CN111497894A - Double-rail type high-speed stable ultrasonic flaw detector - Google Patents

Abstract

The invention discloses a double-rail high-speed stable ultrasonic flaw detector, which comprises a double-rail vehicle provided with a walking subsystem, a flaw detection subsystem, a centering subsystem and a control display subsystem, wherein a chassis of the double-rail vehicle is provided with a steering device for in-situ steering; the flaw detection subsystem comprises a plurality of ultrasonic signal processing modules, and the ultrasonic signal processing modules are used for respectively processing data of different probes of the flaw detection wheel; the centering subsystem comprises a horizontal adjusting part and an angle adjusting part, and the horizontal adjusting part and the angle adjusting part are respectively used for detecting the horizontal position and the angle of the flaw detection wheel and automatically resetting the flaw detection wheel. The invention integrally improves the detection speed, not only solves the problems of missed detection, low detection rate, increased shake of a detection wheel, poor equipment safety, difficult equipment maintenance and the like caused by speed improvement, but also solves the problems of unsafety and inconvenience in observation in car backing detection, low detection speed, unsuitability for long-distance driving in car backing detection and the like, and has the technical characteristics of high detection speed, high detection stability and convenient steering.

Description

Double-rail type high-speed stable ultrasonic flaw detector

Technical Field

The invention belongs to the technical field of rail flaw detection, and particularly relates to a double-rail high-speed stable ultrasonic flaw detector.

Background

The railway is one of the most important infrastructures of the country as the main artery of national economy, and is also the most popular transportation mode related to each citizen. In China, along with the increase of the speed and the axle weight of a train, the train has the effects of friction, extrusion, bending and impact on a steel rail in the accelerating and braking processes and when passing through a steel rail joint, a bend and a turnout, under the repeated action, the steel rail is extremely easy to damage, and the damage speed of the steel rail is correspondingly accelerated due to the expansion caused by heat and contraction caused by cold of metal caused by environmental reasons, so that the detection period also tends to be shortened, the steel rail flaw detection work is an important measure for ensuring the driving safety of the railway, and based on the condition, the double-rail type steel rail ultrasonic flaw detector is developed and recognized by a railway system. The double-rail ultrasonic flaw detector for the steel rail uses two flaw detection wheels, generally, 9 probes are arranged in each flaw detection wheel, and the flaw detector controls 18 probes to perform ultrasonic detection simultaneously.

However, China railways develop rapidly, and the traditional hand-push type steel rail flaw detector has low working efficiency and high operation cost, so that the requirement of railway steel rail flaw detection is gradually difficult to meet. As in the prior art, a technical solution entitled "a subway double-rail flaw detection vehicle" is disclosed, which includes:

the system comprises a frame, a walking subsystem, a flaw detection subsystem, a centering subsystem and a control display subsystem; the walking subsystem responds to the control of the control display subsystem and drives the flaw detection vehicle to walk along the subway double-track; the flaw detection subsystem at least comprises flaw detection wheels which are positioned on two sides of the steel rail during detection and used for ultrasonic detection; the centering subsystem responds to the control of the control display subsystem to adjust the position and the angle of the flaw detection wheel; the control display subsystem responds to external input or automatically controls the walking subsystem and the centering subsystem.

However, the conventional flaw detection system described above has the following problems:

1) the use requirements of a long section and a short skylight cannot be met in actual flaw detection operation, and the detection efficiency is not high, if the flaw detection system is adopted to detect flaws of double-track steel rails, each side steel rail is subjected to ultrasonic detection by one flaw detection wheel (9 probes), at present, the effective detection speed on the steel rails is only 15km/h at most, so that the detection speed of the short skylight is only 2 hours generally when the long section is 40 km generally, and the detection speed of the short skylight is not 2 hours generally, so that the operation task of the working condition cannot be completed at the detection speed of 15 km/h;

2) the detection speed is improved, the actual flaw detection stability is not good, on the basis of the prior art, if the detection speed of the flaw detection vehicle is further improved, the snake-shaped motion of the double-track flaw detection vehicle is intensified in the flaw detection process of high-speed operation, so that the normal work of a flaw detection wheel is influenced, the flaw detection wheel can be positioned at the optimal position by manual adjustment during calibration before operation, but the requirement of flaw detection operation cannot be met by manual adjustment during high-speed flaw detection operation;

3) the detection speed-up flaw detection vehicle can also exist in the actual operation process: the vehicle cannot be stopped in time due to poor braking performance, and certain potential safety hazards exist; the flaw detection system has large load and poor temperature stability, and the detection stability is influenced; in the process of high-speed running, splashes such as stone slag and the like brought by the wheel hub can cause higher failure possibility of the flaw detector, and the maintenance cost is increased; the detection of the reverse driving in the two-way driving is unsafe, and is not beneficial to a driver and a pilot to observe the detection condition, the detection speed is not fast in the forward driving, and the reverse detection is not suitable for long-distance driving.

Disclosure of Invention

The invention aims to solve the technical problems and provides a double-track type high-speed stable ultrasonic flaw detector which has the technical characteristics of high detection speed, high detection stability and convenient steering.

In order to solve the problems, the technical scheme of the invention is as follows:

a double-rail high-speed stable ultrasonic flaw detector comprises a double-rail vehicle provided with a walking subsystem, a flaw detection subsystem, a centering subsystem and a control display subsystem, wherein the control display subsystem is used for controlling the double-rail vehicle to walk, controlling flaw detection wheels in the flaw detection subsystem to perform ultrasonic detection and controlling the centering subsystem to adjust the positions and angles of the flaw detection wheels,

the flaw detection subsystem comprises a displacement measurement sensor and a plurality of ultrasonic signal processing modules, wherein the displacement measurement sensor is used for measuring displacement signals of ultrasonic flaw detection positions, and the plurality of ultrasonic signal processing modules are used for respectively processing data of different probes of the flaw detection wheel and obtaining ultrasonic flaw detection results by combining the displacement signals;

the centering subsystem comprises a horizontal adjusting part and an angle adjusting part, wherein the horizontal adjusting part is used for detecting the horizontal position of the flaw detection wheel and automatically resetting the flaw detection wheel, and the angle adjusting part is used for detecting the angle of the flaw detection wheel and automatically resetting the flaw detection wheel.

In one embodiment, the chassis of the double-rail vehicle is provided with a steering device for lifting the double-rail vehicle and steering in situ.

In one embodiment, the steering device comprises a steering piece, a lifting piece, a driving piece and a supporting seat, wherein the steering piece is connected with a chassis of the double-rail vehicle in a rotating mode along the horizontal direction, one end of the lifting piece is connected with the steering piece, the other end of the lifting piece is connected with the supporting seat, and the driving piece is in signal connection with the control display subsystem and is used for driving the lifting piece to extend or shorten along the vertical direction so as to lift or lower the double-rail vehicle.

In one embodiment, the lifting piece is a hydraulic lifting piece or a spiral lifting piece, the spiral lifting piece comprises a screw rod and a support rod assembly, the support rod assembly at least comprises two pairs of upper and lower support rods, the two pairs of upper and lower support rods are respectively connected with a rotating piece and a supporting seat, one end of the screw rod is rotatably connected with the middle connecting end of one pair of upper and lower support rods, the other end of the screw rod is in threaded connection with the middle connecting end of the other pair of upper and lower support rods, a driving piece is connected with the screw rod, and the driving piece is used for driving the screw rod to rotate so.

