Welding seam nondestructive testing collaborative robot and control method

Abstract

The invention provides a weld joint nondestructive testing collaborative robot and a control method, and the robot comprises a robot body, an electric telescopic rod arranged on a mechanical arm of the robot body, an adsorption device arranged in the middle of the electric telescopic rod, and a multi-dimensional movement mechanism and a first camera which are arranged at the tail end of the electric telescopic rod, the welding seam nondestructive testing device is arranged at the tail end of the multi-dimensional movement mechanism; the tail end of the multi-dimensional movement mechanism is further provided with a second camera used for monitoring detection in real time. The adsorption device is a magnetic adsorption universal joint or a negative pressure adsorption universal joint, and is used for being adsorbed near a to-be-detected piece and providing fixed support for the nondestructive welding seam detection device; the multi-dimensional movement mechanism, the electric telescopic rod and the mechanical arm cooperatively act to adjust the posture of the tail end of the multi-dimensional movement mechanism, so that the welding seam nondestructive testing device can inspect welding seam defects on a curved surface; the device can move in a limited space and carry out high-precision nondestructive testing.

Description

Technical Field

[0001] The present invention relates to the technical field of weld detection equipment, and in particular to a weld non-destructive detection collaborative robot and a control method. Background Art

[0002] During the long-term operation of the tailwater pipe runner blades of a hydropower station, the welds are prone to defects such as cracks and voids due to the hydraulic impact and mechanical stress. If not discovered and handled in time, it may lead to equipment operation failures and even endanger the overall safety of the hydropower unit.

[0003] Traditional weld inspection methods rely heavily on manual labor, especially for the inspection of runner blades inside the tailwater pipe, which requires the construction of an operating platform or scaffolding to allow operators to enter a small, wet, limited space to conduct complex penetration testing or magnetic particle testing. This method has the following problems:

[0004] 1. Space limitation: The diameter of the tailwater pipe in a pumped storage power station is generally less than 3 meters at its smallest point, and the operating space is extremely limited.

[0005] 2. Safety risks: The penetrants and developers used in the weld inspection process may form aerosols, threatening the health of workers under limited ventilation conditions.

[0006] 3. Low efficiency: The operation process is cumbersome and time-consuming, and it is impossible to quickly complete non-destructive testing of large-area welds.

[0007] Therefore, there is an urgent need for a weld non-destructive testing collaborative robot and control method that can move in a confined space and perform high-precision non-destructive testing. Summary of the invention

[0008] The purpose of the present invention is to provide a weld non-destructive testing collaborative robot and a control method, aiming to solve the technical problems of low efficiency, low precision and potential safety hazards of traditional manual testing.

[0009] To achieve the above-mentioned object, in a first aspect, the present invention provides a weld non-destructive testing collaborative robot, comprising a robot body, an electric telescopic rod arranged on a mechanical arm of the robot body, and an adsorption device arranged in the middle of the electric telescopic rod, and a multi-dimensional motion mechanism and a first camera arranged at the end of the electric telescopic rod, and also comprising a weld non-destructive testing device arranged at the end of the multi-dimensional motion mechanism;

[0010] The weld nondestructive testing device is used for nondestructive testing of weld defects;

[0011] A second camera is also provided at the end of the multi-dimensional motion mechanism; the second camera is used to monitor the detection in real time and upload it to the cloud to establish a digital file;

[0012] The adsorption device is a magnetic adsorption universal joint or a negative pressure adsorption universal joint, which is used to be adsorbed near the part to be inspected and provide fixed support for the weld nondestructive testing device;

[0013] The multi-dimensional motion mechanism, the electric telescopic rod and the mechanical arm cooperate to adjust the posture of the end of the multi-dimensional motion mechanism, so that the weld non-destructive testing device can inspect weld defects on the curved surface.

[0014] As a further improvement of the above scheme, the weld nondestructive testing device includes one or two of a penetration testing module, a magnetic particle testing module, an ultrasonic testing module, and a visual testing module; each testing module is detachably arranged at the end of the multi-dimensional motion mechanism.

[0015] As a further improvement of the above scheme, the penetration detection module includes a first spraying unit for spraying a penetrant liquid onto the weld, a second spraying unit for spraying a cleaning liquid, and a third spraying unit for spraying a developer onto the weld.

