AGV mechanical arm electromagnetic ultrasonic automatic detection device

Abstract

The utility model discloses an AGV mechanical arm electromagnetic ultrasonic automatic detection device, relates to the field of automatic electromagnetic ultrasonic detection equipment, combines various technical means such as an AGV, a mechanical arm, electromagnetic ultrasonic and a 3D intelligent camera, can realize automatic detection of a large metal curved surface workpiece, overcomes the disadvantage that a coupling agent is needed in traditional ultrasonic detection, and improves the detection efficiency. By adopting an electromagnetic ultrasonic detection technology, the workpiece can be directly detected without a coupling agent. Four wheels of the AGV adopt Mecanum wheels and are driven by four motors, so that omnidirectional movement of the whole system is realized. A mechanical arm is installed on the AGV, three electromagnetic ultrasonic probes are installed at the tail end of the mechanical arm, and the detection area is large. The mechanical arm is further provided with a 3D intelligent camera, and a scanning path can be automatically planned. The AGV is provided with a display screen which can display a real-time scanning result. The device is high in detection efficiency, continuous and reliable in detection data, high in automation degree and capable of reducing the working intensity of workers.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of electromagnetic ultrasonic detection, especially to the field of automatic electromagnetic ultrasonic detection equipment. BACKGROUND

[0002] Electromagnetic ultrasonic detection is a non-destructive testing method combining electromagnetism and ultrasonic technology. It is mainly used for internal defect detection and evaluation of materials, structures and welded joints. For high-precision or important parts that require high-quality parts, non-destructive testing is often required, and electromagnetic ultrasonic detection technology is often used. Electromagnetic ultrasonic detection is widely used in rail, petrochemical, aerospace, shipbuilding and other industries, and is particularly suitable for detecting internal defects of key components such as welded joints, pipelines and pressure vessels, such as cracks, holes and inclusions.

[0003] The existing electromagnetic ultrasonic detection equipment has insufficient scanning freedom, and it is difficult to detect irregular parts, such as storage tanks and pressure tanks, which often have other parts connected to their surfaces, making detection difficult. Therefore, the utility model provides an AGV mechanical arm electromagnetic ultrasonic automatic detection device, which has high freedom, high detection efficiency, continuous and reliable detection data, and high automation. SUMMARY

[0004] The utility model provides a kind of AGV mechanical arm electromagnetic ultrasonic automatic detection device, including AGV car body 1, the mechanical arm 2, display screen 3, Mecanum wheel 5, anti-collision rubber strip 6, power control box 7, electrical box 12, control box 13, battery 16, electromagnetic ultrasonic host 17, industrial computer host 18, lifting ring 19, motor 20 are installed on the AGV car body 1.The mechanical arm 2 is adaptively connected with 3D intelligent camera 15.The mechanical arm 2 distal end is adaptively connected with probe tool 8, and the probe tool 8 mainly includes three electromagnetic ultrasonic probes 11, three universal wheels 10 and spring 9.

[0005] Further, mounting holes are formed in the AGV car body 1, and a screen support 4 is mounted, and the display screen 3 is adaptively connected to the screen support 4.

[0006] Further, a plurality of installation grooves, bins, flanges or holes are formed in the AGV car body 1 for mounting and connecting the mechanical arm 2, display screen 3, Mecanum wheel 5, anti-collision rubber strip 6, power control box 7, electrical box 12, control box 13, battery 16, electromagnetic ultrasonic host 17, industrial computer host 18, lifting ring 19 and motor 20.

[0007] Further, four lifting rings 19 are mounted at the edges of the AGV car body 1 for convenient transportation.

[0008] Further, the AGV vehicle body 1 edge is equipped with anti-collision rubber strip 6, ensure the safety of the vehicle body.

[0009] Further, the moving power source of the whole system is 4 motors 20, the positive and negative rotation of the 4 motors 20 is controlled to drive the Mecanum wheel (5) to rotate, so as to realize the omnidirectional movement of the whole system.

