CN207670524U - A kind of TOFD flaw detections climbing robot - Google Patents
A kind of TOFD flaw detections climbing robot Download PDFInfo
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- CN207670524U CN207670524U CN201721506264.XU CN201721506264U CN207670524U CN 207670524 U CN207670524 U CN 207670524U CN 201721506264 U CN201721506264 U CN 201721506264U CN 207670524 U CN207670524 U CN 207670524U
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Abstract
The utility model belongs to special industrial robotic technology field, it is related to a kind of TOFD flaw detections climbing robot, including electric component, creep component and flaw detection component, electric component is arranged in a mounting plate side, component and the setting of flaw detection component creep in the mounting plate other side, the plate face that flaw detection component energy edge is parallel to mounting plate move along a straight line；Component of creeping includes the adsorbent and crawling wheel that can be adsorbed in the face of creeping, and crawling wheel protrudes from the absorption surface of adsorbent；The utility model can realize that TOFD flaw detection robots crawl detection weld defect along curved surfaces such as spherical tank, tube walls, and the obstacle climbing ability of robot is strong, detection process robot localization is reliable and stable, improve accuracy of detection, the danger that artificial detection is brought also is reduced simultaneously, the environmental suitability of detection robot is improved, expands detection range, realizes the detection work of intelligentized high standard.
Description
Technical field
The utility model belongs to special industrial robotic technology field, more particularly to a kind of TOFD flaw detection wall-climbing devices
People.
Background technology
With the development of science and technology, robot replaces, people completes simple repetition, the labour of high risk, high intensity gradually becomes
Main trend.Clearance-type permanent magnetic suck climbing robot is that one kind being widely used in nuclear industry, petrochemical industry, shipbuilding etc. other are dangerous
The specialized robot of industry.Ultrasonic wave diffraction time difference method (Time Of Flight Diffraction, TOFD), is a kind of dependence
The diffraction energy that is obtained at " end angle " and " endpoint " of test specimen internal structure (being primarily referred to as defect) to be checked detects defect
Method is mainly used for detecting, quantify and positioning for defect.It is stepped up as the raising and operation of job requirements are dangerous,
Especially in petroleum chemical industry, in the manufacturing process to large-sized steel container, since spherical shell is to suppress balling-up by polylith
The ball clack in face divides valve method, football formula that hybrid point of valve method group of valve method or football tangerine valve is divided to weld with tangerine flap-type, and spherical tank is caused to be deposited
In a large amount of weld seam, after the completion of ensureing to manufacture, the safety of production needs to carry out lossless spy to all weld seams on spherical tank surface
Wound, to detect weld seam internal flaw.The heavy workload, outwork inclement condition, it is desirable that examination criteria is high, the difficulty being accomplished manually
Degree is well imagined, therefore there is an urgent need for a kind of automatic TOFD climbing robots to complete work.
Invention content
In view of this, the utility model is directed to a kind of TOFD flaw detections climbing robot, to solve to deposit in the prior art
The technical issues of, realize and nondestructive inspection detection carried out to all weld seams on spherical tank surface, reduce the manual operation amount of labour, adapt to
Severe outwork condition avoids the danger that accident occurs when artificial detection, meets stringent weld defect examination criteria, protects
Demonstrate,prove the safe and reliable walking positioning of robot in detection process.
