Welding seam detection robot

Abstract

The utility model discloses a welding seam detection robot which comprises a horizontally arranged running track, a transverse moving and lifting assembly and a flaw detection assembly, wherein the transverse moving and lifting assembly is arranged on the running track and moves in the extending direction of the running track, and the flaw detection assembly is arranged below the transverse moving and lifting assembly and connected with the transverse moving and lifting assembly. By arranging the running track and the transverse moving and lifting component, the flaw detection component can move up and down and left and right, and does not need to be manually aligned to a fixed point for detection, so that the detection efficiency is improved; in addition, operators do not need to be close to the ray radioactive source, the risk that the operators are exposed in the irradiation area of the radioactive source is avoided, and radiation hazards possibly generated to workers and the surrounding environment due to misoperation or equipment failures are reduced.

Description

Technical Field

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

[0002] In the field of non-destructive testing of large-scale welds such as large-area steel structure coverage, it is necessary to manually insert the film into the inspection hole and manually align the position for fixed point testing. The detection efficiency is low and time-consuming. In addition, the operator is close to the radiation source and is exposed to the radiation source irradiation area. Improper operation or equipment failure may cause radiation hazards to workers and the surrounding environment. In addition, most of the existing flaw detection robots are not suitable for shooting objects such as large-area steel structure coverage. The robot has a small mobile space range and is not convenient to carry and transport. Utility Model Content

[0003] The technical problem to be solved by the utility model is to provide a weld inspection robot in view of the deficiencies in the above-mentioned prior art. By setting a running track and a transverse movement and lifting component, the flaw detection component can be moved up and down and left and right, and there is no need to manually align the position for fixed point inspection, thereby improving the inspection efficiency. In addition, the operator does not need to be close to the radiation source, thereby avoiding the risk of exposure to the radiation source irradiation area, and reducing the radiation hazards that may be caused to the workers and the surrounding environment due to improper operation or equipment failure. Through the combination of the running track, the transverse movement and lifting component and the flaw detection component, it is possible to shoot objects such as large-area steel structure coverage surfaces, and the robot has a large moving space range, which is convenient to carry and transport.

[0004] In order to solve the above technical problems, the technical solution adopted by the utility model is: a weld inspection robot, characterized in that it includes a horizontally arranged running track, a traverse and lifting assembly arranged on the running track and moving along the extension direction of the running track, and a flaw detection assembly arranged below the traverse and lifting assembly and connected to the traverse and lifting assembly;

[0005] The traverse and lifting assembly comprises a traverse unit arranged on the running track and a lifting mechanism arranged on the traverse unit;

[0006] The transverse movement unit includes a transverse movement trolley arranged on the running track, a transverse movement rope encoder arranged on the transverse movement trolley, and a transverse movement motor arranged on the transverse movement trolley and driving the transverse movement trolley to move;

[0007] The flaw detection assembly comprises a flaw detection frame arranged below the running track, a flaw detector arranged at one side of the flaw detection frame, and a camera arranged on the flaw detection frame. A fall arrester is arranged on the flaw detection frame.

[0008] The above-mentioned weld inspection robot is characterized in that: the running track includes two running guide rails that are both horizontally arranged and two running rails that are both horizontally arranged and perpendicular to the running guide rails, the lateral movement and lifting assembly is arranged on the running guide rails, and the lateral movement and lifting assembly moves along the extension direction of the running guide rails.

[0009] The above-mentioned weld inspection robot is characterized in that: the transverse moving trolley is arranged on the running guide rail, and the transverse moving trolley includes a transverse moving platform horizontally arranged on the running guide rail and four movable wheels which are all arranged at the bottom of the transverse moving platform and cooperate with the running guide rail, and the movable wheels are installed at the bottom of the transverse moving platform through a fixed frame; among the four movable wheels, a movable shaft is horizontally passed through two movable wheels arranged along the extension direction of the running rail, and the transverse moving motor is arranged on the movable shaft; the transverse moving rope encoder is arranged between the movable shaft and the running guide rail.

[0010] The above-mentioned weld inspection robot is characterized in that: a safety clamp is arranged on one of the running guide rails, the safety clamp is arranged at the bottom of the transverse platform, and the safety clamp is arranged between the two moving wheels.

[0011] The above-mentioned weld inspection robot is characterized in that: the lifting mechanism is installed on the transverse platform through a mounting seat; the lifting mechanism is a winch hoist, and the traction rope of the lifting mechanism extends to the bottom of the transverse platform and is connected to the flaw detection component; a lifting encoder is provided on the transverse platform.

