Seven-axis flaw detection mechanical arm for large equipment

Abstract

The utility model relates to a seven-axis flaw detection mechanical arm for large equipment, and aims to solve the problems that a flaw detection robot in the prior art is insufficient in flexibility and cannot perform omnibearing detection on complex large equipment. The mechanical arm comprises a flaw detection part and a horizontal moving platform, the flaw detection part is composed of a six-axis mechanical arm, a detection head and a visual detection device, and internal and external synchronous flaw detection can be achieved. The horizontal moving platform is composed of a carrying table and a plurality of sets of sliding rails capable of being spliced, the carrying table can horizontally move along the sliding rails, and the sliding rails can be spliced in a multi-section mode to adapt to detected devices of different lengths. By means of the seven-axis moving design, the flexibility and adaptability of the mechanical arm are improved, all-directional and high-precision flaw detection on the surface of complex large equipment is achieved, and the mechanical arm has wide application prospects.

Description

Technical Field

[0001] The utility model relates to the field of detection mechanical arms, in particular to a seven-axis flaw detection mechanical arm used for large equipment. Background Art

[0002] With the continuous development of industrial manufacturing technology, large and complex equipment is increasingly used in production and life. These devices are often complex in structure and have various surface shapes, which puts higher requirements on flaw detection. Traditional flaw detection methods mostly rely on manual operation, which is not only labor-intensive and inefficient, but also difficult to ensure the accuracy and comprehensiveness of the test results, especially when facing complex curved surfaces and hard-to-reach parts.

[0003] In recent years, automated flaw detection robotic arms have been gradually applied to this field, greatly improving detection efficiency and accuracy. However, there are already flaw detection robotic arms on the market. Although these devices have improved the level of detection automation to a certain extent, their flexibility is still insufficient. Faced with the diverse surface morphology of complex and large equipment, especially those with deep grooves, holes or complex curved surfaces, existing flaw detection robotic arms often find it difficult to achieve all-round, no-dead-angle detection, resulting in the existence of detection blind spots, which increases equipment safety risks.

[0004] In summary, for the automated surface flaw detection of large and complex equipment, developing a multi-axis flaw detection robot with high flexibility and high degree of automation is a technical problem that needs to be urgently solved by technical personnel in this field. Utility Model Content

[0005] Based on the above-mentioned problems existing in the prior art, the present invention aims to provide a seven-axis flaw detection robot arm for large equipment. By increasing the number of axes of the robot arm, its flexibility and adaptability are improved, so as to realize all-round and high-precision flaw detection of the surface of complex large equipment.

[0006] In order to achieve the above-mentioned purpose, the technical solution of the utility model is to design a seven-axis flaw detection robot arm for large equipment, including a flaw detection detection part and a horizontal moving platform, the flaw detection detection part includes a six-axis robot arm, a detection head is arranged at the front end of the six-axis robot arm, the horizontal moving platform includes a carrier and multiple groups of slide rails, the six-axis robot arm is arranged on the carrier, the carrier is arranged on the slide rails, the carrier can move horizontally along the slide rails, and the slide rails can be spliced ​​in multiple sections to match the inspected devices of different lengths.

[0007] Furthermore, a driving motor is provided on the carrier, a gear is connected to the lower part of the driving motor, tracks are provided on both sides of the slide rail, a rack is provided in the middle of the track, the gear is meshed with the rack, and the gear is driven by the driving motor to rotate horizontally on the rack.

[0008] Furthermore, a plurality of supporting feet are provided on both sides of the outside of the slide rail, which can fix the slide rail on the ground and prevent it from moving.

[0009] Preferably, a stopper is provided in the middle of the slide rail, and the stopper can block the movement of the carrier to stabilize the equipment.

[0010] Preferably, the drive motor is a servo motor.

[0011] Furthermore, a visual inspection device is also provided at the front end of the six-axis robotic arm, and the visual inspection device can realize surface visual flaw detection of the inspected object.

[0012] The advantages and beneficial effects of the utility model are as follows: the utility model realizes the seven-axis movement function by designing a six-axis robot arm in conjunction with a horizontal moving platform, which significantly improves the flexibility and adaptability of the robot arm, so that the flaw detection can cover the full range of complex and large equipment and meet the needs of high-precision flaw detection. The horizontal moving platform is composed of a carrier and multiple sets of spliced ​​slide rails, and the length can be flexibly adjusted according to the size of the object to be detected, which enhances the versatility and practicality of the equipment. The detection head equipped at the front end of the six-axis robot arm can realize high-precision internal flaw detection, and the additional visual detection device provides a visual flaw detection function for the surface of the object to be detected. The combination of the two realizes synchronous internal and external and comprehensive flaw detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0014] Figure 1 It is a schematic diagram of the utility model.

[0015] Figure 2 It is a left view of the utility model.

[0016] Among them, 1- flaw detection unit, 11- six-axis robotic arm, 12- detection head, 13- visual inspection device, 2- horizontal moving platform, 21- carrier, 22- slide rail, 221- rack, 222- track, 223- support foot, 23- driving motor, 24- gear, 25- gear stopper. DETAILED DESCRIPTION

[0017] 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, rather than all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the utility model. In addition, it should be understood that the specific implementation methods described herein are only used to illustrate and explain the utility model, and are not used to limit the utility model. In the utility model, unless otherwise stated, the directional words used, such as "upper" and "lower", generally refer to the upper and lower parts of the device in actual use or working state, specifically the drawing direction in the accompanying drawings; while "inside" and "outside" refer to the outline of the device.

