Weld joint detection robot applied to wind power tower drum

Abstract

The utility model relates to a welding seam detection robot applied to a wind power tower drum, the welding seam detection robot comprises a robot main body and a welding seam detection mechanism, the welding seam detection mechanism comprises a first sliding rail, a rotating mechanism and at least one detection assembly, the first sliding rail is used for being connected with the robot main body, and the rotating mechanism comprises a mounting part and a main body part; the main body part is arranged to be capable of rotating around a first preset rotating shaft relative to the mounting part, the first preset rotating shaft is perpendicular to the extension direction of the first sliding rail and the extension direction of the wind power tower barrel, the mounting part is rotationally connected with the first sliding block through a second preset rotating shaft, and the second preset rotating shaft is perpendicular to the first preset rotating shaft. According to the welding seam detection device, the detection assembly is arranged on the rotating mechanism, the rotating mechanism drives the detection mechanism to rotate, so that the welding seam detection mechanism is switched between the circular seam detection state and the vertical seam detection state, the detection angle of the detection mechanism is accurate on the premise that it is guaranteed that the detection mechanism can detect the circular seam and the vertical seam, and the detection accuracy is improved.

Description

Technical Field

[0001] This application relates to the technical field of pipe inspection, and particularly to a weld inspection robot applied to a wind power tower barrel. Background Art

[0002] A wind power tower barrel is usually welded and assembled from multiple prefabricated plate parts. The weld quality is related to the safe operation of the wind turbine. In the prior art, a wall-climbing robot is usually used to inspect the welds.

[0003] However, the wind power tower barrel has both circumferential welds (also known as circumferential seams) and longitudinal welds (also known as vertical seams). The existing wall-climbing inspection robots can only inspect the vertical seams, which affects the user experience. Utility Model Content

[0004] To overcome the problems existing in the related art, this application provides a weld inspection robot applied to a wind power tower barrel.

[0005] According to an embodiment of this application, there is provided a weld inspection robot applied to a wind power tower barrel, including:

[0006] A robot main body, which has magnetic wheels, and the magnetic wheels are magnetically attracted to the inner wall or the outer wall of the wind power tower barrel;

[0007] A weld inspection mechanism, including:

[0008] A first slide rail, connected to the robot main body, and a first slider is arranged on the first slide rail;

[0009] A rotating mechanism, including a mounting part and a main body part. The main body part is configured to be able to rotate relative to the mounting part around a first preset rotation axis. The first preset rotation axis is perpendicular to the extension direction of the first slide rail and perpendicular to the extension direction of the wind power tower barrel. The mounting part and the first slider form a rotational connection through a second preset rotation axis, and the second preset rotation axis is perpendicular to the first preset rotation axis;

[0010] At least one group of detection components, connected to the main body part;

[0011] Wherein, when the main body part rotates to a first preset state, the second preset rotation axis is perpendicular to the traveling direction of the robot main body to inspect the vertical seam of the wind power tower barrel; when the main body part rotates to a second preset state, the second preset rotation axis is parallel to the traveling direction of the robot main body to inspect the circumferential seam of the wind power tower barrel.

[0012] In some embodiments, the detection component includes two detection probes, and the arrangement direction of the two detection probes is parallel to the axial direction of the second preset rotation axis.

[0013] In some embodiments, the mounting portion includes:

[0014] A first mounting plate rotatably connected to the main body portion;

[0015] A second mounting plate slidably connected to the first mounting plate, with the sliding direction parallel to the first preset rotating shaft and connected to the first slider;

[0016] A first spring disposed between the first mounting plate and the second mounting plate.

[0017] In some embodiments, the main body portion is provided with a strip-shaped mounting hole, the extending direction of the strip-shaped mounting hole is parallel to the arrangement direction of the two detection probes, and the detection probes are mounted on the strip-shaped mounting hole through fasteners.

