Scanning system and inspection method

Abstract

Provided in the present invention are a scanning system and an inspection method. The inspection method comprises a first TOFD inspection method and a second TOFD inspection method. In the first TOFD inspection method, two ultrasonic probes are symmetrically placed on two sides of a weld seam for inspection. In the second TOFD inspection method, a defect of a welded structure is located on an arc of a circle that is drawn with a probe incident point as a center and with half of an acoustic path length value of ultrasonic waves obtained by means of the two ultrasonic probes as a radius, and the two probes are placed on a same side of the weld seam for inspection. Before the second TOFD inspection method is used, a positioning reference object is first configured by using the first TOFD inspection method. The present invention enables accurate determination of defect length and defect height.

Description

Scanning System and Detection Method Cross-references to related applications

[0001] This disclosure claims priority and benefits to Chinese Patent Application No. 202510470532.X, filed on April 15, 2025, the entire contents of which are hereby incorporated by reference. Technical Field

[0002] This invention relates to the field of ultrasonic testing technology, and in particular to a multifunctional automatic scanning system and method for TOFD testing. Background Technology

[0003] In the manufacturing, installation, and periodic inspection of special equipment such as boilers, pressure vessels, and pressure pipelines, time-of-flight diffraction (TOFD) ultrasonic testing is one of the important methods for inspecting weld quality.

[0004] Currently, TOFD testing generally uses manual scanning devices, which are relatively simple in structure, but have several problems: 1) The scanning quality is greatly affected by human factors, such as failure to move along the specified trajectory during scanning; 2) There is no water spray system, and coupling cannot be guaranteed; 3) The scanning is difficult when the detection area is narrow or in a high position where personnel cannot reach; 4) There is no function to place dual probes on the same side for detection. Summary of the Invention

[0005] This invention proposes a multifunctional TOFD automatic scanning system and detection method, which can be applied to the detection of welded butt joints and fillet welds. It can also be used to detect parts where it is not possible to place two probes symmetrically on both sides of the weld. It can accurately measure the length and height of defects.

[0006] The present invention adopts the following technical solution.

[0007] A multifunctional TOFD (Total Ultrasonic Fluid Dynamics) automatic scanning inspection method is used for ultrasonic testing of welded structures. The method includes a first TOFD method and a second TOFD method. In the first TOFD method, two ultrasonic probes are symmetrically placed on both sides of the weld for inspection. In the second TOFD method, the defect in the weld structure is located on an arc drawn with the probe incident point as the center and half the sound path value obtained by the two ultrasonic probes as the radius. Both probes are placed on the same side of the weld for inspection. Before using the second TOFD method, the positioning comparison is set using the first TOFD method. The two ultrasonic probes are symmetrically placed facing each other on both sides of the weld for instrument setup. The two ultrasonic probes are then symmetrically placed facing each other on the base material with the same wall thickness as the workpiece to be inspected for scanning inspection, obtaining an initial spectrum as the defect location comparison map for the second TOFD method. At this time, the distance between the sound wave incident points of the two probes is the initial PCS (Pressure Points). Then, the second TOFD method is used to inspect the weld. In the second TOFD detection method, step one is performed first. Two ultrasonic probes are mounted together on the same side of the weld, with the probes facing at an angle. The distance from this mounting position to the weld center is half of the initial PCS. A first detection image is obtained through scanning. When a defect is detected in the weld area in the image, the first defect depth is calculated. To further determine the true depth of the defect, step two is performed to conduct a second detection at the defect. During the second detection, the PCS value is changed, i.e., step one is repeated to complete the second second TOFD detection, obtaining a second detection image and calculating a second defect depth. Based on the two depth values ​​and the PCS value, an accurate defect depth value is obtained through CAD drawing. The probe center separation (PCS) refers to the distance between the centers of the two probes.

[0008] In some embodiments, the detection method uses two ultrasonic probes, which are two longitudinal wave angle probes with the same frequency, one of which is a transmitting probe and the other is a receiving probe. In step one of the second TOFD detection method, the depth value H1 is obtained under the initial PCS value. S1 is calculated using the Pythagorean theorem based on half of the PCS value R1 and H1. Then, the data is processed using CAD drawing method, as shown in Figure 15. First, the workpiece thickness is drawn at a 1:1 scale. A circle is drawn with half of the PCS value R1 intersecting the scanning surface P1. Then, a circle is drawn with P1 as the center and S1 as the radius. In step two of the second TOFD detection method, the workpiece is re-scanned with the modified PCS value and calculated using the same method. A circle is drawn with P2 as the center and S2 as the radius. The intersection of the two circles at Q is the defect location, and the defect depth H can be measured. The conversion formula between H1, S1, H2, S2, and PCS is: In Formula 1, when H is H1, S is S1; when H is H2, S is S2.

[0009] A multifunctional TOFD (Tooth-Off Fluid Dynamics) automatic scanning inspection system is disclosed, which uses a multifunctional TOFD automatic scanning inspection method to inspect workpieces with ferromagnetic properties. The system includes a drive unit, a first TOFD scanning device for performing a first TOFD inspection method, a second TOFD scanning device for performing a second TOFD inspection method, a water spray system, and a control system. The drive unit moves using an electrically driven magnetic wheel that can adhere to the workpiece. An infrared probe is installed at the drive unit to monitor the movement trajectory. When the inspection system is in operation, the drive unit is connected to one of the first or second TOFD scanning devices via fasteners, forming an inspection cart that can adhere to and move within the workpiece's testing area. The water pump outlet of the water spray system is connected to the mounting position of the ultrasonic probe via a water path, and water is sprayed onto the testing area of ​​the workpiece to achieve good coupling between the ultrasonic probe and the workpiece's testing surface. The control system is connected to the inspection cart to provide it with electrical power and controls the inspection cart to move along a predetermined trajectory on the workpiece.

[0010] In some embodiments, the driving device includes a magnetic wheel, a housing, an infrared probe, an encoder for motion positioning control, and a drive motor for driving the magnetic wheel. The drive motor is a high-performance DC stepper motor with an integrated high-precision independent multi-stage reducer, operating in four-wheel drive mode. It can perform forward and backward movement and speed control, precise motion, and can run smoothly on the surface of the workpiece being inspected. The magnetic wheel is made of high-strength neodymium iron boron permanent magnet material and is used to adhere to the surface of the workpiece to ensure that the inspection vehicle performs parallel scanning of the weld seam in different postures, including horizontal, vertical, and inverted positions, avoiding the danger of the vehicle falling off the surface being inspected. The encoder is a high-precision stepper encoder counter and positioner, used for millimeter-level positioning control when the inspection vehicle moves, and is used to synchronize with the inspection equipment outside the inspection vehicle for automatic and intelligent inspection.

