Multi-angle broken line welding line self-adaptive detection robot

Abstract

The invention discloses a multi-angle broken line welding line self-adaptive detection robot which comprises a mobile robot, a connecting rod seat and a connecting rod mechanism, the output end of the connecting rod mechanism is rotationally connected with a rotating seat, and a detection probe is arranged in the rotating seat; the driving unit is arranged on the mobile robot and connected with the connecting rod mechanism; the driving unit drives the connecting rod mechanism to swing along a preset track so as to drive the detection probe in the rotating seat to move along the preset track and enable the end of the detection probe to be attached to the weld joint. According to the multi-angle broken line welding seam self-adaptive detection robot, the mobile robot is used for moving to replace construction of a guide rail, use can be facilitated, the connecting rod mechanism replaces a mechanical arm of a series connection structure, the stability during operation is improved, meanwhile, the operation space during welding seam detection is reduced, and the detection efficiency is improved. The welding seam detection robot can adapt to a narrower space for welding seam detection, and application scenes of the welding seam detection robot are increased.

Description

Technical Field

[0001] The invention relates to the technical field of robot production, and in particular to a multi-angle broken line weld self-adaptive detection robot. Background Art

[0002] Welding is one of the most important material forming and processing technologies in modern manufacturing, and is widely used in industrial manufacturing fields such as automobile production, aerospace, petroleum industry, construction industry, and shipping. Among them, weld surface forming is an important indicator for judging welding quality. During the welding process, due to uncertain factors such as improper adjustment of welding parameters and complex welding environment, surface defects such as depression, undercut, pores, lack of fusion, and insufficient weld width and excess height will appear on the weld surface. These defects not only affect the appearance of the weld, but also cause the weld connection strength to decrease, stress concentration, affect the product quality of the welded component, and even make the product scrapped. In order to ensure the product quality of welded parts, efficient and accurate defect detection of welds is required. In the detection of weld surface defects, the most primitive detection method is to manually use a weld inspection ruler to measure the external dimensions such as the groove angle, weld width, and excess height of the weld, and compare the parameter range to evaluate the forming quality. The detection results are too subjective, the detection efficiency is low, and it is difficult to meet the needs of modern production. Therefore, using detection robots to replace manual detection is of great significance to improving work efficiency, reducing work costs, and improving detection accuracy.

[0003] According to the invention patent application with publication number: CN117470473A and publication date of 2024-01-30, a pipeline weld detection device is disclosed, including: a receiving pipe, a walking assembly is arranged on the receiving pipe, and a detection assembly is arranged on the receiving pipe; the walking assembly includes: a support tube, a support rod, a universal wheel and a support spring, the support tube is arranged on the receiving pipe, one end of the support rod is telescoped in the support tube, and the other end is connected to the universal wheel, and the universal wheel abuts against the inner wall of the pipeline, and the support spring is fixed between the support rod and the inner wall of the support tube. Its main technical effect is: it has the effect of effectively detecting the joints of the pipeline.

[0004] Most of the weld inspection robots in the prior art use robotic arms for inspection. In certain specific scenarios, such as turbine blades, pipelines and other narrow and complex welds, robotic arm inspection has the following problems: First, the construction and disassembly of the guide rails are very difficult and inconvenient to use. Second, most robotic arms are tandem structures, and the strength and rigidity of the robotic arms are insufficient, posing a safety hazard. Third, the size of the robotic arm is large, and the space required for operation and the inspection range are limited. For this reason, a multi-angle fold line weld adaptive inspection robot is proposed, which aims to solve the above problems existing in the prior art when using robotic arms for inspection. Summary of the invention

[0005] The purpose of the present invention is to provide a multi-angle fold line weld adaptive inspection robot, aiming to solve the problems in the prior art that the construction and disassembly of the guide rails used for inspection using a robotic arm is very difficult, most of the robotic arms are series structures, the strength and rigidity of the robotic arms are insufficient, the size of the robotic arms is large, and the space required for operation and the inspection range are limited.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A multi-angle folding line weld self-adaptive detection robot, comprising a mobile robot, and further comprising:

