A fully immersion ultrasonic flaw detection device for annular workpieces

Abstract

The present invention relates to a fully water-immersed ultrasonic flaw detection device for annular workpieces, which automatically positions the annular workpiece through a stop wheel assembly and a clamping wheel assembly, and drives the annular workpiece to rotate through a second hydraulic motor and a stop wheel. Since the clamping force is adjustable, the rotation of the annular workpiece is more stable and not easy to slip. In addition, the first hydraulic motor and the second hydraulic motor are both hydraulic actuators, which are simple to control, have no risk of leakage and short circuit, and can be immersed in water, thereby improving the flaw detection effect of the ultrasonic probe. At the same time, its overall structure is simple, and all major components are standard parts, which greatly reduces the manufacturing and maintenance costs of the equipment. During detection, the ultrasonic probe can detect the workpiece on the side close to the stop wheel through a manipulator, without the need to be driven by a three-dimensional moving mechanism, thereby reducing the interference between the loading crane and the detection probe, and improving the detection and loading and unloading efficiency.

Description

Technical Field

[0001] The present invention relates to an ultrasonic flaw detection device, and particularly to a full-immersion ultrasonic flaw detection device for annular workpieces. Background Art

[0002] Ultrasonic flaw detection is a technique that uses ultrasonic waves to nondestructively inspect internal defects and scars in materials or mechanical components, and is widely used in departments such as machinery and metallurgy.

[0003] Currently, for devices that perform ultrasonic scanning on annular workpieces, especially large ring forgings, they are generally non-full-immersion type. For example, in a Chinese patent with the publication number "CN 216622259 U" and the name "A magnetic particle automatic flaw detector for annular workpieces", the disclosed magnetic particle automatic flaw detector for detecting annular workpieces supports the annular workpiece through support roller wheels on the bed. During detection, the workpiece rotates through the rotation of the support roller wheels. At the same time, the magnetic suspension liquid spray pipe sprays magnetic suspension liquid onto the workpiece, and then the camera adjusts its position under the control of a six-axis robot to perform flaw detection on the surface of the workpiece.

[0004] For an ultrasonic flaw detection device with such a structure, since the annular workpiece is supported and rotated by support roller wheels, for large ring forgings, in order to adapt to the detection of annular workpieces with different models and different radii, the overall workpiece support and rotation mechanism including the support roller wheels is bound to be relatively long. This not only makes it prone to deformation, but also for annular workpieces with a relatively thin thickness, due to their small gravity, the pressure between the support roller wheels and the annular workpiece is small, and the friction contact surface (line) is small. Therefore, when the workpiece rotates, it is prone to slipping, leading to a problem of poor rotational stability. Moreover, since the support roller wheels are generally driven by a motor, the workpiece support and rotation mechanism contains multiple electrical components, and the buoyancy effect will further reduce the pressure between the support roller wheels and the workpiece. Therefore, when components such as the annular workpiece are completely immersed in water during detection, problems will occur in aspects such as rotational slipping, electrical safety, and structural reliability, thereby reducing the accuracy of ultrasonic detection. In addition, a single workpiece support and rotation mechanism includes drive components such as a motor and multiple non-standard parts, and its overall price is relatively high, and the maintenance is relatively complex. Once damaged, it needs to be replaced as a whole, thereby increasing the overall cost of the device and reducing its maintainability.

[0005] In addition, in existing fully water-immersed ultrasonic flaw detection equipment, the ultrasonic probe is driven by a three-dimensional truss moving mechanism to achieve flaw detection of workpieces. However, for ultrasonic flaw detection equipment with such a structure, since the three-dimensional truss moving mechanism is realized through a truss, its overall structure is relatively large. During detection, the ultrasonic probe moves to a predetermined position through the three-dimensional mechanism and detects the workpiece. Due to limitations in installation space and position, different probes need to be replaced when detecting different surfaces of the workpiece for detection. After the detection is completed, the ultrasonic probe needs to be reset under the drive of the three-dimensional truss moving mechanism, and then the workpiece is unloaded and loaded. Therefore, the efficiency of its detection and loading / unloading is relatively low, and the detection probe holder for installing the probe conflicts with the hoisting crane for workpiece loading / unloading in space, with a relatively high safety risk. Summary of the Invention

[0006] To solve the problems of poor non-fully water-immersed detection effect, poor rotational stability of workpieces, complex structure, high cost and difficult maintenance, and low detection and loading / unloading efficiency, the object of the present invention is to provide a fully water-immersed ultrasonic flaw detection equipment for ring-shaped workpieces, so as to improve the rotational stability and detection effect of workpieces, and have a simple structure, low cost, easy maintenance, and high detection and loading / unloading efficiency.

