting the upward sliding of the probe clamp;
the second supporting component comprises a second end supporting lead screw, an end cover, a second end guide wheel, a driving motor bracket, a plurality of groups of second end connecting rods, a second end main sliding block, a second end supporting sleeve and a lead screw supporting sleeve; the utility model discloses a pipeline measuring device, including a screw, a drive motor support, a lead screw support sleeve, an end cover, a drive motor support, a lead screw support sleeve, a drive motor support, a lead screw support sleeve, a lead wheel, a pipeline inner wall direct contact, a rotation drive second end main slide block, a lead screw support sleeve, a lead screw, a second end guide wheel, a pipeline inner surface contact, a pipeline and a lead screw.
Preferably, a plurality of groups of hinge holes for being hinged with the first end connecting rod II are distributed on the screw rod supporting plate along the circumferential direction; the first end main sliding block is provided with a plurality of groups of hinge holes for being hinged with the first end connecting rod I and is used for being connected with a plurality of groups of first end connecting rod mechanisms which are uniformly distributed along the circumferential direction; and two ends of the first end connecting rod I are respectively connected with the first end main sliding block and a hinge hole on the first end connecting rod II through hinge holes, a middle hinge hole of the first end connecting rod II is connected with the first end connecting rod I, and a second end hinge hole is connected with a hinge hole extending outwards on the screw rod supporting frame.
Preferably, the locking first bevel gear, the first link mechanism, the first end guide wheel, the probe support frame, the second end guide wheel and the second end link are all provided with three groups.
Preferably, the rotating shaft is arranged in a hollow mode, a signal line is arranged inside the rotating shaft, and the probe supporting frame is installed on the rotating shaft through a pin.
Preferably, the probe supporting frame members are provided with three groups, the probe clamps are mounted on the rotating shaft through pins, and the probe clamps of each group of probe supporting frame members are uniformly provided with three groups along the circumferential direction.
Preferably, the rotating end of the driving slip ring is connected with the rotating shaft through a flange, and the driving slip ring shell is arranged in the second end connecting sleeve; and signal wires arranged in the rotating shaft transmit signals through the driving slip ring.
Preferably, an oil brush and an oil box are installed on one side of the probe bracket, and lubricating oil is loaded in the oil box to provide an oil medium for coupling the probe and the inner surface of the workpiece to be tested.
Preferably, the tail end of the locking first bevel gear is provided with a spline groove, the locking first bevel gear is locked to rotate by twisting through a spanner corresponding to the spline groove, then the locking second bevel gear is driven to rotate, and finally the first end support screw is driven to rotate;
the second end support screw is provided with a spline groove, and the second end support screw is twisted by a wrench of the corresponding key groove to rotate.
Preferably, a signal line interface is arranged below the probe bracket and used for connecting a joint of a signal line.
Preferably, the invention also provides an ultrasonic flaw detection method for the inner surface of the large casting hole, which comprises the following steps:
s1, placing the first end supporting component of the equipment into the pipeline along the pipeline until the notch of the first bevel gear is locked, manually rotating to lock the first bevel gear at the moment, driving the second end connecting rod to extend until the set torque stops, and completing supporting of the first end guide wheel;
s2, enabling the equipment to advance along the direction of the pipeline until the probe support frame component reaches the edge of the pipeline, simultaneously pressing the three groups of ultrasonic probes, enabling the springs below the ultrasonic probes to be stressed and contracted under pressure, and then further enabling the equipment to advance along the pipeline to enable the ultrasonic probes to enter the pipeline;
s3, the equipment advances along the pipeline direction until the whole equipment enters the pipeline, the second end supporting lead screw is twisted manually, the second end supporting lead screw drives the second end connecting rod supporting arm to extend until the set torque stops, and at the moment, the second end guide wheel contacts with the inner surface of the pipeline, so that the whole equipment is supported;
s4, connecting the corresponding signal wire joint and the rotary driving signal wire, starting the slip ring motor, starting the rotary detection part to rotate, and then starting the driving motor to detect the whole pipeline;
and S5, after the detection is finished, stopping the equipment, cutting off the signal wire, and taking out the equipment from the pipeline.
