A multifunctional TOFD automatic scanning system and detection method

Abstract

The present invention proposes a multifunctional TOFD automatic scanning system and detection method, including 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 defect of the weld structure is located on an arc with the probe incident point as the center and a circle with half 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 first locate the comparison object and set it; the present invention can accurately measure the defect length and the defect height itself.

Description

Technical Field

[0001] The present invention relates to the field of ultrasonic detection technology, and in particular to a multifunctional TOFD 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 pipelines, time-of-flight diffraction ultrasonic testing is one of the important means to inspect weld quality.

[0003] Currently, TOFD inspections generally use manual scanning devices, which have a relatively simple structure but suffer from several problems: 1) Scanning quality is significantly 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 for placing dual probes on the same side for inspection.

[0004] Therefore, the multifunctional TOFD automatic scanning system and usage method developed in this invention are of great significance. In addition to meeting the requirements of 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 automatic scanning system and detection method, which can be applied to weld butt joint detection and fillet weld detection. It can also detect areas where dual probes cannot be placed symmetrically 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 testing of welded structures. 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, defects in the welded structure are located on an arc with the probe incident point as the center and a radius of half the acoustic path value obtained by the two ultrasonic probes. The two probes are placed on the same side of the weld for detection.

[0008] Before using the second TOFD inspection method, first use the first TOFD inspection method to set up the positioning comparison object. Place two ultrasonic probes symmetrically on both sides of the weld facing each other to set up the instrument. Place the two ultrasonic probes symmetrically on the parent material with the same wall thickness as the workpiece to be inspected to perform a scanning inspection. Obtain an initial spectrum as the defect positioning comparison diagram for the second TOFD inspection method. At this time, the distance between the two probes' acoustic wave incident points is the initial PCS. Then, use the second TOFD inspection method to inspect the weld.

[0009] In the second TOFD detection method, step one is first performed, and two ultrasonic probes are centrally set 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 second inspection on the defect. During the second inspection, the PCS value setting needs to be changed, that is, step one is repeated to complete the second second TOFD detection method inspection, 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, the accurate defect depth value is obtained by CAD drawing method.

[0010] 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 using the Pythagorean theorem based on half of the PCS value R1 and H1;

[0011] Then process the data using CAD drawing method, such as Figure 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;

[0012] Step 2 of the second TOFD inspection method uses the modified PCS value to re-scan and calculate using the same method. Draw a circle with P2 as the center and S2 as the radius. The intersection of the two circles at Q is the defect location, and the defect depth H can be measured.

[0013] The conversion formulas among H1, S1, H2, S2 and PCS are:

[0014] Formula 1.

[0015] A multifunctional TOFD automatic scanning inspection system uses a multifunctional TOFD automatic scanning inspection method to inspect ferromagnetic workpieces. The system includes a drive device P, a first TOFD inspection scanning device A for performing a first TOFD inspection method, a second TOFD inspection scanning device B for performing a second TOFD inspection method, a water spray system C, and a control system D. The drive device P is moved by a magnetic wheel that can be adsorbed on the workpiece and driven by electricity. The drive device P is provided with an infrared probe for monitoring the movement trajectory. When the inspection system is in operation, the drive device P is connected to one of the first TOFD inspection scanning device A and the second TOFD inspection scanning device B via fasteners to form an inspection vehicle that can be adsorbed and moved to the inspected area of ​​the workpiece. The water pump outlet of the water spray system C is connected to the installation position of the ultrasonic probe via a water channel. By spraying water on the inspected area of ​​the workpiece, the ultrasonic probe and the inspected surface of the workpiece are well coupled. The control system is connected to the inspection vehicle to provide it with electrical energy and control the inspection vehicle to move along a predetermined trajectory on the workpiece.

[0016] The driving device includes a magnetic wheel, a housing, an infrared probe, an encoder for mobile positioning control, and a driving motor for driving the magnetic wheel;

[0017] 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;

[0018] 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 postures such as horizontal, vertical, and inverted, avoiding the risk of the vehicle body falling from the inspected surface;

[0019] 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.

[0020] 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.

