CN110723266B - Underwater ultrasonic flaw detection robot - Google Patents
Underwater ultrasonic flaw detection robot Download PDFInfo
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- CN110723266B CN110723266B CN201910976673.3A CN201910976673A CN110723266B CN 110723266 B CN110723266 B CN 110723266B CN 201910976673 A CN201910976673 A CN 201910976673A CN 110723266 B CN110723266 B CN 110723266B
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- 238000001514 detection method Methods 0.000 title claims abstract description 71
- 238000005096 rolling process Methods 0.000 claims abstract description 47
- 238000004140 cleaning Methods 0.000 claims abstract description 12
- 239000000523 sample Substances 0.000 claims abstract description 9
- 238000009434 installation Methods 0.000 claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims description 66
- 229910000838 Al alloy Inorganic materials 0.000 claims description 20
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 20
- 239000010935 stainless steel Substances 0.000 claims description 17
- 229910001220 stainless steel Inorganic materials 0.000 claims description 17
- 229910052782 aluminium Inorganic materials 0.000 claims description 16
- 238000007689 inspection Methods 0.000 claims description 12
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 239000012530 fluid Substances 0.000 claims description 7
- 230000005484 gravity Effects 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 4
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 239000004411 aluminium Substances 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
- B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The invention discloses an underwater ultrasonic flaw detection robot which comprises a frame module, an ultrasonic detection module, a rolling brush module, a pressure-resistant electronic cabin module, a motion module, a lighting module, a camera module, a floating body module and a counterweight module. The frame module is simple to install and reasonable in spatial layout, and the correct distribution and installation of the rest modules and the realization of the functions of the rest modules are ensured; the ultrasonic detection module has large elastic domain, is convenient for the close fit of a robot and a target object, has simple structure, is convenient to disassemble, is convenient for the transportation of the robot and the protection of a flaw detection module, has certain rotation by carrying the ultrasonic probe structure at the front end, and can adapt to target structures with different inclination angles under the condition of not changing the robot body to carry out ultrasonic detection; the rolling brush module is simple to operate, and is convenient for cleaning the surfaces of the ship body and underwater structures. The invention adopts an open frame structure, has compact and reasonable space configuration and has multiple functions of rolling brush cleaning, underwater camera shooting, ultrasonic flaw detection and the like.
Description
Technical Field
The invention belongs to the technical field of unmanned underwater vehicles, and particularly relates to a cabled underwater ultrasonic flaw detection robot for an underwater ship body and other underwater structures.
Technical Field
The construction of the ocean Qiangguo is an important component of the Chinese characteristic social career, and the ships and underwater structures are important components of the construction of the ocean Qiangguo, so that the prevention of accidents and the guarantee of the safety of ocean construction facilities are of great importance. Because the marine environment is complicated and complicated, the undercurrent is numerous, the damage of the ship body and the seawater corrosion are inevitable in the using period of the ship, and the detection outside the ship body becomes an indispensable process for obtaining the damage degree of the ship body. In the traditional flaw detection operation, a diver is usually required to operate, when the underwater robot works in a complex underwater environment, the working efficiency and the personal safety are difficult to be well ensured, and the underwater robot can get rid of the constraint, and can replace the diver to execute certain operations in the underwater environment with unsteady and uneven flow field and more turbulent flow components. Therefore, underwater robots are becoming an important means for detecting ship hulls and other underwater structures.
In recent years, underwater robots have been developed rapidly, but the number of underwater robots used in the field of underwater structure flaw detection is small. Under the complex situation of sea area, in order to avoid the impact force brought by unstable flow places in the process of skin motion from influencing the joint position of the robot body and avoiding the collision damage of the detection mechanism, the frame mechanism not only needs to have enough strength, but also the special equipment needs to have enough flexibility. The existing underwater flaw detection robot has low flexibility, a flaw detector detection mechanism is complex and poor in flexibility, and stable operation cannot be guaranteed in a turbulent environment.
