A weld detection device for a welding robot

Abstract

The present invention relates to the technical field of weld detection, and specifically discloses a weld detection device for a welding robot, including: a three-axis moving platform, on which a welding torch is installed, and further including: a mounting mechanism, the welding torch is fixed within the mounting mechanism; a rotating mechanism, the rotating mechanism is installed on the outer side of the welding torch and rotates along the outer side of the welding torch; a cooling mechanism and a detection mechanism, both the cooling mechanism and the detection mechanism are installed on the rotating mechanism, the cooling mechanism cools the weld. The three-axis moving platform can not only weld the workpiece but also synchronously cool and detect the weld after welding. Integrating the welding torch, the cooling mechanism and the detection mechanism can effectively control the cost of workpiece processing. Moreover, after the workpiece is welded, it is cooled and detected separately, making the processing flow of the workpiece more coherent and compact, effectively improving the detection efficiency of the workpiece, and being more convenient and fast during use.

Description

Technical Field

[0001] The invention relates to the technical field of weld detection, in particular to a weld detection device of a welding robot. Background Art

[0002] With the development of modern industry, welding technology plays an increasingly important role in the manufacturing industry. However, weld quality has always been a key factor restricting product quality and production efficiency. Weld inspection is an important part of welded structure quality management, which is related to the success or failure of the entire structure and even the project.

[0003] The purpose of inspecting welds is, firstly, to ensure the integrity, safety and workability of the welded structure, and secondly, to use the inspection results to control the welding position, welding line position, welding distance height and weld tracking of the welds. Currently, common inspection methods include magnetic particle inspection, penetration inspection, eddy current inspection, ultrasonic inspection, X-ray inspection and line laser inspection. Each inspection method has its own advantages and disadvantages. Users can choose the appropriate inspection method according to their own needs.

[0004] In the prior art, during the inspection of workpieces, welding and inspection are two independent devices, that is, after welding is completed, the workpiece is naturally cooled before inspection. However, the workpiece needs to be loaded and unloaded and positioned again during the conversion between welding and inspection, resulting in the separation of the three links of welding, cooling and inspection. This is not compact enough, will increase production costs, and is also more troublesome during operation. In addition, the workpiece is naturally cooled, which leads to a long cooling time and reduces production efficiency.

[0005] To this end, we propose a weld detection device for a welding robot. Summary of the invention

[0006] The object of the present invention is to provide a weld detection device for a welding robot to solve the problem in the above background technology that the workpiece is not compact enough during welding, cooling and detection, resulting in increased welding costs and reduced efficiency.

[0007] To achieve the above object, the present invention provides the following technical solution: a weld detection device for a welding robot, comprising: a three-axis mobile platform, a welding gun is installed on the three-axis mobile platform, and further comprising:

[0008] A mounting mechanism, wherein the mounting mechanism is fixed to the Z axis of the three-axis moving platform, and the welding gun is fixed in the mounting mechanism;

[0009] A rotating mechanism, wherein the rotating mechanism is installed on the outside of the welding gun and rotates along the outside of the welding gun;

[0010] The cooling mechanism and the detection mechanism are both installed on the rotating mechanism. The cooling mechanism cools the weld and the detection mechanism detects the cooled weld.

[0011] Among them, the installation mechanism includes a connecting plate and a supporting plate. The connecting plate is fixed on the Z-axis slider in the three-axis mobile platform, the supporting plate is fixed on the side of the connecting plate, and the welding gun is fixed in the supporting plate. The supporting plate is a triangular structure to ensure sufficient support for the welding gun and the cooling mechanism and detection mechanism on the rotating plate.

[0012] Among them, the rotating mechanism includes a bearing, a rotating plate, a first gear, a second gear and a motor. The bearing is fixed on the outside of the welding gun. The rotating plate and the first gear are both fixed on the outside of the bearing. The second gear is rotatably installed on the top of the support plate and meshes with the first gear. The motor is fixed on the side of the connecting plate. The output end of the motor is connected to the shaft end of the second gear. The rotating mechanism adaptively adjusts the positions of the cooling mechanism and the detection mechanism after the welding position of the welding gun changes, ensuring that the welding gun, the cooling mechanism and the detection mechanism always remain in the same straight line.

