Mechanical movement system and automation system for confined space ultrasonic testing

Abstract

The application discloses a mechanical movement system and an automatic system for ultrasonic detection in a limited space, which comprises a shell, a sliding plate, a Z-axis lifting assembly, a rotating assembly, a linear guide rail and a clamp, the Z-axis lifting assembly and the linear guide rail are arranged on the inner wall of the shell along the axial direction of the shell respectively, and the clamp is fixed to the bottom of the shell, one side edge of the sliding plate is connected with the lifting part of the Z-axis lifting assembly, and the other side edge of the sliding plate is slidably sleeved on the linear guide rail, the rotating assembly is fixed to the middle position of the sliding plate, and the axis of the rotating assembly is coaxial with the central axis of the clamp. The application combines each system with each other, finally forms an automatic system for integral detection, and completes the detection work, so that the detection efficiency is greatly improved, the system can implement the detection on the surfacing weld in the inner wall of the limited space, and meets the requirements of technical conditions and standard specifications.

Description

A mechanical motion system and automation system for ultrasonic testing in confined spaces Technical Field

[0001] This invention belongs to the field of ultrasonic testing technology in nuclear power plants, specifically relating to a mechanical motion system and automation system for ultrasonic testing in confined spaces. Background Technology

[0002] As the domestic nuclear power industry continues to develop and mature, the requirements for weld quality are becoming increasingly stringent. For example, during the manufacturing process of pressurizer equipment, according to technical specifications and drawings, the nozzle 14 needs to be welded to the head 15 in a placement manner before the inner wall is overlaid. The main purpose is to ensure that the dimensional and placement tolerances of the nozzle meet the drawing requirements. The nozzles are distributed in different locations; some nozzle axes are perpendicular to the horizontal line, while others have an angle of less than 90 degrees with the horizontal line. Therefore, the nozzle orientation is uncertain during inspection (some are tilted at a certain angle, and some are vertical, as shown in Figure 5) and the inspection must be carried out under certain height conditions. Furthermore, the inspection must be conducted from the inner wall of the nozzle, making the inspection orientation, conditions, and environment quite demanding. In addition to the above limitations in inspection conditions, due to the small size of the nozzle, ultrasonic testing of the inner wall of the nozzle cannot be performed manually. Since inspection methods that are impossible or difficult to implement in the early stages of welding will result in uncontrollable weld quality results, it is necessary to develop a confined space ultrasonic testing system to enable inspection and ensure that the inspection results meet the requirements of the standards and specifications. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a mechanical motion system and automation system for ultrasonic testing in confined spaces.

[0004] To solve the technical problem, the technical solution of the present invention is: a mechanical motion system for ultrasonic testing in confined spaces, comprising a housing, a sliding plate, a Z-axis lifting assembly, a rotating assembly, a linear guide rail, and a clamp. The Z-axis lifting assembly and the linear guide rail are respectively arranged axially on the inner wall of the housing. The clamp is fixed to the bottom of the housing. One edge of the sliding plate is connected to the lifting part of the Z-axis lifting assembly, and the other edge of the sliding plate is slidably sleeved on the linear guide rail. A rotating assembly is fixed in the middle of the sliding plate, and the axis of the rotating assembly is coaxial with the central axis of the clamp.

[0005] Preferably, the outer shell is a semi-cylindrical shell with a "C" shaped cross-section. The Z-axis lifting assembly and the linear guide rail are respectively arranged axially on the inner wall of the outer shell, and the clamp is fixed to the bottom of the outer shell.

[0006] Preferably, the Z-axis lifting assembly includes a Z-axis motor and a ball screw assembly. The Z-axis motor is fixedly installed at the top center of the inner wall of the housing, the output end of the Z-axis motor is connected to the ball screw assembly, and the bottom of the ball screw assembly is installed at the bottom center of the inner wall of the housing.

[0007] Preferably, the linear guide rails are in two sets, which are fixed to both sides of the inner wall of the housing, and are parallel to the ball screw pair.

[0008] Preferably, the rear edge of the sliding plate is fixedly connected to the nut of the ball screw pair, and the left and right edges of the sliding plate are respectively slidably sleeved on two sets of linear guides. An installation hole is provided in the middle of the sliding plate, and the rotating component is installed at the installation hole.

