Positioning, welding and repairing device and method after defect recognition

Abstract

The invention relates to the technical field of welding repair robots, in particular to a positioning welding repair device and method after defect recognition, and the device comprises a magnetic attraction moving part, walking wheels, a welding part and a defect recognition part; the defect identification part and the welding part are both mounted on the magnetic attraction moving part, and the traveling wheels are mounted on the magnetic attraction moving part; the chip blowing mechanism is mounted on the magnetic suction moving part; the cleaning mechanism is mounted on the magnetic suction moving part and is used for cleaning a welding seam; the detection mechanism is mounted in the magnetic suction moving part and is used for cleaning water stains along with the movement of the magnetic suction moving part; the scrap blowing mechanism comprises a driving assembly, an air blowing assembly, a cooling assembly and a first cylinder. The air in the inner cavity of the other first cylinder is conveyed to the cooling box along the second one-way outlet pipe, at the moment, after being cooled by the cooling pipe, the air in the inner cavity of the cooling box is blown out of the air blowing pipe to the surface of the tank body, so that chippings at the defect position are blown away, and a welding part is rapidly cooled through the cooled air.

Description

Technical Field

[0001] This invention relates to the field of welding repair robot technology, specifically to a defect identification and positioning welding repair device and method. Background Technology

[0002] Outdoor large storage tanks are exposed to wind, sun and rain during daily use, which may damage the welds of the tank. These damaged welds may lead to leakage of gas or liquid stored in the tank. Therefore, a defect identification and positioning welding repair device is used to identify and repair the welds.

[0003] Chinese patent CN221210357U discloses a crawling robot for automated welding of storage tanks; it includes a robot crawling device, a load-bearing device, and a robot crawling system. The robot crawling device includes a supporting equipment support, with rolling bearings on both sides and at both ends of each side of the supporting equipment support. Rolling gears are installed on the rolling bearings. Two rolling gears on one side of the supporting equipment support are fitted with magnetic tracks. A high-definition camera and a supporting equipment sleeve are installed on the supporting equipment support. The above-mentioned prior art solves the problems of inconvenient movement and difficulty in observation.

[0004] However, before welding, there may be some debris at the weld joint. This debris may be melted by the high temperature during welding, thus affecting the stability of the weld and causing the weld to crack and leak again. Summary of the Invention

[0005] The purpose of this invention is to address the problems existing in the background art by proposing a defect identification and positioning welding repair device and method.

[0006] The technical solution of the present invention: a defect identification and positioning welding repair device, comprising a magnetic suction moving part, a traveling wheel, a welding part, and a defect identification part; the defect identification part and the welding part are both mounted on the magnetic suction moving part, and the traveling wheel is mounted on the magnetic suction moving part; further comprising: The chip blowing mechanism is mounted on the magnetically movable part; A cleaning mechanism, mounted on a magnetically movable part, is used for cleaning weld seams; The testing mechanism is installed inside the magnetic moving part and is used to clean water stains as the magnetic moving part moves. The chip blowing mechanism includes a drive assembly, an air blowing assembly, a cooling assembly, and a cylinder; the drive assembly is installed outside the magnetically moving part, the air blowing assembly is installed outside the magnetically moving part, and the lifting end is connected to the drive assembly; the cooling assembly is installed outside the magnetically moving part and is used to cool the air blown out by the air blowing assembly; the drive assembly drives the air blowing assembly to generate gas, which is then blown to the welding point through the coolant assembly.

[0007] Preferably, the drive assembly includes a drive device, a circular tube, and a tapered plate; The drive device is installed outside the magnetic moving part, and its output shaft is connected to a round tube, on which a conical plate is connected; during the rotation of the conical plate, the lifting end of the air blowing component is raised and lowered.

[0008] Preferably, the air blowing assembly includes a spring, a piston shaft, a lifting plate, a one-way air outlet pipe, a one-way air inlet pipe, a one-way air outlet pipe, and two cylinders. Two cylinders are connected to the two sides of the magnetic moving part, and the two ends of the spring are connected to the piston shaft. The lifting plate is installed at the bottom of the piston shaft and is located on the rotation path of the conical plate. One-way air outlet pipe one and one-way air outlet pipe two are connected to the air outlet ends of the two cylinders. The top of the cylinder is connected to the one-way air inlet pipe. The piston shaft rises and falls with the rotation of the conical plate, drawing in external air from the one-way air inlet pipe and outputting it from the one-way air outlet pipe one.

