A tofd inspection machine on-board scanning gantry

Abstract

This utility model relates to the field of airborne scanning frame technology, specifically to a TOFD (Total Optical Frequency Diffraction) detection airborne scanning frame, comprising an upper body and a lower body below the upper body. A magnetic attraction mechanism is located at the bottom of the lower body. The magnetic attraction mechanism includes two sets of permanent magnets fixedly connected to the bottom of the lower body, and two sets of wires fixedly connected to the bottom of the lower body. Electromagnets are fixedly connected to the ends of both sets of wires, and supercapacitors are electrically connected to the top of the electromagnets, which are fixedly connected to the top of the lower body. The top of the supercapacitor is fixedly connected to the bottom of the upper body. Two pairs of wheels are rotatably connected to the bottom of the lower body, with electromagnets distributed inside the wheels. This utility model, through the cooperation of the upper body and the magnetic attraction mechanism, utilizes a hybrid magnetic attraction mechanism composed of permanent magnets and electromagnets, supplemented by power from a supercapacitor, to enable dynamic, rapid, and intelligent adjustment of the attraction force according to working conditions.

Description

Technical Field

[0001] This utility model relates to the field of airborne scanning rack technology, specifically to an airborne scanning rack for TOFD detection. Background Technology

[0002] Time-of-Flight Diffraction (TOFD) is a high-performance non-destructive testing technique that utilizes diffraction waves generated at the defect tip for detection and quantification. It has been widely used in the quality assessment of critical structures such as thick-walled welds, pressure vessels, and pipelines. TOFD testing typically requires a pair of probes (one transmitter and one receiver) symmetrically arranged at a specific angle on both sides of the weld, and precise moving scans along the scan line to ensure the continuity and reliability of the test data.

[0003] In practical industrial applications, especially in high-altitude or vertical wall scenarios such as large storage tanks, ship hulls, and wind turbine towers, it is impossible to simultaneously take into account both large-scale path planning and close-range, detailed observation of weld areas, thus reducing its adaptability.

[0004] Therefore, it is necessary to invent an airborne scanning frame for TOFD inspection to solve the above problems. Utility Model Content

[0005] The purpose of this invention is to provide a TOFD inspection airborne scanning frame that enables free exploration through the cooperation of the upper body and the magnetic motion mechanism, thereby solving the problem that the existing technology cannot simultaneously take into account large-scale path planning and close-range fine observation of weld areas, thus reducing its adaptability.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a TOFD detection airborne scanning frame, comprising an upper body, a lower body disposed below the upper body, a magnetic attraction mechanism disposed at the bottom of the lower body, the magnetic attraction mechanism comprising two sets of permanent magnets fixedly connected to the bottom of the lower body, two sets of wires fixedly connected to the bottom of the lower body, electromagnets fixedly connected to both ends of the two sets of wires, a supercapacitor electrically connected to the top of the electromagnet and fixedly connected to the top of the lower body, the top of the supercapacitor being fixedly connected to the bottom of the upper body, and two pairs of wheels rotatably connected to the bottom of the lower body, with electromagnets distributed on the inner side of the wheels. The permanent magnets and electromagnets provide an attraction force through a combination, and the entire frame is moved by the wheels.

[0007] Preferably, the surface of the moving wheel is provided with friction texture, and a set of drive motors are installed at the rear end of the moving wheel. The drive motors are fixedly connected to the bottom end of the lower body. The friction texture enhances the adhesion of the moving wheel, and the drive motors provide power to the moving wheel.

[0008] Preferably, an antenna is fixedly connected to the top of the upper body, and a control circuit board is fixedly connected to the top of the upper body and electrically connected to the wires, thereby realizing the wireless communication function of the device and the centralized control function of the magnetic attraction mechanism.

[0009] Preferably, a bottom camera is fixedly connected to the bottom of the lower body. The bottom camera is electrically connected to a wire. By setting the bottom camera, the monitoring function of the workpiece surface and the working status of the probe directly below the scanning frame is realized.

[0010] Preferably, a wide-angle camera is fixedly connected to the front end of the upper vehicle body, and a fixed shaft is rotatably connected to the bottom end of the lower vehicle body, thereby realizing the function of wide-area monitoring of the environment ahead of the scanning path and providing an installation foundation for the forward observation system.

