CN115675802A - Intelligent fastening bolt detection device guided by vision - Google Patents

Abstract

The invention discloses a vision-guided intelligent detection device for a fastening bolt, which comprises: a frame; the main buoyancy body is arranged on the frame and is a main buoyancy source of the detection device; the propeller thruster is used for controlling the movement direction of the detection device; an ultrasonic detection module; the underwater self-stabilizing mobile platform comprises an upper nut slide block, a lower nut slide block, a balancing weight and a self-stabilizing driving part, wherein the upper nut slide block and the lower nut slide block are opposite in movement direction, the self-stabilizing driving part is used for driving the upper nut slide block and the lower nut slide block to move in opposite directions, the ultrasonic detection module and the upper nut slide block, the balancing weight and the lower nut slide block are respectively, or the ultrasonic detection module and the lower nut slide block, the balancing weight and the upper nut slide block are respectively. The device is beneficial to keeping self balance underwater.

Description

Intelligent fastening bolt detection device guided by vision

Technical Field

The invention belongs to the field of nuclear power detection equipment, and particularly relates to a visual-guided intelligent detection device for a fastening bolt.

Background

The nuclear power plant reactor internals are all other components in the reactor pressure vessel except for fuel assemblies and their associated components, including upper core support members, lower core support members, core measurement support structures, and the like. The reactor internals are key components for supporting and fixing the reactor core and bearing the weight of the reactor core, and the structural integrity of the reactor internals has important significance for the safe operation of a nuclear power unit. A large number of fastening bolts are arranged on the reactor internals, and the reactor internals are in high-temperature, high-pressure and strong neutron irradiation and vibration environments for a long time, so that irradiation stress corrosion cracks are easy to generate. The failed fastening bolts can cause loosening of the connection of the internals, reduce the overall rigidity of the internals, and damage the nuclear fuel assembly under the impact of the primary coolant. Ultrasonic and video inspection of the internals fastening bolts is required during overhaul to ensure the structural integrity of the internals.

At present, a robot adopts a bracket type structure, the robot is firstly installed above a coaming to form a fixed platform when the robot is used, and a multi-freedom manipulator installed at the lower end can carry an ultrasonic probe to inspect a coaming bolt. Still another robot is a microminiature submarine, a power system, an ultrasonic probe and an auxiliary system are arranged on a cylindrical buoyancy chamber, and the inspection of the enclosing plate bolt by the ultrasonic probe is realized by operating the underwater robot. The bracket type device needs to be assembled and disassembled by complex equipment before and after detection, and needs to occupy more in-service inspection time. The underwater robot realizes the sinking, floating and hovering of the underwater robot by controlling the vertical screw propeller, and the underwater robot can float in an upper range and a lower range of a certain depth when hovering in water because the thrust of the screw propeller is difficult to be absolutely maintained in a constant force state and the rotation of the screw propeller can generate shaking and the like. The focusing of video inspection and the efficiency of ultrasonic inspection are influenced, meanwhile, an inspection tool needs to move transversely according to different positions of the part to be inspected, the change of the center of gravity or the center of buoyancy is inevitably generated, the positioning of an underwater robot is influenced, and the lens of a camera has an angle deviation (non-parallel state) with the part to be inspected, so that the picture of frequency detection is distorted.

Disclosure of Invention

The invention aims to provide a vision-guided intelligent detection device for a fastening bolt, which can ensure that the center of gravity of an underwater self-stabilizing mobile platform is kept unchanged during movement, and is beneficial to keeping self-balance underwater.

In order to solve the technical problem, the invention adopts the following technical scheme: a vision-guided intelligent detection device for fastening bolts comprises:

a frame;

a main buoyancy body mounted on the frame, which is a main source of buoyancy for the detection device;

the propeller thruster is used for controlling the movement direction of the detection device, and the movement direction is a first movement direction;

an ultrasonic detection module; the ultrasonic detection device is used for carrying out ultrasonic detection on the fastening bolt;

it is characterized in that it also comprises:

self-stabilizing moving platform under water comprises an upper nut slider moving along a second moving direction, a lower nut slider moving along a third moving direction, a counterweight and a self-stabilizing driving part used for driving the upper nut slider and the lower nut slider to move, wherein the second moving direction is opposite to the third moving direction all the time, an ultrasonic detection module is fixedly connected with the upper nut slider, the counterweight and the lower nut slider, or the ultrasonic detection module is fixedly connected with the lower nut slider, the counterweight and the upper nut slider.