[0009] Preferably, the cooling assembly includes a mounting ring, a connecting pipe, a water pump, a cooling pipe, a cooling box, and two air blowing pipes; The mounting ring is installed outside the magnetic moving part; the input end of the water pump is connected to the connecting pipe, and its output ends are connected to the cooling pipes; the cooling box is installed at the output end of the one-way outlet pipe two, and the cooling pipe passes through the cooling box and connects to the round pipe; the two air blowing pipes are respectively connected to the cooling box and the one-way outlet pipe one.

[0010] Preferably, the cleaning mechanism includes a spray pipe, a spray head, and a polishing assembly; The spray pipe is connected to the circular pipe, and the spray head is connected to the spray pipe; water enters the spray pipe and sprays out of the weld from the circular pipe and the spray head.

[0011] Preferably, the grinding assembly includes a grinding rod and a rectangular groove; The grinding rod is installed on the outside of the round tube, the rectangular groove is opened on the grinding rod, and the spray head is located inside the rectangular groove.

[0012] Preferably, the testing mechanism includes an elastic element one, a C-shaped frame, an elastic element two, a rectangular plate, an inclined plate, and a liquid absorption assembly; The two ends of the first elastic element are connected to the magnetic suction moving part and the C-shaped frame, respectively; the two ends of the second elastic element are connected to the C-shaped frame and the rectangular plate, respectively; the inclined plate is installed at the bottom of the rectangular plate, and the liquid suction assembly is installed outside the magnetic suction moving part.

[0013] Preferably, the liquid absorption assembly includes an elastic element, a mounting bracket, an absorbent roller, and an L-shaped rod; The two ends of the elastic element three are connected to the magnetic moving part and the mounting frame, respectively; the water-absorbing roller is installed inside the mounting frame; the L-shaped rod is installed on the mounting frame and located on the moving path of the inclined panel.

[0014] The defect identification and subsequent positioning welding repair method, using the aforementioned defect identification and subsequent positioning welding repair device, includes the following steps: S1. Start the drive equipment to drive the round tube to rotate the conical plate. The conical plate drives the lifting plate to rise and fall, so that the piston shaft rises and falls inside the cylinder, drawing in the outside air into the cylinder, and then outputting it through the one-way air outlet pipe to the air blowing pipe to blow it onto the welding part. S2. Simultaneously, the cooling component cools the air and blows it onto the welding area to cool and lower the temperature of the welding part. S3. Subsequently, the water inside the cooling component is sprayed out from the output end to the weld seam to rinse the weld seam surface. S4. The testing mechanism adjusts the water absorption position based on the movement of the magnetic moving part.

