CN114939860A - Weak magnetic detection robot for weld damage and detection method - Google Patents
Weak magnetic detection robot for weld damage and detection method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0047—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes measuring forces due to residual stresses
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
- G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/20—Recycling
Abstract
The invention provides a robot and a detection method for detecting weak magnetism of weld damage, which are used for detecting residual stress of welds in the industrial fields of steel, chemical engineering, automobiles, aviation and the like, and comprise a robot body, a control unit, a stress detection unit and a power supply device, wherein the stress detection unit is arranged on the robot body, the robot body and the stress detection unit are both connected with the control unit, the robot body comprises a traveling unit, a tracking unit, a wall climbing unit and an obstacle avoidance unit, the traveling unit comprises a vehicle body bottom plate, a plurality of universal wheels and a motor, a plurality of weak magnetic sensors parallel to a detected member are arranged on the robot, the weld is taken as a tracking track to advance in a tracking manner, so that a precise weak magnetic signal of the weld of the detected member is obtained, the problem that the traditional stress detection is carried out along the weld by a detection device held by a detection person is solved, and the detection method has low detection efficiency, the detection precision is poor, and the detection error is large due to the influence of human factors.
Description
Technical Field
The invention belongs to the technical field of nondestructive testing, and particularly relates to a weak magnetic testing robot for weld damage and a testing method.
Background
The welding of ferromagnetic materials is the foundation of modern industry, and has been widely applied to the fields of metallurgical energy, automation, machinery, automobiles, railways, roads and bridges, petrochemical engineering and the like, the fields of magnet materials such as railway rails, bridge supports, wheel hubs, petrochemical engineering and the like, the fields of ferromagnetic materials such as railway rails, bridge supports, wheel hubs of locomotives, oil pipelines and the like, and during the welding process, various defect residual stresses are easy to appear at the welding seams due to the welding speed, power, the conditions of the welding positions of workpieces and the like.
The defects or residual stress of the welding seam of the ferromagnetic material, particularly the metal material, are too large to cause related safety accidents, and the defects or residual stress of the welding equipment can be detected before the welding equipment is put into operation to prevent and reduce the related safety accidents, so that the safe operation of the equipment is guaranteed, and the service life of the equipment is prolonged.
However, the traditional stress detection is carried out by a detection person holding the detection equipment along the welding line, and the detection method has the defects of low detection efficiency, poor detection precision and large detection error caused by the influence of human factors.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to provide a robot and a method for detecting weak magnetism of weld damage, which can solve the problems that the traditional stress detection is carried out along a weld by a detection person holding a detection device, the detection method is low in detection efficiency and poor in detection precision, and the detection error is large due to the influence of human factors.
In order to solve the problems, the invention provides a robot for detecting weld damage and weak magnetism, which is used for detecting the residual stress of a weld of a metal component in the industrial fields of steel, chemical engineering, automobiles, aviation and the like, and comprises a robot body, a control unit, a stress detection unit and a power supply device, wherein the stress detection unit is arranged on the robot body, and the robot body and the stress detection unit are both connected with the control unit;
the robot body comprises a traveling unit, a tracking unit, a wall climbing unit and an obstacle avoidance unit;
the advancing unit comprises an underbody, a plurality of universal wheels and a motor, wherein the motor is connected with the universal wheels, and the universal wheels are symmetrically and movably arranged on the underbody by the central line of the underbody so as to drive the underbody to operate through the motor;
the tracking unit comprises a plurality of steering engine cloud platforms and cameras, each steering engine cloud platform is connected with a universal wheel, the steering engine cloud platforms correspond to the universal wheels one by one so that the universal wheels can change the operation angle through the steering engine cloud platforms, and the cameras are installed at the front end of the bottom plate of the vehicle body;
the wall climbing unit comprises a plurality of rotors which are all arranged on the vehicle body bottom plate, the rotors are linearly arranged, and the motor is connected with the rotors to form a centrifugal fan system so as to enable the vehicle body bottom plate to be attached to the side wall of the tested component to operate;
the obstacle avoidance unit comprises an ultrasonic obstacle avoidance sensor which is arranged at the front end of the vehicle body bottom plate so that the vehicle body bottom plate can avoid obstacles through the ultrasonic obstacle avoidance sensor;
the control unit comprises a single chip microcomputer, a tracking module, an ultrasonic obstacle avoidance module, a motor module and a steering engine holder module, wherein the single chip microcomputer is installed at the top of a bottom plate of a vehicle body;
the motor, the steering engine holder, the camera, the ultrasonic module, the control unit and the stress detection unit are electrically connected with the power supply device, and the power supply device is installed on the vehicle body bottom plate.