[0013] Among them, the cooling mechanism includes a water pump, a water tank, a vertical plate and an atomizing nozzle. The water pump and the vertical plate are fixed on the top of the rotating plate, the water tank is fixed on the top of the vertical plate, the atomizing nozzle is installed on the bottom of the rotating plate, one end of the water pump is connected to the water tank, and the other end of the water tank is connected to the atomizing nozzle. The water pump draws water into the water tank and transports it to the atomizing nozzle. The sprayed water acts on the newly formed weld. Since the newly formed weld still maintains a relatively high temperature, after the atomized water acts on the weld, the high temperature evaporates the water, and the evaporation takes away the heat on the weld, thereby realizing the cooling of the weld. In addition, the atomizing nozzle sprays small particles of water droplets, and there will not be much water stains left on the workpiece after cooling, and the weld can be kept clean after cooling.

[0014] Among them, the detection mechanism is rotatably installed at the end of the rotating plate, the atomizing nozzle is rotatably installed at the bottom of the rotating plate, and an adjustment mechanism is installed on the rotating plate. The adjustment mechanism can simultaneously drive the atomizing nozzle and the detection mechanism to tilt at an angle. The detection mechanism can be realized by any one of ultrasonic detection, X-ray detection or linear laser detection.

[0015] Among them, a connecting block is fixed at the bottom of the rotating plate, a first connecting rod is rotatably installed at the bottom of the connecting block, the atomizing nozzle is fixed at the bottom of the first connecting rod, a hard pipe is connected to the water outlet end of the water pump, a hose is fixedly installed at the end of the hard pipe away from the water pump, and the end of the hose away from the hard pipe is connected to the atomizing nozzle, and a joint is installed between the hard pipe and the hose. The function of the hard pipe is to install the valve, and the function of the hose is to enable the atomizing nozzle to rotate while supplying water to the atomizing nozzle.

[0016] Among them, the adjusting mechanism includes a mounting seat, a driving member and a second connecting rod. The mounting seat is rotatably installed at the end of the rotating plate, the detecting mechanism is fixed on the side of the mounting seat, one end of the second connecting rod is rotatably installed on the mounting seat, the other end of the second connecting rod is rotatably installed on the side of the first connecting rod, and the driving member is installed on the rotating plate. The adjusting mechanism adjusts the angle of the detecting mechanism, that is, the detecting mechanism rotates toward one side of the welding gun. When the welding gun moves to the specified position, the adjusting mechanism is activated to drive the angle adjustment of the detecting mechanism and the atomizing nozzle to realize comprehensive detection of the weld. It should be noted that since the detecting mechanism detects the weld in an inclined state, the detection accuracy will be reduced relative to the vertical detection accuracy, but it still has a certain detection effect.

[0017] Among them, a sliding rod is fixedly installed at the bottom of the rotating plate, a spring is sleeved on the outer side of the sliding rod, a mounting frame is slidably installed at the bottom of the sliding rod, a roller is installed at the bottom of the mounting frame, and a baffle is fixedly installed on the side of the mounting frame close to the welding gun. The roller can crush the welding slag generated at the weld after welding. The crushed welding slag will be blown away by the atomizing nozzle in the cooling mechanism, so that the crushed welding slag is separated from the weld, thereby avoiding the influence of the welding slag on the detection accuracy. On the other hand, the welding slag can be automatically processed. At the same time, the roller can also reflect the thickness of the workpiece. If the thickness of the workpiece increases, the distance between the roller and the rotating plate will decrease. If the thickness of the workpiece decreases, the distance between the roller and the rotating plate will increase.

