Mobile flaw detection device for welding seam detection

Abstract

The utility model belongs to the technical field of railway vehicle detection equipment, and discloses a movable flaw detection device for welding seam detection, which comprises a movable device chassis, a multi-axis mechanical arm, a camera and an eddy current probe, the multi-axis mechanical arm is connected with the device chassis through a lifting mechanism; the camera is arranged at the free end of the multi-axis mechanical arm and is used for shooting the position and the direction of a to-be-detected welding seam; and the eddy current probe is arranged at the free end of the multi-axis mechanical arm and is used for detecting a to-be-detected welding seam. The device provided by the utility model has good adaptive capacity to environment, and can effectively enlarge the application range.

Description

Technical Field

[0001] The utility model belongs to the technical field of rail vehicle detection equipment, and particularly relates to a mobile flaw detection device for weld detection. Background Technique

[0002] Rail transit vehicles are a very complex system. Any safety risk problem in any key link of this system will cause a serious accident of vehicle destruction and human death, resulting in huge losses. As an extremely important part of the running gear of rail transit vehicles, the bogie plays an important role during train operation. However, due to the current imperfect welding process of bogie welds and the easy damage to the bogie frame structure during vehicle operation, especially fatigue cracks and fractures may occur at the weld positions. Therefore, it is usually necessary to detect the defects of the welds of the frame structure to ensure that the frame is in good condition and avoid safety accidents caused by hidden defects in the welds of the frame structure.

[0003] The existing detection of vehicle frame welds mainly includes magnetic particle flaw detection, eddy current flaw detection and other methods. Among them, magnetic particle flaw detection, as a traditional method for detecting metal defects, is widely used in the fields of weld flaw detection, casting flaw detection, etc. However, magnetic particle flaw detection has complex operations, cumbersome processes, consumes a lot of time, manpower and material resources, and also causes certain harm to the human body and the environment. Eddy current flaw detection has simple operations and no pollution, and is commonly used in eddy current flaw detection instruments with hand-held probes. However, limited by manual operation, the detection efficiency is low and the accuracy cannot be guaranteed.

[0004] Therefore, in order to improve the use efficiency and accuracy of eddy current flaw detection, some automatic flaw detection devices have emerged at present. These flaw detection devices are usually composed of large and complex automation mechanisms, fixed at specific positions in the factory building. Once deployed, they are difficult to move, and prior infrastructure planning is required. At the same time, there are also defects such as troublesome deployment and high costs. Content of the Utility Model

[0005] In order to solve the above technical problems, the utility model discloses a mobile flaw detection device for weld detection, which has good environmental adaptability and can effectively expand the scope of use.

[0006] The specific technical solution of the utility model is as follows:

[0007] A mobile flaw detection device for weld detection, comprising:

[0008] A movable device chassis;

[0009] A multi-axis robotic arm, which is connected to the device chassis through a lifting mechanism;

[0010] A camera, which is arranged at the free end of the multi-axis robotic arm and is used for photographing the position and orientation of the weld to be detected; and

[0011] Eddy current probe, which is arranged at the free end of a multi-axis robotic arm and is used to detect the weld to be inspected.

[0012] Since the device chassis can achieve spatial movement, it can carry the eddy current probe to perform flaw detection on the weld to be inspected at different detection positions; the camera can determine the position forming line of the weld, thereby better providing a detection basis for the eddy current probe; the multi-axis robotic arm and the lifting mechanism can achieve multi-level position switching of the camera and the eddy current probe to provide appropriate detection capabilities for the eddy current probe at different heights; thus, through this application, the detection range can be well expanded, avoiding problems such as complex deployment and high use costs caused by fixed settings in the prior art.

[0013] Preferably, the lifting mechanism includes:

[0014] A bracket, which is arranged on the device chassis; and

[0015] A carrier, between which and the bracket there is a driving member for switching the carrier between a first extreme position and a second extreme position;

[0016] Wherein, the multi-axis robotic arm is arranged on the carrier.

[0017] The carrier can achieve the loading of the multi-axis robotic arm, so as to provide realized flaw detection positions at different heights between the first extreme position and the second extreme position through the driving member, enabling the multi-axis robotic arm to have a wider movement range.

