Ultrasonic nondestructive testing robot with suspension type magnetic attraction structure

Abstract

The invention discloses an ultrasonic non-destructive testing robot containing a suspension type magnetic attraction structure, which comprises a robot body, a lower shell of the robot body is provided with a wheel body and a driving mechanism, the middle part of the lower shell of the robot body is provided with an ultrasonic probe, the lower shell of the robot body is also provided with a wheel type detection encoder, and the wheel type detection encoder is connected with the wheel type detection encoder. Suspension type magnetic attraction structures are arranged on the two sides of a lower shell of the robot body, each suspension type magnetic attraction structure comprises a magnetic attraction part and a suspension type magnetic attraction structure adjusting device connected with the magnetic attraction part, and each suspension type magnetic attraction structure adjusting device is used for adjusting the position of the corresponding magnetic attraction part so that a certain distance can exist between the corresponding magnetic attraction part and the working surface. A suspension type magnetic attraction structure is designed, so that a magnet is not in direct contact with equipment, the equipment to be tested cannot be damaged, and for the equipment to be tested with different diameters, a magnetic force adjusting system dynamically adjusts the distance between the magnet and a pipe wall by vertically moving the magnetic attraction structure, so that the adsorption force is changed in a stepless manner.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of ultrasonic nondestructive testing, and relates to an ultrasonic nondestructive testing robot containing a suspension type magnetic attraction structure. BACKGROUND

[0002] Periodic ultrasonic nondestructive testing of transformers, especially key areas such as riser seats, is a necessary means to ensure the safe and stable operation of equipment. Traditional ultrasonic testing methods usually rely on manual operation or fixed scanning equipment, which has many inconveniences. Manual detection requires technicians to carry equipment for point-by-point detection, which is low in efficiency, especially in high-position, narrow and complex areas such as the riser seat net side sleeve of an extra-high voltage transformer. These areas are usually located at the top or side of the transformer, and technicians need to use scaffolding or aerial work platforms to approach the detection points, which is complex to operate and has safety hazards such as slipping and falling, and the risk is significantly increased. In addition, the strong electromagnetic field and high voltage environment around the extra-high voltage transformer also exposes technicians to the risk of electric shock and electromagnetic radiation; although the fixed scanning equipment reduces the difficulty of manual operation to some extent, its flexibility and adaptability are poor, and it is difficult to meet the detection needs. The fixed equipment usually lacks self-adaptive adjustment capability and cannot dynamically adjust according to the actual surface shape, so there are often problems of insufficient fitting when detecting complex curved surfaces, resulting in the emergence of detection blind areas. At the same time, the installation and debugging process of the fixed equipment is complex and time-consuming, and it is difficult to meet the needs of rapid detection on site. Therefore, the traditional ultrasonic detection means has obvious limitations in dealing with the detection tasks of complex and high-position equipment such as transformer riser seats.

[0003] Although the existing ultrasonic detection wall-climbing robot solves the above problems to some extent, it still has some deficiencies. The traditional wall-climbing robot adopts a contact type magnetic attraction structure, which is easy to scratch or wear the surface of the equipment, and the attraction force is unstable, making it difficult to work reliably on smooth or inclined surfaces. Moreover, the traditional magnetic attraction wheel has strict limitations on the magnetic force size and wheel distance in the design, and cannot be flexibly adjusted in use, making it difficult to adapt to the detection needs of equipment with different diameters. In addition, it is difficult to balance the size of the robot and the magnetic attraction force, and small robots have insufficient magnetic attraction force to carry detection equipment, while large robots cannot adapt to the pipe diameter in narrow spaces such as transformer riser seats. The present application is therefore made. SUMMARY

[0004] The purpose of the present application is to provide an ultrasonic nondestructive testing robot containing a suspension type magnetic attraction structure, and to design a suspension type magnetic attraction structure so that the magnet does not directly contact the equipment and does not cause damage to the equipment to be tested. For equipment to be tested with different diameters, the magnetic force adjustment system adjusts the distance between the magnet and the pipe wall by moving the magnetic attraction structure vertically, thereby steplessly changing the attraction force.