[0009] Preferably, the rotating assembly includes a rotary motor, a connecting rod, and a mounting plate. The output end of the rotary motor is connected to the connecting rod, and the rotary motor is fixed on the mounting plate. The mounting plate is horizontally slidable at the mounting hole of the sliding plate. The connecting rod passes through the clamp, and the axis of the connecting rod is coaxial with the central axis of the clamp.

[0010] Preferably, an automated system for ultrasonic testing in confined spaces includes an ultrasonic testing system, a display and analysis system, and a control system, as well as a mechanical motion system for ultrasonic testing in confined spaces. The ultrasonic testing system includes an ultrasonic testing instrument, a TR probe module, a coupling agent tank, a water pump, and a drainage pipeline. The TR probe module is installed at the bottom of a rotating assembly and is electrically connected to the ultrasonic testing instrument. One end of the drainage pipeline is connected to the inside of the TR probe module, and the other end is connected to the water pump, which is connected to the coupling agent tank. The ultrasonic testing instrument is electrically connected to the display and analysis system. The control system is electrically connected to the Z-axis lifting assembly, the rotating assembly, the ultrasonic testing instrument, the TR probe module, and the water pump.

[0011] Preferably, the TR probe module includes two TR probes and two limiting semi-cylinders. The inner surface of the limiting semi-cylinders has a limiting groove. The two TR probes are respectively installed back to back in the limiting grooves of the two limiting semi-cylinders. The inner surfaces of the two limiting semi-cylinders are fastened together by bolts to form a cylindrical structure. The two TR probes are respectively connected to an ultrasonic testing instrument, and one end of the drainage pipeline is connected to the limiting groove of the TR probe module.

[0012] Preferably, the TR probe is a TRS, TRACID, or TRAAID, the control system includes a touch controller and a PLC, the PLC is connected to the touch controller, and the PLC is electrically connected to the Z-axis lifting assembly, the rotation assembly, the ultrasonic detector, the TR probe module, and the water pump, respectively. The display and analysis system is a display used to present the detection parameters and various display pulse signals.

[0013] Preferably, the method of using the automation system includes the following steps:

[0014] Step 1: Fix the clamps of the mechanical motion system to the outside of the confined space being inspected;

[0015] Step 2: Install the TR probe module at the bottom of the rotating assembly, and move the rotating assembly to make the axis of the TR probe module coaxial with the axis of the confined space being inspected;

[0016] Step 3: Control the Z-axis lifting assembly, rotation assembly, TR probe module and water pump through the control system to enable the TR probe module to perform circumferential and axial step-by-step rotation scanning inside the confined space being inspected, and continuously inject coupling agent solution through the water pump to ensure good coupling between the TR probe module and the confined space being inspected;

[0017] Step 4: The TR probe module transmits the data to the ultrasonic testing instrument. After analysis by the analysis software loaded by the ultrasonic testing instrument, the test parameters and various display pulse signals are directly presented on the display analysis system.

[0018] Compared with the prior art, the advantages of the present invention are as follows:

[0019] (1) This invention discloses an automated system for ultrasonic testing of confined spaces, including a mechanical motion system, an ultrasonic testing system, a display analysis system and a control system. The TR probe module of the ultrasonic testing system is installed at the bottom of the rotating component of the mechanical motion system. The rotating component carries the TR probe module to perform circumferential and axial step-by-step rotational scanning inside the confined space being inspected. The scanning speed and rotation degree are controllable and can meet the standard requirements for scanning speed and coverage. The TR probe module transmits data to the ultrasonic testing instrument. After analysis by the analysis software loaded by the ultrasonic testing instrument, the detection parameters and various display pulse signals are directly presented on the display analysis system. This invention combines the various systems to form an overall automated system for testing to complete the testing work, greatly improving the testing efficiency. This system can be used to inspect the weld seams on the inner wall of confined spaces and meet the requirements of technical conditions and standard specifications.

