Automatic welding seam scanning robot

Abstract

The utility model discloses an automatic weld seam scanning robot, and particularly relates to the technical field of weld seam damage-free inspection, the automatic weld seam scanning robot comprises an auxiliary structure, a conversion structure is installed on one side of the auxiliary structure, the auxiliary structure comprises a fixed box, a fixed motor is fixedly installed in the fixed box, and a movable motor is installed in the fixed box. And an output shaft of the fixed motor is fixedly connected with a linkage gear. According to the automatic welding seam scanning robot, when a straight-strip-shaped welding seam is scanned, the orientation of the ultrasonic detection head is kept outward, then the auxiliary structure is driven by the moving mechanism to horizontally move, and then the straight-strip-shaped welding seam is conveniently scanned; the auxiliary structure is driven by the rotating mechanism to rotate, so that the ultrasonic detection head can scan along the annular welding seam, and then scanning use for different welding seams is facilitated, the applicability of the automatic welding seam scanning robot is improved, and the use value of the automatic welding seam scanning robot is improved.

Description

Technical Field

[0001] This utility model relates to the field of non-destructive inspection technology for welds, specifically an automatic weld scanning robot. Background Technology

[0002] Weld inspection is an important step in ensuring that welding quality meets design and specification requirements. It is used to check the integrity, strength and durability of welds to ensure the safety and reliability of structures or equipment. Weld inspection can be divided into two main categories: non-destructive testing (NDT) and destructive testing.

[0003] The automatic weld seam scanning robot identifies weld seams through models and uses different sensors to automatically locate seams according to weld gas inspection standards, thereby achieving non-destructive testing, including but not limited to VT, MT, PT, UT, PAUT and other methods, and electronically records and automatically evaluates the results.

[0004] Existing automatic weld inspection robots using ultrasonic testing (UT) have some shortcomings. Although the robot's robotic arm can bend and adjust at different angles and inspect welds in different locations, the limited range of motion due to the robotic arm's bending movement makes it unsuitable for straight welds on plates and circular welds on pipes. Therefore, there is a need to propose an automatic weld inspection robot. Utility Model Content

[0005] The purpose of this invention is to provide an automatic weld seam scanning robot to solve the problem mentioned in the background art that it is not applicable to straight strip weld seams and circular weld seams.

[0006] To achieve the above objectives, this utility model provides the following technical solution: an automatic weld seam scanning robot, comprising an auxiliary structure, a conversion structure installed on one side of the auxiliary structure, and the auxiliary structure including a fixed box, a fixed motor fixedly installed inside the fixed box, and a linkage gear fixedly connected to the output shaft of the fixed motor, a shaft column fixedly connected to one side of the linkage gear, and a connecting belt rotatably connected to one end of the shaft column, an eccentric wheel fixedly connected to the outer wall of the shaft column, and a limit frame pressed on the top of the eccentric wheel, a moving rod movably connected inside the limit frame, and a limit spring fixedly installed at the bottom of the limit frame;

[0007] The conversion structure includes a mounting frame, with a rotating plate fixedly connected to one side of the mounting frame. A fixing hole is provided on one side of the rotating plate, and a rotating shaft is fixedly connected to one side of the rotating plate. A clamping plate is rotatably connected to the outside of the rotating shaft, and an insertion hole is provided on one side of the clamping plate. A connecting plate is fixedly connected to one side of the clamping plate. A fixing bolt is inserted into the fixing hole, and nuts are threaded onto both ends of the fixing bolt. A moving mechanism is installed on one side of the conversion structure, and a rotating mechanism is fixedly installed on one side of the moving mechanism. An ultrasonic detector is installed on one side of the rotating mechanism, and an ultrasonic probe head is fixedly installed on one side of the limiting frame.

[0008] Preferably, the linkage gear consists of two helical gears, which mesh with each other. The two helical gears are respectively fixedly connected to one end of the output shaft of the fixed motor and one end of the shaft column. The shaft column is rotatably installed inside the fixed box. The shaft column and the eccentric wheel are symmetrically installed on one side of the limit frame, and a pulley is fixedly connected to the outer wall of the shaft column.

[0009] Preferably, the connecting belt is rotatably mounted on the outer wall of the pulley, and the two shafts are rotatably connected through the pulley and the connecting belt. The limiting frame is movably mounted inside the fixed box, and the limiting spring is fixedly mounted between the limiting frame and the fixed box. The limiting spring is sleeved on the outside of the moving rod, and the moving rod is fixedly mounted inside the fixed box.