[0021] 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;

[0022] The scanning frame of the first TOFD inspection and scanning device A includes two movable connecting rods and one fixed connecting rod. The two movable connecting rods are connected by an articulated structure A2. The articulated structure A2 is connected to an articulated structure A3 at the head end of the fixed connecting rod. The tail end of the fixed connecting rod is connected to a drive device P. When the first TOFD inspection and scanning device A is used to inspect a curved workpiece, the two movable connecting rods rotate vertically via the articulated structure so that the probes they are fixed to are aligned with the inspected surface. The first TOFD inspection and 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 can be adjusted by sliding the clamping frame in the connecting rod slot.

[0023] 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 horizontally, so that the sound beam directions of the two clamped probes are at a certain angle and the angle size is adjustable. The hinge structure B3 is connected to the hinge structure B3 at the fixed connection head end, 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 inspected surface by rotation so that the probe fits the inspection 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.

[0024] The clamping frame includes a fixing frame, a spring, a support rod with a slider, a fixing block, and a probe clamping member arranged in sequence. Figure 6 As shown;

[0025] The clamping frame is connected to 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 the boss has a through hole, and the boss is embedded in the sliding groove of the movable connecting rod and fastened by bolts to prevent the clamping frame from rotating;

[0026] The ultrasonic probe is clamped by the probe clamping piece at the lower part of the clamping frame and fixed by screws;

[0027] The fixing frame at the upper part of the clamping frame and the probe clamping piece at the lower part are connected by a support rod. A slider is provided at the upper part of the support rod and a fixing block is provided at the lower part of the support rod. A ball bearing is provided in the slider to facilitate the slider to slide along the support rod.

[0028] The upper part of the support rod is embedded in the groove of the fixing frame. A spring is set 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. During the inspection and scanning, it is ensured that the probe has a certain fit with the inspection surface.

[0029] 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.

[0030] The assembly method of the first TOFD detection scanning device includes the following steps:

[0031] Step A1: Clamp the probe into the probe holder. Fix the probe holder with the probe into the slide groove of the movable link with bolts. 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.

[0032] Step A2: Secure the scanning frame to the driving vehicle via the fixed connector, then place it in the testing position. Adjust the connector so that the probe fits the testing surface. If the testing surface is curved, adjust the angle between the two movable links and the curved surface so that the probe fits the testing surface.

[0033] Step A3: After the scanning frame is assembled, it is fastened to the inspection vehicle;

[0034] Second TOFD inspection scanning device assembly

[0035] Step B1: Clamp the probe into the probe holder, and fix the probe holder with the probe into the connecting rod slot by means of bolts.

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

[0037] Step B3: Secure the scanning frame to the driving vehicle using fixed connectors. Adjust the angles of the two movable links so that the distance from the intersection of the two probe beams to the probe impact point is half the PCS. If the test surface is curved, adjust the probe clamp along the bolts to ensure that the probe fits the test surface.

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

[0039] The multifunctional TOFD automatic scanning detection system is connected to an external TOFD detection host, and its scanning detection method includes the following steps:

[0040] Step S1: Turn on the TOFD detection host, connect the probe, encoder, water spray system, and detection vehicle systems, and set the TOFD detection parameters;

[0041] Step S2: Place the scanning system at the workpiece inspection position; when using the first TOFD inspection 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 inspection 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.

[0042] 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 inspection.

[0043] The ultrasonic probe is provided with a probe wedge, and the probe wedge is provided with a water spray hole connected to the water pump. The water pump is controlled by the automatic water injection pump coupling device of the water spray system. The automatic water injection pump coupling device adopts a high-performance coupling pumping device for stably and continuously delivering coupling agent to the probe, and can control and adjust the input water pressure and output flow rate of the coupling agent at any time. The coupling pumping device adopts dual-way switching control of power supply and battery, uses a water tank or bucket as the water source, and has water self-priming ability and filtering function.

