Intelligent detection robot for welding seam defects of oil storage and transportation tank based on machine vision

Abstract

This invention relates to the field of inspection robot technology, specifically to an intelligent inspection robot for weld defects in oil storage and transportation tanks based on machine vision. The robot includes a movable base with a moving mechanism within it, and a sliding frame mounted on the moving mechanism. In this invention, the piston rod of the lifting drive cylinder rises, driving the indexing turntable via a contact plate, a swing push rod, a rotary drive disk, and a conical pusher to achieve indexing and rotation, thus raising the guide sleeve to adjust its height. During descent, the contact plate pushes the clamping ring to contact the driving gear, which in turn drives the indexing of each inspection bearing plate via the driven gear and the first transmission shaft. The drive motor distributes power to the driven synchronous shaft via the active synchronous shaft and a bevel gear transmission group. The spacing adjustment component and angle adjustment cylinder enable stepless adjustment of the sensor spacing and adaptive angle control. The telescopic drive cylinder drives the sliding frame along the guide groove to adjust the inspection distance. All mechanisms are purely mechanically integrated and do not interfere with each other, requiring no additional electronic control system.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, and in particular to an intelligent inspection robot for weld defects in oil storage and transportation tanks based on machine vision. Background Technology

[0002] Oil storage tanks are crucial equipment in the petrochemical industry, widely used for storing and transferring crude oil, refined oil products, and chemical raw materials. Large tanks typically range in diameter from 10m to 30m, with volumes ranging from several thousand to over one hundred thousand cubic meters. During long-term operation, tanks are susceptible to corrosion, temperature fluctuations, pressure volatility, and residual welding stress. This can easily lead to defects such as cracks, lack of fusion, porosity, and slag inclusions at the tank welds. Failure to detect and address these defects promptly can result in serious safety accidents such as leaks, fires, or even explosions. Therefore, regular non-destructive testing of welds is a vital technical measure to ensure the safe operation of storage tanks. Currently, tank weld inspection primarily employs two methods: manual inspection and robotic inspection. Manual inspection relies on personnel erecting scaffolding or using suspended platforms to access the tank's outer wall, using methods such as visual inspection, penetrant testing, magnetic particle testing, or ultrasonic testing to inspect sections. This method suffers from significant drawbacks, including high safety risks, low efficiency, and susceptibility to subjective human factors. To address the defects of manual inspection, robotic inspection technology has emerged. Wall-climbing inspection robots can autonomously adhere to the tank wall and move along the weld seam for inspection. Among them, weld seam inspection technology based on machine vision has received widespread attention due to its unique advantages such as non-contact, high resolution, and the ability to acquire images of the weld seam surface morphology.

[0003] However, existing machine vision-based tank weld inspection robots still face the following technical bottlenecks in practical applications: They operate at a single inspection station, typically equipped with only one inspection module, allowing inspection of only one weld at a time. Large tank walls often have multiple ring-shaped welds, making individual inspection extremely time-consuming. The inspection angle is fixed, with the module's installation angle being fixed and unable to be adjusted according to the weld's actual spatial orientation, leading to decreased image quality. The sensor spacing is also fixed, making it impossible to adjust the sensor spacing based on different weld widths. Furthermore, the lack of a multi-station automatic indexing and positioning mechanism prevents automatic switching between multiple inspection stations at a fixed location. Finally, the inspection distance is difficult to adjust, as the relatively fixed position of the inspection module makes precise adjustment of the distance to the weld difficult. These problems severely restrict the practical application of machine vision inspection technology in the inspection of welds in oil storage and transportation tanks.

[0004] In the prior art, patent document CN105527343B discloses a robot for inspecting weld seams on the outer wall of a large water storage tank. The robot includes a frame and rollers at the bottom of the frame for engaging with the outer wall surface. Magnetic adsorption components are located at the four corners of the frame to adhere it firmly to the outer wall surface. A rotating ring is located in the middle of the frame, and the outer edge of the rotating ring is rotatably connected to the frame via a rotating bearing. An ultrasonic detector is located on the inner edge of the rotating ring. A flexible solar cell film is also mounted on the frame. Using the robot described in this application, the robot can climb onto the surface of steel equipment and inspect weld seams using an ultrasonic detector, improving work efficiency. Simultaneously, the flexible solar cell film charges the power supply battery, increasing its battery life.

[0005] In view of the above-mentioned defects in the existing technology, the present invention provides an intelligent inspection robot for weld defects in oil storage and transportation tanks based on machine vision, which aims to solve technical problems such as single inspection station, low inspection efficiency, non-adjustable inspection angle, non-adjustable sensor spacing, poor multi-station indexing and positioning accuracy, and inability to integrate machine vision inspection. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of existing technologies by proposing a machine vision-based intelligent inspection robot for weld defects in oil storage and transportation tanks.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: A machine vision-based intelligent inspection robot for weld defects in oil storage tanks includes a mobile base, a mobile mechanism inside the mobile base, a sliding frame on the mobile mechanism, a power mechanism inside the sliding frame, a driven synchronous shaft and a second transmission vertical shaft on the power mechanism, a synchronous connecting frame sleeved between the driven synchronous shaft and the second transmission vertical shaft, a pushing mechanism on the synchronous connecting frame, and a downward pressing link and a rotary drive disk on the pushing mechanism. The synchronous connection frame is equipped with a linkage mechanism, and a fixed guide tube is provided inside the linkage mechanism; The upper end of the second transmission shaft is rotatably sleeved with multiple mounting shafts at equal intervals. One end of each mounting shaft is fixed with an indexing turntable. An adjustment mechanism is installed on the indexing turntable. A detection bearing plate is provided on the adjustment mechanism. A clamping mechanism is provided on the detection bearing plate.

[0008] Compared with existing technologies, the present invention uses a lifting drive cylinder piston rod that rises via an abutment plate, a swing push rod, a rotary drive disc, and a conical push head to drive an indexing turntable for indexing, thereby raising the guide sleeve to adjust its height. During descent, the abutment plate pushes a clamping ring against the drive gear, which in turn drives the indexing of each detection bearing plate via the driven gear and the first transmission shaft. The drive motor distributes power to the driven synchronous shaft via the active synchronous shaft and bevel gear transmission group. The spacing adjustment assembly and angle adjustment cylinder enable stepless adjustment of the sensor spacing and adaptive angle control. The telescopic drive cylinder drives the sliding frame along the guide groove to adjust the detection distance. All mechanisms are purely mechanically integrated and do not interfere with each other, requiring no additional electronic control system.

[0009] Preferably, the linkage mechanism includes a limiting sleeve rotatably sleeved on one side of the upper end of the synchronous connecting frame, a rotary sleeve sleeved on the limiting sleeve, a bevel gear transmission assembly mounted on the rotary sleeve and the driven synchronous shaft, an axial slide rod at the upper end of the driven synchronous shaft, a fixed guide tube sleeved on the axial slide rod, the fixed guide tube rotatably sleeved on the upper end of the driven synchronous shaft, one end of the axial slide rod slidably installed inside the limiting sleeve, a conical push head rotatably sleeved at the end of the axial slide rod away from the limiting sleeve, and a rotary drive disc disposed on one side of the conical push head; The pushing mechanism is connected to the fixed guide tube, the rotary drive disk and the fixed guide tube are horizontally arranged, and the pressing link is located at the lower end of the fixed guide tube.