[0011] Preferably, a horizontal angle adjustment frame is fixedly connected to the bottom end of the fixed shaft, and a vertical angle adjustment frame is rotatably connected inside the horizontal angle adjustment frame, with a light bulb installed inside the vertical angle adjustment frame. A dirt-proof glass window is fixedly connected to the front end of the vertical angle adjustment frame. A two-degree-of-freedom gimbal is formed by the horizontal angle adjustment frame and the vertical angle adjustment frame, realizing the angle adjustment function of the horizontal and pitch directions of the forward observation system, and the dirt-proof glass window provides protection.

[0012] Preferably, a connecting rod is fixedly connected to the inner wall of the longitudinal angle adjustment frame, and an anti-vibration ring is fixedly connected to the center of the connecting rod. A rubber ring is fixedly connected to the inner wall of the anti-vibration ring, and a front-end camera is snapped into the inside of the rubber ring. The front-end camera is at the same height as the anti-fouling glass window. The front-end camera is fixedly connected to the inner wall of the longitudinal angle adjustment frame. The front-end camera is installed and fixed by the connecting rod and the anti-vibration ring with the built-in rubber ring, which realizes the function of isolating the influence of vehicle vibration on the shooting stability while ensuring the stability of the camera.

[0013] The technical effects and advantages provided by this utility model in the above technical solution are as follows:

[0014] Through the cooperation of the upper body and the magnetic attraction mechanism, a hybrid magnetic attraction mechanism composed of permanent magnets and electromagnets, supplemented by supercapacitor power, is used to enable the attraction force to be dynamically and quickly intelligently adjusted according to the working conditions. The bottom camera is responsible for monitoring the coupling status between the probe and the weld seam, and the wide-angle camera provides a wide forward field of view. The front-end camera, which is installed on the dual-degree-of-freedom gimbal (composed of a horizontal angle adjustment frame and a vertical angle adjustment frame) and is isolated by a vibration-damping ring, can provide a stable and clear close-up observation image. This composite vision system together ensures the accuracy of the detection path planning and the visual monitoring of the scanning process. In addition, the friction texture on the surface of the moving wheels effectively enhances the driving force, prevents slippage, and ensures the accuracy of the scanning line. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0016] Figure 1 This is a schematic diagram of the overall first-view structure of this utility model;

[0017] Figure 2 This is a schematic diagram of the overall second-view structure of this utility model;

[0018] Figure 3 This is a schematic diagram of the longitudinal angle adjustment frame structure of this utility model;

[0019] Figure 4 For the present utility model Figure 2 Enlarged structural diagram at point A in the middle.

[0020] Explanation of reference numerals in the attached figures:

[0021] 1. Upper body; 101. Lower body; 2. Magnetic moving mechanism; 201. Permanent magnet; 202. Wire; 203. Electromagnet; 204. Moving wheel; 205. Friction texture; 206. Drive motor; 207. Supercapacitor; 3. Front-end camera; 4. Antenna; 401. Wide-angle camera; 5. Control circuit board; 6. Lateral angle adjustment frame; 7. Longitudinal angle adjustment frame; 8. Anti-fouling glass window; 9. Bottom camera; 10. Fixed shaft; 11. Connecting rod; 12. Anti-vibration ring. Detailed Implementation

[0022] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings.

[0023] This utility model provides, for example Figure 1-4The TOFD detection airborne scanning frame shown includes an upper body 1, a lower body 101 below the upper body 1, and a magnetic attraction mechanism 2 at the bottom of the lower body 101. The magnetic attraction mechanism 2 includes two sets of permanent magnets 201 fixedly connected to the bottom of the lower body 101. Two sets of wires 202 are fixedly connected to the bottom of the lower body 101, and electromagnets 203 are fixedly connected to both ends of the two sets of wires 202. A supercapacitor 207 is electrically connected to the top of the electromagnet 203 and is fixedly connected to the top of the lower body 101. The top of the supercapacitor 207 is fixedly connected to the bottom of the upper body 1. Two pairs of wheels 204 are rotatably connected to the bottom of the lower body 101. The magnetic motion mechanism 2 is located on the inner side of the moving wheel 204. It is attracted by a combination of permanent magnet 201 and electromagnet 203. The moving wheel 204 drives the whole body to move. The surface of the moving wheel 204 is provided with friction texture 205. A set of drive motors 206 are installed at the rear end of the moving wheel 204. The drive motors 206 are fixedly connected to the bottom end of the lower body 101. The friction texture 205 enhances the adhesion of the moving wheel 204, and the drive motors 206 provide power to the moving wheel 204. An antenna 4 is fixedly connected to the top of the upper body 1. A control circuit board 5 is fixedly connected to the top of the upper body 1 and is electrically connected to the wire 202. This realizes the wireless communication function of the device and the centralized control function of the magnetic motion mechanism 2.