Optionally, the stress detection unit comprises a plurality of weak magnetic sensors and a plurality of support frames, the plurality of support frames are arranged in the middle of the top of the vehicle body bottom plate and evenly distributed along the axial direction of the vehicle body, two weak magnetic sensors are arranged on each support frame and penetrate through the vehicle body bottom plate, each weak magnetic sensor is arranged in parallel with the side wall of the detected component, the weak magnetic sensors are in signal connection with the control unit, and the weak magnetic sensors are electrically connected with the power supply device.
Optionally, the control unit further comprises a weak magnetic sensor module and a data storage module, the weak magnetic sensor is in signal connection with the weak magnetic sensor module, the weak magnetic sensor module is in signal connection with the single chip microcomputer, and the weak magnetic sensor module is in signal connection with the data storage module.
Optionally, the wiring groove is symmetrically installed along the vehicle body bottom plate axis on the upper surface of the vehicle body bottom plate.
The invention provides a detection method of a robot for detecting weak magnetism of weld damage, which comprises the following steps:
the method comprises the following steps: placing a welding line damage weak magnetic detection robot at the starting end of a welding line of a metal component, starting a motor module, driving a rotor to rotate by the motor, enabling the welding line damage weak magnetic detection robot to be attached to the side wall of the component to be detected, driving a universal wheel to rotate by the motor, driving the welding line damage weak magnetic detection robot to run on the component to be detected by the universal wheel, starting a stress detection unit, acquiring residual stress information of the welding line by a weak magnetic sensor, transmitting the acquired information to a weak magnetic sensor module, and transmitting a received signal to a data storage module by the weak magnetic sensor module;
step two: the robot for detecting weak magnetism of weld damage runs on a detected component, a camera detects whether a weld track exists in the front of running, a tracking module transmits collected information detected by the camera to a single chip microcomputer, and the single chip microcomputer controls a steering engine holder module and an ultrasonic wave obstacle avoidance module based on the information received by the single chip microcomputer.
Optionally, the second step includes:
when the camera detects that a welding seam track exists in front of operation, the singlechip receives welding seam track information, the singlechip starts the steering engine cradle head module, the steering engine cradle head changes the operation angle of the weak magnetic detection robot for welding seam damage according to the welding seam track, the singlechip starts the ultrasonic obstacle avoidance module, and the ultrasonic obstacle avoidance sensor judges whether an obstacle exists in the forward direction or not;
when the camera detects that a front weldless track runs, the singlechip starts the ultrasonic obstacle avoidance module based on the fact that the singlechip receives weldless track information, and the ultrasonic obstacle avoidance sensor judges whether an obstacle exists in the advancing direction.
Optionally, the ultrasonic wave is kept away barrier sensor and is judged that the direction of advancing whether has the barrier and include:
when the ultrasonic obstacle avoidance sensor judges that an obstacle exists in the advancing direction, the ultrasonic obstacle avoidance module controls the motor to stop running;
when the ultrasonic obstacle avoidance sensor judges that no obstacle exists in the advancing direction, the ultrasonic obstacle avoidance module controls the motor to operate.
Advantageous effects
The robot for detecting the weak magnetism of the damaged welding seam and the detection method thereof provided by the embodiment of the invention have the advantages that the robot for detecting the damaged welding seam and the weak magnetism can take the welding seam of a detected member as a tracking track to advance along the welding seam in a tracking way, meanwhile, a front obstacle is hidden in time through an obstacle avoidance unit, the robot for detecting the damaged welding seam and the weak magnetism is prevented from being damaged, a plurality of weak magnetism sensors parallel to the detected member are arranged on the robot, the welding seam is taken as the tracking track to advance in a tracking way, so that accurate weak magnetism signals of the welding seam are obtained, the weak magnetism signals of the welding seam can be collected into a data storage in the advancing process, and a detector can conveniently realize early diagnosis of the defects and a stress concentration area of the welding seam according to the metal weak magnetism detection principle. This weak magnetism detection robot of welding seam damage has removed the handheld check out test set of testing personnel from and has progressively detected along the welding seam trouble, has realized the demand that welding seam residual stress automated inspection. The device has the advantages of simple structure, small volume, high detection efficiency and simple and convenient operation, and provides convenience for the stress detection of the welding seam of the welding metal material. The problems that the detection efficiency of the residual stress of the metal welding seam is low, the labor intensity of detection personnel is high, the detection error is large due to human factors and the like are solved.