[0020] (2) The present invention discloses a mechanical motion system for ultrasonic testing of confined space, including a shell, a sliding plate, a Z-axis lifting assembly, a rotating assembly, a linear guide rail and a clamp. The Z-axis lifting assembly and the linear guide rail are fixed axially on the inner wall of the shell. The sliding plate is connected to the nut of the ball screw pair of the Z-axis lifting assembly. The rotating assembly is fixed on the sliding plate. The bottom of the rotating assembly is connected to the TR probe module. The Z-axis lifting assembly can drive the rotating assembly to move up and down. At the same time, the rotating assembly can drive the TR probe module to rotate, realizing circumferential and axial step-by-step rotation. The clamp can be fixed outside the confined space to be tested. Therefore, moving the rotating assembly can make the axis of the TR probe module coaxial with the axis of the confined space to be tested, ensuring the possibility and stable operation of ultrasonic testing of confined space.

[0021] (3) The TR probe module of the present invention consists of two TR probes and two limiting semi-cylinders. The two TR probes are installed back to back in the limiting grooves of the two limiting semi-cylinders. The inner planes of the two limiting semi-cylinders are fastened together by bolts to form a cylindrical structure, which improves the scanning efficiency. The present invention continuously injects coupling agent solution through a water pump to ensure good coupling between the TR probe module and the restricted space being inspected. The TR probes include TRS, TRACID or TRAAID, which can be selected arbitrarily according to the requirements during detection. Attached Figure Description

[0022] Figure 1. Schematic diagram of the mechanical motion system for ultrasonic detection in confined space according to the present invention;

[0023] Figure 2. Schematic diagram of the structure of an automated system for ultrasonic testing in confined spaces according to the present invention;

[0024] Figure 3. Overall schematic diagram of the TR probe module of the present invention;

[0025] Figure 4. Cross-sectional schematic diagram of the TR probe module of the present invention;

[0026] Figure 5. Schematic diagram of existing voltage regulator equipment;

[0027] Figure 6. Schematic diagram of the test block structure for the TR axial probe design of the present invention.

[0028] Figure 7. Schematic diagram of the test block structure for the TR circumferential probe detection design of the present invention.

[0029] Explanation of reference numerals in the attached figures:

[0030] 1. Outer shell, 2. Sliding plate, 3. Z-axis lifting assembly, 4. Rotating assembly, 5. Linear guide rail, 6. Clamp, 7. Ultrasonic testing instrument, 8. TR probe module, 9. Coupling agent tank, 10. Water pump, 11. Drainage pipeline, 12. Confined space under inspection, 13. Human injury, 14. Connecting pipe under inspection, 15. End cap;

[0031] 2-1. Mounting holes;

[0032] 3-1. Z-axis motor; 3-2. Ball screw pair;

[0033] 4-1. Rotary motor; 4-2. Connecting rod; 4-3. Mounting plate;

[0034] 8-1, TR probe; 8-2, limiting semi-cylinder;

[0035] 8-2-1, Limiting groove. Detailed Implementation

[0036] The specific implementation of the present invention is described below with reference to embodiments:

[0037] It should be noted that the structures, proportions, sizes, etc. shown in this specification are only used to complement the content disclosed in the specification for those skilled in the art to understand and read, and are not intended to limit the conditions under which the present invention can be implemented. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0038] Example 1

[0039] As shown in Figure 1, this invention discloses a mechanical motion system for ultrasonic testing in confined spaces, including a housing 1, a sliding plate 2, a Z-axis lifting assembly 3, a rotating assembly 4, a linear guide rail 5, and a clamp 6. The Z-axis lifting assembly 3 and the linear guide rail 5 are respectively arranged axially along the inner wall of the housing 1. The clamp 6 is fixed to the bottom of the housing 1. One edge of the sliding plate 2 is connected to the lifting part of the Z-axis lifting assembly 3, and the other edge of the sliding plate 2 is slidably sleeved on the linear guide rail 5. The rotating assembly 4 is fixed in the middle of the sliding plate 2, and the axis of the rotating assembly 4 is coaxial with the central axis of the clamp 6.

[0040] Example 2

[0041] As shown in Figure 1, preferably, the outer shell 1 is a semi-cylindrical shell with a "C" shaped cross-section. The Z-axis lifting assembly 3 and the linear guide rail 5 are respectively arranged axially on the inner wall of the outer shell 1, and the clamp 6 is fixed to the bottom of the outer shell 1.