In order to achieve the above objectives, the technical solution of the utility model is realized in：
A kind of TOFD flaw detections climbing robot, including electric component, creep component and flaw detection component, electric component setting exist
One mounting plate side, in the mounting plate other side, flaw detection component energy edge is parallel to mounting plate for creep component and the setting of flaw detection component
Plate face moves along a straight line；Component of creeping includes the adsorbent and crawling wheel that can be adsorbed in the face of creeping, and crawling wheel protrudes from absorption
The absorption surface of body；Wherein flaw detection component is for being detected weld seam, and electric component is for controlling flaw detection component, component of creeping
Action；Component of creeping is for driving entire robot to advance；
Preferably, electric component includes flaw detection controller, motion controller, motor driver, and flaw detection component includes straight line
Driving motor, straight line module and scanning frame component, the setting movable linearly of scanning frame component is on straight line module, linear drives
Motor is arranged controls the movement of scanning frame component in straight line module one end；Realize scanning frame component linear motion, to weld seam into
Row detection；Crawling wheel includes two groups of drive wheel assemblies, two groups of driven wheel assemblys and driving wheel motor, and drive wheel assemblies setting exists
On driving wheel motor, advance as active wheels driving overall structure；Control flaw detection controller is for controlling scanning frame component
Action realizes that defects detection, motion controller control crawling wheel and linear drive motor, motor driver and linear drive motor
It is electrically connected with driving wheel motor；
Preferably, straight line module includes straight line module fixed plate, leading screw and end limiting component, and end limiting component is arranged straight
The both ends of line module fixed plate, leading screw with it is rotatable and be parallel to straight line module fixed plate planar fashion setting both ends limit
Between the component of position, it is equipped with scanning frame sliding seat on leading screw and threadably connects, scanning frame component is lived mounted on scanning frame
On dynamic seat；One end of leading screw is connect by shaft coupling with linear drive motor, and linear drive motor is fixed by motor mounting rack
Outside the limiting component of end；
Preferably, further include supporting lever, supporting lever is across scanning frame sliding seat, the straight line fortune of auxiliary scanning frame sliding seat
It is dynamic；
Preferably, drive wheel assemblies include driving wheel, retarder, drive shaft, driving wheel carrier and axis connection component, driving wheel
By drive shaft setting on driving wheel carrier, driving wheel is that flange method is connect with drive shaft, and retarder is fixed on driving wheel carrier
On, and the output shaft of retarder is connected with the wheel shaft of driving wheel, the input shaft end of retarder passes through axis connection component and driving wheel
Motor connects, and the fixing end of driving wheel motor is fixed；
Preferably, driven wheel assembly includes driven wheel, driven shaft and wheel shaft mounting bracket, and driven wheel is arranged by driven shaft
On wheel shaft mounting bracket, driven wheel is that flange method is connect with driven shaft；Bearing, driving wheel are equipped between driven shaft and wheel shaft mounting bracket
The fixing end of motor is fixed on wheel shaft mounting bracket；
Preferably, adsorbent includes magnet and yoke plate；Yoke plate is equipped with below wheel shaft mounting bracket, yoke plate is sent an invitation card attached
There is magnet；Several magnet, magnet gap setting are equipped on the yoke plate at drive wheel assemblies, and the poles N of magnet, the poles S interlock
Arrangement, and adjacent two magnet gap is arranged, and forms it into the magnetic field of closure, the outer wheel face of creeping of driven wheel and driving wheel is prominent
In the outside of magnet.
Preferably, power connector and signal connector are equipped on electric component；Handle is additionally provided on mounting plate；Magnet
For ndfeb magnet；Driving wheel and driven wheel are aluminum alloy material, and wheel hub is equipped with lightening hole, takes turns external coated rubber polyurethane；Magnet
Face clearance distance is more than 5mm with creeping；
Preferably, scanning frame component further includes fixed frame, link, main support, probe bracket and probe, and fixed frame is used for
Below scanning frame sliding seat, link is hinged on by shaft below fixed frame, and main support is fixed on the end of link
Portion is arranged with two probe brackets on main support, and the free end of probe bracket is equipped with probe mounting frame, and probe is mounted on probe peace
It shelves, promotion release component is additionally provided between fixed frame and main support, promotes release component for controlling carrying for main support
It rises and discharges；Camera is additionally provided on fixed frame, the top between two probes is arranged in camera, and camera main function is
Monitor the working condition of small front side running route and probe in real time；
Preferably, it includes hanging ring and fixed pulley to promote release component；Hanging ring is arranged in the middle part of main support, fixed pulley setting
On fixed frame, hanging ring is oppositely arranged with fixed pulley, and an electric pushrod is fixed on fixed frame, and the end of electric pushrod is equipped with rope
Rope, on the affixed hanging ring of the other end of rope, and rope is arranged on fixed pulley；By the telescopic action of electric pushrod to draw
Main support, the promotion of probe bracket and probe and released movement；Wherein, torsion spring member is equipped between link and fixed frame,
Torsion spring member makes main support have downward pressure, to ensure that probe is close to workpiece surface；Wherein, in main support and probe branch
Cohesive frame is additionally provided between frame, cohesive frame one end is fixed on main support, and the other end is connected to probe bracket by torsional spring structure
End；Torsional spring structure makes probe bracket stress equalization, to complete defects detection work during device overall operation；
Compared with the existing technology, a kind of TOFD flaw detections climbing robot described in the utility model has the advantage that：
The utility model can realize that TOFD flaw detection robots crawl detection welding along curved surfaces such as spherical tank, tube walls and lack
It falls into, and the obstacle climbing ability of robot is strong, the magnet of interlaced arrangement, can reach very high magnet utilization rate (adsorption capacity/weight),
Detection process robot localization is reliable and stable, improves accuracy of detection, while also reducing the danger that artificial detection is brought, and improves detection
The environmental suitability of robot expands detection range, realizes the detection work of intelligentized high standard；The scanning frame component
It detects a flaw more efficient, result of detection is more accurate, avoids the detection error of human factor；Entire robot cell module side simultaneously
Just repair and maintenance.
