Defect ultrasonic positioning imaging detection robot based on multi-field coupling mechanism

Abstract

The utility model relates to the field of detection equipment, and discloses a defect ultrasonic positioning imaging detection robot based on a multi-field coupling mechanism, which comprises a plurality of ultrasonic detectors, a camera, a plurality of rollers and an inductance magnet, the detection end of the ultrasonic detector faces the side away from the box body. The camera is connected to the bottom of the box body and located in the center of the bottom of the box body, and the shooting end of the camera faces the side away from the box body; the inductance magnet is connected to the bottom of the box body; and the plurality of rollers are rotatably connected to four corners of the bottom of the box body. The device has the beneficial effects that a signal is sent out when the component defect is detected, meanwhile, the camera also shoots the specific form, distribution, size and position characteristics of the defect, and the control terminal can store and mark the shot data and ultrasonic data at the moment, so that a worker can conveniently and accurately find the defect subsequently.

Description

Technical Field

[0001] This utility model relates to the field of testing equipment, specifically to a defect ultrasonic positioning imaging testing robot based on a multi-field coupling mechanism. Background Technology

[0002] Non-destructive testing (NDT) is a testing technique that does not damage the integrity and function of the object being tested. It utilizes physical phenomena such as sound waves, electromagnetic waves, and light waves to detect and evaluate the defects, performance, and condition of materials, parts, and equipment. Ultrasonic testing, as one of the most commonly used methods in NDT, is widely applied in various technical fields. It is a NDT method that uses the propagation and reflection characteristics of ultrasonic waves in materials to detect internal defects. To achieve the desired ultrasonic testing effect, an ultrasonic coupling fluid needs to be applied to the surface of the area to be tested, i.e., the target surface.

[0003] Currently, ultrasonic detectors are generally used to inspect the quality of the outer surface of storage tanks. However, when the outer surface area of ​​the storage tank is large, it is easy to miss or misdetect the defects. Furthermore, ultrasonic detectors can only emit signals when defects are detected, and cannot visualize the defects on the outer surface of the storage tank in three dimensions, making it difficult to intuitively show the shape, distribution, size, and location characteristics of the defects. Utility Model Content

[0004] The technical problem to be solved by this invention is that current ultrasonic inspection robots cannot visualize defects in components in three dimensions, making it difficult to intuitively display the shape, distribution, size, and location characteristics of defects. The purpose is to provide a defect ultrasonic positioning and imaging inspection robot based on a multi-field coupling mechanism. When a defect is detected on the outer surface of a storage tank, a signal is emitted, and at the same time, the camera also captures the specific shape, distribution, size, and location characteristics of the defect, making it easier for staff to accurately locate the defect later.

[0005] This utility model is achieved through the following technical solution:

[0006] A defect ultrasonic localization imaging inspection robot based on multi-field coupling mechanism includes several ultrasonic detectors, several rollers, a camera, and an inductive magnet. The ultrasonic detectors are respectively connected to the bottom of the box, with the detection end of the ultrasonic detector facing away from the box. The camera is connected to the bottom of the box, located at the center of the bottom of the box, with the imaging end of the camera facing away from the box. The inductive magnet is connected to the bottom of the box. The rollers are rotatably connected to the four corners of the bottom of the box.

[0007] The beneficial effects of this invention are that by setting up an ultrasonic detector and a camera, a signal can be easily emitted when a defect is detected on the outer surface of the storage tank. Simultaneously, the camera captures the specific shape, distribution, size, and location characteristics of the defect, thus achieving the integration of multiple detection technologies. The control terminal can store and mark the captured and ultrasonic data, facilitating accurate location of the defect by staff later. Furthermore, by installing inductive magnets and wheels on the base plate, the robot can be accurately positioned against the outer surface of the storage tank using the inductive magnets, preventing it from falling off the component during inspection.

