Weld joint scanning device of hydropower station detection robot and working method of weld joint scanning device

Abstract

The invention relates to the technical field of welding seam detection equipment, in particular to a welding seam scanning device of a hydropower station detection robot and a working method of the welding seam scanning device, and solves the problem that a wall-climbing robot is inconvenient to carry ultrasonic welding seam detection equipment for multi-step intelligent operation. A peristaltic pump, a coupling agent capacity box, an ultrasonic phased array instrument and a connecting metal plate are fixed to the wall-climbing robot, a linear push rod motor is fixed to the other end of the connecting metal plate, the output end of the linear push rod motor is perpendicular to the bottom of the wall-climbing robot, and a guide rail profile is fixed to the output end of the linear push rod motor. According to the ultrasonic detection device, work such as carrying of the device, adaptation of a to-be-detected area, coating of a coupling agent and ultrasonic detection can be autonomously completed, so that the device is particularly suitable for ultrasonic detection equipment, the adaptation capacity is high, the automation degree is high, and multi-step intelligent operation is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of weld detection equipment, and particularly relates to a weld scanning device and a working method thereof for a hydropower station detection robot. Background Art

[0002] As an important part of a hydropower station, the weld quality of steel structures is directly related to the overall strength and stability of the hydropower station structure. Therefore, it is necessary to regularly detect defects in the welds, ensure that the welding quality meets the standards, and evaluate the performance of the welds to ensure the safety of the overall structure. When detecting welds, there are various detection methods to choose from, such as X-ray detection, ultrasonic detection, magnetic particle detection, etc. The most commonly used detection method is ultrasonic detection. When performing ultrasonic detection, it is necessary to first apply a coupling agent between the ultrasonic detection equipment and the weld to make up for the gap between the detection equipment and the weld. Then, the ultrasonic detection equipment is turned on to perform weld detection. After the detection is completed, the ultrasonic detection equipment is removed. However, the existing weld detection devices have some defects, such as: Firstly, the detection equipment cannot work autonomously and continuously. It is necessary for manual labor to complete steps such as determining the detection area, applying the coupling agent, and carrying the detection equipment. Therefore, the degree of automatic intelligence is low. Secondly, upon review, it is found that there is a patent application document in the prior art with a publication number of CN111762271A and an invention title of "A wall-climbing ship weld detection robot". The wall-climbing robot can carry a weld detection robot for movement and can make the weld detection robot detect the weld after reaching the designated area. However, the wall-climbing robot has some defects, that is, the weld detection robot is far from the weld. It is applicable to X-ray detection devices. Since the detection end of the ultrasonic weld detection equipment needs to be closely attached to the weld, when the wall-climbing robot cannot press the detection end of the weld detection equipment on the weld, the wall-climbing robot is not applicable to ultrasonic weld detection equipment.

[0003] Therefore, the present invention provides a weld scanning device and a working method thereof for a hydropower station detection robot to solve the above problems. Summary of the Invention

[0004] In view of the above situation, in order to overcome the defects of the prior art, the present invention provides a weld scanning device and a working method thereof for a hydropower station detection robot to solve the problem that the wall-climbing robot is not convenient to carry ultrasonic weld detection equipment for multi-step intelligent operations.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is: A weld scanning device for a hydropower station detection robot includes a wall-climbing robot and a phased array detection probe. A peristaltic pump, a coupling agent capacity tank, an ultrasonic phased array instrument, and a connecting sheet metal are fixed on the wall-climbing robot. The other end of the connecting sheet metal is fixed with a linear push rod motor. The output end of the linear push rod motor is perpendicular to the bottom of the wall-climbing robot. The output end of the linear push rod motor is fixed with a guide rail profile. Two profile sliding seats are slidably connected to the guide rail profile. The other end of the profile sliding seat is rotated with a phased array probe scanning support frame. The other end of the phased array probe scanning support frame is fixed with a detection wedge block. A coupling agent spraying hole is arranged in the detection wedge block. A phased array detection probe is fixed in the detection wedge block. The input end of the ultrasonic phased array instrument is electrically connected to the phased array detection probe. The liquid inlet end of the peristaltic pump is connected into the coupling agent capacity tank, and the liquid outlet end of the peristaltic pump is connected into the coupling agent spraying hole; Through the above technical solution, the wall-climbing robot can carry the peristaltic pump, the coupling agent capacity tank, the ultrasonic phased array instrument, and the phased array detection probe and the detection wedge block on the connecting sheet metal to move, and does not require manual carrying, which is convenient to use; The peristaltic pump is used to inject the coupling agent in the coupling agent capacity tank into the coupling agent spraying hole and spray it out from the coupling agent spraying hole, so that the coupling agent is injected into the gap between the detection wedge block and the structure to be detected, thereby automatically realizing the spraying of the coupling agent; The linear push rod motor drives the guide rail profile to approach or move away from the bottom of the wall-climbing robot, that is, to control the guide rail profile to approach or move away from the surface of the structure to be detected, so that the device can be applied to ultrasonic weld detection equipment. When the phased array detection probe and the detection wedge block are attached to the structure to be detected, the detection wedge block can be made to fit the surface of the structure to be detected by rotating the phased array probe scanning support frame, ensuring the accuracy of the ultrasonic detection data.