Description of the drawings
The attached drawing for constituting the part of the utility model is used to provide a further understanding of the present invention, this practicality is new
The illustrative embodiments and their description of type are not constituted improper limits to the present invention for explaining the utility model.
In attached drawing：
Fig. 1 is the TOFD flaw detection climbing robot overall schematics described in the utility model embodiment；
Fig. 2 is the mounting plate and handle schematic diagram described in the utility model embodiment；
Fig. 3 is the straight line module and scanning frame component structure diagram described in the utility model embodiment；
Fig. 4 is the block diagram of creeping described in the utility model embodiment；
Fig. 5 is magnet scheme of installation on the component of creeping described in the utility model embodiment；
Fig. 6 is the scanning frame component diagram described in the utility model embodiment；
Fig. 7 is the scanning frame stack face schematic diagram described in the utility model embodiment；
Fig. 8 is magnetic field schematic diagram produced by the staggered magnet described in the utility model embodiment；
Reference sign：
10- mounting plates；11- flaw detection controllers；12- motion controllers；13- motor drivers；21- scanning frame components；22-
Drive wheel assemblies；23- driven wheel assemblys；24- linear drive motors；25- straight line modules；31- power connectors；32- signals connect
Connect device；101- handles；210- scanning frame sliding seat；211- fixed frames；212- torsion spring members；2120- shafts；2121- links；
213- main supports；2130- cohesive frames；214- probe brackets；2140- probe mounting frames；215- pops one's head in；216- cameras；217-
Hanging ring；218- fixed pulleys；240- motor mounting racks；250- straight line component fixed plates；251- leading screws；252- supporting levers；The ends 253-
Limiting component；254- shaft couplings；220- driving wheels；221- retarders；222- yoke plates；223- axis connection components；224- drives
Take turns motor；230- driven wheels；231- wheel shaft mounting brackets；232- magnet；2320- adsorbs body space；A- creeps face.
Specific implementation mode
It should be noted that in the absence of conflict, the feature in the embodiments of the present invention and embodiment can
To be combined with each other.
In the description of the present invention, it should be understood that term "center", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, rather than indicate
Or imply that signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore cannot understand
For limitations of the present invention.In addition, term " first ", " second " etc. are used for description purposes only, and should not be understood as indicating
Or it implies relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " second " etc. are defined as a result,
Feature can explicitly or implicitly include one or more this feature.It is in the description of the present invention, unless another
It is described, the meaning of " plurality " is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, can also be electrical connection；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, on being understood by concrete condition
State the concrete meaning of term in the present invention.
