Visual tracking detection device for curve welding seam

Abstract

The invention discloses a visual tracking detection device for a curve welding seam, which relates to the technical field of welding seam detection, comprises a supporting main plate, a supporting mechanism, a clamping mechanism, an auxiliary mechanism, a tracing mechanism, a driving mechanism and a detection mechanism, and solves the problems of false alarm and false detection easily occurring in the existing subsequent detection process. By arranging a tracing mechanism, an auxiliary mechanism, a driving mechanism and other components, a side guide rail, an inclined supporting arm and a limiting clamping jaw of the tracing mechanism are matched with one another to drive a tracing pipe to be precisely attached to a curve and a curved surface welding seam, and the driving mechanism is in linkage with a connecting rod structure through a transmission belt wheel and a bevel gear; and the piston rod of the auxiliary mechanism is driven to reciprocate, so that the auxiliary agents in the developing agent hopper and the fluorescent agent hopper are automatically coated on the surface of the welding seam through the feeding pipe and the tracking pipe, and the effect that the device can realize automatic tracking and coating of the curve welding seam through linkage of a mechanical structure is further achieved.

Description

Technical Field

[0001] This invention relates to a visual tracking and inspection device for curved welds, and relates to the field of weld inspection technology. Background Technology

[0002] A weld is a seam formed by melting and connecting the welding rod and the metal at the joint using the high temperature of a welding heat source. After the weld metal cools, the two welded parts are joined into a whole. Depending on the shape of the weld metal and the relative positions of the welded parts, welds are classified as butt welds, fillet welds, plug welds, and electric riveting welds. Weld visual inspection is a non-contact inspection method that uses machine vision technology to collect weld images and processes and analyzes the weld quality and position information through algorithms. Its core applications are tracking, positioning, and defect screening in welding automation. For example, a weld visual tracking and inspection device with application number "CN202111595482.6" specifically relates to the welding field. It includes a fixed rod, a translational rack, a translational drive assembly, a vision device, and two or more load-bearing units. The axis of the fixed rod is set along a preset direction. The translational rack is located on one side directly above the fixed rod. The vision device includes a processing box and a vision device, which is mounted on the outer surface of the processing box. Each load-bearing unit includes a pulley, a gear, and a connecting shaft. The pulley is coaxially fixed to the middle of the connecting shaft and engages with the fixed rod. The gear is coaxially fixed to the first end of the connecting shaft and meshes with the translational rack below. The second end of the connecting shaft is rotatably engaged with the processing box. The translational drive assembly includes a receiver and a translational drive element, which drives the translational rack to reciprocate along a preset direction. This weld visual tracking and inspection device can visually track and observe the welding quality of welds and has good ease of use.

[0003] Based on the aforementioned existing technology, existing visual inspection and tracking devices require the application of fluorescent agents and developing agents to the surface of welds for more accurate subsequent identification when performing weld seam tracking operations. However, since the application of fluorescent agents and developing agents to curved welds and welds on curved surfaces cannot be automated, false alarms and false detections are likely to occur during subsequent inspection processes, which can affect the normal inspection results. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a visual tracking and detection device for curved welds. This solves the problem that existing visual detection and tracking devices require the application of fluorescent agents and developing agents to the surface of the weld for more accurate subsequent identification. However, since the application of fluorescent agents and developing agents to curved welds and welds on curved surfaces cannot be automated, false alarms and false detections are likely to occur during subsequent detection, which affects the normal detection effect.

[0005] To address the aforementioned technical problems, this invention provides a visual tracking and inspection device for curved welds, comprising a support plate, a support mechanism, a clamping mechanism, an auxiliary mechanism, a tracking mechanism, a driving mechanism, and a detection mechanism. Two auxiliary mechanisms are symmetrically fixed on the left and right sides of the front end face of the support plate. The driving mechanism is fixedly located at the rear end of the auxiliary mechanisms and is used to drive the auxiliary mechanisms to feed materials. Two tracking mechanisms are also symmetrically fixed on the left and right sides of the front end face of the support plate, with a detection mechanism fixedly mounted at the top of each tracking mechanism. The tracking mechanism is used to move the detection mechanism back and forth. The support mechanism is located at the front end of the support plate, and the driving mechanism is installed at the rear end of the support mechanism. The support mechanism drives the auxiliary mechanisms to unload materials via the driving mechanism. Furthermore, the auxiliary mechanism includes a connecting frame, a support plate, a cylindrical tube, a feed pipe, a feed check valve, a developer hopper, a supply pipe, a feed check valve, a piston rod, a piston push plate, and a fluorescent agent hopper. The connecting frame is provided in two locations, symmetrically fixed on the left and right sides of the top of the support plate. The support plate is inclinedly fixed to the inner wall of the connecting frame. The cylindrical tube is fixed to one end of the connecting frame and has a hollow internal structure. Two cylindrical tubes are provided, each with a feed pipe at its top outer wall. The outer walls of both feed pipes are also equipped with feed check valves. The cylindrical tube has a developer hopper and a fluorescent agent hopper fixedly installed at the top of the two feed pipes, respectively. A feed pipe is also fixedly installed at the bottom of the outer wall of the cylindrical tube. A one-way valve for feeding is installed on the outer wall of the feed pipe. The piston rod is movably installed inside the cylindrical tube. The piston push plate is fixedly installed at the front end of the piston rod. When the piston rod is in the state of driving the piston push plate to move backward, the developer hopper and the fluorescent agent hopper are in the state of feeding into the cylindrical tube through the feed pipe. When the piston rod is in the state of driving the piston push plate to move forward, the material in the cylindrical tube is in the state of being fed out through the feed pipe.