[0018] In some embodiments, the main body portion is provided with at least one ball, the ball is rotatably connected to the main body portion, and when the ball is used to contact the wind power tower barrel, a preset distance is provided between the detection probe and the wind power tower barrel.

[0019] In some embodiments, the detection probe is rotatably connected to the main body portion, the axis direction of the rotating shaft is perpendicular to the arrangement direction of the two detection probes and also perpendicular to the first preset rotating shaft.

[0020] In some embodiments, the main body portion is provided with a surveillance camera facing the detection probe.

[0021] In some embodiments, the main body portion is further provided with two 3D cameras, the arrangement direction of the two 3D cameras is perpendicular to the arrangement direction of the two detection probes and also perpendicular to the axial direction of the first preset rotating shaft.

[0022] In some embodiments, the detection probe is a phased array probe.

[0023] In some embodiments, the weld detection mechanism further includes:

[0024] A second slide rail disposed on the first slider, the second slide rail extending along the axial direction of the first preset rotating shaft;

[0025] A third slide rail disposed on the second slider of the second slide rail, the third slide rail extending in a direction perpendicular to the first slide rail and the second slide rail, and the mounting portion is disposed on the third slider of the third slide rail.

[0026] The technical solutions provided by the embodiments of the present application may include the following beneficial effects: Multiple connecting rods connect all the thickness detection devices. By sliding only one thickness detection device in the first direction, the other thickness detection devices can be driven to slide in the first direction, thereby adjusting the spacing between the multiple thickness detection devices to align the thickness detection devices with the multiple arranged pipes, and then performing thickness detection on the pipes arranged at different spacings, with fast and accurate adjustment.

[0027] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present application and used together with the specification to explain the principles of the present application.

[0029] Figure 1 is a schematic diagram of a weld detection robot shown according to an exemplary embodiment.

[0030] Figure 2 is a schematic diagram of a weld detection mechanism in a first preset state shown according to an exemplary embodiment.

[0031] Figure 3 is a schematic diagram of a first slide rail shown according to an exemplary embodiment.

[0032] Figure 4 is a partial schematic diagram of a weld detection mechanism shown according to an exemplary embodiment.

[0033] Figure 5 is a schematic diagram of a rotating mechanism and a detection component shown according to an exemplary embodiment.

[0034] Figure 6 is a schematic diagram of a weld detection mechanism in a second preset state shown according to an exemplary embodiment.

[0035] Reference numerals:

[0036] Circumferential weld detection mechanism 100;

[0037] First slide rail 10; First slider 11;

[0038] Rotating mechanism 20; Mounting part 21; First mounting plate 211; Second mounting plate 212; First spring 213; Second preset rotating shaft 214; Return spring 215; Main body part 22; Strip-shaped mounting hole 221; Fastener 222; Ball 223; Second spring 224; First preset rotating shaft 23;

[0039] Detection component 30; Detection probe 31;

[0040] Monitoring camera 40;

[0041] 3D camera 50;

[0042] Second slide rail 60; Second slider 61;

[0043] Third slide rail 70; Third slider 71;

[0044] Robot body 200; Magnetic wheel 201. Specific implementation mode

[0045] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation modes described in the following exemplary embodiments do not represent all the implementation modes consistent with the present application. On the contrary, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0046] Wind power tower barrels are usually welded and assembled from multiple prefabricated plate parts, and the weld quality is related to the safe operation of the wind turbine. In the prior art, wall-climbing robots are usually used to detect the welds.

[0047] However, the wind power tower barrel has both circumferential welds (also known as circumferential seams) and longitudinal welds (also known as vertical seams). The existing wall-climbing inspection robots can only detect the vertical seams, which affects the use experience.

