CN104787139B - Long and thin component flaw detection scanning crawl device based on flexible shaft drive - Google Patents
Long and thin component flaw detection scanning crawl device based on flexible shaft drive Download PDFInfo
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Abstract
本发明公开了一种基于软轴驱动的细长构件探伤扫描爬行装置，该装置包括第一组件和第二组件，第一、二组件通过连接杆连接为整体，第一组件包括两个结构相同的第一组件分部件，第一、第二滚轮组件分别安装在第一半圆形支撑薄板上，第一滚轮组件通过联轴器和软轴与电机相连，两个第一组件分部件通过转铰合页相连，第一半圆形支撑薄板上设有闭合扣；第二组件包括两个结构相同的第二组件分部件，第三、第四滚轮组件分别安装在第二半圆形支撑薄板上，两个第二组件分部件通过转铰合页相连，第二半圆形支撑薄板上设有闭合扣。该装置基于软轴传动设计，具有重量轻、运行平稳、适用性广等优点，可满足不同直径构件以及不同检测环境的在线检测需求。
The invention discloses a slender member flaw detection scanning crawler device driven by a flexible shaft. The device includes a first assembly and a second assembly. The first and second assemblies are connected as a whole through a connecting rod. The first assembly includes two The first assembly sub-components, the first and second roller assemblies are installed on the first semi-circular support thin plate respectively, the first roller assembly is connected with the motor through a coupling and a flexible shaft, and the two first assembly sub-components pass through The hinges are connected, and the first semicircular support sheet is provided with a closure buckle; the second assembly includes two sub-components of the second assembly with the same structure, and the third and fourth roller assemblies are respectively installed on the second semicircular support sheet On the upper part, the two second component parts are connected through hinges, and the second semicircular support thin plate is provided with a closing buckle. Based on the design of flexible shaft transmission, the device has the advantages of light weight, stable operation and wide applicability, and can meet the online detection requirements of components with different diameters and different detection environments.
Description
技术领域technical field
本发明属于细长构件的在线无损检测装置领域，更具体地，涉及一种基于软轴驱动的细长构件探伤扫描爬行装置。The invention belongs to the field of online non-destructive testing devices for slender components, and more particularly relates to a scanning and crawling device for flaw detection of slender components driven by a flexible shaft.
背景技术Background technique
众所周知，斜拉桥缆索或细长管杆等细长构件在长期使用过程中，会出现机械损伤或遭受腐蚀等问题，随着这些损伤的积累，会导致其炸裂，造成资源浪费、威胁人身安全，另外，细长构件在生产过程中，不可避免地存在小孔、焊缝等制造缺陷，因此，在出厂前和使用过程中，需要定期对细长构件的性能进行检测和维护，以避免发生事故。As we all know, cable-stayed bridge cables or slender pipe rods and other slender components will suffer from mechanical damage or corrosion during long-term use. With the accumulation of these damages, they will burst, causing waste of resources and threatening personal safety. In addition, in the production process of slender components, there are inevitably manufacturing defects such as small holes and welds. Therefore, before leaving the factory and during use, the performance of slender components needs to be regularly tested and maintained to avoid occurrence ACCIDENT.
