Laser weld defect detector

Abstract

The invention belongs to the technical field of welding seam detection, and particularly relates to a laser welding seam defect detection machine which comprises support plates, adjusting assemblies arranged between every two adjacent support plates, driving assemblies installed on the support plates and balancing assemblies arranged on one sides of the support plates. Wherein three groups of support plates are arranged in a circumferential array, a front-end support is fixedly mounted on one side of the long edge of each group of support plates, an ultrasonic detection probe, a dot matrix laser and a camera are sequentially mounted on the three groups of front-end supports, an electric control module is mounted on the top surface of each support plate, and a power supply module, a data analysis processing module and a control system are arranged in each electric control module. The device can automatically move on a reducing pipeline, perform positioning detection on a welding seam, and perform circumferential uninterrupted detection in the detection process, so that the detection precision is higher, a mode of combining laser detection and ultrasonic detection is utilized, displacement deviation is automatically corrected after reducing, the error probability is greatly reduced, unnecessary workload is avoided, and the detection efficiency is improved. The detection efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of weld detection, and in particular relates to a laser weld defect detection machine. Background Art

[0002] Laser weld defect detection is a commonly used welding quality assessment method at this stage, which is mainly carried out in the following ways: Photoelectric signal analysis: By collecting photoelectric signals of different wavelengths generated during laser welding, such as plasma photoelectric signals (UV < 400nm), molten pool radiation photoelectric signals (IR, 1100 ~ 1800nm) and laser reflection photoelectric signals, abnormalities in the welding process can be monitored, thereby detecting possible defects in the weld.

[0003] Visual inspection technology: Use laser vision sensors to collect weld images and perform preprocessing, such as image segmentation and grayscale conversion, to identify defects on the weld surface. This method can realize automatic detection and classification of weld surface defects.

[0004] However, in the prior art, there are relatively few machines for detecting laser welding gap defects of pipe fittings. In particular, when inspecting pipe fittings with long extension lengths, constantly changing pipe diameters, pipes that are difficult to move, and pipes with many welding gaps, they can generally only be inspected manually at fixed points one by one. The various existing laser weld defect inspection machines cannot be well applied, and simply relying on laser detection for inspection is also prone to errors, increasing unnecessary workload.

[0005] Secondly, even if there are some machines that can detect as the pipe changes diameter, it is easy for the position to shift during the movement, especially when the diameter changes. Once the position shifts, it is impossible to accurately align the detection end with the weld during the circular weld detection, which results in a large detection error and no effective detection result. Summary of the invention

[0006] The purpose of the present invention is to provide a laser weld defect detection machine, which can move automatically on a variable diameter pipeline to perform positioning detection on the weld. During the detection process, uninterrupted circumferential detection can be performed to achieve higher detection accuracy. In addition, a combination of laser detection and ultrasonic detection is used, and displacement deviations are automatically corrected after the diameter is changed, thereby greatly reducing the error probability, avoiding unnecessary workload, and improving detection efficiency.

[0007] The technical solution adopted by the present invention is as follows: A laser weld defect detection machine, comprising: The support plate has support arms symmetrically and detachably mounted at both ends, a through slot is opened in the center of the top surface of the support plate, and a rotating shaft support is fixedly mounted on one side of the long side; An adjustment assembly is arranged between two adjacent groups of the support arms, and the adjustment assembly includes rack plates staggered and fixedly installed between the two groups of the support arms and a central gear meshed between the two groups of the staggered rack plates. A driving track mechanism for moving and positioning the two connected groups of the support arms is also arranged between the two groups of the support arms; A driving assembly, comprising an upper supporting plate rotatably mounted inside the through slot and a lower supporting seat fixedly mounted on the bottom surface of the upper supporting plate, a driving motor being fixedly mounted on one side of the lower supporting seat, a driving wheel being fixedly mounted on the power output end of the driving motor, and the driving wheel being embedded in the lower supporting seat, and a turning mechanism for driving the upper supporting plate to rotate circumferentially is provided between the upper supporting plate and the bracket plate; The balancing assembly comprises a rear end bracket rotatably mounted on the rotating shaft support, wherein one end of the rear end bracket away from the rotating shaft support is rotatably connected to a double row of universal wheels, and a circumferential array on the double row of universal wheels is cross-rotatably connected to a circumferential auxiliary roller; Among them, there are three groups of circular arrays of the support plates, which are combined circumferentially by the support arms in a hexagonal shape, and the spacing between them is synchronously adjusted by the adjustment component to match pipes of different diameters. The support plate is fixedly installed with a front end bracket on the opposite side of the rotating shaft support. Ultrasonic detection probes, dot matrix lasers and cameras are installed in sequence on the three groups of front end brackets for detecting weld defects in the pipeline. The driving component is used to provide driving force for travel, and the turning mechanism can be used to adjust its driving direction to rotate circumferentially along the pipeline to perform comprehensive inspection of the annular weld, and the balancing component is used to assist its travel to maintain balance. A correction for determining and repairing the travel position is also provided between the driving component and the balancing component.