Drawings
FIG. 1 is a schematic perspective view of a robot for weak magnetic detection of weld damage according to an embodiment of the present invention;
FIG. 2 is a diagram of a welding seam damage weak magnetic detection robot according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a control unit of an embodiment of the present invention;
FIG. 4 is a block diagram of a control unit according to an embodiment of the present invention;
FIG. 5 is a general flowchart of a detection method according to an embodiment of the present invention;
FIG. 6 is a flowchart illustrating the operation of the tracking unit according to the embodiment of the present invention;
fig. 7 is a flowchart of the operation of the obstacle avoidance unit according to the embodiment of the present invention;
FIG. 8 is a flowchart of the operation of the wall climbing unit according to the embodiment of the present invention;
fig. 9 is a flowchart illustrating the operation of the stress detection unit according to the embodiment of the invention.
The reference numerals are represented as:
1. a robot body; 10. a vehicle body floor; 11. a universal wheel; 12. an electric motor; 13. a steering engine pan-tilt; 14. a camera; 15. an ultrasonic obstacle avoidance sensor; 16. a rotor;
2. a control unit; 20. a single chip microcomputer; 21. a tracking module; 22. an ultrasonic obstacle avoidance module; 23. a motor module; 24. a steering engine cradle head module; 25. a weak magnetic sensor module; 26. a data storage module;
3. a stress detection unit; 30. a weak magnetic sensor; 31. a support frame;
4. a power supply device; 5. and (6) wiring grooves.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions and specific embodiments of the present invention will be clearly and completely described below in conjunction with the pipe helical weld.
Referring to fig. 1 to 9 in combination, according to an embodiment of the present invention, a robot for detecting weld damage and weak magnetism, which can be used for detecting residual stress of a spiral weld of a pipeline, includes a robot body 1, a control unit 2, a stress detection unit 3 and a power supply device 4, wherein the stress detection unit 3 is arranged on the robot body 1, and the robot body 1 and the stress detection unit 3 are both connected to the control unit 2; referring to fig. 1, a robot body 1 includes a traveling unit, a tracking unit, a wall climbing unit, and an obstacle avoidance unit; the traveling unit comprises a vehicle body bottom plate 10, a plurality of universal wheels 11 and a motor 12, wherein the motor 12 is connected with the universal wheels 11, and the universal wheels 11 are symmetrically and movably arranged on the vehicle body bottom plate 10 by the central line of the vehicle body bottom plate 10, so that the universal wheels 11 drive the vehicle body bottom plate 10 to run through the motor 12; the tracking unit comprises a plurality of steering engine cloud platforms 13 and cameras 14, each steering engine cloud platform 13 is connected with a universal wheel 11, the steering engine cloud platforms 13 correspond to the universal wheels 11 one by one, so that the universal wheels 11 change the operation angle through the steering engine cloud platforms 13, and the cameras 14 are installed at the front end of the vehicle body bottom plate 10; the wall climbing unit comprises a plurality of rotors 16, the rotors 16 are all arranged on the underbody 10, the rotors 16 are linearly arranged, and the motor 12 and the rotors 16 are connected to form a centrifugal fan system so that the underbody 10 can run attached to the side wall of the pipeline; the obstacle avoidance unit comprises an ultrasonic obstacle avoidance sensor 15, and the ultrasonic obstacle avoidance sensor 15 is installed at the front end of the vehicle body bottom plate 10, so that the vehicle body bottom plate 10 avoids obstacles through the ultrasonic obstacle avoidance sensor 15; referring to fig. 3 and 4, the control unit 2 includes a single chip microcomputer 20, a tracking module 21, an ultrasonic obstacle avoidance module 22, a motor module 23 and a steering engine pan-tilt module 24, the single chip microcomputer 20 is installed on the top of the vehicle body bottom plate 10, wherein the motor 12 is in signal connection with the motor module 23, the steering engine pan-tilt 13 is in signal connection with the steering engine pan-tilt module 24, the camera 