A multifunctional fully automatic ultrasonic scanning device and detection method

Abstract

The present invention discloses a multifunctional fully automatic ultrasonic scanning device and detection method, wherein the scanning device comprises a driving module, an arm module, a probe holding module and an ultrasonic probe, wherein the driving module comprises a mainframe and a clamping device, wherein a lithium battery, a servo motor, an encoder, a Bluetooth module and a control module are arranged in the mainframe; the arm module comprises at least one unit arm module, and the arm module is combined with the driving module; the probe holding module is connected with the arm module; after the driving module, the arm module and the probe holding module are combined, the overall appearance is a structure of a combined frame plus an electric-driven wheeled trolley, and the on-site detection work is implemented. The present invention can be used for ultrasonic detection such as phased array, TOFD, fully automatic ultrasound, conventional A-ultrasound, etc., and is suitable for ultrasonic detection of raw materials or welded joints of various structural parts such as plates, pipelines, containers, etc., with a wide range of applications and high detection quality and efficiency.

Description

Technical Field

[0001] The invention relates to a multifunctional fully automatic ultrasonic scanning device and a detection method, belonging to the technical field of industrial detection equipment manufacturing. Background Art

[0002] Phased array and TOFD are both ultrasonic imaging detection technologies, and are currently the most widely used advanced imaging technologies in the field of ultrasonic detection. Entering the 21st century, my country's industry and construction industry has developed rapidly and its scale has continued to expand. The output and installation volume of steel components such as power station boilers, pressure vessels, pressure pipes, spherical tanks, storage tanks, and large steel structures are huge, and special equipment is closely related to the safety of people's lives and property. Therefore, relevant departments have continuously increased the supervision of the production and installation quality of special equipment, and put forward higher requirements for the quality and safe operation of special equipment. At the same time, it also puts forward higher requirements for the comprehensive application of detection technology to improve the defect detection rate and accuracy. At present, phased array and TOFD high-end detection technologies have been gradually promoted and applied, and the demand for detection has increased year by year. Limited by the relatively late application of advanced detection technologies such as phased array, TOFD, and fully automatic partition focusing in China, most commonly used scanning devices are imported from abroad, which are expensive, complex and bulky in structure, high in use and maintenance costs, and limited in application scope. The versatility is not strong. Usually, a variety of scanning devices must be purchased according to the different structural forms of the inspected workpieces, and they must be used alternately to meet the requirements of the detection standards, which is inconvenient for engineering applications. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a multifunctional and multi-purpose fully automatic ultrasonic scanning device and a detection method thereof in view of the defects existing in the prior art.

[0004] In order to solve this technical problem, the present invention provides a multifunctional fully automatic ultrasonic scanning device, including a driving module, an arm module, a probe holding module and an ultrasonic probe, wherein the driving module includes a mainframe and a clamping device, wherein a lithium battery for powering the driving module, a servo motor for driving the metal magnetic wheel to rotate, an encoder for collecting position information of the patent scanning device, a Bluetooth module for wireless data transmission and a control module for centralized control of various electronic components and data processing are arranged inside the mainframe; the arm module includes at least one unit arm module, and the number of unit arm modules can be increased according to the characteristics of different detection components, and the arm module bodies of different shapes can be assembled, and the arm module is combined with the driving module through a holding device arranged at the front end of the driving module; the probe holding module is used to clamp the ultrasonic probe and is connected to the arm module through a butterfly bolt, and the number of the probe holding module is selected according to the number of probes; after the driving module, the arm module and the probe holding module are combined, the overall appearance is a structure of a combined frame plus an electric-driven wheeled trolley to implement on-site detection work.

[0005] The driving module includes a main unit, a handle, a metal magnetic wheel, a button switch, an indicator light, a data interface, a charger interface, a fixing hole and a clamping device. The main unit is a rectangular structure as a whole, with a rectangular handle on the upper part and four metal magnetic wheels on the lower part. The front end and side surfaces of the main unit are respectively provided with fixing holes of the same specifications. The clamping device and the main unit are combined into one through the fixing holes, thereby combining the driving module and the arm module into one; the button switch, indicator light, data interface and charger interface are arranged at the rear of the driving module.