[0044] The present invention utilizes a combined first and second TOFD inspection scanning devices, enabling the first and second TOFD inspection methods to complement each other's shortcomings using the inspection vehicle as a reference point. This method can be applied to welded butt joint inspection and fillet weld inspection, and can also inspect areas where dual probes cannot be placed symmetrically on both sides of the weld. Furthermore, the method can accurately measure defect length and defect height. Specifically,

[0045] The first TOFD inspection and scanning device is used for welding butt joint inspection. 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, 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 reflected wave and has a blind spot, such as Figure 12 The following is a conventional TOFD test pattern for a blind spot test block. The blind spot test block has wire-cut grooves with depths of 1mm, 2mm, 3mm, and 4mm on the upper surface, and 5mm, 6mm, 7mm, and 8mm on the lower surface. The test results show that none of the wire-cut grooves on the upper surface are clearly visible.

[0046] 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:

[0047] (1) It can be used for the inspection of welded butt joints, fillet welds, and areas where it is impossible to place two probes symmetrically on both sides of the weld.

[0048] (2) The defect length and the defect height can be accurately measured.

[0049] (3) By optimizing the 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 between the probes and 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 on the bottom surface of the workpiece can be displayed between the defect wave spectrum on the upper surface and the defect wave spectrum on the lower surface by setting the time window, so as to avoid the defect wave spectrum being covered by the reflection wave spectrum on the bottom surface. Figure 13 The image shows a special TOFD test pattern for a blind area test block. The test results show that, except for the weak image of the 1mm wire-cut groove on the upper surface, all other areas are clearly displayed. Furthermore, the length and height of the image display are consistent with the actual wire-cut groove dimensions.

[0050] The present invention uses a detection vehicle to form an automatic scanning system, which has the following advantages:

[0051] 1. It can reduce the number of operators. It reduces the difficulty of operation in places with limited location, avoids the health of operators affected by manual scanning, and reduces the workload of setting up scaffolding in high-altitude locations. For example, when inspecting spherical shell plates, for vertical seams, you only need to adjust the movement trajectory at the bottom to complete the scanning from bottom to top.

[0052] 2. The use of an automated scanning system ensures a stable movement trajectory. TOFD testing calculates defect locations based on acoustic range. Especially when using specialized testing methods, the movement trajectory significantly impacts defect location. Traditional manual scanning relies on manual movement of the scanning carriage. This approach, due to varying force directions, can cause the movement trajectory to vary, causing variations in the acoustic range of the defect echo received by the instrument, directly impacting defect location accuracy. The automated scanning system of the present invention, however, balances force on the four magnetic wheels of the inspection vehicle housing the scanning carriage, ensuring a stable movement trajectory and improving signal reception accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments:

[0054] Attachment Figure 1 It is a system schematic diagram of the present invention;

[0055] Attachment Figure 2 This is a schematic diagram of the symmetrical placement of two probes for the first TOFD detection method;

[0056] Attachment Figure 3 This is a schematic diagram of the second TOFD detection method with dual probes placed on the same side;

[0057] Attachment Figure 4 is a schematic diagram of the drive unit;

[0058] Attachment Figure 5 It is a schematic diagram of the fixed link and the movable link;

[0059] Attachment Figure 6 This is an exploded diagram of the probe holder;

[0060] Attachment Figure 7 It is a schematic diagram of the first TOFD inspection scanning device;

[0061] Attachment Figure 8 It is a schematic diagram of the second TOFD inspection scanning device;

[0062] Attachment Figure 9 is a schematic diagram of the probe wedge;

[0063] Attachment Figure 10 is a schematic diagram of a coupled pumping arrangement;

[0064] Attachment Figure 11 It is a schematic diagram of the control box where the control system is located;

[0065] Attachment Figure 12 1 is a schematic diagram of a detection spectrum obtained by using the first TOFD detection method for a blind area test block (the first spectrum);

[0066] Attachment Figure 13 1. It is a schematic diagram of the detection spectrum obtained by the second TOFD detection method for the blind area test block (the second spectrum);

[0067] Attachment Figure 14 is a schematic diagram of the clamping frame (probe clamping frame);

[0068] Attachment Figure 15 This is a schematic diagram of the present invention obtaining an accurate defect depth value through a CAD drawing method;

[0069] Attachment Figure 16 2. This is a schematic diagram of the results obtained in step 1 of the second TOFD testing method for testing a 20 mm deep transverse through hole in a test block according to the present invention;

[0070] Attachment Figure 17 This is a schematic diagram of the results obtained in step 2 of the second TOFD testing method for testing a 20 mm deep horizontal through hole in a test block according to the present invention;

