Building steel template welding seam automatic tracking detection device and detection method

Abstract

The invention relates to the technical field of welding seam automatic tracking, in particular to a building steel formwork welding seam automatic tracking detection device and detection method.The building steel formwork welding seam automatic tracking detection device comprises a connecting base, a rotating head is arranged at the bottom of the connecting base, a connecting rod is arranged at the bottom of the rotating head, a first protection rod is fixed to the connecting rod, and a welding head is fixed to the bottom of the first protection rod; an automatic tracking sensor is arranged between the two first protection rods, a second protection rod is fixed to the bottom of the connecting rod, a fixing plate is fixed to the surface of the second protection rod, and an air cylinder is arranged on the surface of the fixing plate. The automatic tracking sensor has the beneficial effects that the swing ball is stabilized in the swing groove, when the automatic tracking sensor is collided, the swing ball swings in the swing groove, the telescopic rod is attracted to the surface of the magnet, and after the swing ball swings, the telescopic rod can be retracted into the telescopic groove, so that the impact force borne by the automatic tracking sensor is reduced; the automatic tracking sensor is prevented from being damaged.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic weld tracking, and particularly to an automatic weld tracking detection device and a detection method for building steel formwork welds. Background Technique

[0002] Weld tracking is a technology that uses sensors to detect the position, shape, and size of welds in real time and combines algorithms to control the automatic adjustment of the movement trajectory of welding equipment.

[0003] In the prior art, the patent number is CN208800943U, and the name is an automatic weld tracking device, which includes a calibration component; a welding torch is provided on the calibration component, and a welding needle is provided at the lower end of the welding torch; the calibration component is arranged on a bracket; the welding torch is fixedly connected with a camera, the camera is provided with an identification reference point, and the position of the identification reference point on the camera is fixed; the calibration component can drive the welding torch to move, and the moving direction of the welding torch is perpendicular to the connection line between the welding torch and the identification reference point; both the camera and the calibration component are electrically connected to a central controller. The beneficial effects are: it can realize the automatic tracking of welding seams, enable the welding head to accurately weld the parts to be welded without deviation, increase safety; there is no need for manual calibration, reducing the adverse effects on the health of workers.

[0004] However, the existing automatic tracking sensors lack a protection component during use. When the automatic tracking sensor moves with the welding head and is collided, it is easy to cause damage to the automatic tracking sensor. Summary of the Invention

[0005] The purpose of the present invention is to provide an automatic weld tracking detection device and a detection method for building steel formwork welds to solve the problems raised in the above background technique.

[0006] To achieve the above purpose, the present invention provides the following technical solution: An automatic weld tracking detection device for building steel formwork, comprising: A connecting seat, a rotating head is arranged at the bottom of the connecting seat, a connecting rod is arranged at the bottom of the rotating head, a first protection rod is fixed on the connecting rod, a welding head is fixed at the bottom of the first protection rod, an automatic tracking sensor is arranged between two groups of first protection rods, a second protection rod is fixed at the bottom of the connecting rod, a fixing plate is fixed on the surface of the second protection rod, and a cylinder is arranged on the surface of the fixing plate.

[0007] Preferably, a welding pipe is connected to the surface of the welding head, a fixing rod is fixed on the surface of the fixing plate, there are multiple groups of fixing rods, the other end of the fixing rod is fixed with a cylinder, a piston rod is arranged at the end of the cylinder, the cylinder can drive the piston rod to perform telescopic movement, the end of the piston rod is connected with a connecting rope, there are four groups of connecting ropes, and the connecting ropes move with the piston rod.

[0008] Preferably, a connecting rod is fixed to the end of the automatic tracking sensor. The other end of the connecting rod is connected to a swinging ball. A housing is provided on the surface of the swinging ball. The housing is fixed to the surface of a fixing plate. A swinging groove is formed inside the housing. The swinging ball is located in the swinging groove and can swing in the swinging groove.

[0009] Preferably, multiple groups of first rubber strips are provided on the surface of the swinging ball. The first rubber strips swing along with the swinging ball. Multiple groups of second rubber strips are provided inside the swinging groove. The second rubber strips are located between two groups of first rubber strips.

[0010] Preferably, a slot is formed inside the housing. An extension rod is fixed in the slot. A magnet is fixed to the end of the extension rod. A limiting tube is fixed inside the slot. A connecting rope is inserted into the limiting tube and can move inside the limiting tube.

