Robot for wall welding seam detection

Abstract

The utility model relates to the technical field of weld joint detection, in particular to a robot for wall weld joint detection, which comprises a detection mechanism, an adjusting mechanism and a supporting mechanism. The detection mechanism comprises a detection master controller and a detection piece which are electrically connected, the detection master controller is installed on the supporting mechanism, and the detection piece is connected with the adjusting mechanism; the adjusting mechanism is used for adjusting the angle of the detection piece, the adjusting mechanism comprises a lifting seat, an adjusting seat, an adjusting shaft, a first telescopic driving rod, a gear and a rack, one side of the adjusting seat is connected with the detection piece through a connecting piece, the other side of the adjusting seat is connected with the adjusting shaft, and the adjusting shaft is rotationally connected with the supporting mechanism; and the adjusting mechanism can adjust the detection angle of the detection piece, so that the detection piece can be always kept in a vertical state with the crack, the detection efficiency can be improved, and the problem that the detection angle of an existing wall surface welding seam detection robot cannot be adjusted in the detection process is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of weld detection, in particular to a robot for wall weld detection. Background Art

[0002] Welding quality inspection refers to the inspection of welding results, with the aim of ensuring the integrity, reliability, safety and practicality of the welded structure. In addition to the requirements for welding technology and welding process, welding quality inspection is also an important part of welded structure quality management. The general weld inspection method is to manually inspect the weld position through a flaw detector, but the manual inspection method has certain limitations. For example, when a steel plate welded part is used as a wall, the height position of its weld may exceed the manual inspection range. At this time, the inspector needs to use a ladder to complete the flaw detection work. The ladder needs to be moved repeatedly during the process, which is cumbersome and reduces the overall inspection efficiency of the weld.

[0003] There are related wall weld inspection robots in the prior art, which drive the flaw detector to move on the wall by setting a lifting mechanism and a moving mechanism, thereby completing the inspection of the wall weld. However, there are still the following problems in its use:

[0004] In the flaw detector, the detection of the weld is completed by contacting the detection probe with the surface of the steel plate. A coupling agent needs to be added between the probe and the steel plate to ensure the effectiveness of the flaw detection. However, the existing wall weld inspection robot lacks a specific structure that can realize the addition of coupling agent.

[0005] The direction of the weld on the steel plate surface determines the direction of the probe. Generally, the detection direction of the probe needs to be perpendicular to the length of the weld. However, the detection angle of the existing wall weld detection robot is fixed, so it has limitations during use. Utility Model Content

[0006] The utility model aims to provide a robot for detecting wall welds to solve the problems raised in the above-mentioned background technology.

[0007] The purpose of the utility model can be achieved by the following technical solutions: A robot for detecting wall welds, comprising a detection mechanism, an adjustment mechanism and a support mechanism;

[0008] The detection mechanism comprises a detection master controller and a detection member which are electrically connected, the detection master controller is mounted on a supporting mechanism, and the detection member is connected to the adjustment mechanism;

[0009] The adjustment mechanism is used to adjust the angle of the detection member, and the adjustment mechanism includes a lifting seat, an adjustment seat, an adjustment shaft, a first telescopic driving rod, a gear and a rack. One side of the adjustment seat is connected to the detection member through a connecting member, and the other side of the adjustment seat is connected to the adjustment shaft. The adjustment shaft is rotatably connected to the support mechanism, and the end of the adjustment shaft away from the adjustment seat is connected to the gear. One side of the gear is meshed with the rack, and the end of the rack is connected to the driving end of the first telescopic driving rod. The first telescopic driving rod is installed on the support mechanism;

[0010] The supporting mechanism comprises a lifting seat, on which a first telescopic driving rod and a detection master controller are installed, and the lifting seat is also rotatably connected with the adjusting shaft.

[0011] As a further feature, the support mechanism also includes a base, a guide rod, a top plate and a support plate. The base is fixedly mounted with a support plate, the support plate is connected to the top plate via the guide rod, and a lifting seat is also slidably sleeved on the periphery of the guide rod.

[0012] Furthermore, the support mechanism also includes a lifting assembly, which is used to adjust the height of the lifting seat on the guide rod. The lifting assembly includes a screw and a lifting motor. The lifting motor is fixedly mounted on the base, and the driving end of the detection master controller is connected to the screw. The end of the screw moves through the support plate and is rotatably connected to the top plate. The lifting seat is also sleeved on the periphery of the screw, and the lifting seat is threadedly connected to the screw.

