K-type weld grinding detection equipment and grinding detection method for coal mining scraper conveyor

Abstract

The invention discloses a K-type weld grinding and detection device and a grinding and detection method for a coal mining scraper conveyor, and relates to the field of coal equipment manufacturing and processing. In order to solve the problems of low efficiency, pollution, poor working environment and inaccurate detection results of the existing detection methods. The basic track group includes a gantry walking track and a trolley walking track, and the gantry body includes a walking base, a gantry column and a crossbeam. The crossbeam is arranged between two gantry columns, and a walking base is arranged under the gantry column. The walking base is slidably connected to the gantry walking track; a lifting column mechanism is slidably connected at both ends of the crossbeam, a dust suction mechanism and a grinding mechanism are fixedly connected to the lifting column mechanism, a detection mechanism is fixedly connected to the lifting column mechanism, and multiple groups of material platforms are fixedly installed side by side on the basic track group and are directly above the trolley walking track. The transmission trolley is slidably connected to the trolley walking track and is located below the material platform, and the workpiece to be inspected is on the material platform. The present invention is mainly used for the detection of K-type welds.

Description

Technical Field

[0001] The invention relates to the field of coal equipment manufacturing and processing, and in particular to a K-type weld grinding detection device and a grinding detection method for a coal mining scraper conveyor. Background Art

[0002] The middle trough of the coal mining scraper conveyor is welded by the shovel plate trough side, bottom plate, middle plate, baffle plate trough side and rack rail seat and other parts. Figure 1 As shown, after the assembly, preheating, welding and other processes, the K-type welds on both sides of the middle plate 15 are subjected to single-sided and single-sided ultrasonic testing before the finished product. The locations to be tested are as follows: Figure 1 As shown in the shaded portion of the K-type weld 16, if defects are detected, they must be repaired in time to ensure the quality of the product before it leaves the factory, and the fatigue load to which the product is subjected during use will not result in a reduction in the life of the product.

[0003] There are many problems in the existing detection methods, mainly:

[0004] 1) The difficulty of the flaw detection process caused by the structure of the workpiece to be inspected. Since the thickness of the K-type weld of the workpiece to be inspected is relatively large and the bottom cover plate 18 below has been welded, it can only be inspected from the upper surface of the workpiece due to the restriction of the workpiece, which increases the difficulty of inspection and leads to low inspection efficiency.

[0005] 2) The grinding process uses artificial grinding wheels, which is inefficient, has no dust collection process, causes serious pollution, and is harmful to the human body;

[0006] 3) Before flaw detection of the workpiece to be inspected, there is no air drying and recovery device after the coupling agent is sprayed, resulting in rust on the equipment;

[0007] 4) The flaw detection process of the workpiece to be inspected adopts manual flaw detection, which is inefficient and relies entirely on the handheld flaw detection head to move back and forth in contact. The recorded position is inaccurate, resulting in inaccurate test results;

[0008] 5) The workpieces to be inspected are not placed neatly and the working environment is poor. Summary of the invention

[0009] The technical problem to be solved by the present invention is that the existing detection methods have low efficiency, pollution, poor working environment and inaccurate detection results, and thus provide a K-type weld grinding detection device and a grinding detection method for a coal mining scraper conveyor.

[0010] The technical solution adopted by the present invention to solve the above technical problems is:

[0011] The K-type weld grinding and detection equipment for the coal mining scraper conveyor includes a basic track group, a gantry body, two groups of lifting column mechanisms, a dust suction mechanism, a grinding mechanism, a detection mechanism, multiple groups of material platforms and a transmission trolley; the basic track group includes two gantry walking tracks arranged side by side and two trolley walking tracks arranged side by side, and the two trolley walking tracks are arranged side by side between the two gantry walking tracks; the gantry body includes two walking base mechanisms, two gantry columns and a crossbeam, the crossbeam is arranged between the two gantry columns, a walking base mechanism is arranged under each gantry column, and each walking base mechanism is slidably connected to each gantry walking track; a group of lifting column mechanisms are slidably connected at both ends of the crossbeam, the dust suction mechanism and the grinding mechanism are fixedly connected to one group of lifting column mechanisms, the detection mechanism is fixedly connected to another group of lifting column mechanisms, multiple groups of material platforms are fixedly installed in parallel on the basic track group and are directly above the trolley walking track, the transmission trolley is slidably connected to the trolley walking track and is below the material platform, and the workpiece to be inspected is on the material platform.

[0012] The specific steps of the grinding and detection method of the K-type weld grinding and detection equipment of the coal mining scraper conveyor are as follows:

[0013] A is a K-type weld of the workpiece to be inspected, marked as weld A, and B is another K-type weld of the workpiece to be inspected, marked as weld B. Assume that the left side of the material platform is higher than the right side, the grinding mechanism is installed on the lifting column mechanism on the left side of the beam, and the detection mechanism is installed on the lifting column mechanism on the right side of the beam;

[0014] Step 1: Place multiple workpieces to be inspected on each material platform using a transfer trolley;

[0015] Step 2: The gantry body moves to the top of weld A of the workpiece to be inspected through the walking base mechanism, and the pneumatic hooking mechanism and the pneumatic vibration absorbing mechanism fix the gantry body.

[0016] Step 3: The grinding mechanism slides on the transverse guide rail through the lifting column mechanism to the top of the left side of the weld of the workpiece A to be inspected;

[0017] Step 4: The grinding mechanism is then lowered through the lifting column mechanism. After the grinding mechanism contacts the workpiece to be inspected, the lifting column mechanism continues to move downward, and the grinding mechanism rises along the idle travel guide rail until it touches the sensor switch, and the lifting column mechanism stops moving;

[0018] Step 5: Start the grinding mechanism and the dust collecting mechanism at the same time. The grinding mechanism slides on the transverse guide rail through the lifting column mechanism. The grinding mechanism relies on its own gravity to grind from the left side of the weld A of the workpiece to be inspected to the right side of the weld A. At the same time, the dust collecting mechanism sucks away the iron filings from the grinding. The grinding mechanism returns to the top of the left side of the weld A of the workpiece to be inspected through the lifting column mechanism.

[0019] Step 6: The gantry body moves to the top of the B weld of the workpiece to be inspected through the walking base mechanism;

[0020] Step 7: The grinding mechanism grinds the B weld of the workpiece to be inspected again, moving from the left side of the B weld to the right side of the B weld. After the grinding is completed, the grinding mechanism rises through the lifting column mechanism and returns to the initial position along the transverse guide rail;

[0021] Step 8: The detection mechanism slides along the transverse guide rail to the top of the right side of the weld seam of the workpiece B to be inspected through the lifting column mechanism;

[0022] Step 9: The detection mechanism descends through the lifting column mechanism, and the coupling agent injection mechanism at the front end of the detection mechanism is turned on. Driven by the lifting column mechanism, the coupling agent injection mechanism moves from the right side of weld B to the left side of weld B for pre-spraying;

[0023] Step 10: Driven by the lifting column mechanism, the detection mechanism quickly moves from the left side of weld B to the right side of weld B, and the detection mechanism is turned on. Driven by the lifting column mechanism, the detection mechanism moves from the right side of weld B to the left side of weld B for ultrasonic detection. After the detection is completed, the detection mechanism rises through the lifting column mechanism.