[0010] Furthermore, by setting up a linkage mechanism with the coordinated operation of the limiting sleeve, rotary sleeve, bevel gear transmission group, and axial slide rod, a purely mechanical and efficient conversion from linear lifting motion to horizontal and rotary motion is achieved. When the lifting drive cylinder drives the lifting slide to rise, the abutment plate on the lifting slide pushes the lowering connecting rod to swing around the mounting base plate. The lowering connecting rod drives the transverse slide rod to slide horizontally along the fixed guide tube through the swing push rod. The transverse slide rod drives the rotary drive disk to rotate around the conical push head, which in turn drives the conical push head to drive the indexing turntable to complete the indexing rotation. At the same time, the horizontal sliding of the rotary drive disk is converted into the axial displacement of the axial slide rod through the guiding constraint of the fixed guide tube. The conical push head at the end of the axial slide rod synchronously participates in the indexing and positioning action. The limiting sleeve and the fixed guide tube form a double guiding support for the axial slide rod, ensuring that the axial sliding accuracy does not deviate due to the indexing load. The rotary sleeve is sleeved on the limiting sleeve, which spatially decouples the power transmission path of the bevel gear transmission group from the lifting motion path, avoiding interference of the lifting motion on the meshing accuracy of the bevel gear. Compared with the existing technology that uses independent servo motors to drive indexing and rotation, this method converts the lifting motion into indexing and rotation motion and axial adjustment motion simultaneously through a set of pure mechanical linkages. This eliminates the need for any additional independent drive source, significantly simplifying the overall structure of the wall-climbing inspection robot and reducing the failure rate and control complexity.

[0011] Preferably, the moving mechanism includes a guide groove formed on one side of the upper end of the moving base, the sliding frame is slidably installed in the guide groove, and a telescopic drive cylinder is provided through the side of the moving base away from the guide groove. The piston rod of the telescopic drive cylinder is located in the guide groove, and the piston rod of the telescopic drive cylinder is fixedly connected to the sliding frame.

[0012] Furthermore, by coordinating the telescopic drive cylinder and the guide chute in the moving mechanism, independent and precise adjustment of the distance between the detection module and the tank weld is achieved. The telescopic drive cylinder is installed on one side of the upper end of the moving base, with its piston rod extending through into the guide chute. The end of the piston rod is fixedly connected to the sliding frame, which is slidably installed in the guide chute on the upper end of the moving base. When the piston rod of the telescopic drive cylinder extends or retracts, it drives the sliding frame to make precise linear reciprocating movements along the guide direction of the guide chute, thereby driving the detection support plate and vision sensor module mounted on the sliding frame to move closer to or away from the weld. The guide chute provides high-precision linear motion guidance for the sliding frame, ensuring that the detection module remains parallel and aligned with the weld during adjustment, avoiding detection angle deviations caused by off-center loading or lateral forces. The aforementioned detection distance adjustment is completely independent of the robot's overall movement along the tank wall. It can achieve millimeter-level fine-tuning of the detection distance while the robot is fixed to the tank wall, ensuring that the vision sensor module is always within the optimal imaging distance range. Compared with the existing technology where the detection distance depends on the overall displacement of the robot, resulting in low adjustment accuracy and slow response speed, it has the innovative advantages of high adjustment accuracy, fast response speed, and good detection stability.

[0013] Preferably, the power mechanism includes a drive motor installed at the bottom of the sliding frame body, a drive gear is rotatably sleeved at the end of the output shaft of the drive motor, a first transmission shaft is provided through the sliding frame body, and a driven gear is fixed at one end of the first transmission shaft located in the sliding frame body, the driven gear and the drive gear meshing. An active synchronous shaft is rotatably sleeved on the sliding frame. One end of the active synchronous shaft located inside the sliding frame is fixedly connected to the end of the output shaft of the drive motor. From top to bottom, a fixed collar and a pressing collar are sequentially sleeved on the one end of the active synchronous shaft located inside the sliding frame. The fixed collar is rotatably sleeved on the upper end of the pressing collar. A pressure-bearing mechanism is provided at the upper end of the fixed collar. Both the pressure-bearing mechanism and the pushing mechanism are provided with abutment plates. The abutment plate at the upper end is fixedly connected to the lower pressing rod. The active synchronous shaft extends to one end of the sliding frame body and is slidably sleeved with a second guide sleeve. The first transmission vertical shaft extends to one end of the sliding frame body and is slidably sleeved with a first guide sleeve. The driven synchronous shaft is fixed to the upper end of the second guide sleeve, and the second transmission vertical shaft is fixed to the upper end of the first guide sleeve. The upper end of the sliding frame is provided with a lifting mechanism, and the lifting mechanism is provided with a lifting slide. The two ends of the lifting slide are respectively sleeved on a second guide sleeve and a first guide sleeve. Two second limiting retaining rings are rotatably sleeved on the second guide sleeve, and two first limiting retaining rings are rotatably sleeved on the first guide sleeve. One end of the lifting slide is located between the two second limiting retaining rings, and the other end of the lifting slide is located between the two first limiting retaining rings. The two abutment plates are located at both ends of the lifting carriage, and the two abutment plates are located between the two second limit retaining rings.

[0014] Furthermore, by setting up a multi-stage power distribution structure in the power mechanism, consisting of a drive motor, a driving gear, a driven gear, a first transmission shaft, and a driving synchronous shaft, synchronous power distribution from a single drive source to multiple detection stations is achieved. The drive motor is installed at the bottom of the sliding frame body, and its output shaft end is simultaneously fixedly connected to one end of the driving synchronous shaft and rotatably sleeved with the driving gear. The driving gear meshes with the driven gear fixed at the lower end of the first transmission shaft. When the drive motor rotates, the power is transmitted to the first transmission shaft through the meshing of the driving gear and the driven gear. The first transmission shaft extends to the upper end of the sliding frame body and is fixed with a second transmission shaft. Detection bearing plates are installed at equal intervals on the upper end of the second transmission shaft. At the same time, one end of the driving synchronous shaft extends to the outside of the sliding frame body and is connected to the driven synchronous shaft through a second guide sleeve. A bevel gear transmission group is installed on the upper end of the driven synchronous shaft to transmit rotational power to the indexing and rotating mechanism. Specifically, a fixed collar and a clamping collar are sequentially fitted onto the active synchronous shaft from top to bottom. The fixed collar is rotatably fitted onto the upper end of the clamping collar, and a pressure-bearing mechanism is provided at the upper end of the fixed collar. This nested structure ensures that the lifting movement of the pressure-bearing mechanism and the rotational movement of the active synchronous shaft do not interfere with each other. The pressure-bearing mechanism can move up and down with the lifting slide without affecting the continuous rotational force transmission of the active synchronous shaft. Compared with the existing technology where each inspection station needs to be equipped with an independent drive motor, this method achieves the power supply for synchronous rotation and indexing positioning of multiple stations through a single motor, multi-stage gears, and synchronous shaft transmission. The overall structure is compact, the transmission chain is simple, and the energy consumption is low.

[0015] Preferably, the pressure-bearing mechanism includes a transmission push rod that passes through the sliding frame. One end of the transmission push rod extending into the sliding frame is fixed to the upper end of the fixing collar. A return spring is sleeved on the end of the transmission push rod inside the sliding frame. The two ends of the return spring are respectively fixed to the top of the sliding frame and the upper end of the fixing collar. The upper end of the transmission push rod is fixedly connected to the abutment plate at the lower end of the sliding frame. The transmission push rod is located between the second guide sleeve and the first guide sleeve.

