CN116223623A - Shell weld joint auxiliary detection system and method - Google Patents

Abstract

The invention discloses a shell welding seam auxiliary detection system and a method, wherein the shell welding seam auxiliary detection system comprises the following components: the welding line detection device comprises a transfer unit, a shell conveying unit, a welding line alignment unit, an in-welding line detection unit and an out-welding line detection unit, wherein the transfer unit comprises a first transfer unit and a second transfer unit; the two shell carrying units are arranged at two sides of the first transfer unit; the two shell conveying units correspond to the two shell carrying units respectively; the second transfer unit is positioned between the shell carrying unit and the shell transporting unit; the welding line alignment unit is positioned between the two shell bearing units; the in-weld detection unit is positioned between the two shell conveying units; the welding seam outside detection unit is arranged between the welding seam inside detection unit and the second transfer unit. The auxiliary detection system for the shell weld joint is suitable for shells with different diameters, can detect the outer surfaces of the shells with different heights, can acquire multiple signals of the weld joint, and is comprehensive in acquired information.

Description

Shell weld joint auxiliary detection system and method

Technical Field

The invention belongs to the technical field of weld joint flaw detection equipment, and particularly relates to an auxiliary detection system and method for a shell weld joint.

Background

The welding is used as a main processing technology of metal, is widely applied to the industries of automobile production, ship manufacturing, aerospace and the like, and the welding part is a weak link of equipment, and can cause serious consequences to the quality of products when the welding line has defects. The high-pressure thin-wall shell needs to be strictly controlled on quality in the welding process, and the defects of air holes, slag inclusion and the like in the welding line are often caused due to unreasonable self structure or process implementation and the like, so that the high-pressure thin-wall shell has important value for high-efficiency detection of the welding line of the shell.

At present, the existing shell welding seam detection system is used for carrying out design acquisition on a single signal of a welding seam, the limitation of acquisition information is large, the detection accuracy is affected, and the automation degree of the detection system is low.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems in the related art to some extent. For this reason, the embodiment of the invention provides a shell welding seam auxiliary detection system and a shell welding seam auxiliary detection method.

According to an embodiment of the invention, a shell weld joint auxiliary detection system comprises: the transfer unit is fixed on the ground and comprises a first transfer unit and a second transfer unit, and the first transfer unit and the second transfer unit are arranged at intervals along a first preset direction; the two shell conveying units are arranged at two sides of the first transfer unit at intervals along a second preset direction; the second preset direction is perpendicular to the first preset direction; the two shell conveying units are arranged at intervals along the second preset direction, and the two shell conveying units respectively correspond to the two shell carrying units in the first preset direction; the second transfer unit is positioned between the shell carrying unit and the shell transporting unit; the welding line alignment unit is positioned between the two shell conveying units and is arranged between the first transfer unit and the second transfer unit in the first preset direction; the in-weld detection unit is positioned between the two shell transportation units and corresponds to the weld alignment unit in the first preset direction; the welding seam outer detection unit is arranged between the welding seam inner detection unit and the second transfer unit in the first preset direction.

The auxiliary detection system for the shell weld joint is suitable for shells with different diameters, and greatly saves the processing and replacement cost of equipment; the detection of the outer surfaces of the shells with different heights is realized, the self-adaption capability is strong, and the cost of manpower and material resources is greatly saved; the inner side of the welding line is detected through the magnetic suspension unmanned aerial vehicle, the detection is more standard, the unmanned wing can assist in realizing various functions such as pushing, braking and rotating, and the sensor can be accurately corrected; the welding seam is subjected to multi-signal acquisition through the welding seam outer detection unit and the welding seam inner detection unit, the acquisition information is comprehensive, and the detection accuracy is greatly improved.

Optionally, the casing carries the unit to include along first default direction ground to carry the car track, it is provided with on the car track and holds the car automobile body to carry, it can follow to hold the car automobile body to carry the car track movement, it sets up two at least casing circumference swiveling wheel to hold the top of carrying the car automobile body, the casing circumference swiveling wheel the swiveling direction with the second default direction is unanimous.

Optionally, the transfer unit includes the elevating bed, set up in the elevating bed and shift the row's wheel, the pivot that shifts the row's wheel is connected with the transfer motor, the bottom of elevating bed sets up four first lift cylinders, first lift cylinder passes through the bolt fastening on cylinder PMKD, cylinder PMKD passes through expansion bolts and establishes subaerial.