[0016] The spraying flow rate of the third spraying unit is calculated by the following formula:

[0017] Q=k1·A+k2·Δp

[0018] Where A is the weld area, Δp represents the difference in developer distribution, k1 and k2 represent proportionality coefficients, which depend on factors such as the characteristics of the developer, the efficiency of the spraying equipment, and the spraying method; this coefficient usually needs to be determined through experiments or experience;

[0019] The larger the weld area, the larger the developer spray flow rate needs to be to ensure that the entire weld surface can be evenly covered. k1 reflects the proportional relationship between the developer spray and the weld area; k2 is also a constant, which is used to adjust the relationship between the developer flow rate and the developer distribution uneven difference ΔP, reflecting the impact of the uniformity of the developer on the weld surface on the flow control. The more uneven the developer distribution, the higher the flow rate is required to correct the uneven distribution problem.

[0020] As a further improvement of the above solution, the ultrasonic detection module drives the ultrasonic probe to scan the workpiece through the mechanical arm and the electric telescopic rod, and receives and processes the signal.

[0021] As a further improvement of the above scheme, the weld non-destructive testing collaborative robot also includes a laser rangefinder and a laser radar. The laser rangefinder cooperates with two cameras to automatically establish an environmental map model and plan a reasonable detection path;

[0022] The laser radar and the two cameras cooperate to avoid obstacles and automatically adjust the motion trajectory.

[0023] As a further improvement of the above solution, the multi-dimensional motion mechanism includes at least two motion axes to achieve flexible adjustment of the weld non-destructive testing device in multiple directions;

[0024] The number and type of motion axes of the multi-dimensional motion mechanism can be flexibly adjusted according to the type of the weld non-destructive testing device.

[0025] As a further improvement of the above solution, when the adsorption device adopts a negative pressure adsorption universal joint, the supporting force provided by the adsorption device is calculated by the following formula:

[0026]

[0027] in:

[0028] F 吸附 : The supporting force provided by the adsorption device;

[0029] P 内 , P 外 : are the pressure inside and outside the adsorption device respectively;

[0030] A 吸附 : Effective contact area of ​​the adsorption device.

[0031] As a further improvement of the above scheme, the selection of the adsorption point of the adsorption device is based on the moment balance principle. Specifically, the moment balance equation is as shown below:

[0032] τ 总 =τ 臂 +τ 伸缩杆 -τ 负载

[0033] in:

[0034] τ 总 : The total output torque of the system;

[0035] τ 臂 =F 臂 ·L 臂 ·cosθ 臂 , is the torque of the collaborative robot arm;

[0036] τ 伸缩杆 =F 杆 ·L 杆 ·cosθ 杆 , is the torque of the electric telescopic rod;

[0037] τ 负载 =W 负载 ·L 负载 , is the moment of the target load;

[0038] F臂 、F 杆 : The forces provided by the robotic arm and the electric telescopic rod respectively;

[0039] L 臂 , L 杆 , L 负载 : are the arm lengths of the robot arm, electric telescopic rod and load respectively;

[0040] θ 臂 ,θ 杆 : are the inclination angles of the robotic arm and the electric telescopic rod respectively;

[0041] W 负载 is the total weight of the load.

[0042] As a further improvement of the above solution, the electric telescopic rod is provided with a displacement sensor and an angle sensor for feeding back the real-time telescopic state;

[0043] The telescopic rod dynamically adjusts its telescopic length L and tilt angle θ based on the shape of the weld surface to be detected. 杆 .

[0044] As a further improvement of the above scheme, the weld surface equation is f(x, y, z). Based on the weld surface equation, the real-time telescopic length L of the electric telescopic rod is adjusted based on the following formula:

[0045]

[0046] where x t ,y t , z t are the three coordinate values ​​of the system base point, x b ,y b , z b are the three coordinate values ​​of the target point respectively.

[0047] As a further improvement of the above scheme, the real-time tilt angle θ of the electric telescopic rod is 杆 Adjustments are made based on the following formula:

[0048]

[0049] As a further improvement of the above solution, the weld nondestructive testing device also includes a data processing unit for receiving and processing the test data and generating a weld defect report.

[0050] As a further improvement of the above solution, the robot body is also equipped with a remote control interface, allowing remote operation and control of the robot system for weld inspection.

