CN118583961B - An array type ultrasonic combined eddy current probe detection vehicle for metal defects - Google Patents

Abstract

The invention discloses a metal defect array type ultrasonic combined eddy current probe detection trolley, which comprises a frame, a magnetic attraction advancing unit, a detection unit and a storage battery, wherein the frame is arranged on the frame; the magnetic suction travelling unit comprises a driving wheel and a magnetic suction piece; the detection unit comprises a detection shaft, an ultrasonic probe group, an eddy current probe group and signal processing; the ultrasonic probe group comprises a plurality of ultrasonic probes which are uniformly distributed around the axis of the detection shaft; the eddy current probe group comprises a plurality of eddy current probes which are uniformly distributed around the axis of the detection shaft; the ultrasonic dry coupling probe and the eddy current probe are arranged in an array along the circumferential direction. The two probes can detect the same surface for multiple times to improve the accuracy of detection data and increase the coverage rate of different depths of the detected piece. In addition, the ultrasonic probe and the eddy current probe are provided with digital encoders, so that the probe can digitally record the defect position, and the defect position can be accurately positioned according to recorded information in the later period.

Description

An array type ultrasonic combined eddy current probe detection vehicle for metal defects

Technical Field

The invention relates to the field of tank body detection, and in particular to an array type ultrasonic combined eddy current probe detection trolley for metal defects.

Background Art

Tanks are widely used in many industries such as oil, gas, chemicals, aerospace, etc. In order to ensure the safety and stability of these tank structures, regular non-destructive testing is required. Traditional tank inspection methods include X-ray inspection, magnetic particle inspection, and ultrasonic inspection. Among them, ultrasonic inspection is widely used in tank defect detection due to its advantages of high detection accuracy, fast speed, and simple operation. However, traditional ultrasonic inspection methods mainly rely on the experience and subjective judgment of inspectors, and there is a risk of false detection and missed detection.

In view of this, there are inspection vehicles that can automatically inspect the tank body in the prior art. For example, the patent application with application number 200410016429.6 discloses a wall-climbing robot. The left wheel structure and the right wheel structure of the robot are symmetrically fixed on both sides of the support frame to provide power for the movement of the wall-climbing robot. The detection structure is fixed in front of the support frame to drive the movement of the slider to detect the weld of the cylinder wall. The robot is attached to the surface of the inspected part through the left and right magnetic wheels and provides the robot with power to move forward, so as to realize the mobile detection of the weld defects of the inspected part. However, the prior art does not involve the application of various types of weld defects and internal defects of the tank body, especially the detection of various thicknesses, different defect types, and different defect depths. The above problems cannot be solved by relying solely on offset sensors.

Summary of the invention

In view of this, the purpose of the present invention is to develop an array-type ultrasonic combined eddy current probe detection cart for metal defects, so as to improve the accuracy of the detection equipment for internal defects of inspected parts such as tanks, and adapt to defects of various depths and types, thereby improving the accuracy of defect detection and positioning. At the same time, the detection cart can use ultrasonic probes and eddy current probes for repeated detection to increase the accuracy of detection data and reduce dependence on technical operators.

The array-type ultrasonic combined eddy current probe detection trolley for metal defects of the present invention comprises a frame, a magnetic travel unit, a detection unit and a battery; the magnetic travel unit comprises a driving wheel and a magnetic adsorption member; the driving wheel is used to drive the frame to travel along the surface of the detected part according to a preset path; the magnetic adsorption member enables the driving wheel to be reliably attached to the surface of the detected part through the magnetic attraction between the driving wheel and the surface of the detected part; the detection unit comprises a detection axis, an ultrasonic probe group, an eddy current probe group and a signal processing box; the detection axis is arranged parallel to the surface of the detected part and perpendicular to the forward direction of the trolley; the ultrasonic probe group comprises a plurality of ultrasonic probes evenly distributed around the axis of the detection axis; the eddy current probe group comprises a plurality of eddy current probes evenly distributed around the axis of the detection axis; the ultrasonic probe group and the eddy current probe group rotate around the axis of the detection axis during detection; the signal processing box is signal-connected to the ultrasonic probe group and the eddy current probe group; the battery is fixed on the frame and is used to power the electrical devices of the detection trolley.