Compared with the prior art, the invention has the characteristics and beneficial effects that:
1. according to the ultrasonic flaw detection robot for the inner surface of the large casting hole, the core rotary flaw detection part of the equipment adopts the spring self-resetting design, and the probe clamp contracts along the extending arm, so that the robot can adapt to apertures with different sizes on one hand, and on the other hand, a certain pre-tightening force can be provided for coupling of the probe and the inner wall of the pipeline due to the self-resetting force of the spring, and the detection stability is ensured. Simultaneously in order to be applicable to the pipeline internal diameter in the aperture of bigger scope, the support component has adopted the slider-crank mechanism that can realize big telescopic ratio, and rotary part realizes adapting to the aperture of different scopes through the not outrigger of co-altitude of quick replacement. Wherein, the cantilever arm adopts draw-in groove modular design with the rotation axis, can realize quick convenient the change.
2. According to the ultrasonic flaw detection robot for the inner surface of the large casting hole, the oil box design is adopted as a coupling medium, namely an oil medium, which is necessary for ultrasonic flaw detection, and compared with the existing oil injection design, the oil box design avoids the use of a liquid slip ring and the use of an oil pipeline and an oil pump; the oil in the oil box can automatically provide certain oil pressure due to centrifugal force in the rotating process, so that the oil brush can be ensured to be effectively wet, and only appropriate oil quantity is filled according to the length of the pipeline.
3. The sliding ring serves as a bearing, transmits signals and drives, and the robot has multiple functions, so that the size of equipment is greatly simplified, the equipment is suitable for a smaller-aperture operation environment, the length of a detection blind area at the initial position of the equipment can be reduced, the structure of the equipment is simplified, and the production, the manufacture and the maintenance of the equipment are facilitated.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a first support member of the present invention;
FIG. 3 is a sectional view of the first support member of the present invention;
FIG. 4 is a schematic view of the structure of the rotation detecting member of the present invention
FIG. 5 is a sectional view of the structure of the rotation detecting unit of the present invention;
FIG. 6 is a schematic view of the probe support stand of the present invention;
FIG. 7 is a cross-sectional view of a probe support frame structure of the present invention;
FIG. 8 is a schematic structural view of a second support member of the present invention;
fig. 9 is a structural sectional view of a second support member of the present invention.
Wherein the main reference numerals are as follows:
a first support member 10; a first end support sleeve 1010; a first bevel gear gland 1011; locking the first bevel gear 1012; locking second bevel gear 1013; second bevel gear bearings 1014; a lead screw support plate 1015; a first end main slider 1016; the first end connecting rod I1017; first end link two 1018; a first end guide wheel frame 1019; a first end guide wheel 1020; a first end supporting lead screw 1021; a retainer ring 1022 for a bearing shaft; bearing support sleeve 1023; a retainer ring 1024 for a bearing hole; a rotation detecting member 20; a second end connection sleeve 2010; a drive slip ring 2020; a rotating shaft 2040; a retainer ring 2050 for a bearing hole; a first end connecting sleeve 2060; a retainer ring 2070 for a bearing shaft; a bearing 2080; signal line 2090; a probe support frame member 2030; an overhanging arm 20301; a probe clamp 20302; an upper limit baffle 20303; an ultrasonic probe 20304; an oil brush 20305; oil box 20306; a return spring 20307; the second support member 30; second end support lead screw 3010; an end cap 3020; a second end guide wheel 3030; a drive motor 3040; a drive motor support 3050; a second end link 3060; a second end main slide 3070; second end support sleeve 3080; a lead screw support sleeve 3090; and a signal line 3095.
Detailed Description
Exemplary embodiments, features and aspects of the present invention will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The invention provides an ultrasonic flaw detection robot for the inner surface of a large casting hole, which comprises a first supporting part 10, a rotary detection part 20 and a second supporting part 30, as shown in figure 1. The first supporting part 10 and the second supporting part 30 are respectively arranged at the front end and the rear end of the rotation detecting part 20, the first supporting part 10, the rotation detecting part 20 and the second supporting part 30 are sequentially connected, and the first supporting part 10 and the second supporting part 30 are both crank slider mechanisms.