[0071] Attachment Figure 18 The present invention is based on the test of the 20mm deep horizontal through hole of the test block. Figure 16 、 Figure 17 CAD drawing method schematic diagram of the results;

[0072] In the figure: P1-magnetic wheel; P2-encoder; DETAILED DESCRIPTION

[0073] As shown in the figure, a multifunctional TOFD automatic scanning detection method is used for ultrasonic testing of welded structures. 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, defects in the weld structure are located on an arc with the probe incident point as the center and a radius of half the acoustic path value obtained by the two ultrasonic probes. The two probes are placed on the same side of the weld for detection.

[0074] Before using the second TOFD inspection method, first use the first TOFD inspection method to set up the positioning comparison object. Place two ultrasonic probes symmetrically on both sides of the weld facing each other to set up the instrument. Place the two ultrasonic probes symmetrically on the parent material with the same wall thickness as the workpiece to be inspected to perform a scanning inspection. Obtain an initial spectrum as the defect positioning comparison diagram for the second TOFD inspection method. At this time, the distance between the two probes' acoustic wave incident points is the initial PCS. Then, use the second TOFD inspection method to inspect the weld.

[0075] In the second TOFD detection method, step one is first performed, and two ultrasonic probes are centrally set 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 second inspection on the defect. During the second inspection, the PCS value setting needs to be changed, that is, step one is repeated to complete the second second TOFD detection method inspection, 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, the accurate defect depth value is obtained by CAD drawing method.

[0076] 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 using the Pythagorean theorem based on half of the PCS value R1 and H1;

[0077] Then process the data using CAD drawing method, such as Figure 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;

[0078] Step 2 of the second TOFD inspection method uses the modified PCS value to re-scan and calculate using the same method. Draw a circle with P2 as the center and S2 as the radius. The intersection of the two circles at Q is the defect location, and the defect depth H can be measured.

[0079] The conversion formulas among H1, S1, H2, S2 and PCS are:

[0080] Formula 1.

[0081] A multifunctional TOFD automatic scanning inspection system uses a multifunctional TOFD automatic scanning inspection method to inspect ferromagnetic workpieces. The system includes a drive device P, a first TOFD inspection scanning device A for performing a first TOFD inspection method, a second TOFD inspection scanning device B for performing a second TOFD inspection method, a water spray system C, and a control system D. The drive device P is moved by a magnetic wheel that can be adsorbed on the workpiece and driven by electricity. The drive device P is provided with an infrared probe for monitoring the movement trajectory. When the inspection system is in operation, the drive device P is connected to one of the first TOFD inspection scanning device A and the second TOFD inspection scanning device B via fasteners to form an inspection vehicle that can be adsorbed and moved to the inspected area of ​​the workpiece. The water pump outlet of the water spray system C is connected to the installation position of the ultrasonic probe via a water channel. By spraying water on the inspected area of ​​the workpiece, the ultrasonic probe and the inspected surface of the workpiece are well coupled. The control system is connected to the inspection vehicle to provide it with electrical energy and control the inspection vehicle to move along a predetermined trajectory on the workpiece.

[0082] 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;

[0083] 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;

[0084] 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 postures such as horizontal, vertical, and inverted, avoiding the risk of the vehicle body falling from the inspected surface;

[0085] 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.

[0086] 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.

[0087] 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;

[0088] The scanning frame of the first TOFD inspection and scanning device A includes two movable connecting rods and one fixed connecting rod. The two movable connecting rods are connected by an articulated structure A2. The articulated structure A2 is connected to an articulated structure A3 at the head end of the fixed connecting rod. The tail end of the fixed connecting rod is connected to a drive device P. When the first TOFD inspection and scanning device A is used to inspect a curved workpiece, the two movable connecting rods rotate vertically via the articulated structure so that the probes they are fixed to are aligned with the inspected surface. The first TOFD inspection and 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 can be adjusted by sliding the clamping frame in the connecting rod slot.

[0089] 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 horizontally, so that the sound beam directions of the two clamped probes are at a certain angle and the angle size is adjustable. The hinge structure B3 is connected to the hinge structure B3 at the fixed connection head end, 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 inspected surface by rotation so that the probe fits the inspection 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.