[0008] In some embodiments, the housing includes a base plate and a cover. The ultrasonic detector, camera, inductive magnet, and rollers are all connected to the bottom of the base plate, and a controller (control terminal) is connected to the top of the base plate. The controller is electrically connected to the ultrasonic detector and camera via cables, and both the controller and the cables are located within the cavity of the housing. The base plate provides support and positioning for the ultrasonic detector, camera, inductive magnet, and rollers, while the cover protects the controller and cables.

[0009] In some embodiments, a servo motor is also included, which is connected to the bottom of the base plate, and the output shaft of the servo motor is connected to the roller. By setting the servo motor to provide power to the roller, the robot can move.

[0010] In some embodiments, a coupling and a mounting shaft are further included, wherein the output shaft of the servo motor is connected to the mounting shaft via the coupling, and the roller is rotatably connected to the mounting shaft. This facilitates roller rotation.

[0011] In some embodiments, a bearing is further included, the inner cavity of which mates with the mounting shaft bore, and the roller mates with the outer ring bore of the bearing. The bearing reduces friction.

[0012] In some embodiments, a motor mounting bracket is further included. The motor mounting bracket is L-shaped, with its horizontal portion fixedly connected to the base plate and its vertical end connected to the servo motor via bolts. By setting the motor mounting bracket to an L-shaped plate, with its horizontal portion fixedly connected to the base plate and its vertical end connected to the servo motor via bolts, interference between the servo motor and the base plate can be prevented while still allowing for servo motor mounting.

[0013] In some embodiments, the inductive magnet comprises two magnets, each located at one end of the base plate. An adjustable power supply is also mounted on the base plate, and the adjustable power supply is electrically connected to both the inductive magnet and a controller. The adjustable power supply is fixedly connected to the inner cavity of the housing. By electrically connecting the adjustable power supply to both the inductive magnet and the controller, the output current and voltage of the adjustable power supply can be controlled by the controller, thereby adjusting the magnetic force of the inductive magnet and facilitating robot movement under different operating conditions (different detection speeds).

[0014] In some embodiments, the ultrasonic detector includes a large housing, a small housing, an ultrasonic mounting shaft, and several ultrasonic probes. Both the small and large housings have two coaxial through holes. All three ultrasonic probes are connected to the ultrasonic mounting shaft. The end of each ultrasonic probe away from its detection head is fixedly connected to the ultrasonic mounting shaft, with the detection head of the ultrasonic probe facing away from the base plate. Both ends of the ultrasonic mounting shaft are sealed to the two through holes of the small housing via a first sealing ring. An ultrasonic coupling fluid is disposed inside the small housing. The ultrasonic probes are located inside the small housing to form a detection assembly. The detection assembly is located inside the large housing. The large housing is rotatably connected to the ultrasonic mounting shaft. Both the large and small housings are made of silicone. By pointing the ultrasonic probe away from the base plate (towards the outer surface of the storage tank), it is easier to detect defects on the outer surface of the storage tank. Furthermore, by installing a coupling fluid inside the small housing instead of applying the coupling fluid to the outer surface of the storage tank during inspection, the inspection efficiency is improved and the workpiece is prevented from being contaminated by the coupling fluid. The large housing is rotatably connected to the ultrasonic mounting shaft, so that only the large housing rolls when the inspection robot moves. Moreover, by using silicone as the material for both the large and small housings, the silicone forms the outer coupling of the ultrasonic probe, eliminating the need to apply a coupling agent separately to the outer surface of the storage tank during measurement, thus enabling the ultrasonic detector to detect defects on the outer surface of the storage tank.

[0015] In some embodiments, the ultrasonic detector further includes two ultrasonic mounting bearings and two second sealing rings. The two ends of the ultrasonic mounting shaft are respectively located within two through holes of the large housing. The ultrasonic mounting shaft and the large housing are sealed together by the second sealing rings. The inner rings of the ultrasonic mounting bearings mate with the shaft holes at both ends of the ultrasonic mounting shaft, and the outer rings of the ultrasonic mounting bearings mate with the through holes of the large housing. By using bearings, the large housing is rotatably connected to the outside of the detection assembly, thus protecting the detection assembly.

