Hull weld joint flaw detection robot

Abstract

The utility model discloses a hull weld joint flaw detection robot, and relates to the technical field of hull weld joint flaw detection. Comprising a movable base, the movable base is provided with a protection mechanism used for the ship body weld joint flaw detection robot, the protection mechanism comprises a protection assembly, and the protection assembly comprises a U-shaped protection shell fixed to the upper end face of the movable base. The first mounting sliding block and the second mounting sliding block are opened and closed on the sliding rail support, the two sets of mounting sliding blocks are moved into the protective shell, then the protective door plate is rotated, the two sides of the protective shell are avoided, the detection equipment is effectively protected, and the internal detection equipment is effectively protected against damage of the external environment; when the robot does not perform detection work or is in a non-working state, external dust, moisture, sundries and the like can be prevented from entering the detection equipment, and damage to the equipment or influence on normal work of the equipment is avoided.

Description

Technical Field

[0001] This utility model relates to the field of ship hull weld flaw detection technology, specifically a ship hull weld flaw detection robot. Background Technology

[0002] With the development of the shipbuilding industry, large-span, high-strength steel structures are increasingly used in shipbuilding, such as hull shells, keels, steel box girder structures, and large pipeline structures. Because steel structures require extensive welding during assembly, the welding quality directly determines the overall quality of the ship structure. This is especially true for applications with high safety requirements, such as bow structures and Invar steel structures for LNG carrier tanks, where welding flaw detection is essential. Furthermore, after a certain number of years of service, specific structures also require periodic welding flaw detection to ensure timely detection and handling of potential safety hazards.

[0003] Reference patent (publication number: CN219162014U; publication date: 2023-06-09) discloses a ship hull weld flaw detection robot, which relates to the field of robotics. Addressing the problems of high labor intensity, low detection efficiency, and high missed detection rate in existing manual welding flaw detection methods, the following solution is proposed: It includes a trolley, a robotic arm, and a probe. The robotic arm adjusts the position and angle of the probe. The trolley carries the robotic arm and probe for movement. The trolley has a rectangular welded frame with a ring inside, and the outer wall of the ring is connected to the frame via a support plate. A platform is provided at the top of the frame, covering the ring and the support plate. Electric drive wheels are provided at the four bottom corners of the frame. The robotic arm includes a turntable, a first swing arm, and a second swing arm.

[0004] Based on the aforementioned patents, ship hull weld flaw detection robots typically integrate multiple high-precision sensors, such as laser sensors and vision sensors, for capture and analysis. However, after the probe and robotic arm complete their work, these precision devices are usually exposed to the external environment, making them difficult to store and protect. This makes them susceptible to damage from external impacts and moisture, reducing their service life. Furthermore, the devices are usually moved and inspected using wheels, and during the flaw detection process, the robot's base lacks stability and is prone to shaking, reducing detection accuracy. Therefore, this utility model provides a ship hull weld flaw detection robot. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides a ship hull weld flaw detection robot. It solves the problem that after the probe and robotic arm complete their work, these precision devices are usually exposed to the external environment, making it difficult to store and protect them. This makes them susceptible to damage from external impacts and moisture, reducing the service life of the equipment. Furthermore, the equipment is usually moved and inspected using wheels, and during the flaw detection process, the robot base lacks stability and is prone to shaking, reducing the accuracy of the inspection.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a ship hull weld flaw detection robot, comprising a movable base, wherein a protective mechanism for the ship hull weld flaw detection robot is provided on the movable base, the protective mechanism comprising:

[0007] The protective assembly includes a U-shaped protective shell fixed to the upper surface of a movable base, a slide rail bracket fixed to the upper surface of the movable base, the slide rail bracket being located inside the protective shell, a first mounting slider being slidably connected inside the slide rail bracket, and protective door panels being provided on both sides of the protective shell via a rotating shaft.

[0008] The positioning component includes a suction cup body connected to the four ends of the movable base via a push-up component.

[0009] Preferably, a robotic arm is provided on the upper end face of the first mounting slider, and a flaw detection probe for inspecting hull welds is provided at one end of the robotic arm.

[0010] Preferably, the lower end face of the movable base is provided with a cavity groove, and a support shaft is connected through the cavity groove. Both ends of the support shaft are fixed with V-shaped mounting brackets. Both ends of the mounting brackets are provided with movable wheels. The side wall of the mounting brackets is provided with shock-absorbing springs that are rotatably connected via a rotating shaft. One end of the upper end face of the movable base is fixed with a support rod, and the side wall of the support rod is provided with a rotating shaft that is rotatably connected to the other end of the shock-absorbing spring.

[0011] Preferably, the push assembly includes an electric push rod fixed at four ends of a movable base, and the suction cup body is fixedly connected to the telescopic end of the electric push rod.

[0012] Preferably, a drive shaft is connected through the center of the slide rail bracket, a drive gear is fixed to the outer wall of the drive shaft, and a gear rod is fixed to the side wall of the first mounting slider, the gear rod being meshed with the drive gear.

[0013] Preferably, a second mounting slider is slidably connected inside the slide rail bracket on the side symmetrical to the first mounting slider, and the second mounting slider has a perforated groove inside.