[0090] The clamping frame includes a fixing frame, a spring, a support rod with a slider, a fixing block, and a probe clamping member arranged in sequence. Figure 6 As shown;

[0091] The clamping frame is connected to 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 the boss has a through hole, and the boss is embedded in the sliding groove of the movable connecting rod and fastened by bolts to prevent the clamping frame from rotating;

[0092] The ultrasonic probe is clamped by the probe clamping piece at the lower part of the clamping frame and fixed by screws;

[0093] The fixing frame at the upper part of the clamping frame and the probe clamping piece at the lower part are connected by a support rod. A slider is provided at the upper part of the support rod and a fixing block is provided at the lower part of the support rod. A ball bearing is provided in the slider to facilitate the slider to slide along the support rod.

[0094] The upper part of the support rod is embedded in the groove of the fixing frame. A spring is set 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. During the inspection and scanning, it is ensured that the probe has a certain fit with the inspection surface.

[0095] 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.

[0096] The assembly method of the first TOFD detection scanning device includes the following steps:

[0097] Step A1: Clamp the probe into the probe holder. Fix the probe holder with the probe into the slide groove of the movable link with bolts. 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.

[0098] Step A2: Secure the scanning frame to the driving vehicle via the fixed connector, then place it in the testing position. Adjust the connector so that the probe fits the testing surface. If the testing surface is curved, adjust the angle between the two movable links and the curved surface so that the probe fits the testing surface.

[0099] Step A3: After the scanning frame is assembled, it is fastened to the inspection vehicle;

[0100] Second TOFD inspection scanning device assembly

[0101] Step B1: Clamp the probe into the probe holder, and fix the probe holder with the probe into the connecting rod slot by means of bolts.

[0102] Step B2: Set parameters according to conventional TOFD testing and record the PCS value at this time.

[0103] Step B3: Secure the scanning frame to the driving vehicle using fixed connectors. Adjust the angles of the two movable links so that the distance from the intersection of the two probe beams to the probe impact point is half the PCS. If the test surface is curved, adjust the probe clamp along the bolts to ensure that the probe fits the test surface.

[0104] Step B4: After the scanning device is assembled, it is securely connected to the inspection vehicle.

[0105] The multifunctional TOFD automatic scanning detection system is connected to an external TOFD detection host, and its scanning detection method includes the following steps:

[0106] Step S1: Turn on the TOFD detection host, connect the probe, encoder, water spray system, and detection vehicle systems, and set the TOFD detection parameters;

[0107] Step S2: Place the scanning system at the workpiece inspection position. When using the first TOFD inspection method (conventional TOFD inspection), place the probes on both sides of the weld, with the weld centered between the two probes. When using the second TOFD inspection method (special TOFD inspection), place the two probes on one side of the weld, with the distance from the incident point of the probe sound beam to the weld centerline being half the PCS.

[0108] 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 inspection.

[0109] The ultrasonic probe is provided with a probe wedge, and the probe wedge is provided with a water spray hole connected to the water pump. The water pump is controlled by the automatic water injection pump coupling device of the water spray system. The automatic water injection pump coupling device adopts a high-performance coupling pumping device for stably and continuously delivering coupling agent to the probe, and can control and adjust the input water pressure and output flow rate of the coupling agent at any time. The coupling pumping device adopts dual-way switching control of power supply and battery, uses a water tank or bucket as the water source, and has water self-priming ability and filtering function.

[0110] Example 1:

[0111] 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 separately with screws, and the two can be used separately (not at the same time). Device A is generally used for butt joint inspection, with dual probes placed symmetrically 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, as well as fillet weld detection. Figure 3 As shown in Figure 1, device P uses a magnetic wheel to attach the entire scanning system to the ferromagnetic workpiece to be inspected and is electrically driven to move it along a predetermined trajectory. An infrared probe is mounted on the drive unit to monitor the movement trajectory. Device C is a water spray system that ensures good coupling between the inspection probe and the inspection surface. Device D is a control system that provides power to the scanning system and controls the movement of the scanning device along the predetermined trajectory.

