A weld scanning device for a hydropower station inspection robot and its working method

Abstract

The present invention relates to the technical field of weld detection equipment, and specifically to a weld scanning device of a hydropower station inspection robot and a working method thereof, which solves the problem that a wall-climbing robot is inconvenient to carry ultrasonic weld detection equipment for multi-step intelligent operation. The device comprises a wall-climbing robot and a phased array detection probe. A peristaltic pump, a coupling agent capacity box, an ultrasonic phased array instrument and a connecting sheet metal are fixed on the wall-climbing robot. A linear push rod motor is fixed to the other end of the connecting sheet metal. The output end of the linear push rod motor is perpendicular to the bottom of the wall-climbing robot. A guide rail profile is fixed to the output end of the linear push rod motor. Two profile slides are slidably connected to the guide rail profile. The present invention can independently complete tasks such as carrying the equipment, adapting the area to be inspected, applying the coupling agent, and ultrasonic detection, making the device particularly suitable for ultrasonic detection equipment, with strong adaptability, high degree of automation, and multi-step intelligent operation.

Description

Technical Field

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

[0002] Steel structures are an important part of hydropower stations. The quality of welds is directly related to the overall strength and stability of the hydropower station structure. Therefore, it is necessary to regularly detect defects in welds, ensure that welding quality meets standards, and evaluate weld performance to ensure the safety of the overall structure.

[0003] There are many methods to choose from when inspecting welds, such as X-ray inspection, ultrasonic inspection, magnetic particle inspection, etc. The most commonly used inspection method is ultrasonic inspection. When conducting ultrasonic inspection, it is necessary to first apply coupling agent between the ultrasonic inspection equipment and the weld to fill the gap between the inspection equipment and the weld. Then, the ultrasonic inspection equipment is turned on to inspect the weld. After the inspection is completed, the ultrasonic inspection equipment is removed.

[0004] However, existing weld detection devices have some defects, such as:

[0005] First, the testing equipment cannot operate autonomously and continuously. Manual steps such as determining the testing area, applying the coupling agent, and carrying the testing equipment are required, resulting in a low level of automation and intelligence.

[0006] Secondly, after checking, it was found that there is a patent application document in the prior art with publication number CN111762271A and invention name "A wall-climbing ship weld inspection robot". The wall-climbing robot can carry the weld inspection robot for movement, and after reaching the designated area, the weld inspection robot can inspect the weld. However, the wall-climbing robot has some defects, namely, the weld inspection robot is far away from the weld, and it is suitable for X-ray detection equipment. However, since the detection end of the ultrasonic weld detection equipment needs to be tightly attached to the weld, the wall-climbing robot cannot press the detection end of the weld detection equipment on the weld, resulting in the wall-climbing robot being unsuitable for ultrasonic weld detection equipment.

[0007] Therefore, the present invention provides a weld scanning device for a hydropower station inspection robot and a working method thereof to solve the above-mentioned problems. Summary of the Invention

[0008] In view of the above situation, in order to overcome the defects of the existing technology, the present invention provides a weld scanning device and a working method of a hydropower station inspection robot to solve the problem that the above-mentioned wall-climbing robot is not convenient to carry ultrasonic weld detection equipment to perform multi-step intelligent operations.

[0009] In order to achieve the above object, the technical solution adopted by the present invention is:

[0010] A weld scanning device for a hydropower station inspection robot, comprising a wall-climbing robot and a phased array inspection probe;

[0011] A peristaltic pump, a coupling agent capacity box, an ultrasonic phased array instrument and a connecting sheet metal are fixed on the wall-climbing robot. A linear push rod motor is fixed to the other end of the connecting sheet metal. The output end of the linear push rod motor is perpendicular to the bottom of the wall-climbing robot. A guide rail profile is fixed to the output end of the linear push rod motor. Two profile slides are slidably connected to the guide rail profile. A phased array probe scanning support frame is rotated at the other end of the profile slide. A detection wedge is fixed to the other end of the phased array probe scanning support frame. A coupling agent spraying hole is provided in the detection wedge. A phased array detection probe is fixed in the detection wedge. 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 to the coupling agent capacity box, and the liquid outlet end of the peristaltic pump is connected to the coupling agent spraying hole.

