CN117662906A - Submarine ultrasonic nondestructive detection wall climbing robot car adsorbed by propeller - Google Patents
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Abstract
The invention discloses a submarine ultrasonic nondestructive detection wall climbing robot car adsorbed by a propeller. Comprises a vehicle body, a propeller arranged on the vehicle body, an ultrasonic nondestructive testing device and a movement mechanism; the propeller comprises a motor, paddles, a shell, a bracket, front and rear end covers and a control system; the ultrasonic nondestructive testing device comprises a pair of TOFD probes, a camera, a waterproof lamp, a pressing mechanism and a screw rod moving scanning mechanism; the movement mechanism comprises wheels and a driving mechanism; the vehicle body is used for placing a wheel driving mechanism, a circuit and a circuit board. The number and the layout of the propellers adopted by the invention play a decisive role in the whole equipment, and can generate thrust to enable the robot to be adsorbed on a submarine pipeline and perform stable circumferential movement. In the moving process, the machine vehicle detects internal defects of the submarine pipeline through a pair of probes. The invention has reasonable structure, stable movement and ultrasonic detection function, can realize the operation and maintenance automation of submarine pipelines, and can ensure the safety of staff while improving the benefit.
Description
Technical Field
The invention belongs to the field of underwater robots, and particularly relates to a submarine ultrasonic nondestructive detection wall climbing robot vehicle adsorbed by a propeller.
Background
The pipeline transportation is one of the important means in the five-major material transportation mode, and has wide application in the fields of national economy, national defense construction, municipal life and the like. Because the pipeline is paved with the characteristics of going to the sky, going to the ground, diving, and the like, the pipeline works with the states of high temperature, different pressures and the like, thereby causing: on one hand, the pipeline often works in severe, changeable and complex environments, and the transportation object of the pipeline can be toxic or inflammable and explosive materials, and the local damage can bring about global paralysis and even cause catastrophic devitrification, so that the pipeline safety problem is particularly remarkable; on the other hand, the effective monitoring of the pipeline safety condition and the effective treatment of the problems are difficult to implement only by manual means, and the efficiency is low, the cost is high and the potential safety hazard is large by manual inspection.
In addition, the existing underwater robot for pipeline detection is redundant, large in size, large in mass, difficult to control, poor in stability, poor in reliability and low in detection efficiency. The existing partial underwater robot detection is based on visual detection, the visual detection is difficult to detect the tiny defects, only the information on the surface of the pipeline can be provided, the internal defects cannot be detected, the cost is high, the efficiency is low, the accuracy is low, and the data is limited; and is vulnerable to environmental influences (e.g., submarine pipelines are sometimes covered by sediment or submarine organisms to conceal corroded or damaged parts of the pipelines, resulting in visual detection failure), and cannot adapt to turbid and dim environments. Some underwater robot movements are based on magnetic attraction, and this technique has many problems, such as that the machine is difficult to grasp and recover from the magnetic pipeline due to too strong magnetic attraction, that the wall climbing robot may need a stronger power system to move on the pipeline surface and increase the energy consumption and the complexity of the system, that the magnetic attraction is not suitable for pipelines of weak magnetic or non-magnetic materials due to the coating of anti-corrosion films and the like, and that the strong magnetic field used by the magnetic attraction may interfere with the normal operation of the sensor or other devices (especially those sensitive to the magnetic field).
Therefore, the robot car which has reasonable research and development structure, stable movement, high-precision and high-efficiency ultrasonic detection function and uses the propeller for adsorption can solve the problems, realize the operation and maintenance automation of submarine pipelines and ensure the safety of staff while improving the benefit.
Disclosure of Invention
In order to solve the problems in the background technology, the invention provides the submarine ultrasonic nondestructive testing wall climbing robot vehicle adsorbed by the propeller by integrating the electromechanical integration technology and aiming at realizing the automatic ultrasonic nondestructive testing of the submarine pipeline. The thrusters distributed on the left side and the right side of the robot are one of key components of the whole equipment, the number and the distribution of the thrusters play a decisive role in the whole equipment, and the thrusters can generate thrust to enable the robot to be adsorbed on a submarine pipeline and perform stable circumferential movement. In the moving process, the machine vehicle detects internal defects of the submarine pipeline through a pair of TOFD probes.
The technical scheme adopted by the invention is as follows:
1. submarine ultrasonic nondestructive detection wall climbing robot car adsorbed by propeller
Comprises a vehicle body, a propeller arranged on the vehicle body, an ultrasonic nondestructive testing device and a movement mechanism; the vehicle body is controlled to move circumferentially around the submarine pipeline through the movement mechanism; the two sides of the vehicle body are symmetrically provided with propellers for adsorbing the vehicle body on the surface of a submarine pipeline; the ultrasonic nondestructive testing device is arranged on the front side of the vehicle body and used for detecting defects of submarine pipelines.
The propeller comprises a control system, a shell and a propeller inner structure, wherein the inner structure comprises a motor, a blade, a front end cover and a rear end cover, the propeller inner structure is supported and fixed in the shell through a bracket, and the front end cover and the rear end cover which are in streamline structures are arranged at the upper end and the lower end of the propeller; the blades are circumferential and are coaxially arranged with the motor, the blades are propeller blades, the rotation directions of the propeller blades of the two side propellers are opposite, the blade of one side propeller is a positive propeller, the blade of the other side propeller is a negative propeller, so that counter torque generated by the two propellers is offset, the thrust directions generated by the two side propellers are the same, and the thrust directions of the two side propellers face the center of a pipeline; the motor drives the blades to rotate and generate thrust, so that the robot car is adsorbed on the surface of the submarine pipeline.
The control system adopts PWM control, and controls the rotating speed and the rotating direction of the propeller motor through the electronic speed regulator, so as to control the rotating speed and the rotating direction of propeller blades, change the thrust of the propeller, enable the machine vehicle to be adsorbed on the surface of the submarine pipeline, and adapt to the movement of the machine vehicle at different positions of the peripheral of the pipeline; the thrust of the propeller is obtained by the following method: and carrying out stress analysis on the gravity of the machine vehicle, the supporting force and friction force of the pipeline on the machine vehicle, the buoyancy and resistance of the machine vehicle and the thrust of the propeller, and calculating to obtain the required thrust of the propeller when the machine vehicle is at different positions of the pipeline.