[0010] Preferably, the mounting bracket is fixedly connected to one side of the fixed box, and the rotating plate is symmetrically installed on one side of the mounting bracket. The rotating plate is rotatably connected to the card plate through a rotating shaft. The fixing bolt is disposed through the fixing hole and the insertion hole, and there are two insertion holes. The two insertion holes are set at a 90-degree angle along the center of the card plate.

[0011] Preferably, the moving mechanism includes a fixed box, and rotating columns are symmetrically installed inside the fixed box. The rotating columns are rotatably installed inside the fixed box, and a spur gear is fixedly connected to the outer wall of the rotating column. A toothed belt meshes with the outer wall of the spur gear. A drive motor is fixedly installed on the top of the fixed box, and the output shaft of the drive motor is fixedly connected to the rotating columns. A connecting plate is fixedly installed on one side of the toothed belt, and the connecting plate is movably arranged on one side of the fixed box.

[0012] Preferably, the rotating mechanism includes a frame plate, and a central shaft is fixedly connected to one side of the top of the frame plate. The frame plate is fixedly installed on the top of the fixed box, and a toothed ring disk is fixedly connected to the top of the central shaft. A toothed column is engaged on the top of the toothed ring disk.

[0013] Preferably, a rotary motor is fixedly installed on one side of the toothed column, and a fixed housing is fixedly installed on the bottom of the rotary motor. The output shaft of the rotary motor is fixedly connected to one side of the toothed column, and the rotary motor is fixedly installed inside the fixed housing. The central shaft is rotatably installed inside the fixed housing. A support base is fixedly installed on the bottom of one side of the fixed housing, and an ultrasonic detector is fixedly installed on one side of the support base. The ultrasonic detector is fixedly connected to the ultrasonic probe head through a connecting line.

[0014] Compared with the prior art, the beneficial effects of this utility model are: the automatic weld seam scanning robot;

[0015] 1. When scanning straight strip welds, the ultrasonic probe is kept facing outwards, and the auxiliary structure is moved horizontally by the moving mechanism, which facilitates the scanning of straight strip welds. When the ultrasonic probe is rotated 90 degrees to the side by the conversion structure, the auxiliary structure is rotated by the rotation mechanism, so that the ultrasonic probe can scan along the annular weld. This makes it convenient to use for scanning different welds, thereby improving the applicability and value of the automatic weld scanning robot.

[0016] 2. When the ultrasonic probe moves or rotates, the fixed motor drives the eccentric wheel to rotate, which repeatedly presses the eccentric wheel against the limiting frame. With the help of the limiting spring, the ultrasonic probe can be moved up and down repeatedly on one side of the weld. Since the geometry of the weld is complex, there may be defects in different directions and positions. By moving the ultrasonic probe along different paths on the weld, it is possible to ensure a comprehensive scan of the entire weld area without missing any potential problems, thereby ensuring the accuracy of the automatic weld inspection robot. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 2 This is a schematic diagram of the rotating mechanism of this utility model;

[0019] Figure 3 This is a schematic diagram of the connection structure between the moving mechanism and the rotating mechanism of this utility model;

[0020] Figure 4 This is a schematic diagram of the rotational state of the auxiliary structure of this utility model;

[0021] Figure 5 This is a schematic diagram of the conversion structure of this utility model;

[0022] Figure 6 This is a schematic diagram of the auxiliary structure of this utility model.