[0024] Step 11: The detection mechanism rotates 180 degrees counterclockwise through the rotary reducer;

[0025] Step 12: The gantry body moves to the top of weld A of the workpiece to be inspected through the walking base mechanism;

[0026] Step 13: The coupling agent spraying mechanism at the front end of the detection mechanism is turned on. Driven by the lifting column mechanism, the coupling agent spraying mechanism moves from the left side of weld A to the right side of weld A for pre-spraying.

[0027] Step 14: The detection mechanism moves quickly from the right side of weld A to the left side of weld A under the drive of the lifting column mechanism, and the detection mechanism is turned on. Under the drive of the lifting column mechanism, the detection mechanism moves from the left side of weld A to the right side of weld A to perform ultrasonic detection until the detection is completed, and the detection mechanism rises through the lifting column mechanism;

[0028] Step 15: The detection mechanism quickly moves from the right side of weld A to the left side of weld A. At this time, the detection mechanism rotates 180 degrees clockwise through the rotary reducer and then turns on the air-drying mechanism. The air-drying mechanism moves from the left side of weld A to the right side of weld A for air-drying.

[0029] Step 16: The gantry body moves to the top of weld B of the workpiece to be inspected through the walking base mechanism. The inspection mechanism quickly moves from the right side of weld B to the left side of weld B. The air-drying mechanism is turned on. The air-drying mechanism moves from the left side of weld B to the right side of weld B to perform air-drying. The air-drying action is completed until the inspection mechanism returns to the initial position.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] 1) The present invention adopts a grinding mechanism, a dust collection mechanism and a detection mechanism to perform fully automatic grinding, dust collection and detection, which saves a lot of time and improves the grinding and detection efficiency by 70%;

[0032] 2) The present invention is provided with a dust suction mechanism, which sucks away the iron filings polished by the polishing mechanism, without pollution, and ensures a clean and tidy working environment;

[0033] 3) A water tank is set in the material platform to lead the coupling agent into the sewer to ensure a clean and tidy working environment. At the same time, an air drying mechanism is used to prevent rust on the workpiece surface;

[0034] 4) The present invention adopts multiple probes for detection, and the detection result is more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a side elevation view of the workpiece to be inspected;

[0036] Figure 2 It is a partial enlarged view of the workpiece to be inspected;

[0037] Figure 3 It is a schematic diagram of the overall structure of the present invention;

[0038] Figure 4 This is a partial enlarged picture of the basic track group;

[0039] Figure 5 This is a schematic diagram of the main structure of the gantry;

[0040] Figure 6 This is a schematic diagram of the walking base structure;

[0041] Figure 7 It is a schematic diagram of the structure of the pneumatic hook tightening mechanism;

[0042] Figure 8 It is a schematic diagram of the structure of the pneumatic vibration absorption mechanism;

[0043] Fig. 9 It is a schematic diagram of the structure of the lifting column mechanism;

[0044] Fig.10 It is a structural schematic diagram of the grinding mechanism and the dust collection mechanism installed on the lifting column mechanism;

[0045] Fig.11 for Fig.10 Middle partial enlarged picture;

[0046] Fig.12 It is a structural schematic diagram of the grinding mechanism;

[0047] Fig.13 It is a structural diagram of the testing organization;

[0048] Fig.14 It is a bottom view of the detection mechanism;

[0049] Fig.15 This is a schematic diagram of the installation of a single probe;

[0050] Fig.16 It is a structural diagram of the material platform;

[0051] Fig.17 It is the structural diagram of the transmission trolley;

[0052] Fig.18 This is a simulation diagram of a wave sound line;

[0053] Fig.19 This is a simulation diagram of secondary wave sound lines;

[0054] Fig. 20 A top view of the overall structure. DETAILED DESCRIPTION

[0055] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementations:

[0056] Specific implementation method 1: Figure 3 As shown, in this embodiment, the K-type weld grinding and detection equipment of the coal mining scraper conveyor includes a basic track group 1, a gantry body 2, two groups of lifting column mechanisms 3, a dust suction mechanism 5, a grinding mechanism 6, a detection mechanism 7, multiple groups of material platforms 8, a transmission trolley 9, an operating table 10 and a control system 11;

[0057] like Figure 4 As shown, the basic track group 1 includes two gantry running tracks 1-1 arranged side by side and two trolley running tracks 1-2 arranged side by side, and the two trolley running tracks 1-2 are arranged side by side between the two gantry running tracks 1-1;

[0058] like Figure 5As shown, the gantry body 2 includes two walking base mechanisms 2-1, two gantry columns 2-2 and a crossbeam 2-3, the crossbeam 2-3 is arranged between the two gantry columns 2-2, a walking base mechanism 2-1 is arranged under each gantry column 2-2, and each walking base mechanism 2-1 is slidably connected to each gantry walking track 1-1;

[0059] like Figure 3 As shown, a group of lifting column mechanisms 3 are slidably connected at both ends of the beam 2-3, the dust collection mechanism 5 and the grinding mechanism 6 are fixedly connected to one group of the lifting column mechanisms 3, the detection mechanism 7 is fixedly connected to the other group of the lifting column mechanisms 3, and multiple groups of material platforms 8 are fixedly installed in parallel on the basic track group 1 and are directly above the trolley travel track 1-2. The transfer trolley 9 is slidably connected to the trolley travel track 1-2 and is below the material platform 8. The workpiece 12 to be inspected is on the material platform 8. The operating table 10 is arranged on the basic track group to facilitate the operator to control the various mechanisms of the equipment. The control system 11 is used for the automatic working process of the equipment.

[0060] Specific implementation method 2: Figure 4 As shown, in this embodiment, each gantry walking track 1-1 includes a guide rail 1-1-1 and a rack 1-1-2, and the rack 1-1-2 is fixedly installed on the inner wall of the guide rail 1-1-1;

[0061] like Figure 6 As shown, the walking base mechanism 2-1 includes a walking base box 2-1-1, a second servo motor 2-1-2, a driving gear 2-1-3, two rollers 2-1-4 and two sets of clamping wheels 2-1-5, the walking base box 2-1-1 is fixedly installed just below the gantry column 2-2, the second servo motor 2-1-2 is installed in the walking base box 2-1-1, the driving gear 2-1-3 is fixedly connected to the output end of the second servo motor 2-1-2, and the driving gear 2-1-3 is meshed with the rack 1-1-2 on the gantry walking track;

[0062] A roller 2-1-4 is rotatably installed at the front and rear of the bottom of the walking base box 2-1-1, and the two rollers 2-1-4 are pressed on the guide rail 1-1-1 respectively. Two sets of clamping wheels 2-1-5 are installed side by side on the lower surface of the walking base box, and the two sets of clamping wheels 2-1-5 are clamped on both sides of the guide rail 1-1-1.

[0063] The two groups of clamping wheels 2-1-5 have a guiding function.

