Bidirectional wheel electromagnetic ultrasonic thickness gauge

Abstract

The application provides a bidirectional wheel electromagnetic ultrasonic thickness gauge, belonging to the technical field of electronic detection equipment, which comprises a shell, a pipeline unevenness measuring mechanism is arranged at the front end of the bottom of the shell, two universal ball wheels are arranged at the rear end of the bottom of the shell, and an electromagnetic ultrasonic probe azimuth compensation mechanism is arranged in the shell; the pipeline unevenness measuring mechanism comprises a distance measuring sensor and a front roller; a vertical limiting mechanism is arranged at the bottom of the shell; the electromagnetic ultrasonic probe azimuth compensation mechanism comprises an electromagnetic ultrasonic probe, a swing mechanism and a height adjusting mechanism, a second through hole matched with the electromagnetic ultrasonic probe is arranged at the bottom of the shell, and the electromagnetic ultrasonic probe extends out of the second through hole; the distance measuring sensor is electrically connected with the swing mechanism and the height adjusting mechanism; the device can adjust the probe in real time according to the bending degree of the pipeline surface, can ensure that the ultrasonic probe is always perpendicular to the pipeline surface and the distance is constant, and realizes accurate measurement.

Description

Technical Field

[0001] This invention belongs to the technical field of electronic testing equipment, specifically relating to a bidirectional wheel electromagnetic ultrasonic thickness gauge. Background Technology

[0002] Industrial pipelines are widely used to transport high-pressure, hazardous gases, and hazardous liquids. Due to the difficulty in controlling gas and liquid pressures, the loads on these pipelines are extremely complex. Furthermore, industrial pipelines are prone to corrosion, fatigue, creep, and material degradation during use, especially in chemical plants where the highly corrosive media, often accompanied by high temperatures, high pressures, and abrasion, make them highly susceptible to pipeline corrosion and damage accidents. Therefore, ensuring the quality of industrial pipeline production and sales is crucial for their success. Currently, most large domestic companies use traditional micrometers to measure pipe end thickness or handheld ultrasonic thickness gauges. These traditional methods are time-consuming and labor-intensive, and generally involve fixed-point or general surveys, limiting their measurement scope.

[0003] Compensatory thickness detection methods for pipe bending and unevenness errors caused by pipe manufacturing processes are insufficient and cannot meet the needs of modern large-scale production. Therefore, it is particularly important to develop a device that can automatically compensate for errors in the manufacturing processes of different pipes. Summary of the Invention

[0004] The purpose of this invention is to solve the problems mentioned in the background art and provide a bidirectional wheel electromagnetic ultrasonic thickness gauge that can adjust the probe in real time according to the curvature of the pipe surface, ensuring that the ultrasonic probe is always perpendicular to the surface of the pipe being tested and at a constant distance, thus achieving accurate measurement.

[0005] To achieve the above-mentioned technical objectives, the technical solution adopted by the present invention is as follows:

[0006] A bidirectional electromagnetic ultrasonic thickness gauge includes a housing. A pipe unevenness measuring mechanism is located at the front bottom of the housing, and two omnidirectional ball wheels are located at the rear bottom of the housing. An electromagnetic ultrasonic probe orientation compensation mechanism is located inside the housing. The pipe unevenness measuring mechanism includes a distance sensor and a front roller. The distance sensor is mounted inside the bottom plate of the housing, and the bottom plate has a first through hole matching the distance sensor. The front roller is positioned directly below the first through hole. A vertical limiting mechanism is located at the bottom of the housing, allowing the front roller to elastically swing in the vertical direction. The electromagnetic ultrasonic probe orientation compensation mechanism includes an electromagnetic ultrasonic probe, a swing mechanism, and a height adjustment mechanism. A second through hole matching the electromagnetic ultrasonic probe is located at the bottom of the housing, through which the electromagnetic ultrasonic probe extends. The swing mechanism controls the back-and-forth swing of the electromagnetic ultrasonic probe, and the height adjustment mechanism adjusts the height of the electromagnetic ultrasonic probe. The distance sensor is electrically connected to the swing mechanism and the height adjustment mechanism.

[0007] Preferably, the vertical limiting mechanism includes a front wheel connecting plate, a front wheel connecting block, a second return spring, a roller mounting plate, and a front wheel fixing rod; the roller mounting plate is a U-shaped plate, and the front roller is installed inside the roller mounting plate; a front wheel fixing rod is installed on the top of the roller mounting plate, and the top of the front wheel fixing rod is connected to the front wheel connecting block; the front wheel connecting block has a third through hole that matches the front wheel fixing rod, and the top of the front wheel fixing rod passes through the third through hole; the top of the front wheel fixing rod has a first radial limiting protrusion, the outer diameter of which is larger than the diameter of the third through hole; a second return spring is sleeved on the front wheel fixing rod, and the upper and lower ends of the second return spring are respectively connected to the front wheel connecting block and the roller mounting plate; the front wheel connecting block is spaced apart from the bottom of the outer shell; a front wheel connecting plate is connected to each side of the front wheel connecting block, and the top of the front wheel connecting plate is connected to the bottom of the outer shell.