[0018] Among them, a valve is installed on the outside of the hard pipe, a third gear is fixed on the end of the valve, a rack is meshed on one side of the third gear, and the bottom of the rack is fixed on the top of the mounting frame. The flow of the atomizing nozzle is adjusted according to the distance between the roller and the rotating plate, that is, the distance the mounting frame moves. When the distance between the roller and the rotating plate increases, it means that the thickness of the workpiece increases. At this time, the cooperation of the rack and the third gear will drive the valve to rotate counterclockwise, increase the flow of the hard pipe, thereby increasing the atomization amount of the atomizing nozzle and improving the cooling effect on the weld. Similarly, when the thickness of the workpiece decreases, the valve will rotate clockwise to reduce the flow of the hard pipe, thereby achieving the role of solving the water resource problem.

[0019] Among them, the three-axis mobile platform is realized by a screw slider mechanism, and the working surface of the three-axis mobile platform is rotatably installed with a conveying roller. The three-axis mobile platform can realize the three-axis movement of the welding gun to complete the welding of the workpiece, and the conveying roller can automatically convey the workpiece.

[0020] The present invention has at least the following beneficial effects:

[0021] The three-axis mobile platform can not only weld the workpiece, but also cool and detect the weld after welding. The welding gun, cooling mechanism and detection mechanism are integrated together, which can effectively control the workpiece processing cost. The workpiece is cooled and detected separately after welding, making the workpiece processing process more coherent and compact, which can effectively improve the detection efficiency of the workpiece and make it more convenient and quick to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall first-view structure of the present invention;

[0023] Figure 2 It is a schematic diagram of the overall structure of the present invention from a second viewing angle;

[0024] Figure 3 This is a schematic diagram of the first viewing angle structure of the rotating plate installation of the present invention;

[0025] Figure 4 This is a schematic diagram of the front structure of the rotating plate of the present invention;

[0026] Figure 5 This is a schematic diagram of the second viewing angle structure of the rotating plate installation of the present invention;

[0027] Figure 6 This is a schematic diagram of the welding and installation explosion structure of the present invention;

[0028] Figure 7 It is a schematic diagram of the cooling mechanism of the present invention;

[0029] Figure 8 This is a schematic diagram of the valve installation structure of the present invention;

[0030] Fig. 9 It is a schematic diagram of the regulating mechanism of the present invention;

[0031] Fig.10 This is a schematic diagram of the structure of the detection mechanism and the cooling mechanism after adjustment of the present invention;

[0032] Fig.11 It is a schematic diagram of the position structure of the cooling mechanism and the detection mechanism when adjusting the welding position of the welding gun of the present invention.

[0033] In the figure: 1. three-axis mobile platform; 2. welding gun; 3. mounting mechanism; 4. rotating mechanism; 5. cooling mechanism; 6. detection mechanism; 7. connecting plate; 8. supporting plate; 9. bearing; 10. rotating plate; 11. first gear; 12. second gear; 13. motor; 14. water pump; 15. water tank; 16. vertical plate; 17. atomizing nozzle; 18. adjusting mechanism; 19. connecting block; 20. first connecting rod; 21. hard pipe; 22. hose; 23. mounting seat; 24. driving member; 25. second connecting rod; 26. sliding rod; 27. spring; 28. mounting frame; 29. ​​roller; 30. baffle; 31. valve; 32. third gear; 33. rack; 34. conveying roller. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] Embodiment 1

[0036] See also Figures 1 to 10 The present invention provides a technical solution: a weld detection device for a welding robot, comprising: a three-axis mobile platform 1, the three-axis mobile platform 1 is realized by a screw slider mechanism, a welding gun 2 is fixedly installed on the Z-axis slider of the three-axis mobile platform 1, and the welding gun 2 can be driven to move synchronously through the up and down movement of the Z-axis, and at the same time, a plurality of conveying rollers 34 are rotatably installed on the working surface of the three-axis mobile platform 1, and the conveying rollers 34 can convey the workpiece.