目前，对细长构件的检测途径可分为人工检测法和自动检测法，人工检测法效率低、劳动强度大，且有些场合人工检测不安全，因此，细长构件自动检测装置得到越来越多重视，如公开号CN101138994A，公开日2008年3月12日的专利文献公开了一种轮式永磁吸附管道爬行机器人，其能在铁磁管道外表面沿管道轴线方向按任意路线爬行，操作简便、运动灵活，然而该爬行机器人将电机通过减速器结构对滚轮完成传动，这样将驱动电机布置在驱动装置的上部导致驱动装置的整体重心过高，且安装精度低，在爬行过程中容易发生侧滑现象，检测精度差，适用性不强；申请公布号CN103439415A，申请公布日2013年12月11日的专利文献公开了一种用于外露式管道电磁超声自动检测爬行器，该爬行器能沿着铁磁性管道外壁自动爬行并实现管道的自动超声无损检测，然而，该检测爬行器的驱动轮与电机直接相连，这样的设计，一方面加重了驱动结构本身的自重，同时在爬行过程中运动不平稳，操作不灵活。At present, the detection methods for slender components can be divided into manual detection method and automatic detection method. The manual detection method has low efficiency, high labor intensity, and manual detection is not safe in some occasions. Pay more attention, such as Publication No. CN101138994A, the patent document published on March 12, 2008 discloses a wheeled permanent magnetic adsorption pipeline crawling robot, which can crawl along any route along the pipeline axis direction on the outer surface of the ferromagnetic pipeline, and operate It is simple and flexible in movement. However, this crawling robot completes the transmission of the motor to the rollers through the reducer structure. In this way, the driving motor is arranged on the upper part of the driving device, resulting in the overall center of gravity of the driving device being too high, and the installation accuracy is low, which is prone to occur during crawling. Sideslip phenomenon, poor detection accuracy, poor applicability; application publication number CN103439415A, the patent document on December 11, 2013, discloses a crawler for electromagnetic ultrasonic automatic detection of exposed pipelines, which can Automatic crawling along the outer wall of the ferromagnetic pipeline and automatic ultrasonic non-destructive testing of the pipeline. However, the driving wheel of the crawler is directly connected to the motor. This design, on the one hand, increases the weight of the driving structure itself, and at the same time The movement is not smooth and the operation is not flexible.
总而言之，目前国内外细长构件在线检测爬行装置在结构上仍然存在以下的缺陷：首先，现有的设备安装精度低、占用空间大、重量过重、便携性差；其次，设备整体重心偏高，检测时不平稳，容易发生侧滑现象；再次，现有爬行机器人的制造成本高、整体结构复杂，不适用于细长构件如斜拉桥缆索等现场检测的检测环境。All in all, the crawling devices for online detection of slender components at home and abroad still have the following structural defects: firstly, the existing equipment has low installation accuracy, takes up a large space, is too heavy, and has poor portability; secondly, the overall center of gravity of the equipment is high, The detection is unstable and prone to sideslip; thirdly, the existing crawling robot has high manufacturing cost and complex overall structure, and is not suitable for the detection environment of on-site detection of slender components such as cables of cable-stayed bridges.
发明内容Contents of the invention
针对现有技术的以上缺陷或改进需求，本发明提供了一种基于软轴驱动的细长构件探伤扫描爬行装置，其中结合爬行装置自身的特点，相应设计了基于软轴驱动的探伤扫描爬行装置，并对其关键组件如第一组件和第二组件的结构及其具体装配方式进行研究和设计，相应的可有效解决装置重量、体积过大、重心偏高以及检测容易发生侧滑的问题，同时还具备检测稳定性好、适应性强的优点，因而尤其适用于细长构件如斜拉桥缆索或细长管杆等的在线无损检测。Aiming at the above defects or improvement needs of the prior art, the present invention provides a crawling device for flaw detection and scanning of slender components driven by a flexible shaft, wherein the crawling device for flaw detection and scanning based on a flexible shaft is designed in combination with the characteristics of the crawling device itself. , and the research and design of its key components such as the structure of the first component and the second component and their specific assembly methods can effectively solve the problems of device weight, excessive volume, high center of gravity and prone to sideslip detection. At the same time, it also has the advantages of good detection stability and strong adaptability, so it is especially suitable for online non-destructive testing of slender components such as cables of cable-stayed bridges or slender pipes.