[0016] Furthermore, by setting up an elastic cooperation structure between the transmission push rod, fixed collar, clamping collar and return spring in the pressure mechanism, the automatic switching between engagement and disengagement between the driving gear and the driven gear is realized without the need for any electromagnetic clutch or pneumatic components. A transmission push rod is installed through the sliding frame, with one end fixed to the upper end of a fixed collar. The fixed collar is fitted onto the drive synchronous shaft, and a clamping collar is fitted below the fixed collar and fixed to the drive gear. A return spring is fitted onto the transmission push rod, with its two ends abutting against the top of the sliding frame and the upper end of the fixed collar, respectively, applying an upward elastic preload. When the lifting drive cylinder drives the lifting slide to descend, the abutment plate on the lifting slide presses the transmission push rod downward, causing the transmission push rod to move the fixed collar and clamping collar downward. This causes the clamping collar to engage the drive gear and driven gear, and the power is transmitted to the first transmission shaft via gear meshing to achieve multi-position indexing. When the lifting drive cylinder drives the lifting slide to rise, the abutment plate disengages from the transmission push rod, and the elastic restoring force of the return spring pushes the fixed collar and clamping collar upward, causing the drive gear and driven gear to quickly separate, cutting off the indexing power transmission and preventing gear meshing from interfering with the lifting motion. This purely mechanical elastic clamping and separating mechanism utilizes the elastic force of the return spring to achieve automatic gear engagement and disengagement. It requires no additional electromagnetic clutch, pneumatic valve, or electronic sensor for control, and features a simple and reliable structure, rapid response, and low maintenance cost. Compared with existing technologies that rely on electromagnetic clutches or friction plates to achieve power on / off, it has the innovative advantages of simple structure, high reliability, and strong anti-interference ability.

[0017] Preferably, the lifting mechanism includes a lifting drive cylinder fixed to the upper end of the sliding frame, the lifting drive cylinder being located between the pressure-bearing mechanism and the first guide sleeve, the piston rod end of the lifting drive cylinder being fixed with a connecting rod, and the lifting slide being disposed through the connecting rod.

[0018] Furthermore, by setting up the lifting drive cylinder, connecting rod, and lifting slide in the lifting mechanism, combined with the guiding constraint structure of double-sided guide sleeves and limit retaining rings, high-precision coaxial lifting and dual-function switching of lifting direction of the lifting slide are achieved. The lifting drive cylinder is fixed to the upper end of the sliding frame, and its piston rod end is connected to the lifting slide through the connecting rod. The two ends of the lifting slide are respectively fitted onto the second guide sleeve and the first guide sleeve. Two second limit retaining rings are rotatably fitted on the second guide sleeve, and two first limit retaining rings are rotatably fitted on the first guide sleeve. One end of the lifting slide is located between the two second limit retaining rings, and the other end is located between the two first limit retaining rings. The double-sided guide sleeves form a two-way constraint on the lifting slide in the front-back and left-right directions, ensuring that the lifting slide does not deflect or jam during the lifting process. The two limit retaining rings limit the axial displacement limit of the lifting slide on the two guide sleeves, preventing the lifting slide from coming off the guide sleeves. More importantly, the lifting carriage has abutment plates at both ends. The lifting drive cylinder triggers different mechanical functions in different lifting directions: when rising, the abutment plate pushes the lowering linkage to start the indexing linkage chain; when falling, the abutment plate presses the pressure-bearing mechanism to achieve gear meshing and indexing. The same lifting drive cylinder can simultaneously perform the functions of height adjustment and indexing triggering by different lifting directions. Compared with the existing technology where lifting adjustment and indexing positioning require separate independent drive mechanisms, this significantly reduces the number of drive components and simplifies the overall structure and control logic.

[0019] Preferably, the pushing mechanism includes a mounting base plate fixed to one side of the synchronous connecting frame, the pressing link is slidably sleeved on the mounting base plate, the lower end of the pressing link is sleeved with a tension spring, the two ends of the tension spring are respectively fixed to the lower end of the mounting base plate and the pressing link, the upper end of the pressing link is rotatably connected to a swing push rod, the upper end of the swing push rod is rotatably connected to a transverse slide rod, the transverse slide rod is slidably installed on one side of the fixed guide tube, and one end of the transverse slide rod is rotatably sleeved on the rotary drive disk.

[0020] Furthermore, by setting up a linkage structure in the push mechanism that includes a mounting base plate, a pressing link, a swing push rod, a transverse slide rod, and a tension spring, a precise mechanical conversion from lifting linear motion to rotary drive disc rotational motion is achieved. The mounting base is fixed to one side of the synchronous connecting frame. The downward pressing link is slidably sleeved on the mounting base. A tension spring is sleeved on the lower end of the downward pressing link. The two ends of the spring are fixed to the lower end of the mounting base and the downward pressing link, respectively, and a downward preload is always applied to keep the downward pressing link in its initial position. A swing push rod is rotatably connected to the upper end of the downward pressing link. A transverse slide rod is rotatably connected to the upper end of the swing push rod. The transverse slide rod is slidably installed on one side of the fixed guide tube, and one end of it is rotatably sleeved on the rotary drive disk. When the abutment plate on the lifting slide rises and pushes the downward pressing link to swing upward around the mounting base, the downward pressing link converts the upward linear motion of the downward pressing link into the horizontal sliding of the transverse slide rod along the fixed guide tube through the swing push rod. The transverse slide rod drives the rotary drive disk to rotate around the conical push head, which drives the conical push head to drive the indexing turntable to complete the indexing rotation. When the abutment plate descends, the elastic restoring force of the tension spring resets the downward pressing link, and the rotary drive disk returns to its initial position under the action of the spring. This linkage mechanism utilizes a four-bar linkage consisting of a swing push rod and a transverse slide rod to smoothly convert linear reciprocating motion into rotary motion. The motion transmission path is clear, the transmission ratio is determined, and the response is sensitive. Furthermore, the reset effect of the tension spring ensures the controllable return of the rotary drive disc. No additional reset mechanism other than any elastic element is required. Compared with the existing technology that uses direct cam-follower cooperation to achieve motion conversion, it has the innovative advantages of smooth motion, low wear, long service life, and flexible adjustment of the transmission ratio.

[0021] Preferably, the adjustment mechanism includes a conical pusher fixed to one end of an axial slide rod, the rotary drive disk is rotatably sleeved on the end of the conical pusher near the axial slide rod, the conical pusher is located at the lower end of the indexing turntable, a detection bearing plate is rotatably connected to one side of the indexing turntable, an avoidance notch is provided on one side of the indexing turntable, an angle adjustment cylinder is rotatably sleeved in the avoidance notch, and the piston rod end of the angle adjustment cylinder is rotatably connected to one side of the vision sensor module.

[0022] Furthermore, by coordinating the spatial layout of the indexing turntable, clearance notch, angle adjustment cylinder, and detection support plate in the adjustment mechanism, a purely mechanical decoupling of the two degrees of freedom—multi-station indexing and single-station detection angle adjustment—is achieved, ensuring they do not interfere with each other. The detection support plate is rotatably connected to one side of the indexing turntable, while a clearance notch is provided on the other side. The cylinder body of the angle adjustment cylinder is rotatably fitted into the clearance notch, and the end of the piston rod of the angle adjustment cylinder is rotatably connected to one side of the vision sensor module. The clearance notch ensures that when the angle adjustment cylinder pushes the detection support plate to adjust the detection angle, the movement trajectory of its cylinder body and piston rod will not interfere with the rotational movement path of the indexing turntable. The indexing action is achieved solely through the cooperation of the conical pusher and the bottom of the indexing turntable, and the angle adjustment action is achieved solely through the cooperation of the angle adjustment cylinder and the detection support plate. The two actions are completely isolated spatially and kinematically independent. Furthermore, the inspection support plate is rotatably connected to one side of the indexing turntable, allowing it to rotate synchronously with the turntable to various inspection stations. It can also deflect independently under the drive of an angle adjustment cylinder to adapt to weld inspection needs in different spatial orientations. Compared to existing technologies where indexing positioning and angle adjustment share the same motion channel and require complex sequential control to avoid interference, this design, through spatial isolation to avoid gaps, achieves natural decoupling of the two degrees of freedom. The control logic is simple, the actions are reliable, and the adjustments are flexible, significantly improving the inspection robot's adaptability to welds in different orientations.

