Flaw detection structure and flaw detection robot

Abstract

The utility model provides a flaw detection structure and a flaw detection robot. The flaw detection structure comprises a mounting piece, a flaw detection assembly and an elastic connecting piece, wherein the mounting part is used for being mounted on a robot body. And the flaw detection assembly is rotatably connected to the mounting piece and is used for detecting flaws on the to-be-detected surface of the to-be-detected workpiece. The elastic connecting piece is connected between the mounting piece and the flaw detection assembly, and the flaw detection assembly can rotate around the mounting piece in the direction close to the to-be-detected surface under the action of the elastic connecting piece so as to be tightly attached to the to-be-detected surface. When the flaw detection structure is used, the mounting piece is fixed on the robot body, so that the elastic connecting piece can apply a pulling force to the flaw detection assembly, and the flaw detection assembly can be tightly attached to the to-be-detected surface under the action of the pulling force, thereby ensuring that the flaw detection assembly can stably and accurately perform scanning flaw detection on the to-be-detected surface; and the accuracy of the flaw detection structure and the flaw detection robot is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of electrical maintenance, in particular to a flaw detection structure and a flaw detection robot. Background Art

[0002] During the overhaul of the generator, the rotor needs to be regularly pulled out for guard ring inspection. The rotor with a large diameter, length and weight needs to be pulled out from the stator, and then personnel need to enter the stator chamber to perform a series of inspections and tests. In order to reduce the time, manpower and operational risks of engine maintenance, the existing engine maintenance technology uses flaw detection robots for flaw detection. However, during the inspection process, it is difficult for the flaw detection robot to detect flaws at the chamfered edges of the guard ring. Utility Model Content

[0003] Based on this, it is necessary to provide a flaw detection structure and a flaw detection robot to address the problem that the flaw detection robot in the prior art is difficult to perform flaw detection on the chamfered portion of the edge of the guard ring.

[0004] The technical solution is as follows:

[0005] On the one hand, a flaw detection structure is provided, comprising:

[0006] A mounting member, the mounting member being used for mounting on the robot body;

[0007] A flaw detection assembly, which is rotatably connected to the mounting member and is used to perform flaw detection on a surface to be inspected of a workpiece to be inspected; and

[0008] An elastic connecting piece is connected between the mounting piece and the flaw detection assembly. Under the action of the elastic connecting piece, the flaw detection assembly can rotate around the mounting piece toward the direction close to the surface to be detected so as to be in close contact with the surface to be detected.

[0009] When the flaw detection structure in the above embodiment is used, the mounting part is installed on the robot body, so that the elastic connecting part can apply tension to the flaw detection component, and then the flaw detection component can maintain close contact with the surface to be detected under the action of the tension, thereby ensuring that the flaw detection component can stably and accurately scan and detect the surface to be detected, thereby improving the accuracy of the flaw detection structure. In addition, when the flaw detection structure needs to perform flaw detection on the chamfered edge of the guard ring, the flaw detection component moves to the chamfered edge of the guard ring, and forms a rotation space between the chamfered edge of the guard ring, so that the flaw detection component can further rotate under the action of the elastic connecting part, ensuring that the flaw detection component can also be in close contact with the surface to be detected at the chamfered edge of the guard ring, thereby improving the practicality of the flaw detection structure.

[0010] The technical solution is further described below:

[0011] In one embodiment, the flaw detection assembly includes:

[0012] a support member rotatably connected to the mounting member; and

[0013] The flaw detection component is installed on the support component and is used to perform flaw detection on the surface to be detected.

[0014] In one embodiment, the flaw detection assembly further comprises:

[0015] The base is rotatably connected to the support, and the flaw detection component is installed on the base.

[0016] In one embodiment, the support member includes a main body, a first connecting part and a second connecting part, the main body is rotatably connected to the mounting member, the first connecting part and the second connecting part are spaced apart on a side of the main body facing the flaw detection part, the seat is located between the first connecting part and the second connecting part, and is rotatably connected to both the first connecting part and the second connecting part.

[0017] In one embodiment, the support member further includes a third connection portion disposed on the main body portion, the third connection portion is located between the first connection portion and the second connection portion, the third connection portion extends in a direction away from the seat body, and is rotatably connected to the mounting member.

[0018] In one embodiment, the elastic connecting member is configured as a tension spring, and two ends of the tension spring are respectively connected to the mounting member and the supporting member.

[0019] On the other hand, a flaw detection robot is provided, comprising a driving mechanism, a robot body and the flaw detection structure, wherein the driving mechanism is transmission-connected to the robot body, and the flaw detection structure can be detachably mounted on the robot body.