As shown in fig. 2 and 3, the first support member 10 includes a first end support sleeve 1010, a first bevel gear cover 1011, a locking first bevel gear 1012, a locking second bevel gear 1013, a second bevel gear bearing 1014, a screw support plate 1015, a first end main slider 1016, a first end link 1017, a first end link 1018, a first end guide wheel frame 1019, a first end guide wheel 1020, a first end support screw 1021, a bearing shaft retainer 1022, a bearing support sleeve 1023, and a bearing hole retainer 1024. The locking first bevel gear is a small bevel gear, and the locking second bevel gear is a large bevel gear. The whole first supporting part mainly adopts a one-stage bevel gear transmission and crank block structure. First end link one 1017 and first end link two 1018 comprise a first end link mechanism.
Specifically, the first-stage bevel gear transmission consists of a locking first bevel gear 1012 and a locking second bevel gear 1013, the slider-crank mechanism consists of a first-end main slider 1016, a first-end supporting lead screw 1021, a first-end connecting rod 1017, a lead screw supporting plate 1015 and a first-end connecting rod 1018, the first-end connecting rod is a small connecting rod, the first-end connecting rod is a large connecting rod, and the first-end main slider 1016 is driven to move through the rotation of the lead screw, so that the extension of the first-end connecting rod 1018 is realized. First end link two 1018 is extended to contact the inner surface of the pipe by the first end guide wheel.
A plurality of groups of locking first bevel gears 1012 are arranged along the circumferential direction, and the plurality of groups of locking first bevel gears 1012 are arranged in annular grooves formed by the first bevel gear gland 1011 and the first end support sleeve 1010; the locking second bevel gear 1013 and the second bevel gear bearing 1014 are mounted and fixed by a bearing shaft retainer and a bearing hole retainer, respectively; the two ends of the first end supporting lead screw 1021 are respectively installed and fixed through the lead screw supporting plate 1015, the first end of the first end supporting lead screw 1021 is connected with the locking second bevel gear through a spline, and the second end of the first end supporting lead screw 1021 is matched with the first end main sliding block 1016 through a thread.
A plurality of groups of hinge holes for hinging with the second first end connecting rod are distributed on the screw rod supporting plate 1015 along the circumferential direction; the first end main slider 1016 is provided with a plurality of groups of hinge holes for being hinged with the first end connecting rod I and is used for being connected with a plurality of groups of first end connecting rod mechanisms which are uniformly distributed along the circumferential direction; two ends of the first end connecting rod I are respectively connected with the first end main sliding block and a hinge hole in the first end connecting rod II through hinge holes, a middle hinge hole in the first end connecting rod II is connected with the first end connecting rod I, and a second end hinge hole in the first end connecting rod II is connected with a hinge hole extending outwards in the screw rod supporting frame.
The guide frame and the guide wheel are installed in the two hole grooves of the first end connecting rod, the guide wheel is in direct contact with the inner wall of the pipeline to be detected, the first end main sliding block is driven to move through the rotation of the screw rod, so that the second first end connecting rod is stretched, and the second first end connecting rod is in contact with the inner surface of the pipeline through the first end guide wheel after being stretched.
The locking first bevel gear 1012 is arranged along the circumferential direction, the spline groove is formed at the tail end of the locking first bevel gear 1012, the locking first bevel gear 1012 can be locked to rotate through twisting of a wrench with the corresponding spline groove, then the locking second bevel gear 1013 is driven to rotate, and finally the first end support lead screw 1021 is driven to rotate. The design of bevel gear, on the one hand, can change the moment of torsion input direction, the use of moment of torsion spanner when making things convenient for actual operation, on the other hand, locks first bevel gear 1012 and drives and lock second bevel gear 1013 and rotate, can reduce the required moment of torsion of drive lead screw.