In another embodiment, the self-stabilizing driving portion includes side plates disposed opposite to each other, a plurality of guide shafts disposed between the side plates, and an upper screw and a lower screw disposed between the side plates and capable of rotating, the upper nut slider is slidably sleeved on two of the guide shafts and is in threaded connection with the upper screw, the lower nut slider is slidably sleeved on the other two guide shafts and is in threaded connection with the lower screw, and the thread directions of the upper screw and the lower screw are opposite. Through the direction of guiding axle, make upper portion nut slider and lower part nut slider move more steadily, can reduce the range of swaying of detection device when the aquatic operation.

In another embodiment, the self-stabilizing driving part includes a first gear coaxially and fixedly connected to the upper screw, a second gear coaxially and fixedly connected to the lower screw, a second motor gear for driving the first gear and the second gear to rotate, and a third motor for driving the second motor gear to rotate. The first gear and the second gear adopt the same power source, and the synchronism of the first gear and the second gear can be ensured.

In another embodiment, a torque limiter is connected between the second motor gear and the first and second gears, the torque limiter and the third motor are mounted on the same side plate, the torque limiter comprises a third gear, steel balls, a first spring, a transmission disc, a limiting ring, a fourth gear and a support shaft, the second motor gear and the third gear which are rotatably connected to the side plate are meshed, the third gear is symmetrically provided with a plurality of steel balls, the first spring is mounted between the steel balls and the third gear, and the first spring is in a compressed state; the third gear is installed on the transmission disc and can rotate relatively along the axis of the transmission disc, a round hole is formed in the transmission disc and corresponds to the steel ball, the diameter of the round hole is smaller than that of the steel ball, and the transmission disc and the fourth gear are installed on the supporting shaft after being fixedly connected and can rotate around the supporting shaft; the limiting ring is arranged between the third gear and the fourth gear and can rotate relative to the third gear and the fourth gear. When the transmitted torque force is too large, the third gear and the transmission disc can rotate relatively, and the torque limiter does not continue to transmit relative motion at the moment, so that the motor is prevented from being blocked and the safety of the motor under water is protected.

In another embodiment, the main buoyancy body is provided with through mounting holes, and the propeller thrusters are divided into two groups which are respectively horizontally arranged on the frame and vertically arranged in the mounting holes of the main buoyancy body. The group of propeller propellers are arranged in the mounting hole in the middle of the main buoyancy body, so that the running stability of the detection device can be improved.

In another embodiment, the detection device further comprises a variable buoyancy module, wherein the variable buoyancy module comprises an upper cavity, a lower cavity, a fixing plate, a piston, a first sealing ring, a first motor, a first nut gear, a bearing, a first motor gear, a second nut gear, a first bolt shaft, a second bolt shaft, a waterproof joint and a motor cable, the fixing plate is installed on the cylindrical upper cavity, the first motor is installed on the fixing plate, the first motor is provided with the first motor gear, the first motor gear is meshed with the first nut gear and the second nut gear, the number of teeth of the first nut gear is equal to that of the second nut gear, and the first nut gear and the second nut gear are fixed on the fixing plate through the bearing; a first bolt shaft is arranged in the first nut gear, a second bolt shaft is arranged in the second nut gear, bolt and nut kinematic pairs respectively formed by the first nut gear and the first bolt shaft and the second nut gear and the second bolt shaft are the same, the cylindrical lower cavity is connected with the upper cavity, a first sealing ring is arranged on the piston, and the piston is arranged in the lower cavity and can move along the lower cavity; the first and second bolt shafts are mounted on the piston. Under the condition of different loads, the buoyancy adjustment of the invention is realized through the variable buoyancy module, the net buoyancy of the detection device in water can be kept unchanged, and the stability of underwater control is easier to protect under the condition that the propeller thruster is unchanged; the first bolt shaft and the second bolt shaft are symmetrically arranged and move in the same direction, so that the circular piston can be prevented from rotating in the cylindrical lower cavity, the two sides are symmetrically arranged, the stress point is closer to the action point of the friction force of the piston, and the torsional deformation of the piston is reduced.