[0011] In some embodiments, the control system includes an infrared calibration and positioning system connected to the infrared probe to provide a reference weld centerline parallel line so that operators can remotely monitor the accuracy of the inspection vehicle's movement via remote video, thereby ensuring the accuracy of the scan.

[0012] In some embodiments, the drive device is connected to one of the first TOFD detection scanning device and the second TOFD detection scanning device via a fixed connecting rod. The first TOFD detection scanning device and the second TOFD detection scanning device fix the ultrasonic probe with a probe holder located at the connecting rod groove of the movable connecting rod. The scanning frame of the first TOFD detection scanning device includes two movable connecting rods and one fixed connecting rod. The two movable connecting rods are connected by a first hinge structure, which is connected to a second hinge structure at the head end of the fixed connecting rod. The tail end of the fixed connecting rod is connected to the drive device. When the first TOFD detection scanning device is used to detect curved workpieces, the two movable connecting rods rotate vertically through the hinge structure so that the probe fixed thereon is in contact with the surface being detected. The first TOFD detection scanning device is connected to the probe holder with a bolt that can slide within the connecting rod groove. The distance between the transmitting probe and the receiving probe is adjusted by sliding the probe holder at the connecting rod groove. The scanning frame of the second TOFD inspection device includes a vertical adapter, two movable connecting rods, and one fixed connecting rod. The probe is clamped on a probe holder, which is fixed to the two movable connecting rods. The two connecting rods are connected by a third hinge structure, allowing them to rotate horizontally at the hinge point. This ensures that the sound beams of the two clamped probes are at a certain angle, and the angle is adjustable. The third hinge structure is connected to a fourth hinge structure at the beginning of the fixed connecting rod. The end of the fixed connecting rod is connected to a drive device. The fourth hinge structure changes the angle between the probe and the surface being inspected by rotation, allowing the probe to fit against the surface. The probe holder is connected to the movable connecting rod via a vertical adapter. The vertical adapter forms a fastening connection between the connecting rod and the probe holder with a boss. The boss is fixed to the connecting rod groove of the movable connecting rod with bolts, ensuring that the sound beam direction of the ultrasonic probe is perpendicular to the movable connecting rod. The angle between the sound beams of the two ultrasonic probes is adjusted by sliding the vertical adapter on the connecting rod, and can also be adjusted by adjusting the angle of the two movable connecting rods.

[0013] In some embodiments, the probe holder includes a fixed frame, a spring, a support rod with a slider, a fixing block, and a probe clamping component arranged sequentially. The upper fixed frame of the probe holder is connected to a movable connecting rod, and the connection is fastened with bolts. The fixed frame has a boss with a through hole. The boss is embedded in the sliding groove of the movable connecting rod and fastened with bolts to prevent the probe holder from rotating. The lower probe clamping component of the probe holder holds the ultrasonic probe and is fixed with screws. The upper fixed frame and the lower probe clamping component of the probe holder are connected by a support rod. A slider is provided on the upper part of the support rod, and a fixing block is provided on the lower part of the support rod. A ball bearing is provided in the slider to facilitate the slider sliding along the support rod. The upper part of the support rod is embedded in a groove of the fixed frame. A spring is provided in the groove to move the support rod within a vertical range of 5-8 mm, thereby moving the probe within this range and ensuring that the probe has a certain contact force with the detection surface during inspection. The fixing block is provided with a screw hole for connecting to the probe holder by bolts and allowing the probe holder to rotate along the bolts. When inspecting curved workpieces, the probe holder is rotated to make the probe fit tightly against the surface being inspected.

[0014] In some embodiments, the assembly method of the first TOFD inspection scanning device includes the following steps: Step A1: Clamp the probe in the probe holder, fix the probe holder with the probe in the slide groove of the movable connecting rod with bolts, and adjust the distance between the two probes by sliding the nut in the slide groove to meet the PCS requirements of workpieces with different wall thicknesses; Step A2: Fix the scanning frame on the drive vehicle with the fixed connector, and then place it in the inspection position. Adjust the connector to make the probe fit with the inspection surface; if the inspection surface is curved, adjust the angle between the two movable connecting rods and the curved surface to make the probe fit with the inspection surface; Step A3: After the scanning frame is assembled, it is firmly connected to the inspection vehicle.

[0015] In some embodiments, the assembly method of the driving second TOFD detection scanning device includes the following steps: Step B1: Clamp the probe in the probe holder, and fix the probe holder with the probe in the connecting rod groove with bolts. Step B2: Set the parameters according to conventional TOFD detection, and record the PCS value at this time. Step B3: Fix the scanning frame to the drive vehicle with the fixed connector, and adjust the angle of the two movable connecting rods so that the distance from the intersection of the two probe sound beams to the probe incident point is half of the PCS; if the detection surface is curved, adjust it by rotating the probe holder along the bolts to make the probe fit against the detection surface. Step B4: After the scanning device is assembled, it is securely connected to the detection vehicle.

[0016] In some embodiments, the multifunctional TOFD automatic scanning inspection system is connected to an external TOFD inspection host, and its scanning inspection method includes the following steps: Step S1: Turn on the TOFD inspection host, connect the probe, encoder, water spray system, and inspection carriage, and set the TOFD inspection parameters; Step S2: Place the scanning system at the workpiece inspection position; when using the first TOFD inspection method, place the probes on both sides of the weld and make the weld located at the center of the two probes; when using the second TOFD inspection method, place the two probes on one side of the weld and make the distance from the incident point of the probe's sound beam to the center line of the weld half of the PCS; Step S3: First, manually push the inspection carriage to see if it moves along the predetermined trajectory, then turn on the water pump to spray water at the probe, then turn on the control power to make the inspection carriage move along the predetermined trajectory and start the inspection.

[0017] In some embodiments, the ultrasonic probe is equipped with a probe wedge, and the probe wedge has a water spray hole communicating with a water pump. The water pump is controlled by an automated water injection pump coupling device of the water spray system. The automated water injection pump coupling device adopts a high-performance coupling pumping device for stable and continuous delivery of coupling agent to the probe, and can control and adjust the input water pressure and output flow rate of the coupling agent at any time. The coupling pumping device adopts dual-path switching control of power supply and battery, and uses a water tank or bucket as the water source. It has water self-priming capability and filtration function. Attached Figure Description

[0018] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0019] Figure 1 is a schematic diagram of the system of the present invention.

[0020] Figure 2 is a schematic diagram of the symmetrical placement of the dual probes in the first TOFD detection method.

