Multifunctional TOFD detection automatic scanning system and detection method

Abstract

The invention provides a multifunctional TOFD detection automatic scanning system and a detection method. The detection method comprises a first TOFD detection method and a second TOFD detection method. In the first TOFD detection method, two ultrasonic probes are symmetrically placed on the two sides of a welding seam for detection; in the second TOFD detection method, the defect of the welding structure is located on an arc where a circle is drawn by taking the incidence point of the probe as the circle center and taking half of the sound path value of sound waves obtained by the two ultrasonic probes as the radius, and the double probes are placed on one side of the welding seam on the same side for detection; before the second TOFD detection method is used, the first TOFD detection method is used for setting a positioning contrast; the method can accurately measure the defect length and the defect height.

Description

Technical Field

[0001] The present invention relates to the technical field of ultrasonic detection, and in particular to a multifunctional TOFD detection automatic scanning system and a detection method. Background Art

[0002] In the manufacturing, installation and regular inspection of special equipment such as boilers, pressure vessels and pressure pipes, diffraction time-of-flight ultrasonic testing is one of the important means to inspect weld quality.

[0003] At present, manual scanning devices are generally used for TOFD inspection. The structure is relatively simple, but there are several problems: 1) The scanning quality is greatly affected by human factors, such as failure to move along the specified trajectory during scanning; 2) There is no water spray system and coupling cannot be guaranteed; 3) Scanning is difficult when the inspection area is small or high and cannot be reached by personnel; 4) There is no function of placing dual probes on the same side for inspection.

[0004] Therefore, the multifunctional TOFD detection automatic scanning system and the use method developed in the present invention are of great significance. In addition to meeting the conventional TOFD detection technology, the system also has the function of placing two probes on the same side of the weld for detection (hereinafter referred to as "special TOFD detection"). Summary of the invention

[0005] The present invention proposes a multifunctional TOFD detection automatic scanning system and detection method, which can be applied to welding butt joint detection and fillet weld detection. It can also detect the parts where two probes cannot be symmetrically placed on both sides of the weld, and can accurately measure the defect length and the defect height itself.

[0006] The present invention adopts the following technical solutions.

[0007] A multifunctional TOFD automatic scanning detection method is used for ultrasonic detection of a welded structure, the detection method comprising a first TOFD detection method and a second TOFD detection method; in the first TOFD detection method, two ultrasonic probes are symmetrically placed on both sides of a weld for detection; in the second TOFD detection method, the defect of the welded structure is located on an arc with the probe incident point as the center and half of the acoustic path value obtained by the two ultrasonic probes as the radius, and the two probes are placed on the same side of the weld for detection; Before using the second TOFD detection method, the first TOFD detection method is used to set the positioning comparison object, and two ultrasonic probes are placed symmetrically on both sides of the weld to set up the instrument. The two ultrasonic probes are placed symmetrically on the parent material with the same wall thickness as the workpiece to be inspected to perform scanning and inspection, and the initial spectrum is obtained as the defect positioning comparison diagram of the second TOFD detection method. At this time, the distance between the sound wave incident points of the two probes is the initial PCS; then the second TOFD detection method is used to detect the weld; In the second TOFD detection method, step one is first performed, two ultrasonic probes are centrally arranged at the installation position on the same side of the weld and the two probes are set at an angle. The distance between the installation position and the center of the weld is half of the initial PCS. The first detection map is obtained by scanning and detection. When the map determines that there is a defect in the weld area, the first value of the defect depth is calculated. At this time, in order to further determine the true depth of the defect, step two needs to be performed to perform a secondary detection on the defect. During the second detection, the PCS value setting needs to be changed, that is, step one is repeated to complete the second second TOFD detection method detection, obtain the second detection map, and calculate the second value of the defect depth. According to the depth values ​​obtained twice, combined with the PCS value, an accurate defect depth value is obtained through CAD drawing method.

[0008] In the detection method, the two ultrasonic probes are two longitudinal wave oblique probes with the same frequency, one of which is a transmitting probe and the other is a receiving probe. In step 1 of the second TOFD detection method, a depth value H1 is obtained under an initial PCS value, and S1 is calculated by the Pythagorean theorem based on half of the PCS value R1 and H1; The data is then processed using CAD drawing methods, such as Fig.15 As shown, first draw the workpiece thickness at a 1:1 ratio, draw a circle with half the PCS value R1 intersecting the scanning surface P1, and then draw a circle with P1 as the center and S1 as the radius; Step 2 of the second TOFD detection method is to re-scan with the modified PCS value and calculate in the same way, draw a circle with P2 as the center and S2 as the radius; the intersection of the two circles at Q is the defect position, and the defect depth H value can be measured; The conversion formulas among H1, S1, H2, S2 and PCS are: Formula 1.

[0009] A multifunctional TOFD automatic scanning detection system uses a multifunctional TOFD automatic scanning detection method to detect a workpiece with ferromagnetism, comprising a driving device P, a first TOFD detection scanning device A for executing a first TOFD detection method, a second TOFD detection scanning device B for executing a second TOFD detection method, a water spraying system C, and a control system D; the driving device P is moved by a magnetic wheel that can be adsorbed on the workpiece and driven by electricity; an infrared probe for monitoring the moving trajectory is provided at the driving device P; when the detection system is working, the driving device P is connected to one of the first TOFD detection scanning device A and the second TOFD detection scanning device B through a fastener to form a detection vehicle that can be adsorbed and moved to a detected area of ​​the workpiece; the water pump outlet of the water spraying system C is connected to the installation position of the ultrasonic probe through a water channel, and water is sprayed to the detected area of ​​the workpiece to achieve good coupling between the ultrasonic probe and the detected surface of the workpiece; the control system is connected to the detection vehicle to provide it with electrical energy, and controls the detection vehicle to move along a predetermined trajectory at the workpiece.

[0010] The driving device comprises a magnetic wheel, a housing, an infrared probe, an encoder for mobile positioning control, and a driving motor for driving the magnetic wheel; The drive motor is a high-performance DC stepper motor, integrated with a high-precision independent multi-stage reducer, working in a four-wheel drive mode, capable of forward and backward movement and speed control, precise movement, and can run smoothly on the surface of the workpiece being tested; The magnetic wheel is made of high-strength NdFeB permanent magnet material and is used to adsorb on the surface of the workpiece to ensure that the inspection vehicle can perform parallel scanning of the weld in different horizontal, vertical and inverted postures to avoid the risk of the vehicle body falling from the inspected surface; The encoder is a high-precision step encoder counting positioner, which is used to perform millimeter-level positioning control when the inspection vehicle moves, and is used to synchronize with the inspection equipment outside the inspection vehicle to perform automatic intelligent inspection.