[0064] Other components and connection methods are the same as those in the first embodiment.

[0065] Specific implementation method three: Figure 6As shown, in this embodiment, the walking base mechanism 2-1 also includes two groups of pneumatic vibration absorbing mechanisms 2-1-6, and the two groups of pneumatic vibration absorbing mechanisms 2-1-6 are installed side by side and laterally opposite to each other on the lower surface of the walking base box 2-1-1;

[0066] like Figure 8 As shown, each pneumatic vibration absorbing mechanism 2-1-6 includes a cylinder mounting base 2-1-6-1, a vibration absorbing cylinder 2-1-6-2, two vibration absorbing linear bearings 2-1-6-3, a rubber-hanging pressure plate 2-1-6-4 and two guide rods 2-1-6-5. The cylinder mounting base 2-1-6-1 is connected to the bottom of the walking base box 2-1-1 by bolts, the tail end of the vibration absorbing cylinder 2-1-6-2 is fixedly connected to the cylinder mounting base 2-1-6-1, and the guide rod 2-1-6-5 is installed on the cylinder mounting base 2-1-6-1 through the vibration absorbing linear bearing 2-1-6-3. 1-6-1 and are arranged on both sides of the vibration absorbing cylinder 2-1-6-2, the guide rod 2-1-6-5 passes through the vibration absorbing linear bearing 2-1-6-3 and can move along the axial direction of the vibration absorbing linear bearing 2-1-6-3, the end of each guide rod 2-1-6-5 is installed in a vibration absorbing linear bearing 2-1-6-3, the other end of each guide rod 2-1-6-5 is fixedly connected to the end of the glue hanging pressure plate 2-1-6-4, and the end head of the cylinder rod of the vibration absorbing cylinder 2-1-6-2 is in contact with the middle part of the glue hanging pressure plate 2-1-6-4.

[0067] When the gantry body moves on the gantry walking track through the walking base, the cylinder rod of the vibration absorbing cylinder 2-1-6-2 is in a retracted state, and the glue-hanging pressure plate and the guide rail are separated. When grinding and testing operations are performed, the cylinder rods in the two sets of pneumatic vibration absorbing mechanisms 2-1-6 are in an extended state, and the two glue-hanging pressure plates are tightly pressed against the side walls of the guide rail, which has a vibration absorbing effect on the gantry body.

[0068] The other components and connection methods are the same as those in the second specific implementation mode.

[0069] Specific implementation method four: Figure 6 As shown, in this embodiment, the walking base mechanism 2-1 also includes two sets of pneumatic hooking mechanisms 2-1-7, and one set of pneumatic hooking mechanisms 2-1-7 is installed at the front end and the rear end of the walking base box 2-1-1;

[0070] like Figure 7As shown, each pneumatic hooking mechanism 2-1-7 includes a hooking cylinder 2-1-7-1, a connecting rod 2-1-7-2, a hooking linear bearing 2-1-7-3, a linear bearing seat 2-1-7-4 and a guide rail hook 2-1-7-5. The hooking cylinder 2-1-7-1 and the linear bearing seat 2-1-7-4 are fixedly installed side by side on the walking base box 2-1-1, the hooking linear bearing 2-1-7-3 is installed in the linear bearing seat 2-1-7-4, the top end of the guide rail hook 2-1-7-5 passes through the hooking linear bearing 2-1-7-3 and is fixedly connected to one end of the connecting rod 2-1-7-2, the hook part of the lower end of the guide rail hook is arranged toward the inner wall of the guide rail, and the other end of the connecting rod 2-1-7-2 is fixedly connected to the end head of the cylinder rod of the hooking cylinder 2-1-7-1.

[0071] like Figure 6 As shown, for safety reasons, a safety sensor switch 2-1-8 is installed at the front and rear ends of the walking base. When the gantry body moves on the gantry walking track through the walking base, if there are obstacles in front of or behind the gantry body or people are walking in front, the safety sensor switch will sense the existence of an object within the range of 0-300mm, and the gantry body will immediately stop walking.

[0072] When the gantry body moves along the gantry travel track, the cylinder rod of the hooking cylinder is in a retracted state, and the guide rail hook and the guide rail are separated. When grinding and testing operations are performed, the cylinder rod of the hooking cylinder is in an extended state, and the guide rail hook is lifted up by the driving of the connecting rod and tightly hooks the guide rail;

[0073] Because the two sets of lifting column mechanisms are arranged at the front end of the gantry body crossbeam, the center of gravity of the entire gantry body faces forward, and a pneumatic hooking mechanism and a pneumatic vibration absorbing mechanism are arranged. Their main function is to prevent the two sets of lifting column mechanisms from getting out of control during grinding and testing operations (when they fall straight down and press onto the workpiece, they continue to fall), causing the overall tilt of the gantry body.

[0074] Other components and connection methods are the same as those in the third specific implementation method.

[0075] Specific implementation method five: Fig. 9 As shown, in this embodiment, two parallel transverse guide rails 2-3-1 and a transverse rack 2-3-2 are installed on the crossbeam 2-3, and the transverse rack 2-3-2 is arranged in parallel between the two transverse guide rails 2-3-1;

[0076] like Fig. 9 As shown, each set of lifting column mechanisms 3 includes a traverse motor, a traverse gear 3-1, a lifting motor 3-2, a lifting gear, two sets of traverse sliders 3-3, two sets of lifting sliders 3-4, a fixed back plate 3-5, a lifting column 3-6, a lifting rack 3-7 and two lifting guide rails 3-8 arranged side by side;

[0077] The transverse motor and two groups of lifting sliders 3-4 are fixedly installed on one side of the fixed back plate 3-5, the lifting motor 3-2 and two groups of transverse sliders 3-3 are fixedly installed on the other side of the fixed back plate 3-5, the two lifting guide rails 3-8 and the lifting rack 3-7 are fixedly installed on one side of the lifting column 3-6, and the lifting rack 3-7 is arranged in parallel between the two lifting guide rails 3-8, the transverse gear 3-1 is fixedly installed at the output end of the transverse motor, and the transverse gear 3-1 is meshed with the transverse rack 2-3-2, the lifting gear is fixedly installed at the output end of the lifting motor 3-2, and the lifting gear is meshed with the lifting rack 3-7, each transverse guide rail 2-3-1 is slidably connected to a group of transverse sliders 3-3, and each lifting guide rail 3-8 is slidably connected to a group of lifting sliders 3-4;

[0078] like Figure 3 As shown, the dust collecting mechanism 5 and the grinding mechanism 6 are fixedly mounted on the lifting columns of one set of lifting column mechanisms 3 , and the detection mechanism 7 is fixedly mounted on the lifting columns of the other set of lifting column mechanisms 3 .

[0079] The other components and connection methods are the same as those in the fourth embodiment.

