WO2017096770A1 - 一种全方位自动焊缝探伤仪驱动装置及其应用 - Google Patents

一种全方位自动焊缝探伤仪驱动装置及其应用 Download PDF

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Publication number
WO2017096770A1
WO2017096770A1 PCT/CN2016/084709 CN2016084709W WO2017096770A1 WO 2017096770 A1 WO2017096770 A1 WO 2017096770A1 CN 2016084709 W CN2016084709 W CN 2016084709W WO 2017096770 A1 WO2017096770 A1 WO 2017096770A1
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WIPO (PCT)
Prior art keywords
driving device
motor
ball
omnidirectional
flaw detector
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Ceased
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PCT/CN2016/084709
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English (en)
French (fr)
Inventor
曾庆良
杨扬
万丽荣
安宁
孟昭胜
王刚
逯振国
李伟民
孔帅
王小环
王认辉
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Shandong University of Science and Technology
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Shandong University of Science and Technology
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Priority to CA2975417A priority Critical patent/CA2975417C/en
Priority to AU2016367733A priority patent/AU2016367733B2/en
Publication of WO2017096770A1 publication Critical patent/WO2017096770A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
    • G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
    • B60R2011/008—Adjustable or movable supports
    • B60R2011/0092—Adjustable or movable supports with motorization

Definitions

  • the invention relates to an all-round automatic weld flaw detector driving device and an application thereof, and belongs to the technical field of weld non-destructive flaw detection.
  • Ultrasonic flaw detection has the advantages of good directionality, high strength and strong penetrating ability, and no harm to the human body. It has become one of the main methods for detecting internal defects in the manufacturing process of pressure vessels, shipbuilding, boilers and other equipment. Ultrasonic flaw detection is now mainly done by manual operation, including weld cleaning, brush couplant, detection of defects, defect location and shape determination, etc., requiring multiple people to work together. Long time single posture operation is easy to fatigue, and has the disadvantages of low work efficiency, high labor intensity, low precision and missed detection. Some existing flaw detection aids, although to some extent can be flaw detection for welds, especially for some large welded structural parts such as hydraulic supports, due to the irregular shape of the welds, the realization of mechanical flaw detection is very difficult.
  • Chinese patent document CN204758540U discloses a thin plate lap joint narrow ultrasonic ultrasonic fast non-destructive testing device, which comprises two probes, a flaw detector and an arithmetic device, and the ultrasonic wave emitted by the left side probe is emitted, propagated, and encounters the left side of the weld.
  • the distance traveled by the ultrasonic wave ie, the sound path
  • the sound path on the right side is S2.
  • the sound wave emitted by the probe encounters the nearest weld wall, and then is reflected back.
  • the probe receives, at this time, the distance S propagated by the sound wave is twice the distance from the probe to the near wall of the weld.
  • the probe can slide along the weld seam, and the operation result can be quickly obtained after the probe scanning process is completed by the arithmetic device.
  • the device can detect the weld width, it can detect the quality of the lap weld, especially the non-destructive ultrasonic inspection technology for measuring the weld width of the narrow weld, and can perform rapid ultrasonic inspection on the lap laser weld.
  • the quality evaluation of the thin-plate lap laser welding seam the defects in the weld seam are found in advance to ensure the product quality.
  • the device is based on the comparison of the weld seams, and the device is tested for the weld width of the weld.
  • the weld can be directly removed from the weld width, and the device cannot be The surface of the weld is tested for flaw detection.
  • the test results are not reliable, and the accuracy of the test is low, which cannot meet the actual requirements of weld inspection.
  • the flaws in the weld have a great influence on the quality of the weld. It is very important to detect the weld, especially for the inspection of some irregular welds. Therefore, it is urgent to develop and design a comprehensive range.
  • the automatic weld flaw detector drive device is used to make the weld flaw detection better and the test result is more accurate.
  • the present invention provides an all-round automatic weld flaw detector driving device.
  • the present invention also provides a method of using the above-described omnidirectional automatic weld flaw detector driving device.
  • An all-round automatic weld flaw detector driving device comprises a running mechanism, a three-dimensional adjusting frame, a rotary driving device and an all-round adapting device, wherein the three-dimensional adjusting frame is arranged on the running mechanism, and the three-dimensional adjusting frame is arranged on the three-dimensional adjusting frame
  • the rotary drive is connected to the omnidirectional adaptation device.
  • the welding flaw detector driving device of the invention can install the required flaw detecting instrument on the omnidirectional adapting device, and moves the probe and the weld seam to perform ultrasonic flaw detection by moving in a three-dimensional space by means of flexible adjustment of the three-dimensional adjusting frame and the all-round adaptive device.
  • the small angle adjustment of the omnidirectional adaptation device is adopted, so that the probe is always in the position tangent to the weld seam, and the unevenness of the weld seam or a slight angle can be effectively detected, thereby improving the detection precision.