[0012] The above technical solution allows the wall-climbing robot to carry a peristaltic pump, a couplant container, an ultrasonic phased array instrument, and a phased array detection probe and detection wedge connected to the sheet metal while moving. It does not require manual carrying, making it easy to use.

[0013] The peristaltic pump is used to inject the coupling agent in the coupling agent capacity box into the coupling agent spray hole and spray it out from the coupling agent spray 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 coupling agent spraying;

[0014] The linear push rod motor drives the guide rail profile to move closer to or away from the bottom of the wall-climbing robot, that is, controls the guide rail profile to move closer to or away from the surface of the structure to be inspected, making this device suitable for ultrasonic weld inspection equipment. When the phased array inspection probe and the inspection wedge are attached to the structure to be inspected, the phased array probe can be rotated to scan the support frame to make the inspection wedge fit the surface of the structure to be inspected, thereby ensuring the accuracy of the ultrasonic inspection data.

[0015] Preferably, both ends of the connecting sheet metal are fixed with linear guide slider groups, a guide profile connecting plate slides through the linear guide slider group, the guide profile connecting plate is parallel to the output end of the linear push rod motor, the guide profile connecting plate includes an upper and lower part, the upper part of the guide profile connecting plate is movably inserted into the lower part and is fixedly connected by screws, and the lower end of the guide profile connecting plate is fixed to the end of the guide profile;

[0016] Through the above technical solution, the linear guide slider group and the guide profile connecting plate are used to assist in supporting the guide profile, ensuring the stability of the guide profile during movement, and the length of the guide profile connecting plate can be adjusted.

[0017] Preferably, the phased array probe scanning support frame includes a swing arm, a hand-tightening locking screw, a wedge connecting 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, 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 end of the swing arm, both ends of the swing arm are movably sleeved with a wedge connecting clamp, the internal thread of the wedge connecting clamp is passed through a hand-tightening locking screw, the end of the hand-tightening locking screw contacts the swing arm, the other end of the wedge connecting clamp is threaded through a knurled screw, and two knurled screws are threaded through the detection wedge;

[0018] Through the above technical solution, the first torsion spring pushes the crank follower rod, so that the crank follower rod tends to approach the structure to be detected, and the crank follower rod drives the swing rod, the wedge connecting clamp and the detection wedge to rotate, so that the detection wedge is pressed on the structure to be detected, ensuring that the detection wedge is tightly fitted with the mechanism to be detected, and the swing rod can rotate relative to the crank follower rod. When the mechanism to be detected is not vertical or horizontal, that is, when the mechanism to be detected has a certain inclination slope, the detection wedge can still be tightly fitted with the mechanism to be detected, and when the hand-tightening locking screw is turned, the wedge connecting clamp can be loosened relative to the swing rod to adjust the position of the wedge connecting clamp, and then adjust the position of the detection wedge and the phased array detection probe.

[0019] Preferably, a return retaining plate is fixed between the ends of the two swinging rods;

[0020] By means of the above technical solution, the movement and rotation of the two swinging rods are kept synchronous, that is, the movement and rotation of the two detection wedges and the two phased array detection probes are kept synchronous.

[0021] Preferably, the end of the crank follower rod is fixed with an inner supporting spindle, and the crank follower rod is rotatably connected to the profile slide through the inner supporting spindle, and a trigger switch is fixed in the profile slide, and the trigger switch is located within the rotation range of the inner supporting spindle, and the trigger switch is electrically connected to the peristaltic pump, and the profile slide is rotatably connected with an inner rotating shaft, and the inner rotating shaft is located within the rotation range of the inner supporting spindle, and the trigger switch is located between the inner rotating shaft and the inner supporting spindle, and the side surface of the inner supporting spindle and the return holding plate are respectively fixed with a light source end and a photoelectric sensing end of the photoelectric sensor, the light source end of the photoelectric sensor is located between the inner supporting spindle and the trigger switch, and a sensor sensing hole is provided on the side surface of the profile slide, and the photoelectric sensing end of the photoelectric sensor senses the light source end through the sensor sensing hole;