[0006] Furthermore, the support mechanism includes a support frame, a drive roller, a mounting plate, a drive motor, a transmission gear, and a driven gear. The support frame is fixedly disposed at the bottom end of the support plate, the drive roller is rotatably disposed at the front end of the support plate, the mounting plate is fixedly disposed at the rear end of the support plate, the drive motor is fixedly disposed at the bottom end of the mounting plate, the transmission gear is fixedly disposed on the outer wall of the output shaft of the drive motor, and the driven gear is coaxially fixedly disposed at the rear end of the drive roller. The transmission gear and the driven gear mesh and transmit power.

[0007] Furthermore, the driving mechanism includes a connecting arm, a turntable, a driving connecting rod, a transmission helical gear A, a transmission pulley A, a transmission belt, a transmission pulley B, and a transmission helical gear B. The connecting arm is fixedly mounted at the rear end of the cylindrical tube. The turntable is rotatably mounted at the top end of the connecting arm. One end of the driving connecting rod is eccentrically mounted at the top end of the turntable, and the other end of the driving connecting rod is hinged to the piston rod. The turntable is in a state of driving the driving connecting rod to rotate, and the driving connecting rod is in a state of reciprocatingly pushing the piston rod and the piston push plate to move back and forth along the cylindrical tube. In this configuration, the transmission helical gear A is coaxially mounted at the bottom end of the turntable. Two transmission pulleys A are provided, arranged in a linear array and coaxially positioned at the rear end of the drive roller. A transmission belt is frictionally driven to the outer sides of the two transmission pulleys A. Two transmission pulleys B are also installed on the inner side of the transmission belt. Two transmission pulleys B are provided, rotatably mounted at the rear ends of two connecting arms. A transmission helical gear B is also installed at the front end of each of the two transmission pulleys B. The transmission helical gear B meshes with the transmission helical gear A for transmission.

[0008] Furthermore, the tracking mechanism includes a side guide rail, a side push rod, an inclined support arm, a limiting claw, and a tracking tube. Two side guide rails are symmetrically fixed to the front end of the support plate. Each side guide rail has an internal groove. The side push rod is fixedly installed within the groove of the side guide rail. The inclined support arm is slidably installed within the side guide rail. The front end of the side push rod is fixedly connected to the rear end of the inclined support arm. The interior of the device has a sliding groove, and the inclined push rod is fixedly installed in the sliding groove of the inclined support arm. The sliding groove has a limiting claw that slides inside. The inclined push rod is used to push the limiting claw to slide along the inclined support arm. The front end of the limiting claw has a notch, and a tracking tube is inserted into the notch. There are two tracking tubes, which are fixedly installed at the bottom ends of two feed tubes and connected to the developer hopper and the fluorescent agent hopper through the two feed tubes respectively.

[0009] Furthermore, the inspection mechanism includes a gantry frame, a top plate, a vertical push rod, a cover, a lighting lamp, an inspection camera, a tracking unit, a laser tracking module, a workpiece to be inspected, and a weld to be inspected. The gantry frame is fixedly installed at the top of the two inclined support arms. The top plate is fixedly installed at the top of the transverse member in the gantry frame. The vertical push rod is fixedly installed at the bottom of the top plate. The cover is fixedly installed at the bottom of the vertical push rod. The lighting lamp is fixedly installed in a groove at the bottom of the cover. The inspection camera is fixedly installed in the groove. The inspection camera has a CCD lens structure. The tracking unit is fixedly installed on the outer wall of the cover. The laser tracking module is fixedly installed at the bottom of the tracking unit. The workpiece to be inspected is placed on the top of the drive roller. The outer wall of the workpiece to be inspected has a weld to be inspected for inspection by the inspection camera.

[0010] Furthermore, the clamping mechanism includes a transverse guide rail, an adjusting push rod, an adjusting moving seat, and a driven roller. The transverse guide rail is fixedly installed at the front end of the support plate, and the partition is fixedly installed in the middle section inside the transverse guide rail. There are two adjusting push rods, which are symmetrically fixedly installed on the left and right sides of the partition. The output end of each adjusting push rod is fixedly connected to an adjusting moving seat, and the driven roller is rotatably installed at the front end of the adjusting moving seat.

[0011] Furthermore, there are two driven rollers, which are located on the left and right sides of the workpiece to be inspected, respectively. The driven rollers and the drive roller together form a rotational guide structure for the workpiece to be inspected.

[0012] The beneficial effects of this invention are: 1. In this invention, by setting up components such as a tracking mechanism, an auxiliary mechanism, and a driving mechanism, the side guide rail, the inclined support arm, and the limiting claw of the tracking mechanism cooperate with each other to drive the tracking tube to accurately fit the curved and curved surface weld. The driving mechanism drives the piston rod of the auxiliary mechanism to reciprocate through the transmission pulley, helical gear, and linkage structure, so that the auxiliary agent in the developer hopper and the fluorescent agent hopper is automatically coated on the weld surface through the feeding tube and the tracking tube. Thus, this device can achieve the effect of automated tracking and coating of curved welds through mechanical structure linkage, effectively solving the problem of false alarms and false detections caused by the inability to automatically coat auxiliary agents on curved and curved surface welds in the prior art.