In one embodiment, the walking subsystem is provided with at least two sets of brake devices, one set of brake device is arranged at a main driving position of the double-rail vehicle, and the other set of brake device is arranged at a secondary driving position of the double-rail vehicle.

In one embodiment, the control display subsystem is respectively in signal connection with a plurality of ultrasonic signal processing modules, and the plurality of ultrasonic signal processing modules are in signal connection with the same displacement measurement sensor;

the ultrasonic signal processing modules are used for processing signals of the probes in a balanced distribution mode, responding to control signals sent by the control display subsystem, respectively exciting the corresponding probes to carry out ultrasonic flaw detection, and receiving flaw detection echo signals of the probes.

In one embodiment, the ultrasonic signal processing module comprises a processor, a transmitting and receiving control circuit, a transmitting circuit and a multipath receiving and sampling circuit;

the transmitting circuit is in signal connection with the corresponding probe, and the processor is in signal connection with the transmitting circuit through the transmitting and receiving control circuit and is used for controlling the transmitting circuit to generate electric pulses and exciting the specified probe to carry out ultrasonic flaw detection;

the multi-path receiving sampling circuit is used for receiving signals of the corresponding probes in a balanced distribution mode, and the processor is in signal connection with the multi-path receiving sampling circuit through the transmitting and receiving control circuit and is used for controlling the multi-path receiving sampling circuit to receive flaw detection echo signals of the designated probes.

In one embodiment, the processor is an FPGA processor.

In one embodiment, the receiving and sampling circuit comprises a receiving circuit and a sampling circuit, wherein the receiving circuit is used for converting the signal of the probe into an analog signal, amplifying and detecting the analog signal, and the sampling circuit is used for converting the analog signal into a digital signal.

In one embodiment, the flaw detection subsystem further comprises a constant temperature device provided with a constant temperature sheet, and the constant temperature device is used for keeping the temperature of the flaw detection subsystem constant so as to avoid high-temperature damage or unstable low-temperature flaw detection.

In one embodiment, the centering subsystem specifically comprises an outer frame, and a horizontal adjusting part, an angle adjusting part and a flaw detection wheel fixing part which are arranged on the outer frame;

the horizontal adjusting part comprises a horizontal guide piece fixed on the outer frame, a horizontal supporting piece connected with the horizontal guide piece in a sliding way, and a horizontal driving piece used for driving the horizontal supporting piece to horizontally displace along the horizontal guide piece;

the angle adjusting part comprises an arc-shaped guide piece fixed on the horizontal support piece, an angle support piece in sliding connection with the arc-shaped guide piece and an angle driving piece for driving the angle support piece to adjust the angle along the arc-shaped guide piece, the angle support piece is connected with a flaw detection wheel fixing part, and the flaw detection wheel fixing part is used for fixing a flaw detection wheel of the rail flaw detector, wherein the circle center of a guide arc of the arc-shaped guide piece is positioned at the central position of the flaw detection wheel fixing part for fixing the flaw detection wheel;

the horizontal driving member is provided with a horizontal sensor for monitoring horizontal displacement, and the angle driving member is provided with an angle sensor for monitoring angle deviation.

In one embodiment, the horizontal guide is an optical axis, and the optical axis is fixed on two sides of the outer frame along the moving direction of the horizontal support;

the horizontal support piece is a horizontal support plate, and sliding pipelines which are sleeved on the optical axis and are in sliding connection with the optical axis are arranged on two sides of the horizontal support plate.

In one embodiment, the horizontal driving member is an electric push rod, a hydraulic push rod or a pneumatic push rod, the horizontal driving member is fixed on the outer frame and is in driving connection with the horizontal supporting member, and the outer frame is used for supporting and pushing the horizontal supporting member to horizontally displace.

In one embodiment, the arc-shaped guide members are arc-shaped guide rails or arc-shaped guide grooves, and the arc-shaped guide members are fixed on two sides of the horizontal support member along the angle adjusting direction of the angle support member;

the angle supporting piece is an angle supporting plate, and sliding blocks or pulleys which are connected with the arc-shaped guide piece in a sliding mode are arranged on two sides of the angle supporting plate; the end face of the angle supporting plate far away from the horizontal supporting plate is connected with the flaw detection wheel fixing part.

In one embodiment, the angle driving member is an electric push rod, a hydraulic push rod or a pneumatic push rod, an angle adjusting frame is arranged at one end of the horizontal supporting member, which is not provided with the arc-shaped guide member, the angle driving member is fixed on the angle adjusting frame and is in driving connection with the angle supporting member, and the angle adjusting frame is used for supporting and pushing the angle supporting member to adjust the angle.

In one embodiment, the centering subsystem further comprises a vertical adjusting bolt, the angle support plate is connected with the flaw detection wheel fixing part through the vertical adjusting bolt, and the vertical adjusting bolt is used for adjusting the vertical displacement of the flaw detection wheel fixing part and the angle support plate.

In one embodiment, the centering subsystem is provided with a visualization housing for protecting the centering subsystem and the inspection wheel.

In one embodiment, the control display subsystem comprises a center console and a human-computer interaction interface, wherein the center console and the human-computer interaction interface are used for controlling the walking subsystem, the flaw detection subsystem and the centering subsystem, and the human-computer interaction interface is also used for displaying data parameters and giving an alarm.

Compared with the prior art, the invention has the following advantages and positive effects:

1) according to the invention, the steering device is arranged at the bottom of the chassis, the chassis can be folded when not used at ordinary times, normal rail flaw detection operation is not influenced, when the whole double-rail vehicle is required to turn around on a rail, the whole double-rail vehicle can be supported to be separated from the double rails by unfolding the steering device, and horizontal 180-degree steering is directly carried out by taking the steering device as a fulcrum, so that in-situ turning around and steering of the whole double-rail vehicle are realized, the technical problems of unsafety, low speed, difficulty in observation and incapability of long-distance detection in backing detection are solved, and the technical effects of convenience in steering and safety and high efficiency in detection are achieved;

2) the invention processes the signals of a plurality of probes by setting a plurality of ultrasonic signal processing modules in a balanced distribution way, wherein, the load of the ultrasonic signal processing modules is balanced by the balanced distribution, the balanced distribution can distribute the number of the processing probes according to the processing capacity of each ultrasonic signal processing module in advance, the processing efficiency of each ultrasonic signal processing module is improved to the maximum extent, simultaneously, each ultrasonic signal processing module is ensured not to be crashed due to overload operation, a plurality of receiving sampling circuits are arranged in each ultrasonic signal processing module to receive the signals of the corresponding probes in a balanced distribution way, the load of the plurality of receiving sampling circuits is balanced by the balanced distribution, the receiving processing amount of each receiving sampling circuit is reduced to the maximum extent, thereby greatly accelerating the whole flaw detection efficiency, and simultaneously, more probes can be carried, the overall flaw detection capability is improved;