[0022] A ball screw is fixed in the guide rail 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;

[0023] When the gear train is turned on and the drive shaft is turned off, the gear train is turned on and the drive shaft turns on, and the gear train is turned on and the drive shaft turns on, and the gear train is turned on and the drive shaft turns, and the gear train is turned on and the drive shaft turns, and the gear train is turned on and the drive shaft turns, and the gear train is turned on and the drive shaft turns, and the gear train is turned on and the drive shaft turns, and the gear train is turned on and the drive shaft turns, and the gear train is turned on and the drive shaft turns.

[0024] 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 is meshed with the second gear teeth, the second gear is rotatably connected to the guide rail profile via a rotating shaft, the second gear is meshed with the third gear teeth, and the third gear is fixedly sleeved outside the input end of the ball screw;

[0025] 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.

[0026] Preferably, a second torsion spring is fixed between the first gear and the profile slide;

[0027] Through the above technical solution, the second torsion spring can actively drive the first gear to rotate in the opposite direction and return to its original position, thereby driving the input end of the ball screw to move back to its original position, and then driving the profile slide to move in the opposite direction and return to its original position.

[0028] Preferably, each detection wedge has two coupling agent spraying holes arranged one above the other;

[0029] Through the above technical solution, when the detection wedge moves upward, the lower coupling agent spray hole can spray coupling agent toward the center of the detection wedge, and the upper coupling agent spray hole can spray coupling agent toward the top of the detection wedge. When the detection wedge moves downward, the upper coupling agent spray hole can spray coupling agent toward the center of the detection wedge, and the lower coupling agent spray hole can spray coupling agent toward the bottom of the detection wedge, thereby ensuring that the surface and surrounding area of ​​the detection wedge are completely coated with coupling agent, avoiding uncoated areas.

[0030] A working method of a weld scanning device of a hydropower station inspection robot, comprising:

[0031] Step a: Robot preparation: Pour coupling agent into the coupling agent container, power on the ultrasonic phased array instrument, trigger switch, photoelectric sensor, and linear actuator motor, place the wall-climbing robot on the structure to be inspected, and control the wall-climbing robot to move to the designated location.

[0032] Step b, single-point positioning of the robot: the linear actuator motor drives the guide rail profile close to the structure to be inspected. At this time, the detection wedge is first attached to the surface of the structure to be inspected. Then the linear actuator motor continues to drive the guide rail profile close to the structure to be inspected. The crank follower rod rotates under the pressure, and the wall-climbing robot moves accordingly, so that the crank follower rod rotates while ensuring that the detection wedge remains stationary;

[0033] Step c, spot coating of coupling agent: Based on step b, the linear actuator motor continues to drive the guide rail profile closer to the structure to be inspected, and the crank follower rod continues to rotate under the pressure until the inner support spindle presses the trigger switch, energizing the peristaltic pump. The coupling agent passes through the coupling agent capacity box and the peristaltic pump and is squeezed out of the coupling agent spray hole, so that the coupling agent is squeezed and coated between the detection wedge and the surface of the structure to be inspected;

[0034] Step d, surface coating of 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, and the crank follower rod continues to rotate under the pressing force until the inner support spindle drives the inner rotating shaft to rotate, and 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 laterally while rotating to drive the profile slide to move unidirectionally, and the inner support spindle continues to drive 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 spindle and the inner rotating shaft rotate back in opposite directions, and the detection wedge moves in the opposite direction, thereby enabling the detection wedge to move in both directions left and right. At the same time, the wall-climbing robot moves up and down, thereby driving the detection wedge to move up and down, so that the point coating of the coupling agent is changed to surface coating;

[0035] Step e, weld scanning: During steps c and d, the phased array detection probe performs ultrasonic detection on the weld of the structure to be inspected, and transmits the data to an external control device;

[0036] Step f, ending work: the linear push rod motor drives the guide rail profile to completely move away from the structure to be inspected, the inspection wedge completely leaves the weld surface of the structure to be inspected, and the peristaltic pump stops working.

