Ultrasonic detection probe carrying platform and underwater robot comprising same

Abstract

The invention discloses an ultrasonic detection probe carrying platform and an underwater robot comprising the ultrasonic detection probe carrying platform, the ultrasonic detection probe carrying platform comprises a fixed base, the fixed base is in an arc shape and sleeves the outer side face of the underwater robot, and the fixed base extends outwards to form a supporting frame; the ultrasonic detection assembly comprises a baffle, an elastic piece and an ultrasonic probe, the baffle is installed at the end of the supporting frame, the two ends of the elastic piece are connected to the baffle and the ultrasonic probe respectively, and the elastic piece drives the ultrasonic probe to move outwards. According to the ultrasonic detection probe carrying platform, the elastic piece is arranged on the ultrasonic probe, so that when the underwater robot moves and enables the ultrasonic probe to be in contact with an underwater structure to be detected, the elastic piece can be compressed and bent to adapt to the underwater structure to be detected with a curved surface or other irregular surfaces; and the elastic force of the elastic piece also drives the ultrasonic probe to keep in contact with the underwater structure to be detected, so that continuous contact type detection is completed.

Description

Technical Field

[0001] The present invention relates to the field of underwater detection technology, and in particular to an ultrasonic detection probe carrying platform and an underwater robot comprising the same. Background Art

[0002] Traditional underwater inspections carried out by humans with testing instruments have high safety risks, interrupted operations, and high costs, making it difficult to meet the needs of large-scale inspections. Therefore, underwater inspections are now gradually being undertaken by robots. Existing underwater structure inspection technologies can obtain structural image information through underwater robots equipped with non-contact equipment such as high-definition cameras and sonars, and detect surface defects such as pile foundation shrinkage, structural cracking, concrete spalling and exposed reinforcement.

[0003] However, there is still a lack of contact ultrasonic nondestructive testing equipment suitable for underwater robots, which makes it difficult to diagnose internal defects of underwater structures. The contact detection method has high requirements for the contact quality of the sensor, which is particularly affected when the structure being tested has a curved surface or other irregular surfaces. In summary, the field of underwater structure detection urgently needs a high-precision contact detection solution. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes an ultrasonic detection probe carrying platform, which can perform contact detection on underwater structures and improve detection accuracy.

[0005] The present invention also provides an underwater robot having the ultrasonic detection probe carrying platform.

[0006] An ultrasonic detection probe carrying platform according to a first aspect of the present invention includes:

[0007] A fixed base, which is arc-shaped and sleeved on the outer side of the underwater robot, and a support frame extends outward from the fixed base;

[0008] An ultrasonic detection assembly, the ultrasonic detection assembly comprising a baffle, an elastic member and an ultrasonic probe, the baffle being mounted on an end of the support frame, two ends of the elastic member being respectively connected to the baffle and the ultrasonic probe, and the elastic member driving the ultrasonic probe to move outward;

[0009] The ultrasonic probe can directly contact the underwater structure to perform contact detection, and the elastic member can be compressed or bent after being subjected to an external force, and utilizes the elastic force to drive the ultrasonic probe to abut against the underwater structure to be detected.

[0010] The ultrasonic detection probe carrying platform according to the embodiment of the present invention has at least the following beneficial effects: by arranging an elastic member on the ultrasonic probe, when the underwater robot moves and makes the ultrasonic probe contact with the underwater structure to be detected, the elastic member can be compressed and bent to adapt to the underwater structure to be detected with a curved surface or other irregular surfaces, and the elastic force of the elastic member will also drive the ultrasonic probe to maintain contact with the underwater structure to be detected, thereby completing continuous contact detection.

[0011] According to some embodiments of the present invention, the support frame is provided with a plurality of hollow holes to reduce its own weight.

[0012] According to some embodiments of the present invention, a through hole is opened in the middle of the baffle, and the wire of the ultrasonic probe passes through the through hole and is electrically connected to the underwater robot.

[0013] According to some embodiments of the present invention, the elastic member is specifically a spring, and the ultrasonic probe is provided with a buckle connected to the end of the spring.

[0014] According to some embodiments of the present invention, the ultrasonic detection probe carrying platform also includes an arm and an extension frame, the extension frame includes a connecting portion and a plurality of extension portions extending radially outward around the connecting portion, the two ends of the arm are respectively connected to the connecting portion of the support frame and the extension frame, there are multiple ultrasonic detection components and they are installed one-to-one on each of the extension portions, and the baffle is installed at the end of the extension portion.