The ultrasonic nondestructive testing device comprises a pair of TOFD probes, a camera, a waterproof lamp, a pressing mechanism and a screw rod moving scanning mechanism, wherein the front part of the screw rod moving scanning mechanism is provided with two pressing mechanisms and a camera mounting seat through a bottom plate, the camera mounting seat is fixed in the middle of the bottom plate, and the two pressing mechanisms are fixed on two sides of the bottom plate; each pressing mechanism is provided with a TOFD probe, and a camera and a waterproof lamp are arranged between the pair of TOFD probes through a camera mounting seat; the pair of TOFD probes are broadband narrow pulse probes which are symmetrically arranged one by one relative to the central line of the weld joint; the longitudinal position and the pitching angle of the TOFD probe are adjusted through the pressing mechanism, and the transverse position and the pitching angle of the TOFD probe are adjusted through the screw rod moving scanning mechanism, so that the welding seam of the submarine pipeline is positioned on the symmetrical center line of the double probes, and the double probes are tightly attached to the surface of the submarine pipeline.
The pressing mechanism comprises an angle adjusting plate, a rotary guide rail, a sliding block, a mounting seat, a bolt II, a U-shaped block, a probe base and a fixing seat; the two sides of the fixed seat are fixed with angle adjusting plates, and the bottom end is connected with a rotary guide rail through a hinge; the angle adjusting plate is provided with an arc groove, and two bolts I respectively penetrate through the arc grooves of the angle adjusting plates at two sides and extend into bolt holes arranged at two sides of the rotating guide rail; the rotary guide rail is provided with a vertical chute, the back of the mounting seat is provided with a sliding block sliding along the vertical chute, the front of the mounting seat is connected with a U-shaped block through a bolt II, the U-shaped block is connected with a probe base through a hinge, and the probe base is used for mounting a TOFD probe; and the rotation between the rotary guide rail and the angle adjusting plate is limited by tightening the bolt I.
Two sides of the sliding block are connected to two sides of the rotary guide rail through two springs, and a vertical spring for providing buffering elastic force in the vertical direction for the U-shaped block is arranged between the U-shaped block and the mounting seat.
The pitching angle of the probe is adjusted by sliding the rotating guide rail along the angle adjusting plate, rotating the U-shaped block around the bolt II and rotating the probe base hinged to the U-shaped block; the longitudinal position of the probe is adjusted by the sliding of the mounting seat along the vertical sliding groove of the rotary guide rail.
The lead screw moving scanning mechanism comprises a scanning installation seat, an integrated servo driving motor, a driving wheel, a driven wheel, a reciprocating lead screw, a lead screw nut, a scanning connecting angle plate, a scanning connecting bottom plate and a graphite copper sleeve bearing; an output shaft of the integrated servo driving motor is connected with the driving wheel, a lead screw nut is arranged on the reciprocating lead screw, one end of the reciprocating lead screw is connected with the driven wheel, and the driven wheel and the driving wheel are meshed and transmitted through another cylindrical gear; a bottom plate for installing the pressing mechanism and the camera installing seat is fixed on the screw nut;
two ends of the reciprocating screw rod are respectively connected to the scanning connecting bottom plates at two sides of the scanning installation seat through the scanning connecting angle plates; an arc groove is formed in the side face of the scanning connection bottom plate, and a bolt III sliding along the arc groove of the scanning connection bottom plate is arranged on the scanning connection angle plate; the top surface of the scanning connection angle plate is provided with an arc-shaped groove, and the scanning connection bottom plate is provided with a fixing bolt penetrating through the arc-shaped groove of the scanning connection angle plate; the scanning connection angle plate and the scanning connection bottom plate are hinged and connected through a graphite copper sleeve bearing, and rotation between the scanning connection angle plate and the scanning connection bottom plate can be limited by screwing a fixing bolt; the pitching angles of the upper bottom plates of the screw nuts are adjusted by rotating the scanning connection angle plates around the scanning connection bottom plates, so that the pitching angles of the two TOFD probes are changed. The reciprocating screw rod can automatically return to the stroke after the transmission reaches the limit stroke, so that the condition that the motor is damaged due to mechanical clamping is avoided.
The vehicle body is internally provided with a wheel driving mechanism, a circuit and a circuit board, and the wheel driving mechanism is isolated from the circuit and the circuit board through a shielding cover; the electric wires of the two TOFD probes, the camera, the waterproof lamp and the external power supply penetrate through the metal waterproof joint at the rear end of the vehicle body to be connected to the circuit board in the vehicle body, the electric wires of the two propellers penetrate through the two hollow waterproof sealing screws at the top of the vehicle body to be connected to the circuit board in the vehicle body, and the two hollow waterproof sealing screws are respectively installed in the two protruding through holes formed in the top of the vehicle body.
The automobile body has designed the recess that is used for installing the sealing washer to satisfy the leakproofness, can prevent that inside motor, circuit board from meeting water impaired, and the screw removes and sweeps sealing between mechanism, axletree end cover, upper cover plate and connector apron and the lower part casing of car and has adopted nitrile rubber sealing washer, and the dynamic seal of axletree department has adopted the skeleton oil blanket sealing washer.
The motion mechanism comprises four wheels and two sets of wheel driving mechanisms, wherein the four wheels are symmetrically distributed on the left side and the right side of the vehicle body, and the two sets of wheel driving mechanisms are fixed in the vehicle body and are used for driving the wheels on the two sides of the vehicle body respectively; the wheel driving mechanism comprises a driving motor, a power gear, a bevel gear I, a bevel gear II, a bevel gear III, a bevel gear IV and a cross rod, wherein the bevel gear III and the bevel gear IV are respectively and coaxially connected with two wheels on the same side, the gear, the bevel gear I and the bevel gear II are fixed on the cross rod, the bevel gear I and the bevel gear II are respectively meshed with the bevel gear III and the bevel gear IV, an output shaft of the driving motor is connected with the power gear, and the power gear is meshed with the gear on the cross rod.