[0006] The clamping device comprises a rear connecting rod, a middle steel U-shaped groove, a butterfly bolt and an internal square clamp plate. One end of the butterfly bolt is screwed into the front wall of the steel U-shaped groove and enters the interior of the steel U-shaped groove to be connected to the internal square clamp plate. The square clamp plate can be controlled to move forward and backward by screwing in and out the butterfly bolt, so as to realize the rapid combination and disassembly of the clamping device and the arm module. The specifications of the rear connecting rod of the clamping device match the fixing hole. The fixing hole is a circular tube seat, which is welded to the main body of the vehicle body as a whole. A butterfly bolt is arranged on the upper part of the fixing hole. The connecting rod can be inserted into the fixing hole, and the clamping device is fixed inside the fixing hole by screwing in the butterfly bolt on the upper part of the fixing hole. The steel U-shaped groove is stuck in the upper part of the arm module, and the butterfly bolt is rotated to push the square clamp plate to move, so that the clamping device is fixed on the arm module.

[0007] The button switch is a cylinder that controls the start and stop of the drive module; the indicator light changes colors to indicate the operating status of the drive module, the battery charging status, the Bluetooth module status and the battery power; the data interface is used for the communication between the scanning device and the ultrasonic detection host, which can realize the control of the scanning device by the detection instrument and the transmission of position coding data, and can also be used for program burning to realize autonomous scanning of the scanning device and Bluetooth transmission of position coding data; the charger interface is a quick-plug interface for charging the internal lithium battery.

[0008] The unit arm module is a rectangular parallelepiped structure as a whole, including an arm shell, mortise and tenon components, guide rail grooves, rack belts and supports. Mortise and tenon components are provided on the four ends and two side surfaces of the unit arm module. A rectangular guide rail groove is provided in the middle of the two side surfaces of the arm shell. The square support extends out of the rectangular guide rail groove and can move left and right along the horizontal direction of the guide rail groove. Two independently rotatable rack belts are provided inside the arm shell. Both ends of the belts are sleeved on bearings at both ends of the unit arm module. The rack belt can achieve smooth rotation through the bearings at both ends. Both ends of the rack belt extend out of the unit arm. After the end of the arm module is axially connected to the next unit arm module, the rack belts inside the two unit arm modules can be meshed. When the rack belt of this group of unit arm modules rotates clockwise, it can drive the rack belt of the next group of unit arm modules to rotate in the opposite direction, that is, counterclockwise; a square support is fixedly installed on the rack belt, and a bolt hole is provided in the middle of the support, and the bolt hole matches the butterfly bolt 2 of the probe holding module; the square support and the rack belt are combined into a whole, and the movement of the rack belt can drive the movement of the support, thereby realizing the movement of the probe holding module.

[0009] The adjacent mortise and tenon components at the end of the arm shell are mutually concave and convex, the concave and convex mortise and tenon components around the arm shell are arranged alternately, and the adjacent mortise and tenon components on the same side are mutually concave and convex; the two-unit arm modules 20 can be coaxially connected, that is, the rear end of the upper unit arm module is socket-connected with the front end of the next unit arm module; the two-unit arm modules can also be vertically connected, that is, the mortise and tenon at the front end of the next unit arm module is socket-connected with the mortise and tenon component at the side end of the upper unit arm module.

[0010] The probe holding module includes a vertical pole, two butterfly bolts, a spring telescopic rod, a U-shaped probe bracket, a knurled flat head screw and an adjustment square pad. A bolt hole is processed on the upper part of the vertical pole, and the two butterfly bolts are screwed into the bolt holes. The two butterfly bolts match the bolt holes in the middle of the square support of the support arm module and are used to connect the probe holding module and the support arm module. The lower part of the vertical pole is a hollow structure, in which the spring telescopic rod is embedded. The lower part of the spring telescopic rod is connected to the U-shaped probe bracket. Knurled flat head screws are respectively arranged on both sides of the front end of the U-shaped probe bracket. A square pad is arranged at the end of the knurled flat head screw for holding the ultrasonic probe. The position of the square pad can be adjusted by screwing in or out the knurled flat head screw.

[0011] The ultrasonic probe is placed inside the probe bracket, and the knurled flat head screws on both sides are rotated to push the pad to hold the ultrasonic probe. The ultrasonic probes are grouped according to the detection technology and process requirements. The same group of ultrasonic probes are placed on the same side of the support arm module. The butterfly bolts are aligned with the bolt holes in the middle of the square support. The butterfly bolts are tightened one by one, and the probe holding module is fixed to the corresponding support arm module.