[0008] Preferably, the swing mechanism includes a connecting column, a second motor, an upper centering block, and a lower centering block; the electromagnetic ultrasonic probe is mounted at the bottom of the connecting column, and a hinged ball is provided at the top of the connecting column; the upper and lower centering blocks are connected inside the outer casing, and a circular groove matching the hinged ball is provided between the upper and lower centering blocks, the diameter of the circular groove being smaller than the diameter of the hinged ball; the hinged ball is mounted between the upper and lower centering blocks; the output shaft of the second motor is connected to the hinged ball and is used to drive the hinged ball to rotate back and forth in the travel direction of the thickness gauge.

[0009] Preferably, the height adjustment mechanism includes symmetrically arranged guide rods, guide rod sliders, a third motor, a synchronous belt, and bearings on the left and right inner sidewalls of the housing; two guide rods are installed on each of the left and right inner sidewalls of the housing, and the guide rod sliders are slidably connected to the two guide rods on the same side; the third motor is installed on the sidewall of the housing, the output shaft of the third motor is connected to one end of the synchronous belt, and the other end of the synchronous belt is connected to the bearing; the third motor and the bearing are respectively located at opposite ends of the upper and lower sidewalls of the housing; the guide rod sliders are connected to one side surface of the synchronous belt; the upper centering block and the lower centering block are respectively connected to the guide rod sliders on both sides.

[0010] Preferably, the top of the outer casing is provided with a self-centering mechanism, which includes a self-centering rod and a frame connecting plate; the bottom of the self-centering rod is provided with a spherical surface, and the inner side of the top of the outer casing is provided with a groove that matches the spherical surface. The top of the groove is provided with a through hole, and the diameter of the through hole is larger than the diameter of the self-centering rod; the frame connecting plate is connected to the upper end of the self-centering rod.

[0011] Preferably, a flexible rope is connected to the frame connecting plate, and the other end of the flexible rope is connected to the outer shell.

[0012] Preferably, the omnidirectional ball wheel includes a rear wear-resistant ball wheel, a ball wheel fixing foot, a rear wheel connecting seat, a first return spring, a rear wheel fixing rod, and a rear wheel mounting block. The rear wear-resistant ball wheel is hinged to the bottom of the ball wheel fixing foot. The rear wheel connecting seat is a U-shaped plate, and the bottom of the rear wheel connecting seat has a fourth through hole that matches the rear wheel fixing rod. The two side plates of the rear wheel connecting seat are connected to the rear wheel mounting block. The rear wheel mounting block has a fifth through hole that matches the rear wheel fixing rod. The rear wheel fixing rod passes through the fourth and fifth through holes and has a second radial limiting protrusion. The outer diameter of the second radial limiting protrusion is larger than the diameter of the fourth and fifth through holes. The rear wheel fixing rod is fitted with a first return spring, and the upper and lower ends of the first return spring are respectively connected to the rear wheel mounting block and the second radial limiting protrusion.

[0013] Preferably, the caster wheel is connected to the spacing adjustment mechanism. The spacing adjustment mechanism includes a first motor, a two-way lead screw, a two-way slide, and two slide moving blocks. The first motor, the two-way lead screw, and the two-way slide are all installed at the bottom of the housing. The output shaft of the first motor is connected to the two-way lead screw. The two slide moving blocks are installed on both sides of the two-way lead screw and are slidably connected to the two-way slide.

[0014] The beneficial effects of this invention are:

[0015] 1. The pipe flatness is first detected by the pipe unevenness measuring mechanism set at the bottom front of the shell. When there is a curved surface in the pipe, the front roller will drive the front wheel fixing rod to extend and retract in the vertical direction due to the existence of the curved surface. The distance sensor detects the distance change and transmits this change to the electromagnetic ultrasonic probe orientation compensation mechanism. The electromagnetic ultrasonic probe is adjusted by calculation so that it can always be facing the curved surface of the pipe, thereby avoiding detection errors caused by the bending of the pipe surface and improving the overall detection accuracy.

[0016] 2. When the thickness gauge is placed on the pipe, the front wheel fixing rod will move upward due to its own weight. The distance sensor detects this displacement distance and transmits it to the electromagnetic ultrasonic probe orientation compensation mechanism. The electromagnetic ultrasonic probe orientation compensation mechanism can adjust the electromagnetic ultrasonic probe to a suitable height based on this displacement to avoid the probe from touching the pipe and causing damage.

[0017] 3. The top of the outer casing is equipped with a self-centering flexible traction structure. When the thickness gauge is not in use, it is suspended on the frame via the frame connecting plate. The self-centering rod connected to the frame connecting plate can rotate relative to the outer casing within a certain range. This allows the entire thickness gauge to adjust its angle according to its own weight, keeping it always in a vertical position. This prevents the thickness gauge from tipping over or being damaged by other impacts when the frame places it on the pipe because it is not in a vertical position. Furthermore, the flexible rope connecting the frame connecting plate and the outer casing limits the rotation angle of the thickness gauge, preventing excessive angular deflection around the vertical axis during frame hoisting.

[0018] 4. The omnidirectional ball wheel is equipped with a first return spring, as well as a rear wheel fixing rod, a rear wheel connecting seat, and a rear wheel mounting block that work together with it. This allows the omnidirectional ball wheel to extend and retract in the vertical direction, thus providing excellent shock absorption when facing uneven pipe surfaces and avoiding increased measurement errors due to bumps.