[0006] Preferably, linear guide rail slider groups are fixed at both ends of the connecting sheet metal. A guide rail profile connecting plate is slidably passed through the linear guide rail slider groups. The guide rail profile connecting plate is parallel to the output end of the linear push rod motor. The guide rail profile connecting plate includes upper and lower parts. The upper part of the guide rail profile connecting plate is vertically movably inserted into the lower part and is fixedly connected by screws. The lower end of the guide rail profile connecting plate is fixed at the end of the guide rail profile; Through the above technical solution, the linear guide rail slider groups and the guide rail profile connecting plate are used to assist in supporting the guide rail profile, ensuring the stability of the guide rail profile during movement, and the length of the guide rail profile connecting plate can be adjusted.

[0007] Preferably, the phased array probe scanning support frame includes a swinging rod, a hand-tightening lock screw, a wedge connection clamp, a knurled screw, a crank follower rod, and a first torsion spring. One end of the crank follower rod is rotatably connected to the end of the profile slide, and a first torsion spring is fixed between the crank follower rod and the profile slide. The other end of the crank follower rod is rotatably connected to the middle of the swinging rod. Wedge connection clamps are movably sleeved at both ends of the swinging rod. A hand-tightening lock screw passes through the inner thread of the wedge connection clamp, and the end of the hand-tightening lock screw abuts against the swinging rod. A knurled screw passes through the other end of the wedge connection clamp, and two knurled screws pass through the inspection wedge. Through the above technical solution, the first torsion spring pushes the crank follower rod, so that the crank follower rod has a tendency to approach the structure to be detected. The crank follower rod drives the swinging rod, the wedge connection clamp, and the inspection wedge to rotate, so that the inspection wedge is pressed against the structure to be detected, ensuring a tight fit between the inspection wedge and the structure to be detected. And the swinging rod can rotate relative to the crank follower rod. When the structure to be detected is not vertical or horizontal, that is, when the structure to be detected has a certain inclination, the inspection wedge and the structure to be detected can still be tightly fitted. And when turning the hand-tightening lock screw, the wedge connection clamp can be loosened relative to the swinging rod to adjust the position of the wedge connection clamp, and then adjust the positions of the inspection wedge and the phased array detection probe.

[0008] Preferably, a return retaining plate is fixed between the ends of the two swinging rods; Through the above technical solution, the movement and rotation of the two swinging rods are kept synchronized, that is, the movement and rotation of the two inspection wedges and the two phased array detection probes are kept synchronized.

[0009] Preferably, an inner support main shaft is fixed to the end of the crank follower rod. The crank follower rod is rotatably connected to the profile slide through the inner support main shaft. A trigger switch is fixed inside the profile slide, and the trigger switch is located within the rotation stroke of the inner support main shaft. The trigger switch is electrically connected to a peristaltic pump. An inner rotating shaft is rotatably connected inside the profile slide, and the inner rotating shaft is located within the rotation stroke of the inner support main shaft. The trigger switch is located between the inner rotating shaft and the inner support main shaft. A light source end and a photoinductive end of a photoelectric sensor are respectively fixed to the side of the inner support main shaft and the return retaining plate. The light source end of the photoelectric sensor is located between the inner support main shaft and the trigger switch. A sensor sensing hole is provided on the side of the profile slide, and the photoinductive end of the photoelectric sensor senses the light source end through the sensor sensing hole; A ball screw is fixed inside the guide profile. The profile slide is rotatably sleeved outside the input end of the ball screw. A gear set is installed between the inner rotating shaft and the input end of the ball screw, and the inner rotating shaft drives the input end of the ball screw to rotate through the gear set; Through the above technical solution, when the crank follower drives the inner support main shaft to rotate, the trigger switch is first turned on, so that the peristaltic pump is powered on and works, and then the inner rotating shaft is pushed to rotate. The inner rotating shaft drives the input end of the ball screw to rotate and move horizontally through the gear set. The input end of the ball screw drives the guide profile to push horizontally, thereby driving the detection wedge to move horizontally. Finally, the photoelectric induction end of the photoelectric sensor senses the light source end through the sensor sensing hole and sends the information to the external control device. The external control device controls the linear push rod motor to drive the profile guide rail and the profile slide seat away from the mechanism to be detected, so that the first torsion spring pushes the crank follower to rotate in the reverse direction, and the inner support main shaft rotates in the reverse direction until the inner support main shaft leaves the inner rotating shaft. Then the inner rotating shaft drives the input end of the ball screw to rotate and move in the reverse direction through the gear set. The input end of the ball screw drives the guide profile to push in the reverse direction, thereby driving the detection wedge to move in the reverse direction. Repeating the above actions can horizontally and cyclically push the detection wedge to ensure that the detection wedge evenly applies the coupling agent.