[0013] 2. In this invention, by setting up components such as a support mechanism and a clamping mechanism, the drive motor of the support mechanism drives the drive roller to rotate through gear transmission, and the adjusting push rod of the clamping mechanism pushes the driven roller to cooperate with the drive roller to clamp the workpiece to be inspected. The two form a stable rotational guide structure, which enables the workpiece to be inspected to be transported at a uniform speed and smoothly. At the same time, with the synchronous action of the tracking mechanism and the inspection mechanism, the integrated operation of coating, tracking and inspection is realized, which greatly improves the continuity and accuracy of weld inspection and further optimizes the inspection process compared with the prior art. 3. In this invention, by setting up a laser tracking module and a CCD structure detection camera in the detection mechanism, the laser tracking module captures the weld position in real time and feeds it back to the tracking mechanism, guiding the tracking tube and the detection camera to follow synchronously. The detection camera clearly acquires the weld image with the assistance of the illumination lamp. The components form a closed-loop linkage, which not only ensures the accuracy of the auxiliary agent coating, but also improves the accuracy of subsequent defect detection. It completely solves the problem of poor detection effect caused by coating deviation in traditional devices, and significantly enhances the adaptability and detection reliability of the device to complex welds. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the front view of a portion of the structure of the present invention after cross-section; Figure 2 This is a schematic diagram of the rear side structure of the present invention; Figure 3 This is a schematic diagram of the right-side view structure of the present invention; Figure 4 This is a schematic diagram of the left-side structure of the present invention; Figure 5 This is a schematic diagram of the combined structure of the gantry frame and top plate of the present invention; Figure 6 This is a schematic diagram of the combined structure of the support plate and support frame of the present invention; Figure 7 This is a top view of the structure of the present invention; Figure 8 For the present invention Figure 2 Enlarged structural diagram at point A in the middle; In the diagram: 1. Support main board; 101. Support frame; 1011. Drive roller; 1012. Mounting plate; 1013. Drive motor; 1014. Transmission gear; 1015. Driven gear; 2. Transverse guide rail; 201. Partition plate; 2011. Adjusting push rod; 2012. Adjusting moving seat; 2013. Driven roller; 3. Connecting frame; 301. Support plate; 3011. Cylinder tube; 3012. Feed pipe; 3013. Feed check valve; 3014. Developer hopper; 3015. Feed pipe; 3016. Feed check valve; 3017. Piston rod; 3018. Piston push plate; 3019. Fluorescent agent hopper; 4. Connecting support 401. Arm; 401. Turntable component; 4011. Drive linkage; 4012. Transmission helical gear A; 4013. Transmission pulley A; 4014. Transmission belt; 4015. Transmission pulley B; 4016. Transmission helical gear B; 5. Side guide rail; 501. Side push rod; 5011. Angled support arm; 5012. Angled push rod; 5013. Limiting pawl; 5014. Tracking tube; 6. Gantry frame; 601. Top plate component; 6011. Vertical push rod; 6012. Cover; 6013. Lighting lamp; 6014. Inspection camera; 6015. Tracking unit; 6016. Laser tracking module; 7. Workpiece to be inspected; 701. Weld to be inspected. Detailed Implementation

[0015] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. All directional indicators (such as up, down, left, right, front, back, etc.) in the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indicator will also change accordingly.

[0016] like Figures 1-8As shown, a visual tracking and inspection device for curved welds includes: a supporting main board 1, a support mechanism, a clamping mechanism, an auxiliary mechanism, a tracking mechanism, a drive mechanism, and a detection mechanism. Two auxiliary mechanisms are symmetrically fixed on the left and right sides of the front end face of the supporting main board 1. The drive mechanism is fixedly located at the rear end of the auxiliary mechanisms and is used to drive the auxiliary mechanisms to feed materials. Two tracking mechanisms are also symmetrically fixed on the left and right sides of the front end face of the supporting main board 1. A detection mechanism is also fixedly mounted at the top of each tracking mechanism, and the tracking mechanism is used to drive the detection mechanism forward. The support mechanism is located at the front end of the support motherboard 1, and a drive mechanism is installed at the rear end of the support mechanism. The support mechanism drives the auxiliary mechanism to feed materials through the drive mechanism. The support motherboard 1, support mechanism, clamping mechanism, auxiliary mechanism, tracking mechanism, drive mechanism and detection mechanism are connected. Two auxiliary mechanisms are symmetrically fixed on the left and right sides of the front end face of the support motherboard 1. The drive mechanism drives the auxiliary mechanism to feed materials, the tracking mechanism drives the detection mechanism to move back and forth, and the support mechanism drives the auxiliary mechanism to feed materials through the drive mechanism. This solves the problem of false alarms and false detections caused by the inability to automatically track and apply auxiliary agents to curved and curved surface welds.