[0020] When the flaw detection robot in the above embodiment is used, the driving mechanism is connected to the control box so that the driving mechanism can drive the robot body and the flaw detection structure to enter the guard ring of the engine to work, that is, the driving mechanism drives the robot body to move relative to the guard ring, and the robot body drives the flaw detection structure to move relative to the guard ring to perform two-dimensional scanning, thereby realizing flaw detection of the guard ring. Compared with the engine maintenance method in the prior art, the flaw detection robot in the present application has the ability to automatically detect the generator rotor guard ring without pulling out the rotor, saving the time of pulling out the rotor, reducing the demand for manpower, and avoiding the risk of collision of the rotor during the pulling out process, thereby improving the efficiency and convenience of repairing the guard ring and reducing the investment cost of repairing the guard ring. In addition, the robot body and the flaw detection structure are detachable, which is convenient for the maintenance of the flaw detection structure and improves the convenience of the flaw detection robot.

[0021] In one embodiment, the robot body is provided with a connecting hole, the mounting piece is provided with a waist-shaped hole corresponding to the connecting hole, and the flaw detection robot also includes a locking piece, which is passed through the waist-shaped hole and the connecting hole, and locks the mounting piece with the robot body.

[0022] In one embodiment, the mounting member is provided with a first limiting portion, and the robot body is provided with a second limiting portion, and the first limiting portion and the second limiting portion are limitedly matched.

[0023] In one embodiment, the flaw detection robot also includes a shooting structure and a lighting structure, and the shooting structure and the lighting structure are both installed on the robot body. The lighting structure is used to illuminate the flaw detection structure, and the shooting structure is used to observe the working status of the flaw detection structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application.

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 Schematic diagram of the structure of a flaw detection robot according to an embodiment.

[0027] Figure 2 Schematic diagram of the structure of a flaw detection structure of an embodiment.

[0028] Description of reference numerals:

[0029] 10. Flaw detection structure; 100. Mounting part; 110. First limiting part; 120. Waist-shaped hole; 200. Flaw detection assembly; 210. Flaw detection part; 220. Support part; 221. Main body; 222. First connecting part; 223. Second connecting part; 224. Third connecting part; 230. Base; 20. Robot body; 30. Shooting structure; 40. Illumination structure. DETAILED DESCRIPTION

[0030] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0031] like Figure 1 As shown, in one embodiment, a flaw detection robot is provided, including a driving mechanism, a robot body 20 and a flaw detection structure 10 , wherein the driving mechanism is transmission-connected to the robot body 20 , and the flaw detection structure 10 can be detachably mounted on the robot body 20 .

[0032] When the flaw detection robot in the above embodiment is used, the driving mechanism is connected to the control box so that the driving mechanism can drive the robot body 20 and the flaw detection structure 10 to enter the guard ring of the engine to work, that is, the driving mechanism drives the robot body 20 to move relative to the guard ring, and the robot body 20 drives the flaw detection structure 10 to move relative to the guard ring for scanning, thereby realizing flaw detection of the guard ring. Compared with the engine maintenance method in the prior art, the flaw detection robot in the present application has the ability to automatically detect the generator rotor guard ring without pulling out the rotor, saving the time of pulling out the rotor, reducing the demand for manpower, and avoiding the risk of collision of the rotor during the pulling out process, thereby improving the efficiency and convenience of repairing the guard ring and reducing the investment cost of repairing the guard ring. In addition, the robot body 20 and the flaw detection structure 10 are detachable, which is convenient for the maintenance of the flaw detection structure 10 and improves the convenience of the flaw detection robot.

[0033] The flaw detection structure 10 can be installed on the robot body 20 by snap-on, plug-in, screw-on or other detachable connection methods. Specifically in this embodiment, the flaw detection robot adopts an arc-shaped and flat design as a whole, and its thickness is only 40mm. The robot body 20 is assembled in a modular manner. In order to reduce the total weight of the flaw detection robot, the robot body 20 is mostly made of lightweight aviation aluminum material, and secondly, a hollow structure design is adopted in the structural design.

[0034] like Figure 1 and Figure 2 As shown, optionally, the robot body 20 is provided with a connecting hole, the mounting member 100 is provided with a waist-shaped hole 120 corresponding to the connecting hole, and the flaw detection robot further includes a locking member, which is passed through the waist-shaped hole 120 and the connecting hole, and locks the mounting member 100 with the robot body 20. In this way, the installation position of the flaw detection structure 10 relative to the robot body 20 can be adjusted through the waist-shaped hole 120, thereby improving the practicality of the flaw detection robot.

[0035] The locking member may be a locking screw, a locking bolt, a locking pin or other locking structures. The number of the locking member, the waist-shaped hole 120 and the connecting hole can be flexibly adjusted according to the actual use needs. Specifically in this embodiment, the waist-shaped hole 120 extends in a straight line direction, and the inner contour shape of the two ends of the waist-shaped hole 120 is adapted to the outer contour shape of the locking member.