[0021] Figure 3 is a schematic diagram of the dual probes placed on the same side in the second TOFD detection method.

[0022] Figure 4 is a schematic diagram of the drive device.

[0023] Figure 5 is a schematic diagram of the fixed link and the movable link.

[0024] Figure 6 is a schematic diagram of the explosive disassembly of the probe holder.

[0025] Figure 7 is a schematic diagram of the first TOFD detection and scanning device.

[0026] Figure 8 is a schematic diagram of the second TOFD detection and scanning device.

[0027] Figure 9 is a schematic diagram of the probe wedge.

[0028] Figure 10 is a schematic diagram of the coupled pumping device.

[0029] Figure 11 is a schematic diagram of the control box where the control system is located.

[0030] Figure 12 is a schematic diagram of the detection spectrum (first spectrum) obtained by the first TOFD detection method for the blind zone test block.

[0031] Figure 13 is a schematic diagram of the detection spectrum (second spectrum) obtained by the second TOFD detection method for the blind zone test block.

[0032] Figure 14 is a schematic diagram of the clamp (probe clamp).

[0033] Figure 15 is a schematic diagram of obtaining accurate defect depth values ​​through CAD drawing method according to the present invention.

[0034] Figure 16 is a schematic diagram of the result obtained in step one of the second TOFD detection method of the present invention for detecting a 20mm deep transverse through hole in a test block.

[0035] Figure 17 is a schematic diagram of the result obtained in step two of the second TOFD detection method of the present invention for detecting a 20mm deep transverse through hole in a test block.

[0036] Figure 18 is a schematic diagram of the CAD drawing method based on the results of Figures 16 and 17 when the test block is tested with a 20mm deep transverse through hole.

[0037] In the diagram: P1 - magnetic wheel; P2 - encoder. Detailed Implementation

[0038] As shown in Figures 1 to 18, this invention provides a multifunctional TOFD (Total Ultrasonic Fluid Dynamics) detection automatic scanning method and system for ultrasonic testing of welded structures. The detection method includes a first TOFD detection method and a second TOFD detection method. In the first TOFD detection method, two ultrasonic probes are symmetrically placed on both sides of the weld for detection. In the second TOFD detection method, the defect in the welded structure is located on an arc drawn with the probe incident point as the center and half the sound path value obtained by the two ultrasonic probes as the radius. The two probes are placed on the same side of the weld for detection.

[0039] Before using the second TOFD inspection method, the positioning comparison object is first set up using the first TOFD inspection method. Two ultrasonic probes are symmetrically placed facing each other on both sides of the weld for instrument setup. The two ultrasonic probes are then symmetrically placed facing each other on the base material with the same wall thickness as the workpiece to be inspected for scanning and inspection, obtaining an initial spectrum as the defect location comparison map for the second TOFD inspection method. At this point, the distance between the incident points of the two probes is the initial PCS. Then, the second TOFD inspection method is used to inspect the weld. The probe center separation (PCS) refers to the distance between the centers of the two probes.

[0040] In the second TOFD detection method, step one is performed first. Two ultrasonic probes are installed at the same mounting position on the same side of the weld, with the two probes facing at an angle. The distance from the mounting position to the center of the weld is half of the initial PCS. The first detection map is obtained by scanning. When the map indicates that there is a defect in the weld area, the first value of the defect depth is calculated. At this time, in order to further determine the true depth of the defect, step two is performed to perform a second detection at the defect. During the second detection, the PCS value setting needs to be changed, that is, step one is repeated to complete the second second TOFD detection method detection, obtain the second detection map, and calculate the second value of the defect depth. Based on the depth values ​​obtained from the two tests, combined with the PCS value, the accurate defect depth value is obtained by CAD drawing method.

[0041] Therefore, the multifunctional TOFD detection automatic scanning system and its usage method developed in this invention are of great significance. In addition to meeting the requirements of conventional TOFD detection technology, the system also has the function of placing two probes on the same side of the weld for detection (hereinafter referred to as "special TOFD detection").

[0042] In the detection method, the two ultrasonic probes are two longitudinal wave angle probes with the same frequency, one of which is a transmitting probe and the other is a receiving probe. In step one of the second TOFD detection method, the depth value H1 is obtained under the initial PCS value, and S1 is calculated by the Pythagorean theorem based on half of the PCS value R1 and H1.

[0043] Then, the data is processed using CAD drawing method. As shown in Figure 15, the workpiece thickness is first drawn at a 1:1 scale. A circle is drawn with half of the PCS value R1 intersecting the scanning surface P1. Then, a circle is drawn with P1 as the center and S1 as the radius.

[0044] The second step of the second TOFD detection method involves rescanning with the modified PCS value and calculating it using the same method. Draw a circle with P2 as the center and S2 as the radius. The intersection of the two circles at Q is the location of the defect, and the defect depth H value can then be measured.

[0045] The conversion formulas between H1, S1, H2, S2, and PCS are as follows: In Formula 1, when H is H1, S is S1; when H is H2, S is S2.

[0046] Referring to Figure 1, the present invention also provides a multifunctional TOFD detection automatic scanning inspection system, which uses a multifunctional TOFD detection automatic scanning inspection method to inspect workpieces with ferromagnetism. The system includes a drive device P, a first TOFD detection scanning device A for performing a first TOFD detection method, a second TOFD detection scanning device B for performing a second TOFD detection method, a water spray system C (which may include a water pump), and a control system D (which can also be understood as a control box). The drive device P moves using an electrically driven magnetic wheel P1 that can adhere to the workpiece. An infrared probe is provided at the drive device P to monitor the movement trajectory. When the inspection system is working, the drive device P is connected to one of the first TOFD detection scanning device A or the second TOFD detection scanning device B via fasteners, forming an inspection cart that can adhere to and move within the workpiece's test area. The water pump outlet of the water spray system C is connected to the mounting position of the ultrasonic probe via a water path, and water is sprayed onto the test area of ​​the workpiece to achieve good coupling between the ultrasonic probe and the test surface of the workpiece. The control system is connected to the inspection cart to provide it with electrical power and controls the inspection cart to move along a predetermined trajectory at the workpiece.

[0047] Referring to Figures 1 to 4, the driving device includes a magnetic wheel P1, a housing, an infrared sensor P3, an encoder P2 for motion positioning control, and a drive motor for driving the magnetic wheel P1. The encoder P2 can be understood as a mounting encoder. There can be four magnetic wheels P1.

[0048] The drive motor is a high-performance DC stepper motor with an integrated high-precision independent multi-stage reducer. It operates in four-wheel drive mode and can perform forward and backward movement and speed control, as well as precision motion, and can run smoothly on the surface of the workpiece being inspected.