[0005] The technical scheme for achieving the object of the present application is as follows: The ultrasonic nondestructive testing robot with a suspension type magnetic attraction structure comprises a robot body, a lower shell of the robot body is provided with a wheel body and a driving mechanism, a middle part of the lower shell of the robot body is provided with an ultrasonic probe, and the lower shell of the robot body is further provided with a wheel type detection encoder, an axis of the wheel type detection encoder is perpendicular to a direction in which the robot travels, an encoding wheel of the wheel type detection encoder is connected with an encoder body through a micro slide rail, the encoding wheel floats in a small range along a radial direction of a working surface, so that the encoding wheel is attached to the working surface, and both sides of the lower shell of the robot body are provided with the suspension type magnetic attraction structure.

[0006] In the preferred technical scheme, the wheel body comprises two driving wheels and two driven wheels, the two driving wheels and the two driven wheels are coaxially connected through transmission rods respectively, and synchronous transmission belts are arranged between the driving wheels and the driven wheels to transmit power.

[0007] In the preferred technical scheme, the driven wheels and the driving wheels both comprise a framework layer and a friction layer, the framework layer is used for structural support and rigidity maintenance of the wheel body, and the friction layer is coated on the periphery of the framework layer and is bonded through a lamination process, and the material is a silica gel-rubber composite material.

[0008] In the preferred technical scheme, the ultrasonic probe is clamped and fixed through a probe tooling, and is locked on the lower shell of the robot body by a probe pressure plate, the probe pressure plate is arranged in the interior of the robot body, and the probe tooling is provided with a positioning pin which cooperates with a positioning pin hole on the lower shell of the robot body.

[0009] In the preferred technical scheme, the ultrasonic probe is provided with a pressure rod adjusting device, the pressure rod adjusting device is used for adjusting contact pressure of the ultrasonic probe on the working surface, the pressure rod adjusting device comprises a pressure rod and an adjusting knob, the pressure rod vertically penetrates the robot body, a bottom end of the pressure rod is rigidly pressed with the probe tooling, and a top end of the pressure rod extends to the outside of an upper shell of the robot body and is connected with the adjusting knob.

[0010] In the preferred technical scheme, the suspension type magnetic attraction structure adjusting device comprises an adjusting rod and a knob, the adjusting rod vertically penetrates the robot body, a bottom end of the adjusting rod extends to the outside of the lower shell of the robot body and is rigidly connected with the magnetic attraction part, a top end of the adjusting rod penetrates the upper shell of the robot body and is connected with the external knob, and a locking structure is arranged on the adjusting rod.

[0011] In the preferred technical solution, the locking structure comprises a locking ring fixed to the robot body, the locking ring comprises at least one sleeve set on the adjusting rod, the adjusting rod is provided with threads, and the inner wall of the locking ring is provided with threads matched with the threads of the adjusting rod.

[0012] In the preferred technical solution, the locking structure comprises a locking ring fixed to the robot body, the locking ring comprises at least one sleeve set on the adjusting rod, the adjusting rod is provided with a clamping block at the locking ring, the adjusting rod is a hollow structure, the clamping block is arranged in the groove of the adjusting rod through a return spring, the clamping block is connected with a pressing block arranged on the knob through a connecting rod mechanism, and the extension and retraction of the clamping block are controlled through the pressing block.

[0013] In the preferred technical solution, the probe tool is also integrated with a coupled water circulation system, the water inlet and water outlet of the coupled water circulation system are connected with a water pump through a sealed pipeline to form a closed circulation loop, and the coupled water circulation system is used for providing a coupled water medium for the front end of the ultrasonic probe.

[0014] In the preferred technical solution, the probe tool surface is provided with anti-skid paper, and the anti-skid paper is arranged around the ultrasonic probe.

[0015] Compared with the prior art, the present application has the following advantages: 1. The innovative suspension type magnetic attraction structure design replaces the traditional contact type magnetic attraction wheel, the magnet does not directly contact the equipment, so that the equipment to be measured is not damaged, the miniaturization of the equipment is realized while ensuring sufficient adsorption force, the contradiction between insufficient magnetic attraction force and excessive volume in the traditional design is solved, and the detection requirements in high, narrow and complex limited spaces such as transformer risers are particularly suitable.