As shown in fig. 4 and 5, the rotating probe member 20 includes a second end connector sleeve 2010, a drive slip ring 2020, a probe support frame member 2030, a rotating shaft 2040, a bearing hole retainer 2050, a first end connector sleeve 2060, a bearing shaft retainer 2070, a bearing 2080, and a signal wire 2090.
The rotation detection component 20 is connected to the first end support component 10 and the second end support component 30 through the first end connection sleeve 2060 and the second end connection sleeve 2010, the bearing 2080 and the driving slip ring 2020 are respectively arranged on the first end and the second end of the rotation detection component 20, rotation of the rotation detection component 20 relative to the other two can be achieved, and the driving slip ring 2020 serves as power input for rotation. Arrange three probe support frame members 2030 of group along the circumferencial direction, on the one hand, this design centering nature is good, can reduce the eccentricity that rotatory caused, guarantees the centering performance of whole device, and on the other hand, the probe of different models can be installed to three probe support frame members 2030 of group to can realize the detection of once multiple angle, increase the practicality and the high-efficient nature of equipment. The rotating shaft 2040 is hollow, and a channel for arranging the signal line 2090 is designed in the middle of the rotating shaft.
As shown in fig. 6 and 7, the probe support frame member 2030 includes an outwardly extending arm 20301, a probe holder 20302, an upper limit stop 20303, an ultrasonic probe 20304, an oil brush 20305, an oil can 20306, and a return spring 20307; the probe clamp 20302 clamps the ultrasonic probe 20304 and can slide up and down along the slideway of the extending arm 20301, and the ultrasonic probe 20304 can slide up and down to adapt to different apertures when in work; before the probe is used for detecting and scanning, the oil brush and the oil box are arranged on the side surface, and oil is brushed on the inner surface of the pipeline. The upper limit baffle 20303 limits the upward sliding range of the ultrasonic probe 20304, and a signal line interface is arranged below the probe bracket and used for connecting a joint of a signal line.
As shown in fig. 8 and 9, the second support member 30 includes a second end support lead screw 3010, an end cap 3020, a second end guide wheel 3030, a driving motor 3040, a driving motor bracket 3050, a second end link 3060, a second end main slider 3070, a second end support sleeve 3080, and a lead screw support sleeve 3090, and the second support member 30 simultaneously passes through a signal line 3095. The second support member 30 also employs a slider-crank mechanism, which is composed of a second end support screw 3010, a second end main slider 3070, a second end link 3060, and a drive motor support 3050. The second end of the second end support lead screw 3010 is provided with a spline groove, and the lead screw can be twisted by a wrench with the same size. The rotation through the lead screw drives the removal of second end owner slider to realize the extension of second end connecting rod, the internal surface contact through second end leading wheel and pipeline after the extension of second end connecting rod. The drive motor support 3050 rotates along the second end support sleeve 3080 hinge point for adaptation to different apertures. The driving motor 3040 is directly arranged at the end, avoiding the complex driving branch chain design and simplifying the equipment structure.
The method comprises the following specific operation steps:
example 1
Firstly, the preparation work of the ultrasonic flaw detection task of the inner wall of the pipeline is completed, oil is brushed at the outer end of the pipeline, namely an equipment blind area, and signal receiving equipment and power supply equipment are arranged.
As shown in fig. 1, the first end support member 10 is placed into the pipeline along the pipeline until the notch of the first bevel gear 1012 is locked, and then the torque wrench is used to rotate and lock the first bevel gear 1012 to drive the second end link 1018 to extend until the torque wrench stops setting the torque, and then the first end guide wheel 1020 completes the support.
Further, the apparatus is advanced in the direction of the conduit until the probe support frame member 2030 reaches the edge of the conduit, at which time the three sets of ultrasonic probes 20304 are simultaneously pressed by hand, the springs under the pressure of the ultrasonic probes 20304 are compressed, and then the apparatus is further advanced along the conduit, by which method the ultrasonic probes 20304 are fed into the conduit.