[0007] The fully water-immersed ultrasonic flaw detection equipment for ring-shaped workpieces of the present invention includes a water tank tooling device. The water tank tooling device includes a water tank, and at least one set of clamping roller assemblies and at least one set of stop roller assemblies are arranged in the water tank. The total number of sets of the stop roller assemblies and the clamping roller assemblies is at least three.

[0008] The clamping roller assembly includes a first support frame, a first hydraulic motor and a clamping roller. A guide rail is arranged on the bottom wall of the water tank, and a rack is arranged on the guide rail. The bottom end of the first support frame is slidably arranged on the guide rail. The body of the first hydraulic motor is fixedly arranged on the first support frame, and the output end of the first hydraulic motor is connected with a gear meshing with the rack.

[0009] The stop roller assembly includes a second support frame, a second hydraulic motor and a stop roller. The second support frame is fixedly connected with the water tank. The body of the second hydraulic motor is fixedly arranged on the second support frame, and the output shaft of the second hydraulic motor is connected with the central axis of the stop roller.

[0010] A number of support rollers are also arranged in the water tank.

[0011] The fully water-immersed ultrasonic flaw detection equipment for ring-shaped workpieces of the present invention realizes automatic positioning of the ring-shaped workpiece through at least three sets of stop roller assemblies and clamping roller assemblies, clamps the ring-shaped workpiece on the stop roller through the first hydraulic motor and the clamping roller, and then drives the ring-shaped workpiece to rotate through the second hydraulic motor and the stop roller.

[0012] Since the annular workpiece is clamped between the clamping roller and the stop roller by the first hydraulic motor, the operator can adjust the clamping force on the annular workpiece through the first hydraulic motor, so that the stop roller can always be in close contact with the outer wall of the annular space, and then stably drive the annular workpiece to rotate, preventing slippage due to too small pressure between it and the annular workpiece. Here, the pressure between the stop roller and the annular space is based on the condition that the stop roller can drive the annular workpiece to rotate without slippage.

[0013] Since the stop roller is driven to rotate by the second hydraulic motor, and the clamping roller is driven to move by components such as the first hydraulic motor and gears, and the first hydraulic motor and the second hydraulic motor are both hydraulic actuators, which are not only relatively simple to control but also have no risk of electric leakage and short circuit. Therefore, the stop roller assembly and the clamping roller assembly as a whole can be immersed in water, thereby improving the stability and inspection effect of ultrasonic flaw detection.

[0014] At the same time, the overall structure of the full-water-immersion ultrasonic flaw detection equipment for annular workpieces is simple. Components such as the first hydraulic motor, the clamping roller, the second hydraulic motor, the stop roller, gears, and guide rails are all standard parts, which greatly reduces the manufacturing and maintenance costs of the equipment. Compared with existing equipment, its production and use costs are significantly reduced.

[0015] In addition, the setting of the clamping roller and the stop roller enables annular workpieces of different model sizes to be automatically positioned on one side of the stop roller during detection. In this way, during detection, the ultrasonic probe can be used to detect the workpiece on the side close to the stop roller through a manipulator, without the need to be driven by a three-dimensional truss moving mechanism, thereby greatly reducing the interference between the loading and unloading crane and the detection probe, and improving the operation safety and the efficiency of detection, loading, and unloading.

[0016] Furthermore, in the full-water-immersion ultrasonic flaw detection equipment for annular workpieces of the present invention, both the clamping roller assembly and the stop roller assembly are two groups, and the two groups of clamping roller assemblies and the two groups of stop roller assemblies are symmetrically arranged in the water tank.

[0017] The two groups of symmetrically arranged clamping roller assemblies and the two groups of symmetrically arranged stop roller assemblies enable the annular workpiece to be firmly clamped between the clamping roller and the stop roller, so as to further improve the stability of the rotation of the annular workpiece.

[0018] Furthermore, in the full-water-immersion ultrasonic flaw detection equipment for annular workpieces of the present invention, two support rollers are arranged between the two groups of stop roller assemblies.

[0019] Due to the fixed position of the stop roller, the two support rollers arranged on the two groups of stop roller assemblies realize the supporting effect on annular workpieces with different outer diameters.