为实现上述目的，本发明提出了一种基于软轴驱动的细长构件探伤扫描爬行装置，其特征在于：该装置包括设置于下部的第一组件(Ⅰ)和设置于上部的第二组件(Ⅱ)，所述第一组件(Ⅰ)的上表面和第二组件(Ⅱ)的下表面之间通过多根连接杆(Ⅲ)连接，其中：In order to achieve the above object, the present invention proposes a flexible shaft-driven flaw detection and scanning crawling device for slender members, which is characterized in that: the device includes a first assembly (I) arranged at the bottom and a second assembly (I) arranged at the top II), the upper surface of the first component (I) and the lower surface of the second component (II) are connected by a plurality of connecting rods (III), wherein:
该第一组件(Ⅰ)包括两个结构相同且左右对称设置的第一组件分部件，该第一组件分部件包括第一滚轮组件(2)、软轴(3)、电机(4)、联轴器(5)、第二滚轮组件(6)和第一半圆形支撑薄板(7)，其中所述第一滚轮组件(2)和第二滚轮组件(6)依次安装在所述第一半圆形支撑薄板(7)的下表面上，所述半圆形支撑薄板的上表面上安装有检测探靴模块(9)，第二滚轮组件(6)通过联轴器(5)与软轴(3)的一端相连，所述软轴(3)的另一端与电机(4)相连，以此方式，能够使得整个装置的重心后移，并且起到防止装置侧滑，增加检测平稳性的作用；此外，所述两个第一组件分部件通过设置在所述第一半圆形支撑薄板(7)一端上的第一转铰合页(8)相连，而所述第一半圆形支撑薄板(7)的另一端上则安装有第一闭合扣(1)，以此方式，在装置运行过程中闭合第一闭合扣(1)，进而在保持装置稳定性的同时提高检测精度；The first assembly (I) includes two first assembly sub-components with the same structure and left-right symmetrical arrangement, the first assembly sub-components include the first roller assembly (2), flexible shaft (3), motor (4), coupling Shaft (5), second roller assembly (6) and first semicircular support sheet (7), wherein the first roller assembly (2) and second roller assembly (6) are installed on the first On the lower surface of the semicircular support thin plate (7), the detection probe module (9) is installed on the upper surface of the semicircular support thin plate, and the second roller assembly (6) is connected with the soft One end of the shaft (3) is connected, and the other end of the flexible shaft (3) is connected with the motor (4). In this way, the center of gravity of the entire device can be moved backward, and it can prevent the device from slipping and increase the stability of detection. In addition, the two first assembly sub-components are connected by a first hinge (8) arranged on one end of the first semicircular support sheet (7), and the first semicircular The other end of the shaped supporting plate (7) is equipped with a first closing buckle (1), in this way, the first closing buckle (1) is closed during the operation of the device, thereby improving the detection accuracy while maintaining the stability of the device ;
所述第二组件(Ⅱ)包括两个结构相同且左右对称设置的第二组件分部件，所述第二组件分部件包括第二半圆形支撑薄板(12)、第三滚轮组件(11)和第四滚轮组件(13)，其中所述第三滚轮组件(11)和第四滚轮组件(13)依次安装在第二半圆形支撑薄板(12)上；此外，所述第二组件分部件通过设置在所述第二半圆形支撑薄板(12)一端的第二转铰合页(14)相连，而所述第二半圆形支撑薄板(12)的另一端上则安装有第二闭合扣(10)，以此方式，在装置运行过程中闭合第二闭合扣(10)，进而在保持装置稳定性的同时进一步提高检测精度。The second assembly (II) includes two second assembly sub-components with the same structure and symmetrically arranged left and right, and the second assembly sub-component includes a second semicircular support thin plate (12), a third roller assembly (11) and the fourth roller assembly (13), wherein the third roller assembly (11) and the fourth roller assembly (13) are successively installed on the second semicircular support sheet (12); in addition, the second assembly is divided into The components are connected by a second hinge (14) arranged at one end of the second semicircular support thin plate (12), and a second hinge is installed on the other end of the second semicircular support thin plate (12). The second closing buckle (10), in this way, closes the second closing buckle (10) during the operation of the device, thereby further improving the detection accuracy while maintaining the stability of the device.
作为进一步优选地，所述第一滚轮组件(2)、第二滚轮组件(6)、第三滚轮组件(11)和第四滚轮组件(13)的结构相同，均包括带后板U形滚轮支撑板、滚轮轴和滚轮，所述滚轮通过所述滚轮轴安装在所述滚轮支撑板上，所述第二滚轮组件(6)通过各自的滚轮轴分别与联轴器(4)相连。As a further preference, the first roller assembly (2), the second roller assembly (6), the third roller assembly (11) and the fourth roller assembly (13) have the same structure, and all include a U-shaped roller with a back plate A support plate, a roller shaft and a roller, the rollers are installed on the roller support plate through the roller shaft, and the second roller assembly (6) is respectively connected with the shaft coupling (4) through the respective roller shafts.