[0051] In a second aspect, the present invention further provides a control method for the above-mentioned weld non-destructive testing collaborative robot, the steps of which include:

[0052] S1. After entering the confined space, use the camera, radar and laser rangefinder to scan the environment, obtain the distribution map of the weld to be detected and the preliminary contour features of the workpiece to be detected according to the scanned environment, automatically establish the environment map model and obtain a reasonable detection path;

[0053] S2, the robot body moves to the initial position of the detection path, controls the robot arm to move and drives the electric telescopic rod to approach the weld to be detected, and the first camera arranged at the end of the electric telescopic rod obtains the precise contour information of the workpiece at the current weld position;

[0054] S3, based on the current workpiece precise contour information, calculate the adsorption position of the adsorption device, as well as the dynamic extension length L and dynamic tilt angle θ of the electric telescopic rod 杆 ;

[0055] S4. The adsorption device is adsorbed at the obtained adsorption position, the electric telescopic rod is extended, and based on the precise contour information of the workpiece at the current weld position, the weld nondestructive testing device is moved to the weld to be tested in coordination with the robotic arm and the multi-dimensional motion mechanism for nondestructive testing, and the test results are wirelessly transmitted to the cloud or an external receiving device;

[0056] S5. When the inspection of the current weld is completed, the electric telescopic rod drives the weld nondestructive inspection device to retract, and the adsorption and fixation of the adsorption device are released;

[0057] Then move to the next position for inspection, and the first camera arranged at the end of the electric telescopic rod obtains the precise contour information of the workpiece at the position of the next weld; repeat steps S3 and S4 until the inspection within the inspection path is completed.

[0058] Since the present invention adopts the above technical solution, the beneficial effects of this application are:

[0059] 1. The present invention provides a weld non-destructive testing collaborative robot, which can carry a weld non-destructive testing device arranged at the end of the multi-dimensional motion mechanism to achieve high-precision weld positioning and non-destructive testing by integrating an electric telescopic rod, a first camera and a multi-dimensional motion mechanism at the end of a mechanical arm; at the same time, an adsorption device is provided in the middle of the electric telescopic rod, and the adsorption device can be adsorbed on the workpiece to be detected to provide support for the weld non-destructive testing device, thereby greatly reducing the operating load of the mechanical arm, and can improve the operating stability of the weld non-destructive testing device, thereby improving the detection accuracy; preferably, the adsorption device is a magnetic adsorption universal joint or a negative pressure adsorption universal joint, and the setting of the universal joint type adsorption device can provide stable support while being flexible, so that the weld non-destructive testing device can also flexibly detect welds on curved surfaces; at the same time, the adsorption device can select a magnetic adsorption universal joint or a negative pressure adsorption universal joint, which can be flexibly selected according to the material of the workpiece. For metal workpieces, a magnetic adsorption universal joint can be selected; for non-metallic workpieces, a negative pressure adsorption universal joint can be selected, which can improve the versatility of the collaborative robot system.

[0060] 2. The present invention provides a weld non-destructive testing collaborative robot, the cooperation of the multi-dimensional motion mechanism at the end of the electric telescopic rod and the universal adsorption device, combined with the electric telescopic rod can adjust the real-time telescopic length L and the real-time tilt angle θ of the electric telescopic rod in real time based on the weld surface equation f(x, y, z) 杆 , ensuring that the weld nondestructive testing device always maintains the best contact posture with the weld surface and can adapt to the complex curvature of the weld.

[0061] 3. The present invention provides a weld non-destructive testing collaborative robot, wherein the weld non-destructive testing device includes one or two of a penetration testing module, a magnetic particle testing module, an ultrasonic testing module, and a visual testing module; each testing module is detachably arranged at the end of the multi-dimensional motion mechanism;

[0062] The setting of multiple detection modules can be flexibly combined and selected according to the characteristics of the detected workpiece, thereby providing the versatility of the collaborative robot system;

[0063] And in some embodiments, the weld nondestructive testing device further includes a data processing unit for receiving and processing the test data and generating a weld defect report;

[0064] The robot body is also equipped with a remote control interface, which allows remote operation and control of the robot system for weld detection, thereby making the collaborative robot system more intelligent, and remote control operation can reduce the risk of manual operation and reduce harm to operators.