In another embodiment, a waterproof connector is installed on the upper portion of the upper cavity, and the motor cable is led out of the variable buoyancy module through the waterproof connector. Waterproof joints are distributed at four corners of the main buoyancy body, so that the stability of the detection device can be improved.

In another embodiment, the main buoyancy body is provided with a hoisting point, the main cable penetrates through the middle of the main buoyancy body and the hoisting point, and the detection device further comprises a detacher which penetrates through the main cable and is connected with the hoisting point. After the hoisting is finished, the unhooking device can be separated from the main body part of the device, and the interference of the lifting rope on the underwater swimming device is reduced. When the device needs to be hoisted, the detacher is thrown down along the main cable, so that the automatic installation of the detacher can be realized, and the detection device can be conveniently hoisted out of the pool.

In another embodiment, the detacher comprises a detacher body, a pin, a second spring, a steel wire rope and a lifting rope, the detacher body penetrates through the main cable, the lifting rope is installed on the detacher body, the movable pin is installed inside the detacher body, the second spring is installed between the pin and the detacher body, and the tail end of the pin is connected with the steel wire rope. The unhooking device body falls down along the main cable, and is embedded into the hoisting point under the action of gravity, and the pin stretches out into the draw-in groove of hoisting point under the pressure of spring, can realize the hoist and mount to detection device through the lifting rope this moment. When the detection device works underwater, the steel wire rope is pulled, the pin is pulled out of the clamping groove of the hoisting point at the moment, the lifting rope is pulled, the unhooking device can be separated from the detection device, and the interference of the lifting rope on the underwater walking device is reduced.

In another embodiment, the propeller thruster comprises a base, a mounting frame, a second motor, a propelling shell, blades, a propelling shaft, a coupler, an oil box and a second sealing ring, wherein the second motor is mounted on the base through the mounting frame, the second sealing ring is mounted between the propelling shell and the base, the propelling shaft penetrates through the base and the oil box and is mounted on an output shaft of the second motor through the coupler, and the blades are mounted on the propelling shaft. The oil box of the propeller thruster is a hollow structure with an inner cavity, lubricating oil or lubricating grease is filled in the inner cavity, the lubricating oil or the lubricating grease can be generated between the shaft and the sealing ring, the friction resistance is reduced, and the dynamic sealing of the shaft in water is facilitated by the lubricating oil or the lubricating grease in the cavity.

In another embodiment, a second sealing ring is arranged between the oil box and the base, a second sealing ring is arranged between the propulsion shaft and the base, and a second sealing ring is arranged between the propulsion shaft and the oil box.

In another embodiment, the oil box is a hollow structure with an inner cavity filled with lubricating oil or grease.

The invention has the beneficial effects that: the counterweight block arranged on the lower nut slide block of the underwater self-stabilizing mobile platform and the ultrasonic detection module arranged on the upper nut slide block have the same underwater net weight, and the counterweight block and the ultrasonic detection module move in opposite directions at the same distance, so that the gravity center of the underwater self-stabilizing mobile platform can be kept unchanged during movement, and self-balancing under water is favorably kept. The ultrasonic detection module ensures that the ultrasonic probe and the fastening bolt have certain pressing force, and can ensure more effective transmission of ultrasonic waves; the rotation of the ultrasonic probe can be realized through the motor, the incident direction of ultrasonic waves can be changed, and the detection of the whole volume of the fastening bolt can be better realized; through the visual guidance of the vertical alignment camera and the horizontal alignment camera, the automatic alignment of the ultrasonic probe and the fastening bolt can be realized.

Drawings

FIG. 1 is a schematic view of a fastening bolt inspection;

FIG. 2 is a front view of the present invention;

FIG. 3 is a perspective view of the present invention;

FIG. 4 is a schematic diagram of a variable buoyancy module configuration;

FIG. 5 is a schematic view of a propeller arrangement;

FIG. 6 is a schematic structural view of an underwater self-stabilizing platform;

FIG. 7 is a cross-sectional view of an underwater self-stabilizing platform;

FIG. 8 is a schematic view of a torque limiter configuration;

FIG. 9 is a schematic structural diagram of an ultrasonic testing module;

FIG. 10 is a cross-sectional view of an ultrasonic testing module;

FIG. 11 is a schematic view of the release catch when unlocked;

FIG. 12 is a schematic view of the release catch in locked configuration;