The Chinese patent application (application number CN106269622B) is named as a full-automatic underwater structure ultrasonic flaw detection cleaning robot, and comprises an underwater execution system and a control system, wherein the underwater execution system comprises: the cleaning device comprises a main support, a floating barrel and a cleaning actuator, wherein the main support is movably connected with the floating barrel, and the cleaning actuator is assembled on the main support. Said invention includes 2 cleaning modes of rolling brush cleaning and fluid cleaning, and is mainly used for reservoir dam body and gate, and its application range is small, and its main body structure is large and complex, and its movement flexibility is low.
Disclosure of Invention
The invention aims to provide an underwater ultrasonic flaw detection robot, which can solve the problems of complex detection mechanism, poor flexibility and low motion flexibility of the existing underwater flaw detection robot and can realize stable operation of the robot under the condition of turbulent flow.
In order to solve the technical problems, the invention adopts the following technical scheme.
The invention relates to an underwater ultrasonic flaw detection robot, which is characterized by comprising a robot body;
the left half part and the right half part of the frame module are mutually corresponding in shape and same in structure; the following modules are all arranged on the frame module;
the ultrasonic detection module is fixed on the U-shaped aluminum and used for executing ultrasonic detection; the ultrasonic detection module is fixed on the U-shaped aluminum and comprises a compressible mechanism, an ultrasonic detector and a fixing piece;
the rolling brush module is arranged above the ultrasonic detection module and is used for cleaning the ultrasonic flaw detection module before ultrasonic detection;
the pressure-resistant electronic cabin module is arranged at the bottom of the frame module by matching a pressure-resistant electronic cabin stainless steel hoop with an ABS (anti-lock brake system) base, belongs to a core module of an underwater ultrasonic flaw detection robot, and is used for controlling other modules;
the motion module comprises a horizontal propeller thruster, a vertical propeller thruster and a transverse propeller thruster; the horizontal propeller thruster and the vertical propeller thruster are matched with a thruster stainless steel clamp, and a thruster ABS base is fixed on the frame module;
the lighting module is used for lighting underwater environment, and comprises two lighting devices with the same structure, wherein the two lighting devices are respectively arranged at the left front end and the right front end of a side plate of the frame module;
the camera module is used for matching with the lighting module to collect underwater information;
the front end and the rear end of the floating body module are both in a streamline shape, so that the resistance to motion is reduced, the floating body module is provided with a mounting opening for accommodating a vertical propeller thruster, and the floating body modules are symmetrically distributed in a middle and longitudinal section to ensure that the whole body is in an upward floating state in water;
and the counterweight module is made of stainless steel, comprises a stainless steel counterweight block and a counterweight sliding rod and is used for adjusting the gravity center and the balance of the underwater ultrasonic flaw detection robot.
Further, the frame module comprises a side plate, U-shaped aluminum, a handle, a cable fixing U-shaped bolt, a U-shaped hanging ring and a connecting angle connector; the side plates comprise a left side plate and a right side plate which are connected and fixed through a plurality of U-shaped aluminum; handles are arranged at the front and the rear of the outer edge of each side plate, so that the side plates are convenient to carry manually; the upper part of the frame is provided with a U-shaped hanging ring, so that the mechanical hanging is convenient; the cable is fixed on the U-shaped bolt fixed by the cable at the tail of the robot.
Furthermore, the ultrasonic detection module comprises a rear hexagonal nut, an aluminum alloy cylinder, a round head screw, a front hexagonal nut, a detector bracket, an ultrasonic probe, a spring, a detector bracket base and an ultrasonic converter; the ultrasonic probe is arranged on the detector bracket; the aluminum alloy cylinder is provided with a U-shaped groove as a motion track of the detector bracket; the front end and the rear end of the aluminum alloy cylinder are both provided with threads which can be respectively matched with a front hexagonal nut and a rear hexagonal nut; the front hexagonal nut is provided with an opening for the detector bracket to pass through, and the rear hexagonal nut is provided with an opening for the fluid to flow out; a spring is arranged in the aluminum alloy cylinder, the compression amount of the spring is 120mm, and the underwater ultrasonic flaw detection robot is ensured not to generate collision damage to the ultrasonic detection module due to fluid force under the turbulent flow condition; the bottom end of the detector bracket is provided with a detector bracket base provided with a round head screw, so that the detector bracket is ensured to move stably in the track; the ultrasonic transducer is fixed on the right side of the frame module, and the support part of the ultrasonic transducer is fixed on the bottom of the frame module through an ABS (anti-lock brake system) fixing seat of an ultrasonic detection mechanism.