The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
In conjunction with shown in Fig. 1, a kind of TOFD flaw detections climbing robot, including electric component, creep component and flaw detection component, electricity
The setting of gas component is in 10 side of a mounting plate, and creep component and the setting of flaw detection component are in 10 other side of mounting plate, component energy of detecting a flaw
It moves along a straight line along the plate face for being parallel to mounting plate 10；Component of creeping includes that can be adsorbed in the adsorbent in the face of creeping and creep
Wheel, crawling wheel protrude from the absorption surface of adsorbent；Wherein flaw detection component is for being detected weld seam, and electric component is for controlling
System flaw detection component, component actuation of creeping；Component of creeping is for driving entire robot to advance；
Wherein, electric component includes flaw detection controller 11, motion controller 12, motor driver 13, and flaw detection component includes
Linear drive motor 24, straight line module 25 and scanning frame component 21, the setting movable linearly of scanning frame component 21 is in straight line mould
In group 25, the movement in 25 one end of straight line module control scanning frame component 21 is arranged in linear drive motor 24；Realize scanning frame group
The linear motion of part 21, is detected weld seam；Crawling wheel includes two groups of drive wheel assemblies 22 and two groups of driven wheel assemblys 23, is driven
Drive wheel assemblies 22 are arranged on driving wheel motor 224, advance as active wheels driving overall structure；Control flaw detection controller
11 realize that defects detection, motion controller 12 control crawling wheel and linear drive motor 24 for controlling the action of scanning frame component,
Motor driver 13 is electrically connected with linear drive motor 24 and driving wheel motor 224；
In conjunction with shown in Fig. 2, handle 101 is additionally provided on mounting plate 10, handle is mounted on the upper surface of mounting plate, facilitates machine
People tank surface place, remove, and carry；
In conjunction with shown in Fig. 3, straight line module 25 includes straight line module fixed plate 250, leading screw 251 and end limiting component 253, end
Limiting component 253 is arranged at the both ends of straight line module fixed plate 250, and leading screw 251 is with rotatable and to be parallel to straight line module solid
The planar fashion of fixed board 250 is arranged between both ends limiting component 253, be equipped on leading screw 251 scanning frame sliding seat 210 and with
Engagement thread connects, and scanning frame component 21 is mounted in scanning frame sliding seat 210；One end of leading screw 251 by shaft coupling 254 with
Linear drive motor 24 connects, and linear drive motor 24 is fixed on by motor mounting rack 240 outside the limiting component 253 of end；
Wherein, further include supporting lever 252, supporting lever 252 is across scanning frame sliding seat 210, auxiliary scanning frame sliding seat 210
Linear motion；
In conjunction with shown in Fig. 4, drive wheel assemblies 22 include that driving wheel 220, retarder 221, drive shaft, driving wheel carrier and axis connect
Connected components 223, driving wheel 220 are arranged by drive shaft on driving wheel carrier, and driving wheel 220 connects with drive shaft for flange method
It connects, retarder 221 is fixed on driving wheel carrier, and the output shaft of retarder 221 is connected with the wheel shaft of driving wheel 220, retarder
221 input shaft end is connect by axis connection component 223 with driving wheel motor 224, and the fixing end of driving wheel motor 224 is solid
It is fixed；
Wherein, driven wheel assembly 23 include driven wheel 230, driven shaft and wheel shaft mounting bracket 231, driven wheel 230 by from
Moving axis is arranged on wheel shaft mounting bracket 231, and driven wheel 230 is that flange method is connect with driven shaft；Driven shaft and wheel shaft mounting bracket
Bearing is equipped between 231, the fixing end of driving wheel motor 224 is fixed on wheel shaft mounting bracket 231；
Wherein, adsorbent includes magnet 232 and yoke plate 222, is equipped with below the driving wheel carrier in drive wheel assemblies 22
Yoke plate 222,232 note of magnet are attached to the lower section of yoke plate 222；The outer wheel face of creeping of driving wheel 220 protrudes from the outer of magnet 232
Face；Yoke plate 222 is equipped with below wheel shaft mounting bracket 231, yoke plate 222 is sent an invitation card with magnet 232；Driven wheel 230 is creeped
Outer wheel face protrudes from the outside of magnet 232；
Wherein, magnet 232 and face of creeping are in clearance-type suction type, magnet and creep identity distance from more than 5mm；
In conjunction with shown in Fig. 5, several magnet 232,232 gap of magnet are equipped on the yoke plate 222 at drive wheel assemblies 22
Setting, and the poles N of magnet, S are extremely staggered, and adjacent two magnet gap is arranged, absorption body space 2320 as shown in Figure 5
Setting form forms it into the magnetic field of closure；Magnet 232 is neodymium iron boron strong magnet；Driving wheel 220 and driven wheel 230 close for aluminium
Golden material, wheel hub are equipped with lightening hole, take turns external coated rubber polyurethane；