[0049] The magnetic wheel P1 is made of high-strength neodymium iron boron permanent magnet material and is used to adsorb onto the surface of the workpiece to ensure that the inspection vehicle can perform parallel scanning of the weld in different postures such as horizontal, vertical and inverted, so as to avoid the danger of the vehicle body falling off the surface being inspected.

[0050] The encoder P2 is a high-precision stepper encoder counter positioner, used for millimeter-level positioning control when the inspection vehicle moves, and for synchronization and matching with external inspection equipment for automatic and intelligent inspection.

[0051] The control system includes an infrared calibration and positioning system connected to the infrared probe P3, which provides a reference weld centerline parallel line so that operators can remotely monitor the accuracy of the inspection vehicle's movement via video, ensuring the accuracy of the scan.

[0052] Referring to Figures 1 to 5, the drive device P is connected to one of the first TOFD detection scanning device A and the second TOFD detection scanning device B via fixed connecting rods A101 and B101. The first TOFD detection scanning device A and the second TOFD detection scanning device B fix the ultrasonic probe with clamps A103 and B103 located at the connecting rod grooves of the movable connecting rods A102 and B102.

[0053] Referring to Figures 1 and 7, the scanning frame of the first TOFD inspection scanning device A includes two movable connecting rods A102 and one fixed connecting rod A101. The two movable connecting rods A102 are connected by a first hinge structure A2. The first hinge structure A2 is connected to a second hinge structure A3 at the head end of the fixed connecting rod A101. The tail end A5 of the fixed connecting rod A101 is connected to the driving device P. When the first TOFD inspection scanning device A is used to inspect curved workpieces, the two movable connecting rods A101 rotate vertically through the hinge structure so that the probe E fixed thereon is in contact with the surface being inspected. The first TOFD inspection scanning device A is connected to the clamping frame A103 by a bolt A105 that can slide in the connecting rod groove A104. The distance between the transmitting probe and the receiving probe is adjusted by sliding the clamping frame A103 at the connecting rod groove A104.

[0054] Referring to Figures 1 and 8, the scanning frame of the second TOFD detection scanning device B includes a vertical adapter B104, two movable connecting rods B102, and a fixed connecting rod B101. The probe E is clamped on a clamping frame B103, which is fixed to the two movable connecting rods B102. The two movable connecting rods B102 are connected by a third hinge structure B2, allowing the two movable connecting rods B102 at the hinge point to rotate horizontally, so that the sound beam directions of the two clamped probes are at a certain angle, and the angle is adjustable. The third hinge structure B2 is connected to a fourth hinge structure B3 at the beginning of the fixed connecting rod B101. The end B6 of the fixed connecting rod B101 is connected to the driving device P. The fourth hinge structure B3 changes the angle between the probe E and the surface being tested by rotation, so that the probe E (which can be understood as an ultrasonic probe) fits into the surface being tested. The clamping frame B103 is connected to the movable connecting rod B102 through the vertical adapter B104. The vertical adapter B104 forms a fastening connection between the connecting rod and the clamping frame B103 with a boss. The boss is fixed to the connecting rod slide groove B105 of the movable connecting rod B102 by bolt B106, so that the probe beam direction of the ultrasonic probe is perpendicular to the movable connecting rod B102. The included angle of the probe beams of the two ultrasonic probes can be adjusted by sliding the vertical adapter on the connecting rod, and can also be adjusted by adjusting the angle of the two movable connecting rods.

[0055] Referring to Figure 3, a schematic diagram of the connection between the dual-probe same-side clamping device and the drive device P is shown.

[0056] The clamping frames A103 and B103 include a fixed frame 601, a spring 602, a support rod 603 with a slider 606, a fixing block 604, and a probe clamping component 605 arranged in sequence, as shown in Figures 6 and 14. The upper fixed frame 601 of the clamping frame is connected to the movable connecting rod, and the connection is fastened with bolts. The fixed frame 601 has a boss with a through hole. The boss is embedded in the sliding groove of the movable connecting rod and is fastened with bolts to prevent the clamping frame from rotating. The lower probe clamping component 605 of the clamping frame holds the ultrasonic probe and is fixed with screws. The upper fixed frame 601 and the lower probe clamping component 605 of the clamping frame are connected by the support rod 603. The upper part of the support rod 603 is provided with a slider 606, and the lower part of the support rod 603 is provided with a fixing block 604. The slider 606 is provided with ball bearings to facilitate the slider 606 sliding along the support rod 603. The upper part of the support rod 603 is embedded in the groove of the fixing bracket 601. A spring 602 is installed in the groove to allow the support rod 603 to move within a vertical range of 5-8mm, thereby moving the probe within this range and ensuring a certain contact force between the probe and the surface being inspected during scanning. A screw hole is provided at the fixing block 604 for connecting to the probe holder 605 by bolts, allowing the probe holder 605 to rotate along the bolts. When inspecting curved workpieces, rotating the probe holder 605 ensures that the probe is tightly attached to the surface being inspected.

[0057] The assembly method of the first TOFD inspection scanning device includes the following steps: Step A1: Clamp the probe in the probe holder 605, and fix the probe holder with the probe in the slide groove of the movable connecting rod A102 with bolts. Adjust the distance between the two probes by sliding the nut in the slide groove to meet the PCS requirements of workpieces with different wall thicknesses; Step A2: Fix the scanning frame to the drive vehicle with the fixed connector, and then place it in the inspection position. Adjust the connector to make the probe fit with the inspection surface. If the inspection surface is curved, adjust the angle between the two movable connecting rods A102 and the curved surface to make the probe fit with the inspection surface; Step A3: After the scanning frame is assembled, it is firmly connected to the inspection vehicle.

[0058] The assembly method of the second TOFD inspection scanning device includes the following steps: Step B1: Clamp the probe in the probe holder 605, and fix the probe holder with the probe in the connecting rod groove with bolts. Step B2: Set the parameters according to the conventional TOFD inspection, and record the PCS value at this time. Step B3: Fix the scanning frame to the drive vehicle with the fixed connector, and adjust the angle of the two movable connecting rods so that the distance from the intersection of the two probe sound beams to the probe incident point is half of the PCS; if the inspection surface is curved, adjust it by rotating the probe holder 605 along the bolts to make the probe fit against the inspection surface. Step B4: After the scanning device is assembled, tighten it to the inspection vehicle.