[0020] Furthermore, for the full immersion ultrasonic flaw detection equipment for ring-shaped workpieces of the present invention, a robotic arm is provided on one side of the water tank close to the stop wheel assembly, and the ultrasonic probe is arranged at the end of the robotic arm.

[0021] Arranging a robotic arm with an ultrasonic probe at the end on one side of the water tank close to the stop wheel assembly facilitates the ultrasonic detection of ring-shaped workpieces of different models.

[0022] Furthermore, for the full immersion ultrasonic flaw detection equipment for ring-shaped workpieces of the present invention, the number of the robotic arms is three groups.

[0023] The arrangement of three groups of robotic arms improves the detection efficiency of ring-shaped workpieces.

[0024] Furthermore, for the full immersion ultrasonic flaw detection equipment for ring-shaped workpieces of the present invention, the number of the water tank tooling devices is two groups, and the two groups of water tank tooling devices are respectively arranged on the left and right sides of the robotic arm.

[0025] The arrangement of two groups of water tank tooling devices further improves the detection efficiency of ring-shaped workpieces. Specifically, when the robotic arm finishes detecting the workpiece in the left water tank, it can rotate 180 degrees to continue detecting the ring-shaped workpiece in the right water tank. At the same time, the operator can perform unloading and loading operations on the left ring-shaped space, so as to realize the uninterrupted cyclic detection of the ultrasonic probe and improve the efficiency of ultrasonic detection.

[0026] Furthermore, for the full immersion ultrasonic flaw detection equipment for ring-shaped workpieces of the present invention, an installation platform is arranged between the water tanks of the two groups of water tank tooling devices, and the robotic arm is installed on the installation platform.

[0027] Furthermore, for the full immersion ultrasonic flaw detection equipment for ring-shaped workpieces of the present invention, the water tank is a regular octagon water tank.

[0028] The above description is only an overview of the technical solution of the present invention. In order to understand the technical means of the present invention more clearly and implement it specifically according to the content of the description, the following takes the embodiments of the present invention to describe it in detail. Brief Description of the Drawings

[0029] Figure 1 It is a top view of the water tank tooling device.

[0030] Figure 2 It is a three-dimensional view of the water tank tooling device.

[0031] Figure 3 It is Figure 2 The partial enlarged view of part A in

[0032] Figure 4 It is another three-dimensional view of the water tank tooling device.

[0033] Figure 5Yes Figure 4 Partial enlarged view of part B in it.

[0034] Figure 6 It is a three-dimensional view of a water tank tooling device carrying a ring workpiece.

[0035] Figure 7 It is a three-dimensional view of a water tank tooling device with a mounting table and a robotic arm on one side.

[0036] Figure 8 It is a three-dimensional view of the cooperation of two groups of water tank tooling devices, a mounting table and a robotic arm.

[0037] In the figure, there is a water tank tooling device 1, a water tank 1.1, a clamping roller assembly 1.2, a first support frame 1.2.1, a first hydraulic motor 1.2.2, a clamping roller 1.2.3, a guide rail 1.2.4, a stop roller assembly 1.3, a second support frame 1.3.1, a second hydraulic motor 1.3.2, a stop roller 1.3.3, a support roller 1.4, a roller mounting bracket 1.5, a robotic arm 2, and a mounting table 3. Embodiment

[0038] The following will further describe the specific embodiments of the present invention in detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0039] The following is Example 1.

[0040] Refer to Figures 1 to 7 , the full-water-immersion ultrasonic flaw detection equipment for ring workpieces in this embodiment includes a water tank tooling device 1. The water tank tooling device includes a water tank 1.1, and there are at least one group of clamping roller assemblies 1.2 and at least one group of stop roller assemblies 1.3 arranged in the water tank. The total number of groups of the stop roller assemblies and the clamping roller assemblies is at least three;

[0041] The clamping roller assembly includes a first support frame 1.2.1, a first hydraulic motor 1.2.2 and a clamping roller 1.2.3. A guide rail 1.2.4 is provided on the bottom wall of the water tank, and a rack (not shown in the figure) is provided on the guide rail. The bottom end of the first support frame is slidably arranged on the guide rail. The body of the first hydraulic motor is fixedly arranged on the first support frame, and the output end of the first hydraulic motor is connected with a gear (not shown in the figure) that meshes with the rack;

[0042] The guide rail can be fixedly arranged on the bottom surface of the water tank and extend along the sliding direction of the clamping roller. The bottom end of the first support frame can be adapted to the guide rail through components such as sliders and dovetails, so that the first support frame can slide along the guide rail. The rack can be fixedly arranged on the side surface or the top surface of the guide rail through bolts, or directly integrally formed with the guide rail.