Wherein, it is equipped on electric component and connects for the power connector 31 of power supply connection and the signal for information transmission
Connect device 32；
In conjunction with shown in Fig. 6 and Fig. 7, scanning frame component 21 includes fixed frame 211, link 2121, main support 213, probe
Holder 214 and probe 215, fixed frame 211 are used to be mounted on 210 lower section of scanning frame sliding seat, and link 2121 passes through shaft
2120 are hinged on 211 lower section of fixed frame, and main support 213 is fixed on the end of link 2121, two are arranged on main support 213
The free end of probe bracket 214, probe bracket 214 is equipped with probe mounting frame 2140, and probe 215 is mounted on probe mounting frame 2140
On, it is additionally provided with promotion release component between fixed frame 211 and main support 213, promotes release component for controlling main support 213
Promotion and release；Camera 216 is additionally provided on fixed frame 211, the top between two probes 215 is arranged in camera 216,
216 main function of camera is the working condition of the small front side running route of real time monitoring and probe；
Wherein, it includes hanging ring 217 and fixed pulley 218 to promote release component；Hanging ring 217 is arranged at the middle part of main support 213,
Fixed pulley 218 is arranged on fixed frame 211, and hanging ring 217 is oppositely arranged with fixed pulley 218, and one is fixed on fixed frame 1 and electronic is pushed away
Bar, electric pushrod are not shown, and the end of electric pushrod is equipped with rope, on the affixed hanging ring of the other end of rope 217, and restrict
Rope is arranged on fixed pulley 218；By the telescopic action of electric pushrod to draw main support 213, probe bracket 214 and probe
215 promotion and released movement；Wherein, torsion spring member 212, torsion spring member are equipped between link 2121 and fixed frame 211
212 make main support 213 have downward pressure, to ensure that probe is close to workpiece surface；Wherein, in main support 213 and probe
Cohesive frame 2130 is additionally provided between holder 214,2130 one end of cohesive frame is fixed on main support 213, and the other end passes through torsional spring knot
Structure is connected to the end of probe bracket 214；Torsional spring structure makes 214 stress equalization of probe bracket, in device overall operation mistake
Defects detection work is completed in journey；
The specific assembling process of the utility model：Centered on mounting plate, lower part is divided into mechanical part, upper part for robot
Part in order to control；Two driving wheels and two driven wheels are separately mounted to four angles of mounting plate, and wheel both sides arrange adsorbent, make machine
Device people is adsorbed on tank surface；Robot mounting plate abdomen is equipped with straight line module, it is robot stabilized in tank surface when, directly
Line driving motor uses stepper motor, and driving straight line module drives scanning frame movement, to detect a flaw to the weld seam on tank body；
Wherein the driving wheel motor of driving wheel is configured with planetary reducer, then carries out deceleration and torque by worm-gear speed reducer
It is promoted, after self-locking, driving wheel rotation；Under the retarder of driving wheel or yoke plate, yoke are installed in the lower section of wheel shaft mounting bracket
Neodymium iron boron strong magnet is installed on plate；Include protective cover outside driving wheel motor, protective cover realizes the protection to driving motor shell,
Prevent water, iron filings from entering inside motor；It is controlled equipped with motor power in the tail portion of protective cover, power supply control includes power supply and coding
Device；Wheel is that aluminum alloy material wheel hub is equipped with lightening hole, and encapsulated outside is polyurethane, to ensure needed for its wearability and walking
Frictional force；Driven wheel assembly includes driven wheel, driven shaft, bearing, wheel shaft mounting bracket, the magnet of driven wheel, magnet is supported to pass through
Yoke plate is mounted on bearing magnet holder, and bearing is mounted on the vertical plane of bearing magnet holder, ensures that driven shaft can be certainly
By rotating, driven shaft is installed with wheel for flange method；Intermediate position of the straight line module below mounting plate realizes that scanning frame exists
The abdomen of robot moves, to ensure that the reliable and stable of entire flaw detection process；The scanning frame sliding seat of straight line module moves
When to front end, the ultrasonic probe in scanning frame component exposes under chassis, and operator can very easily be adjusted between probe
Whether damaged away from popping one's head in inspection；Strength ndfeb magnet is distributed in four vertex lower positions of mounting plate, ensures robot
It can firmly be adsorbed on the surface of spherical tank；And magnet and spherical tank surface are in clearance-type suction type, i.e., when wheel and spherical tank
When contact, magnet is more than 5mm at a distance from spherical tank surface, ensures that there is certain obstacle climbing ability in robot in the process of walking；
Hand be mounted on mounting plate upper surface, the position of mounting hole and the distribution of magnet always, facilitate robot tank surface place,