14 is in signal connection with the tracking module 21, the ultrasonic obstacle avoidance sensor 15 and the motor 12 are in signal connection with the ultrasonic obstacle avoidance module 22, and the stress detection unit 3, the tracking module 21, the ultrasonic obstacle avoidance module 22, the motor module 23 and the steering engine pan-tilt module 24 are in signal connection with the single chip microcomputer 20; the motor 12, the steering engine holder 13, the camera 14, the ultrasonic obstacle avoidance module 22, the control unit 2 and the stress detection unit 3 are all electrically connected with the power supply device 4, and the power supply device 4 is installed on the vehicle body bottom plate 10. According to the invention, the control unit 2 controls the robot body 1 to move along the spiral welding seam track in the pipeline, and the stress detection unit 3 detects the residual stress of the spiral welding seam in the pipeline, so that automation is realized, a detection device is prevented from being manually held, the detection precision is improved, and the detection efficiency is improved. The device has the advantages of simple structure, small volume, high detection efficiency and simple and convenient operation, and provides convenience for stress detection of long oil and gas pipelines, especially pipeline spiral weld joints.
Further, the traveling unit of the robot body 1 mainly functions to drive the robot body 1 to operate, wherein the underbody 10 plays a role in supporting and fixing, the motor 12 is installed on the rear side of the upper surface of the underbody 10, and the power supply device 4 is also installed on the rear side of the upper surface of the underbody 10 and is installed side by side with the motor 12. The model of the motor 12 is L298N motor 12, and the motor 12 is fixedly connected with the underbody 10 through glue joint.
Furthermore, the power supply device 4 is a battery, which is convenient to replace and install and is convenient to provide power.
Further, the number of universal wheels 11 is four, uses the axis of underbody 10 as the symmetry axis, and the symmetry is installed in the both sides of underbody 10, and two universal wheels 11 all have on each side of underbody 10 promptly, and wherein, every universal wheel 11 all is connected with motor 12 through the wire, and the universal wheel 11 operation of motor 12 control of being convenient for, motor 12 and motor module 23 signal connection.
Further, the wiring groove 5 is installed as the symmetry axis to the axis that underbody 10 was used to underbody 10's upper surface, and the effect of wiring groove 5 is the installation wire of being convenient for, is connected through the wire between universal wheel 11 and the motor 12, and the wire is connected between motor 12 and the battery, and the wire is through wiring groove 5, even if in the centralized management wire, ensures wholly clean and tidy, avoids in disorder.
Furthermore, the wall climbing unit in the robot body 1 ensures that the robot body 1 is attached to the side wall of the pipeline, and simultaneously drives the robot body 1 to operate in the pipeline through the advancing unit.
Further, a plurality of rotors 16 pass through the wire with motor 12 and are connected, control rotor 16 and rotate, and motor 12 forms centrifugal fan system with rotor 16 promptly, and centrifugal fan system effect is under rotor 16 high-speed rotation, extracts out the air of underbody 10 and pipeline lateral wall fast, forms negative pressure state, and at this moment, robot 1 will be hugged closely the pipe wall, and then realizes crawling at pipeline inner wall vertical and horizontal direction.
Further, the number of the rotor wings 16 is six, and the rotor wings are arranged at two ends of the middle of the vehicle body bottom plate 10, namely, positioned between the wiring groove 5 and the weak magnetic sensor 30, and each rotor wing 16 is fixed on the vehicle body bottom plate 10 through a connecting rod and is connected with the battery and the motor 12 through a wire communicated with the wiring groove 5.
Further, the tracking unit in the robot body 1 is used for driving the robot body to run through the travelling unit, whether a spiral weld track exists in front of the travelling direction or not is judged through the tracking unit, if yes, the robot body continues to travel, and if not, the robot body stops running.