[0013] As a further feature, a coupling agent adding mechanism is also included, and the coupling agent adding mechanism includes a nozzle, a nozzle mounting pipe, a connecting pipe and a pump water tank. There are multiple nozzles, and the multiple nozzles are connected to the nozzle mounting pipe. The nozzle mounting pipe is installed on the adjustment seat, and the nozzle mounting pipe is connected to the pump water tank through the connecting pipe.

[0014] As a further feature, it also includes a cleaning mechanism, which includes a cleaning roller brush, which is located between the detection member and the nozzle, and the end of the cleaning roller brush is rotatably connected to the adjustment seat, and the cleaning roller brush is also connected to the output end of the cleaning motor, and the cleaning motor is installed on the adjustment seat.

[0015] As a further feature, a plurality of walking wheels are mounted on the base.

[0016] As a further feature, the support mechanism further includes an anti-skid support plate, which is located on a side of the top plate away from the screw rod, and is connected to a driving end of a third telescopic drive rod, which is mounted on the top plate.

[0017] As a further feature, the connecting member includes a detection mounting seat and a second telescopic driving rod, the second telescopic driving rod is mounted on the adjustment seat, and the telescopic end of the second telescopic driving rod is connected to the detection mounting seat, and the detection member is mounted on the detection mounting seat.

[0018] Beneficial effects of the utility model:

[0019] 1. The utility model can adjust the detection angle of the detection piece by setting an adjustment mechanism, so as to ensure that the detection piece always remains perpendicular to the crack, thereby improving the detection efficiency and solving the problem that the detection angle of the existing wall weld detection robot cannot be adjusted during the detection process.

[0020] 2. The utility model can add coupling agent before detection by providing a cleaning mechanism and a coupling agent adding mechanism. The cleaning mechanism can clean the area to be detected, thereby improving the detection accuracy and solving the problem that the traditional wall weld detection robot cannot add coupling agent and has low detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or the prior art, the drawings required for use in the embodiments or the prior art description are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model at a viewing angle;

[0023] Figure 2 It is a three-dimensional structural schematic diagram of the utility model at another viewing angle;

[0024] Figure 3 It is a partial three-dimensional structural schematic diagram of the utility model;

[0025] Figure 4 yes Figure 1 A schematic diagram of the structure enlargement in the middle;

[0026] Figure 5 It is a three-dimensional structural schematic diagram of the anti-skid support plate and the top plate in the utility model.

[0027] The reference numerals in the figures are as follows:

[0028] 1. Base; 2. Pump water tank; 3. Connecting pipe; 4. Cleaning roller brush; 5. Detection part; 6. Detection master controller; 7. Guide rod; 8. Top plate; 9. Screw rod; First telescopic drive rod 10. First telescopic drive rod; 12. Lifting seat; 13. Adjusting seat; 14. Cleaning motor; 15. Sprinkler; 16. Lifting motor; 17. Traveling wheel; 18. Support plate; 19. Rack; 20. Adjusting shaft; 21. Gear; 22. Second telescopic drive rod; 23. Detection mounting seat; 24. Sprinkler mounting pipe; 25. Third telescopic drive rod; 26. Anti-skid support plate. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0030] Example 1: Figure 1 to Figure 4 A robot for detecting wall welds is shown, comprising a detection mechanism, an adjustment mechanism and a support mechanism;

[0031] The detection mechanism includes a detection master controller 6 and a detection member 5 which are electrically connected, the detection master controller 6 is mounted on a supporting mechanism, and the detection member 5 is connected to the adjustment mechanism;

[0032] The adjusting mechanism is used to adjust the angle of the detection member 5, and the adjusting mechanism includes a lifting seat 12, an adjusting seat 13, an adjusting shaft 20, a first telescopic driving rod 10, a gear 21 and a rack 19. One side of the adjusting seat 13 is connected to the detection member 5 through a connecting piece, and the other side of the adjusting seat 13 is connected to the adjusting shaft 20. The adjusting shaft 20 is rotatably connected to the supporting mechanism, and the end of the adjusting shaft 20 away from the adjusting seat 13 is connected to the gear 21. One side of the gear 21 is meshed and connected with the rack 19. The end of the rack 19 is connected to the driving end of the first telescopic driving rod 10, and the first telescopic driving rod 10 is installed on the supporting mechanism;

[0033] The support mechanism comprises a lifting seat 12 , on which a first telescopic driving rod 10 and a detection master controller 6 are mounted. The lifting seat 12 is also rotatably connected to an adjustment shaft 20 .

