CN219552339U - Wall climbing phased array flaw detection robot - Google Patents
Wall climbing phased array flaw detection robot Download PDFInfo
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- CN219552339U CN219552339U CN202320310997.5U CN202320310997U CN219552339U CN 219552339 U CN219552339 U CN 219552339U CN 202320310997 U CN202320310997 U CN 202320310997U CN 219552339 U CN219552339 U CN 219552339U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The utility model relates to a wall-climbing phased array flaw detection robot which comprises a traveling device, a scanning frame and a lifting device, wherein the traveling device is arranged on the scanning frame; the walking device is connected with a phased array ultrasonic flaw detector; the scanning frame comprises a cross beam and a detection assembly, the detection assembly comprises a first detection support and a second detection support, the first detection support and the second detection support are both connected to the cross beam in a sliding manner, phased array probes are connected to the first detection support and the second detection support, and the phased array probes of the first detection support and the second detection support are respectively positioned on two sides of a welding line; the lifting device is connected between the walking device and the scanning frame and is used for driving the scanning frame to lift. The utility model can flexibly adjust the flaw detection attitude, has higher detection reliability and greatly improves the detection efficiency of the flaw detection robot.
Description
Technical Field
The utility model relates to the technical field of nondestructive testing and robots, in particular to a wall climbing phased array flaw detection robot.
Background
In order to ensure safety in use, it is necessary for some important equipment to perform nondestructive inspection of the structure, both in the manufacturing stage and in the service stage. For some equipment which enters an aging stage, although the equipment can still continue to be in service from the aspects of mechanical performance and appearance, flaw detection is required to be carried out on the equipment at regular intervals, and especially for heavy equipment in the fields of ocean engineering, ships, wind power, port machinery, nuclear power, chemical industry and the like, the detection is required to be enhanced to avoid potential safety hazards. At present, a manual sampling inspection mode is generally adopted for nondestructive inspection of structural welding seams, and the mode needs to consume large labor intensity and has large danger, so that the wall-climbing flaw detection robot can be adopted to replace manual nondestructive inspection in various severe environments in the prior art to avoid the problem, and automatic full inspection is realized. The existing automatic ultrasonic welding seam detection device has the defects of complex structure, low detection efficiency, high requirements on detection technology and the like, and the wall-climbing phased array flaw detection robot can effectively solve the defects.
However, the existing wall climbing flaw detection robot is inconvenient to adjust flaw detection postures, has low detection reliability, cannot be well suitable for flaw detection of long weld joints at various spatial positions of a large structure, and influences detection effects.
Disclosure of Invention
Therefore, the utility model aims to solve the technical problems that the wall climbing flaw detection robot in the prior art is inconvenient to adjust flaw detection postures and has lower detection reliability.
In order to solve the technical problems, the utility model provides a wall-climbing phased array flaw detection robot, which comprises,
the walking device is connected with a phased array ultrasonic flaw detector;
the scanning frame comprises a cross beam and a detection assembly, the detection assembly comprises a first detection support and a second detection support, the first detection support and the second detection support are both connected onto the cross beam in a sliding manner, phased array probes are connected onto the first detection support and the second detection support, and the phased array probes of the first detection support and the second detection support are respectively positioned on two sides of a welding line;
the lifting device is connected between the walking device and the scanning frame and used for driving the scanning frame to lift.
In one embodiment of the utility model, the lifting device comprises a guide frame, a sliding table is slidably connected to the guide frame, the sliding table is connected with the scanning frame, and the sliding table is driven to lift by a screw nut transmission mechanism.
In one embodiment of the utility model, the first detection support and the second detection support each comprise an adjusting component, the upper part of the adjusting component is slidably connected to the cross beam, the lower part of the adjusting component is hinged with a retainer through a first hinge shaft, the retainer is hinged with the phased array probe through a second hinge shaft, and the axes of the first hinge shaft and the second hinge shaft are perpendicular.
In one embodiment of the utility model, the adjusting assembly comprises a horizontal sliding piece which is slidably connected to the cross beam, a vertical sliding rail is arranged on the horizontal sliding piece, an adjusting seat is slidably connected to the vertical sliding rail, the adjusting seat is connected with a vertical rod through an elastic element, and the vertical rod is hinged with the retainer through a first hinge shaft.
In one embodiment of the utility model, a laser indicator is also connected to the scanning frame.
