Magnetic type welding seam detection robot

Abstract

The utility model discloses a magnetic type weld seam detection robot, including crawler crawling device, weld seam detection device and surface polishing device, crawler crawling device includes frame, the frame is provided with connecting shaft lever, the both ends of connecting shaft lever are provided with driving wheel, the driving wheel is provided with crawler wheel, the crawler wheel is provided with the surface polishing device, and the surface polishing device is provided with the surface polishing device. The track wheel is composed of a plurality of permanent magnet track single pieces which are connected with one another, an inducer, a track supporting wheel and a loading wheel are arranged on the connecting shaft rod, the inducer, the track supporting wheel and the loading wheel are all located on the inner side of the driving wheel, and the welding seam detection device comprises a detection part and an imaging part. And the imaging part comprises laser imaging equipment and infrared imaging equipment. The magnetic type welding seam detection robot can automatically identify and detect welding seams of related devices such as spherical tanks, and provides strong adsorption force and stability, flexible moving capacity, high-precision welding seam detection capacity and autonomous navigation and intelligentization capacity.

Description

Technical Field

[0001] The utility model relates to the technical field of surface weld detection of spherical tanks and related devices, and particularly relates to a magnetic adsorption type weld detection robot. Background Art

[0002] Where manual spherical tank weld detection is carried out, the inspection conditions are harsh. The spherical tank contains gases or liquefied gases with relatively high pressure, and most of them are flammable and explosive media, with great danger, high installation and construction difficulty, and high detection requirements. In order to reduce the risk of detection personnel, operators usually need to keep a certain distance from the spherical tank and be able to remotely control the detection robot wirelessly. However, limited by the battery capacity, the robot's endurance is a common problem. Most spherical tank weld detection robots use large-capacity batteries. At the same time, for convenience of use and portability, the robot design tends to be small in size and light in weight. In addition, the design of spherical tank weld detection robots tends to be diversified and intelligent. With the improvement of the automation level, wall-climbing robots are applied in various fields such as bridge detection, ship rust removal, and pressure vessel maintenance. For the detection of spherical tank welds, using a robot carrier to replace manual detection not only has high detection efficiency but also high reliability. Before the robot carries the detection device for detection, it is necessary to guide the wall-climbing robot to identify the spherical tank weld information, providing a prerequisite for subsequent weld flaw detection.

[0003] Currently, in the relevant research on wall-climbing robots, for example, Longo et al. in Italy developed a two-wheeled wall-mounted mobile robot, which uses an air extractor to generate negative pressure to adsorb on the wall surface, and realizes movement and turning by controlling the differential speed of two driving wheels. Its structure is simple, but it has high requirements for the flatness of the spherical tank surface. Wang et al. developed a bipedal wall-climbing robot using an adsorption method with a thermoplastic adhesive. Although this adsorption can provide strong adsorption force, its number of uses is limited and it requires frequent maintenance.

[0004] In summary, the main technical problems existing in the existing spherical tank weld detection robots mainly include:

[0005] Insufficient adsorption force and stability: The wall-climbing robot needs to have sufficient adsorption force to ensure stable movement on vertical or inclined surfaces and avoid the risk of falling off or slipping due to insufficient adsorption force;

[0006] Short service life of the robot: The bipedal wall-climbing robot needs to frequently replace the adhesive to ensure its wall-climbing ability, and its service life is short;

[0007] Difficulty in meeting actual requirements in flexibility: The robot needs to be able to move and turn flexibly in a complex environment for weld detection, and adapt to different spherical tank surface conditions through a variable motion structure. Summary of the Invention

[0008] To solve the above technical problems, the present utility model provides a magnetic adsorption type weld detection robot, which can automatically identify and detect the welds of spherical tanks, providing strong adsorption force and stability, flexible moving ability, high-precision weld detection ability, as well as autonomous navigation and intelligent capabilities.