[0017] The auxiliary mechanism includes a connecting frame 3, a support plate 301, a cylindrical tube 3011, a feed pipe 3012, a feed check valve 3013, a developer hopper 3014, a feed pipe 3015, a feed check valve 3016, a piston rod 3017, a piston push plate 3018, and a fluorescent agent hopper 3019. Two connecting frames 3 are symmetrically fixed on the left and right sides of the top of the support plate 1. The support plate 301 is inclined and fixed to the inner wall of the connecting frame 3. The cylindrical tube 301 is fixed to... At one end of the connecting frame 3, the cylindrical tube 3011 has an internally hollow structure. Two feed pipes 3012 are provided at the top of the outer wall of each feed pipe 3011. A one-way feed valve 3013 is also provided on the outer wall of each feed pipe 3012. A developer hopper 3014 and a fluorescent agent hopper 3019 are respectively fixed at the top of the two feed pipes 3012. A feed pipe 3015 is also fixed at the bottom of the outer wall of the cylindrical tube 3011. A one-way feed valve is provided on the outer wall of the feed pipe 3015. Valve 3016 and piston rod 3017 are movably disposed inside the cylindrical tube 3011. Piston push plate 3018 is fixedly disposed at the front end of piston rod 3017. When piston rod 3017 is in the state of driving piston push plate 3018 to move rearward, developer hopper 3014 and fluorescent agent hopper 3019 are in the state of feeding into the cylindrical tube 3011 through feed pipe 3012. When piston rod 3017 is in the state of driving piston push plate 3018 to move forward, the material in the cylindrical tube 3011 is in the state of feeding into the cylindrical tube 3011 through feed pipe 3012. In the 015 supply state, the two connecting frames 3 of the auxiliary mechanism are symmetrically fixed on the left and right sides of the top of the support main board 1. The support plate 301 is inclined and fixed on the inner wall of the connecting frame 3. The cylinder tube 3011 is fixed at one end of the connecting frame 3. The feed pipe 3012 is equipped with a feed one-way valve 3013 and the top end is connected to the developer hopper 3014 and the fluorescent agent hopper 3019. The feed pipe 3015 is equipped with a feed one-way valve 3016. The piston rod 3017 drives the piston push plate 3018 to move back and forth, so as to realize the automatic feeding and supply of developer and fluorescent agent.

[0018] The support mechanism includes a support frame 101, a drive roller 1011, a mounting plate 1012, a drive motor 1013, a transmission gear 1014, and a driven gear 1015. The support frame 101 is fixedly mounted on the bottom end of the main support plate 1, the drive roller 1011 is rotatably mounted on the front end of the main support plate 1, the mounting plate 1012 is fixedly mounted on the rear end of the main support plate 1, the drive motor 1013 is fixedly mounted on the bottom end of the mounting plate 1012, and the transmission gear 1014 is fixedly mounted on the input of the drive motor 1013. The driven gear 1015 is coaxially fixed to the rear end of the drive roller 1011 on the outer wall of the output shaft. The transmission gear 1014 meshes with the driven gear 1015 for transmission. The support frame 101 of the support mechanism is fixed to the bottom end of the support main plate 1. The drive roller 1011 is rotatably mounted at the front end of the support main plate 1. The mounting plate 1012 is fixed to the rear end of the support main plate 1. The drive motor 1013 drives the transmission gear 1014 to mesh with the driven gear 1015 for transmission, so as to realize the rotation of the drive roller 1011 to drive the workpiece 7 to be inspected to move.

[0019] The drive mechanism includes a connecting arm 4, a turntable 401, a drive link 4011, a transmission helical gear A4012, a transmission pulley A4013, a transmission belt 4014, a transmission pulley B4015, and a transmission helical gear B4016. The connecting arm 4 is fixedly mounted at the rear end of the cylindrical tube 3011. The turntable 401 is rotatably mounted at the top end of the connecting arm 4. One end of the drive link 4011 is eccentrically mounted at the top end of the turntable 401. The other end of 011 is hinged to piston rod 3017. Turntable 401 is in a state where it drives drive connecting rod 4011 to rotate. Drive connecting rod 4011 is in a state where it reciprocates to push piston rod 3017 and piston push plate 3018 back and forth along cylindrical tube 3011. Helical gear A4012 is coaxially mounted at the bottom end of turntable 401. Two drive pulleys A4013 are provided, and the two pulleys A4013 are arranged in a linear array coaxially with drive roller 1011. At the rear end, a transmission belt 4014 is frictionally driven on the outer sides of two transmission pulleys A4013. A transmission pulley B4015 is also installed on the inner side of the transmission belt 4014. There are two transmission pulleys B4015, each rotatably positioned at the rear end of a connecting arm 4. A helical gear B4016 is installed at the front end of each transmission pulley B4015, meshing with a helical gear A4012 for transmission. The connecting arm 4 of the drive mechanism is fixed to the rear end of the cylinder tube 3011. The turntable 401 is rotatably mounted on the top of the connecting arm 4. The drive connecting rod 4011 is eccentrically connected to the turntable 401 and the piston rod 3017. The transmission helical gear A4012 meshes with the transmission helical gear B4016. The transmission pulley A4013 drives the transmission pulley B4015 to rotate through the transmission belt 4014, so as to realize the reciprocating movement of the piston rod 3017 and the piston push plate 3018 along the cylinder tube 3011.