[0012] The required number and combination structure of the arm modules are determined by the inspection processes required for different inspected workpieces, and can be combined into arm module bodies with different structural shapes: a combination form in which two drive modules are located on the same side of a rectangular arm module, which is suitable for TOFD, phased array, and fully automatic ultrasonic inspection of plates, pipes, and pressure vessel welded joints; a combination form in which two drive modules are respectively located at both ends of a rectangular arm module, which is suitable for TOFD, phased array, and fully automatic ultrasonic inspection of large-volume plates, pipes, and pressure vessel welded joints; a combination form in which one drive module is located at the bottom of a U-shaped arm module, which is suitable for TOFD, phased array, and conventional ultrasonic inspection of smaller diameter pressure pipes and steel structures; a combination form in which one drive module is located in a linear arm module, which is suitable for TOFD, phased array, and conventional ultrasonic inspection of plates and large pressure vessel welded joints.

[0013] The present invention also provides a detection method using the multifunctional fully automatic ultrasonic scanning device for detection, comprising the following steps:

[0014] 1) When in use, hold the handle on the upper part of the main unit to place the scanning device at the predetermined position of the workpiece to be inspected, and slowly lower the patented scanning device so that each metal magnetic wheel on the drive module can be stably adsorbed on the surface of the workpiece to be inspected, and the metal magnetic wheel can rotate freely under the drive of the internal servo motor, driving the scanning device to move accurately along the predetermined trajectory. During detection, only one side of the ultrasonic probe needs to be moved, and the ultrasonic probe on the opposite side can be synchronously moved in the opposite direction to the predetermined position;

[0015] 2) Press the button switch on the drive module, insert the data cable into the data interface of the drive module, or start the Bluetooth module to connect to the detection host, control the scanning device through the detection host or computer or mobile phone, and perform scanning and detection along the predetermined track until all the workpieces to be inspected are completed. Hold the handle on the upper part of the host to remove the patented scanning device, and repeat the above process to start the next workpiece detection task.

[0016] Beneficial effects: The present invention can be used for the implementation of various ultrasonic detection technology projects such as phased array, TOFD, fully automatic ultrasound, conventional A-ultrasound, etc., and can use a single detection method or multiple methods simultaneously. It is suitable for ultrasonic detection of raw materials or welded joints of various structural parts such as plates, pipes, containers, etc., with a wide range of applications and high detection quality and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 It is a structural schematic diagram of the driving module of the present invention;

[0019] Figure 3 It is a structural schematic diagram of the arm module of the present invention;

[0020] Figure 4 It is a schematic diagram of the structure inside the support arm module of the present invention;

[0021] Figure 5 It is a structural schematic diagram of the probe holding module of the present invention;

[0022] Figure 6 This is a structural schematic diagram of the combined working condition 1 of the present invention;

[0023] Figure 7 This is a structural schematic diagram of the second combined working condition of the present invention;

[0024] Figure 8 It is a structural schematic diagram of the combination working condition three of the present invention.

[0025] In the figure: 1. drive module; 2. support arm module; 3. probe holding module; 11. host; 12. handle; 13. metal magnetic wheel; 14. button switch; 15. indicator light; 16. data interface; 17. charger interface; 18. fixing hole; 19. clamping device; 191. connecting rod; 192. steel U-shaped groove; 193. butterfly bolt one; 194. square clamp; 20. unit support arm module; 21. support arm shell; 22. mortise and tenon component; 23. guide rail groove; 24. rack belt; 25. support; 31. vertical pole; 32. butterfly bolt two; 33. spring telescopic rod; 34. probe bracket; 35. knurled flat head screw; 36. pad; 37. ultrasonic probe. DETAILED DESCRIPTION

[0026] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0027] like Figure 1-8As shown, the present invention provides a multifunctional fully automatic ultrasonic scanning device, including a driving module 1, an arm module 2, a probe holding module 3 and an ultrasonic probe 37. The driving module 1 is a rectangular four-wheeled trolley structure, which mainly provides power and position coding data for the patent scanning device, including a host 11 and a clamping device 19. The host 11 is internally provided with a lithium battery for powering the driving module, a servo motor for driving the metal magnetic wheel 13 to rotate, an encoder for collecting position information of the patent scanning device, a Bluetooth module for wireless data transmission and a control module for centralized control of various electronic components and data processing; the arm module 2 includes at least one unit The arm module 20 can increase the number of unit arm modules 20 according to the characteristics of different detection components, and can be quickly assembled to form arm module bodies of different shapes to adapt to the implementation of different on-site detection technical solutions. It is easy to assemble, has various forms, and is widely used. The arm module 2 is combined with the driving module 1 through a holding device arranged at the front end of the driving module 1; the probe holding module 3 is used to clamp the ultrasonic probe 37 and is connected to the arm module 2 through a butterfly bolt, and its number is selected according to the number of probes; after the driving module 1, the arm module 2 and the probe holding module 3 are combined, the overall appearance is a combined frame, plus an electrically driven wheeled trolley structure to implement on-site detection work.