[0080] Specific implementation method six: Fig.11 As shown, in this embodiment, the grinding mechanism 6 includes a grinding motor 6-1, a grinding disc 6-2, a grinding connecting frame 6-3, a fixed frame 6-4, an idle guide rail 6-5 and an induction switch 6-6. The grinding motor 6-1 is fixedly mounted on the grinding connecting frame 6-3, the grinding disc 6-2 is connected to the output end of the grinding motor 6-1 through a pulley, an idle guide rail 6-5 is installed on both sides of the fixed frame 6-4, the grinding connecting frame 6-3 is slidably connected to the fixed frame 6-4 through a slider, and the induction switch 6-6 is arranged at the top of the idle guide rail 6-5.

[0081] like Fig.12 As shown, three cutters are installed in the circumferential direction of the bottom of the grinding disc 6-2, and each cutter is 120 degrees apart. The rotating diameter of the grinding disc is the width of the 8 probes.

[0082] A protective cover 5-1 is arranged outside the grinding disc 6-2, and a slot is arranged on the edge of the protective cover, which is connected to one end of the dust suction pipeline, and the other end of the dust suction pipeline is fixedly connected to the dust suction mechanism. The protective cover is connected to the dust suction mechanism through the dust suction pipeline. The dust suction mechanism sucks away the rust and welding slag ground off the inspected workpiece, so as to be environmentally friendly and dust-free.

[0083] Other components and connection methods are the same as those in the fifth embodiment.

[0084] Specific implementation method seven: Fig.13and Fig.14 As shown, in this embodiment, the detection mechanism 7 includes a first servo motor 7-1, a rotary reducer 7-2, a top plate 7-3, a plurality of transverse sliding plates 7-4, a plurality of lifting cylinders 7-5, a plurality of probes 7-6 and a plurality of vertical plates 7-7, the output end of the first servo motor 7-1 is connected to the rotary reducer 7-2, the output end of the rotary reducer 7-2 is fixedly connected to the upper surface of the top plate 7-3, a plurality of vertical plates 7-7 are arranged side by side and at equal intervals on the lower surface of the top plate 7-3, each vertical plate 7-7 is provided with a transverse sliding plate 7-4, the width of the transverse sliding plate 7-4 is wider than the width of the vertical plate 7-7, each transverse sliding plate 7-4 is provided with a lifting cylinder 7-5, a plurality of lifting cylinders are arranged at equal intervals longitudinally, and a probe 7-6 is provided at the bottom end of the cylinder rod of each lifting cylinder 7-5;

[0085] The detection mechanism 7 is provided with a coupling agent spraying mechanism 13 and an air drying mechanism 14 on both sides thereof, wherein the coupling agent spraying mechanism 13 is provided at the front end of the detection mechanism 7, and the air drying mechanism 14 is provided at the rear end of the detection mechanism 7;

[0086] The probes 7-6 are fixed by a probe clamping mechanism 4;

[0087] like Fig.15 As shown, the probe clamping mechanism 4 includes a mounting seat 4-1 and a probe connecting seat 4-2, the front end of the mounting seat 4-1 is rotatably connected to the probe connecting seat 4-2, and the probe 7-6 is rotatably connected to the probe connecting seat 4-2;

[0088] When the flaw detection is working, the cylinder is not ventilated, the cylinder telescopic rod is floating, and the probe of the detection mechanism is flexible in the up and down directions. When encountering external force, it can move up and down. The probe connecting seat 4-2 and the mounting seat 4-1 are connected by a first rotating shaft, and the probe can rotate along the axis direction of the first rotating shaft. The connecting part of the probe connecting seat 4-2 and the probe 7-6 is a U-shaped seat, which is rotatably connected by the second rotating shafts at both ends of the U-shaped seat, and the probe can rotate along the axis direction of the second rotating shaft.

[0089] Due to the arrangement of the cylinder and the probe clamping mechanism, the probe in the detection mechanism has a certain elastic free floating range of motion, so that the probe can be coupled in the best state and adapt to the surface shape of the workpiece. By setting up the air drying mechanism 14, the coupling agent used in the detection and flaw detection can be air dried to prevent rust on the surface of the workpiece.

[0090] The probe is an angle probe, such as Fig.18 and Fig.19 As shown, in order to make the probe generate inclined waves, a wedge block 17 is provided in each probe. According to the thickness of the middle plate, in this embodiment, the wedge block 17 adopts a 55-degree wedge block, and wear-resistant nails are added to the lower part of the wedge block to extend the service life;

[0091] In this embodiment, the probe model is 2.5P13*13K1.5;

[0092] In this embodiment, the thickness of the middle plate 15 is 40mm, so the depth of the K-type weld is 40mm. Since the thickness of the K-type weld detected by each probe is about 5-10mm, in order to ensure the accuracy of the weld detection, the control system only records the strongest wave in the middle detected by each probe, wherein the weld thickness detected by the strongest wave is about 7mm, and the strongest wave detection areas of the two adjacent probes are required to have an overlap rate of 15%. Therefore, this embodiment uses 8 probes for detection, and the 8 probes are arranged at fixed intervals horizontally and vertically, so that the entire area to be inspected can be covered; the detection principle is: the 8 probes are numbered separately, such as Fig.14 As shown, they are probe a, probe b, probe c, probe d, probe e, probe f, probe g and probe h, respectively. Among them, probe a is the farthest from the K-type weld, and probe h is the closest to the K-type weld. One probe is set as one detection channel, and 8 probes form 8 detection channels. The closer the probe is to the K-type weld, the deeper the depth of the weld it detects. Fig.19 As shown, the first detection channel, i.e., probe a, uses its secondary wave to detect the depth of 0-5 mm of the weld, the second detection channel, i.e., probe b, uses its secondary wave to detect the depth of 5-10 mm of the weld, the third detection channel, i.e., probe c, uses its secondary wave to detect the depth of 10-15 mm of the weld, and the fourth detection channel, i.e., probe d, uses its secondary wave to detect the depth of 15-20 mm of the weld. Fig.18 As shown, the fifth detection channel, i.e., probe e, uses its primary wave to detect the depth of 20-25mm of the weld, the sixth detection channel, i.e., probe f, detects the depth of 25-30mm of the weld, the seventh detection channel, i.e., probe g, detects the depth of 30-35mm of the weld, and the eighth detection channel, i.e., probe h, detects the depth of 35-40mm of the weld. The eight probes have completed the detection of the entire K-type weld.

[0093] The purpose of setting a rotary reducer is: because each workpiece to be inspected has two K-type welds to be inspected, during the inspection process of the inspection mechanism, the inspection is started from the side of the K-type weld 16 of the workpiece to be inspected that is close to the center line of the middle plate. Therefore, when inspecting from one weld to another weld of the same workpiece to be inspected, due to the longitudinal equal spacing of multiple probes in the inspection mechanism and the setting of wedges in each probe, the probe of the inspection mechanism is actually reversed relative to the other weld. If the inspection mechanism does not rotate 180 degrees, when the inspection mechanism detects another weld, the refraction of the wave emitted by the probe is toward the center line of the middle plate, and the other weld cannot be detected, so the inspection mechanism needs to be rotated 180 degrees.