In one embodiment of the utility model, the scanning frame comprises at least two cross beams which are parallel to each other, and each cross beam is connected with a detection assembly.
In one embodiment of the utility model, a visual weld tracker is also connected to the running gear.
In one embodiment of the utility model, the traveling device comprises a frame, a torsion shaft is connected to the bottom of the frame, one end of the torsion shaft is rotatably connected with a front chassis, the other end of the torsion shaft is rotatably connected with a rear chassis, wheels are connected to two sides of the front chassis, and wheels are connected to two sides of the rear chassis.
In one embodiment of the utility model, the front chassis and the rear chassis are connected with magnet pieces.
In one embodiment of the utility model, the wheels are each connected to a drive motor via a harmonic gear reducer.
Compared with the prior art, the technical scheme of the utility model has the following advantages:
the wall-climbing phased array flaw detection robot can flexibly adjust flaw detection postures, has higher detection reliability, greatly improves the detection efficiency of the flaw detection robot, and can be suitable for flaw detection of welding seams in different structural spaces.
Drawings
In order that the utility model may be more readily understood, a more particular description of the utility model will be rendered by reference to specific embodiments thereof that are illustrated in the appended drawings.
FIG. 1 is a front view of a wall-climbing phased array inspection robot of the present utility model;
FIG. 2 is a bottom view of the wall-climbing phased array inspection robot shown in FIG. 1;
FIG. 3 is a top view of the wall-climbing phased array inspection robot shown in FIG. 1;
FIG. 4 is a left side view of the wall-climbing phased array inspection robot shown in FIG. 1;
FIG. 5 is an isometric view of the wall-climbing phased array inspection robot shown in FIG. 1;
FIG. 6 is another angular isometric view of the wall-climbing phased array inspection robot shown in FIG. 1;
FIG. 7 is a schematic diagram of a flaw detection of the wall climbing phased array flaw detection robot shown in FIG. 1;
FIG. 8 is an enlarged partial schematic view at M in FIG. 7;
FIG. 9 is a schematic view of the assembly of the beam and probe assembly of FIG. 2;
FIG. 10 is a schematic view of the structure of FIG. 9 at another angle;
description of the specification reference numerals: 1. a walking device; 11. a frame; 12. a torsion shaft; 13. a front chassis; 14. a rear chassis; 15. a wheel; 16. a harmonic gear reducer; 17. a magnet member; 2. a scanning frame; 21. a cross beam; 22. a first detection support; 221. an adjustment assembly; 2211. a horizontal slip member; 2212. an adjusting seat; 2213. an elastic element; 2214. a vertical rod; 222. a first hinge shaft; 223. a retainer; 224. a second hinge shaft; 23. a second detection support; 24. a phased array probe; 25. a laser pointer; 3. lifting devices; 31. a guide frame; 32. a sliding table; 4. phased array ultrasonic flaw detector; 5. a visual weld tracker; 6. a safety protection component; 7. a lighting device; 8. an ultrasonic beam; 9. welding seams; 10. a workpiece.
Detailed Description
The present utility model will be further described with reference to the accompanying drawings and specific examples, which are not intended to be limiting, so that those skilled in the art will better understand the utility model and practice it.
Referring to fig. 1 to 3, the embodiment discloses a wall-climbing phased array flaw detection robot, which comprises a traveling device 1, a scanning frame 2 and a lifting device 3;
the walking device 1 is connected with a phased array ultrasonic flaw detector 4; the walking device 1 is used for driving the whole robot to walk;
the scanning frame 2 comprises a cross beam 21 and a detection assembly, the detection assembly comprises a first detection support 22 and a second detection support 23, the first detection support 22 and the second detection support 23 are both connected to the cross beam 21 in a sliding manner, phased array probes 24 are connected to the first detection support 22 and the second detection support 23, and the phased array probes 24 of the first detection support 22 and the second detection support 23 are respectively positioned on two sides of a welding line;
the lifting device 3 is connected between the walking device 1 and the scanning frame 2, and the lifting device 3 is used for driving the scanning frame 2 to lift.
The phased array ultrasonic flaw detector 4 is used for controlling the phased array probe 24 to emit ultrasonic signals to the welding seam, receiving the reflected ultrasonic signals and analyzing the time difference of the emitted ultrasonic signals and the received ultrasonic signals to obtain the damage condition inside the welding seam; the phased array ultrasonic flaw detection can realize full coverage of ultrasonic waves to the section of the weld joint through a focusing rule, and has higher detection flexibility, detection precision and reliability.