[0016] 2. Through the pressure-magnetic force double adjustment system, the contact pressure is dynamically adjusted by the probe pressure rod, the magnetic adsorption force is dynamically adjusted by the suspension type magnetic attraction structure, the distance between the magnet and the pipe wall is dynamically adjusted, so that the adsorption force is steplessly changed, the robot body is firmly adsorbed and flexible, and the balance between the best detection state of the probe and the stable adsorption of the robot body is maintained. The detection robot can adapt to the detection requirements of different pipe diameters of 800 mm-1500 mm, and the probe and the pipe wall can maintain the best contact state under different conditions, and the stable adsorption effect is maintained.

[0017] 3. The combination design of rubber-silicone composite wheel body material and anti-skid paper can increase the friction coefficient of the contact surface, effectively prevent the displacement of the probe during detection, ensure the accuracy of detection positioning, and avoid scratching the surface of the transformer riser pipe wall. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 Structure diagram of the ultrasonic nondestructive testing robot with the suspension type magnetic attraction structure; Figure 2 Structure diagram of the ultrasonic nondestructive testing robot from another perspective; Figure 3 Internal structure diagram of the ultrasonic nondestructive testing robot (without the suspension type magnetic attraction structure); Figure 4 System block diagram of the ultrasonic nondestructive testing robot; Figure 5 Detection diagram of the ultrasonic nondestructive testing robot; Figure 6 Internal structure diagram of the ultrasonic nondestructive testing robot of an embodiment; Figure 7 Internal structure diagram of the ultrasonic nondestructive testing robot of another embodiment; Figure 8 Working diagram of the locking structure in Figure 7 . DETAILED DESCRIPTION

[0019] The principle of the present application is that the innovative suspension type magnetic attraction structure design is used to replace the traditional contact type magnetic attraction wheel, the magnet does not directly contact the device, and therefore does not cause damage to the device under test. Through the pressure-magnetic force double adjustment system, the contact pressure is dynamically adjusted by the probe pressure rod, and at the same time the magnetic attraction force is dynamically adjusted by the suspension type magnetic attraction structure, the distance between the magnet and the pipe wall is dynamically adjusted, so that the attraction force is steplessly changed, and the body is firmly attached and flexible. The two are linked together to maintain the balance of the best detection state of the probe and the stable attachment of the body during detection.

[0020] Embodiment: As shown in Figure 1 , 2 , a kind of ultrasonic nondestructive testing robot with suspension type magnetic attraction structure, including robot body 100, the lower shell (bottom plate) 7 of robot body 100 is provided with wheel body and drive mechanism, the lower shell 7 of robot body 100 is provided with ultrasonic probe 4 in middle part, the lower shell 7 of robot body 100 is also provided with wheel type detection encoder 5, the axis of wheel type detection encoder 5 keeps vertical with the direction of robot travel, its encoding wheel is connected with encoder body by micro slide rail, the encoding wheel is radially floating in small range along pipe wall 22, to adapt to the change of different pipe diameters, make it and pipe wall 22 stable fit, the lower shell 7 of robot body 100 is provided with suspension type magnetic attraction structure 30 on both sides, suspension type magnetic attraction structure 30 includes magnetic attraction part 31 and suspension type magnetic attraction structure adjusting device 32 connected with magnetic attraction part 31, suspension type magnetic attraction structure adjusting device 32 is used to adjust the position of magnetic attraction part 31, so that magnetic attraction part 31 and working surface exist certain spacing.

[0021] In the ultrasonic phased array detection, the wheeled detection encoder 5 is a key auxiliary positioning device. Its core role is to record the movement distance of the probe in the scanning process in real time and high precision, and to synchronize the signal of the phased array instrument through the displacement information, which is a general device on the market.

[0022] Specifically, the robot body 100 is square, including an upper shell 101, a lower shell 7 and side edge shells.