3) the invention can freely configure the number of the ultrasonic signal processing modules and the number of the receiving sampling circuits in the modules so as to meet the requirement of flaw detection of a specific scene, and meanwhile, if one of the ultrasonic signal processing modules is down or one of the receiving sampling circuits in the ultrasonic signal processing modules has a fault, the flaw detection operation can be quickly resumed and continuously carried out on site through simple operations such as interface switching, computer control adjustment and the like, so that the technical problem that a flaw detection vehicle is not easy to maintain is solved, the time required by maintenance is greatly shortened, and the easy maintainability of the flaw detection vehicle is improved;

4) the invention adopts the horizontal sensor to detect the horizontal position of the flaw detection wheel, the angle sensor to detect the angle of the flaw detection wheel, when the flaw detection trolley moves at high speed, when the horizontal position and/or the angle deviation of the flaw detection wheel exceeds the preset value, the horizontal sensor and/or the angle sensor generate signals, the flaw detection software alarms, and the horizontal supporting piece is adjusted through the horizontal driving piece and/or the angle supporting piece is adjusted through the angle driving piece, so that the flaw detection wheel automatically resets, the detection accuracy and the high-speed detection stability are improved, thus, when the flaw detection trolley moves in a snake shape, the automatic resetting of the integral flaw detection wheel is realized, the relative position relation between the integral flaw detection wheel and the horizontal direction and the angle direction of the guide rail is kept stable, and the flaw detection wheel always keeps a good coupling relation with the top;

5) the invention also has at least two sets of brake devices, which greatly improves the brake performance of the double-rail vehicle running at high speed, and simultaneously sets a visual housing cover with protective effect for the centering subsystem, thereby greatly improving the stability of the flaw detection wheel and the flaw detection wheel in high-speed running.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention.

FIG. 1 is a block diagram of the overall structure of a dual-rail high-speed stable ultrasonic flaw detector of the present invention;

FIG. 2 is a structural diagram of a steering device of a dual-rail high-speed stable ultrasonic flaw detector of the invention;

FIG. 3 is a schematic diagram of a flaw detection wheel structure of a double-rail high-speed stable ultrasonic flaw detector of the present invention;

FIG. 4 is a schematic structural diagram of a flaw detection subsystem of the dual-rail high-speed stable ultrasonic flaw detector of the present invention;

FIG. 5 is a diagram showing the distribution of probes of a flaw detection wheel of a dual-rail type high-speed stable ultrasonic flaw detector according to the present invention;

FIG. 6 is an overall structure diagram of a centering subsystem of the dual-rail high-speed stable ultrasonic flaw detector of the present invention;

FIG. 7 is a diagram of the horizontal, angular and vertical adjustment of the centering sub-system of the dual-rail high-speed stable ultrasonic flaw detector of the present invention;

FIG. 8 is a structural view of an outer frame of a dual-rail type high-speed stable ultrasonic flaw detector of the present invention;

fig. 9 is a structural diagram of a center console and a human-computer interaction interface of the dual-rail high-speed stable ultrasonic flaw detector of the invention.

Description of reference numerals:

1-double-rail vehicle; 11-a walking subsystem; 12-a steering device; 121-a diverter; 1221-screw; 1222-a support rod assembly; 123-a drive member; 124-a support seat; 13-a brake device; 14-a road wheel; 141-a hub; 142-a shock absorbing wear layer;

2-a flaw detection subsystem; 21-a thermostatic device; 22-displacement measuring sensor; 23-an ultrasonic signal processing module; 231-a processor; 232-transmit receive control circuitry; 233-a transmitting circuit; 234-receive sampling circuitry; 2341 — a receiving circuit; 2342-a sampling circuit; 24-a flaw detection wheel; 241-a probe;

3-a centering subsystem; 301-flaw detection wheel fixing part; 302-a locking bolt; 303-horizontal support plate; 3031-an arcuate guide; 3032-sliding conduit; 3033-junction box; 3041-an angle support plate; 3042-a rail slide; 3043-a slide mounting plate; 3044-an angle adjusting stand; 3045-an angle drive; 305-vertical adjusting bolt; 3061-horizontally driving the mounting block; 3062 — horizontal drive; 307-main frame; 308-horizontal fixed mount; 3081 square beam main tube; 309-front frame; 310-a guide wheel support; 311-optical axis; 312-horizontal guide mount; 313-a guide wheel; 314-a pilot plough; 315-pretension spring;

4-control the display subsystem; 41-center console; 42-human-computer interaction interface.

Detailed Description

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.

For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".

The following describes a dual-rail high-speed stable ultrasonic flaw detector according to the present invention in further detail with reference to the accompanying drawings and specific embodiments.

Referring to fig. 1, the invention provides a double-rail type high-speed stable ultrasonic flaw detector, which comprises a double-rail vehicle 1 provided with a walking subsystem 11, a flaw detection subsystem 2, a centering subsystem 3 and a control display subsystem 4, wherein the control display subsystem 4 is used for controlling the double-rail vehicle 1 to walk, controlling a flaw detection wheel 24 in the flaw detection subsystem 2 to perform ultrasonic detection and controlling the centering subsystem 3 to adjust the position and the angle of the flaw detection wheel 24, the flaw detection subsystem 2 comprises a displacement measurement sensor 22 and a plurality of ultrasonic signal processing modules 23, the displacement measurement sensor 22 is used for measuring displacement signals of ultrasonic flaw detection positions, and the plurality of ultrasonic signal processing modules 23 are used for respectively processing data of different probes of the flaw detection wheel 24 and combining the displacement signals to obtain ultrasonic flaw detection results; the neutron 3 system comprises a horizontal adjusting part and an angle adjusting part, wherein the horizontal adjusting part is used for detecting the horizontal position of the flaw detection wheel and automatically resetting the flaw detection wheel, and the angle adjusting part is used for detecting the angle of the flaw detection wheel and automatically resetting the flaw detection wheel.

The present embodiment will now be described in detail, but is not limited thereto.

Compared with the prior art, the double-rail high-speed stable ultrasonic flaw detector has the detection speed at least up to 20km/h, and under the condition of detection speed increase, the detection stability of the flaw detector is further improved, so that the problems of detection omission, low detection rate, increased vibration of a detection wheel, poor braking performance, poor equipment safety, difficulty in equipment maintenance and the like caused by speed increase can be solved, the problems of unsafety and inconvenience for a driver, a pilot to observe and detect, low detection speed, unsuitability for long-distance driving of reverse detection and the like in the prior art are further solved, and the high-speed and stable double-rail ultrasonic flaw detector is comprehensively realized.

1) Concretely, the double-track vehicle provided with the walking subsystem in the embodiment is described

Referring to fig. 1 and 2, in the embodiment, the chassis of the double-rail vehicle 1 is provided with the steering device 12 for lifting the double-rail vehicle 1 and performing pivot steering, the walking subsystem can realize bidirectional running of the double-rail vehicle, and the pivot steering is realized through the steering device, during the flaw detection operation, the suspected flaw point at a close distance can be retested in a reverse mode, and the long-distance line can be retested through pivot steering, should turn to device upper end fixed mounting in the flaw detector chassis, the device 12 that turns to of this embodiment is including turning to piece 121, the lifting piece, driving piece 123, supporting seat 124, turn to piece 121 and the chassis of double-rail car and rotate along the horizontal direction and be connected, the one end and the turning to piece 121 of lifting piece are connected, the other end and the supporting seat 124 of lifting piece are connected, driving piece 123 and control display subsystem signal connection for the driving lifting piece is along vertical direction extension or shorten, in order to lift up or descend the double-rail car.