[0023] In the diagram: 1. Auxiliary structure; 11. Fixed box; 12. Fixed motor; 13. Linkage gear; 14. Shaft column; 15. Connecting belt; 16. Eccentric wheel; 17. Limiting frame; 18. Moving rod; 19. Limiting spring; 2. Conversion structure; 21. Mounting frame; 22. Rotating plate; 23. Fixing hole; 24. Rotating shaft; 25. Fixing bolt; 26. Nut; 27. Clamping plate; 28. Insertion hole; 29. ​​Connecting plate; 3. Moving mechanism; 31. Fixed box; 32. Rotating column; 33. Spur gear; 34. Toothed belt; 35. Drive motor; 4. Rotating mechanism; 41. Frame plate; 42. Central shaft; 43. Gear ring disc; 44. Toothed column; 45. Rotary motor; 46. Fixed shell; 47. Support base; 5. Ultrasonic detector; 6. Ultrasonic probe. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] Please see Figure 1-6This utility model provides a technical solution: an automatic weld seam scanning robot, including an auxiliary structure 1, a conversion structure 2 installed on one side of the auxiliary structure 1, and a fixed box 11. A fixed motor 12 is fixedly installed inside the fixed box 11, and a linkage gear 13 is fixedly connected to the output shaft of the fixed motor 12. A shaft column 14 is fixedly connected to one side of the linkage gear 13, and a connecting belt 15 is rotatably connected to one end of the shaft column 14. An eccentric wheel 16 is fixedly connected to the outer wall of the shaft column 14, and a limit frame 17 is pressed onto the top of the eccentric wheel 16. The linkage gear 13 is composed of two helical gears, and the two helical gears are meshed with each other. The two helical gears are respectively fixedly connected to one end of the output shaft of the fixed motor 12 and one end of the shaft column 14. The linkage gear 13 facilitates the rotation of the shaft column 14, and the shaft column 14 is rotatably installed inside the fixed box 11. The shaft column 14 and the eccentric wheel 16 are connected to the shaft column 14. The two eccentric wheels 16 are symmetrically installed on one side of the limiting frame 17, and a pulley is fixedly connected to the outer wall of the shaft column 14, so as to facilitate the simultaneous rotation of the two eccentric wheels 16. The limiting frame 17 is internally connected to a moving rod 18, and a limiting spring 19 is fixedly installed at the bottom of the limiting frame 17. The connecting belt 15 is rotatably set on the outer wall of the pulley, and the two shaft columns 14 are rotatably connected through the pulley and the connecting belt 15. The limiting frame 17 is movably set inside the fixed box 11, and the limiting spring 19 is fixedly installed between the limiting frame 17 and the fixed box 11. The limiting spring 19 is sleeved on the outside of the moving rod 18, and the moving rod 18 is fixedly installed inside the fixed box 11. The setting of the limiting spring 19 facilitates the downward movement and reset of the limiting frame 17. Since the eccentric wheel 16 is an eccentric structure, when the shaft column 14 drives the eccentric wheel 16 to rotate, the limiting frame 17 can be repeatedly pressed upward, thereby moving the ultrasonic probe head 6 up and down repeatedly.

[0026] The conversion structure 2 includes a mounting bracket 21, with a rotating plate 22 fixedly connected to one side of the mounting bracket 21. A fixing hole 23 is provided on one side of the rotating plate 22, and a rotating shaft 24 is fixedly connected to the other side. A clamping plate 27 is rotatably connected to the outside of the rotating shaft 24, and an insertion hole 28 is provided on one side of the clamping plate 27. The mounting bracket 21 is fixedly connected to one side of the fixing box 11, and the rotating plate 22 is symmetrically installed on one side of the mounting bracket 21. The rotating plate 22 is rotatably connected to the clamping plate 27 via the rotating shaft 24. A fixing bolt 25 is inserted through the fixing hole 23 and the insertion hole 28. There are two insertion holes 28, which are set at a 90-degree angle to the center of the clamping plate 27, thus allowing rotation... When plate 22 rotates 90 degrees, the auxiliary structure 1 is fixed at an angle by inserting fixing bolt 25 into fixing hole 23 and insertion hole 28, and then tightening nut 26, thereby fixing the direction of use of ultrasonic probe head 6. Connecting plate 29 is fixedly connected to one side of clamping plate 27. Fixing bolt 25 is inserted into fixing hole 23, and nuts 26 are threaded on both ends of fixing bolt 25. Moving mechanism 3 is installed on one side of conversion structure 2. Moving mechanism 3 includes fixing box 31, and rotating column 32 is symmetrically installed inside fixing box 31. Rotating column 32 is rotatably installed inside fixing box 31, and spur gear 33 is fixedly connected to the outer wall of rotating column 32. A toothed belt 34 engages with the outer wall of the moving mechanism 3. A drive motor 35 is fixedly installed on the top of the fixed box 31, and the output shaft of the drive motor 35 is fixedly connected to the rotating column 32. A connecting plate 29 is fixedly installed on one side of the toothed belt 34, and the connecting plate 29 is movably disposed on one side of the fixed box 31. A rotating mechanism 4 is fixedly installed on one side of the moving mechanism 3. The rotating mechanism 4 includes a frame plate 41, and a central shaft 42 is fixedly connected to one side of the top of the frame plate 41. The frame plate 41 is fixedly installed on the top of the fixed box 31. A toothed ring disk 43 is fixedly connected to the top of the central shaft 42, and a toothed column 44 meshes with the top of the toothed ring disk 43. A rotating motor 45 is fixedly installed on one side of the toothed column 44. A fixed housing 46 is fixedly installed at the bottom of the 45. The output shaft of the rotary motor 45 is fixedly connected to one side of the gear column 44, and the rotary motor 45 is fixedly installed inside the fixed housing 46. The central shaft 42 is rotatably installed inside the fixed housing 46. A support base 47 is fixedly installed on one side of the bottom of the fixed housing 46, and the ultrasonic detector 5 is fixedly installed on one side of the support base 47. An ultrasonic detector 5 is installed on one side of the rotating mechanism 4, and an ultrasonic probe 6 is fixedly installed on one side of the limiting frame 17. The ultrasonic detector 5 is fixedly connected to the ultrasonic probe 6 through a connecting line. When inspecting the circumferential weld, the auxiliary structure 1 needs to be moved to the left side of the moving mechanism 3 through the moving mechanism 3. Figure 4As the moving mechanism 3, the conversion structure 2 and the auxiliary structure 1 are driven to rotate by the rotating mechanism 4, they rotate along the center of the central axis 42. When the auxiliary structure 1 moves to the left half of the moving mechanism 3, the ultrasonic probe 6 can be aligned with the center of the central axis 42. When the pipe is placed vertically at the bottom of the central axis 42, the rotating mechanism 4 drives the auxiliary structure 1 to rotate, which allows the ultrasonic probe 6 to move in a circle along the center of the pipe. This facilitates the scanning of the annular weld seam, and the weld seams of pipes with different diameters can be scanned by moving the position of the ultrasonic probe 6.