[0042] To facilitate outdoor operation and reduce weight, the outer shell 1 is made of stainless steel 304 material with a frame design, which can reduce weight.

[0043] As shown in Figure 1, preferably, the Z-axis lifting assembly 3 includes a Z-axis motor 3-1 and a ball screw assembly 3-2. The Z-axis motor 3-1 is fixedly installed at the top center of the inner wall of the outer casing 1. The output end of the Z-axis motor 3-1 is connected to the ball screw assembly 3-2. The bottom of the ball screw assembly 3-2 is installed at the bottom center of the inner wall of the outer casing 1.

[0044] Compared with traditional sliding screw pairs, the ball screw pair 3-2, as a rolling functional component, has the following significant advantages: high power transmission efficiency, reaching over 90%, which is three times higher than that of trapezoidal screw pairs. Therefore, the ball screw pair has the advantages of energy saving and power saving, which is beneficial for using stepper motors with low output torque.

[0045] Example 3

[0046] As shown in Figure 1, preferably, the linear guide rails 5 are in two sets, and the two sets of linear guide rails 5 are fixed on both sides of the inner wall of the outer shell 1, and the two sets of linear guide rails 5 are parallel to the ball screw pair 3-2.

[0047] The linear guide rail 5 supports and drives the sliding plate 2 to move up and down. The linear guide rail 5 is a hard guide rod with a hard chrome plating treatment on the surface, which can improve the surface hardness and reduce friction during sliding.

[0048] As shown in Figure 1, preferably, the rear edge of the sliding plate 2 is fixedly connected to the nut of the ball screw pair 3-2, and the left and right edges of the sliding plate 2 are respectively slidably sleeved on two sets of linear guide rails 5. The middle position of the sliding plate 2 is provided with a mounting hole 2-1, and the rotating component 4 is installed at the mounting hole 2-1.

[0049] The sliding plate 2 can slide up and down and be supported by the nut of the ball screw pair 3-2. The material of the sliding plate 2 is aviation aluminum (grade 6061), which has the characteristics of high quality, medium strength, good corrosion resistance, weldability and light weight.

[0050] As shown in Figure 1, preferably, the rotating assembly 4 includes a rotating motor 4-1, a connecting rod 4-2, and a mounting plate 4-3. The output end of the rotating motor 4-1 is connected to the connecting rod 4-2. The rotating motor 4-1 is fixed on the mounting plate 4-3. The mounting plate 4-3 can be horizontally slidably installed at the mounting hole 2-1 of the sliding plate 2. The connecting rod 4-2 passes through the clamp 6, and the axis of the connecting rod 4-2 is coaxial with the central axis of the clamp 6.

[0051] The clamp 6 can easily fix the entire device in the confined space of the object being inspected. The clamp 6 adopts a quick-change structure, and the appropriate clamp can be quickly replaced for testing according to the pipe diameter of different pipes being tested (the confined space 12 being inspected).

[0052] Example 4

[0053] As shown in Figure 2, a preferred automated system for ultrasonic testing in confined spaces includes an ultrasonic testing system, a display and analysis system, and a control system, as well as a mechanical motion system for ultrasonic testing in confined spaces. The ultrasonic testing system includes an ultrasonic testing instrument 7, a TR probe module 8, a coupling agent tank 9, a water pump 10, and a drainage pipeline 11. The TR probe module 8 is installed at the bottom of the rotating assembly 4 and is electrically connected to the ultrasonic testing instrument 7. One end of the drainage pipeline 11 is connected to the inside of the TR probe module 8, and the other end of the drainage pipeline 11 is connected to the water pump 10. The water pump 10 is connected to the coupling agent tank 9. The ultrasonic testing instrument 7 is electrically connected to the display and analysis system. The control system is electrically connected to the Z-axis lifting assembly 3, the rotating assembly 4, the ultrasonic testing instrument 7, the TR probe module 8, and the water pump 10, respectively.

[0054] The probe wire of the TR probe module 8 is fixed on the connecting rod 4-2 of the rotating assembly 4.

