Modular wheeled mobile ultrasonic structure detection apparatus and detection method

A modular wheeled mobile ultrasonic structure detection apparatus configured to be pulled by a mobile carrier to move on a structure surface and perform ultrasonic detection of a structure defect in a moving state, wherein the modular wheeled mobile ultrasonic structure detection apparatus comprises:

• a mobile detection platform extending along a rectilinear direction;
• a plurality of ultrasonic detection rollers connected to the mobile detection platform along the rectilinear direction and in rolling contact with the structure surface, an interior of the ultrasonic detection rollers being filled with ultrasonic transmission medium oil, and rotation axes of the ultrasonic detection rollers being perpendicular to the rectilinear direction;
• a plurality of ultrasonic sensors provided corresponding to the plurality of ultrasonic detection rollers, each ultrasonic sensor being provided inside each corresponding ultrasonic detection roller and soaked in the ultrasonic transmission medium oil;
• and
• a steering balance mechanism connected to the mobile detection platform, the steering balance mechanism comprising a connecting arm hinged to the mobile detection platform and two balancing apparatuses hinged to two sides of the connecting arm along the rectilinear direction, each balancing apparatus being hinged to the mobile detection platform, and the mobile detection platform being connected to the mobile carrier via the connecting arm, wherein
• each balancing apparatus comprises a balancing cylinder hinged to the connecting arm, a balancing spring provided in the balancing cylinder, and a steering linkage hinged to the mobile detection platform, a piston being connected to one end of the steering linkage away from the mobile detection platform and the balancing spring being in contact with the piston;
• the piston can move along a length direction of the balancing cylinder and thereby define a direction of the steering linkage;
• the mobile detection platform is provided with a first rotary support, and the connecting arm is hinged with the first rotary support via a first rotary pin;
• two ends of the connecting arm are each provided with a second rotary supports, and two balancing cylinders are hinged with the two second rotary supports via second rotary pins;
• in an initial state, the two balancing apparatuses are symmetrical about a central axis of the connecting arm;
• and
• hinging of the connecting arm with the mobile detection platform enables the mobile detection platform to rotate relative to the connecting arm about a hinged axis such that the balancing spring can correspondingly compress or extend, to accommodate rotation of the mobile detection platform, the hinged axis being perpendicular to the rectilinear direction and parallel to the rotation axes of the ultrasonic detection rollers.