[0016] In some embodiments, both the large and small shells are circular, and both are made of silicone. By making the large shell circular, it is convenient that only the large shell rolls when the robot is moving.

[0017] Compared with the prior art, this utility model has the following advantages and beneficial effects:

[0018] 1. By setting up an ultrasonic detector and a camera, a signal can be sent when a defect is detected on the outer surface of the storage tank. At the same time, the camera also captures the specific shape, distribution, size and location characteristics of the defect. The control terminal can store and mark the captured data and ultrasonic data at this time, so that the staff can accurately find the location of the defect later.

[0019] 2. Furthermore, by installing inductive magnets and rollers on the base plate, the robot can be easily attached to the outer surface of the inspection storage tank by the inductive magnets, enabling accurate positioning of the robot and preventing it from falling off the outer surface of the storage tank during inspection.

[0020] 3. By pointing the ultrasonic probe away from the base plate (towards the outer surface of the storage tank), it is convenient to detect defects on the outer surface of the storage tank. Furthermore, by installing a coupling fluid inside the small housing instead of applying the coupling fluid to the outer surface of the storage tank during detection, the detection efficiency is improved and the contamination of the outer surface of the storage tank by the coupling fluid is prevented. The large housing is rotatably connected to the ultrasonic mounting shaft, so that only the large housing rolls when the detection robot moves. Moreover, by using silicone as the material for both the large and small housings, the silicone forms the outer coupling layer of the ultrasonic probe, eliminating the need to apply a coupling agent separately to the outer surface of the storage tank during measurement, thus enabling the ultrasonic detector to detect defects on the outer surface of the storage tank. Attached Figure Description

[0021] The accompanying drawings, which are included to provide a further understanding of the embodiments of the present invention and form part of this application, do not constitute a limitation thereof. In the drawings:

[0022] Figure 1 This is an exploded view of the present invention;

[0023] Figure 2 This is a structural diagram of the present utility model;

[0024] Figure 3 This is a structural diagram of the present invention;

[0025] Figure 4 This is an exploded view of the ultrasonic detector in this utility model;

[0026] Figure 5 This is a structural diagram of the ultrasonic detector in this utility model.

[0027] The attached diagram shows the markings and corresponding component names:

[0028] Roller 10, coupling 11, servo motor 12, motor mounting bracket 13, inductive magnet 20, cover 21, base plate 22, camera 30, ultrasonic mounting bracket 40, ultrasonic detector 41, small shell 42, ultrasonic mounting shaft 43, ultrasonic probe 44, first sealing ring 45, second sealing ring 46, ultrasonic mounting bearing 47, large shell 48. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of this utility model are only used to explain this utility model and are not intended to limit this utility model.

[0030] Throughout this specification, references to "an embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in connection with that embodiment or example is included in at least one embodiment of the present invention. Therefore, the phrases "an embodiment," "an example," "an example," or "an example" appearing in various places throughout the specification do not necessarily refer to the same embodiment or example. Furthermore, specific features, structures, or characteristics can be combined in one or more embodiments or examples in any suitable combination and / or sub-combination. Moreover, those skilled in the art will understand that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0031] In the description of this utility model, the terms "front", "rear", "left", "right", "up", "down", "vertical", "horizontal", "high", "low", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this utility model.

[0032] The terms "first," "second," etc., used in this utility model are merely for clarity of description and are not intended to limit any order or emphasize importance. Furthermore, the term "connection" as used herein, unless otherwise specified, can refer to a direct connection or an indirect connection via other components.