[0011] Preferably, a telescopic groove is formed on the surface of the swinging ball close to the extension rod. A telescopic rod is inserted into the telescopic groove and can move inside the telescopic groove. The cross-section of the telescopic groove is T-shaped, and the cross-section of the telescopic rod is also T-shaped. A limiting plate is fixed to the end of the telescopic rod. The limiting plate is located inside the telescopic groove. Multiple groups of ball bearings are provided on the surface of the limiting plate. The ball bearings can roll on the surface of the limiting plate, and the surface of the ball bearings contacts the inner wall of the telescopic groove. A spring is provided inside the telescopic groove. One end of the spring is connected to the surface of the limiting plate, and the other end is connected to the inside of the telescopic groove. The elastic force of the spring is less than the suction force of the magnet. A limiting plate is provided at the end of the telescopic rod, and the limiting plate is located inside the telescopic groove.

[0012] Preferably, after the telescopic rod extends out of the telescopic groove, the end of the telescopic rod can be adsorbed on the surface of the magnet. The other end of the connecting rope is fixed to the surface of the swinging ball. An elastic rope is connected to the surface of the connecting rope, and the other end of the elastic rope is connected to the surface of the telescopic rod.

[0013] Preferably, the connecting rope moves towards the cylinder along with the piston rod. The four connecting ropes simultaneously pull the swinging ball. The piston rod simultaneously pulls the four connecting ropes to move. The four connecting ropes simultaneously move inside the limiting tube. The limiting tube plays a role in limiting the connecting rope. Moreover, the limiting tube is smooth, reducing the friction during the movement of the connecting rope inside the limiting tube, reducing the loss generated during the use of the connecting rope, and preventing the connecting rope from breaking prematurely.

[0014] Preferably, when the automatic tracking sensor is impacted, the swinging ball swings in the swinging groove, and the automatic tracking sensor swings along with the swinging ball.

[0015] A detection method for an automatic tracking and detection device of building steel formwork welds includes the following steps: The automatic tracking sensor moves along with the connecting seat. First, the automatic tracking sensor acquires an image of the weld to be welded. After transmitting the image to the control system, the control system controls the connecting seat to move, drives the welding head to move along the weld through the connecting seat, and welds the weld through the welding head. After welding is completed, the connecting seat drives the automatic tracking sensor to move again. The automatic tracking sensor acquires an image of the welded weld through the vision sensor. After the image is transmitted to the control system, the quality effect after welding is detected.

[0016] Compared with the prior art, the beneficial effects of the present invention are: A connecting rod is fixed to the end of the automatic tracking sensor proposed by the present invention. The swinging ball at the end of the connecting rod is located in the swinging groove. The first rubber strip on the surface of the swinging groove is stuck in the second rubber strip, stabilizing the swinging ball in the swinging groove. When the automatic tracking sensor is collided, the swinging ball swings in the swinging groove, and the telescopic rod adsorbs on the surface of the magnet. After the swinging ball swings, the telescopic rod can be retracted into the telescopic groove, reducing the impact force received by the automatic tracking sensor and preventing the automatic tracking sensor from being damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic structural diagram of the present invention.

[0018] Figure 2 It is a schematic structural diagram of another perspective of the present invention.

[0019] Figure 3 It is a schematic diagram of a partially enlarged structure of the present invention.

[0020] Figure 4 It is a schematic sectional view structure of the present invention.

[0021] Figure 5 It is a schematic sectional view structure of another perspective of the present invention.

[0022] Figure 6 is Figure 4 A schematic diagram of an enlarged structure at position A in

[0023] Figure 7 It is a schematic diagram of the cylinder structure of the present invention.

[0024] Figure 8 It is a schematic sectional view structure of the swinging ball of the present invention.

[0025] Figure 9 It is a schematic diagram of a partially enlarged sectional view structure of the swinging ball of the present invention.

[0026] In the figure: connecting seat 1, rotating head 2, connecting rod 3, first protective rod 4, automatic tracking sensor 5, welding head 6, welding pipe 7, housing 8, cylinder 9, fixing plate 10, connecting rod 11, swinging ball 12, first rubber strip 13, swinging groove 14, slotted opening 15, elastic cord 16, extension rod 17, magnet 18, limiting tube 19, connecting rope 20, telescopic rod 21, telescopic groove 22, fixing rod 23, piston rod 24, second rubber strip 25, second protective rod 26, spring 27, limiting plate 28, ball 29. Detailed implementation manners

[0027] In order to clearly and completely describe the purpose, technical solution of the present invention and make the advantages more clearly understood, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are part of the embodiments of the present invention, rather than all of the embodiments, and are only used to explain the embodiments of the present invention, and are not used to limit the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0028] Please refer to Figures 1 to 7 , the present invention provides a technical solution: Embodiment 1: An automatic tracking and detecting device for the weld of building steel formwork, comprising: a connecting seat 1, a rotating head 2 is arranged at the bottom of the connecting seat 1, a connecting rod 3 is arranged at the bottom of the rotating head 2, a first protective rod 4 is fixed to the connecting rod 3, a welding head 6 is fixed to the bottom of the first protective rod 4, an automatic tracking sensor 5 is arranged between two groups of the first protective rods 4, a second protective rod 26 is fixed to the bottom of the connecting rod 3, a fixing plate 10 is fixed to the surface of the second protective rod 26, and a cylinder 9 is arranged on the surface of the fixing plate 10.