[0037] The beneficial effects of the present invention are:

[0038] 1. The wall-climbing robot can carry a peristaltic pump, a couplant tank, an ultrasonic phased array instrument, and a phased array detection probe and detection wedge connected to the sheet metal to move on the structure to be inspected. It does not require manual carrying and is easy to use.

[0039] 2. The peristaltic pump is used to inject the coupling agent in the coupling agent capacity box into the coupling agent spray hole and spray it out from the coupling agent spray hole, so that the coupling agent is injected into the gap between the detection wedge and the structure to be detected. This automates the coupling agent spraying, making this device more suitable for ultrasonic detection.

[0040] 3. The linear actuator motor drives the guide rail profile toward or away from the bottom of the wall-climbing robot, that is, controls the guide rail profile toward or away from the surface of the inspection area of ​​the structure to be inspected, making this device more suitable for ultrasonic weld inspection equipment. When the phased array inspection probe and inspection wedge are attached to the structure to be inspected, the phased array probe scanning support frame can be rotated and pressed to press the inspection wedge tightly against the surface of the structure to be inspected, thereby ensuring the accuracy of the ultrasonic inspection data.

[0041] 4. The horizontal and vertical positions of the detection wedge and phased array detection probe can be adjusted to ensure that the detection wedge can be evenly coated with coupling agent. The angle of the detection wedge and phased array detection probe can also be adjusted. When the structure to be inspected has a certain tilt angle, the detection wedge and phased array detection probe can still be attached to the surface of the structure to be inspected, achieving a higher degree of adaptability.

[0042] 5. When the phased array probe is rotated to scan the support frame, the trigger switch can be turned on, the inner rotating shaft is driven to rotate, the photoelectric sensor is sensed, and the inner rotating shaft rotates in the opposite direction. This can control the peristaltic pump, the spot coating of the coupling agent, the surface coating of the coupling agent, and other actions in sequence, with a high degree of automation.

[0043] In summary, the device can independently complete tasks such as carrying the equipment, adapting the area to be tested, applying the coupling agent, and ultrasonic testing, making the device particularly suitable for ultrasonic testing equipment, with strong adaptability, high degree of automation, and multi-step intelligent operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a first perspective stereoscopic schematic diagram of the present invention.

[0045] Figure 2 This is a schematic three-dimensional diagram from a second viewing angle of the present invention.

[0046] Figure 3 for Figure 2 A partial enlarged schematic diagram of part A.

[0047] Figure 4 It is a structural stereoscopic diagram of the connecting sheet metal and parts on the connecting sheet metal in the present invention.

[0048] Figure 5 This is a structural front view of the connecting sheet metal and parts on the connecting sheet metal in the present invention.

[0049] Figure 6 for Figure 5 Schematic diagram of the cross-sectional structure at BB.

[0050] Figure 7 for Figure 6 A partial enlarged schematic diagram of part C.

[0051] Figure 8 for Figure 5 Schematic diagram of the cross-sectional structure at DD.

[0052] Figure 9 for Figure 8 A partial enlarged schematic diagram of part E.

[0053] Figure 10 Schematic diagram of the coupling agent coating area in the present invention.

[0054] Figure: 1. Wall-climbing robot; 2. Peristaltic pump; 3. Couplant container; 4. Camera bracket; 5. Fisheye camera; 6. Ultrasonic phased array instrument; 7. Connecting sheet metal; 8. Linear actuator motor; 9. Motor profile connecting plate; 10. Ball bearing; 11. Swing rod; 12. Return retaining plate; 13. Wedge connection fixture; 14. Thumb-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 slider assembly; 24. Limiting bar; 25. Arc hole; 26. Coupling agent spray hole; 27. Ball screw; 28. Inner support spindle; 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 DESCRIPTION

[0055] The following will refer to the attached Figures 1 to 10 The embodiments of the present invention are described in detail. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0056] As attached Figure 1 -Attached Figure 9 As shown, a weld scanning device for a hydropower station inspection robot includes a wall-climbing robot 1 and a phased array inspection probe 17;