Referring to fig. 2, in an embodiment of the steering apparatus 12 of this embodiment, the lifting member is a spiral lifting member, the spiral lifting member includes a screw 1221 and a support rod assembly 1222, the support rod assembly 1222 includes at least two pairs of upper and lower support rods, the two pairs of upper and lower support rods are respectively connected to the rotating member and the support base 124, one end of the screw 1221 is rotatably connected to the middle connection end of one pair of upper and lower support rods, the other end of the screw 1221 is in threaded connection with the middle connection end of the other pair of upper and lower support rods, the driving member 123 is connected to the screw 1221, and the driving member 123 is configured to drive the screw 1221 to rotate so as to drive the support. As shown in figure 2, in a folded state, once the flaw detector needs to be turned, the left motor can pull the rod to enable the device to extend in the vertical direction, the lower chassis of the device descends to the track plate, the strength of the lower chassis of the device is enough to support the whole flaw detector, then one flaw detector rotates the flaw detector, and after the required direction is reached, the motor pulls the rod to enable the device to be folded, and the turning of the flaw detector is completed. In another specific implementation manner of the steering device in this embodiment, the spiral lifting element may be replaced by a hydraulic lifting element, and the whole flaw detection vehicle is lifted and lowered in a hydraulic driving manner.

Referring to fig. 3, the dual-track vehicle of the present embodiment can use aluminum alloy as the hub 141 of the road wheel, and the outer surface is attached with a shock-absorbing wear-resistant layer 142, which has the characteristics of insulation, high load bearing, high dynamic load, wear resistance, low noise and light weight, and the road wheel is fixed on the transmission shaft through auxiliary mounting parts such as a wheel core, a lock nut and a cotter pin. The frame of this embodiment adopts titanium alloy material, and corrosion resistance is good, and heat resistance is high, has sufficient intensity and rigidity, and the frame reduces the weight of one-piece spare part through measures such as split formula, lightening hole, places front frame and back frame on the track respectively during the equipment, and the front and back grafting.

Preferably, referring to fig. 1, the double-track vehicle 1 is provided with at least 2 sets of brake devices 13 of foot brakes, when a driver cannot react in time, a passenger operator can step on the brakes to stop the vehicle, the foot brakes of a driver seat control front wheels, and the foot brakes of the operator seat control rear wheels. The embodiment is provided with at least two sets of brake devices 13, so that the brake performance of the double-rail vehicle 1 running at high speed is greatly improved.

This embodiment is through setting up the steering device bottom the chassis, can draw in when not using at ordinary times, do not influence normal rail operation of detecting a flaw, when needing whole double-rail car to turn round on the rail, the accessible expandes the steering device, prop up whole double-rail car and break away from the double track, and use the steering device to directly turn to for the pivot levelness, so, the pivot that has realized whole double-rail car turns round and turns to, solved and backed a car the technical problem that detects insecurity, slow speed, difficult observation, can not long distance detection, it is convenient, detect safe efficient technological effect to have reached to turn to.

2) Detailed description of the present embodiment

Referring to fig. 4, the flaw detection subsystem of the present embodiment includes: the displacement measuring transducer 22 and the ultrasonic signal processing modules 23 are respectively connected with the control display subsystem 4 through signals, and the ultrasonic signal processing modules 23 are respectively connected with the same displacement measuring transducer 22 through signals; the ultrasonic signal processing modules 23 are used for processing signals of the probes 241 in a balanced distribution mode, the ultrasonic signal processing modules 23 respond to control signals sent by the control display subsystem, respectively excite the corresponding probes 241 to carry out ultrasonic flaw detection, and receive flaw detection echo signals of the probes 241; the displacement measuring sensor 22 is used for measuring a displacement signal of an ultrasonic flaw detection position, and the ultrasonic signal processing module 23 is further used for processing the displacement signal and a flaw detection echo signal to obtain an ultrasonic flaw detection result; and the control display subsystem is used for displaying and storing the ultrasonic flaw detection result.

The displacement measuring sensor of the present embodiment may be a synchronous encoder, or may also be a displacement measuring sensor that performs displacement measurement by using a mobile positioning technology such as a GPS signal, and preferably, the present embodiment employs an angular displacement encoder to convert a rotation angle of a road wheel of the flaw detection vehicle into an advancing displacement of an ultrasonic flaw detection position, so as to be used for controlling ultrasonic flaw detection result display of the display subsystem, and play a role in positioning defects. Specifically, the signals of the displacement measuring sensors are transmitted to a plurality of ultrasonic signal processing modules at the same time by one or more times.

For example, in fig. 5, ①, ②, ③, ⑦, ⑧ and ⑨ channels are ultrasonic probes generating beams with a refraction angle of 70 ° in the steel rail and used for detecting nuclear damage of the head of the steel rail, ④ and ⑥ channels are ultrasonic probes generating beams with a 37.5 ° in the steel rail and used for detecting screw cracks and rail bottom cracks in different directions, and ⑤ channels are ultrasonic beams generating beams with a vertical downward angle of 0 ° in the steel rail and used for detecting horizontal cracks of any part of the steel rail, and the flaw detection wheel is filled with coupling liquid to ensure that ultrasonic waves can be propagated without damage.

The system comprises a plurality of probes, a first flaw detection wheel and a second flaw detection wheel, wherein the first flaw detection wheel is used for ultrasonic flaw detection of a steel rail on one side of a double-rail steel rail, the second flaw detection wheel is used for ultrasonic flaw detection of a steel rail on the other side of the double-rail steel rail, the first flaw detection wheel is in signal connection with an ultrasonic flaw detection signal processing subsystem, the second flaw detection wheel is in signal connection with another ultrasonic flaw detection signal processing subsystem, the first flaw detection wheel and the second flaw detection wheel can be respectively packaged in the flaw detection wheels, 9 ultrasonic probes are distributed in the flaw detection wheels, signals of 18 channel probes are distributed in the flaw detection wheels, obviously, the system is only a specific implementation mode of the embodiment, and the.

Referring to fig. 4, a plurality of ultrasonic signal processing modules 23 (two are illustrated in this embodiment) are provided in this embodiment, each ultrasonic signal processing module 23 includes a processor 231, a transmitting and receiving control circuit 232, a transmitting circuit 233, and a multi-path receiving sampling circuit 234, preferably, the processor 231 of this embodiment employs an FPGA processor 231, and compared with a flaw detector in the prior art that uses a single chip microcomputer and a DSP as hardware architectures, this embodiment greatly improves data processing speed, reduces delay time for controlling data storage and display at a display subsystem end, and improves flaw detection efficiency and real-time performance.