[0029] Embodiment 2: On the basis of Embodiment 1, a welding pipe 7 is connected to the surface of the welding head 6, a fixing rod 23 is fixed to the surface of the fixing plate 10, there are multiple groups of the fixing rods 23, the other end of the fixing rod 23 is fixed to a cylinder 9, a piston rod 24 is arranged at the end of the cylinder 9, the cylinder 9 can drive the piston rod 24 to perform telescopic movement, a connecting rope 20 is connected to the end of the piston rod 24, there are four groups of the connecting ropes 20, the connecting ropes 20 move along with the piston rod 24, the connecting ropes 20 move towards the cylinder 9 along with the piston rod 24, the four groups of connecting ropes 20 simultaneously pull the swinging ball 12, the swinging ball 12 swings in the swinging groove 14, and the telescopic rod 21 is adsorbed on the surface of the magnet 18.

[0030] One end of the automatic tracking sensor 5 is fixed with a connecting rod 11, the other end of the connecting rod 11 is connected to a swinging ball 12, the surface of the swinging ball 12 is provided with a housing 8, the housing 8 is fixed on the surface of a fixing plate 10, a swinging groove 14 is formed inside the housing 8, the swinging ball 12 is located in the swinging groove 14, and the swinging ball 12 can swing in the swinging groove 14. A slot 15 is formed inside the housing 8, an extension rod 17 is fixed in the slot 15, a magnet 18 is fixed at the end of the extension rod 17, a limiting tube 19 is fixed inside the slot 15, a connecting rope 20 is inserted into the limiting tube 19, and the connecting rope 20 can move in the limiting tube 19. When the automatic tracking sensor 5 is impacted, the swinging ball 12 swings in the swinging groove 14, and the automatic tracking sensor 5 swings along with the swinging ball 12. One end of the automatic tracking sensor 5 is fixed with a connecting rod 11, the swinging ball 12 at the end of the connecting rod 11 is located in the swinging groove 14, and the first rubber strip 13 on the surface of the swinging groove 14 is stuck in the second rubber strip 25 to stably hold the swinging ball 12 in the swinging groove 14.

[0031] The surface of the swinging ball 12 is provided with multiple groups of first rubber strips 13. The first rubber strips 13 swing along with the swinging ball 12. Multiple groups of second rubber strips 25 are arranged inside the swinging groove 14. The second rubber strips 25 are located between two groups of first rubber strips 13. A telescopic groove 22 is formed in the surface of the swinging ball 12 close to the extension rod 17. A telescopic rod 21 is inserted into the telescopic groove 22. The telescopic rod 21 can move in the telescopic groove 22. The cross-section of the telescopic groove 22 is T-shaped, and the cross-section of the telescopic rod 21 is also T-shaped. A limiting plate 28 is fixed to the end of the telescopic rod 21. The limiting plate 28 is located inside the telescopic groove 22. Multiple groups of balls 29 are arranged on the surface of the limiting plate 28. The balls 29 can roll on the surface of the limiting plate 28, and the surface of the balls 29 contacts the inner wall of the telescopic groove 22. A spring 27 is arranged inside the telescopic groove 22. One end of the spring 27 is connected to the surface of the limiting plate 28, and the other end is connected to the inside of the telescopic groove 22. The elastic force of the spring 27 is less than the suction force of the magnet 18. A limiting plate is arranged at the end of the telescopic rod 21. The limiting plate is located inside the telescopic groove 22. After the telescopic rod 21 extends out of the telescopic groove 22, the end of the telescopic rod 21 can be adsorbed on the surface of the magnet 18. The other end of the connecting rope 20 is fixed to the surface of the swinging ball 12. An elastic rope 16 is connected to the surface of the connecting rope 20. The other end of the elastic rope 16 is connected to the surface of the telescopic rod 21. The connecting rope 20 moves towards the cylinder 9 along with the piston rod 24. The four connecting ropes 20 simultaneously pull the swinging ball 12. The piston rod 24 simultaneously pulls the four connecting ropes 20 to move. The four connecting ropes 20 simultaneously move inside the limiting tube 19. The limiting tube 19 plays a role in limiting the connecting ropes 20. The limiting tube 19 is smooth, reducing the friction during the movement of the connecting ropes 20 inside the limiting tube 19, reducing the loss generated during the use of the connecting ropes 20, and preventing the connecting ropes 20 from breaking prematurely. The swinging ball 12 swings in the swinging groove 14, and the telescopic rod 21 is adsorbed on the surface of the magnet 18. After the swinging ball 12 swings, the telescopic rod 21 can be retracted into the telescopic groove 22, reducing the impact force received by the automatic tracking sensor 5.

