Multi-connecting-rod-force active controllable ultrasonic flaw detection device and flaw detection robot
By employing linear guide rails and flexible multi-link structures for closed-loop force control in ultrasonic flaw detection devices, the problem of inaccurate probe contact force control was solved, enabling stable and efficient detection in complex environments.
Patent Information
- Application Number
- CN202512048556.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-31
- Publication Date
- 2026-02-13
AI Technical Summary
Existing multi-link force-controlled ultrasonic flaw detection devices suffer from inaccurate probe contact force control and unstable contact in complex environments, resulting in poor detection accuracy and stability, and an inability to adapt to complex curved surfaces and weld obstacles.
An active ultrasonic flaw detection module with linear guide rails and mirror-symmetrical mounting, combined with a flexible multi-link linear structure and pressure sensor, achieves closed-loop force control. Through the adaptive motion of the flexible multi-link linear structure and the design of the guide component, the stable contact between the probe and the surface being tested and the ability to overcome obstacles are ensured.
It achieves stable contact and accurate detection of the probe under complex working conditions, reduces signal distortion and missed detection, improves the accuracy and efficiency of detection, and broadens the scope of detection applications.
Smart Images
Figure CN121522018A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of ultrasonic nondestructive testing technology, specifically to a multi-link force-controlled active ultrasonic flaw detection device and flaw detection robot. Background Technology
[0002] Ultrasonic nondestructive testing technology is widely used for online inspection and evaluation of welding quality due to its advantages such as high precision, high efficiency, and non-destructive nature. It is particularly valuable in welded structures such as storage tanks, pressure vessels, and pipelines. As a key component for signal transmission and reception, the adhesion quality between the ultrasonic probe and the surface being tested directly affects the accuracy and stability of the test results.
[0003] Existing multi-link force-controlled active ultrasonic flaw detection devices mostly rely on manual operation or simple elastic structures for pressure application, which suffers from problems such as uncontrollable clamping force, unstable fit, and inability to adapt to complex curved surfaces. When surface undulations or weld obstacles appear in the probe's detection path, signal distortion and missed detections often occur due to the structure's lack of good adaptive capabilities, limiting their practicality and widespread application in complex working conditions. To address this, this invention proposes a multi-link force-controlled active ultrasonic flaw detection device and a flaw detection robot. Summary of the Invention
[0004] The purpose of this invention is to provide a multi-link force-controlled active ultrasonic flaw detection device and a flaw detection robot, which solves the problems of insufficient accuracy in probe contact force control, unstable contact in complex environments, and poor flaw detection accuracy and stability in existing ultrasonic flaw detection technologies.
[0005] According to a first aspect of the present invention, in order to achieve the above-mentioned objective, the present invention provides the following technical solution: a multi-link force active controllable ultrasonic flaw detection device, comprising a linear guide rail, wherein active ultrasonic flaw detection modules are mirror-symmetrically mounted at both ends of the linear guide rail; The active ultrasonic flaw detection module includes a drive component fixedly installed on a linear guide rail, and a pressing component is fixedly installed at the output end of the drive component. The drive component is used to drive the pressing component to move up and down in the vertical direction to overcome obstacles. The downward pressure assembly includes two sets of mirror-symmetrically mounted flexible multi-link linear structures and a pressure sensor module and a probe module connected to the ends of the flexible multi-link linear structures. The pressure sensor module is used to detect the downward pressure on the probe module in real time and feed it back to the drive assembly to form a force closed-loop control. The flexible multi-link linear structure moves vertically as a whole, and the two sets of flexible multi-link linear structures can be independently raised to different heights to achieve adaptive detection direction and overcome weld obstacles.
[0006] Furthermore, the driving assembly includes a motor bracket fixedly mounted on a linear guide rail. A drive motor and a slider are fixedly mounted at both ends of the motor bracket, a gear is fixedly mounted at the output end of the drive motor, and a rack is meshed with the outer surface of the gear. A guide rail is fixedly mounted on the side wall of the rack, and the guide rail and the slider are slidably connected. A fastener is fixedly connected to the rack for installing and fixing the flexible multi-link linear structure.
[0007] Furthermore, the pressing assembly also includes a CNC frame fixedly connected to the fixing member, with two sets of flexible multi-link linear structures arranged symmetrically in mirror image along the center line of the CNC frame.