作为进一步优选地，所述细长构件优选为斜拉桥缆索或细长管杆。As a further preference, the elongated member is preferably a cable-stayed bridge cable or an elongated pipe rod.
总体而言，通过本发明所构思的以上技术方案与现有技术相比，主要具备以下的技术优点：Generally speaking, compared with the prior art, the above technical solution conceived by the present invention mainly has the following technical advantages:
1.动力源与执行机构采用软轴连接，可有效的将动力源后撤，从而大大减轻了装置整体结构的体积和重量，动力源布置在整体结构的下部，有效的降低检测装置的重心，使爬行更加平稳、不易发生侧翻；软轴传动的传动结构布置简单，且传递扭矩作用完全满足检测探伤装置的爬行所需，其有效解决了传统齿轮传动等传动方式安装精度等级高、维护不方便、占用空间大等问题，且制造成本低。1. The power source and the actuator are connected by a flexible shaft, which can effectively withdraw the power source, thereby greatly reducing the volume and weight of the overall structure of the device. The power source is arranged at the lower part of the overall structure, effectively reducing the center of gravity of the detection device. It makes crawling more stable and less prone to rollover; the transmission structure of the flexible shaft transmission is simple in layout, and the transmission torque fully meets the crawling needs of the detection device, which effectively solves the problem of traditional gear transmission and other transmission methods with high installation accuracy and poor maintenance. Convenience, large space occupation, etc., and low manufacturing cost.
2.减少了由于驱动装置重量的限制而造成的驱动动力源传递空间的限制，突破了传统传动方式带来的空间限制，使得动力源与动力执行器件(如滚轮)之间的动力传递路径可随意的变化，有效地提高了检测装置的适用性，可满足不同检测环境的在线检测需求，尤其适用于细长构件如斜拉桥缆索、细长管杆等的现场检测。2. Reduce the limitation of the transmission space of the driving power source due to the limitation of the weight of the driving device, and break through the space limitation brought by the traditional transmission mode, so that the power transmission path between the power source and the power actuator (such as a roller) can be Random changes can effectively improve the applicability of the detection device, which can meet the online detection requirements of different detection environments, and is especially suitable for on-site detection of slender components such as cables of cable-stayed bridges and slender pipes.
3.通过设置转铰合页和闭合扣，不仅可满足不同直径检测件的检测需求，同时可保证爬行装置在运行过程中的稳定性。3. By setting the rotating hinge and closing buckle, it can not only meet the detection requirements of different diameter detection parts, but also ensure the stability of the crawling device during operation.
附图说明Description of drawings
图1是基于软轴驱动的细长构件探伤扫描爬行装置正视图；Fig. 1 is the front view of the crawling device for flaw detection and scanning of slender components driven by flexible shaft;
图2是基于软轴驱动的细长构件探伤扫描爬行装置三维图Fig. 2 is a three-dimensional view of the crawling device for flaw detection and scanning of slender components driven by flexible shafts
图3是第一组件装配示意图；Fig. 3 is a schematic diagram of the assembly of the first assembly;
图4是第一组件三维示意图；Fig. 4 is a three-dimensional schematic diagram of the first component;
图5是第二组件装配示意图；Fig. 5 is a schematic diagram of the assembly of the second assembly;
图6是第二组件三维示意图；Fig. 6 is a three-dimensional schematic diagram of the second component;
图7是斜拉桥缆索在线检测示意图；Fig. 7 is a schematic diagram of on-line detection of cables of a cable-stayed bridge;
图8是细长管杆在线检测示意图Figure 8 is a schematic diagram of online detection of slender pipe rods
具体实施方式detailed description
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。此外，下面所描述的本发明各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.