[0008] As a preferred solution, the track driving mechanism includes a slide groove opened on the support arm and a side support box arranged between two groups of relative support arms, and limiting sliders are fixedly installed on the inner sides of both ends of the side support box. The limiting sliders are slidably embedded in the slide groove, and the side support box is rotatably connected to a roller that fits the side wall of the support arm through a bracket.

[0009] As a preferred solution, the side support boxes are symmetrically arranged in two groups on both sides of the support arm, and the central gear is rotatably connected at the center position between the two groups of the side support boxes. A first servo motor is fixedly installed on the top surface of one side of the side support box, and the first servo motor is connected to the central gear through a synchronous wheel set.

[0010] As a preferred solution, a storage plate is fixedly mounted on the support arm on the other side of the rack plate, and the storage plate is used to store the rack plate in the relative direction. A pad is fixed between the rack plate and one of the storage plates and the support arm to increase its supporting height.

[0011] As a preferred solution, the turning mechanism includes a driven gear fixedly mounted on the top surface of the upper support plate, a driving gear meshing with the driven gear, and a second servo motor fixedly mounted on the bottom surface of the bracket plate, and the power output end of the second servo motor is connected to the driving gear through a micro reducer.

[0012] As a preferred solution, a spring damper rod is arranged between the rear end bracket and the bracket plate, one end of the spring damper rod is rotatably connected to the bottom surface of the bracket plate, and the other end is rotatably connected to the bottom surface of the rear end bracket.

[0013] As a preferred solution, one group of the front brackets is provided with a resistance mechanism for pushing the ultrasonic detection probe, a support mechanism for assisting the sliding of the front bracket, and a spraying mechanism for filling the ultrasonic detection gap; The spraying mechanism includes an electric spray pot fixedly mounted on the top of the front end bracket and a nozzle fixedly mounted on the bottom of the front end bracket parallel to the ultrasonic detection probe. The discharge port of the electric spray pot is connected to the nozzle through a pipe, and the nozzle is bent toward the side of the ultrasonic detection probe. The electric spray pot is provided with a feeding port on the top surface of the front end bracket.

[0014] As a preferred solution, the support mechanism includes a support seat fixedly installed at the bottom of the front end bracket, and a support rod fixedly installed in the support seat, and a ball is rollingly embedded in the bottom surface of the support rod.

[0015] As a preferred embodiment, the resistance mechanism includes a sleeve slidably mounted on the bottom of the front end bracket and a micro electric push rod fixedly mounted on the top of the front end bracket, the ultrasonic detection probe is movably mounted inside the sleeve, a clamping spring is fixedly mounted between the top surface of the ultrasonic detection probe and the top wall of the sleeve, a transmission plate is fixedly mounted on the power output end of the micro electric push rod, and the transmission plate is fixedly mounted on the top surface of the sleeve away from one end of the micro electric push rod.

[0016] As a preferred solution, the correction mechanism includes a first encoder fixedly mounted on one side of the lower support, a second encoder fixedly mounted on the rear end support close to one end of the double-row universal wheel, and a hollow annular pressure sensor fixedly sleeved on the spring shock absorber rod, the first encoder is connected to the rotating shaft of the driving wheel, the second encoder is connected to the rotating shaft of the double-row universal wheel, and monitors the number of rotations of the driving wheel and the double-row universal wheel respectively, and the hollow annular pressure sensor is embedded between the spring and the fixed support rod of the spring shock absorber rod to monitor the spring pressure.