[0023] Preferably, the clamping mechanism includes a lifting slider slidably installed in the detection support plate, and a spacing adjustment component is installed between the lifting slider and the detection support plate. Two vision sensor modules are provided at one end of the detection support plate, with the lower vision sensor module fixedly connected to the detection support plate and the upper vision sensor module fixedly connected to the lifting slider.

[0024] Furthermore, by coordinating the layout of the clamping mechanism with the detection support plate, lifting slider, spacing adjustment component, and two vision sensor modules, stepless adjustment of the spacing between the two vision sensor modules is achieved to adapt to the detection requirements of welds of different widths. The two vision sensor modules are respectively installed at one end of the detection support plate. The lower vision sensor module is fixedly connected to the detection support plate, while the upper vision sensor module is fixedly connected to the lifting slider, which is slidably installed within the detection support plate. A spacing adjustment component is installed between the lifting slider and the detection support plate. This component drives the lifting slider to slide relative to the detection support plate, thereby changing the spacing between the two vision sensor modules. This fixed-one-sliding dual-sensor layout simplifies the spacing adjustment structure and provides a wide adjustment range. The detection spacing of the two vision sensor modules can be flexibly adjusted according to the actual weld width, ensuring that the two sensors are always aligned with the two edges of the weld to acquire complete weld surface morphology image information. Compared with existing technologies where the sensor spacing is fixed and cannot be adjusted, making it unsuitable for detecting welds of different specifications, this invention achieves stepless adjustment of the sensor spacing through a spacing adjustment component, significantly improving the versatility and adaptability of the inspection robot for welds of different widths.

[0025] Preferably, the rotary drive disc is slidably sleeved on the axial slide rod.

[0026] Furthermore, by sliding the rotary drive disc onto the axial slide bar, the two combined motions of rotating the rotary drive disc around the axial slide bar and sliding along the axial slide bar are integrated, eliminating the need for separate rotary drive and axial drive mechanisms.

[0027] The beneficial effects of this invention are: 1. By setting up a two-way linkage control structure between the lifting drive cylinder and the abutment plate, swing push rod, transverse slide rod, rotary drive disc, conical push head, and indexing turntable, the technical effect of one lifting drive cylinder simultaneously undertaking the functions of lifting adjustment and indexing is achieved. When the lifting drive cylinder drives the piston rod to rise, it pushes the lifting slide, the second limit retaining ring, and the first limit retaining ring to rise, causing the second guide sleeve and the first guide sleeve to rise, adjusting the position and height of the detection bearing plate to meet the precise detection requirements of welds at different heights. On the other hand, the rise of the lifting drive cylinder causes the upper abutment plate to rise, and the abutment plate pushes the swing push rod to swing around the lower end. The swing push rod pushes the transverse slide rod to slide along the side wall of the fixed guide tube. The transverse slide rod drives the rotary drive disk to move horizontally. The rotary drive disk abuts against the conical push head, causing the axial slide rod to move axially within the limit sleeve. The axial slide rod drives the conical push head to rotate around its axis. The conical push head abuts against the outer circumferential surface of the indexing turntable, thereby pushing the indexing turntable to rotate around the mounting shaft by one indexing angle, driving the detection bearing plate to rotate to the target detection position, completing the position switching. When the lifting drive cylinder drives the piston rod to descend, the lower end of the abutment plate is squeezed and lowered. The abutment plate pushes the clamping ring to move down along the active synchronous shaft. The clamping ring abuts against the drive gear, causing the drive gear to drive the driven gear meshing with it to rotate. The driven gear drives the first transmission vertical shaft to rotate, which in turn drives the detection bearing plate to move through the first guide sleeve and the second transmission vertical shaft. This causes the indexing turntables on multiple mounting shafts to move sequentially to the upper end of the conical push head, realizing multi-station sequential indexing and positioning. The above structure integrates lifting motion, indexing motion, and height adjustment motion into a single drive source. By changing the lifting direction, the three functions can be automatically switched, avoiding the need for an independent drive mechanism, simplifying the overall structure, and reducing control complexity.

[0028] 2. By setting up a purely mechanical transmission chain consisting of a drive motor, an active synchronous shaft, a bevel gear transmission group, and a driven synchronous shaft, synchronous rotation drive and power distribution of the multi-station detection bearing plates are achieved. The drive motor is installed at the bottom of the sliding frame body, and its output shaft end is simultaneously fixedly connected to the active synchronous shaft and rotatably sleeved with the active gear. When the drive motor drives the active synchronous shaft to rotate, the active synchronous shaft drives the driven synchronous shaft to rotate synchronously through the slidingly sleeved second guide sleeve. The driven synchronous shaft is equipped with a bevel gear transmission group, which converts the rotational power of the driven synchronous shaft into axial force, driving the axial slide rod to rotate synchronously with the bevel gear transmission group within the limit sleeve. The rotary drive disk at one end of the axial slide rod rotates synchronously accordingly. The driven synchronous shaft is fixed at the upper end of the second guide sleeve, which cooperates with the lifting slide through the second limit retaining ring to transmit power to the first guide sleeve and the second transmission shaft, thereby driving each detection bearing plate to rotate synchronously. The aforementioned transmission chain distributes the power of the drive motor to the detection carrier plate through the linkage of pure mechanical gears and bevel gears, enabling the detection carrier plate to rotate synchronously. Combined with the bidirectional linkage indexing function of the lifting drive cylinder, it realizes the orderly switching of multiple workstations. During the rotation of each detection carrier plate, they maintain synchronization through the synchronous connecting frame. It has the innovative advantages of reliable transmission, simple structure, and high synchronization accuracy.

[0029] 3. By coordinating the spacing adjustment component and the angle adjustment cylinder on the inspection support plate, the technical effects of stepless adjustment of the spacing between the vision sensor modules and adaptive inspection angle are achieved. A lifting slider is slidably mounted on the inspection support plate, and a spacing adjustment component is installed between the lifting slider and the inspection support plate. Two vision sensor modules are located at one end of the inspection support plate; the lower vision sensor module is fixedly connected to the inspection support plate, and the upper vision sensor module is fixedly connected to the lifting slider. The spacing adjustment component drives the two lifting sliders to move towards or away from each other along the inspection support plate, thereby achieving stepless adjustment of the spacing between the two vision sensor modules. This allows them to adapt to the inspection requirements of welds of different widths. The simultaneous operation of the two vision sensor modules helps improve inspection efficiency. A clearance notch is provided on one side of the indexing turntable. An angle adjustment cylinder is rotatably fitted within the clearance notch. The piston rod of the angle adjustment cylinder is rotatably connected to one side of the vision sensor module. When the angle adjustment cylinder extends or retracts, it pushes the detection support plate to deflect, causing the vision sensor module mounted on the detection support plate to deflect synchronously. This achieves adaptive adjustment of the detection angle, facilitating adaptation to welds at different angles and improving the adaptability of the inspection. The aforementioned two degrees of freedom, spacing adjustment and angle adjustment, are integrated on the same detection support plate. The clearance notch provides movement space for the angle adjustment cylinder, ensuring that the two adjustment degrees of freedom do not interfere with each other. They can be independently adjusted according to the actual width and spatial orientation of the weld, significantly improving the adaptability and flexibility of the inspection, demonstrating innovation.