Furthermore, a steering engine pan-tilt 13 in the tracking unit is directly connected with the universal wheel 11 and used for controlling the rotating angle of the universal wheel 11, the operating angle of the universal wheel 11 is changed according to the track of the spiral welding line, and the steering engine pan-tilt 13 is in signal connection with a steering engine pan-tilt module 24.
Furthermore, the number of the steering engine cloud platforms 13 corresponds to the number of the universal wheels 11 one by one, one universal wheel 11 is connected with one steering engine cloud platform 13, and each universal wheel 11 is connected with the steering engine cloud platform 13 through a connecting rod. Wherein the model of steering wheel cloud platform 13 is SG steering wheel cloud platform 13, and every steering wheel cloud platform 13 all fixes on automobile body bottom plate 10 through the splice to every steering wheel cloud platform 13 passes through the wire and is connected with singlechip 20, and the wire is through wiring groove 5, avoids whole in disorder.
Further, the number of the cameras 14 is selected according to actual use, and the cameras 14 are fixed to the front end of the underbody 10, namely the front end in the advancing direction, through gluing, so that the forward track information of the underbody 10 can be collected conveniently, and the robot body 1 is ensured not to run off the track. The model of the camera 14 is an OpenMV camera 14, and the camera 14 is in signal connection with the tracking module 21.
Further, referring to fig. 2, the robot body 1 is a traveling path along a spiral weld in a pipeline, the OpenMV camera 14 detects traveling information, the tracking module 21 sends the acquired path information to the single chip microcomputer 20, and the single chip microcomputer 20 controls the robot body 1 to run or stop running. The camera 14 has a real-time photo collecting capability in the advancing process of the underbody 10, the collected photos are preprocessed, and the edges of the photos are calculated by using a sobel gradient operator, so that the system can directly plan the edge information into a path for the underbody 10 to advance along the track as long as the pipeline spiral weld has a large edge gradient change due to a single background. The singlechip 20 controls the steering engine pan-tilt 13 to shift the advancing angle according to the path information collected by the camera 14, and the motor 12 drives the universal wheel 11 on the vehicle body bottom plate 10 to advance forwards.
Further, the obstacle avoidance unit in the robot body 1 is used for detecting whether an obstacle exists in the front when the underbody 10 moves forward, and the robot body 1 is prevented from colliding with the obstacle in the front of the robot body, so that damage is caused.
Further, the ultrasonic obstacle avoidance sensors 15 are fixed to the front end of the underbody 10 by means of glue, and the number of the ultrasonic obstacle avoidance sensors 15 is selected according to actual use. Meanwhile, the ultrasonic obstacle avoidance sensor 15 is connected with the single chip microcomputer 20 and the battery through a wire, and the wire passes through the wiring groove 5, so that disorder is avoided.
Further, the ultrasonic obstacle avoidance sensor 15 is in signal connection with the ultrasonic obstacle avoidance module 22, wherein the motor 12 is also in signal connection with the ultrasonic obstacle avoidance module 22, an obstacle avoidance system is formed by the ultrasonic obstacle avoidance sensor 15, the motor 12 and the ultrasonic obstacle avoidance module 22, the ultrasonic obstacle avoidance sensor 15 detects the front of the underbody 10, wherein the ultrasonic obstacle avoidance module 22 automatically sends 8 square waves of 40KHZ and automatically detects whether a signal returns, and if a signal returns, a high level is output through an I0 port to control the motor 12 to stop driving, namely, the robot body 1 stops operating.
Further, the single chip 20 in the control unit 2 controls and ensures that each module operates according to a set mode. Wherein, singlechip 20 installs at underbody 10's top, and singlechip 20's model is STM32 singlechip 20, adopts STM32 singlechip F103C8T6 as minimum system, and singlechip 20 is connected with motor 12, steering wheel cloud platform 13, camera 14, ultrasonic wave obstacle avoidance sensor 15, weak magnetic sensor 30 and power supply unit 4 respectively through the wire, and the wire all assembles in the wiring groove, avoids in disorder.
