The invention provides a steam drum wall-climbing robot based on TOFD welding seam detection. The steam drum wall-climbing robot comprises a surrounding TOFD scanning frame, a first power steering engine installed on the surrounding TOFD scanning frame, an automatic welding seam identification wireless camera, a central control module, an annular laser emitting module connected with the surrounding TOFD scanning frame through a rotary table bearing, and a twisting pressing pre-tightening module. The twisting and pre-tightening module is provided with a TOFD probe; steerable permanent magnet adsorption wheels are installed on the two sides of the TOFD scanning frame capable of surrounding. The central control module controls the annular laser emission module and the torsion pressing pre-tightening module to rotate, the torsion pressing pre-tightening module controls the TOFD probe to ascend and descend, the steerable permanent magnet adsorption wheel drives the robot to move, and TOFD detection scanning actions of steam pocket weld defects are compositely achieved. The method has the characteristics of flexible scanning action, high detection efficiency, stable positioning in the detection process and the like, and is particularly suitable for the detection requirement of the weld defect of the boiler drum.
本发明提供了一种基于TOFD焊缝检测的汽包爬壁机器人,包括可环绕TOFD扫查架,安装在可环绕TOFD扫查架上的第一动力舵机、自动识别焊缝无线相机以及中心控制模块,通过转台轴承与可环绕TOFD扫查架连接的环状激光发射模块、扭压预紧模块;扭压预紧模块安装有TOFD探头;可环绕TOFD扫查架两侧安装有可转向永磁体吸附轮;中心控制模块控制环状激光发射模块、扭压预紧模块旋转,扭压预紧模块控制TOFD探头的升降,可转向永磁体吸附轮带动机器人运动,复合实现汽包焊缝缺陷的TOFD检测扫查动作。本发明具有扫查动作灵活、检测效率高、检测过程定位稳定等特点,特别适用于锅炉汽包的焊缝缺陷的检测需求。
Steam drum wall-climbing robot based on TOFD welding seam detection and detection method
一种基于TOFD焊缝检测的汽包爬壁机器人及检测方法
2023-05-12
Patent
Electronic Resource
Chinese
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