[0015] Compared with the prior art, the above-mentioned technical solution of the present invention has the following beneficial technical effects: The magnetic moving part moves on the outer surface of the tank body via a drive device. The defect identification part identifies defects on the tank body, and the welding part locates and welds the defects. At the same time, the drive device is activated to rotate cylinder one, which in turn drives the conical plate to rotate. The protrusion of the conical plate intermittently strikes the lifting plate upward, thereby driving the lifting plate to rise and fall stably. The lifting plate drives the piston shaft to rise and fall. When the piston shaft descends in the inner cavity of cylinder one, it draws external air into cylinder one through the one-way air inlet pipe. When the piston shaft rises in the inner cavity of cylinder one, it delivers the air in cylinder one along one-way air outlet pipe one to the air blowing pipe. At the same time, the water pump is activated to deliver external water to the cooling pipe, and the air in another inner cavity of cylinder one is delivered to the cooling box along one-way air outlet pipe two. At this time, the air in the cooling box is cooled by the cooling pipe and then blown out from the air blowing pipe to the surface of the tank body, thereby blowing away the debris at the defect and rapidly cooling the welded part through the cooled air. Next, the cooling pipe delivers water into the round pipe, and it is sprayed out through the spray pipe and spray head. Then, the drive device drives the round pipe to rotate, and the round pipe drives the grinding rod to rotate, thereby grinding the weld seam through the grinding rod, thus ensuring that the weld seam remains flat, and the debris sprayed by the water prevents the debris from flying. When the magnetic moving part moves across the surface of the tank, if the magnetic moving part moves laterally, the inclined plate descends through the elasticity of the second elastic element, thereby contacting the L-shaped rod through the inclined surface of the inclined plate and pressing down the L-shaped rod. This causes the water-absorbing roller in the mounting frame to rotate on the surface of the tank and absorb sewage. Thus, depending on the movement of the magnetic moving part, the water-absorbing roller is selected to avoid some water-absorbing rollers that are not used being contaminated by dust on the surface of the tank. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the structure of the magnetic suction moving part proposed in this invention; Figure 3 This is a schematic diagram of the structure of the grinding rod proposed in this invention; Figure 4 This is a schematic diagram of the air blowing pipe proposed in this invention; Figure 5 This is a schematic diagram of the structure of the spray head proposed in this invention; Reference numerals: 1. Magnetic moving part; 2. Drive device; 3. Cylinder 1; 4. Spring 1; 5. Piston shaft; 6. Lifting plate; 7. Conical plate; 8. One-way air inlet pipe; 9. One-way air outlet pipe 1; 10. Air blowing pipe; 11. Mounting ring; 12. Connecting pipe; 13. Water pump; 14. Cooling pipe; 15. One-way air outlet pipe 2; 16. Grinding rod; 17. Spray pipe; 18. Spray head; 19. Rectangular groove; 20. Elastic component 1; 21. C-shaped frame; 22. Elastic component 2; 23. Rectangular plate; 24. Slanted panel; 25. Elastic component 3; 26. Mounting frame; 27. Water suction roller; 28. L-shaped rod; 29. ​​Traveling wheel; 30. Welding part; 31. Defect identification part; 32. Cooling box; 33. Round tube. Detailed Implementation

[0017] Example 1, as Figure 1-5 As shown, the defect identification and positioning welding repair device proposed in this invention includes a magnetic suction moving part 1, a traveling wheel 29, a welding part 30, and a defect identification part 31; both the defect identification part 31 and the welding part 30 are mounted on the magnetic suction moving part 1, and the traveling wheel 29 is mounted on the magnetic suction moving part 1; it also includes: A chip blowing mechanism is mounted on the magnetically movable part 1; A cleaning mechanism, which is mounted on the magnetic moving part 1, is used to clean the weld seam; The testing mechanism is installed inside the magnetic moving part 1 and is used to clean water stains as the magnetic moving part 1 moves. The chip blowing mechanism includes a drive assembly, an air blowing assembly, a cooling assembly, and a cylinder 3; the drive assembly is installed outside the magnetic moving part 1, the air blowing assembly is installed outside the magnetic moving part 1, and the lifting end is connected to the drive assembly; the cooling assembly is installed outside the magnetic moving part 1 and is used to cool the air blown out by the air blowing assembly; the drive assembly drives the air blowing assembly to generate gas, which is then blown to the welding point through the coolant assembly; The magnetic moving part 1 moves along the outer surface of the tank by magnetic attraction via the walking wheel 29. First, the defect identification part 31 identifies defects on the outer surface of the tank, and then the welding part 30 performs positioning welding.

[0018] The drive assembly includes a drive device 2, a circular tube 33, and a tapered plate 7; The drive device 2 is installed outside the magnetic moving part 1, and its output shaft is connected to the round tube 33. The round tube 33 is connected to the conical plate 7. During the rotation of the conical plate 7, the lifting end of the air blowing component is driven to rise and fall. The driving device 2 drives the circular tube 33 to rotate, and the circular tube 33 drives the conical plate 7 to rotate. Through the rotation of the conical plate 7, the lifting plate 6 is driven to rise and fall, which in turn drives the piston shaft 5 to rise and fall in the inner cavity of the cylinder 3, so as to output the external air.

