Novel multi-probe ultrasonic detection robot

Abstract

The utility model discloses a novel multi-probe ultrasonic detection robot, and relates to the technical field of nondestructive detection automation equipment. Comprising a chassis assembly, magnetic adsorption walking wheels and a driver for driving the magnetic adsorption walking wheels to walk are installed at the bottom of the chassis assembly, an illuminating lamp and a camera are installed on the chassis assembly, and an ultrasonic thickness measuring probe assembly is installed at the front end of the chassis assembly; the ultrasonic thickness measuring probe assembly comprises a connecting block connected to the chassis assembly through a connecting plate, and a row of ultrasonic probe modules arranged at intervals are installed on the connecting block.

Description

TECHNICAL FIELD

[0001] The utility model relates to nondestructive testing automation equipment technical field, concretely to a novel multi-probe ultrasonic detection robot. BACKGROUND

[0002] The storage tank, the spherical tank and the pressure container all belong to special equipment, need to carry out the periodic safety detection, mainly utilize ultrasonic, magnetic powder, penetration, ray to carry out nondestructive testing. At present, most of nondestructive testing work is completed by manual operation, since the need to set up the scaffold in the tank, therefore, there are long cycle, high cost, high labor intensity, low efficiency and high altitude operation risk and other defects. The detection robot combines the wall moving robot technology and nondestructive testing technology organically, can be attached to the vertical wall and crawl, and carries nondestructive testing tools to replace manual work for some high altitude detection work, saves some preliminary preparation work such as setting up the scaffold, improves the work efficiency, reduces the detection cost and high altitude operation risk, has wide application prospect.

[0003] A novel multi-probe ultrasonic detection robot effectively combines the wall moving robot technology, ultrasonic thickness measurement technology and vision technology, can move on various shaped workpieces and replace manual work for macroscopic inspection and corrosion detection (wall thickness measurement), not only can be used for wall thickness measurement of the storage tank, the spherical tank, the pressure container and the pipeline, but also can be used for wall thickness measurement of the boiler water cooling wall and the scrubber, and the robot acquisition speed is 10 times of manual acquisition speed, and the data amount is 1000 times of manual acquisition data amount, so that the safety condition evaluation of the workpiece is more comprehensive and accurate. SUMMARY

[0004] The utility model aims at providing a novel multi-probe ultrasonic detection robot, which can effectively solve the problems in the background technology.

[0005] The technical scheme for achieving the above-mentioned object is as follows: a novel multi-probe ultrasonic detection robot, characterized by comprising a chassis assembly, a magnetic adsorption walking wheel is installed at the bottom of the chassis assembly, and a drive is used to drive the magnetic adsorption walking wheel to walk, the chassis assembly is installed with an illuminating lamp and a camera, and an ultrasonic thickness measurement probe assembly is installed at the front end of the chassis assembly.

[0006] The ultrasonic thickness measurement probe assembly comprises a connecting block connected to the chassis assembly through a connecting plate, and a row of ultrasonic probe modules are installed on the connecting block in an interval.

[0007] Further, the chassis assembly comprises a left side frame and a right side frame arranged symmetrically, and the left side frame and the right side frame each comprise a left side plate and a right side plate, a horizontal rib plate is connected between the left side plate and the right side plate, the magnetic adsorption walking wheels are rotatably installed between the front and rear sides of the left side plate and the right side plate, and each magnetic adsorption walking wheel is connected with a servo motor.

[0008] Further, a waterproof box is arranged between the left and right skeletons, and the waterproof box is located above the left and right skeletons and is hingedly connected with the left and right skeletons respectively, the waterproof box is internally provided with a controller, a multi-channel ultrasonic board card, a power supply, a remote control receiver and a communication module, the power supply is connected with the controller, the multi-channel ultrasonic board card, the camera, the illuminating lamp, the remote control receiver and the servo motor respectively, the remote control receiver and the ultrasonic thickness measuring probe are connected with the controller through the multi-channel ultrasonic board card, the controller is further connected with an upper computer through the communication module, and the remote control receiver is provided with a remote control transmitter.