Then, the device is further advanced along the pipeline until the whole device enters the pipeline, the second end support lead screw 3010 is also twisted by the torque wrench, the second end support lead screw 3010 drives the connecting rod support arm to extend until the set torque of the torque wrench, and at this time, the second end guide wheel 3030 contacts with the inner surface of the pipeline, and at this time, the whole device is supported.
Connecting the corresponding signal wire joint and the rotary driving signal wire, starting the slip ring motor, starting the rotary detection part to rotate, and then starting the driving motor to detect the whole pipeline.
After finishing detecting, to the blind hole, can set up driving motor reversal, realize that equipment retreats, wait equipment operation to pipeline port, stop equipment, cut off the signal line, directly draw equipment outward, can take out equipment from the pipeline, take out the equipment back and adopt the moment spanner to reset the support arm equally, make things convenient for placing and next time equipment use of equipment. Except that can adopt the mode of taking out to the blind hole to the through-hole, can also be directly at the other end of pipeline, directly continue to advance along the pipeline and take out equipment, take out the back, adopt the moment spanner to carry out reset operation to the support arm equally.
Finally, it should be noted that: the above-mentioned embodiments are only used for illustrating the technical solution of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides a large casting hole internal surface ultrasonic inspection robot which characterized in that: the device comprises a first supporting component, a rotary detection component and a second supporting component, wherein the first supporting component and the second supporting component are respectively arranged on two sides of the rotary detection component, the first supporting component, the rotary detection component and the second supporting component are sequentially connected, and the first supporting component and the second supporting component are both crank slider mechanisms;
the first supporting part comprises a first end supporting sleeve, a first bevel gear gland, a locking first bevel gear, a locking second bevel gear, a second bevel gear bearing, a screw supporting plate, a first end main sliding block, a plurality of groups of first end connecting rod mechanisms, a first end guide wheel frame, a first end guide wheel, a first end supporting screw, a bearing shaft check ring, a bearing supporting sleeve and a bearing hole check ring;
a plurality of groups of locking first bevel gears are arranged along the circumferential direction, and the plurality of groups of locking first bevel gears are arranged in an annular groove formed by the first bevel gear gland and the first support sleeve; the locking second bevel gear and the second bevel gear bearing are respectively installed and fixed through a retaining ring for a bearing shaft and a retaining ring for a bearing hole; two ends of the first end supporting screw rod are respectively installed and fixed through screw rod supporting plates, the first end of the first end supporting screw rod is connected with the locking second bevel gear through a spline, and the second end of the first end supporting screw rod is matched with the first end main sliding block through threads; the first end connecting rod mechanism comprises a first end connecting rod I and a second end connecting rod II, the first end main pulley is hinged with the first end of the first end connecting rod I, the second end of the first end connecting rod I is hinged with the middle position of the first end connecting rod II, two ends of the first end connecting rod II are respectively hinged with the screw rod supporting plates at two ends of the first end supporting screw rod, a guide frame and a guide wheel are installed in a hole groove of the first end connecting rod II, the first end guide wheel is directly contacted with the inner wall of a pipeline to be detected, the first end main slider is driven to move through the rotation of the screw rod, so that the first end connecting rod II is stretched, and the first end connecting rod II is contacted with the inner surface of the pipeline through the first end guide wheel after being stretched;
the rotary detection component comprises a first end connecting sleeve, a driving slip ring, a plurality of probe support frame members, a rotating shaft, a retainer ring for a bearing hole, a retainer ring for a bearing shaft, a bearing, a signal wire and a second end connecting sleeve, wherein the first end connecting sleeve is sleeved at the tail end of the first end supporting component, and the bearing is installed in the first end connecting sleeve through the retainer ring for the bearing hole; the first end of the rotating shaft is arranged in the bearing, axial fixation is realized through a bearing retainer ring for the shaft, the second end of the rotating shaft is connected with the driving slip ring through a flange structure, a plurality of groups of probe supporting frames are arranged in the middle of the rotating shaft along the axial direction, a signal wire hole is formed in the center of the rotating shaft, and a plurality of probe supporting frame components are uniformly arranged in the circumferential direction;
the probe support frame component comprises an extending arm, a probe clamp, an upper limiting baffle, an ultrasonic probe and a return spring; the extending arm is used for supporting the probe; the probe clamp is arranged in the extending arm and can slide along the direction of the extending arm chute, the probe clamp is used for clamping an ultrasonic flaw detection probe, the reset spring is arranged in the extending arm and is positioned below the probe clamp, the reset spring is used for ensuring the automatic resetting of the probe clamp in the sliding direction of the extending arm, and the upper limiting baffle is arranged at the upper end of the extending arm and is used for limiting the upward sliding of the probe clamp;
the second supporting component comprises a second end supporting lead screw, an end cover, a second end guide wheel, a driving motor bracket, a plurality of groups of second end connecting rods, a second end main sliding block, a second end supporting sleeve and a lead screw supporting sleeve; the utility model discloses a pipeline measuring device, including a screw, a drive motor support, a lead screw support sleeve, an end cover, a drive motor support, a lead screw support sleeve, a drive motor support, a lead screw support sleeve, a lead wheel, a pipeline inner wall direct contact, a rotation drive second end main slide block, a lead screw support sleeve, a lead screw, a second end guide wheel, a pipeline inner surface contact, a pipeline and a lead screw.
