TOFD (Time of Flight Diffraction) double-probe automatic lifting mechanism for detecting robot

Abstract

The utility model belongs to the field of flaw detection equipment, and particularly relates to a TOFD (Time of Flight Diffraction) double-probe automatic lifting mechanism for a detection robot, which comprises a wall-climbing robot main body, a support plate is arranged at the end part of the wall-climbing robot main body, a motor is fixedly connected with the middle position of the support plate, the output end of the motor is fixedly connected with a rotary connecting rod, and the rotary connecting rod is fixedly connected with the wall-climbing robot main body. And one end of the rotary connecting rod is rotationally connected with an adjusting block. According to the wall-climbing robot, the flaw detection assembly is matched with the wall-climbing robot main body, so that flaw detection can be automatically carried out, and the lifting height of the flaw detection assembly can be adjusted through the mutual matching of the rotary connecting rod, the profile supporting arm and the guide rail assembly, so that self-adaptive adjustment can be conveniently carried out according to different use environments; meanwhile, through mutual cooperation of structures such as a guide block, an elastic piece and a moving block, a certain fine adjustment space can be provided for the probe, and hard contact between the probe and a to-be-detected product is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of flaw detection equipment, in particular to a TOFD dual-probe automatic lifting mechanism for a detection robot. Background Technique

[0002] Automated flaw detection mainly refers to the use of automated equipment and technologies to detect and evaluate defects in materials and structures. Non-destructive testing is a series of techniques used to evaluate the integrity of materials or structures without damaging their service performance. Non-destructive testing has a wide range of applications in many industrial fields, such as aerospace, automotive industry, construction, energy, petrochemical and manufacturing. TOFD is an advanced ultrasonic testing method with the characteristics of high precision and high reliability, and is widely used in fields such as weld inspection, component integrity assessment and residual life prediction. The TOFD detection system mainly includes two ultrasonic probes, one as a transmitting probe and the other as a receiving probe. The transmitting probe sends ultrasonic pulses into the object to be detected. Ultrasonic waves diffract at the edges of defects, and the receiving probe captures the diffracted echo signals. By analyzing the flight time of these echo signals, the position and size of the defects can be determined. In the prior art, often workers hold the TOFD detector to perform flaw detection on products, and the detection efficiency is relatively low. For this reason, we propose a TOFD dual-probe automatic lifting mechanism for a detection robot. Content of the Utility Model

[0003] The utility model aims to provide a TOFD dual-probe automatic lifting mechanism for a detection robot, which can perform flaw detection automatically.

[0004] Therefore, the technical solution adopted by the utility model is as follows:

[0005] A TOFD dual-probe automatic lifting mechanism for a detection robot, comprising:

[0006] A wall-climbing robot main body, a support plate is installed at the end of the wall-climbing robot main body, a motor is fixedly connected to the middle position of the support plate, a rotating connecting rod is fixedly connected to the output end of the motor, one end of the rotating connecting rod is rotatably connected to an adjusting block, and a profile support arm is slidably connected to the adjusting block;

[0007] A guide rail assembly, the guide rail assembly is installed between the support plate and the profile support arm, and the profile support arm is slidably connected to the support plate through the guide rail assembly;

[0008] A moving block, the moving block is installed on the profile support arm through a first bolt, an installation groove is opened in the middle of the moving block, a fixing block is installed in the installation groove through a second bolt, a guide block is installed between the fixing block and the installation groove, and a flaw detection assembly is fixedly connected to the bottom end of the guide block.

[0009] Based on the above technical solution, its working principle and the resulting technical effects are as follows:

[0010] When flaw detection is required, first, the wall-climbing robot drives the flaw detection component to move to an appropriate position. Then, the motor is started to drive the rotating link to rotate. The rotating link will drive the adjusting block to slide on the guiding strip, and at the same time drive the profile support arm to move up and down on the support plate. In this way, the flaw detection component can be driven to move up and down accordingly, so as to realize the adjustment of the use height of the flaw detection component. After adjusting to an appropriate position, by setting the guiding block to move up and down in the installation groove and the fixing block, the probe can also be adaptively fine-tuned according to different use environments, and it can avoid hard contact between the probe and the product to be detected. At the same time, when the guiding block moves, due to the certain friction between the guiding block and the fixing block, it can also have a certain damping effect, which is convenient to enhance the stability of the guiding block when moving up and down.