[0055] The water pump 10 is connected to an external mobile power source to provide electrical energy.

[0056] The output end of the drainage pipeline is located inside the TR probe module 8. During the detection process, water is continuously injected to ensure good coupling between the probe and the confined space 12 (between the workpieces being inspected).

[0057] Example 5

[0058] As shown in Figures 3 and 4, preferably, the TR probe module 8 includes two TR probes 8-1 and two limiting semi-cylinders 8-2. The inner plane of the limiting semi-cylinders 8-2 has a limiting groove 8-2-1. The two TR probes 8-1 are respectively installed back to back in the limiting grooves 8-2-1 of the two limiting semi-cylinders 8-2. The inner planes of the two limiting semi-cylinders 8-2 are fastened together by bolts to form a cylindrical structure. The two TR probes 8-1 are respectively connected to the ultrasonic detector 7. One end of the drainage pipe 11 is connected to the limiting groove 8-2-1 of the TR probe module 8.

[0059] The TR probe 8-1 is TRS, TRACID, or TRAAID. The control system includes a touch controller and a PLC. The PLC is connected to the touch controller and is electrically connected to the Z-axis lifting assembly 3, the rotation assembly 4, the ultrasonic detector 7, the TR probe module 8, and the water pump 10. The display and analysis system is a display used to present the detection parameters and various display pulse signals.

[0060] Because the size of the confined space 12 being inspected is small, it is not possible to arrange all the detection probes in one TR probe module at once. Therefore, the TR probes can only be divided into TRS / TRACID / TRAAID and arranged back-to-back in three TR probe modules, and can be selected arbitrarily according to the requirements during inspection.

[0061] The display and analysis system connects a computer monitor to the ultrasonic testing instrument 7, loads the analysis software into the ultrasonic testing instrument 7, and after analysis by the analysis software, directly displays the detection parameters and various display pulse signals on the monitor. Such analysis software is far superior to conventional ultrasonic testing in terms of operation speed and storage function. It can display the signal reflections of all 6 channels on the screen, greatly improving the detection efficiency.

[0062] The analysis software is existing software, and will not be described in detail in this application.

[0063] The control system is also equipped with a protection device. Since there are always electrical hazards at the power supply and wiring terminals of the equipment, in order to avoid any electric shock and death accidents, an emergency stop button is provided when starting and maintaining the equipment. The plug pins are 27-pin round female connectors. By setting the parameters on the controller panel, the TR probe module 8 can perform circumferential and axial step-by-step rotational scanning on the inner wall of the confined space 12 being inspected. The scanning speed and rotation degree are controllable and can meet the standard requirements for scanning speed and coverage.

[0064] The connection steps for the touch controller are as follows:

[0065] Step 1: Connect the "Control Port" control cable and the "AC220V Power Supply" cable of the touch controller;

[0066] Step 2: Press the "Power Switch" button on the touch controller panel to turn on the device;

[0067] Step 3: Move the manual button on the touch controller up and down to the port for detecting the workpiece (inspected confined space 12);

[0068] Step 4: Input the corresponding data parameters;

[0069] Step 5: Click the start / stop button, and the device will start running automatically.

[0070] Example 6

[0071] As shown in Figures 1 and 2, the method of using the automation system includes the following steps:

[0072] Step 1: Fix the clamp 6 of the mechanical motion system to the outside of the confined space being inspected;

[0073] Step 2: Install the TR probe module 8 at the bottom of the rotating assembly 4, and move the rotating assembly 4 so that the axis of the TR probe module 8 is coaxial with the axis of the confined space 12 under inspection;

[0074] Step 3: Control the Z-axis lifting assembly 3, rotating assembly 4, TR probe module 8 and water pump 10 through the control system, so that the TR probe module 8 performs circumferential and axial step-by-step rotation scanning inside the confined space 12 under inspection, and continuously inject coupling agent solution through the water pump 10 to ensure good coupling between the TR probe module 8 and the confined space 12 under inspection.

[0075] Step 4: The TR probe module 8 transmits the data to the ultrasonic testing instrument 7. After analysis by the analysis software loaded in the ultrasonic testing instrument 7, the detection parameters and various display pulse signals are directly presented on the display analysis system.