2. The ultrasonic inspection robot for the inner surface of a large casting hole of claim 1, wherein: a plurality of groups of hinge holes for being hinged with the first end connecting rod II are distributed in the screw rod supporting plate along the circumferential direction; the first end main sliding block is provided with a plurality of groups of hinge holes for being hinged with the first end connecting rod I and is used for being connected with a plurality of groups of first end connecting rod mechanisms which are uniformly distributed along the circumferential direction; and two ends of the first end connecting rod I are respectively connected with the first end main sliding block and a hinge hole on the first end connecting rod II through hinge holes, a middle hinge hole of the first end connecting rod II is connected with the first end connecting rod I, and a second end hinge hole is connected with a hinge hole extending outwards on the screw rod supporting frame.
3. The ultrasonic inspection robot for the inner surface of a large casting hole of claim 1, wherein: the locking first bevel gear, the first connecting rod mechanism, the first end guide wheel, the probe support frame, the second end guide wheel and the second end connecting rod are all provided with three groups.
4. The ultrasonic inspection robot for the inner surface of a large casting hole of claim 1, wherein: the rotating shaft is arranged in a hollow mode, and a signal wire is arranged inside the rotating shaft; the probe supporting frame is installed on the rotating shaft through a pin.
5. The ultrasonic inspection robot for the inner surface of a large casting hole of claim 3, wherein: the probe supporting frame component is provided with three groups, the probe clamps are installed on the rotating shaft through pins, and the probe clamps of each group of probe supporting frame component are uniformly provided with three groups along the circumferential direction.
6. The ultrasonic inspection robot for the inner surface of a large casting hole of claim 1, wherein: the rotating end of the driving slip ring is connected with the rotating shaft through a flange, and the shell of the driving slip ring is arranged in the second end connecting sleeve; and signal wires arranged in the rotating shaft transmit signals through the driving slip ring.
7. The ultrasonic inspection robot for the inner surface of a large casting hole of claim 6, wherein: and an oil brush and an oil box are arranged on one side of the probe bracket, and lubricating oil is loaded in the oil box to provide an oil medium for coupling the probe and the inner surface of the workpiece to be detected.
8. The ultrasonic inspection robot for the inner surface of a large casting hole of claim 1, wherein: the tail end of the locking first bevel gear is provided with a spline groove, the locking first bevel gear is locked to rotate through twisting of a spanner corresponding to the spline groove, then the locking second bevel gear is driven to rotate, and finally the first end supporting screw is driven to rotate;
the second end support screw is provided with a spline groove, and the second end support screw is twisted by a wrench of the corresponding key groove to rotate.
9. The ultrasonic inspection robot for the inner surface of a large casting hole of claim 1, wherein: and a signal line interface is arranged below the probe bracket and used for connecting a joint of a signal line.