[0011] The control system includes an infrared calibration and positioning system connected to the infrared probe, which is used to provide a parallel line to the center of the weld as a reference, so that the operator can understand the accuracy of the inspection vehicle's movement at a remote end through remote video to ensure the accuracy of the scanning.

[0012] The driving device P is connected to one of the first TOFD detection scanning device A and the second TOFD detection scanning device B via a fixed connecting rod. The first TOFD detection scanning device A and the second TOFD detection scanning device B fix the ultrasonic probe with a clamping frame provided at the connecting rod sliding groove of the movable connecting rod; The scanning frame of the first TOFD detection scanning device A includes two movable connecting rods and one fixed connecting rod. The two movable connecting rods are connected by a hinge structure A2. The hinge structure A2 is connected to a hinge structure A3 at the head end of the fixed connecting rod. The tail end of the fixed connecting rod is connected to a driving device P. When the first TOFD detection scanning device A is used to detect a curved workpiece, the two movable connecting rods are vertically rotated through the hinge structure so that the probes fixed thereto are fitted with the detected surface. The first TOFD detection scanning device A is connected to a clamping frame with a bolt member that can slide in a connecting rod slot. The distance between the transmitting probe and the receiving probe is adjusted by sliding the clamping frame at the connecting rod slot. The scanning frame of the second TOFD detection scanning device B includes a vertical adapter, two movable connecting rods, and a fixed connecting rod. The probe is clamped on the clamping frame, and the clamping frame is fixed on the two movable connecting rods. The two connecting rods are connected by a hinge structure B2 so that the two connecting rods at the hinge can rotate in the horizontal direction, so that the sound beam directions of the two clamped probes form a certain angle and the angle size is adjustable. The hinge structure B3 is connected to the hinge structure B3 at the head end of the fixed connection, and the tail end of the fixed connecting rod is connected to the driving device P. The hinge structure B3 changes the angle between the probe and the detected surface by rotation, so that the probe fits the detection surface. The clamping frame is connected to the movable connecting rod through a vertical adapter. The vertical adapter forms a fastening connection between the connecting rod and the clamping frame with a boss. The boss is fixed to the connecting rod slide groove of the movable connecting rod by bolts, so that the probe sound beam direction of the ultrasonic probe is perpendicular to the movable connecting rod. The probe sound beam angle of the two ultrasonic probes is adjusted by sliding the vertical adapter on the connecting rod, and can also be adjusted by adjusting the angle of the two movable connecting rods.

[0013] The clamping frame includes a fixing frame, a spring, a support rod with a slider, a fixing block, and a probe clamping member which are arranged in sequence. Figure 6 As shown; The clamping frame is connected with the movable connecting rod by a fixed frame at the upper part, and the connection is fastened by bolts; the fixed frame has a boss, and a through hole is provided at the boss, and the boss is embedded in the slide groove of the movable connecting rod and fastened by bolts to prevent the clamping frame from rotating; The ultrasonic probe is clamped by the probe clamping piece at the lower part of the clamping frame and fixed by screws; The fixing frame at the upper part of the clamping frame and the probe clamping piece at the lower part are connected through a support rod, a slider is arranged at the upper part of the support rod, and a fixing block is arranged at the lower part of the support rod; a ball bearing is arranged in the slider to facilitate the slider to slide along the support rod; The upper part of the support rod is embedded in the groove of the fixing frame. A spring is arranged in the groove to enable the support rod to move within the range of 5-8mm up and down, driving the probe to move within this range, and ensuring a certain fit between the probe and the detection surface during the detection and scanning; The fixing block is provided with a screw hole for connecting with the probe clamp through a bolt and allowing the probe clamp to rotate along the bolt. When inspecting a curved workpiece, the probe clamp is rotated to make the probe close to the inspected surface.

[0014] The assembly method of the first TOFD detection scanning device includes the following steps: Step A1, clamp the probe in the probe clamp, fix the probe clamp with the probe in the slide groove of the movable connecting rod by bolts, and adjust the distance between the two probes by sliding the nut in the slide groove to meet the PCS requirements of workpieces with different wall thicknesses; Step A2, fix the scanning frame on the driving vehicle through the fixed connecting piece, and then place it at the detection position, and adjust the connecting piece so that the probe fits the detection surface; if the detection surface is a curved surface, adjust the angle between the two movable connecting rods and the curved surface so that the probe fits the detection surface; Step A3: After the scanning frame is assembled, it is fastened to the inspection vehicle; Second TOFD inspection scanning device assembly Step B1, clamp the probe in the probe clamp, and fix the probe clamp with the probe in the connecting rod slide groove by bolts.

[0015] Step B2: Set parameters according to conventional TOFD testing and record the PCS value at this time.

[0016] Step B3, fix the scanning frame to the driving vehicle through the fixed connecting parts, and adjust the angles of the two movable connecting rods so that the distance from the intersection of the two probe sound beams to the probe incident point is half of the PCS; if the detection surface is a curved surface, adjust it by rotating the probe clamp along the bolt to make the probe fit the detection surface.

[0017] Step B4: After the scanning device is assembled, it is securely connected to the inspection vehicle.

[0018] The multifunctional TOFD detection automatic scanning detection system is connected to an external TOFD detection host, and its scanning detection method includes the following steps: Step S1, turn on the TOFD detection host, connect the probe, encoder, water spray system, and detection vehicle systems. Set TOFD detection parameters; Step S2, place the scanning system at the workpiece detection position; when using the first TOFD detection method, place the probes on both sides of the weld, and make the weld located at the center of the two probes; when using the second TOFD detection method, place the two probes on one side of the weld, and make the distance from the incident point of the probe sound beam to the center line of the weld half of the PCS.

[0019] Step S3, first manually push the inspection vehicle to see if it moves along the predetermined track, then turn on the water pump to spray water at the probe, and then turn on the control power to move the inspection vehicle along the predetermined track to start the inspection.

[0020] A probe wedge is provided at the ultrasonic probe, and a water spray hole connected to a water pump is provided at the probe wedge. The water pump is controlled by an automatic water injection pump coupling device of the water injection system. The automatic water injection pump coupling device adopts a high-performance coupling pumping device for stably and continuously conveying coupling agent to the probe, and can control and adjust the input water pressure and output flow control of the coupling agent at any time. The coupling pumping device adopts a power supply and battery dual-channel switching control, uses a water tank or a bucket as a water source, and has water self-priming ability and filtering function.