[0033] Example

[0034] like Figures 1-3As shown, this embodiment provides a defect ultrasonic positioning and imaging inspection robot based on a multi-field coupling mechanism, including several ultrasonic detectors 41, a camera 30, several rollers 10, and an inductive magnet 20. The ultrasonic detectors 41 are respectively connected to the bottom of the box, with the detection end of the ultrasonic detector 41 facing away from the box. The camera 30 is connected to the bottom of the box, located at the center of the bottom of the box, with the imaging end of the camera facing away from the box. The inductive magnet 20 is connected to the bottom of the box. The rollers 10 are rotatably connected to the four corners of the bottom of the box.

[0035] like Figures 1-3 As shown, the housing includes a base plate 22 and a cover 21. The ultrasonic detector 41, camera 30, inductive magnet 20, and rollers 10 are all connected to the bottom of the base plate 22. A controller is connected to the top of the base plate 22. The controller is electrically connected to the ultrasonic detector 41 and camera 30 via cables. The controller and cables are both located inside the housing. The base plate 22 provides support and positioning for the ultrasonic detector 41, camera 30, inductive magnet 20, and rollers 10, while the cover 21 protects the controller and cables.

[0036] like Figures 1-3 As shown, it also includes a servo motor 12, which is connected to the bottom of the base plate 22, and the output shaft of the servo motor 12 is connected to the roller 10. By setting the servo motor 12 to provide power to the roller 10, the robot can walk.

[0037] like Figures 1-3 As shown, it also includes a coupling 11 and a mounting shaft. The output shaft of the servo motor 12 is connected to the mounting shaft via the coupling 11, and the roller 10 is rotatably connected to the mounting shaft. This facilitates the rolling of the roller 10.

[0038] like Figures 1-3 As shown, it also includes a bearing, the inner cavity of which mates with the mounting shaft's shaft hole, and the roller 10 mates with the outer ring of the bearing's shaft hole. The bearing reduces friction.

[0039] like Figures 1-3As shown, the system also includes a motor mounting bracket 13, which is L-shaped. The horizontal portion of the motor mounting bracket 13 is fixedly connected to the base plate 22, and the vertical end of the motor mounting bracket 13 is bolted to the servo motor 12. By setting the motor mounting bracket 13 to an L-shaped plate, with its horizontal portion fixedly connected to the base plate 22 and its vertical end bolted to the servo motor 12, interference between the servo motor 12 and the base plate 22 can be prevented while still allowing the servo motor 12 to be mounted.

[0040] like Figures 1-3 As shown, the inductive magnet 20 includes two magnets, which are respectively located at both ends of the base plate 22. An adjustable power supply is also installed on the base plate 22. The adjustable power supply is electrically connected to the inductive magnet 20 and the controller, respectively. The adjustable power supply is fixedly connected to the inner cavity of the box. The tread material of the roller is flexible rubber. By setting the adjustable power supply to be electrically connected to the inductive magnet 20 and the controller, it is convenient to control the output current and voltage of the adjustable power supply through the controller, thereby adjusting the magnetic force of the inductive magnet 20. This facilitates the movement of the robot under different working conditions (different detection speeds). The magnetic force formed by the inductive magnet and the workpiece being inspected causes the tread of the roller to deform, thereby allowing the ultrasonic detector to adhere to the surface of the workpiece being inspected, improving the accuracy of the detection data.

[0041] like Figures 1-3 As shown, the system also includes a camera mounting bracket, which is T-shaped. The horizontal portion of the camera mounting bracket is fixedly connected to the base plate 22, and the free end of the vertical portion is connected to the camera 30. By setting the camera bracket to a T-shaped bracket, with its horizontal portion fixedly connected to the base plate 22 and its free end connected to the camera 30, interference between the camera 30 and the base plate 22 is prevented while still achieving the installation and positioning of the camera 30.

