Welding seam detection robot suitable for complex surface

Abstract

The utility model discloses a welding seam detection robot suitable for a complex surface, which comprises a base (1), and a plurality of permanent magnets (2) are arranged at the bottom of the base (1); a plurality of omnidirectional wheels (3) connected with a motor are arranged on the side portion of the base (1), walking feet (4) connected with the base (1) are arranged between the adjacent omnidirectional wheels (3), and electromagnets (9) are arranged at the ends of the walking feet (4). A mobile detection camera component (22) is arranged at the top of the base (1); a welding seam detection camera (23) is arranged at the bottom of the base (1); the moving device can move in various modes, and has the advantages of being high in obstacle passing capacity, flexible to move and wide in application range.

Description

Technical Field

[0001] The utility model relates to the field of robots, in particular to a welding seam detection robot suitable for complex surfaces. Background Art

[0002] Since pressure vessels need regular maintenance after long-term use to check whether the welds have defects, and the internal environment of the container is complex, manual weld inspection has greater safety risks, high detection difficulty, low detection efficiency and easy omissions. Weld inspection robots can replace manual labor to complete tasks in dangerous environments and have high use value in the chemical industry. The inspection robots on the market can be divided into crawler, wheeled and legged wall-climbing robots according to their different movement methods. Crawler robots have a large contact area with the wall and strong adsorption performance, but there is a problem of a large turning radius; legged robots have fast movement speed and simple and flexible operation, but insufficient adsorption force and cannot cross obstacles. Legged robots have good adsorption force and are easy to cross obstacles, but are not flexible enough in movement. Utility Model Content

[0003] The purpose of the utility model is to provide a weld inspection robot suitable for complex surfaces. The utility model can move in various ways and has the characteristics of strong obstacle-passing ability, flexible movement and wide application range.

[0004] The technical solution of the utility model is as follows: a weld inspection robot suitable for complex surfaces comprises a base, a plurality of permanent magnets are provided at the bottom of the base; a plurality of omnidirectional wheels connected to a motor are provided on the side of the base, walking feet connected to the base are provided between adjacent omnidirectional wheels, and electromagnets are provided at the ends of the walking feet; a mobile detection camera assembly is provided on the top of the base; and a weld inspection camera is provided at the bottom of the base.

[0005] In the above-mentioned weld inspection robot suitable for complex surfaces, the number of the omnidirectional wheels is four and they are evenly distributed on the four sides of the base in a square shape, and the angle between the rotation surfaces of two adjacent omnidirectional wheels is 90°.

[0006] In the aforementioned weld inspection robot suitable for complex surfaces, the omnidirectional wheel includes a main wheel body connected to a motor, and a plurality of rotatably connected side rollers are provided on the edge of the main wheel body, and the rotating surface of the side rollers is perpendicular to the rotating surface of the main wheel body.

[0007] In the aforementioned weld inspection robot suitable for complex surfaces, the number of the walking feet is four, and they are evenly distributed in a square shape on the four sides of the base, and the angle between adjacent walking feet is 90°.

[0008] In the aforementioned weld inspection robot suitable for complex surfaces, the walking foot includes a first servo, a second servo and a third servo, the first servo is fixedly connected to the base, the output end of the first servo is provided with a first connecting frame, and the first connecting frame is provided with a second connecting frame connected to the output end of the second servo; the third servo is fixedly connected to the second servo and the output ends of the two are facing opposite directions, the output end of the third servo is provided with a third connecting frame, and the electromagnet is arranged at the end of the third connecting frame; the rotation axis of the first servo is parallel to the forward direction of the robot, and the rotation axes of the second servo and the third servo are parallel to each other and perpendicular to the rotation axis of the first servo.

[0009] In the aforementioned weld inspection robot suitable for complex surfaces, a controller, a three-axis gyroscope and a three-axis accelerometer are provided in the base, and the first servo, the second servo, the third servo, the three-axis gyroscope and the three-axis accelerometer are all connected to the controller.

