Tower drum welding seam inspection robot and control method thereof

Abstract

The invention discloses a tower drum welding seam inspection robot and a control method thereof.The tower drum welding seam inspection robot is used for inspecting a welding seam of a tower drum and comprises a wall-climbing robot, a self-adaptive adjusting module, a compensation module and an inspection module; the self-adaptive adjusting module is connected with the wall-climbing robot and is used for self-adaptively adjusting the fitting degree of the inspection module and the tower drum; the compensation module is connected with the self-adaptive adjustment module and is used for compensating deviation; the inspection module is connected with the compensation module and used for inspecting welding seams of the tower drum. A scanning device can be adaptively adjusted, automatic adjustment is carried out according to different positions needing to be inspected and different welding seams, the inspection quality of the scanning device and the probe is guaranteed, the detection accuracy is improved, the deviation between the scanning device and the welding seams of the tower drum can be compensated through the arranged compensation module, and therefore the inspection accuracy is guaranteed.

Description

technical field [0001] The invention relates to the technical field of tower tube welding inspection, in particular to a tower tube weld seam inspection robot and a control method thereof. Background technique [0002] The wind power tower is the tower pole of wind power generation. It mainly plays a supporting role in the wind power generation unit and absorbs the vibration of the unit. In the wind power tower, we need to inspect the welds of the tower. To crawl to inspect the circumferential weld, the scanner needs to be lifted and dropped frequently during the inspection, so that a moderate force is required to press the tower to perform accurate inspection, and with the inspection of different welds in different positions, it should be It has adaptive moderate compression, and there will be some positional deviations during adaptive compression, which will affect the accuracy of inspection. Contents of the invention [0003] According to an embodiment of the present...

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Problems solved by technology

[0002] The wind power tower is the tower pole of wind power generation. It mainly plays a supporting role in the wind power generation unit and absorbs the vibration of the unit. In the wind power tower, we need to inspect the welds of the tower. To crawl to inspect the circumferential weld, the scanner needs to be lifted and dropped frequently during the inspection, so that a moderate force is required to press the tower to perform accurate inspection, and with the inspection of different welds in different positions, it should be It has adaptive and moderate compression, and there will be some positional deviations during adaptive compression, which will affect the accuracy of inspection

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