[0023] Specifically, as shown in Figure 1 The wheel body includes two driving wheels 6 and two driven wheels 8, which are respectively arranged at the four corner edges of the lower shell 7. The two driving wheels 6 and the two driven wheels 8 are coaxially connected through transmission rods 1, and the driving wheels 6 and the driven wheels 8 are power-transmitted through synchronous transmission belts 11.

[0024] Specifically, as shown in Figure 3 The driving mechanism includes a DC stepper motor 18 and a driving chip 17. The DC stepper motor 18 is fixed inside the robot body, for example, the lower shell 7. The driving chip 17 drives the DC motor to reverse, realizing the start-stop, moving direction and moving speed of the robot. The moving speed can be controlled to be 0 mm / s-30 mm / s, and the adjustable accuracy is 2 mm / s.

[0025] Specifically, the ultrasonic non-destructive testing robot also includes a control box connected to the robot body 100 through a shielded cable through the access line port 10. The control box is independent of the robot body 100 and mainly includes a DC power supply module, a relay protection module, a DC voltage reduction module and a wireless Bluetooth communication module. The specific connection is shown in Figure 4 The application does not describe in detail, and the specific implementation can refer to the existing detection robot.

[0026] Preferably, the driven wheels 8 and the driving wheels 6 each include a skeleton layer and a friction layer. The skeleton layer is made of carbon steel and is used for structural support and rigidity maintenance of the wheel body. Preferably, it is manufactured by machining or stamping. The friction layer is coated on the periphery of the skeleton layer and is bonded by lamination process. The material is a silicone-rubber composite material, which enhances friction and buffers vibration. Preferably, the composite ratio of silicone and rubber material is 3:7.

[0027] Specifically, as shown in Figure 1 The ultrasonic probe 4 is clamped and fixed by a probe tooling 40 and locked on the lower shell 7 of the robot body 100 by a probe pressure plate 20. The probe pressure plate 20 is arranged inside the robot body 100. The probe tooling 40 is provided with a positioning pin which cooperates with a positioning pin hole on the lower shell 7 of the robot body 100 to ensure the installation alignment accuracy.

[0028] As shown in Figure 3 , the probe pressure plate 20 is made of elastic stainless steel, which is fixed inside the robot by bolts to provide fixed support for the ultrasonic probe 4, avoiding the ultrasonic probe 4 from shifting or loosening during operation.

[0029] The probe tooling 40 is provided with anti-skid paper 2, which is fixed on the surface of the probe tooling 40 by uniform bonding process and is arranged around the ultrasonic probe 4, effectively preventing the displacement of the probe during detection by increasing the friction coefficient of the contact surface, ensuring the accuracy of detection positioning.

[0030] The probe tooling 40 also integrates a coupling water circulation system, the water inlet 21 and the water outlet 19 of the coupling water circulation system are connected with the water pump through sealed pipeline to form a closed circulation loop, which is used to provide coupling water medium for the front end of the ultrasonic probe 4.

[0031] Preferably, as shown in Figure 3 , the ultrasonic probe 4 is provided with a pressure rod adjusting device, which is provided with two, including a front pressure rod adjusting device 14 and a rear pressure rod adjusting device 16, which is used to adjust the contact pressure of the ultrasonic probe 4 on the working surface (pipe wall 22), the pressure rod adjusting device includes a pressure rod 141 and an adjusting knob 142, the pressure rod 141 vertically penetrates the robot body 100, the bottom end of the pressure rod 141 is rigidly pressed with the probe tooling, and the top end of the pressure rod 141 extends to the outside of the upper shell 101 of the robot body 100 and is connected with the adjusting knob 142.

[0032] The pressure rod adjusting device controls the contact pressure on the ultrasonic probe 4, realizes self-adaptive compression when detecting different pipe diameters, and ensures that the ultrasonic probe 4 and the pipe wall 22 always maintain the best contact state. The adjustable pressure range of the pressure rod 141 is 4-12N, and the adaptive pipe diameter range is 800mm-1500mm.