In a possible implementation, the detection shaft is installed with a probe wheel; the ultrasonic probe group and the eddy current probe group are both seamlessly embedded in the probe wheel.

In one possible implementation, the probe wheel includes an annular wheel body, a data processing chamber located at the center of the wheel body, and a plurality of data transmission pipes connecting the wheel body and the data processing chamber; the ultrasonic probe group/eddy current probe group is evenly buried in the wheel body along the circumferential direction; a data processor is installed in the data processing chamber, and a bearing for cooperating with the detection shaft is provided in the middle of the probe wheel; the data transmission line signal located in the data transmission pipe is connected to the data processor and each probe.

In a possible implementation, the distance between the detection axis and the surface of the detected object can be adjusted in real time.

In a possible implementation, the magnetic adsorption component can adjust the compression amount of the probe wheel by controlling the magnitude of the magnetic attraction force, thereby adjusting the distance between the detection axis and the surface of the detected object.

In a possible implementation, the magnetic adsorption component is integrated into a driving wheel, and the driving wheel is elastic, so that the distance between the detection axis and the surface of the detected object can change with the magnitude of the magnetic attraction of the magnetic adsorption component.

In a possible implementation, the ultrasonic probe and the eddy current probe are both provided with encoders, so that the signal processing box can record the defect position and depth.

In a possible implementation, two groups of the ultrasonic probe group and the eddy current probe group are arranged in parallel in an AABB arrangement.

Beneficial effects of the present invention:

1. The array-type ultrasonic combined eddy current probe detection vehicle for metal defects of the present invention adopts ultrasonic dry-coupling probes arranged in a circumferential array and eddy current probes arranged in a circumferential array. Both probes are buried inside the probe wheel in a manner evenly distributed around the axis of the detection shaft. The accuracy of the detection data can be improved by superimposing different probes on the same surface, and the coverage of different depths of the detected part can be increased.

2. Dry coupling technology is one of the key features of the present invention. The ultrasonic probe of the present invention is buried in the probe wheel without gaps; during detection, the probe wheel contacts the surface of the detected workpiece. Compared with the traditional wet coupling technology, the technology of the present invention does not need to use a coupling agent on the surface of the detected workpiece; compared with the traditional dry coupling technology, the present invention buries the ultrasonic probe in the probe wheel. During detection, the space between the ultrasonic probe and the surface of the detected workpiece is filled with the material of the probe wheel body, which makes up for the shortcoming of reduced accuracy caused by the complete absence of coupling liquid as a medium for detection. This not only simplifies the operating process, but also significantly improves the detection efficiency and accuracy. In the circular array ultrasonic dry coupling probe, the application of the technology of the present invention reduces signal loss and improves detection sensitivity.

3. The circular array probe with encoder is one of the key features of the present invention. Each time the probe is scanned and detected, it can record the defect location and defect depth and other detection information through the encoder. This function greatly facilitates the subsequent data analysis and defect location work. By recording information, users can accurately locate the defect location, thereby achieving efficient and accurate maintenance and repair.

4. In order to further improve the flexibility and adaptability of detection, the trolley of the present invention also has the function of adaptively adjusting the magnetic adsorption force according to the depth of the defect. This design enables the trolley to automatically adjust the distance between the probe and the surface to be detected during the detection process to meet the needs of defect detection at different depths.

5. Compared with the traditional single probe, the circular array probe used in the present invention has significant advantages. First, the array probe can cover a wider detection area, improving the detection coverage. Second, through the superposition scanning detection of the two probes, the array probe can provide more accurate and comprehensive detection data. Finally, this design also greatly improves the detection efficiency and accuracy, making the tank defect detection work more efficient and reliable.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

Fig. 1 is a schematic diagram of the overall structure of the present invention;

Fig. 2 is a top view of the present invention;

FIG3 is a schematic structural diagram of a detection unit of the present invention;

FIG4 is a schematic diagram of the internal structure of the probe wheel of the present invention;

FIG5 is a schematic diagram of the external structure of the probe wheel of the present invention;

Figure 6 is a schematic diagram of the process of using the inspection vehicle of the present invention to implement inspection on the same inspection area, wherein (a) is a schematic diagram of the inspection vehicle implementing the first inspection on the same inspection area; (b) is a schematic diagram of the inspection vehicle implementing the second inspection on the same inspection area; and (c) is a schematic diagram of the inspection vehicle implementing the third inspection on the same inspection area.