[0065] 4. The present invention provides a control method for a collaborative robot for non-destructive testing of welds. In the path planning stage, the distribution of welds and the preliminary contour features of the workpiece to be tested are preliminarily obtained. Then, when moving according to the planned path, a first camera arranged at the end of an electric telescopic rod obtains the precise contour information of the workpiece at the current position of the weld. Then, based on the current precise contour information of the workpiece, the adsorption position of the adsorption device, as well as the dynamic extension length L and the dynamic inclination angle θ of the electric telescopic rod are calculated. Such an arrangement not only enables the collaborative robot system to flexibly detect welds in narrow spaces, but also can further optimize the dynamic extension length and inclination angle of the electric telescopic rod based on the current workpiece contour information, so that the control method provided by the present invention can adapt to the detection of welds with complex curvature shapes, and can effectively improve the accuracy of weld detection; thereby enabling the collaborative robot for non-destructive testing of welds provided by the present invention to move in a confined space and perform high-precision non-destructive testing. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0067] Figure 1 It is a schematic diagram of the main view of a weld non-destructive testing collaborative robot disclosed in the present invention;

[0068] Figure 2 It is a schematic diagram of the front view of a weld non-destructive testing collaborative robot (without the robot body) disclosed in the present invention;

[0069] Figure 3 A side view schematic diagram of the adsorption device disclosed in the present invention Figure 1 ;

[0070] Figure 4 A schematic side view of the adsorption device disclosed in the present invention (without the connecting piece) Figure 2 ;

[0071] Figure 5 It is a top view schematic diagram of the weld nondestructive testing device (penetration testing module) disclosed in the present invention;

[0072] Reference numerals:

[0073] 1. Robot body; 11. Robotic arm; 2. Electric telescopic rod; 3. Adsorption device; 31. Suction cup; 32. Universal joint; 33. Connector; 4. Multi-dimensional motion mechanism; 5. First camera; 6. Weld non-destructive testing device.

[0074] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with the implementation methods and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0075] 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.

[0076] It should be noted that all directional indications (such as up, down, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0077] In addition, in the present invention, the descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0078] Furthermore, the technical solutions between the various embodiments of the present invention may be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in the field. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0079] Example 1

[0080] See also Figure 1-Figure 5 The present invention provides a weld non-destructive testing collaborative robot, comprising a robot body 1, an electric telescopic rod 2 arranged on a mechanical arm 11 of the robot body 1, and an adsorption device 3 arranged in the middle of the electric telescopic rod 2, and a multi-dimensional motion mechanism 4 and a first camera 5 arranged at the end of the electric telescopic rod 2, and also comprising a weld non-destructive testing device 6 arranged at the end of the multi-dimensional motion mechanism 4;

[0081] Specifically, the robot body 1 is a six-axis wall-climbing robot, including a wall-climbing mobile base and a six-axis mechanical arm 11 arranged on the wall-climbing mobile base, and the electric telescopic rod 2 is arranged at the end of the six-axis mechanical arm 11; in order to further improve the flexibility of the collaborative robot, a multi-dimensional motion mechanism 4 and a first camera 5 are also arranged at the end of the electric telescopic rod 2;

[0082] The multi-dimensional motion mechanism 4 includes at least two motion axes to achieve flexible adjustment of the weld non-destructive testing device 6 in multiple directions;

[0083] The number and type of motion axes of the multi-dimensional motion mechanism 4 are flexibly adjusted according to the type of the weld non-destructive testing device 6;

[0084] The weld nondestructive testing device 6 is used for nondestructive testing of weld defects; the weld nondestructive testing device 6 includes one or two of a penetration testing module, a magnetic particle testing module, an ultrasonic testing module, and a visual testing module; each testing module is detachably arranged at the end of the multi-dimensional motion mechanism 4; the setting of multiple testing modules can be flexibly combined and selected according to the characteristics of the workpiece to be tested, thereby providing the versatility of the collaborative robot system;

[0085] Specifically, for the detection of surface cracks of the workpiece, one of the penetration detection module, the magnetic particle detection module or the visual detection module may be selected; for the detection of deep defects in the weld, the ultrasonic detection module may be selected for detection; in some embodiments, the ultrasonic detection module and the visual detection module may be combined, so that the surface defects and internal defects of the weld can be detected simultaneously;

[0086] The multi-dimensional motion mechanism 4 is also provided with a second camera at the end thereof; the second camera is used to monitor the detection in real time and upload the detection to the cloud to establish a digital file;

[0087] In some embodiments, the weld nondestructive testing device 6 further includes a data processing unit for receiving and processing the test data and generating a weld defect report, so that the test data can be stored to provide long-term support for the health management of the equipment;

[0088] The adsorption device 3 is a magnetic adsorption universal joint 32 or a negative pressure adsorption universal joint 32, which is used to be adsorbed near the part to be inspected and provide fixed support for the weld nondestructive testing device 6;