[0112] The driving part consists of a driving motor, a magnetic wheel, a housing, an encoder, and an infrared probe. Figure 4 shown.

[0113] (1) Driving motor: It adopts high-performance DC stepping motor, high-precision independent multi-stage reducer, four-wheel drive mode, which can move forward and backward and control speed, and can move precisely and run smoothly on the detection surface.

[0114] (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 risk of the vehicle falling from the surface being inspected.

[0115] (3) Shell: Made of hard aluminum alloy, it has strong overall corrosion resistance and waterproof sealing function.

[0116] (4) The driving 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.

[0117] (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 scanning.

[0118] In this example, the ultrasonic probe is fixed with a clamping system. The main components of the clamping system are as follows:

[0119] (1) Connecting rod. The connecting rod is a square structure with slots on all four sides. Nuts are placed in the slots and can slide in the slots to adjust the position and lock other parts, such as Figure 5 shown.

[0120] (2) The probe clamping frame consists of a fixed frame, a spring, a support rod, a slider, a fixed block, and a probe clamping piece, such as Figure 6 shown.

[0121] 1) The fixing bracket on the upper part of the clamping frame is connected to the connecting rod and is fastened with bolts. The fixing bracket has a boss with a through hole. The boss is embedded in the connecting rod slot and fastened with bolts to prevent the clamping frame from rotating.

[0122] 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.

[0123] 3) The upper fixing frame and the lower probe clamp of the clamping frame are connected by a support rod. A slider is set on the upper part of the support rod, and a fixed block is set on the lower part of the support rod. The slider contains a ball bearing to facilitate the slider to slide along the support rod.

[0124] 4) The upper part of the support rod is embedded in the groove of the fixing frame. A spring is set in the groove, which allows the support rod to move within the range of 5-8mm up and down, driving the probe to move within this range. During the inspection and scanning, it is ensured that the probe has a certain fit with the inspection surface.

[0125] 5) The fixing block is provided with screw holes and is connected to the probe clamp by bolts. The fixing block and the probe clamp are not tightened, 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.

[0126] In this example, the first TOFD inspection and scanning device is the default conventional TOFD inspection and scanning device, specifically:

[0127] (1) The conventional TOFD inspection scanning device consists of two connecting rods, a fastener connecting rod, and a hinged part, such as Figure 7 The two connecting rods adopt an articulated structure, which allows the connecting rods to rotate up and down. When used to inspect curved workpieces, the clamped probe can fit closely to the inspection surface.

[0128] (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 clamp and the detection surface can be changed by rotating it, so that the probe fits the detection surface.

[0129] (3) During the test, the probe is clamped in the probe holder, and the holder is fixed to the connecting rod with bolts. The bolts can slide in the connecting rod slot, and the distance between the two probes can be adjusted by sliding.

[0130] In this example, the second TOFD inspection and scanning device is a special TOFD inspection and scanning device, specifically:

[0131] (1) The special TOFD inspection scanning device consists of two connecting rods, a fastener connecting rod, an adapter, and a hinge, such as Figure 8 The probe is mounted on a probe holder, which is attached to two connecting rods connected by a hinged structure. The two connecting rods can rotate horizontally at the hinged joint, aligning the probe's sound beam with a specific, adjustable angle.

[0132] (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 it, so that the probe fits the detection surface.

[0133] (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 with bolts. The purpose is to make the direction of the probe sound beam perpendicular to the connecting rod.

[0134] (4) After the clamping frame and the probe are assembled, the two probe beams form a certain angle in the horizontal direction, and the angle is adjustable. The probe beam angle can be adjusted by sliding the adapter on the connecting rod and adjusting the angle of the two connecting rods.

[0135] In this example, water is sprayed onto the workpiece during scanning. The water spray coupling system used is as follows:

[0136] (1) Probe wedge: Set a water spray hole on the wedge, such as Figure 9 shown.

[0137] (2) Automatic water injection pump coupling device, such as Figure 10 shown.

[0138] A high-performance coupling pump provides stable and continuous delivery of couplant to the probe. The pump can adjust both the input pressure and output flow of the couplant at any time, utilizing both power and battery control. Any water tank or bucket can be used as the water source, and the pump features strong self-priming and filtration, providing reliable water intake and output.