[0021] The present invention uses a first TOFD detection scanning device and a second TOFD detection scanning device in combination, so that the first TOFD detection method and the second TOFD detection method can use the detection vehicle as a reference point to make up for each other's shortcomings, and can be applied to welding butt joint detection and fillet weld detection. It can also detect the parts where the two probes cannot be symmetrically placed on both sides of the weld, and can accurately measure the defect length and the defect height itself, specifically: The first TOFD inspection scanning device is used for welding butt joint inspection, and two probes are placed on both sides of the weld for inspection. The advantage of this inspection method is that it can accurately determine the depth position, height and length of the defect. The disadvantage is that there are blind spots on both the upper and lower surfaces. The upper surface is affected by the direct wave, and the blind spot is generally more than 3mm. The lower surface is also affected by the bottom reflection wave. Fig.12 The following is a conventional TOFD test spectrum of a blind area test block. The upper surface of the blind area test block has wire cutting grooves with depths of 1mm, 2mm, 3mm, and 4mm, and the lower surface has wire cutting grooves with depths of 5mm, 6mm, 7mm, and 8mm. From the test results, the wire cutting grooves on the upper surface are not clearly displayed.

[0022] The second TOFD inspection scanning device places the dual probes on the same side of the weld for inspection. The advantages of this inspection technology are as follows: (1) It can be applied to the inspection of welded butt joints, fillet welds, and areas where it is not possible to place two probes symmetrically on both sides of the weld.

[0023] (2) The defect length and the defect height can be accurately measured.

[0024] (3) Through optimized settings, it is possible to achieve no blind spots on the upper and lower surfaces. Since the two probes are placed on the same side, the distance between the two probes is much smaller than the distance from the probe to the weld. The straight wave formed between the two probes is not within the screen display range. Therefore, it is possible to achieve no blind spots on the upper surface. In addition, the spectrum formed by the reflection wave from the bottom surface of the workpiece can be displayed between the defect wave spectrum of the upper surface and the defect wave spectrum of the lower surface through the time window setting, so as to avoid the bottom surface reflection wave spectrum covering the defect wave spectrum. Fig.13 The following is a special TOFD test map of a blind area test block. From the test results, except for the weak display of the 1mm wire cutting groove image on the upper surface, the others can be clearly displayed, and the length and height of the map display are consistent with the actual wire cutting groove size.

[0025] The present invention uses a detection vehicle to form an automatic scanning system, which has the following advantages: 1. It can reduce the number of operators. It reduces the difficulty of operation in restricted locations, avoids the health of operators affected by manual scanning, and reduces the workload of scaffolding in high-altitude locations. For example, when inspecting the spherical shell plate, for the vertical seam, you only need to adjust the moving trajectory at the bottom to complete the scanning from bottom to top.

[0026] 2. The use of an automatic scanning system can ensure the stability of the moving trajectory. TOFD detection calculates the defect position based on the sound path. Especially when using special methods for detection, the moving trajectory has a huge impact on defect positioning. The traditional manual scanning relies on manual pushing of the scanning frame for detection. Due to the different directions of force applied by people, the moving trajectory will change, causing the sound path value of the defect echo received by the instrument to change, which directly affects the accuracy of defect positioning. With the automatic scanning of the present invention, the four magnetic wheels of the inspection vehicle where the scanning frame is located are evenly stressed, and the trajectory of the moving process is stable, which can improve the accuracy of the received signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments: Attached Figure 1 is a system schematic diagram of the present invention; Attached Figure 2 This is a schematic diagram of the symmetrical placement of the dual probes of the first TOFD detection method; Attached Figure 3 This is a schematic diagram of placing dual probes on the same side of the second TOFD detection method; Attached Figure 4 is a schematic diagram of the drive device; Attached Figure 5 It is a schematic diagram of a fixed link and a movable link; Attached Figure 6 is an exploded diagram of the probe holder; Attached Figure 7is a schematic diagram of a first TOFD inspection scanning device; Attached Figure 8 is a schematic diagram of a second TOFD inspection scanning device; Attached Fig. 9 is a schematic diagram of the probe wedge; Attached Fig.10 is a schematic diagram of a coupled pumping device; Attached Fig.11 It is a schematic diagram of the control box where the control system is located; Attached Fig.12 It is a schematic diagram of a detection spectrum obtained by using the first TOFD detection method for the blind area test block (the first spectrum); Attached Fig.13 It is a schematic diagram of the detection spectrum obtained by the blind area test block using the second TOFD detection method (the second spectrum); Attached Fig.14 is a schematic diagram of a clamping frame (probe clamping frame); Attached Fig.15 It is a schematic diagram of obtaining an accurate defect depth value by using a CAD drawing method in the present invention; Attached Fig.16 2 is a schematic diagram of the results obtained in step 1 of the second TOFD detection method for detecting a 20 mm deep horizontal through hole of a test block according to the present invention; Attached Fig.17 2 is a schematic diagram of the results obtained in step 2 of the second TOFD detection method for detecting a 20 mm deep horizontal through hole of a test block according to the present invention; Attached Fig.18 The present invention is based on the test of the 20mm deep horizontal through hole of the test block. Fig.16 , Fig.17 Schematic diagram of CAD drawing method for the results; In the figure: P1-magnetic wheel; P2-encoder; DETAILED DESCRIPTION

[0028] As shown in the figure, a multifunctional TOFD detection automatic scanning detection method is used for ultrasonic detection of welded structures, and the detection method includes a first TOFD detection method and a second TOFD detection method; in the first TOFD detection method, two ultrasonic probes are symmetrically placed on both sides of the weld for detection; in the second TOFD detection method, the defects of the welded structure are located on an arc with the probe incident point as the center and half of the sound path value obtained by the two ultrasonic probes as the radius, and the two probes are placed on the same side of the weld for detection; Before using the second TOFD detection method, the first TOFD detection method is used to set the positioning comparison object, and two ultrasonic probes are placed symmetrically on both sides of the weld to set up the instrument. The two ultrasonic probes are placed symmetrically on the parent material with the same wall thickness as the workpiece to be inspected to perform scanning and inspection, and the initial spectrum is obtained as the defect positioning comparison diagram of the second TOFD detection method. At this time, the distance between the sound wave incident points of the two probes is the initial PCS; then the second TOFD detection method is used to detect the weld; In the second TOFD detection method, step one is first performed, two ultrasonic probes are centrally arranged at the installation position on the same side of the weld and the two probes are set at an angle. The distance between the installation position and the center of the weld is half of the initial PCS. The first detection map is obtained by scanning and detection. When the map determines that there is a defect in the weld area, the first value of the defect depth is calculated. At this time, in order to further determine the true depth of the defect, step two needs to be performed to perform a secondary detection on the defect. During the second detection, the PCS value setting needs to be changed, that is, step one is repeated to complete the second second TOFD detection method detection, obtain the second detection map, and calculate the second value of the defect depth. According to the depth values ​​obtained twice, combined with the PCS value, an accurate defect depth value is obtained through CAD drawing method.