[0019] The air assembly includes a spring 4, a piston shaft 5, a lifting plate 6, a one-way air outlet pipe 9, a one-way air inlet pipe 8, a one-way air outlet pipe 15, and two cylinders 3; Two cylinders 3 are connected to the two sides of the magnetic moving part 1 respectively, and the two ends of the spring 4 are connected to the piston shaft 5 respectively; the lifting plate 6 is installed at the bottom of the piston shaft 5, which is located on the rotation path of the conical plate 7; the one-way air outlet pipe 9 and the one-way air outlet pipe 15 are connected to the air outlet ends of the two cylinders 3 respectively; the top of the cylinder 3 is connected to the one-way air inlet pipe 8; the piston shaft 5 rises and falls with the rotation of the conical plate 7, drawing in external air from the one-way air inlet pipe 8 and outputting it from the one-way air outlet pipe 9. By setting up two cylinders 3, air can be blown from both sides to the welding part 30 through two air blowing pipes 10. First, the dust and debris at the defect of the tank body are blown away. After the welding is completed, the welding part 30 is cooled to avoid the welding part 30 from overheating during long-term use and becoming unusable.

[0020] The cooling assembly includes a mounting ring 11, a connecting pipe 12, a water pump 13, a cooling pipe 14, a cooling box 32, and two air blowing pipes 10; The mounting ring 11 is installed outside the magnetic moving part 1; the input end of the water pump 13 is connected to the connecting pipe 12, and its output end is connected to the cooling pipe 14; the cooling box 32 is installed at the output end of the one-way outlet pipe 15, and the cooling pipe 14 passes through the cooling box 32 and is connected to the round pipe 33; the two air blowing pipes 10 are respectively connected to the cooling box 32 and the one-way air outlet pipe 9. Connect the external water supply pipe to the connecting pipe 12, then start the water pump 13 to deliver water to the cooling pipe 14, and then cool the air in the inner cavity of the cooling box 32 through the cooling pipe 14. At the same time, the piston shaft 5 moves up and down in the inner cavity of the cylinder 3, thereby squeezing the external air into the cooling box 32. Then the cooled air is blown out through the air blowing pipe 10.

[0021] Example 2, as Figure 5 As shown, the defect identification and positioning welding repair device proposed in this invention, compared with Embodiment 1, has a cleaning mechanism including a spray pipe 17, a spray head 18 and a grinding assembly. Spray pipe 17 is connected to round pipe 33, and spray head 18 is connected to spray pipe 17; water enters from round pipe 33 into spray pipe 17 and spray head 18 and sprays out of the weld. The grinding assembly includes a grinding rod 16 and a rectangular groove 19; The grinding rod 16 is installed outside the round tube 33, the rectangular groove 19 is opened on the grinding rod 16, and the spray head 18 is located inside the rectangular groove 19.

[0022] Example 3, as Figure 1-4 As shown, the defect identification and positioning welding repair device proposed in this invention, compared with Embodiment 2, has a detection mechanism that includes an elastic element 1 20, a C-shaped frame 21, an elastic element 2 22, a rectangular plate 23, an inclined plate 24, and a liquid absorption assembly. The two ends of the elastic element 1 20 are respectively connected to the magnetic suction moving part 1 and the C-shaped frame 21; the two ends of the elastic element 22 are respectively connected to the C-shaped frame 21 and the rectangular plate 23; the inclined plate 24 is installed at the bottom end of the rectangular plate 23, and the liquid suction assembly is installed outside the magnetic suction moving part 1. The inclined panel 24 has an inclined surface on the side near the L-shaped rod 28. When the inclined panel 24 moves toward the L-shaped rod 28, it presses down the L-shaped rod 28, thereby driving the water suction roller 27 to descend.

[0023] Elastic element 1 20, elastic element 2 22 and elastic element 3 25 are all composed of a telescopic rod and spring 2; Drive device 2 is a servo motor; The liquid absorption assembly includes an elastic element 25, a mounting bracket 26, a water absorption roller 27, and an L-shaped rod 28; The two ends of the elastic element 25 are connected to the magnetic moving part 1 and the mounting frame 26 respectively; the water absorption roller 27 is installed inside the mounting frame 26; the L-shaped rod 28 is installed on the mounting frame 26 and is located on the moving path of the inclined panel 24.