[0024] Refer to the instruction manual appendix Figure 1-4A bottom camera 9 is fixedly connected to the bottom end of the lower body 101. The bottom camera 9 is electrically connected to the wire 202. By setting the bottom camera 9, the monitoring function of the workpiece surface and the working status of the probe directly below the scanning frame is realized. A wide-angle camera 401 is fixedly connected to the front end of the upper body 1. A fixed shaft 10 is rotatably connected to the bottom end of the lower body 101, realizing the wide-area monitoring function of the environment in front of the scanning path and providing the installation foundation for the front observation system. A lateral angle adjustment frame 6 is fixedly connected to the bottom end of the fixed shaft 10. The internal rotation of the lateral angle adjustment frame 6 is connected to... A longitudinal angle adjustment frame 7 is attached, and a light bulb is installed inside the longitudinal angle adjustment frame 7. A dirt-proof glass window 8 is fixedly connected to the front end of the longitudinal angle adjustment frame 7. The transverse angle adjustment frame 6 and the longitudinal angle adjustment frame 7 form a two-degree-of-freedom gimbal, realizing the angle adjustment function of the horizontal and pitch directions of the forward observation system, and the dirt-proof glass window 8 provides protection. A connecting rod 11 is fixedly connected to the inner wall of the longitudinal angle adjustment frame 7. A vibration damping ring 12 is fixedly connected to the center of the connecting rod 11. A rubber ring is fixedly connected to the inner wall of the vibration damping ring 12, and the front end is snapped into the inside of the rubber ring. Camera 3, the front-end camera 3 is at the same height as the anti-fouling glass window 8. The front-end camera 3 is fixedly connected to the inner wall of the longitudinal angle adjustment frame 7. The front-end camera 3 is installed and fixed by the connecting rod 11 and the anti-vibration ring 12 with built-in rubber ring. This achieves the function of ensuring the stability of the camera while isolating the impact of vehicle body vibration on its shooting stability. Through the cooperation of the upper vehicle body 1 and the magnetic attraction mechanism 2, the hybrid magnetic attraction mechanism 2, which is composed of permanent magnet 201 and electromagnet 203, and is powered by supercapacitor 207, allows the attraction force to be dynamically and quickly adjusted according to the working conditions. The system features rapid intelligent adjustment, utilizing a bottom-mounted camera 9 to monitor the coupling status between the probe and the weld seam, a wide-angle camera 401 to provide a broad forward field of view, and a front-end camera 3, mounted on a dual-degree-of-freedom gimbal consisting of a horizontal angle adjustment frame 6 and a vertical angle adjustment frame 7 and isolated by a vibration damping ring 12, to provide a stable and clear close-up observation image. This composite vision system together ensures the accuracy of the detection path planning and the visual monitoring of the scanning process. In addition, the friction texture 205 on the surface of the motion wheel 204 effectively enhances the driving force, prevents slippage, and ensures the accuracy of the scanning linearity.

[0025] The working principle of this practical application is as follows:

[0026] Refer to the instruction manual appendix Figure 1-4When the TOFD inspection operation begins, the control circuit board 5 receives the start command via the antenna 4. First, the permanent magnet 201 provides basic attraction force to stabilize the entire device on the workpiece surface. Then, the drive motor 206 starts, driving the rear moving wheel 204 to rotate. Due to the presence of the wheel surface friction texture 205, the friction force with the workpiece surface is enhanced, thereby driving the trolley to move smoothly along the predetermined scanning path. During the movement, if the trolley encounters weld excess height, surface unevenness, or curvature changes that cause the trolley to tilt or the attraction force to be insufficient in some areas, the control circuit board 5 will respond immediately, controlling the supercapacitor 207 to release a large current instantaneously to the corresponding electromagnet 203. The enhanced magnetic field generated is superimposed with the magnetic field of the permanent magnet 201, quickly replenishing the attraction force in that area, preventing the trolley from slipping or vibrating, and ensuring the stability of the probe scanning.