[0018] Preferably, the driving member is one of a lead screw driving member, a telescopic rod driving member, a sprocket chain driving member, a synchronous belt driving member, a linear motor driving member, and a gear set member.

[0019] The above driving member has a simple structure and is convenient to use, and can well meet the requirements of height lifting.

[0020] Preferably, a first bellows is arranged between the bracket and the device chassis.

[0021] The first bellows can achieve dust prevention and at the same time make the mobile flaw detection device have better aesthetics.

[0022] Preferably, a placement platform is detachably arranged on the carrier;

[0023] The multi-axis robotic arm is arranged on the placement platform.

[0024] The placement platform can expand the placement surface of the mobile flaw detection device, thereby accommodating more and / or larger other components and mechanisms.

[0025] Preferably, it further includes:

[0026] A control cabinet, which is arranged on the placement platform;

[0027] Wherein, a second bellows is provided between the control cabinet and the bracket.

[0028] The control cabinet can realize signal transmission; the second bellows can achieve dust prevention and at the same time make the mobile flaw detection device have better aesthetics.

[0029] Preferably, it further includes:

[0030] A vertical rod, one end of which is connected to the device chassis and the other end is provided with a navigation radar.

[0031] The navigation radar can provide motion positioning for the device chassis, and the vertical rod provides a higher view for the navigation radar, thus avoiding reception interference during the use of the navigation radar.

[0032] Preferably, it further includes:

[0033] Three obstacle avoidance radars arranged in a triangular connection on the device chassis to enable 360° obstacle avoidance during the movement of the device chassis.

[0034] The device chassis can achieve motion obstacle avoidance through a small number of obstacle avoidance radars, thus ensuring the working safety of the device chassis.

[0035] Preferably, it further includes:

[0036] A calibration plate, which is arranged on the device chassis and is used for eddy current probe calibration.

[0037] Since the mobile flaw detection device has a calibration plate, the eddy current probe can be quickly calibrated, so that the eddy current probe has better accuracy in flaw detection during the detection process.

[0038] Compared with the prior art, the utility model has the advantage of being movable, and can perform weld flaw detection on the frame structure of the bogie at different positions to meet the use requirements within a large activity range; the utility model has a simple structure, is convenient to use, has high accuracy and high use efficiency; in addition, the utility model can realize self-calibration to further improve the accuracy of flaw detection during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram of an embodiment of the utility model;

[0040] Figure 2 It is a schematic diagram of the setting of the lifting mechanism in the embodiment of the utility model.

[0041] In the figure: 1 - device base; 2 - multi-axis robotic arm; 3 - camera; 4 - eddy current probe; 5 - bracket; 6 - carrier; 7 - driving member; 8 - placement platform; 9 - control cabinet; 10 - control panel; 11 - spare probe; 12 - first bellows; 13 - second bellows; 14 - vertical rod; 15 - navigation radar; 16 - obstacle avoidance radar; 17 - calibration plate. Detailed implementation manner

[0042] In order to enable those skilled in the art to better understand the technical solution of the present utility model, the present utility model will be further described in detail below in conjunction with the specific implementation manner.

[0043] As Figures 1 to 2 shown, a mobile flaw detection device for weld detection includes a movable device chassis, a multi-axis robotic arm 2, a camera 3, and an eddy current probe 4; the multi-axis robotic arm 2 and the device chassis are connected through a lifting mechanism; the camera 3 is arranged at the free end of the multi-axis robotic arm 2 and is used for photographing the position and trend of the weld to be detected; the eddy current probe 4 is arranged at the free end of the multi-axis robotic arm 2 and is used for detecting the weld to be detected.