[0030] 4. By coordinating the telescopic drive cylinder and the guide chute, precise adjustment of the detection distance is achieved. The telescopic drive cylinder is mounted throughout the movable base, with its piston rod located within the guide chute. The sliding frame is slidably installed within the guide chute, and the piston rod of the telescopic drive cylinder and the sliding frame are fixedly connected. The telescopic drive cylinder drives the sliding frame to reciprocate along the guide chute, thereby moving the detection support plate and vision sensor module mounted on the sliding frame as a whole. This allows for precise adjustment of the distance between the detection module and the tank weld. This adjustment of the detection distance is independent of the robot's overall movement, eliminating the need for overall robot displacement to change the detection distance. Precise adjustment of the detection distance can be achieved while the robot is fixed to the tank wall, ensuring that the vision sensor module is always within the optimal detection distance range for accurate weld defect detection. This innovative approach offers advantages such as high adjustment accuracy and convenient operation.

[0031] 5. Through the coordinated mechanical connections between the above-mentioned mechanisms, the system achieves integrated functionality including multi-station parallel detection, adaptive adjustment of detection angle, flexible adjustment of sensor spacing, height adjustment, and precise control of detection distance. The movable base serves as the foundation for the entire machine. The telescopic drive cylinder drives the sliding frame via guide grooves to achieve precise adjustment of the detection distance. The drive motor drives the driven synchronous shaft to rotate via an active synchronous shaft and a bevel gear transmission group. Combined with the bidirectional linkage of the lifting drive cylinder, it achieves synchronous rotation and indexing positioning of multiple detection bearing plates. When the lifting drive cylinder rises, it achieves indexing through the linkage of the abutment plate, swing push rod, transverse slide rod, rotary drive disc, and conical push head. When it descends, it achieves sequential indexing of multiple stations through the meshing of the clamping collar and the active and driven gears. The lifting drive cylinder pushes the first and second limit rings through the lifting slide, causing the first and second guide sleeves to rise, thus achieving height adjustment. The spacing adjustment component achieves stepless adjustment of the sensor spacing through the lifting slider. The angle adjustment cylinder utilizes the installation space of the clearance notch to achieve adaptive adjustment of the detection angle. The above five functions are integrated through the linkage of a purely mechanical structure. The functions are coordinated with each other through mechanical connections and do not interfere with each other. There is no need to add an additional electronic control system. The whole machine has a compact structure, simple control logic, and high operational reliability, and has significant structural innovation and creativity. Attached Figure Description

[0032] Figure 1 This is a structural diagram of the present invention; Figure 2 This is a diagram showing the internal structure of the sliding frame in this invention; Figure 3 This is a connection structure diagram of the indexing turntable and the angle adjusting cylinder in this invention; Figure 4 Appendix of this invention Figure 1 Enlarged view of point A; Figure 5 Appendix of this invention Figure 1 Enlarged view of point B; Figure 6 Appendix of this invention Figure 2 Enlarged view of point C; Figure 7 This is a diagram showing the internal structure of the bearing plate used in this invention. In the diagram: 1. Movable base; 2. Telescopic drive cylinder; 3. Guide slide; 4. Sliding frame; 5. First transmission shaft; 6. First guide sleeve; 7. First limit retaining ring; 8. Synchronous connecting frame; 9. Second transmission shaft; 10. Active synchronous shaft; 11. Transmission push rod; 12. Lifting drive cylinder; 13. Mounting shaft; 14. Detection bearing plate; 15. Driven gear; 16. Drive motor; 17. Drive gear; 18. Indexing turntable; 19. Clearance notch; 20. Angle adjustment cylinder; 21. Spacing adjustment assembly; 22. Mounting base plate. 23 Tension Spring, 24 Pressing Link, 25 Driven Synchronous Shaft, 26 Rotary Drive Disc, 27 Swing Push Rod, 28 Lateral Slide Rod, 29 Axial Slide Rod, 30 Fixed Guide Tube, 31 Second Guide Sleeve, 32 Second Limiting Retaining Ring, 33 Abutting Plate, 34 Lifting Slide, 35 Connecting Link, 36 Bevel Gear Transmission Assembly, 37 Rotary Sleeve, 38 Limiting Sleeve, 39 Lifting Slider, 40 Pressing Collar, 41 Fixed Collar, 42 Vision Sensor Module, 43 Return Spring, 44 Conical Push Head Detailed Implementation

[0033] 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. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0034] Reference Figure 1-7 A machine vision-based intelligent inspection robot for weld defects in oil storage tanks includes a mobile base 1, a mobile mechanism within the mobile base 1, a sliding frame 4 on the mobile mechanism, a power mechanism within the sliding frame 4, a driven synchronous shaft 25 and a second transmission vertical shaft 9 on the power mechanism, a synchronous connecting frame 8 sleeved between the driven synchronous shaft 25 and the second transmission vertical shaft 9, a pushing mechanism on the synchronous connecting frame 8, a pressing connecting rod 24 and a rotary drive disk 26 on the pushing mechanism; a linkage mechanism on the synchronous connecting frame 8, a fixed guide tube 30 within the linkage mechanism; multiple mounting shafts 13 are rotatably sleeved at equal intervals on the upper end of the second transmission vertical shaft 9, an indexing turntable 18 is fixed to one end of the mounting shaft 13, an adjustment mechanism is mounted on the indexing turntable 18, a detection bearing plate 14 is mounted on the adjustment mechanism, and a clamping mechanism is mounted on the detection bearing plate 14.

[0035] In this embodiment, the moving mechanism includes a guide groove 3 formed on one side of the upper end of the moving base 1. The sliding frame 4 is slidably installed in the guide groove 3. A telescopic drive cylinder 2 is provided through the side of the moving base 1 away from the guide groove 3. The piston rod of the telescopic drive cylinder 2 is located in the guide groove 3, and the piston rod of the telescopic drive cylinder 2 is fixedly connected to the sliding frame 4. During operation, the telescopic drive cylinder 2 is activated upon receiving a control signal. The hydraulic or pneumatic medium inside the cylinder pushes the piston rod to extend or retract axially. The linear thrust of the piston rod acts directly on the sliding frame 4, causing the sliding frame 4 to move longitudinally along the trajectory of the guide groove 3. During this motion transmission process, the side wall of the guide groove 3 and the outer surface of the sliding frame 4 form a precise sliding fit, converting the axial thrust output by the piston rod into the directional linear motion of the sliding frame 4. At the same time, it effectively counteracts the radial off-center load torque, ensuring the trajectory accuracy and running stability of the entire detection robot when moving longitudinally along the tank wall, and preventing jamming or deviation.