[0011] In a preferred example of the present utility model, it can be further configured that: the profile support arm is made of aluminum alloy, and strip-shaped grooves are provided on the side walls of all four sides of the profile support arm.

[0012] In a preferred example of the present utility model, it can be further configured that: a guiding strip is installed on the side wall of the profile support arm close to the support plate, and the adjusting block is slidably connected to the guiding strip.

[0013] In a preferred example of the present utility model, it can be further configured that: the guide rail assembly includes a linear guide rail and a slider. The linear guide rail is fixedly connected to the support plate by screws, the slider is fixed to the profile support arm by screws, and the slider is slidably connected to the linear guide rail.

[0014] In a preferred example of the present utility model, it can be further configured that: a nut is provided in the strip-shaped groove at the top of the profile support arm. An installation plate is fixedly connected to the side wall of the moving block, and a first bolt passes through the installation plate and is threadedly connected to the nut.

[0015] In a preferred example of the present utility model, it can be further configured that: the fixing block and the guiding block are mutually adapted. A screw hole adapted to the second bolt is provided inside the fixing block, and the second bolt passes through the moving block.

[0016] In a preferred example of the present utility model, it can be further configured that: a round rod is installed at the bottom of the guiding block. An elastic member is sleeved on the outer surface of the round rod, and one end of the elastic member is fixed on the round rod, and the other end is fixed on the bottom of the moving block.

[0017] In a preferred embodiment, the present utility model can be further configured as follows: The flaw detection assembly includes a mounting base fixed to the bottom end of the round rod. A bracket is mounted on the mounting base by screws, and probes are mounted on both sides of the bracket by screws.

[0018] The explanations of the nouns, conjunctions, or adjectives involved in the above technical solution are as follows:

[0019] Fixed connection means that after the parts or components are fixed, there is no relative movement. It is divided into two types: detachable connection and non-detachable connection.

[0020] (1) Detachable connection uses screws, splines, wedge pins, etc. to fix the components together. This connection method can be disassembled during maintenance and will not damage the parts. However, the specifications of the connecting parts used must be correct (such as the length of bolts, keys, wedge pins), and they must be fastened properly.

[0021] (2) Non-detachable connection mainly refers to welding, riveting, and mortise fitting, etc. Since it needs to be forged, sawed, or oxy-cut to disassemble during maintenance or replacement, the spare parts generally cannot be used twice. At the same time, during connection, attention should be paid to process quality, technical inspection, and remedial measures (such as correction, polishing, etc.);

[0022] Movable connection means that after the parts or components are fixed, there is relative movement.

[0023] The above technical solution of the present utility model has the following beneficial technical effects:

[0024] In the present utility model, through the mutual cooperation of the flaw detection assembly and the wall-climbing robot main body, flaw detection can be automated. And through the mutual cooperation of the rotating connecting rod, profile support arm, and guide rail assembly, the lifting height of the flaw detection assembly can be adjusted, which is convenient for adaptive adjustment according to different usage environments. At the same time, through the mutual cooperation of structures such as the guide block, elastic member, and moving block, a certain fine-tuning space can also be provided for the probe to avoid hard contact between the probe and the product to be detected. At the same time, when the guide block moves, due to the certain friction between the guide block and the fixed block, it can also have a certain damping effect, which is convenient for enhancing the stability of the guide block when moving up and down. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a three-dimensional schematic diagram of the overall structure of the present utility model;

[0026] Figure 2 is a three-dimensional schematic diagram of the profile support arm structure of the present utility model;

[0027] Figure 3 is a front view schematic diagram of the profile support arm structure of the present utility model;

[0028] Figure 4 The top view schematic diagram of the profile support arm structure of the present utility model;

[0029] Figure 5 The side view schematic diagram of the profile support arm structure of the present utility model.

[0030] Reference numerals:

[0031] 1. Wall-climbing robot main body; 2. Support plate; 3. Motor; 4. Rotating link; 5. Adjusting block; 6. Profile support arm; 7. Guide rail assembly; 71. Linear guide rail; 72. Slide block; 8. Moving block; 9. Installation groove; 10. Fixed block; 11. Guide block; 12. Flaw detection assembly; 121. Mounting seat; 122. Bracket; 123. Probe; 13. Guide strip; 14. Round rod; 15. Elastic member; 16. First bolt; 17. Second bolt. Detailed implementation manners

[0032] Next, the technical solutions in the embodiments of the present disclosure will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present disclosure. It should be noted that, without conflict, the embodiments of the present utility model and the features in the embodiments can be combined with each other.