[0015] According to some embodiments of the present invention, the arm is specifically a telescopic rod.

[0016] According to some embodiments of the present invention, the ultrasonic detection probe carrying platform further includes a steering gear, the connecting portion of the extension frame is hinged to the extension portion, and the steering gear is installed on the connecting portion and drives the extension portion to rotate around the connecting portion.

[0017] According to some embodiments of the present invention, the ultrasonic detection probe carrying platform also includes a damping push rod, the baffle is connected to the end of the extension portion through the damping push rod, and the damping push rod is used to absorb the impact force when the ultrasonic probe contacts the underwater structure to be detected.

[0018] According to some embodiments of the present invention, the ultrasonic detection probe carrying platform also includes a reduction motor, a rack is arranged in the extension part, the reduction motor is connected to the damping push rod, the output shaft of the reduction motor is provided with a gear and meshes with the rack, and the rotation of the output shaft of the reduction motor can drive the damping push rod to move along the length direction of the extension part.

[0019] The underwater robot according to the second embodiment of the present invention comprises the above-mentioned ultrasonic detection probe carrying platform, the shell of the underwater robot is cylindrical, and the fixed base is sleeved on the outer side of the underwater robot.

[0020] The underwater robot according to the embodiment of the present invention has at least the following beneficial effects: by using the ultrasonic detection probe carrying platform, the underwater robot can use a contact detection method to detect underwater structures, thereby improving the accuracy of detection methods such as ultrasonic flaw detection.

[0021] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0023] Figure 1 A three-dimensional diagram of the first structure of the ultrasonic detection probe carrying platform in the first embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the connection between the elastic member 220 and the ultrasonic probe 230 in the ultrasonic detection probe carrying platform according to the first embodiment of the present invention;

[0025] Figure 3 A three-dimensional diagram of the second structure of the ultrasonic detection probe carrying platform in the embodiment of the first aspect of the present invention;

[0026] Figure 4 It is a front view of the second structure of the ultrasonic detection probe carrying platform in the embodiment of the first aspect of the present invention;

[0027] Figure 5 It is a side view of the second structure of the ultrasonic detection probe carrying platform in the embodiment of the first aspect of the present invention;

[0028] Figure 6 This is a three-dimensional diagram of an underwater robot 800 according to an embodiment of the second aspect of the present invention.

[0029] Figure numerals: 100 - fixed base, 110 - support frame, 111 - hollow hole, 200 - ultrasonic detection component, 210 - baffle, 211 - through hole, 220 - elastic member, 230 - ultrasonic probe, 231 - buckle, 232 - guide column, 300 - arm, 400 - extension frame, 410 - connecting part, 420 - extension part, 421 - rack, 500 - servo, 600 - damping push rod, 700 - gear, 800 - underwater robot. DETAILED DESCRIPTION

[0030] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0031] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0032] In the description of the present invention, "several" means more than one, "many" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0033] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0034] In the description of the present invention, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0035] Traditional underwater inspections carried out by humans with testing instruments have high safety risks, interrupted operations, and high costs, making it difficult to meet the needs of large-scale inspections. Therefore, underwater inspections are now gradually being undertaken by robots. Existing underwater structure inspection technologies can obtain structural image information through underwater robots equipped with non-contact equipment such as high-definition cameras and sonars, and detect surface defects such as pile foundation shrinkage, structural cracking, concrete spalling and exposed reinforcement.

[0036] However, there is still a lack of contact ultrasonic nondestructive testing equipment suitable for underwater robots, which makes it difficult to diagnose internal defects of underwater structures. The contact detection method has high requirements for the contact quality of the sensor, which is particularly affected when the structure being tested has a curved surface or other irregular surfaces. In summary, the field of underwater structure detection urgently needs a high-precision contact detection solution.

[0037] In this regard, the present application proposes an ultrasonic detection probe carrying platform. By arranging an elastic member 220 on the ultrasonic probe 230, when the underwater robot 800 moves and makes the ultrasonic probe 230 contact with the underwater structure to be detected, the elastic member 220 can absorb the impact force generated during the contact process to reduce the damage to the ultrasonic probe 230. During the detection process, the elastic member 220 can be compressed and bent to adapt to the underwater structure to be detected with a curved surface or other irregular surfaces, and the elastic force of the elastic member 220 will also drive the ultrasonic probe 230 to maintain contact with the underwater structure to be detected, completing continuous contact detection.

[0038] In addition, the present application also proposes an underwater robot 800, which utilizes the ultrasonic detection probe mounting platform. The underwater robot 800 can use a contact detection method to detect underwater structures, thereby improving the accuracy of detection methods such as ultrasonic flaw detection.