Furthermore, the rolling brush module comprises a rolling brush mechanism, a ball screw mechanism and a mounting and fixing plate; the ball screw mechanism comprises a ball screw mechanism motor, a ball screw mechanism coupling, a screw and a screw nut seat; the ball screw mechanism fixing seat and the ball screw mechanism supporting seat are fixed on the mounting fixing plate; the rolling brush mechanism comprises a mounting flat plate, a rolling brush mechanism motor, a rolling brush mechanism coupler, a connecting round rod, a rolling brush mechanism supporting seat and an electric brush; the mounting flat plate is fixed on the screw rod nut seat and is used for fixing a rolling brush mechanism motor; the motor of the ball screw mechanism drives the screw to rotate, so that the screw nut seat is driven to move back and forth, and the forward and backward movement of the rolling brush mechanism is controlled; the motor of the rolling brush mechanism drives the rolling brush to rotate, so that the surface of the detected object is cleaned; and the rolling brush module is matched with the installation fixing plate and is arranged on the U-shaped aluminum above the ultrasonic flaw detection module.
Preferably, the side plate is fixedly connected with the U-shaped aluminum through the connecting corner brace.
Preferably, the size of the U-shaped groove of the aluminum alloy cylinder is as follows: the length is 110mm and the width is 3.5 mm.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) the frame module design adopted by the invention has the advantages of reasonable and compact structure, light weight, small wet area, easy disassembly and convenient transportation. The ultrasonic inspection device comprises a pressure-resistant electronic cabin module, an ultrasonic detection module, a rolling brush module, a camera module, an illumination module, a motion module, a counterweight and other modules, and can cooperate with functions of underwater image acquisition, rolling brush cleaning, ultrasonic inspection and the like.
(2) The ultrasonic detection mechanism has larger scalability which can reach 110mm at most, avoids the collision damage of impact force caused by unstable flow places to the detection mechanism in the skin movement process, ensures that a robot is tightly attached to a target object in the detection process, and ensures the accuracy of detection data;
(3) the front end structure of the detector bracket has certain rotation, and can adapt to target structures with different inclination angles without changing the state of the robot body;
(4) the invention adopts the propeller to control the detection, has higher flexibility than the permanent magnetic adsorption detection, and can ensure the stability of the robot body even in unstable water flow by matching with the scalability of the detection mechanism, thereby ensuring the normal operation of the measurement task.
(5) The frame is connected with each other module through bolts, so that the installation, disassembly and later module replacement of parts are facilitated.
Drawings
Fig. 1(a) and 1(b) are schematic overall perspective structural views of an embodiment of an underwater super inspection robot.
Fig. 2 is a perspective view of the underwater super inspection robot according to the embodiment of the present invention, in which the counterweight, the floating body, the upper frame, and the pipe brush module are removed.
FIG. 3(a) is a block diagram of an underwater super inspection robot frame module according to an embodiment of the present invention; fig. 3(b) is a schematic view of a connection and fixation structure of the frame module shown in fig. 3 (a).
FIG. 4(a) is a structural diagram of an ultrasonic detection module of an underwater ultrasonic inspection robot according to an embodiment of the present invention; fig. 4(b) is an enlarged partial cross-sectional view of the ultrasonic detection module shown in fig. 4 (a).
FIG. 5 is a block diagram of a roll brush module according to an embodiment of the present invention.
FIG. 6(a) is a horizontal and vertical propeller mounting view of one embodiment of the present invention; fig. 6(b) a cross propeller mounting diagram of one embodiment of the present invention.
Fig. 7(a) and 7(b) are schematic views of other modules mounted on the frame module.
Fig. 8 is a schematic structural view of a floating body module according to an embodiment of the present invention.
The names and reference numerals of the components in the above figures are explained as follows:
the device comprises a frame module 1, an ultrasonic detection module 2, a rolling brush module 3, a pressure-resistant electronic cabin module 4, a motion module 5, a lighting module 6, a camera module 7, a floating body module 8 and a counterweight module 9.