Optionally, the weld alignment unit includes a laser profile sensor, the laser profile sensor is disposed on the sensor support, and a distance between a top of the laser profile sensor and the ground is smaller than a distance between a top surface of the transfer row wheel and the ground.

Optionally, the auxiliary detection system for the welding seam of the shell according to the embodiment of the invention further includes two shell fastening auxiliary carrying units, and the two shell fastening auxiliary carrying units are arranged at two sides of the two shell carrying units at intervals along the second preset direction.

Optionally, the shell fastening auxiliary transportation unit comprises a mechanical arm main body and a mechanical rotating arm, the mechanical rotating arm can move up and down along the mechanical arm main body, the mechanical rotating arm can rotate on a horizontal plane, an auxiliary rotating wheel is arranged at the free end of the mechanical rotating arm and is connected with the mechanical rotating arm through an auxiliary wheel supporting seat and a supporting seat fixing frame, the supporting seat fixing frame is connected with the mechanical rotating arm in a rotating mode, and the supporting seat fixing frame can rotate in the vertical direction.

Optionally, the casing transportation unit includes the transportation frame, two the two of casing transportation unit the transportation frame sets up relatively, set up the transportation row wheel on the transportation frame, the pivot and the transportation motor of transportation row wheel are connected.

Optionally, the detection unit includes electro-magnet track and magnetic suspension unmanned aerial vehicle body in the welding seam, electro-magnet track establishes two of casing transportation unit two between the transportation frame, the magnetic suspension unmanned aerial vehicle body is established the top of electro-magnet track, the magnetic suspension unmanned aerial vehicle body top sets up magnetic suspension unmanned aerial vehicle lid, the magnetic suspension unmanned aerial vehicle body includes four wing poles, all be provided with the magnetic suspension unmanned aerial vehicle wing on the wing pole, the magnetic suspension unmanned aerial vehicle wing is connected with the wing motor, the below of magnetic suspension unmanned aerial vehicle body is provided with laser vision sensor.

Optionally, the welding seam external detection unit comprises a phased array ultrasonic probe, the phased array ultrasonic probe is connected with a piston of a second lifting cylinder, a body of the second lifting cylinder is arranged on a probe support, and the probe support is fixed on the ground through an expansion bolt.

The application method of the shell welding seam auxiliary detection system provided by the embodiment of the invention comprises the following steps of:

s1, firstly controlling a conveying vehicle body to move along a conveying vehicle track, driving the conveying vehicle body to move forward to a specified place where a shell is placed, placing the shell on a circumferential rotating wheel of the shell by a gantry crane, and then controlling the conveying vehicle body to bear the shell to start a return stroke until the conveying vehicle body reaches the specified place;

s2, controlling the laser profile sensor to start profile scanning on the shell above the laser profile sensor, and if the upper part is judged to be a non-welding part, starting circumferential rotation of the shell circumferential rotation wheel to drive the shell to perform circumferential rotation until the laser profile sensor judges that the upper part of the shell is a welding part, and stopping circumferential rotation;

s3, when the shell rotates circumferentially, the supporting seat fixing frame drives the auxiliary rotating wheel to rotate to a circumferential rotation angle, the mechanical rotating arm is adjusted to a specified height and is unfolded to form a straight line, so that the auxiliary rotating wheel contacts the outer wall of the shell to fasten the shell, and meanwhile, the auxiliary rotating wheel rotates in the same direction with the shell circumferential rotating wheel to assist the shell to rotate;

s4, after the weld alignment is finished, the lifting bed is lifted by the first lifting cylinder until the shell is lifted to a specified height, at the moment, the transfer row wheels start to rotate simultaneously, the shell is axially transferred to the transport row wheels, in the transfer process, on one hand, the phased array ultrasonic probe is lifted to the specified height by the second lifting cylinder, the ultrasonic probe performs ultrasonic flaw detection on the outer wall of the shell, the result is fed back to the central control system in real time, on the other hand, the transport row wheels start to operate to assist the transfer row wheels to axially transfer the shell until the whole shell is located on the transport frame, and then the rotation is stopped;

s5, the electromagnet track starts to be electrified to enable the magnetic levitation unmanned aerial vehicle body to start to suspend to a designated height, at the moment, the magnetic levitation unmanned aerial vehicle wing starts to rotate to adjust the azimuth of the magnetic levitation unmanned aerial vehicle body, the magnetic levitation unmanned aerial vehicle body is driven to advance in the shell, the laser vision sensor detects welding seams in the shell in the advancing process, and data are transmitted back to the central control system.