[0008] A connecting rod seat provided on the mobile robot;

[0009] A connecting rod mechanism is arranged on the connecting rod seat, wherein the output end of the connecting rod mechanism is rotatably connected to a rotating seat, and a detection probe is arranged inside the rotating seat;

[0010] A driving unit disposed on the mobile robot, wherein the driving unit is connected to a connecting rod mechanism;

[0011] The driving unit drives the connecting rod mechanism to swing along a predetermined trajectory, thereby driving the detection probe inside the rotating seat to move along the predetermined trajectory and making the end of the detection probe fit the weld.

[0012] Preferably, the connecting rod mechanism includes a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, a connecting rod seat is fixedly installed on the outer wall of the mobile robot, one end of the first connecting rod is slidably connected to the connecting rod seat, one end of the second connecting rod is rotatably connected to the outer wall of the first connecting rod, one end of the third connecting rod is rotatably connected to an end of the second connecting rod away from the first connecting rod, one end of the fourth connecting rod is rotatably connected to an end of the first connecting rod away from the connecting rod seat, and an end of the third connecting rod away from the second connecting rod is rotatably connected to the outer wall of the fourth connecting rod, the detection probe is rotatably connected to the hinge point of the third connecting rod and the fourth connecting rod, the driving unit is arranged on the connecting rod seat, and the output end of the driving unit is connected to the hinge point of the second connecting rod and the third connecting rod.

[0013] Preferably, the connecting rod mechanism also includes a fifth connecting rod and a sixth connecting rod, one end of the fifth connecting rod is rotatably connected to the connecting rod seat, the other end of the fifth connecting rod is rotatably connected to the second connecting rod and the third connecting rod hinge point, one end of the sixth connecting rod is rotatably connected to the output end of the drive unit, the other end of the sixth connecting rod is rotatably connected to the second connecting rod and the third connecting rod hinge point, a first sliding groove is provided on the connecting rod seat, one end of the first connecting rod is slidably connected to the first sliding groove, and a first elastic unit is arranged between the first sliding groove and one end of the first connecting rod.

[0014] Preferably, the robot further comprises a cable bundling mechanism disposed on the mobile robot, wherein a signal line is disposed inside the cable bundling mechanism, and the signal line is connected to the rotating seat.

[0015] Preferably, an adaptive positioning mechanism is provided on the rotating seat, and the adaptive positioning mechanism includes a mounting seat, a swing rod and a guide wheel. The mounting seat is fixedly mounted on the rotating seat, one end of the swing rod is rotatably connected to the mounting seat, the swing rods are symmetrically arranged on both sides of the mounting seat, a second elastic unit is arranged between the two swing rods located on the same side of the length direction of the mounting seat, and the guide wheel is rotatably connected to the end of the swing rod away from the mounting seat.

[0016] Preferably, a second slide groove is provided on the outer wall of one side of the mounting seat, one end of the swing rod is movably connected in the second slide groove, and a third elastic unit is provided between the second slide groove and the swing rod.

[0017] Preferably, a cavity is provided inside the rotating seat, the detection probe is slidably connected to the cavity, and a fourth elastic unit is provided between the detection probe and the inner wall of the cavity.