[0037] A mounting mechanism 3 is installed on the Z-axis of the three-axis mobile platform 1, that is, a connecting plate 7 is fixed on the Z-axis slider, a supporting plate 8 is fixed on the side of the connecting plate 7, the welding gun 2 is fixed inside the supporting plate 8, and a rotating mechanism 4 is installed on the outside of the welding gun 2. The rotating mechanism 4 can rotate along the outside of the welding gun 2. Specifically, first, a bearing 9 is fixed on the outside of the welding gun 2, and a first gear 11 and a rotating plate 10 are fixed on the outer ring of the bearing 9, wherein a second gear 12 is meshed on one side of the first gear 11, and a motor 13 is fixed on the shaft end of the second gear 12, and the motor 13 is fixed on the connecting plate 7. Therefore, when the motor 13 rotates, it drives the second gear 12 to rotate, and when the second gear 12 rotates, it drives the outer ring of the bearing 9 to rotate, and after the outer ring of the bearing 9 rotates, it drives the rotating plate 10 on the outer ring of the bearing 9 to rotate.

[0038] A cooling mechanism 5 is installed on the top of the rotating plate 10, and the cooling mechanism 5 cools the weld after welding. A water pump 14 is fixed on the top of the rotating plate 10, and a water tank 15 is fixed on the top of the water pump 14 through a vertical plate 16. The water inlet end of the water pump 14 is connected to the water tank 15, and the water outlet end of the water pump 14 is connected to the atomizing nozzle 17. Therefore, when the water pump 14 is working, the water in the water tank 15 can be transported to the atomizing nozzle 17 for spraying, and the sprayed mist droplets act on the weld at high temperature to cool the weld.

[0039] A detection mechanism 6 is also installed on the rotating plate 10, and the detection mechanism 6 detects the weld.

[0040] Through the above technical solution, the welding gun 2, the cooling mechanism 5 and the detection mechanism 6 are located on the same straight line during welding, and then during welding, the cooling mechanism 5 will cool the weld after welding, and the detection mechanism 6 can detect the cooled weld. When the welding position changes, the rotating mechanism 4 will rotate according to the moving direction of the welding gun 2 to ensure that the welding gun 2, the cooling mechanism 5 and the detection mechanism 6 can always remain on the same straight line, so that welding, cooling and detection are carried out continuously, making the overall operation process more coherent and compact, effectively improving the welding efficiency of the workpiece and reducing the production cost.

[0041] refer to Fig.11 When the welding position of the welding gun 2 is changed, the rotating mechanism 4 will rotate according to the welding direction of the welding gun 2, which results in a section of the weld (X) not being detected in place. Therefore, in order to improve the comprehensiveness of the weld detection, in this embodiment, the atomizing nozzle 17 and the detection mechanism 6 can both rotate. For the atomizing nozzle 17, first, the atomizing nozzle 17 and the water pump 14 are connected through a hard pipe 21 and a hose 22. The hose 22 ensures that the atomizing nozzle 17 can rotate and supply water to the atomizing nozzle 17 normally. At the same time, a first connecting rod 20 is fixedly installed on the top of the atomizing nozzle 17, and a connecting block 19 is rotatably installed on the top of the first connecting rod 20. The top of the connecting block 19 is fixed to the bottom of the rotating plate 10. Therefore, when the first connecting rod 20 rotates, the atomizing nozzle 17 can be driven to rotate;

[0042] As for the detection mechanism 6, the detection mechanism 6 is rotatably mounted on the end of the rotating plate 10, and an adjusting mechanism 18 is installed on the rotating plate 10. When adjusting, the adjusting mechanism 18 can simultaneously drive the angles of the atomizing nozzle 17 and the detection mechanism 6 to change. The adjusting mechanism 18 includes a mounting seat 23 fixed to the side of the detection mechanism 6, and the mounting seat 23 is rotatably connected to the rotating plate 10, so that the detection mechanism 6 can be rotated at the end of the rotating plate 10 through the mounting seat 23. A driving member 24 is installed on the rotating plate 10. In this embodiment, the driving member 24 is implemented in the form of a pneumatic push rod, one end of the pneumatic push rod is rotatably mounted on the detection mechanism 6, and the other end of the pneumatic push rod is rotatably mounted on the bottom of the rotating plate 10. At the same time, a second connecting rod 25 is installed between the mounting seat 23 and the first connecting rod 20, one end of the second connecting rod 25 is rotatably mounted on the mounting seat 23, and the other end of the second connecting rod 25 is rotatably mounted on the first connecting rod 20;