FIG. 13 is a schematic view of a vertical alignment camera;

FIG. 14 is a schematic view of a horizontally aligned camera;

1. a main buoyancy body, 2, a variable buoyancy module, 3, a propeller, 4, an underwater self-stabilizing mobile platform, 5, an ultrasonic detection module, 6, a detacher, 11, a frame, 13, a hoisting point, 14, a main cable, 15, an underwater flat plate, 16, a fastening bolt, 201, an upper cavity, 202, a lower cavity, 203, a fixing plate, 204, a piston, 205, a first sealing ring, 206, a first motor, 207, a bolt shaft, 208, a first nut gear, 209, a bearing, 210, a first motor gear, 211, a second nut gear, 212, a bolt shaft, 213, a waterproof joint, 214, a motor cable, 301, a base, 302, a mounting frame, 303, a second motor, 304, a propulsion shell, 305, a blade, 306, a propulsion shaft, 307, a coupler, 308, an oil box, 309 and a second sealing ring, 401, side plates, 402, guide shafts, 403, upper nut slides, 404, upper screws, 405, first gears, 406, third motors, 407, second motor gears, 408, counterweights, 409, torque limiters, 410, second gears, 411, lower nut slides, 412, lower screws, 4091, third gears, 4093, steel balls, 4094, first springs, 4095, transmission discs, 4096, limit rings, 4097, fourth gears, 4098, support shafts, 501, probe housings, 502, ultrasonic probes, 503, hold down springs, 504, camera mounting plates, 505, housing connectors, 506, fourth motors, 507, vertically aligned cameras, 508, horizontally aligned cameras, 601, detacher bodies, 602, pins, 603, second springs, 605, wire ropes, 606, lifting ropes.

Detailed Description

The invention is described in detail below with reference to embodiments shown in the drawings:

as shown in fig. 1 to 3, the intelligent visual-guide detection device for a fastening bolt includes: a frame 11; the main buoyancy body 1 is arranged on the frame and is a main buoyancy source of the detection device; the variable buoyancy module 2; the propeller thruster 3 is used for controlling the movement direction of the detection device, the movement direction is a first movement direction, the first movement direction can face any direction, the main buoyancy body 1 is provided with a through mounting hole, and the propeller thruster 3 is respectively horizontally arranged on the frame 11 and vertically arranged in the mounting hole of the main buoyancy body; an ultrasonic detection module 5; the underwater self-stabilizing mobile platform 4 comprises an upper nut slider 403 moving along a second movement direction, a lower nut slider 411 moving along a third movement direction, a counterweight 408 and a self-stabilizing driving part for driving the upper nut slider 403 and the lower nut slider 411 to move, wherein the second movement direction is opposite to the third movement direction all the time, the ultrasonic detection module 5 is fixedly connected with the upper nut slider 403, the counterweight 408 and the lower nut slider 411, or the ultrasonic detection module 5 is fixedly connected with the lower nut slider 411, the counterweight 408 and the upper nut slider 403, in this embodiment, the ultrasonic detection module 5 is fixedly connected with the upper nut slider 403, the counterweight 408 and the lower nut slider 411.