[0029] In the detection method, the two ultrasonic probes are two longitudinal wave oblique probes with the same frequency, one of which is a transmitting probe and the other is a receiving probe. In step 1 of the second TOFD detection method, a depth value H1 is obtained under an initial PCS value, and S1 is calculated by the Pythagorean theorem based on half of the PCS value R1 and H1; The data is then processed using CAD drawing methods, such as Fig.15 As shown, first draw the workpiece thickness at a 1:1 ratio, draw a circle with half the PCS value R1 intersecting the scanning surface P1, and then draw a circle with P1 as the center and S1 as the radius; Step 2 of the second TOFD detection method is to re-scan with the modified PCS value and calculate in the same way, draw a circle with P2 as the center and S2 as the radius; the intersection of the two circles at Q is the defect position, and the defect depth H value can be measured; The conversion formulas among H1, S1, H2, S2 and PCS are: Formula 1.

[0030] A multifunctional TOFD automatic scanning detection system uses a multifunctional TOFD automatic scanning detection method to detect a workpiece with ferromagnetism, comprising a driving device P, a first TOFD detection scanning device A for executing a first TOFD detection method, a second TOFD detection scanning device B for executing a second TOFD detection method, a water spraying system C, and a control system D; the driving device P is moved by a magnetic wheel that can be adsorbed on the workpiece and driven by electricity; an infrared probe for monitoring the moving trajectory is provided at the driving device P; when the detection system is working, the driving device P is connected to one of the first TOFD detection scanning device A and the second TOFD detection scanning device B through a fastener to form a detection vehicle that can be adsorbed and moved to a detected area of ​​the workpiece; the water pump outlet of the water spraying system C is connected to the installation position of the ultrasonic probe through a water channel, and water is sprayed to the detected area of ​​the workpiece to achieve good coupling between the ultrasonic probe and the detected surface of the workpiece; the control system is connected to the detection vehicle to provide it with electrical energy, and controls the detection vehicle to move along a predetermined trajectory at the workpiece.

[0031] The driving device comprises a magnetic wheel (P1), a housing, an infrared probe, an encoder (P2) for mobile positioning control, and a driving motor for driving the magnetic wheel; The drive motor is a high-performance DC stepper motor, integrated with a high-precision independent multi-stage reducer, working in a four-wheel drive mode, capable of forward and backward movement and speed control, precise movement, and can run smoothly on the surface of the workpiece being tested; The magnetic wheel is made of high-strength NdFeB permanent magnet material and is used to adsorb on the surface of the workpiece to ensure that the inspection vehicle can perform parallel scanning of the weld in different horizontal, vertical and inverted postures to avoid the risk of the vehicle body falling from the inspected surface; The encoder is a high-precision step encoder counting positioner, which is used to perform millimeter-level positioning control when the inspection vehicle moves, and is used to synchronize with the inspection equipment outside the inspection vehicle to perform automatic intelligent inspection.

[0032] The control system includes an infrared calibration and positioning system connected to the infrared probe, which is used to provide a parallel line to the center of the weld as a reference, so that the operator can understand the accuracy of the inspection vehicle's movement at a remote end through remote video to ensure the accuracy of the scanning.

[0033] The driving device P is connected to one of the first TOFD detection scanning device A and the second TOFD detection scanning device B via a fixed connecting rod. The first TOFD detection scanning device A and the second TOFD detection scanning device B fix the ultrasonic probe with a clamping frame provided at the connecting rod sliding groove of the movable connecting rod; The scanning frame of the first TOFD detection scanning device A includes two movable connecting rods and one fixed connecting rod. The two movable connecting rods are connected by a hinge structure A2. The hinge structure A2 is connected to a hinge structure A3 at the head end of the fixed connecting rod. The tail end of the fixed connecting rod is connected to a driving device P. When the first TOFD detection scanning device A is used to detect a curved workpiece, the two movable connecting rods are vertically rotated through the hinge structure so that the probes fixed thereto are fitted with the detected surface. The first TOFD detection scanning device A is connected to a clamping frame with a bolt member that can slide in a connecting rod slot. The distance between the transmitting probe and the receiving probe is adjusted by sliding the clamping frame at the connecting rod slot. The scanning frame of the second TOFD detection scanning device B includes a vertical adapter, two movable connecting rods, and a fixed connecting rod. The probe is clamped on the clamping frame, and the clamping frame is fixed on the two movable connecting rods. The two connecting rods are connected by a hinge structure B2 so that the two connecting rods at the hinge can rotate in the horizontal direction, so that the sound beam directions of the two clamped probes form a certain angle and the angle size is adjustable. The hinge structure B3 is connected to the hinge structure B3 at the head end of the fixed connection, and the tail end of the fixed connecting rod is connected to the driving device P. The hinge structure B3 changes the angle between the probe and the detected surface by rotation, so that the probe fits the detection surface. The clamping frame is connected to the movable connecting rod through a vertical adapter. The vertical adapter forms a fastening connection between the connecting rod and the clamping frame with a boss. The boss is fixed to the connecting rod slide groove of the movable connecting rod by bolts, so that the probe sound beam direction of the ultrasonic probe is perpendicular to the movable connecting rod. The probe sound beam angle of the two ultrasonic probes is adjusted by sliding the vertical adapter on the connecting rod, and can also be adjusted by adjusting the angle of the two movable connecting rods.