[0020] The tracking mechanism includes a side guide rail 5, a side push rod 501, an inclined support arm 5011, an inclined push rod 5012, a limiting claw 5013, and a tracking tube 5014. Two side guide rails 5 are symmetrically fixed to the front end of the supporting main board 1. Each side guide rail 5 has a groove inside. The side push rod 501 is fixedly installed within the groove of the side guide rail 5. The inclined support arm 5011 is slidably installed within the side guide rail 5. The front end of the side push rod 501 is fixedly connected to the rear end of the inclined support arm 5011. The inclined support arm 5011 also has a groove inside. The inclined push rod 5012 is fixedly installed within the groove of the inclined support arm 5011. A limiting claw 5013 is slidably installed inside the groove. The inclined push rod 5012 pushes the limiting claw 5013 along the inclined direction. The support arm 5011 slides, and the front end of the limiting claw 5013 has a notch. The tracking tube 5014 is inserted into the notch. There are two tracking tubes 5014. The two tracking tubes 5014 are fixedly installed at the bottom ends of the two supply tubes 3015 respectively. They are connected to the developer hopper 3014 and the fluorescent agent hopper 3019 respectively through the two supply tubes 3015. The two side guide rails 5 of the tracking mechanism are symmetrically fixed at the front end of the support main board 1. The side push rod 501 is fixed in the slide groove of the side guide rail 5 and connected to the inclined support arm 5011. The inclined push rod 5012 pushes the limiting claw 5013 to slide along the inclined support arm 5011. The limiting claw 5013 engages the tracking tube 5014. The tracking tube 5014 is connected to the supply tube 3015 to achieve accurate tracking of the weld and guide the application of the auxiliary agent.

[0021] The inspection mechanism includes a gantry frame 6, a top plate 601, a vertical push rod 6011, a cover 6012, a lighting lamp 6013, an inspection camera 6014, a tracking unit 6015, a laser tracking module 6016, a workpiece 7 to be inspected, and a weld 701 to be inspected. The gantry frame 6 is fixedly mounted on the top of two inclined support arms 5011. The top plate 601 is fixedly mounted on the top of the transverse component in the gantry frame 6. The vertical push rod 6011 is fixedly mounted on the bottom of the top plate 601. The cover 6012 is fixedly mounted on the bottom of the vertical push rod 6011. The lighting lamp 6013 is fixedly mounted in a groove at the bottom of the cover 6012. The inspection camera 6014 is fixedly mounted in the groove and has a CCD lens structure. The tracking unit 6015 is fixedly installed on the outer wall of the cover 6012, and the laser tracking module 6016 is fixedly installed at the bottom of the tracking unit 6015. The workpiece 7 to be inspected is placed on the top of the drive roller 1011. The outer wall of the workpiece 7 to be inspected is provided with a weld 701 to be inspected for inspection by the inspection camera 6014. The two side guide rails 5 of the tracking mechanism are symmetrically fixed at the front end of the support main board 1. The side push rod 501 is fixed in the slide groove of the side guide rail 5 and connected to the inclined support arm 5011. The inclined push rod 5012 pushes the limiting claw 5013 to slide along the inclined support arm 5011. The limiting claw 5013 clamps the tracking tube 5014. The tracking tube 5014 is connected to the feeding tube 3015 to realize accurate tracking of the weld and guide the application of auxiliary agent.

[0022] The clamping mechanism includes a transverse guide rail 2, an adjusting push rod 2011, an adjusting moving seat 2012, and a driven roller 2013. The transverse guide rail 2 is fixedly installed at the front end of the main support plate 1. The partition plate 201 is fixedly installed in the middle section of the transverse guide rail 2. There are two adjusting push rods 2011, which are symmetrically fixed on the left and right sides of the partition plate 201. The adjusting moving seat 2012 is fixedly connected to the output end of each adjusting push rod 2011. The driven roller 2013 is rotatably installed at the front end of the adjusting moving seat 2012. The transverse guide rail 2 of the clamping mechanism is fixed at the front end of the main support plate 1. The partition plate 201 is fixed in the middle section of the transverse guide rail 2. The two adjusting push rods 2011 are symmetrically fixed on the left and right sides of the partition plate 201 and connected to the adjusting moving seat 2012. The driven roller 2013 is rotatably installed at the front end of the adjusting moving seat 2012 to achieve clamping and positioning of the workpiece 7 to be inspected.

[0023] There are two driven rollers 2013, which are located on the left and right sides of the workpiece 7 to be inspected, respectively. The driven rollers 2013 and the drive roller 1011 together form a rotational guide structure for the workpiece 7 to be inspected. The two driven rollers 2013 are located on the left and right sides of the workpiece 7 to be inspected, and together with the drive roller 1011, they form a rotational guide structure for the workpiece 7 to be inspected, ensuring that the workpiece 7 to be inspected moves stably to cooperate with the inspection.

