Electrode (ARC) and weld inspection (NDT) robot

Abstract

The invention relates to the robot (100) that performs welding and inspection operations on a single structure. By means of the robot (100), ease of use is provided, and time and cost are saved. In order for the robot (100) to move without losing its balance, it is ensured that it moves in three steps. In addition, for the welding and welding inspection process to be carried out under different terms and conditions, the robot (100) is firmly held onto the ground. The holding onto the ground is realised by means of the wheel magnet (110) and vacuum feet (107) on the crawler wheel (109).

Description

[0001] DESCRIPTION

[0002] ELECTRODE (ARC) AND WELD INSPECTION (NDT) ROBOT

[0003] Technical Field

[0004] The invention relates to a robot with feet that can hold onto the surface without disturbing the balance of the machine that performs both the electrode welding process of mechanical structures and the non-destructive welding inspection process in order to control the quality of the weld made.

[0005] The invention particularly relates to a robot with feet that can hold onto the surface without disturbing the balance of the machine in structures with different surface properties and shapes, that can perform both the electrode (arc) welding process of mechanical structures to be used on sea, air and land platforms and the nondestructive welding inspection (NDT) process in order to control the quality of the weld made, thus minimising the need for qualified welding personnel.

[0006] State of the Art

[0007] The electrode arc welding robot is an automatic welding robot used in the industrial field. This robot uses an electric arc to join one or more metal parts together using an electrode. An electrode is a material that provides the electric current that is passed between two metal parts. An electrode arc welding robot is a programmable and automatically operating robotic system. These robots can perform the welding process with high precision and minimise the risk of human error. During welding, the robot aligns the metal parts as desired and joins the parts using an electric arc. These robots can also be used in Non-Destructive Testing (NDT) techniques. NDT techniques are techniques used to assess structural integrity and identify potential defects. Electrode arc welding robots can be equipped with special sensors and equipment to apply NDT techniques. Thus, after welding, the robot can inspect the parts and detect any defects or damage. Today, many studies have been carried out to improve the performance of electrode arc welding robots and new structures have been developed that can perform nondestructive testing after the welding process. One of these studies is the invention subject to the patent application numbered W01988005707A1. Said invention relates to an apparatus and a method for preparing the pipe end and for welding pipes end- to-end. Said apparatus comprises a fixed ring-shaped clamp for both clamping and rolling pipes. It also has one or two rotating tool carrier rings mounted on one or both sides of the clamp on a rail. Said rotating ring is arranged to comprise means for cutting, machining grooves, welding and non-destructive testing (NDT). Rolling of the pipe is accomplished by means of 6 or more clamping shoes independently actuated by screw jacks, a wedge mechanism or direct-acting hydraulic cylinders.

[0008] Another study is the invention subject to patent application numbered DE2454901A1. Said invention relates to a process for non-destructive testing and control of welded joints where electrode movement occurs during welding. Faulty welds are instantly indicated while the workpiece is in the welding facility.

[0009] Another study is the invention subject to patent application numbered TR2019 / 10747. Said invention relates to a device that can perform non-destructive testing and precise length measurement of samples. It is a useful method in mass production as it gives very fast results.

[0010] Another study is the invention that is the subject of the patent application numbered WO2022225345A1 . Said invention relates to a welding inspection device comprising a base unit in which a battery module to be inspected is arranged, a positive electrode connector and a negative electrode connector connected for charging and discharging the battery module, a thermal imaging camera for photographing the welding section of the battery module, and a drive unit for moving the thermal imaging camera. Accordingly, whether the welding section is defective or not can be determined by the non-destructive testing method.

[0011] As a result, the existence of the need for an electrode (arc) and welding (NDT) robot that eliminates the disadvantages in the state of the art and the inadequacy of the existing solutions have necessitated a development in the relevant technical field. Brief Description of The Invention

[0012] The invention relates to a robot with feet that can hold onto the surface without disturbing the balance of the machine that performs both the electrode welding process of mechanical structures and the non-destructive welding inspection process in order to control the quality of the weld made, that meets the above-mentioned requirements, eliminates all the disadvantages and brings some additional advantages.

[0013] Based on the known state of the art, the aim of the invention is to ensure that the need for qualified welding personnel is minimised by performing the non-destructive welding inspection (NDT) process of the mechanical structures to be used on sea, air and land platforms by the developed robot immediately after the welding process.

[0014] The aim of the invention is to ensure that the balance of the machine can be held on the surface without disturbing the balance of structures with different surface properties and shapes by means of the vacuum legs and the magnet on the crawler wheel included in the robot.

[0015] Another aim of the invention is to ensure that the inspection process is performed by monitoring the weld made with the camera.

[0016] Another aim of the invention is to shorten the duration of the long-lasting welding control process.

[0017] Another aim of the invention is to provide easy welding for underwater welding.

[0018] Another aim of the invention is to provide welding and subsequent weld inspection.

[0019] Another aim of the invention is to ensure that the machine can maintain its balance for welding to be done in different positions and surfaces.