[0019] 5. The universal ball wheels are connected to the spacing adjustment mechanism, which allows the thickness gauge to adjust the spacing between the two universal ball wheels according to pipes of different sizes, thus increasing the applicability of the thickness gauge. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the bidirectional wheel electromagnetic ultrasonic thickness gauge of the present invention;

[0021] Figure 2 This is a side sectional view of the self-centering flexible traction structure in the present invention in the frame hoisting state;

[0022] Figure 3 This is a side sectional view of the self-centering flexible traction structure in the present invention in the walking state;

[0023] Figure 4This is a bottom view of the bidirectional wheel pipe adaptation mechanism in this invention;

[0024] Figure 5 This is a schematic diagram of the omnidirectional ball wheel in this invention;

[0025] Figure 6 This is a schematic diagram of the pipe unevenness measuring mechanism in this invention;

[0026] Figure 7 This is a top view of the electromagnetic ultrasonic probe orientation compensation mechanism in this invention;

[0027] Figure 8 This is a structural diagram of the height adjustment mechanism in this invention;

[0028] Figure 9 This is a right sectional view of the electromagnetic ultrasonic probe orientation compensation mechanism in the present invention when it is not in operation;

[0029] Figure 10 This is a right sectional view of the electromagnetic ultrasonic probe orientation compensation mechanism in the present invention under working conditions.

[0030] Label name in the image:

[0031] 1. Outer shell; 1-1. Bottom plate; 1-2. Left cover plate; 1-3. Right cover plate; 1-4. Top cover plate;

[0032] 2. Self-centering flexible traction structure, 2-1. Self-centering rod, 2-2. First wide nut, 2-3. Frame connecting plate, 2-4. Flexible rope;

[0033] 3. Bidirectional wheel pipe adaptation mechanism, 3-1. Rear wear-resistant ball wheel, 3-2. Ball wheel fixing foot, 3-3. Rear wheel connecting seat, 3-4. First return spring, 3-5. Rear wheel fixing rod, 3-6. Rear wheel mounting block, 3-7. First motor, 3-8. Bidirectional lead screw, 3-9. Bidirectional slide, 3-10. Slide moving block, 3-11. First connecting screw, 3-12. First fixing screw, 3-13. Second fixing screw;

[0034] 4. Pipeline unevenness measuring mechanism, 4-1. Distance sensor, 4-2. Sensor mounting plate, 4-3. Front wheel connecting plate, 4-4. Front wheel connecting block, 4-5. Second return spring, 4-6. Front roller, 4-7. Roller mounting plate, 4-8. Front wheel fixing rod, 4-9. Second connecting screw, 4-10. Third fixing screw, 4-11. Third connecting screw;

[0035] 5. Electromagnetic ultrasonic probe orientation compensation mechanism, 5-1. Electromagnetic ultrasonic probe, 5-2. Hinge ball, 5-3. Second motor, 5-4. Second motor mounting plate, 5-5. Upper centering block, 5-6. Lower centering block, 5-7. Centering block connecting plate, 5-8. Optical rod, 5-9. Optical rod slider, 5-10. Third motor, 5-11. Third motor mounting plate, 5-12. Synchronous belt, 5-13. Synchronous belt pulley, 5-14. Upper fixing block of optical rod, 5-15. Lower fixing flange of optical rod, 5-16. Bearing, 5-17. Fourth connecting screw, 5-18. Fourth fixing screw, 5-19. Fifth fixing screw, 5-20. Fifth connecting screw, 5-21. Sixth fixing screw, 5-22. Seventh fixing screw. Detailed Implementation

[0036] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0037] It should be noted that the terms such as "upper", "lower", "left", "right", "front", and "back" used in the invention are only for clarity of description and are not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0038] like Figure 1The bidirectional wheel electromagnetic ultrasonic thickness gauge of the present invention (for ease of description, the "bidirectional wheel electromagnetic ultrasonic thickness gauge" will be referred to as the "thickness gauge" thereafter) includes: a shell 1, a self-centering flexible traction structure 2, a bidirectional wheel pipe adaptation mechanism 3 (that is, a combination of a universal ball wheel and a spacing adjustment structure), a pipe unevenness measuring mechanism 4, and an electromagnetic ultrasonic probe orientation compensation mechanism 5. The shell includes a base plate 1-1, a left cover plate 1-2, a right cover plate 1-3, and an upper cover plate 1-4. The four parts are connected to each other by screws. The self-centering flexible traction structure 2 is loosely connected (rotatably connected) to the upper side of the upper cover plate 1-4 by a self-centering rod 2-1. The bidirectional wheel pipe adaptation mechanism 3 is fixed to the lower rear end of the base plate 1-1 by screws. The pipe unevenness measuring mechanism 4 is fixed to the lower front end of the base plate 1-1 by screws. The electromagnetic ultrasonic probe orientation compensation mechanism 5 is placed inside the shell 1. Before measurement, the bidirectional electromagnetic ultrasonic thickness gauge of this invention is connected to a self-centering flexible traction mechanism 2 via a frame. The upper cover plate and the self-centering rod 2-1 are in a self-centering state and move with the frame. Self-centering means that the thickness gauge adjusts its angle autonomously under its own weight to maintain a vertical position. During measurement, the frame lowers the thickness gauge onto the pipe, at which point the self-centering rod 2-1 loses its centering function. To accurately measure the thickness of curved sections, this invention includes a pipe unevenness measuring mechanism 4 and an electromagnetic ultrasonic probe orientation compensation mechanism 5. The ranging sensor 4-1 in this part of the structure can receive the height and undulation signals of the pipe (i.e., the undulations on the pipe surface caused by bending) and transmit them in real time to the electromagnetic ultrasonic probe orientation compensation mechanism 5 to adjust the orientation of the electromagnetic ultrasonic probe 5-1, thereby greatly improving the accuracy of pipe measurement.