[0028] The driving module 1 includes a main unit 11, a handle 12, a metal magnetic wheel 13, a button switch 14, an indicator light 15, a data interface 16, a charger interface 17, a fixing hole 18 and a clamping device 19. The main unit 11 is a rectangular structure as a whole, with a rectangular handle 12 on the upper part and four metal magnetic wheels 13 on the lower part. The front end and side surfaces of the main unit 11 are respectively provided with fixing holes 18 of the same specifications. The clamping device 19 is combined into one with the main unit 11 through the fixing holes 18, thereby combining the driving module 1 with the arm module 2; the button switch 14, the indicator light 15, the data interface 16 and the charger interface 17 are arranged at the rear of the driving module 1.

[0029] The clamping device 19 includes a rear connecting rod 191, a middle steel U-shaped groove 192, a butterfly bolt 193 and an internal square clamping plate 194. One end of the butterfly bolt 193 is screwed into the front wall of the steel U-shaped groove 192 and enters the interior of the steel U-shaped groove 192, and is connected to the internal square clamping plate 194. By screwing in and out the butterfly bolt 193, the square clamping plate 194 can be controlled to move forward and backward, thereby realizing the rapid combination and disassembly of the clamping device 19 and the arm module 2; the rear connecting rod 191 of the clamping device 19 The specification 91 matches the fixing hole 18; the fixing hole 18 is a circular tube seat, which is welded to the vehicle body main unit 11 as a whole. A butterfly bolt is arranged on the upper part of the fixing hole 18, and the connecting rod 191 can be inserted into the fixing hole 18. The clamping device 19 is fixed inside the fixing hole 18 by screwing the butterfly bolt on the upper part of the fixing hole 18; the steel U-shaped groove 192 is stuck in the upper part of the support arm module 2, and the butterfly bolt 193 is rotated to push the square clamping plate 194 to move, so that the clamping device 19 is fixed on the support arm module 2.

[0030] The button switch 14 is a cylinder that controls the start and stop of the driving module 1; the indicator light 15 indicates the operating status, battery charging status, Bluetooth module status and battery power of the driving module 1 by changing different colors; the data interface 16 is used for the communication between the scanning device and the ultrasonic detection host, which can realize the control of the scanning device by the detection instrument and the transmission of position coding data, and can also be used for program burning to realize autonomous scanning of the scanning device and Bluetooth transmission of position coding data; the charger interface 17 is a quick plug-in interface for charging the internal lithium battery.

[0031] The unit arm module 20 is a rectangular parallelepiped structure as a whole, including an arm shell 21, a mortise and tenon component 22, a guide groove 23, a rack belt 24 and a support 25. The unit arm module 20 is provided with mortise and tenon components 22 at the four ends and both sides. A rectangular guide groove 23 is provided in the middle of both sides of the arm shell 21. The square support 25 extends out of the rectangular guide groove 23 and can move left and right along the horizontal direction of the guide groove 23; two independently rotatable rack belts 24 are provided inside the arm shell 21, and both ends of the belts are sleeved on the bearings at both ends of the unit arm module 20. The rack belt 24 can realize smooth rotation through the bearings at both ends. The two rack belts are respectively assembled with independent bearings at both ends, and each rotates independently without affecting each other; both ends of the rack belt 24 extend out of the end of the unit arm module 20 and are connected to the next unit arm module After 20 is axially connected, the rack belts inside the two unit arm modules 20 can be meshed. When the rack belt 24 of the current group of unit arm modules 20 rotates clockwise, it can drive the rack belt 24 of the next group of unit arm modules 20 to rotate in the opposite direction, that is, counterclockwise. If the rack belt 24 of the current group of units rotates counterclockwise, it can drive the rack belt 24 of the next group of units to rotate clockwise, thereby conveniently and efficiently realizing the mirror arrangement of the probe along the axis of the welding joint and synchronous reverse movement; a square support 25 is fixedly installed on the rack belt 24, and a bolt hole is provided in the middle of the support 25, and the bolt hole matches the butterfly bolt 232 of the probe holding module 3; the square support 25 and the rack belt 24 are combined into a whole, and the movement of the rack belt 24 can drive the support 25 to move, thereby realizing the movement of the probe holding module 3. After the axis of the support arm module 2 is assembled, the support 25 on the same side of the two support arm modules 2 can achieve reverse synchronous movement, which can realize the requirements of TOFD detection technology, phased array dual-probe detection technology and conventional ultrasonic serial scanning technology that the probes need to be arranged in a mirror image along the axis of the welding joint. During detection, only one side of the probe position needs to be moved, and the opposite side probe can be synchronously moved in reverse to the predetermined position, which greatly improves the setting accuracy of the detection process parameters and does not need to repeatedly measure the positions of the two probes, thereby improving the detection efficiency. At the same time, the two support arm modules 2 can also be used independently, which conveniently realizes conventional ultrasonic serial scanning.