[0020] The structural and characteristic features and all the advantages of the invention will be understood more clearly by means of the figures given below and the detailed description written with references to these figures, and therefore the evaluation should be made by taking these figures and the detailed explanation into consideration.

[0021] Brief Description of the Drawings

[0022] In order to for the embodiment of the present invention and its advantages with additional elements to be understood in the best way, it should be evaluated together with the figures described below.

[0023] Figure-1 is the schematic general view of the robot in the assembled state.

[0024] Figure 2 is the schematic general view of the robot in the disassembled state.

[0025] Figure-3 is the schematic general front view of the robot.

[0026] Figure-4 is the schematic general rear view of the robot.

[0027] Figure-5 is the schematic general view of the welding machine,

[0028] Figure-6 is the schematic general view of the weld inspection device,

[0029] Figure-7 is the schematic general view of the battery,

[0030] Figure-8 is the schematic general view of the vacuum transmission system.

[0031] Figure-9 is the schematic general view of the crawler wheel,

[0032] Figure-10 is the schematic general view of the differential and shafts.

[0033] Reference Numbers

[0034] 100. Robot

[0035] 101 . Top cover

[0036] 102. Machine box

[0037] 103. Rack

[0038] 104. Profile

[0039] 105. Vacuum profile connection

[0040] 106. Vacuum connection pipe

[0041] 107. Vacuum feet

[0042] 108. Welding Torch

[0043] 109. Crawler wheel

[0044] 110. Wheel magnet 111. Electrical system

[0045] 112. Camera

[0046] 113. Welding inspection device

[0047] 114. Pinion gear

[0048] 115. Shaft

[0049] 116. Nut

[0050] 117. Machine profile connection

[0051] 118. Welding Machine

[0052] 119. Battery

[0053] 120. Vacuum machine

[0054] 121 . Screw

[0055] 122. Rear connection profile

[0056] 123. Front connection piece

[0057] 124. Connector

[0058] 125. Connection profile

[0059] 126. Upper connection piece

[0060] 127. Lower connection piece

[0061] 128. Pulley

[0062] 129. Vacuum pipe

[0063] 130. Differential

[0064] 131. Shaft

[0065] 132. Bearing

[0066] Detailed Description of the Invention

[0067] In this detailed description, a robot (100) with feet that is the subject of the invention and can hold on to the surface without disturbing the balance of the machine that performs both electrode welding of mechanical structures and non-destructive welding inspection in order to control the quality of the weld made, is explained as an example for a better understanding of the subject and in a way that does not create any limiting effect.

[0068] By means of the robot (100) that is the subject of the invention and is shown in Figure-1 , welding and inspection processes are carried out on a single structure. In this way, ease of use is provided and time and cost are saved. In order for the robot (100) to move without losing its balance, it is ensured that it moves in three steps. In addition, for the welding and welding inspection process to be carried out under different terms and conditions, the robot (100) is firmly held onto the ground. The holding onto the ground is realised by means of the wheel magnet (110) and vacuum feet (107) on the crawler wheel (109).

[0069] Inside the robot (100) there is a welding machine (118) for the conducing an electrode weld, a vacuum machine (120) and a battery (119). On the robot (100), there is a welding torch (108), a top cover (101 ) connected to the machine box (102) by means of a screw (121 ), a welding inspection device (113) for the inspection of the electrode weld without the need for expert personnel, and a camera (112) for the inspection. In addition, inside the profile (104) there are two pulleys (128) and two vacuum pipes (129) for the vacuum system. Said profile (104) is connected to the pinion gear (114) for the robot (104) to move forward and change its position. The connection between said profile (104) and the robot (100) is provided by the machine profile connection (117). The top cover (101 ) is positioned on the upper part of the robot (100) and is surrounded by the machine box (102). In order for the robot (100) to move forward, there are two pinion gears (114), two racks (103), two profiles (104), four vacuum connection pipes (106), four vacuum legs (107), two crawler wheels (109), and one differential (130). Along with the crawler wheel (109), there are two wheel magnets (110) and one electrical system (111 ). In the middle part of said pinion gear (114), there is a shaft (115) that transmits the movement. Said shaft (115) is connected to the machine box (102) by means of a nut (116). The vacuum force to said vacuum legs (107) is provided by the vacuum connection pipe (106). The connection between the vacuum connection pipe (106) and the profile (104) is provided by the vacuum profile connection (105).

[0070] The welding is performed with the welding machine (118) and the robotic welding torch (108) located inside the robot (100) shown in Figure-2. Then, the welding is viewed by the camera (112) positioned behind the robot (100) and shown in Figure-4 for the welding inspection and the welding is controlled by the welding inspection device (113) located in the robot (100). The welding top cover (101 ) and the machine box (102) are connected with the screw (121 ). The welding machine (118) shown in Figure-5 is connected to the robot (100) by means of the rear connection profile (122) and the front connection profile (123). The welding inspection device (113) shown in Figure-6 is connected to the robot (100) by means of the connection profile (125) and the connector (124).