[0012] The above-mentioned weld inspection robot is characterized in that: the traction rope of the lifting mechanism is connected to the flaw detection frame, and the flaw detection frame includes a connecting frame vertically arranged below the running track, a flaw detector carrier arranged on one side of the connecting frame, and two cross bars horizontally arranged on the other side of the connecting frame, and the connecting frame, the flaw detector carrier, and the cross bars are detachably connected.

[0013] The above-mentioned weld inspection robot is characterized in that: a connecting ring is provided on the connecting frame, the traction rope of the lifting mechanism is connected to the connecting ring, the pull rope of the fall arrester is also connected to the connecting ring, and the pull rope of the lifting encoder is connected to the connecting frame.

[0014] The above-mentioned weld inspection robot is characterized in that: the flaw detector is arranged in the flaw detector carrier, the camera is arranged in the connection frame, and the camera is arranged on a side close to the flaw detector carrier.

[0015] The above-mentioned weld inspection robot is characterized in that a balancing block is provided on the connection frame.

[0016] The above-mentioned weld inspection robot is characterized in that the transverse rope encoder, camera, and lifting encoder are all controlled by a controller, the controller is integrated on a circuit board, and the circuit board is arranged in a control cabinet.

[0017] Compared with the prior art, the utility model has the following advantages:

[0018] 1. The utility model can realize the up and down and left and right movement of the flaw detection component by setting the running track and the lateral movement and lifting components, and does not need to be manually aligned to the position for detection, thereby improving the detection efficiency; in addition, the operator does not need to be close to the radiation source, avoiding the risk of exposure to the radiation source irradiation area, and reducing the radiation hazards that may be caused to workers and the surrounding environment due to improper operation or equipment failure.

[0019] 2. In the utility model, the combination of the running track, the lateral movement and lifting components and the flaw detection components can realize the shooting of objects such as large-area steel structure coverage. The robot has a large moving space range and is convenient to carry and transport.

[0020] In summary, the utility model can realize the up and down and left and right movement of the flaw detection component by setting the running track and the transverse movement and lifting component, and does not need to be manually aligned to the position for detection, thereby improving the detection efficiency; in addition, the operator does not need to be close to the radiation source, avoiding the risk of exposure to the radiation source irradiation area, and reducing the radiation hazards that may be caused to the workers and the surrounding environment due to improper operation or equipment failure; through the combination of the running track, the transverse movement and lifting component and the flaw detection component, it can realize the shooting of objects such as large-area steel structure coverage, and the robot has a large moving space range, which is convenient to carry and transport.

[0021] The technical solution of the utility model is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the utility model.

[0023] Description of reference numerals:

[0024] DETAILED DESCRIPTION

[0025] like Figure 1 As shown, the utility model comprises a horizontally arranged running track 1, a traverse and lifting assembly arranged on the running track 1 and moving along the extension direction of the running track 1, and a flaw detection assembly arranged below the traverse and lifting assembly and connected to the traverse and lifting assembly;

[0026] The transverse movement and lifting assembly comprises a transverse movement unit arranged on the running track 1 and a lifting mechanism 3 arranged on the transverse movement unit;

[0027] The transverse movement unit includes a transverse movement trolley 2 arranged on the running track 1, a transverse movement rope encoder 5 arranged on the transverse movement trolley 2, and a transverse movement motor 6 arranged on the transverse movement trolley 2 and driving the transverse movement trolley 2 to move;

[0028] The flaw detection assembly includes a flaw detection frame arranged below the running track 1, a flaw detector 14 arranged at one side of the flaw detection frame, and a camera 15 arranged on the flaw detection frame. A fall arrester 12 is arranged on the flaw detection frame.

[0029] In actual use, by setting the running track 1 and the transverse movement and lifting components, the up and down and left and right movements of the flaw detection components can be realized, and there is no need for manual alignment of the position for detection, thereby improving the detection efficiency; in addition, the operator does not need to be close to the radiation source, avoiding the risk of exposure to the radiation source irradiation area, and reducing the radiation hazards that may be caused to workers and the surrounding environment due to improper operation or equipment failure.

[0030] In addition, through the combination of the running track 1, the lateral movement and lifting component and the flaw detection component, it is possible to shoot objects such as large-area steel structure coverage. The robot has a large moving space range and is convenient to carry and transport.