[0008] Furthermore, the flexible multi-link linear structure includes a mounting bracket fixedly connected to the CNC machine frame, as well as a spring, a first a-link, a second a-link, a parallel a-link, a first b-link, a second b-link, a third b-link, a fourth b-link, a fifth b-link, a c-link, a first parallel link, a second parallel link, and a third parallel link.
[0009] Furthermore, the two ends of the first b rod are respectively connected to the second b rod and the fifth b rod, and a fourth b rod is connected between the second b rod and the fifth b rod. The first b rod and the fourth b rod are arranged in parallel, and the second b rod and the fifth b rod are arranged in parallel. The first b rod and the fourth b rod, the second b rod and the fifth b rod form a first parallelogram structure. The fifth b rod is also connected to the c rod and the first a rod at both ends. The other ends of the c rod and the first a rod are both connected to the mounting frame. The c rod and the first a rod are arranged in parallel. A spring is installed at the hinge position of the c rod and the fifth b rod. The other end of the spring is fixed to the side wall of the mounting frame.
[0010] Furthermore, the two ends of the second b rod are connected to a first parallel link and a second parallel link, and a third b rod is connected between the first parallel link and the second parallel link. The first parallel link and the second parallel link are arranged in parallel, and the second b rod and the third b rod are arranged in parallel. The first parallel link, the second parallel link, the second b rod, and the third b rod form a second parallelogram structure, and the second parallelogram structure and the first parallelogram structure share the second b rod as a common side.
[0011] Furthermore, a third parallel link is installed on the mounting bracket. The two ends of the third parallel link are respectively connected to the second a-rod and the parallel a-rod. The free end of the second a-rod is connected to the first parallel link. The third parallel link is arranged parallel to the first parallel link, and the second a-rod is arranged parallel to the parallel a-rod. The third parallel link, the first parallel link, the second a-rod, and the parallel a-rod form a third parallelogram structure.
[0012] Furthermore, the pressure sensor module includes an upper mounting component, a pressure sensor, and a lower mounting component. The upper mounting component is fixedly installed at the bottom end of the second parallel connecting rod, and the pressure sensor is installed between the upper mounting component and the lower mounting component. The upper mounting component and the lower mounting component are installed and fixed by bolts.
[0013] Furthermore, the probe module includes a guide fixed on the lower mounting component, and an ultrasonic probe is fixedly mounted on one side of the guide by bolts.
[0014] According to a second aspect of the present invention, the present invention provides an ultrasonic flaw detection robot, including the multi-link force-controlled active ultrasonic flaw detection device described in the first aspect.
[0015] This invention has at least the following beneficial effects: 1. This invention employs a pressure sensor to directly measure the actual contact force applied to the ultrasonic probe by a flexible multi-link linear structure, and uses the measured value as a feedback signal to form a force closed-loop control with the drive motor. Compared to the uncontrollable clamping force caused by manual operation or simple elastic structures in existing technologies, this invention effectively avoids errors caused by indirect measurement, ensuring stable and accurate pressure output from the probe. The motor can dynamically adjust the driving force based on real-time feedback from the pressure sensor, ensuring that the ultrasonic probe always maintains a preset contact force. This significantly reduces ultrasonic coupling instability and detection signal distortion caused by pressure fluctuations, greatly improving the accuracy of flaw detection data and the repeatability of the process.
[0016] 2. This invention achieves adaptive contact of the probe in the direction of the sound beam by using two parallel flexible multi-link linear structures and their connection between the ends and the sides of the probe module, combined with the flexible buffering effect of the spring. The two flexible multi-link linear structures can be independently raised to different heights, enabling the probe module to automatically adapt to the complex geometric features of the tank surface, such as curvature changes, tilt angles, and weld reinforcement. This solves the problems of unstable contact and poor local coupling caused by traditional rigid mechanisms, ensuring that the probe can maintain good contact with the measured surface under complex working conditions, thus broadening the scope of application of the detection.
[0017] 3. The guide design at both ends of the probe module in this invention, combined with the vertical linear motion constraint of the flexible multi-link linear structure, enables the probe module to smoothly and directly pass over obstacles such as welds when it detects them, without interrupting the detection process or requiring manual intervention to adjust the overall position of the mechanism. Compared with the inefficiency caused by frequent start-stop or detours in the prior art, this invention significantly reduces obstacle handling time and improves the continuity and automation of weld inspection of large structures such as storage tanks.