[0018] In the above technical solution, the multi-angle folding line weld adaptive detection robot provided by the present invention has the following beneficial effects:

[0019] The invention drives the connecting rod mechanism on the connecting rod seat to swing along a predetermined trajectory through a driving unit, drives the detection probe inside the rotating seat to swing along with the connecting rod mechanism, and then drives the end of the detection probe to fit the weld, and detects the appearance defects of the weld through the detection probe. By using a mobile robot to move instead of setting up a guide rail, it is easy to use, and the connecting rod mechanism replaces the robot arm of the series structure to increase the stability during operation. At the same time, the operating space when detecting welds is reduced, so that it can adapt to smaller spaces for weld detection, and increase the application scenarios of weld detection robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0021] Figure 1 A schematic diagram of detecting a vertical weld state provided by an embodiment of the present invention;

[0022] Figure 2 A schematic diagram of the state of a connecting rod mechanism for detecting sharp-angle welds provided in an embodiment of the present invention;

[0023] Figure 3A schematic diagram of a state of a vertical weld connecting rod mechanism for detecting a weld provided by an embodiment of the present invention;

[0024] Figure 4 A schematic diagram of the state of a connecting rod mechanism for detecting a horizontal weld provided by an embodiment of the present invention;

[0025] Figure 5 A schematic diagram of the structure of an adaptive positioning mechanism provided by an embodiment of the present invention;

[0026] Figure 6 A schematic diagram of the internal structure of a rotating seat provided in an embodiment of the present invention;

[0027] Figure 7 A schematic diagram of a structure for detecting sharp-angle welds provided in an embodiment of the present invention;

[0028] Figure 8 A schematic diagram of a horizontal weld detection structure provided by an embodiment of the present invention;

[0029] Fig. 9 A schematic diagram of the structure of a cable bundling mechanism provided in an embodiment of the present invention.

[0030] Description of reference numerals:

[0031] 1. Mobile robot; 11. Motor mounting plate; 2. Connecting rod seat; 21. First slide slot; 3. Connecting rod mechanism; 31. First connecting rod; 32. Second connecting rod; 33. Third connecting rod; 34. Fourth connecting rod; 35. Fifth connecting rod; 36. Sixth connecting rod; 37. First elastic unit; 38. First shaft rod; 39. Second shaft rod; 30. Fourth shaft rod; 4. Rotating seat; 5. Detection probe; 6. Driving unit; 7. Cable bundling mechanism; 71. Signal line; 72. Driving motor; 73. Rotating wheel; 8. Adaptive positioning mechanism; 81. Mounting seat; 82. Swinging rod; 83. Guide wheel; 84. Second elastic unit; 85. Second slide slot; 86. Third elastic unit; 87. Fifth shaft rod; 88. Sixth shaft rod; 9. Fourth elastic unit. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0033] See also Figure 1 —9. A multi-angle folding line weld self-adaptive detection robot, comprising a mobile robot 1, and further comprising:

[0034] A connecting rod seat 2 provided on the mobile robot 1;

[0035] A connecting rod mechanism 3 is arranged on the connecting rod seat 2, wherein the output end of the connecting rod mechanism 3 is rotatably connected to a rotating seat 4, and a detection probe 5 is arranged inside the rotating seat 4;

[0036] A driving unit 6 disposed on the mobile robot 1, wherein the driving unit 6 is connected to the connecting rod mechanism 3;

[0037] The driving unit 6 drives the link mechanism 3 to swing along a predetermined trajectory, thereby driving the detection probe 5 inside the rotating seat 4 to move along the predetermined trajectory and making the end of the detection probe 5 fit the weld.

[0038] The mobile robot 1 uses a magnetic ball wheel to move. It should be pointed out that the mobile robot 1 is a prior art in the art, and its internal structure and working principle are not described in detail here.