[0048] To solve the above problems, the present disclosure provides a weld inspection robot applied to a wind power tower barrel. The weld inspection robot includes a robot body and a weld inspection mechanism. The weld inspection mechanism includes a first slide rail, a rotating mechanism, and at least one set of detection components. The first slide rail is used to connect to the robot body. The rotating mechanism includes a mounting part and a main body part. The main body part is configured to be able to rotate relative to the mounting part around a first preset rotation axis. The first preset rotation axis is perpendicular to the extension direction of the first slide rail and perpendicular to the extension direction of the wind power tower barrel. The mounting part and the first slider form a rotational connection through a second preset rotation axis, and the second preset rotation axis is perpendicular to the first preset rotation axis. In the present disclosure, the detection components are arranged on the rotating mechanism, and the rotating mechanism drives the inspection mechanism to rotate, so that the weld inspection mechanism switches between the circumferential seam inspection state and the vertical seam inspection state. On the premise that the inspection mechanism can detect both circumferential seams and vertical seams, the inspection angle of the inspection mechanism is accurate, and the inspection accuracy is improved.

[0049] According to the exemplary embodiments of the present disclosure, as Figure 1As shown in the figure, an embodiment of the present disclosure provides a weld detection robot for a wind power tower barrel. The weld detection robot includes a robot main body 200 and a weld detection mechanism 100, and the weld detection mechanism 100 is installed on the robot main body 200. Among them, a detection component 30 (detailed introduction later) on the weld detection mechanism 100 can detect the weld quality of the wind power tower barrel. The robot main body 200 has a magnetic suction wheel 201 and can move on the inner wall or outer wall of the wind power tower barrel by magnetic suction adsorption. Furthermore, the robot main body 200 can drive the detection component 30 to move to detect all the welds of the wind power tower barrel.

[0050] As Figures 1 to 4 shown, the weld detection mechanism 100 includes a first slide rail 10. The first slide rail 10 is installed on the robot main body 200. The traveling direction of the robot main body 200 ( Figure 1 the y direction shown in the figure) is also the height / extension / axial direction of the wind power tower barrel. The extension direction of the first slide rail 10 ( Figure 1 the x direction shown in the figure) is perpendicular to the lifting direction. Thus, it can be known that the lifting device can at least drive the weld detection mechanism 100 to move along the height direction of the wind power tower barrel to detect the vertical welds.

[0051] As Figure 1 and Figure 2 shown, the weld detection mechanism 100 further includes a rotating mechanism 20. The rotating mechanism 20 is used to connect the first slide rail 10 and the detection component 30. Continuing to refer to Figure 1 and Figure 2 , the rotating mechanism 20 includes a connected mounting portion 21 and a main body portion 22. The mounting portion 21 is slidably connected to the first slide rail 10, and the main body portion 22 is connected to the detection component 30. The main body portion 22 is configured to be able to rotate relative to the mounting portion 21 around a first preset rotation axis 23 to drive the detection component 30 to rotate relative to the first slide rail 10. The extension direction of the first preset rotation axis 23 ( Figure 1 the z direction shown in the figure) is perpendicular to the extension direction of the first slide rail 10 ( Figure 1 the x direction shown in the figure) and the extension direction of the wind power tower barrel ( Figure 1 the y direction shown in the figure).

[0052] Among them, as Figure 5 shown, the mounting portion 21 is rotatably connected to the first slider 11 through a second preset rotation axis 214.

[0053] Referring to Figure 2 , when the main body portion 22 rotates to the first preset state, the second preset rotation axis 214 is perpendicular to the traveling direction of the robot main body 200 to detect the vertical welds of the wind power tower barrel. Referring to Figure 6, when the main body 22 rotates to the second preset state, the second preset rotating shaft 214 is parallel to the traveling direction of the robot main body 21 to detect the circumferential seam of the wind power tower barrel. It can be understood that when detecting the circumferential seam, when the detection assembly 30 moves to different positions on the first slide rail 10, the distance and angle between the detection assembly 30 and the wind power tower barrel may be different, resulting in the detection direction of the detection assembly 30 not being perpendicular to the surface of the wind power tower barrel, affecting the detection accuracy. In this embodiment, by setting the installation part 21 to be rotatably connected to the first slider 11, and the second preset rotating shaft 214 is parallel to the extending direction of the wind power tower barrel during the circumferential seam detection, the detection direction of the detection assembly 30 is always perpendicular to the surface of the wind power tower barrel, ensuring the detection accuracy. In one example, refer to Figure 5 , two return springs 215 are further arranged between the installation part 21 and the first slider 11, and the two return springs 215 are respectively arranged on both sides of the second preset rotating shaft 214.