10. The ultrasonic inspection robot for the inner surface of the large casting hole as claimed in claim 1, wherein the ultrasonic inspection robot comprises: which comprises the following steps:
s1, placing the first end supporting component of the equipment into the pipeline along the pipeline until the notch of the first bevel gear is locked, manually rotating to lock the first bevel gear at the moment, driving the second end connecting rod to extend until the set torque stops, and completing supporting of the first end guide wheel;
s2, enabling the equipment to advance along the direction of the pipeline until the probe support frame component reaches the edge of the pipeline, simultaneously pressing the three groups of ultrasonic probes, enabling the springs below the ultrasonic probes to be stressed and contracted under pressure, and then further enabling the equipment to advance along the pipeline to enable the ultrasonic probes to enter the pipeline;
s3, the equipment advances along the pipeline direction until the whole equipment enters the pipeline, the second end supporting lead screw is twisted manually, the second end supporting lead screw drives the second end connecting rod supporting arm to extend until the set torque stops, and at the moment, the second end guide wheel contacts with the inner surface of the pipeline, so that the whole equipment is supported;
s4, connecting the corresponding signal wire joint and the rotary driving signal wire, starting the slip ring motor, starting the rotary detection part to rotate, and then starting the driving motor to detect the whole pipeline;
and S5, after the detection is finished, stopping the equipment, cutting off the signal wire, and taking out the equipment from the pipeline.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110536307.3A CN113281418B (en) | 2021-05-17 | 2021-05-17 | Ultrasonic flaw detection robot and flaw detection method for inner surface of large casting hole |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110536307.3A CN113281418B (en) | 2021-05-17 | 2021-05-17 | Ultrasonic flaw detection robot and flaw detection method for inner surface of large casting hole |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113281418A true CN113281418A (en) | 2021-08-20 |
| CN113281418B CN113281418B (en) | 2022-04-01 |
Family
ID=77279422
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110536307.3A Active CN113281418B (en) | 2021-05-17 | 2021-05-17 | Ultrasonic flaw detection robot and flaw detection method for inner surface of large casting hole |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113281418B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4285243A (en) * | 1979-02-28 | 1981-08-25 | British Gas Corporation | Ultrasonic pipe inspection apparatus |
| JPS5754857A (en) * | 1980-09-19 | 1982-04-01 | Hitachi Ltd | Ultrasonic flaw detecting equipment for inside surface of fine tube |
| CN103969330A (en) * | 2014-04-28 | 2014-08-06 | 河海大学常州校区 | Ultrasonic flaw detection device for internal defect of pipeline |
| CN107064305A (en) * | 2017-05-08 | 2017-08-18 | 天津出入境检验检疫局化矿金属材料检测中心 | Portable pipe inwall automatic creeping ultrasonic examination scanning equipment and application method |
| US20180275101A1 (en) * | 2017-03-24 | 2018-09-27 | Airbus Operations S.A.S. | Ultrasound probe for a bore, equipped with a coupling support |
| US20180372893A1 (en) * | 2017-06-23 | 2018-12-27 | Sichuan University | Rock damage acoustic monitoring system |
| CN110579536A (en) * | 2019-09-28 | 2019-12-17 | 西安交通大学 | Multi-probe ultrasonic flaw detection device suitable for large ring piece |
| CN210742196U (en) * | 2019-06-28 | 2020-06-12 | 南宁职业技术学院 | Probe for ultrasonic integrated detection of defects of inner hole parts |
| CN111272884A (en) * | 2020-04-06 | 2020-06-12 | 刘鹏飞 | Ultrasonic detection device for metal casting |
| CN112172595A (en) * | 2020-09-16 | 2021-01-05 | 燕山大学 | Unmanned aerial vehicle battery replacement base station and method based on parallel mechanism |
| CN212341098U (en) * | 2020-03-19 | 2021-01-12 | 四川高启科技有限公司 | Automatic ultrasonic flaw detection device for petroleum drill pipe |