[0010] In the aforementioned weld inspection robot suitable for complex surfaces, the mobile inspection camera assembly includes a rotating base arranged on a base and connected to a motor, a support frame is provided on the rotating base, a rotatably connected mounting plate is provided at the end of the support frame, and a camera is provided on the front of the mounting plate; a fourth servo is provided on the back of the mounting plate, and the output end of the fourth servo is connected to the end of the support frame corresponding to the rotating connection of the mounting plate.

[0011] Compared with the prior art, when the present invention is applied to a curved wall with a small radius, the moving direction is controlled by omnidirectional wheels at different positions, and the omnidirectional wheels at other positions are adaptively rotated to cooperate with the movement in all directions. At the same time, the permanent magnet at the bottom provides continuous adsorption force, and the movement is flexible and reliable; when facing a curved wall with a large radius or an obstacle, it is switched to walking foot drive and electromagnet adsorption and fixation. A single walking foot is driven by the first servo, the second servo and the third servo. The first servo drives to realize the horizontal movement of the electromagnet, the second servo drives to realize the longitudinal movement of the electromagnet, and the third servo drives to realize the posture adjustment of the electromagnet. The three work together to realize the flexible movement of the electromagnet. Further, the walking feet cooperate to realize the movement of the robot on multi-obstacle terrain and large-radius curved surfaces. The present invention has the characteristics of strong obstacle passing ability, flexible movement and wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a structural diagram of the utility model;

[0013] Figure 2 It is a structural diagram of the bottom of the utility model;

[0014] Figure 3 This is a structural diagram of the mobile detection camera assembly of the utility model;

[0015] Figure 4 It is a schematic diagram of the connection structure of the present utility model.

[0016] The marks in the accompanying drawings are: 1. base; 2. permanent magnet; 3. omnidirectional wheel; 4. walking foot; 5. first servo; 6. first connecting frame; 7. second connecting frame; 8. third connecting frame; 9. electromagnet; 10. main wheel body; 11. side roller; 12. controller; 13. three-axis gyroscope; 14. three-axis accelerometer; 15. rotating seat; 16. support frame; 17. mounting plate; 18. camera; 19. fourth servo; 21. third servo; 22. mobile detection camera assembly; 23. weld detection camera. DETAILED DESCRIPTION

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments, but they are not intended to limit the present invention.