[0009] To achieve the above object, the present utility model adopts the following technical solutions:

[0010] The present utility model provides a magnetic adsorption type weld detection robot, including a crawler device, a weld detection device, and a surface grinding device. The crawler device includes a frame. A coupling rod is provided on the frame. Driving wheels are provided at both ends of the coupling rod. Track wheels are provided on the driving wheels. The track wheels are composed of multiple mutually connected permanent magnet track single pieces. An idler wheel, a carrying wheel, and a road wheel are provided on the coupling rod. The idler wheel, the carrying wheel, and the road wheel are all located inside the driving wheels. The weld detection device is composed of a detection part and an imaging part. The imaging part includes a laser imaging device and an infrared imaging device. The detection part includes a robotic arm and a flaw detection device provided on the robotic arm. The surface grinding device includes a grinding wheel grinder, a sliding bracket, and a base provided on the frame. A chute is provided on the base. A sliding block is provided in the chute. A fixed support is provided on the side of the base. A grinding wheel is provided on the fixed support.

[0011] Furthermore, a spring shock absorber is provided on the driving wheel. A crawler chassis engine is provided on the frame. A lifting rod is provided on the coupling rod.

[0012] Furthermore, a cantilever is provided on the frame. An infrared sensing camera is provided on the cantilever. The cantilever includes a support base, a vertical connecting arm provided on the support base, and a horizontal connecting arm provided on the vertical connecting arm. A laser probe is provided at one end of the horizontal connecting arm far from the infrared sensing camera. The cantilever is connected to the frame through a connecting rod.

[0013] Furthermore, the robotic arm includes a rotating base, a lower support arm, a middle connecting arm, and an upper coupling shaft. The lower support arm is provided on the rotating base. The middle connecting arm connects the lower support arm and the upper coupling shaft. A hydraulic device is provided on the middle connecting arm.

[0014] Furthermore, the flaw detection device is provided at one end of the upper coupling shaft far from the middle connecting arm.

[0015] Furthermore, a signal receiving device is provided on the frame. The signal receiving device includes a signal transceiver and a control circuit board arranged at intervals.

[0016] Furthermore, a tray is also provided on the frame.

[0017] In summary, the beneficial effects of the present utility model are as follows:

[0018] The magnetic adsorption type weld detection robot of the present utility model: (1) has strong adsorption force and stability. By adopting a magnetic adsorption device, it can provide a strong adsorption force to ensure that the robot is stably attached to the surface of the spherical tank for movement, reducing the risk of falling off or slipping; (2) has flexible movement and turning capabilities. The crawler structure has good controllability and maneuverability, and can move and turn freely on the surface of the spherical tank to adapt to different weld positions and spherical tank shapes; (3) has high-precision weld detection capabilities. Through the built-in imaging device and image processing device, it can accurately detect and identify welds and provide high-precision weld information; (4) has autonomous navigation and intelligent capabilities. By integrating an autonomous navigation system and artificial intelligence algorithms, the robot can autonomously plan paths, sense the environment, and make decisions to meet the needs of autonomous weld detection. Description of the Drawings

[0019] Figure 1 is a schematic three-dimensional structure diagram of the magnetic adsorption type weld detection robot of the present utility model;

[0020] Figure 2 is a top view of the magnetic adsorption type weld detection robot of the present utility model;

[0021] Figure 3 is a front view of the magnetic adsorption type weld detection robot of the present utility model;

[0022] Figure 4 is a side view of the magnetic adsorption type weld detection robot of the present utility model;

[0023] Figure 5 is a schematic structural diagram of a perspective view of the magnetic adsorption type crawler wheel of the magnetic adsorption type weld detection robot of the present utility model;

[0024] Figure 6 is Figure 5 a schematic structural diagram of another perspective view of the magnetic adsorption type crawler wheel shown;

[0025] Figure 7 is a schematic structural diagram of the laser imaging device and the infrared imaging device of the magnetic adsorption type weld detection robot of the present utility model;

[0026] Figure 8 is a schematic structural diagram of the robotic arm of the magnetic adsorption type weld detection robot of the present utility model;

[0027] Figure 9 is a schematic structural diagram of the surface grinding device of the magnetic adsorption type weld detection robot of the present utility model;

[0028] Figure 10 Schematic three-dimensional structure diagram of the signal transceiver of the magnetic adsorption type weld detection robot of the present utility model;

[0029] Figure 11 Schematic diagram of mechanical property analysis of the magnetic adsorption type weld detection robot of the present utility model under the condition of a = 45°;

[0030] Figure 12 Schematic diagram of mechanical property analysis of the magnetic adsorption type weld detection robot of the present utility model under the condition of a = 0°;

[0031] Figure 13 Schematic structure diagram of the upper coupling shaft of the robotic arm without lightweighting in one embodiment;

[0032] Figure 14 Schematic structure diagram of the upper coupling shaft of the robotic arm after lightweighting in one embodiment.