[0032] The adjacent mortise and tenon components 22 at the end of the arm shell 21 are mutually concave and convex, the concave and convex mortise and tenon components 22 around the arm shell 21 are alternately arranged, and the adjacent mortise and tenon components 22 on the same side are mutually concave and convex; the two-unit arm modules 20 can be coaxially connected, that is, the rear end of the upper unit arm module 20 is socket-connected with the front end of the next unit arm module 20, so as to achieve an axial extension effect, which is suitable for large thick-walled welding joints and large probe spacing detection processes; the two-unit arm modules 20 can also be vertically connected, that is, the mortise and tenon at the front end of the lower unit arm module 20 is socket-connected with the mortise and tenon components at the side end of the upper unit arm module 20, so as to be suitable for the detection of welding joints in different directions.

[0033] The probe holding module 3 includes a vertical pole 31, a butterfly bolt 32, a spring telescopic rod 33, a U-shaped probe bracket 34, a knurled flat head screw 35 and an adjustment square pad 36. The upper part of the vertical pole 31 is processed with a bolt hole, and the butterfly bolt 32 is screwed into it. The butterfly bolt 32 matches the bolt hole in the middle of the square support 25 of the support arm module 2, and is used to connect the probe holding module 3 and the support arm module 2; the lower part of the vertical pole 31 is a hollow structure, embedded with a spring telescopic rod 33, and the lower part of the spring telescopic rod 33 is connected to the U-shaped probe bracket 34. Knurled flat head screws 35 are respectively arranged on both sides of the front end of the U-shaped probe bracket 34, and a square pad 36 is arranged at the end of the knurled flat head screw 35 for holding the ultrasonic probe 37. The position of the square pad 36 can be adjusted by screwing in or out the knurled flat head screw 35, so as to achieve the purpose of quickly holding and disassembling the ultrasonic probe 37.

[0034] All ultrasonic probes 37 are placed inside the probe bracket 34, and the knurled flat head screws 35 on both sides are rotated to push the pads 36 to hold the ultrasonic probes 37. The ultrasonic probes 37 are grouped according to the detection technology and process requirements. The same group of ultrasonic probes 37 are placed on the same side of the support arm module 2, and the butterfly bolts 32 are aligned with the bolt holes in the middle of the square support 25. The butterfly bolts 32 are tightened one by one, and the probe holding module 3 is fixed to the corresponding support arm module 2.

[0035] The required number and combination structure of the arm modules 2 are determined by the inspection process required by different inspected workpieces. The corresponding number of drive modules 1, arm modules 2, and probe support modules 3 are selected according to the characteristics of the inspected workpieces and the inspection technical requirements. The arm modules 2 are connected by sockets according to the specifications of the inspected workpieces to form arm module bodies with different structural shapes. There are four commonly used combination structures: the combination form in which two drive modules 1 are located on the same side of the rectangular arm module 2 is suitable for TOFD, phased array, and fully automatic ultrasonic inspection of plates, pipelines, and pressure vessel welded joints, such as Figure 1 As shown; the combination of two drive modules 1 located at both ends of the rectangular support arm module 2 is suitable for TOFD, phased array, and fully automatic ultrasonic testing of large-volume plates, pipelines, and pressure vessel welded joints, such as Figure 6 As shown; a driving module 1 is located at the bottom of the U-shaped arm module 2, which is suitable for smaller diameter pressure pipelines, steel structure TOFD, phased array, conventional ultrasonic testing, such as Figure 7 As shown; a driving module 1 is located in the combination of a linear arm module 2, which is suitable for plate, large pressure vessel welding joint TOFD, phased array, conventional ultrasonic testing, such as Figure 8 .