[0024] Example 4, as Figure 1-5 As shown, the defect identification and positioning welding repair method proposed in this invention uses the defect identification and positioning welding repair device of Embodiment 1, and includes the following steps: S1. Start the drive device 2 to drive the round tube 33 to drive the conical plate 7 to rotate. The conical plate 7 drives the lifting plate 6 to rise and fall, so that the piston shaft 5 rises and falls in the cylinder 3, drawing the outside air into the cylinder 3, and then outputting it through the one-way air outlet pipe 9 to the air blowing pipe 10 to blow it onto the welding part 30. S2. Simultaneously, the cooling component cools the air and blows it onto the welding area to cool and lower the temperature of the welding part at point 30. S4. Subsequently, the water inside the cooling component is sprayed out from the output end to the weld seam to rinse the weld seam surface. S5. The testing mechanism adjusts the water absorption position according to the movement of the magnetic moving part 1.

[0025] In summary, in this invention, the connecting pipe 12 is connected to the water source input pipe, then the water pump 13 is started to deliver water to the cooling pipe 14, the magnetic moving part 1 moves on the outer surface of the tank via the traveling wheels 29, then the defect identification part 31 identifies defects on the outer surface of the tank, and welding is performed by the welding part 30, then the drive device 2 is started to drive the circular pipe 33 to rotate, the circular pipe 33 drives the conical plate 7 to rotate, the protrusion of the conical plate 7 drives the lifting plate 6 to rise and fall, thereby driving the piston shaft 5 to rise and fall in the inner cavity of the cylinder 3. When the piston shaft 5 descends in the inner cavity of the cylinder 3, it draws external air along... One-way air intake pipe 8 draws air into the inner cavity of cylinder 3. When piston shaft 5 rises in the inner cavity of cylinder 3, the air in the two inner cavities of cylinder 3 is transported along one-way air outlet pipe 19 and one-way air outlet pipe 25 to the blowing pipe 10 and cooling box 32. The cooling pipe 14 in the inner cavity of cooling box 32 cools the air in cooling box 32. Then the air is blown out through the blowing pipe 10 to the welded part 30 and the defect, thereby blowing away the dust at the defect and blowing it onto the surface of the welded part 30, which can cool the L-shaped rod 28, thereby preventing the L-shaped rod 28 from becoming unusable due to high temperature after long-term use.

[0026] Then the water is transported along the cooling pipe 14 into the round pipe 33. As the drive device 2 drives the round pipe 33 to rotate, the round pipe 33 drives the grinding rod 16 to rotate. The rotating grinding rod 16 grinds the welded area and sprays it onto the weld through the spray pipe 17 and spray head 18, thereby adsorbing the debris and preventing the debris from flying. Furthermore, during the process of the magnetic moving part 1 crawling on the outer surface of the tank, when the magnetic moving part 1 crawls laterally, the inclined panel 24 is subjected to gravity. The inclined panel 24 moves towards the L-shaped rod 28 through the elasticity of the elastic member 22, thereby pressing the L-shaped rod 28 downward, thereby pressing the water absorption roller 27 downward, so that the water absorption roller 27 comes into contact with the water flowing on the outer surface of the tank and absorbs it.

[0027] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention.

Claims

1. A defect identification and post-positioning welding repair device, comprising a magnetic attraction moving part (1), a walking wheel (29), a welding part (30) and a defect identification part (31); the defect identification part (31) and the welding part (30) are both installed on the magnetic attraction moving part (1), and the walking wheel (29) is installed on the magnetic attraction moving part (1); characterized in that, Also include: Blowing mechanism, which is installed in the magnetic mobile part (1); Cleaning mechanism, which is installed in the magnetic mobile part (1), and is used to clean the weld; Detection mechanism, which is installed in the magnetic mobile part (1), and is used to clean the water spot along with the movement of the magnetic mobile part (1); Blowing mechanism includes driving assembly, blowing assembly, cooling assembly and cylinder (3); driving assembly is installed outside the magnetic mobile part (1), blowing assembly is installed outside the magnetic mobile part (1), and the lifting end is connected with the driving assembly; cooling assembly is installed outside the magnetic mobile part (1) and is used to cool the air blown by the blowing assembly.

2. The defect recognition post weld repair apparatus of claim 1, wherein, Driving assembly includes driving device (2), round pipe (33) and conical plate (7); Driving device (2) is installed outside the magnetic mobile part (1), the output shaft of which is connected with the round pipe (33), and the round pipe (33) is connected with the conical plate (7); the conical plate (7) drives the lifting end of the blowing assembly to lift during rotation.