The driving motor in the wheel driving mechanism drives the power gear to rotate, so that the gear, the bevel gear I and the bevel gear II which are positioned on the same cross rod with the gear are driven to rotate, the bevel gear III and the bevel gear IV are driven to rotate through transmission, and finally, two wheels on the same side are driven to rotate.
2. Seabed ultrasonic nondestructive testing method of wall climbing robot car
Firstly, manually adjusting an angle plate of a pressing mechanism and a lead screw moving scanning mechanism according to the outer diameter of a pipeline to be detected to enable a TOFD probe to be slightly excessively attached to the pipe wall, and completing rough adjustment; when the machine vehicle is adsorbed on the pipe wall through the propeller, the pressing mechanism is stressed by the supporting force provided by the pipe wall, so that the probe base hinged on the U-shaped block is stressed to rotate, and meanwhile, the four springs are stressed to deform and provide pulling force and pushing force, so that the U-shaped block is driven to rotate around the bolt II, the mounting seat fixed on the sliding block is driven to move along the vertical sliding groove of the rotary guide rail until the springs are stressed to balance and stop moving, the fine adjustment of the positions and angles of the two TOFD probes is completed, and the probes are tightly attached to the curved surface of the pipe wall; the bottom surface of the probe base is always kept closely attached to the pipeline wall in the moving process of the robot by the elasticity of the spring to each part in the pressing mechanism;
then controlling the robot car to move around the surface of the submarine pipeline through the movement mechanism, and controlling the thrust of the propeller through the control system at the same time, so that the robot car is adsorbed on the surface of the submarine pipeline in the movement process; the thrust of the propeller is controlled to adapt to the movement of the robot car at different positions on the periphery of the circumferential direction of the pipeline, the attachment and the falling off of the robot car and the submarine pipeline are realized, and the stable circumferential movement of the robot car along the submarine pipeline is finally realized;
in the motion process, a submarine pipeline is detected in real time through a TOFD probe, a non-focusing longitudinal wave beam generated by a transmitting probe in the TOFD probe is incident into a detected workpiece at a certain angle, part of the beam (straight-through wave) propagates along the near surface and is received by a receiving probe in the TOFD probe, the other part of the beam is reflected by the bottom surface or is received by the receiving probe after being diffracted by the defect, finally an A scanning signal is formed, and then the phase and the amplitude of the signal are converted into 256-level gray images, so that a TOFD-D detection image for identifying the defect is obtained; determining the number, the position and the size of the defects through diffraction signals of upper and lower endpoints of the defects and propagation time difference analysis thereof, thereby realizing ultrasonic nondestructive internal defect detection of submarine pipelines;
in the detection process, the camera performs target recognition under the assistance of illumination of the waterproof lamp so as to capture visual information of the welding seam on the submarine pipeline.
In the detection process, whether the welding line is positioned at the symmetrical center line of the two TOFD probes is monitored in real time, when the condition that the welding line deviates from the symmetrical center line of the two TOFD probes occurs during the movement of the robot car, after the information feedback of the camera, a worker adjusts the transverse position of the two TOFD probes in real time by controlling the screw rod moving scanning mechanism, so that the welding line is positioned at the symmetrical center line of the two TOFD probes again.
The beneficial effects of the invention are as follows:
the device adopts propeller adsorption and TOFD probe detection, has reasonable structure and stable movement, and has the high-precision and high-efficiency ultrasonic detection function. The propeller and the TOFD probe are innovatively and reasonably distributed, so that stable circumferential motion around the submarine pipeline and reliable ultrasonic nondestructive detection can be realized, and the control is easy.
The camera in the device can provide visual information, the region to be detected is positioned and evaluated, whether the welding line is positioned at the symmetrical center line of the two TOFD probes or not is detected, the waterproof lamp can provide enough illumination, the camera can accurately perform target identification, clear images are captured, and the accuracy and the reliability of detection work are ensured. The pressing mechanism and the screw rod moving scanning mechanism can adjust the probes to proper positions and angles, so that the double probes are tightly attached to the surface of the submarine pipeline, and the welding seam is positioned on the symmetrical center line of the two probes. The wheels are used as travelling parts of the machine vehicle, the machine vehicle is pushed to move on the surface of the submarine pipeline through rotation, and the tire with asymmetric patterns can improve the movement stability of the machine vehicle and reduce noise. In addition, the wheel driving mechanism adopts motor driving, and the output torque and the rotating speed are increased by utilizing helical gear transmission.
The invention adopts the TOFD probe to detect the submarine pipeline, can digitally store detection data, can carry out multi-azimuth analysis, can carry out three-dimensional recovery on the detected defects, has the advantages of portability, high efficiency, strong penetrating power, high sensitivity, high detection rate, good instantaneity, good accuracy, good repeatability, short detection time and large detection depth, and solves the problems that the underwater robot based on visual detection is limited by visibility, cannot adapt to a turbid and dim submarine environment, and has high cost, low efficiency, low accuracy, limited data and easy environmental influence.
Regardless of how severe, changeable and complex the environment, and regardless of whether the transported object is a toxic or inflammable or explosive material, the propeller-adsorbed submarine ultrasonic nondestructive detection wall climbing robot can realize the operation and maintenance intellectualization and automation of submarine pipelines, ensure the safety of staff while improving the benefit, and avoid the problems of low manual inspection efficiency, high cost, low accuracy, large potential safety hazard, easy omission and damage and limited detection range.
Drawings
FIG. 1 is a schematic illustration of a propeller-adsorbed subsea ultrasonic nondestructive testing wall climbing robot; fig. 1 (a) and fig. 1 (b) are schematic views of two different angles.
Fig. 2 is a schematic illustration of a housing of a propeller of a robotic vehicle.
Fig. 3 is a schematic view of the motor, blades, brackets, front and rear end caps of the propeller of the machine vehicle.
Fig. 4 is a schematic diagram of an ultrasonic non-destructive inspection apparatus of a robot car.