[0033] Accompanying drawings

[0034] Track crawling device, 101 - vehicle frame, 102 - coupling rod, 103 - driving wheel, 104 - idler wheel, 105 - supporting wheel, 106 - road wheel, 107 - track wheel, 108 - single-piece permanent magnet track, 109 - spring shock absorber, 1010 - track chassis engine, 1011 - lifting rod;

[0035] Weld detection device, 201 - laser imaging device, 202 - laser probe, 203 - infrared imaging device, 204 - infrared sensing camera, 205 - robotic arm, 206 - flaw detection device, 207 - connecting rod, 208 - cantilever, 209 - support bracket, 2010 - vertical connecting arm, 2011 - horizontal connecting arm, 2012 - rotating base, 2013 - lower support arm, 2014 - middle connecting arm, 2015 - hydraulic device, 2016 - upper coupling shaft;

[0036] Surface grinding device, 301 - grinding wheel grinder, 302 - sliding bracket, 303 - grinding wheel, 304 - fixed support, 305 - base, 306 - chute, 307 - sliding block;

[0037] 4 - signal receiving device, 401 - signal transceiver, 402 - control circuit board, 5 - tray. Detailed implementation manners

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below. Apparently, the described embodiments are some, but not all, of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0039] Please refer to Figures 1 - 14 , the present utility model provides a magnetic adsorption type weld detection robot, including a crawler device 1, a weld detection device 2, and a surface grinding device 3. The crawler device is used to provide walking power and adsorb to climb the wall. The crawler device includes a frame 101. A connecting shaft rod 102 is provided on the frame. Driving wheels 103 are provided at both ends of the connecting shaft rod. Track wheels 107 are provided on the driving wheels. The track wheels are composed of a plurality of interconnected permanent magnet track single pieces 108. An idler wheel 104, a carrying wheel 105, and a road wheel 106 are provided on the connecting shaft rod. The idler wheel, the carrying wheel, and the road wheel are all located inside the driving wheels. The weld detection device includes a detection part and an imaging part. The imaging part includes a laser imaging device 201 and an infrared imaging device 203. The imaging part is used to scan the inside and outside of the spherical tank during the detection process to determine the coordinate distribution of the welds. The detection part includes a robotic arm 205 and a flaw detection device 206 provided on the robotic arm, which is used to detect the welds. The surface grinding device includes a grinding wheel grinder 301, a sliding bracket 302, and a base 305 provided on the frame. A chute 306 is opened on the base. A sliding block 307 is provided in the chute. A fixed support 304 is provided on the side of the base. A grinding wheel 303 is provided on the fixed support.

[0040] In one embodiment, a spring shock absorber 109 is provided on the driving wheel. A crawler chassis engine 1010 is provided on the frame. A lifting rod 1011 is provided on the connecting shaft rod.

[0041] In one embodiment, a cantilever 208 is provided on the frame. An infrared sensing camera 204 is provided on the cantilever. The cantilever includes a support bracket 209, a vertical connecting arm 2010 provided on the support bracket, and a horizontal connecting arm 2011 provided on the vertical connecting arm. A laser probe 202 is provided at one end of the horizontal connecting arm away from the infrared sensing camera. The cantilever is connected to the frame through a connecting rod 207.

[0042] In one embodiment, the robotic arm includes a rotating base 2012, a lower support arm 2013, a middle connecting arm 2014, and an upper coupling shaft 2016. The lower support arm is provided on the rotating base. The middle connecting arm connects the lower support arm and the upper coupling shaft, and a hydraulic device 2015 is provided on the middle connecting arm.