[0094] The specific detection process is as follows: before the detection, the cylinder is ventilated and the cylinder rod is retracted. During the detection, the cylinder is de-aired and the cylinder rod is freely extended by gravity. The lifting column mechanism drives the detection mechanism to move from one side of the K-type weld to the other side. When probe a enters the detection area, the corresponding cylinder is de-aired, and the cylinder rod falls on the upper surface of the detected workpiece by gravity. The lifting column mechanism continues to move forward at a uniform speed, and the first detection channel starts to detect. When probe b enters the detection area, the corresponding cylinder is de-aired, and the cylinder rod falls on the upper surface of the detected workpiece by gravity. The lifting column mechanism continues to move forward at a uniform speed, and the second channel starts to detect. This process is repeated until the eighth detection channel. When probe a moves to the edge of the other side of the K-type weld and is about to come out of the workpiece, the corresponding cylinder is ventilated, the cylinder rod is retracted, and probe a is lifted up and separated from the upper surface of the detected workpiece, completing the detection of the first detection channel, and this process is repeated until the eighth detection channel is completed.

[0095] Other components and connection methods are the same as those of the sixth embodiment.

[0096] Specific implementation method eight: Fig.16 As shown, in this embodiment, each group of material platforms 8 includes two material support frames 8-1 and two water receiving troughs 8-2. A water receiving trough 8-2 ​​is respectively arranged on the outer wall of each material support frame 8-1, and a connecting pipe 8-3 is arranged at the bottom of the water receiving trough 8-2.

[0097] The two material support racks 8 - 1 have different heights. When the workpiece to be inspected is placed on the material support rack, the workpiece to be inspected will produce a small slope, which is convenient for guiding the coupling agent into the water receiving tank and draining it into the sewer through the connecting pipe for centralized treatment.

[0098] In this embodiment, the grinding mechanism and the dust suction mechanism are arranged on the lifting column mechanism on the higher side of the material support frame, and the detection mechanism is arranged on the lifting column mechanism on the lower side of the material support frame, so that the grinding mechanism starts grinding from the higher side of the workpiece to be inspected. The reason is that when the lifting column mechanism drives the grinding mechanism to descend, the grinding mechanism is at the lower end of the idle guide rail due to the influence of gravity. When the grinding mechanism contacts the upper surface of the workpiece to be inspected, the lifting column continues to descend at this time, and the position of the grinding mechanism remains unchanged until the grinding mechanism touches the induction switch at the upper end of the idle guide rail, and the lifting column mechanism no longer descends. That is to say, the lifting column mechanism remains in the horizontal position. If grinding starts from the lower side of the workpiece to be inspected to the higher side, the grinding mechanism will produce hard grinding on the workpiece to be inspected, causing damage to the K-type weld of the workpiece to be inspected. If grinding starts from the higher side of the workpiece to be inspected to the lower side, the grinding mechanism will press on the workpiece to be inspected by its own gravity, and will not cause damage to the workpiece to be inspected.

[0099] Among them, the height difference between the material support frames 8-1 is less than the length of the idle travel guide rail, the height difference between the two ends of the material support frame is about 10mm, and the idle travel length is about 200mm.

[0100] In this embodiment, the grinding disc 6-2 under the grinding mechanism can be set to float, that is, a spherical universal joint can be set between the grinding disc 6-2 and the grinding connection frame 6-3, and the grinding disc 6-2 can be rotated arbitrarily through the spherical universal joint. The grinding disc can adapt to the unevenness of the workpiece, that is, the grinding direction of the grinding mechanism is not limited by the height of the workpiece itself, and can start grinding from the lower side of the workpiece to be inspected, or from the higher side of the workpiece to be inspected. Other components and connection methods are the same as those of the specific implementation method seven.

[0101] Specific implementation method nine: Fig.17 As shown, in this embodiment, the trolley travel track 1-2 includes two trolley travel guide rails 1-2-1 and a trolley travel rack 1-2-2. The two trolley travel guide rails 1-2-1 are arranged side by side, and the trolley travel rack 1-2-2 is fixedly mounted on the inner side wall of one of the trolley travel guide rails 1-2-1;

[0102] The transport trolley 9 includes a trolley body 9-1, four sets of trolley rollers 9-2, three sets of trolley clamping wheels 9-3, four lifting guide pillars 9-5, a material table 9-6, two spiral lifts 9-7, a lifting servo motor 9-8, a lifting reducer 9-9, a trolley drive motor 9-10 and a trolley drive gear 9-4;

[0103] The trolley driving motor 9-10 is arranged on the trolley body 9-1, the trolley driving gear 9-4 is fixedly connected to the output end of the trolley driving motor 9-10, and the trolley driving gear 9-4 is meshed with the trolley travel rack 1-2-2;

[0104] Two groups of trolley rollers 9-2 are respectively arranged at the front and rear of the bottom of the trolley body 9-1, and each group of trolley rollers 9-2 includes two trolley rollers 9-2 arranged in parallel, and the trolley rollers 9-2 are pressed on two trolley walking guide rails 1-2-1;

[0105] The three sets of trolley clamping wheels 9-3 at the bottom of the trolley body 9-1 are arranged on the same side, and the three sets of trolley clamping wheels 9-3 are clamped on the trolley travel guide rail 1-2-1 on the side where the trolley travel rack 1-2-2 is provided;

[0106] Four lifting guide columns 9-5 are arranged at the top of the trolley body 9-1 and support the material table 9-6. The four lifting guide columns 9-5 are in contact with the material table 9-6. Two spiral elevators 9-7 are arranged below the material table 9-6, and the output shafts of the spiral elevators 9-7 are fixedly connected to the material table 9-6. The output end of the lifting servo motor 9-8 is connected to the lifting reducer 9-9. The double output shafts of the lifting reducer 9-9 are respectively connected to the spiral elevators 9-7 on both sides. The spiral elevator 9-7 drives the material table 9-6 to move up and down along the axis direction of the lifting guide column 9-5 to complete the action of receiving and placing materials.

[0107] The lifting servo motor 9-8 drives the spiral lift 9-7 to lift the material table 9-6 of the transport trolley 9, and the material table 9-6 holds the workpiece to be inspected. The trolley drive motor 9-10 drives the trolley drive gear 9-4 to rotate, and the transport trolley 9 moves along the trolley travel track 1-2 until it reaches the first group of material platforms 8. The lifting servo motor 9-8 rotates in the opposite direction, and the spiral lift 9-7 drives the material table 9-6 to descend. The workpiece to be inspected is overlapped on the material platform 8. The trolley drive motor 9-10 reverses, and the transport trolley 9 returns to the original position to hold up another workpiece to be inspected. Repeat the above actions until a workpiece to be inspected is placed on each group of material platforms.

[0108] Other components and connection methods are the same as those in the eighth embodiment.