It removes, and carries；Motion controller and flaw detection control are placed in protection box all in the upper surface of mounting plate, prevent water, iron filings
Equal impurity damage electrical equipment, and the line inside and outside protection box all passes through water-proof connector；The poles magnet N, the poles S at driving wheel interlock
Arrangement, and two blocks of magnet have the arrangement in gap, form it into the magnetic field of closure；
As shown in figure 8, by taking the magnetic field that the magnet of two interlaced arrangements generates as an example；Two magnet are since yoke plate is to magnetic strength
The conducting of line acts on, and is allowed to be upwardly formed horseshoe magnet model in the non-face sides A of creeping, the magnet of the form is for ferromagnetism
Creep much bigger than other magnet models of material of the same race of adsorption capacity of face A, therefore, uses the arrangement side in the utility model
Method can reach very high magnet utilization rate (adsorption capacity/weight)；
When flaw detection work, robot moves forwards, and when robot is without flaw detection work, is quickly transported to next appointed place
When row, first, the electric pushrod being fixed in push rod mounting base is shunk, and is driven rope to move backward, is further connected to restrict
The hanging ring and main support of the rope other end are lifted up, until the probe being fixed on probe bracket completely disengages workpiece surface, so
Robot no-load running afterwards, this avoid magnetic suck trolleies in no-load running to the abrasion of probe；It is suspended on push rod installation
The camera main function of seat front end is the working condition of the small front side running route of real time monitoring and probe；
The utility model can realize that TOFD flaw detection robots crawl detection welding along curved surfaces such as spherical tank, tube walls and lack
It falls into, and the obstacle climbing ability of robot is strong, detection process robot localization is reliable and stable, improves accuracy of detection, while also reducing people
Work detects the danger brought, improves the environmental suitability of detection robot, expands detection range, realizes intelligentized high standard
Detect work；The flaw detection of the scanning frame component is more efficient, and result of detection is more accurate, and the detection of human factor is avoided to miss
Difference；Entire robot cell's module facilitates repair and safeguards simultaneously.
The utility model carries out TOFD ultrasonic inspections mainly for the weld seam of the large-sized steel container of petrochemical field, to examine
Survey welds in spherical tanks internal flaw, scar etc.；But it is not limited to petrochemical field, could be applicable to the inspection of other weld defects and scar
It surveys.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model
Protection domain within.
Claims (10)
- The climbing robot 1. a kind of TOFD detects a flaw, it is characterised in that：Including electric component, creep component and flaw detection component, electrically Component setting is in a mounting plate side, and in the mounting plate other side, flaw detection component can be along parallel for creep component and the setting of flaw detection component It moves along a straight line in the plate face of mounting plate；Component of creeping includes the adsorbent and crawling wheel that can be adsorbed in the face of creeping, crawling wheel Protrude from the absorption surface of adsorbent.
- The climbing robot 2. a kind of TOFD according to claim 1 detects a flaw, it is characterised in that：Electric component includes that flaw detection is controlled Device processed, motion controller, motor driver, flaw detection component includes linear drive motor, straight line module and scanning frame component, scanning For the setting movable linearly of frame component on straight line module, linear drive motor setting controls scanning frame group in straight line module one end The movement of part；Crawling wheel includes two groups of drive wheel assemblies, two groups of driven wheel assemblys and driving wheel motor, drive wheel assemblies setting On driving wheel motor；Control flaw detection controller realizes defects detection, motion controller for controlling the action of scanning frame component Control crawling wheel and linear drive motor, motor driver are electrically connected with linear drive motor and driving wheel motor.
- The climbing robot 3. a kind of TOFD according to claim 2 detects a flaw, it is characterised in that：Straight line module includes straight line mould Group fixed plate, leading screw and end limiting component, end limiting component are arranged at the both ends of straight line module fixed plate, and leading screw is with rotatable And the planar fashion for being parallel to straight line module fixed plate is arranged between the limiting component of both ends, and scanning frame activity is equipped on leading screw Seat simultaneously threadably connects, and scanning frame component is mounted in scanning frame sliding seat；One end of leading screw passes through shaft coupling and straight line Driving motor connects, and linear drive motor is fixed on by motor mounting rack outside the limiting component of end.
- The climbing robot 4. a kind of TOFD according to claim 3 detects a flaw, it is characterised in that：Further include supporting lever, support Thick stick passes through scanning frame sliding seat.