Furthermore, the support frame 31 is installed in the middle of the underbody 10 and located in the middle, two weak magnetic sensors 30 are installed on each support frame 31, the number of the weak magnetic sensors 30 is ten, and the number of the support frames 31 is five. The supporting frame 31 is fixed on the vehicle body bottom plate 10, an opening is formed in the vehicle body bottom plate 10, the weak magnetic sensor 30 penetrates through the bottom of the vehicle body bottom plate 10 from the opening and the top of the vehicle body bottom plate 10, and meanwhile, the weak magnetic sensor 30 is parallel to the inner wall of the pipeline, so that the spiral welding seam residual stress can be detected conveniently.
Further, the plurality of support frames 31 are arranged in a straight line, that is, are uniformly arranged on the central axis of the underbody 10.
Another aspect of the present invention provides a method for detecting a robot with weak magnetism for detecting weld damage, such as the robot with weak magnetism for detecting weld damage described above, with reference to fig. 5, the method includes the following steps:
the method comprises the following steps: placing the welding line damage weak magnetic detection robot at the initial position of one end of a spiral welding line in a pipeline and turning on a power switch, initializing before each module works, starting a motor module 23, referring to fig. 8, driving a rotor wing 16 to rotate by a motor 12, enabling the welding line damage weak magnetic detection robot to be tightly attached to the side wall of the pipeline by the rotor wing 16 rotating at a high speed, so as to realize the traveling in the vertical and horizontal directions of the pipeline, meanwhile, driving a universal wheel 11 to rotate by the motor 12, and driving the welding line damage weak magnetic detection robot to operate in the pipeline by the universal wheel 11;
referring to fig. 9, the stress detection unit 3 is started simultaneously, the weak magnetic sensor 30 collects residual stress information of a weld, the collected information is transmitted to the weak magnetic sensor module 25, the weak magnetic sensor module 25 converts detected weak magnetic signals into electric signals, the electric signals are amplified by the signal amplification circuit and then transmitted to the data storage module 26, the electric signals are stored in the data storage device, and a detector can extract the detected magnetic signals and realize early diagnosis of defects and stress concentration areas of the spiral weld according to the metal weak magnetic detection principle; the welding seam damage weak magnetic detection robot continuously moves forwards, namely continuously detects through the weak magnetic sensor 30, and the welding seam damage weak magnetic detection robot stops running, namely the weak magnetic sensor 30 stops working.
Step two: the robot for detecting weak magnetism caused by weld damage runs in a pipeline, the camera 14 detects whether a spiral weld track exists in the front of running, the tracking module 21 transmits collected information detected by the camera 14 to the singlechip 20, and the singlechip 20 controls the steering engine cradle head module 24 and the ultrasonic obstacle avoidance module 22 based on the information received by the singlechip 20;
referring to fig. 6, when the camera 14 detects that a spiral weld track exists in front of the operation, the camera 14 has a real-time photo collecting capability in the advancing process of the weld damage weak magnetic detection robot, the collected photo is preprocessed, and the edge of the weld damage weak magnetic detection robot is calculated by using a sobel gradient operator, as long as the weld seam has a large edge gradient change due to a single background at the spiral weld seam, the system can directly plan the edge information into a path for the weld damage weak magnetic detection robot to track and advance, and the single chip 20 starts the steering engine cradle head module 24, the steering engine cradle head 13 changes the operation angle of the weak magnetic detection robot according to the spiral weld track, so as to control the deviation of the advancing direction of the weld damage weak magnetic detection robot, and simultaneously the single chip 20 starts the ultrasonic obstacle avoidance module 22, referring to fig. 7, when the ultrasonic obstacle avoidance sensor 15 judges that an obstacle exists in the advancing direction, the ultrasonic obstacle avoidance module 22 automatically sends 8 square waves of 40KHZ and automatically detects the obstacle, if a signal returns, a high level is output through an I0 port to control the motor 12 to drive the welding seam damage weak magnetic detection robot to stop running; if the ultrasonic obstacle avoidance sensor 15 judges that no obstacle exists in the forward direction, the ultrasonic obstacle avoidance module 22 automatically sends 8 square waves of 40KHZ and automatically detects the square waves, and no signal returns, namely the motor 12 continues to work to drive the welding seam damage weak magnetic detection robot to continue to move forward.