  • the traveling mechanism comprises a vehicle body, and wheels are arranged on both sides of the vehicle body, and a motor is arranged at the bottom of the vehicle body, and an output shaft of the motor is drivingly connected with the wheel.
  • the motor is a stepper motor.
  • the advantage of this design is that the output shaft of the stepping motor is connected to the drive shaft of the wheel through the coupling, which drives the wheel to travel.
  • the stepping motor can accurately locate and adjust the speed, which can meet the precise operation requirements of weld flaw detection.
  • a first sliding rail, a first connecting block and a first motor are disposed on the top of the vehicle body, and the first motor is disposed on one side of the first sliding rail and drives the first connecting block to be horizontal in the first sliding rail through the transmission belt mobile.
  • the three-dimensional adjustment frame comprises a second sliding rail, a second connecting block, a second motor and a telescopic cylinder
  • the bottom end of the second sliding rail is fixedly connected with the first connecting block
  • the second motor is disposed on the second sliding rail
  • the second connecting block moves up and down in the second sliding rail on one side and through the conveyor belt
  • one end of the telescopic cylinder is fixedly connected with the second connecting block.
  • the rotary driving device comprises a connection card, a first rotating electrical machine and a motor carrying case, one end of the connecting card is fixedly connected with one end of the telescopic cylinder piston rod, and the first rotating electric machine is disposed at the other end of the connecting card and the rotating shaft
  • the drive is connected, and the rotating shaft is fixedly connected to the motor carrying case.
  • the omnidirectional adaptation device comprises a second rotating electrical machine, a ball joint mandrel shell, a compression spring, a ball joint mandrel and a ball joint shell, and the top end of the ball joint mandrel shell and the output shaft of the second rotating electrical machine are driven.
  • the connecting end and the bottom end are provided with a spherical body, the spherical body comprises a spherical cavity, the pressing spring is placed in the spherical cavity, one end is connected with the spherical hinge shaft shell, the other end is connected with the spherical hinge shaft, and the spherical hinge is axially arranged.
  • the ball joint housing is coupled to the ball joint shaft housing, and the second rotary motor is mounted in the motor carrier housing.
  • the spherical body is provided with three slits, and the three slits are in communication with the spherical cavity.
  • the advantage of this design is that the three slits on the sphere make the sphere a three-jaw structure, and the material of the three-jaw structure is made of a soft material, and the mandrel and the spherical core shell are stuck to each other when the force is not affected.
  • the ball-twisted mandrel is on the lower surface of the casing. When the ball-spinning mandrel is stressed, the ball is squeezed by the mandrel at the mandrel, and the three-claw structure opens the ball of the head of the mandrel into the ball core. Grasp the mandrel after the shaft shell.
  • the weld flaw detector driving device further comprises an ultrasonic oblique probe, and the ultrasonic oblique probe is fixedly connected to one end of the ball joint mandrel.
  • a method for using an all-round automatic weld flaw detector driving device comprising the following steps,
  • the traveling mechanism is activated to bring the ultrasonic oblique probe close to the detected surface, and then the piston rod of the telescopic cylinder is extended to fit the ultrasonic oblique probe to the weld seam, and the movement of the telescopic cylinder causes the ultrasonic oblique probe to be detected.
  • the surface contacts and receives force, thereby transmitting the force to the ball-spinning mandrel.
  • the ball-hinting mandrel expands the ball-spinning mandrel shell, and the ball-hinted mandrel is pressed into the ball-spinning mandrel shell and is locked to each other, so that the ball is twisted
  • the shaft and the ultrasonic oblique probe thereon move together with the spherical hinge shell to activate the first motor and the second motor, and the ultrasonic oblique probe pairs the detected surface by the horizontal movement of the first connecting block and the up and down movement of the second connecting block Step-by-step detection; after the end of the detection, the telescopic cylinder is retracted, so that the ultrasonic oblique probe is separated from the detected surface, and the compressed compression spring is reset, and the spherical hinge is ejected into the spherical hinge housing, and the spherical hinge is returned to the initial position.
  • the omnidirectional automatic weld flaw detector driving device of the invention changes the traditional manual welding flaw detection operation mode, replaces the manual flaw detection, realizes the automation of the flaw detection detection, and the invention utilizes the newly designed omnidirectional adaptation device and the three-dimensional
  • the adjusting frame can adjust the position of the probe in all directions when the detected surface is not flat, has a slight angle or irregular shape of the welded joint, so that the probe is always tangent to the welded joint, which improves the precision and efficiency of the weld flaw detection. Its effect is obvious, the effect is remarkable, and it is worthy of popularization and application.
  • Figure 1 is a perspective view of a welding flaw detector driving device of the present invention
  • Figure 2 is a perspective view of the traveling mechanism of the present invention
  • Figure 3 is a bottom perspective view of the traveling mechanism of the present invention.