[0057] See attached Figure 1 and attached Figure 2 A camera bracket 4 is fixed on the wall-climbing robot 1, and a fisheye camera 5 is fixed on the other end of the camera bracket 4. The output end of the fisheye camera 5 is electrically connected to an external control device for photographing the weld surface. A peristaltic pump 2, a coupling agent capacity box 3, an ultrasonic phased array instrument 6 and a connecting sheet metal 7 are fixed on the wall-climbing robot 1. The output end of the ultrasonic phased array instrument 6 is electrically connected to the external control device;

[0058] See attached Figure 1 , Attachment Figure 2 and attached Figure 4 , a linear push rod motor 8 is fixed to the other end of the connecting sheet metal 7, and the input end of the linear push rod motor 8 is electrically connected to the 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. The output end of the linear push rod motor 8 is fixed with a motor profile connecting plate 9, and 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 a linear guide slider group 23, and the linear guide slider group 23 slides through a guide profile connecting plate 22. The guide profile connecting plate 22 is parallel to the output end of the linear push rod motor 8, and the guide profile connecting plate 22 includes an upper and lower part. The upper part of the guide profile connecting plate 22 is movable up and down and inserted into the lower part and is fixedly connected by screws. The length of the guide profile connecting plate 22 is adjustable, and the lower end of the guide profile connecting plate 22 is fixed to the end of the guide profile 21;

[0059] See attached Figure 1 , Attachment Figure 2 and attached Figure 4Two profile slides 20 are connected to the guide rail profile 21 in a transverse sliding manner. The two profile slides 20 move simultaneously and in the same direction. The other end of the profile slide 20 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 16. Two coupling agent spraying holes 26 arranged vertically are provided in the detection wedge 16. The liquid inlet end of the peristaltic pump 2 is connected to the coupling agent capacity box 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 wedges 16. A phased array detection probe 17 is fixed in the detection wedge 16, and the input end of the ultrasonic phased array instrument 6 is electrically connected to the phased array detection probe 17.

[0060] In this embodiment, see the attached Figure 3 and attached Figure 4 The phased array probe scanning support frame includes a swing 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. 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 swing 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 swing rod 11, and a limiting bar 24 is fixed on the side of the swing rod 11. An arc hole 25 is provided at the end of the crank follower rod 18. The center of the arc hole 25 is aligned with the center of the arc hole 25. The rotation centers of the swinging rod 11 are on the same straight line, so that the limiting bar 24 can be movably inserted into the arc-shaped hole 25. Both ends of the swinging rod 11 are movably sleeved with a wedge connecting fixture 13. The internal thread of the wedge connecting fixture 13 passes through a hand-tightening locking screw 14. The end of the hand-tightening locking screw 14 contacts the swinging rod 11. When the hand-tightening locking screw 14 is loosened, the wedge connecting fixture 13 can move freely, thereby adjusting the initial positions of the wedge connecting fixture 13, the detection wedge 16 and the phased array detection probe 17. The other end of the wedge connecting fixture 13 is threaded through a knurled screw 15. The two knurled screws 15 are threaded through the detection wedge 16, and the detection wedge 16 is fixed by the knurled screws 15.

[0061] In addition, see the attached Figure 4 and attached Figure 6 A return retaining plate 12 is fixed between the ends of the two swinging rods 11. The specific fixing method is: the end of the swinging rod 11 is also threaded through a knurled screw 15, and the return retaining plate 12 is clamped between the end of the swinging rod 11 and the knurled screw 15.

[0062] In this embodiment, see the attached Figure 4 -Attached Figure 9The end of the crank follower rod 18 is fixed with an inner supporting spindle 28, and the crank follower rod 18 is rotatably connected to the profile slide 20 through the inner supporting spindle 28. In order to reduce the pressure, a trigger switch 30 is fixed in the profile slide 20, and the trigger switch 30 is located within the rotation stroke of the inner supporting spindle 28. The trigger switch 30 is electrically connected to the peristaltic pump 2, and the profile slide 20 is rotatably connected with an inner rotating shaft 31. The inner rotating shaft 31 is located within the rotation stroke of the inner supporting spindle 28, and the trigger switch 30 is located between the inner rotating shaft 31 and the inner supporting spindle 28. The light source end and the photoelectric sensing end of the photoelectric sensor 29 are respectively fixed on the side surface of the inner supporting spindle 28 and the return holding plate 12. The light source end of the photoelectric sensor 29 is located between the inner supporting spindle 28 and the trigger switch 30. A sensor sensing hole 33 is provided on the side surface of the profile slide 20, and the photoelectric sensing end of the photoelectric sensor 29 senses the light source end through the sensor sensing hole 33;