[0054] In some alternative embodiments (not shown in the drawings), the installation part and the first slide rail are connected through a spherical joint.

[0055] In the embodiments of the present disclosure, the detection assembly is arranged on the rotating mechanism, and the rotating mechanism drives the detection mechanism to rotate, so that the weld detection mechanism switches between the circumferential seam detection state and the vertical seam detection state. On the premise that the detection mechanism can detect both the circumferential seam and the vertical seam, the detection angle of the detection mechanism is accurate, improving the detection accuracy.

[0056] In an exemplary embodiment, as Figure 1 shown, the embodiments of the present disclosure provide a weld detection robot applied to a wind power tower barrel. The weld detection robot includes a weld detection mechanism 100 and a robot main body 200. The weld detection mechanism 100 is arranged on the robot main body 200. The weld detection mechanism includes a first slide rail 10, a rotating mechanism 20 and at least one group of detection assemblies 30. The first slide rail 10 is used to be connected to a lifting device. The rotating mechanism 20 includes an installation part 21 and a main body part 22. The main body part 22 is arranged to be able to rotate relative to the installation part 21 around a first preset rotating shaft 23. The first preset rotating shaft 23 is perpendicular to the extending direction of the first slide rail 10 and perpendicular to the extending direction of the wind power tower barrel. The installation part 21 forms a rotating connection with the first slider 11 on the first slide rail 10 around a second preset rotating shaft 214.

[0057] As Figure 2As shown, the weld detection mechanism 100 includes a set of detection components 30. Each set of detection components 30 includes two detection probes 31, and the arrangement direction of the two detection probes 31 is parallel to the extension direction of the second preset rotating shaft 214. When multiple sets of detection components 30 are provided, the arrangement direction of the multiple sets of detection components 30 is perpendicular to the arrangement direction of the two detection probes 31 in each set of detection components 30. The detection probe 31 can be, for example, a phased array probe. When using a phased array probe to detect a weld, only a linear scan parallel to the weld length direction along the weld is required to perform a full-volume detection of the welded joint, without the need to frequently move back and forth left and right on both sides of the weld like an ordinary single probe. This scanning method can be completed by sliding a mechanical scanner equipped with an array probe along a precisely positioned track, or can also be completed manually, enabling rapid detection with very high detection efficiency.

[0058] During the detection process, the main body 22 can rotate relative to the mounting portion 21 so that the two detection probes 31 are respectively arranged on both sides of the weld to improve the detection accuracy. Exemplarily, referring to Figure 2 , it shows that the main body 22 rotates to the first preset state, and the arrangement direction of the two detection probes 31 is perpendicular to the extension direction of the vertical seam of the wind power tower to detect the vertical seam. Referring to Figure 6 , it shows that the main body 22 rotates to the second preset state, and the arrangement direction of the two detection probes 31 is parallel to the extension direction of the vertical seam (i.e., perpendicular to the extension direction of the circumferential seam) to detect the circumferential seam of the wind power tower.

[0059] Among them, as Figure 5 shown, the mounting portion 21 of the rotating mechanism 20 includes a first mounting plate 211, a second mounting plate 212, and a first spring 213. The first mounting plate 211 is rotatably connected to the main body 22, the second mounting plate 212 is connected to the first slider 11, and the second mounting plate 212 forms a sliding connection with the first mounting plate 211 through a guiding column body. The sliding direction is parallel to the first preset rotating shaft 23. The first spring 213 is sleeved on the guiding column body. One end of the first spring 213 abuts against the first mounting plate 211, and the other end abuts against the second mounting plate 212. By providing the first spring 213, the weld detection mechanism 100 is always in contact with the surface of the wind power tower, ensuring that the distance between the detection component 30 and the weld remains unchanged and improving the detection accuracy.