[0034] The clamping frame includes a fixing frame, a spring, a support rod with a slider, a fixing block, and a probe clamping member which are arranged in sequence. Figure 6 As shown; The clamping frame is connected with the movable connecting rod by a fixed frame at the upper part, and the connection is fastened by bolts; the fixed frame has a boss, and a through hole is provided at the boss, and the boss is embedded in the slide groove of the movable connecting rod and fastened by bolts to prevent the clamping frame from rotating; The ultrasonic probe is clamped by the probe clamping piece at the lower part of the clamping frame and fixed by screws; The fixing frame at the upper part of the clamping frame and the probe clamping piece at the lower part are connected through a support rod, a slider is arranged at the upper part of the support rod, and a fixing block is arranged at the lower part of the support rod; a ball bearing is arranged in the slider to facilitate the slider to slide along the support rod; The upper part of the support rod is embedded in the groove of the fixing frame. A spring is arranged in the groove to enable the support rod to move within the range of 5-8mm up and down, driving the probe to move within this range, and ensuring a certain fit between the probe and the detection surface during the detection and scanning; The fixing block is provided with a screw hole for connecting with the probe clamp through a bolt and allowing the probe clamp to rotate along the bolt. When inspecting a curved workpiece, the probe clamp is rotated to make the probe close to the inspected surface.

[0035] The assembly method of the first TOFD detection scanning device includes the following steps: Step A1, clamp the probe in the probe clamp, fix the probe clamp with the probe in the slide groove of the movable connecting rod by bolts, and adjust the distance between the two probes by sliding the nut in the slide groove to meet the PCS requirements of workpieces with different wall thicknesses; Step A2, fix the scanning frame on the driving vehicle through the fixed connecting piece, and then place it at the detection position, and adjust the connecting piece so that the probe fits the detection surface; if the detection surface is a curved surface, adjust the angle between the two movable connecting rods and the curved surface so that the probe fits the detection surface; Step A3: After the scanning frame is assembled, it is fastened to the inspection vehicle; Second TOFD inspection scanning device assembly Step B1, clamp the probe in the probe clamp, and fix the probe clamp with the probe in the connecting rod slide groove by bolts.

[0036] Step B2: Set parameters according to conventional TOFD testing and record the PCS value at this time.

[0037] Step B3, fix the scanning frame to the driving vehicle through the fixed connecting parts, and adjust the angles of the two movable connecting rods so that the distance from the intersection of the two probe sound beams to the probe incident point is half of the PCS; if the detection surface is a curved surface, adjust it by rotating the probe clamp along the bolt to make the probe fit the detection surface.

[0038] Step B4: After the scanning device is assembled, it is securely connected to the inspection vehicle.

[0039] The multifunctional TOFD detection automatic scanning detection system is connected to an external TOFD detection host, and its scanning detection method includes the following steps: Step S1, turn on the TOFD detection host, connect the probe, encoder, water spray system, and detection vehicle systems. Set TOFD detection parameters; Step S2, place the scanning system at the workpiece inspection position; when using the first TOFD inspection method (performing conventional TOFD inspection), place the probes on both sides of the weld, and make the weld located at the center of the two probes; when using the second TOFD inspection method (performing special TOFD inspection), place the two probes on one side of the weld, and make the distance from the incident point of the probe sound beam to the center line of the weld half of the PCS.

[0040] Step S3, first manually push the inspection vehicle to see if it moves along the predetermined track, then turn on the water pump to spray water at the probe, and then turn on the control power to move the inspection vehicle along the predetermined track to start the inspection.

[0041] A probe wedge is provided at the ultrasonic probe, and a water spray hole connected to a water pump is provided at the probe wedge. The water pump is controlled by an automatic water injection pump coupling device of the water injection system. The automatic water injection pump coupling device adopts a high-performance coupling pumping device for stably and continuously conveying coupling agent to the probe, and can control and adjust the input water pressure and output flow control of the coupling agent at any time. The coupling pumping device adopts a power supply and battery dual-channel switching control, uses a water tank or a bucket as a water source, and has water self-priming ability and filtering function.

[0042] Embodiment 1: This example proposes a multifunctional automatic scanning rack system such as Figure 1 As shown in the figure, P is the drive device, A is the conventional TOFD inspection and scanning device, B is the special TOFD inspection and scanning device, C is the water pump (water spray system), and D is the control box (control system). Devices A and B can be fastened to device P by screws respectively, and the two can be used separately (not at the same time). Device A is generally used for butt joint inspection, and the dual probes are symmetrically placed on both sides of the weld for inspection. After A and P are connected, Figure 2 As shown. Device B can be used for butt joint detection, and can also be used for fillet weld detection. Figure 3 As shown. The P device can adsorb the entire scanning system on the ferromagnetic workpiece to be inspected through the magnetic wheel, and move it along the predetermined trajectory through electric drive. An infrared probe is installed on the drive device to monitor the moving trajectory. The C device is a water spray system to ensure that the detection probe is well coupled with the detection surface. D is a control system that provides power to the scanning system and controls the scanning device to move along the predetermined trajectory.

[0043] The driving part consists of a driving motor, a magnetic wheel, a housing, an encoder, and an infrared probe. Figure 4 shown.

[0044] (1) Drive motor: It adopts high-performance DC stepping motor, high-precision independent multi-stage reducer, four-wheel drive mode, can move forward and backward and control speed, can move precisely and run smoothly on the detection surface.

[0045] (2) Magnetic wheel: It uses high-strength NdFeB permanent magnet material to ensure that the driving vehicle can perform parallel scanning in different positions such as horizontal, vertical and inverted. There is no danger of the vehicle body falling from the surface being inspected.

[0046] (3) Shell: Made of hard aluminum alloy, it has strong overall corrosion resistance and waterproof sealing function.

[0047] (4) The drive vehicle is equipped with a high-precision step encoder counting positioner, which can achieve millimeter-level positioning control and synchronize with the detection equipment for automatic intelligent detection.

[0048] (5) Infrared calibration and positioning system. It provides a parallel line to the center of the weld as a reference. Through remote video, the operator can timely understand the accuracy of the crawler's movement, thus ensuring the accuracy of the scan.

[0049] In this example, the ultrasonic probe is fixed by a clamping system. The main components of the clamping system are as follows: (1) Connecting rod. The connecting rod is a square structure with grooves on all four sides. Nuts are placed in the grooves and can slide in the grooves to adjust the position and lock other parts, such as Figure 5 shown.

[0050] (2) The probe clamping frame is composed of a fixing frame, a spring, a support rod, a slider, a fixing block, and a probe clamping member, such as Figure 6 shown.