In this embodiment, when the whole system is started, the control display subsystem sends out a control signal, the FPGA processor responds and receives the control signal, then the control information is sent to the transmitting and receiving control circuit 232, the transmitting and receiving control circuit controls the transmitting circuit to add the generated high-voltage electric pulse to the probe of the appointed channel according to the channel gating instruction given by the FPGA processor, so that the appointed probe can excite ultrasonic wave to make rail flaw detection, and can control receiving sampling circuit to receive flaw detection echo signal of appointed channel, referring to fig. 4, in receiving the sampled signals, the receiving circuit 2341 converts the received ultrasonic signals into analog electrical signals, and then amplifies and detects the analog ultrasonic signals, and the FPGA processor 231 controls the sampling circuit 2342 to sample the analog electrical signals transmitted from the receiving module and convert the analog electrical signals into digital signals which can be processed by the FPGA processor 231. Preferably, an AD9697 analog-to-digital converter is used as the sampling circuit. The FPGA processor is matched with a displacement signal obtained by a displacement transmission measuring sensor, filtering, extremum searching, defect judging and other processing are carried out on an echo signal obtained by sampling, original data of B-ultrasonic flaw detection are obtained through integration, the processed data are placed in a memory, preferably, after the memory stores a certain amount of data, the FPGA processor packs the data and sends the data to a computer through an Ethernet, frequent sending of the data is reduced, and accordingly data sending processing load of a system is reduced, wherein the memory not only stores ultrasonic flaw detection data, but also stores various instructions for work of the FPGA processor, and preferably, a DDR3 chip with the bus width being 16bit in total is selected and used in the embodiment and is connected with a BANK34 interface of the FPGA.

Preferably, referring to fig. 1, the flaw detection subsystem 2 of the present embodiment further includes a thermostat 21 provided with a thermostatic strip for keeping the temperature of the flaw detection subsystem 2 constant to avoid high temperature damage or unstable low temperature flaw detection. The thermostat 21 can cope with severe weather conditions in the field. The environmental temperature is higher in summer, the signal processing unit in the flaw detection module can not be damaged due to high temperature through the refrigerating function and the fan of the constant temperature device 21, long-time flaw detection operation is guaranteed, the working temperature of the signal processing unit is maintained through the heating function in winter, and the flaw detection stability is guaranteed. The thermostat 21 is mainly powered by the thermostat inside, and has the refrigerating function when the thermostat is powered positively and heats when the thermostat is powered negatively.

In the embodiment, the plurality of ultrasonic signal processing modules are arranged to uniformly distribute and process signals of the plurality of probes, wherein the load of the plurality of ultrasonic signal processing modules is balanced through balanced distribution, the balanced distribution can distribute and process the number of the probes according to the processing capacity of each ultrasonic signal processing module in advance, the processing efficiency of each ultrasonic signal processing module is improved to the maximum extent, and simultaneously each ultrasonic signal processing module is ensured not to be crashed due to overload operation, a plurality of receiving and sampling circuits are arranged in each ultrasonic signal processing module to uniformly distribute and receive the signals of the corresponding probes, the plurality of receiving and sampling circuits are balanced in load through balanced distribution, the receiving and processing amount of each receiving and sampling circuit is reduced to the maximum extent, so that the overall flaw detection efficiency is greatly improved, and more probes can be carried, the overall flaw detection capability is improved.

The number of ultrasonic signal processing modules and the number of receiving sampling circuits in the modules can be freely configured in the embodiment, so that the requirement of flaw detection of a specific scene is met, meanwhile, if one module in the ultrasonic signal processing modules is down, or one receiving sampling circuit in the ultrasonic signal processing modules has a fault, the flaw detection operation can be quickly recovered and continuously carried out on site through simple operations such as interface switching, computer control adjustment and the like, the technical problem that a flaw detection vehicle is not easy to maintain is solved, the time required by maintenance is greatly shortened, and the maintainability of the flaw detection vehicle is improved.

3) Detailed description of the embodiments of the centering subsystem

Referring to fig. 6 to 8, the centering subsystem of the present embodiment includes: an outer frame, and a horizontal adjusting portion, an angle adjusting portion, and a flaw detection wheel fixing portion 301 mounted on the outer frame; the horizontal adjusting part comprises a horizontal guide fixed on the outer frame, a horizontal support connected with the horizontal guide in a sliding way, and a horizontal driving part 3062 used for driving the horizontal support to horizontally displace along the horizontal guide; the angle adjusting part comprises an arc-shaped guide part 3031 fixed on the horizontal support part, an angle support part in sliding connection with the arc-shaped guide part 3031 and an angle driving part 3045 used for driving the angle support part to adjust the angle along the arc-shaped guide part 3031, the angle support part is connected with the flaw detection wheel fixing part 301, and the flaw detection wheel fixing part 301 is used for fixing a flaw detection wheel of the rail flaw detector, wherein the circle center of the guiding arc of the arc-shaped guide part 3031 is positioned at the central position of the flaw detection wheel fixing part 3011; the horizontal driving member 3062 and the angle driving member 3045 are respectively provided with a horizontal sensor for monitoring horizontal displacement and an angle sensor for monitoring an angle.

Referring to fig. 6 and 7, in this embodiment, the flaw detection wheel fixing portion 301, the horizontal adjustment portion, and the angle adjustment portion are all disposed on an outer frame, the outer frame serves as a fixed connection, a terminal box 3033 is further mounted on the horizontal support member and is in signal connection with the control display subsystem, specifically, the flaw detection wheel fixing portion 301 includes a flaw detection wheel mounting bracket and two flaw detection wheel supports, the flaw detection wheel mounting bracket is connected with the angle support member, the two flaw detection wheel supports are symmetrically disposed on two sides of the flaw detection wheel mounting bracket, the flaw detection wheel mounting bracket and the two flaw detection wheel supports form a space for disposing the flaw detection wheel, and the flaw detection wheel mounting bracket of the flaw detection wheel fixing portion 301 is fixed on the lower end surface of the angle support member through a.

Referring to fig. 6 and 8, in the present embodiment, the horizontal guiding members are two optical axes 311 arranged in parallel, the optical axes 311 are fixed on two sides of the outer frame along the moving direction of the horizontal supporting member, the optical axes 311 are fixedly connected to the outer frame, and the direction of the optical axes 311 is perpendicular to the advancing direction of the present embodiment; the horizontal support member is a horizontal support plate 303, and two sides of the horizontal support plate 303 are provided with sliding pipes 3032 sleeved on the optical axis 311 and slidably connected with the optical axis 311. Specifically, the horizontal driving member 3062 is an electric push rod, a hydraulic push rod or a pneumatic push rod, the horizontal driving member 3062 is fixed on the outer frame and is in driving connection with the horizontal support member, and the outer frame serves as a support to push the horizontal support member to horizontally displace; the level sensor may be a potentiometer-type displacement sensor, or a magnetostrictive displacement sensor, or a laser ranging sensor, etc., which is electrically connected to the horizontal driving member 3062.

Referring to fig. 6 and 7, in this embodiment, the horizontal support member is a horizontal support plate 303, two symmetrical sets of sliding conduits 3032 are disposed on both sides of the horizontal support plate 303 close to the optical axis 311, a linear bearing and a hole retaining ring are mounted in the sliding conduits 3032, and the optical axis 311 passes through the linear bearing, so that the horizontal support plate 303 is sleeved on the optical axis 311 and is connected in a sliding manner; the upper end surface of the horizontal support plate 303 is provided with a horizontal driving piece 3062 and a horizontal driving installation block 3061 for installing the horizontal driving piece 3062, one end of the horizontal driving piece 3062 is a fixed end and is connected with the outer frame, and the other end is a driving end and is in driving connection with the horizontal support plate 303; when the horizontal sensor of this embodiment detects a horizontal deviation of the flaw detection wheel, the horizontal driving member 3062 pushes the horizontal support plate 303 by using the outer frame as a support member, so as to drive the flaw detection wheel to move in the horizontal direction, so that the horizontal relative position of the flaw detection wheel and the rail is still unchanged, and the flaw detection wheel and the rail are better coupled.