  • FIG. 4 is a schematic structural view of a three-dimensional adjustment frame in the present invention.
  • Figure 5 is a schematic structural view of a telescopic cylinder of the present invention.
  • Figure 6 is a schematic structural view of a rotary driving device according to the present invention.
  • Figure 7a is a perspective view of the omnidirectional adaptation device of the present invention.
  • Figure 7b is a front view of the omnidirectional adaptation device of the present invention.
  • Figure 7c is a cross-sectional view taken along line A-A of Figure 7b;
  • Figure 7d is a right side view of the omnidirectional adaptation device of the present invention.
  • Figure 7e is a cross-sectional view taken along line B-B of Figure 7d;
  • Figure 8a is a front elevational view of the omnidirectional adaptation device with a ball joint housing of the present invention.
  • Figure 8b is a cross-sectional view taken along line C-C of Figure 8a;
  • the embodiment provides an all-round automatic weld flaw detector driving device, including a running mechanism 1, a three-dimensional adjusting frame 2, a rotating driving device 4 and an omnidirectional adapting device 5, in the running mechanism 1
  • the three-dimensional adjustment frame 2 is mounted thereon, and the rotary drive device 4 is disposed on the three-dimensional adjustment frame 2, and the rotary drive device 4 is connected to the omnidirectional adaptation device 5.
  • the traveling mechanism 1 includes a vehicle body 6 , and four wheels 10 and 12 are fixedly mounted on two sides of the vehicle body 6 .
  • the four wheels are symmetrically mounted on both sides of the vehicle body in front and rear, and two fixed installations are mounted on the bottom of the vehicle body 6 .
  • the stepping motor 11 and the two stepping motors are arranged diagonally, and the two stepping motors are respectively connected with the driving of the front and rear two wheels.
  • the wheel 12 is connected to the stepping motor 11 through a conventional structure such as a coupling, a shaft, a bearing, a bushing, and the like, and is screwed and fixed on the vehicle body 6.
  • the wheel 10 passes through a thread of an existing structure such as a shaft, a bearing, and a bushing. The connection is fixed to the vehicle body 6.
  • a first slide rail 9, a first connecting block 7 and a first motor 8 are arranged at the top of the vehicle body 6.
  • the first motor 8 is a stepping motor, and the first motor 8 is mounted on the side of the first slide rail 9 and passes through the belt.
  • the first connecting block 7 is horizontally moved in the first sliding rail 9.
  • the upper surface of the first connecting block 7 is a flat surface, and is provided with a threaded mounting hole, which can be bolted to the connecting seat 15 at the bottom end of the second sliding rail.
  • the lower plane of the first connecting block is fixed on the belt by four sets of bolts and a fixing hole structure on the belt, and the bolt is fixed in two small grooves on the other end surface of the sliding rail, and the belt sliding rail structure is used to save space and make the edge
  • the sliding distance between the left and right sides of the track increases, and the belt slide is driven by the stepping motor to facilitate precise control, and it is easier to adjust the moving speed of the slide rail when detecting the irregular shape weld and the space weld.
  • the three-dimensional adjustment frame 2 includes a second sliding rail, a second connecting block 14, a second motor 13 and a telescopic cylinder 3.
  • the bottom end of the second sliding rail is provided with a connecting seat 15, and the connecting seat 15 is provided with a threaded mounting hole and Corresponding to the threaded mounting hole on a connecting block 7, the connecting seat 15 at the bottom end of the second connecting block 14 is bolted to the upper surface of the first connecting block 7, and the second motor 13 is bolted to the top of the second sliding rail.
  • the output shaft extends into the second slide rail and drives the second connecting block 14 to move up and down in the second slide rail by the conveyor belt.
  • One end of the cylinder tube 16 of the telescopic cylinder 3 is bolted to the second connecting block 14, and the other One end is the extended end of the piston rod 18.
  • the rotary driving device 4 includes a connecting card 19, a first rotating electrical machine 20 and a motor carrying case 22, the connecting card 19 has an L-shaped annular structure, the middle portion is a cavity, and one end of the connecting card 19 and the telescopic cylinder 3 piston rod 18
  • One end of the first rotating electric machine 20 is fixedly connected to the other end of the connecting card 19, and the output shaft is connected to a rotating shaft.
  • the rotating shaft passes through the connecting card 19, and the rotating shaft is fixedly connected with the motor carrying case 22.
  • the output shaft drives the rotating shaft to rotate, and when the rotating shaft rotates, the motor carrying case 22 is also rotated accordingly.
  • the rotating shaft is fixedly connected to the second rotating electrical machine 21, and when the rotating shaft rotates, the second rotating electrical machine 21 is rotated to realize the position adjustment of the omnidirectional adaptive device 5, thereby adjusting the position of the ultrasonic oblique probe.