[0036] In this embodiment, the power mechanism includes a drive motor 16 installed at the bottom of the sliding frame 4. A drive gear 17 is rotatably sleeved at the end of the output shaft of the drive motor 16. A first transmission shaft 5 passes through the sliding frame 4. A driven gear 15 is fixed at one end of the first transmission shaft 5 inside the sliding frame 4, and the driven gear 15 meshes with the drive gear 17. A drive synchronous shaft 10 is rotatably sleeved on the sliding frame 4. One end of the drive synchronous shaft 10 inside the sliding frame 4 is fixedly connected to the end of the output shaft of the drive motor 16. A fixing collar 41 and a pressing collar 40 are sequentially sleeved from top to bottom at the end of the drive synchronous shaft 10 inside the sliding frame 4. The fixing collar 41 is rotatably sleeved on the upper end of the pressing collar 40. A pressure-bearing mechanism is provided at the upper end of the fixing collar 41. Both the pressure-bearing mechanism and the pushing mechanism are provided with abutment plates 33. The abutment plate 33 at the upper end is fixedly connected to the lower pressing rod 24. The drive synchronous shaft 10... A second guide sleeve 31 is slidably sleeved at one end extending outside the sliding frame 4. A first guide sleeve 6 is slidably sleeved at one end extending outside the sliding frame 4. A driven synchronous shaft 25 is fixed at the upper end of the second guide sleeve 31, and a second drive shaft 9 is fixed at the upper end of the first guide sleeve 6. A lifting mechanism is provided at the upper end of the sliding frame 4. A lifting slide 34 is provided on the lifting mechanism. The two ends of the lifting slide 34 are respectively sleeved on the second guide sleeve 31 and the first guide sleeve 6. Two second limiting retaining rings 32 are rotatably sleeved on the second guide sleeve 31, and two first limiting retaining rings 7 are rotatably sleeved on the first guide sleeve 6. One end of the lifting slide 34 is located between the two second limiting retaining rings 32, and the other end of the lifting slide 34 is located between the two first limiting retaining rings 7. Two abutment plates 33 are located at both ends of the lifting slide 34, and the two abutment plates 33 are located between the two second limiting retaining rings 32. During operation, the drive motor 16 is powered on and starts, and its output shaft generates rotational torque, which is synchronously transmitted to the drive gear 17 and the drive synchronous shaft 10. The drive gear 17 transmits torque to the driven gear 15 through tooth meshing, driving the first transmission shaft 5 to rotate. The first transmission shaft 5 drives the second transmission shaft 9 to rotate synchronously through the first guide sleeve 6. The second transmission shaft 9 drives the indexing turntable 18 to rotate through the mounting shaft 13, realizing the synchronous indexing of the multi-station detection bearing plate 14. At the same time, the drive synchronous shaft 10 rotates with the output shaft of the drive motor 16, driving the fixed collar 41 and the clamping collar 40 to rotate. When the lifting slide 34 is raised or lowered, the abutment plate 33 contacts the lifting slide 34 and transmits axial force, realizing the composite transmission of rotational power and lifting motion. The second limit ring 32 and the first limit ring 7 form an axial limit on the lifting slide 34 to ensure the coaxiality and stability of power transmission.

[0037] In this embodiment, the pressure-bearing mechanism includes a transmission push rod 11 that passes through the sliding frame 4. One end of the transmission push rod 11 extending into the sliding frame 4 is fixed to the upper end of the fixing collar 41. A return spring 43 is sleeved on the end of the transmission push rod 11 located inside the sliding frame 4. The two ends of the return spring 43 are respectively fixed to the top of the sliding frame 4 and the upper end of the fixing collar 41. The upper end of the transmission push rod 11 located at the upper end of the sliding frame 4 is fixedly connected to the abutment plate 33 located at the lower end. The transmission push rod 11 is located between the second guide sleeve 31 and the first guide sleeve 6. During operation, the return spring 43 is in a pre-compressed state, and its stored elastic potential energy is converted into a downward axial preload, which acts on the fixed collar 41 and the clamping collar 40 to keep them in close contact with the active synchronous shaft 10. When the lifting slide 34 moves upward, the abutment plate 33 at the lower end first contacts the lower end of the transmission push rod 11, pushing the transmission push rod 11 to move upward. The transmission push rod 11 drives the fixed collar 41 to move upward against the elastic force of the return spring 43. At this time, the return spring 43 is further compressed and stores elastic potential energy. When the lifting slide 34 returns to its original position, the return spring 43 releases the stored elastic potential energy, pushing the transmission push rod 11 and the fixed collar 41 to return to their original positions. The abutment plate 33 then returns to its original position, realizing elastic buffering and automatic reset, avoiding damage to the transmission components caused by rigid impact.

[0038] In this embodiment, the lifting mechanism includes a lifting drive cylinder 12 fixed to the upper end of the sliding frame 4. The lifting drive cylinder 12 is located between the pressure-bearing mechanism and the first guide sleeve 6. A connecting rod 35 is fixed to the end of the piston rod of the lifting drive cylinder 12, and the lifting slide 34 is disposed through the connecting rod 35. During operation, the lifting drive cylinder 12 receives a control signal and starts. Its piston rod extends and retracts axially, transmitting linear thrust to the lifting slide 34 through the connecting rod 35, causing the lifting slide 34 to slide up and down along the outer walls of the second guide sleeve 31 and the first guide sleeve 6. During this process, the second limiting ring 32 and the first limiting ring 7 form a radial constraint on the end of the lifting slide 34, restricting the radial degree of freedom of the lifting slide 34 during the sliding process, ensuring that the lifting slide 34 only moves axially without deflection or swaying, and ensuring the straightness and positioning accuracy of the lifting movement.

[0039] In this embodiment, the pushing mechanism includes a mounting base plate 22 fixed to one side of the synchronous connecting frame 8, a downward pressing link 24 slidably sleeved on the mounting base plate 22, a tension spring 23 sleeved on the lower end of the downward pressing link 24, the two ends of the tension spring 23 being fixed to the lower end of the mounting base plate 22 and the downward pressing link 24 respectively, a swing push rod 27 rotatably connected to the upper end of the downward pressing link 24, a transverse sliding rod 28 rotatably connected to the upper end of the swing push rod 27, the transverse sliding rod 28 being slidably installed on one side of the fixed guide tube 30, and one end of the transverse sliding rod 28 being rotatably sleeved on the rotary drive disk 26. During operation, the lifting slide 34 moves synchronously with the upper abutment plate 33 as it rises and falls. The end face of the abutment plate 33 contacts the upper end of the lower pressing link 24 and applies axial pressure, pushing the lower pressing link 24 to slide downward or upward along the guide hole of the mounting base plate 22. The tension spring 23 generates elastic tension during the movement of the lower pressing link 24, which counteracts the gravity component of the lower pressing link 24 and eliminates transmission gaps, ensuring the smoothness and continuity of the movement of the lower pressing link 24. The upper end of the lower pressing link 24 converts linear motion into horizontal sliding of the transverse slide 28 through the swing push rod 27. The transverse slide 28 moves horizontally under the guidance of the fixed guide tube 30 and drives the rotary drive disk 26 to rotate around its axis, realizing the conversion and transmission of linear motion to rotational motion.

[0040] In this embodiment, the linkage mechanism includes a limiting sleeve 38 rotatably sleeved on one side of the upper end of the synchronous connecting frame 8. A rotating sleeve 37 is sleeved on the limiting sleeve 38. A bevel gear transmission assembly 36 is jointly installed on the rotating sleeve 37 and the driven synchronous shaft 25. An axial slide rod 29 is provided at the upper end of the driven synchronous shaft 25. A fixed guide tube 30 is sleeved on the axial slide rod 29. The fixed guide tube 30 is rotatably sleeved on the upper end of the driven synchronous shaft 25. One end of the axial slide rod 29 is slidably installed in the limiting sleeve 38. A conical push head 44 is rotatably sleeved at the end of the axial slide rod 29 away from the limiting sleeve 38. A rotary drive disk 26 is located on one side of the conical push head 44. The pushing mechanism is connected to the fixed guide tube 30. The rotary drive disk 26 and the fixed guide tube 30 are horizontally arranged. The pressing connecting rod 24 is located at the lower end of the fixed guide tube 30. During operation, when the driven synchronous shaft 25 rotates, the rotational power is transmitted to the rotary sleeve 37 through the meshing of the teeth of the bevel gear transmission group 36. The rotary sleeve 37 drives the fixed guide tube 30 to rotate synchronously. The fixed guide tube 30 converts the rotational motion into the axial linear movement of the axial slide rod 29 through the sliding engagement of the internal spiral groove or cam curve with the axial slide rod 29. Under the guidance of the limiting sleeve 38, the axial slide rod 29 moves axially and drives the conical push head 44 to move synchronously. The conical surface of the conical push head 44 and the contact surface of the rotary drive disk 26 form a wedge-shaped transmission pair, which converts the axial thrust into the rotational torque of the rotary drive disk 26, realizing the precise drive of indexing.