Frame module 1: the device comprises a side plate 11, U-shaped aluminum 12, a handle 13, a cable fixing U-shaped bolt 14, a U-shaped hanging ring 15 and a connecting angle code 16; lighting module mounting holes 111, ultrasonic detection module mounting holes 112, round brush modules 113, vertical propeller mounting holes 114, floating body module mounting holes 115, lateral propeller mounting holes 116, ultrasonic transducer mounting holes 117, horizontal propeller mounting holes 118, pressure-resistant electronic compartment module mounting holes 119, and counterweight module mounting holes 120.
The ultrasonic detection module 2: rear hexagonal nut 21, aluminum alloy cylinder 22, ultrasonic detection mechanism ABS fixing seat 223, round head screw 23, front hexagonal nut 24, detector support 25, ultrasonic probe 26, spring 27, detector support base 28, ultrasonic transducer 29 and ultrasonic transducer stainless steel clamp 291.
The rolling brush module 3: the rolling brush mechanism, a rolling brush mechanism motor 311, an installation flat plate 312, a rolling brush mechanism coupling 313, a connecting round rod 314, a rolling brush mechanism support seat 315 and an electric brush 316; the ball screw mechanism, the ball screw mechanism motor 321, the ball screw mechanism coupling 322, the screw 324, the screw nut seat 325 and the ball screw mechanism support seat 326; the fixing plate 33 is installed.
Pressure-resistant electronic compartment module 4: withstand voltage electron cabin stainless steel clamp 431, withstand voltage electron cabin ABS base 432, motion module 5: the propeller comprises a horizontal propeller thruster 51, a thruster stainless steel hoop 511, a thruster ABS base 512, a vertical propeller thruster 52, a transverse propeller thruster 53 and a thruster aluminum alloy fixing frame 531.
The floating body module 8: a floating body fixing hole 81, a cable hole 82, a propeller hole 83 and a U-shaped hanging ring hole 84.
Detailed Description
The present invention will be described in further detail with reference to the following drawings and examples.
Fig. 1(a) and 1(b) are schematic overall perspective structural views of an embodiment of an underwater super inspection robot. Fig. 2 is a perspective view of the underwater super inspection robot according to the embodiment of the present invention, in which the counterweight, the floating body, the upper frame, and the pipe brush module are removed. The ultrasonic detection device comprises a frame module 1, an ultrasonic detection module 2, a rolling brush module 3, a pressure-resistant electronic cabin module 4, a motion module 5, a lighting module 6, a camera module 7, a floating body module 8 and a counterweight module 9. Wherein the modules 2-9 are all mounted on the frame module 1. Fig. 7(a) and 7(b) are schematic views of other modules mounted on the frame module, and the positions of the mounting holes of the modules are marked in the drawings.
FIG. 3(a) is a block diagram of an underwater super inspection robot frame module according to an embodiment of the present invention; fig. 3(b) is a view showing a structure of connecting and fixing the frame module shown in fig. 3 (a). As shown in the figure, the frame module 1 comprises a side plate 11, a U-shaped aluminum 12, a handle 13, a cable fixing U-shaped bolt 14, a U-shaped hanging ring 15 and a connecting angle bracket 16; the side plate 11 is matched with the U-shaped aluminum 12 and connected with the corner connectors 16 for bolt fixation, as shown in fig. 3(a), the handles 13 are symmetrically fixed on two sides of the side plate 11 through bolts, so that manual carrying is facilitated; the cable fixing U-shaped bolt 14 is fixed at the tail of the robot and used for fixing a cable and preventing the photoelectric connector connected with the cabin body from being damaged due to the fact that the cable is dragged by ocean currents and other obstacles; the U-shaped hoisting ring 15 is fixed in the center of the robot, so that the robot can be hung conveniently; the front end of the frame module forms a certain angle, so that the lighting module is convenient to mount, and the strength of the frame is effectively improved; the frame module has the characteristics of simple structure and light weight.