[0036] like Figure 2 As shown, optionally, the mounting member 100 is provided with a first limiting portion 110, and the robot body 20 is provided with a second limiting portion, and the first limiting portion 110 and the second limiting portion are limitedly matched. In this way, the first limiting portion 110 and the second limiting portion can cooperate to play a positioning role, ensuring that the flaw detection structure 10 can be quickly and accurately installed at a preset position of the robot body 20, thereby improving the convenience of the flaw detection robot.

[0037] Specifically in this embodiment, the first limiting portion 110 is set as a limiting protrusion, and the second limiting portion is set as a limiting groove, and the limiting protrusion and the limiting groove are inserted and limited. The number of waist-shaped holes 120 is set to two, and along the axis direction of the waist-shaped holes 120, the projection area of ​​the limiting protrusion is located between the projection areas of the two waist-shaped holes 120. In this way, the connection strength between the flaw detection structure 10 and the robot body 20 is increased, and the reliability of the flaw detection robot is improved.

[0038] like Figure 1 As shown, in one embodiment, the flaw detection robot further includes a shooting structure 30 and an illumination structure 40, both of which are mounted on the robot body 20. The illumination structure 40 is used to illuminate the flaw detection structure 10, and the shooting structure 30 is used to observe the working state of the flaw detection structure 10. In this way, it is ensured that the flaw detection structure 10 can accurately and reliably scan and detect the surface of the guard ring, thereby improving the reliability of the flaw detection robot.

[0039] Among them, the shooting structure 30 can be any shooting structure in the prior art, such as a camera; the lighting structure 40 can be any lighting structure in the prior art, such as a lighting lamp, which will not be described in detail here.

[0040] like Figure 1 As shown, in one embodiment, a flaw detection structure 10 is provided, including a mounting member 100, a flaw detection assembly 200 and an elastic connecting member (not shown). The mounting member 100 is used to be mounted on the robot body 20. The flaw detection assembly 200 can be rotatably connected to the mounting member 100 and is used to perform flaw detection on the surface to be detected of the workpiece to be detected. The elastic connecting member is connected between the mounting member 100 and the flaw detection assembly 200. The flaw detection assembly 200 can rotate around the mounting member 100 in a direction close to the surface to be detected under the action of the elastic connecting member so as to be close to the surface to be detected.

[0041] When the flaw detection structure 10 in the above embodiment is used, the mounting member 100 is mounted on the robot body 20, so that the elastic connector can apply tension to the flaw detection component 200, and then the flaw detection component 200 can maintain close contact with the surface to be detected under the action of the tension, thereby ensuring that the flaw detection component 200 can stably and accurately scan and detect the surface to be detected, thereby improving the accuracy of the flaw detection structure 10. In addition, when the flaw detection structure 10 needs to perform flaw detection on the chamfered edge of the guard ring, the flaw detection component 200 moves to the chamfered edge of the guard ring, and forms a rotation space between the chamfered edge of the guard ring, so that the flaw detection component 200 can further rotate under the action of the elastic connector, ensuring that the flaw detection component 200 can also be in close contact with the surface to be detected at the chamfered edge of the guard ring, thereby improving the practicality of the flaw detection structure 10.

[0042] The tooling piece to be detected may be a guard ring on the rotor or other parts. Specifically in this embodiment, the present application takes the tooling piece to be detected as a guard ring and the surface to be detected as the outer surface of the guard ring as an example, which should not be understood as a limitation to the present application.

[0043] like Figure 2 As shown, further, the flaw detection assembly 200 includes a flaw detection part 210 and a support part 220, and the support part 220 can be rotatably connected to the mounting part 100. The flaw detection part 210 is mounted on the support part 220 and is used to perform flaw detection on the surface to be detected. In this way, the flaw detection part 210 can be installed on the robot body 20 through the support part 220 and the mounting part 100, ensuring that the flaw detection part 210 does not occupy additional height space, thereby improving the practicality of the flaw detection structure 10.

[0044] The flaw detection component 210 can be configured as an ultrasonic probe, a high-definition camera or other flaw detection devices, and the support component 220 can be configured as a support frame, a support rod or other support structure. The elastic connecting component can be configured as a tension spring, a spring, an elastic pull rope or other pulling structure. The mounting component 100 can be configured as a connecting seat, a connecting block or other connecting structure.

[0045] Optionally, the elastic connector is configured as a tension spring, and the two ends of the tension spring are respectively connected to the mounting member 100 and the support member 220. In this way, it is ensured that the mounting member 100 can tighten the support member 220 through the tension spring, thereby improving the reliability of the flaw detection structure 10.

