CN2616346Y - Ultrasonic checking job robot system - Google Patents
Ultrasonic checking job robot system Download PDFInfo
- Publication number
- CN2616346Y CN2616346Y CN 03228489 CN03228489U CN2616346Y CN 2616346 Y CN2616346 Y CN 2616346Y CN 03228489 CN03228489 CN 03228489 CN 03228489 U CN03228489 U CN 03228489U CN 2616346 Y CN2616346 Y CN 2616346Y
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- liquid
- coupling liquid
- robot body
- ultrasound examination
- work machine
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Abstract
A supersonic detect operating robot system comprises a robot body (3) which is a control system (1) for controlling the robot body to move or locate, a coupling liquid autocycle system (2) which provides the coupling liquid needed in the working to the robot body (3), and a driving track (4) which guides the robot body (3) to move. If the size of the operating robot system is properly reduced or enlarged in the mechanical architecture or the quantity of the control shaft is increased or decreased, the operating robot system can be used as a creeping mechanism for nondestructive flaw detection, weld joint detecting, and automatic welding machine in a plurality of fields such as petroleum or chemical industry, metallurgy or machinery, municipal engineering or architecture, aviation or space engineering, shipbuilding engineering or nuclear-generated power, enginery, and the like.
Description
Technical field
The utility model relates to the ultrasound examination Work robot that a kind ofly the polytype ultrasonic wave can be installed receive/send out probe, adapt to multiple scanning mode, have multiple forms of motion even can advance from motion tracking along object shape face or seam track, is called for short crawl device.
Background technology
Being used to carry the take pictures Work robot surveyed of X-ray in the pipe welding seam detection system has been united by Harbin Institute of Technology and Daqing oil field many years ago and has made merit, still have not seen reported and be used for the domestic of bearing ultrasonic phased array probe, and external similar Work robot generally can not finely be used at not too regular pipe detection scene, also has a kind of large-scale experiment chamber ultrasonic flaw detection system that is applied to, although being arranged, complicated multiple-axis servo control and track follow the tracks of the robot function, but volume has the high cabin of first floor like that huge and not with the function of phased array probe, can not make the vehicle-mounted scene to roughing-in of mobile model and do the circulatory motion detection.
Summary of the invention
It is little that technical problem to be solved in the utility model provides a kind of volume, detects accurately and the high ultrasound examination work machine robot system of reliability.
Ultrasound examination work machine robot system of the present utility model comprises robot body, be used to control robot body motion or positioning control system, provide robot body required coupling liquid of when work the coupling liquid automatic circulating system, be used for the drive rail of guided robot body motion.
This work machine robot system is as long as its size is made suitable convergent-divergent slightly and made change or Control Shaft slightly and quantitatively do slightly to increase and decrease just to become the usefulness that the crawl device of nondestructive inspection, weld seam detection and automatic welder(welding machine) is used as in fields such as being applicable to oil/chemical industry, metallurgy/machinery, municipal administration/building, aviation/space flight, shipbuilding/nuclear power and weapons on frame for movement.
Description of drawings
Fig. 1 is the general structure schematic diagram of ultrasound examination work machine robot system of the present utility model.
The specific embodiment
As shown in Figure 1: ultrasound examination work machine robot system of the present utility model comprises control system 1, coupling liquid automatic circulating system 2, robot body 3, drive rail 4.Described control system 1 is used to control robot body motion or location, required coupling liquid when described coupling liquid automatic circulating system 2 provides robot body 3 work, and described robot body 3 moves along drive rail 4 and detected pipeline.Below we describe the structure and the operation principle thereof of each part mentioned above in detail:
One, control system 1
It is by an industrial control microcomputer 11, two servo-drivers 12, two AC servo motors 13,14 and photoelectric coding locator 15, gear reduction box 16,17, industrial control microcomputer display 18 grades constitute the digital servo-drive system of two covers, described industrial control microcomputer 11 is controlled two servo-drivers 12 to drive two servomotors 13 respectively by multiaxis control card and cable, 14, described servomotor 13,14 fixedly connected with robot body 2 and can drive the motion that robot body is made two frees degree, this servomotor 13,14 and photoelectric coding locator 15 can guarantee can be with certain speed towards certain direction motion or accurately navigate to certain position with the robot body 3 of ultrasonic phased array probe, guarantee that whole detection system is finished and do the task that a cross section scanning detects at a distance of 1 millimeter in less than 10 minutes time pipe welding seam is every, can the super digital image reconstruction of A/B/C be provided and go up the original detection data in time/space that show to system host at its CRT (image terminal), the ultrasound examination probe of other type can be installed, or the phased-array ultrasonic of only finishing focusing is popped one's head in, the mechanical action that is aided with translation is back and forth finished more trickle profile scanning.The type of drive of this control system can manually be controlled by the button of operation servo-driver 12 or the keyboard of industrial control microcomputer 11, also can control automatically by system host.