[0018] like Figure 1 , Figure 2 As shown, the utility model mainly includes a flaw detection unit 1 and a horizontal moving platform 2.

[0019] The core of the flaw detection unit 1 is a six-axis robot arm 11, which has multiple rotating joints and can provide six degrees of freedom, so that the robot arm can flexibly perform various complex actions. A detection head 12 for internal flaw detection is arranged at the front end of the six-axis robot arm 11. The detection head 12 can transmit and receive flaw detection signals to detect defects or damage inside the object being detected. At the same time, a visual detection device 13 is also arranged at the front end of the six-axis robot arm 11. The visual detection device 13 includes a camera and a light source, which is used to perform visual flaw detection on the surface of the object being detected, and can capture defects such as fine cracks and scratches on the surface of the object.

[0020] The horizontal moving platform 2 is composed of a carrier 21 and multiple sets of connectable slide rails 22. The carrier 21 is a stable table for mounting and supporting the six-axis robot 11. Multiple sets of slide rails 22 can be spliced ​​as needed to accommodate devices of different lengths. The design of the slide rails 22 enables the carrier 21 to move horizontally along it, thereby expanding the working range of the robot.

[0021] The stage 21 is provided with a driving motor 23, and a gear 24 is connected to the lower part of the driving motor 23. In this embodiment, the driving motor 23 is a servo motor. Tracks 222 are respectively provided on both sides of the slide rail 22, and a rack 221 is provided in the middle of the track 222. The gear 24 is meshed with the rack 221. When the driving motor 23 is started, the stage 21 is driven to move horizontally along the slide rail 22 through the rotation of the gear 24 on the rack 221.

[0022] In order to ensure the stability of the slide rail 22 during use, a plurality of legs 223 are provided on both sides of the outside of the slide rail 22. These legs 223 can be fixed on the ground to prevent the slide rail 22 from shaking or shifting when moving or working.

[0023] In this embodiment, a stopper 25 is also provided in the middle of the slide rail 22. The stopper 25 is a controllable blocking device, and when the movement of the carrier 21 needs to be stopped, the stopper 25 will extend and block the moving path of the carrier 21, thereby stabilizing the device and preventing accidental movement.

[0024] Specific steps:

[0025] When in use, first, according to the size of the equipment to be inspected, splice the slide rails 22 of multiple horizontal mobile platforms 2 to a suitable length, and fix them to the ground through the legs 223. Next, start the drive motor 23, and through the engagement of the gear 24 and the rack 221, the carrier 21 drives the six-axis robot 11 along the slide rail 22 to the corresponding position of the equipment to be inspected. Then, using the high flexibility and adaptability of the six-axis robot 11, the internal flaw detection of the equipment to be inspected is performed through the detection head 12, and at the same time, the visual inspection device 13 performs visual flaw detection on the surface of the equipment to be inspected. During the whole process, the movement and flaw detection operations of the seven-axis robot arm can be accurately controlled by the automatic control system, realizing all-round and high-precision flaw detection of the surface of complex large equipment.

[0026] The above is a detailed introduction to a seven-axis flaw detection robot arm for large equipment provided by the utility model. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method and core idea of ​​the utility model. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, the present invention can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the claims of the present utility model.

Claims

1. A seven-axis flaw detection robot arm for large equipment, comprising a flaw detection unit (1) and a horizontal moving platform (2), characterized in that: The flaw detection unit (1) comprises a six-axis mechanical arm (11), a detection head (12) is arranged at the front end of the six-axis mechanical arm (11), and the horizontal movable platform (2) comprises a carrier (21) and a plurality of sets of slide rails (22), the six-axis mechanical arm (11) is arranged on the carrier (21), the carrier (21) is arranged on the slide rails (22), the carrier (21) can move horizontally along the slide rails (22), and the slide rails (22) can be spliced ​​in multiple sections.

2. The seven-axis flaw detection robot arm for large equipment according to claim 1 is characterized in that: A drive motor (23) is provided on the carrier (21), a gear (24) is connected to the lower portion of the drive motor (23), tracks (222) are provided on both sides of the slide rail (22), a rack (221) is provided in the middle of the track (222), and the gear (24) is meshed with the rack (221).

3. The seven-axis flaw detection robot arm for large equipment according to claim 2 is characterized in that: A visual detection device (13) is also provided at the front end of the six-axis mechanical arm (11).

4. The seven-axis flaw detection robot arm for large equipment according to claim 3 is characterized in that: A plurality of supporting feet (223) are arranged on both sides of the outside of the slide rail (22).

5. The seven-axis flaw detection robot arm for large equipment according to claim 3 is characterized in that: A stopper (25) is provided in the middle of the slide rail (22).

6. A seven-axis flaw detection robot arm for large equipment according to any one of claims 2 to 5, characterized in that: The driving motor (23) is a servo motor.

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