[0109] Specific implementation method 10: The grinding detection method of the K-type weld grinding detection equipment of the coal mining scraper conveyor, the specific grinding detection steps are as follows:

[0110] like Fig. 20 As shown, A is a K-type weld of the workpiece to be inspected, marked as weld A, and B is another K-type weld of the workpiece to be inspected, marked as weld B. It is assumed that the left side of the material platform 8 is higher than the right side, the grinding mechanism 6 is installed on the lifting column mechanism on the left side of the beam, and the detection mechanism is installed on the lifting column mechanism on the right side of the beam;

[0111] Step 1: Place multiple workpieces 12 to be inspected on each group of material platforms 8 by using a transport trolley 9;

[0112] Step 2: The gantry body 2 moves to the top of the weld A of the workpiece to be inspected through the walking base mechanism 2-1, and the pneumatic hooking mechanism and the pneumatic vibration absorbing mechanism fix the gantry body.

[0113] Step 3: The grinding mechanism slides on the transverse guide rail 2-3-1 through the lifting column mechanism 3 to the top of the left side of the weld of the workpiece A to be inspected;

[0114] Step 4: The grinding mechanism is lowered again through the lifting column mechanism 3. After the grinding mechanism contacts the workpiece to be inspected, the lifting column mechanism 3 continues to move downward, and the grinding mechanism rises along the idle travel guide rail 6-5 until it touches the induction switch, and the lifting column mechanism 3 stops moving;

[0115] Step 5: Start the grinding mechanism and the dust collecting mechanism at the same time. The grinding mechanism slides on the transverse guide rail 2-3-1 through the lifting column mechanism 3. The grinding mechanism relies on its own gravity to grind from the left side of the weld A of the workpiece to be inspected to the right side of the weld A. At the same time, the dust collecting mechanism sucks away the iron filings from the grinding. The grinding mechanism returns to the top of the left side of the weld A of the workpiece to be inspected through the lifting column mechanism 3.

[0116] Step 6: The gantry body 2 moves to the top of the weld seam B of the workpiece to be inspected through the walking base mechanism 2-1;

[0117] Step 7: The grinding mechanism grinds the weld B of the workpiece to be inspected again, moving from the left side of weld B to the right side of weld B. After grinding, the grinding mechanism rises through the lifting column mechanism 3 and returns to the initial position along the transverse guide rail 2-3-1;

[0118] Step 8: The detection mechanism slides along the transverse guide rail 2-3-1 to the top of the right side of the weld of the workpiece B to be inspected through the lifting column mechanism 3;

[0119] Step 9: The detection mechanism descends through the lifting column mechanism 3, and the coupling agent injection mechanism 13 at the front end of the detection mechanism is turned on. Driven by the lifting column mechanism 3, the coupling agent injection mechanism 13 moves from the right side of the B weld to the left side of the B weld for pre-spraying;

[0120] Step 10: Driven by the lifting column mechanism 3, the detection mechanism quickly moves from the left side of the B weld to the right side of the B weld, and the detection mechanism is turned on. Driven by the lifting column mechanism 3, the detection mechanism moves from the right side of the B weld to the left side of the B weld to perform ultrasonic detection until the detection is completed, and the detection mechanism rises through the lifting column mechanism 3;

[0121] Step 11: The detection mechanism rotates 180 degrees counterclockwise through the rotary reducer;

[0122] Step 12: The gantry body moves to the top of the weld A of the workpiece to be inspected through the walking base mechanism 2-1;

[0123] Step 13: The coupling agent spraying mechanism 13 at the front end of the detection mechanism is turned on. Driven by the lifting column mechanism 3, the coupling agent spraying mechanism 13 moves from the left side of the weld A to the right side of the weld A for pre-spraying.

[0124] Step 14: The detection mechanism is driven by the lifting column mechanism 3 to quickly move from the right side of weld A to the left side of weld A, and the detection mechanism is turned on. Driven by the lifting column mechanism 3, the detection mechanism moves from the left side of weld A to the right side of weld A to perform ultrasonic detection. After the detection is completed, the detection mechanism rises through the lifting column mechanism 3;

[0125] Step 15: The detection mechanism 7 quickly moves from the right side of weld A to the left side of weld A. At this time, the detection mechanism rotates 180 degrees clockwise through the rotary reducer and then turns on the air-drying mechanism 14. The air-drying mechanism 14 moves from the left side of weld A to the right side of weld A to perform air-drying action;

[0126] Step 16: The gantry body moves to the top of weld B of the workpiece to be inspected through the walking base mechanism 2-1, and the detection mechanism quickly moves from the right side of weld B to the left side of weld B. The air-drying mechanism 14 is turned on, and the air-drying mechanism 14 moves from the left side of weld B to the right side of weld B to perform air-drying until air-drying is completed, and the detection mechanism 7 returns to the initial position.

Claims

1. Coal mining scraper conveyor K-type weld grinding and detection equipment, characterized by: It comprises a basic track group (1), a gantry body (2), two groups of lifting column mechanisms (3), a dust collection mechanism (5), a grinding mechanism (6), a detection mechanism (7), multiple groups of material platforms (8) and a transmission trolley (9); The basic track group (1) comprises two gantry running tracks (1-1) arranged side by side and two trolley running tracks (1-2) arranged side by side, and the two trolley running tracks (1-2) are arranged side by side between the two gantry running tracks (1-1); The gantry main body (2) comprises two walking base mechanisms (2-1), two gantry columns (2-2) and a crossbeam (2-3), wherein the crossbeam (2-3) is arranged between the two gantry columns (2-2), a walking base mechanism (2-1) is arranged under each gantry column (2-2), and each walking base mechanism (2-1) is slidably connected to each gantry walking track (1-1) respectively; A set of lifting column mechanisms (3) are slidably connected at both ends of the crossbeam (2-3); a dust collecting mechanism (5) and a grinding mechanism (6) are fixedly connected to one set of the lifting column mechanisms (3); a detection mechanism (7) is fixedly connected to another set of the lifting column mechanisms (3); a plurality of material platforms (8) are fixedly installed in parallel on the basic track group (1) and are located directly above the trolley travel track (1-2); a transport trolley (9) is slidably connected to the trolley travel track (1-2) and is located below the material platform (8); and a workpiece (12) to be inspected is located on the material platform (8); The detection mechanism (7) comprises a first servo motor (7-1), a rotary reducer (7-2), a top plate (7-3), a plurality of transverse sliding plates (7-4), a plurality of lifting cylinders (7-5), a plurality of probes (7-6) and a plurality of vertical plates (7-7), wherein the output end of the first servo motor (7-1) is connected to the rotary reducer (7-2), the output end of the rotary reducer (7-2) is fixedly connected to the upper surface of the top plate (7-3), and the plurality of vertical plates (7-7) are connected to the plurality of vertical plates (7-8). 7-7) are installed side by side and at equal intervals on the lower surface of the top plate (7-3), each vertical plate (7-7) is installed with a transverse sliding plate (7-4), the width of the transverse sliding plate (7-4) is wider than the width of the vertical plate (7-7), each transverse sliding plate (7-4) is installed with a lifting cylinder (7-5), the plurality of lifting cylinders (7-5) are arranged at equal intervals in the longitudinal direction, and a probe (7-6) is installed at the bottom end of the cylinder rod of each lifting cylinder (7-5); A coupling agent spraying mechanism (13) and an air drying mechanism (14) are respectively arranged on both sides of the detection mechanism (7); the coupling agent spraying mechanism (13) is arranged at the front end of the detection mechanism (7), and the air drying mechanism (14) is arranged at the rear end of the detection mechanism (7).