[0031] like Figure 1 As shown, in this embodiment, the running track 1 includes two horizontally arranged running guide rails and two horizontally arranged running rails perpendicular to the running guide rails, the transverse movement and lifting assembly is arranged on the running guide rails, and the transverse movement and lifting assembly moves along the extension direction of the running guide rails.

[0032] In actual use, the running track 1 can be set up on a large-area steel structure covering surface to be detected, so as to support the running track 1.

[0033] like Figure 1 As shown, in this embodiment, the transverse movement trolley 2 is arranged on the running guide rail, and the transverse movement trolley 2 includes a transverse movement platform 7 horizontally arranged on the running guide rail and four movable wheels 10 which are all arranged at the bottom of the transverse movement platform 7 and cooperate with the running guide rail, and the movable wheels 10 are installed at the bottom of the transverse movement platform 7 through a fixed frame 8; among the four movable wheels 10, a movable shaft 20 is horizontally passed between two movable wheels 10 arranged along the extension direction of the running rail, and the transverse movement motor 6 is arranged on the movable shaft 20; the transverse movement rope encoder 5 is arranged between the movable shaft 20 and the running guide rail.

[0034] In actual use, the lateral movement motor 6 provides the robot with power for lateral movement, and at the same time, the lateral movement rope encoder 5 provides the robot with a positioning function during lateral movement.

[0035] like Figure 1 As shown, in this embodiment, a safety clamp 9 is provided on one of the running guide rails, the safety clamp 9 is arranged at the bottom of the transverse platform 7, and the safety clamp 9 is arranged between the two moving wheels 10.

[0036] In actual use, the function of the safety clamp 9 is to prevent the robot from being separated from the running track 1.

[0037] like Figure 1 As shown, in this embodiment, the lifting mechanism 3 is installed on the transverse platform 7 through the mounting seat 4; the lifting mechanism 3 is a winch hoist, and the traction rope of the lifting mechanism 3 extends to the bottom of the transverse platform 7 and is connected to the flaw detection component; a lifting encoder 11 is provided on the transverse platform 7.

[0038] In actual use, the anti-fall device 12 is provided, and the lower end is connected to the flaw detection component to prevent the flaw detection component from accidentally falling. The hoisting hoist provides the robot with power for vertical movement, and the lifting encoder 11 provides the robot with a positioning function during longitudinal movement.

[0039] like Figure 1 As shown, in this embodiment, the traction rope of the lifting mechanism 3 is connected to the flaw detector frame, and the flaw detector frame includes a connecting frame 13 vertically arranged below the running track 1, a flaw detector carrier 16 arranged on one side of the connecting frame 13, and two cross bars 17 horizontally arranged on the other side of the connecting frame 13, and the connecting frame 13, the flaw detector carrier 16, and the cross bar 17 are detachably connected.

[0040] In actual use, the lateral distance of the connecting frame 13 can be adjusted to adjust the distance between the flaw detector 14 and the steel plate to be tested; the connecting frame 13, the flaw detector carrier 16, and the cross bar 17 are detachably connected. When in use, the connecting frame 13, the flaw detector carrier 16, and the cross bar 17 are first connected as a whole to facilitate subsequent connection with the transverse movement and lifting components. After use, they can be disassembled for easy transportation.

[0041] like Figure 1 As shown, in this embodiment, a connecting ring 19 is provided on the connecting frame 13, the traction rope of the lifting mechanism 3 is connected to the connecting ring 19, the pull rope of the fall arrester 12 is also connected to the connecting ring 19, and the pull rope of the lifting encoder 11 is connected to the connecting frame 13.

[0042] like Figure 1 As shown, in this embodiment, the flaw detector 14 is arranged in the flaw detector carrier 16 , the camera 15 is arranged in the connecting frame 13 , and the camera 15 is arranged on a side close to the flaw detector carrier 16 .

[0043] like Figure 1 As shown, the film 18 matched with the flaw detector 14 is fixed on the steel plate to be tested, and the steel plate to be tested and the film 18 are fixedly connected.

[0044] like Figure 1 As shown, in this embodiment, a balancing block 21 is provided on the connecting frame 13 .

[0045] In actual use, the posture of the robot is ensured by setting a balance block 21.

[0046] In this embodiment, the transverse rope encoder 5, the camera 15, and the lifting encoder 11 are all controlled by a controller, and the controller is integrated on a circuit board, and the circuit board is arranged in a control cabinet.