[0027] Working principle: When using this automatic weld seam inspection robot to inspect straight weld seams, the ultrasonic probe head 6 is oriented outwards, such as... Figure 1 As shown, the plate to be inspected is fixed, and the ultrasonic probe 6 is attached to one side of the plate. When the moving mechanism 3 moves the ultrasonic probe 6, the ultrasonic probe 6 is set parallel to the weld. When the drive motor 35 drives the rotating column 32 and the spur gear 33 to rotate, the toothed belt 34 drives the connecting plate 29 to move horizontally, thereby driving the conversion structure 2 and the auxiliary structure 1 to move horizontally. At the same time, the fixed motor 12 drives the shaft column 14 to rotate through the linkage gear 13. The shaft column 14 drives the two eccentric wheels 16 to rotate simultaneously through the pulley and the connecting belt 15, thereby pressing the limit frame 17 upward and moving it upward, while the protruding part of the eccentric wheel 16 moves downward. During movement, the limiting frame 17 moves downwards to reset due to the elasticity of the limiting spring 19 and its own gravity, thereby driving the ultrasonic probe 6 to move up and down repeatedly on one side of the weld. This allows the ultrasonic probe 6 to move up and down simultaneously while moving horizontally, thus fully scanning the weld. When inspecting the circumferential weld, the nut 26 is removed from the outside of the fixing bolt 25, and then the fixing bolt 25 is removed from the fixing hole 23 and the insertion hole 28. Then, the auxiliary structure 1 is pushed, causing the rotating shaft 24 to rotate 90 degrees inside the clamping plate 27, so that the ultrasonic probe 6 faces one side, and the auxiliary structure 1 is moved to the left half of the moving mechanism 3 via the moving mechanism 3. Figure 4 As shown, the pipe is then placed at the bottom of the rotating mechanism 4, with the center of the pipe vertically aligned with the bottom of the central shaft 42, and the ultrasonic probe 6 is attached to one side of the weld. Then, the rotating motor 45 drives the toothed column 44 to rotate the toothed ring disk 43, which in turn drives the central shaft 42 to rotate the frame plate 41, so that the ultrasonic probe 6 moves around the pipe, thereby scanning and inspecting the annular weld.