Specifically, as shown in fig. 6, the self-stabilizing driving portion includes side plates, guide shafts, an upper screw rod and a lower screw rod, which are oppositely disposed, the upper nut slider is slidably sleeved on two of the guide shafts and is in threaded connection with the upper screw rod, the lower nut slider is slidably sleeved on the other two guide shafts and is in threaded connection with the lower screw rod, and the thread directions of the upper screw rod and the lower screw rod are opposite. The self-stabilizing driving part comprises a first gear driving the upper nut slide block to move, a second gear driving the lower nut slide block to move, a second motor gear driving the first gear and the second gear to rotate, and a third motor driving the second motor gear to rotate. A torsion limiter is connected between the second motor gear and the first and second gears, the torsion limiter comprises a third gear, a steel ball, a first spring, a transmission disc, a limiting ring, a fourth gear and a support shaft, as shown in fig. 5 and 6, a plurality of guide shafts 402 are mounted on a side plate 401, and an upper screw 404 and a lower screw 412 are mounted on the side plate 401; the upper nut slider 403 and the upper screw 404 form an upper bolt and nut kinematic pair, and the lower nut slider 411 and the lower screw 412 form a lower bolt and nut kinematic pair; a first gear 405 is arranged at the end part of the upper screw rod 404, and a second gear 410 is arranged at the end part of the lower screw rod 412; the torque limiter 409 is arranged on the side plate, a fourth gear 4097 on the torque limiter 409 is meshed with the first gear 405 and the second gear 410 at the same time, and the first gear 405 and the second gear 410 have the same tooth number; a third motor 406 is arranged on the side plate, a second motor gear 407 is arranged on an output shaft of the third motor 406, and the second motor gear 407 is meshed with a third gear 4091 on the torque limiter 409; the counterweight 408 is mounted on the lower nut runner 411. The upper nut slider 403 and the upper screw 404 form a bolt-nut kinematic pair, and the lower nut slider 411 and the lower screw 412 form a bolt-nut kinematic pair, which have the same pitch and opposite directions. The third motor 406 drives the second motor gear 407 to rotate, the torque limiter 409 drives the first gear 405 and the second gear 410 to rotate in the same direction, and the upper nut slider 403 and the lower nut slider 411 move in the same speed and in opposite directions through an upper bolt-nut kinematic pair and a lower bolt-nut kinematic pair which have the same thread pitch and are opposite in direction.

As shown in fig. 7-8, a plurality of steel balls 4093 are symmetrically installed on the third gear 4091, a first spring 4094 is installed between the steel balls 4093 and the third gear 4091, and the first spring 4094 is in a compressed state; the third gear 4091 is mounted on the transmission disc 4095 and can relatively rotate along the axis of the transmission disc 4095, a round hole is arranged on the transmission disc 4095 at a position corresponding to the steel ball 4093, the diameter of the round hole is smaller than that of the steel ball 4093, and the transmission disc 4095 is fixedly connected with the fourth gear 4097, then mounted on the support shaft 4098 and can rotate around the support shaft 4098; the limit ring 4096 is installed between the third gear 4091 and the fourth gear 4097 to be rotatable relative to the third gear 4091 and the fourth gear 4097. The steel ball 4093 arranged on the third gear 4091 is embedded into a round hole of the transmission disc 4095 through the first spring 4094, when the third gear 4091 rotates, an acting force is transmitted to the transmission disc 4095 through the steel ball 4093 to drive the transmission disc 4095 to rotate around the support shaft 4098, the fourth gear 4097 fixedly connected to the transmission disc 4095 rotates at the same time, and the transmission of the rotary motion from the third gear 4091 to the fourth gear 4097 is realized; when the torque force to be transmitted by the third gear 4091 to the fourth gear 4097 is too large and exceeds the pressure of the first spring 4094 on the steel ball 4093, the third gear 4091 and the transmission disc 4095 rotate relatively, and the steel ball 4093 is pressed into the hole of the third gear 4091. When the transmitted torque force is too large, the third gear 4091 and the transmission disc can generate relative rotation, and at the moment, the torque limiter does not continuously transmit relative motion, so that the motor is prevented from being blocked, and the underwater safety of the motor is protected.