FIG. 4(a) is a structural diagram of an ultrasonic detection module of an underwater ultrasonic inspection robot according to an embodiment of the present invention; fig. 4(b) is an enlarged partial cross-sectional view of the ultrasonic detection module shown in fig. 4 (a). As shown in the figure, the ultrasonic detection module 2 of the present embodiment includes a rear hexagonal nut 21, an aluminum alloy cylinder 22, a round head screw 23, a front hexagonal nut 24, a detector bracket 25, an ultrasonic probe 26, a spring 27, a detector bracket base 28, and an ultrasonic transducer 29; the ultrasonic probe 26 is arranged on the detector bracket 25, transmits ultrasonic waves to the target object, returns an image to be compared with an original image, and further judges the existing state of the target object; the structure of an ultrasonic probe carried at the front end of the detector bracket has certain rotation, and can adapt to target structures with different inclination angles under the condition of not changing the state of the robot body; the aluminum alloy cylinder is provided with a U-shaped groove 221 with the length of 110mm and the width of 3.5mm as a motion track of a detector support, both ends of the aluminum alloy cylinder are turned with threads and are sealed by matching with hexagonal nuts, an opening of a front hexagonal nut 24 is used for the detector support to pass through, an opening of a rear hexagonal nut 21 is used for fluid to flow out, a spring 27 is arranged inside the aluminum alloy cylinder 22, the compression amount of the spring is 120mm, the robot is guaranteed not to be collided and damaged to a flaw detection module due to fluid force under the turbulent flow condition, and meanwhile, the screw propeller thruster is firmly attached to the surface of a detected target object by means of thrust, so that the smooth operation of the robot is maintained; an aluminum alloy base 28 provided with a round head screw 23 is arranged at the bottom end of the detector support 25, so that the detector support 25 can move stably in the track; the ultrasonic transducer 29 is fixed on the right side of the frame module by matching with a stainless steel clamp 291, and the bracket part of the ultrasonic transducer is fixed on the bottom frame by matching with an aluminum alloy cylinder fixing groove 222 through an ABS fixing seat 223 of an ultrasonic detection mechanism.
FIG. 5 is a block diagram of a roll brush module according to an embodiment of the present invention. As shown in the figure, the rolling brush module comprises a rolling brush mechanism, a ball screw mechanism and a mounting fixing plate 33; the ball screw mechanism consists of a ball screw mechanism motor 321, a ball screw mechanism coupling 322, a screw 324 and a screw nut seat 325, and a ball screw mechanism fixing seat 323 and a ball screw mechanism supporting seat 326 are fixed on the mounting fixing plate 33; the rolling brush mechanism comprises a mounting flat plate 311, a rolling brush mechanism motor 312 and a rolling brush mechanism coupling 313, the rolling brush mechanism is connected with a round rod 314, a supporting seat 315 and an electric brush 316, the mounting flat plate 312 is fixed on a screw rod nut seat 325, and the mounting flat plate 312 is used for fixing the rolling brush mechanism motor 312; the ball screw mechanism motor 321 drives the screw rod 324 to rotate to provide forward and backward power for the screw rod nut seat 325 so as to control the forward and backward of the rolling brush mechanism, and the rolling brush mechanism motor 312 provides rolling brush rotating power so as to clean the surface of the detected object; the module cooperation installation fixed plate 33 is installed on the U type aluminium directly over the ultrasonic inspection module 2, and the operation of being convenient for improves robot operating efficiency.
The pressure-resistant electronic cabin module 4 is matched with a pressure-resistant electronic cabin stainless steel hoop 431 and a pressure-resistant electronic cabin ABS base 432 and is fixed at the rear of the bottom of the frame module 1, and the middle section of the pressure-resistant cabin is superposed with the middle section of the frame; the module is a core part of the robot, is equivalent to a computer CPU and is responsible for controlling each module of the robot.
The motion module comprises 2 horizontal propeller propellers 51, 2 vertical propeller propellers 52 and 1 transverse propeller 53; in order to improve the advancing efficiency of the robot in the flaw detection operation and ensure the flexibility of the bow turning movement, the horizontal propeller thruster 51 of the robot is not arranged in a splayed manner, but is provided with a transverse propeller thruster 53; the horizontal propeller thruster 51 and the vertical propeller thruster 52 are both fixed on the frame module 1 through a thruster stainless steel hoop 511 matched with a thruster ABS base 512, and the horizontal propeller thruster 53 is fixed on the frame on the right side surface of the frame module 1 through a thruster aluminum alloy fixing frame 531 matched with a thruster. FIG. 6(a) is a horizontal and vertical propeller mounting view of one embodiment of the present invention; fig. 6(b) a cross propeller mounting diagram of one embodiment of the present invention.
