CN201673143U - Ultrasonic flaw detection auxiliary robot - Google Patents
Ultrasonic flaw detection auxiliary robot Download PDFInfo
- Publication number
- CN201673143U CN201673143U CN2010201897416U CN201020189741U CN201673143U CN 201673143 U CN201673143 U CN 201673143U CN 2010201897416 U CN2010201897416 U CN 2010201897416U CN 201020189741 U CN201020189741 U CN 201020189741U CN 201673143 U CN201673143 U CN 201673143U
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- frame
- couplant
- probe
- drive motor
- ultrasonic
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Abstract
The utility model discloses an ultrasonic flaw detection auxiliary robot, which comprises a frame, a frame traveling mechanism, a detection actuating portion, a couplant coating portion and a moving mechanism of the actuating portion. Caterpillar driving motors act independently or fittingly in the frame traveling mechanism so that the frame can advance, draw back or turn, the detection actuating portion is carried by a synchronous belt in the moving mechanism of the actuating portion to move, a probe rotating motor and an ultrasonic probe clamping portion are disposed on an internal fixing support, a linear reciprocating motor can carry the ultrasonic probe clamping portion to ascend or descend via the internal fixing support, a couplant brusher is fixed on the ultrasonic probe clamping portion in the couplant coating mechanism, the couplant brusher is used to coat couplant in front, and then an ultrasonic probe is used to detect flaw following the couplant brusher. The ultrasonic flaw detection auxiliary robot finishes heavy work including coating couplant and clamping probes and the like by itself, thereby greatly decreasing labor intensity of detecting staff and being favorable for increasing detection efficiency and accuracy.
Description
Technical field
The utility model relates to ultrasonic flaw detection auxiliary device, promptly relates to a kind of auxiliary robot for ultrasonic flaw detection.
Background technology
UT (Ultrasonic Testing) has following characteristics: have good directivity, have quite high intensity, can produce reflection, refraction and waveform transformation on the interface of two kinds of propagation mediums, have very strong penetration capacity, and human body is not had injury etc.UT (Ultrasonic Testing) is one of lossless detection method commonly used in the device fabrication processes such as pressure vessel, shipbuilding, boiler.Particularly in the seam inspection in the pressure vessel manufacture process, mainly adopt the method for manual detection, have shortcomings such as inefficiency, accuracy of detection deficiency and labour intensity are big.Existing UT (Ultrasonic Testing) main operational steps mainly comprises cleaning, brush couplant, to detect defective, defective locations and shape definite etc. except preliminary works such as flaw detection requires to determine, defectoscope adjustment; In scale removal process, instrument cleanings such as employing steel brush need the flaw detection position to reach dirts such as iron filings on every side, welding slag, dust; In brush couplant process, the thin pulp paste that UT (Ultrasonic Testing) wheat flour specially commonly used is done, machine oil etc. are as couplant, on the position that needs detect, artificial ultrasound wave inspection method adopts one section couplant of brush to operating personnel, detects one section method of detection with the couplant brushing; In the ultrasound examination process, principle and national standard requirement according to ultrasound examination, angle probe should be placed on the detection faces perpendicular to axis of a weld, do the sawtooth pattern scanning, the scope that moves forward and backward of probe should guarantee that scanning arrives whole welding joints cross section, when keeping the probe vertical weld to move forward and backward, also should make 10 °～15 ° left-right rotation; In judging the defect shape process, if in testing process, find defective position, need stop to detect, judge position, the kind of defective by all around rotation with around rotation, and keep a record.Adopting manual method to carry out UT (Ultrasonic Testing) detects and has inefficiency, influences shortcomings such as follow-up work progress and labour intensity are big; Such as: inefficiency, because the circular characteristics of the cylindrical shell of pressure vessel, the top and near the position be unfavorable for brushing couplant and detection, general single detects 120 °, by special tooling pressure vessel is rotated 120 ° then, detect again, need shell ring detection of pressure vessel could be finished for three times, not only labour intensity is big, and work efficiency is very low; Influence the postorder job schedule, the manufacture process of pressure vessel generally is to weld earlier, just can repair by after detecting, welded attachment, pressure test and work such as paint, when ultrasound examination, must stop other work, the poor efficiency of UT (Ultrasonic Testing) has a strong impact on the manufacturing speed of pressure vessel; Ratio of precision is lower, national standard all has clear and definite requirement for the maximum translational speed of probe, the distance that serrate moves, since fertilization ability intensity, operation careful degree and testing staff's aspects such as tired degree influence requirement, be difficult to reach standard-required, influence the result of actual detected; Labour intensity is big, and the pressure vessel UT (Ultrasonic Testing) generally needs two operating personnel at least, and operating personnel brush couplant, and another one detects.When the rotation pressure container, also need a people to operate to the outside, another one people observes rotational angle.Long-time hand hold transducer adopts anchor and uniform snap-in force to cause testing staff's labour intensity bigger.