[0017] The technical effects achieved by the present invention are: The present invention can adaptively change the clamping space according to the pipe diameter by arranging the support plate, the adjustment component and the driving component, and can stably move on the outer surface of pipes with different diameters and variable diameter pipes, replacing the traditional manual detection and fixed detection machine, and is more convenient to use, with a small overall volume, can be disassembled, and is easy to carry. It can adapt to a variety of work scenes and can be widely used in the field of pipe weld detection. The present invention provides a turning mechanism to cooperate with the driving motor and the driving wheel, and can use the turning mechanism to change the travel convenience of the driving wheel, so that it can drive the entire device to travel in a straight line or rotate circumferentially along the pipe, so that it can continuously move along the long pipe to detect the weld on its surface, and the weld can be scanned uninterruptedly in the circumferential direction, and the weld can be fully covered and scanned, so that the detection data is more accurate, and thus the detection result is more accurate; The present invention cooperates with an ultrasonic detection probe, a dot matrix laser and a camera, and can first generate a data image through the dot matrix laser and the camera, evaluate the quality of the weld from the imaging result, and record the position with quality problems, and then conduct ultrasonic detection and verification through the ultrasonic detection probe to ensure the accuracy of the detection result, greatly reduce the error caused by one detection method, thereby reducing unnecessary workload and improving detection efficiency; The present invention arranges an electric spray pot in cooperation with the nozzle, and can spray a coupling agent at the detection position before ultrasonic detection to fill the detection gap between the ultrasonic detection probe and the pipe wall, so that the detection result is clearer and more accurate, and the detection accuracy is further improved. At the same time, the tightening spring can use its rebound force during the downward pressing of the micro electric push rod to make the ultrasonic detection probe close to the pipe wall, thereby ensuring that the ultrasonic detection probe can be stably attached to the pipe wall during the entire detection process, ensuring the continuity of the detection, thereby improving the overall detection accuracy.

[0018] The present invention provides a first encoder, a second encoder and a hollow annular pressure sensor, and can use the number of wheel circles and the diameter of the wheel identified by the encoder to obtain the actual travel distance. Furthermore, during the actual operation of the device, by comparing whether the actual travel distances of the wheels are the same, it is determined whether the machine frame is tilted, thereby determining whether the travel position is accurate and whether the detection end is aligned with the annular weld. The hollow annular pressure sensor is used to monitor the spring pressure, and it can be further verified whether the device is facing the weld in an annular direction. When necessary, the deviation position can be adjusted by controlling the drive wheel so that the detection end can be accurately aligned with the weld. In this way, when detecting around the weld, the detection result can be more accurate, the error can be reduced, and the reference value can be higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic diagram of the three-dimensional structure of an embodiment of the present invention; Figure 2 is a schematic diagram of a three-dimensional structure of an embodiment of the present invention from a side view; Figure 3 is a rear view of an embodiment of the present invention; Figure 4 It is a schematic diagram of a partial three-dimensional structure of an embodiment of the present invention; Figure 5 is a schematic structural diagram of a bracket plate according to an embodiment of the present invention; Figure 6 is a schematic diagram of the structure of the regulating component according to an embodiment of the present invention; Figure 7 is a schematic structural diagram of a side support box according to an embodiment of the present invention; Figure 8 The present invention Figure 6 A front cross-sectional view of Fig. 9 The present invention Figure 8 A partial enlarged view of; Fig.10 is a schematic diagram of the structure of a drive assembly according to an embodiment of the present invention; Fig.11 is a structural use diagram of a balancing component according to an embodiment of the present invention; Fig.12 It is a schematic structural diagram of an ultrasonic detection probe and related components according to an embodiment of the present invention; Fig.13 The present invention Fig.12 A front cross-sectional view of Fig.14 1 is a schematic diagram of the structure of a dot matrix laser according to an embodiment of the present invention; Fig.15 is a structural schematic diagram of a camera according to an embodiment of the present invention; Fig.16 It is a structural schematic diagram of the use status of an embodiment of the present invention.

[0020] In the accompanying drawings, the components represented by the reference numerals are listed as follows: 1. Bracket plate; 2. Adjustment component; 3. Drive component; 4. Balance component; 5. Ultrasonic detection probe; 6. Fractional laser; 7. Camera; 11. Support arm; 12. Through slot; 13. Rotating shaft support; 14. Slide slot; 15. Electric control module; 16. Front end bracket; 21. rack plate; 22. storage plate; 23. central gear; 24. pad; 25. side support box; 26. roller; 27. limit slider; 28. first servo motor; 31. Lower support; 32. Driving motor; 33. Driving wheel; 34. Upper supporting plate; 35. Driven gear; 36. Second servo motor; 37. Driving gear; 38. First encoder; 41. rear end bracket; 42. spring damping rod; 43. double-row universal wheels; 44. second encoder; 45. circumferential auxiliary roller; 46. hollow annular pressure sensor; 51. Support seat; 52. Support rod; 53. Ball; 54. Sleeve; 55. Micro electric push rod; 56. Transmission plate; 57. Clamping spring; 58. Electric spray pot; 59. Nozzle; 510. Feeding port. DETAILED DESCRIPTION

[0021] In order to make the purpose and advantages of the present invention more clearly understood, the present invention is specifically described below in conjunction with embodiments. It should be understood that the following text is only used to describe one or several specific embodiments of the present invention, and does not strictly limit the scope of protection of the specific claims of the present invention.