[0059] When the multi-functional TOFD automatic scanning inspection system is connected to an external TOFD inspection host, its scanning inspection method includes the following steps: Step S1: Turn on the TOFD inspection host and connect the probe E, encoder P2, water spray system C, and inspection carriage systems. Set the TOFD inspection parameters. Step S2: Place the scanning system at the workpiece inspection position; when using the first TOFD inspection method (performing conventional TOFD inspection), place the probes on both sides of the weld, with the weld located at the center of the two probes; when using the second TOFD inspection method (performing special TOFD inspection), place the two probes on one side of the weld, with the distance from the incident point of the probe's sound beam to the center line of the weld being half of the PCS. Step S3: First, manually push the inspection carriage to see if it moves along the predetermined trajectory, then turn on the water pump to spray water at the probes, then turn on the control power to make the inspection carriage move along the predetermined trajectory and begin the inspection.

[0060] Referring to Figure 9, the ultrasonic probe is provided with a probe wedge 901, and the probe wedge 901 is provided with a water spray hole 902 that communicates with the water pump. The water pump is controlled by an automated water injection pump coupling device of the water spray system. The automated water injection pump coupling device adopts a high-performance coupling pumping device, which is used to stably and continuously deliver the coupling agent to the probe, and can control and adjust the input water pressure and output flow rate of the coupling agent at any time. The coupling pumping device adopts dual-path switching control of power supply and battery, uses a water tank or water bucket as the water source, and has water self-priming capability and filtration function.

[0061] The probe wedge 901 is provided with a fixing hole 903 and a probe hole 904. The fixing hole 903 is used to connect the probe holder, and the probe hole 904 is used to connect the probe E.

[0062] Example 1:

[0063] This example presents a multifunctional automatic scanning system as shown in Figure 1. P is the drive unit, A is a conventional TOFD scanning device, B is a special TOFD scanning device, C is a water pump (spray system), and D is a control box (control system). Devices A and B can be respectively fastened to device P with screws and can be used separately (not simultaneously). Device A is generally used for butt joint inspection, with dual probes symmetrically placed on both sides of the weld for inspection. The connection between A and P is shown in Figure 2. Device B can be used for butt joint inspection as well as fillet weld inspection. The connection between B and P is shown in Figure 3. Device P uses a magnetic wheel to attach the entire scanning system to the ferromagnetic workpiece to be inspected and moves it along a predetermined trajectory via electric drive. An infrared probe is installed on the drive unit to monitor the movement trajectory. Device C is a spray system to ensure good coupling between the detection probe and the inspection surface. D is the control system, which provides power to the scanning system and controls the movement of the scanning device along the predetermined trajectory.

[0064] The drive unit consists of a drive motor, magnetic wheel P1, housing, encoder P2, and infrared sensor P3, as shown in Figure 4.

[0065] (1) Drive motor: adopts high-performance DC stepper motor, high-precision independent multi-stage reducer, four-wheel drive mode, can move forward and backward and control speed, can move precisely and run smoothly on the detection surface.

[0066] (2) Magnetic wheel: High-strength neodymium iron boron permanent magnet material is used to ensure that the drive vehicle can perform parallel scanning in different positions such as horizontal, vertical and inverted. There is no risk of the vehicle body falling off the surface being inspected.

[0067] (3) Shell: Made of hard aluminum alloy, with strong overall corrosion resistance and waterproof sealing function.

[0068] (4) The drive vehicle is equipped with a high-precision stepper encoder counter positioner, which can achieve millimeter-level positioning control and synchronize with the detection equipment for automatic and intelligent detection.

[0069] (5) Infrared calibration and positioning system. It provides a parallel line to the center of the weld as a reference, and allows operators to monitor the accuracy of the crawler's movement remotely via video, thus ensuring the accuracy of the scan.

[0070] In this example, the ultrasonic probe is fixed by a clamping system, the main components of which are as follows:

[0071] (1) Connecting rod. The connecting rod has a square structure with grooves on all four sides. Nuts are placed in the grooves and can slide within them to adjust the position and lock other components, as shown in Figure 5. The connecting rod shown in Figure 5 can be understood as the movable connecting rod of the first TOFD detection scanning device and / or the movable connecting rod of the second TOFD detection scanning device.

[0072] (2) The probe holder is composed of a fixed frame 601, a spring 602, a support rod 603, a slider 606, a fixing block 604, and a probe holder 605, as shown in Figure 6.

[0073] 1) The upper fixing frame 601 of the clamping frame is connected to the connecting rod 603, and the connection is fastened with bolts. The fixing frame 601 has a boss with a through hole. The boss is embedded in the sliding groove of the connecting rod and is fastened with bolts to prevent the clamping frame from rotating.

[0074] 2) The probe clamping part 605 at the bottom of the probe clamping frame is used to clamp the probe. The probe E is fixed to the probe clamping part 605 by screws.

[0075] 3) The upper fixing frame 601 and the lower probe clamping component 605 of the clamping frame are connected by a support rod 603. A slider 606 is provided on the upper part of the support rod 603, and a fixing block 604 is provided on the lower part of the support rod 603. The slider 606 contains ball bearings to facilitate the slider 606 sliding along the support rod 603.

[0076] 4) The upper part of the support rod 603 is embedded in the groove of the fixing frame. A spring 602 is installed in the groove, which allows the support rod 603 to move within a range of 5-8mm up and down, driving the probe to move within this range, ensuring that the probe has a certain contact force with the detection surface during inspection and scanning.

[0077] 5) The fixing block 604 is provided with screw holes and is connected to the probe holder 605 by bolts. The fixing block 604 and the probe holder 605 are not fastened. The probe holder 605 can rotate along the bolt at the connection. When inspecting curved workpieces, this rotation function can make the probe fit tightly against the inspection surface.

[0078] In this example, the first TOFD detection scanning device is the default, conventional TOFD detection scanning device, specifically:

[0079] (1) The conventional TOFD inspection and scanning device consists of two movable connecting rods A102, one fixed connecting rod A101, and one hinge, as shown in Figure 7. The two connecting rods adopt a hinge structure, which allows the connecting rods to rotate up and down. When applied to inspecting curved workpieces, it makes the clamped probe fit against the inspection surface.

[0080] (2) The hinge joint of the two connecting rods is connected to the fixed connecting rod, and the fixed connecting rod is connected to the drive device P. The fixed connecting rod has a rotating structure at one end near the hinge joint. By rotating, the angle between the probe held by the probe holder and the detection surface can be changed, so that the probe is in contact with the detection surface.

[0081] (3) During testing, after the probe is clamped in the probe holder A103, the holder is connected and fixed to the connecting rod. The fixing is done with bolts, which can slide in the connecting rod groove. The distance between the two probes can be adjusted by sliding.