[0039] like Figure 2The illustrated device 2 is a self-centering flexible traction structure 2 of a bidirectional wheel electromagnetic ultrasonic thickness gauge (three-wheel adaptive thickness gauge), consisting of a self-centering rod 2-1, a first wide nut 2-2, a frame connecting plate 2-3, and a flexible rope 2-4. The self-centering rod 2-1 is loosely connected to the upper cover plate 1-4. The lower end of the self-centering rod 2-1 has a spherical protrusion, and the upper cover plate 1-4 has a groove that matches the spherical protrusion, allowing the thickness gauge to fit snugly when the frame rises and falls. The top of the groove has a sixth through hole that matches the self-centering rod 2-1, and the diameter of the sixth through hole is larger than the diameter of the self-centering rod 2-1. The self-centering rod 2-1 has a third radial limiting protrusion located above the sixth through hole. The diameter is larger than the diameter of the sixth through hole; the third radial limiting protrusion is set to prevent the bottom of the self-centering rod 2-1 from colliding with the electromagnetic ultrasonic probe orientation compensation mechanism 5 when the thickness gauge is detached from the frame; during measurement, the frame controls the thickness gauge to fall onto the pipe, at which time there is a gap between the self-centering rod 2-1 and the spherical surface of the upper cover plate 1-4 (that is, the two no longer come into contact), and the diameter of the self-centering rod 2-1 is smaller than the diameter of the sixth through hole on the upper cover plate 1-4, so that the self-centering rod 2-1 can rotate within the sixth through hole to a certain extent; the self-centering rod 2-1 and the frame connecting plate 2-3 are connected by threads using the first wide nut 2-2. The frame connecting plate 2-3 is connected to the frame by bolts. The two ends of the flexible rope 2-4 are fixed to the right end of the upper cover plate 1-4 and the bottom end of the frame connecting plate 2-3, respectively, which can limit the rotation angle of the thickness gauge and avoid excessive angular deflection of the thickness gauge around the vertical axis during the hoisting process of the frame.

[0040] The self-centering flexible traction mechanism 2 of this bidirectional wheel electromagnetic ultrasonic thickness gauge is connected to the frame. Before and after the measurement phase, the thickness gauge is in a suspended state. At this time, the upper cover plate 1-4 and the self-centering rod 2-1 are in contact with each other due to the hemispherical surface, achieving self-centering and restoring the ultrasonic thickness gauge to a horizontal state.

[0041] During measurement, the frame descends, causing the thickness gauge to fall onto the pipe. At this point, the self-centering rod 2-1 and the hemispherical surface of the upper cover plate 1-4 are no longer in contact, leaving a certain gap. The self-centering rod 2-1 then loses its self-centering function. In the traveling state, the frame drives the frame connecting plate 2-3 to move slowly along the pipe axis, and the operator pulls the thickness gauge to move along the pipe axis.

[0042] like Figure 4-5The bidirectional wheel pipe adaptation mechanism 3 includes: a rear wear-resistant ball wheel 3-1, a ball wheel fixing foot 3-2, a rear wheel connecting seat 3-3, a first return spring 3-4, a rear wheel fixing rod 3-5, a rear wheel mounting block 3-6, a first motor 3-7, a bidirectional lead screw 3-8, a bidirectional slide 3-9, a rear wheel mounting block 3-6, a first connecting screw 3-11, a first fixing screw 3-12, and a second fixing screw 3-13. The bidirectional slide 3-9 is fixed to the base plate 1-1 by the first fixing screw 3-12, ensuring that the slide remains stable during the movement of the thickness gauge. The ball wheel fixing foot 3-2 is threadedly connected to the rear wheel fixing rod 3-5. The rear wheel connecting seat 3-3 is fixed to the rear wheel mounting block 3-6 by the second fixing screw 3-13. The entire bidirectional wheel and the slide are connected by the rear wheel mounting block 3-6 and the rear wheel mounting block 3-6 by the first connecting screw 3-11. The rear wheel connecting seat 3-3 is a U-shaped plate. The bottom of the rear wheel connecting seat 3-3 is provided with a fourth through hole that matches the rear wheel fixing rod 3-5. The two side plates of the rear wheel connecting seat 3-3 are connected to the rear wheel mounting block 3-6. The rear wheel mounting block 3-6 is provided with a fifth through hole that matches the rear wheel fixing rod 3-5. The rear wheel fixing rod 3-5 passes through the fourth through hole and the fifth through hole. The rear wheel fixing rod 3-5 is provided with a second radial limiting protrusion. The outer diameter of the second radial limiting protrusion is... The diameter is larger than that of the fourth and fifth through holes, thus restricting the rear wheel fixing rod 3-5 between the bottom of the rear wheel connecting seat 3-3 and the rear wheel mounting block 3-6; the rear wheel fixing rod 3-5 is fitted with a first return spring 3-4, the upper and lower ends of the first return spring 3-4 are respectively connected to the rear wheel mounting block 3-6 and the second radial limiting protrusion. The first return spring 3-4 can eliminate the influence of the thickness gauge's own weight to adapt to the undulations of the pipeline; when the thickness gauge is in contact with the pipeline, the first return spring 3-4 is in a compressed state due to the weight of the thickness gauge itself; when the thickness gauge moves on the pipeline, the slight undulations on the pipeline will cause the thickness gauge to vibrate slightly, affecting the measurement results. Another function of the first return spring 3-4 is to absorb this vibration through the elastic deformation of the spring.