[0034] In order to facilitate the adjustment of the extension amount of the detection member 5, preferably, the connecting member includes a detection mounting seat 23 and a second telescopic driving rod 22, the second telescopic driving rod 22 is installed on the adjustment seat 13, and the telescopic end of the second telescopic driving rod 22 is connected to the detection mounting seat 23, and the detection member 5 is installed on the detection mounting seat 23.

[0035] In the present example, during use, the angle of the adjustment seat 13 is adjusted by controlling the extension amount of the first telescopic drive rod 10. Specifically, the adjustment shaft 20 is driven to rotate through the cooperation of the rack 19 and the gear 21. Therefore, during use, the angle of the detection member 5 can be adjusted according to the on-site processing requirements to improve the overall applicability.

[0036] Embodiment 2:

[0037] See also Figure 1-2 and Figure 4-5 In the embodiment of the utility model, the supporting mechanism also includes a base 1, a guide rod 7, a top plate 8 and a supporting plate 18. The supporting plate 18 is fixedly mounted on the base 1, and the supporting plate 18 is connected to the top plate 8 through the guide rod 7. The outer periphery of the guide rod 7 is also slidably sleeved with a lifting seat 12, so that it can be suitable for detection requirements of different heights.

[0038] In order to facilitate overall movement, in this embodiment, a plurality of walking wheels 17 are further installed on the base 1 .

[0039] In order to adjust the height of the lifting seat 12, the support mechanism also includes a lifting component, which is used to adjust the height of the lifting seat 12 on the guide rod 7. The lifting component includes a screw rod 9 and a lifting motor 16. The lifting motor 16 is fixedly mounted on the base 1, and the driving end of the detection master controller 6 is connected to the screw rod 9. The end of the screw rod 9 is movably passed through the support plate 18 and is rotatably connected to the top plate 8. The outer periphery of the screw rod 9 is also sleeved with a lifting seat 12, and the lifting seat 12 is threadedly connected to the screw rod 9, so that the height of the lifting seat 12 can be adjusted by driving the screw rod 9 to rotate forward and reversely by the lifting motor 16.

[0040] Embodiment 3:

[0041] See also Figure 1 to Figure 3 On the basis of Example 2, it also includes a cleaning mechanism and a coupling agent adding mechanism, the coupling agent adding mechanism includes a nozzle 15, a nozzle mounting pipe 24, a connecting pipe 3 and a pump water tank 2, the nozzle 15 is provided with multiple, and the multiple nozzles 15 are all connected to the nozzle mounting pipe 24, the nozzle mounting pipe 24 is installed on the adjustment seat 13, and the nozzle mounting pipe 24 is connected to the pump water tank 2 through the connecting pipe 3.

[0042] In this example, a cleaning mechanism is also included, which includes a cleaning roller brush 4, which is located between the detection member 5 and the nozzle 15, and the end of the cleaning roller brush 4 is rotatably connected to the adjustment seat 13, and the cleaning roller brush 4 is also connected to the output end of the cleaning motor 14, and the cleaning motor 14 is installed on the adjustment seat 13.

[0043] During use, the coupling agent in the pump water tank 2 is first sprayed to the area to be inspected through the nozzle 15 by the water pump in the pump water tank 2, so as to achieve the effect of adding coupling agent, and the cleaning roller brush 4 is driven to rotate by the cleaning motor 14 to achieve the effect of cleaning the welding waste generated in the welding process in the area to be inspected. After the cleaning is completed, the inspection area is inspected by the detection part 5, so as to improve the detection accuracy.

[0044] Embodiment 4:

[0045] To improve the stability of the test process, please refer to Figure 5 On the basis of Example 3, the support mechanism also includes an anti-slip support plate 26, which is located on the side of the top plate 8 away from the screw rod 9, and the anti-slip support plate 26 is connected to the driving end of the third telescopic driving rod 25, and the third telescopic driving rod 25 is installed on the top plate 8. When in use, the anti-slip support plate 26 is driven by the third telescopic driving rod 25 to resist the top of the wall, thereby ensuring the overall stability and improving the detection accuracy.