As shown in fig. 3 and 4, the main buoyancy body 1 is substantially square, four installation positions are arranged at four corners of the main buoyancy body, the variable buoyancy modules are arranged at the four installation positions, so that buoyancy forces applied to all positions of the adjusting and detecting device are balanced, and the buoyancy forces of the adjusting and detecting device are conveniently and rapidly adjusted, each variable buoyancy module comprises an upper cavity 201, a lower cavity 202, a fixing plate 203, a piston 204, a first sealing ring 205, a first motor 206, a first bolt shaft 207, a first nut gear 208, a bearing 209, a first motor gear 210, a second nut gear 211, a second bolt shaft 212, a waterproof joint 213 and a motor cable 214, the fixing plate is arranged on the cylindrical upper cavity, the fixing plate 203 is arranged on the cylindrical upper cavity 201, the first motor 206 is arranged on the fixing plate 203, the first motor gear 210 is arranged on the first motor 206, the first motor gear 210 is meshed with the first nut gear 208 and the second nut gear 211, the number of the first nut gear 208 is equal to that of the second nut gear 211 is fixed on the fixing plate 203 through the bearing 209; a first bolt shaft 207 is arranged in the first nut gear 208, a second bolt shaft 212 is arranged in the second nut gear 211, and a bolt-nut kinematic pair formed by the first nut gear 208 and the first bolt shaft 207 and a bolt-nut kinematic pair formed by the second nut gear 211 and the second bolt shaft 212 have the same specification parameters; the cylindrical lower cavity 202 is connected with the upper cavity 201, and the piston 204 is provided with a first sealing ring 205, is arranged in the lower cavity 202 and can move along the lower cavity; a first bolt shaft 207 and a second bolt shaft 212 are mounted on the piston 204. And a waterproof connector 213 is mounted at the upper part of the upper cavity 201, and a motor cable 214 is led out of the variable buoyancy module through the waterproof connector 213. The first motor 206 rotates to drive the first motor gear 210 to rotate, and drives the first nut gear 208 and the second nut gear 211 to rotate, and the rotating directions and speeds of the first nut gear 208 and the second nut gear 211 are the same. The bolt-nut kinematic pair composed of the first nut gear 208 and the first bolt shaft 207 drives the first bolt shaft 207 to axially move along the variable buoyancy module, the bolt-nut kinematic pair composed of the second nut gear 211 and the second bolt shaft 212 drives the second bolt shaft 212 to axially move along the variable buoyancy module, and the moving directions and speeds of the first bolt shaft and the second bolt shaft are the same, so that the piston 204 is driven to move together, the volume change of the variable buoyancy module 2 is realized, and the change of the buoyancy is realized.

As shown in fig. 2 and 11-12, the main buoyancy body is provided with a hoisting point, the main cable passes through the middle of the main buoyancy body and the hoisting point, and as shown in fig. 10, the detection device further comprises a detacher, and the detacher passes through the main cable and is connected with the hoisting point. After the hoisting is finished, the unhooking device can be separated from the main body part of the device, and the interference of the lifting rope on the detection device when moving underwater is reduced. When the device needs to be hoisted, the detacher is thrown down along the main cable, so that the automatic installation of the detacher can be realized, and the detection device can be conveniently hoisted out of the pool. The detacher comprises a detacher body 601, a pin 602, a second spring 603, a steel wire rope 605 and a lifting rope 606, the detacher body 601 penetrates through the main cable 14, the lifting rope 606 is installed on the detacher body 601, the pin 602 is installed in the detacher body and movable, the second spring 603 is installed between the pin 602 and the detacher body 601, and the tail end of the pin is connected with the steel wire rope 605. During hoisting, the detacher body 601 falls down along the main cable 14 and is embedded into the hoisting point 13 under the action of gravity, the pin 602 extends out of the clamping groove of the hoisting point 13 under the pressure of the spring, and the detection device can be hoisted through the hoisting rope 606. When the detection device works underwater, the steel wire rope 605 is pulled, the pin 602 is pulled out of the clamping groove of the hoisting point 13 at the moment, the lifting rope 606 is pulled, the unhooking device 6 can be separated from the detection device, and the interference of the lifting rope on the detection device when moving underwater is reduced.

As shown in fig. 5, the propeller thruster includes a base, a mounting bracket, a second motor, a propulsion housing, a blade, a propulsion shaft, a coupling, an oil box, a second sealing ring, a second motor 303, which is mounted on the base 301 through the mounting bracket 302, a second sealing ring 309 which is mounted between the propulsion housing 304 and the base 301, a second sealing ring 309 which is mounted between the oil box 308 and the base 301, the propulsion shaft 306 which passes through the base 301 and the oil box 308 and is mounted on an output shaft of the second motor 303 through the coupling 307, the second sealing ring 309 which is mounted between the propulsion shaft 306 and the base 301, and the second sealing ring 309 which is mounted between the propulsion shaft 306 and the oil box 308; the oil box 308 is a hollow structure with an inner cavity, and the inner cavity is filled with lubricating oil or lubricating grease; the blades are mounted on a propeller shaft 306. The second motor 303 rotates to drive the propeller shaft 306 to rotate through the coupling 307, and the blades 305 are driven to rotate, so that thrust is generated in water. The forward or backward thrust is achieved by controlling the forward or reverse rotation of the second motor 303.