[0039] As an embodiment provided by the present invention, Figure 2 and Fig. 9 As shown, a connecting rod seat 2 is fixedly installed on the outer wall of the mobile robot 1. There are two connecting rod seats 2, and the two connecting rod seats 2 are symmetrically arranged on the outer wall of the mobile robot 1. A connecting rod mechanism 3 is arranged on the connecting rod seat 2, and the output end of the connecting rod mechanism 3 rotates on the rotating seat 4. Preferably, the number of the connecting rod mechanisms 3 is adapted to the number of the connecting rod seats 2, and the two connecting rod mechanisms 3 are connected by an axle rod. A detection probe 5 is movably arranged inside the rotating seat 4, and the appearance defects of the weld can be detected by the detection probe 5. A driving unit 6 is arranged on the mobile robot 1, and the output end of the driving unit 6 is connected to the connecting rod mechanism 3. The driving unit 6 can drive the connecting rod mechanism 3 to keep swinging, and then drive the rotating seat 4 arranged in the connecting rod mechanism 3 to rotate with the connecting rod mechanism 3, so that the detection probe 5 arranged in the rotating seat 4 can swing with the connecting rod mechanism 3, so that the end of the detection probe 5 fits the weld.

[0040] The invention drives the connecting rod mechanism 3 on the connecting rod seat 2 to swing along a predetermined trajectory through the driving unit 6, drives the detection probe 5 inside the rotating seat 4 to swing along with the connecting rod mechanism 3, and then drives the end of the detection probe 5 to fit the weld, and detects the appearance defects of the weld through the detection probe 5. By using the mobile robot 1 to move instead of setting up the guide rail, it is easy to use, and the connecting rod mechanism 3 replaces the robot arm of the series structure to increase the stability during operation. At the same time, the operating space when detecting the weld is reduced, so that it can adapt to smaller spaces for weld detection, thereby increasing the application scenarios of the weld detection robot.

[0041] As an embodiment provided by the present invention, Figure 3 , Figure 4As shown, the connecting rod mechanism 3 includes a first connecting rod 31, a second connecting rod 32, a third connecting rod 33 and a fourth connecting rod 34. Further, since the number of the connecting rod mechanism 3 is adapted to the number of the connecting rod seats 2, the actual number of the first connecting rod 31, the second connecting rod 32, the third connecting rod 33 and the fourth connecting rod 34 is two. The connecting rod seat 2 is provided with a first sliding groove 21, and one end of the two first connecting rods 31 is respectively slidably connected to the two first sliding grooves 21. In the embodiment provided by Ming, one end of the two first connecting rods 31 is connected to the first shaft rod 38, and the two first connecting rods 31 are slidably connected to the two first sliding grooves 21 through the first shaft rod 38. A first elastic unit 37 is arranged between the inner wall of the first sliding groove 21 and the first shaft rod 38. The first elastic unit 37 is a tension spring. One end of the second connecting rod 32 is rotatably connected to the outer wall of the first connecting rod 31 through a connecting pin. Preferably, a second shaft rod 39 is connected between the ends of the two second connecting rods 32 away from the first connecting rod 31. The two second connecting rods 32 are connected by The second shaft 39 remains connected so that the entire linkage mechanism 3 can be more stable during the rotation process and the structural strength is increased. One end of the third link 33 is rotatably connected to the end of the second link 32 away from the first link 31, that is, it is rotatably connected to the second shaft 39. The output end of the drive unit 6 is connected to the hinge point between the second link 32 and the third link 33, that is, it is connected to the second shaft 39. One end of the fourth link 34 is rotatably connected to the end of the first link 31 away from the link seat 2. The third shaft is arranged on the outer wall of the rotating seat 4. The rotating seat 4 is connected to the outer wall through the outer wall. The third shaft is rotatably connected to the fourth connecting rod 34, and the end of the third connecting rod 33 away from the second shaft 39 is rotatably connected to the outer wall of the fourth connecting rod 34 through the third shaft. The two fourth connecting rods 34 are connected by a rotating seat 4, which can enhance the movement stability and structural strength of the connecting rod mechanism 3. A motor mounting plate 11 is fixedly installed on the outer wall of the mobile robot 1, one end of the two connecting rod seats 2 are connected to the motor mounting plate 11, the drive unit 6 is fixedly installed on the outer wall of one side of the motor mounting plate 11, and the output end of the drive unit 6 is connected to the first shaft 38.