[0063] A ball screw 27 is fixed inside the guide rail profile 21, and 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.

[0064] The gear set includes a first gear 32, a second gear 35, and a third gear 36. The first gear 32 is fixedly sleeved on the outer surface of the inner rotating shaft 31. A second torsion spring 34 is fixed between the first gear 32 and the profile slide 20. The teeth of the first gear 32 and the second gear 35 are meshed. The second gear 35 is rotatably connected to the guide rail profile 21 via a rotating shaft. The second gear 35 and the third gear 36 are meshed between their teeth. The third gear 36 is fixedly sleeved on the outer surface of the input end of the ball screw 27.

[0065] The working mode of the gear set is as follows: the inner rotating shaft 31 drives the first gear 32 to rotate in the forward direction, the first gear 32 drives the second gear 35 to rotate through the meshing between the teeth, the second gear 35 drives the third gear 36 to rotate through the meshing between the teeth, and 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 supporting main shaft 28, the second torsion spring 34 pushes the inner rotating shaft 31 to rotate back in the opposite direction, the inner rotating shaft 31 drives the first gear 32 to rotate in the opposite direction, the first gear 32 drives the second gear 35 to rotate in the opposite direction through the meshing between the teeth, the second gear 35 drives the third gear 36 to rotate in the opposite direction through the meshing between the teeth, and the third gear 36 drives the input end of the ball screw 27 to rotate in the opposite direction.

[0066] See attached Figure 4 -Attached Figure 9, the working mode of the parts of the crank follower rod 18 when it rotates in the forward direction is as follows: the crank follower rod 18 drives the inner support spindle 28 to rotate, the inner support spindle 28 first presses the trigger switch 30, the peristaltic pump 2 starts to work and starts to pump out the coupling agent, and then the inner support spindle 28 drives the inner rotating shaft 31 to rotate, and the inner rotating shaft 31 drives the input end of the ball screw 27 to rotate through the gear set, and the input end of the ball screw 27 will also move forward during rotation, thereby driving the profile slide 20 to move forward, and the profile slide 20 drives the detection wedge 16 and the phased array detection probe 17 to move forward by driving the phased array probe scanning support frame to move forward. In this process, the coupling agent is continuously pumped out, and then the inner support spindle 28 continues to drive 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 in the opposite direction;

[0067] The crank follower rod 18 works as follows when rotating in the reverse direction: the crank follower rod 18 leaves the inner support spindle 28, and the inner rotating shaft 31 loses the thrust of the inner support spindle 28. At this time, the second torsion spring 34 pushes the inner support spindle 28 back in the reverse direction. The inner support spindle 28 drives the input end of the ball screw 27 to rotate in the reverse direction through the gear set. The input end of the ball screw 27 also moves in the reverse direction during rotation, thereby driving the profile slide 20 to move in the reverse direction. The profile slide 20 drives the detection wedge 16 and the phased array detection probe 17 to move in the reverse direction by driving the phased array probe scanning support frame to move in the reverse direction.

[0068] In summary, the detection wedge 16 and the phased array detection probe 17 can move in a lateral circular motion;

[0069] It is also worth noting that during the lateral circular movement of the detection wedge 16 and the phased array detection probe 17, the inner support spindle 28 always opens the trigger switch 30, so that the coupling agent is continuously discharged. Only after the detection is completed, that is, the linear push rod motor 8 drives the guide rail profile 21, the detection wedge 16 and the phased array detection probe 17 to completely leave the structure to be inspected, the inner support spindle 28 leaves the trigger switch 30, and the peristaltic pump 2 is turned off at this time.