3. The defect recognition post weld repair apparatus of claim 2, wherein, Blowing assembly includes spring (4), piston shaft (5), lifting plate (6), one-way air outlet pipe (9), one-way air inlet pipe (8), one-way air outlet pipe (15) and two cylinders (3); Two cylinders (3) are connected on both sides of the magnetic mobile part (1) respectively, and the two ends of the spring (4) are connected with the piston shaft (5) respectively; the lifting plate (6) is installed at the bottom of the piston shaft (5) and is located in the rotation path of the conical plate (7); the one-way air outlet pipe (9) and the one-way air outlet pipe (15) are connected with the air outlet ends of the two cylinders (3) respectively; the top end of the cylinder (3) is connected with the one-way air inlet pipe (8); the piston shaft (5) lifts along with the rotation of the conical plate (7), and the external air is drawn from the one-way air inlet pipe (8) and output from the one-way air outlet pipe (9).

4. The defect recognition post weld repair apparatus of claim 2, wherein, Cooling assembly includes mounting ring (11), connecting pipe (12), water pump (13), cooling pipe (14), cooling box (32) and two blowing pipes (10); The mounting ring (11) is installed outside the magnetic mobile part (1); the input end of the water pump (13) is connected with the connecting pipe (12), and the output end is connected with the cooling pipe (14); the cooling box (32) is installed at the output end of the one-way air outlet pipe (15), the cooling pipe (14) passes through the cooling box (32) and is connected with the round pipe (33); two blowing pipes (10) are connected with the cooling box (32) and the one-way air outlet pipe (9) respectively.

5. The defect recognition post weld repair apparatus of claim 2, wherein, Cleaning mechanism includes spray pipe (17), spray head (18) and polishing assembly; The round pipe (33) is installed in the polishing assembly, the spray pipe (17) is communicated with the round pipe (33), and the spray head (18) is communicated with the spray pipe (17); water is sprayed from the round pipe (33) into the spray pipe (17) and the spray head (18) to the weld.

6. The defect recognition post weld repair apparatus of claim 5, wherein, Polishing assembly includes polishing rod (16) and rectangular groove (19); The polishing rod (16) is installed outside the round pipe (33), the rectangular groove (19) is opened on the polishing rod (16), and the spray head (18) is located in the rectangular groove (19).

7. The defect recognition post weld repair apparatus of claim 1, wherein, The detection mechanism comprises an elastic member one (20), a C-shaped frame (21), an elastic member two (22), a rectangular plate (23), an inclined plate (24) and a liquid suction assembly; Two ends of the elastic member one (20) are connected with the magnetic mobile part (1) and the C-shaped frame (21) respectively; two ends of the elastic member two (22) are connected with the C-shaped frame (21) and the rectangular plate (23) respectively; the inclined plate (24) is installed at the bottom end of the rectangular plate (23), and the liquid suction assembly is installed outside the magnetic mobile part (1).

8. The defect recognition post weld repair apparatus of claim 7, wherein, The liquid suction assembly comprises an elastic member three (25), a mounting frame (26), a water suction roller (27) and an L-shaped rod (28); Two ends of the elastic member three (25) are connected with the magnetic mobile part (1) and the mounting frame (26) respectively; the water suction roller (27) is installed in the mounting frame (26); the L-shaped rod (28) is installed on the mounting frame (26) and located on the moving path of the inclined plate (24).

9. A method of defect recognition and post-position welding repair using the defect recognition and post-position welding repair apparatus according to claim 3, characterized by, The method comprises the following steps: S1, the driving device (2) is started to drive the circular pipe (33) to drive the conical plate (7) to rotate, the conical plate (7) drives the lifting plate (6) to lift, so that the piston shaft (5) lifts in the cylinder one (3), the external air is sucked into the cylinder one (3), and then is output to the blowing pipe (10) through the one-way air outlet pipe one (9) to be blown to the welding part (30); S2, the cooling assembly cools the air at the same time, blows on the welding part, and cools the welding part (30); S3, then the water in the cooling assembly is sprayed from the output end to the weld, and the surface of the weld is washed; S4, the detection mechanism adjusts the water suction position according to the movement of the magnetic mobile part (1).

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