The utility model content
Task of the present utility model is to provide a kind of auxiliary robot for ultrasonic flaw detection, and this auxiliary robot for ultrasonic flaw detection can be assisted manually-operated, finishes the flaw detection task, helps increasing work efficiency and reducing labour intensity.
Its technical solution is:
A kind of auxiliary robot for ultrasonic flaw detection comprises frame and carries the frame travel mechanism that frame moves, and the detection execution portion, the couplant that are positioned on the frame are coated with brush portion and carry the travel mechanism of execution portion that detection execution portion moves back and forth as left and right directions; The frame travel mechanism is provided with two magnetic traveling crawlers, wherein a magnetic traveling crawler is provided with sprocket wheel, driving chain, the magnetic crawler belt and first drive motor, first drive motor drives sprocket rotation, carrying the magnetic crawler belt by driving chain advances, another magnetic traveling crawler is provided with sprocket wheel, driving chain, the magnetic crawler belt and second drive motor, second drive motor drives sprocket rotation, carrying the magnetic crawler belt by driving chain advances, above-mentioned first drive motor and second drive motor single movement or the interoperation are made frame and are advanced, retreat or turning action; Travel mechanism of execution portion comprises power wheel, be with synchronously and the step-by-step movement drive motor, detecting execution portion carries mobile by synchronous band, detect execution portion and comprise the ultrasonic probe clamping part that is positioned at the below, probe electric rotating machine and internal fixation frame, the motor shaft of probe electric rotating machine is towards the below, the ultrasonic probe clamping part is connected with the motor shaft of probe electric rotating machine, the linear reciprocating motor cooperates with the transmission of internal fixation frame, above-mentioned probe electric rotating machine and excusing from death ripple probe clamping part are arranged on this internal fixation frame, and the linear reciprocating motor carries probe electric rotating machine and ultrasonic probe clamping part lifting position or down position by the internal fixation frame; Couplant brushing mechanism comprises couplant container, hydraulic pump and coupling agent brush, by connecting line the three is coupled together, coupling agent brush is fixed on the ultrasonic probe clamping part, coupling agent brush is positioned at the front side of ultrasonic probe clamping part clamping ultrasonic probe, coupling agent brush is the brushing couplant in front, and ultrasonic probe is detected a flaw following closely.
Above-mentioned first drive motor is positioned at the rear side of frame travel mechanism, first drive motor is connected with rear sprocket wheel in the magnetic traveling crawler of place, above-mentioned second drive motor is positioned at the front side of frame travel mechanism, and second drive motor is connected with the place ahead sprocket wheel in the magnetic traveling crawler of place.
Above-mentioned detection execution portion comprises square bearer and following square bearer, the internal fixation chord position is in last square bearer docks formed space, back with following square bearer in, the support partial fixing of linear reciprocating motor is up on the cabane plate of framework, the motor shaft of linear reciprocating motor stretches into square bearer and is connected with the last frame plate of inner fixed stand, the support partial fixing of probe electric rotating machine is on frame plate on the inner fixed stand, the motor shaft of probe electric rotating machine stretches into inner fixed stand and is in transmission connection with the transition axis of having children outside the state plan in the ripple probe clamping part, fixedly connected by axle sleeve between the top of transition axis and the inner fixed stand, transition axis passes down square bearer and is in transmission connection with the probe clamping head that is positioned at the below, is provided with compression spring in the following spindle nose and the probe clamping head connecting part of transition axis.