The horizontal direction adjustment of the flaw detection wheel of the present embodiment will now be described: when a horizontal sensor on the horizontal driving piece finds that the horizontal displacement position of the flaw detection wheel and the rail exceeds a preset threshold value, the horizontal sensor can be a potentiometer type displacement sensor, a magnetostrictive displacement sensor, a laser ranging sensor or other displacement sensors, sends an electric signal to detection software to give an alarm, and sends an adjusting signal to the horizontal driving piece; the horizontal driving part pushes the horizontal supporting plate to displace after receiving the signal until the flaw detection wheel reaches the optimal detection position, thereby realizing the automatic reset of the flaw detection wheel in the horizontal direction.

Referring to fig. 6 and 7, in this embodiment, the arc guide 3031 is an arc guide rail or an arc guide groove, and the arc guide 3031 is fixed to two sides of the horizontal support along the angle adjustment direction of the angle support; the angle support is an angle support plate 3041, and both sides of the angle support plate 3041 are provided with sliders or pulleys slidably connected with the arc guide 3031; the end surface of the angle support plate 3041 away from the horizontal support plate 303 is connected to the flaw detection wheel fixing portion 301. Specifically, the angle driving member 3045 is an electric push rod, a hydraulic push rod, or a pneumatic push rod, an angle adjusting bracket 3044 is disposed at an end of the horizontal support member not provided with the arc-shaped guide 3031, the angle driving member 3045 is fixed on the angle adjusting bracket 3044 and is in driving connection with the angle support member, and the angle adjusting bracket 3044 is used as a support to push the angle support member to adjust the angle; the angle sensor can be a potentiometer type displacement sensor, a magnetostrictive displacement sensor, a laser ranging sensor and the like.

Referring to fig. 7, in this embodiment, the arc guide 3031 is an arc guide rail or an arc guide slot, the arc guide 3031 is fixed on two sides of the horizontal support along the angle adjustment direction of the angle support and is located below the sliding duct 3032 of the horizontal support, specifically, the center of the circle where the arc guide 3031 is located at the center of the fixed flaw detection wheel of the flaw detection wheel fixing part 3011; the angle supporting member is an angle supporting plate 3041, the angle supporting plate 3041 is arranged between the horizontal supporting plate 303 and the flaw detection wheel fixing part 301, and the lower end surface of the angle supporting plate 3041 is connected with the flaw detection wheel mounting frame of the flaw detection wheel fixing part 301; two ends of the angle supporting plate 3041 are provided with a guide rail sliding block 3042 or a guide wheel 313, and the angle supporting plate 3041 is connected with the arc-shaped guide 3031 of the horizontal support member by the guide rail sliding block 3042 or the guide wheel 313;

referring to fig. 7, an angle adjusting bracket 3044 is installed at one end of the horizontal support plate 303, which is not equipped with a sliding rail, and an angle driving member 3045 is installed at the angle adjusting bracket 3044; the angle driving member 3045 may be an electric push rod, a hydraulic push rod, or a pneumatic push rod, and one end of the angle driving member 3045 is a fixed end, and the fixed end is fixedly connected to the angle adjusting frame 3044; the other end of the angle driving member 3045 is a driving end, which is in driving connection with the angle supporting plate 3041 for pushing the angle supporting plate 3041; when the angle sensor of this embodiment detects a deviation of the advancing angle of the flaw detection wheel, the horizontal driving member 3062 pushes the angle supporting plate 3041 by using the angle adjusting bracket 3044 as the supporting member, so as to drive the guide rail slider 3042 of the angle supporting member or the arc-shaped guiding member 3031 of the guiding wheel 313 to slide, and since the flaw detection wheel fixing portion 301 is connected with the angle supporting plate 3041, when the angle supporting plate 3041 slides, the flaw detection wheel fixing portion 301 is driven to change the angle between the flaw detection wheel and the guide rail, so that the flaw detection wheel and the guide rail are kept well coupled.

The angle adjustment of the flaw detection wheel in this embodiment will now be described: when the angle sensor of the angle driving member 3045 finds that the advancing angle between the flaw detection wheel and the rail exceeds a preset threshold, the angle sensor may be a potentiometer type displacement sensor, a magnetostrictive displacement sensor, a laser ranging sensor, or the like, and sends an electric signal to the detection software to give an alarm, and sends an adjustment signal to the angle driving member 3045; after receiving the signal, the angle driving member 3045 displaces the angle supporting plate 3041, and further, the horizontal supporting plate 303 and the flaw detection trolley keep relatively static, and the angle supporting plate 3041 and the horizontal supporting plate 303 generate relative displacement to drive the flaw detection wheel to change the angle between the flaw detection wheel and the guide rail until the flaw detection wheel reaches the optimal detection position, thereby realizing automatic resetting of the advancing angle of the flaw detection wheel.

Referring to fig. 7, preferably, the present embodiment further includes a vertical adjusting bolt 305, the angle support plate 3041 is connected to the inspection wheel fixing portion 301 via the vertical adjusting bolt 305, and the vertical adjusting bolt 305 is used to adjust the vertical displacement of the inspection wheel fixing portion 301 and the angle support plate 3041. In this embodiment, the angle support plate 3041 is connected to the flaw detection wheel mounting frame of the flaw detection wheel fixing portion 3011 via the vertical adjustment bolt 305, the vertical adjustment rod is connected to the vertical adjustment bolt 305 via the opening of the horizontal support plate 303, and after the flaw detection cart stops working, the flaw detection wheel fixing portion 301 is raised using the vertical adjustment rod, thereby driving the flaw detection wheel to rise; when the flaw detection trolley starts to work, the flaw detection wheel fixing part 301 is descended by using the vertical adjusting rod, so that the flaw detection wheel is driven to descend and is coupled with the track.

Referring to fig. 6 and 8, the outer frame includes: the main frame 307, the horizontal fixing frame 308, the front frame 309, the square beam main pipe 3081 and the guide wheel 313 bracket 310; the main frame 307 is connected with the front frame 309, and the main frame 307 is connected with the horizontal fixing frame 308 through a square beam main pipe 3081; the guide wheel 313 support 310 is connected with the front frame 309, and the guide wheel 313 support 310 is connected with the main frame 307 through a square beam main pipe 3081; the horizontal adjusting part, the angle adjusting part and the flaw detection wheel fixing part 301 are all arranged in a space formed by the main frame 307, the horizontal fixing frame 308 and the front frame 309; the horizontal guide is connected to the front frame 309, the horizontal fixing frame 308, and the main frame 307 in turn. In this embodiment, the outer frame mainly comprises a main frame 307, a horizontal fixing frame 308 and a front frame 309, the main frame 307 bears main connecting components of this embodiment, and is respectively connected with the front frame 309, the horizontal fixing frame 308 via a square beam main pipe 3081, and the guide wheel 313 bracket 310 via the square beam main pipe 3081, and in addition, the main frame is connected and locked with a detachable frame of the flaw detection trolley via two adjustable positioning handles; the front frame 309 is mainly used for connecting with one end of a horizontal guiding piece, and the other end of the horizontal guiding piece is connected with a horizontal guiding installation seat 312 of the main frame 307 through a horizontal fixing frame 308; a linear bearing is arranged on the horizontal fixing frame 308, and the horizontal guide piece passes through the linear bearing of the horizontal fixing frame 308 to fix the optical axis 311; the guide wheel 313 support 310 is installed between the front frame 309 and the square beam main tube 3081, and the guide wheel 313 support 310 is installed to install the guide wheel 313 and the guide plow 314.