[0089] The multi-dimensional motion mechanism 4, the electric telescopic rod 2 and the mechanical arm 11 cooperate to adjust the posture of the end of the multi-dimensional motion mechanism 4, so that the weld non-destructive testing device 6 can inspect weld defects on the curved surface;

[0090] The present invention integrates an electric telescopic rod, a first camera 5 and a multi-dimensional motion mechanism 4 at the end of a mechanical arm 11, so as to carry a weld non-destructive testing device 6 arranged at the end of the multi-dimensional motion mechanism 4 to achieve high-precision weld positioning and non-destructive testing; at the same time, an adsorption device 3 is provided in the middle of the electric telescopic rod 2, and the adsorption device 3 can be adsorbed on the workpiece to be inspected to provide support for the weld non-destructive testing device 6, thereby greatly reducing the operating load of the mechanical arm 11, and can improve the operating stability of the weld non-destructive testing device 6, thereby improving the detection accuracy; preferably, the The adsorption device 3 is a magnetic adsorption universal joint 32 or a negative pressure adsorption universal joint 32. The setting of the universal joint 32 type adsorption device 3 can provide stable support while being flexible in movement, so that the weld non-destructive testing device 6 can also flexibly detect welds on curved surfaces; at the same time, the adsorption device 3 can choose a magnetic adsorption universal joint 32 or a negative pressure adsorption universal joint 32, which can be flexibly selected according to the material of the workpiece. For metal workpieces, a magnetic adsorption universal joint 32 can be selected; for non-metallic workpieces, a negative pressure adsorption universal joint 32 can be selected, which can improve the versatility of the collaborative robot system.

[0091] As a preferred embodiment, see Figure 1 and Figure 2 When the penetration detection module is used for weld defect detection, the penetration detection module includes a first spraying unit for spraying a penetrant liquid onto the weld, a second spraying unit for spraying a cleaning liquid, and a third spraying unit for spraying a developer onto the weld.

[0092] The spraying flow rate of the third spraying unit is calculated by the following formula:

[0093] Q=k1·A+k2·Δp

[0094] Where A is the weld area, Δp represents the difference in developer distribution, k1 and k2 represent proportionality coefficients, which depend on factors such as the characteristics of the developer, the efficiency of the spraying equipment, and the spraying method; this coefficient usually needs to be determined through experiments or experience;

[0095] The larger the weld area, the larger the developer spray flow rate needs to be to ensure that the entire weld surface can be evenly covered. k1 reflects the proportional relationship between the developer spray and the weld area; k2 is also a constant, which is used to adjust the relationship between the developer flow rate and the developer distribution uneven difference ΔP, reflecting the impact of the uniformity of the developer on the weld surface on the flow control. The more uneven the developer distribution, the higher the flow rate is required to correct the uneven distribution problem;

[0096] At this time, see Figure 2The multi-dimensional motion mechanism 4 includes a turntable, and the first spraying unit, the second spraying unit and the third spraying unit are arranged on the turntable at intervals. The corresponding spraying unit is rotated to the spraying position by driving the turntable to rotate; and a third camera is also provided on the turntable to obtain image information of the weld after spraying the developer, so as to detect defect information of the weld.

[0097] As a preferred embodiment, the ultrasonic detection module drives the ultrasonic probe to push and scan the workpiece through the mechanical arm 11 and the electric telescopic rod 2, and receives and processes the signal;

[0098] Specifically, the ultrasonic detection module includes an ultrasonic probe, an ultrasonic signal processing unit and a microprocessor. The ultrasonic probe is used to detect the internal information of the workpiece to be tested, and transmit the detection information to the ultrasonic signal processing unit for signal processing after conversion. The ultrasonic signal processing unit feeds back the processed signal to the microprocessor and determines the weld defect.

[0099] The ultrasonic detection module uses ultrasound to detect weld defects with high detection accuracy, and can detect tiny defects in the weld, such as cracks, interlayers, etc.; it is simple to operate, has a fast detection speed and high efficiency, and can achieve automated detection with the help of a robotic arm 11 and an electric telescopic rod 2.

[0100] As a preferred embodiment, the weld non-destructive testing collaborative robot further includes a laser rangefinder and a laser radar. The laser rangefinder cooperates with two cameras to automatically establish an environmental map model and plan a reasonable testing path.