When the camera 14 detects that no spiral weld seam track exists in the front of the operation, based on the fact that the single chip microcomputer 20 receives information of the no spiral weld seam track, the single chip microcomputer 20 only starts the ultrasonic obstacle avoidance module 22, the ultrasonic obstacle avoidance sensor 15 judges whether an obstacle exists in the forward direction, and the judging mode is consistent with the judging mode of detecting that the spiral weld seam track exists, which is not specifically explained herein.
According to the invention, a plurality of pipeline weak magnetic sensors parallel to the pipe wall are arranged on the robot and spirally advance by taking the spiral welding seam as a tracking track, so that a precise weak magnetic signal of the spiral welding seam of the pipeline is obtained, the automatic detection of the pipeline spiral welding seam defect and residual stress by the welding seam damage weak magnetic detection robot is realized, and the problems of low detection efficiency, large detection error and the like of the traditional detection means are effectively solved. Meanwhile, the weak magnetic detection robot for detecting the weld damage has the advantages of simple structure, small size, convenience in operation, low manufacturing cost and the like, the detection cost can be greatly saved, and the detection efficiency is improved.
It is readily understood by a person skilled in the art that the advantageous ways described above can be freely combined, superimposed without conflict.
Claims (7)
1. The robot is characterized by being used for detecting the residual stress of a welding seam of a metal material and comprising a robot body (1), a control unit (2), a stress detection unit (3) and a power supply device (4), wherein the stress detection unit (3) is arranged on the robot body (1), and the robot body (1) and the stress detection unit (3) are connected with the control unit (2);
the robot body (1) comprises a traveling unit, a tracking unit, a wall climbing unit and an obstacle avoidance unit;
the advancing unit comprises a vehicle body bottom plate (10), a plurality of universal wheels (11) and a motor (12), wherein the motor (12) is connected with the universal wheels (11), and the universal wheels (11) and the center line of the vehicle body bottom plate (10) are symmetrically and movably arranged on the vehicle body bottom plate (10) so that the universal wheels (11) drive the vehicle body bottom plate (10) to operate through the motor (12);
the tracking unit comprises a plurality of steering engine cloud platforms (13) and cameras (14), each steering engine cloud platform (13) is connected with a universal wheel (11), the steering engine cloud platforms (13) correspond to the universal wheels (11) one by one, so that the operating angles of the universal wheels (11) are changed through the steering engine cloud platforms (13), and the cameras (14) are installed at the front end of the vehicle body bottom plate (10);
the wall climbing unit comprises a plurality of rotors (16), the rotors (16) are all arranged on the vehicle body bottom plate (10), the rotors (16) are linearly arranged, and the motor (12) and the rotors (16) are connected to form a centrifugal fan system so that the vehicle body bottom plate (10) can be attached to the side wall of the component to be measured to operate;
the obstacle avoidance unit comprises an ultrasonic obstacle avoidance sensor (15), and the ultrasonic obstacle avoidance sensor (15) is installed at the front end of the vehicle body bottom plate (10) so that the vehicle body bottom plate (10) avoids obstacles through the ultrasonic obstacle avoidance sensor (15);
the control unit (2) comprises a single chip microcomputer (20), a tracking module (21), an ultrasonic obstacle avoidance module (22), a motor module (23) and a steering engine holder module (24), wherein the single chip microcomputer (20) is installed at the top of a vehicle body bottom plate (10), the motor (12) is in signal connection with the motor module (23), the steering engine holder (13) is in signal connection with the steering engine holder module (24), the camera (14) is in signal connection with the tracking module (21), the ultrasonic obstacle avoidance sensor (15) and the motor (12) are in signal connection with the ultrasonic obstacle avoidance module (22), and the stress detection unit (3), the tracking module (21), the ultrasonic obstacle avoidance module (22), the motor module (23) and the steering engine holder module (24) are in signal connection with the single chip microcomputer (20);
the electric motor (12), the steering engine holder (13), the camera (14), the ultrasonic obstacle avoidance module (22), the control unit (2) and the stress detection unit (3) are all electrically connected with the power supply device (4), and the power supply device (4) is installed on the vehicle body bottom plate (10).