[0018] 4. In this invention, multiple parallelogram structures are interconnected to form a stable spatial motion chain with extremely high rigidity. This effectively resists lateral forces and torques during the detection process, suppresses vibrations, and ensures smooth movement. At the same time, the springs, as the core components for power transmission and flexible protection, can both achieve stable pressure application through elastic deformation and play a flexible buffering role, preventing the rigid impact force from the motor drive from directly acting on the ultrasonic probe and the surface of the storage tank.
[0019] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description
[0020] Figure 1 This is a front view of the overall structure of Embodiment 1 of the present invention; Figure 2 This is a three-dimensional schematic diagram of the active ultrasonic flaw detection module in Embodiment 1 of the present invention; Figure 3 This is a three-dimensional schematic diagram of the driving component from a first-view perspective in Embodiment 1; Figure 4 This is a three-dimensional schematic diagram of the driving component from a second perspective in Embodiment 1; Figure 5 This is a three-dimensional schematic diagram of the pressing component in Embodiment 1; Figure 6 This is a front view of the flexible multi-link linear structure in Embodiment 1; Figure 7 This is a rear view of the flexible multi-link linear structure in Embodiment 1; Figure 8 This is an exploded view of the probe module in Embodiment 1; Figure 9 This is a three-dimensional schematic diagram of the overall structure of the ultrasonic flaw detection robot in Example 2.
[0021] Figure label: 1. Linear guide rail; 2. Guide rail slider; 3. Active ultrasonic flaw detection module; 30. Drive component; 31. Pressure component; 301. Drive motor; 302. Gear; 303. Rack; 304. Fixing component; 305. Motor bracket; 306. Guide rail; 307. Slider; 311. CNC frame; 312. Flexible multi-link linear structure; 313. Upper mounting component; 314. Pressure sensor; 315. Lower mounting component; 316. Ultrasonic probe; 317. Guide component; 3121. Mounting bracket; 3122. Spring; 31231. First a-bar; 31232. Second a-bar; 31233. Parallel a-bar; 3124. C-bar; 31251. First parallel link; 31252. Second parallel link; 31253. Third parallel link; 31261. First b-bar; 31262. Second b-bar; 31263. Third b-bar; 31264. Fourth b-bar; 31265. Fifth b-bar. Detailed Implementation
[0022] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.
[0023] Explanation of related terms: The explanations of the nouns, conjunctions, or adjectives used in the above technical solutions are as follows: A fixed connection refers to a connection in which parts or components are fixed in place, with no relative movement between them. These connections are divided into two types: detachable and non-detachable.
[0024] (1) Detachable connections use screws, splines, wedges, etc. to fix parts together. This type of connection can be disassembled during maintenance without damaging the parts. However, the specifications of the connecting parts used must be correct (such as the length of bolts, keys, wedges) and properly tightened.
[0025] (2) Non-removable connections mainly refer to welding, riveting, and tenon joints. Since disassembly is required by forging, sawing, or oxyacetylene cutting during repair or replacement, the parts generally cannot be reused. At the same time, attention should be paid to process quality, technical inspection, and remedial measures (such as correction, polishing, etc.) when making connections. A movable connection refers to a connection in which parts or components are fixed but have relative motion.
[0026] Rotary connection: refers to a connection method that allows relative rotational movement between two components while maintaining functional connectivity.
[0027] Example 1: Please see Figures 1-8 The present invention provides a technical solution: a multi-link force active controllable ultrasonic flaw detection device, including a linear guide rail 1, with active ultrasonic flaw detection modules 3 mirror-symmetrically installed at both ends of the linear guide rail 1; It should be noted that a guide rail slider 2 is slidably connected to the linear guide rail 1, and the active ultrasonic flaw detection module 3 is fixedly installed on the guide rail slider 2. The guide rail slider 2 can be locked and fixed at any position on the linear guide rail 1. like Figure 2 As shown, the active ultrasonic flaw detection module 3 includes a drive component 30 fixedly installed on the linear guide rail 1, and a pressing component 31 is fixedly installed at the output end of the drive component 30. The drive component 30 is used to drive the pressing component 31 to move up and down in the vertical direction to overcome obstacles. The downward pressure assembly 31 includes two sets of mirror-symmetrically mounted flexible multi-link linear structures 312 and a pressure sensor 314 module and a probe module connected to the end of the flexible multi-link linear structure 312. The pressure sensor 314 module is used to detect the downward pressure on the probe module in real time and feed it back to the drive assembly 30 to form a force closed-loop control. The flexible multi-link linear structure 312 moves vertically as a whole, and the two sets of flexible multi-link linear structures 312 can be independently raised to different heights to achieve adaptive detection direction and overcome weld obstacles.