2. The K-type weld grinding and detection equipment for coal mining scraper conveyor according to claim 1 is characterized in that: Each gantry walking track (1-1) comprises a guide rail (1-1-1) and a rack (1-1-2), and the rack (1-1-2) is fixedly mounted on the inner side wall of the guide rail (1-1-1); The walking base mechanism (2-1) comprises a walking base box (2-1-1), a second servo motor (2-1-2), a driving gear (2-1-3), two rollers (2-1-4) and two sets of clamping wheels (2-1-5); the walking base box (2-1-1) is fixedly installed directly below the gantry column (2-2); the second servo motor (2-1-2) is installed in the walking base box (2-1-1); the driving gear (2-1-3) is fixedly connected to the output end of the second servo motor (2-1-2); and the driving gear (2-1-3) is meshed with a rack (1-1-2) on the gantry walking track; A roller (2-1-4) is rotatably installed at the front and rear of the bottom of the walking base box (2-1-1), the two rollers (2-1-4) are respectively pressed on the guide rail (1-1-1), and two groups of clamping wheels (2-1-5) are installed side by side on the lower surface of the walking base box (2-1-1), and the two groups of clamping wheels (2-1-5) are clamped on both sides of the guide rail (1-1-1).

3. The K-type weld grinding and detection equipment for coal mining scraper conveyor according to claim 2 is characterized in that: The walking base mechanism (2-1) further comprises two groups of pneumatic vibration absorbing mechanisms (2-1-6), and the two groups of pneumatic vibration absorbing mechanisms (2-1-6) are installed side by side and laterally opposite to each other on the lower surface of the walking base box (2-1-1); Each pneumatic vibration absorption mechanism (2-1-6) includes a cylinder mounting base (2-1-6-1), a vibration absorption cylinder (2-1-6-2), two vibration absorption linear bearings (2-1-6-3), a rubber-hanging pressure plate (2-1-6-4) and two guide rods (2-1-6-5). The cylinder mounting base (2-1-6-1) is connected to the bottom of the walking base box (2-1-1) by bolts, the tail end of the vibration absorption cylinder (2-1-6-2) is fixedly connected to the cylinder mounting base (2-1-6-1), and the guide rod (2-1-6-5) is connected to the vibration absorption linear shaft The bearing (2-1-6-3) is installed on the cylinder installation base (2-1-6-1) and is arranged on both sides of the vibration absorbing cylinder (2-1-6-2); the guide rod (2-1-6-5) passes through the vibration absorbing linear bearing (2-1-6-3) and can move along the axis direction of the vibration absorbing linear bearing (2-1-6-3); the end of each guide rod (2-1-6-5) is fixedly connected to the end of the rubber hanging pressure plate (2-1-6-4); the end of the cylinder rod of the vibration absorbing cylinder (2-1-6-2) is in contact with the middle part of the rubber hanging pressure plate (2-1-6-4).

4. The K-type weld grinding and detection equipment for coal mining scraper conveyor according to claim 3 is characterized in that: The walking base mechanism (2-1) further comprises two sets of pneumatic hooking mechanisms (2-1-7), one set of pneumatic hooking mechanisms (2-1-7) being respectively installed at the front end and the rear end of the walking base box (2-1-1); Each pneumatic hooking mechanism (2-1-7) comprises a hooking cylinder (2-1-7-1), a connecting rod (2-1-7-2), a hooking linear bearing (2-1-7-3), a linear bearing seat (2-1-7-4) and a guide hook (2-1-7-5). The hooking cylinder (2-1-7-1) and the linear bearing seat (2-1-7-4) are fixedly mounted side by side on the walking base box (2-1-1). The hooking linear bearing (2-1-7- 3) is installed in the linear bearing seat (2-1-7-4), the top end of the guide hook (2-1-7-5) penetrates the hooking linear bearing (2-1-7-3) and is fixedly connected to one end of the connecting rod (2-1-7-2), the hook part of the lower end of the guide hook (2-1-7-5) is arranged toward the inner wall of the guide rail (1-1-1), and the other end of the connecting rod (2-1-7-2) is fixedly connected to the end portion of the cylinder rod of the hooking cylinder (2-1-7-1).

5. The K-type weld grinding and detection equipment for coal mining scraper conveyor according to claim 4 is characterized in that: The crossbeam (2-3) is provided with two transverse guide rails (2-3-1) and a transverse rack (2-3-2) arranged in parallel, and the transverse rack (2-3-2) is arranged in parallel between the two transverse guide rails (2-3-1); Each set of lifting column mechanisms (3) comprises a transverse motor, a transverse gear (3-1), a lifting motor (3-2), a lifting gear, two sets of transverse sliders (3-3), two sets of lifting sliders (3-4), a fixed back plate (3-5), a lifting column (3-6), a lifting rack (3-7) and two lifting guide rails (3-8) arranged side by side; The transverse motor and the two groups of lifting sliders (3-4) are fixedly mounted on one side of the fixed back plate (3-5), the lifting motor (3-2) and the two groups of transverse sliders (3-3) are fixedly mounted on the other side of the fixed back plate (3-5), the two lifting guide rails (3-8) and the lifting rack (3-7) are fixedly mounted on one side of the lifting column (3-6), the lifting rack (3-7) is arranged in parallel between the two lifting guide rails (3-8), the transverse gear (3-1) is fixedly mounted on the output end of the transverse motor, and the transverse gear (3-1) is meshed with the transverse rack (2-3-2), the lifting gear is fixedly mounted on the output end of the lifting motor (3-2), and the lifting gear is meshed with the lifting rack (3-7), each transverse guide rail (2-3-1) is slidably connected to a group of transverse sliders (3-3), and each lifting guide rail (3-8) is slidably connected to a group of lifting sliders (3-4); The dust collecting mechanism (5) and the grinding mechanism (6) are fixedly mounted on the lifting columns (3-6) of one set of the lifting column mechanisms (3), and the detection mechanism (7) is fixedly mounted on the lifting columns (3-6) of the other set of the lifting column mechanisms (3).

6. The K-type weld grinding and detection equipment for coal mining scraper conveyor according to claim 5 is characterized in that: The grinding mechanism (6) comprises a grinding motor (6-1), a grinding cutter disc (6-2), a grinding connecting frame (6-3), a fixed frame (6-4), an idle guide rail (6-5) and an induction switch (6-6). The grinding motor (6-1) is fixedly mounted on the grinding connecting frame (6-3). The grinding cutter disc (6-2) is connected to the output end of the grinding motor (6-1) through a pulley. An idle guide rail (6-5) is respectively installed on both sides of the fixed frame (6-4). The grinding connecting frame (6-3) is slidably connected to the fixed frame (6-4) through a slider. The induction switch (6-6) is arranged at the top of the idle guide rail (6-5).