The lighting module 6 comprises 2 lighting devices which are respectively matched with the stainless steel hoop 61 and arranged at the front end of the side plate 11 of the frame module for underwater lighting.
The camera module 7 is fixed in the middle of U-shaped aluminum at the front end of the robot frame module through bolts, and is matched with the lighting module 6 to feed back underwater environment in real time, so that the stability of robot operation is ensured.
Fig. 8 is a schematic structural view of a floating body module according to an embodiment of the present invention. The floating body module 8 is provided with a mounting opening for accommodating the vertical propeller thruster and a mounting and fixing hole, and is convenient to mount on the frame module 1; the module is in a streamline design, so that the resistance of the robot in water can be effectively reduced; the module can fully ensure the gravity balance of the underwater robot, so that the underwater robot is always in a floating state under a static condition.
The counterweight module 9 comprises a stainless steel counterweight block 91 and a counterweight sliding rod 92; the stainless steel counterweight block 91 can slide left and right on the counterweight slide rod 92 to adjust the gravity center position of the robot.
In a word, the structure body of the invention has simple design, light and small overall weight, complete functions, belongs to small and medium-sized robots and has wide application range. The flexibility and the rotatability of the ultrasonic detection module guarantee that the robot can be tightly attached to the shape surfaces of different measured objects, the accuracy of detection results is improved, the whole structure adopts modular bolt installation, the disassembly and the installation which are convenient for the maintenance of the robot body are realized, and the feasibility is higher.
Claims (4)
1. An underwater ultrasonic flaw detection robot is characterized by comprising;
the left half part and the right half part of the frame module (1) are mutually corresponding in shape and have the same structure; the following modules are all arranged on the frame module (1);
the ultrasonic detection module (2) is fixed on the U-shaped aluminum (12) of the frame module (1) and is used for executing ultrasonic detection; the ultrasonic detection module (2) comprises a compressible mechanism, an ultrasonic detector and a fixing piece;
the rolling brush module (3) is arranged above the ultrasonic detection module (2) and is used for cleaning the ultrasonic detection module (2) before ultrasonic detection;
the pressure-resistant electronic cabin module (4) is arranged at the bottom of the frame module (1) through a pressure-resistant electronic cabin stainless steel hoop (431) matched with a pressure-resistant electronic cabin ABS base (432), belongs to a core module of an underwater ultrasonic flaw detection robot, and is used for controlling other modules;
a motion module (5) comprising 2 horizontal propellers (51), 2 vertical propellers (52) and 1 lateral propeller (53); the horizontal propeller thruster (51) and the vertical propeller thruster (52) are matched with a thruster stainless steel hoop (511) and a thruster ABS base (512) and are fixed on the frame module (1), and the horizontal propeller thruster (53) is matched with a thruster aluminum alloy fixing frame (531) and is fixed on the frame module (1) and used for the underwater ultrasonic flaw detection robot to realize six-degree-of-freedom movement;
the lighting module (6) is used for lighting underwater environment and comprises two lighting devices with the same structure, wherein the two lighting devices are respectively arranged at the left front end and the right front end of a side plate (11) of the frame module (1);
the camera module (7) is used for matching with the lighting module (6) to acquire underwater information;
the front end and the rear end of the floating body module (8) are both in a streamline shape, so that the resistance to motion is reduced, the installation port for accommodating the vertical propeller thruster (52) is formed, and the floating body modules (8) are symmetrically distributed in a middle longitudinal section to ensure that the whole body is in an upward floating state in water;
the counterweight module (9) is made of stainless steel, comprises a stainless steel counterweight block (91) and a counterweight sliding rod (92), and is used for adjusting the gravity center and the balance degree of the underwater ultrasonic flaw detection robot;