[0042] like Figures 1-3 As shown, the system also includes an ultrasonic mounting bracket 40, which is T-shaped. The free end of the vertical portion of the ultrasonic mounting bracket 40 is fixedly connected to the base plate 22, and both ends of the horizontal portion are connected to the ultrasonic detector 41. By setting the ultrasonic mounting bracket 40 to a T-shape and fixing its free end to the base plate 22, while connecting its two ends to the ultrasonic detector 41, it is easier to position the ultrasonic detector 41 and to prevent interference between the ultrasonic detector 41 and the base plate 22.

[0043] like Figures 1-5As shown, the ultrasonic detector 41 includes a large shell 48, a small shell 42, an ultrasonic mounting shaft 43, and several ultrasonic probes 44. Both the small shell 42 and the large shell 48 have two coaxial through holes. All three ultrasonic probes 44 are connected to the ultrasonic mounting shaft 43. The end of each ultrasonic probe 44 away from its detection head is fixedly connected to the ultrasonic mounting shaft 43, with the detection head of the ultrasonic probe 44 facing away from the base plate 22. Both ends of the ultrasonic mounting shaft 43 are sealed to the two through holes of the small shell 42 via a first sealing ring 45. An ultrasonic coupling fluid is provided inside the small shell 42. The ultrasonic probes 44 are located inside the small shell 42, forming a detection assembly. This detection assembly is located inside the large shell 48, and the large shell 48 is rotatably connected to the ultrasonic mounting shaft 43. By orienting the ultrasonic probe 44 toward the end away from the base plate 22 (towards the outer surface of the storage tank), it is convenient to detect defects on the outer surface of the storage tank. Furthermore, by installing coupling fluid inside the small shell 42 instead of placing coupling fluid on the outer surface of the storage tank during detection, the detection efficiency is improved and the coupling fluid is prevented from contaminating the outer surface of the storage tank. The large shell 48 is rotatably connected to the ultrasonic mounting shaft 43, so that only the large shell 48 rolls when the detection robot moves.

[0044] like Figures 1-5 As shown, the ultrasonic detector 41 also includes two ultrasonic mounting bearings 47 and two second sealing rings 46. The two ends of the ultrasonic mounting shaft 43 are respectively located within two through holes in the large housing 48. The ultrasonic mounting shaft 43 and the large housing 48 are sealed together by the second sealing rings 46. The inner rings of the ultrasonic mounting bearings 47 are respectively engaged with the shaft holes at both ends of the ultrasonic mounting shaft 43, and the outer rings of the ultrasonic mounting bearings 47 are engaged with the through holes in the large housing 48. By providing bearings, the large housing 48 is rotatably connected to the outside of the detection assembly, thus protecting the detection assembly.

[0045] like Figures 1-5 As shown, both the large shell 48 and the small shell 42 are circular shells, and both are made of silicone. By making the large shell 48 circular, it is convenient that only the large shell 48 rolls when the inspection robot moves. Furthermore, by making the large shell 48 of silicone, which forms the outer coupling layer of the ultrasonic probe, it is possible to achieve ultrasonic detector 41 to detect defects on the outer surface of the storage tank without having to apply a coupling agent separately on the outer surface of the storage tank during measurement.

[0046] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this utility model. It should be understood that the above description is only a specific embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the scope of protection of this utility model.

Claims

1. A defect ultrasonic positioning imaging detection robot based on a multi-field coupling mechanism, characterized in that, The utility model provides a kind of ultrasonic detector, which comprises a box body, a plurality of ultrasonic detectors, a camera, an inductive magnet and a plurality of rollers. The plurality of ultrasonic detectors are respectively connected to the bottom of the box body, and the detection end of the ultrasonic detector faces away from the side of the box body. The camera is connected to the bottom of the box body, and the camera is located at the center of the bottom of the box body, and the shooting end of the camera faces away from the side of the box body. The inductive magnet is connected to the bottom of the box body. The plurality of rollers are rotatably connected to the four corners of the bottom of the box body. The ultrasonic detector comprises a large shell, a small shell, an ultrasonic mounting shaft and a plurality of ultrasonic probes.