  • the omnidirectional adaptation device 5 includes a second rotary electric machine 21, a ball joint mandrel shell 23, a compression spring 24, a ball joint mandrel 25, and a ball joint housing 27, the top end of the ball joint mandrel shell 23 and the second rotary electric machine 21
  • the output shaft is connected and the bottom end is provided with a spherical body.
  • the spherical body comprises a spherical cavity, and the spherical body is further provided with three slits, and the spherical body is designed as a three-claw structure, and the spherical body is made of a soft material, and the pressing spring 24 is pressed.
  • the ball spring body of the pressing spring 24, the ball joint mandrel 25, and the bottom end of the ball joint mandrel shell 23 is placed in the ball joint housing, and the ball joint shell 27 is a hollow casing, and the top end of the ball joint shell 27 and the ball joint are
  • the shaft housing 23 is integrally connected, and the ball joint mandrel 25 is in contact with the inner wall of the ball joint housing 27.
  • the second rotating electrical machine 21 is mounted in the motor carrying case 22.
  • the ball spindle 25 is in natural contact with the compression spring 24, and no connection is required, because during the automatic adjustment process, the spherical hinge 25 may slightly slide relative to the compression spring 24, but in the initial state, the spring 24 is pressed.
  • the ball spindle 25 has a small pressure, and the spring pressure presses the ball spindle 25 against the inner wall of the spherical casing 27 together with the lowermost end of the ball spindle housing; the ball spindle 25 and the ball spindle housing 23 It is a two-part member, and the initial state ball joint mandrel 25 is in contact with the lowermost end of the spherical hinge shell 23, and is held against each other.
  • An all-round automatic weld flaw detector driving device has the structure as described in Embodiment 1, and the difference is that the first connecting block 7 and the second connecting block 14 are driven by the hydraulic system, and the piston rod of the hydraulic cylinder is used.
  • the first connecting block 7 or the second connecting block 14 is connected to the first connecting block 7 or the second connecting block 14 to move in the first sliding rail 9 or the second sliding rail by the expansion and contraction of the piston rod.
  • the running mechanism 1 is started, and the stepping motor 11 is driven to drive the wheels 10 and 12 to rotate, so that the vehicle body 6 is close to the detected object while the ultrasonic oblique probe 26 is close to the detected surface, and then the stepping motor 11 is stopped, the piston rod 18 of the telescopic cylinder 3 is extended to engage the ultrasonic oblique probe 26 with the weld bead, and the movement of the telescopic cylinder 3 causes the ultrasonic oblique probe 26 to contact the detected surface and is stressed, thereby transmitting the force to the ball.
  • the mandrel 25 and the ball joint mandrel 25 open the spherical hinge shell 23, and the ball joint mandrel 25 is pressed into the spherical hinge shell 23, and is locked to each other, so that the spherical hinge shaft 25 and the ultrasonic wave on it are inclined.
  • the probe 26 moves with the spherical hinge housing 23. Then, the first motor 8 and the second motor 13 are activated.
  • the ultrasonic oblique probe 26 gradually detects the detected surface, in the process of stepwise detection, when When the ultrasonic oblique probe 26 encounters an uneven weld, the omnidirectional adaptation device 5 causes the ultrasonic oblique probe 26 to make real-time adjustments.
  • the control system is programmed by the single chip microcomputer to control the movement between the first slide rail 9, the second slide rail, the telescopic cylinder 3, and the rotary driving device 4, and each motion synthesizes an expected walking path (path), so that the ultrasonic oblique probe 26 is always tangent to the weld being probed for the most accurate detection.
  • the piston rod 18 of the telescopic cylinder 3 is retracted, so that the ultrasonic oblique probe 26 is separated from the detected surface, and the compressed compression spring 24 is reset, and the spherical spindle 25 is ejected into the spherical hinge housing 23, the ball The hinge shaft 25 returns to the initial position.