[0036] The present invention also provides a detection method using the multifunctional fully automatic ultrasonic scanning device for detection, comprising the following steps:

[0037] 1) When in use, hold the handle 12 on the upper part of the main unit 11 to place the scanning device at the predetermined position of the workpiece to be inspected, and slowly lower the patented scanning device so that each metal magnetic wheel 13 on the driving module 1 is stably adsorbed on the surface of the workpiece to be inspected, and the metal magnetic wheel 13 can rotate freely under the drive of the internal servo motor, driving the scanning device to move accurately along the predetermined trajectory. During detection, only one side of the ultrasonic probe 37 needs to be moved, and the ultrasonic probe 37 on the opposite side can be synchronously moved in the opposite direction to the predetermined position, which greatly improves the accuracy of setting the detection process parameters, and there is no need to repeatedly measure the positions of the two probes, thereby improving the detection efficiency. At the same time, the two arm modules can also be used independently, and conventional ultrasonic tandem scanning can be conveniently realized;

[0038] 2) Press the button switch 14 on the driving module 1, insert the data cable into the data interface 16 of the driving module 1, or start the Bluetooth module to connect to the detection host, control the scanning device through the detection host or computer or mobile phone, and perform scanning and detection along the predetermined track until all the workpieces to be inspected are completed. Hold the handle 12 on the upper part of the host 11 to remove the patented scanning device, and repeat the above process to start the next workpiece detection task.

[0039] The present invention is modular in design, and each module is easy to assemble and disassemble. The number of module units can be increased according to the characteristics of different test workpieces and the requirements of the test technology, and they can be combined into different structures to flexibly adapt to various test requirements and scenarios, and later maintenance and upgrading are convenient, and the manufacturing cost and use cost are low. The present invention is specially designed for phased array, TOFD, and conventional ultrasonic composite detection, and can quickly and efficiently perform multiple technical schemes for simultaneous detection of welding joints. It is also suitable for a fully automatic phased array partitioned focusing ultrasonic detection system that combines multi-channel, acoustic focusing, partitioned scanning and TOFD technology. One machine has multiple uses and can meet the application and implementation of different types of ultrasonic detection technology. It has fast detection speed and high detection accuracy. When the two arm modules are used in axial combination, the internal double rack belt system can efficiently realize synchronous reverse rotation, thereby conveniently realizing the paired ultrasonic probes along the weld The axis of the joint is arranged in a mirror image, and the position of the probe can be adjusted quickly and accurately. Only one side of the probe needs to be moved, and the opposite side probe will move synchronously in the opposite direction to achieve the purpose of adjusting the process parameters. The process parameter adjustment speed is fast and the accuracy is high. The present invention has a compact structure, and each module device is small in size and is battery-powered, which is convenient to carry, safe and reliable, and has a wide range of applications. It is especially suitable for manufacturing and installation projects such as high-altitude, large-volume workpieces, and steel structures, pipelines, and container devices with complex construction environments. It has good process applicability and strong versatility. The present invention can transmit data with the detection host through a data cable, and can also be remotely controlled by connecting to the detection host or a laptop computer or a smart phone through a Bluetooth module, thereby realizing remote control and data transmission of the detection robot. There is no need for detection professionals to climb tall scaffolding or enter dangerous areas, and the detection cost and safety risk are low.

[0040] The above embodiments of the present invention are merely illustrative and not exclusive, and all modifications within the scope of the present invention or equivalent to the scope of the present invention are encompassed by the present invention.

Claims

1. A multifunctional fully automatic ultrasonic scanning device, characterized in that: The invention comprises a driving module (1), an arm module (2), a probe holding module (3) and an ultrasonic probe (37); the driving module (1) comprises a mainframe (11) and a clamping device (19); the mainframe (11) is provided with a lithium battery for powering the driving module, a servo motor for driving a metal magnetic wheel (13) to rotate, an encoder for collecting position information of a patent scanning device, a Bluetooth module for wireless data transmission and a control module for centralized control of various electronic components and data processing; the arm module (2) comprises at least one unit arm module (20), which is configured according to different The detection component features that the number of unit arm modules (20) can be increased and assembled to form arm module bodies of different shapes; the arm module (2) is combined with the drive module (1) via a clamping device (19) arranged at the front end of the drive module (1); the probe holding module (3) is used to clamp the ultrasonic probe (37) and is connected to the arm module (2) via butterfly bolts, and the number of the probe holding modules (3) is selected according to the number of probes; after the drive module (1), the arm module (2) and the probe holding module (3) are combined, the overall appearance is a structure of a combined frame plus an electric-driven wheeled trolley to implement on-site detection work.