[0009] Further, the magnetic adsorption walking wheels comprise a plurality of first permanent magnet wheels and a plurality of first armature wheels, the first permanent magnet wheels and the first armature wheels are alternately arranged and connected with each other as a whole.

[0010] Further, the ultrasonic thickness measuring probe assemblies are respectively arranged at the front ends of the left and right skeletons.

[0011] The ultrasonic probe module comprises a bottom mounting frame and an upper support which is detachably connected to the connecting block, the bottom mounting frame has a cross section in the shape of an isosceles trapezoid with a large end upward, the bottom mounting frame is provided with an ultrasonic thickness measuring probe with a detection end downward, the upper support is provided with a U-shaped seat with an opening forward, two connecting rods are arranged in parallel between the U-shaped seat of the upper support and the corresponding bottom mounting frame, one end of each connecting rod is hingedly connected to the middle of the corresponding bottom mounting frame on both sides, and the other end of each connecting rod is hingedly connected to the U-shaped seat of the corresponding upper support through a connecting shaft, a torsion spring is arranged on the connecting shaft and connected with the corresponding upper support and connecting rod, and the torsion spring is used to press the bottom mounting frame hingedly connected to the lower ends of the two connecting rods against a workpiece, so that the ultrasonic thickness measuring probe mounted on the bottom mounting frame is aligned downward against the workpiece.

[0012] Further, an auxiliary magnetic adsorption wheel assembly with the same walking direction as the magnetic adsorption walking wheels is further mounted at the middle of the front end of the waterproof box, the auxiliary magnetic adsorption wheel assembly comprises an L-shaped plate, a connecting plate is arranged horizontally on the lower end of the L-shaped plate, two springs are arranged vertically downward on both ends of the connecting plate through connecting columns, and the lower ends of the springs are respectively connected with connecting seats, the connecting seat assemblies are connected with auxiliary magnetic adsorption wheels with bottoms flush with the magnetic adsorption walking wheels.

[0013] Further, the auxiliary magnetic adsorption wheel comprises one second permanent magnet wheel and two second armature wheels, and the second permanent magnet wheel is connected between the two armature wheels.

[0014] Further, the bottom of the chassis assembly is also provided with an encoder assembly, the encoder assembly comprising a connecting plate fixedly installed on the bottom of the chassis assembly, a spring telescopic device of the connecting plate, a telescopic end of the spring telescopic device downwardly provided with an encoder wheel through a rotating shaft, and the rotating shaft penetrating through the telescopic end of the spring telescopic device and connecting the encoder.

[0015] The present application has the advantages of

[0016] 1) The wall moving robot technology, ultrasonic thickness measurement technology and visual technology are effectively combined into an ultrasonic detection robot, which replaces manual macroscopic inspection and corrosion detection of storage tanks, spherical tanks and pressure vessels, saves some preliminary preparation work such as erecting a scaffold, improves work efficiency, and eliminates the risk of manual high-altitude operation.

[0017] 2) A plurality of snowshoe type ultrasonic thickness measurement probes are used to simultaneously collect wall thickness data, the collection speed is 10 times that of manual collection, and the data volume is 1000 times that of manual collection, which not only further improves work efficiency, but also makes the safety condition evaluation of the workpiece more accurate and more comprehensive. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a perspective view of the present application;

[0019] Figure 2 is a structural schematic view of the ultrasonic thickness measurement probe assembly;

[0020] Figure 3 is a structural schematic view of the magnetic adsorption walking wheel;

[0021] Figure 4 is a structural schematic view of the left side frame;

[0022] Figure 5 is a structural schematic view of the auxiliary magnetic adsorption wheel assembly;

[0023] Figure 6 is a control principle diagram of the present application. DETAILED DESCRIPTION

[0024] As Figures 1-6 shown, the present application comprises a chassis assembly 3, the chassis assembly 3 comprising symmetrically arranged left and right side frames 301 and 302, a waterproof box 5 being arranged between the left and right side frames 301 and 302, the waterproof box 5 being located above the left and right side frames 301 and 302 and being hingedly connected to the left and right side frames 301 and 302 through hinges 360 at the middle portions of the left and right sides, so that the left and right side frames 301 and 302 can rotate relative to the waterproof box 5 to adapt to curved workpieces.