[0033] A preferred embodiment, as shown in Figure 6 , the suspension type magnetic attraction structure adjusting device 32 includes an adjusting rod 321 and a knob 322, the adjusting rod 321 vertically penetrates the robot body 100, the bottom end of the adjusting rod 321 extends to the outside of the lower shell 7 of the robot body 100 and is rigidly connected with the magnetic attraction part 31, the top end of the adjusting rod 321 penetrates the upper shell 101 of the robot body 100 and is connected with the external knob 322, and the adjusting rod 321 is provided with a locking structure 60.

[0034] A preferred embodiment, as shown in Figure 6As shown, the locking structure 60 includes a locking ring 61 fixed to the robot body 100, the locking ring 61 includes at least one, generally provided with two, sleeved on the adjusting rod 321, the adjusting rod 321 is provided with a thread, the inner wall of the locking ring 61 is provided with a thread matched with the thread of the adjusting rod 321. The rotating knob 322 controls the up and down movement of the adjusting rod 321, and under normal circumstances, because they are mutually engaged, so there is no up and down movement during normal use.

[0035] Another embodiment, as Figure 7 and 8 As shown, the locking structure 60 includes a locking ring, the locking ring 61 is fixed to the robot body 100, the locking ring 61 includes at least one, generally provided with two, sleeved on the adjusting rod 321, the adjusting rod 321 is provided with a clamping block 62 at the locking ring 61, the adjusting rod 321 is a hollow structure, the clamping block 62 is arranged in the groove of the adjusting rod 321 through the reset spring, the clamping block 62 is connected with the pressing block 63 arranged on the knob 322 through the connecting rod mechanism (arranged in the adjusting rod), the extension and contraction of the clamping block 62 is controlled through the pressing block 63, which is similar to the button buckle mechanism of umbrella.

[0036] An ultrasonic nondestructive testing robot containing a suspension type magnetic attraction structure is used to detect a transformer riser, and the detection method comprises: S1, the body of the ultrasonic nondestructive testing robot containing the suspension type magnetic attraction structure is placed on the transformer riser, the position is adjusted through a high-precision level, and the initial advancing direction of the robot is kept parallel to the riser pipe wall.

[0037] S2, the robot control box is reliably connected with the robot body; the working distance between the suspension type magnetic attraction structure and the riser pipe wall and the pressure of the probe pressure rod are adjusted to ensure that the robot is firmly adsorbed and can normally advance; the coupling water circulation system is started to ensure that the ultrasonic probe is well coupled with the outer wall of the riser, and the ultrasonic signal can be normally returned to the upper computer.

[0038] S3, based on the information such as the pipe diameter size of the transformer riser and the detection requirements, corresponding ultrasonic detection parameters are configured on the upper computer, and a moving route is preset, and the robot body is controlled to move along the moving route through the independent control box.

[0039] S4, the upper computer performs real-time algorithm processing on the returned ultrasonic signal, and presents the detection result through multi-mode imaging (A scan, B scan, S scan, etc.).

[0040] In one specific embodiment, the ultrasonic nondestructive testing robot with the suspended magnetic attraction structure is used to perform ultrasonic nondestructive testing on a transformer riser with a pipe diameter of 1200 mm in a certain extra-high voltage transformer substation. In the testing, the ultrasonic probe is well coupled with the riser pipe wall, the ultrasonic signal can be returned normally, the key components such as the internal sleeve, the equalizing ball and the equalizing pipe of the riser can be completely imaged, and the ultrasonic nondestructive testing robot can keep straight walking for a long distance (when the scanning distance is 1000 mm, the deviation distance is less than 2 mm), which meets the testing requirements.

[0041] The above embodiments are preferred embodiments of the present application, but the embodiments of the present application are not limited by the above embodiments, and any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present application shall be equivalent replacement methods and shall be included in the protection scope of the present application.