[0024] In use, the workpiece 7 to be inspected is first placed on the top of the drive roller 1011 of the support mechanism. Then, the clamping mechanism is started. The transverse guide rail 2 of the clamping mechanism provides sliding guidance for the adjustable distance moving seat 2012. Two adjustable distance push rods 2011 extend synchronously from both sides of the partition 201 in the middle section of the transverse guide rail 2, pushing the adjustable distance moving seat 2012 to move along the transverse guide rail 2 toward the workpiece 7 to be inspected, until the driven roller 2013 rotatably connected to the front end of the adjustable distance moving seat 2012 is tightly attached to the left and right outer walls of the workpiece 7 to be inspected. Through the clamping cooperation between the driven roller 2013 and the drive roller 1011, the workpiece 7 to be inspected is stably positioned, and at the same time, it provides guidance for the subsequent rotation and conveying of the workpiece 7 to be inspected, preventing it from deviating during inspection. After the workpiece 7 to be inspected is positioned, the drive motor 1013 of the support mechanism is started. The drive motor 1013 is fixed at the bottom of the mounting plate 1012. The mounting plate 1012 provides stable support for the drive motor 1013. When the output shaft of the drive motor 1013 rotates, it drives the transmission gear 1014 fixed on its outer wall to rotate synchronously. Since the transmission gear 1014 meshes with the driven gear 1015 fixed coaxially at the rear end of the drive roller 1011, the rotation of the transmission gear 1014 drives the driven gear 1015 and the drive roller 1011 to rotate at the front end of the support main plate 1. The drive roller 1011 drives the workpiece 7 to be inspected to rotate and be conveyed at a uniform speed through the friction between the drive roller 1011 and the workpiece 7 to be inspected, creating stable conditions for subsequent auxiliary agent coating and weld inspection. As the drive roller 1011 rotates, its front-end drive mechanism starts synchronously. The two transmission pulleys A4013, which are coaxially arranged in a linear array at the rear end of the drive roller 1011, rotate synchronously with the drive roller 1011. The transmission pulleys A4013 drive the two transmission pulleys B4015 installed on the inner side of the transmission belt 4014 through the transmission belt 4014 which is frictionally connected to the outside. The two transmission pulleys B4015 are respectively rotatably arranged at the rear ends of the two connecting arms 4 of the auxiliary mechanism. The connecting arms 4 provide rotational support for the transmission pulleys B4015. When the transmission pulleys B4015 rotate, the transmission helical gear B4016 fixed at its front end rotates synchronously. Since the transmission helical gear B4016 meshes with the transmission helical gear A4012 which is coaxially arranged at the bottom end of the turntable 401, the rotation of the transmission helical gear B4016 drives the transmission helical gear A4012 and the turntable 401 to rotate at the top of the connecting arm 4, realizing the transmission of power from the support mechanism to the auxiliary mechanism. During the rotation of the turntable 401, the drive rod 4011, which is eccentrically connected to its top, performs a circular motion. The other end of the drive rod 4011 is hinged to the piston rod 3017 of the auxiliary mechanism. Driven by the circular motion, the drive rod 4011 pulls the piston rod 3017 to reciprocate along the cylindrical tube 3011. When the piston rod 3017 drives the piston push plate 3018 fixed at its front end to move backward, the internal space of the cylindrical tube 3011 increases, creating a negative pressure. At this time, the feed check valve 3013 on the feed pipe 3012 at the top of the outer wall of the cylindrical tube 3011 opens, allowing the developer to flow. The developer in hopper 3014 and the fluorescent agent in hopper 3019 enter the cylinder tube 3011 through their respective feed pipes 3012 to replenish the materials. When the piston rod 3017 drives the piston push plate 3018 to move forward, the internal space of the cylinder tube 3011 shrinks and the pressure increases. The feed check valve 3013 closes, and at the same time, the feed check valve 3016 on the feed pipe 3015 at the bottom of the outer wall of the cylinder tube 3011 opens. The developer and fluorescent agent in the cylinder tube 3011 are expelled through their respective feed pipes 3015 to provide materials for the coating of weld seam auxiliary agent. While the auxiliary mechanism supplies material, the tracking mechanism is activated to achieve precise application of the auxiliary agent. Two side guide rails 5 of the tracking mechanism are symmetrically fixed to the front end of the support main board 1. The grooves inside the side guide rails 5 provide a sliding channel for the inclined support arm 5011. The side push rod 501 is fixed within the groove of the side guide rail 5, with its front end fixedly connected to the rear end of the inclined support arm 5011. When the side push rod 501 extends or retracts, it pushes the inclined support arm 5011 to slide back and forth along the groove of the side guide rail 5, adjusting the forward and backward position of the inclined support arm 5011. Simultaneously, an inclined push rod 5012 is fixed within the groove inside the inclined support arm 5011. The output end of the inclined push rod 5012 is connected to the limiting claw 5013. When the inclined push rod 5012 extends or retracts… The limiting claw 5013 is pushed to slide along the groove of the inclined support arm 5011 to adjust the lateral position of the limiting claw 5013. The tracking tube 5014 is installed in the notch opened at the front end of the limiting claw 5013. The top end of the tracking tube 5014 is fixedly connected to the bottom end of the feeding tube 3015. Through the coordinated action of the side push rod 501 and the inclined push rod 5012, the limiting claw 5013 and the tracking tube 5014 are driven to move precisely to the weld 701 of the workpiece 7 to be inspected, so that the discharge end of the tracking tube 5014 is in contact with the surface of the weld 701 to be inspected. The developer and fluorescent agent conveyed by the feeding tube 3015 are evenly coated on the surface of the weld 701 to be inspected through the tracking tube 5014, thus completing the automated tracking and coating of the curved weld. After the auxiliary agent is applied, the inspection mechanism starts to inspect the weld 701 to be inspected. The gantry 6 of the inspection mechanism is fixed to the top of two inclined support arms 5011 and moves synchronously with the inclined support arms 5011. The top plate 601 is fixed to the top of the horizontal component of the gantry 6. The top plate 601 provides installation support for the vertical push rod 6011. The bottom end of the vertical push rod 6011 is fixedly connected to the cover 6012. When the vertical push rod 6011 extends or retracts, it pushes the cover 6012 to move vertically, adjusting the distance between the cover 6012 and the weld 701 to be inspected on the workpiece 7 to ensure that the inspection distance is appropriate. The lighting lamp 6013 and the inspection camera 6014 are fixed in the groove opened at the bottom of the cover 6012. After the lamp 6013 is turned on, it provides sufficient and uniform illumination to the inspection area of ​​the weld 701 to be inspected, eliminating the influence of insufficient light on the inspection. The inspection camera 6014 adopts a CCD lens structure, which can clearly acquire the image information of the weld 701 to be inspected. At the same time, the tracking unit 6015 fixed on the outer wall of the cover 6012 drives the laser tracking module 6016 at its bottom to move synchronously. The laser tracking module 6016 emits laser in real time to locate the position of the weld 701 to be inspected and feeds back the position information to the tracking mechanism, guiding the tracking mechanism to adjust the position of the tracking tube 5014 and the inspection mechanism, ensuring that the inspection camera 6014 is always aligned with the area of ​​the weld 701 to be inspected, so as to achieve accurate inspection of the curved weld after the auxiliary agent is applied. Throughout the entire process, the support mechanism drives the workpiece 7 to be inspected to rotate and be conveyed continuously via the drive roller 1011. The driven roller 2013 of the clamping mechanism works in conjunction with the drive roller 1011 to maintain the stable conveying posture of the workpiece 7 to be inspected. The drive mechanism continuously provides power to the auxiliary mechanism to achieve continuous feeding of the auxiliary agent. The tracking mechanism adjusts the position of the tracking tube 5014 in real time according to the positioning information of the laser tracking module 6016 to ensure the accuracy of the auxiliary agent coating. The detection mechanism simultaneously acquires the image of the weld 701 to be inspected to complete the detection. Through the linkage and cooperation of the mechanical structures, the various mechanisms form a complete workflow from positioning the workpiece 7 to be inspected, automated tracking and coating of the auxiliary agent to accurate detection of the weld 701 to be inspected, ensuring the stability and accuracy of the curved weld detection.