the frame module (1) comprises a side plate (11), U-shaped aluminum (12), a handle (13), a cable fixing U-shaped bolt (14), a U-shaped hanging ring (15) and a connecting angle bracket (16); the side plates (11) comprise a left side plate and a right side plate, and are fixedly connected through a plurality of U-shaped aluminum (12); handles (13) are arranged at the front and rear positions of the outer edge of each side plate (11), so that the side plates are convenient to carry manually; the upper part of the frame is provided with a U-shaped hoisting ring (15) which is convenient for mechanical hanging; the cable is fixed on a cable fixing U-shaped bolt (14) at the tail of the robot;
the ultrasonic detection module (2) comprises a rear hexagonal nut (21), an aluminum alloy cylinder (22), a round head screw (23), a front hexagonal nut (24), a detector bracket (25), an ultrasonic probe (26), a spring (27), a detector bracket base (28) and an ultrasonic converter (29); the ultrasonic probe (26) is arranged on the detector bracket (25); the aluminum alloy cylinder (22) is provided with a U-shaped groove (221) as a motion track of the detector bracket (25); the front end and the rear end of the aluminum alloy cylinder (22) are both provided with threads which can be respectively matched with a front hexagonal nut (24) and a rear hexagonal nut (21); the front hexagonal nut (24) is provided with an opening for the detector bracket (25) to pass through, and the rear hexagonal nut (21) is provided with an opening for the fluid to flow out; a spring (27) is arranged in the aluminum alloy cylinder (22), the compression amount of the spring is 120mm, and the underwater ultrasonic inspection robot is ensured not to generate collision damage to the ultrasonic detection module (2) due to fluid force under the turbulent flow condition; a detector bracket base (28) provided with a round head screw (23) is arranged at the bottom end of the detector bracket (25), so that the detector bracket (25) can move stably in the track; the ultrasonic transducer (29) is fixed on the right side of the frame module (1), and the support part of the ultrasonic transducer is fixed on the bottom of the frame module (1) through an ABS fixing seat (223) of an ultrasonic detection mechanism.
2. An underwater ultrasonic testing robot according to claim 1, characterized in that the rolling brush module (3) comprises a rolling brush mechanism, a ball screw mechanism and a mounting fixing plate (33); the ball screw mechanism comprises a ball screw mechanism motor (321), a ball screw mechanism coupling (322), a screw (324) and a screw nut seat (325); the ball screw mechanism fixing seat (323) and the ball screw mechanism supporting seat (326) are fixed on the mounting fixing plate (33); the rolling brush mechanism comprises a mounting flat plate (311), a rolling brush mechanism motor (312), a rolling brush mechanism coupling (313), a connecting round rod (314), a rolling brush mechanism support seat (315) and an electric brush (316); the mounting flat plate (312) is fixed on the feed screw nut seat (325), and is used for fixing the rolling brush mechanism motor (311); a ball screw mechanism motor (321) drives a screw (324) to rotate, so as to drive a screw nut seat (325) to move back and forth, and further control the forward and backward movement of the rolling brush mechanism; a rolling brush mechanism motor (312) drives the rolling brush to rotate, so that the surface of the detected object is cleaned; and the rolling brush module (3) is matched with the mounting fixing plate (33) and is mounted on the U-shaped aluminum (12) above the ultrasonic flaw detection module (2).
3. An underwater ultrasonic testing robot as claimed in claim 1, characterized in that the side plates (11) are fixedly connected with the U-shaped aluminium (12) by means of connecting angle braces (16).
4. An underwater ultrasonic testing robot as claimed in claim 1, wherein said aluminum alloy cylinder (22) has U-shaped grooves (221) of dimensions: the length is 110mm and the width is 3.5 mm.
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| CN113386931A (en) * | 2021-06-24 | 2021-09-14 | 北京凌天智能装备集团股份有限公司 | Submersible |
| PL440508A1 (en) * | 2022-02-28 | 2023-09-04 | Uniwersytet Morski W Gdyni | Device for the inventory of the technical condition of steel parts of underwater quays |
| WO2024092402A1 (en) * | 2022-10-31 | 2024-05-10 | 中广核检测技术有限公司 | Vision-guided intelligent fastening bolt inspection device |
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