[0082] In this example, the second TOFD detection scanning device is a special TOFD detection scanning device, specifically:

[0083] (1) The special TOFD detection and scanning device consists of two movable connecting rods B102, one fixed connecting rod B101, one adapter, and one hinge, as shown in Figure 8. The probe is clamped on the probe holder B103, which is fixed to the two connecting rods, which are connected by a hinge structure. The two connecting rods at the hinge can rotate horizontally so that the sound beam direction of the clamped probe is at a certain angle, and the angle can be adjusted.

[0084] (2) The hinge joint of the two connecting rods is connected to the fixed connecting rod B101, and the fixed connecting rod B101 is connected to the drive device P. The fixed connecting rod has a rotating structure near the hinge joint. By rotating, the angle between the probe and the detection surface is changed, so that the probe is in contact with the detection surface.

[0085] (3) The probe holder B103 is connected to the connecting rod via a 90° adapter (vertical adapter B104). The adapter has a boss to facilitate fastening with the connecting rod and the holder, and is fixed with bolts. The purpose is to make the probe beam direction perpendicular to the connecting rod.

[0086] (4) After the clamp and the probe are assembled, the sound beams of the two probes form a certain angle in the horizontal direction, and the angle is adjustable. The sound beam angle can be adjusted by adjusting the sliding of the adapter on the connecting rod and by adjusting the angle of the two connecting rods.

[0087] In this example, water is sprayed onto the workpiece during scanning. The water spray coupling system used is as follows: (1) Probe wedge 901: Water spray holes 902 are set on the probe wedge 901, as shown in Figure 9. (2) Automated water injection pump coupling device, as shown in Figure 10.

[0088] A high-performance coupling pump is used to stably and continuously deliver the coupling agent to the probe section. The pump can be controlled and adjusted at any time to regulate the input water pressure and output flow rate of the coupling agent, and features dual-path switching control via power supply and battery. Any water tank or bucket can be used as the water source. The pump has strong self-priming and filtration capabilities, providing reliable water intake and output.

[0089] The connection method of the water spray system is as follows: (1) Connect the water spray pipe to the interface of the water spray hole of the probe, connect the water spray pipe to the water pump outlet, and connect the water spray pipe inlet pipe to the water tank. (2) The joint connecting the water spray pipe and the water pump has a self-locking function. It will automatically lock after insertion. When removing the water pipe, press the self-locking device to remove it. (3) A pressure reducing valve is provided in front of the water pump inlet pipe to adjust the water flow. (4) Press the switch button when using. The button has three levels to adjust the water flow, or adjust the water flow by using the pressure regulating knob.

[0090] In this example, the control system is located in the control box, which includes a switch button, control cable socket, battery box, battery / power switch button, forward / reverse button, speed adjustment button, emergency stop button, and battery power display screen, as shown in Figure 11.

[0091] Referring to Figure 11, the control system specifically includes the following: (1) The control system consists of three parts: power supply, control, and battery. (2) Power supply: used for motor power supply, consisting of a 220V power connection cable, a switch device, and an emergency stop button; battery / power switching button. (3) "Forward" and "Backward" buttons are used to control the motor and move forward and backward. (4) "Emergency Stop" button is used to cut off the power system in an emergency; rotating the button will lift the button and restore it to its normal state. (5) "Speed ​​Adjustment" knob can adjust the speed of the motor during movement. (6) Battery: Two charged batteries are inserted into the battery socket simultaneously. The display screen above the batteries shows the battery level.

[0092] Example 2:

[0093] This example addresses the difficulty in determining whether a defect deviates from the weld centerline during actual inspection. If the defect is not on the weld centerline, the instrument still calculates the defect depth based on the obtained acoustic path value and the set PCS value. This often results in a significant deviation or error from the actual defect depth. A defect location method is proposed based on the principle that the defect always lies on an arc drawn with the probe's incident point as the center and half the acoustic path value obtained from both probes as the radius. The operational steps are as follows: First, a scan is performed at the initially set PCS value to obtain the first image. If a defect is found in the weld, a second inspection is performed on the defective area. During the second inspection, a second set of PCS values ​​is set, and a second image is obtained. Then, based on the defect depth values ​​obtained from the two inspections, an accurate defect depth value is obtained using CAD drawing.

[0094] Specifically: (1) Under the initial PCS value, obtain the depth value H1. Calculate S1 using the Pythagorean theorem based on half the PCS value R1 and H1. In CAD drawing, as shown in Figure 15, first draw the workpiece thickness at a 1:1 scale. Draw a circle with half the PCS value R1 intersecting the scanning surface P1. Then draw a circle with P1 as the center and S1 as the radius. Similarly, after scanning and calculating with the second PCS value, draw a circle with P2 as the center and S2 as the radius. The intersection of the two circles at Q is the defect location, and the defect depth H can be measured.

[0095] Specific examples are as follows:

[0096] The ultrasonic testing was performed on a 20mm deep transverse through-hole of the comparison test block. The transverse through-hole was preset to deviate from the center line by 3mm. The test results are as follows: 1) In the initial test, the PCS value was set to 53mm, as shown in Figure 16. The depth H1 value measured by the instrument was 15.6mm, and the S1 value was calculated to be 30.75mm; 2) In the second test, the PCS value was set to 63mm, as shown in Figure 17. The depth H2 value measured by the instrument was 14.6mm, and the S2 value was calculated to be 34.68mm; 3) Circles were drawn with P1 and P2 as centers and S1 and S2 as radii, respectively, intersecting at Q. The distance of Q from the scanning surface was measured to be 20.55mm, which matches the actual hole depth, as shown in Figure 18.

[0097] This invention combines a first TOFD scanning device and a second TOFD scanning device, allowing the two TOFD detection methods to compensate for each other's shortcomings using the inspection vehicle as a reference point. It can be applied to the inspection of welded butt joints and fillet welds, and can also inspect areas where it is impossible to place two probes symmetrically on both sides of the weld. Furthermore, it can accurately determine the length and height of defects. The first TOFD scanning device is used for welded butt joint inspection, with two probes placed on either side of the weld for inspection. The advantage of this method is its accurate determination of the depth, height, and length of defects. The disadvantage is the existence of blind zones on both the upper and lower surfaces. The upper surface is affected by direct-through waves, with a blind zone generally exceeding 3mm. The lower surface is also affected by reflected waves from the bottom surface, resulting in a blind zone as shown in Figure 12, which illustrates the conventional TOFD inspection pattern for the blind zone test block. The upper surface of the blind zone test block has wire-cut grooves with depths of 1mm, 2mm, 3mm, and 4mm, while the lower surface has wire-cut grooves with depths of 5mm, 6mm, 7mm, and 8mm. The inspection results show that the wire-cut grooves on the upper surface were not clearly displayed.