一种基于软轴驱动的细长构件探伤扫描爬行装置，如图1所示，装置包括第一组件Ⅰ、第二组件Ⅱ以及六根连接杆Ⅲ，如图2所示，第一组件Ⅰ与第二组件Ⅱ通过连接杆Ⅲ焊接相连成为一个整体，第一组件Ⅰ如图3、图4所示，由两个结构完全相同且左右对称的第一组件分部件组成，该第一组件分部件包括第一半圆形支撑薄板7、电机4、软轴3、联轴器5、第一滚轮组件2、第二滚轮组件6，其中，第一、第二滚轮组件结构相同，均由带后板U形滚轮支撑板、滚轮轴以及滚轮组成。基于装置运用了软轴传动，在实际检测环境下可以将动力源与检测探头分离开来，具有更加广泛的适用性。A flaw detection and scanning crawling device for slender components driven by a flexible shaft, as shown in Figure 1, the device includes a first component I, a second component II and six connecting rods III, as shown in Figure 2, the first component I and the second component The second component II is connected as a whole through the welding of the connecting rod III. The first component I, as shown in Figure 3 and Figure 4, is composed of two sub-components of the first component with identical structures and symmetrical left and right. The sub-components of the first component include The first semicircular support thin plate 7, the motor 4, the flexible shaft 3, the coupling 5, the first roller assembly 2, and the second roller assembly 6, wherein the first and second roller assemblies have the same structure and are all composed of a rear plate The U-shaped roller support plate, the roller shaft and the roller are composed. Based on the flexible shaft transmission used in the device, the power source can be separated from the detection probe in the actual detection environment, which has wider applicability.
第一组件分部件具体装配关系描述如下：如图3所示，滚轮通过滚轮轴安装在滚轮支撑板上，第一、第二滚轮组件分别安装在第一半圆形支撑薄板7，第一滚轮组件2通过联轴器5和软轴3相连，软轴3和电机4相连，所述两个第一组件分部件通过设置在第一半圆形支撑薄板7上的第一转铰合页8相连，采用两片半圆形薄板环抱式结构，能够满足不同直径构件的检测需求；第一闭合扣1安装在第一半圆形支撑薄板7上，在装置运行过程中闭合扣闭合可保持装置的稳定，检测探靴模块9安装在第一半圆形支撑薄板7上。The specific assembly relationship of the first assembly sub-components is described as follows: as shown in Figure 3, the rollers are installed on the roller support plate through the roller shaft, the first and second roller assemblies are respectively installed on the first semicircular support sheet 7, the first roller The assembly 2 is connected to the flexible shaft 3 through the shaft coupling 5, and the flexible shaft 3 is connected to the motor 4. The two first assembly sub-components pass through the first rotary hinge 8 arranged on the first semicircular support sheet 7. Connected, using two semicircular thin plates encircling structure, which can meet the detection requirements of components with different diameters; the first closing buckle 1 is installed on the first semicircular supporting thin plate 7, and the closing buckle can maintain the device during the operation of the device The stability of the detection probe shoe module 9 is installed on the first semicircular support thin plate 7 .
第二组件Ⅱ如图5所示，包括两个结构完全相同且左右对称设置的第二组件分部件，所述第二组件分部件包括第二半圆形支撑薄板12、第三滚轮组件11、第四滚轮组件13，其中，第三、第四滚轮组件结构尺寸完全相同，均包括带后板U形滚轮支撑板、滚轮轴以及滚轮。The second assembly II, as shown in Figure 5, includes two second assembly sub-components with identical structures and left and right symmetrical arrangements, and the second assembly sub-components include a second semicircular support thin plate 12, a third roller assembly 11, The fourth roller assembly 13, wherein the third and fourth roller assemblies have the same structure and size, both include a U-shaped roller support plate with a rear plate, a roller shaft and a roller.