[0033] Herein, in combination with Figures 1 to 5 to describe an embodiment of a TOFD dual-probe 123 automatic lifting mechanism for a detection robot used for automated flaw detection. Specifically, the TOFD dual-probe 123 automatic lifting mechanism for the detection robot is configured as an integral structure, which has three components: a wall-climbing robot main body 1, a guide rail assembly 7, and a moving block 8. Through the mutual cooperation of the flaw detection assembly 12 and the wall-climbing robot main body 1, automated flaw detection can be carried out, and through the mutual cooperation of the rotating link 4, the profile support arm 6, and the guide rail assembly 7, the lifting height of the flaw detection assembly 12 can be adjusted, facilitating adaptive adjustment for different usage environments. At the same time, through the mutual cooperation of structures such as the guide block 11, the elastic member 15, and the moving block 8, a certain fine-tuning space can also be provided for the probe 123 to avoid hard contact between the probe 123 and the product to be detected. At the same time, when the guide block 11 moves, since there is a certain frictional force between the guide block 11 and the fixed block 10, it can also have a certain damping effect, facilitating enhancing the stability of the guide block 11 when moving up and down.

[0034] In combination with Figures 1-5 As shown, a TOFD dual-probe 123 automatic lifting mechanism for a detection robot provided by the present utility model includes:

[0035] The wall-climbing robot main body 1 is provided with a support plate 2 at its end. A motor 3 is fixedly connected to the middle position of the support plate 2. The output end of the motor 3 is fixedly connected with a rotating link 4. One end of the rotating link 4 is rotatably connected with an adjusting block 5. A profile support arm 6 is slidably connected to the adjusting block 5;

[0036] A guide rail assembly 7 is installed between the support plate 2 and the profile support arm 6, and the profile support arm 6 is slidably connected to the support plate 2 through the guide rail assembly 7;

[0037] A moving block 8 is installed on the profile support arm 6 through a first bolt 16. An installation groove 9 is formed in the middle of the moving block 8. A fixing block 10 is installed in the installation groove 9 through a second bolt 17. A guide block 11 is installed between the fixing block 10 and the installation groove 9. The bottom end of the guide block 11 is fixedly connected with a flaw detection assembly 12.

[0038] The wall-climbing robot main body 1 is mainly used to move on the product surface. There are various existing products in the prior art, which will not be elaborated here.

[0039] For the technical solution of this embodiment, the profile support arm 6 is made of aluminum alloy, and strip-shaped grooves are formed on the side walls of all four sides of the profile support arm 6. The profile support arm 6 is mainly used to provide installation and fixation for the flaw detection assembly 12.

[0040] For the technical solution of this embodiment, a guide strip 13 is installed on the side wall of the profile support arm 6 close to the support plate 2. The adjusting block 5 is slidably connected to the guide strip 13. When the motor 3 is started to drive the rotating link 4 to rotate, the rotating link 4 will drive the adjusting block 5 to slide on the guide strip 13, and at the same time drive the profile support arm 6 to move up and down on the support plate 2, so as to drive the flaw detection assembly 12 to move up and down accordingly. It should be noted that the motor 3 is set as a self-locking motor 3. When the flaw detection assembly 12 moves to an appropriate height and the motor 3 is turned off, the rotating link 4 will be fixed in an appropriate position, thereby driving the profile support arm 6 to be fixed at an appropriate height.

[0041] Further, the guide rail assembly 7 includes a linear guide rail 71 and a slider 72. The linear guide rail 71 is fixedly connected to the support plate 2 through screws. The slider 72 is fixed to the profile support arm 6 through screws, and the slider 72 is slidably connected to the linear guide rail 71. When the rotating link 4 rotates, it will drive the slider 72 to move on the linear guide rail 71, so as to drive the profile support arm 6 to move up and down on the support plate 2.

[0042] Regarding the technical solution of this embodiment, a nut is provided in the strip-shaped groove at the top of the profile support arm 6. A mounting plate is fixedly connected to the side wall of the moving block 8, and the first bolt 16 passes through the mounting plate and is threadedly connected to the nut. When it is necessary to install the moving block 8 on the profile support arm 6, first pass the first bolt 16 through the mounting plate, then align the first bolt 16 with the nut in the strip-shaped groove, and rotate the first bolt 16 to tighten it with the nut, so as to squeeze the mounting plate and fix it on the profile support arm 6. By moving the nut to different positions on the profile support arm 6, the moving block 8 can also be installed at different positions, thereby realizing the position adjustment of the flaw detection assembly 12.