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Abstract

一种全方位自动焊缝探伤仪驱动装置，包括行走机构（1）、三维调节架（2）、旋转驱动装置（4）和全方位适应装置（5），在行走机构（1）上设置三维调节架（2），在三维调节架（2）上设置旋转驱动装置（4），旋转驱动装置（4）与全方位适应装置（5）连接。该全方位自动焊缝探伤仪驱动装置实现了探伤检测的自动化，提高了焊缝探伤的精度和效率。还公开了一种全方位自动焊缝探伤仪驱动装置的应用。

Description

一种全方位自动焊缝探伤仪驱动装置及其应用 技术领域
本发明涉及一种全方位自动焊缝探伤仪驱动装置及其应用，属于焊缝无损探伤检测技术领域。
背景技术
超声波探伤具有方向性好、强度高和穿透能力强，以及对人体无伤害等优点，成为压力容器、造船、锅炉等设备制造过程中检测内部缺陷的主要方法之一。现在超声波探伤主要靠人工操作完成，包括焊缝清理、刷耦合剂、检测缺陷、缺陷位置和形状确定等，需多人协同操作。长时间单一姿势操作容易疲劳，且存在工作效率低、劳动强度大、精度比较低和漏检等缺点。现存的一些探伤辅助机构，虽然在一定程度上可以为焊缝尤其对一些大型焊接结构件如液压支架的探伤，由于其焊缝形状不规则，所以机械探伤的实现存在很大难度。
中国专利文献CN204758540U公开了一种薄板搭接窄焊缝超声快速无损检测装置，该装置包括两个探头、探伤仪、运算装置，左侧探头发射的超声波经发射、传播、遇到焊缝左侧壁返回，被左侧探头晶片接收的整个过程中，超声波传播的距离(即声程)为S1，右侧声程为S2，探头发射的声波遇到最近的焊缝壁，然后反射回来被原探头接收，此时声波所传播的距离S为探头发射晶片距焊缝近壁距离的两倍，焊缝宽度W＝L+2L0-(S1+S2)/2，L0为探头的前沿长度，两探头可沿焊缝滑动，采用运算装置在探头扫查过程完成后即可迅速得到检测结果。虽然该装置能够对焊缝熔宽进行检测，能检测搭接焊缝质量，特别是对窄焊缝熔宽进行测量的无损超声检测技术，能对薄板搭接激光焊缝进行快速超声检测，实现薄板搭接激光焊缝的质量评价，提前发现焊缝中的缺陷，保证产品质量。但是该装置是基于焊缝比较规整的基础上进行的检测，同时该装置是针对焊缝的熔宽进行的检测，对熔宽尺寸达不到标准的焊缝可直接剔除，该装置并不能对焊缝的表面进行探伤检测，同时该装置在面对不规则的焊缝时，其检测结果并不可靠，检测的准确度低，无法满足焊缝检测的实际需求。
针对焊缝存在缺陷对焊缝质量有巨大的影响，对焊缝进行探伤检测，尤其是针对一些不规整的焊缝进行探伤检测则显得至关重要，因此，亟需研发设计一种全方位的自动焊缝探伤仪驱动装置，以使焊缝探伤检测效果更好，检测结果更准确。
发明内容
针对现有技术的不足，本发明提供一种全方位自动焊缝探伤仪驱动装置。
本发明还提供上述一种全方位自动焊缝探伤仪驱动装置的使用方法。
本发明的技术方案如下：
一种全方位自动焊缝探伤仪驱动装置，包括行走机构、三维调节架、旋转驱动装置和全方位适应装置，在行走机构上设置所述的三维调节架，在三维调节架上设置所述的旋转驱动装置，旋转驱动装置与全方位适应装置连接。本发明焊缝探伤仪驱动装置可在全方位适应装置上安装所需的探伤仪器，通过借助三维调节架以及全方位适应装置的灵活调节，在三维空间内移动使探头与焊缝靠近进行超声波探伤，在探伤过程中，利用全方位适应装置的小角度调节，使探头始终在与焊缝相切的位置，可以有效探测焊缝不平整或有轻微角度等情况，提高探测的精度。
优选的，所述行走机构包括车体，在车体的两侧设置车轮，在车体的底部设置有电机，电机的输出轴与车轮传动连接。
优选的，所述电机为步进电机。此设计的好处在于，步进电机的输出轴通过联轴器与车轮的传动轴连接，进而驱动车轮行走，步进电机能够准确定位和调速，能够满足焊缝探伤这种精准的作业要求。
优选的，在车体的顶部设置第一滑轨、第一连接块和第一电机，第一电机设置在第一滑轨一侧并通过传输带带动第一连接块在第一滑轨内水平移动。
优选的，所述三维调节架包括第二滑轨、第二连接块、第二电机和伸缩油缸，第二滑轨的底端与第一连接块固定连接，第二电机设置在第二滑轨一侧并通过传输带带动第二连接块在第二滑轨内上下移动，伸缩油缸的一端与第二连接块固定连接。