[0010] Preferably, the gear set includes a first gear, a second gear and a third gear. The first gear is fixedly sleeved outside the inner rotating shaft. The first gear meshes with the second gear. The second gear is rotatably connected to the guide profile through a rotating shaft. The second gear meshes with the third gear. The third gear is fixedly sleeved outside the input end of the ball screw. Through the above technical solution, the gear set can transmit the rotational power of the inner rotating shaft to the input end of the ball screw.

[0011] Preferably, a second torsion spring is fixed between the first gear and the profile slide seat. Through the above technical solution, the second torsion spring can actively drive the first gear to rotate back in the reverse direction, thereby driving the input end of the ball screw to move back, and further driving the profile slide seat to move back in the reverse direction.

[0012] Preferably, there are two coupling agent spraying holes in each detection wedge and they are arranged vertically. Through the above technical solution, when the detection wedge moves upward, the lower coupling agent spraying hole can spray the coupling agent towards the center of the detection wedge, and the upper coupling agent spraying hole can spray the coupling agent above the detection wedge. When the detection wedge moves downward, the upper coupling agent spraying hole can spray the coupling agent towards the center of the detection wedge, and the lower coupling agent spraying hole can spray the coupling agent below the detection wedge. This ensures that the surface and the surrounding of the detection wedge are completely coated with the coupling agent, avoiding uncoated areas.

[0013] A working method of a weld inspection device of a hydropower station inspection robot includes: Step a, Preparation of the robot: Pour the coupling agent into the coupling agent capacity tank, power on the ultrasonic phased array instrument, trigger switch, photoelectric sensor and linear push rod motor, place the wall-climbing robot on the structure to be detected, and control the wall-climbing robot to move to the specified position; Step b, Single-point positioning of the robot: The linear push rod motor drives the guide rail profile close to the structure to be detected. At this time, the detection wedge first adheres to the surface of the structure to be detected. Then, the linear push rod motor continues to drive the guide rail profile close to the structure to be detected. The crank follower rod rotates under the pressing force, and at the same time, the wall-climbing robot moves correspondingly, so that the detection wedge remains stationary while the crank follower rod rotates; Step c, Spot coating of the coupling agent: On the basis of step b, the linear push rod motor continues to drive the guide rail profile close to the structure to be detected. The crank follower rod continues to rotate under the pressing force until the inner support main shaft presses the trigger switch, so that the peristaltic pump is powered on. The coupling agent passes through the coupling agent capacity tank and the peristaltic pump and is extruded from the coupling agent spraying hole, so that the coupling agent is extruded and coated between the detection wedge and the surface of the structure to be detected; Step d, Surface coating of the coupling agent: On the basis of step c, the linear push rod motor continues to drive the guide rail profile close to the structure to be detected. The crank follower rod continues to rotate under the pressing force until the inner support main shaft pushes the inner rotating shaft to rotate. The inner rotating shaft drives the input end of the ball screw to rotate through the gear set. The input end of the ball screw moves horizontally while rotating to drive the profile slide to move unidirectionally. The inner support main shaft continues to push the inner rotating shaft to rotate until the photoelectric sensing end of the photoelectric sensor detects the light source end and sends the information to the external control device. At this time, the external control device controls the linear push rod motor to drive the guide rail profile away from the structure to be detected, that is, the inner support main shaft and the inner rotating shaft rotate in the reverse direction to return to the original position, then the detection wedge moves in the reverse direction, and further enables the detection wedge to move bidirectionally left and right. At the same time, the wall-climbing robot moves up and down, and further drives the detection wedge to move up and down, so that the spot coating of the coupling agent becomes surface coating; Step e, Weld seam scanning: During steps c and d, the phased array detection probe performs ultrasonic detection on the weld seam of the structure to be detected and sends the data to the external control device; Step f, End work: The linear push rod motor drives the guide rail profile to completely move away from the structure to be detected, then the detection wedge completely leaves the weld surface of the structure to be detected, and the peristaltic pump stops working.