Above-mentioned square bearer and the following square bearer gone up located in the rear side docking site to fixedly connected with being with synchronously, be provided with guide rail sleeve on the fronk rack plate of framework and the back frame plate up, be nested with at each self-corresponding on the cross slide way that right and left stretches upwards by guide rail sleeve, frame plate is provided with the longitudinally guiding bar on the internal fixation frame, and the longitudinally guiding bar passes the spacing hole that is positioned on the square bearer cabane plate.
Above-mentioned probe clamping head comprises shift fork shape connecting portion, and the ultrasonic probe that is positioned at the below is hinged on the prong position of shift fork shape connecting portion by transverse axis.
The utility model can have following useful technique effect:
1, can reduce labour intensity.The utility model is finished heavy work contents such as brushing couplant and probe clamping by himself, generally need not the rotation pressure container and can finish detection, has greatly reduced testing staff's labour intensity.
2, can increase work efficiency.When carrying out the UT (Ultrasonic Testing) detection, the testing staff only need or not artificial brushing couplant in the pressure vessel built-in function, does not need the rotation pressure container can carry out omnibearing detection, has improved detection efficiency greatly; Be accompanied by the raising of detection efficiency, can accelerate the efficient of whole processing, reduce the phenomenon of delaying work that causes because detection efficiency is low.
3, can improve accuracy of detection.The utility model can make proper and stable snap-in force between ultrasonic probe and the pressure vessel wall, avoid because the pressure that human factors such as testing staff's fatigue, anxiety cause and the phenomenon of direction inequality.
Description of drawings
The utility model is described in further detail below in conjunction with accompanying drawing and embodiment:
Fig. 1 is the structural principle synoptic diagram of a kind of embodiment of the utility model.
Fig. 2 is the plan structure principle schematic of Fig. 1 mode.
Fig. 3 is the side-looking structural principle synoptic diagram of Fig. 1 mode.
Embodiment
In conjunction with Fig. 1, Fig. 2 and Fig. 3, a kind of auxiliary robot for ultrasonic flaw detection, its frame 1 is provided with the frame travel mechanism.The frame travel mechanism is provided with No. two magnetic traveling crawlers 3 that two magnetic traveling crawlers promptly are positioned at a magnetic traveling crawler 2 in frame left side and are positioned at the frame right side.No. one magnetic traveling crawler 2 is provided with sprocket wheel, driving chain 202, magnetic crawler belt 203 and first drive motor 204, first drive motor 204 is positioned at the rear side of frame travel mechanism, with its place magnetic traveling crawler is that the rear sprocket wheel 201 in the magnetic traveling crawler 2 is connected, drive sprocket rotation by first drive motor 204, drive the magnetic crawler belt by driving chain and advance.No. two magnetic traveling crawler 3 is provided with sprocket wheel, driving chain 302, magnetic crawler belt 303 and second drive motor 304, second drive motor 304 is positioned at the front side of frame travel mechanism, with its place magnetic traveling crawler is that No. two the place ahead sprocket wheels 301 in the magnetic traveling crawler 3 are connected, drive sprocket rotation by second drive motor, drive the magnetic crawler belt by driving chain and advance.Above-mentioned first drive motor 204 and second drive motor, 304 single movements or interoperation are made frame and are advanced, retreat or turning action.It detects execution portion and comprises the probe electric rotating machine 5 at the ultrasonic probe clamping part 4 that is positioned at the below, middle part and the linear reciprocating motor 6 of top, and internal fixation frame 7, goes up square bearer 8 and following square bearer 9.Above-mentioned internal fixation frame 7 is positioned at square bearer 8 and docks formed space, back with following square bearer 9, the support partial fixing of linear reciprocating motor 6 is up on the cabane plate 801 of framework 8, the motor shaft of linear reciprocating motor 6 stretches into square bearer 8 and