[0028] Regarding the technical solution of this embodiment, such as Figure 3 and Figure 4 As shown, the drive assembly 30 includes a motor bracket 305 fixedly mounted on the linear guide rail 1. The motor bracket 305 is bent, and a drive motor 301 and a slider 307 are fixedly mounted at both ends of the motor bracket 305, respectively. A gear 302 is fixedly mounted at the output end of the drive motor 301, and a rack 303 is meshed with the outer surface of the gear 302. A guide rail 306 is fixedly mounted on the side wall of the rack 303, and the guide rail 306 and the slider 307 are slidably connected. When the drive motor 301 is started, it drives the gear 302 to rotate, which can drive the rack 303 to move vertically on the motor bracket 305. The mutual limiting of the guide rail 306 and the slider 307 also facilitates further support and guidance for the rack 303. When the rack 303 moves up and down, it can drive the entire pressing assembly 31 to adjust its height. It should be noted that the drive motor 301 has a self-locking function. There is a strict linear relationship between the rotation angle of the drive motor 301 gear 302 and the linear displacement of the rack 303. The displacement = the circumference of the gear 302 pitch × the number of rotations. This allows the displacement of the pressing component 31 to be controlled very precisely by controlling the rotation angle or the number of rotations of the motor. This provides a basis for accurately controlling the pressing position of the ultrasonic probe 316. Compared with the traditional pure cylinder drive scheme, the structure of gear 302 and rack 303 combined with guide rail 306 and slider 307 has higher control accuracy, faster response, and facilitates the realization of force closed-loop control, significantly improving the accuracy of flaw detection data and process controllability. A fastener 304 is fixedly connected to the rack 303 for installing and fixing the flexible multi-link linear structure 312.
[0029] Regarding the technical solution of this embodiment, such as Figure 5 As shown, the pressing assembly 31 also includes a CNC frame 311 fixedly connected to the fixing member 304. Two sets of flexible multi-link linear structures 312 are arranged symmetrically in mirror image along the center line of the CNC frame 311. During operation, the driving force provided by the drive motor 301 is evenly distributed to the left and right sets of flexible multi-link linear structures 312 through the CNC frame 311, thereby applying a balanced pressure perpendicular to the surface being measured to the central probe module. Only by ensuring that the ultrasonic probe 316 is evenly attached to the surface being measured can the ultrasonic signal be incident perpendicularly and effectively received, thereby obtaining accurate and reliable detection data. The symmetrical layout fundamentally ensures the stable posture of the ultrasonic probe 316 from a mechanical structure perspective, effectively avoiding the probe from tilting during the pressing process, which could cause signal distortion or missed detection.
[0030] It should be further explained that, in the vertical direction, the springs 3122 in the two sets of flexible multi-link linear structures 312 work together to provide a unified and flexible vertical pressure, enabling the probe to adapt to the macroscopic undulations of the tank surface and ensuring a constant contact force. In the horizontal direction, when the probe module encounters a transverse weld or an inclined curved surface during the moving detection process, the advantage of the symmetrical layout becomes apparent. At this time, the flexible multi-link linear structures 312 on the left and right sides can be compressed or lifted independently and asynchronously. For example, when the probe first touches one side of the weld, the flexible multi-link linear structure 312 on one side will be lifted, while the other side remains in place. The entire probe module will form a small tilt angle and smoothly "ride" over the weld. Once it passes the obstacle, the lifted side will quickly return to its original position under the action of the spring 3122. This process is continuous and automatic, without the need to stop or adjust the entire mechanism, which greatly improves the detection efficiency and the ability to pass through complex welds.