[0025] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A visual tracking and inspection device for curved welds, characterized in that, The system includes a support motherboard (1), a support mechanism, a clamping mechanism, an auxiliary mechanism, a tracking mechanism, a driving mechanism, and a detection mechanism. The auxiliary mechanism is provided in two locations, which are symmetrically fixed on the left and right sides of the front end face of the support motherboard (1). The driving mechanism is fixedly located at the rear end of the auxiliary mechanism and is used to drive the auxiliary mechanism to feed materials. The tracking mechanism is provided in two locations, which are symmetrically fixed on the left and right sides of the front end face of the support motherboard (1). The top of the two tracking mechanisms is also fixedly provided with a detection mechanism, which is used to drive the detection mechanism to move back and forth. The support mechanism is located at the front end of the support motherboard (1), and the rear end of the support mechanism is equipped with a driving mechanism. The support mechanism drives the auxiliary mechanism to feed materials through the driving mechanism.

2. The visual tracking and inspection device for curved welds according to claim 1, characterized in that, The auxiliary mechanism includes a connecting frame (3), a support plate (301), a cylindrical tube (3011), a feed pipe (3012), a feed check valve (3013), a developer hopper (3014), a feed pipe (3015), a feed check valve (3016), a piston rod (3017), a piston push plate (3018), and a fluorescent agent hopper (3019). The connecting frame (3) is provided in two places, and the two connecting frames (3) are symmetrically fixed to the support main plate (1). On the top left and right sides, the support plate (301) is inclined and fixedly installed on the inner wall of the connecting frame (3). The cylindrical tube (3011) is fixedly installed at one end of the connecting frame (3). The cylindrical tube (3011) has an internal hollow structure. There are two cylindrical tubes (3011). The top of the outer wall of the two cylindrical tubes (3011) is provided with a feed pipe (3012). The outer wall of the two feed pipes (3012) is also provided with a feed one-way valve (3013). The top ends of the two feed pipes (3012) are respectively fixedly provided with a developer hopper (3014) and a fluorescent agent hopper (3019). The bottom end of the outer wall of the cylindrical tube (3011) is also fixedly provided with a feed pipe (3015). The outer wall of the feed pipe (3015) is provided with a feed check valve (3016). The piston rod (3017) is movably disposed inside the cylindrical tube (3011). The piston push plate (3018) is fixedly disposed on the piston rod (3017). At the front end of the cylinder tube (3011), when the piston rod (3017) is in the state of driving the piston push plate (3018) to move backward, the developer hopper (3014) and the fluorescent agent hopper (3019) are in the state of feeding into the cylinder tube (3011) through the feed pipe (3012), the piston rod (3017) is in the state of driving the piston push plate (3018) to move forward, and the material in the cylinder tube (3011) is in the state of being supplied through the feed pipe (3015).

3. The visual tracking and inspection device for curved welds according to claim 1, characterized in that, The support mechanism includes a support frame (101), a drive roller (1011), a mounting plate (1012), a drive motor (1013), a transmission gear (1014), and a driven gear (1015). The support frame (101) is fixedly disposed at the bottom end of the support main board (1). The drive roller (1011) is rotatably disposed at the front end of the support main board (1). The mounting plate (1012) is fixedly disposed at the rear end of the support main board (1). The drive motor (1013) is fixedly disposed at the bottom end of the mounting plate (1012). The transmission gear (1014) is fixedly disposed on the outer wall of the output shaft of the drive motor (1013). The driven gear (1015) is coaxially fixedly disposed at the rear end of the drive roller (1011). The transmission gear (1014) and the driven gear (1015) mesh and transmit power.