The auxiliary detection system for the shell weld joint is suitable for shells with different diameters, realizes detection of the outer surfaces of the shells with different heights, and has strong self-adaption capability; the inner side of the welding line is detected through the magnetic suspension unmanned aerial vehicle, the detection is more standard, the unmanned wing can assist in realizing various functions such as pushing, braking and rotating, and the sensor can be accurately corrected; the welding seam is subjected to multi-signal acquisition through the welding seam outer detection unit and the welding seam inner detection unit, the acquisition information is comprehensive, and the detection accuracy is greatly improved.

Drawings

FIG. 1 is a schematic diagram of a shell weld assist detection system according to an embodiment of the present invention.

Fig. 2 is a schematic structural view of a housing carrying unit according to an embodiment of the present invention.

Fig. 3 is a schematic structural view of a transfer unit according to an embodiment of the present invention.

FIG. 4 is a schematic structural view of a weld alignment unit according to an embodiment of the present invention.

Fig. 5 is a schematic view of the structure of the case fastening auxiliary unit according to the embodiment of the present invention.

Fig. 6 is a schematic structural view of a case transport unit according to an embodiment of the present invention.

Fig. 7 is a schematic structural view of an in-bead detection unit according to an embodiment of the present invention.

Fig. 8 is a schematic structural view of an off-weld detection unit according to an embodiment of the present invention.

Reference numerals:

a housing carrying unit 1; a housing circumferential rotation wheel 101; a circumferential rotary wheel support 102; a holder mount 103; rail anchor 104; a carrier vehicle wheel 105, a carrier vehicle body 106; a carrier rail 107;

a transfer unit 2; a first transfer unit 20; a second transfer unit 21; a transfer row wheel 201; a lifting bed 202; a first lifting cylinder 203; a cylinder fixing base 204;

a weld alignment unit 3; a laser profile sensor 301; a sensor mount 302;

the shell fastens the auxiliary transport unit 4; a robot arm body 401; a mechanical swivel arm 402; an auxiliary wheel support base 403; an auxiliary wheel 404; a support holder 405;

a housing transport unit 5; a transport rack 501; a transport row wheel 502; a transport row wheel support 503;

an in-bead detection unit 6; magnetic levitation unmanned aerial vehicle cover 601; a magnetic levitation unmanned aerial vehicle 602; magnetic levitation unmanned wing 603; electromagnet rail 604; a laser vision sensor 605; a sensor-securing grip 606; wing motor 607;

an outside-weld detection unit 7; a phased array ultrasound probe 701; a probe fixing base 702; a second elevation cylinder 703; probe support 704.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

As shown in fig. 1 to 8, a case weld auxiliary detection system according to an embodiment of the present invention includes: the welding line alignment device comprises a transfer unit 2, a shell carrying unit 1, a shell conveying unit 5, a welding line alignment unit 3, an in-welding line detection unit 6 and an out-welding line detection unit 7. The transfer unit 2 is fixed on the ground, the transfer unit 2 includes a first transfer unit 20 and a second transfer unit 21, and the first transfer unit 20 and the second transfer unit 21 are disposed at intervals along a first preset direction, which coincides with a transport direction of the housing. The transfer unit 2 is movable with the housing in the axial direction, the axial direction of the housing conforming to each of the transport direction, the first preset direction.

The two shell carrying units 1 are arranged at two sides of the first transfer unit 20 at intervals along the second preset direction; the first transfer unit 20 is located on the center line of the two casing carrying units 1, and the first transfer unit 20 is located at the center position in the length direction of the two casing carrying units 1. The second preset direction is perpendicular to the first preset direction. The housing carrying unit 1 is for carrying a housing to be inspected to an initial position, and is capable of rotating the housing in a circumferential direction.

The two shell conveying units 5 are arranged at intervals along the second preset direction, and the two shell conveying units 5 respectively correspond to the two shell carrying units 1 in the first preset direction; the distance between the two housing transport units 5 is the same as the width of the transfer unit 2. The second transfer unit 21 is located between the housing carrying unit 1 and the housing transporting unit 5. The housing transporting unit 5 is used for assisting the transferring unit 2 to move the aligned housing continuously along the first preset direction until the housing is completely placed on the housing transporting unit 5.