[0022] like Figure 1-Figure 16 As shown, a laser weld defect detection machine comprises a support plate 1, an adjustment component 2 arranged between two adjacent groups of support plates 1, a driving component 3 installed on the support plate 1, and a balancing component 4 arranged on one side of the support plate 1; Among them, there are three groups of bracket plates 1 in a circumferential array, and each group of bracket plates 1 is fixedly installed with a front bracket 16 on one side of the long side. Ultrasonic detection probes 5, dot matrix lasers 6 and cameras 7 are installed on the three groups of front brackets 16 in sequence, and an electric control module 15 is installed on the top surface of the bracket plate 1, which has a built-in power supply module, data analysis and processing module and control system. The weld data is scanned by the dot matrix laser 6 and the camera 7, and a data image is formed by the data analysis and processing module. The weld quality is evaluated according to the imaging result, and the quality problems are recorded. At the same time, the position of the ultrasonic detection probe 5 is adjusted by the control system, and the position is rechecked to ensure accurate detection of pipeline weld defects; In this embodiment, each set of bracket plates 1 has support arms 11 symmetrically and detachably installed at both ends, and the device uses the support arms 11 to be combined circumferentially to form a hexagonal shape; correspondingly, in order to combine three sets of opposing support arms 11, the adjustment components 2 are also provided with three sets, which are located on the other three sides of the hexagon, so that the pipeline can be placed at the center of the hexagon, and at the same time, the distance between the three sets of opposing support arms 11 is synchronously changed by the adjustment components 2 to change the clamping space of the device, so as to adapt to pipes and reducers of different diameters; Furthermore, the bracket plate 1 and the support arm 11 are connected in a detachable manner by plugging and unplugging or detachable manner by screws. In this embodiment, the detachable screw connection is adopted. In this way, when inspecting the pipe fitting, you can choose to put the device on the outer surface of the pipe fitting from one end, or remove the support arm 11 on one side and clamp the device on the pipe fitting. There are two ways to use the device, which can be selected according to the specific usage scenario.

[0023] See attached Figure 5-Figure 9 The adjustment assembly 2 includes a rack plate 21 staggered and fixedly installed between two groups of support arms 11, and a central gear 23 meshed between the two groups of rack plates 21; In order to ensure the combined stability between the two groups of support arms 11, a slide groove 14 is provided on the support arm 11, and a side support box 25 is provided between the two groups of relative support arms 11. By fixing a limit slider 27 on the inner sides of both ends of the side support box 25, and sliding the limit slider 27 into the slide groove 14, and two groups of side support boxes 25 are symmetrically provided on both sides of the support arm 11, the two groups of support arms 11 can be linearly combined by using the two groups of side support boxes 25, so that they can move relatively within the extension range of the side support boxes 25. For further details, please refer to the attached Figure 7 The side support box 25 is internally connected to a roller 26 that fits the side wall of the support arm 11 through a bracket, thereby ensuring the combined stability between the two groups of support arms 11 and the side support box 25, and making the movement of the support arm 11 relative to the side support box 25 smoother; Furthermore, the central gear 23 is rotatably connected to the center position between the two sets of side support boxes 25. By fixing a first servo motor 28 on the top surface of one of the side support boxes 25, and connecting the first servo motor 28 and the central gear 23 through a synchronous wheel set, the first servo motor 28 can be used to drive the central gear 23 to rotate synchronously, so that the two sets of rack plates 21 meshing therewith are relatively contracted or extended, thereby changing the distance between the two adjacent sets of support arms 11. In this embodiment, please refer to the attached Figure 5In order to ensure the stability of the movement of the rack plate 21 and to store it, a storage plate 22 is fixedly installed on the support arm 11 on the other side of the rack plate 21, and a pad 24 is fixed between one of the rack plate 21 and the storage plate 22 and the support arm 11 to increase its support height, that is, only one pad 24 is arranged on the same support arm 11, which is connected to the storage plate 22 or the rack plate 21 thereon, while the pad 24 on the other group of support arms 11 opposite to it is arranged in the opposite position, thereby compensating for the height difference of the two groups of rack plates 21 staggered, so that they can move stably and synchronously and be stored in the storage plate 22, so as to ensure the structural stability of the device.