[0046] like Figure 2 As shown, in one embodiment, the flaw detection assembly 200 further includes a base 230, which is rotatably connected to the support member 220, and the flaw detection member 210 is mounted on the base 230. In this way, due to the rotatable connection between the base 230 and the support member 220, the base 230 has a certain angle self-adaptability, ensuring that the flaw detection member 210 on the base 230 can detect flaws at the chamfered corners of the edge of the guard ring.

[0047] like Figure 2 As shown, further, the support member 220 includes a main body 221, a first connection part 222 and a second connection part 223, the main body 221 is rotatably connected to the mounting member 100, the first connection part 222 and the second connection part 223 are arranged at intervals on the side of the main body 221 facing the flaw detection part 210, and the seat 230 is located between the first connection part 222 and the second connection part 223, and is rotatably connected to both the first connection part 222 and the second connection part 223. In this way, the first connection part 222 and the second connection part 223 can both support the seat 230, ensuring that the seat 230 can stably and reliably drive the flaw detection part 210 to move for flaw detection, thereby improving the reliability of the flaw detection structure 10.

[0048] like Figure 2 As shown, optionally, the support member 220 further includes a third connection portion 224 disposed on the main body 221, the third connection portion 224 is located between the first connection portion 222 and the second connection portion 223, the third connection portion 224 extends in a direction away from the seat body 230, and is rotatably connected to the mounting member 100. In this way, the mounting member 100 and the seat body 230 are respectively located on opposite sides of the support member 220, which avoids interference between the mounting member 100 and the flaw detection member 210, and also reduces the height of the flaw detection structure 10 so that it can be inserted into the gap between the guard ring and the stator, thereby improving the practicality of the flaw detection robot.

[0049] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0050] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0051] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0052] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0053] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0054] It should also be understood that when explaining the connection relationship or positional relationship of elements, although not explicitly described, the connection relationship and positional relationship are interpreted as including an error range, which should be within the acceptable deviation range of a specific value determined by those skilled in the art. For example, "approximately", "approximately" or "substantially" may mean within one or more standard deviations, which are not limited here.

[0055] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0056] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A flaw detection structure, characterized in that: include: A mounting member, the mounting member being used for mounting on the robot body; A flaw detection assembly, which is rotatably connected to the mounting member and is used to perform flaw detection on a surface to be inspected of a workpiece to be inspected; as well as An elastic connecting piece is connected between the mounting piece and the flaw detection assembly. Under the action of the elastic connecting piece, the flaw detection assembly can rotate around the mounting piece toward the direction close to the surface to be detected so as to be in close contact with the surface to be detected.

2. The flaw detection structure according to claim 1, characterized in that: The flaw detection assembly comprises: a support member rotatably connected to the mounting member; and The flaw detection component is installed on the support component and is used to perform flaw detection on the surface to be detected.

3. The flaw detection structure according to claim 2, characterized in that: The flaw detection assembly also includes: The base is rotatably connected to the support, and the flaw detection component is installed on the base.

4. The flaw detection structure according to claim 3, characterized in that: The support member includes a main body, a first connecting part and a second connecting part. The main body is rotatably connected to the mounting member. The first connecting part and the second connecting part are spaced apart on a side of the main body facing the flaw detection part. The seat is located between the first connecting part and the second connecting part, and is rotatably connected to both the first connecting part and the second connecting part.

5. The flaw detection structure according to claim 4, characterized in that: The support member also includes a third connection portion disposed on the main body portion, the third connection portion is located between the first connection portion and the second connection portion, the third connection portion extends in a direction away from the seat body, and is rotatably connected to the mounting member.

6. The flaw detection structure according to any one of claims 2 to 5, characterized in that: The elastic connecting member is configured as a tension spring, and two ends of the tension spring are respectively connected to the mounting member and the supporting member.

7. A flaw detection robot, characterized in that: It comprises a driving mechanism, a robot body and the flaw detection structure according to any one of claims 1 to 6, wherein the driving mechanism is transmission-connected to the robot body, and the flaw detection structure is detachably mounted on the robot body.

8. The flaw detection robot according to claim 7, characterized in that: The robot body is provided with a connecting hole, the mounting piece is provided with a waist-shaped hole corresponding to the connecting hole, and the flaw detection robot also includes a locking piece, which is passed through the waist-shaped hole and the connecting hole and locks the mounting piece with the robot body.

9. The flaw detection robot according to claim 7, characterized in that: The mounting member is provided with a first limiting portion, and the robot body is provided with a second limiting portion, and the first limiting portion and the second limiting portion are limitedly matched.

10. The flaw detection robot according to any one of claims 7 to 9, characterized in that: The flaw detection robot also includes a shooting structure and a lighting structure, both of which are installed on the robot body. The lighting structure is used to illuminate the flaw detection structure, and the shooting structure is used to observe the working status of the flaw detection structure.

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