[0101] The laser radar and two cameras cooperate to avoid obstacles and automatically adjust the motion trajectory;

[0102] Preferably, the detection path includes a walking path of the collaborative robot and a detection path of the ultrasonic detection module;

[0103] Such a setting can improve the detection efficiency and ensure that each weld in the confined space is detected to avoid omissions.

[0104] As a preferred embodiment, see Figure 2-Figure 4 The negative pressure adsorption universal joint 32 includes a suction cup 31 and a universal joint 32 hinged to the suction cup 31. A connecting piece 33 is further provided at the end of the universal joint 32. In this embodiment, the connecting piece 33 is a clamp, and the negative pressure adsorption universal joint 32 is arranged in the middle of the electric telescopic rod 2 through the clamp. In addition, the negative pressure adsorption universal joint 32 is in the form of a clamp, so that the position of the negative pressure adsorption universal joint 32 on the electric telescopic rod 2 can be adjusted, so as to provide suitable supporting force for detection units with different load weights;

[0105] When the adsorption device 3 uses negative pressure to adsorb the universal joint 32, the supporting force provided by the adsorption device 3 is calculated by the following formula:

[0106]

[0107] in:

[0108] F 吸附 : The supporting force provided by the adsorption device 3;

[0109] P 内 , P 外 : are the pressures inside and outside the adsorption device 3 respectively;

[0110] A 吸附 : The effective contact area of ​​the adsorption device 3.

[0111] As a preferred embodiment, in order to provide stable support for the weld nondestructive testing device 6, the selection of the adsorption point is also crucial. The weight of the load, that is, the weight of the weld nondestructive testing device 6, for a specific testing unit, the weight of each testing unit is known, the length of the mechanical arm 11 of the robot body 1 is also known, and the length of the electric telescopic arm can be adjusted;

[0112] The selection of the adsorption point of the adsorption device 3 is based on the moment balance principle. Specifically, the moment balance equation is as follows:

[0113] τ 总 =τ 臂 +τ 伸缩杆 -τ 负载

[0114] in:

[0115] τ 总 : The total output torque of the system;

[0116] τ 臂 =F 臂 ·L 臂 ·cosθ 臂 , is the torque of the collaborative robot arm;

[0117] τ 伸缩杆 =F 杆 ·L 杆 ·cosθ 杆 , is the torque of the electric telescopic rod 2;

[0118] τ 负载 =W 负载 ·L 负载 , is the moment of the target load;

[0119] F 臂 、F杆 : are the forces provided by the mechanical arm 11 and the electric telescopic rod 2 respectively;

[0120] L 臂 , L 杆 , L 负载 : are the arm lengths of the mechanical arm 11, the electric telescopic rod 2 and the load respectively;

[0121] θ 臂 ,θ 杆 : are the inclination angles of the mechanical arm 11 and the electric telescopic rod 2 respectively;

[0122] W 负载 is the total weight of the load.

[0123] As a preferred embodiment, the electric telescopic rod 2 is provided with a displacement sensor and an angle sensor for feeding back the real-time telescopic state;

[0124] The telescopic rod dynamically adjusts its telescopic length L and tilt angle θ based on the shape of the weld surface to be detected. 杆 ;

[0125] The weld surface equation is f(x, y, z). Based on the weld surface equation, the real-time telescopic length L of the electric telescopic rod 2 is adjusted based on the following formula:

[0126]

[0127] The real-time tilt angle θ of the electric telescopic rod 2 杆 Adjustments are made based on the following formula:

[0128]

[0129] where x t ,y t , z t are the three coordinate values ​​of the system base point, x b ,y b , z b They are the three coordinate values ​​of the target point position respectively;

[0130] The dynamically adjusted length and tilt angle of the telescopic rod can ensure that the weld nondestructive testing device 6 always maintains an optimal contact posture with the weld surface and can adapt to the complex curvature of the weld.

[0131] As a preferred embodiment, the robot body 1 is also equipped with a remote control interface, allowing remote operation and control of the robot system for weld inspection;

[0132] This makes the collaborative robot system more intelligent, and remote control operation can reduce the risk of manual operation and reduce harm to operators.