[0043] Regarding the technical solution of this embodiment, the fixed block 10 and the guide block 11 are mutually adapted. A screw hole adapted to the second bolt 17 is provided inside the fixed block 10, and the second bolt 17 passes through the moving block 8. The second bolt 17 is used to install and fix the fixed block 10. The guide block 11 is located between the fixed block 10 and the mounting groove 9. The fixed block 10 limits the guide block 11, and the guide block 11 can move up and down along the fixed block 10. There is a certain friction between the fixed block 10 and the guide block 11, which is convenient for generating a certain damping effect during movement.

[0044] Furthermore, a round rod 14 is installed at the bottom of the guide block 11. An elastic member 15 is sleeved on the outer surface of the round rod 14. One end of the elastic member 15 is fixed on the round rod 14, and the other end is fixed on the bottom of the moving block 8. When the guide block 11 drives the round rod 14 to move upward, the elastic member 15 will be squeezed. Using the elastic potential energy provided by the elastic member 15, the guide block 11 can be driven to reset.

[0045] Regarding the technical solution of this embodiment, the flaw detection assembly 12 includes a mounting seat 121 fixed to the bottom end of the round rod 14. A bracket 122 is installed on the mounting seat 121 by screws. Probes 123 are installed on both sides of the bracket 122 by screws, and the probes 123 can be deflected and adjusted on the bracket 122.

[0046] Specifically, when flaw detection is required, first, the wall-climbing robot drives the flaw detection component 12 to move to an appropriate position. Then, the motor 3 is started to drive the rotating connecting rod 4 to rotate. The rotating connecting rod 4 will drive the adjusting block 5 to slide on the guiding bar 13, and at the same time drive the profile support arm 6 to move up and down on the support plate 2, so as to drive the flaw detection component 12 to move up and down accordingly, thereby realizing the adjustment of the use height of the flaw detection component 12. After adjusting to an appropriate position, by setting the guiding block 11 to move up and down in the installation groove 9 and the fixing block 10, the probe 123 can also be adaptively fine-tuned according to different use environments, and the hard contact between the probe 123 and the product to be detected can be avoided. At the same time, when the guiding block 11 moves, due to the certain friction between the guiding block 11 and the fixing block 10, it can also have a certain damping effect, which is convenient for enhancing the stability of the guiding block 11 when moving up and down.

[0047] The following further describes a TOFD dual-probe 123 automatic lifting mechanism for a detection robot provided by the present utility model in conjunction with the accompanying drawings and embodiments.

[0048] A TOFD dual-probe 123 automatic lifting mechanism for a detection robot includes:

[0049] A wall-climbing robot main body 1, with a support plate 2 installed at the end of the wall-climbing robot main body 1. A motor 3 is fixedly connected to the middle position of the support plate 2. The output end of the motor 3 is fixedly connected to a rotating connecting rod 4. One end of the rotating connecting rod 4 is rotatably connected to an adjusting block 5, and a profile support arm 6 is slidably connected to the adjusting block 5;

[0050] A guide rail assembly 7, which is installed between the support plate 2 and the profile support arm 6, and the profile support arm 6 is slidably connected to the support plate 2 through the guide rail assembly 7;

[0051] A moving block 8, which is installed on the profile support arm 6 through a first bolt 16. An installation groove 9 is opened in the middle of the moving block 8. A fixing block 10 is installed in the installation groove 9 through a second bolt 17. A guiding block 11 is installed between the fixing block 10 and the installation groove 9. The bottom end of the guiding block 11 is fixedly connected to a flaw detection component 12.

[0052] Working principle and usage process of the present utility model: When flaw detection is required, first drive the flaw detection component 12 to an appropriate position by the wall-climbing robot, and then start the motor 3 to drive the rotating connecting rod 4 to rotate. The rotating connecting rod 4 will drive the adjusting block 5 to slide on the guiding strip 13, and at the same time drive the profile support arm 6 to move up and down on the support plate 2, so as to drive the flaw detection component 12 to move up and down accordingly, thereby realizing the adjustment of the usage height of the flaw detection component 12. After adjusting to an appropriate position, by setting the guiding block 11 to move up and down in the installation groove 9 and the fixing block 10, the probe 123 can also be adaptively fine-tuned according to different usage environments, and it can avoid hard contact between the probe 123 and the product to be detected, and can provide a certain buffering effect. At the same time, when the guiding block 11 moves, due to the certain friction between the guiding block 11 and the fixing block 10, it can also have a certain damping effect, which is convenient for enhancing the stability of the guiding block 11 when moving up and down.