优选的，所述旋转驱动装置包括连接卡、第一旋转电机和电机承载壳，连接卡的一端与伸缩油缸活塞杆的一端固定连接，第一旋转电机设置在连接卡的另一端并与旋转轴传动连接，旋转轴与电机承载壳固定连接。此设计的好处在于，第一旋转电机与旋转轴传动连接，旋转轴与电机承载壳固定连接，第一旋转电机工作时使旋转轴转动，旋转轴转动时带动电机承载壳也相应地转动，进而对全方位适应装置做出相应地调整。
优选的，所述全方位适应装置包括第二旋转电机、球铰心轴壳、压紧弹簧、球铰心轴及球铰外壳，球铰心轴壳的顶端与第二旋转电机的输出轴传动连接、底端设有圆球体，圆球体包括一球形空腔，压紧弹簧置于球形空腔内且一端与球铰心轴壳连接、另一端与球铰心轴连接，球铰心轴置于球铰外壳内，球铰外壳与球铰心轴壳连接，第二旋转电机安装于电机承载壳内。
优选的，所述圆球体上开设有三个豁口，三个豁口与球形空腔相通。此设计的好处在于，圆球体上开设的三个豁口，使圆球体成为具有三爪的结构，三爪结构处材料使用较软材质，不受力时心轴与球绞心轴壳互相卡住，球绞心轴顶在外壳下表面，在球绞心轴受力时，由于心轴处的球挤进球绞心轴壳，三爪结构撑开待心轴头部的球进入球绞心轴壳后抓紧心轴。
优选的，所述焊缝探伤仪驱动装置还包括超声波斜探头，所述超声波斜探头与球铰心轴的一端固定连接。
一种全方位自动焊缝探伤仪驱动装置的使用方法，包括以下步骤，
当需要进行超声波焊缝探伤时，启动行走机构使超声波斜探头靠近被探测面，然后伸缩油缸的活塞杆伸出使超声波斜探头与焊缝贴合，伸缩油缸的运动使得超声波斜探头与被探测面接触并受力，从而将力传递给球绞心轴，球铰心轴将球绞心轴壳撑开，球铰心轴压入球绞心轴壳，并相互抱死，使得球绞心轴及其上的超声波斜探头与球绞心轴壳一起运动，启动第一电机和第二电机，借助第一连接块的水平移动和第二连接块的上下移动，超声波斜探头对被探测面逐步探测；探测结束后伸缩油缸回缩，从而超声波斜探头与被探测面分离，被压缩的压紧弹簧复位，将球绞心轴弹出球绞心轴壳，球铰心轴回复到初始位置。
本发明的有益效果在于：
本发明全方位自动焊缝探伤仪驱动装置改变了传统人工进行焊缝探伤检测的作业模式，代替了人工探伤，实现了探伤检测的自动化，同时本发明利用全新设计的全方位适应装置并借助三维调节架可以在被探测面不平整、有轻微角度或焊缝形状不规则等情况时，可实现全方位调整探头位置，使探头始终与焊缝相切，提高了焊缝探伤的精度和效率。其作用明显，效果显著，值得推广应用。
附图说明
图1为本发明焊缝探伤仪驱动装置的立体图；
图2为本发明中行走机构的立体图；
图3为本发明中行走机构的仰视立体图；
图4为本发明中三维调整架的结构示意图；
图5为本发明中伸缩油缸的结构示意图；
图6为本发明中旋转驱动装置的结构示意图；
图7a为本发明中全方位适应装置的立体图；
图7b为本发明中全方位适应装置的主视图；
图7c为图7b中A-A方向的剖视图；
图7d为本发明中全方位适应装置的右视图；
图7e为图7d中B-B方向的剖视图；
图8a为本发明中带有球铰外壳的全方位适应装置的主视图；
图8b为图8a中C-C方向的剖视图；
其中：1、行走机构；2、三维调节架；3、伸缩油缸；4、旋转驱动装置；5、全方位适应装置；6、车体；7、第一连接块；8、第一电机；9、第一滑轨；10、车轮；11、步进电机；12、车轮；13、第二电机；14、第二连接块；15、连接座；16、缸筒；17、前端盖；18、活塞杆；19、连接卡；20、第一旋转电机；21、第二旋转电机；22、电机承载壳；23、球铰心轴壳；24、压紧弹簧；25、球铰心轴；26、斜探头；27、球铰外壳。
具体实施方式
下面通过实施例并结合附图对本发明做进一步说明，但不限于此。
实施例1：
如图1至图8b所示，本实施例提供一种全方位自动焊缝探伤仪驱动装置，包括行走机构1、三维调节架2、旋转驱动装置4和全方位适应装置5，在行走机构1上安装所述的三维调节架2，在三维调节架2上设置所述的旋转驱动装置4，旋转驱动装置4与全方位适应装置5连接。
其中，行走机构1包括车体6，在车体6的两侧固定安装有四个车轮10、12，四个车轮前后对称安装在车体的两侧，在车体6的底部固定安装两个步进电机11，两个步进电机成对角设置，两个步进电机分别与一前一后两个车轮传动连接。其中，车轮12通过联轴器、轴、轴承、轴套等现有结构与步进电机11连接，并螺纹连接固定在车体6上，车轮10通过轴、轴承、轴套等现有结构螺纹连接固定在车体6上。