[0043] To enable the thickness gauge to adapt to pipes of different specifications, the first motor 3-7 is fixedly connected to the side of the slide table. When the first motor 3-7 operates, the bidirectional lead screw 3-8 rotates, causing the slide table moving block 3-10 to drive the rear wear-resistant ball wheel 3-1 to move left and right along the guide rail on the bidirectional slide table 3-9. When measuring pipes of different specifications, the degree of opening of the bidirectional wheel is controlled by the motor 3-7 to ensure that the rear wear-resistant ball wheel is in a suitable tangent state with the pipe, thus achieving the purpose of self-adaptation. Figure 6The unevenness measuring mechanism includes: a distance sensor 4-1, a sensor mounting plate 4-2, a front wheel connecting plate 4-3, a front wheel connecting block 4-4, a second return spring 4-5, a front roller 4-6, a roller mounting plate 4-7, a front wheel fixing rod 4-8, a second connecting screw 4-9, a third fixing screw 4-10, and a third connecting screw 4-11. The distance sensor 4-1 and the sensor mounting plate 4-2 are connected by threads, and the sensor mounting plate 4-2 is fixed to the base plate 1-1 by the third fixing screw 4-10, so that the distance sensor 4-1 and the base plate 1-1 are fixed in position. The base plate 1-1 is provided with a first through hole that matches the distance sensor 4-1, and the distance sensor 4-1 is directly opposite the first through hole. The front roller 4-6 is installed inside the roller mounting plate 4-7, and a front wheel fixing rod 4-8 is installed on the top of the roller mounting plate 4-7. The front wheel fixing rod 4-8 is installed with the front wheel connecting block 4-4, that is, the front wheel fixing rod 4-8 passes through the matching third through hole of the front wheel connecting block 4-4. The top of the front wheel fixing rod 4-8 is provided with a first radial limiting protrusion, the outer diameter of which is larger than the diameter of the third through hole, to prevent the front wheel fixing rod 4-8 from falling out of the front wheel connecting block 4-4. A second return spring 4-5 is fitted over the front wheel fixing rod 4-8. The upper and lower ends of the second return spring 4-5 are respectively connected to the front wheel connecting block 4-4 and the roller mounting plate 4-7. The front wheel connecting block 4-4 is spaced apart from the bottom of the outer casing 1. A front wheel connecting plate 4-3 is connected to each side of the front wheel connecting block 4-4, and the top of the front wheel connecting plate 4-3 is connected to the bottom of the outer casing 1. The lower end of the front wheel fixing rod 4-8 is connected and fixed to the roller mounting plate 4-7 by a U-shaped plate and a second connecting screw 4-9. The front wheel connecting plate 4-3, the front wheel mounting block 4-4, and the base plate 1-1 are connected together by a third connecting screw 4-11. During installation, care should be taken to align the top of the front wheel connecting rod 4-8 with the distance measuring sensor 4-1 so that the distance measuring sensor 4-1 can measure accurately.

[0044] As the thickness gauge travels along the pipeline, the pipeline surface will have certain undulations, so error compensation is needed during the measurement process based on the pipeline's unevenness. This mechanism can detect the pipeline's unevenness in real time and transmit the measured unevenness as a signal to the electromagnetic ultrasonic probe's orientation compensation mechanism 5, causing it to make corresponding adjustments. When the thickness gauge is completely placed on the pipeline, due to its own weight, the second return spring 4-5 deforms when the thickness gauge starts detecting. Therefore, the distance from the bottom of the distance sensor 4-1 to the top of the front wheel fixing rod 4-8 at this moment is set as the initial value. The distance sensor 4-1 can measure the distance between its bottom and the top of the front wheel fixing rod 4-8. When the thickness gauge travels along the pipeline and encounters undulations on the pipeline surface, the second return spring 4-5 will undergo a slight deformation, which is converted into the front wheel fixing rod 4-8 rising a certain distance. The deviation of this distance from the initial value is the pipeline's unevenness. At this time, the distance sensor 4-1 receives this change in distance, realizing the detection of pipeline unevenness.

[0045] like Figure 7-10 In this invention, the electromagnetic ultrasonic probe orientation compensation mechanism 5 includes: an electromagnetic ultrasonic probe 5-1, a connecting column 5-2, a second motor 5-3, a second motor fixing plate 5-4, an upper centering block 5-5, a lower centering block 5-6, a centering block connecting plate 5-7, a light rod 5-8, a light rod slider 5-9, a third motor 5-10, a third motor fixing plate 5-11, a synchronous belt 5-12, a synchronous belt pulley 5-13, an upper fixing block 5-14, a lower fixing flange 5-15, a bearing 5-16, a fourth connecting screw 5-17, a fourth fixing screw 5-18, a fifth fixing screw 5-19, a fifth connecting screw 5-20, a sixth fixing screw 5-21, and a seventh fixing screw 5-22. This structure can be further subdivided into a swing mechanism and a height adjustment mechanism, which cooperate with each other to complete the measurement of the pipeline.