[0024] See attached Figure 4 and Fig.10 , in order to install the driving assembly 3, a through slot 12 is opened in the center of the top surface of the bracket plate 1; The driving assembly 3 includes an upper support plate 34 rotatably mounted inside the through groove 12 and a lower support 31 fixedly mounted on the bottom surface of the upper support plate 34. A driving motor 32 is fixedly mounted on one side of the lower support 31, and a driving wheel 33 is fixedly mounted on the power output end of the driving motor 32, and the driving wheel 33 is embedded in the lower support 31. The driving motor 32 can be used to drive the driving wheel 33 to move along the pipeline, and the dot matrix laser 6 and the camera 7 are used to identify and scan the outer wall of the pipe fitting, and positioning is performed when a weld is found; In order to realize the comprehensive inspection of the weld, a driven gear 35 is fixedly installed on the top surface of the upper support plate 34, and a driving gear 37 is meshed with the driven gear 35, and a second servo motor 36 is fixedly installed on the bottom surface of the bracket plate 1, and the power output end of the second servo motor 36 is connected to the driving gear 37 through a micro reducer. The driving gear 37 can be meshed with the driven gear 35 to drive the driving wheel 33 to rotate 90 degrees as a whole, so that its travel direction can be changed, and then the driving motor 32 drives the driving wheel 33 to make the device rotate circumferentially around the weld, and then the dot matrix laser 6 and the camera 7 are used to perform full coverage scanning and inspection on the weld, and the scanning data of the dot matrix laser 6 and the camera 7 are combined for data analysis to generate a data image, and the quality of the weld is evaluated from the imaging results, and the position with quality problems is recorded; Furthermore, the control system can be used to control the driving motor 32 to drive the driving wheel 33 to move the ultrasonic detection probe 5 to the location where the quality problem occurs for review.

[0025] See attached Figure 12-13In order to avoid damaging the ultrasonic detection probe 5 during movement and to attach it to the pipe wall during use, a sleeve 54 is slidably installed at the bottom of one group of front end brackets 16, and a micro-electric push rod 55 is fixedly installed on the top of the front end bracket 16. The ultrasonic detection probe 5 is movably installed inside the sleeve 54, and a tightening spring 57 is fixedly installed between the top surface of the ultrasonic detection probe 5 and the top wall of the sleeve 54. At the same time, a transmission plate 56 is fixedly installed at the power output end of the micro-electric push rod 55. Then, the transmission plate 56 is fixedly installed on the top surface of the sleeve 54 away from one end of the micro-electric push rod 55. The micro-electric push rod 55 can be used to push the ultrasonic detection probe 5 downward through the transmission plate 56 to fit it at the position to be detected. At the same time, the tightening spring 57 can use its rebound force during the downward pressing of the micro-electric push rod 55 to make the ultrasonic detection probe 5 close to the pipe wall, thereby ensuring that the ultrasonic detection probe 5 can stably fit on the pipe wall during the entire detection process, ensuring the continuity of the detection, thereby improving the overall detection accuracy; Furthermore, in order to ensure the stability of the front bracket 16 during the movement, a support seat 51 is fixedly installed at the bottom of the front bracket 16, and a support rod 52 is fixedly installed in the support seat 51, and a ball 53 is rollingly embedded in the bottom surface of the support seat 51, and the rolling characteristics of the ball 53 can be used to achieve linear and circumferential movement, and the bottom surface of the ball 53 and the bottom surface of the driving wheel 33 are in the same plane, so that when moving, they can synchronously contact the outer surface of the pipe fitting, and the support rod 52 is used to support the front bracket 16 to ensure its stability, thereby ensuring the movement stability of the detection element thereon; In this embodiment, only one set of support rods 52 and balls 53 is provided on the front bracket 16; in other embodiments, one to three sets or no set may be provided as required; Furthermore, in order to ensure the detection accuracy of the ultrasonic detection probe 5, an electric spray pot 58 is fixedly installed on the top of the front end bracket 16, and a nozzle 59 is fixedly installed on the bottom of the front end bracket 16 parallel to the ultrasonic detection probe 5. The discharge port of the electric spray pot 58 is connected to the nozzle 59 through a pipe, and the nozzle 59 is bent toward the side of the ultrasonic detection probe 5. Before detecting the specified position, the electric spray pot 58 can be used to spray the coupling agent to the position through the nozzle 59, and then the micro electric push rod 55 is used to push the ultrasonic detection probe 5 down through the transmission plate 56 to fit the position for ultrasonic detection, so as to fill the detection gap between the ultrasonic detection probe 5 and the pipe wall, so that the ultrasonic propagation is more stable and the signal is stronger, so that the detection result is clearer and more accurate, and the detection accuracy is further improved. In addition, the electric spray pot 58 is provided with a feeding port 510 on the top surface of the front end bracket 16, which can facilitate and timely add coupling agent.