2. The defect ultrasonic positioning and imaging detection robot based on multi-field coupling mechanism according to claim 1, characterized in that, The small shell is provided with ultrasonic coupling liquid, and the ultrasonic probes are located in the small shell.

3. The defect ultrasonic positioning and imaging detection robot based on multi-field coupling mechanism according to claim 2, characterized in that, The large shell is rotatably connected to the ultrasonic mounting shaft, and the materials of the large shell and the small shell are both silica gel.

4. The defect ultrasonic positioning and imaging detection robot based on multi-field coupling mechanism according to claim 3, characterized in that, The box body comprises a bottom plate and a box cover.

5. The defect ultrasonic positioning and imaging detection robot based on multi-field coupling mechanism according to claim 4, characterized in that, The ultrasonic detector, the camera, the inductive magnet and the plurality of rollers are connected to the bottom of the bottom plate.

6. The defect ultrasonic positioning and imaging detection robot based on multi-field coupling mechanism according to claim 4, characterized in that, The top of the bottom plate is connected with a controller.

7. The defect ultrasonic positioning and imaging detection robot based on multi-field coupling mechanism according to claim 4, characterized in that, The controller is electrically connected with the ultrasonic detector, the camera through a cable.

8. The defect ultrasonic positioning and imaging detection robot based on multi-field coupling mechanism of claim 4, wherein, The controller and the cable are located in the inner cavity of the box body. The utility model further comprises a servo motor. The output shaft of the servo motor is connected with the roller. The utility model further comprises a shaft coupling and a mounting shaft. The output shaft of the servo motor is connected with the mounting shaft through the shaft coupling. The roller is rotatably connected to the mounting shaft. The utility model further comprises a bearing. The inner cavity of the bearing is axially matched with the mounting shaft. The outer ring of the roller is axially matched with the bearing. The utility model further comprises a motor mounting bracket. The horizontal part of the motor mounting bracket is fixedly connected with the bottom plate. The vertical end of the motor mounting bracket is connected with the servo motor through bolts. The inductive magnet comprises two. The two inductive magnets are respectively located at the two ends of the bottom plate. An adjustable power supply is further installed on the bottom plate. The adjustable power supply is electrically connected with the inductive magnet and the controller respectively. The adjustable power supply is fixedly connected in the inner cavity of the box body. The ultrasonic detector comprises a large shell, a small shell, an ultrasonic mounting shaft and a plurality of ultrasonic probes. The small shell and the large shell are both provided with two coaxial through holes. The ultrasonic probes are connected to the ultrasonic mounting shaft. The end of the ultrasonic probe away from the detection head is fixedly connected to the ultrasonic mounting shaft. The detection head of the ultrasonic probe faces away from the end of the bottom plate. The two ends of the ultrasonic mounting shaft are respectively sealed and connected with the two through holes of the small shell through a first sealing ring. The small shell is provided with ultrasonic coupling liquid. The ultrasonic probes are located in the small shell to form a detection assembly. The detection assembly is located in the large shell. The large shell is rotatably connected with the ultrasonic mounting shaft. The materials of the large shell and the small shell are both silica gel.

9. The defect ultrasonic positioning and imaging detection robot based on multi-field coupling mechanism according to claim 8, characterized in that, The ultrasonic detector further comprises two ultrasonic mounting bearings and two second sealing rings, two ends of the ultrasonic mounting shaft are respectively located in two through holes of the large shell, the ultrasonic mounting shaft is in sealed connection with the large shell through the second sealing rings, inner rings of the ultrasonic mounting bearings are respectively in shaft hole cooperation with the two ends of the ultrasonic mounting shaft, and outer rings of the ultrasonic mounting bearings are in shaft hole cooperation with the through holes of the large shell.

10. The defect ultrasonic positioning and imaging detection robot based on multi-field coupling mechanism according to claim 8, characterized in that, The large shell and the small shell are both circular shells.

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