In the above structure, as shown in fig. 7 to 8, phased array probes 24 of the first detection support 22 and the second detection support 23 are respectively disposed at two sides of the weld seam 9 of the workpiece 10, so that the ultrasonic beam 8 can be emitted from two sides to the same weld seam 9, the coverage range of the ultrasonic wave to the weld seam 9 can be improved, the detection reliability is improved, and meanwhile, the oblique emission of the ultrasonic wave to the weld seam 9 is facilitated, so that the detection rate of transverse defects is improved. The first detection bracket 22 and the second detection bracket 23 are both connected on the beam 21 in a sliding manner, so that the adjustment of the horizontal position of the phased array probe 24 can be realized; the lifting device 3 can drive the scanning frame 2 to lift so as to adapt to the space structures of different devices, facilitate obstacle surmounting or obstacle avoidance actions, and adapt to the flaw detection of the welding seams 9 at different positions, thereby improving the flaw detection efficiency of the complex structure.
Further, the phased array probes 24 of the first detecting support 22 and the second detecting support 23 are symmetrically arranged on two sides of the welding line 9, so that flaw detection effect is better guaranteed.
In one embodiment, the lifting device 3 comprises a guide frame 31, a sliding table 32 is slidably connected to the guide frame 31, the sliding table 32 is connected with the scanning frame 2, and the sliding table 32 is driven to lift by a screw nut transmission mechanism so as to ensure the lifting precision and lifting stability of the scanning frame 2. When flaw detection is finished or the probe is about to cross an obstacle on the surface of a workpiece, the scanning frame 2 can be lifted by the lifting device 3, and the travelling device 1 can rapidly and freely move.
In one embodiment, as shown in fig. 9-10, the first probe holder 22 and the second probe holder 23 each include an adjustment assembly 221, the upper portion of the adjustment assembly 221 is slidably connected to the beam 21, the lower portion is hinged to the holder 223 by a first hinge shaft 222, the holder 223 is hinged to the phased array probe 24 by a second hinge shaft 224, and the axes of the first hinge shaft 222 and the second hinge shaft 224 are perpendicular.
Through the design of the first hinge shaft 222 and the second hinge shaft 224 in different directions, the phased array probe 24 can rotate transversely and longitudinally, the degree of freedom is improved, the adjustment flexibility of the probe and the adaptability of different workpiece surfaces are improved, and the probe can be closely attached to workpieces in different surface states.
In one embodiment, the adjusting assembly 221 includes a horizontal sliding member 2211, the horizontal sliding member 2211 is slidably connected to the cross beam 21, a vertical sliding rail is provided on the horizontal sliding member 2211, an adjusting seat 2212 is slidably connected to the vertical sliding rail, the adjusting seat 2212 is connected to the upright 2214 through an elastic element 2213, and a lower portion of the upright 2214 is hinged to the retainer 223 through a first hinge shaft 222.
The vertical sliding rail can adopt a dovetail sliding rail.
The horizontal position of the corresponding detection bracket can be adjusted by sliding the horizontal sliding piece 2211 along the cross beam 21, and the height of the corresponding detection bracket can be adjusted by moving the adjusting seat 2212 along the vertical sliding rail; in addition, the elastic element 2213 can provide a certain downward pressure for the upright 2214, so that the phased array probe 24 can be better pressed on the workpiece surface, and a sufficient contact force between the probe and the workpiece surface is ensured all the time.
It can be appreciated that after the position adjustment of the horizontal sliding member 2211 and the adjusting seat 2212 is finished, the horizontal sliding member 2211 and the adjusting seat 2212 can be locked and fixed by using locking bolts to prevent the movement during the flaw detection process.
In one embodiment, the phased array probe 24 is connected with a couplant filling hole so as to fill the couplant between the phased array probe 24 and the surface of the workpiece, thereby ensuring effective coupling between the phased array probe 24 and the surface of the workpiece, and further ensuring effective emission of ultrasonic waves and accurate and complete flaw detection data acquisition.
In one embodiment, the scanning frame 2 is further connected with a laser indicator 25 for emitting laser to the center of the welding seam to play a role of marking a line, so that a human eye can observe whether the welding seam 9 is deviated relative to the position of the frame 11, and an auxiliary observation effect is played.