[0044] In this embodiment, a plurality of rollers are arranged on the device chassis, and the rollers can be driven to rotate by a power source, so that the device chassis can move to different positions for weld detection. When flaw detection is required, the device chassis carries the eddy current probe 4 to move to an appropriate position, and according to the height, the lifting mechanism and / or the multi-axis robotic arm 2 are driven, so that the camera 3 and the eddy current probe 4 can be transported to a suitable height, and then a photo is taken by the camera 3, and the position and trend of the weld to be detected are found through image processing, and then the multi-axis robotic arm 2 is used to carry the eddy current probe 4 to move along the weld to be detected, and then the weld is detected, so as to realize the flaw detection of the weld to be detected. In this embodiment, the lifting mechanism is provided with a position sensor, and this sensor generally adopts an optoelectronic sensor, and the height position feedback can be realized through the position sensor, that is, the lifting height value of the lifting mechanism is reflected.

[0045] In this embodiment, the lifting mechanism includes a bracket 5 and a carrier 6; the bracket 5 is arranged on the device chassis; a driving member 7 is arranged between the carrier 6 and the bracket 5 for switching the carrier 6 between a first extreme position and a second extreme position; the multi-axis robotic arm 2 is arranged on the carrier 6. Further, the driving member 7 is one of a lead screw driving member, a telescopic rod driving member, a sprocket chain driving member, a synchronous belt driving member, a linear motor driving member, and a gear set member. The driving member 7 can drive the carrier 6 to move between the first extreme position and the second extreme position and stay at any one of the first extreme position and the second extreme position. During the flaw detection process, it can also adaptively adjust its position following the direction of the weld to be inspected so that the eddy current probe 4 can accurately capture the weld to be inspected.

[0046] In this embodiment, a placement platform 8 is detachably arranged on the carrier 6; the multi-axis robotic arm 2 is arranged on the placement platform 8. The placement platform 8 has a relatively large placement area. In addition to being able to place the multi-axis robotic arm 2, it can also place more devices. In this embodiment, it further includes a control cabinet 9, and the control cabinet 9 is arranged on the placement platform 8. The control cabinet 9 integrates control devices such as a robotic arm control box, an eddy current flaw detection host, and an industrial computer, and can control the movement of the multi-axis robotic arm 2, control the operation of the camera 3 and the eddy current probe 4, and analyze and process flaw detection data, etc. The control box is equipped with a control panel 10, and functions such as power on / off, robotic arm teaching, status display, and working monitoring can be realized through the control panel 10. In addition, an antenna and wireless transmission equipment are arranged on the control box, and data transmission and control of the flaw detection device can be realized through wireless communication.

[0047] In this embodiment, a replacement part is further arranged on the placement platform 8, and a spare probe 11 is installed on the replacement part, and the eddy current probe 4 can be quickly replaced as needed. Both the eddy current probe 4 and the spare probe 11 in this embodiment have a quick replacement structure, and the robotic arm has a fixture that matches the quick replacement structure, so that automatic quick replacement can be realized. It should be noted that the above-mentioned quick replacement structure and fixture can be directly assembled and used by users without additional design.

[0048] In this embodiment, a first bellows 12 is provided between the bracket 5 and the device chassis; a second bellows 13 is provided between the control cabinet 9 and the bracket 5. The first bellows 12 and the second bellows 13 can be telescoped during the operation of the lifting mechanism, so as to comprehensively protect the equipment gap caused by the height change. Specifically, one end of the first bellows 12 is connected to the bottom of the placement platform 8, and the other end is connected to the upper part of the device base 1; one end of the second bellows 13 is connected to the top of the control cabinet 9, and the other end is connected to the bracket 5 at the first limit position. Thus, during the movement of the lifting mechanism, the first bellows 12 and the second bellows 13 are telescoped to different degrees as the height changes, so as to achieve dust-proofing for the flaw detection device, and also better provide a good aesthetic appearance for the flaw detection device.

[0049] In this embodiment, it further includes a vertical rod 14. One end of the vertical rod 14 is connected to the device chassis, and the other end is provided with a navigation radar 15. The vertical rod 14 fixedly supports the navigation radar 15 at the highest position of the flaw detection device, so as to provide a better navigation and positioning effect for the flaw detection device. In addition, in this embodiment, it further includes three obstacle avoidance radars 16 arranged in a triangular connection on the device chassis, so that the device chassis can achieve 360° obstacle avoidance during movement.