[0025] The left skeleton 301 and the right skeleton 302 each comprise a left plate 310 and a right plate 307, the middle top ends of the left plate 310 and the right plate 307 are connected with a transverse rib plate 340, and a handle 330 is further connected to the transverse rib plate 340, which is convenient for the detection personnel to lift the robot and place it on the detected workpiece or take it off the surface of the detected workpiece, and is also convenient for hanging a fall preventer to prevent the robot from accidentally falling.

[0026] The front and rear ends of the left plate 310 and the right plate 307 are respectively rotatably installed with the magnetic adsorption walking wheels 2, and the periphery of the magnetic adsorption walking wheels 2 is respectively provided with a connecting rod 320 connected between the left plate 310 and the right plate 307, the connecting rod 320 is in clearance fit with the magnetic adsorption walking wheels 2, each magnetic adsorption walking wheel 2 is correspondingly connected with a servo motor 303, and the servo motor 303 is installed on the inner side wall of the corresponding left skeleton 301 and right skeleton 302, and the rated torque of each servo motor 303 reaches 18N.m, and the theoretical working torque reaches 6.7N.m.

[0027] The magnetic adsorption walking wheel 2 comprises three first permanent magnet wheels 201 and two first armature wheels 202, the two first armature wheels 202 are respectively located between two adjacent first permanent magnet wheels 201 and are connected as a whole. The adsorption force of a single magnetic adsorption walking wheel 2 reaches 30Kg, therefore, the magnetic adsorption walking wheel 2 has the characteristics of high modular degree, small and compact structure, light weight, strong adsorption force, high cost performance and convenient disassembly and assembly, and can avoid the damage of the magnetic wheel to the metal wall surface during movement, and can realize safe, stable, high-quality and efficient wall climbing operation of the robot.

[0028] The front ends of the left skeleton 301 and the right skeleton 302 are respectively connected with an ultrasonic thickness measuring probe assembly 1 through a connecting plate 140, the ultrasonic thickness measuring probe assembly 1 comprises a connecting block 130 fixedly connected to the connecting plate 140, the front side of the connecting block 130 is connected with four ultrasonic probe modules 101 arranged at intervals, the ultrasonic probe module 101 comprises a bottom mounting bracket 110 and an upper support 120 detachably connected to the connecting block 130, the cross section of the bottom mounting bracket 110 is an isosceles trapezoid with the large end upward, and the bottom mounting bracket 110 has a curved surface self-adaptive capability, which can automatically and smoothly transition through the weld and other obstacles during driving, and ensure the continuity and stability during detection.

[0029] The bottom plate mounting frame 110 is provided with an ultrasonic thickness detection probe 111 with a detection end vertically downward, and the bottom plate mounting frame 110 is provided with an opening exposing the detection end of the ultrasonic thickness detection probe 111. The upper support 120 is provided with a U-shaped seat 121 with an opening facing forward. Two parallel connecting rods 122 are connected between the U-shaped seat 121 of the upper support 120 and the corresponding bottom plate mounting frame 110. One end of each connecting rod 122 is hingedly connected to the middle of the corresponding bottom plate mounting frame 110 on both sides. The other end of each connecting rod 122 is hingedly connected to the U-shaped seat 121 of the corresponding upper support 120 through a connecting shaft 124. The connecting shaft 124 is provided with a torsion spring 125 connected to the corresponding upper support 120 and connecting rod 122. The torsion spring 125 is used to press the bottom plate mounting frame 110 hingedly connected to the lower ends of the two connecting rods 122 against the workpiece, so that the ultrasonic thickness detection probe 111 mounted on the bottom plate mounting frame 110 is aligned downward against the workpiece.