[0042] When in use, the driving unit 6 drives the first shaft 38 to move outward, and the movement of the first shaft 38 drives the second connecting rod 32, the first connecting rod 31, the third connecting rod 33 and the fourth connecting rod 34 to rotate, thereby driving the rotating seat 4 to move along an arc trajectory.

[0043] As a further embodiment provided by the present invention, Figure 3 and Figure 4As shown, the connecting rod mechanism 3 also includes a fifth connecting rod 35 and a sixth connecting rod 36. It should be pointed out that the number of the fifth connecting rod 35 is adapted to the number of the connecting rod seats 2, and the number of the sixth connecting rod 36 is adapted to the number of the driving units 6. The driving unit 6 is specifically an electric push rod. A fourth shaft 30 is provided at one end of the two fifth connecting rods 35. One end of the fifth connecting rod 35 is rotatably connected to the connecting rod seat 2 through the fourth shaft 30. The end of the fifth connecting rod 35 away from the connecting rod seat 2 is rotatably connected to the second shaft 39, that is, rotatably connected to the hinge point of the second connecting rod 32 and the third connecting rod 33. The first shaft 38 and the connecting rod seat 2 are connected by the fifth connecting rod 35, which can limit the rotation range of the first shaft 38 and at the same time make the rotation of the connecting rod mechanism 3 more stable. One end of the sixth connecting rod 36 is rotatably connected to the driving unit 6, and the other end is rotatably connected to the first shaft 38. The driving unit 6 and the first shaft 38 are connected through the sixth connecting rod 36, so that the output end of the driving unit 6 can drive the sixth connecting rod 36 to keep rotating through telescopic drive, and the first shaft 38 is driven to rotate through the rotation of the sixth connecting rod 36.

[0044] As an embodiment provided by the present invention, Fig. 9As shown, it also includes a cable bundling mechanism 7 arranged on the mobile robot 1, and a signal line 71 is arranged inside the cable bundling mechanism 7, and the signal line is connected to the rotating seat 4. Specifically, the cable bundling mechanism 7 includes a rotating wheel 73 and a driving motor 72. The driving motor 72 is fixedly installed on the outer wall of one side of the mobile robot 1, and its output end passes through the motor mounting plate 11 and one end of the connecting rod seat 2. The rotating wheel 73 is fixedly installed on the output end of the driving motor 72. Preferably, the number of the driving motors 72 is two, and the two driving motors 72 are symmetrically arranged on the outer wall of the mobile robot 1. One end of the signal line 71 is located between the two rotating wheels 73, and the two rotating wheels 73 are both in contact with the outer wall of the signal line 71, and the rotating wheel 73 can be driven to rotate by the driving motor 72. Then the signal line 71 is driven to move between the two rotating wheels 73. The outer wall of the signal line 71 is made of a rubber protective skin with a certain hardness, which can effectively extend the bending service life of the signal line 71, and at the same time facilitate the rotating wheel 73 to drive the signal line 71 to move. When the signal line 71 keeps moving under the drive of the rotating wheel 73, since one end of the signal line 71 is connected to the rotating seat 4, and the rotating seat 4 is rotatably connected between the two fourth connecting rods 34 through the third shaft rod, and the signal line 71 itself has a certain hardness, the rotating seat 4 can be controlled to rotate at a certain angle with the third shaft rod as the center through the movement of the signal line 71. As an embodiment provided by the present invention, one end of the signal line 71 is connected to the side of the rotating seat 4 away from the mobile robot 1. Therefore, when the driving motor 72 drives the signal line 71 to move away from the mobile robot 1, the bottom of the rotating seat 4 can be driven to rotate toward the mobile robot 1 through the signal line 71. When the driving motor 72 drives the signal line 71 to move toward the mobile robot 1, the bottom of the rotating seat 4 rotates away from the mobile robot 1. The rotation direction of the rotating base 4 can be actively controlled by controlling the moving direction of the signal line 71 .