[0133] Example 2

[0134] The present invention also provides a control method for the weld non-destructive testing collaborative robot as described in Example 1, the steps of which include:

[0135] S1. After entering the confined space, use the camera, radar and laser rangefinder to scan the environment, obtain the distribution map of the weld to be detected and the preliminary contour features of the workpiece to be detected according to the scanned environment, automatically establish the environment map model and obtain a reasonable detection path;

[0136] S2, the robot body 1 moves to the initial position of the detection path, controls the robot arm 11 to move and drives the electric telescopic rod 2 to approach the weld to be detected, and the first camera 5 arranged at the end of the electric telescopic rod 2 obtains the precise contour information of the workpiece at the current weld position;

[0137] S3, based on the current workpiece precise contour information, calculate the adsorption position of the adsorption device 3, as well as the dynamic extension length L and dynamic tilt angle θ of the electric telescopic rod 2 杆 ;

[0138] Specifically, based on the weld surface equation f(x, y, z), the real-time telescopic length L of the electric telescopic rod 2 is adjusted based on the following formula:

[0139]

[0140] The real-time tilt angle θ of the electric telescopic rod 2 杆 Adjustments are made based on the following formula:

[0141]

[0142] where x t ,y t , z t are the three coordinate values ​​of the system base point, x b ,y b , z b are the three coordinate values ​​of the target point position respectively; the length and inclination angle of the telescopic rod that are dynamically adjusted can ensure that the weld nondestructive testing device 6 always maintains the best contact posture with the weld surface and can adapt to the complex curvature of the weld;

[0143] S4, the adsorption device 3 is adsorbed at the obtained adsorption position, the electric telescopic rod 2 is extended, and based on the precise contour information of the workpiece at the current weld position, the robot arm 11 and the multi-dimensional motion mechanism 4 cooperate to move the weld non-destructive testing device 6 to the weld to be tested for non-destructive testing, and the test results are wirelessly transmitted to the cloud or an external receiving device;

[0144] S5. When the inspection of the current weld is completed, the electric telescopic rod 2 drives the weld nondestructive inspection device 6 to retract, and the adsorption and fixation of the adsorption device 3 is released;

[0145] Then move to the next position for inspection, and the first camera 5 arranged at the end of the electric telescopic rod 2 obtains the precise contour information of the workpiece at the position of the next weld; repeat steps S3 and S4 until the inspection within the inspection path is completed.

[0146] Such a setting not only enables the collaborative robot system to flexibly detect welds in narrow spaces, but also can further optimize the dynamic extension length and inclination angle of the electric telescopic rod 2 based on the current workpiece contour information, so that the control method provided by the present invention can adapt to the detection of welds with complex curvature shapes, and can effectively improve the accuracy of weld detection; thereby, the weld non-destructive testing collaborative robot provided by the present invention can move in a confined space and perform high-precision non-destructive testing.

[0147] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A weld non-destructive testing collaborative robot, characterized in that: It includes a robot body, an electric telescopic rod arranged on the robot body mechanical arm, an adsorption device arranged in the middle of the electric telescopic rod, a multi-dimensional motion mechanism and a first camera arranged at the end of the electric telescopic rod, and also includes a weld non-destructive detection device arranged at the end of the multi-dimensional motion mechanism; The weld nondestructive testing device is used for nondestructive testing of weld defects; A second camera is also provided at the end of the multi-dimensional motion mechanism; the second camera is used to monitor the detection in real time and upload it to the cloud to establish a digital file; The adsorption device is a magnetic adsorption universal joint or a negative pressure adsorption universal joint, which is used to be adsorbed near the part to be inspected and provide fixed support for the weld nondestructive testing device; The multi-dimensional motion mechanism, the electric telescopic rod and the mechanical arm cooperate to adjust the posture of the end of the multi-dimensional motion mechanism, so that the weld non-destructive testing device can inspect weld defects on the curved surface.

2. A weld non-destructive testing collaborative robot according to claim 1, characterized in that: The weld nondestructive testing device comprises one or two of a penetration testing module, a magnetic particle testing module, an ultrasonic testing module, and a visual testing module; each testing module is detachably arranged at the end of the multi-dimensional motion mechanism.

3. A weld non-destructive testing collaborative robot according to claim 2, characterized in that: The penetration detection module includes a first spraying unit for spraying a penetrant liquid onto the weld, a second spraying unit for spraying a cleaning liquid, and a third spraying unit for spraying a developer onto the weld. The spraying flow rate of the third spraying unit is calculated by the following formula: Q=k1·A+k2·Δp Where A is the weld area, Δp represents the difference in developer distribution unevenness, and k1 and k2 represent proportional coefficients, respectively.