[0139] The connection method of the sprinkler system is:

[0140] (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.

[0141] (2) The joint connecting the water pipe and the water pump has a self-locking function. It will automatically lock after insertion. When removing the water pipe, press the self-locking device to remove it.

[0142] (3) A pressure reducing valve is installed in front of the water inlet pipe of the water pump to adjust the water inlet volume.

[0143] (4) When using, press the switch button, which has three levels to adjust the water volume, or adjust the water volume through the pressure regulating knob.

[0144] 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. Figure 11 shown.

[0145] The control system specifically includes the following:

[0146] (1) The control system consists of three parts: power supply, control, and battery.

[0147] (2) Power supply: used for power supply, consisting of 220V power connection cable, switch device and emergency stop button; battery / power switch button.

[0148] (3) The “Forward” and “Backward” buttons are used to control the motor and move forward and backward.

[0149] (4) The “Emergency Stop” button is used to cut off the power supply system in an emergency. Rotate the button to lift it up and return to normal state.

[0150] (5) The “Speed ​​Control” knob can adjust the speed of the motor during travel.

[0151] (6) Battery: Insert two charged batteries into the battery socket at the same time. The display above the battery shows the battery level.

[0152] Example 2:

[0153] This example aims to solve the problem that it is difficult to know whether the defect deviates from the center line of the weld during 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. The defect depth value obtained at this time 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; during 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. The details are as follows:

[0154] (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. When drawing with CAD, if Figure 15 As shown, first plot the workpiece thickness at a 1:1 ratio. Draw a circle with half the PCS value, R1, intersecting it with the scanned surface, P1. 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 location, and the defect depth, H, can be measured.

[0155] The specific cases are as follows:

[0156] Ultrasonic testing was used to test a 20mm deep transverse through hole in the comparison test block. The transverse through hole was set to deviate 3mm from the center line. The test results are as follows:

[0157] 1) The PCS value is set to 53mm during initial testing. Figure 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;

[0158] 2) The PCS value is set to 63mm during the second test. Figure 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;

[0159] 3) Draw circles with P1 and P2 as the center and S1 and S2 as the radius, and intersect at Q. The distance from Q to the scanning surface is 20.55 mm, which is consistent with the actual hole depth. Figure 18 shown.

Claims

1. A multifunctional TOFD automatic scanning inspection system for inspecting ferromagnetic workpieces, characterized by: 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 is moved by a magnetic wheel that can be adsorbed on the workpiece and driven by electricity; an infrared probe is installed on the driving device P to monitor the movement trajectory; When the inspection system is in operation, the drive device P is connected to one of the first TOFD inspection scanning device A and the second TOFD inspection scanning device B via fasteners, forming an inspection vehicle that can be attracted and moved to the workpiece's inspection area. The water pump outlet of the water spray system C is connected to the installation location of the ultrasonic probe through a water channel. By spraying water onto the workpiece's inspection area, the ultrasonic probe and the inspected surface are well coupled. The control system is connected to the inspection vehicle to provide it with power and control the vehicle's movement along a predetermined trajectory at the workpiece. 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 inspection and scanning device A includes two movable connecting rods and one fixed connecting rod. The two movable connecting rods are connected by an articulated structure A2. The articulated structure A2 is connected to an articulated structure A3 at the head end of the fixed connecting rod. The tail end of the fixed connecting rod is connected to a drive device P. When the first TOFD inspection and scanning device A is used to inspect a curved workpiece, the two movable connecting rods rotate vertically via the articulated structure so that the probes they are fixed to are aligned with the inspected surface. The first TOFD inspection and 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 can be adjusted by sliding the clamping frame in 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 horizontally, so that the sound beam directions of the two clamped probes are at a certain angle and the angle size is adjustable. The hinge structure B3 is connected to the hinge structure B3 at the fixed connection head end, 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 inspected surface by rotation so that the probe fits the inspection 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.