[0031] Regarding the technical solution of this embodiment, such as Figure 6 and Figure 7 As shown, the flexible multi-link linear structure 312 includes a mounting bracket 3121 fixedly connected to the CNC machine frame 311, as well as a spring 3122, a first a-link 31231, a second a-link 31232, a parallel a-link 31233, a first b-link 31261, a second b-link 31262, a third b-link 31263, a fourth b-link 31264, a fifth b-link 31265, a c-link 3124, a first parallel link 31251, a second parallel link 31252, and a third parallel link 31253.
[0032] Regarding the technical solution of this embodiment, the two ends of the first b rod 31261 are respectively connected to the second b rod 31262 and the fifth b rod 31265, and a fourth b rod 31264 is connected between the second b rod 31262 and the fifth b rod 31265. The first b rod 31261 and the fourth b rod 31264 are arranged in parallel, and the second b rod 31262 and the fifth b rod 31265 are arranged in parallel. The first b rod 31261, the fourth b rod 31264, the second b rod 31262, and the fifth b rod 31265 form a first parallelogram structure. The fifth b-rod 31265 is connected to both ends by a c-rod 3124 and the first a-rod 31231. The other ends of both the c-rod 3124 and the first a-rod 31231 are connected to the mounting bracket 3121. The c-rod 3124 and the first a-rod 31231 are arranged parallel to each other, and a spring 3122 is installed at the hinge point between the c-rod 3124 and the fifth b-rod 31265. The other end of the spring 3122 is fixed to the side wall of the mounting bracket 3121. As a core component for power transmission and flexible protection, the spring 3122, after the drive motor 301 provides power, can both transmit and receive power. The ultrasonic probe 316 and the tank surface are protected by a flexible buffering mechanism that utilizes its own elastic deformation to achieve stable application of ultrasonic testing pressure and ensure effective pressure transmission. It also avoids the rigid impact force from the drive motor 301 from directly acting on the ultrasonic probe 316 and the tank surface. This design can effectively prevent damage to the ultrasonic probe 316 or scratches and dents on the tank surface due to overload of the driving force or contact with rigid impact. It significantly improves the safety of the equipment and the object being tested during the testing process, and reduces the equipment maintenance cost and the risk of secondary damage to the tank surface.
[0033] In this embodiment, the two ends of the second b-rod 31262 are connected to the first parallel link 31251 and the second parallel link 31252. The first parallel link 31251 and the second parallel link 31252 are connected to the third b-rod 31263. The first parallel link 31251 and the second parallel link 31252 are arranged in parallel, and the second b-rod 31262 and the third b-rod 31263 are arranged in parallel. The first parallel link 31251, the second parallel link 31252, the second b-rod 31262, and the third b-rod 31263 form a second parallelogram structure, and the second parallelogram structure and the first parallelogram structure share the second b-rod 31262 as a common side.
[0034] Regarding the technical solution of this embodiment, a third parallel link 31253 is installed on the mounting bracket 3121. The two ends of the third parallel link 31253 are respectively connected to the second a-rod 31232 and the parallel a-rod 31233. The free end of the second a-rod 31232 is connected to the first parallel link 31251. The third parallel link 31253 is arranged parallel to the first parallel link 31251, and the second a-rod 31232 is arranged parallel to the parallel a-rod 31233. The third parallel link 31253, the first parallel link 31251, the second a-rod 31232, and the parallel a-rod 31233 form a third parallelogram structure.
[0035] Specifically, the flexible multi-link linear structure 312 adopts a triple parallelogram structure to form a unified flexible body, which can adapt to surface undulations and maintain constant pressure. The first parallelogram structure forms the basic layer of motion, which ensures the vertical motion guidance of the components connected to the second b-link 31262 and the fifth b-link 31265. The second and third parallelogram structures further constrain and transmit motion on this basis. The motion is transmitted to the pressure sensor 314 module, which is directly connected to the probe module, by connecting with the second b-link 31262 as a common side. The combination of the triple parallelogram structure ultimately ensures that the pressure sensor 314 module and the probe module make strict, wobbly vertical linear motion throughout the entire compression stroke. This is crucial for ultrasonic testing because it ensures that the pressure applied by the ultrasonic probe 316 is always perpendicular to the workpiece surface, and the sound beam is incident perpendicularly, thereby obtaining the most accurate detection signal.