[0076] Example 7

[0077] The present invention discloses an automated system for ultrasonic testing in confined spaces, comprising a mechanical motion system, an ultrasonic testing system, a display and analysis system, and a control system. The interconnection of these systems enables the system to meet testing requirements and ensures the stable implementation of each system's functions.

[0078] To determine the detection effectiveness of the automated system of this invention, it is necessary to test for artificial damage on the comparison test block, ensuring the stable operation of the entire system during the test to achieve the final detection objective. After power is turned on, the control system enables the mechanical motion system to move within the comparison sample, forming an automatic scan. If an abnormal signal is detected, the waveform is displayed and an alarm is triggered by the display and analysis system. After analysis, the signal is loaded into the ultrasonic testing instrument's analysis software for further analysis. The display and analysis system then determines whether the location and magnitude of the abnormal signal meet the standard requirements. The mechanical motion system, ultrasonic testing system, display and analysis system, and control system involved in the automated system of this invention operate stably. Furthermore, after actual testing of the automated system, the ultrasonic testing system must possess the following functions and meet the corresponding parameter requirements:

[0079] 1. Supports 6 or more independent ultrasound testing channels;

[0080] 2. Operating frequency range: 0.5 to 20 MHz;

[0081] 3. The maximum repetition frequency of each ultrasound detection channel reaches 2.5 kHz;

[0082] 4. Adjustable width negative square wave transmission, with a maximum transmission voltage of 500V;

[0083] 5. High detection sensitivity, with a margin of at least 65dB for flaw detection sensitivity;

[0084] 6. High-performance transmit / receive front-end and digital signal processing;

[0085] 7. In debug mode, A-scan can display a maximum of 8 channels simultaneously;

[0086] 8. Each flaw detection channel has three alarm gates, A, B, and C, which can be set to either incoming wave or out-of-wave alarm. There is also a tracking gate, D, which can realize interface wave tracking function.

[0087] 9. Features include real-time audible and visual alarms, automatic sorting or marking of interfaces, and input / output control.

[0088] 10. Full recording, measurement, and playback analysis functions for B-scan / flaw detection views / thickness measurement views based on time or location;

[0089] 11. Large-capacity hard drive data storage based on PC platform, recording B-scan images throughout the process and allowing playback;

[0090] 12. Two-dimensional rotary encoder interface;

[0091] 13. The host computer software can achieve remote monitoring via a LAN network.

[0092] As shown in Figures 6 and 7, the comparison test block includes a test block for designing and testing a TR axial probe and a test block for designing and testing a TR circumferential probe. The test block for designing and testing a TR axial probe has two artificial injuries 13 along the axial direction, and the test block for designing and testing a TR circumferential probe has four artificial injuries 13 along the inner wall circumferential direction.

[0093] The automated system for ultrasonic testing in confined spaces, as described in this invention, was used to test artificial injuries on a comparison test block. The detection accuracy reached 99.5%, which is high.

[0094] Through specific testing, it was found that, even in confined spaces, the requirements specified in the RCC-M (2012 version + 2015 addendum) standard could be met. This invention, considering the actual conditions of the tested components, achieved the completion of automated system matching and adjustment tests and actual tests of the comparison test blocks after independently designing various testing systems. The results all met the actual testing requirements.

[0095] The working principle of this invention is as follows:

[0096] As shown in Figures 1-4, this invention discloses an automated system for ultrasonic testing in confined spaces, comprising a mechanical motion system, an ultrasonic testing system, a display and analysis system, and a control system. The mechanical motion system includes a housing 1, a sliding plate 2, a Z-axis lifting assembly 3, a rotating assembly 4, a linear guide rail 5, and a clamp 6. The rotating assembly 4 includes a rotary motor 4-1, a connecting rod 4-2, and a mounting plate 4-3. The ultrasonic testing system includes an ultrasonic transducer 7, a TR probe module 8, a coupling agent tank 9, a water pump 10, and a drainage pipeline 11. The TR probe module 8 includes two TR probes 8-1 and two limiting semi-cylinders 8-2. The TR probe module 8 is fixed to the bottom of the connecting rod 4-2. One end of the drainage pipeline 11 is connected to the TR probe module 8, and the other end is connected to the water pump 10. The water pump 10 is connected to the coupling agent tank 9. The clamp 6 is fixed at the confined space 12 being inspected. At this time, the clamp 6 is connected to the confined space 12 being inspected. The confined space 12 is coaxial. Then, the rotary motor 4-1 fixed on the mounting plate 4-3 is adjusted so that the axis of the connecting rod 4-2 is coaxial with the confined space 12. During operation, the control system controls the Z-axis motor 3-1 and the rotary motor 4-1 to make the TR probe module 8 perform circumferential and axial step-by-step rotational scanning inside the confined space. The scanning speed and rotation degree are controlled by the control system. The TR probe module 8 transmits the data to the ultrasonic testing instrument 7. After analysis by the analysis software loaded in the ultrasonic testing instrument 7, the detection parameters and various display pulse signals are directly presented on the display analysis system. This invention, through the integration of various systems, ultimately forms an integrated automated testing system to complete the testing work, greatly improving the testing efficiency. This system can be used to inspect the weld seams on the inner wall of the confined space and meet the requirements of technical conditions and standards.

[0097] This invention discloses a mechanical motion system for ultrasonic testing in confined spaces, comprising a housing, a sliding plate, a Z-axis lifting assembly, a rotating assembly, a linear guide rail, and a clamp. The Z-axis lifting assembly and the linear guide rail are axially fixed to the inner wall of the housing. The sliding plate is connected to the nut of the ball screw pair of the Z-axis lifting assembly. The rotating assembly is fixed to the sliding plate, and a TR probe module is connected to the bottom of the rotating assembly. The Z-axis lifting assembly can drive the rotating assembly to move up and down, while the rotating assembly can drive the TR probe module to rotate, achieving circumferential and axial step-by-step rotation. The clamp can be fixed to the outside of the confined space being inspected. Therefore, moving the rotating assembly can make the axis of the TR probe module coaxial with the axis of the confined space being inspected, ensuring the possibility and stable operation of ultrasonic testing in confined spaces.

[0098] The TR probe module of this invention consists of two TR probes and two limiting semi-cylinders. The two TR probes are installed back-to-back in the limiting grooves of the two limiting semi-cylinders. The inner planes of the two limiting semi-cylinders are interlocked and connected by bolts to form a cylindrical structure, which improves the scanning efficiency. This invention uses a water pump to continuously inject coupling agent solution to ensure good coupling between the TR probe module and the restricted space being inspected. The TR probes include TRS, TRACID, or TRAAID, which can be selected arbitrarily according to the requirements during detection.

[0099] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

[0100] Many other changes and modifications can be made without departing from the concept and scope of this invention. It should be understood that this invention is not limited to the specific embodiments, and the scope of this invention is defined by the appended claims.

Claims

1. A mechanical motion system for ultrasonic testing in confined spaces, characterized in that: The system includes a housing (1), a sliding plate (2), a Z-axis lifting assembly (3), a rotating assembly (4), a linear guide rail (5), and a clamp (6). The Z-axis lifting assembly (3) and the linear guide rail (5) are respectively arranged along the axial direction of the housing (1) on the inner wall of the housing (1). The clamp (6) is fixed to the bottom of the housing (1). One edge of the sliding plate (2) is connected to the lifting part of the Z-axis lifting assembly (3), and the other edge of the sliding plate (2) is slidably sleeved on the linear guide rail (5). The rotating assembly (4) is fixed in the middle of the sliding plate (2). The axis of the rotating component (4) is coaxial with the central axis of the clamp (6); the outer shell (1) is a semi-cylindrical shell with a "C" shaped cross-section. The Z-axis lifting component (3) and the linear guide rail (5) are respectively axially arranged on the inner wall of the outer shell (1), and the clamp (6) is fixed to the bottom of the outer shell (1); the Z-axis lifting component (3) includes a Z-axis motor (3-1) and a ball screw pair (3-2). The Z-axis motor (3-1) is fixedly installed at the top center of the inner wall of the outer shell (1), and the output end of the Z-axis motor (3-1) is connected to the ball screw pair (3-2). 3-2), the bottom of the ball screw pair (3-2) is installed at the middle position of the bottom of the inner wall of the outer shell (1); the linear guide (5) consists of two sets, which are fixed on both sides of the inner wall of the outer shell (1) respectively, and are parallel to the ball screw pair (3-2); the rear edge of the sliding plate (2) is fixedly connected to the nut of the ball screw pair (3-2), and the left and right edges of the sliding plate (2) can be slidably sleeved on the two sets of linear guides (5) respectively. The middle position of the sliding plate (2) is provided with a mounting hole (2-1). The rotating assembly (4) is installed at the mounting hole (2-1); the rotating assembly (4) includes a rotating motor (4-1), a connecting rod (4-2) and a mounting plate (4-3). The output end of the rotating motor (4-1) is connected to the connecting rod (4-2). The rotating motor (4-1) is fixed on the mounting plate (4-3). The mounting plate (4-3) can be horizontally slidably installed at the mounting hole (2-1) of the sliding plate (2). The connecting rod (4-2) passes through the clamp (6). The axis of the connecting rod (4-2) is coaxial with the central axis of the clamp (6).