[0045] In addition, when the driving motor 72 remains stationary and the length of the signal line 71 between the rotating wheel 73 and the rotating seat 4 has a certain redundancy, at this time, since the signal line 71 itself has a certain hardness, when the detection probe 5 touches the outer wall of the detection surface, the detection probe 5 can be driven in reverse to rotate a certain angle, so that the detection probe 5 can have a certain adaptability to the weld.

[0046] When the output ends of the drive unit 6 and the drive motor 72 are both locked and the connecting rod mechanism 3 is extended outward, when the detection probe 5 contacts the weld surface, the fourth connecting rod 34 is subjected to an upward force perpendicular to the weld surface. Since the output end of the drive unit 6 is locked at this time, the sixth connecting rod 36 will not rotate upward. Therefore, the fourth connecting rod 34 will reversely drive the end of the first connecting rod 31 to slide downward in the first slide groove 21, so that the fourth connecting rod 34 can maintain oblique upward movement. Since a first elastic unit 37 is provided between the first connecting rod 31 and the first slide groove 21, flexible contact can be achieved between the detection probe 5 and the weld at this time, so that the detection probe 5 can better fit the weld and improve the detection accuracy of the weld.

[0047] As an embodiment provided by the present invention, an adaptive positioning mechanism 8 is provided on the outer wall of the rotating seat 4, and the adaptive positioning mechanism 8 includes a mounting seat 81, a swing rod 82 and a guide wheel 83. The mounting seat 81 is fixedly mounted on the rotating seat 4. As an embodiment provided by the present invention, the number of the swing rods 82 is four, and the four swing rods 82 are symmetrically arranged on both sides of the mounting seat 81, and a second elastic unit 84 is provided between the two swing rods 82 on the same side of the length direction of the mounting seat 81. Specifically, the second elastic unit 84 is a tension spring, such as Figure 5 As shown, two swing rods 82 on one side are connected by a second elastic unit 84, and the elasticity of the second elastic unit 84 drives the two swing rods 82 on the same side to move toward the detection probe 5. The guide wheel 83 is rotatably connected to one end of the swing rod 82 away from the rotating seat 4.

[0048] In this embodiment, the swing rod 82 is rotatably connected to the mounting base 81, and the swing rod 82 is driven to rotate toward the detection probe 5 by the second elastic unit 84, so that when the connecting rod mechanism 3 drives the bottom end of the detection probe 5 downward to fit the horizontal weld, the guide wheel 83 first fits the outer wall, and through the elasticity of the second elastic unit 84 and the swing rod 82, the swing rods 82 on both sides are located on both sides of the weld, so as to position the detection probe 5 and ensure that the detection probe 5 is aligned with the weld.

[0049] As a preferred embodiment provided by the present invention, Figure 5As shown, a second slide groove 85 is opened on the outer wall of the mounting seat 81, and the number of single-side second slide grooves 85 is two, and the two second slide grooves 85 are symmetrically arranged on the mounting seat 81, and a fifth shaft rod 87 is arranged at one end of the swing rod 82, and the swing rod 82 is movably connected to the second slide groove 85 through the fifth shaft rod 87 arranged at one end, and a sixth shaft rod 88 is arranged inside the second slide groove 85, and a third elastic unit 86 is movably arranged between the sixth shaft rod 88 and the fifth shaft rod 87, and the third elastic unit 86 is specifically a tension spring. Through the third elastic unit 86, the end of the swing rod 82 can be driven to always be close to the sixth shaft rod 88 under normal conditions. At this time, it can be regarded as that one end of the swing rod 82 is rotatably connected to the inside of the second slide groove 85.

[0050] A cavity is arranged inside the rotating seat 4, and the detection probe 5 is slidably connected to the cavity. A fourth elastic unit 9 is arranged between the detection probe 5 and the inner wall of the cavity. By matching the detection probe 5 and the fourth elastic unit 9, the end of the detection probe 5 can be adapted to welds of different heights.