2. The multifunctional fully automatic ultrasonic scanning device according to claim 1, characterized in that: The driving module (1) comprises a main unit (11), a handle (12), a metal magnetic wheel (13), a button switch (14), an indicator light (15), a data interface (16), a charger interface (17), a fixing hole (18) and a clamping device (19); the main unit (11) is a rectangular parallelepiped structure as a whole, a rectangular parallelepiped handle (12) is arranged on the upper part, and four metal magnetic wheels (13) are arranged on the lower part; the front end and the side of the main unit (11) are respectively provided with fixing holes (18) of the same specification; the clamping device (19) and the main unit (11) are combined into one through the fixing holes (18), thereby making the driving module (1) and the arm module (2) combined into one; the button switch (14), the indicator light (15), the data interface (16) and the charger interface (17) are arranged at the rear of the driving module (1).

3. The multifunctional fully automatic ultrasonic scanning device according to claim 2, characterized in that: The clamping device (19) comprises a rear connecting rod (191), a middle steel U-shaped groove (192), a butterfly bolt (193) and an internal square clamping plate (194); one end of the butterfly bolt (193) is screwed into the front wall of the steel U-shaped groove (192) and enters the interior of the steel U-shaped groove (192) to be connected to the internal square clamping plate (194); by screwing in and out the butterfly bolt (193), the square clamping plate (194) can be controlled to move forward and backward, thereby realizing the rapid assembly and disassembly of the clamping device (19) and the arm module (2); the rear connecting rod (191) of the clamping device (19) 1) The specification matches the fixing hole (18); the fixing hole (18) is a circular tube seat, which is welded to the vehicle body main body (11) as a whole, and a butterfly bolt is arranged on the upper part of the fixing hole (18). The connecting rod (191) can be inserted into the fixing hole (18), and the clamping device (19) is fixed inside the fixing hole (18) by screwing the butterfly bolt on the upper part of the fixing hole (18); the steel U-shaped groove (192) is clamped on the upper part of the support arm module (2), and the butterfly bolt (193) is rotated to push the square clamping plate (194) to move, so that the clamping device (19) is fixed on the support arm module (2).

4. The multifunctional fully automatic ultrasonic scanning device according to claim 2, characterized in that: The button switch (14) is a cylinder and controls the start and stop of the driving module (1); the indicator light (15) is used to indicate the operating status of the driving module (1), the battery charging status, the Bluetooth module status and the battery power by changing different colors; the data interface (16) is used for the scanning device to communicate with the ultrasonic detection host, and can realize the control of the scanning device by the detection instrument end and the transmission of position coding data, and can also be used for program burning to realize autonomous scanning of the scanning device and Bluetooth transmission of position coding data; the charger interface (17) is a quick plug-in interface and is used to charge the internal lithium battery.

5. The multifunctional fully automatic ultrasonic scanning device according to claim 1, characterized in that: The unit arm module (20) is a rectangular parallelepiped structure as a whole, comprising an arm shell (21), a mortise and tenon component (22), a guide rail groove (23), a rack belt (24) and a support (25). The unit arm module (20) is provided with mortise and tenon components (22) at the four ends and two side surfaces. A rectangular guide rail groove (23) is provided in the middle of the two side surfaces of the arm shell (21). The square support (25) extends out of the rectangular guide rail groove (23) and can move left and right along the guide rail groove (23) in the horizontal direction. Two independently rotatable rack belts (24) are provided inside the arm shell (21). The two ends of the belts are sleeved on the bearings at the two ends of the unit arm module (20). The rack belt (24) can realize smooth rotation through the bearings at the two ends. The two ends of the rack belt (24) extend out of the end of the unit arm module (20) and are connected to the next unit arm module After the blocks (20) are axially connected, the rack belts inside the two unit arm modules (20) can be meshed. When the rack belt (24) of the current group of unit arm modules (20) rotates clockwise, it can drive the rack belt (24) of the next group of unit arm modules (20) to rotate in the opposite direction, that is, counterclockwise. If the current group of unit rack belts (24) rotates counterclockwise, it can drive the next group of unit rack belts (24) to rotate clockwise. A square support (25) is fixedly installed on the rack belt (24), and a bolt hole is provided in the middle of the support (25), and the bolt hole matches the butterfly bolt 2 (32) of the probe holding module (3). The square support (25) and the rack belt (24) are combined into a whole, and the movement of the rack belt (24) can drive the support (25) to move, thereby realizing the movement of the probe holding module (3).