[0098] The second TOFD inspection device places two probes on the same side of the weld for inspection. The advantages of this inspection technology are as follows: (1) It can be applied to the inspection of welded butt joints, fillet welds, and areas where it is not possible to place two probes symmetrically on both sides of the weld. (2) It can accurately measure the length and height of defects. (3) Through optimized settings, blind spots can be achieved on both the upper and lower surfaces. Since the two probes are placed on the same side, the distance between the two probes is much smaller than the distance from the probes to the weld. The direct wave formed between the two probes is not within the screen display range, so blind spots can be achieved on the upper surface. In addition, the spectrum formed by the reflected wave from the bottom surface of the workpiece can be displayed between the defect wave spectrum on the upper surface and the defect wave spectrum on the lower surface through the time window setting, avoiding the bottom reflected wave spectrum from obscuring the defect wave spectrum. Figure 13 shows the special TOFD inspection spectrum of the blind spot test block. From the inspection results, except for the weak display of the 1mm wire EDM groove image on the upper surface, all others can be clearly displayed, and the length and height of the spectrum are consistent with the actual wire EDM groove size.

[0099] This invention utilizes an automated scanning system formed by a detection vehicle, offering the following advantages: 1. Reduced operator workload. It reduces operational difficulty in space-constrained situations, avoids health risks associated with manual scanning, and minimizes scaffolding work for high-altitude locations. For example, when inspecting spherical shell plates, for vertical seams, only the movement trajectory needs to be adjusted at the bottom to complete the scan from bottom to top. 2. Stable movement trajectory ensured by the automated scanning system. TOFD detection calculates defect locations based on sound path, and the movement trajectory significantly impacts defect localization, especially when using special methods. Traditional manual scanning relies on manual pushing of the scanning frame. The varying direction of force applied by the operator alters the movement trajectory, causing changes in the sound path value of the defect echo received by the instrument, directly affecting the accuracy of defect localization. In contrast, the automated scanning system of this invention ensures balanced force on the four magnetic wheels of the detection vehicle, resulting in a stable movement trajectory and improved signal reception accuracy.

Claims

1. A method of automatic scanning detection for multi-function TOFD detection, used for ultrasonic detection of a welded structure, characterized in that: The detection method includes a first TOFD detection method and a second TOFD detection method. In the first TOFD detection method, two ultrasonic probes are symmetrically placed on both sides of the weld for detection. In the second TOFD detection method, the defect of the weld structure is located on the arc of a circle with the probe incident point as the center and half the sound path value obtained by the two ultrasonic probes as the radius. The two probes are placed on the same side of the weld for detection. Before using the second TOFD inspection method, the positioning comparison object is set up using the first TOFD inspection method. The two ultrasonic probes are symmetrically placed facing each other on both sides of the weld for instrument setup. The two ultrasonic probes are then symmetrically placed facing each other on the base material with the same wall thickness as the workpiece to be inspected for scanning and inspection. The initial spectrum is obtained as the defect location comparison map for the second TOFD inspection method. At this time, the distance between the incident points of the two probes is the initial PCS. Then, the second TOFD inspection method is used to inspect the weld. In the second TOFD detection method, step one is performed first. Two ultrasonic probes are installed at the same mounting position on the same side of the weld, with the two probes facing at an angle. The distance from the mounting position to the center of the weld is half of the initial PCS. The first detection map is obtained by scanning. When the map indicates that there is a defect in the weld area, the first value of the defect depth is calculated. At this time, in order to further determine the true depth of the defect, step two is performed to perform a second detection at the defect. During the second detection, the PCS value setting needs to be changed, that is, step one is repeated to complete the second second TOFD detection method detection, obtain the second detection map, and calculate the second value of the defect depth. Based on the depth values ​​obtained from the two tests, combined with the PCS value, the accurate defect depth value is obtained by CAD drawing method.

2. The automatic scanning detection method for multi-functional TOFD detection according to claim 1, characterized in that: In the detection method, the two ultrasonic probes are two longitudinal wave angle probes with the same frequency, one of which is a transmitting probe and the other is a receiving probe. In step one of the second TOFD detection method, the depth value H1 is obtained under the initial PCS value, and S1 is calculated by the Pythagorean theorem based on half of the PCS value R1 and H1. Then, the data is processed using CAD drawing method. First, the workpiece thickness is drawn at a 1:1 scale. A circle is drawn with half of the PCS value R1 intersecting the scanning surface P1. Then, a circle is drawn with P1 as the center and S1 as the radius. The second step of the second TOFD detection method involves rescanning with the modified PCS value and calculating in the same way. Draw a circle with P2 as the center and S2 as the radius. The intersection of the two circles at Q is the location of the defect, and the defect depth H can be measured. The conversion formula between H1, S1, H2, S2, and PCS is: In Formula 1, when H is H1, S is S1; when H is H2, S is S2.

3. A multi-functional TOFD automatic scanning detection system for detecting a workpiece having ferromagnetic properties using the multi-functional TOFD automatic scanning detection method according to claim 1 or 2, characterized in that: The system includes a drive unit, a first TOFD scanning device for performing a first TOFD detection method, a second TOFD scanning device for performing a second TOFD detection method, a water spray system, and a control system. The drive unit moves using an electrically driven magnetic wheel that can adhere to the workpiece. An infrared probe is installed at the drive unit to monitor the movement trajectory. When the detection system is working, the drive unit is connected to one of the first or second TOFD scanning devices via fasteners, forming a detection cart that can adhere to and move within the test area of ​​the workpiece. The water pump outlet of the water spray system is connected to the mounting position of the ultrasonic probe via a water path, and water is sprayed onto the test area of ​​the workpiece to achieve good coupling between the ultrasonic probe and the test surface of the workpiece. The control system is connected to the detection cart to provide it with electrical power and controls the detection cart to move along a predetermined trajectory at the workpiece.

4. The multi-functional TOFD automated scanning and detection system of claim 3, wherein: The driving device includes a magnetic wheel, a housing, an infrared probe, an encoder for motion positioning control, and a drive motor for driving the magnetic wheel. The drive motor is a high-performance DC stepper motor with a high-precision independent multi-stage reducer. It operates in four-wheel drive mode and can perform forward and backward movement and speed control, as well as precision movement. It can run smoothly on the surface of the workpiece being inspected. The magnetic wheel is made of high-strength neodymium iron boron permanent magnet material and is used to adsorb onto the surface of the workpiece to ensure that the inspection vehicle can perform parallel scanning of the weld in different postures such as horizontal, vertical and inverted, thus avoiding the danger of the vehicle body falling off the surface being inspected. The encoder is a high-precision stepper encoder counter positioner, used for millimeter-level positioning control when the inspection vehicle moves, and for synchronization and matching with external inspection equipment for automatic and intelligent inspection.