[0053] In the present utility model, the term "a plurality of" refers to two or more, unless otherwise clearly defined. The term "and / or" used herein includes any and all combinations of one or more of the related listed items. Terms such as "installation", "connection", "connection", "fixation" and other terms should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; "connection" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0054] It should be noted that when an element is referred to as being "assembled on", "installed on", "fixed on" or "set on" another element, it can be directly on the other element or there can also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are only for the purpose of illustration and do not represent the only implementation manner.

[0055] In the description of this specification, the descriptions of terms such as "one embodiment", "some embodiments", "specific embodiments" etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0056] Although embodiments of the present utility model have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present utility model. The scope of the present utility model is defined by the claims and their equivalents.

Claims

1. A TOFD dual-probe automatic lifting mechanism for a detection robot, characterized in that: include: A wall-climbing robot body (1), wherein a support plate (2) is installed at the end of the wall-climbing robot body (1), a motor (3) is fixedly connected to the middle position of the support plate (2), a rotating connecting rod (4) is fixedly connected to the output end of the motor (3), one end of the rotating connecting rod (4) is rotatably connected to an adjusting block (5), and a profile support arm (6) is slidably connected to the adjusting block (5); A guide rail assembly (7), wherein the guide rail assembly (7) is installed between the support plate (2) and the profile support arm (6), and the profile support arm (6) is slidably connected to the support plate (2) via the guide rail assembly (7); A moving block (8) is installed on a profile support arm (6) via a first bolt (16); a mounting groove (9) is provided in the middle of the moving block (8); a fixed block (10) is installed in the mounting groove (9) via a second bolt (17); a guide block (11) is installed between the fixed block (10) and the mounting groove (9); and a flaw detection assembly (12) is fixedly connected to the bottom end of the guide block (11).

2. The automatic lifting mechanism of a TOFD dual probe (123) for detecting a robot according to claim 1, characterized in that: The profile support arm (6) is made of aluminum alloy, and strip grooves are provided on the side walls of the four sides of the profile support arm (6).

3. The automatic lifting mechanism of a TOFD dual probe (123) for detecting a robot according to claim 2, characterized in that: A guide bar (13) is installed on the side wall of the profile support arm (6) close to the support plate (2), and the adjustment block (5) is slidably connected to the guide bar (13).

4. The automatic lifting mechanism of a TOFD dual probe (123) for detecting a robot according to claim 2, characterized in that: The guide rail assembly (7) comprises a linear guide rail (71) and a slider (72); the linear guide rail (71) is fixedly connected to the support plate (2) by means of screws; the slider (72) is fixed to the profile support arm (6) by means of screws; and the slider (72) and the linear guide rail (71) are slidably connected.

5. The automatic lifting mechanism of a TOFD dual probe (123) for detecting a robot according to claim 4, characterized in that: A nut is arranged in the strip groove at the top of the profile support arm (6), a mounting plate is fixedly connected to the side wall of the moving block (8), and a first bolt (16) passes through the mounting plate and is threadedly connected to the nut.

6. The automatic lifting mechanism of a TOFD dual probe (123) for detecting a robot according to claim 5, characterized in that: The fixed block (10) and the guide block (11) are adapted to each other, a screw hole adapted to the second bolt (17) is provided inside the fixed block (10), and the second bolt (17) is arranged through the movable block (8).

7. The automatic lifting mechanism of a TOFD dual probe (123) for detecting a robot according to claim 1, characterized in that: A round rod (14) is installed at the bottom of the guide block (11), and an elastic member (15) is sleeved on the outer surface of the round rod (14), and one end of the elastic member (15) is fixed on the round rod (14), and the other end is fixed on the bottom of the moving block (8).

8. The automatic lifting mechanism of a TOFD dual probe (123) for detecting a robot according to claim 7, characterized in that: The flaw detection assembly (12) comprises a mounting seat (121) fixed to the bottom end of the round rod (14), a bracket (122) is mounted on the mounting seat (121) by means of screws, and probes (123) are mounted on both sides of the bracket (122) by means of screws.

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