[0036] Regarding the technical solution of this embodiment, the pressure sensor 314 module includes an upper mounting part 313, a pressure sensor 314, and a lower mounting part 315. The upper mounting part 313 is fixedly installed at the bottom end of the second parallel connecting rod 31252. The pressure sensor 314 is installed between the upper mounting part 313 and the lower mounting part 315, and the upper mounting part 313 and the lower mounting part 315 are fixedly installed by bolts. The drive motor 301 can dynamically adjust the driving force according to the real-time feedback of the pressure sensor 314, so that the ultrasonic probe 316 always maintains a preset and precise pressing state, thereby ensuring that the contact force between the probe and the test piece is constant during the flaw detection process, reducing the flaw detection data deviation caused by the downward pressure fluctuation, and significantly improving the accuracy of the flaw detection results and the controllability of the process.
[0037] Regarding the technical solution of this embodiment, the probe module includes a guide 317 fixed on the lower mounting component 315. An ultrasonic probe 316 is fixedly mounted on one side of the guide 317 by bolts. The guide 317 has a guiding function, which can assist the probe module to directly cross the weld obstacle when encountering obstacles such as welds, without the need to adjust the overall position of the mechanism or interrupt the detection process. This effectively reduces the obstacle handling time and significantly improves the continuity and detection efficiency of the tank flaw detection process.
[0038] In summary, this invention uses a pressure sensor 314 to directly measure the actual contact force applied to the ultrasonic probe 316 by the flexible multi-link linear structure, and uses the measured value as a feedback signal to form a force closed-loop control with the drive motor 301. Compared with the uncontrollable clamping force caused by manual operation or simple elastic structures in the prior art, this invention effectively avoids the error caused by indirect measurement, ensuring stable and accurate pressure output from the probe. The motor can dynamically adjust the driving force according to the real-time feedback from the pressure sensor 314, so that the ultrasonic probe 316 always maintains the preset contact force, significantly reducing ultrasonic coupling instability and detection signal distortion caused by pressure fluctuations, and greatly improving the accuracy of flaw detection data and the repeatability of the process. Furthermore, this invention achieves adaptive fitting of the ultrasonic probe 316 in the direction of the sound beam by using two parallel flexible multi-link linear structures and their connection methods between the ends and the two sides of the probe module, combined with the flexible buffering effect of the spring 3122. The two flexible multi-link linear structures can be independently raised to different heights, enabling the probe module to automatically adapt to the complex geometric features of the tank surface, such as curvature changes, tilt angles, and weld reinforcement. This solves the problem of unstable fitting and poor local coupling of traditional rigid mechanisms, ensuring that the probe can still maintain good contact with the surface being measured under complex working conditions, thus broadening the scope of application of the detection.
[0039] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.
[0040] For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances. When an element is referred to as being "assembled on," "mounted on," "fixed to," or "set on" another element, it may be directly on the other element or there may be an intermediate element present. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible embodiments.
[0041] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.
[0042] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.
Claims
1. A multi-link force-controlled active ultrasonic flaw detection device, characterized in that, Includes a linear guide rail (1), both ends of which are symmetrically mounted with an active ultrasonic flaw detection module (3); The active ultrasonic flaw detection module (3) includes a drive assembly (30) fixedly installed on a linear guide rail (1), and a pressing assembly (31) is fixedly installed at the output end of the drive assembly (30). The drive assembly (30) is used to drive the pressing assembly (31) to move up and down in the vertical direction to overcome obstacles. The pressing component (31) includes two sets of mirror-symmetrically mounted flexible multi-link linear structures (312) and a pressure sensor (314) module and a probe module connected to the end of the flexible multi-link linear structure (312). The pressure sensor (314) module is used to detect the downward pressure on the probe module in real time and feed it back to the drive component (30) to form a force closed-loop control. The flexible multi-link linear structure (312) moves vertically as a whole, and the two sets of flexible multi-link linear structures (312) can be raised to different heights independently to achieve adaptive detection direction and overcome weld obstacles.
2. The multi-link force-controlled active ultrasonic flaw detection device according to claim 1, characterized in that: The drive assembly (30) includes a motor bracket (305) fixedly mounted on a linear guide rail (1). A drive motor (301) and a slider (307) are fixedly mounted at both ends of the motor bracket (305). A gear (302) is fixedly mounted at the output end of the drive motor (301), and a rack (303) is meshed with the outer surface of the gear (302). A guide rail (306) is fixedly mounted on the side wall of the rack (303), and the guide rail (306) is slidably connected to the slider (307). A fastener (304) is fixedly connected to the rack (303) for installing and fixing the flexible multi-link linear structure (312).