[0028] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic weld seam inspection robot, comprising an auxiliary structure (1), characterized in that: A conversion structure (2) is installed on one side of the auxiliary structure (1), and the auxiliary structure (1) includes a fixed box (11). A fixed motor (12) is fixedly installed inside the fixed box (11), and a linkage gear (13) is fixedly connected to the output shaft of the fixed motor (12). A shaft column (14) is fixedly connected to one side of the linkage gear (13), and a connecting belt (15) is rotatably connected to one end of the shaft column (14). An eccentric wheel (16) is fixedly connected to the outer wall of the shaft column (14), and a limit frame (17) is pressed on the top of the eccentric wheel (16). A moving rod (18) is movably connected inside the limit frame (17), and a limit spring (19) is fixedly installed at the bottom of the limit frame (17). The conversion structure (2) includes a mounting bracket (21), and a rotating plate (22) is fixedly connected to one side of the mounting bracket (21). A fixing hole (23) is opened on one side of the rotating plate (22), and a rotating shaft (24) is fixedly connected to one side of the rotating plate (22). A clamping plate (27) is rotatably connected to the outside of the rotating shaft (24), and an insertion hole (28) is opened on one side of the clamping plate (27). A connecting plate (29) is fixedly connected to one side of the clamping plate (27). A fixing bolt (25) is inserted into the inside of the fixing hole (23), and nuts (26) are threaded on both ends of the fixing bolt (25). A moving mechanism (3) is installed on one side of the conversion structure (2), and a rotating mechanism (4) is fixedly installed on one side of the moving mechanism (3). An ultrasonic detector (5) is installed on one side of the rotating mechanism (4), and an ultrasonic probe (6) is fixedly installed on one side of the limiting bracket (17).

2. The automatic weld seam scanning robot according to claim 1, characterized in that, The linkage gear (13) consists of two helical gears, which mesh with each other. The two helical gears are respectively fixedly connected to one end of the output shaft of the fixed motor (12) and one end of the shaft column (14). The shaft column (14) is rotatably installed inside the fixed box (11). The shaft column (14) and the eccentric wheel (16) are symmetrically installed on one side of the limit frame (17). A pulley is fixedly connected to the outer wall of the shaft column (14).

3. The automatic weld seam scanning robot according to claim 2, characterized in that, The connecting belt (15) is rotatably mounted on the outer wall of the pulley, and the two shafts (14) are rotatably connected through the pulley and the connecting belt (15). The limiting frame (17) is movably mounted inside the fixed box (11), and the limiting spring (19) is fixedly mounted between the limiting frame (17) and the fixed box (11). The limiting spring (19) is sleeved on the outside of the moving rod (18), and the moving rod (18) is fixedly mounted inside the fixed box (11).

4. The automatic weld seam scanning robot according to claim 1, characterized in that, The mounting bracket (21) is fixedly connected to one side of the fixed box (11), and the rotating plate (22) is symmetrically installed on one side of the mounting bracket (21). The rotating plate (22) is rotatably connected to the card plate (27) through the rotating shaft (24). The fixing bolt (25) is installed through the fixing hole (23) and the insertion hole (28). There are two insertion holes (28), and the two insertion holes (28) are set at ninety degrees along the center of the card plate (27).

5. The automatic weld seam scanning robot according to claim 1, characterized in that, The moving mechanism (3) includes a fixed box (31), and rotating columns (32) are symmetrically installed inside the fixed box (31). The rotating columns (32) are rotatably installed inside the fixed box (31), and a spur gear (33) is fixedly connected to the outer wall of the rotating column (32). A toothed belt (34) meshes with the outer wall of the spur gear (33). A drive motor (35) is fixedly installed on the top of the fixed box (31), and the output shaft of the drive motor (35) is fixedly connected to the rotating column (32). A connecting plate (29) is fixedly installed on one side of the toothed belt (34), and the connecting plate (29) is movably arranged on one side of the fixed box (31).

6. The automatic weld seam scanning robot according to claim 1, characterized in that, The rotating mechanism (4) includes a frame plate (41), and a central shaft (42) is fixedly connected to one side of the top of the frame plate (41). The frame plate (41) is fixedly installed on the top of the fixed box (31). A toothed ring disc (43) is fixedly connected to the top of the central shaft (42), and a toothed column (44) meshes with the top of the toothed ring disc (43).

7. The automatic weld seam scanning robot according to claim 6, characterized in that, A rotary motor (45) is fixedly installed on one side of the toothed column (44), and a fixed housing (46) is fixedly installed on the bottom of the rotary motor (45). The output shaft of the rotary motor (45) is fixedly connected to one side of the toothed column (44), and the rotary motor (45) is fixedly installed inside the fixed housing (46). The central shaft (42) is rotatably installed inside the fixed housing (46). A support base (47) is fixedly installed on the bottom side of one side of the fixed housing (46), and an ultrasonic detector (5) is fixedly installed on one side of the support base (47). The ultrasonic detector (5) is fixedly connected to the ultrasonic probe head (6) through a connecting line.

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