is connected with the last frame plate 701 of inner fixed stand 7, and linear reciprocating motor 6 carries probe electric rotating machine and ultrasonic probe clamping part lifting position or down position by internal fixation frame 7.The support partial fixing of above-mentioned probe electric rotating machine 5 is on frame plate 701 on the inner fixed stand 7, transition axis 401 during the motor shaft of probe electric rotating machine 5 stretches into inner fixed stand 7 and has children outside the state plan ripple probe clamping part 4 is connected, fixedly connected by axle sleeve etc. with the following frame plate 702 of inner fixed stand in the top of transition axis 401, the probe clamping head 402 of the excusing from death ripple probe clamping part 4 below transition axis 401 passes down square bearer 9 and is arranged in is in transmission connection, and is provided with compression spring 403 in the following spindle nose and the probe clamping head connecting part of transition axis 401.Above-mentioned probe clamping head 402 comprises shift fork shape connecting portion 404, and the ultrasonic probe 10 that is positioned at the below is hinged on the prong position of shift fork shape connecting portion 404 by transverse axis.Its travel mechanism of execution portion comprises power wheel 11, is with 12 and step-by-step movement drive motor 13 synchronously, above-mentioned upward square bearer 8 is located in the rear side docking site with following square bearer 9 and is with 12 to fixedly connected synchronously, be provided with guide rail sleeve 14 on the fronk rack plate 802 of framework 8 and the back frame plate 803 up, be nested with at each self-corresponding on the cross slide way that right and left stretches upwards by guide rail sleeve 14, frame plate 701 is provided with longitudinally guiding bar 15 on the internal fixation frame 7, and longitudinally guiding bar 15 passes the spacing hole that is positioned on square bearer 8 cabane plates.Above-mentioned detection execution portion can be carried on the left and right directions by synchronous band and move back and forth.Its couplant brushing mechanism comprises couplant container 16, hydraulic pump 17 and coupling agent brush 18, is that couplant container 16, hydraulic pump 17 couple together with coupling agent brush 18 by connecting line with the three, coupling agent brush 18 is fixed on the ultrasonic probe clamping part 4, coupling agent brush 18 is positioned at the front side of ultrasonic probe clamping part clamping ultrasonic probe 10, coupling agent brush is the brushing couplant in front, and ultrasonic probe is detected a flaw following closely.
In the aforesaid way:
By first drive motor in the frame travel mechanism and second drive motor single movement or the interoperation, the utility model is made advance, retreat or action such as turning;
Detection execution portion can be made in the to-and-fro movement on the left and right directions, and it carries out organic serrate of finishing in the ultrasound examination that cooperates with frame walking motion of mechanism and detects route;
Detect execution portion and implement moving up and down of its ultrasonic probe clamping part etc. by the driving of linear reciprocating motor, and can be by final stressedly changing within the limits prescribed that compression spring be controlled ultrasonic probe, keep stressed between ultrasonic probe and the pressure vessel wall, before the utility model is started working and behind the end-of-job, promote by the ultrasonic probe of linear reciprocating motor ultrasonic probe clamping part and clamping thereof, avoid the unnecessary wearing and tearing of ultrasonic probe, adopt the probe electric rotating machine to drive ultrasonic probe and rotate, can finish the rotational action when normally detecting and judging defect shape;
Ultrasonic probe is hinged on the prong position of shift fork shape connecting portion by transverse axis, can realize the Automatic Levelling of popping one's head in, convenient at the detected pressures container girth joint and during longitudinal seam, satisfy all around rotation requirement by a small margin of probe.
Need to prove that also under the instruction of this instructions, any equivalents or obvious variant that those skilled in the art have done the utility model all should be in protection domains of the present utility model.