[0046] In the electromagnetic ultrasonic probe orientation compensation mechanism 5, for the swing mechanism, considering the stability of the detection, the electromagnetic ultrasonic probe 5-1 is connected to the connecting column 5-2 by a thread. The top of the connecting column 5-2 is provided with a hinge ball; the upper centering block 5-5 and the lower centering block 5-6 are provided with a circular groove matching the hinge ball. The diameter of the circular groove is smaller than the diameter of the hinge ball, which restricts the connecting column 5-2 within a circular space, realizing centering rotation within a certain range; the output shaft of the second motor 5-3 is connected to the hinge ball (the axis of the output shaft of the second motor 5-3 passes through the center of the hinge ball), which is used to drive the hinge ball to rotate back and forth in the thickness gauge's travel direction (that is, in... Figure 9 and Figure 10(Clockwise and counterclockwise rotation in the direction); the upper centering block 5-5 and the lower centering block 5-6 are attached to each other and are connected and fixed by the centering block connecting plate 5-4 through the seventh fixing screw 5-22. The second motor 5-3 is connected and fixed to the left notch of the centering block assembly by the second motor fixing plate 5-7 through the sixth fixing screw 5-22. The base plate 1-1 has a second through hole in the middle that matches the connecting rod 5-2. The electromagnetic ultrasonic probe 5-1 extends out of the second through hole. The diameter of the second through hole should be large enough to allow the connecting rod 5-2 to swing within it to a certain extent. During operation, the second motor 5-3 controls the probe 5-1 to rotate at a certain angle.

[0047] In the electromagnetic ultrasonic probe orientation compensation mechanism, for the height adjustment mechanism, this structure is located on both sides of the swing mechanism. To achieve the up and down movement of the probe, two optical rods 5-8 are installed on the right side of the outer shell. The lower end of the optical rod 5-8 is inserted into the base plate 1-1 and is fixed to the base plate by the lower fixing flange 5-15 of the optical rod through the fifth fixing screw 5-19. The upper end of the optical rod 5-8 is fixed in the upper fixing block 5-14 of the optical rod. The fixing block 5-14 is fixed to the right cover plate 1-3 through the fifth connecting screw 5-20. The centering block connecting plate 5-4 and the optical rod slider 5-9 are engaged by screws. The installation on the left side is the same as on the right side. Furthermore, a third motor is installed on the right cover plate 1-3. 5-10 serves as the driving component for the probe's vertical movement mechanism. The third motor 5-10 is fixed to the right cover plate by a three-motor fixing plate 5-11. A synchronous belt 5-12 is installed between the optical rod fixing block 5-14 on the right cover plate and the third motor 5-10 for transmission. The upper and lower ends of the synchronous belt 5-12 wrap around synchronous pulleys and are respectively fixed to the bearing 5-16 in the middle of the optical rod fixing block 5-14 and the third motor 5-10. One side of the synchronous belt 5-12 is connected to the optical rod slider 5-9 (the optical rod slider 5-9 may have a protrusion, which connects to one side of the synchronous belt 5-12), thereby driving the optical rod slider 5-9 to move. During operation, the probe can move up and down.

[0048] Before operation, the probe's vertical movement mechanism in this invention estimates the rising and falling heights of the electromagnetic ultrasonic probe 5-1 based on the different specifications of the pipe, ensuring a safe distance between the electromagnetic ultrasonic probe 5-1 and the pipe, thus protecting the probe 5-1 in advance. During operation, to accurately measure the wall thickness at various points on the pipe, this invention features online signal transmission and compensation. After receiving the signal input from the distance sensor 4-1, it calculates the transmission time of the third motor 5-3 based on the preset walking speed (because the horizontal distance between the electromagnetic ultrasonic probe 5-1 and the distance sensor 4-1 is known, the walking speed of the thickness gauge can be used to calculate the interval between the electromagnetic ultrasonic probe 5-1 reaching the pipe undulation point, thereby immediately adjusting the angle of the electromagnetic ultrasonic probe 5-1 when the preset time is reached). This allows for accurate prediction of pipe undulations, achieving precise rotation of the electromagnetic ultrasonic probe 5-1, while simultaneously compensating for the distance between the probe and the pipe (adjusting the height of the electromagnetic ultrasonic probe 5-1 based on the distance difference detected by the distance sensor 4-1), ensuring that the electromagnetic ultrasonic probe is always perpendicular to the pipe's generatrix and at a constant distance, thereby increasing the accuracy of pipe measurement.