Claims

1. An ultrasonic nondestructive testing robot with a levitation magnetic structure, comprising a robot body, wherein the lower shell of the robot body is provided with wheels and a drive mechanism, characterized in that, An ultrasonic probe is located in the middle of the lower shell of the robot body. The lower shell of the robot body is also equipped with a wheel-type detection encoder. The axis of the wheel-type detection encoder is perpendicular to the robot's direction of travel. Its encoder wheel is connected to the encoder body through a miniature slide rail. The encoder wheel floats in a small range radially along the working surface to make it fit the working surface. Suspended magnetic attraction structures are provided on both sides of the lower shell of the robot body. The suspended magnetic attraction structure includes a magnetic attraction part and a suspended magnetic attraction structure adjustment device connected to the magnetic attraction part. The suspended magnetic attraction structure adjustment device is used to adjust the position of the magnetic attraction part so that there is a certain distance between the magnetic attraction part and the working surface.

2. The ultrasonic non-destructive testing robot with a levitation magnetic suction structure according to claim 1, characterized in that, The wheel body includes two driving wheels and two driven wheels. The two driving wheels and two driven wheels are coaxially connected by transmission rods, and the driving wheels and driven wheels are powered by a synchronous transmission belt.

3. The ultrasonic nondestructive testing robot with a levitation magnetic suction structure according to claim 2, characterized in that, Both the driven wheel and the driving wheel include a skeleton layer and a friction layer. The skeleton layer is used for structural support and to maintain the rigidity of the wheel body. The friction layer covers the outer periphery of the skeleton layer and is bonded by a lamination process. The material is a silicone-rubber composite material.

4. The ultrasonic non-destructive testing robot with a levitation magnetic suction structure according to claim 1, characterized in that, The ultrasonic probe is clamped and fixed by a probe fixture and locked to the lower shell of the robot body by a probe pressure plate. The probe pressure plate is located inside the robot body. The probe fixture is equipped with a positioning pin that engages with the positioning pin hole on the lower shell of the robot body.

5. The ultrasonic non-destructive testing robot with a levitation magnetic suction structure according to claim 4, characterized in that, The ultrasonic probe is equipped with a pressure rod adjustment device, which is used to adjust the contact pressure applied by the ultrasonic probe to the working surface. The pressure rod adjustment device includes a pressure rod and an adjustment knob. The pressure rod penetrates vertically through the robot body. The bottom end of the pressure rod is rigidly pressed against the probe tooling. The top end of the pressure rod extends to the outside of the upper shell of the robot body and connects to the adjustment knob.

6. The ultrasonic nondestructive testing robot with a levitation magnetic suction structure according to claim 1, characterized in that, The floating magnetic attraction structure adjustment device includes an adjustment rod and a knob. The adjustment rod penetrates vertically through the robot body. The bottom end of the adjustment rod extends to the outside of the lower shell of the robot body and is rigidly connected to the magnetic attraction part. The top end of the adjustment rod passes through the upper shell of the robot body and is connected to the external knob. A locking structure is provided on the adjustment rod.

7. The ultrasonic non-destructive testing robot with a levitation magnetic suction structure according to claim 6, characterized in that, The locking structure includes a locking ring, which is fixed to the robot body. The locking ring includes at least one and is sleeved on the adjusting rod. The adjusting rod is threaded, and the inner wall of the locking ring is threaded to engage with the thread of the adjusting rod.

8. The ultrasonic non-destructive testing robot with a levitation magnetic suction structure according to claim 6, characterized in that, The locking structure includes a locking ring, which is fixed to the robot body. The locking ring includes at least one and is sleeved on the adjusting rod. The adjusting rod has a locking block at the locking ring. The adjusting rod has a hollow structure. The locking block is set in the groove of the adjusting rod by a return spring. The locking block is connected to a pressing block set on the knob by a linkage mechanism. The pressing block controls the extension and retraction of the locking block.

9. The ultrasonic nondestructive testing robot with a levitation magnetic suction structure according to claim 4, characterized in that, The probe fixture also integrates a coupling water circulation system. The inlet and outlet of the coupling water circulation system are connected to a water pump through sealed pipes to form a closed loop. The coupling water circulation system is used to provide coupling water medium to the front end of the ultrasonic probe.

10. The ultrasonic non-destructive testing robot with a levitation magnetic suction structure according to claim 4, characterized in that, The probe fixture surface is provided with anti-slip paper, which is arranged around the ultrasonic probe.

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