[0051] Working principle:

[0052] like Figure 8 As shown, when it is necessary to inspect the horizontal weld, the mobile robot 1 is moved to the vicinity of the weld, and the driving unit 6 is used to drive the connecting rod mechanism 3 to extend. When the connecting rod mechanism 3 is extended, the cable tightening mechanism 7 controls the movement of the signal line 71, so that the rotating seat 4 moves along the swing trajectory of the connecting rod mechanism 3 while remaining vertical, so that the detection probe 5 fits the weld. During the movement of the detection probe 5, the swing rod 82 first contacts the horizontal plane through the guide wheel 83, driving the swing rod 82 to open, and the third elastic unit 86 is stretched to position the detection probe 5 to ensure that the detection probe 5 is aligned with the weld. Then, the mobile robot 1 is moved to inspect the weld.

[0053] like Figure 1 As shown, when it is necessary to inspect the weld of the vertical welding, the mobile robot 1 is moved to the vicinity of the weld, and the connecting rod mechanism 3 is driven to extend by the driving unit 6. When the connecting rod mechanism 3 is extended, the signal line 71 is controlled to move by the cable tightening mechanism 7, so that the rotating seat 4 moves along the swing trajectory of the connecting rod mechanism 3 and swings outward, so that the end of the detection probe 5 is close to the vertical weld, and in the process of the connecting rod mechanism 3 swinging outward, the guide wheel 83 at the end of the swing rod 82 abuts against the two side walls of the vertical weld, so that the swing rods 82 on both sides are opened, and the detection probe 5 is positioned by the swing rods 82 on both sides to ensure that the detection probe 5 is aligned with the weld, and then the mobile robot 1 moves to inspect the weld.

[0054] like Figure 7As shown, when it is necessary to detect the weld with two welding surfaces with acute angle structures, the mobile robot 1 is moved to the vicinity of the weld, and the connecting rod mechanism 3 is driven to extend by the driving unit 6. When the connecting rod mechanism 3 is extended, the signal line 71 is controlled to move by the cable tightening mechanism 7, so that the rotating seat 4 moves along the swing trajectory of the connecting rod mechanism 3 and swings outward, so that the tilt angle of the detection probe 5 fits the acute angle, so that the detection probe 5 can be extended between the acute angle surfaces for detection. During the movement of the rotating seat 4, the swing rod 82 is connected to the two side surfaces of the acute angle weld. Abutment. Since the end of the swing arm 82 is movably connected to the second slide groove 85 through the fifth shaft rod 87, when the swing arm 82 is close to the acute-angle surface, under the guidance of the guide wheel 83, the swing arm 82 flips upward. At this time, under the action of the third elastic unit 86, the end located in the second slide groove 85 moves toward the sixth shaft rod 88, so that the end away from the mounting seat 81 flips downward and always abuts against the acute-angle surface, so as to position the detection probe 5 and align the detection probe 5 with the acute-angle weld. Then, the weld is moved by the mobile robot 1 to detect the weld.

[0055] The elastic coefficients of the first elastic unit 37, the second elastic unit 84, the third elastic unit 86 and the fourth elastic unit 9 mentioned in the article all meet the technical requirements of the technical solution of the present invention.

[0056] Those skilled in the art will appreciate that other similar connection methods may also be used to implement the present invention, such as welding, bonding or screwing.

[0057] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A multi-angle folding line weld adaptive detection robot, comprising a mobile robot (1), characterized in that: Also includes: A connecting rod seat (2) arranged on the mobile robot (1); A connecting rod mechanism (3) is arranged on the connecting rod seat (2), wherein the output end of the connecting rod mechanism (3) is rotatably connected to a rotating seat (4), and a detection probe (5) is arranged inside the rotating seat (4); A driving unit (6) disposed on the mobile robot (1), wherein the driving unit (6) is connected to the connecting rod mechanism (3); The driving unit (6) drives the connecting rod mechanism (3) to swing along a predetermined trajectory, thereby driving the detection probe (5) inside the rotating seat (4) to move along the predetermined trajectory and causing the end of the detection probe (5) to fit the weld.