7. The K-type weld grinding and detection equipment for coal mining scraper conveyor according to claim 6 is characterized in that: Each group of material platforms (8) comprises two material support frames (8-1) and two water receiving troughs (8-2); a water receiving trough (8-2) is provided on the outer side wall of each material support frame (8-1); and a connecting pipe (8-3) is provided at the bottom of the water receiving trough (8-2).

8. The K-type weld grinding and detection equipment for coal mining scraper conveyor according to claim 7 is characterized in that: The trolley travel track (1-2) comprises two trolley travel guide rails (1-2-1) and a trolley travel rack (1-2-2); the two trolley travel guide rails (1-2-1) are arranged side by side, and the trolley travel rack (1-2-2) is fixedly mounted on the inner side wall of one of the trolley travel guide rails (1-2-1); The transmission trolley (9) comprises a trolley body (9-1), four groups of trolley rollers (9-2), three groups of trolley clamping wheels (9-3), four lifting guide pillars (9-5), a material table (9-6), two spiral lifts (9-7), a lifting servo motor (9-8), a lifting reducer (9-9), a trolley drive motor (9-10) and a trolley drive gear (9-4); The trolley driving motor (9-10) is arranged on the trolley body (9-1), the trolley driving gear (9-4) is fixedly connected to the output end of the trolley driving motor (9-10), and the trolley driving gear (9-4) is meshed with the trolley travel rack (1-2-2); Two groups of trolley rollers (9-2) are respectively arranged at the front and rear of the bottom of the trolley body (9-1), each group of trolley rollers (9-2) includes two trolley rollers (9-2) arranged in parallel, and the trolley rollers (9-2) are pressed on two trolley travel guide rails (1-2-1); Three groups of trolley clamping wheels (9-3) at the bottom of the trolley main body (9-1) are arranged on the same side, and the three groups of trolley clamping wheels (9-3) are clamped on the trolley travel guide rail (1-2-1) on the side where the trolley travel rack (1-2-2) is arranged; Four lifting guide columns (9-5) are arranged at the top of the trolley body (9-1) and support the material platform (9-6). The four lifting guide columns (9-5) are in contact with the material platform (9-6). Two spiral elevators (9-7) are arranged below the material platform (9-6), and the output shafts of the spiral elevators (9-7) are fixedly connected to the material platform (9-6). The output end of the lifting servo motor (9-8) is connected to the lifting reducer (9-9). The double output shafts of the lifting reducer (9-9) are respectively connected to the spiral elevators (9-7) on both sides. The spiral elevators (9-7) drive the material platform (9-6) to move up and down along the axis direction of the lifting guide columns (9-5) to complete the action of receiving and placing materials.

9. A grinding and detection method using the K-type weld grinding and detection equipment for coal mining scraper conveyor according to any one of claims 1 to 8, characterized in that: The specific steps are as follows: A is a K-shaped weld of the workpiece to be inspected, marked as weld A, B is another K-shaped weld of the workpiece to be inspected, marked as weld B, the left side of the material platform (8) is higher than the right side, the grinding mechanism (6) is installed on the lifting column mechanism on the left side of the beam, and the detection mechanism is installed on the lifting column mechanism on the right side of the beam; The first step is to place a plurality of workpieces to be inspected (12) on each group of material platforms (8) by means of a transport trolley (9); Step 2: The gantry body (2) moves to the top of the weld A of the workpiece to be inspected through the walking base mechanism (2-1), and the pneumatic hooking mechanism and the pneumatic vibration absorbing mechanism fix the gantry body. Step 3: The grinding mechanism slides on the transverse guide rail (2-3-1) through the lifting column mechanism (3) to the top of the left side of the weld of the workpiece A to be inspected; Step 4: The grinding mechanism is then lowered through the lifting column mechanism (3). After the grinding mechanism contacts the workpiece to be inspected, the lifting column mechanism (3) continues to move downward, and the grinding mechanism rises along the idle travel guide rail (6-5) until it touches the induction switch, and the lifting column mechanism (3) stops moving; Step 5: Start the grinding mechanism and the dust collecting mechanism at the same time. The grinding mechanism slides on the transverse guide rail (2-3-1) through the lifting column mechanism (3). The grinding mechanism grinds from the left side of the weld A of the workpiece to be inspected to the right side of the weld A by its own gravity. At the same time, the dust collecting mechanism sucks away the iron filings from the grinding. The grinding mechanism returns to the top of the left side of the weld A of the workpiece to be inspected through the lifting column mechanism (3). Step 6: The gantry body (2) moves to the position just above the weld seam B of the workpiece to be inspected via the walking base mechanism (2-1); Step 7: The grinding mechanism grinds the weld seam B of the workpiece to be inspected again, moving from the left side of weld seam B to the right side of weld seam B. After the grinding is completed, the grinding mechanism rises through the lifting column mechanism (3) and returns to the initial position along the transverse guide rail (2-3-1); Step 8: The detection mechanism slides along the transverse guide rail (2-3-1) to the top of the right side of the weld of the workpiece B to be detected through the lifting column mechanism (3); Step 9: The detection mechanism is lowered by the lifting column mechanism (3), and the coupling agent spraying mechanism (13) at the front end of the detection mechanism is turned on. Driven by the lifting column mechanism (3), the coupling agent spraying mechanism (13) moves from the right side of the B weld to the left side of the B weld for pre-spraying; Step 10: The detection mechanism is driven by the lifting column mechanism (3) to quickly move from the left side of weld B to the right side of weld B. The detection mechanism is turned on. Driven by the lifting column mechanism (3), the detection mechanism moves from the right side of weld B to the left side of weld B to perform ultrasonic detection. After the detection is completed, the detection mechanism is raised by the lifting column mechanism (3). Step 11: The detection mechanism rotates 180 degrees counterclockwise through the rotary reducer; Step 12: The gantry body moves to the position just above the weld A of the workpiece to be inspected through the walking base mechanism (2-1); Step 13: The coupling agent spraying mechanism (13) at the front end of the detection mechanism is turned on. Driven by the lifting column mechanism (3), the coupling agent spraying mechanism (13) moves from the left side of weld A to the right side of weld A to perform pre-spraying. Step 14: The detection mechanism is driven by the lifting column mechanism (3) to quickly move from the right side of weld A to the left side of weld A, the detection mechanism is turned on, and driven by the lifting column mechanism (3), the detection mechanism moves from the left side of weld A to the right side of weld A to perform ultrasonic detection, until the detection is completed, and the detection mechanism rises through the lifting column mechanism (3); Step 15: The detection mechanism (7) quickly moves from the right side of weld A to the left side of weld A. At this time, the detection mechanism rotates 180 degrees clockwise through the rotary reducer and then turns on the air drying mechanism (14). The air drying mechanism (14) moves from the left side of weld A to the right side of weld A to perform air drying. Step 16: The gantry body moves to the position directly above the weld seam B of the workpiece to be inspected through the walking base mechanism (2-1), and the inspection mechanism quickly moves from the right side of weld seam B to the left side of weld seam B, and the air-drying mechanism (14) is turned on. The air-drying mechanism (14) moves from the left side of weld seam B to the right side of weld seam B to perform air-drying until air-drying is completed, and the inspection mechanism (7) returns to the initial position.

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