[0060] Among them, as Figure 5As shown, the main body 22 of the rotating mechanism 20 is provided with a strip-shaped mounting hole 221. The extending direction of the strip-shaped mounting hole 221 is parallel to the arrangement direction of the two detection probes 31. The detection probes 31 are mounted in the strip-shaped mounting hole 221 via fasteners 222. By adjusting the fastening position of the fasteners 222 between the strip-shaped mounting holes 221, the spacing between the two detection probes 31 can be adjusted. In one example, the spacing can be adjusted based on parameters such as the width of the weld to improve detection accuracy. For example, when the weld of the wind turbine tower is wide, the spacing between the two detection probes 31 can be increased. For another example, when the weld is narrow, the spacing between the two detection probes 31 can be appropriately reduced.

[0061] Among them, such as Figure 2 As shown, the main body 22 is provided with at least one ball 223, which is in rolling connection with the main body 22. During the test, the ball 223 can abut against the surface of the wind turbine tower, thereby preventing the detection probe 31 from colliding with the wind turbine tower and ensuring a preset distance between the detection probe 31 and the wind turbine tower. Figure 2 , exemplarily showing that four balls 223 are provided, this does not limit the technical solution of the present disclosure. In other optional implementations, one, two, three or more balls 223 can be provided.

[0062] Among them, such as Figure 2 As shown, the detection probe 31 is rotatably connected to the main body 22, and the rotation axis direction is perpendicular to the arrangement direction of the two detection probes 31 and is also perpendicular to the first preset rotation axis 23. By adjusting the relative angle between the detection probe 31 and the main body 22, the detection direction of the detection probe 31 can be directed toward the weld, improving detection accuracy.

[0063] In some optional embodiments, reference Figure 2 and Figure 5 The detection probe 31 is also slidably connected to the main body 22. For example, a second guide column is provided between the detection probe 31 and the main body 22. A second spring 224 is provided on the second guide column. When the detection probe 31 moves toward the main body 22, it compresses the second spring 224. The provision of the second guide column and the second spring 224 prevents protruding structures on the wind turbine tower from colliding with the detection assembly 30.

[0064] Among them, such as Figure 2 As shown, the main body 22 is provided with a monitoring camera 40, which is directed toward the detection probe 31. During the detection process, the monitoring camera 40 can be used to observe the working status of the detection probe 31, such as the placement angle of the detection probe 31 (around the second preset rotation axis 214), the shape of the weld, etc.

[0065] Among them, such as Figure 2As shown, the main body 22 is also provided with two 3D cameras 50. The arrangement directions of the two 3D cameras 50 are perpendicular to the arrangement directions of the two detection probes 31, and perpendicular to the first preset rotation axis 23. The 3D camera 50 is also called a line laser 3D camera 50. The 3D camera 50 is based on the principle of triangulation. It captures the laser line information projected on the object surface by the laser generator through the image sensor, and then reconstructs the object surface contour information. During the process of detecting the weld seam, adjusting the position of the detection probe 31 based on the detection result of the 3D camera 50 can make the detection probe 31 face the weld seam directly, ensuring the accuracy of detection.

[0066] Among them, as Figures 1 to 4 shown, the weld seam detection mechanism 100 further includes a second slide rail 60 and a third slider 71.

[0067] Refer to Figure 2 and Figure 4 , the second slide rail 60 is arranged on the first slider 11. The second slide rail 60 extends along the axial direction of the first preset rotation axis 23 ( Figure 1 the z direction shown in

[0068] Refer to Figure 2 and Figure 4 ), by setting the second slide rail 60, the weld seam detection mechanism 100 can be attached to the surfaces of wind power tower barrels with various different diameters, increasing the test usage scenarios. Figure 1 Refer to

[0069] Those skilled in the art will readily think of other implementation schemes of this application after considering the specification and the content disclosed herein. This application aims to cover any variations, uses, or adaptive changes of this application. These variations, uses, or adaptive changes follow the general principles of this application and include the common general knowledge or conventional technical means in the technical field not disclosed in this application. The specification and the embodiments are only regarded as exemplary, and the true scope and spirit of this application are pointed out by the following claims.