Claims (5)
1. auxiliary robot for ultrasonic flaw detection, be characterised in that it comprises frame and carries the frame travel mechanism that frame moves, and the detection execution portion, the couplant that are positioned on the frame are coated with brush portion and carry the travel mechanism of execution portion that detection execution portion moves back and forth as left and right directions; The frame travel mechanism is provided with two magnetic traveling crawlers, wherein a magnetic traveling crawler is provided with sprocket wheel, driving chain, the magnetic crawler belt and first drive motor of parcel driving chain, first drive motor drives sprocket rotation, driving the magnetic crawler belt by driving chain advances, another magnetic traveling crawler is provided with sprocket wheel, driving chain, the magnetic crawler belt and second drive motor of parcel driving chain, second drive motor drives sprocket rotation, driving the magnetic crawler belt by driving chain advances, above-mentioned first drive motor and second drive motor single movement or the interoperation are made frame and are advanced, retreat or turning action; Travel mechanism of execution portion comprises power wheel, be with synchronously and the step-by-step movement drive motor, detecting execution portion carries mobile by synchronous band, detect execution portion and comprise the ultrasonic probe clamping part that is positioned at the below, the probe electric rotating machine, linear reciprocating motor and internal fixation frame, the motor shaft of probe electric rotating machine is towards the below, the ultrasonic probe clamping part is connected with the motor shaft of probe electric rotating machine, the linear reciprocating motor cooperates with the transmission of internal fixation frame, above-mentioned probe electric rotating machine and excusing from death ripple probe clamping part are arranged on this internal fixation frame, and the linear reciprocating motor carries probe electric rotating machine and ultrasonic probe clamping part lifting position or down position by the internal fixation frame; Couplant brushing mechanism comprises couplant container, hydraulic pump and coupling agent brush, by connecting line the three is coupled together, coupling agent brush is fixed on the ultrasonic probe clamping part, coupling agent brush is positioned at the front side of ultrasonic probe clamping part clamping ultrasonic probe, coupling agent brush is the brushing couplant in front, and ultrasonic probe is detected a flaw following closely.
2. auxiliary robot for ultrasonic flaw detection according to claim 1, it is characterized in that: described first drive motor is positioned at the rear side of frame travel mechanism, first drive motor is connected with rear sprocket wheel in the magnetic traveling crawler of place, above-mentioned second drive motor is positioned at the front side of frame travel mechanism, and second drive motor is connected with the place ahead sprocket wheel in the magnetic traveling crawler of place.
3. auxiliary robot for ultrasonic flaw detection according to claim 1, it is characterized in that: described detection execution portion comprises square bearer and following square bearer, the internal fixation chord position is in last square bearer docks formed space, back with following square bearer in, the support partial fixing of linear reciprocating motor is up on the cabane plate of framework, the motor shaft of linear reciprocating motor stretches into square bearer and is connected with the last frame plate of inner fixed stand, the support partial fixing of probe electric rotating machine is on frame plate on the inner fixed stand, the motor shaft of probe electric rotating machine stretches into inner fixed stand and is in transmission connection with the transition axis of having children outside the state plan in the ripple probe clamping part, fixedly connected by axle sleeve between the top of transition axis and the inner fixed stand, the probe clamping head of the excusing from death ripple probe clamping part below transition axis passes down square bearer and is arranged in is in transmission connection, and is provided with compression spring in the following spindle nose and the probe clamping head connecting part of transition axis.
4. auxiliary robot for ultrasonic flaw detection according to claim 3, it is characterized in that: described square bearer and the following square bearer gone up located in the rear side docking site to fixedly connected with being with synchronously, be provided with guide rail sleeve on the fronk rack plate of framework and the back frame plate up, be nested with at each self-corresponding on the cross slide way that right and left stretches upwards by guide rail sleeve, frame plate is provided with the longitudinally guiding bar on the internal fixation frame, and the longitudinally guiding bar passes the spacing hole that is positioned on the square bearer cabane plate.