- The climbing robot 5. a kind of TOFD according to claim 2 detects a flaw, it is characterised in that：Drive wheel assemblies include driving Wheel, retarder, drive shaft, driving wheel carrier and axis connection component, driving wheel are arranged by drive shaft on driving wheel carrier, driving wheel It is that flange method is connect with drive shaft, retarder is fixed on driving wheel carrier, and the wheel shaft of the output shaft of retarder and driving wheel It is connected, the input shaft end of retarder is connect by axis connection component with driving wheel motor, and the fixing end of driving wheel motor is solid It is fixed.
- The climbing robot 6. a kind of TOFD according to claim 5 detects a flaw, it is characterised in that：Driven wheel assembly includes driven Wheel, driven shaft and wheel shaft mounting bracket, driven wheel are arranged by driven shaft on wheel shaft mounting bracket, and driven wheel is flange with driven shaft Mode connects；Bearing is equipped between driven shaft and wheel shaft mounting bracket, the fixing end of driving wheel motor is fixed on wheel shaft mounting bracket.
- The climbing robot 7. a kind of TOFD according to claim 6 detects a flaw, it is characterised in that：Adsorbent includes magnet and magnetic Yoke plate；Yoke plate is equipped with below wheel shaft mounting bracket, yoke plate is sent an invitation card with magnet；It is set on the yoke plate at drive wheel assemblies There are several magnet, magnet gap setting, and the poles N of magnet, S are extremely staggered, and adjacent two magnet gap is arranged, and is formed it into The outer wheel face of creeping of the magnetic field of closure, driven wheel and driving wheel protrudes from the outside of magnet.
- The climbing robot 8. a kind of TOFD according to claim 7 detects a flaw, it is characterised in that：Electricity is equipped on electric component Source connector and signal connector；Handle is additionally provided on mounting plate；Magnet is ndfeb magnet；Driving wheel and driven wheel close for aluminium Golden material, wheel hub are equipped with lightening hole, take turns external coated rubber polyurethane；Magnet and face clearance distance of creeping are more than 5mm.
- The climbing robot 9. a kind of TOFD according to claim 3 detects a flaw, it is characterised in that：Scanning frame component further includes solid Determine frame, link, main support, probe bracket and probe, fixed frame is used to be mounted below scanning frame sliding seat, and link passes through Shaft is hinged below fixed frame, and main support is fixed on the end of link, two probe brackets are arranged on main support, is popped one's head in The free end of holder is equipped with probe mounting frame, and probe is mounted on probe mounting frame, is additionally provided between fixed frame and main support Release component is promoted, promotion and release that release component is used to control main support are promoted；It is additionally provided with camera on fixed frame, takes the photograph As the top between two probes is arranged in head.
- The climbing robot 10. a kind of TOFD according to claim 9 detects a flaw, it is characterised in that：Promoting release component includes Hanging ring and fixed pulley；Hanging ring is arranged at the middle part of main support, and fixed pulley is arranged on fixed frame, and hanging ring is opposite with fixed pulley to be set It sets, fixes an electric pushrod on fixed frame, the end of electric pushrod is equipped with rope, on the affixed hanging ring of the other end of rope, and Rope is arranged on fixed pulley；By the telescopic action of electric pushrod to draw main support, probe bracket and the promotion of probe With released movement；Torsion spring member is equipped between link and fixed frame, torsion spring member makes main support have downward pressure； Cohesive frame is additionally provided between main support and probe bracket, cohesive frame one end is fixed on main support, and the other end passes through torsional spring structure It is connected to the end of probe bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721506264.XU CN207670524U (en) | 2017-11-13 | 2017-11-13 | A kind of TOFD flaw detections climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721506264.XU CN207670524U (en) | 2017-11-13 | 2017-11-13 | A kind of TOFD flaw detections climbing robot |
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| Publication Number | Publication Date |
|---|---|
| CN207670524U true CN207670524U (en) | 2018-07-31 |
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| CN201721506264.XU Expired - Fee Related CN207670524U (en) | 2017-11-13 | 2017-11-13 | A kind of TOFD flaw detections climbing robot |
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| CN (1) | CN207670524U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110254548A (en) * | 2019-06-28 | 2019-09-20 | 北京史河科技有限公司 | A kind of climbing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110254548A (en) * | 2019-06-28 | 2019-09-20 | 北京史河科技有限公司 | A kind of climbing robot |
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