[0014] Beneficial effects

[0015] This invention provides a robot for inspecting flaws in ship hull welds. Compared with existing technologies, it has the following advantages:

[0016] Beneficial effects:

[0017] Firstly, when the drive gear rotates, this utility model opens and closes the first and second mounting sliders on the slide rail bracket, moving the two sets of mounting sliders into the interior of the protective shell. Then, the protective door plate rotates to close the two sides of the protective shell, effectively protecting the testing equipment and preventing damage to the internal testing equipment from the external environment. When the robot is not performing testing work or is in a non-working state, it can prevent external dust, moisture, debris, etc. from entering the interior of the testing equipment, avoiding damage to the equipment or affecting its normal operation.

[0018] Secondly, this utility model uses the movement of the movable base on the hull to bring the robotic arm and flaw detection probe components closer to the inspection area. Then, during inspection, the four sets of suction cups are lowered by electric push rods and adsorbed to the bottom of the bed, ensuring the stability of the movable base during flaw detection. This reduces flaw detection errors caused by shaking or instability and improves the accuracy of weld inspection. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0020] Figure 2 This is a schematic diagram of the internal structure of the protective shell of this utility model;

[0021] Figure 3 This is a schematic diagram of the suction cup main body connection structure of this utility model;

[0022] Figure 4 This is a schematic diagram of the main structure of the slide rail bracket of this utility model;

[0023] Figure 5 This is a schematic diagram of the first mounting slider drive structure of this utility model.

[0024] In the diagram: 1. Movable base; 2. Protective shell; 201. Protective door panel; 3. Slide rail bracket; 301. First mounting slider; 4. Electric push rod; 401. Suction cup body; 5. Cavity groove; 501. Support shaft; 502. Mounting bracket; 503. Moving wheel; 504. Shock-absorbing spring; 505. Support rod; 6. Robotic arm; 601. Flaw detection probe; 7. Drive shaft; 701. Drive gear; 702. Gear rod; 703. Second mounting slider; 704. Perforated groove. Detailed Implementation

[0025] 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.

[0026] Please see Figures 1-5 This utility model provides a technical solution: a ship hull weld flaw detection robot, including a movable base 1, on which a protective mechanism for the ship hull weld flaw detection robot is provided, the protective mechanism including:

[0027] The protective assembly includes a U-shaped protective shell 2 fixed to the upper surface of the movable base 1, a slide rail bracket 3 fixed to the upper surface of the movable base 1, the slide rail bracket 3 being located inside the protective shell 2, a first mounting slider 301 being slidably connected inside the slide rail bracket 3, and protective door panels 201 being rotatably connected to both sides of the protective shell 2 via a rotating shaft.

[0028] The positioning component includes a suction cup body 401 connected to the four ends of the movable base 1 via a push-up component.

[0029] In a preferred embodiment, a robotic arm 6 is provided on the upper surface of the first mounting slider 301. One end of the robotic arm 6 is provided with a flaw detection probe 601 for inspecting the hull weld. Two sets of robotic arms 6 are provided on the movable base 1. When the robotic arm 6 moves to the designated weld position, the two sets of robotic arms 6 will adjust to the appropriate angle and position according to the preset program or the operator's instructions. The flaw detection probe 601 then starts to work, emitting detection signals and receiving the reflected signals. The flaw detection probe 601 is the core component of the robot for weld inspection. It can emit and receive ultrasonic waves, X-rays or other detection signals to detect whether there are defects inside the weld. This is prior art and will not be elaborated on further. The two sets of robotic arms can work together or operate independently to adapt to the flaw detection needs of different welds and improve work efficiency.

[0030] In a preferred embodiment, a cavity groove 5 is formed on the lower end face of the mobile base 1. A support shaft 501 is connected through the cavity groove 5. V-shaped mounting brackets 502 are fixed at both ends of the support shaft 501. Moving wheels 503 are provided at both ends of the mounting brackets 502. Shock-absorbing springs 504 are rotatably connected to the side wall of the mounting brackets 502 via a rotating shaft. A support rod 505 is fixed at one end of the upper end face of the mobile base 1. The side wall of the support rod 505 is rotatably connected to the other end of the shock-absorbing springs 504 via a rotating shaft. The device is moved by the moving wheels 503. The mounting brackets 502 support the mobile base 1 and the moving wheels 503. The V-shaped structure of the mounting brackets 502 provides better support, making the mobile base 1 and the entire robot more stable during movement. The mounting brackets 502 and the shock-absorbing springs 504 provide a certain degree of shock absorption and buffering under the mobile base 1, which can absorb and disperse vibration energy during robot movement, helping to protect key components such as the robot arm 6 and the flaw detection probe 601.

[0031] In a preferred embodiment, the push assembly includes an electric push rod 4 fixed at four ends of a movable base 1. The suction cup body 401 is fixedly connected to the telescopic end of the electric push rod 4. The robot arm 6 and the flaw detection probe 601 are brought closer to the inspection area by the movement of the movable base 1 on the hull. Then, during inspection, the four sets of suction cup bodies 401 are lowered by the electric push rod 4 and adsorbed to the bottom of the bed, ensuring the stability of the movable base 1 during the inspection of the flaw detection probe 601. This reduces the flaw detection error caused by shaking or instability and improves the accuracy of weld inspection.