[0051] 1) The fixing frame on the upper part of the clamping frame is connected to the connecting rod, and the connection is fastened by bolts. The fixing frame has a boss, and there is a through hole at the boss. The boss is embedded in the connecting rod slide groove and fastened by bolts to prevent the clamping frame from rotating.

[0052] 2) The probe clamp at the bottom of the probe clamp is used to clamp the probe, and the probe is fixed to the probe clamp by screws.

[0053] 3) The upper fixing frame of the clamping frame and the lower probe clamping piece are connected by a support rod, a slider is arranged on the upper part of the support rod, and a fixing block is arranged on the lower part of the support rod. There are balls in the slider to facilitate the slider to slide along the support rod.

[0054] 4) The upper part of the support rod is embedded in the groove of the fixing frame. A spring is arranged in the groove, which enables the support rod to move within the range of 5-8mm up and down, driving the probe to move within this range, and ensuring that the probe has a certain fit with the detection surface during the detection and scanning.

[0055] 5) The fixing block is provided with screw holes, which are connected to the probe clamp by bolts. The fixing block and the probe clamp are not fastened, and the probe clamp can rotate along the bolts at the connection. When testing curved workpieces, this rotation function can make the probe close to the test surface.

[0056] In this example, the first TOFD detection scanning device is a conventional TOFD detection scanning device used by default, specifically: (1) The conventional TOFD inspection scanning device consists of two connecting rods, a fixing connecting rod, and a hinge, such as Figure 7 The two connecting rods adopt an articulated structure, through which the connecting rods can rotate up and down, and when used to detect curved surface workpieces, the clamped probe is fitted with the detection surface.

[0057] (2) The hinge of the two connecting rods is connected to the fixed connecting rod, and the fixed connecting rod is connected to the driving vehicle. A rotating structure is provided at one end of the fixed connecting rod near the hinge, and the angle between the probe clamped by the probe clamping frame and the detection surface can be changed by rotating, so that the probe fits the detection surface.

[0058] (3) During the test, after the probe is clamped in the probe clamping frame, the clamping frame is connected and fixed to the connecting rod. The bolts are fixed by sliding in the connecting rod slide groove to adjust the distance between the two probes.

[0059] In this example, the second TOFD detection scanning device is a special TOFD detection scanning device, specifically: (1) The special TOFD inspection scanning device consists of two connecting rods, a fixing connecting rod, an adapter, and a hinge. Figure 8 As shown. The probe is clamped on the probe holder, and the holder is fixed on two connecting rods, which are connected by a hinge structure. The two connecting rods can rotate horizontally at the hinge, so that the direction of the sound beam of the clamped probe is at a certain angle, and the angle can be adjusted.

[0060] (2) The hinge of the two connecting rods is connected to the fixed connecting rod, and the fixed connecting rod is connected to the driving vehicle. The fixed connecting rod has a rotating structure near the hinge, which changes the angle between the probe and the detection surface by rotating, so that the probe fits the detection surface.

[0061] (3) The probe holder is connected to the connecting rod through a 90° adapter. The adapter has a boss to facilitate fastening to the connecting rod and the holder, and is fixed by bolts. The purpose is to make the direction of the probe sound beam perpendicular to the connecting rod.

[0062] (4) After the clamping frame and the probe are assembled, the two probe sound beams form a certain angle in the horizontal direction, and the angle is adjustable. The probe sound beam angle can be adjusted by adjusting the adapter to slide on the connecting rod and adjusting the angle of the two connecting rods.

[0063] In this example, water is sprayed on the workpiece during scanning. The water spray coupling system used is as follows: (1) Probe wedge: Set water spray holes on the wedge, such as Fig. 9 shown.

[0064] (2) Automatic water injection pump coupling device, such as Fig.10 shown.

[0065] A high-performance coupling pumping device is used to stably and continuously deliver coupling agent to the probe part. The pumping device can control and adjust the coupling agent input water pressure and output flow control at any time, and adopts power supply and battery dual-way switching control. Any water tank or bucket can be used as a water source. The pumping device has strong water self-priming and filtration. Provide reliable water source suction and output.

[0066] The connection method of the sprinkler system is: (1) Connect the water spray pipe to the interface of the probe's water spray hole, connect the water spray pipe to the water pump outlet, and connect the water spray pipe inlet pipe to the water tank.

[0067] (2) The joint connecting the water spray pipe and the water pump has a self-locking function. It will automatically lock after insertion. When removing the water pipe, just press the self-locking device to remove it.

[0068] (3) A pressure reducing valve is installed in front of the water inlet pipe of the water pump to adjust the water inlet volume.

[0069] (4) When in use, press the switch button, which has three levels to adjust the water volume, or adjust the water volume using the pressure regulating knob.

[0070] In this example, the control system is located in the control box, which is equipped with a switch button, a control line socket, a battery box, a battery / power switch button, a forward / reverse button, a speed adjustment button, an emergency stop button, and a battery power display screen, etc. Fig.11 shown.

[0071] The control system specifically includes the following contents: (1) The control system consists of three parts: power supply, control, and battery.

[0072] (2) Power supply: used for power supply, consisting of 220V power connection cable, switch device and emergency stop button; battery / power switch button.

[0073] (3) The “Forward” and “Backward” buttons are used to control the motor and move forward and backward.

[0074] (4) The "Emergency Stop" button is used to cut off the power supply system in an emergency. Rotate the button to lift it up to restore to normal state.

[0075] (5) The "Speed ​​Control" knob can adjust the speed of the motor during travel.

[0076] (6) Battery: Insert two charged batteries into the battery socket at the same time. The display above the battery shows the battery power.

[0077] Embodiment 2: In this example, it is difficult to know whether the defect deviates from the center line of the weld in actual inspection. If it is not on the center line of the weld, the instrument still calculates based on the obtained acoustic path value and the set PCS value. At this time, the obtained defect depth value deviates greatly from the actual value or is wrong. A defect positioning method is proposed. The principle is that the defect is always located on the arc with the probe incident point as the center and half of the acoustic path value obtained by the two probes as the radius. The operation steps are: first, scan at the initial set PCS value to obtain the first spectrum. If defects are found in the weld, a second inspection is required for the defective part; for the second inspection, the second PCS value needs to be reset and scanned to obtain the second spectrum. Then, based on the defect depth values ​​obtained from the two inspections, the accurate defect depth value is obtained through CAD drawing method. The details are as follows: (1) Under the initial PCS value, the depth value H1 is obtained, and S1 is calculated by the Pythagorean theorem based on half of the PCS value R1 and H1. Fig.15 As shown, first draw the workpiece thickness at a 1:1 ratio, draw a circle with half the PCS value R1 intersecting the scanning surface P1, and then draw a circle with P1 as the center and S1 as the radius. Similarly, after scanning and calculating the second PCS value, draw a circle with P2 as the center and S2 as the radius. The intersection of the two circles at Q is the defect position, and the defect depth H value can be measured.