[0030] The waterproof box 5 is further provided with an auxiliary magnetic attraction wheel assembly 7 with the same walking direction as the magnetic attraction walking wheel 2. The auxiliary magnetic attraction wheel assembly 7 is located at the rear side of the ultrasonic thickness detection probe assembly 1. The auxiliary magnetic attraction wheel assembly 7 includes an L-shaped plate 770. A connecting plate 760 is connected to the lower end of the L-shaped plate 770. The connecting plate 760 is provided with two spring 740s arranged vertically downward. The lower end of each spring 740 is connected to a connecting seat 730. The two connecting seats 730 are connected to an auxiliary magnetic attraction wheel 790 with a bottom surface flush with the magnetic attraction walking wheel 2.

[0031] The auxiliary magnetic attraction wheel 790 includes a second permanent magnet wheel 700 and two second armature wheels 710. The second permanent magnet wheel 700 is connected between the two armature wheels 710.

[0032] The waterproof box 5 is further provided with a video monitoring system. The video monitoring system includes a camera 8 and two illuminating lamps 6 arranged on both sides of the camera 8. The camera 8 and the illuminating lamps 6 are installed at the front end of the waterproof box 5 and are both angle-adjustable structures. The power of each illuminating lamp 6 is not less than 6W. The camera 8 is a high-definition industrial camera with a pixel not less than 5 million and a anti-shake function.

[0033] The waterproof box is provided with a controller 530, a multi-channel ultrasonic board card 540, a power supply 550, a remote control receiver 570, and a communication module 560. The power supply 550 is connected to the controller 530, the multi-channel ultrasonic board card 540, the camera 8, the illuminating lamps 6, the remote control receiver 590, and the servo motor 303. The remote control receiver 570 and the ultrasonic thickness detection probe 111 are connected to the controller 530 through the multi-channel ultrasonic board card 540. The controller 530 is further connected to an upper computer 570 through the communication module 560. The remote control receiver 590 is provided with a remote control transmitter 580.

[0034] During operation, the chassis assembly 3 is adsorbed on the workpiece to be measured by four magnetic adsorption walking wheels 2, is driven by a servo motor 303, and moves forward at a certain speed, eight ultrasonic probe modules 101 are closely attached to the workpiece under the pressure of the torsion spring 125, and move forward together with the chassis assembly 3, so that the thickness of the covered workpiece can be measured; the above-mentioned operation is repeated back and forth, the area to be measured of the workpiece is covered, the thickness of the measured area of the workpiece to be measured is obtained, the wall thickness cloud chart of the detected area of the workpiece to be measured is obtained, and finally the corrosion condition of the workpiece is comprehensively evaluated through the wall thickness cloud chart.

[0035] During operation, the camera 8 monitors the position of the ultrasonic thickness measuring probe in real time, and feeds back the surface state of the workpiece to the industrial computer in real time; when the transmission picture is dark in the working environment, two illuminating lamps 6 are opened to provide a bright environment for the camera 8.

[0036] The working process of the utility model is as follows:

[0037] The detection robot is placed on the workpiece to be measured such as a storage tank, a spherical tank and a pressure container, the detection robot is started, and the remote controller controls the displacement of the detection robot to realize ultrasonic detection of the thickness during the detection process.

Claims

1. A novel multi-probe ultrasonic testing robot, characterized by: The application relates to a magnetic-adsorption walking wheel device, which comprises a chassis assembly, a magnetic-adsorption walking wheel and a driver for driving the magnetic-adsorption walking wheel, a lighting lamp and a camera, and an ultrasonic thickness measuring probe assembly. The ultrasonic thickness measuring probe assembly comprises a connecting block connected to the chassis assembly through a connecting plate, and a row of ultrasonic probe modules arranged at intervals on the connecting block.