Figure numerals: frame-1, battery-2, driving wheel-3, bearing-4, detection shaft-5, ultrasonic probe-6, eddy current probe-7, data processing chamber-8, probe wheel-9, wheel body-10, data transmission pipeline-11.

DETAILED DESCRIPTION

As shown in FIG1 , a metal defect array ultrasonic combined eddy current probe 7 detection vehicle of this embodiment includes a vehicle frame 1, a magnetic attraction traveling unit, a detection unit and a battery 2;

The magnetic attraction traveling unit includes a driving wheel 3 and a magnetic adsorption part; the driving wheel 3 is used to drive the frame 1 to travel along a preset path along the surface of the inspected part. The driving wheel 3 can adopt any form of trolley driving structure in the prior art, such as wheel type, crawler type, etc., as long as it can achieve reliable travel on the surface of the inspected part. FIG1 adopts a common wheel structure, and four groups of driving wheels 3 are arranged in pairs at the bottom of both sides of the frame. Obviously, the trolley of the present invention also needs to be equipped with motors, controllers and other components for driving the driving wheels 3 to rotate. The structures of these components are all prior art and will not be repeated here.

The magnetic adsorption component enables the driving wheel 3 to be reliably attached to the surface of the inspected part through the magnetic attraction between the magnetic adsorption component and the surface of the inspected part. The magnetic adsorption component can be a permanent magnet or an electromagnet with controllable magnetic field strength. In this embodiment, an electromagnet is preferably used to achieve controllable magnetic adsorption force. When performing inspection operations, the inspection trolley of the present invention needs to move on the surface of the tank body with a certain slope. Therefore, the driving wheel 3 is reliably attached to the surface of the tank body by using a magnetic adsorption component to ensure that the trolley can move along a preset path.

The detection unit includes a detection shaft 5, an ultrasonic probe group, an eddy current probe group and a signal processing box; the detection shaft 5 is arranged parallel to the surface of the detected part and perpendicular to the forward direction of the trolley; the ultrasonic probe group and the eddy current probe group are each provided with two groups, and can rotate around the axis of the detection shaft 5 at a set speed; in this embodiment, four probe wheels 9 are installed on the detection shaft 5, which are used to install two ultrasonic probe groups and two eddy current probe groups respectively; the four probe wheels are arranged in parallel in an AABB manner, the A wheel is equipped with an ultrasonic probe group, and the B wheel is equipped with an eddy current probe; the ultrasonic probe group and the eddy current probe group respectively include 16 ultrasonic probes 6 or eddy current probes 7, and the 16 ultrasonic probes 6 or eddy current probes 7 are all buried in the probe wheel 9 without gaps and are evenly distributed along the circumference of the probe wheel 9. The signal processing box is connected to the ultrasonic probe group and the eddy current probe group by signal. When performing the detection operation, the probe wheel 9 contacts the ground and rotates as the trolley moves, thereby driving the ultrasonic probe group and the eddy current probe group to rotate around the axis of the detection shaft 5. The 16 probes of each ultrasonic probe group and eddy current probe group rotate in turn to face the surface of the detected part, so that multiple probes can detect the same area in turn, greatly improving the accuracy of the detection. The detection data collected by the probe is transmitted to the signal processing box for signal processing. The battery 2 is installed on the frame and is used to power the electrical components of the detection trolley. The battery 2 is electrically connected to the motor, probe, signal processing box and other electrical components in the trolley through wires.