The weld alignment unit 3 is located in the middle of the two casing carrying units 1, specifically, the weld alignment unit 3 is located on the center line of the two casing carrying units 1, and the weld alignment unit 3 is disposed between the first transfer unit 20 and the second transfer unit 21 in the first preset direction. The weld alignment unit 3 is used to find the weld position on the housing.

The in-weld detection unit 6 is positioned in the middle of the two shell transportation units 5, the in-weld detection unit 6 corresponds to the weld alignment unit 3 in a first preset direction, and the in-weld detection unit 6 is used for collecting weld information in the shells; the outer weld detection unit 7 is arranged between the inner weld detection unit 6 and the second transfer unit 21 in the first preset direction, and the outer weld detection unit 7 is used for collecting outer weld information of the shell.

The transfer unit 2, the weld alignment unit 3, the weld inner detection unit 6 and the weld outer detection unit 7 are all arranged on the central lines of the two shell carrying units 1 along the first preset direction.

The following briefly describes a method for using the auxiliary detection system for the weld joint of the shell with reference to fig. 1 to 8, firstly, the shell is conveyed to a designated position by the shell conveying unit 1, then the weld joint on the shell is searched by the weld joint aligning unit 3, the shell conveying unit 1 makes the shell rotate circumferentially, and after the position of the weld joint is found, the shell stops rotating; and then the shell is transferred to the shell transportation unit 5 through the first transfer unit 20 and the second transfer unit 21, the outer weld information of the shell is collected by the outer weld detection unit 7 in the transfer process, and the inner weld information of the shell is collected by the inner shell detection unit 6 after the shell is completely transferred to the shell transportation unit 5. The in-housing detection unit 6 and the out-housing detection unit 7 transmit the acquired information data to the central control system.

The auxiliary detection system for the shell weld joint is suitable for shells with different diameters, and greatly saves the processing and replacement cost of equipment; the detection of the outer surfaces of the shells with different heights is realized, the self-adaption capability is strong, and the cost of manpower and material resources is greatly saved; the inner side of the welding seam is detected by a magnetic levitation unmanned plane, namely an in-seam detection unit 6, so that the detection is more standard; the welding seam is subjected to multi-signal acquisition through the welding seam outer detection unit and the welding seam inner detection unit, the acquisition information is comprehensive, and the detection accuracy is greatly improved.

As shown in fig. 1 to 8, a case weld auxiliary detection system according to an embodiment of the present invention includes: the welding line alignment device comprises a transfer unit 2, a shell carrying unit 1, a shell conveying unit 5, a welding line alignment unit 3, an in-welding line detection unit 6 and an out-welding line detection unit 7. The device also comprises a central control system, wherein the central control system is connected with each of the transfer unit 2, the shell conveying unit 1, the shell conveying unit 5, the weld alignment unit 3, the weld inner detection unit 6 and the weld outer detection unit 7. The central control system comprises a central control machine and a handheld controller.

The housing transfer unit 1 includes a housing peripheral rotary wheel 101, a peripheral rotary wheel support 102, a support mount 103, rail mounts 104, transfer cart wheels 105, a transfer cart body 106, and transfer cart rails 107. At least two shell circumferential rotating wheels 101 are arranged at the top of each carrying vehicle body 106, the rotating direction of the shell circumferential rotating wheels 101 is consistent with the second preset direction, and the rotating direction of the shell circumferential rotating wheels 101 is perpendicular to the transporting direction of the shell. The housing circumferential rotation wheels on the two housing carrying units 1 can rotate in the same direction or in opposite directions. The rotation shaft of the casing peripheral rotation wheel 101 is mounted to a bearing support portion on the peripheral rotation wheel support 102 through a bearing, and the rotation shaft of the casing peripheral rotation wheel 101 is connected to a servo motor through a coupling. The support fixing frame 103 is provided with a groove, the bottom of the circumferential rotating wheel support 102 is provided with a convex block matched with the groove, the circumferential rotating wheel support 102 is fixed on the support fixing frame 103 through the groove, and the support fixing frame 103 is fixed on the top of the carrier vehicle body 106 through bolts.