2. An automated system for ultrasonic testing in confined spaces, characterized in that: The invention includes an ultrasonic testing system, a display analysis system, and a control system, as well as a mechanical motion system for ultrasonic testing in confined spaces as described in claim 1. The ultrasonic testing system includes an ultrasonic testing instrument (7), a TR probe module (8), a coupling agent tank (9), a water pump (10), and a drainage pipeline (11). The TR probe module (8) is installed at the bottom of the rotating assembly (4) and is electrically connected to the ultrasonic testing instrument (7). One end of the drainage pipeline (11) is connected to the inside of the TR probe module (8), and the other end of the drainage pipeline (11) is connected to the water pump (10). The water pump (10) is connected to the coupling agent tank (9). The ultrasonic testing instrument (7) is electrically connected to the display analysis system. The control system is electrically connected to the Z-axis lifting assembly (3), the rotating assembly (4), the ultrasonic testing instrument (7), the TR probe module (8), and the water pump (10), respectively.

3. The automated system for ultrasonic testing in confined spaces according to claim 2, characterized in that: The TR probe module (8) includes two TR probes (8-1) and two limiting semi-cylinders (8-2). The inner plane of the limiting semi-cylinder (8-2) has a limiting groove (8-2-1). The two TR probes (8-1) are installed back to back in the limiting grooves (8-2-1) of the two limiting semi-cylinders (8-2). The inner planes of the two limiting semi-cylinders (8-2) are fastened together by bolts to form a cylindrical structure. The two TR probes (8-1) are connected to the ultrasonic detector (7). One end of the drainage pipe (11) is connected to the limiting groove (8-2-1) of the TR probe module (8).

4. The automated system for ultrasonic testing in confined spaces according to claim 2, characterized in that: The TR probe (8-1) is TRS, TRACID or TRAAID. The control system includes a touch controller and a PLC. The PLC is connected to the touch controller. The PLC is electrically connected to the Z-axis lifting assembly (3), the rotation assembly (4), the ultrasonic detector (7), the TR probe module (8) and the water pump (10). The display and analysis system is a display used to present the detection parameters and various display pulse signals.

5. An automated system for ultrasonic testing in confined spaces according to claim 2, characterized in that: The method of using the automated system includes the following steps: Step 1: Fix the clamp (6) of the mechanical motion system to the outside of the confined space to be inspected; Step 2: Install the TR probe module (8) at the bottom of the rotating component (4), and move the rotating component (4) to make the axis of the TR probe module (8) coaxial with the axis of the confined space to be inspected; Step 3: Control the Z-axis lifting component (3), the rotating component (4), the TR probe module (8) and the water pump (10) through the control system to make the TR probe module (8) perform circumferential and axial step-by-step rotation scanning inside the confined space to be inspected, and continuously inject the coupling agent solution through the water pump (10) to ensure good coupling between the TR probe module (8) and the confined space to be inspected; Step 4: The TR probe module (8) transmits the data to the ultrasonic detector (7), and after analysis by the analysis software loaded by the ultrasonic detector (7), the detection parameters and various display pulse signals are directly presented on the display analysis system.

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