As shown in fig. 9, 10, 13 and 14, the cylindrical ultrasonic probe 502 is placed in the probe shell 501, a groove is formed in the probe shell 501, the ultrasonic probe 502 is provided with or mounted with a protrusion matched with the groove in the shell 501, and can move along the axis of the probe shell 501, and the two can not rotate relatively; a shell connecting piece 505 is arranged at the other end of the probe shell 501, a compression spring 503 is arranged between the shell connecting piece 505 and the ultrasonic probe 502, and the spring is in a compressed state; a housing connection 505 is mounted on an output shaft of a fourth motor 506, the fourth motor 506 being mounted on the camera mounting plate 504; the camera mounting plate 504 has mounted thereon a horizontal alignment camera 508 and a vertical alignment camera 507. When the ultrasonic detection module 5 aligns to the fastening bolt 16, the probe shell 501 is tightly attached to the boss end face of the fastening bolt 16, the bolt head of the fastening bolt 16 jacks up the ultrasonic probe 502, and under the action of the compression spring 503, the ultrasonic probe 502 and the fastening bolt 16 generate a certain pre-tightening force, so that effective transmission of ultrasonic waves is ensured. The fourth motor 506 drives the housing connector 505 and the probe housing 501 to rotate, and the groove of the housing 501 is matched with the protrusion processed or installed on the ultrasonic probe 502 to drive the ultrasonic probe 502 to rotate, so that the incident direction of ultrasonic waves is changed. The vertical alignment camera 507 and the horizontal alignment camera 508 capture images of the fastening bolt 16 in real time, the vertical center line of the image of the vertical alignment camera 507 is compared with the vertical center line of the image of the fastening bolt 16 through a machine vision algorithm, and when the vertical center lines of the two are deviated, the two are kept coincident through the underwater self-stabilizing mobile platform 4. The horizontal center line of the image of the horizontally aligned camera 508 is compared with the horizontal center line of the image of the fastening bolt 16, and when the horizontal center lines of the two are deviated, the propeller 10 installed in the vertical direction controls the detection device to float up or sink down, so that the two are kept coincident. Under the condition that the images of the transverse alignment camera 402 and the horizontal alignment camera 403 are aligned, the propeller 3 arranged in the horizontal direction realizes the forward movement of the detection device in water, and the ultrasonic probe 502 can be automatically aligned with the fastening bolt 16.

The above embodiments are only for illustrating the technical idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention, and not to limit the protection scope of the present invention by this means. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims (12)

1. A vision-guided intelligent detection device for fastening bolts comprises:

a frame;

a main buoyancy body mounted on the frame, which is a main source of buoyancy for the detection device;

the propeller thruster is used for controlling the movement direction of the detection device, and the movement direction is a first movement direction;

an ultrasonic detection module; the ultrasonic detection device is used for carrying out ultrasonic detection on the fastening bolt;

it is characterized in that it also comprises:

the underwater self-stabilizing mobile platform comprises an upper nut slide block, a lower nut slide block, a counterweight block and a self-stabilizing driving part, wherein the upper nut slide block moves along a second movement direction, the lower nut slide block moves along a third movement direction, the self-stabilizing driving part is used for driving the upper nut slide block and the lower nut slide block to move, the second movement direction and the third movement direction are opposite all the time, the ultrasonic detection module is fixedly connected with the upper nut slide block, the counterweight block and the lower nut slide block, or the ultrasonic detection module is fixedly connected with the lower nut slide block, and the counterweight block and the upper nut slide block are fixedly connected.

2. The intelligent visual-guided detection device for fastening bolts of claim 1, wherein: the self-stabilizing driving part comprises side plates which are arranged oppositely, a plurality of guide shafts which are arranged between the side plates, an upper screw rod and a lower screw rod which are arranged between the side plates and can rotate, an upper nut slide block is sleeved on two of the guide shafts in a sliding mode and is in threaded connection with the upper screw rod, a lower nut slide block is sleeved on the other two guide shafts in a sliding mode and is in threaded connection with the lower screw rod, and the thread directions of the upper screw rod and the lower screw rod are opposite.

3. The intelligent visual-guided detection device for fastening bolts of claim 1, wherein: the self-stabilizing driving part comprises a first gear, a second motor gear and a third motor, wherein the first gear is coaxially and fixedly connected with the upper screw, the second gear is coaxially and fixedly connected with the lower screw, the second motor gear drives the first gear and the second gear to rotate, and the third motor drives the second motor gear to rotate.