[0039] Reference Figure 1 The ultrasonic detection probe carrying platform in the first embodiment of the present application includes a fixed base 100 and an ultrasonic detection assembly 200. The fixed base 100 is used to connect with the underwater robot 800 (refer to Figure 6 ), the ultrasonic detection assembly 200 is installed on the fixed base 100 and is used to complete the ultrasonic detection of the underwater structure to be detected.

[0040] Specifically, the fixed base 100 is arc-shaped and is sleeved on the outer side of the underwater robot 800. The fixed base 100 has a support frame 110 extending outwardly for fixing the ultrasonic detection component 200 and extending it outward to facilitate contact with the underwater structure to be detected.

[0041] The ultrasonic detection assembly 200 includes a baffle 210, an elastic member 220 and an ultrasonic probe 230. The baffle 210 is mounted on the end of the support frame 110, and the two ends of the elastic member 220 are respectively connected to the baffle 210 and the ultrasonic probe 230, and the elastic member 220 drives the ultrasonic probe 230 to move outward. Among them, the ultrasonic probe 230 can directly contact the underwater structure for contact detection, and the elastic member 220 can be compressed or bent after being subjected to external force, so as to adapt to the outer contour of the underwater structure to be detected, and use the elastic force to drive the ultrasonic probe 230 to abut against the underwater structure to be detected to complete the ultrasonic detection.

[0042] Furthermore, the support frame 110 is provided with a plurality of hollow holes 111 to reduce its own weight, which on one hand reduces the load-bearing burden of the underwater robot 800, and on the other hand reduces the production cost of the ultrasonic detection probe carrying platform.

[0043] Furthermore, a through hole 211 is provided in the middle of the baffle 210, and the wire of the ultrasonic probe 230 passes through the through hole 211 and is electrically connected to the underwater robot 800. The through hole 211 is provided to limit the wire and guide the extension direction of the wire, so as to prevent the exposed wire of the underwater robot 800 from getting caught on obstacles in the external environment when the underwater robot 800 is sailing.

[0044] Specifically, refer to Figure 2 The elastic member 220 is specifically a spring, and the ultrasonic probe 230 is provided with a buckle 231 connected to the end of the spring, and the spring is fixed to the ultrasonic probe 230 through the buckle 231. The buckle 231 is provided with a hole through which the end of the spring can pass, thereby limiting the position of the spring. Furthermore, the ultrasonic probe 230 is also provided with a guide column 232 that penetrates the inside of the spring to guide the extension and contraction direction of the spring.

[0045] For the ultrasonic detection probe carrying platform, the present application proposes two possible embodiments. It is easy to understand that the present invention is not limited to the embodiments, and various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the present invention.

[0046] First embodiment: refer to Figure 1 and Figure 2 Only one ultrasonic detection component 200 is provided on the fixed base 100 for completing point detection of underwater structures. It has the advantages of simple structure and light weight, and is suitable for the working situation where the underwater robot 800 has low power and performs local point detection of underwater structures.

[0047] Second embodiment: Reference Figures 3 to 5 , a plurality of ultrasonic detection components 200 are arranged on the fixed base 100, and the plurality of ultrasonic detection components 200 in a matrix can perform surface detection on the underwater structure, thereby improving the detection efficiency. Specifically, the ultrasonic detection probe carrying platform also includes an arm 300 and an extension frame 400. The extension frame 400 includes a connecting portion 410 and a plurality of extension portions 420 extending radially outward around the connecting portion 410. The two ends of the arm 300 are respectively connected to the supporting frame 110 and the connecting portion 410 of the extension frame 400. There are a plurality of ultrasonic detection components 200, and they are installed one by one on each extension portion 420, and the baffle 210 is installed on the end of the extension portion 420. Thus, the plurality of ultrasonic detection components 200 can be fixed in an array on the fixed base 100 through the arm 300 and the extension frame 400.

[0048] Furthermore, the arm 300 is specifically a telescopic rod, and its length can be adjusted. When the arm 300 is extended, the detection range of the ultrasonic detection assembly 200 array can be increased.

[0049] Furthermore, the ultrasonic detection probe carrying platform also includes a servo 500. The connecting part 410 of the extension frame 400 is hinged to the extension part 420. The servo 500 is installed on the connecting part 410 and drives the extension part 420 to rotate around the connecting part 410, so as to fine-tune the detection position of the ultrasonic detection component 200 and improve the detection accuracy.