在车体6的顶部设有第一滑轨9、第一连接块7和第一电机8，第一电机8采用步进电机，第一电机8安装在第一滑轨9一侧并通过皮带带动第一连接块7在第一滑轨9内水平移动，第一连接块7的上表面为一平面，并设有螺纹安装孔，可与第二滑轨底端的连接座15螺栓连接。第一连接块的下平面通过四组螺栓和皮带上的固定孔结构固定在皮带上，且此螺栓固定在滑轨另一端面的两条小槽中，使用皮带滑轨结构节省空间，使沿轨道方向左右滑动距离增加，且皮带滑轨由步进电机带动易于实现精密控制，更容易实现对不规则形状焊缝及空间焊缝的探伤时滑轨移动速度的调节。
三维调节架2包括第二滑轨、第二连接块14、第二电机13和伸缩油缸3，第二滑轨的底端设有连接座15，连接座15上开有螺纹安装孔并与第一连接块7上的螺纹安装孔相对应，通过第二连接块14底端的连接座15与第一连接块7的上表面螺栓连接，第二电机13通过螺栓安装在第二滑轨顶端的一侧，其输出轴伸入第二滑轨内并通过传输带带动第二连接块14在第二滑轨内上下移动，伸缩油缸3的缸筒16的一端与第二连接块14螺栓连接，另一端为活塞杆18的伸出端。
旋转驱动装置4包括连接卡19、第一旋转电机20和电机承载壳22，连接卡19的外形为L形的环形结构，中间部分为空腔，连接卡19的一端与伸缩油缸3活塞杆18的一端通过销轴固定连接，第一旋转电机20安装在连接卡19的另一端的一侧，其输出轴连接一旋转轴，旋转轴贯穿连接卡19，旋转轴与电机承载壳22固定连接，当第一旋转电机20工作时，输出轴带动旋转轴转动，旋转轴转动时带动电机承载壳22也相应地转动。旋转轴与第二旋转电机21固定连接，当旋转轴转动时带动第二旋转电机21转动，实现全方位适应装置5的位置调节，进而调节超声波斜探头的位置。
全方位适应装置5包括第二旋转电机21、球铰心轴壳23、压紧弹簧24、球铰心轴25及球铰外壳27，球铰心轴壳23的顶端与第二旋转电机21的输出轴传动连接、底端设有圆球体，圆球体包含一球形空腔，圆球体上还开有三个豁口，将圆球体设计成三爪结构，圆球体为柔软材质制成，压紧弹簧24置于球形空腔内并挂在球形空腔孔内平面上的圆环结构上，压紧弹簧24的底端与球铰心轴25自然接触，球铰心轴25通过延伸的长杆端固定连接一超声波斜探头26。将压紧弹簧24、球铰心轴25、球铰心轴壳23底端的圆球体置于球铰外壳内，球铰外壳27为一中空的壳体，球铰外壳27的顶端与球铰心轴壳23连为一体，球铰心轴25与球铰外壳27的内壁接触。第二旋转电机21安装于电机承载壳22内。
球绞心轴25与压紧弹簧24自然接触，无需连接，因在自动调节过程中，球绞心轴25可能与压紧弹簧24之间发生微小相对滑动，但在初始状态压紧弹簧24给球绞心轴25一很小的压力，弹簧压力与球绞心轴壳最下端一起将球绞心轴25压在球绞外壳27的内壁上；球绞心轴25与球绞心轴壳23是两个部件，初始状态球铰心轴25与球绞心轴壳23的最下端接触，互相顶住，球铰心轴25受力较大时“即与工作面接触受到压力时”，球铰心轴25压入球绞心轴壳23的球形空腔内，利用球铰心轴壳23下端的三爪结构抱死球铰心轴25一起运动。
实施例2：
一种全方位自动焊缝探伤仪驱动装置，结构如实施例1所述，其不同之处在于：利用液压系统进行第一连接块7、第二连接块14的驱动，将液压缸的活塞杆与第一连接块7或第二连接块14连接，通过活塞杆的伸缩带动第一连接块7或第二连接块14在第一滑轨9或第二滑轨内移动。
实施例3：
一种如实施例1所述的全方位自动焊缝探伤仪驱动装置的使用方法，包括以下步骤，
当需要进行超声波焊缝探伤时，启动行走机构1，步进电机11运行带动车轮10、12转动，使车体6靠近被探测物体的同时使超声波斜探头26靠近被探测面，然后步进电机11停止运行，伸缩油缸3的活塞杆18伸出使超声波斜探头26与焊缝贴合，伸缩油缸3的运动使得超声波斜探头26与被探测面接触并受力，从而将力传递给球绞心轴25，球铰心轴25将球绞心轴壳23撑开，球铰心轴25压入球绞心轴壳23，并相互抱死，使得球绞心轴25及其上的超声波斜探头26与球绞心轴壳23一起运动。然后启动第一电机8和第二电机13，借助第一连接块7的水平移动和第二连接块14的上下移动，超声波斜探头26对被探测面逐步探测，在逐步探测的过程中，当超声波斜探头26遇到不平整的焊缝时，全方位适应装置5会使超声波斜探头26做出实时的调整。对斜面上的焊缝进行探伤时，先使旋转驱动装置4转动至超声波探头底面与被探测面大致平行的位置，再进行下一步操作；对不规则形状或空间结构焊缝探伤时，通过对控制系统即单片机编程，使其控制第一滑轨9、第二滑轨、伸缩油缸3、旋转驱动装置4之间的运动，各运动合成预期的行走轨迹(路径)即可，使超声波斜探头26始终与被探测焊缝相切，做到最为准确的探测。