[0043] Since three points can be used to position a circle, at least three groups of stop roller assemblies and clamping roller assemblies can achieve automatic and precise positioning of the annular workpiece. Specifically, the clamping roller moves along the guide rail under the drive of the first hydraulic motor until it presses the annular space against the stop roller. When clamping, the clamping roller and the stop roller are located on the same circumference. In this way, when loading the annular workpiece, it only needs to be roughly placed between each group of stop roller assemblies and clamping roller assemblies. Later, the clamping roller assembly and the stop roller assembly can accurately position it at the predetermined position.

[0044] The stop roller assembly includes a second support frame 1.3.1, a second hydraulic motor 1.3.2 and a stop roller 1.3.3. The second support frame is fixedly connected to the water tank. The body of the second hydraulic motor is fixedly arranged on the second support frame, and the output shaft of the second hydraulic motor is connected to the central axis of the stop roller;

[0045] Here, both the clamping roller and the stop roller can be cylindrical rollers, which can be made of materials such as stainless steel and rubber. During operation, their sides contact the outer peripheral surface of the annular workpiece.

[0046] Several supporting idler rollers 1.4 are also arranged in the water tank.

[0047] The supporting idler roller is used to support the annular workpiece. It can be installed in the water tank through the idler roller mounting frame 1.5 on the bottom surface of the water tank. Its central axis is substantially perpendicular to the side wall of the annular workpiece, so that it can rotate following the annular workpiece driven by the annular workpiece, reducing the friction between it and the annular workpiece. Its specific installation position can be specifically arranged according to the corresponding annular workpiece. In addition, its position can also be automatically adjusted adaptively through components such as slide rails and hydraulic motors. Its specific structure and principle are similar to the moving mechanism of the clamping roller assembly.

[0048] In this embodiment, both the first support frame and the second support frame are U-shaped support frames. The bodies of the first hydraulic motor and the second hydraulic motor can be respectively fixedly arranged on the top plates of the first support frame and the second support frame.

[0049] The output shaft of the first hydraulic motor can be directly connected to a gear, or connected to the central axis of the clamping roller, and then connected to a gear through the central axis of the clamping roller. The gear meshes with the rack on the guide rail. When driving, the output shaft of the first hydraulic motor drives the gear to rotate. Since the gear meshes with the rack, the rack is fixedly connected to the guide rail, and the body of the first hydraulic motor is connected to the support frame. Therefore, as the first hydraulic motor rotates, the first support frame moves along the guide rail under the reaction force of the rack until it moves to the predetermined position.

[0050] The output shaft of the second hydraulic motor is connected to the central axis of the stop roller, thereby driving the stop roller to rotate, and then driving the annular workpiece in close contact with it to rotate, so that the ultrasonic probe can perform a scanning operation on its surface.

[0051] The full-water-immersion ultrasonic flaw detection equipment for ring-shaped workpieces of the present invention realizes the automatic positioning of ring-shaped workpieces through at least three groups of stop wheel assemblies and clamping wheel assemblies, and clamps the ring-shaped workpiece on the stop wheels through the first hydraulic motor and the clamping wheels. Then, the ring-shaped workpiece is driven to rotate through the second hydraulic motor and the stop wheels.

[0052] Since the ring-shaped workpiece is clamped between the clamping wheel and the stop wheel by the first hydraulic motor, the operator can adjust the clamping force on the ring-shaped workpiece through the first hydraulic motor, so that the stop wheel can always be in close contact with the outer wall of the ring-shaped space, and then stably drive the ring-shaped workpiece to rotate, preventing slippage due to too small pressure between it and the ring-shaped workpiece. Here, the pressure between the stop wheel and the ring-shaped space is based on the condition that the stop wheel can drive the ring-shaped workpiece to rotate without slippage.

[0053] Since the stop wheel is driven to rotate by the second hydraulic motor, and the clamping wheel is driven to move through the first hydraulic motor and components such as gears, and the first hydraulic motor and the second hydraulic motor are both hydraulic actuators, which are not only relatively simple to control but also have no risk of electric leakage and short circuit. Therefore, the stop wheel assembly and the clamping wheel assembly as a whole can be immersed in water, thereby improving the stability and flaw detection effect of ultrasonic flaw detection.