6. The multifunctional fully automatic ultrasonic scanning device according to claim 5, characterized in that: The adjacent mortise and tenon components (22) at the end of the arm housing (21) are mutually concave-convex in shape, the concave-convex mortise and tenon components (22) around the arm housing (21) are alternately arranged, and the adjacent mortise and tenon components (22) on the same side are mutually concave-convex in shape; the two unit arm modules (20) can be coaxially connected, that is, the rear end of the upper unit arm module (20) is connected to the front end of the lower unit arm module (20) by means of a socket connection; the two unit arm modules (20) can also be vertically connected, that is, the mortise and tenon at the front end of the lower unit arm module (20) is connected to the mortise and tenon component at the side end of the upper unit arm module (20) by means of a socket connection.

7. The multifunctional fully automatic ultrasonic scanning device according to claim 1, characterized in that: The probe holding module (3) comprises a vertical pole (31), a second butterfly bolt (32), a spring telescopic rod (33), a U-shaped probe bracket (34), a knurled flat head screw (35) and an adjustment square pad (36). A bolt hole is processed on the upper part of the vertical pole (31), and the second butterfly bolt (32) is screwed into the bolt hole. The butterfly bolt 2 (32) matches the bolt hole in the middle of the square support (25) of the support arm module (2) and is used to connect the probe holding module (3) and the support arm module (2); the lower part of the vertical rod (31) is a hollow structure, in which a spring telescopic rod (33) is embedded; the lower part of the spring telescopic rod (33) is connected to the U-shaped probe bracket (34); knurled flat head screws (35) are respectively arranged on both sides of the front end of the U-shaped probe bracket (34); a square pad (36) is arranged at the end of the knurled flat head screw (35) for holding the ultrasonic probe (37); the position of the square pad (36) can be adjusted by screwing in or out the knurled flat head screw (35).

8. The multifunctional fully automatic ultrasonic scanning device according to claim 7, characterized in that: The ultrasonic probe (37) is placed inside the probe bracket (34), and the knurled flat head screws (35) on both sides are rotated to push the pad (36) to hold the ultrasonic probe (37). The ultrasonic probes (37) are grouped according to the detection technology and process requirements. The same group of ultrasonic probes (37) are respectively placed on the same side of the support arm module (2). The butterfly bolts (32) are aligned with the bolt holes in the middle of the square support (25). The butterfly bolts (32) are tightened one by one, and the probe holding module (3) is fixed on the corresponding support arm module (2).

9. The multifunctional fully automatic ultrasonic scanning device according to any one of claims 1 to 8, characterized in that: The required number and combination structure of the arm modules (2) are determined by the inspection processes required for different inspected workpieces, and can be combined into arm module bodies of different structural shapes: a combination form in which two drive modules (1) are located on the same side of a rectangular arm module (2), which is suitable for TOFD, phased array, and fully automatic ultrasonic inspection of plates, pipes, and pressure vessel welded joints; a combination form in which two drive modules (1) are respectively located at both ends of a rectangular arm module (2), which is suitable for TOFD, phased array, and fully automatic ultrasonic inspection of large-volume plates, pipes, and pressure vessel welded joints; a combination form in which one drive module (1) is located at the bottom of a U-shaped arm module (2), which is suitable for TOFD, phased array, and conventional ultrasonic inspection of relatively small-diameter pressure pipes and steel structures; a combination form in which one drive module (1) is located at a linear arm module (2), which is suitable for TOFD, phased array, and conventional ultrasonic inspection of plates and large-scale pressure vessel welded joints.

10. A detection method of the multifunctional fully automatic ultrasonic scanning device according to any one of claims 1 to 9, characterized in that: The steps include: 1) When in use, hold the handle (12) on the upper part of the main unit (11) to place the scanning device at a predetermined position of the workpiece to be inspected, and slowly lower the patented scanning device so that each metal magnetic wheel (13) on the driving module (1) is stably adsorbed on the surface of the workpiece to be inspected, and the metal magnetic wheel (13) can rotate freely under the drive of the internal servo motor, driving the scanning device to move accurately along a predetermined trajectory. When inspecting, only one side of the ultrasonic probe (37) needs to be moved, and the ultrasonic probe (37) on the opposite side can be synchronously moved in the opposite direction to the predetermined position; 2) Press the button switch (14) on the driving module (1), insert the data cable into the data interface (16) of the driving module (1), or start the Bluetooth module to connect to the detection host, control the scanning device through the detection host or computer or mobile phone, and perform scanning and detection along the predetermined track until all the workpieces to be inspected are completely inspected, hold the handle (12) on the upper part of the host (11) to remove the patented scanning device, and repeat the above process to start the next workpiece inspection task.

Images