[0027] The entire movement and inspection process is monitored collaboratively by a multi-camera system: a wide-angle camera 401 monitors the macroscopic environment ahead to avoid large obstacles; a bottom camera 9 observes in real time the coupling between the probe directly below and the weld seam, as well as the scanning status; for areas requiring detailed observation, the longitudinal angle adjustment frame 7 is brought into contact with the observation object, thereby using the lateral angle adjustment frame 6 and the longitudinal angle adjustment frame 7 to change the viewing angle of the front-end camera 3 for close-up observation. During this process, vibrations generated by the vehicle body are effectively absorbed and isolated by the anti-vibration ring 12 at the end of the connecting rod 11 and its internal rubber ring, ensuring that the image acquired by the front-end camera 3 is clear and stable, and protected from contamination by the anti-fouling glass window 8. After the inspection is completed, the control circuit board 5 can cut off the current to the electromagnet 203, causing its magnetic force to disappear. The device can be easily removed using only the remaining attraction force of the permanent magnet 201, or active desorption can be achieved through reverse current.

[0028] The foregoing description only illustrates certain exemplary embodiments of the present invention. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A TOFD inspection on-board scanning gantry comprising a car body (1), characterized in that: A lower vehicle body (101) is provided below the upper vehicle body (1). A magnetic attraction mechanism (2) is provided at the bottom of the lower vehicle body (101). The magnetic attraction mechanism (2) includes two sets of permanent magnets (201) fixedly connected to the bottom of the lower vehicle body (101). Two sets of wires (202) are fixedly connected to the bottom of the lower vehicle body (101). Electromagnets (203) are fixedly connected to both ends of the two sets of wires (202). A supercapacitor (207) is electrically connected to the top of the electromagnet (203), and the supercapacitor (207) is fixedly connected to the top of the lower vehicle body (101). The top of the supercapacitor (207) is fixedly connected to the bottom of the upper vehicle body (1). Two pairs of driving wheels (204) are rotatably connected to the bottom of the lower vehicle body (101), and the electromagnets (203) are distributed on the inner side of the driving wheels (204).

2. A TOFD inspection machine-mounted scanning frame according to claim 1, characterized in that: The surface of the driving wheel (204) is provided with friction texture (205), and a set of drive motors (206) are installed at the rear end of the driving wheel (204). The drive motors (206) are fixedly connected to the bottom end of the lower body (101).

3. The TOFD inspection machine according to claim 1, wherein: An antenna (4) is fixedly connected to the top of the upper body (1), and a control circuit board (5) is fixedly connected to the top of the upper body (1) and the control circuit board (5) is electrically connected to the wire (202).

4. The TOFD inspection machine according to claim 1, wherein: A bottom camera (9) is fixedly connected to the bottom end of the lower body (101), and the bottom camera (9) is electrically connected to the wire (202).

5. The TOFD inspection machine according to claim 1, wherein: A wide-angle camera (401) is fixedly connected to the front end of the upper body (1), and a fixed shaft (10) is rotatably connected to the bottom end of the lower body (101).

6. A TOFD inspection machine on-board scanning frame according to claim 5, characterized in that: The bottom end of the fixed shaft (10) is fixedly connected to a transverse angle adjustment bracket (6), and the interior of the transverse angle adjustment bracket (6) is rotatably connected to a longitudinal angle adjustment bracket (7), and a light bulb is installed inside the longitudinal angle adjustment bracket (7). The front end of the longitudinal angle adjustment bracket (7) is fixedly connected to a dirt-proof glass window (8).

7. A TOFD inspection machine on-board scanning frame according to claim 6, characterized in that: A connecting rod (11) is fixedly connected to the inner wall of the longitudinal angle adjustment frame (7). A vibration damping ring (12) is fixedly connected to the center of the connecting rod (11). A rubber ring is fixedly connected to the inner wall of the vibration damping ring (12), and a front-end camera (3) is snapped into the inside of the rubber ring. The height of the front-end camera (3) is the same as that of the anti-fouling glass window (8). The front-end camera (3) is fixedly connected to the inner wall of the longitudinal angle adjustment frame (7).

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