第二组件Ⅱ具体装配关系描述如下：如图5所示，滚轮通过滚轮轴安装在滚轮支撑板上，第三滚轮组件11、第四滚轮组件13分别安装在第二半圆形支撑薄板上12；如图5所示，所述第二组件分部件通过设置在所述第二半圆形支撑薄板12上的第二转铰合页14相连，满足不同直径钻杆检测需求，第二闭合扣10安装在第二半圆形支撑薄板12上，在装置运行过程中闭合扣闭合以保持稳定。The specific assembly relationship of the second assembly II is described as follows: as shown in Figure 5, the rollers are installed on the roller support plate through the roller shaft, and the third roller assembly 11 and the fourth roller assembly 13 are respectively installed on the second semicircular support sheet 12 ; As shown in Figure 5, the second assembly sub-components are connected through the second hinge hinge 14 arranged on the second semicircular support sheet 12, to meet the detection requirements of drill pipes with different diameters, the second closed buckle 10 is installed on the second semicircular support sheet 12, and the closure buckle is closed to maintain stability during the operation of the device.
图7是采用本发明装置对斜拉桥缆索进行在线检测的示意图,在进行斜拉桥缆索15检测之前，根据缆索的直径大小，选择与之相匹配的闭合扣档位，将携带检测探头的基于软轴驱动的细长构件探伤扫描爬行装置环抱在缆索上，确保该装置各组滚轮能够与之良好接触，以保证装置能够沿着缆索移动；此时启动电机4，调节电机4的转速，当滚轮驱动力大于装置自身重力的时候即可驱动装置向上运动，从而对斜拉桥缆索进行在线检测；待检测结束之后，调节电机4转速，使得滚轮向上的驱动力与装置自身重力平衡，整个装置在自身重力作用下沿着斜拉桥缆索15下滑，由于电机布置在整体结构的下部，从而大大减轻了装置整体结构的体积和重量，有效的降低检测装置的重心，使爬行更加平稳、不易发生侧翻，同时调节电机转速可使得装置能够以比较缓慢的速度下滑，并不会造成惯性冲击损伤，从而即可收回该爬行装置。Fig. 7 is the schematic diagram that adopts device of the present invention to carry out on-line detection to cable-stayed bridge cable, before carrying out cable-stayed bridge cable 15 detections, according to the diameter size of cable, selects the closing buckle position that matches with it, will carry detection probe The slender component flaw detection scanning crawling device driven by a flexible shaft is surrounded on the cable to ensure that each set of rollers of the device can be in good contact with it, so as to ensure that the device can move along the cable; at this time, start the motor 4 and adjust the speed of the motor 4. When the driving force of the roller is greater than the gravity of the device itself, the device can be driven upward to detect the cables of the cable-stayed bridge online; after the detection is completed, the speed of the motor 4 is adjusted so that the upward driving force of the roller is balanced with the gravity of the device itself. The device slides down along the cables 15 of the cable-stayed bridge under its own gravity. Since the motor is arranged at the lower part of the overall structure, the volume and weight of the overall structure of the device are greatly reduced, and the center of gravity of the detection device is effectively lowered, making crawling more stable and difficult. In the event of rollover, adjusting the speed of the motor can enable the device to slide down at a relatively slow speed without causing inertial impact damage, so that the crawling device can be retracted.
图8是采用本发明装置对细长管杆进行在线检测的示意图,在对水平细长管杆进行检测时，检测机理与上述斜拉桥缆索检测机理相似，根据细长管杆16的直径选择合适的闭合扣档位，使得装置各组滚轮能够与管杆良好接触，启动电机，即可驱动携带检测探头的爬行装置沿着管杆运动，从而对其进行检测；当检测结束后，调节电机转向，使得驱动滚轮向相反方向转动，即可收回该装置，达到在线检测的目的。Fig. 8 is a schematic diagram of using the device of the present invention to carry out on-line detection of slender pipe rods. When detecting horizontal slender pipe rods, the detection mechanism is similar to the cable detection mechanism of the above-mentioned cable-stayed bridge. Appropriate closing buckle position enables each group of rollers of the device to be in good contact with the pipe rod, start the motor, and then drive the crawling device carrying the detection probe to move along the pipe rod to detect it; when the detection is completed, adjust the motor Turning, so that the driving rollers rotate in the opposite direction, the device can be retracted to achieve the purpose of online detection.
本领域的技术人员容易理解，以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。Those skilled in the art can easily understand that the above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention, All should be included within the protection scope of the present invention.
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