5. The multi-functional TOFD automated scanning and detection system of claim 3, wherein: The control system includes an infrared calibration and positioning system connected to the infrared probe, which provides a reference weld centerline parallel line so that operators can remotely monitor the accuracy of the inspection vehicle's movement via video, ensuring the accuracy of the scan.

6. The multi-functional TOFD automated scanning and detection system of claim 3, wherein: The drive unit is connected to one of the first TOFD detection and scanning device and the second TOFD detection and scanning device via a fixed link. The first TOFD detection and scanning device and the second TOFD detection and scanning device fix the ultrasonic probe with a probe holder located at the link groove of the movable link. The scanning frame of the first TOFD inspection and scanning device includes two movable connecting rods and one fixed connecting rod. The two movable connecting rods are connected by a first hinge structure, which is connected to a second hinge structure at the head end of the fixed connecting rod. The tail end of the fixed connecting rod is connected to a drive device. When the first TOFD inspection and scanning device is used to inspect curved workpieces, the two movable connecting rods rotate vertically through the hinge structure to make the probes fixed thereon fit against the surface being inspected. The first TOFD inspection and scanning device is connected to a probe holder with bolts that can slide in the connecting rod groove. The distance between the transmitting probe and the receiving probe is adjusted by sliding the probe holder in the connecting rod groove. The scanning frame of the second TOFD inspection device includes a vertical adapter, two movable connecting rods, and one fixed connecting rod. The probe is clamped on a probe holder, which is fixed to the two movable connecting rods. The two movable connecting rods are connected by a third hinge structure, allowing them to rotate horizontally at the hinge point. This ensures that the sound beams of the two clamped probes are at a certain angle, and the angle is adjustable. The third hinge structure is connected to a fourth hinge structure at the beginning of the fixed connecting rod. The end of the fixed connecting rod is connected to a drive device. The fourth hinge structure changes the angle between the probe and the surface being inspected by rotation, allowing the probe to fit against the surface. The probe holder is connected to the movable connecting rods via a vertical adapter. The vertical adapter forms a fastening connection between the connecting rods and the probe holder with a boss. The boss is fixed to the connecting rod groove of the movable connecting rod with bolts, ensuring that the sound beam direction of the ultrasonic probe is perpendicular to the movable connecting rod. The angle between the sound beams of the two ultrasonic probes is adjusted by sliding the vertical adapter on the connecting rods, and can also be adjusted by adjusting the angle of the two movable connecting rods.

7. The multi-functional TOFD automated scanning and detection system of claim 6, wherein: The probe holder includes a fixed frame, a spring, a support rod with a slider, a fixed block, and a probe holder arranged in sequence. The upper fixed frame of the probe holder is connected to the movable connecting rod, and the connection is fastened with bolts; the fixed frame has a boss with a through hole, the boss is embedded in the sliding groove of the movable connecting rod and fastened with bolts to prevent the probe holder from rotating; The ultrasonic probe is clamped in the probe holder at the lower part of the probe holder and fixed with screws. The upper fixing frame and the lower probe clamping component of the probe holder are connected by a support rod. A slider is set on the upper part of the support rod, and a fixing block is set on the lower part of the support rod. The slider is equipped with ball bearings to facilitate the slider to slide along the support rod. The upper part of the support rod is embedded in the groove of the fixing frame. A spring is installed in the groove to move the support rod within a range of 5-8mm up and down, thereby moving the probe within this range. During the inspection and scanning, the probe is ensured to have a certain contact force with the inspection surface. The fixing block is provided with a screw hole for connecting to the probe holder by bolts and allowing the probe holder to rotate along the bolts. When inspecting curved workpieces, the probe holder is rotated to make the probe fit tightly against the surface being inspected.

8. The multi-functional TOFD automated scanning and detection system of claim 6, wherein: The assembly method of the first TOFD detection and scanning device includes the following steps; Step A1: Clamp the probe in the probe holder, fix the probe holder with the probe in the slide groove of the movable connecting rod with bolts, and adjust the distance between the two probes by sliding the nut in the slide groove to meet the PCS requirements of workpieces with different wall thicknesses. Step A2: Secure the scanning frame to the drive vehicle using the fixing connector, and then place it in the detection position. Adjust the connector to make the probe fit against the detection surface. If the detection surface is curved, adjust the angle between the two movable connecting rods and the curved surface to make the probe fit against the detection surface. Step A3: After the scanning frame is assembled, secure it firmly to the inspection vehicle; Assembly method of the second TOFD detection and scanning device Includes the following steps; Step B1: Clamp the probe in the probe holder and fix the probe holder with the probe in the connecting rod groove with bolts. Step B2: Set the parameters according to the standard TOFD test and record the PCS value at this time. Step B3: Fix the scanning frame to the drive vehicle using the fixed connector. Adjust the angle of the two movable links so that the distance from the intersection of the two probe sound beams to the probe incident point is half of the PCS. If the detection surface is curved, adjust it by rotating the probe holder along the bolt to make the probe fit against the detection surface. Step B4: After the scanning device is assembled, it is securely connected to the inspection vehicle.

9. The multi-functional TOFD automated scanning and detection system of claim 8, wherein: The multi-functional TOFD detection automatic scanning and detection system is connected to an external TOFD detection host, and its scanning and detection method includes the following steps; Step S1: Turn on the TOFD inspection host and connect the probe, encoder, water spray system, and inspection vehicle systems. Set the TOFD inspection parameters; Step S2: Place the scanning system at the workpiece inspection position; when using the first TOFD inspection method, place the probes on both sides of the weld and make the weld the center of the two probes; when using the second TOFD inspection method, place the two probes on one side of the weld and make the distance from the incident point of the probe beam to the center line of the weld half of the PCS. Step S3: First, manually push the inspection vehicle to see if it moves along the predetermined trajectory. Then, turn on the water pump to spray water at the probe, and then turn on the control power to make the inspection vehicle move along the predetermined trajectory and start the inspection.

10. The multi-functional TOFD automated scanning and detection system of claim 3, wherein: The ultrasonic probe is equipped with a probe wedge, and the probe wedge is equipped with a water spray hole that communicates with the water pump. The water pump is controlled by an automated water injection pump coupling device of the water spray system. The automated water injection pump coupling device adopts a high-performance coupling pumping device, which is used to stably and continuously deliver coupling agent to the probe, and can control and adjust the input water pressure and output flow rate of the coupling agent at any time. The coupling pumping device adopts dual-path switching control of power supply and battery, and uses a water tank or water bucket as the water source.

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