[0043] Through the above technical solution, when the welding direction of the welding gun 2 changes, the driving member 24 moves to extend and retract, and in the process of extension and retraction, the mounting seat 23 is driven to rotate, thereby driving the detection mechanism 6 to rotate. At the same time, the rotation process of the mounting seat 23 drives the angle of the second connecting rod 25 to change. The change in the angle of the second connecting rod 25 applies a force to the first connecting rod 20, driving the first connecting rod 20 to rotate, so that the atomizing nozzle 17 and the detection mechanism 6 can rotate toward one side of the welding gun 2 at the same time, and the cooling position and the detection position are changed during the rotation process, so that the welds that are not detected when the moving direction of the welding gun 2 is changed are detected, thereby ensuring that the weld detection process is more thorough and comprehensive.

[0044] It should be added that, in addition to being realized by a pneumatic push rod, the driving member 24 can also directly drive the detection mechanism 6 to rotate by a motor.

[0045] Embodiment 2

[0046] A slide bar 26 is fixed to the bottom of the rotating plate 10, and a mounting frame 28 is slidably mounted on the bottom of the slide bar 26. A roller 29 is mounted on the bottom of the mounting frame 28. A baffle 30 is fixed to the side of the mounting frame 28 close to the welding gun 2. The baffle 30 intercepts the splashing welding slag, which can effectively prevent the welding slag from splashing onto the cooling mechanism 5. At the same time, a spring 27 is sleeved on the outer side of the slide bar 26. The roller 29 is abutted against the surface of the workpiece under the action of the spring 27. After the welding gun 2 completes the welding of the weld, the roller 29 can crush the welding slag generated at the weld, and the crushed welding slag is blown away by the rear atomizing nozzle 17 to expose the weld, which is convenient for the detection mechanism 6 to detect the weld, and avoids the welding slag in the weld causing misjudgment of the detection mechanism 6, thereby improving the accuracy of weld detection.

[0047] In addition, a valve 31 is installed on the outer wall of the rigid tube 21, and a third gear 32 is installed at the end of the valve 31. A rack 33 is meshed on the side of the third gear 32, and the rack 33 is fixed to the top of the mounting frame 28. When the thickness of the welded workpiece increases, the extrusion pressure on the roller 29 will also increase, causing the roller 29 to move upward. When the roller 29 moves upward, it will drive the rack 33 to move upward. The upward moving rack 33 meshes with the third gear 32 to drive the third gear 32 to rotate, thereby increasing the water flow in the rigid tube 21, so that more small water droplets are sprayed from the atomizing nozzle 17. The greater the thickness of the workpiece means that the cooling time will also increase. Therefore, in addition to processing the welding slag, the roller 29 can also reflect the thickness of the workpiece and adjust the amount of liquid sprayed from the atomizing nozzle 17 according to the thickness of the workpiece. The cooling effect of the cooling mechanism 5 can be adjusted according to the thickness change of the workpiece, and the accuracy of weld detection is further improved.