In one embodiment, as shown in fig. 5, the scanning frame 2 includes at least two beams 21 parallel to each other, and a detection assembly is connected to each beam 21 to enhance the detection effect.
It will be appreciated that different types of probes may be mounted on the probe holders on different beams 21, for example, a phased array probe 24 may be mounted on the probe holder on one beam 21, and a TOFD (time of flight diffraction method, time Of Flight Diffraction) probe may be mounted on the probe holder on the other beam 21, so as to combine different flaw detection devices for further improving flaw detection accuracy.
In one embodiment, as shown in fig. 1 and 6, a visual weld tracker 5 is further connected to the running device 1, the visual weld tracker 5 is a device for performing weld recognition by adopting a laser and visual combination mode, a line laser is used for irradiating laser on a target weld to obtain a clear weld surface profile, then a visual sensor is used for collecting a profile image, and three-dimensional spatial position information of the weld is obtained through a recognition algorithm, so that the position of the weld is detected in real time. By arranging the visual weld tracker 5, the weld joint is tracked in the flaw detection process, the relative position between the travelling device 1 and the weld joint is prevented from being greatly deviated, and the correction is convenient in time.
Further, the visual weld tracker 5 may be a binocular visual weld tracker, which includes two image acquisition devices respectively disposed on two sides of the weld, and the two image acquisition devices acquire the weld image, so that the position of the weld can be determined more accurately.
In one embodiment, the running gear 1 comprises a frame 11, a torsion shaft 12 is connected to the bottom of the frame 11, a front chassis 13 is rotatably connected to one end of the torsion shaft 12, a rear chassis 14 is rotatably connected to the other end of the torsion shaft, wheels 15 are connected to two sides of the front chassis 13, and wheels 15 are connected to two sides of the rear chassis 14. Through the structure, the front chassis 13 and the rear chassis 14 can drive the respective wheels to swing to a certain extent, so that the front chassis and the rear chassis are suitable for different wall conditions.
In one embodiment, the front chassis 13 and the rear chassis 14 are both connected with a magnet member 17 to adsorb the crawling wall surface, so as to ensure the running stability of the running gear 1.
Specifically, the magnet pieces 17 on the front chassis 13 and the rear chassis 14 are arranged in a linear array, the total adsorption force can reach 200KG, and the distance between the magnet pieces 17 and the surface of the workpiece is 8mm. The strong adsorption force can lead the running gear 1 to carry no more than 50kg of load to creep on the vertical plane or the top surface for flaw detection.
In one embodiment, as shown in fig. 4, the wheels 15 are each connected to a drive motor through a harmonic gear reducer 16 to drive the wheels 15 to rotate. The harmonic gear reducer 16 has high transmission efficiency, stable motion and larger transmission speed ratio, and can accurately control speed, position and moment.
The harmonic gear reducer 16 itself may be configured with a hollow incremental encoder to accurately record the location of a defect when the defect is found.
The maximum load of the robot in the embodiment is 50KG, the low-speed walking speed is 2.5m/min in the detection mode, the high-speed walking is performed in the non-detection mode, and the walking maximum speed is 15m/min.
In one embodiment, the running gear 1 may also be connected with a lighting device 7.
In one embodiment, the walking device 1 may be further connected with a safety protection component 6, where the safety protection component 6 includes an audible and visual alarm, an environmental monitoring camera, an ultrasonic collision avoidance sensor, and the like, and when the environmental monitoring camera or the ultrasonic collision avoidance sensor detects that the distance between the robot and the surrounding barrier reaches a safety threshold, the audible and visual alarm is controlled to send out an alarm signal, and the vehicle is decelerated and stopped.
The motion control system of the robot in the above embodiment is located outside the robot, is connected with the robot through a cable, and can comprise a singlechip, a control algorithm, a display terminal, an operation handle and the like, walking, steering, bracket lifting and couplant filling of the flaw detection robot are realized through corresponding control programs and algorithms, whether the robot is centered with a welding seam or not is automatically judged according to welding seam information acquired by the visual welding seam tracker 5, and if the centering deviation exceeds an allowable value, the correction of a vehicle body is realized through controlling the rotation speed of wheels.