[0047] In actual use, by combining the camera 15 and the controller, remote monitoring can be realized, and the image transmitted by the camera 15 can be displayed on a mobile phone or a pad for easy viewing by operators. The traverse motor 6 and the lifting mechanism 3 are both controlled by the controller to realize the functions of automatic weld alignment and remote monitoring.

[0048] The above is only a preferred embodiment of the present invention and does not constitute any limitation to the present invention. Any simple modification, change and equivalent structural change made to the above embodiments according to the technical essence of the present invention shall still fall within the protection scope of the technical solution of the present invention.

Claims

1. A weld inspection robot, characterized in that: It comprises a horizontally arranged running track (1), a traverse and lifting assembly arranged on the running track (1) and moving along the extension direction of the running track (1), and a flaw detection assembly arranged below the traverse and lifting assembly and connected to the traverse and lifting assembly; The traverse and lifting assembly comprises a traverse unit arranged on the running track (1) and a lifting mechanism (3) arranged on the traverse unit; The transverse movement unit comprises a transverse movement trolley (2) arranged on the running track (1), a transverse movement rope encoder (5) arranged on the transverse movement trolley (2), and a transverse movement motor (6) arranged on the transverse movement trolley (2) and driving the transverse movement trolley (2) to move; The flaw detection assembly comprises a flaw detection frame arranged below the running track (1), a flaw detector (14) arranged on one side of the flaw detection frame, and a camera (15) arranged on the flaw detection frame, wherein a fall arrester (12) is arranged on the flaw detection frame.

2. A weld inspection robot according to claim 1, characterized in that: The running track (1) comprises two running guide rails both arranged horizontally and two running clamping rails both arranged horizontally and perpendicular to the running guide rails, the lateral movement and lifting assembly is arranged on the running guide rails, and the lateral movement and lifting assembly moves along the extension direction of the running guide rails.

3. A weld inspection robot according to claim 2, characterized in that: The transverse movement trolley (2) is arranged on the running guide rail, and the transverse movement trolley (2) includes a transverse movement platform (7) horizontally arranged on the running guide rail and four moving wheels (10) each arranged at the bottom of the transverse movement platform (7) and cooperating with the running guide rail, wherein the moving wheels (10) are installed at the bottom of the transverse movement platform (7) through a fixing frame (8); among the four moving wheels (10), a moving shaft (20) is horizontally passed between two moving wheels (10) arranged along the extension direction of the running rail, and the transverse movement motor (6) is arranged on the moving shaft (20); and the transverse movement rope encoder (5) is arranged between the moving shaft (20) and the running guide rail.

4. A weld inspection robot according to claim 3, characterized in that: A safety clamp (9) is provided on one of the running guide rails. The safety clamp (9) is arranged at the bottom of the transverse platform (7), and the safety clamp (9) is arranged between the two moving wheels (10).

5. A weld inspection robot according to claim 4, characterized in that: The lifting mechanism (3) is mounted on the transverse platform (7) via a mounting seat (4); the lifting mechanism (3) is a winch hoist, and a traction rope of the lifting mechanism (3) extends to the bottom of the transverse platform (7) and is connected to the flaw detection component; a lifting encoder (11) is provided on the transverse platform (7).

6. A weld inspection robot according to claim 5, characterized in that: The traction rope of the lifting mechanism (3) is connected to the flaw detection frame, and the flaw detection frame comprises a connection frame (13) vertically arranged below the running track (1), a flaw detector carrier (16) arranged on one side of the connection frame (13), and two cross bars (17) both horizontally arranged on the other side of the connection frame (13), and the connection frame (13), the flaw detector carrier (16), and the cross bars (17) are detachably connected.

7. A weld inspection robot according to claim 6, characterized in that: A connecting ring (19) is provided on the connecting frame (13), a traction rope of the lifting mechanism (3) is connected to the connecting ring (19), a pull rope of the fall arrester (12) is also connected to the connecting ring (19), and a pull rope of the lifting encoder (11) is connected to the connecting frame (13).

8. A weld inspection robot according to claim 6, characterized in that: The flaw detector (14) is arranged in the flaw detector carrier (16), the camera (15) is arranged in the connection frame (13), and the camera (15) is arranged on a side close to the flaw detector carrier (16).

9. A weld inspection robot according to claim 6, characterized in that: A balancing block (21) is provided on the connection frame (13).

10. A weld inspection robot according to claim 6, characterized in that: The transverse pull rope encoder (5), the camera (15), and the lifting encoder (11) are all controlled by a controller, and the controller is integrated on a circuit board, and the circuit board is arranged in a control cabinet.

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