[0070] In the attached Figure 1 -Attached Figure 9 Based on the reference Figure 10 A working method of a weld scanning device of a hydropower station inspection robot includes:

[0071] Step a, robot preparation: Pour coupling agent into the coupling agent container 3, power on the ultrasonic phased array instrument 6, trigger switch 30, photoelectric sensor 29, and linear actuator motor 8, place the wall-climbing robot 1 on the structure to be inspected, and control the wall-climbing robot 1 to move to the designated location;

[0072] Step b, single-point positioning of the robot: the linear push rod motor 8 drives the guide rail profile 21 to approach the structure to be detected. At this time, the detection wedge 16 is first attached to the surface of the structure to be detected. Then the linear push rod motor 8 continues to drive the guide rail profile 21 to approach the structure to be detected. The crank follower rod 18 is rotated by the pressing force, and the wall-climbing robot 1 moves at the same time. 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 specified position, thereby achieving the purpose of positioning the area to be detected;

[0073] Step c, spot coating of coupling agent: Based on step b, the linear push rod motor 8 continues to drive the guide rail profile 21 to approach the structure to be detected, and the crank follower rod 18 continues to rotate under the pressing force until the inner support spindle 28 presses the trigger switch 30, so that the peristaltic pump 2 is powered on. The coupling agent passes through the coupling agent capacity box 3 and the peristaltic pump 2 and is squeezed out from the coupling agent spray hole 26, so that the coupling agent is squeezed and coated between the detection wedge 16 and the surface of the structure to be detected, achieving the coupling agent. Figure 10 The dot coating area is shown in the upper half;

[0074] Step d, surface coating of coupling agent: Based on step c, the linear actuator motor 8 continues to drive the guide rail profile 21 closer to the structure to be inspected, and the crank follower rod 18 continues to rotate under the pressure. During this process, the wall-climbing robot 1 does not perform the up and down cyclic movement in step b. Instead, the crank follower rod 18 indirectly pushes the inspection wedge 16 up and down while rotating.

[0075] When the inner support spindle 28 rotates, it also drives 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 laterally to drive the profile slide 20 to move in one direction. The inner support spindle 28 continues to drive 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 spindle 28 and the inner rotating shaft 31 rotate back in opposite directions, then the detection wedge 16 moves in the opposite direction, thereby enabling the detection wedge 16 to move in both directions 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 left and right in a corrugated shape, so that the point coating of the coupling agent is changed to surface coating, achieving the attachment Figure 10 The middle half of the surface coating area is shown;

[0076] 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 moves downward all the time, and when the area to be detected is above the wall-climbing robot 1, the wall-climbing robot 1 moves upward all the time, thereby driving the detection wedge 16 to move up and down, that is, while the wall-climbing robot 1 continues to move upward or downward, the detection wedge 16 moves left and right in a corrugated shape, so that the surface coating of the coupling agent becomes a wider surface coating, achieving the purpose of attachment. Figure 10 The lower half of the surface coating area shown;

[0077] Step e, weld scanning: while performing steps c and d, the phased array detection probe 17 performs ultrasonic detection on the weld of the structure to be inspected and sends the data to an external control device;

[0078] Step f, ending work: the linear push rod motor 8 drives the guide rail profile 21 to completely move away from the structure to be inspected, the inspection wedge 16 completely leaves the weld surface of the structure to be inspected, and the peristaltic pump 2 stops working.

[0079] It should be noted that in the description of the present invention, terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicating directions or positional relationships are based on the attached Figure 4 The directions or positional relationships shown are for ease of description only and are not intended to indicate or imply that a device or component must have, be constructed, or operate in a particular orientation. Therefore, they should not be construed as limitations of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0080] Furthermore, it should be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0081] So far, the technical solution of the present invention has been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or replacements to the relevant technical features, and the technical solutions after these changes or replacements will fall within the scope of protection of the present invention.