Fig. 5 is a schematic view of a screw moving scanning mechanism of the robot, and fig. 5 (a) and fig. 5 (b) are schematic views of two different angles.
Fig. 6 is a schematic view of a movement mechanism of the robot car, and fig. 6 (a) and fig. 6 (b) are schematic views of two different angles.
Fig. 7 is a schematic view of the contents of the body of the robotic vehicle.
Fig. 8 is a schematic view of the body of the robot car, and fig. 8 (a) and fig. 8 (b) are schematic views of two different angles.
Fig. 9 is a schematic diagram of an application scenario of a robotic vehicle.
Fig. 10 is a schematic view of a pressing mechanism of the machine vehicle, and fig. 10 (a), fig. 10 (b) and fig. 10 (c) are schematic views of three different angles, respectively.
In the figure: 1. the motor, 2, the blade, 3, the shell, 4, the bracket, 5, the front end cover, 6, the rear end cover, 7, the TOFD probe, 8, the camera, 9, the waterproof lamp, 10, the hold-down mechanism, 11, the screw rod movement scanning mechanism, 12, the wheel driving mechanism, 13, the wheel, 14, the shielding cover, 15, the upper cover plate, 16, the connector cover plate, 17 and the lower shell of the vehicle. 10-1 of an angle adjusting plate, 10-2 of a rotary guide rail, 10-3 of a sliding block, 10-4 of a mounting seat, 10-5 of a bolt II, 10-6.U of a block, 10-7 of a probe base and 10-8 of a fixing seat; 11-1, an integrated servo driving motor, 11-2, a driving wheel, 11-3, a driven wheel, 11-4, a reciprocating screw, 11-5, a screw nut, 11-6, a scanning connection angle plate, 11-7, a scanning connection bottom plate and 11-8, a graphite copper sleeve bearing; 12-1, a driving motor, 12-2, a power gear, 12-3, a gear, 12-4, a bevel gear I, 12-5, a bevel gear II, 12-6, a bevel gear III, 12-7, a bevel gear IV and 12-8, a cross bar
Detailed Description
The invention is further illustrated and described below in conjunction with the detailed description and the accompanying drawings. The described embodiments are merely some, but not all embodiments of the present disclosure. The technical features of the embodiments of the invention can be combined correspondingly on the premise of no mutual conflict.
As shown in figure 1, the invention provides a submarine ultrasonic nondestructive testing wall climbing robot car which is stable in movement and reliable in detection and is adsorbed by a propeller.
As shown in fig. 2 and 3, the propeller includes a motor 1, a blade 2, a housing 3, a bracket 4, a front end cover 5, a rear end cover 6, and a control system. The main function of the propeller is to provide the thrust force for the robot car to be attached to the pipeline wall when the robot car performs circular motion on the pipeline wall and performs detection operation. The number and distribution of the propellers can influence the stress complexity of the machine vehicle, the motion stability and the motion control difficulty of the machine vehicle, in order to prevent the machine vehicle from moving to deviate or side turning due to unbalanced stress and causing the fact that the machine vehicle cannot stably perform circumferential motion around the submarine pipeline, in order to avoid excessively complex control, the whole gravity of the machine vehicle, the thrust provided by the propellers, the buoyancy and resistance after entering the sea, the supporting force and friction of the pipeline to the machine vehicle and the mechanism position design around the machine vehicle are considered, and the number of the propellers is selected to be two enough to maintain the machine vehicle to be attached to the surface of the submarine pipeline for stable circumferential motion. In order to balance stress and offset counter torque generated by the two propellers in the movement process of the robot, the propellers are symmetrically assembled on the left side and the right side of the vehicle body, the rotation directions of the propellers of the two propellers are opposite, the propeller blade 2 on one side is a positive propeller, the propeller blade 2 on the other side is a negative propeller, and the thrust directions generated by the propellers are the same and all face the center of a pipeline.
The propeller blades 2 of the propeller are similar to the propeller of a ship, propulsion is generated through rotation, so that the robot car can be adsorbed on the surface of a submarine pipeline, the rotation of the propeller blades 2 is divided into forward rotation and reverse rotation, and considering that the thrust is large during the forward rotation, stable wall-attaching movement and accurate detection of the robot car are easy to realize, so that the robot car is manufactured through adopting the forward rotation and 3D printing through adopting plastic materials.
The motor 1 of the propeller is responsible for providing power and transmitting the power to the propeller blades 2 to rotate, so that the propeller is driven to operate, and an underwater motor with corrosion resistance and long service life is adopted, and the rated voltage is 24V.
The housing 3, the bracket 4, the front end cap 5, the rear end cap 6 play an important role in the construction of the propeller. The housing 3 is the outer structure of the propeller and mainly provides protection and support, can accommodate the internal propeller components, can withstand severe environments such as high pressure, and ensures the normal operation of the propeller. The bracket 4 is an internal structure of the propeller, and is used for supporting and fixing each component of the propeller, and has enough strength and rigidity to bear thrust and vibration generated by the propeller, ensure that the propeller keeps stable during operation and prevent dislocation or damage of each component. In addition, the support 4 is designed to be streamline due to the large water resistance, so that the water resistance is reduced, and the propulsion efficiency is improved. The front end cover 5 and the rear end cover 6 are positioned at two ends of the propeller and are also designed into streamline shapes so as to reduce the resistance of water and improve the propelling efficiency. The housing 3, the bracket 4, the front end cap 5, the rear end cap 6 are manufactured by 3D printing using plastic materials.
The control system adopts PWM control, the rotating speed and the direction of the motor 1 are controlled through the electronic speed regulator, the rotating speed and the direction of the propeller blade 2 are controlled, and the thrust passing through the propeller is changed, so that the submarine ultrasonic nondestructive detection wall climbing robot can be firmly adsorbed on the surface of a submarine pipeline, the submarine ultrasonic nondestructive detection wall climbing robot is suitable for the movement of the robot at the positions of different stress conditions on the periphery of the pipeline, the pasting and the falling of the submarine ultrasonic nondestructive detection wall climbing robot and the submarine pipeline can be easily realized, and the stable circumferential movement of the wheel type robot along the submarine pipeline is finally realized. The gravity of the machine vehicle, the supporting force and friction force of the pipeline on the machine vehicle, the buoyancy and resistance of the machine vehicle and the thrust of the propeller are subjected to stress analysis, and the required thrust of the propeller of the machine vehicle at different positions of the pipeline is calculated, so that the propeller can provide proper thrust by setting the rotating speed of the motor, and when the motor stops, the machine vehicle can fall off from the pipeline.