[0043] In one embodiment, the flaw detection device is provided at one end of the upper coupling shaft away from the middle connecting arm.

[0044] In one embodiment, a signal receiving device 4 is provided on the vehicle frame. The signal receiving device includes a signal transceiver 401 and a control circuit board 402 that are spaced apart.

[0045] In one embodiment, a tray 5 is further provided on the vehicle frame.

[0046] The magnetic adsorption type weld detection robot of the present utility model improves the obstacle crossing ability for the surface of the spherical tank by using a magnet. The grinding machine removes foreign matters on the weld and the surface of the spherical tank without damaging the surface of the spherical tank, improving the weld detection accuracy. The weld detection device realizes non-destructive detection of the weld on the surface of the spherical tank.

[0047] The magnetic adsorption type weld detection robot of the present utility model: (1) has strong adsorption force and stability. By adopting a magnetic adsorption device, it can provide a strong adsorption force to ensure that the robot is stably attached to the surface of the spherical tank for movement, reducing the risk of falling off or slipping; (2) has flexible movement and steering capabilities. The crawler structure has good controllability and mobility, and can move and turn freely on the surface of the spherical tank to adapt to different weld positions and spherical tank shapes; (3) has high-precision weld detection capabilities. Through the built-in imaging device and image processing device, it can accurately detect and identify the welds and provide high-precision weld information; (4) has autonomous navigation and intelligent capabilities. By integrating an autonomous navigation system and artificial intelligence algorithms, the robot can autonomously plan paths, perceive the environment, and make decisions to meet the autonomous weld detection requirements.

[0048] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present utility model and not to limit the protection scope of the present utility model. Although the present utility model has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present utility model can be modified or equivalently replaced without departing from the essence and scope of the technical solutions of the present utility model.

Claims

1. A magnetic adsorption type weld seam detection robot, characterized in that, It includes a crawler device, a weld detection device and a surface grinding device. The crawler device includes a frame. A coupling rod is provided on the frame. Driving wheels are provided at both ends of the coupling rod. Track wheels are provided on the driving wheels. The track wheels are composed of multiple interconnected permanent magnet track single pieces. An idler wheel, a supporting wheel and a road wheel are provided on the coupling rod. The idler wheel, the supporting wheel and the road wheel are all located inside the driving wheels. The weld detection device is composed of a detection part and an imaging part. The imaging part includes a laser imaging device and an infrared imaging device. The detection part includes a robotic arm and a flaw detection device provided on the robotic arm. The surface grinding device includes a grinding wheel grinder, a sliding bracket and a base provided on the frame. A chute is provided on the base. A sliding block is provided in the chute. A fixed support is provided on the side of the base. A grinding wheel is provided on the fixed support.

2. The magnetic adsorption type weld detection robot according to claim 1, wherein A spring shock absorber is provided on the driving wheel. A crawler chassis engine is provided on the frame. A lifting rod is provided on the coupling rod.

3. The magnetic adsorption type weld seam detection robot according to claim 2, wherein A cantilever is provided on the frame. An infrared sensing camera is provided on the cantilever. The cantilever includes a support bracket, a vertical connecting arm provided on the support bracket and a horizontal connecting arm provided on the vertical connecting arm. A laser probe is provided at one end of the horizontal connecting arm away from the infrared sensing camera. The cantilever is connected to the frame through a connecting rod.

4. The magnetic adsorption type weld detection robot according to claim 3, wherein The robotic arm includes a rotating base, a lower support arm, a middle connecting arm and an upper coupling shaft. The lower support arm is provided on the rotating base. The middle connecting arm connects the lower support arm and the upper coupling shaft. A hydraulic device is provided on the middle connecting arm.

5. The magnetic adsorption type weld detection robot according to claim 4, wherein, The flaw detection device is provided at one end of the upper coupling shaft away from the middle connecting arm.

6. The magnetic adsorption type weld seam detection robot according to claim 1, wherein A signal receiving device is provided on the frame. The signal receiving device includes a signal transceiver and a control circuit board arranged at intervals.

7. The magnetic adsorption type weld detection robot according to claim 1, characterized in that, A tray is also provided on the frame.

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