2. The robot for detecting the weak magnetism of the damaged weld joint according to the claim 1, characterized in that the stress detection unit (3) comprises a plurality of weak magnetism sensors (30) and a plurality of support frames (31), the plurality of support frames (31) are arranged in the middle of the top of the vehicle body bottom plate (10) and are evenly distributed along the axial direction of the vehicle body bottom plate (10), two weak magnetism sensors (30) are arranged on each support frame (31) and penetrate through the vehicle body bottom plate (10), each weak magnetism sensor (30) is arranged in parallel with the side wall of the detected component, the weak magnetism sensors (30) are in signal connection with the control unit (2), and the weak magnetism sensors (30) are electrically connected with the power supply device (4).
3. The robot for detecting the weak magnetism of the damaged weld joint according to the claim 2, characterized in that the control unit (2) further comprises a weak magnetism sensor module (25) and a data storage module (26), the weak magnetism sensor (30) is in signal connection with the weak magnetism sensor module (25), the weak magnetism sensor module (25) is in signal connection with the single chip microcomputer (20), and the weak magnetism sensor module (25) is in signal connection with the data storage module (26).
4. The weak magnetic detection robot for weld damage according to claim 1, characterized in that: the upper surface of the vehicle body bottom plate (10) is symmetrically provided with wiring grooves (5) along the central axis of the vehicle body bottom plate (10).
5. A detection method of a weak magnetic detection robot for weld damage is characterized by comprising the following steps: the robot for detecting the weak magnetism of the weld damage according to any one of claims 1 to 4, wherein a robot body comprises universal wheels (11), a motor (12), a steering engine cradle head (13), a camera (14), an ultrasonic obstacle avoidance sensor (15) and a rotor (16), and a control unit (2) comprises a tracking module (21), an ultrasonic obstacle avoidance module (22), a motor module (23), a steering engine cradle head module (24), a weak magnetism sensor module (25) and a data storage module (26);
the detection method comprises the following steps:
the method comprises the following steps: the method comprises the following steps of placing a welding line damage weak magnetic detection robot at the welding line starting end of a detected metal component, starting a motor module (23), driving a rotor wing (16) to rotate by a motor (12), enabling the welding line damage weak magnetic detection robot to be attached to the side wall of the detected component, driving a universal wheel (11) to rotate by the motor (12), driving the welding line damage weak magnetic detection robot to run on the detected component by the universal wheel (11), starting a stress detection unit (3), collecting residual stress information of a welding line by a weak magnetic sensor (30), transmitting collected information to a weak magnetic sensor module (25), and transmitting a received signal to a data storage module (26) by the weak magnetic sensor module (25);
step two: the robot for detecting weak magnetism of weld damage runs on a detected component, a camera (14) detects whether a weld track exists in the front of running, a tracking module (21) transmits information detected by the collected camera (14) to a single chip microcomputer (20), and based on the information received by the single chip microcomputer (20), the single chip microcomputer (20) controls a steering engine cradle head module (24) and an ultrasonic obstacle avoidance module (22).
6. The detection method according to claim 5, wherein step two comprises:
when the camera (14) detects that a welding seam track exists in front of operation, the single chip microcomputer (20) receives information of the welding seam track, the single chip microcomputer (20) starts the steering engine cradle head module (24), the steering engine cradle head (13) changes the operation angle of the welding seam damage weak magnetic detection robot according to the welding seam track, the single chip microcomputer (20) starts the ultrasonic obstacle avoidance module (22), and the ultrasonic obstacle avoidance sensor (15) judges whether an obstacle exists in the advancing direction or not;
when the camera (14) detects a welding-seam-free track in front of operation, the single chip microcomputer (20) receives welding-seam-free track information, the single chip microcomputer (20) starts the ultrasonic obstacle avoidance module (22), and the ultrasonic obstacle avoidance sensor (15) judges whether an obstacle exists in the forward direction.
7. The detection method according to claim 6, wherein the ultrasonic obstacle avoidance sensor (15) determining whether an obstacle exists in a forward direction comprises:
when the ultrasonic obstacle avoidance sensor (15) judges that an obstacle exists in the forward direction, the ultrasonic obstacle avoidance module (22) controls the motor (12) to stop running;
when the ultrasonic obstacle avoidance sensor (15) judges that no obstacle exists in the advancing direction, the ultrasonic obstacle avoidance module (22) controls the motor (12) to operate.
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