[0018] Example: A weld inspection robot suitable for complex surfaces, as shown in the attached Figure 1 and attached Figure 2As shown, it includes a base 1 made of 502 aluminum alloy, the bottom of the base 1 is equipped with 4 evenly distributed N42 neodymium iron boron permanent magnets 2, the remanence Br is 1.33T, the diameter is 40mm, and the height is 9mm. The side of the base 1 is equipped with 4 omnidirectional wheels 3 connected to the MG513P60 reduction motor; the side of the base 1 is equipped with 4 walking feet 4, the walking feet 4 include a first servo 5, a second servo 20 and a third servo 21, the first servo 5 is fixedly connected to the base 1 via a servo fixing frame, the output end of the first servo 5 is equipped with a first connecting frame 6, and the first connecting frame 6 is equipped with a second connecting frame 7 connected to the output end of the second servo 20; the third servo 21 is fixedly connected to the second servo 20 via the servo connecting frame and the output ends of the two are facing opposite directions, the output end of the third servo 21 is equipped with a third connecting frame 8, and the third connecting frame 8 is equipped with an electromagnet 9; the rotation axis of the first servo 5 is parallel to the forward direction of the robot, and the second The rotation axes of the servo 20 and the third servo 21 are parallel to each other and perpendicular to the rotation axis of the first servo 5; a mobile detection camera assembly 22 is mounted on the top of the base 1, and a weld detection camera 23 is mounted on the bottom of the base 1; the number of the omnidirectional wheels 3 is four, and they are evenly distributed on the four sides of the base 1 in a square shape, and the angle between the rotation surfaces of two adjacent omnidirectional wheels 3 is 90 degrees to avoid interference during movement; the omnidirectional wheel 3 includes a main wheel body 10 connected to the motor, and the edge of the main wheel body 10 is equipped with a plurality of rotatably connected side rollers 11, and the rotation surface of the side rollers 11 is perpendicular to the rotation surface of the main wheel body 10. The main wheel body is driven to determine the direction of movement, and the side rollers roll in the direction other than the direction of movement of the main wheel body to avoid resistance. It can be obtained commercially and is a technical means well known and mastered by those skilled in the art, and will not be repeated here; the number of the walking feet 4 is four, and they are evenly distributed on the four sides of the base 1 in a square shape, and the orientation angle of adjacent walking feet 4 is 90 degrees; as shown in the attached figure Figure 4As shown, the base 1 is equipped with an STM32 controller 12, a three-axis gyroscope 13 and a three-axis accelerometer 14. The three-axis gyroscope and the three-axis accelerometer are used to measure the angular velocity and acceleration of the robot, thereby obtaining the posture information of the robot. The data is processed by Kalman filtering to remove noise and errors in the sensor measurement, thereby improving the accuracy and stability of the data. The first servo 5, the second servo 20, the third servo 21, the three-axis gyroscope 13, the three-axis accelerometer 14, the weld detection camera and the mobile detection camera assembly are all connected to the controller 12. The controller uses the posture data to calculate the control parameters of each servo and then adjust the position and joint torque of the robot, aiming to achieve dynamic stability and enhance overall robustness. Unlike traditional fixed-base robots, this device relies heavily on the interaction between the walking foot and the ground to control the movement speed and posture stability. The controller controls the servo according to the VMC method. By using VMC, all spatial motions of the robot are represented as the position and posture motion of a single rigid float, and the motion variables of the robot are decoupled by adjusting the control parameters; as shown in the attached figure Figure 3 As shown, the mobile detection camera assembly 22 includes a rotating base 15 mounted on the base 1 and connected to the motor, a support frame 16 is mounted on the rotating base 15, and the end of the support frame 16 is rotatably connected to the mounting plate 17, and the front of the mounting plate 17 is equipped with a camera 18; the back of the mounting plate 17 is equipped with a fourth servo 19 connected to the controller, and the output end of the fourth servo 19 is connected to the end of the support frame 16 corresponding to the rotation connection of the mounting plate 17. The output rotation surface of the fourth servo is perpendicular to the rotation surface of the rotating base. The two cooperate to achieve omnidirectional adjustment of the camera, which is convenient for observing the surrounding environment; this device uses the ResNet residual network in PyTorch for weld visual recognition. The controller is connected to the weld detection camera and is integrated with a K210 processor, which has a neural network hardware accelerator KPU, so that convolutional neural network operations can be performed efficiently. The advantage of the residual network is that it can effectively solve the problems of gradient disappearance or gradient explosion that may occur in the training process of deep neural networks, so that even when the network is very deep, good training effects can be obtained, and various types of welds can be more accurately identified.

[0019] Working principle: When applied to a curved wall with a small radius, the omnidirectional wheels 3 at different positions are used to control the direction of movement, and the omnidirectional wheels 3 at other positions are adaptively rotated to match the movement in all directions. At the same time, the permanent magnet 2 at the bottom provides continuous adsorption force, and the movement is flexible and reliable. When facing a curved wall with a large radius or an obstacle, the walking foot 4 is driven and the electromagnet 9 is adsorbed and fixed. A single walking foot 4 is driven by the first servo 5, the second servo 20 and the third servo 21. The first servo 5 is driven to realize the horizontal movement of the electromagnet 9, the second servo 20 is driven to realize the longitudinal movement of the electromagnet 9, and the third servo 21 is driven to realize the posture of the electromagnet 9. Adjustment, the three work together to realize the flexible movement of the electromagnet 9, and further the walking feet 4 cooperate to realize the movement of the robot on multi-obstacle terrain and large radius curved surface; in order to achieve a continuous crawling gait, the gait timing of the walking feet is subdivided, and it is achieved by increasing the lateral adjustment of the center of gravity to produce a continuous crawling gait. In the quadruped walking state, the walking principle of the robot is mainly based on the triangular support principle (TSP), which ensures the stability of the robot during walking. In the TSP gait, the center of gravity projection (COG) or zero moment point (ZMP) of the robot is kept in the triangular plane of the ground, and the robot can move effectively on various terrains.