[0026] See attached Figure 2 , Figure 4 as well as Fig.11, in order to install the balancing assembly 4, a rotating shaft support 13 is fixedly installed on one side of the long side of the bracket plate 1; The balancing assembly 4 includes a rear end bracket 41 rotatably mounted on the rotating shaft support 13, and the rear end bracket 41 is rotatably connected to a double row of universal wheels 43 at one end away from the rotating shaft support 13, which can be combined with the driving wheel 33 to form a balancing support mechanism. With the support of the two sets of wheels, the stability of the device moving on the surface of the pipe is guaranteed. At the same time, the circumferential array on the double row of universal wheels 43 is cross-rotatably connected to a circumferential auxiliary roller 45, so that it can rotate circumferentially along the pipe to realize the universal rotation function, thereby cooperating with the device to perform weld detection; Furthermore, a spring shock absorber rod 42 is arranged between the rear end bracket 41 and the bracket plate 1, one end of the spring shock absorber rod 42 is rotatably connected to the bottom surface of the bracket plate 1, and the other end is rotatably connected to the bottom surface of the rear end bracket 41, so as to improve the stability of the device during movement. At the same time, during the process of pipe diameter change, when the clamping space of the device is continuously adjusted, the spring shock absorber rod 42 can be used to buffer the deformation impact force, thereby ensuring the stable movement of the device.

[0027] See attached Figure 4 , Fig.10 as well as Fig.11 In order to locate the traveling position, a first encoder 38 is fixedly installed on one side of the lower support 31, and a second encoder 44 is fixedly installed on one end of the rear end bracket 41 close to the double-row universal wheel 43, and a hollow annular pressure sensor 46 is fixedly sleeved on the spring shock absorber rod 42. The first encoder 38 is connected to the rotating shaft of the driving wheel 33, and the second encoder 44 is connected to the rotating shaft of the double-row universal wheel 43, which respectively monitor the number of rotations of the driving wheel 33 and the double-row universal wheel 43. The number of rotations of each wheel and the diameter of the wheel identified by the encoder can be used to obtain the actual travel distance. Since each wheel travels synchronously, the travel distance should be the same. In the actual operation of the device, the actual travel distance of each wheel can be compared to determine whether the machine frame is tilted, thereby determining whether the traveling position is accurate and whether the detection end is aligned with the annular weld.

[0028] Secondly, the hollow annular pressure sensor 46 is embedded between the spring of the spring shock absorber rod 42 and the fixed support rod to monitor the spring pressure, which can further verify whether the device is facing the weld in an annular shape. In this embodiment, if the pressure values ​​of the three groups of hollow annular pressure sensors 46 are the same, it means that the rear end bracket 41 is in the same annular plane and the spring shock absorber rod 42 is stretched or compressed to the same degree; if the values ​​are different, it means that they are not in the same annular plane. At this time, it is necessary to adjust the deviation position by controlling the driving wheel 33 so that the three groups of values ​​are the same. At this time, the detection end can accurately align with the weld. In this way, when detecting around the weld, the detection result can be more accurate, the error can be reduced, and the reference value can be higher.

[0029] Furthermore, by fixing a second encoder 44 on one end of the rear end bracket 41 close to the double-row universal wheels 43, and connecting the second encoder 44 to the rotating shaft of the double-row universal wheels 43, the second encoder 44 can be used to accurately record the distance that the device runs on the surface of the pipe, and then the position of the weld detection scan can be recorded, which is convenient for the staff to perform other subsequent work on the weld.