当探测结束后，伸缩油缸3的活塞杆18回缩，从而超声波斜探头26与被探测面分离，被压缩的压紧弹簧24复位，将球绞心轴25弹出球绞心轴壳23，球铰心轴25回复到初始位置。

Claims (10)

  1. 一种全方位自动焊缝探伤仪驱动装置，其特征在于，包括行走机构、三维调节架、旋转驱动装置和全方位适应装置，在行走机构上设置所述的三维调节架，在三维调节架上设置所述的旋转驱动装置，旋转驱动装置与全方位适应装置连接。本发明焊缝探伤仪驱动装置可在全方位适应装置上安装所需的探伤仪器，通过借助三维调节架以及全方位适应装置的灵活调节，在三维空间内移动使探头与焊缝靠近进行超声波探伤，在探伤过程中，利用全方位适应装置的小角度调节，使探头始终在与焊缝相切的位置，可以有效探测焊缝不平整或有轻微角度等情况，提高探测的精度。
  2. 如权利要求1所述的全方位自动焊缝探伤仪驱动装置，其特征在于，所述行走机构包括车体，在车体的两侧设置车轮，在车体的底部设置有电机，电机的输出轴与车轮传动连接。
  3. 如权利要求2所述的全方位自动焊缝探伤仪驱动装置，其特征在于，所述电机为步进电机。
  4. 如权利要求2所述的全方位自动焊缝探伤仪驱动装置，其特征在于，在车体的顶部设置第一滑轨、第一连接块和第一电机，第一电机设置在第一滑轨一侧并通过传输带带动第一连接块在第一滑轨内水平移动。
  5. 如权利要求4所述的全方位自动焊缝探伤仪驱动装置，其特征在于，所述三维调节架包括第二滑轨、第二连接块、第二电机和伸缩油缸，第二滑轨的底端与第一连接块固定连接，第二电机设置在第二滑轨一侧并通过传输带带动第二连接块在第二滑轨内上下移动，伸缩油缸的一端与第二连接块固定连接。
  6. 如权利要求5所述的全方位自动焊缝探伤仪驱动装置，其特征在于，所述旋转驱动装置包括连接卡、第一旋转电机和电机承载壳，连接卡的一端与伸缩油缸活塞杆的一端固定连接，第一旋转电机设置在连接卡的另一端并与旋转轴传动连接，旋转轴与电机承载壳固定连接。
  7. 如权利要求6所述的全方位自动焊缝探伤仪驱动装置，其特征在于，所述全方位适应装置包括第二旋转电机、球铰心轴壳、压紧弹簧、球铰心轴及球铰外壳，球铰心轴壳的顶端与第二旋转电机的输出轴传动连接、底端设有圆球体，圆球体包括一球形空腔，压紧弹簧置于球形空腔内且一端与球铰心轴壳连接、另一端与球铰心轴连接，球铰心轴置于球铰外壳内，球铰外壳与球铰心轴壳连接，第二旋转电机安装于电机承载壳内。
  8. 如权利要求7所述的全方位自动焊缝探伤仪驱动装置，其特征在于，所述圆球体上开设有三个豁口，三个豁口与球形空腔相通。
  9. 如权利要求7所述的全方位自动焊缝探伤仪驱动装置，其特征在于，所述焊缝探伤仪驱动装置还包括超声波斜探头，所述超声波斜探头与球铰心轴的一端固定连接。
  10. 一种如权利要求1-9任一项所述的全方位自动焊缝探伤仪驱动装置的使用方法，包括以下步骤，
    当需要进行超声波焊缝探伤时，启动行走机构使超声波斜探头靠近被探测面，然后伸缩油缸的活塞杆伸出使超声波斜探头与焊缝贴合，伸缩油缸的运动使得超声波斜探头与被探测面接触并受力，从而将力传递给球绞心轴，球铰心轴将球绞心轴壳撑开，球铰心轴压入球绞心轴壳，并相互抱死，使得球绞心轴及其上的超声波斜探头与球绞心轴壳一起运动，启动第一电机和第二电机，借助第一连接块的水平移动和第二连接块的上下移动，超声波斜探头对被探测面逐步探测；探测结束后伸缩油缸回缩，从而超声波斜探头与被探测面分离，被压缩的压紧弹簧复位，将球绞心轴弹出球绞心轴壳，球铰心轴回复到初始位置。
PCT/CN2016/084709 2015-12-11 2016-06-03 一种全方位自动焊缝探伤仪驱动装置及其应用 Ceased WO2017096770A1 (zh)

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