Two, robot body 3
It comprises coupling liquid box 31, place the probe 32 that is connected to a fixed in the coupling liquid box 31, be installed on coupling liquid box 31 bottoms be used to make things convenient for robot body to move all around and make the bottom with surface, detected road between the maintenance certain interval the ball plate 33 that has ball, this coupling liquid box 31 is by guide rod 34, overhanging beam 35 and constant voltage bar 36 are fixedlyed connected with two servomotors, described constant voltage bar can adopt pneumatic or hydraulic pressure keeps its internal pressure to keep identical in the flexible scope of pole, and has the effect that absorbs mechanical shock and noise, unlikely because robot body climbs to be conducted oneself with dignity at the upper wall table of pipeline or lower wall table influences difference or because of the ovality difference of pipeline makes coupling liquid box 31 press to the pressure difference of wall table, or because the accuracy of detection under mechanical shock and the noise effect motion state.
Three, the coupling liquid automatic circulating system 2
It comprises coupling liquid bath 21, pressurizing tank 22, liquid pump 23, compositions such as liquid in-out conduit 24 and thermostatic control parts 25, to be coupled coupling liquid in the liquid bath 21 of described liquid pump 22 is delivered in the pressurizing tank 22 and by the liquid in-out conduit and is delivered to coupling liquid box 31, described liquid in-out conduit 24 is connected with the liquid in-out mouth of described coupling liquid box 31, described pressurizing tank 22 structures are similar to toilet configurations, when its coupling liquid water level is lower than certain height, liquid pump 23 work are evacuated to pressurizing tank with coupling liquid, when the coupling liquid water level is higher than certain height, liquid pump 23 quits work, the water level that so just can guarantee the coupling liquid in the pressurizing tank remains in certain scope, the height of pressurizing tank 22 is higher than the height of coupling liquid box 31, coupling liquid in the pressurizing tank is sent in the coupling liquid box 31 with normal flow, thereby guarantee to be distributed with equably all the time between moving ultrasonic probe and the lucite voussoir and between lucite voussoir bottom and the tested pipe surface ultrasonic wave coupling liquid, make ultrasonic wave energy between two media, conduct and the unlikely testing result that influences smoothly, described thermostatic control parts 25 can make coupling liquid keep constant temperature, and temperature is that the 30-65 degree is adjustable, the purpose that keeps coupling liquid constant temperature be for make ultrasound examination in winter/north/field all can normally carry out, be unlikely because cold or freeze and influence testing result and maybe can't detect.Described coupling liquid can be water or glycerine or machine oil.
Four: drive rail 4
Drive rail 4 comprises the horizontal drive rail 41 and the drive rail 42 of creeping, servomotor 13 can drive robot body 3 along drive rail 42 operations of creeping, the described guide rail of creeping can cooperate the shape of tested pipeline, curve circumferential or linear, make the garden week type in one week of garden outside detected pipeline in the present embodiment, robot body can be creeped in the garden outside pipeline.Described horizontal drive rail 42 is fixedlyed connected with robot body, when waiting for an opportunity to obey horizontal drive rail 42 side-to-side movements of motor 14 drives, also drive robot body 3 left and right sides translations, make the ultrasound examination probe in the robot body have two frees degree, thereby make this robot formation have two frees degree and carry out numerically controlled system, can carry out comprehensive detection to various pipelines or flat board, the starting point of doing like this is in order to install and use at the scene, be good at easily the center line of weld seam be transferred to two probe gaps in the middle of, next is for when the garden plane of a loop that center line constituted of weld seam is not vertical with the axis of pipeline, the central point that just requires two probe gaps overlaps with axis of a weld wanting when pipeline is creeped continuous Horizon to move just to remain it, of paramount importancely be, there has been the automatics of this cover translation in system, just can be aided with mechanical translation and finish the pointwise scanning, can make accurate CT faultage image as the CT of the first generation with same focusing scheme.
Described this operation guide rail even can make with the closed loop of weld seam or object shape limit motion and follow the tracks of self-contained unit.
Claims (9)
1, a kind of ultrasound examination work machine robot system, comprise robot body (3), be used to control the control system (1) of robot body motion or location, it is characterized in that, also comprise the coupling liquid automatic circulating system (2) that robot body (3) required coupling liquid of when work is provided, the drive rail (4) that is used for guided robot body (3) motion.
2, ultrasound examination work machine robot system according to claim 1, it is characterized in that, described control system (1) comprising: an industrial control microcomputer (11), two servo-drivers (12), two AC servo motors (13,14) and photoelectric coding locator (15), gear reduction box (16,17), the digital servo-drive system of two covers that engineering microcomputer monitor (18) etc. constitute, described industrial control microcomputer (11) is controlled two servo-drivers (12) to drive two servomotors (13 respectively by multiaxis control card and cable, 14), described servomotor (13,14) fixedly connected with robot body (3) and can drive the motion that robot body (3) is made two frees degree, described photoelectric coding locator (15) is used for accurately location of robot body (3).
3, ultrasound examination work machine robot system according to claim 1, it is characterized in that, described robot body (3) comprising: the coupling liquid box (31) that is provided with the liquid in-out mouth, place the probe (32) that is connected to a fixed in the coupling liquid box (31), be installed on the ball plate (33) that has ball that makes things convenient for robot body to move and make maintenance certain interval between bottom and surface, detected road of being used to of coupling liquid box (31) bottom all around, this coupling liquid box (31) is by guide rod (34), overhanging beam (35) and constant voltage bar (36) and two servomotors (13,14) fixedly connected.