[0041] In this embodiment, the adjustment mechanism includes a conical push head 44 fixed to one end of the axial slide bar 29. A rotary drive disk 26 is rotatably sleeved on the end of the conical push head 44 near the axial slide bar 29. The conical push head 44 is located at the lower end of the indexing turntable 18. A detection bearing plate 14 is rotatably connected to one side of the indexing turntable 18. An avoidance notch 19 is provided on one side of the indexing turntable 18. An angle adjustment cylinder 20 is rotatably sleeved in the avoidance notch 19. The piston rod end of the angle adjustment cylinder 20 is rotatably connected to one side of the vision sensor module 42. During operation, the axial slide bar 29 drives the conical pusher 44 to move axially. The conical surface of the conical pusher 44 contacts the bottom surface of the indexing turntable 18 and applies a thrust, pushing the indexing turntable 18 to rotate around the mounting shaft 13 by a preset indexing angle. The indexing turntable 18 drives each detection bearing plate 14 to rotate synchronously to the target detection station through the mounting shaft 13. At the same time, the clearance notch 19 provides an independent rotation space for the angle adjustment cylinder 20, avoiding interference between the angle adjustment cylinder 20 and the fixed structure during the indexing process. When the piston rod of the angle adjustment cylinder 20 extends or retracts, it pushes the vision sensor module 42 to deflect around its hinge point with the detection bearing plate 14, realizing adaptive adjustment of the detection angle. The indexing and angle adjustment are completely decoupled and do not interfere with each other within the clearance notch 19, ensuring the independence and accuracy of the two movements.

[0042] In this embodiment, the clamping mechanism includes a lifting slider 39 slidably mounted within the detection support plate 14. A spacing adjustment component 21 is installed between the lifting slider 39 and the detection support plate 14. Two vision sensor modules 42 are provided at one end of the detection support plate 14. The lower vision sensor module 42 is fixedly connected to the detection support plate 14, and the upper vision sensor module 42 is fixedly connected to the lifting slider 39. During operation, the spacing adjustment component 21 receives a control signal and starts, driving the lifting slider 39 to slide up and down along the guide rail of the detection support plate 14. This causes the spacing between the upper vision sensor module 42 mounted on the lifting slider 39 and the lower vision sensor module 42 fixed on the detection support plate 14 to change steplessly, adapting to the detection requirements of welds of different widths and ensuring that the field of view of the vision sensor module 42 completely covers the weld area. The two vision sensor modules 42 simultaneously acquire weld image data to achieve clamping detection, improving detection accuracy and efficiency.

[0043] In this embodiment, the rotary drive disk 26 is slidably sleeved on the axial slide rod 29, allowing it to move axially with the axial slide rod 29 while rotating freely around the axial slide rod 29, thus achieving a combined motion of rotation and axial sliding. The outer wall of the axial slide rod 29 and the inner hole of the rotary drive disk 26 form a sliding fit pair, and the axial thrust is transmitted to the rotary drive disk 26 through the mating surface. At the same time, the rotary drive disk 26 can rotate freely on the axial slide rod 29, avoiding motion interference between axial movement and rotation, and ensuring smooth and reliable combined motion.

[0044] In this invention, multiple mounting shafts 13 are equally spaced at the upper end of the second transmission vertical shaft 9 so that the corresponding detection bearing plate 14 can be mounted through the avoidance notch 19 and the indexing turntable 18. The operation of the spacing adjustment component 21 can control the movement of the lifting slider 39 relative to the detection bearing plate 14 and control the distance between the two vision sensor modules 42 on one side of the detection bearing plate 14 so that the vision sensor module 42 can detect the weld of the oil storage tank so as to accurately detect whether there are defects in the weld. At the same time, the operation of the two vision sensor modules 42 helps to improve the detection efficiency. The drive motor 16 can drive the active synchronous shaft 10 to rotate the second guide sleeve 31 and the driven synchronous shaft 25. It can drive the axial slide bar 29 to rotate through the bevel gear transmission group 36. The lifting drive cylinder 12 can raise the upper abutment plate 33. The swing push rod 27 can push the transverse slide bar 28 to move. The rotary drive disk 26 can abut against the conical push head 44 to move. The axial slide bar 29 can drive the conical push head 44 to rotate so that the conical push head 44 abuts against the indexing turntable 18. It can control the rotation of the detection support plate 14. At the same time, the angle adjustment cylinder 20 can push the detection support plate 14 to deflect so that the visual sensor module 42 on the detection support plate 14 can adjust the angle to adapt to welds at different angles and improve the adaptability of the detection. At the same time, the rise of the piston rod inside the lifting drive cylinder 12 pushes the lifting slide 34, the second limit ring 32, and the first limit ring 7 to rise, which enables the second guide sleeve 31 and the first guide sleeve 6 to rise, making it easier to adjust the position and height of the detection bearing plate 14 and meet the requirements for accurate detection of welds at different heights. The descent of the piston rod inside the lifting drive cylinder 12 causes the abutment plate 33 at the lower end to be squeezed and lowered, causing the clamping collar 40 and the drive gear 17 to abut against each other, so that the drive gear 17 drives the driven gear 15 to rotate, and the first transmission shaft 5 to rotate, so as to drive the detection bearing plate 14 to move through the first guide sleeve 6 and the second transmission shaft 9, so that the indexing turntables 18 on the multiple mounting shafts 13 can move sequentially to the upper end of the conical push head 44; then the piston rod of the lifting drive cylinder 12 rises, and a corresponding limiting component can be installed in the sliding frame 4, which can mesh with the driven gear 15. When there is no external force, the driven gear 15 will be limited. When an external force is applied to the driven gear 15, the driven gear 15 presses on the limiting component, so that the driven gear 15 can rotate. The position of the sliding frame 4 can be adjusted by extending and retracting the piston rod of the telescopic drive cylinder 2, so that the detection bearing plate 14 can drive the vision sensor module 42 to move and adjust the distance between it and the weld seam of the oil storage tank for accurate detection.

[0045] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A machine vision-based intelligent inspection robot for weld defects in oil storage and transportation tanks, comprising a mobile base (1), characterized in that: The movable base (1) is provided with a movable mechanism, the movable mechanism is provided with a sliding frame (4), the sliding frame (4) is provided with a power mechanism, the power mechanism is provided with a driven synchronous shaft (25) and a second transmission vertical shaft (9), a synchronous connecting frame (8) is provided between the driven synchronous shaft (25) and the second transmission vertical shaft (9), the synchronous connecting frame (8) is provided with a pushing mechanism, the pushing mechanism is provided with a pressing connecting rod (24) and a rotary drive disk (26). The synchronous connection frame (8) is provided with a linkage mechanism, and the linkage mechanism is provided with a fixed guide tube (30). The upper end of the second transmission shaft (9) is rotatably sleeved with multiple mounting shafts (13) at equal intervals. One end of the mounting shaft (13) is fixed with an indexing turntable (18). An adjustment mechanism is installed on the indexing turntable (18). A detection bearing plate (14) is provided on the adjustment mechanism. A clamping mechanism is provided on the detection bearing plate (14).