[0032] The rotating head 2 can rotate at the bottom of the connecting seat 1. The rotating head 2 drives the welding head 6 to rotate and move through the connecting rod 3 and the first protective rod 4, and welding is performed through the welding head 6. The automatic tracking sensor 5 is located inside the first protective rod 4 and the second protective rod 26. The first protective rod 4 and the second protective rod 26 can protect the automatic tracking sensor 5. The automatic tracking sensor 5 performs automatic tracking of the weld seam. A connecting rod 11 is fixed to the end of the automatic tracking sensor 5, and the swing ball 12 at the end of the connecting rod 11 is located in the swing groove 14. The first rubber strip 13 on the surface of the swing groove 14 is stuck in the second rubber strip 25, stabilizing the swing ball 12 in the swing groove 14. When the automatic tracking sensor 5 is collided, the swing ball 12 swings in the swing groove 14, and the telescopic rod 21 adsorbs on the surface of the magnet 18. After the swing ball 12 swings, the telescopic rod 21 can be retracted into the telescopic groove 22, reducing the impact force received by the automatic tracking sensor 5 and preventing the automatic tracking sensor 5 from being damaged. When the automatic tracking sensor 5 is used again, the piston rod 24 is driven by the cylinder 9, and the piston rod 24 drives the connecting rope 20 to move. The connecting rope 20 moves in the limiting tube 19. The swing ball 12 is pulled by the four groups of connecting ropes 20, causing the swing ball 12 to return to its initial state. When the connecting rope 20 moves, the telescopic rod 21 is pulled by the elastic rope 16, causing the telescopic rod 21 to extend from the telescopic groove 22, and the magnet 18 adsorbs on the surface of the telescopic rod 21, stabilizing the swing ball 12.

[0033] The automatic tracking sensor 5 moves along with the connecting seat 1. The automatic tracking sensor 5 first acquires an image of the weld seam to be welded. After transmitting the image to the control system, the control system controls the connecting seat 1 to move, drives the welding head 6 to move along the weld seam through the connecting seat 1, and welds the weld seam through the welding head 6. After welding is completed, the connecting seat 1 drives the automatic tracking sensor 5 to move again. The automatic tracking sensor 5 acquires an image of the welded weld seam through the vision sensor. After the image is transmitted to the control system, the quality effect after welding is detected.

[0034] Although the above describes the illustrative specific embodiments of the present application for the convenience of those skilled in the art to understand the present application, the present application is not limited to the scope of the specific embodiments. For those of ordinary skill in the art, as long as various changes are within the spirit and scope of the present application defined and determined by the appended claims, all application creations using the concept of the present application are within the scope of protection.

Claims

1. An automatic tracking and detection device for welding seams of building steel formwork, characterized in that: include: A connecting seat (1), a rotating head (2) is arranged at the bottom of the connecting seat (1), a connecting rod (3) is arranged at the bottom of the rotating head (2), a first protective rod (4) is fixed to the connecting rod (3), a welding head (6) is fixed to the bottom of the first protective rod (4), an automatic tracking sensor (5) is arranged between two groups of first protective rods (4), a second protective rod (26) is fixed to the bottom of the connecting rod (3), a fixing plate (10) is fixed to the surface of the second protective rod (26), and a cylinder (9) is arranged on the surface of the fixing plate (10).

2. The automatic tracking and detection device for welding seams of building steel formwork according to claim 1 is characterized in that: The surface of the welding head (6) is connected to a welding pipe (7), and a fixing rod (23) is fixed to the surface of the fixing plate (10). The fixing rod (23) is provided in multiple groups. A cylinder (9) is fixed to the other end of the fixing rod (23). A piston rod (24) is provided at the end of the cylinder (9). The cylinder (9) can drive the piston rod (24) to perform telescopic movement. The end of the piston rod (24) is connected to a connecting rope (20). The connecting rope (20) is provided in four groups. The connecting rope (20) moves along with the piston rod (24).