4. The visual tracking and inspection device for curved welds according to claim 1, characterized in that, The driving mechanism includes a connecting arm (4), a turntable (401), a driving connecting rod (4011), a transmission helical gear A (4012), a transmission pulley A (4013), a transmission belt (4014), a transmission pulley B (4015), and a transmission helical gear B (4016). The connecting arm (4) is fixedly disposed at the rear end of the cylindrical tube (3011). The turntable (401) is rotatably disposed at the top end of the connecting arm (4). One end of the driving connecting rod (4011) is eccentrically rotatably disposed at the top end of the turntable (401), and the other end of the driving connecting rod (4011) is hinged to the piston rod (3017). When the turntable (401) is in a state of driving the driving connecting rod (4011) to rotate, the driving connecting rod (4011) is in a state of reciprocatingly pushing the piston rod (3017) and the piston push plate (3018) along the cylindrical tube. (3011) In the forward and backward movement state, the transmission helical gear A (4012) is coaxially set at the bottom end of the turntable (401). There are two transmission pulleys A (4013). The two transmission pulleys A (4013) are arranged in a linear array and coaxially set at the rear end of the drive roller (1011). The outer sides of the two transmission pulleys A (4013) are frictionally driven by the transmission belt (4014). The inner side of the transmission belt (4014) is also equipped with a transmission pulley B (4015). There are two transmission pulleys B (4015). The two transmission pulleys B (4015) are respectively rotatably set at the rear end of the two connecting arms (4). The front end of the two transmission pulleys B (4015) is also equipped with a transmission helical gear B (4016). The transmission helical gear B (4016) meshes with the transmission helical gear A (4012) for transmission.

5. The visual tracking and inspection device for curved welds according to claim 1, characterized in that, The tracking mechanism includes a side guide rail (5), a side push rod (501), an inclined support arm (5011), an inclined push rod (5012), a limiting claw (5013), and a tracking tube (5014). Two side guide rails (5) are symmetrically fixed to the front end of the supporting main board (1). A groove is provided inside each side guide rail (5). The side push rod (501) is fixedly installed within the groove in the side guide rail (5). The inclined support arm (5011) is slidably installed within the side guide rail (5). The front end of the side push rod (501) is fixedly connected to the rear end of the inclined support arm (5011). The inclined support arm (5011) has an internal opening... The inclined push rod (5012) is fixedly installed in the inclined support arm (5011) within the groove. A limiting claw (5013) is slidably installed inside the groove. The inclined push rod (5012) is used to push the limiting claw (5013) to slide along the inclined support arm (5011). The front end of the limiting claw (5013) has a notch, and a tracking tube (5014) is inserted into the notch. There are two tracking tubes (5014). The two tracking tubes (5014) are fixedly installed at the bottom ends of two feed tubes (3015) respectively, and are connected to the developer hopper (3014) and the fluorescent agent hopper (3019) respectively through the two feed tubes (3015).

6. The visual tracking and inspection device for curved welds according to claim 1, characterized in that, The inspection mechanism includes a gantry frame (6), a top plate (601), a vertical push rod (6011), a cover (6012), a lighting lamp (6013), an inspection camera (6014), a tracking unit (6015), a laser tracking module (6016), a workpiece (7) to be inspected, and a weld (701) to be inspected. The gantry frame (6) is fixedly installed at the top of the two inclined support arms (5011). The top plate (601) is fixedly installed at the top of the transverse component in the gantry frame (6). The vertical push rod (6011) is fixedly installed at the bottom of the top plate (601). The bottom of the vertical push rod (6011) is fixedly installed at... The enclosure (6012) has a lighting lamp (6013) fixedly installed in a groove at the bottom of the enclosure (6012), and a detection camera (6014) fixedly installed in the groove. The detection camera (6014) has a CCD lens structure. The tracking unit (6015) is fixedly installed on the outer wall of the enclosure (6012). The laser tracking module (6016) is fixedly installed at the bottom of the tracking unit (6015). The workpiece (7) to be inspected is placed on the top of the drive roller (1011). The outer wall of the workpiece (7) to be inspected is provided with a weld seam (701) to be inspected for inspection by the detection camera (6014).

7. The visual tracking and inspection device for curved welds according to claim 1, characterized in that, The clamping mechanism includes a transverse guide rail (2), an adjusting push rod (2011), an adjusting moving seat (2012), and a driven roller (2013). The transverse guide rail (2) is fixedly installed at the front end of the supporting main board (1). The partition (201) is fixedly installed in the middle section inside the transverse guide rail (2). There are two adjusting push rods (2011). The two adjusting push rods (2011) are symmetrically fixedly installed on the left and right sides of the partition (201). The adjusting moving seat (2012) is fixedly connected to the output end of the two adjusting push rods (2011). The driven roller (2013) is rotatably installed at the front end of the adjusting moving seat (2012).

8. The visual tracking and inspection device for curved welds according to claim 7, characterized in that, The driven roller (2013) is provided in two places, and the two driven rollers (2013) are located on the left and right sides of the workpiece (7) to be inspected, respectively. The driven roller (2013) and the drive roller (1011) together form a rotation guide structure for the workpiece (7) to be inspected.

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