[0048] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0049] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A weld detection device for a welding robot, comprising: A three-axis mobile platform (1), on which a welding gun (2) is mounted, characterized in that it also includes: A mounting mechanism (3), wherein the mounting mechanism (3) is fixed to the Z axis of the three-axis mobile platform (1), and the welding gun (2) is fixed in the mounting mechanism (3); The mounting mechanism (3) comprises a connecting plate (7) and a supporting plate (8); A rotating mechanism (4), the rotating mechanism (4) being mounted on the outside of the welding gun (2), and the rotating mechanism (4) rotating along the outside of the welding gun (2); The rotating mechanism (4) comprises a bearing (9), a rotating plate (10), a first gear (11), a second gear (12) and a motor (13); A cooling mechanism (5) and a detection mechanism (6), wherein the cooling mechanism (5) and the detection mechanism (6) are both mounted on the rotating mechanism (4), the cooling mechanism (5) cools the weld, and the detection mechanism (6) detects defects in the weld after cooling; The cooling mechanism (5) comprises a water pump (14), a water tank (15), a vertical plate (16) and an atomizing nozzle (17); A connecting block (19) is fixed to the bottom of the rotating plate (10), and a first connecting rod (20) is rotatably mounted on the bottom of the connecting block (19); An adjustment mechanism (18) is installed on the rotating plate (10); The atomizing nozzle (17) is fixed to the bottom of the first connecting rod (20), and the water outlet end of the water pump (14) is connected to a hard pipe (21); The adjusting mechanism (18) comprises a mounting seat (23), a driving member (24) and a second connecting rod (25); the mounting seat (23) is rotatably mounted on an end of a rotating plate (10); the detecting mechanism (6) is fixed to a side of the mounting seat (23); one end of the second connecting rod (25) is rotatably mounted on the mounting seat (23); the other end of the second connecting rod (25) is rotatably mounted on a side of the first connecting rod (20); and the driving member (24) is mounted on the rotating plate (10); A slide bar (26) is fixedly mounted on the bottom of the rotating plate (10), a spring (27) is sleeved on the outer side of the slide bar (26), a mounting frame (28) is slidably mounted on the bottom of the slide bar (26), a roller (29) is mounted on the bottom of the mounting frame (28), and a baffle (30) is fixedly mounted on a side of the mounting frame (28) close to the welding gun (2); A valve (31) is installed on the outside of the hard tube (21), a third gear (32) is fixed to the end of the valve (31), a rack (33) is meshed on one side of the third gear (32), and the bottom of the rack (33) is fixed to the top of the mounting frame (28).

2. The weld detection device for a welding robot according to claim 1, characterized in that: The connecting plate (7) is fixed on a Z-axis slider in a three-axis mobile platform (1), the supporting plate (8) is fixed on a side of the connecting plate (7), and the welding gun (2) is fixed inside the supporting plate (8).

3. The weld detection device of the welding robot according to claim 2, characterized in that: The bearing (9) is fixed on the outside of the welding gun (2), the rotating plate (10) and the first gear (11) are both fixed on the outside of the bearing (9), the second gear (12) is rotatably mounted on the top of the support plate (8) and meshes with the first gear (11), the motor (13) is fixed on the side of the connecting plate (7), and the output end of the motor (13) is connected to the shaft end of the second gear (12).

4. The weld detection device for a welding robot according to claim 3, characterized in that: The water pump (14) and the vertical plate (16) are both fixed to the top of the rotating plate (10), the water tank (15) is fixed to the top of the vertical plate (16), the atomizing nozzle (17) is installed at the bottom of the rotating plate (10), one end of the water pump (14) is connected to the water tank (15), and the other end of the water tank (15) is connected to the atomizing nozzle (17).

5. The weld detection device for a welding robot according to claim 4, characterized in that: The detection mechanism (6) is rotatably mounted on the end of the rotating plate (10), the atomizing nozzle (17) is rotatably mounted on the bottom of the rotating plate (10), and the adjustment mechanism (18) can simultaneously drive the atomizing nozzle (17) and the detection mechanism (6) to tilt at different angles.

6. The weld detection device for a welding robot according to claim 5, characterized in that: A hose (22) is fixedly mounted on one end of the hard pipe (21) away from the water pump (14), and one end of the hose (22) away from the hard pipe (21) is connected to the atomizing nozzle (17).

7. The weld detection device for a welding robot according to claim 1, characterized in that: The three-axis movable platform (1) is realized by a screw slider mechanism, and a conveying roller (34) is rotatably mounted on the working surface of the three-axis movable platform (1).

Images