As shown in FIGS. 3 and 4 , in this embodiment, the ultrasonic probe group and the eddy current probe group are both buried in the probe wheel 9 without gaps, where “without gaps” means that there is no gap between the probe and the probe wheel 9, so as to prevent air from entering the gap and affecting the detection result; the probe wheel 9 comprises a circular wheel body 10, a data processing chamber 8 located at the center of the wheel body 10, and a plurality of data transmission pipes 11 connecting the wheel body 10 and the data processing chamber 8; the ultrasonic probe group/eddy current probe group are evenly buried in the wheel body 10 along the circumferential direction; the data processing chamber 8 is used as the signal processing box, in which a data processor is installed, and a bearing 4 for cooperating with the detection shaft 5 is provided in the middle of the probe wheel 9; the data transmission line signal located in the data transmission pipe 11 is connected to the data processor and each probe, considering that in the process of ultrasonic wave propagation, the impedance matching between the probe and the material to be tested needs to be met in order to meet a larger transmission coefficient and a smaller sound attenuation, so a silicone rubber material can be selected as the manufacturing material of the probe wheel, and at the same time, it can be ensured that when the height of the detection shaft 5 is adjusted, the probe wheel 9 can be deformed to adapt to different probe detection distances. In the prior art, ultrasonic testing requires coupling fluid to remove the air between the probe and the surface of the object being tested, because air will greatly hinder the propagation of ultrasonic waves. The coupling fluid used can effectively transmit ultrasonic energy from the probe to the object being tested, improving the accuracy and reliability of the test. The present invention does not need to use a coupling agent on the surface of the object being tested, but uses the wheel body 10 of the probe wheel 9 to transmit ultrasonic waves. This not only simplifies the operating process, but also significantly improves the detection efficiency and accuracy. At the same time, the eddy current probe 7 of the present invention is also wrapped in the probe wheel 9, which can improve the working conditions of the eddy current probe 7 and avoid contamination of the eddy current probe 7 by impurities.

In a preferred embodiment of the present invention, the magnetic adsorption component is integrated into the driving wheel 3. The magnetic adsorption component is an electromagnet. The electromagnet is installed inside the driving wheel 3 along the radial direction. A plurality of electromagnets are evenly distributed along the circumference of the driving wheel 3, so that the driving wheel 3 becomes a magnetic driving wheel 3, and the driving wheel 3 should be elastic so that the distance between the detection axis 5 and the surface of the detected object can change with the magnetic attraction force of the magnetic adsorption component. The electromagnet as a magnetic adsorption component is installed inside the driving wheel 3. The magnetic field strength is controlled by adjusting the current, thereby adjusting the magnetic attraction force, so as to achieve precise contact and stable drive between the driving wheel 3 and the surface of the detected object, thereby ensuring an efficient detection process.

In a preferred embodiment of the present invention, the ultrasonic probe 6 and the eddy current probe 7 are both provided with encoders, so that the signal processing box can record the defect position and depth, and each probe can record the defect position and defect depth and other detection information through the encoder after scanning and detection. In this embodiment, the encoder is installed on the ultrasonic probe 6 or the eddy current probe 7 and connected to the signal processing box. Initialize the probe position and calibrate to ensure that the encoder reading is accurate. When the probe scans the surface of the material, the encoder records its current position in real time and transmits the position signal to the signal processing box. When the probe detects a defect (through ultrasonic reflection or change of eddy current signal), the signal processing box synchronously records the current position and detection signal. The position information recorded by the encoder is associated with the detected defect signal to determine the specific location of the defect. Through data analysis, a distribution map containing all defect locations can be generated, which is convenient for users to accurately locate defects and achieve efficient and accurate maintenance and repair; this function greatly facilitates the subsequent data analysis and defect location work.

In a preferred embodiment of the present invention, two groups of ultrasonic probe groups and eddy current probe groups are arranged in parallel in an AABB manner. When the detection vehicle performs the detection operation, it can move back and forth on the detected surface, and each cycle moves horizontally by a certain distance to achieve full coverage of the entire detected surface. By controlling the amount of horizontal movement, the same detected surface can be detected by the eddy current probe 7 and the ultrasonic probe 6 in turn. Therefore, this probe layout method of the present invention can improve the detection accuracy on the one hand, and effectively improve the detection efficiency on the other.