[0014] The beneficial effects of the present invention are: 1. The wall-climbing robot can carry a peristaltic pump, a coupling agent capacity tank, an ultrasonic phased array instrument, and a phased array detection probe and a detection wedge on the connecting sheet metal to move on the structure to be detected, and does not require manual carrying, which is convenient to use; 2. The coupling agent in the coupling agent capacity box is injected into the coupling agent spraying hole through a peristaltic pump and ejected from the coupling agent spraying hole, so that the coupling agent is injected into the gap between the detection wedge and the structure to be detected, thereby automatically realizing the spraying of the coupling agent and making this device more suitable for the ultrasonic detection method; 3. The guide rail profile is driven by a linear push rod motor to approach or move away from the bottom of the wall-climbing robot, that is, to control the guide rail profile to approach or move away from the surface of the area to be detected of the structure to be detected, so that this device can be more suitable for ultrasonic weld detection equipment. And when the phased array detection probe and the detection wedge are attached to the structure to be detected, the phased array probe scanning support frame can be rotated and pressed to make the detection wedge tightly press and fit to the surface of the structure to be detected, ensuring the accuracy of ultrasonic detection data; 4. Moreover, the lateral position and vertical position of the detection wedge and the phased array detection probe can be adjusted, so that the detection wedge can evenly apply the coupling agent, making the coupling agent coated in a planar manner. And the angle of the detection wedge and the phased array detection probe can be adjusted. When the structure to be detected has a certain inclination angle, the detection wedge and the phased array detection probe can still be attached to the surface of the structure to be detected, with higher adaptability; 5. When rotating the phased array probe scanning support frame, actions such as controlling the trigger switch to open, driving the inner rotating shaft to rotate, the induction of the photoelectric sensor, and the reverse rotation of the inner rotating shaft can be sequentially controlled, and then actions such as controlling the peristaltic pump to open, the spot coating of the coupling agent, and the planar coating of the coupling agent can be controlled, with a high degree of automation.

[0015] In summary, this device can independently complete tasks such as equipment carrying, adaptation of the area to be detected, coating of the coupling agent, and ultrasonic detection, making this device particularly suitable for ultrasonic detection equipment, with strong adaptation ability, high degree of automation, and multi-step intelligent operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional schematic diagram of the first perspective of the present invention.

[0017] Figure 2 It is a three-dimensional schematic diagram of the second perspective of the present invention.

[0018] Figure 3 It is Figure 2 A partial enlarged schematic diagram of part A of

[0019] Figure 4 It is a three-dimensional schematic diagram of the connection sheet metal and the parts on the connection sheet metal in the present invention.

[0020] Figure 5 It is a front view of the connection sheet metal and the parts on the connection sheet metal in the present invention.

[0021] Figure 6 It is Figure 5Schematic diagram of the cross-sectional structure at B-B

[0022] Figure 7 is Figure 6 Schematic diagram of the partial enlargement of part C

[0023] Figure 8 is Figure 5 Schematic diagram of the cross-sectional structure at D-D

[0024] Figure 9 is Figure 8 Schematic diagram of the partial enlargement of part E

[0025] Figure 10 Schematic diagram of the coating area of the coupling agent in the present invention

[0026] In the figure: 1, wall-climbing robot; 2, peristaltic pump; 3, coupling agent capacity tank; 4, camera bracket; 5, fish-eye camera; 6, ultrasonic phased array instrument; 7, connecting sheet metal; 8, linear push rod motor; 9, motor profile connecting plate; 10, ball bearing; 11, swinging rod; 12, return retaining plate; 13, wedge connection fixture; 14, hand-tightening locking screw; 15, knurled screw; 16, detection wedge; 17, phased array detection probe; 18, crank follower rod; 19, first torsion spring; 20, profile slide; 21, guide rail profile; 22, guide rail profile connecting plate; 23, linear guide rail slider group; 24, limiting bar; 25, arc hole; 26, coupling agent spraying hole; 27, ball screw; 28, inner support main shaft; 29, photoelectric sensor; 30, trigger switch; 31, inner rotating shaft; 32, first gear; 33, sensor sensing hole; 34, second torsion spring; 35, second gear; 36, third gear. Detailed implementation manners

[0027] Next, each embodiment of the present invention will be described in detail with reference to the reference append Figures 1 to 10 Those skilled in the art should understand that these implementation manners are only used to explain the technical principle of the present invention and are not intended to limit the protection scope of the present invention.