5. auxiliary robot for ultrasonic flaw detection according to claim 3 is characterized in that: described probe clamping head comprises shift fork shape connecting portion, and the ultrasonic probe that is positioned at the below is hinged on the prong position of shift fork shape connecting portion by transverse axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201897416U CN201673143U (en) | 2010-05-14 | 2010-05-14 | Ultrasonic flaw detection auxiliary robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201897416U CN201673143U (en) | 2010-05-14 | 2010-05-14 | Ultrasonic flaw detection auxiliary robot |
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| Publication Number | Publication Date |
|---|---|
| CN201673143U true CN201673143U (en) | 2010-12-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010201897416U Expired - Lifetime CN201673143U (en) | 2010-05-14 | 2010-05-14 | Ultrasonic flaw detection auxiliary robot |
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| CN (1) | CN201673143U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103063743A (en) * | 2013-01-11 | 2013-04-24 | 浙江大学 | Moveable-feeding-mechanism-based ultrasonic flaw detection system for bent steel tubes |
| CN103091399A (en) * | 2013-01-11 | 2013-05-08 | 浙江大学 | Bent steel tube ultrasonic automatic detecting system |
| CN103091400A (en) * | 2013-01-11 | 2013-05-08 | 浙江大学 | Bent steel tube automatic flaw detection system based on ultrasonic detection |
| CN104101646A (en) * | 2014-08-04 | 2014-10-15 | 吉林大学 | Automatic ultrasonic flaw detector |
| CN107650127A (en) * | 2017-08-25 | 2018-02-02 | 长沙理工大学 | A kind of transformer station's metal parts flaw detection robot and its application process |
| CN107839777A (en) * | 2016-09-18 | 2018-03-27 | 上海博昂电气有限公司 | Large-scale steel frame construction climbing robot stage apparatus |
| CN108759737A (en) * | 2018-06-14 | 2018-11-06 | 东南大学 | A kind of measuring thickness device applied to band large-scale metal tank surface |
| CN112162039A (en) * | 2020-09-30 | 2021-01-01 | 四川大学 | Ultrasonic detection device and detection method for detecting weld defects of large storage tank |
-
2010
- 2010-05-14 CN CN2010201897416U patent/CN201673143U/en not_active Expired - Lifetime
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103063743A (en) * | 2013-01-11 | 2013-04-24 | 浙江大学 | Moveable-feeding-mechanism-based ultrasonic flaw detection system for bent steel tubes |
| CN103091399A (en) * | 2013-01-11 | 2013-05-08 | 浙江大学 | Bent steel tube ultrasonic automatic detecting system |
| CN103091400A (en) * | 2013-01-11 | 2013-05-08 | 浙江大学 | Bent steel tube automatic flaw detection system based on ultrasonic detection |
| CN103063743B (en) * | 2013-01-11 | 2014-08-13 | 浙江大学 | Moveable-feeding-mechanism-based ultrasonic flaw detection system for bent steel tubes |
| CN103091399B (en) * | 2013-01-11 | 2014-10-15 | 浙江大学 | Bent steel tube ultrasonic automatic detecting system |
| CN104101646A (en) * | 2014-08-04 | 2014-10-15 | 吉林大学 | Automatic ultrasonic flaw detector |
| CN107839777A (en) * | 2016-09-18 | 2018-03-27 | 上海博昂电气有限公司 | Large-scale steel frame construction climbing robot stage apparatus |
| CN107650127A (en) * | 2017-08-25 | 2018-02-02 | 长沙理工大学 | A kind of transformer station's metal parts flaw detection robot and its application process |
| CN107650127B (en) * | 2017-08-25 | 2019-11-22 | 长沙理工大学 | A kind of substation's metal parts flaw detection robot and its application method |
| CN108759737A (en) * | 2018-06-14 | 2018-11-06 | 东南大学 | A kind of measuring thickness device applied to band large-scale metal tank surface |
| CN108759737B (en) * | 2018-06-14 | 2020-03-31 | 东南大学 | Thickness measuring device applied to surface of large metal tank body |
| CN112162039A (en) * | 2020-09-30 | 2021-01-01 | 四川大学 | Ultrasonic detection device and detection method for detecting weld defects of large storage tank |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20101215 Effective date of abandoning: 20120523 |