[0010] Further, the AGV mechanical arm electromagnetic ultrasonic automatic detection device is characterized in that the power control box 7 is provided with a battery charging port, a battery state lamp and a motor brake state lamp.

[0011] Further, the probe tooling 8 comprises three universal wheels 10, and a spring 9 is arranged to realize self-adaptive deformation, and the universal wheel 10 closely contacts the workpiece during scanning, and the electromagnetic ultrasonic probe 11 does not contact the workpiece.

[0012] The 3D intelligent camera 15 is connected to the mechanical arm 2, and the scanning track of the mechanical arm can be automatically planned.

[0013] Further, the scanning data after information processing is displayed clearly on the display screen 3 in real time, and the data is clear and reliable.

[0014] Beneficial effects: an AGV mechanical arm electromagnetic ultrasonic automatic detection device, which combines AGV car, mechanical arm, electromagnetic ultrasonic, 3D intelligent camera and other technical means, can realize automatic detection of large metal curved surface workpieces, and the disadvantages of traditional ultrasonic detection requiring coupling agent are abandoned. The electromagnetic ultrasonic detection technology is adopted, so that the workpiece can be directly detected without coupling agent. The four wheels of the AGV car adopt Mecanum wheels, which are driven by four motors to realize omnidirectional movement of the whole system. The AGV car is provided with a mechanical arm, and the mechanical arm is provided with three electromagnetic ultrasonic probes at the end, and the detection area is large. The mechanical arm is also provided with a 3D intelligent camera, which can automatically plan the scanning path. The AGV car is provided with a display screen, which can display real-time scanning results. The detection efficiency is high, the detection data is continuous and reliable, the automation degree is high, the working strength of workers is reduced, the shell is designed ingeniously, most of the electrical components are arranged in the AGV vehicle body 1, the structure is beautiful, the use is convenient, the application condition is wide, and the detection precision is high. BRIEF DESCRIPTION OF DRAWINGS

[0015] Fig. 1 is a schematic diagram of the overall structure of the utility model.

[0016] Fig. 2 is a schematic diagram of the internal structure of the utility model.

[0017] Figure 3 is a bottom structure schematic diagram of the utility model.

[0018] Figure 4 is a probe tool structure schematic diagram of the utility model.

[0019] Mark explanation: 1-AGV car body, 2-mechanical arm, 3-display screen, 4-display screen support, 5-Mecanum wheel, 6-anti-collision rubber strip, 7-power control box, 8-probe tool, 9-spring, 10-omniwheel, 11-electromagnetic ultrasonic probe, 12-electric box, 13-control box, 14-detecting workpiece, 15-3D intelligent camera, 16-battery, 17-electromagnetic ultrasonic host, 18-industrial computer host, 19-lifting ring, 20-motor, 21-motor driver. Specific embodiments

[0020] In order to make the purpose and technical scheme of the utility model more clear and convenient to understand. The following combines with the drawing and embodiment, the specific embodiment described here is only used to explain the utility model, and is not used to limit the utility model.

[0021] In the description of the utility model, it is understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is based on the orientation or positional relationship shown in the drawing, and is only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as limiting the device or element indicated. The terms "mounting", "connection" and "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, and it can be the communication between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0022] Referring to Figure 1, the overall structure schematic diagram of the utility model shows that the detection system scans the way of detecting irregular tank workpiece, places the tank parts on the side of the detection system, moves the car body to the appropriate position, sets the scanning path or adjusts the position of the mechanical arm to automatically identify the path with the 3D intelligent camera 15, drives the 3 electromagnet ultrasonic probes 11 with the mechanical arm 2 to reciprocate scanning from one end of the tank to the other end, after scanning a certain range, it can cooperate with other equipment to realize the self-rotation of the detected workpiece 14 within a certain range, and then make scanning action until scanning is completed. The scanning result is displayed on the display screen 3 in real time.