[0028] As shown in the append Figure 1 - append Figure 9 As shown, a weld inspection device for a hydropower station inspection robot includes a wall-climbing robot 1 and a phased array detection probe 17; Referring to append Figure 1 and append Figure 2 , a camera bracket 4 is fixed on the wall-climbing robot 1, the other end of the camera bracket 4 is fixed with a fish-eye camera 5, the output end of the fish-eye camera 5 is electrically connected to an external control device for photographing the weld surface, a peristaltic pump 2, a coupling agent capacity tank 3, an ultrasonic phased array instrument 6 and a connecting sheet metal 7 are fixed on the wall-climbing robot 1, and the output end of the ultrasonic phased array instrument 6 is electrically connected to an external control device; Refer to the attached Figure 1 , the attached Figure 2 and the attached Figure 4 , at the other end of the connecting sheet metal 7, a linear push rod motor 8 is fixed. The input end of the linear push rod motor 8 is electrically connected to an external control device. The output end of the linear push rod motor 8 is perpendicular to the bottom of the wall-climbing robot 1, that is, perpendicular to the surface of the structure to be detected. A motor profile connecting plate 9 is fixed at the output end of the linear push rod motor 8. The other end of the motor profile connecting plate 9 is fixed with a guide rail profile 21. The linear push rod motor 8 drives the guide rail profile 21 to approach or move away from the surface of the structure to be detected. And both ends of the connecting sheet metal 7 are fixed with linear guide rail slider groups 23. A guide rail profile connecting plate 22 slides through the linear guide rail slider groups 23. The guide rail profile connecting plate 22 is parallel to the output end of the linear push rod motor 8. The guide rail profile connecting plate 22 includes upper and lower parts. The upper part of the guide rail profile connecting plate 22 is vertically movably inserted into the lower part and is fixedly connected by screws. The length of the guide rail profile connecting plate 22 is adjustable. The lower end of the guide rail profile connecting plate 22 is fixed at the end of the guide rail profile 21; Refer to the attached Figure 1 , the attached Figure 2 and the attached Figure 4 , two profile sliding seats 20 are horizontally slidably connected to the guide rail profile 21. The two profile sliding seats 20 move simultaneously and in the same direction. A phased array probe scanning support frame is rotated at the other end of the profile sliding seat 20. A detection wedge block 16 is fixed at the other end of the phased array probe scanning support frame. Two coupling agent spraying holes 26 arranged vertically are provided in the detection wedge block 16. The liquid inlet end of the peristaltic pump 2 is connected to the coupling agent capacity tank 3. The liquid outlet end of the peristaltic pump 2 is fixed with a pipeline and the other four ends of the pipeline are respectively connected to the two coupling agent spraying holes 26 of the two detection wedge blocks 16. A phased array detection probe 17 is fixed in the detection wedge block 16. The input end of the ultrasonic phased array instrument 6 is electrically connected to the phased array detection probe 17.

[0029] In this embodiment, refer to the attached Figure 3 and the attached Figure 4, the phased array probe scanning support frame includes a swinging rod 11, a hand-tightening locking screw 14, a wedge connection clamp 13, a knurled screw 15, a crank follower rod 18 and a first torsion spring 19. One end of the crank follower rod 18 is rotatably connected to the end of the profile slide 20, and a first torsion spring 19 is fixed between the crank follower rod 18 and the profile slide 20. The other end of the crank follower rod 18 is rotatably connected to the middle end of the swinging rod 11. In order to reduce friction, a ball bearing 10 is also installed between the crank follower rod 18 and the middle end of the swinging rod 11. And a limiting bar 24 is fixed on the side of the swinging rod 11. An arc-shaped hole 25 is provided at the end of the crank follower rod 18. The center of the arc-shaped hole 25 is on the same straight line as the rotation center of the swinging rod 11, so that the limiting bar 24 is movably inserted into the arc-shaped hole 25. Wedge connection clamps 13 are movably sleeved on both ends of the swinging rod 11. A hand-tightening locking screw 14 is threaded through the wedge connection clamp 13. The end of the hand-tightening locking screw 14 abuts against the swinging rod 11. When the hand-tightening locking screw 14 is loosened, the wedge connection clamp 13 can move freely, thereby adjusting the initial positions of the wedge connection clamp 13, the detection wedge 16 and the phased array detection probe 17. The other end of the wedge connection clamp 13 is threaded through a knurled screw 15. Two knurled screws 15 are threaded through the detection wedge 16, and the detection wedge 16 is fixed by the knurled screws 15; In addition, refer to the attached Figure 4 and the attached Figure 6 , a return position holding plate 12 is fixed between the ends of the two swinging rods 11. The specific fixing method is: the ends of the swinging rods 11 are also threaded through knurled screws 15, and the return position holding plate 12 is clamped between the swinging rods 11 and the ends of the knurled screws 15.