4, ultrasound examination work machine robot system according to claim 1, it is characterized in that, described coupling liquid automatic circulating system (2) comprising: coupling liquid bath (21), pressurizing tank (22), liquid pump (23), liquid in-out conduit (24) and can making closes the thermostatic control parts (25) that liquid keeps uniform temperature, to be coupled coupling liquid in the liquid bath (21) of described liquid pump (22) is delivered in the pressurizing tank (22) and by the liquid in-out conduit and is delivered to coupling liquid box (31), and described liquid in-out conduit (24) is connected with the liquid in-out mouth of described coupling liquid box (31).
5, ultrasound examination work machine robot system according to claim 4, it is characterized in that, described pressurizing tank (22) structure is similar to toilet configurations, when its coupling liquid water level is lower than certain height, liquid pump (23) work is evacuated to pressurizing tank with coupling liquid, when the coupling liquid water level was higher than certain height, liquid pump (23) quit work.
6, ultrasound examination work machine robot system according to claim 5 is characterized in that, the placement of described pressurizing tank (22) highly is higher than the height of coupling liquid box (31).
7, ultrasound examination work machine robot system according to claim 1, it is characterized in that, described drive rail (4) comprises horizontal drive rail (41) and the drive rail of creeping (42), and the shape of the described guide rail of creeping matches with the shape of tested pipeline.
8, ultrasound examination work machine robot system according to claim 7 is characterized in that, the described drive rail of creeping (42) is circumferential or linear.
9, ultrasound examination work machine robot system according to claim 7 is characterized in that, fixedlys connected between horizontal drive rail (41) and robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03228489 CN2616346Y (en) | 2003-01-28 | 2003-01-28 | Ultrasonic checking job robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03228489 CN2616346Y (en) | 2003-01-28 | 2003-01-28 | Ultrasonic checking job robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2616346Y true CN2616346Y (en) | 2004-05-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 03228489 Expired - Lifetime CN2616346Y (en) | 2003-01-28 | 2003-01-28 | Ultrasonic checking job robot system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102759570A (en) * | 2012-07-04 | 2012-10-31 | 北京理工大学 | Single-manipulator automatic ultrasonic non-destructive detection device |
| CN104330479A (en) * | 2014-11-27 | 2015-02-04 | 长沙理工大学 | Ultrasonic phased array automatic scanning device used for large-size curved-surface component |
| CN104589303A (en) * | 2014-11-21 | 2015-05-06 | 安徽省库仑动力自动化科技有限公司 | Circular orbit robot for nondestructive testing of large workpiece |
| CN104979029A (en) * | 2015-05-20 | 2015-10-14 | 中广核检测技术有限公司 | Ultrasonic inspection device for omega welding seam of control rod drive mechanism in nuclear power station |
| CN106882200A (en) * | 2017-03-20 | 2017-06-23 | 陈志远 | Inspection car closes liquid equipment with lotus root |
| CN109387569A (en) * | 2017-08-11 | 2019-02-26 | 上汽通用五菱汽车股份有限公司 | A kind of quality of welding spot automatic checkout system |
| CN110187007A (en) * | 2019-06-24 | 2019-08-30 | 广东省智能制造研究所 | A kind of trackless ultrasonic fault detection system and control method |
-
2003
- 2003-01-28 CN CN 03228489 patent/CN2616346Y/en not_active Expired - Lifetime
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102759570A (en) * | 2012-07-04 | 2012-10-31 | 北京理工大学 | Single-manipulator automatic ultrasonic non-destructive detection device |
| CN104589303A (en) * | 2014-11-21 | 2015-05-06 | 安徽省库仑动力自动化科技有限公司 | Circular orbit robot for nondestructive testing of large workpiece |
| CN104330479A (en) * | 2014-11-27 | 2015-02-04 | 长沙理工大学 | Ultrasonic phased array automatic scanning device used for large-size curved-surface component |
| CN104330479B (en) * | 2014-11-27 | 2017-01-25 | 长沙理工大学 | Ultrasonic phased array automatic scanning device used for large-size curved-surface component |
| CN104979029A (en) * | 2015-05-20 | 2015-10-14 | 中广核检测技术有限公司 | Ultrasonic inspection device for omega welding seam of control rod drive mechanism in nuclear power station |
| CN106882200A (en) * | 2017-03-20 | 2017-06-23 | 陈志远 | Inspection car closes liquid equipment with lotus root |
| CN109387569A (en) * | 2017-08-11 | 2019-02-26 | 上汽通用五菱汽车股份有限公司 | A kind of quality of welding spot automatic checkout system |
| CN110187007A (en) * | 2019-06-24 | 2019-08-30 | 广东省智能制造研究所 | A kind of trackless ultrasonic fault detection system and control method |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CX01 | Expiry of patent term |
Expiration termination date: 20130128 Granted publication date: 20040519 |