[0032] In a preferred embodiment, a drive shaft 7 is connected through the center of the slide rail bracket 3. A drive gear 701 is fixed to the outer wall of the drive shaft 7. A gear rod 702 is fixed to the side wall of the first mounting slider 301. The gear rod 702 is meshed with the drive gear 701. A second mounting slider 703 is slidably connected to the inside of the slide rail bracket 3 on the symmetrical side about the first mounting slider 301. The second mounting slider 703 has a through groove 704 inside. The drive shaft 7 is driven by a motor to rotate the drive gear 701. The drive gear 701 is then meshed with the gear rod 702, and the gear rod 702 is configured in two sets, distributed on the upper and lower sides of the drive gear 701. One set of mounting sliders is fixedly connected to the second mounting slider 703. When the drive gear 701 rotates, it opens and closes the first mounting slider 301 and the second mounting slider 703 on the slide rail bracket 3, moving the two sets of mounting sliders into the protective shell 2. Then, the protective door 201 rotates to close both sides of the protective shell 2, effectively protecting the detection equipment from damage by the external environment. When the robot is not performing detection work or is in a non-working state, it can prevent external dust, moisture, debris, etc. from entering the detection equipment, avoiding damage to the equipment or affecting its normal operation. The motor model mentioned above is Y2-200L1-2Y.

[0033] Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

[0034] During operation, the device is moved by the moving wheels 503. The mounting bracket 502 supports the moving base 1 and the moving wheels 503. The mounting bracket 502 has a V-shaped structure, which can provide better support and make the moving base 1 and the entire robot more stable during movement. The mounting bracket 502 is used to provide shock absorption under the moving base 1 by shock-absorbing springs 504. Then, when the inspection is performed, the four sets of suction cup bodies 401 are lowered by electric push rods 4 and adsorbed to the bottom of the bed to ensure the stability of the moving base 1 when the flaw detection probe 601 is performing inspection.

[0035] After the final test is completed, the drive shaft 7 is driven by a motor to rotate the drive gear 701. The drive gear 701 is then meshed with the gear rod 702, which is set in two sets, distributed on the upper and lower sides of the drive gear 701. One set is fixedly connected to the second mounting slider 703. When the drive gear 701 rotates, it opens and closes the first mounting slider 301 and the second mounting slider 703 on the slide rail bracket 3, moving the two sets of mounting sliders into the protective shell 2. Then, the protective door 201 is rotated to close both sides of the protective shell 2, effectively protecting the testing equipment from damage by the external environment.

[0036] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0037] 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. A ship hull weld flaw detection robot, comprising a movable base (1), characterized in that: The mobile base (1) is equipped with a protective mechanism for the ship hull weld flaw detection robot, the protective mechanism including: The protective assembly includes a U-shaped protective shell (2) fixed to the upper surface of a movable base (1), a slide rail bracket (3) fixed to the upper surface of the movable base (1), the slide rail bracket (3) being located inside the protective shell (2), a first mounting slider (301) being slidably connected inside the slide rail bracket (3), and protective door panels (201) being rotatably connected to both sides of the protective shell (2) via a rotating shaft. The positioning component includes a suction cup body (401) connected to the four ends of the movable base (1) via a push assembly.

2. The ship hull weld flaw detection robot according to claim 1, characterized in that: The upper end face of the first mounting slider (301) is provided with a robotic arm (6), and one end of the robotic arm (6) is provided with a flaw detection probe (601) for inspecting the hull weld.

3. The ship hull weld flaw detection robot according to claim 1, characterized in that: The lower end face of the movable base (1) is provided with a cavity groove (5), and a support shaft (501) is connected through the cavity groove (5). Both ends of the support shaft (501) are fixed with a V-shaped mounting bracket (502). Both ends of the mounting bracket (502) are provided with moving wheels (503). The side wall of the mounting bracket (502) is provided with a shock-absorbing spring (504) rotatably connected by a rotating shaft. One end of the upper end face of the movable base (1) is fixed with a support rod (505), and the side wall of the support rod (505) is provided with a rotating shaft rotatably connected to the other end of the shock-absorbing spring (504).

4. The ship hull weld flaw detection robot according to claim 1, characterized in that: The push assembly includes an electric push rod (4) fixed at four ends of a movable base (1), and the suction cup body (401) is fixedly connected to the telescopic end of the electric push rod (4).

5. The ship hull weld flaw detection robot according to claim 1, characterized in that: A drive shaft (7) is connected through the center of the slide rail bracket (3). A drive gear (701) is fixed on the outer wall of the drive shaft (7). A gear rod (702) is fixed on the side wall of the first mounting slider (301). The gear rod (702) is meshed with the drive gear (701).

6. The ship hull weld flaw detection robot according to claim 1, characterized in that: The slide rail bracket (3) has a second mounting slider (703) slidably connected to the side symmetrical to the first mounting slider (301) inside, and the second mounting slider (703) has a perforated groove (704) inside.

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