As shown in fig. 4, the ultrasonic nondestructive inspection apparatus includes a pair of TOFD probes 7, a camera 8, a waterproof lamp 9, a hold-down mechanism 10, and a screw movement scanning mechanism 11, which are mounted in front of a vehicle body.
The TOFD probe 7 is a broadband narrow pulse probe which is arranged symmetrically one by one relative to the center line of the weld joint, wherein the transmitting probe generates non-focusing longitudinal wave beams to be incident into a detected workpiece at a certain angle, part of the beams (straight-through waves) are transmitted along the near surface and received by the receiving probe, the other part of the beams are reflected by the bottom surface or diffracted by the defect and then are received by the receiving probe, finally, an A scanning signal is formed, and the phase and the amplitude of the signal are converted into 256-level gray images, so that TOFD-D detection images which can be used for identifying the defect can be obtained, and the number, the position and the size of the defect can be analyzed and determined by a machine vehicle through diffraction signals of the upper end point and the lower end point of the defect and the propagation time difference of the diffraction signals, thereby realizing ultrasonic nondestructive internal defect detection of the submarine pipeline and improving the safety and the reliability of the pipeline.
The camera 8 is used for target recognition, capturing appearance, shape and detail information of a target to be detected (such as a welding seam), providing visual information, helping a worker to locate and evaluate a region to be detected, detecting whether the welding seam is located at the symmetrical center line of the two TOFD probes 7, and if the welding seam deviates from the symmetrical center line of the two TOFD probes 7 when the robot car moves, controlling the screw rod to move and scanning mechanism 11 in real time to adjust the transverse position of the two TOFD probes 7 through information feedback of the camera 8 so that the welding seam is located at the symmetrical center line of the two TOFD probes 7 again. The working environment of the robot car is usually deep sea, the light condition is poor, and the robot car cannot directly observe and detect the robot car by natural light, so the waterproof lamp 9 is used for providing enough illumination, and the camera 8 can obtain clear images. The waterproof lamp 9 can work in an underwater environment and generate illumination with enough brightness, so that the camera 8 can accurately perform target identification, capture clear images and ensure the accuracy and reliability of detection work.
The pressing mechanism 10 and the screw rod moving scanning mechanism 11 are used for adjusting the TOFD probe 7 to a proper position and angle (the double probes are tightly attached to the surface of the submarine pipeline, and the welding seam is also positioned on the symmetrical center line of the two probes), wherein the pressing mechanism 10 can adjust the longitudinal position and the pitching angle of the TOFD probe 7, the screw rod moving scanning mechanism 11 can adjust the transverse position and the pitching angle of the TOFD probe 7, and motor driving and reciprocating screw rod transmission are adopted.
As shown in fig. 10, angle adjusting plates 10-1 are fixed on two sides of a fixed seat 10-8 in a pressing mechanism 10, a rotary guide rail 10-2 is connected to the bottom end of the fixed seat through a hinge, the rotary guide rail 10-2 is fixed with the angle adjusting plate 10-1 through a bolt i, rotation of the fixed seat and the rotary guide rail is limited by tightening the bolt i, and the pitching angle of the probe is changed by adjusting the relative positions of the rotary guide rail 10-2 and the angle adjusting plate 10-1. Firstly, the angle plates of the pressing mechanism 10 and the lead screw moving scanning mechanism 11 are roughly manually adjusted according to the outer diameter of the pipeline to be detected, so that the TOFD probe 7 is excessively attached to the pipe wall, and rough adjustment is completed; when the machine vehicle is adsorbed on the pipe wall through the propeller, the pressing mechanism 10 is subjected to supporting force provided by the pipe wall, so that the probe base 10-7 hinged on the U-shaped block 10-6 is stressed and rotated, and meanwhile, four springs are stressed and deformed to provide pulling force and pushing force, so that the U-shaped block 10-6 is driven to rotate around the bolt II 10-5, the mounting seat 10-4 fixed on the sliding block 10-3 is driven to move along the vertical sliding groove of the rotary guide rail 10-2, the positions of the moving parts are maintained after the four springs are stressed and balanced, and fine adjustment of the positions and angles of the two TOFD probes 7 is completed. Therefore, the two TOFD probes 7 can be tightly attached to the surface of the pipeline all the time in the movement process of the robot car by adopting the springs and the hinges, and the longitudinal position and the pitching angle of the probes are changed. In addition, the elastic force of the spring to each component in the pressing mechanism 10 can still keep the bottom surface of the probe base 10-7 in close contact with the pipeline wall when the robot car encounters the rugged pipeline surface.
As shown in FIG. 5, an integrated servo driving motor 11-1 in a screw moving scanning mechanism 11 drives a driving wheel 11-2 to rotate, so as to drive a cylindrical gear and a driven wheel 11-3 to rotate, the driven wheel 11-3 drives a reciprocating screw 11-4 fixedly connected with the driving wheel to rotate, a screw nut 11-5 is transversely moved through the transmission of the reciprocating screw 11-4, a TOFD probe 7 is assembled in a pressing mechanism 10, a camera 8, a waterproof lamp 9 and two pressing mechanisms 10 are together installed on a bottom plate, and the bottom plate is assembled on the screw nut 11-5, so that the screw moving scanning mechanism 11 can adjust the transverse position of the probe. The scanning connection angle plate 11-6 and the scanning connection base plate 11-7 in the screw rod moving scanning mechanism 11 are connected through a bolt III, a fixing bolt and a graphite copper sleeve bearing 11-8, and rotation of the scanning connection angle plate and the scanning connection base plate is limited by screwing the fixing bolt. In addition, the reciprocating screw rod 11-4 can automatically return to the stroke after the transmission reaches the limit stroke so as to avoid the condition that a motor is damaged due to mechanical clamping, meanwhile, the movable stroke of the screw rod scanning mechanism 11 is 150mm, and the manually adjustable pitching angle is 0-65 degrees so as to facilitate the joint of the double TOFD probe 7 and a pipeline.