Claims

1. A weld scanning 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 box (3), an ultrasonic phased array instrument (6) and a connecting sheet metal (7) are fixed on the wall-climbing robot (1); a linear push rod motor (8) is fixed to the other end of the connecting sheet metal (7); the output end of the linear push rod motor (8) is perpendicular to the bottom of the wall-climbing robot (1); a guide rail profile (21) is fixed to the output end of the linear push rod motor (8); two profile slides (20) are slidably connected to the guide rail profile (21); the other end of the profile slide (20) A phased array probe scanning support frame is rotated, a detection wedge (16) is fixed at the other end of the phased array probe scanning support frame, a coupling agent spraying hole (26) is provided in the detection wedge (16), a phased array detection probe (17) is fixed in the detection wedge (16), an input end of the ultrasonic phased array instrument (6) is electrically connected to the phased array detection probe (17), a liquid inlet end of the peristaltic pump (2) is connected to the coupling agent capacity box (3), and a liquid outlet end of the peristaltic pump (2) is connected to the coupling agent spraying hole (26); The phased array probe scanning support frame includes a swing rod (11), a hand-tightening locking screw (14), a wedge block connection fixture (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), a first torsion spring (19) is fixed between the crank follower rod (18) and the profile slide (20), and the other end of the crank follower rod (18) is fixed to the end of the profile slide (20). Rotatably connected to the middle end of the swinging rod (11), both ends of the swinging rod (11) are movably sleeved with a wedge block connection fixture (13), the internal thread of the wedge block connection fixture (13) passes through a hand-tightening locking screw (14), the end of the hand-tightening locking screw (14) contacts the swinging rod (11), the other end of the wedge block connection fixture (13) is threaded through a knurled screw (15), and the two knurled screws (15) are threaded through the detection wedge (16); An inner support spindle (28) is fixed to the end of the crank follower rod (18), and the crank follower rod (18) is rotatably connected to the profile slide (20) through the inner support spindle (28). A trigger switch (30) is fixed in the profile slide (20), and the trigger switch (30) is located within the rotation range of the inner support spindle (28). The trigger switch (30) is electrically connected to the peristaltic pump (2). An inner rotating shaft (31) is rotatably connected in the profile slide (20), and the inner rotating shaft (31) is located within the rotation range of the inner support spindle (28). The trigger switch (30) is located between the inner rotating shaft (31) and the inner supporting main shaft (28), and the light source end and the photoelectric sensing end of the photoelectric sensor (29) are fixed on the side surface of the inner supporting main shaft (28) and the return holding plate (12), respectively. The light source end of the photoelectric sensor (29) is located between the inner supporting main shaft (28) and the trigger switch (30), and a sensor sensing hole (33) is provided on the side surface of the profile slide (20), and the photoelectric sensing 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), and the inner rotating shaft (31) drives the input end of the ball screw (27) to rotate through the gear set.

2. The weld scanning device of a hydropower station inspection robot according to claim 1, characterized in that: Both ends of the connecting sheet metal (7) are fixed with linear guide rail slider groups (23), and a guide rail profile connecting plate (22) slides through the linear guide rail slider group (23), and 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 an upper and a lower part, and the upper part of the guide rail profile connecting plate (22) is movable up and down and inserted into the lower part and is fixedly connected by screws, and the lower end of the guide rail profile connecting plate (22) is fixed to the end of the guide rail profile (21).

3. The weld scanning device of a hydropower station inspection robot according to claim 1, characterized in that: A return retaining plate (12) is fixed between the ends of the two swinging rods (11).

4. The weld scanning device of a hydropower station inspection robot according to claim 1, characterized in that: The gear set includes a first gear (32), a second gear (35) and a third gear (36), wherein the first gear (32) is fixedly sleeved outside the inner rotating shaft (31), and the first gear (32) and the second gear (35) are meshed with each other, and the second gear (35) is rotatably connected to the guide rail profile (21) via a rotating shaft, and the second gear (35) and the third gear (36) are meshed with each other, and the third gear (36) is fixedly sleeved outside the input end of the ball screw (27).

5. The weld scanning device of a hydropower station inspection robot according to claim 4, characterized in that: A second torsion spring (34) is fixed between the first gear (32) and the profile slide (20).

6. The weld 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 (16) and they are arranged one above the other.

Images