[0030] In this embodiment, refer to the attached Figure 4 - the attached Figure 9 , an inner support main shaft 28 is fixed at the end of the crank follower rod 18. The crank follower rod 18 is rotatably connected to the profile slide 20 through the inner support main shaft 28. In order to reduce, a trigger switch 30 is fixed inside the profile slide 20. The trigger switch 30 is located within the rotation stroke of the inner support main shaft 28. The trigger switch 30 is electrically connected to the peristaltic pump 2. An inner rotating shaft 31 is rotatably connected inside the profile slide 20. The inner rotating shaft 31 is located within the rotation stroke of the inner support main shaft 28. The trigger switch 30 is located between the inner rotating shaft 31 and the inner support main shaft 28. A light source end and a photo induction end of a photoelectric sensor 29 are respectively fixed on the side of the inner support main shaft 28 and the return position holding plate 12. The light source end of the photoelectric sensor 29 is located between the inner support main shaft 28 and the trigger switch 30. A sensor sensing hole 33 is provided on the side of the profile slide 20. The photo induction end of the photoelectric sensor 29 senses the light source end through the sensor sensing hole 33; A ball screw 27 is fixedly installed inside a guide rail profile 21. A profile slide 20 is rotatably sleeved outside the input end of the ball screw 27. A gear set is installed between an inner rotating shaft 31 and the input end of the ball screw 27. The inner rotating shaft 31 drives the input end of the ball screw 27 to rotate through the gear set; The gear set includes a first gear 32, a second gear 35 and a third gear 36. The first gear 32 is fixedly sleeved outside the inner rotating shaft 31. A second torsion spring 34 is fixed between the first gear 32 and the profile slide 20. The first gear 32 meshes with the second gear 35. The second gear 35 is rotatably connected inside the guide rail profile 21 through a rotating shaft. The second gear 35 meshes with the third gear 36. The third gear 36 is fixedly sleeved outside the input end of the ball screw 27; The working mode of the gear set is as follows: The inner rotating shaft 31 drives the first gear 32 to rotate forward. The first gear 32 drives the second gear 35 to rotate through meshing between teeth. The second gear 35 drives the third gear 36 to rotate through meshing between teeth. The third gear 36 drives the input end of the ball screw 27 to rotate. When the inner rotating shaft 31 loses the thrust of the inner support main shaft 28, the second torsion spring 34 pushes the inner rotating shaft 31 to rotate backward and return to its original position. The inner rotating shaft 31 drives the first gear 32 to rotate backward. The first gear 32 drives the second gear 35 to rotate backward through meshing between teeth. The second gear 35 drives the third gear 36 to rotate backward through meshing between teeth. The third gear 36 drives the input end of the ball screw 27 to rotate backward.

[0031] Refer to the appendix Figure 4 - appendix Figure 9 When the crank follower rod 18 rotates forward, the working mode of the parts is as follows: The crank follower rod 18 drives the inner support main shaft 28 to rotate. The inner support main shaft 28 first presses the trigger switch 30, and the peristaltic pump 2 starts to work and begins to pump out the coupling agent. Then, the inner support main shaft 28 pushes the inner rotating shaft 31 to rotate. The inner rotating shaft 31 drives the input end of the ball screw 27 to rotate through the gear set. When the input end of the ball screw 27 rotates, it also moves forward, thereby driving the profile slide 20 to move forward. The profile slide 20 drives the phased array probe scanning support frame to move forward, thereby driving the detection wedge 16 and the phased array detection probe 17 to move forward. During this process, the coupling agent is continuously pumped out. Then, the inner support main shaft 28 continues to push the inner rotating shaft 31 to rotate until the photoelectric sensing end of the photoelectric sensor 29 senses the light source end and transmits the information to the external control device. The external control device controls the linear push rod motor 8 to drive the guide rail profile 21 away from the structure to be detected, and then the crank follower rod 18 starts to rotate backward; When the crank follower rod 18 rotates in the reverse direction, the working mode of the parts is as follows: the crank follower rod 18 moves away from the inner support main shaft 28, and the inner rotating shaft 31 loses the thrust of the inner support main shaft 28. At this time, the second torsion spring 34 pushes the inner support main shaft 28 back in the reverse direction. The inner support main shaft 28 drives the input end of the ball screw 27 to rotate in the reverse direction through the gear set. When the input end of the ball screw 27 rotates, it also moves in the reverse direction, thereby driving the profile slide 20 to move in the reverse direction. The profile slide 20 drives the phased array probe scanning support frame to move in the reverse direction to drive the detection wedge 16 and the phased array detection probe 17 to move in the reverse direction; In summary, the detection wedge 16 and the phased array detection probe 17 can move horizontally in a cycle; In addition, it should be noted that during the horizontal cyclic movement of the detection wedge 16 and the phased array detection probe 17, the inner support main shaft 28 always turns on the trigger switch 30, so that the coupling agent is continuously discharged. Only after the detection is completed, that is, when the linear push rod motor 8 drives the guide profile 21, the detection wedge 16 and the phased array detection probe 17 to completely leave the structure to be detected, the inner support main shaft 28 leaves the trigger switch 30, and at this time the peristaltic pump 2 is turned off.