3. The automatic tracking and detection device for welding seams of building steel formwork according to claim 2 is characterized in that: A connecting rod (11) is fixed at the end of the automatic tracking sensor (5), and the other end of the connecting rod (11) is connected to a swinging ball (12). A housing (8) is provided on the surface of the swinging ball (12), and the housing (8) is fixed to the surface of a fixing plate (10). A swinging groove (14) is provided inside the housing (8), and the swinging ball (12) is located in the swinging groove (14). The swinging ball (12) can swing in the swinging groove (14).

4. The automatic tracking and detection device for welding seams of building steel formwork according to claim 3 is characterized in that: The surface of the swinging ball (12) is provided with a plurality of groups of first rubber strips (13), the first rubber strips (13) swing along with the swinging ball (12), and the interior of the swinging groove (14) is provided with a plurality of groups of second rubber strips (25), the second rubber strips (25) being located between two groups of first rubber strips (13).

5. The automatic tracking and detection device for welding seams of building steel formwork according to claim 4 is characterized in that: The housing (8) is provided with a slot (15) inside, an extension rod (17) is fixed in the slot (15), a magnet (18) is fixed at the end of the extension rod (17), a limit tube (19) is fixed inside the slot (15), a connecting rope (20) is inserted inside the limit tube (19), and the connecting rope (20) can move in the limit tube (19).

6. The automatic tracking and detection device for welding seams of building steel formwork according to claim 5 is characterized in that: A telescopic groove (22) is provided on a surface of one side of the swing ball (12) close to the extension rod (17), a telescopic rod (21) is inserted into the telescopic groove (22), and the telescopic rod (21) can move in the telescopic groove (22), the cross section of the telescopic groove (22) is T-shaped, and the cross section of the telescopic rod (21) is T-shaped, a limit plate (28) is fixed to the end of the telescopic rod (21), the limit plate (28) is located inside the telescopic groove (22), and a plurality of groups of balls (28) are arranged on the surface of the limit plate (28) 9), the ball (29) can roll on the surface of the limit plate (28), and the surface of the ball (29) contacts the inner wall of the telescopic slot (22), a spring (27) is arranged inside the telescopic slot (22), one end of the spring (27) is connected to the surface of the limit plate (28), and the other end is connected to the inside of the telescopic slot (22), the elastic force of the spring (27) is smaller than the suction force of the magnet (18), and a limit plate is arranged at the end of the telescopic rod (21), and the limit plate is located inside the telescopic slot (22).

7. The automatic tracking and detection device for welding seams of building steel formwork according to claim 6 is characterized in that: After the telescopic rod (21) extends from the telescopic slot (22), the end of the telescopic rod (21) can be adsorbed on the surface of the magnet (18), and the other end of the connecting rope (20) is fixed to the surface of the swing ball (12), the surface of the connecting rope (20) is connected to an elastic rope (16), and the other end of the elastic rope (16) is connected to the surface of the telescopic rod (21).

8. The automatic tracking and detection device for welding seams of building steel formwork according to claim 7 is characterized in that: The connecting rope (20) moves along with the piston rod (24) toward the cylinder (9), and the four groups of connecting ropes (20) pull the swinging ball (12) at the same time. The piston rod (24) pulls the four connecting ropes (20) to move at the same time. The four connecting ropes (20) move inside the limiting tube (19) at the same time. The limiting tube (19) limits the connecting ropes (20). The limiting tube (19) is smooth, which reduces the friction of the connecting ropes (20) during the movement inside the limiting tube (19), reduces the loss of the connecting ropes (20) during use, and prevents the connecting ropes (20) from breaking prematurely.

9. The automatic tracking and detection device for welding seams of building steel formwork according to claim 8 is characterized in that: When the automatic tracking sensor (5) is hit, the swinging ball (12) swings in the swinging groove (14), and the automatic tracking sensor (5) swings along with the swinging ball (12).

10. A detection method for the automatic tracking detection device for the welding seam of a building steel formwork as claimed in claim 9, characterized in that: The method comprises the following steps: the automatic tracking sensor (5) moves along with the connecting seat (1), the automatic tracking sensor (5) first acquires an image of the weld to be welded, and after transmitting the image to the control system, the control system controls the connecting seat (1) to move, and drives the welding head (6) to move along the weld through the connecting seat (1), and welds the weld through the welding head (6); after welding is completed, the automatic tracking sensor (5) is driven to move again through the connecting seat (1), and the automatic tracking sensor (5) acquires an image of the weld after welding through the visual sensor, and after the image is transmitted to the control system, the quality effect after welding is detected.

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