2. A novel multi-probe ultrasonic testing robot according to claim 1, characterized in that: The chassis assembly comprises a left skeleton and a right skeleton arranged symmetrically, each of the left skeleton and the right skeleton comprises left and right side plates, a transverse rib plate is connected between the left and right side plates, and the magnetic-adsorption walking wheels are rotatably installed between the front and back sides of the left and right side plates, and each magnetic-adsorption walking wheel is connected with a servo motor.

3. A novel multi-probe ultrasonic testing robot according to claim 2, characterized in that: A waterproof box is arranged between the left skeleton and the right skeleton, the waterproof box is arranged above the left and right skeletons and is hingedly connected with the left and right skeletons respectively, a controller, a multi-channel ultrasonic board card, a power supply, a remote control receiver and a communication module are arranged in the waterproof box, the power supply is connected with the controller, the multi-channel ultrasonic board card, the camera, the lighting lamp, the remote control receiver and the servo motor, the remote control receiver and the ultrasonic thickness measuring probe are connected with the controller through the multi-channel ultrasonic board card, the controller is further connected with an upper computer through the communication module, and the remote control receiver is provided with a remote control transmitter.

4. A novel multi-probe ultrasonic testing robot according to claim 1, characterized in that: The magnetic-adsorption walking wheel comprises a plurality of first permanent magnet wheels and a plurality of first armature wheels, the first permanent magnet wheels and the first armature wheels are alternately arranged and connected with each other as a whole.

5. A novel multi-probe ultrasonic testing robot according to claim 2, characterized in that: The ultrasonic thickness measuring probe assembly is arranged at the front end of the left skeleton and the right skeleton respectively. The ultrasonic probe module comprises a bottom mounting frame and an upper support detachably connected to the connecting block, the cross section of the bottom mounting frame is in the shape of an isosceles trapezoid with the large end upward, an ultrasonic thickness measuring probe with a downward vertical detection end is mounted on the bottom mounting frame, the upper support is provided with a U-shaped seat with a front opening, two parallel connecting rods are connected between the U-shaped seat of the upper support and the corresponding bottom mounting frame, one end of each connecting rod is hingedly connected to the middle of the corresponding bottom mounting frame, the other end of each connecting rod is hingedly connected to the U-shaped seat of the corresponding upper support through a connecting shaft, a torsion spring is arranged on the connecting shaft and connected with the corresponding upper support and connecting rod, and the torsion spring is used for pressing the bottom mounting frame hingedly connected to the lower ends of the two connecting rods on a workpiece, so that the ultrasonic thickness measuring probe mounted on the bottom mounting frame is aligned downward on the workpiece.

6. A novel multi-probe ultrasonic testing robot according to claim 1, characterized in that: An auxiliary magnetic-adsorption wheel assembly with the same walking direction as the magnetic-adsorption walking wheel is further mounted on the front end of the waterproof box, the auxiliary magnetic-adsorption wheel assembly comprises an L-shaped plate, a horizontally arranged connecting plate is connected to the lower end of the L-shaped plate, two vertical downward arranged springs are connected to the two ends of the connecting plate through connecting columns, and the lower ends of the springs are connected with connecting seats.

7. A novel multi-probe ultrasonic testing robot according to claim 6, characterized in that: The auxiliary magnetic adsorption wheel comprises a second permanent magnet wheel and two second armature wheels, the second permanent magnet wheel is connected between the two armature wheels; the bottom of the chassis assembly is further provided with an encoder assembly, the encoder assembly comprises a connecting plate fixedly installed at the bottom of the chassis assembly, a spring telescopic device of the connecting plate, a telescopic end of the spring telescopic device downwardly and an encoder wheel rotatably installed through a rotating shaft penetrating through the telescopic end of the spring telescopic device and connected with the encoder.

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