[0030] The working principle of the present invention is as follows: first, the device is sleeved on the outer surface of the pipe from one end thereof, or the support arm 11 on one side is removed, and the device is clamped on the pipe, and then the support arm 11 is restored, and then the three groups of first servo motors 28 are synchronously started, and the three groups of central gears 23 are driven to rotate synchronously by the first servo motors 28, so that the two groups of rack plates 21 meshing therewith are relatively contracted, thereby changing the clamping space of the entire device, until the driving wheel 33 is attached to the outer surface of the pipe, so as to facilitate the use of the driving wheel 33 to drive the entire device to move on the pipe; Secondly, the driving motor 32 is used to drive the driving wheel 33 to move along the pipeline, and the double-row universal wheels 43 are simultaneously attached to the outer surface of the pipe to provide support to ensure the balance of the device. The dot matrix laser 6 and the camera 7 are used to identify and scan the outer wall of the pipe. When the weld is found, positioning is performed to stop the driving motor 32, and the second servo motor 36 is started to drive the driving gear 37 to rotate. The driving gear 37 is meshed with the driven gear 35, thereby driving the driving wheel 33 to rotate ninety degrees as a whole, so that its moving direction can be changed. Then, the driving motor 32 drives the driving wheel 33 to make the device rotate circumferentially around the weld, and then the dot matrix laser 6 and the camera 7 are used to perform full coverage scanning and detection of the weld. The scanning data of the dot matrix laser 6 and the camera 7 are combined for data analysis to generate a data image, and the weld quality is evaluated from the imaging results, and the position with quality problems is recorded; Finally, the driving motor 32 drives the driving wheel 33 to move the ultrasonic detection probe 5 to the location with quality problems for review. The electric spray pot 58 sprays coupling agent to the location through the nozzle 59. At the same time, the micro electric push rod 55 pushes the ultrasonic detection probe 5 down through the transmission plate 56 to fit the location, and ultrasonic detection is performed. The ultrasonic data is analyzed to verify whether there is really a problem with the weld at that location. If the two structures are consistent, it indicates that there is a problem. If it shows that there is no problem, a manual review is performed to ensure that the weld is intact. After the inspection is completed in sequence, the device can continue to move forward and inspect the welds one by one.

[0031] The above is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to the conventional means in the art unless otherwise specified and limited.

Claims

1. A laser weld defect detection machine, characterized in that: include: A support plate (1) has support arms (11) symmetrically and detachably mounted at both ends, a through slot (12) is provided at the center of the top surface of the support plate (1), and a rotating shaft support (13) is fixedly mounted on one side of the long side; An adjustment component (2) is arranged between two adjacent groups of the support arms (11), the adjustment component (2) comprising rack plates (21) staggered and fixedly installed between the two groups of the support arms (11) and a central gear (23) meshed between the two groups of the staggered rack plates (21), and a driving track mechanism for moving and positioning the two groups of the support arms (11) is also arranged between the two groups of the support arms (11); A driving assembly (3) comprises an upper supporting plate (34) rotatably mounted inside the through slot (12) and a lower supporting seat (31) fixedly mounted on the bottom surface of the upper supporting plate (34), a driving motor (32) being fixedly mounted on one side of the lower supporting seat (31), a driving wheel (33) being fixedly mounted on the power output end of the driving motor (32), the driving wheel (33) being embedded in the lower supporting seat (31), and a turning mechanism for driving the upper supporting plate (34) to rotate circumferentially being provided between the upper supporting plate (34) and the bracket plate (1); The balancing assembly (4) comprises a rear end bracket (41) rotatably mounted on the rotating shaft support (13), wherein one end of the rear end bracket (41) away from the rotating shaft support (13) is rotatably connected to a double row of universal wheels (43), and a circumferential array on the double row of universal wheels (43) is cross-rotatably connected to circumferential auxiliary rollers (45); The support plates (1) have three groups of circular arrays, which are combined in a hexagonal shape by the support arms (11) in the circumferential direction, and the spacing between them is synchronously adjusted by the adjustment component (2) to match pipes of different diameters. The support plates (1) are fixedly mounted with a front end support (16) on the side opposite to the rotating shaft support (13). Ultrasonic detection probes (5), dot matrix lasers (6) and cameras (7) are sequentially mounted on the three groups of the front end supports (16) for detecting weld defects on the pipes. A correction device for determining and repairing the travel position is also arranged between the drive component (3) and the balance component (4); When moving, the driving component (3) is used to provide a driving force for straight-line movement, and moves in a straight line along the pipeline, and the balancing component (4) is used to assist its movement to maintain balance; During inspection, the driving direction of the driving assembly (3) is adjusted by using the turning mechanism to provide a circumferential driving force, and the circumferential rotation is performed along the pipeline to perform a comprehensive inspection of the annular weld.