4. A weld non-destructive testing collaborative robot according to any one of claims 1 to 3, characterized in that: The weld non-destructive testing collaborative robot also includes a laser rangefinder and a laser radar. The laser rangefinder cooperates with two cameras to automatically establish an environmental map model and plan a reasonable testing path. The laser radar and the two cameras cooperate to avoid obstacles and automatically adjust the motion trajectory.

5. A weld non-destructive testing collaborative robot according to any one of claims 1 to 3, characterized in that: When the adsorption device adopts a negative pressure adsorption universal joint, the supporting force provided by the adsorption device is calculated by the following formula: in: F 吸附 : The supporting force provided by the adsorption device; P 内 , P 外 : are the pressure inside and outside the adsorption device respectively; A 吸附 : Effective contact area of ​​the adsorption device.

6. A weld non-destructive testing collaborative robot according to any one of claims 1 to 3, characterized in that: The selection of the adsorption point of the adsorption device is based on the moment balance principle. Specifically, the moment balance equation is as follows: t 总 =t 臂 +t 伸缩杆 -t 负载 in: τ 总 : The total output torque of the system; τ 臂 =F 臂 ·L 臂 ·cosθ 臂 , is the torque of the collaborative robot arm; τ 伸缩杆 =F 杆 ·L 杆 ·cosθ 杆 , is the torque of the electric telescopic rod; τ 负载 =W 负载 ·L 负载 , is the moment of the target load; F 臂 、F 杆 : The forces provided by the robotic arm and the electric telescopic rod respectively; L 臂 , L 杆 , L 负载 : are the arm lengths of the robot arm, electric telescopic rod and load respectively; θ 臂 ,θ 杆 : are the inclination angles of the robotic arm and the electric telescopic rod respectively; W 负载 is the total weight of the load.

7. A weld non-destructive testing collaborative robot according to any one of claims 1 to 3, characterized in that: The electric telescopic rod is provided with a displacement sensor and an angle sensor for feeding back the real-time telescopic state; The telescopic rod dynamically adjusts its telescopic length L and tilt angle θ based on the shape of the weld surface to be detected. 杆 .

8. The weld non-destructive testing collaborative robot according to claim 7, characterized in that: The weld surface equation is f(x, y, z). Based on the weld surface equation, the real-time telescopic length L of the electric telescopic rod is adjusted based on the following formula: The real-time tilt angle θ of the electric telescopic rod 杆 Adjustments are made based on the following formula: where x t ,y t , z t are the three coordinate values ​​of the system base point, x b ,y b , z b are the three coordinate values ​​of the target point respectively.

9. A weld non-destructive testing collaborative robot according to any one of claims 1 to 3, characterized in that: The multi-dimensional motion mechanism includes at least two motion axes to achieve flexible adjustment of the weld non-destructive testing device in multiple directions; The number and type of motion axes of the multi-dimensional motion mechanism can be flexibly adjusted according to the type of the weld non-destructive testing device.

10. A control method for a weld non-destructive testing collaborative robot according to any one of claims 1 to 9, characterized in that: S1. After entering the confined space, use the camera, radar and laser rangefinder to scan the environment, obtain the distribution map of the weld to be detected and the preliminary contour features of the workpiece to be detected according to the scanned environment, automatically establish the environment map model and obtain a reasonable detection path; S2, the robot body moves to the initial position of the detection path, controls the robot arm to move and drives the electric telescopic rod to approach the weld to be detected, and the first camera arranged at the end of the electric telescopic rod obtains the precise contour information of the workpiece at the current weld position; S3, based on the current workpiece precise contour information, calculate the adsorption position of the adsorption device, as well as the dynamic extension length L and dynamic tilt angle θ of the electric telescopic rod 杆 ; S4. The adsorption device is adsorbed at the obtained adsorption position, the electric telescopic rod is extended, and based on the precise contour information of the workpiece at the current weld position, the weld nondestructive testing device is moved to the weld to be tested in coordination with the robotic arm and the multi-dimensional motion mechanism for nondestructive testing, and the test results are wirelessly transmitted to the cloud or an external receiving device; S5. When the inspection of the current weld is completed, the electric telescopic rod drives the weld nondestructive inspection device to retract, and the adsorption and fixation of the adsorption device are released; Then move to the next position for inspection, and the first camera arranged at the end of the electric telescopic rod obtains the precise contour information of the workpiece at the position of the next weld; repeat steps S3 and S4 until the inspection within the inspection path is completed.

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