3. The multi-link force-controlled active ultrasonic flaw detection device according to claim 2, characterized in that: The pressing assembly (31) also includes a CNC frame (311) fixedly connected to the fixing member (304), and two sets of flexible multi-link linear structures (312) are arranged symmetrically in mirror image along the center line of the CNC frame (311).
4. The multi-link force-controlled active ultrasonic flaw detection device according to claim 3, characterized in that: The flexible multi-link linear structure (312) includes a mounting bracket (3121) fixedly connected to the CNC machine frame (311), a spring (3122), a first a-link (31231), a second a-link (31232), a parallel a-link (3124), a first b-link (31261), a second b-link (31262), a third b-link (31263), a fourth b-link (31264), a fifth b-link (31265), a c-link (3124), a first parallel link (31251), a second parallel link (31252), and a third parallel link (31253).
5. The multi-link force-controlled active ultrasonic flaw detection device according to claim 4, characterized in that: The two ends of the first b-bar (31261) are connected to the second b-bar (31262) and the fifth b-bar (31265) respectively. A fourth b-bar (31264) is connected between the second b-bar (31262) and the fifth b-bar (31265). The first b-bar (31261) and the fourth b-bar (31264) are arranged in parallel, and the second b-bar (31262) and the fifth b-bar (31265) are arranged in parallel. The first b-bar (31261), the fourth b-bar (31264), the second b-bar (31262), and the fifth b-bar (31265) form a first parallelogram structure. The fifth b rod (31265) is connected to the first a rod (31231) at both ends. The other ends of the c rod (3124) and the first a rod (31231) are both connected to the mounting bracket (3121). The c rod (3124) and the first a rod (31231) are arranged in parallel. A spring (3122) is installed at the hinge position of the c rod (3124) and the fifth b rod (31265). The other end of the spring (3122) is fixed to the side wall of the mounting bracket (3121).
6. The multi-link force-controlled active ultrasonic flaw detection device according to claim 5, characterized in that: The two ends of the second b-bar (31262) are also connected to the first parallel link (31251) and the second parallel link (31252). The first parallel link (31251) and the second parallel link (31252) are connected to the third b-bar (31263). The first parallel link (31251) and the second parallel link (31252) are arranged in parallel, and the second b-bar (31262) and the third b-bar (31263) are arranged in parallel. The first parallel link (31251) and the second parallel link (31252), the second b-bar (31262) and the third b-bar (31263) form a second parallelogram structure, and the second parallelogram structure and the first parallelogram structure share the second b-bar (31262) as a common side.
7. The multi-link force-controlled active ultrasonic flaw detection device according to claim 6, characterized in that: A third parallel link (31253) is installed on the mounting bracket (3121). The two ends of the third parallel link (31253) are respectively connected to the second a-rod (31232) and the parallel a-rod (31233). The free end of the second a-rod (31232) is connected to the first parallel link (31251). The third parallel link (31253) is arranged parallel to the first parallel link (31251), and the second a-rod (31232) is arranged parallel to the parallel a-rod (31233). The third parallel link (31253), the first parallel link (31251), the second a-rod (31232), and the parallel a-rod (31233) form a third parallelogram structure.
8. The multi-link force-controlled active ultrasonic flaw detection device according to claim 7, characterized in that: The pressure sensor (314) module includes an upper mounting part (313), a pressure sensor (314), and a lower mounting part (315). The upper mounting part (313) is fixedly installed at the bottom end of the second parallel connecting rod (31252). The pressure sensor (314) is installed between the upper mounting part (313) and the lower mounting part (315), and the upper mounting part (313) and the lower mounting part (315) are fixedly installed by bolts.
9. The multi-link force-controlled active ultrasonic flaw detection device according to claim 8, characterized in that: The probe module includes a guide (317) fixed on the lower mounting component (315), and an ultrasonic probe (316) is fixedly mounted on one side of the guide (317) by bolts.
10. An ultrasonic flaw detection robot, characterized in that, The front end of the ultrasonic flaw detection robot is equipped with a multi-link force-controlled ultrasonic flaw detection device as described in any one of claims 1 to 9.