[0078] The specific cases are as follows: The ultrasonic test was used to test the 20mm deep transverse hole of the comparison test block. The transverse hole was set to deviate from the center line by 3mm. The test results are as follows: 1) The PCS value is set to 53mm during initial testing. Fig.16 As shown, the depth H1 value measured by the instrument is 15.6 mm, and the S1 value obtained by calculation is 30.75 mm; 2) The PCS value is set to 63mm during the second test. Fig.17 As shown, the depth H2 value measured by the instrument is 14.6 mm, and the S2 value obtained by calculation is 34.68 mm; 3) Draw circles with P1 and P2 as the center and S1 and S2 as the radius, intersecting at Q. The distance from Q to the scanning surface is 20.55 mm, which is consistent with the actual hole depth. Fig.18 shown.

Claims

1. Multifunctional TOFD automatic scanning detection method, used for ultrasonic detection of welded structures, characterized by: The detection method includes a first TOFD detection method and a second TOFD detection method; in the first TOFD detection method, two ultrasonic probes are symmetrically placed on both sides of the weld for detection; in the second TOFD detection method, the defects of the welding structure are located on an arc with the probe incident point as the center and half of the sound path value obtained by the two ultrasonic probes as the radius, and the two probes are placed on the same side of the weld for detection; Before using the second TOFD detection method, the first TOFD detection method is used to set the positioning comparison object, and two ultrasonic probes are placed symmetrically on both sides of the weld to set up the instrument. The two ultrasonic probes are placed symmetrically on the parent material with the same wall thickness as the workpiece to be inspected to perform scanning and inspection, and the initial spectrum is obtained as the defect positioning comparison diagram of the second TOFD detection method. At this time, the distance between the sound wave incident points of the two probes is the initial PCS; then the second TOFD detection method is used to detect the weld; In the second TOFD detection method, step one is first performed, two ultrasonic probes are centrally arranged at the installation position on the same side of the weld and the two probes are set at an angle. The distance between the installation position and the center of the weld is half of the initial PCS. The first detection map is obtained by scanning and detection. When the map determines that there is a defect in the weld area, the first value of the defect depth is calculated. At this time, in order to further determine the true depth of the defect, step two needs to be performed to perform a secondary detection on the defect. During the second detection, the PCS value setting needs to be changed, that is, step one is repeated to complete the second second TOFD detection method detection, obtain the second detection map, and calculate the second value of the defect depth. According to the depth values ​​obtained twice, combined with the PCS value, an accurate defect depth value is obtained through CAD drawing method.

2. The multifunctional TOFD automatic scanning detection method according to claim 1 is characterized in that: In the detection method, the two ultrasonic probes are two longitudinal wave oblique probes with the same frequency, one of which is a transmitting probe and the other is a receiving probe. In step 1 of the second TOFD detection method, a depth value H1 is obtained under an initial PCS value, and S1 is calculated by the Pythagorean theorem based on half of the PCS value R1 and H1; Then use CAD drawing method to process the data. First, draw the workpiece thickness at a 1:1 ratio. Draw a circle with half of the PCS value R1 intersecting the scanning surface P1. Then draw a circle with P1 as the center and S1 as the radius. Step 2 of the second TOFD detection method is to re-scan with the modified PCS value and calculate in the same way, draw a circle with P2 as the center and S2 as the radius; the intersection of the two circles at Q is the defect position, and the defect depth H value can be measured; The conversion formulas among H1, S1, H2, S2 and PCS are: Formula 1; In Formula 1, when H is H1, S is S1, and when H is H2, S is S2.

3. A multifunctional TOFD automatic scanning detection system, using the multifunctional TOFD automatic scanning detection method as claimed in claim 1 or 2 to detect a workpiece with ferromagnetism, characterized in that: It includes a driving device P, a first TOFD detection scanning device A for performing a first TOFD detection method, a second TOFD detection scanning device B for performing a second TOFD detection method, a water spray system C, and a control system D; The driving device P moves with a magnetic wheel that can be adsorbed on the workpiece and driven by electricity; an infrared probe for monitoring the moving trajectory is provided at the driving device P; When the detection system is working, the driving device P is connected to one of the first TOFD detection scanning device A and the second TOFD detection scanning device B through fasteners to form a detection vehicle that can be adsorbed and moved to the tested area of ​​the workpiece; the water pump outlet of the water spray system C is connected to the installation position of the ultrasonic probe through a water channel, and the ultrasonic probe is well coupled with the tested surface of the workpiece by spraying water to the tested area of ​​the workpiece; the control system is connected to the detection vehicle to provide it with electrical energy, and controls the detection vehicle to move along a predetermined trajectory at the workpiece.

4. A multifunctional TOFD automatic scanning detection system according to claim 3, characterized in that: The driving device comprises a magnetic wheel, a housing, an infrared probe, an encoder for mobile positioning control, and a driving motor for driving the magnetic wheel; The drive motor is a high-performance DC stepper motor, integrated with a high-precision independent multi-stage reducer, working in a four-wheel drive mode, capable of forward and backward movement and speed control, precise movement, and can run smoothly on the surface of the workpiece being tested; The magnetic wheel is made of high-strength NdFeB permanent magnet material and is used to adsorb on the surface of the workpiece to ensure that the inspection vehicle can perform parallel scanning of the weld in different horizontal, vertical and inverted postures to avoid the risk of the vehicle body falling from the inspected surface; The encoder is a high-precision step encoder counting positioner, which is used to perform millimeter-level positioning control when the inspection vehicle moves, and is used to synchronize with the inspection equipment outside the inspection vehicle to perform automatic intelligent inspection.

5. The multifunctional TOFD automatic scanning detection system according to claim 3 is characterized in that: The control system includes an infrared calibration and positioning system connected to the infrared probe, which is used to provide a parallel line to the center of the weld as a reference, so that the operator can understand the accuracy of the inspection vehicle's movement at a remote end through remote video to ensure the accuracy of the scanning.