As shown in FIG6 , the inspection process of the inspection vehicle of the present invention is as follows: FIG6 (a)-(c) are schematic diagrams of the inspection of the vehicle in the same inspection area at different times, and ①②③ are respectively diagrams of the scanning of the same area of the inspected part by the vehicle at different times. After the vehicle executes the inspection path preset by the staff, first in FIG6 (a), the eddy current probe 7 performs the first scanning inspection of the inspected part in the ① time period; then as shown in FIG6 (b), the ultrasonic probe 6 performs a second scanning of the area scanned by the eddy current probe 7 in the ① time period, and the eddy current probe 7 continues to scan the new area; then in FIG6 (c), the ultrasonic probe 6 performs a second scanning of the area scanned by the eddy current probe 7 in the ② time period, and so on, the two probes are superimposed and repeatedly scanned, and the inspected part is subjected to a more comprehensive and accurate flaw detection. The array probe with digital number information transmits the detection data back to the signal processing box above, and transmits it back to the display device after processing. The probe and the probe wheel 9 realize the ultrasonic inspection of the surface of the inspected part.

The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are included in the protection scope of the present invention.

Claims (5)

1. An array ultrasonic combined eddy current probe detection trolley for metal defects is characterized in that: comprises a frame (1), a magnetic attraction advancing unit, a detecting unit and a storage battery (2);

The magnetic attraction travelling unit comprises a driving wheel (3) and a magnetic attraction piece; the driving wheel (3) is used for driving the frame (1) to move along a preset path along the surface of the detected piece; the magnetic absorption part enables the driving wheel (3) to be reliably attached to the surface of the detected part through the magnetic attraction between the magnetic absorption part and the surface of the detected part;

The detection unit comprises a detection shaft (5), an ultrasonic probe group, an eddy current probe group and a signal processing box; the detection shaft (5) is arranged along a direction parallel to the surface of the detected piece and perpendicular to the advancing direction of the trolley; the ultrasonic probe group comprises a plurality of ultrasonic probes (6) which are uniformly distributed around the axis of the detection shaft (5); the eddy current probe group comprises a plurality of eddy current probes (7) which are uniformly distributed around the axis of the detection shaft (5); the ultrasonic probe group and the eddy current probe group rotate around the axis of the detection shaft (5) during detection; the signal processing box is in signal connection with the ultrasonic probe group and the eddy current probe group;

the storage battery (2) is fixed on the frame (1) and is used for supplying power to the electric appliance of the detection trolley;

The detection shaft (5) is provided with a probe wheel (9); the ultrasonic probe group and the eddy current probe group are embedded in the probe wheel (9) without gaps;

the probe wheel (9) comprises a circular ring-shaped wheel body (10), a data processing bin (8) positioned at the center of the wheel body (10) and a plurality of data transmission pipelines (11) for connecting the wheel body (10) with the data processing bin (8); the ultrasonic probe group and/or the eddy current probe group are uniformly embedded in the wheel body (10) along the circumferential direction; the data processing bin (8) is used as the signal processing box; a data processor is arranged in the data processing bin (8), and a bearing (4) matched with the detection shaft (5) is arranged in the middle of the probe wheel (9); a data transmission line signal in the data transmission pipeline (11) is connected with the data processor and each probe;

the ultrasonic probe group and the eddy current probe group are arranged in an AABB type parallel manner.

2. The metal-defect array-type ultrasonic combined eddy current probe inspection trolley according to claim 1, wherein: the distance between the detection shaft (5) and the surface of the detected piece can be adjusted in real time.

3. The metal-defect array-type ultrasonic combined eddy current probe inspection trolley according to claim 2, wherein: the magnetic absorption part adjusts the compression amount of the probe wheel (9) by controlling the magnetic attraction, so as to adjust the distance between the detection shaft (5) and the surface of the detected part.

4. The metal-defect array-type ultrasonic combined eddy current probe inspection trolley according to claim 3, wherein: the magnetic absorption part is integrated in the driving wheel (3), and the driving wheel (3) has elasticity, so that the distance between the detection shaft (5) and the surface of the detected part can be changed along with the change of the magnetic absorption force of the magnetic absorption part.

5. The metal-defect array-type ultrasonic combined eddy current probe inspection trolley according to claim 4, wherein: the ultrasonic probe (6) and the eddy current probe (7) are both provided with encoders, so that the signal processing box can record the defect position and depth.