2. The multi-angle folding line weld adaptive detection robot according to claim 1, characterized in that: The connecting rod mechanism (3) comprises a first connecting rod (31), a second connecting rod (32), a third connecting rod (33) and a fourth connecting rod (34); a connecting rod seat (2) is fixedly mounted on the outer wall of the mobile robot (1); one end of the first connecting rod (31) is slidably connected to the connecting rod seat (2); one end of the second connecting rod (32) is rotatably connected to the outer wall of the first connecting rod (31); one end of the third connecting rod (33) is rotatably connected to an end of the second connecting rod (32) away from the first connecting rod (31); One end of the fourth connecting rod (34) is rotatably connected to one end of the first connecting rod (31) away from the connecting rod seat (2), one end of the third connecting rod (33) away from the second connecting rod (32) is rotatably connected to the outer wall of the fourth connecting rod (34), the detection probe (5) is rotatably connected to the hinge point of the third connecting rod (33) and the fourth connecting rod (34), the driving unit (6) is arranged on the connecting rod seat (2), and the output end of the driving unit (6) is connected to the hinge point of the second connecting rod (32) and the third connecting rod (33).

3. The multi-angle folding line weld adaptive detection robot according to claim 2, characterized in that: The connecting rod mechanism (3) also includes a fifth connecting rod (35) and a sixth connecting rod (36), one end of the fifth connecting rod (35) is rotatably connected to the connecting rod seat (2), the other end of the fifth connecting rod (35) is rotatably connected to the hinge point of the second connecting rod (32) and the third connecting rod (33), one end of the sixth connecting rod (36) is rotatably connected to the output end of the driving unit (6), the other end of the sixth connecting rod (36) is rotatably connected to the hinge point of the second connecting rod (32) and the third connecting rod (33), a first sliding groove (21) is provided on the connecting rod seat (2), one end of the first connecting rod (31) is slidably connected to the first sliding groove (21), and a first elastic unit (37) is provided between the first sliding groove (21) and one end of the first connecting rod (31).

4. The multi-angle folding line weld adaptive detection robot according to claim 1, characterized in that: It also comprises a cable bundling mechanism (7) arranged on the mobile robot (1), wherein a signal line (71) is arranged inside the cable bundling mechanism (7), and the signal line (71) is connected to the rotating seat (4).

5. The multi-angle folding line weld adaptive detection robot according to claim 1, characterized in that: The rotating seat (4) is provided with an adaptive positioning mechanism (8), the adaptive positioning mechanism (8) comprising a mounting seat (81), a swing rod (82) and a guide wheel (83); the mounting seat (81) is fixedly mounted on the rotating seat (4); one end of the swing rod (82) is rotatably connected to the mounting seat (81); the swing rod (82) is symmetrically arranged on both sides of the mounting seat (81); a second elastic unit (84) is arranged between two swing rods (82) on the same side of the mounting seat (81) in the length direction; and the guide wheel (83) is rotatably connected to one end of the swing rod (82) away from the mounting seat (81).

6. The multi-angle folding line weld adaptive detection robot according to claim 5, characterized in that: A second sliding groove (85) is provided on the outer wall of one side of the mounting seat (81), one end of the swing rod (82) is movably connected in the second sliding groove (85), and a third elastic unit (86) is provided between the second sliding groove (85) and the swing rod (82).

7. The multi-angle folding line weld adaptive detection robot according to claim 1, characterized in that: A cavity is provided inside the rotating seat (4), the detection probe (5) is slidably connected to the cavity, and a fourth elastic unit (9) is provided between the detection probe (5) and the inner wall of the cavity.

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