[0050] In order to better use this embodiment, it further includes a calibration plate 17. The calibration plate 17 is arranged on the device chassis and is used for calibrating the eddy current probe 4. Specifically, the calibration plate 17 is arranged on the control cabinet 9, and the multi-axis robotic arm 2 can move within a suitable movement area, so as to achieve static calibration of the eddy current probe 4 through the calibration plate 17.

[0051] Thus, during the use of this embodiment, the following steps can be carried out: place the bogie to be detected at a specified position and place it in a specified posture; then move the flaw detection device automatically along the planned path to a specified position relative to the bogie; then lift the multi-axis robotic arm 2 to a specified height through the lifting mechanism. At this time, the multi-axis robotic arm 2 transports the camera 3 to a specified position, takes a picture through the camera 3, uses image processing technology to find the accurate position of the weld to be detected, and determines the direction of the weld to be detected; then according to the data calculated by the image processing technology, make the multi-axis robotic arm 2 move to the calculated preset position and switch to the calculated preset posture, then extend the eddy current probe 4 to the weld to be detected, and make the multi-axis robotic arm 2 and the lifting mechanism cooperate to perform detection along the path of the weld to be detected. During the above process, the user can obtain specific flaw detection data through control devices such as the robotic arm control box, eddy current flaw detection host, and industrial computer. Thus, according to the above steps, the detection and flaw detection of the weld to be detected can be realized. After the flaw detection is completed, the flaw detection device returns to the standby position, the system is shut down, and the transported bogie after detection is transported away, that is, the entire operation process is completed.

[0052] The above are only the preferred embodiments of the present utility model. It should be noted that the above preferred embodiments should not be construed as limiting the present utility model, and the protection scope of the present utility model should be subject to the scope defined by the claims. For those of ordinary skill in the art, without departing from the spirit and scope of the present utility model, several improvements and modifications can be made, and these improvements and modifications should also be regarded as within the protection scope of the present utility model.

Claims

1. A mobile flaw detection device for weld detection, characterized in that: include: A movable device chassis; A multi-axis mechanical arm, wherein the multi-axis mechanical arm and the device chassis are connected via a lifting mechanism; A camera, which is arranged at the free end of the multi-axis robot arm and is used to photograph the position and direction of the weld to be inspected; as well as The eddy current probe is arranged at the free end of the multi-axis mechanical arm and is used to detect the weld to be inspected.

2. A mobile flaw detection device for weld detection as claimed in claim 1, characterized in that: The lifting mechanism comprises: a bracket, the bracket being disposed on a chassis of the device; and A bearing member, wherein a driving member is provided between the bearing member and the bracket, and is used to switch the bearing member between a first extreme position and a second extreme position; Wherein, the multi-axis robotic arm is arranged on a supporting member.

3. A mobile flaw detection device for weld detection as claimed in claim 2, characterized in that: The driving component is one of a lead screw driving component, a telescopic rod driving component, a sprocket chain driving component, a synchronous belt driving component, a linear motor driving component, and a gear set component.

4. A mobile flaw detection device for weld detection as claimed in claim 2, characterized in that: A first accordion cover is arranged between the bracket and the device chassis.

5. A mobile flaw detection device for weld detection as claimed in claim 2, characterized in that: The carrier is detachably provided with a placement platform; The multi-axis mechanical arm is arranged on the placement platform.

6. A mobile flaw detection device for weld detection as claimed in claim 5, characterized in that: Also includes: A control cabinet, wherein the control cabinet is arranged on the placement platform; Wherein, the control cabinet and the bracket are provided with a second accordion cover.

7. A mobile flaw detection device for weld detection as claimed in claim 1, characterized in that: Also includes: A vertical pole, one end of which is connected to the device chassis, and the other end of which is provided with a navigation radar.

8. A mobile flaw detection device for weld detection as claimed in claim 1, characterized in that: Also includes: Three obstacle avoidance radars are arranged in a triangular line on the chassis of the device, so that the chassis of the device can achieve 360° obstacle avoidance during movement.

9. A mobile flaw detection device for weld detection as claimed in claim 1, characterized in that: Also includes: A calibration plate is arranged on the chassis of the device and is used for calibrating the eddy current probe.

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