[0049] The working process of the bidirectional wheel electromagnetic ultrasonic thickness gauge of the present invention is as follows: During the online real-time compensation detection process of the bidirectional wheel electromagnetic ultrasonic thickness gauge of the present invention, according to the specifications of the pipe to be detected on the production line, the electromagnetic ultrasonic thickness gauge can ensure that the ultrasonic probe is always perpendicular to the surface of the pipe to be detected, and the distance is constant. Before measurement, the thickness gauge is first initialized: After the electromagnetic ultrasonic thickness gauge is powered on, the specifications of the pipe to be detected on the production line are preset at the control terminal. At this time, the bidirectional wheel pipe adaptation mechanism 3 and the electromagnetic ultrasonic probe orientation compensation mechanism 5 begin to perform pre-measurement adjustments. The first motor 3-7 begins to control the bidirectional slide 3-10, thereby moving the bidirectional wheel to a suitable distance; at the same time, the third motor 5-10 in the probe up and down movement mechanism begins to drive the synchronous belt 5-12, so that the electromagnetic ultrasonic probe moves to a safe distance when the thickness gauge is completely on the pipe. At this time, the frame begins to move, and begins to descend when it reaches the measurable part of the pipe. During the descent, the lower spherical surface of the self-centering rod 2-1 in the self-centering flexible traction structure is completely in contact with the lower spherical surface of the center hole of the upper cover plate 1-4, so that the thickness gauge can fall smoothly onto the pipe. When the thickness gauge is fully lowered onto the pipe, the lower hemisphere of the self-centering rod 2-1 separates from the hemisphere of the center hole of the upper cover plate 1-4 with a certain gap. At this time, the rear bidirectional wheel and the front wheel of the thickness gauge bear its own weight. After the thickness gauge stabilizes on the pipe, it is pulled by the flexible rope 2-4 connected to the frame. The self-centering rod 2-1 no longer participates in the movement of the thickness gauge. The upper cover plate 1-4 is designed with a through hole slightly larger than the diameter of the self-centering rod 2-1, which allows the self-centering rod 2-1 to have a certain swing amplitude. Since the first return spring 3-4 and the second return spring 4-5 of the bidirectional wheel and the front wheel have a certain amount of compression, they can automatically fit into the pipe, ensuring the stability of the thickness gauge. The pipeline unevenness measuring mechanism completes initialization, setting the distance from the distance sensor 4-1 to the upper end of the front wheel fixing rod 4-8 as the initial value. Since there are undulations on the pipeline generatrix, this undulation is reflected in the compression of the second return spring 4-5. This compression is converted into the rise of the front wheel fixing rod 4-8. The difference between this rise and the initial value represents the unevenness. After the distance sensor 4-1 collects the signal, the electromagnetic ultrasonic probe orientation compensation mechanism enters compensation mode. Based on the preset walking speed and the distance from the section measured by the distance sensor 4-1 to the electromagnetic ultrasonic probe 5-1, the reaction time of the third motor 5-3 is calculated, and it rotates at timed intervals to achieve accurate prediction of pipeline undulations. The third motor 5-3 drives the hinged ball to rotate precisely around its center (i.e., the electromagnetic ultrasonic probe 5-1 rotates precisely), simultaneously compensating for the distance between the probe and the pipeline, ensuring that the electromagnetic ultrasonic probe is always perpendicular to the pipeline generatrix and at a constant distance, thus increasing the accuracy of pipeline measurement.

[0050] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should be considered within the scope of protection of the present invention.

Claims

1. A bidirectional wheel electromagnetic ultrasonic thickness gauge, comprising a housing (1), characterized in that: The bottom front end of the outer shell (1) is provided with a pipe unevenness measuring mechanism (4), and the bottom rear end of the outer shell (1) is provided with two universal ball wheels. The outer shell (1) is provided with an electromagnetic ultrasonic probe orientation compensation mechanism (5). The pipe unevenness measuring mechanism (4) includes a distance sensor (4-1) and a front roller (4-6). The distance sensor (4-1) is installed on the inner side of the bottom plate of the outer shell (1). The bottom plate of the outer shell (1) is provided with a first through hole that matches the distance sensor (4-1). The front roller (4-6) is located directly below the first through hole. The bottom of the outer shell (1) is provided with a vertical limiter. The structure allows the front roller (4-6) to swing elastically in the vertical direction; the electromagnetic ultrasonic probe orientation compensation mechanism (5) includes an electromagnetic ultrasonic probe (5-1), a swing mechanism and a height adjustment mechanism. The bottom of the housing (1) is provided with a second through hole that matches the electromagnetic ultrasonic probe (5-1). The electromagnetic ultrasonic probe (5-1) extends out of the second through hole. The swing mechanism controls the electromagnetic ultrasonic probe (5-1) to swing back and forth. The height adjustment mechanism is used to adjust the height of the electromagnetic ultrasonic probe (5-1). The distance sensor (4-1) is electrically connected to the swing mechanism and the height adjustment mechanism. The swing mechanism includes a connecting column (5-2), a second motor (5-3), an upper centering block (5-5), and a lower centering block (5-6); the electromagnetic ultrasonic probe (5-1) is installed at the bottom of the connecting column (5-2), and a hinge ball is provided at the top of the connecting column (5-2). The upper centering block (5-5) and the lower centering block (5-6) are connected inside the outer shell (1). A circular groove matching the hinge ball is provided between the upper centering block (5-5) and the lower centering block (5-6), and the diameter of the circular groove is smaller than the diameter of the hinge ball; the hinge ball is installed between the upper centering block (5-5) and the lower centering block (5-6); the output shaft of the second motor (5-3) is connected to the hinge ball and is used to drive the hinge ball to rotate back and forth in the travel direction of the thickness gauge.