2. The multifunctional TOFD automatic scanning detection system according to claim 1, characterized in that: The multifunctional TOFD automatic scanning detection system uses a multifunctional TOFD automatic scanning detection method for ultrasonic testing of welded structures. 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, defects in the welded structure are located on an arc with the probe incident point as the center and a radius of half the acoustic path value obtained by the two ultrasonic probes. The two probes are placed on the same side of the weld for detection. Before using the second TOFD inspection method, first use the first TOFD inspection method to set up the positioning comparison object. Place two ultrasonic probes symmetrically on both sides of the weld facing each other to set up the instrument. Place the two ultrasonic probes symmetrically on the parent material with the same wall thickness as the workpiece to be inspected to perform a scanning inspection. Obtain an initial spectrum as the defect positioning comparison diagram for the second TOFD inspection method. At this time, the distance between the two probes' acoustic wave incident points is the initial PCS. Then, use the second TOFD inspection method to inspect the weld. In the second TOFD detection method, step one is first performed, and two ultrasonic probes are centrally set 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 second inspection on the defect. During the second inspection, the PCS value setting needs to be changed, that is, step one is repeated to complete the second second TOFD detection method inspection, 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, the accurate defect depth value is obtained by CAD drawing method.

3. The multifunctional TOFD automatic scanning detection system according to claim 2, 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 using 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 inspection method uses the modified PCS value to re-scan and calculate using the same method. Draw a circle with P2 as the center and S2 as the radius. The intersection of the two circles at Q is the defect location, and the defect depth H 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; when H is H2, S is S2.

4. The multifunctional TOFD automatic scanning detection system according to claim 1, characterized in that: The driving device includes 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 postures such as horizontal, vertical, and inverted, avoiding 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 1, 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. The multifunctional TOFD automatic scanning detection system according to claim 1, characterized in that: The clamping frame includes 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 fixing frame is connected to the movable connecting rod, and the connection is fastened by bolts; the fixing frame has a boss, and the boss has a through hole. The boss is embedded in the sliding groove of the movable connecting rod and is fastened by bolts to prevent the clamping frame from rotating; The probe clamping piece clamps the ultrasonic probe and fixes it with screws; The fixed frame and the probe clamp at the bottom are connected by a support rod. A slider is provided on the upper part of the support rod, and a fixed block is provided on the lower part of the support rod. A ball bearing is provided 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 set 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. During the inspection and scanning, it is ensured that the probe has a certain fit with the inspection surface. 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.

7. The multifunctional TOFD automatic scanning detection system according to claim 1, characterized in that: The assembly method of the first TOFD detection scanning device includes the following steps: Step A1: Clamp the probe into the probe holder. Fix the probe holder with the probe into the slide groove of the movable link with bolts. 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: Secure the scanning frame to the driving vehicle via the fixed connector, then place it in the testing position. Adjust the connector so that the probe fits the testing surface. If the testing surface is curved, adjust the angle between the two movable links and the curved surface so that the probe fits the testing 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 into the probe holder, and fix the probe holder with the probe into the connecting rod slot by bolts; Step B2: Set parameters according to conventional TOFD testing and record the PCS value at this time; Step B3: Secure the scanning frame to the driving vehicle using the fixed connector. Adjust the angles of the two movable links so that the distance from the intersection of the two probe beams to the probe impact point is half the PCS. If the test surface is curved, adjust the probe clamp along the bolts to ensure that the probe fits the test surface. Step B4: After the scanning device is assembled, it is securely connected to the inspection vehicle.

8. The multifunctional TOFD automatic scanning detection system according to claim 7, characterized in that: The multifunctional TOFD 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 and 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, place the probes on both sides of the weld, with the weld located at the center of the two probes; when using the second TOFD inspection method, place the two probes on one side of the weld, with the distance from the incident point of the probe sound beam to the centerline of the weld being 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 inspection.

9. The multifunctional TOFD automatic scanning detection system according to claim 1, characterized in that: The ultrasonic probe is provided with a probe wedge, and the probe wedge is provided with a water spray hole connected to the water pump. The water pump is controlled by the automatic water injection pump coupling device of the water spray system. The automatic water injection pump coupling device adopts a high-performance coupling pumping device for stably and continuously delivering coupling agent to the probe, and can control and adjust the input water pressure and output flow rate of the coupling agent at any time. The coupling pumping device adopts dual-way switching control of power supply and battery, uses a water tank or bucket as the water source, and has water self-priming ability and filtering function.

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