| CN212788377U (en) * | 2020-06-23 | 2021-03-26 | 燕山大学 | Window cleaning robot for building outer wall |
-
2021
- 2021-05-17 CN CN202110536307.3A patent/CN113281418B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4285243A (en) * | 1979-02-28 | 1981-08-25 | British Gas Corporation | Ultrasonic pipe inspection apparatus |
| JPS5754857A (en) * | 1980-09-19 | 1982-04-01 | Hitachi Ltd | Ultrasonic flaw detecting equipment for inside surface of fine tube |
| CN103969330A (en) * | 2014-04-28 | 2014-08-06 | 河海大学常州校区 | Ultrasonic flaw detection device for internal defect of pipeline |
| US20180275101A1 (en) * | 2017-03-24 | 2018-09-27 | Airbus Operations S.A.S. | Ultrasound probe for a bore, equipped with a coupling support |
| CN107064305A (en) * | 2017-05-08 | 2017-08-18 | 天津出入境检验检疫局化矿金属材料检测中心 | Portable pipe inwall automatic creeping ultrasonic examination scanning equipment and application method |
| US20180372893A1 (en) * | 2017-06-23 | 2018-12-27 | Sichuan University | Rock damage acoustic monitoring system |
| CN210742196U (en) * | 2019-06-28 | 2020-06-12 | 南宁职业技术学院 | Probe for ultrasonic integrated detection of defects of inner hole parts |
| CN110579536A (en) * | 2019-09-28 | 2019-12-17 | 西安交通大学 | Multi-probe ultrasonic flaw detection device suitable for large ring piece |
| CN212341098U (en) * | 2020-03-19 | 2021-01-12 | 四川高启科技有限公司 | Automatic ultrasonic flaw detection device for petroleum drill pipe |
| CN111272884A (en) * | 2020-04-06 | 2020-06-12 | 刘鹏飞 | Ultrasonic detection device for metal casting |
| CN212788377U (en) * | 2020-06-23 | 2021-03-26 | 燕山大学 | Window cleaning robot for building outer wall |
| CN112172595A (en) * | 2020-09-16 | 2021-01-05 | 燕山大学 | Unmanned aerial vehicle battery replacement base station and method based on parallel mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113281418B (en) | 2022-04-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113281418B (en) | Ultrasonic flaw detection robot and flaw detection method for inner surface of large casting hole | |
| CN204679455U (en) | For the adapter of hollow car-axle supersonic inspection | |
| CN216747352U (en) | Comprehensive test platform for power cable test | |
| CN115508442A (en) | Generator bearing bush fault diagnosis structure | |
| CN212748807U (en) | Ultrasonic flaw detection device for high-voltage ceramic post insulator | |
| CN108458941A (en) | The concrete bearing intension testing machine being convenient to operation | |
| CN109990687B (en) | Detection equipment for silica gel cable joint | |
| CN220271320U (en) | Marine pipeline welding seam nondestructive test device | |
| CN220650039U (en) | Durable mud-water bearing test bed | |
| CN208505924U (en) | Tubular member inner wall detection device | |
| CN220854157U (en) | Rotary performance testing device of rotary connector | |
| CN111780973A (en) | Device and method for testing full-period service life of rolling bearing | |
| CN214066490U (en) | Bushing fatigue testing machine | |
| CN210464420U (en) | Speed reducing mechanism clearance check-out set | |
| CN214200975U (en) | Sticking strength drawing test mechanism | |
| CN215768556U (en) | Rotating device with clamping function for steel inspection | |
| CN213147647U (en) | Comprehensive measuring tool for automobile reverse gear shifting cantilever | |
| CN219641488U (en) | Oil seal wear resistance test device | |
| CN212658369U (en) | Double-arm support torsion testing mechanism | |
| CN219608994U (en) | Motor coupling mechanism and including this coupling mechanism testing arrangement | |
| CN217474204U (en) | Cleaning device of vibrating viscometer | |
| CN220380414U (en) | Screw thread measuring device for rear cover of automobile air conditioner compressor | |
| CN115931462B (en) | Water quality sampling test measurement and control facility | |
| CN219348760U (en) | Welding seam flaw detection device for dust collection hopper | |
| CN217212061U (en) | Mechanical part abrasion testing device with locking structure |
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 |