[0071] The robot (100) comprises the welding machine (118) and the robotic welding torch (108) shown in Figure 3 for performing the welding process. Battery (119) is used to operate the welding machine (118), vacuum machine (120) and welding inspection device (113). Battery (119) shown in Figure-7 is connected to the robot (100) via upper connection piece (126) and lower connection piece (127).

[0072] Since said robot (100) is intended to weld underwater and on land, it needs to hold tightly to the welding surface due to changing conditions and positions. For this purpose, vacuum feet (107) and crawler wheels (109) are positioned in the robot (100). Said vacuum feet (107) are powered by the vacuum machine (120) positioned inside the robot (100). In addition, crawler wheels (109) are used for the forward movement of the robot (100). Wheel magnet (110) is positioned on the belt of said crawler wheels (109). Thus, the robot (100) clings to the area to be welded by means of the magnet inside the wheel (110) and its balance is prevented. There is an electrical system (111 ) inside the belt of the crawler wheel (109) shown in Figure-9 and the electricity can be cut off at any time and the crawler wheels (109) allow the robot (100) to move forward. The crawler wheels (109) consist of three wheels. In this way, it provides better weight transfer to the ground with its low pressure. It also allows the robot (100) to move easily on different grounds and surfaces.

[0073] The forward movement of the robot (100) takes place in three stages. First, the vacuum feet (107) cling to the ground. The robot (100) moves forward by means of the crawler wheels (109) via the gear rack (103) system connected to the vacuum feet (107). After the robot (100) reaches the desired position, the vacuum force generated by the vacuum machine (120) to the vacuum legs (107) is cut off and the vacuum legs (107) provide the next position with the forward movement via the rack (103) system. The pulley (128) and the pipe (129) that transmit the force coming from the vacuum machine (121 ) are positioned in the profile (104) on which the pinion gear (114) moves, and which is positioned on both sides of the machine box (102) shown in Figure-8. Said pipe (129) is connected to the machine box (102) by means of the profile connection (117).

[0074] The crawler wheels (109) positioned on both sides of the machine box (102) shown in Figure-10 are connected to each other by means of the shaft (131 ) in order to move simultaneously. The transmission for the movement of the crawler wheels (109) is provided by the differential (130) positioned on the shaft (131 ) passing through the lower part of the machine box (102) and the middle. The shaft (131 ) is connected to the crawler wheels (109) by means of the bearing (132).

Claims

CLAIMS1. A robot (100) that performs non-destructive weld inspection of mechanical structures to check both the electrode welding process and the quality of the weld made, comprising:- welding machine (118) and robotic welding torch (108) for performing electrode welding;- vacuum machine (120) positioned inside the robot (100) to power the vacuum legs (107);- weld inspection device (113) for checking the electrode weld without the need for expert personnel;- camera (112) positioned behind the robot (100) for viewing the welding being done;- pinion gear (114) and rack (103) for changing the position of the robot (104) by moving in the forward direction;- vacuum feet (107) that hold on to the ground for welding under water and on land by holding tightly onto the welding surface in changing conditions and positions, and crawler wheels (109) that move forward when the vacuum feet (107) leave the ground to change the position of the robot (100);- wheel magnet (110) positioned on the belt of the crawler wheels (109) to hold onto the area to be welded and to prevent it from losing its balance; and- electrical system (111 ) that is positioned inside the belt of the crawler wheel (109), and cuts off the electricity when the robot (100) is desired to move forward.

2. A robot (100) according to Claim 1 , comprising battery (119) to be used to operate the welding machine (118), vacuum machine (120) and welding inspection device (113).

3. A robot (100) according to Claim 2, comprising the upper connection piece (126) and the lower connection piece (127) that connect the battery (119) to the robot (100).

4. A robot (100) according to Claim 1 , comprising pulley (128) and vacuum pipe (129) for the vacuum system positioned inside the profile (104).

5. A robot (100) according to Claim 1 , comprising shaft (115) that is positioned in the middle part of the pinion gear (114) to transfer the movement.

6. A robot (100) according to Claim 1 , comprising vacuum connection pipe (106) for transferring vacuum force to the vacuum feet (107).

7. A robot (100) according to Claim 1 , comprising the rear connection profile (122) and the front connection profile (123) that connect the welding machine (118) to the robot (100).

8. A robot (100) according to Claim 1 , comprising the connection profile (125) and the connector (124) connecting the weld inspection device (113) to the robot (100).

9. A robot (100) according to Claim 1 , wherein the crawler wheels (109) consist of three wheels to ensure better weight transfer to the ground with low pressure and to enable the robot (100) to move easily on different grounds and surfaces.

10. A robot (100) according to Claim 1 , comprising profile (104) which is positioned on both sides of the machine box (102) and on which the pinion gear (114) moves.

11. A robot (100) according to Claim 1 , comprising shaft (131 ) that connects the crawler wheels (109) positioned on both sides of the machine box (102) to each other for simultaneous movement.

12. A robot (100) according to Claim 1 , comprising differential (130) that is positioned on the shaft (131 ) and transfers the movement of the crawler wheels (109).

13. A robot (100) according to Claim 1 , comprising bearing (132) positioned between the shaft (131) and the crawler wheels (109).

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