The following specifically describes a method of using the robot of the above embodiment:
before flaw detection, the position of the welding seam 9 can be detected by the visual seam tracker 5, then the positions of the first detection support 22 and the second detection support 23 on the cross beam 21 are adjusted according to detection results, so that phased array probes 24 of the first detection support 22 and the second detection support 23 are respectively positioned on two sides of the welding seam 9, the height and the angle of the phased array probes 24 can be adjusted to adapt to the surface of a workpiece, after the adjustment is finished, a robot is driven to move along the length direction of the welding seam 9, and the phased array ultrasonic flaw detector 4 is started, so that the phased array probes 24 emit ultrasonic signals to the welding seam 9 to detect the welding seam flaw.
It can be understood that during the flaw detection process, the visual weld tracker 5 also maintains a detection state so as to detect and track the weld position in real time, and avoid the large deflection of the walking track of the walking device 1 and the weld.
The wall-climbing phased array flaw detection robot of the embodiment can flexibly adjust flaw detection postures, has higher detection reliability, greatly improves the detection efficiency of the flaw detection robot, and can be suitable for flaw detection of welding seams in different structural spaces.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations and modifications of the present utility model will be apparent to those of ordinary skill in the art in light of the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. And obvious variations or modifications thereof are contemplated as falling within the scope of the present utility model.
Claims (10)
1. The utility model provides a wall climbing phased array flaw detection robot which characterized in that: comprising the steps of (a) a step of,
the walking device is connected with a phased array ultrasonic flaw detector;
the scanning frame comprises a cross beam and a detection assembly, the detection assembly comprises a first detection support and a second detection support, the first detection support and the second detection support are both connected onto the cross beam in a sliding manner, phased array probes are connected onto the first detection support and the second detection support, and the phased array probes of the first detection support and the second detection support are respectively positioned on two sides of a welding line;
the lifting device is connected between the walking device and the scanning frame and used for driving the scanning frame to lift.
2. The wall-climbing phased array inspection robot of claim 1, wherein: the lifting device comprises a guide frame, a sliding table is slidably connected to the guide frame, the sliding table is connected with the scanning frame, and the sliding table is driven to lift by a screw nut transmission mechanism.
3. The wall-climbing phased array inspection robot of claim 1, wherein: the first detection support and the second detection support comprise adjusting components, the upper parts of the adjusting components are slidably connected to the cross beam, the lower parts of the adjusting components are hinged to the retainer through a first hinge shaft, the retainer is hinged to the phased array probe through a second hinge shaft, and the axes of the first hinge shaft and the second hinge shaft are perpendicular to each other.
4. A wall-climbing phased array inspection robot according to claim 3, wherein: the adjusting assembly comprises a horizontal sliding piece, the horizontal sliding piece is slidably connected to the cross beam, a vertical sliding rail is arranged on the horizontal sliding piece, an adjusting seat is slidably connected to the vertical sliding rail, the adjusting seat is connected with a vertical rod through an elastic element, and the vertical rod is hinged to a retainer through a first hinge shaft.
5. The wall-climbing phased array inspection robot of claim 1, wherein: and the scanning frame is also connected with a laser indicator.
6. The wall-climbing phased array inspection robot of claim 1, wherein: the scanning frame comprises at least two cross beams which are parallel to each other, and each cross beam is connected with a detection assembly.
7. The wall-climbing phased array inspection robot of claim 1, wherein: and the walking device is also connected with a visual weld tracker.
8. The wall-climbing phased array inspection robot of claim 1, wherein: the walking device comprises a frame, the bottom of the frame is connected with a torsion shaft, one end of the torsion shaft is rotatably connected with a front chassis, the other end of the torsion shaft is rotatably connected with a rear chassis, wheels are connected to two sides of the front chassis, and wheels are connected to two sides of the rear chassis.
9. The wall-climbing phased array inspection robot of claim 8, wherein: the front chassis and the rear chassis are connected with magnet pieces.
10. The wall-climbing phased array inspection robot of claim 8, wherein: the wheels are connected with the driving motor through the harmonic gear reducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320310997.5U CN219552339U (en) | 2023-02-24 | 2023-02-24 | Wall climbing phased array flaw detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320310997.5U CN219552339U (en) | 2023-02-24 | 2023-02-24 | Wall climbing phased array flaw detection robot |
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| Publication Number | Publication Date |
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| CN219552339U true CN219552339U (en) | 2023-08-18 |
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| CN202320310997.5U Active CN219552339U (en) | 2023-02-24 | 2023-02-24 | Wall climbing phased array flaw detection robot |
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| CN (1) | CN219552339U (en) |
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- 2023-02-24 CN CN202320310997.5U patent/CN219552339U/en active Active
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