Referring to fig. 6 and 8, specifically, the outer frame is provided with guide wheels 313 and guide plows 314 on both sides of the inspection wheel fixing portion 301 in the rail direction; the guide wheel 313 is used for enabling the flaw detection trolley to cling to the guide rail; the guide plow 314 is used for preventing the flaw detection trolley from derailing and derailing in the harmful space of the aisle fork. In the present embodiment, a similar flaw detection wheel is fixed to the flaw detection wheel fixing portion 301, and the guide wheel 313 and the guide plow 314 are adjacently mounted on the guide wheel 313 bracket 310; in the present embodiment, there are two sets of guide wheels 313 and guide plows 314, which are respectively located before and after the flaw detection wheel fixing part 301; the guide wheels 313 help the flaw detection wheels to run on the central line of the guide rail; the guide plow 314 can move transversely along the rail along with the flaw detection trolley, so as to play a role in blocking and prevent derailment, derailment and the like.

Referring to fig. 6 and 8, preferably, the outer frame further includes elastic members, one ends of which are connected to the square girder main tubes 3081 and the other ends of which are connected to the main frames 307. In this embodiment, the elastic member is a pre-tightening spring 315, and since the pre-tightening spring 315 is disposed adjacent to the square beam main tube 3081, and the square beam main tube 3081 is connected to the guide wheel 313 support 310 and the horizontal fixing frame 308, respectively, the pre-tightening spring 315 may cause the rim of the guide wheel 313 to have an elastic force on the side surface of the guide rail, and in addition, may also provide an elastic pressure to the horizontal fixing frame 308; therefore, the pre-tightening spring 315 can reduce the inclination of the guide wheel 313 caused by the snake-shaped running of the flaw detection vehicle or the passing of the arc-shaped track as much as possible, so that the horizontal or angular displacement of the flaw detection wheel relative to the guide rail is reduced as much as possible, the self-adjustment is convenient for the embodiment, and more accurate test data can be obtained.

Preferably, this embodiment still sets up the housing parcel outside whole double track car, and both sides centering module also is covered by dismantling visual housing, guarantees that rail muddy water does not take up by the shaft and spatters on the appearance of detecting a flaw, can also avoid the appearance of detecting a flaw to directly expose in abominable environment, does benefit to the maintenance work of the appearance of detecting a flaw.

In the embodiment, the horizontal sensor is adopted to carry out horizontal position detection on the flaw detection wheel, the angle sensor is used for carrying out angle detection on the flaw detection wheel, when the flaw detection trolley moves at a high speed, when the horizontal position and/or the angle deviation of the flaw detection wheel exceeds a preset value, the horizontal sensor and/or the angle sensor generate a signal, an alarm is given in flaw detection software, and the horizontal support piece is adjusted through the horizontal drive piece and/or the angle support piece is adjusted through the angle drive piece, so that the flaw detection wheel is automatically reset, the detection accuracy and the stability of high-speed detection are improved, therefore, when the flaw detection trolley moves in a snake shape, the automatic reset of the integral flaw detection wheel is realized, the relative position relation between the integral flaw detection wheel and the horizontal direction and the angle direction of the guide rail is kept stable.

4) Detailed description of the exemplary embodiments

Referring to fig. 9, the control display subsystem of the present embodiment is composed of a center console 41 and an HMI human machine interface 42, the core control of the ultrasonic flaw detector is mainly realized by the center console 41, and hardware devices including a programmable controller, a relay, a sensor, a data acquisition module, a signal isolator, and the like are connected through corresponding circuits. The HMI human-computer interaction interface 42 system is matched to achieve the same functions and effects as the programmable controller, the two sets of control systems can prevent temporary faults in the using process, and the safety and the reliability of the ultrasonic flaw detector are enhanced. The HMI human-computer interaction interface has functions of data display, alarm and the like, and has functions of electric quantity display, speed display, proportion acceleration display and the like. As shown in fig. 9, the control display subsystem is mainly responsible for electrical control and monitoring of the flaw detector, such as flaw detector travel control, centering adjustment mechanism control, spraying mechanism control, battery power monitoring and travel speed monitoring, and can also realize functions of driving a switch, brake control, illumination control, whistle control and the like.

The power supply is composed of a miniature circuit breaker, a power key switch, a direct current power supply and the like, wherein the direct current power supply is 24V and 48V and respectively supplies the direct current power supply to the P L C, the relay, the flaw detection system, the electric push rod, the driving motor, the water pump and the like, (2) the programmable controller is a control center of the electric control display subsystem, adopts Siemens series products, has a quick central processing operation function and rich programming instruction set, has a quick response digital quantity and an analog input/output channel, receives a key and a handle signal of an operation console, outputs a control signal to drive a motor driver through CPU data processing, achieves the purpose of controlling the direct current motor and the stepping motor, and realizes the moving of the trolley and the adjustment of the level and the inclination angle of the centering mechanism.

In the embodiment, the control display subsystem is provided with the center console and the human-computer interaction interface, and once the center console or the human-computer interaction interface fails, the other one can replace execution control, so that the safety and reliability of the ultrasonic flaw detector are enhanced.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, it is still within the scope of the present invention if they fall within the scope of the claims of the present invention and their equivalents.

Claims (18)

1. A double-rail high-speed stable ultrasonic flaw detector comprises a double-rail vehicle provided with a walking subsystem, a flaw detection subsystem, a centering subsystem and a control display subsystem, wherein the control display subsystem is used for controlling the double-rail vehicle to walk, controlling flaw detection wheels in the flaw detection subsystem to carry out ultrasonic detection and controlling the centering subsystem to adjust the positions and angles of the flaw detection wheels,

the flaw detection subsystem comprises a displacement measurement sensor and a plurality of ultrasonic signal processing modules, the displacement measurement sensor is used for measuring displacement signals of ultrasonic flaw detection positions, and the ultrasonic signal processing modules are used for respectively processing data of different probes of the flaw detection wheel and combining the displacement signals to obtain ultrasonic flaw detection results;

the centering subsystem comprises a horizontal adjusting part and an angle adjusting part, the horizontal adjusting part is used for horizontal position detection and automatic reset of the flaw detection wheel, and the angle adjusting part is used for angle detection and automatic reset of the flaw detection wheel.

2. The dual rail high speed stable ultrasonic flaw detector according to claim 1, wherein the chassis of the dual rail car is provided with a steering device for lifting the dual rail car and steering in situ.