As shown in fig. 6 and 7, the movement mechanism includes two sets of wheel driving mechanisms 12 and four wheels 13, the four wheels 13 are symmetrically distributed on the left and right sides of the machine vehicle, are assembled on the wheel driving mechanisms 12 and are provided with tires, and the two sets of wheel driving mechanisms 12 are fixed inside the vehicle body and are isolated from the circuit and the circuit board inside the vehicle body by a shielding cover 14. The wheels 13 serve as traveling members of the robot car, and the wheels are rotated to push the robot car to move on the surface of the submarine pipeline, so that the wheels serve as supporting points at the bottom of the robot car and can provide stable support. Meanwhile, by the contact area of the wheels 13, the robot car can disperse the weight and keep balance, so that stability is kept on the uneven submarine pipeline surface; and the tire with asymmetric patterns can improve the motion stability of the robot car and reduce noise. The driving motor 12-1 in the wheel driving mechanism 12 drives the power gear 12-2 to rotate, so that the gear 12-3, the bevel gear I12-4 and the bevel gear II 12-5 which are positioned on the same cross bar 12-8 with the gear 12-3 are driven to rotate, the bevel gear III 12-6 and the bevel gear IV 12-7 are driven to rotate by transmission, and finally, the two wheels 13 on the same side are driven to rotate.
As shown in fig. 8, the vehicle body is used for placing a wheel driving mechanism 12, a circuit and a circuit board, and is connected with a wheel 13, a propeller and an ultrasonic nondestructive testing device, wherein an upper cover plate 15 is provided with two through holes so that wires of the two propellers are connected to the circuit board in the vehicle body through M8 hollow waterproof sealing screws, and a connector cover plate 16 at the rear end is provided with five holes for installing metal waterproof connectors so that wires of two TOFD probes 7, a camera 8, a waterproof lamp 9 and an external power supply are connected to the circuit board through and. The car body is provided with a groove for installing a sealing ring so as to meet the tightness, an internal motor, a circuit and a circuit board can be prevented from being damaged when meeting water, and the sealing among the screw rod moving scanning mechanism 11, the car axle end cover, the upper cover plate 15, the connector cover plate 16 and the car lower shell 17 adopts a nitrile rubber sealing ring, and the dynamic sealing at the car axle adopts a framework oil sealing ring.
In specific implementation, the machine vehicle can be suitable for submarine pipelines with pipe diameters of more than or equal to 400 mm.
Example 1:
as shown in fig. 9, the submarine ultrasonic nondestructive testing wall climbing robot absorbed by the whole propeller is connected with a 24V power supply, and under the control of a 12V circuit board, the two propellers symmetrically distributed on the left side and the right side of the vehicle body generate thrust so as to be firmly absorbed on the outer surface of a submarine pipeline, and the wheels 13 rotate at a uniform speed to perform stable circular motion.
In the motion process, the thrust of the propeller can be properly adjusted according to the stress conditions of the machine vehicle on different positions of the outer surface of the submarine pipeline, namely, the rotating speed of the motor 1 of the propeller is adjusted, so that the machine vehicle is prevented from being excessively attached to or slightly separated from the outer surface of the submarine pipeline in certain motion sections, stable motion and accurate detection of the machine vehicle are realized, and energy consumption is saved.
In the moving process, the robot car tests and detects through a wideband narrow pulse TOFD probe 7 which is symmetrically arranged relative to the center line of the weld joint, wherein the transmitting probe generates a non-focusing longitudinal wave beam, the non-focusing longitudinal wave beam is made to enter a detected workpiece at a certain angle, part of the beam (straight wave) propagates along the near surface and is received by the receiving probe, the other part of the beam is reflected by the bottom surface or diffracted by the defect and is received by the receiving probe, finally an A scanning signal is formed, the phase and the amplitude of the signal are converted into 256-level gray images, and TOFD-D detection images which can be used for identifying the defect can be obtained.
In the detection process, under the assistance of illumination of the waterproof lamp 9, the camera 8 can perform target recognition, capture appearance, shape and detail information of a target to be detected (such as a welding line), provide visual information and help staff to position and evaluate the region to be detected.
In addition, the hold-down mechanism 10 can adjust the longitudinal position and the pitching angle of the TOFD probe 7, and the screw rod moving scanning mechanism 11 can adjust the transverse position and the pitching angle of the TOFD probe 7, so that the double probes are tightly attached to the surface of the submarine pipeline, and the welding seam is also positioned on the symmetrical center line of the two probes.
Example 2:
based on embodiment 1, in the motion detection process, according to the task requirement and the detection efficiency requirement (the detection time for realizing single scanning is not more than 5 minutes, the detection resolution is better than 2mm, the detection accuracy reaches 100%, and the like), the thrust of the propeller of the machine vehicle, the rotation speed of the wheels 13, the compacting mechanism 10 and the lead screw moving scanning mechanism 11 are adjusted, and the motion speed, the stability and the fitting degree of the TOFD probe 7 and the outer surface of the submarine pipeline are changed.
Example 3:
on the basis of embodiment 1, if the mother machine (carrier of the ultrasonic non-destructive detection wall climbing robot on the seabed adsorbed by the propeller) needs to grab and recover the robot, the problem that the underwater robot based on the magnetic adsorption motion is difficult to grab and recover because the magnetic adsorption effect is too strong is distinguished from the problem that the ultrasonic non-destructive detection wall climbing robot on the seabed adsorbed by the propeller can be easily recovered only by controlling the propeller and the wheels 13 to stop moving, and the 6 screw holes above the upper cover plate 15 can be used for assembling special accessories such as lifting hooks so as to realize special functions for grabbing the robot by the mother machine.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit of the invention.