2. The intelligent inspection robot for weld defects in oil storage and transportation tanks based on machine vision as described in claim 1, characterized in that: The linkage mechanism includes a limiting sleeve (38) rotatably sleeved on one side of the upper end of the synchronous connecting frame (8), a rotary sleeve (37) sleeved on the limiting sleeve (38), a bevel gear transmission group (36) jointly installed on the rotary sleeve (37) and the driven synchronous shaft (25), an axial slide rod (29) is provided at the upper end of the driven synchronous shaft (25), a fixed guide tube (30) is sleeved on the axial slide rod (29), the fixed guide tube (30) is rotatably sleeved on the upper end of the driven synchronous shaft (25), one end of the axial slide rod (29) is slidably installed in the limiting sleeve (38), and a conical push head (44) is rotatably sleeved at the end of the axial slide rod (29) away from the limiting sleeve (38), and the rotary drive disk (26) is located on one side of the conical push head (44); The pushing mechanism is connected to the fixed guide tube (30), the rotary drive disk (26) and the fixed guide tube (30) are horizontally arranged, and the pressing link (24) is located at the lower end of the fixed guide tube (30).

3. The intelligent inspection robot for weld defects in oil storage and transportation tanks based on machine vision as described in claim 1, characterized in that: The moving mechanism includes a guide groove (3) opened on one side of the upper end of the moving base (1), and the sliding frame (4) is slidably installed in the guide groove (3). A telescopic drive cylinder (2) is provided through the side of the moving base (1) away from the guide groove (3). The piston rod of the telescopic drive cylinder (2) is located in the guide groove (3), and the piston rod of the telescopic drive cylinder (2) and the sliding frame (4) are fixedly connected.

4. The intelligent inspection robot for weld defects in oil storage and transportation tanks based on machine vision as described in claim 1, characterized in that: The power mechanism includes a drive motor (16) installed at the bottom of the sliding frame (4). The output shaft of the drive motor (16) is rotatably sleeved with a drive gear (17). A first transmission shaft (5) is provided through the sliding frame (4). A driven gear (15) is fixed at one end of the first transmission shaft (5) inside the sliding frame (4). The driven gear (15) and the drive gear (17) mesh with each other. An active synchronous shaft (10) is rotatably sleeved on the sliding frame (4). One end of the active synchronous shaft (10) located inside the sliding frame (4) is fixedly connected to the end of the output shaft of the drive motor (16). A fixed collar (41) and a pressing collar (40) are sequentially sleeved on the one end of the active synchronous shaft (10) located inside the sliding frame (4) from top to bottom. The fixed collar (41) is rotatably sleeved on the upper end of the pressing collar (40). A pressure-bearing mechanism is provided at the upper end of the fixed collar (41). Both the pressure-bearing mechanism and the pushing mechanism are provided with abutment plates (33). The abutment plate (33) located at the upper end is fixedly connected to the lower pressing rod (24). The active synchronous shaft (10) extends to one end outside the sliding frame (4) and is slidably sleeved with a second guide sleeve (31). The first transmission vertical shaft (5) extends to one end outside the sliding frame (4) and is slidably sleeved with a first guide sleeve (6). The driven synchronous shaft (25) is fixed at the upper end of the second guide sleeve (31), and the second transmission vertical shaft (9) is fixed at the upper end of the first guide sleeve (6). The upper end of the sliding frame (4) is provided with a lifting mechanism, and the lifting mechanism is provided with a lifting slide (34). The two ends of the lifting slide (34) are respectively sleeved on the second guide sleeve (31) and the first guide sleeve (6). Two second limiting rings (32) are rotatably sleeved on the second guide sleeve (31), and two first limiting rings (7) are rotatably sleeved on the first guide sleeve (6). One end of the lifting slide (34) is located between the two second limiting rings (32), and the other end of the lifting slide (34) is located between the two first limiting rings (7). Two abutment plates (33) are located at both ends of the lifting carriage (34), and the two abutment plates (33) are located between the two second limit retaining rings (32).

5. The intelligent inspection robot for weld defects in oil storage and transportation tanks based on machine vision according to claim 4, characterized in that: The pressure-bearing mechanism includes a transmission push rod (11) that runs through the sliding frame (4). One end of the transmission push rod (11) extending into the sliding frame (4) is fixed to the upper end of the fixing collar (41). A return spring (43) is sleeved on one end of the transmission push rod (11) inside the sliding frame (4). The two ends of the return spring (43) are respectively fixed to the top of the sliding frame (4) and the upper end of the fixing collar (41). One end of the transmission push rod (11) at the upper end of the sliding frame (4) is fixedly connected to the abutment plate (33) at the lower end. The transmission push rod (11) is located between the second guide sleeve (31) and the first guide sleeve (6).

6. The intelligent inspection robot for weld defects in oil storage and transportation tanks based on machine vision according to claim 4, characterized in that: The lifting mechanism includes a lifting drive cylinder (12) fixed on the upper end of the sliding frame (4). The lifting drive cylinder (12) is located between the pressure-bearing mechanism and the first guide sleeve (6). The piston rod of the lifting drive cylinder (12) is fixed with a connecting rod (35). The lifting slide (34) is installed through the connecting rod (35).

7. The intelligent inspection robot for weld defects in oil storage and transportation tanks based on machine vision according to claim 2, characterized in that: The pushing mechanism includes a mounting base plate (22) fixed on one side of the synchronous connecting frame (8), a downward pressing link (24) slidably sleeved on the mounting base plate (22), a tension spring (23) sleeved on the lower end of the downward pressing link (24), the two ends of the tension spring (23) being fixed on the lower end of the mounting base plate (22) and the downward pressing link (24) respectively, a swing push rod (27) rotatably connected to the upper end of the downward pressing link (24), a transverse sliding rod (28) rotatably connected to the upper end of the swing push rod (27), the transverse sliding rod (28) slidably installed on one side of the fixed guide tube (30), and one end of the transverse sliding rod (28) rotatably sleeved on the rotary drive disk (26).

8. The intelligent inspection robot for weld defects in oil storage and transportation tanks based on machine vision according to claim 1, characterized in that: The adjustment mechanism includes a conical pusher (44) fixed to one end of an axial slide bar (29). The rotary drive disk (26) is rotatably sleeved on one end of the conical pusher (44) near the axial slide bar (29). The conical pusher (44) is located at the lower end of an indexing turntable (18). A detection bearing plate (14) is rotatably connected to one side of the indexing turntable (18). An avoidance notch (19) is provided on one side of the indexing turntable (18). An angle adjustment cylinder (20) is rotatably sleeved in the avoidance notch (19). The piston rod end of the angle adjustment cylinder (20) is rotatably connected to one side of a vision sensor module (42).

9. The intelligent inspection robot for weld defects in oil storage and transportation tanks based on machine vision according to claim 1, characterized in that: The clamping mechanism includes a lifting slider (39) that is slidably installed in the detection support plate (14). A spacing adjustment component (21) is installed between the lifting slider (39) and the detection support plate (14). Two vision sensor modules (42) are provided at one end of the detection support plate (14). The vision sensor module (42) at the lower end is fixedly connected to the detection support plate (14), and the vision sensor module (42) at the upper end is fixedly connected to the lifting slider (39).

10. The intelligent inspection robot for weld defects in oil storage and transportation tanks based on machine vision according to claim 2, characterized in that: The rotary drive disk (26) is slidably sleeved on the axial slide rod (29).

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