2. The bidirectional wheel electromagnetic ultrasonic thickness gauge according to claim 1, characterized in that: The vertical limiting mechanism includes a front wheel connecting plate (4-3), a front wheel connecting block (4-4), a second return spring (4-5), a roller mounting plate (4-7), and a front wheel fixing rod (4-8). The roller mounting plate (4-7) is a U-shaped plate, and the front roller (4-6) is installed inside the roller mounting plate (4-7). The front wheel fixing rod (4-8) is installed on the top of the roller mounting plate (4-7), and the top of the front wheel fixing rod (4-8) is connected to the front wheel connecting block (4-4). The front wheel connecting block (4-4) is provided with a third through hole that matches the front wheel fixing rod (4-8). -8) The top passes through the third through hole. The top of the front wheel fixing rod (4-8) is provided with a first radial limiting protrusion. The outer diameter of the first radial limiting protrusion is larger than the diameter of the third through hole. The front wheel fixing rod (4-8) is covered with a second return spring (4-5). The upper and lower ends of the second return spring (4-5) are respectively connected to the front wheel connecting block (4-4) and the roller mounting plate (4-7). The front wheel connecting block (4-4) is spaced apart from the bottom of the outer shell (1). A front wheel connecting plate (4-3) is connected to each side of the front wheel connecting block (4-4). The top of the front wheel connecting plate (4-3) is connected to the bottom of the outer shell (1).

3. The bidirectional wheel electromagnetic ultrasonic thickness gauge according to claim 1, characterized in that: The height adjustment mechanism includes light rods (5-8), light rod sliders (5-9), a third motor (5-10), a synchronous belt (5-12), and bearings (5-17) symmetrically arranged on the left and right inner walls of the outer casing (1); two light rods (5-8) are installed on each of the left and right inner walls of the outer casing (1), and the light rod sliders (5-9) are slidably connected to the two light rods (5-8) on the same side; the third motor (5-10) is installed on the side wall of the outer casing (1), and the third motor ( The output shaft of 5-10 is connected to one end of the synchronous belt (5-12), and the other end of the synchronous belt (5-12) is connected to the bearing (5-17); the third motor (5-10) and the bearing (5-17) are respectively set at opposite ends of the upper and lower sides of the side wall of the housing (1); the light rod slider (5-9) is connected to one side surface of the synchronous belt (5-12); the upper centering block (5-5) and the lower centering block (5-6) are respectively connected to the light rod slider (5-9) on both sides.

4. The bidirectional wheel electromagnetic ultrasonic thickness gauge according to claim 1, characterized in that: The top of the outer casing (1) is provided with a self-centering mechanism (2), which includes a self-centering rod (2-1) and a frame connecting plate (2-3); the bottom of the self-centering rod (2-1) is provided with a spherical protrusion, and the inner side of the top of the outer casing (1) is provided with a groove that matches the spherical protrusion. The top of the groove is provided with a sixth through hole, and the diameter of the sixth through hole is larger than the diameter of the self-centering rod (2-1); the frame connecting plate (2-3) is connected to the upper end of the self-centering rod (2-1).

5. A bidirectional wheel electromagnetic ultrasonic thickness gauge according to claim 4, characterized in that: A flexible rope (2-4) is connected to the frame connecting plate (2-3), and the other end of the flexible rope (2-4) is connected to the outer shell (1); a third radial limiting protrusion is provided on the self-centering rod (2-1), the third radial limiting protrusion is located above the sixth through hole, and the diameter of the third radial limiting protrusion is larger than the diameter of the sixth through hole.

6. The bidirectional wheel electromagnetic ultrasonic thickness gauge according to claim 1, characterized in that: The omnidirectional ball wheel includes a rear wear-resistant ball wheel (3-1), a ball wheel fixing foot (3-2), a rear wheel connecting seat (3-3), a first return spring (3-4), a rear wheel fixing rod (3-5), and a rear wheel mounting block (3-6). The rear wear-resistant ball wheel (3-1) is hinged to the bottom of the ball wheel fixing foot (3-2). The rear wheel connecting seat (3-3) adopts a U-shaped plate, and the bottom of the rear wheel connecting seat (3-3) is provided with a fourth through hole that matches the rear wheel fixing rod (3-5). The two side plates of the rear wheel connecting seat (3-3) are connected to the rear wheel mounting block (3-6). -6) On the rear wheel mounting block (3-6); the rear wheel mounting block (3-6) is provided with a fifth through hole that matches the rear wheel fixing rod (3-5); the rear wheel fixing rod (3-5) passes through the fourth through hole and the fifth through hole, and the rear wheel fixing rod (3-5) is provided with a second radial limiting protrusion, the outer diameter of the second radial limiting protrusion being larger than the diameter of the fourth through hole and the fifth through hole; the rear wheel fixing rod (3-5) is fitted with a first return spring (3-4), the upper and lower ends of the first return spring (3-4) being connected to the rear wheel mounting block (3-6) and the second radial limiting protrusion, respectively.

7. A bidirectional wheel electromagnetic ultrasonic thickness gauge according to claim 6, characterized in that: The omnidirectional ball wheel is connected to the spacing adjustment mechanism. The spacing adjustment mechanism includes a first motor (3-7), a two-way lead screw (3-8), a two-way slide (3-9), and two slide moving blocks (3-10). The first motor (3-7), the two-way lead screw (3-8), and the two-way slide (3-9) are all installed at the bottom of the housing (1). The output shaft of the first motor (3-7) is connected to the two-way lead screw (3-8). The two slide moving blocks (3-10) are installed on both sides of the two-way lead screw (3-8), and the slide moving blocks (3-10) are slidably connected to the two-way slide (3-9).

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