Robot for intelligent tracking ultrasonic detection of welding line, and software analysis system therefor

Abstract

The invention discloses a robot for intelligent tracking ultrasonic detection of a welding line, and a software analysis system therefor. The robot is a crawling robot for intelligent identification and real-time tracking of a welding line. The software analysis system is a system which is used for ultrasonic detection acquisition and software analysis and is loaded into the robot. The robot can be used in the field of ship body welding line ultrasonic detection in ship maintenance and building. In use, the robot can completely store detection data, provide a basis for inquiry of traceability of a detection report, and reduce detection result controversy. In use, the robot can reduce the dependence on an operating personnel technical level, avoid the influence produced by human factors on a detection result, change a simple display reading mode of data analysis into a storage reading mode, realize software-based automatic analysis according to a set judgment standard, and reduce a misreading rate of a large amount of data analyzed artificially. The robot can automatically adapt to surface and inner welding line structures, can simplify multi-step multi-way manual detection into single-step one-way detection, and carries an array-type ultrasonic probe unit which can be replaced freely so that detection requirements of different ultrasonic detection methods are satisfied.

Description

technical field [0001] The invention relates to an intelligent crawling robot, especially a wall-climbing robot that intelligently recognizes and tracks metal welds in real time, and an ultrasonic detection acquisition and software analysis system carried by the robot, belonging to the technical field of ultrasonic nondestructive testing equipment, especially It is suitable for the field of ultrasonic non-destructive testing of hull splicing welds involved in ship repairing and building. Background technique [0002] Wall-climbing robots have become more common as high-altitude operations and automation equipment. Wheeled wall-climbing robots that use magnetic wheels to absorb and walk are widely used in pipelines, tank inspections, and coating operations. Wall-climbing robots that use negative pressure suction cups as walking methods Mainly used in the cleaning and maintenance of high-altitude glass surface. [0003] In the field of shipbuilding and repairing, welding oper...

AI Technical Summary

Problems solved by technology

At present, most of the ultrasonic inspections of hull surface stitching welds and T-shaped welds of ribs are manually inspected by a single probe. The work intensity is high and the technical level is low. The influence and error of instruments and equipment are relatively large, and it is impossible to completely reproduce the testing process and testing results

The original records cannot be found for the controversial test results, and the verification of the existing test methods and the test reports obtained is becoming more and more unscientific

[0004] Through technical retrieval, it is found that the patent 20041006429.6 discloses a magnetic wheel adsorption type wall-climbing robot. A crawler body is provided for the detection of welds, but this technology does not deeply solve the change tracking of long-distance welds, especially in the shipbuilding industry, due to the huge amount of welding, the welding position and the direction of the welding seam vary, only relying on offset Sensors or similar position sensors as control methods have been unable to solve the tracking of weld seams

In the form of hull welds, there are surface welds and inner welds of T-shaped ribs. At present, there is no fully adaptable intelligent ultrasonic testing equipment for the above two welding forms.

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