Claims (10)
1. The submarine ultrasonic nondestructive detection wall climbing robot car adsorbed by the propeller is characterized by comprising a car body, and the propeller, an ultrasonic nondestructive detection device and a movement mechanism which are arranged on the car body; the vehicle body is controlled to move circumferentially around the submarine pipeline through the movement mechanism; the two sides of the vehicle body are symmetrically provided with propellers for adsorbing the vehicle body on the surface of a submarine pipeline; the ultrasonic nondestructive testing device is arranged on the front side of the vehicle body and used for detecting defects of submarine pipelines.
2. The submarine ultrasonic nondestructive testing wall climbing robot adsorbed by the propeller according to claim 1, wherein the propeller comprises a control system, a shell (3) and a propeller inner structure, the inner structure comprises a motor (1), a blade (2), a front end cover (5) and a rear end cover (6), the propeller inner structure is supported and fixed in the shell (3) through a bracket (4), and the front end cover (5) and the rear end cover (6) which are in streamline structures are arranged at the upper end and the lower end of the propeller;
the blades (2) are circumferentially arranged and coaxially arranged with the motor (1), the blades (2) are propeller blades, the rotation directions of the propeller blades of the two side propellers are opposite, the blade (2) of one side propeller is a positive propeller, the blade (2) of the other side propeller is a negative propeller, and the thrust directions generated by the two side propellers are the same and all face the center of a pipeline;
the motor (1) drives the blade (2) to rotate and generate thrust, so that the robot car is adsorbed on the surface of the submarine pipeline.
3. The submarine ultrasonic nondestructive testing wall climbing robot adsorbed by the propeller according to claim 2, wherein the control system adopts PWM control, and the rotating speed and the rotating direction of a propeller motor (1) are controlled through an electronic speed regulator, so that the rotating speed and the rotating direction of propeller blades (2) are controlled, the thrust of the propeller is changed, the robot is adsorbed on the surface of a submarine pipeline, and the robot is adapted to the movement of the robot at different positions on the peripheral periphery of the pipeline;
the thrust of the propeller is obtained by the following method: and carrying out stress analysis on the gravity of the machine vehicle, the supporting force and friction force of the pipeline on the machine vehicle, the buoyancy and resistance of the machine vehicle and the thrust of the propeller, and calculating to obtain the required thrust of the propeller when the machine vehicle is at different positions of the pipeline.
4. The propeller-adsorbed seabed ultrasonic nondestructive testing wall climbing robot vehicle is characterized in that the ultrasonic nondestructive testing device comprises a pair of TOFD probes (7), a camera (8), a waterproof lamp (9), a pressing mechanism (10) and a screw rod moving scanning mechanism (11), wherein two pressing mechanisms (10) and a camera mounting seat are arranged at the front part of the screw rod moving scanning mechanism (11) through a bottom plate, the camera mounting seat is fixed in the middle of the bottom plate, and the two pressing mechanisms (10) are fixed on two sides of the bottom plate; each pressing mechanism (10) is provided with a TOFD probe (7), and a camera (8) and a waterproof lamp (9) are arranged between the pair of TOFD probes (7) through a camera mounting seat; the pair of TOFD probes (7) are broadband narrow pulse probes which are symmetrically arranged one by one relative to the central line of the weld joint;
the longitudinal position and the pitching angle of the TOFD probe (7) are adjusted through the pressing mechanism (10), and the transverse position and the pitching angle of the TOFD probe (7) are adjusted through the screw rod moving scanning mechanism (11), so that the welding seam of the submarine pipeline is positioned on the symmetrical center line of the double probes, and the double probes are tightly attached to the surface of the submarine pipeline.
5. The propeller-adsorbed seabed ultrasonic nondestructive testing wall climbing robot vehicle is characterized in that the pressing mechanism comprises an angle adjusting plate (10-1), a rotary guide rail (10-2), a sliding block (10-3), a mounting seat (10-4), a bolt II (10-5), a U-shaped block (10-6), a probe base (10-7) and a fixing seat (10-8); the two sides of the fixed seat (10-8) are fixed with angle adjusting plates (10-1), and the bottom end is connected with a rotary guide rail (10-2) through a hinge; an arc groove is formed in the angle adjusting plate (10-1), and two bolts I respectively penetrate through the arc grooves of the angle adjusting plates (10-1) at two sides and extend into bolt holes formed in two sides of the rotary guide rail (10-2); the rotary guide rail (10-2) is provided with a vertical chute, the back of the mounting seat (10-4) is provided with a sliding block (10-3) sliding along the vertical chute, the front part of the mounting seat (10-4) is connected with a U-shaped block (10-6) through a bolt II (10-5), the U-shaped block (10-6) is connected with the probe base (10-7) through a hinge, and the probe base (10-7) is used for mounting a TOFD probe (7);
two sides of the sliding block (10-3) are connected to two sides of the rotary guide rail (10-2) through two springs, and a vertical spring for providing buffer elasticity for the U-shaped block (10-6) in the vertical direction is arranged between the U-shaped block (10-6) and the mounting seat (10-4).
6. The propeller-adsorbed seabed ultrasonic nondestructive testing wall climbing robot vehicle is characterized in that the screw rod moving scanning mechanism (11) comprises a scanning installation seat, an integrated servo driving motor (11-1), a driving wheel (11-2), a driven wheel (11-3), a reciprocating screw rod (11-4), a screw rod nut (11-5), a scanning connection angle plate (11-6), a scanning connection bottom plate (11-7) and a graphite copper sleeve bearing (11-8);
an output shaft of the integrated servo driving motor (11-1) is connected with the driving wheel (11-2), a lead screw nut (11-5) is arranged on the reciprocating lead screw (11-4), one end of the reciprocating lead screw (11-4) is connected with the driven wheel (11-3), and the driven wheel (11-3) and the driving wheel (11-2) are meshed and driven through another cylindrical gear; a bottom plate for installing the pressing mechanism (10) and the camera installing seat is fixed on the screw nut (11-5);
two ends of the reciprocating screw rod (11-4) are respectively connected to the scanning connecting bottom plates (11-7) at two sides of the scanning installation seat through scanning connecting angle plates (11-6), and the scanning connecting angle plates (11-6) are hinged with the scanning connecting bottom plates (11-7) through graphite copper sleeve bearings (11-8); an arc-shaped groove is formed in the scanning connection bottom plate (11-7), and a bolt III sliding along the arc-shaped groove is arranged on the scanning connection angle plate (11-6); the pitching angles of the bottom plates on the screw nuts (11-5) are adjusted by rotating the scanning connection angle plate (11-6) around the scanning connection bottom plate (11-7), so that the pitching angles of the two TOFD probes (7) are changed.