6. A multifunctional TOFD automatic scanning detection system according to claim 3, characterized in that: The driving device P is connected to one of the first TOFD detection scanning device A and the second TOFD detection scanning device B via a fixed connecting rod. The first TOFD detection scanning device A and the second TOFD detection scanning device B fix the ultrasonic probe with a clamping frame provided at the connecting rod sliding groove of the movable connecting rod; The scanning frame of the first TOFD detection scanning device A includes two movable connecting rods and one fixed connecting rod. The two movable connecting rods are connected by a hinge structure A2. The hinge structure A2 is connected to a hinge structure A3 at the head end of the fixed connecting rod. The tail end of the fixed connecting rod is connected to a driving device P. When the first TOFD detection scanning device A is used to detect a curved workpiece, the two movable connecting rods are vertically rotated through the hinge structure so that the probes fixed thereto are fitted with the detected surface. The first TOFD detection scanning device A is connected to a clamping frame with a bolt member that can slide in a connecting rod slot. The distance between the transmitting probe and the receiving probe is adjusted by sliding the clamping frame at the connecting rod slot. The scanning frame of the second TOFD detection scanning device B includes a vertical adapter, two movable connecting rods, and a fixed connecting rod. The probe is clamped on the clamping frame, and the clamping frame is fixed on the two movable connecting rods. The two connecting rods are connected by a hinge structure B2 so that the two connecting rods at the hinge can rotate in the horizontal direction, so that the sound beam directions of the two clamped probes form a certain angle and the angle size is adjustable. The hinge structure B3 is connected to the hinge structure B3 at the head end of the fixed connection, and the tail end of the fixed connecting rod is connected to the driving device P. The hinge structure B3 changes the angle between the probe and the detected surface by rotation, so that the probe fits the detection surface. The clamping frame is connected to the movable connecting rod through a vertical adapter. The vertical adapter forms a fastening connection between the connecting rod and the clamping frame with a boss. The boss is fixed to the connecting rod slide groove of the movable connecting rod by bolts, so that the probe sound beam direction of the ultrasonic probe is perpendicular to the movable connecting rod. The probe sound beam angle of the two ultrasonic probes is adjusted by sliding the vertical adapter on the connecting rod, and can also be adjusted by adjusting the angle of the two movable connecting rods.

7. A multifunctional TOFD automatic scanning detection system according to claim 6, characterized in that: The clamping frame comprises a fixing frame, a spring, a support rod with a slider, a fixing block, and a probe clamping piece which are arranged in sequence; The clamping frame is connected with the movable connecting rod by a fixed frame at the upper part, and the connection is fastened by bolts; the fixed frame has a boss, and a through hole is provided at the boss, and the boss is embedded in the slide groove of the movable connecting rod and fastened by bolts to prevent the clamping frame from rotating; The ultrasonic probe is clamped by the probe clamping piece at the lower part of the clamping frame and fixed by screws; The fixing frame at the upper part of the clamping frame and the probe clamping piece at the lower part are connected through a support rod, a slide block is arranged at the upper part of the support rod, and a fixing block is arranged at the lower part of the support rod; a ball bearing is arranged in the slide block so that the slide block can slide along the support rod; The upper part of the support rod is embedded in the groove of the fixing frame. A spring is arranged in the groove to enable the support rod to move within the range of 5-8mm up and down, driving the probe to move within this range, and ensuring a certain fit between the probe and the detection surface during the detection and scanning; The fixing block is provided with a screw hole for connecting with the probe clamp through a bolt and allowing the probe clamp to rotate along the bolt. When inspecting a curved workpiece, the probe clamp is rotated to make the probe close to the inspected surface.

8. The multifunctional TOFD automatic scanning detection system according to claim 6 is characterized in that: The assembly method of the first TOFD detection scanning device includes the following steps: Step A1, clamp the probe in the probe clamp, fix the probe clamp with the probe in the slide groove of the movable connecting rod by bolts, and adjust the distance between the two probes by sliding the nut in the slide groove to meet the PCS requirements of workpieces with different wall thicknesses; Step A2, fix the scanning frame on the driving vehicle through the fixed connecting piece, and then place it at the detection position, and adjust the connecting piece so that the probe fits the detection surface; if the detection surface is a curved surface, adjust the angle between the two movable connecting rods and the curved surface so that the probe fits the detection surface; Step A3: After the scanning frame is assembled, it is fastened to the inspection vehicle; Second TOFD inspection scanning device assembly Step B1, clamp the probe in the probe clamp, and fix the probe clamp with the probe in the connecting rod slide groove by bolts; Step B2, set parameters according to conventional TOFD detection and record the PCS value at this time; Step B3, fix the scanning frame to the driving vehicle through the fixed connecting piece, and adjust the angles of the two movable connecting rods so that the distance from the intersection of the two probe sound beams to the probe incident point is half of the PCS; if the detection surface is a curved surface, adjust it by rotating the probe clamp along the bolt to make the probe fit the detection surface; Step B4: After the scanning device is assembled, it is securely connected to the inspection vehicle.

9. A multifunctional TOFD automatic scanning detection system according to claim 8, characterized in that: The multifunctional TOFD detection automatic scanning detection system is connected to an external TOFD detection host, and its scanning detection method includes the following steps: Step S1, turn on the TOFD detection host, connect the probe, encoder, water spray system, and detection vehicle systems; Set TOFD detection parameters; Step S2, placing the scanning system at the workpiece detection position; when using the first TOFD detection method, placing the probes on both sides of the weld, and making the weld located at the center of the two probes; when using the second TOFD detection method, placing the two probes on one side of the weld, and making the distance from the incident point of the probe sound beam to the center line of the weld half of the PCS; Step S3, first manually push the inspection vehicle to see if it moves along the predetermined track, then turn on the water pump to spray water at the probe, and then turn on the control power to move the inspection vehicle along the predetermined track to start the inspection.

10. The multifunctional TOFD automatic scanning detection system according to claim 3, characterized in that: A probe wedge is provided at the ultrasonic probe, and a water spray hole connected to a water pump is provided at the probe wedge. The water pump is controlled by an automatic water injection pump coupling device of the water injection system. The automatic water injection pump coupling device adopts a high-performance coupling pumping device for stably and continuously conveying coupling agent to the probe, and can control and adjust the input water pressure and output flow control of the coupling agent at any time. The coupling pumping device adopts a power supply and battery dual-channel switching control, uses a water tank or a bucket as a water source, and has water self-priming ability and filtering function.

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