[0023] With reference to figures 1, 2, 3, 4, the utility model includes, including AGV car body 1, mechanical arm 2, display screen 3, Mecanum wheel 5, anti -collision rubber strip 6, power control box 7, electrical box 12, control box 13 are installed on AGV car body 1, battery 16, electromagnetic ultrasonic host computer 17, industrial computer host computer 18, lifting ring 19, motor 20.The mechanical arm 2 is switched on 3D intelligent camera 15.The mechanical arm 2 end switching has probe tooling 8, and the probe tooling 8 mainly includes 3 electromagnetic ultrasonic probes 11, 3 universal wheels 10 and spring 9.

[0024] The AGV car body 1 is opened on the installation hole, installs screen support 4, and the screen support 4 is switched on display screen 3.

[0025] The AGV car body 1 is opened on several installation grooves, warehouses, flanges or holes for installing and connecting mechanical arm 2, display screen 3, Mecanum wheel 5, anti -collision rubber strip 6, power control box 7, electrical box 12, control box 13, battery 16, electromagnetic ultrasonic host computer 17, industrial computer host computer 18, lifting ring 19, motor 20.

[0026] The AGV car body 1 edge is equipped with 4 lifting rings 19, which is convenient for transportation.

[0027] Further, the AGV car body 1 edge is equipped with anti -collision rubber strip 6, guarantees the safety of car body.

[0028] The moving power source of the whole system is 4 motors 20, and the positive and negative rotation of 4 motors 20 is controlled to drive Mecanum wheel (5) to rotate, to realize the omnidirectional movement of the whole system.

[0029] Further, the AGV mechanical arm electromagnetic ultrasonic automatic detection device is characterized in that the power control box 7 is provided with battery charging port, battery state light, motor brake state light.

[0030] Further, the probe tooling 8 includes 3 universal wheels 10, and spring 9 is used to realize self -adaptation deformation, and the electromagnetic ultrasonic probe 11 does not contact the workpiece while the universal wheel 10 is closely attached to the workpiece and scans.

[0031] The mechanical arm 2 is switched on 3D intelligent camera 15, and the scanning track of the mechanical arm can be automatically planned.

[0032] Further, the scanning data after information processing is displayed clearly on the display screen 3 in real time.

[0033] The utility model discloses shell design is ingenious, most electrical components are installed in AGV car body 1 inside, and the structure is beautiful, convenient to use, and the applicable condition is wide, and the detection precision is high.

Claims

1. An electromagnetic ultrasonic automatic testing device for AGV robotic arms, characterized in that, Includes AGV body, robotic arm, display screen, Mecanum wheels, probe fixtures, and 3D smart camera; The AGV body (1) has several mounting slots, compartments, flanges or mounting holes. The AGV body (1) is equipped with a robotic arm (2), a display screen (3), a Mecanum wheel (5), anti-collision strips (6), a power control box (7), an electrical box (12), a control box (13), a battery (16), an electromagnetic ultrasonic host (17), an industrial control computer host (18), a lifting ring (19), and a motor (20). A screen bracket (4) is installed on the AGV body (1), and a display screen (3) is connected to the screen bracket (4). The AGV body (1) is equipped with 4 lifting rings (19) at the edge for easy transportation, and anti-collision rubber strips (6) are installed at the edge to ensure the safety of the body; The AGV vehicle body (1) is powered by four motors (20), which control the forward and reverse rotation of the four motors (20) to drive the Mecanum wheel (5) to rotate, so as to achieve omnidirectional movement of the entire system. The power control box (7) is equipped with a battery charging port, a battery status light, and a motor brake status light; The robotic arm (2) is equipped with a 3D smart camera (15), which can automatically plan the scanning trajectory of the robotic arm; The robotic arm (2) has a probe fixture (8) attached to its end. The probe fixture (8) mainly includes an electromagnetic ultrasonic probe (11), three casters (10) and a spring (9).

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