7. The propeller-adsorbed seabed ultrasonic nondestructive inspection wall climbing robot vehicle according to claim 4, wherein the vehicle body is used for placing a wheel driving mechanism (12), a circuit and a circuit board, and isolating the wheel driving mechanism (12) from the circuit and the circuit board through a shielding cover (14); the electric wires of the two TOFD probes (7), the camera (8), the waterproof lamp (9) and the external power supply penetrate through the metal waterproof joint at the rear end of the vehicle body and are connected to the circuit board in the vehicle body, the electric wires of the two propellers penetrate through the two hollow waterproof sealing screws at the top of the vehicle body respectively and are connected to the circuit board in the vehicle body, and the two hollow waterproof sealing screws are installed in the two protruding through holes formed in the top of the vehicle body respectively.
8. The propeller-adsorbed seabed ultrasonic nondestructive testing wall climbing robot vehicle is characterized in that the motion mechanism comprises four wheels (13) and two sets of wheel driving mechanisms (12), the four wheels (13) are symmetrically distributed on the left side and the right side of the vehicle body, and the two sets of wheel driving mechanisms (12) are fixed in the vehicle body and are used for driving the wheels (13) on the two sides of the vehicle body respectively;
the wheel driving mechanism (12) comprises a driving motor (12-1), a power gear (12-2), a gear (12-3), a bevel gear I (12-4), a bevel gear II (12-5), a bevel gear III (12-6), a bevel gear IV (12-7) and a cross rod (12-8), wherein the bevel gear III (12-6) and the bevel gear IV (12-7) are respectively coaxially connected with two wheels (13) on the same side, the gear (12-3), the bevel gear I (12-4) and the bevel gear II (12-5) are fixed on the cross rod (12-8), the bevel gear I (12-4) and the bevel gear II (12-5) are respectively meshed with the bevel gear III (12-6) and the bevel gear IV (12-7), an output shaft of the driving motor (12-1) is connected with the power gear (12-2), and the power gear (12-2) is meshed with the gear (12-3) on the cross rod (12-8).
A driving motor (12-1) in a wheel driving mechanism (12) drives a power gear (12-2) to rotate, so that a gear (12-3) and a bevel gear I (12-4) and a bevel gear II (12-5) which are positioned on the same cross rod (12-8) with the gear (12-3) are driven to rotate, and then transmission is carried out to enable a bevel gear III (12-6) and a bevel gear IV (12-7) to rotate, and finally two wheels (13) on the same side are driven to rotate.
9. A method for ultrasonic non-destructive inspection of the sea floor of a wall climbing robot according to any one of claims 1 to 8, characterized in that,
firstly, manually adjusting an angle plate of a pressing mechanism (10) and a lead screw moving scanning mechanism (11) according to the outer diameter of a pipeline to be detected to enable a TOFD probe (7) to be excessively attached to the pipe wall, and completing rough adjustment; when the machine vehicle is adsorbed on the pipe wall through the propeller, the pressing mechanism (10) receives the supporting force provided by the pipe wall, so that the probe base (10-7) hinged on the U-shaped block (10-6) is stressed and rotated, and simultaneously four springs are stressed and deformed to provide tensile force and thrust force, thereby driving the U-shaped block (10-6) to rotate around the bolt II (10-5), driving the mounting seat (10-4) fixed on the sliding block (10-3) to move along the vertical sliding groove of the rotary guide rail (10-2) until the springs are stressed and balanced to stop moving, and finishing fine adjustment of the positions and angles of the two TOFD probes (7) so that the probes are tightly attached to the curved surface of the pipe wall; the bottom surface of the probe base (10-7) is kept tightly attached to the pipeline wall all the time in the moving process of the machine vehicle by the elasticity of the spring to each part in the pressing mechanism (10);
then controlling the robot car to move around the surface of the submarine pipeline through the movement mechanism, and controlling the thrust of the propeller through the control system at the same time, so that the robot car is adsorbed on the surface of the submarine pipeline in the movement process; the thrust of the propeller is controlled to adapt to the movement of the robot car at different positions on the periphery of the circumferential direction of the pipeline, the attachment and the falling off of the robot car and the submarine pipeline are realized, and the stable circumferential movement of the robot car along the submarine pipeline is finally realized;
in the motion process, real-time detection is carried out on a submarine pipeline through a TOFD probe (7), a non-focusing longitudinal wave beam generated by a transmitting probe in the TOFD probe (7) is incident into a detected workpiece, part of the beam propagates along the near surface and is received by a receiving probe in the TOFD probe (7), the other part of the beam is received by the receiving probe after being reflected by the bottom surface or diffracted by the defect, finally an A scanning signal is formed, and then the phase and the amplitude of the signal are converted into 256-level gray images, so that a TOFD-D detection image for identifying the defect is obtained; determining the number, the position and the size of the defects through diffraction signals of upper and lower endpoints of the defects and propagation time difference analysis thereof, thereby realizing ultrasonic nondestructive internal defect detection of submarine pipelines;
in the detection process, the camera (8) performs target recognition under the assistance of illumination of the waterproof lamp (9) so as to capture visual information of the welding line on the submarine pipeline.
10. The seabed ultrasonic nondestructive testing method according to claim 9, wherein in the testing process, whether the welding seam is located at the symmetrical center line of the two TOFD probes (7) is monitored in real time, when the condition that the welding seam deviates from the symmetrical center line of the two TOFD probes (7) occurs during the movement of the robot car, the transverse position of the two TOFD probes (7) is adjusted in real time through controlling a screw rod moving scanning mechanism (11) after information feedback of a camera (8) is carried out, so that the welding seam is located at the symmetrical center line of the two TOFD probes (7).
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