[0050] Furthermore, the ultrasonic detection probe carrying platform also includes a damping push rod 600, and the baffle 210 is connected to the end of the extension 420 through the damping push rod 600. The damping push rod 600 is used to absorb the impact force when the ultrasonic probe 230 contacts the underwater structure to be detected, and can enable the ultrasonic probe 230 to adaptively fit the complex surfaces of various underwater structures to be detected.

[0051] Furthermore, the ultrasonic detection probe carrying platform also includes a reduction motor, a rack 421 is arranged in the extension part, the reduction motor is connected to the damping push rod 600, and the output shaft of the reduction motor is provided with a gear 700 and meshes with the rack 421. The rotation of the output shaft of the reduction motor can drive the damping push rod 600 to move along the length direction of the extension part 420, thereby changing the detection position of the ultrasonic detection component 200.

[0052] By jointly controlling the arm 300, the steering gear 500 and each reduction motor, the position of each ultrasonic detection component 200 can be adjusted according to the actual working situation to achieve the effect of accurate detection.

[0053] Reference Figure 6 An underwater robot 800 in an embodiment of the second aspect of the present application includes the above-mentioned ultrasonic detection probe carrying platform, the outer shell of the underwater robot 800 is cylindrical, and the fixed base 100 is sleeved on the outer side of the underwater robot 800. The fixed base 100 is provided with mounting holes for bolts to pass through, and fixation is achieved by sleeve installation of the fixed base 100 and bolt connection.

[0054] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the present invention. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. An ultrasonic detection probe carrying platform, characterized in that: include: A fixed base, which is arc-shaped and sleeved on the outer side of the underwater robot, and a support frame extends outward from the fixed base; An ultrasonic detection assembly, the ultrasonic detection assembly comprising a baffle, an elastic member and an ultrasonic probe, the baffle being mounted on an end of the support frame, two ends of the elastic member being respectively connected to the baffle and the ultrasonic probe, and the elastic member driving the ultrasonic probe to move outward; The ultrasonic probe can directly contact the underwater structure to perform contact detection, and the elastic member can be compressed or bent after being subjected to an external force, and utilizes the elastic force to drive the ultrasonic probe to abut against the underwater structure to be detected.

2. The ultrasonic detection probe carrying platform according to claim 1, characterized in that: The support frame is provided with a plurality of hollow holes to reduce its own weight.

3. The ultrasonic detection probe carrying platform according to claim 1, characterized in that: A through hole is provided in the middle of the baffle, and the wire of the ultrasonic probe passes through the through hole and is electrically connected to the underwater robot.

4. The ultrasonic detection probe carrying platform according to claim 1, characterized in that: The elastic member is specifically a spring, and the ultrasonic probe is provided with a buckle connected to the end of the spring.

5. The ultrasonic detection probe carrying platform according to claim 1, characterized in that: The ultrasonic detection probe carrying platform also includes an arm and an extension frame, the extension frame includes a connecting portion and a plurality of extension portions extending radially outward around the connecting portion, the two ends of the arm are respectively connected to the supporting frame and the connecting portion of the extension frame, there are multiple ultrasonic detection components and they are installed one-to-one on each of the extension portions, and the baffle is installed at the end of the extension portion.

6. The ultrasonic detection probe carrying platform according to claim 5, characterized in that: The arm rod is specifically a telescopic rod.

7. The ultrasonic detection probe carrying platform according to claim 5, characterized in that: The ultrasonic detection probe carrying platform also includes a steering gear, the connecting portion of the extension frame is hinged to the extension portion, and the steering gear is installed on the connecting portion and drives the extension portion to rotate around the connecting portion.

8. The ultrasonic detection probe carrying platform according to claim 7, characterized in that: The ultrasonic detection probe carrying platform also includes a damping push rod, the baffle is connected to the end of the extension portion through the damping push rod, and the damping push rod is used to absorb the impact force when the ultrasonic probe contacts the underwater structure to be detected.

9. The ultrasonic detection probe carrying platform according to claim 8, characterized in that: The ultrasonic detection probe carrying platform also includes a reduction motor, a rack is arranged in the extension part, the reduction motor is connected to the damping push rod, the output shaft of the reduction motor is provided with a gear and meshes with the rack, and the rotation of the output shaft of the reduction motor can drive the damping push rod to move along the length direction of the extension part.

10. An underwater robot, characterized in that: It comprises the ultrasonic detection probe carrying platform as described in any one of claims 1 to 9, the shell of the underwater robot is cylindrical, and the fixed base is sleeved on the outer side of the underwater robot.

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