4. The vision-guided intelligent detection device for fastening bolts of claim 3, wherein: a torsion limiter is connected between the second motor gear and the first gear and between the second motor gear and the first gear, the torsion limiter and the third motor are arranged on the same side plate, the torsion limiter comprises a third gear, steel balls, a first spring, a transmission disc, a limiting ring, a fourth gear and a support shaft, the second motor gear and the third gear which are rotatably connected to the side plate are meshed, the third gear is symmetrically provided with a plurality of steel balls, the first spring is arranged between the steel balls and the third gear, and the first spring is in a compressed state; the third gear is installed on the transmission disc and can rotate relatively along the axis of the transmission disc, a round hole is formed in the position, corresponding to the steel ball, of the transmission disc, the diameter of the round hole is smaller than that of the steel ball, and the transmission disc and the fourth gear are installed on the supporting shaft after being fixedly connected and can rotate around the supporting shaft; the limiting ring is arranged between the third gear and the fourth gear and can rotate relative to the third gear and the fourth gear.

5. The intelligent visual-guided detection device for fastening bolts of claim 1, wherein: the main buoyancy body is provided with a through mounting hole, and the propeller propellers are divided into two groups which are respectively horizontally arranged on the frame and vertically arranged in the mounting hole of the main buoyancy body.

6. The intelligent visual-guided detection device for fastening bolts of claim 1, wherein: the detection device further comprises a variable buoyancy module, wherein the variable buoyancy module comprises an upper cavity, a lower cavity, a fixing plate, a piston, a first sealing ring, a first motor, a first bolt shaft, a second bolt shaft, a first nut gear, a bearing, a first motor gear, a second nut gear, a waterproof joint and a motor cable, the fixing plate is arranged on the cylindrical upper cavity, the first motor is arranged on the fixing plate, the first motor is provided with the first motor gear, the first motor gear is meshed with the first nut gear and the second nut gear, the teeth of the first nut gear and the teeth of the second nut gear are equal in number, and the first nut gear and the second nut gear are fixed on the fixing plate through the bearing; a first bolt shaft is arranged in the first nut gear, a second bolt shaft is arranged in the second nut gear, bolt and nut kinematic pairs formed by the first nut gear and the first bolt shaft and the bolt and nut kinematic pairs formed by the second nut gear and the second bolt shaft are the same, the cylindrical lower cavity is connected with the upper cavity, a first sealing ring is arranged on the piston, and the piston is arranged in the lower cavity and can move along the lower cavity; the first and second bolt shafts are mounted on the piston.

7. The vision-guided intelligent detection device for fastening bolts of claim 6, wherein: and a waterproof connector is arranged on the upper part of the upper cavity, and a motor cable is led out of the variable buoyancy module through the waterproof connector.

8. The intelligent visual-guided detection device for fastening bolts of claim 1, wherein: the main buoyancy body is provided with a hoisting point, the main cable penetrates through the main buoyancy body and the hoisting point, and the detection device further comprises a detacher, and the detacher penetrates through the main cable to be connected with the hoisting point.

9. The vision-guided intelligent detection device for fastening bolts of claim 8, wherein: the detacher comprises a detacher body, a pin, a second spring, a steel wire rope and a lifting rope, the detacher body penetrates through the main cable, the lifting rope is installed on the detacher body, the pin is internally installed with the movable pin, the second spring is installed between the pin and the detacher body, and the tail end of the pin is connected with the steel wire rope.

10. The intelligent visual-guided detection device for fastening bolts of claim 1, wherein: the propeller thruster comprises a base, a mounting frame, a second motor, a propelling shell, blades, a propelling shaft, a coupler, an oil box and a second sealing ring, wherein the second motor is mounted on the base through the mounting frame, the second sealing ring is mounted between the propelling shell and the base, the propelling shaft penetrates through the base and the oil box and is mounted on an output shaft of the second motor through the coupler, and the blades are mounted on the propelling shaft.

11. The vision-guided intelligent detection device for fastening bolts of claim 10, wherein: and a second sealing ring is arranged between the oil box and the base, between the propulsion shaft and the base and between the propulsion shaft and the oil box.

12. The intelligent vision-guided detection device for fastening bolts of claim 10, wherein: the oil box is a hollow structure with an inner cavity, and lubricating oil or lubricating grease is filled in the inner cavity.

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