[0054] At the same time, the overall structure of the full-water-immersion ultrasonic flaw detection equipment for ring-shaped workpieces is simple. Components such as the first hydraulic motor, the clamping wheel, the second hydraulic motor, the stop wheel, the gears, and the guide rails are all standard parts, which greatly reduces the manufacturing and maintenance costs of the equipment. Compared with the existing equipment, its production and use costs are greatly reduced.

[0055] In addition, the setting of the clamping wheel and the stop wheel enables ring-shaped workpieces of different model sizes to be automatically positioned on one side of the stop wheel during detection. In this way, during detection, the ultrasonic probe can be used to detect the workpiece on the side close to the stop wheel through a manipulator, without the need to be driven by a three-dimensional truss moving mechanism, thereby greatly reducing the interference effect between the loading crane and the detection probe, and improving the operation safety as well as the detection and loading / unloading efficiency.

[0056] During operation, the operator first loads the ring-shaped workpiece onto the support rollers in the water tank through a crane. Subsequently, the first hydraulic motor drives the first support frame to move along the guide rail and drives the ring-shaped workpiece to move until the ring-shaped workpiece is clamped between the clamping wheel and the stop wheel.

[0057] After clamping, the stop wheel rotates under the drive of the second hydraulic motor and drives the ring-shaped workpiece to rotate. During the rotation of the ring-shaped workpiece, the clamping rollers and the support rollers rotate accordingly. At this time, the ultrasonic probe can detect it. After the detection is completed, each component resets for the next detection.

[0058] Preferably, for the full immersion ultrasonic flaw detection equipment for annular workpieces in this embodiment, both the clamping roller assembly and the stop roller assembly are in two groups, and the two groups of clamping roller assemblies and the two groups of stop roller assemblies are symmetrically arranged in the water tank respectively.

[0059] The two groups of symmetrically arranged clamping roller assemblies and the two groups of symmetrically arranged stop roller assemblies enable the annular workpiece to be firmly clamped between the clamping roller and the stop roller, so as to further improve the stability of the rotation of the annular workpiece.

[0060] Preferably, for the full immersion ultrasonic flaw detection equipment for annular workpieces in this embodiment, two support rollers are arranged between the two groups of stop roller assemblies.

[0061] Since the positions of the stop rollers are fixed, the two support rollers arranged on the two groups of stop roller assemblies realize the supporting effect on annular workpieces with different outer diameters.

[0062] During specific implementation, the two support rollers are arranged in a V shape to facilitate the manipulator to extend between the two support rollers.

[0063] Preferably, for the full immersion ultrasonic flaw detection equipment for annular workpieces in this embodiment, a robotic arm 2 is arranged on one side of the water tank close to the stop roller assembly, and the ultrasonic probe is arranged at the end of the robotic arm.

[0064] Arranging a robotic arm with an ultrasonic probe at its end on one side of the water tank close to the stop roller assembly facilitates the ultrasonic detection of annular workpieces of different models.

[0065] In this embodiment, the robotic arm is a six-axis robotic arm, and the ultrasonic probe is installed at the end of the robotic arm. During detection, the ultrasonic probe moves to a predetermined position between the two groups of stop rollers under the drive of the robotic arm, and ultrasonic detection can be carried out after the ultrasonic probe contacts the predetermined surface of the annular workpiece.

[0066] Preferably, for the full immersion ultrasonic flaw detection equipment for annular workpieces in this embodiment, the number of robotic arms is three groups.

[0067] The arrangement of the three groups of robotic arms improves the detection efficiency of the annular workpiece.

[0068] Specifically, the ultrasonic devices at the ends of the three groups of robotic arms can simultaneously move to the predetermined positions of the workpiece, so as to realize the simultaneous detection of the upper, lower and side surfaces of the workpiece, thereby improving the detection efficiency.

[0069] During specific implementation, the water tank components of the two groups of water tank tooling devices are provided with an installation platform 3, and three robotic arms are sequentially installed on the installation platform. During operation, the control device in the control cabinet or control room controls the movement of the robotic arms respectively through corresponding connection devices, thereby driving the movement of the ultrasonic probe. At the same time, through devices such as water pumps and solenoid valves, the control of the first hydraulic motor and the second hydraulic motor is realized, and finally the detection of the ring-shaped workpiece is achieved. The control of devices such as the robotic arm, the first hydraulic motor, and the second hydraulic motor is conventional technology in the corresponding field and will not be elaborated here.

[0070] The following is Embodiment 2.