3. The dual-rail high-speed stable ultrasonic flaw detector according to claim 2, wherein the steering device comprises a steering member, a lifting member, a driving member and a supporting seat, the steering member is rotatably connected with the chassis of the dual-rail vehicle along a horizontal direction, one end of the lifting member is connected with the steering member, the other end of the lifting member is connected with the supporting seat, and the driving member is in signal connection with the control and display subsystem and is used for driving the lifting member to extend or shorten along a vertical direction so as to lift or lower the dual-rail vehicle.

4. The dual-rail high-speed ultrasonic flaw detector of claim 3, wherein the lifting member is a hydraulic lifting member or a screw lifting member, the screw lifting member includes a screw rod and a support rod assembly, the support rod assembly includes at least two pairs of upper and lower support rods, the two pairs of upper and lower support rods are respectively connected to the rotating member and the support seat, one end of the screw rod is connected to the intermediate connection end of the upper and lower support rods, the other end of the screw rod is connected to the intermediate connection end of the upper and lower support rods, the driving member is connected to the screw rod, and the driving member is used for driving the screw rod to rotate so as to drive the support rod assembly to extend or shorten along the vertical direction.

5. The dual-rail high-speed stable ultrasonic flaw detector according to claim 1, wherein the walking subsystem is provided with at least two sets of brake devices, one set of brake device is arranged at a main driving position of the dual-rail vehicle, and the other set of brake device is arranged at a secondary driving position of the dual-rail vehicle.

6. The dual-rail high-speed stable ultrasonic flaw detector according to claim 1, wherein the control display subsystem is respectively in signal connection with a plurality of ultrasonic signal processing modules, and the plurality of ultrasonic signal processing modules are all in signal connection with the same displacement measuring sensor;

the ultrasonic signal processing modules are used for processing signals of the probes in a balanced distribution mode, responding to control signals sent by the control display subsystem, respectively exciting the corresponding probes to carry out ultrasonic flaw detection, and receiving flaw detection echo signals of the probes.

7. The dual-rail high-speed stable ultrasonic flaw detector according to claim 6, wherein the ultrasonic signal processing module comprises a processor, a transmitting and receiving control circuit, a transmitting circuit and a multipath receiving and sampling circuit;

the transmitting circuit is in signal connection with the corresponding probe, and the processor is in signal connection with the transmitting circuit through the transmitting and receiving control circuit and is used for controlling the transmitting circuit to generate electric pulses and exciting the specified probe to carry out ultrasonic flaw detection;

the multiple receiving sampling circuits are used for receiving corresponding signals of the probes in a balanced distribution mode, and the processor is in signal connection with the multiple receiving sampling circuits through the transmitting and receiving control circuit and is used for controlling the multiple receiving sampling circuits to receive specified flaw detection echo signals of the probes.

8. The dual rail high speed stable ultrasonic flaw detector of claim 7, wherein the processor is an FPGA processor.

9. The dual-rail high-speed stable ultrasonic flaw detector according to claim 7, wherein the receiving and sampling circuit comprises a receiving circuit and a sampling circuit, the receiving circuit is configured to convert the signal of the probe into an analog signal, amplify the analog signal, and detect the amplified analog signal, and the sampling circuit is configured to convert the analog signal into a digital signal.

10. The dual-rail high-speed stable ultrasonic flaw detector according to claim 1, wherein the flaw detection subsystem further comprises a thermostat provided with a thermostat sheet for temperature constancy of the flaw detection subsystem to avoid high temperature damage or low temperature flaw detection instability.

11. The dual-rail high-speed stable ultrasonic flaw detector according to claim 1, wherein the centering subsystem specifically comprises an outer frame, and the horizontal adjusting portion, the angle adjusting portion, and the flaw detection wheel fixing portion mounted on the outer frame;

the horizontal adjusting part comprises a horizontal guide piece fixed on the outer frame, a horizontal supporting piece connected with the horizontal guide piece in a sliding way, and a horizontal driving piece used for driving the horizontal supporting piece to horizontally displace along the horizontal guide piece;

the angle adjusting part comprises an arc-shaped guide piece fixed on the horizontal support piece, an angle support piece in sliding connection with the arc-shaped guide piece and an angle driving piece for driving the angle support piece to adjust the angle along the arc-shaped guide piece, the angle support piece is connected with the flaw detection wheel fixing part, the flaw detection wheel fixing part is used for fixing the flaw detection wheel of the rail flaw detector, and the circle center of the guiding arc of the arc-shaped guide piece is located at the central position of the flaw detection wheel fixing part for fixing the flaw detection wheel;

the horizontal driving piece is provided with a horizontal sensor for monitoring horizontal displacement, and the angle driving piece is provided with an angle sensor for monitoring angle deviation.

12. The dual-rail high-speed stable ultrasonic flaw detector according to claim 11, wherein the horizontal guide is an optical axis fixed to both sides of the outer frame in a moving direction of the horizontal support;

the horizontal supporting piece is a horizontal supporting plate, and sliding pipelines which are sleeved on the optical axis and are in sliding connection with the optical axis are arranged on two sides of the horizontal supporting plate.

13. The dual-rail high-speed stable ultrasonic flaw detector according to claim 12, wherein the horizontal driving member is an electric push rod, a hydraulic push rod, or a pneumatic push rod, and the horizontal driving member is fixed on the outer frame and is in driving connection with the horizontal supporting member, so as to push the horizontal supporting member to move horizontally by using the outer frame as a support.

14. The dual-rail high-speed stable ultrasonic flaw detector according to claim 11, wherein the arc guide is an arc guide rail or an arc guide groove, and the arc guide is fixed to both sides of the horizontal support along the angle adjustment direction of the angle support;

the angle supporting piece is an angle supporting plate, and sliding blocks or pulleys which are connected with the arc-shaped guide piece in a sliding mode are arranged on two sides of the angle supporting plate; the end face, far away from the horizontal supporting plate, of the angle supporting plate is connected with the flaw detection wheel fixing part.

15. The dual-rail high-speed stable ultrasonic flaw detector according to claim 14, wherein the angle driving member is an electric push rod, a hydraulic push rod or a pneumatic push rod, an angle adjusting bracket is disposed at an end of the horizontal supporting member where the arc-shaped guide member is not disposed, the angle driving member is fixed on the angle adjusting bracket and is in driving connection with the angle supporting member, and the angle adjusting bracket is used as a support to push the angle supporting member to adjust the angle.

16. The dual rail high speed stable ultrasonic flaw detector of claim 11, wherein the centering subsystem further comprises a vertical adjustment bolt, the angle support plate is connected to the flaw detection wheel fixing portion via the vertical adjustment bolt, and the vertical adjustment bolt is used to adjust vertical displacement of the flaw detection wheel fixing portion and the angle support plate.

17. The dual rail high speed stable ultrasonic flaw detector of claim 1, wherein the centering subsystem is provided with a visualization housing for protecting the centering subsystem and the flaw detection wheel.

18. The dual-rail high-speed stable ultrasonic flaw detector according to claim 1, wherein the control display subsystem comprises a console and a human-computer interface, the console and the human-computer interface are used for controlling the walking subsystem, the flaw detection subsystem and the centering subsystem, and the human-computer interface is also used for displaying data parameters and giving an alarm.

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