2. A laser weld defect detection machine according to claim 1, characterized in that: The track driving mechanism comprises a slide groove (14) provided on the support arm (11) and a side support box (25) arranged between two groups of side support boxes (25) relative to the support arm (11); limiting sliders (27) are fixedly installed on the inner sides of both ends of the side support box (25); the limiting sliders (27) are slidably embedded in the slide groove (14); and a roller (26) is rotatably connected to the side wall of the support arm (11) through a bracket.

3. A laser weld defect detection machine according to claim 2, characterized in that: Two groups of the side support boxes (25) are symmetrically arranged on both sides of the support arm (11); the central gear (23) is rotatably connected to the center position between the two groups of the side support boxes (25); a first servo motor (28) is fixedly mounted on the top surface of one side of the side support boxes (25); the first servo motor (28) is connected to the central gear (23) via a synchronous wheel set.

4. The laser weld defect detection machine according to claim 1, characterized in that: A receiving plate (22) is fixedly mounted on the support arm (11) on the other side of the rack plate (21), the receiving plate (22) being used to receive the rack plate (21) in the opposite direction, and a pad (24) is fixed between one of the rack plate (21) and the receiving plate (22) and the support arm (11) to increase the support height thereof.

5. The laser weld defect detection machine according to claim 1, characterized in that: The switching mechanism comprises a driven gear (35) fixedly mounted on the top surface of the upper support plate (34), a driving gear (37) meshing with the driven gear (35), and a second servo motor (36) fixedly mounted on the bottom surface of the bracket plate (1), wherein a power output end of the second servo motor (36) is transmission-connected to the driving gear (37) via a micro reducer.

6. The laser weld defect detection machine according to claim 1, characterized in that: A spring damping rod (42) is provided between the rear end bracket (41) and the bracket plate (1), one end of the spring damping rod (42) being rotatably connected to the bottom surface of the bracket plate (1), and the other end of the spring damping rod (42) being rotatably connected to the bottom surface of the rear end bracket (41).

7. The laser weld defect detection machine according to claim 1, characterized in that: One group of the front brackets (16) is provided with a resistance mechanism for pushing the ultrasonic detection probe (5), a support mechanism for assisting the front bracket (16) to slide, and a spraying mechanism for filling the ultrasonic detection gap; The spraying mechanism comprises an electric spray pot (58) fixedly mounted on the top of the front end bracket (16) and a nozzle (59) fixedly mounted on the bottom of the front end bracket (16) in parallel with the ultrasonic detection probe (5); the discharge port of the electric spray pot (58) is connected to the nozzle (59) through a pipeline, the nozzle (59) is bent toward one side of the ultrasonic detection probe (5), and the electric spray pot (58) is provided with a feeding port (510) on the top surface of the front end bracket (16).

8. The laser weld defect detection machine according to claim 7, characterized in that: The support mechanism comprises a support seat (51) fixedly mounted on the bottom of the front bracket (16), and a support rod (52) fixedly mounted in the support seat (51), wherein a ball (53) is rotatably embedded in the bottom surface of the support rod (52).

9. The laser weld defect detection machine according to claim 7, characterized in that: The abutment mechanism comprises a sleeve (54) slidably mounted on the bottom of the front end bracket (16) and a micro electric push rod (55) fixedly mounted on the top of the front end bracket (16); the ultrasonic detection probe (5) is movably mounted inside the sleeve (54); a clamping spring (57) is fixedly mounted between the top surface of the ultrasonic detection probe (5) and the top wall of the sleeve (54); a transmission plate (56) is fixedly mounted on the power output end of the micro electric push rod (55); and an end of the transmission plate (56) away from the micro electric push rod (55) is fixedly mounted on the top surface of the sleeve (54).

10. The laser weld defect detection machine according to claim 6, characterized in that: The correction mechanism comprises a first encoder (38) fixedly mounted on one side of the lower support (31), a second encoder (44) fixedly mounted on the rear end support (41) close to one end of the double-row universal wheel (43), and a hollow annular pressure sensor (46) fixedly sleeved on the spring damping rod (42), wherein the first encoder (38) is connected to the rotation shaft of the driving wheel (33), and the second encoder (44) is connected to the rotation shaft of the double-row universal wheel (43) to monitor the number of rotations of the driving wheel (33) and the double-row universal wheel (43) respectively, and the hollow annular pressure sensor (46) is embedded between the spring and the fixed support rod of the spring damping rod (42) to monitor the spring pressure.

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