[0020] The above embodiments merely represent implementation methods of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. Furthermore, in these embodiments, the terms "up," "down," "left," "right," "front," and "back" merely represent relative positions and do not represent absolute positions. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the concept of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A weld inspection robot suitable for complex surfaces, characterized by: The invention comprises a base (1), wherein a plurality of permanent magnets (2) are provided at the bottom of the base (1); a plurality of omnidirectional wheels (3) connected to a motor are provided on the side of the base (1); walking feet (4) connected to the base (1) are provided between adjacent omnidirectional wheels (3); and electromagnets (9) are provided at the ends of the walking feet (4); a mobile detection camera assembly (22) is provided at the top of the base (1); and a weld detection camera (23) is provided at the bottom of the base (1).

2. The weld inspection robot suitable for complex surfaces according to claim 1, characterized in that: The number of the omnidirectional wheels (3) is four and they are evenly distributed on the four sides of the base (1) in a square shape, and the angle between the rotation surfaces of two adjacent omnidirectional wheels (3) is 90°.

3. The weld inspection robot suitable for complex surfaces according to claim 1, characterized in that: The omnidirectional wheel (3) comprises a main wheel body (10) connected to a motor, wherein a plurality of rotatably connected side rollers (11) are provided on the edge of the main wheel body (10), and the rotational planes of the side rollers (11) are perpendicular to the rotational plane of the main wheel body (10).

4. The weld inspection robot suitable for complex surfaces according to claim 1, characterized in that: The number of the walking feet (4) is four, and they are evenly distributed on the four sides of the base (1) in a square shape, and the orientation angle between adjacent walking feet (4) is 90°.

5. The weld inspection robot suitable for complex surfaces according to claim 1, characterized in that: The walking foot (4) comprises a first steering gear (5), a second steering gear (20) and a third steering gear (21), wherein the first steering gear (5) is fixedly connected to the base (1), the output end of the first steering gear (5) is provided with a first connecting frame (6), and the first connecting frame (6) is provided with a second connecting frame (7) connected to the output end of the second steering gear (20); the third steering gear (21) is fixedly connected to the second steering gear (20), and the output ends of the two are oriented in opposite directions, the output end of the third steering gear (21) is provided with a third connecting frame (8), and the electromagnet (9) is arranged at the end of the third connecting frame (8); the rotation axis of the first steering gear (5) is parallel to the forward direction of the robot, and the rotation axes of the second steering gear (20) and the third steering gear (21) are parallel to each other and perpendicular to the rotation axis of the first steering gear (5).

6. The weld inspection robot suitable for complex surfaces according to claim 5, characterized in that: The base (1) is provided with a controller (12), a three-axis gyroscope (13) and a three-axis accelerometer (14); the first servo (5), the second servo (20), the third servo (21), the three-axis gyroscope (13) and the three-axis accelerometer (14) are all connected to the controller (12).

7. The weld inspection robot suitable for complex surfaces according to claim 1, characterized in that: The motion detection camera assembly (22) comprises a rotating base (15) arranged on a base (1) and connected to a motor, a support frame (16) being provided on the rotating base (15), a rotatably connected mounting plate (17) being provided at the end of the support frame (16), and a camera (18) being provided on the front of the mounting plate (17); a fourth servo (19) being provided on the back of the mounting plate (17), and an output end of the fourth servo (19) being connected to an end of the support frame (16) corresponding to a rotatably connected position of the mounting plate (17).

Images