[0032] In the appendix Figure 1 - appendix Figure 9 On the basis of this, referring to appendix Figure 10 , a working method of a weld seam scanning device of a hydropower station inspection robot, including: Step a, the preparation work of the robot: Pour the coupling agent into the coupling agent capacity box 3, power on the ultrasonic phased array instrument 6, the trigger switch 30, the photoelectric sensor 29 and the linear push rod motor 8, place the wall-climbing robot 1 on the structure to be detected, and control the wall-climbing robot 1 to walk to reach the designated position; Step b, the single-point positioning work of the robot: The linear push rod motor 8 drives the guide profile 21 to approach the structure to be detected. At this time, the detection wedge 16 first adheres to the surface of the structure to be detected. Then the linear push rod motor 8 continues to drive the guide profile 21 to approach the structure to be detected. The crank follower rod 18 rotates under the pressing force, and at the same time the wall-climbing robot 1 moves. When the crank follower rod 18 rotates downward, the wall-climbing robot 1 also moves downward. When the crank follower rod 18 moves upward, the wall-climbing robot 1 also moves upward. The purpose is to ensure that the detection wedge 16 remains stationary while the crank follower rod 18 rotates, and the detection wedge 16 stops at the designated position to achieve the purpose of positioning the area to be detected; Step c, dot coating of the coupling agent: On the basis of step b, the linear push rod motor 8 continues to drive the guide rail profile 21 closer to the structure to be detected. The crank follower rod 18 continues to rotate under the pressing force until the inner support main shaft 28 presses the trigger switch 30, causing the peristaltic pump 2 to be powered on and work. The coupling agent is extruded from the coupling agent spraying hole 26 after passing through the coupling agent capacity tank 3 and the peristaltic pump 2, so that the coupling agent is squeezed and coated between the detection wedge 16 and the surface of the structure to be detected, reaching the dot coating area shown in the upper half of Figure 10 ; Step d, surface coating of the coupling agent: On the basis of step c, the linear push rod motor 8 continues to drive the guide rail profile 21 closer to the structure to be detected. The crank follower rod 18 continues to rotate under the pressing force. During this process, the wall-climbing robot 1 does not perform the up-and-down cyclic movement in step b, but: when the crank follower rod 18 rotates, it will also indirectly push the detection wedge 16 to move up and down; when the inner support main shaft 28 rotates, it will also push the inner rotating shaft 31 to rotate. The inner rotating shaft 31 drives the input end of the ball screw 27 to rotate through the gear set. The input end of the ball screw 27 moves horizontally to drive the profile slider 20 to move unidirectionally. The inner support main shaft 28 continues to push the inner rotating shaft 31 to rotate until the photoelectric sensing end of the photoelectric sensor 29 detects the light source end and sends the information to the external control device. At this time, the linear push rod motor 8 drives the guide rail profile 21 away from the structure to be detected, that is, the inner support main shaft 28 and the inner rotating shaft 31 rotate back in the reverse direction, and the detection wedge 16 moves in the reverse direction, so that the detection wedge 16 can move bidirectionally left and right. Under the intersection of the up-and-down movement and the left-and-right movement of the detection wedge 16, the detection wedge 16 moves in a wavy left-and-right cycle, turning the dot coating of the coupling agent into a surface coating, reaching the surface coating area shown in the middle half of Figure 10 ; At the same time, the wall-climbing robot 1 moves up and down accordingly. The up-and-down movement of the wall-climbing robot 1 at this time is not the up-and-down movement in step b, but: when the area to be detected is below the wall-climbing robot 1, the wall-climbing robot 1 always moves downwards; when the area to be detected is above the wall-climbing robot 1, the wall-climbing robot 1 always moves upwards, thereby driving the detection wedge 16 to move up and down, that is, while the wall-climbing robot 1 continues to move upwards or downwards, the detection wedge 16 moves in a wavy left-and-right cycle, turning the surface coating of the coupling agent into a wider surface coating, reaching the surface coating area shown in the lower half of Figure 10 ; Step e, weld seam scanning: While performing steps c and d, the phased array detection probe 17 performs ultrasonic detection on the weld seam of the structure to be detected and sends the data to the external control device; Step f, ending work: The linear push rod motor 8 drives the guide rail profile 21 to move completely away from the structure to be detected, so that the detection wedge 16 completely leaves the weld surface of the structure to be detected, and the peristaltic pump 2 stops working.

[0033] It should be noted that in the description of the present invention, the terms indicating directions or positional relationships such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the Figure 4 directions or positional relationships shown in the drawings. This is only for convenience of description, rather than indicating or implying that the device or element must have a specific orientation, be constructed and operated in a specific orientation, so it cannot be understood as a limitation to the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0034] In addition, it should also be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0035] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of the present invention.