[0071] See Figure 8 , on the basis of the ring-shaped workpiece full-immersion ultrasonic flaw detection equipment in Embodiment 1, the ring-shaped workpiece full-immersion ultrasonic flaw detection equipment in this embodiment adds the following technical content. Specifically, for the ring-shaped workpiece full-immersion ultrasonic flaw detection equipment in this embodiment, the number of water tank tooling devices is two groups, and the two groups of water tank tooling devices are respectively arranged on the left and right sides of the robotic arm.

[0072] The setting of the two groups of water tank tooling devices further improves the detection efficiency of the ring-shaped workpiece. Specifically, when the robotic arm completes the detection of the workpiece in the left water tank, it can rotate 180 degrees to continue detecting the ring-shaped workpiece in the right water tank. At the same time, the operator can perform unloading and loading operations on the left ring-shaped space, so as to realize the uninterrupted cyclic detection of the ultrasonic probe and improve the efficiency of ultrasonic detection.

[0073] Preferably, for the ring-shaped workpiece full-immersion ultrasonic flaw detection equipment in this embodiment, there is an installation platform between the water tanks of the two groups of water tank tooling devices, and the robotic arm is installed on the installation platform.

[0074] Preferably, for the ring-shaped workpiece full-immersion ultrasonic flaw detection equipment in this embodiment, the water tank is a regular octagon water tank.

[0075] The above are only the preferred implementation manners of the present invention, which are used to assist those skilled in the art to implement the corresponding technical solutions, and are not used to limit the protection scope of the present invention. The protection scope of the present invention is defined by the appended claims. It should be noted that for those of ordinary skill in the art, based on the technical solutions of the present invention, several equivalent improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present invention. At the same time, it should be understood that although this specification is described according to the above implementation manners, not each implementation manner only contains an independent technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions of each embodiment can also be appropriately combined to form other implementation manners that can be understood by those skilled in the art.

Claims

1. A fully immersion ultrasonic flaw detection device for annular workpieces, comprising a water tank fixture (1), the water tank fixture comprising a water tank (1.1), characterized in that: At least one set of clamping wheel assemblies (1.2) and at least one set of stop wheel assemblies (1.3) are provided in the water tank, and the total number of the stop wheel assemblies and the clamping wheel assemblies is at least three; The clamping wheel assembly comprises a first support frame (1.2.1), a first hydraulic motor (1.2.2) and a clamping wheel (1.2.3); a guide rail (1.2.4) is provided on the bottom wall of the water tank; a rack is provided on the guide rail; the bottom end of the first support frame is slidably arranged on the guide rail; the body of the first hydraulic motor is fixedly arranged on the first support frame; and the output end of the first hydraulic motor is connected to a gear meshing with the rack; The stop wheel assembly comprises a second support frame (1.3.1), a second hydraulic motor (1.3.2) and a stop wheel (1.3.3), the second support frame is fixedly connected to the water tank, the body of the second hydraulic motor is fixedly arranged on the second support frame, and the output shaft of the second hydraulic motor is connected to the central axis of the stop wheel; A plurality of supporting rollers (1.4) are also provided in the water tank.

2. The full-immersion ultrasonic flaw detection equipment for annular workpieces according to claim 1 is characterized in that: The clamping wheel assembly and the stop wheel assembly are both in two groups, and the two groups of clamping wheel assemblies and the two groups of stop wheel assemblies are symmetrically arranged in the water tank.

3. The full-immersion ultrasonic flaw detection equipment for annular workpieces according to claim 2 is characterized in that: Two supporting rollers are arranged between the two groups of stop wheel assemblies.

4. The full-immersion ultrasonic flaw detection equipment for annular workpieces according to claim 2 is characterized in that: A mechanical arm (2) is provided on one side of the water tank close to the stop wheel assembly, and the ultrasonic probe is arranged at the end of the mechanical arm.

5. The full-immersion ultrasonic flaw detection equipment for annular workpieces according to claim 4 is characterized in that: The number of the robotic arms is three groups.

6. The full-immersion ultrasonic flaw detection equipment for annular workpieces according to claim 5 is characterized in that: There are two groups of water tank fixtures, which are respectively arranged on the left and right sides of the robot arm.

7. The full-immersion ultrasonic flaw detection equipment for annular workpieces according to claim 6 is characterized in that: A mounting platform is provided between the water tanks of the two groups of water tank tooling devices, and the mechanical arm is installed on the mounting platform.

8. The full-immersion ultrasonic flaw detection equipment for annular workpieces according to claim 1 is characterized in that: The water tank is a regular octagonal water tank.

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