[0046] The above shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, and these changes and improvements fall within the scope of the utility model to be protected.

Claims

1. A robot for detecting wall welds, characterized in that: It includes a detection mechanism, an adjustment mechanism and a support mechanism; The detection mechanism comprises a detection master controller (6) and a detection member (5) which are electrically connected, the detection master controller (6) being mounted on a supporting mechanism, and the detection member (5) being connected to an adjusting mechanism; The adjusting mechanism is used to adjust the angle of the detection member (5), and the adjusting mechanism comprises a lifting seat (12), an adjusting seat (13), an adjusting shaft (20), a first telescopic driving rod (10), a gear (21) and a rack (19); one side of the adjusting seat (13) is connected to the detection member (5) through a connecting member, the other side of the adjusting seat (13) is connected to the adjusting shaft (20), the adjusting shaft (20) is rotatably connected to the supporting mechanism, the end of the adjusting shaft (20) away from the adjusting seat (13) is connected to the gear (21), one side of the gear (21) is meshedly connected to the rack (19), the end of the rack (19) is connected to the driving end of the first telescopic driving rod (10), and the first telescopic driving rod (10) is installed on the supporting mechanism; The support mechanism comprises a lifting seat (12), on which a first telescopic driving rod (10) and a detection master controller (6) are mounted, and the lifting seat (12) is also rotatably connected to an adjustment shaft (20).

2. A robot for wall weld detection according to claim 1, characterized in that: The support mechanism further comprises a base (1), a guide rod (7), a top plate (8) and a support plate (18); the support plate (18) is fixedly mounted on the base (1); the support plate (18) is connected to the top plate (8) via the guide rod (7); and a lifting seat (12) is slidably sleeved on the periphery of the guide rod (7).

3. A robot for wall weld detection according to claim 2, characterized in that: The support mechanism also includes a lifting component, which is used to adjust the height of the lifting seat (12) on the guide rod (7). The lifting component includes a screw rod (9) and a lifting motor (16). The lifting motor (16) is fixedly mounted on the base (1), and the driving end of the detection master controller (6) is connected to the screw rod (9). The end of the screw rod (9) is movably passed through the support plate (18) and is rotatably connected to the top plate (8). The lifting seat (12) is also sleeved on the periphery of the screw rod (9), and the lifting seat (12) is threadedly connected to the screw rod (9).

4. A robot for wall weld inspection according to claim 1, characterized in that: The invention also comprises a coupling agent adding mechanism, the coupling agent adding mechanism comprising a nozzle (15), a nozzle mounting pipe (24), a connecting pipe (3) and a pump water tank (2), a plurality of nozzles (15) are provided, and the plurality of nozzles (15) are all connected to the nozzle mounting pipe (24), the nozzle mounting pipe (24) is installed on the adjustment seat (13), and the nozzle mounting pipe (24) is connected to the pump water tank (2) through the connecting pipe (3).

5. A robot for wall weld inspection according to claim 4, characterized in that: The cleaning device also comprises a cleaning mechanism, the cleaning mechanism comprising a cleaning roller brush (4), the cleaning roller brush (4) being located between the detection member (5) and the nozzle (15), the end of the cleaning roller brush (4) being rotatably connected to the adjustment seat (13), the cleaning roller brush (4) being also connected to the output end of a cleaning motor (14), and the cleaning motor (14) being mounted on the adjustment seat (13).

6. A robot for detecting wall welds according to claim 2, characterized in that: A plurality of running wheels (17) are also mounted on the base (1).

7. A robot for wall weld inspection according to claim 1, characterized in that: The support mechanism further comprises an anti-skid support plate (26), wherein the anti-skid support plate (26) is located on a side of the top plate (8) away from the screw rod (9), and the anti-skid support plate (26) is connected to a driving end of a third telescopic drive rod (25), and the third telescopic drive rod (25) is mounted on the top plate (8).

8. The wall weld inspection robot according to claim 1, characterized in that: The connecting member comprises a detection mounting seat (23) and a second telescopic driving rod (22), wherein the second telescopic driving rod (22) is mounted on the adjustment seat (13), and the telescopic end of the second telescopic driving rod (22) is connected to the detection mounting seat (23), and a detection member (5) is mounted on the detection mounting seat (23).

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