[0070] It should be understood that this application is not limited to the exact structures already described and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is only limited by the appended claims.

Claims

1. A weld detection robot applied to a wind power tower barrel, characterized in that, Comprising: A robot main body having magnetic wheels that magnetically adhere to the inner or outer wall of the wind turbine tower barrel; A weld detection mechanism, including: A first slide rail connected to the robot main body, with a first slider provided on the first slide rail; A rotating mechanism including a mounting portion and a main body portion. The main body portion is configured to be able to rotate relative to the mounting portion about a first preset rotation axis. The first preset rotation axis is perpendicular to the extension direction of the first slide rail and perpendicular to the extension direction of the wind turbine tower barrel. The mounting portion and the first slider are rotationally connected through a second preset rotation axis, and the second preset rotation axis is perpendicular to the first preset rotation axis; At least one set of detection components connected to the main body portion; Wherein, when the main body portion rotates to the first preset state, the second preset rotation axis is perpendicular to the traveling direction of the robot main body to detect the vertical seam of the wind turbine tower barrel; when the main body portion rotates to the second preset state, the second preset rotation axis is parallel to the traveling direction of the robot main body to detect the circumferential seam of the wind turbine tower barrel.

2. The weld detection robot applied to a wind power tower barrel according to claim 1, wherein, The detection component includes two detection probes, and the arrangement direction of the two detection probes is parallel to the axial direction of the second preset rotation axis.

3. The weld inspection robot applied to a wind power tower barrel according to claim 2, wherein The mounting portion includes: A first mounting plate rotationally connected to the main body portion; A second mounting plate slidably connected to the first mounting plate, with the sliding direction parallel to the first preset rotation axis and connected to the first slider; A first spring provided between the first mounting plate and the second mounting plate.

4. The weld detection robot applied to a wind power tower barrel according to claim 2, wherein, The main body portion is provided with a strip-shaped mounting hole, and the extension direction of the strip-shaped mounting hole is parallel to the arrangement direction of the two detection probes. The detection probe is installed in the strip-shaped mounting hole through a fastener.

5. The weld inspection robot applied to a wind power tower according to claim 2, characterized in that, The main body portion is provided with at least one ball that is rotatably connected to the main body portion. When the ball is used to contact the wind turbine tower barrel, there is a preset distance between the detection probe and the wind turbine tower barrel.

6. The weld detection robot applied to a wind power tower barrel according to claim 2, wherein, The detection probe is rotationally connected to the main body portion, with the axis direction perpendicular to the arrangement direction of the two detection probes and also perpendicular to the first preset rotation axis.

7. The weld detection robot applied to a wind power tower barrel according to claim 2, characterized in that, The main body portion is provided with a monitoring camera that faces the detection probe.

8. The weld detection robot applied to a wind power tower barrel according to claim 2, wherein, The main body portion is also provided with two 3D cameras, and the arrangement direction of the two 3D cameras is perpendicular to the arrangement direction of the two detection probes and perpendicular to the axial direction of the first preset rotation axis.

9. The weld detection robot applied to a wind power tower according to claim 2, wherein The detection probe is a phased array probe.

10. The weld detection robot applied to a wind power tower barrel according to claim 1, characterized in that, The weld detection mechanism further includes: A second slide rail provided on the first slider, with the second slide rail extending along the axial direction of the first preset rotation axis; A third slide rail provided on the second slider of the second slide rail, with the third slide rail extending in a direction perpendicular to the first slide rail and the second slide rail. The mounting portion is provided on the third slider of the third slide rail.

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