Claims

1. A weld inspection device for a hydropower station inspection robot, characterized in that, It includes a wall-climbing robot (1) and a phased array detection probe (17). A peristaltic pump (2), a coupling agent capacity tank (3), an ultrasonic phased array instrument (6) and a connecting sheet metal (7) are fixed on the wall-climbing robot (1). The other end of the connecting sheet metal (7) is fixed with a linear push rod motor (8). The output end of the linear push rod motor (8) is perpendicular to the bottom of the wall-climbing robot (1). The output end of the linear push rod motor (8) is fixed with a guide rail profile (21). Two profile sliding seats (20) are slidably connected to the guide rail profile (21). A phased array probe scanning support frame is rotated at the other end of the profile sliding seat (20). The other end of the phased array probe scanning support frame is fixed with a detection wedge block (16). A coupling agent spraying hole (26) is arranged in the detection wedge block (16). A phased array detection probe (17) is fixed in the detection wedge block (16). The input end of the ultrasonic phased array instrument (6) is electrically connected to the phased array detection probe (17). The liquid inlet end of the peristaltic pump (2) is connected into the coupling agent capacity tank (3), and the liquid outlet end of the peristaltic pump (2) is connected into the coupling agent spraying hole (26).

2. The weld seam scanning device of a hydropower station inspection robot according to claim 1, characterized in that Linear guide rail slider groups (23) are fixed at both ends of the connecting sheet metal (7). A guide rail profile connecting plate (22) is slidably penetrated through the linear guide rail slider groups (23). The guide rail profile connecting plate (22) is parallel to the output end of the linear push rod motor (8). The guide rail profile connecting plate (22) includes upper and lower parts. The upper part of the guide rail profile connecting plate (22) is vertically movably inserted into the lower part and is fixedly connected by screws. The lower end of the guide rail profile connecting plate (22) is fixed at the end of the guide rail profile (21).

3. The weld seam scanning device of a hydropower station inspection robot according to claim 1, characterized in that, The phased array probe scanning support frame includes a swinging rod (11), a hand-tightening lock screw (14), a wedge block connecting clamp (13), a knurled screw (15), a crank follower rod (18) and a first torsion spring (19). One end of the crank follower rod (18) is rotatably connected to the end of the profile sliding seat (20). A first torsion spring (19) is fixed between the crank follower rod (18) and the profile sliding seat (20). The other end of the crank follower rod (18) is rotatably connected to the middle of the swinging rod (11). Wedge block connecting clamps (13) are movably sleeved at both ends of the swinging rod (11). A hand-tightening lock screw (14) is threadedly penetrated through the wedge block connecting clamp (13). The end of the hand-tightening lock screw (14) abuts against the swinging rod (11). A knurled screw (15) is threadedly penetrated through the other end of the wedge block connecting clamp (13). Two knurled screws (15) are threadedly penetrated through the detection wedge block (16).

4. The weld seam scanning device of a hydropower station inspection robot according to claim 3, characterized in that, A return position maintaining plate (12) is fixed between the ends of the two swinging rods (11).

5. The weld seam scanning device of a hydropower station inspection robot according to claim 4, characterized in that, An inner support main shaft (28) is fixed to the end of the crank follower rod (18). The crank follower rod (18) is rotatably connected to the profile slide (20) through the inner support main shaft (28). A trigger switch (30) is fixed inside the profile slide (20). The trigger switch (30) is located within the rotation stroke of the inner support main shaft (28). The trigger switch (30) is electrically connected to the peristaltic pump (2). An inner rotating shaft (31) is rotatably connected inside the profile slide (20). The inner rotating shaft (31) is located within the rotation stroke of the inner support main shaft (28). The trigger switch (30) is located between the inner rotating shaft (31) and the inner support main shaft (28). The light source end and the photoinductive end of the photoelectric sensor (29) are respectively fixed to the side surface of the inner support main shaft (28) and the return retaining plate (12). The light source end of the photoelectric sensor (29) is located between the inner support main shaft (28) and the trigger switch (30). A sensor sensing hole (33) is provided on the side surface of the profile slide (20). The photoinductive end of the photoelectric sensor (29) senses the light source end through the sensor sensing hole (33). A ball screw (27) is fixed inside the guide rail profile (21). The profile slide (20) is rotatably sleeved outside the input end of the ball screw (27). A gear set is installed between the inner rotating shaft (31) and the input end of the ball screw (27). The inner rotating shaft (31) drives the input end of the ball screw (27) to rotate through the gear set.

6. The weld seam scanning device of a hydropower station inspection robot according to claim 5, characterized in that, The gear set includes a first gear (32), a second gear (35), and a third gear (36). The first gear (32) is fixedly sleeved outside the inner rotating shaft (31). The first gear (32) is in tooth engagement with the second gear (35). The second gear (35) is rotatably connected inside the guide rail profile (21) through a rotating shaft. The second gear (35) is in tooth engagement with the third gear (36). The third gear (36) is fixedly sleeved outside the input end of the ball screw (27).

7. The weld seam scanning device of a hydropower station inspection robot according to claim 6, characterized in that, A second torsion spring (34) is fixed between the first gear (32) and the profile slide (20).

8. The weld seam scanning device of a hydropower station inspection robot according to claim 1, characterized in that, There are two coupling agent spraying holes (26) in each detection wedge block (16), arranged vertically.

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