The carrier vehicle wheels 105 are arranged below the carrier vehicle body 106, and the carrier vehicle wheels 105 are arranged on the shaft holes of the carrier vehicle body 106 through bearings. The carriage wheels 105 of the two housing carriage units 1 rotate synchronously and drive the carriage bodies 106 along the carriage track 107. Specifically, the carrier wheels 105 in the two housing carrier units 1 are connected to synchronous motors. The carriage rail 107 is arranged in a first preset direction, and the carriage rail 107 is fixed to the ground by the rail fixing member 104 through expansion bolts. The shell carrying unit 1 is used for carrying the shell to a formulated place, and the shell carrying unit 1 can circumferentially rotate the shell to assist the weld alignment unit 3 in weld finding.

The transfer unit 2 comprises transfer row wheels 201, a lifting bed 202, a first lifting cylinder 203 and a cylinder fixing bottom plate 204, wherein the transfer row wheels 201 are arranged in the lifting bed 202, the transfer row wheels 201 are in one row, two rows or three rows, the rotation direction of the transfer row wheels 201 is consistent with the first preset direction, each row of transfer row wheels 201 are coaxially arranged, one belt wheel is arranged at the rotating shaft end part of each row of transfer row wheels 201, two adjacent belt wheels are connected through a triangular belt, and the rotating shaft of one row of transfer row wheels is connected with a transfer motor. The transfer motor is a servo motor, and the rotation of the servo motor realizes the same-direction rotation of a plurality of transfer row wheels through the cooperation of the bearing and the belt wheel. Four first lifting cylinders 203 are arranged at the bottom of the lifting bed 202, rod holes are formed in four corners of the bottom of the lifting bed 202, piston rods of the first lifting cylinders 203 are arranged in the rod holes, a main body of each first lifting cylinder 203 is fixed on a cylinder fixing bottom plate 204 through bolts, and the cylinder fixing bottom plates 204 are arranged on the ground through expansion bolts. The lifting transfer of the shell is realized through the transfer unit 2, the labor cost for controlling the gantry crane to realize the transfer is saved, the device can be applicable to shells with different diameters, and the processing and replacement cost of the device is greatly saved.

The weld alignment unit 3 comprises a laser profile sensor 301 and a sensor support 302, wherein the laser profile sensor 301 is fixed on the sensor support 302 through bolts, and the sensor support 302 is formed by welding a plurality of steel pipes and iron plates. The distance between the top of the laser profile sensor 301 and the ground is smaller than the distance between the top of the transfer drum 201 and the ground. The weld alignment unit 3 is used for finding the weld position on the housing by means of the laser profile sensor 3.

Optionally, the auxiliary detection system for the welding seam of the shell according to the embodiment of the invention further includes two shell fastening auxiliary conveying units 4, and the two shell fastening auxiliary conveying units 4 are arranged at two sides of the two shell carrying units 1 at intervals along the second preset direction.

The shell fastening auxiliary transport unit 4 comprises a mechanical arm main body 401, a mechanical rotating arm 402, an auxiliary wheel supporting seat 403, an auxiliary rotating wheel 404 and a supporting seat fixing frame 405, wherein the mechanical arm main body 401 is fixed on the ground through expansion bolts, the mechanical rotating arm 402 can move up and down along the mechanical arm main body 401, namely one end of the mechanical rotating arm 402 is connected with the mechanical arm main body 401 through a sliding groove. The mechanical rotating arm 402 can rotate on the horizontal plane, the free end of the mechanical rotating arm 402 is provided with an auxiliary rotating wheel 404, the auxiliary rotating wheel 404 is connected with the mechanical rotating arm 402 through an auxiliary wheel supporting seat 403 and a supporting seat fixing frame 405, namely, the other end of the mechanical rotating arm 402 is connected with the supporting seat fixing frame 405, the supporting seat fixing frame 405 is rotationally connected with the mechanical rotating arm 402, in particular, a rotating shaft is arranged between the supporting seat fixing frame 405 and the mechanical rotating arm 402, and the supporting seat fixing frame 405 can rotate in the vertical direction through the rotating shaft. The auxiliary rotating wheel 404 is mounted on the auxiliary wheel supporting seat 403 through a bearing, and the auxiliary wheel supporting seat 403 is connected with the supporting seat fixing frame 405 through a bolt. As shown in fig. 1 and 5, when the supporting seat fixing frame 405 rotates 90 ° in the vertical direction relative to the mechanical rotating arm 402 through the rotating shaft, the auxiliary wheel supporting seat 405 is driven to rotate 90 ° and the auxiliary rotating wheel 404 is driven to rotate 90 °, so that the circumferential direction of the auxiliary rotating wheel 404 is consistent with the circumferential direction of the casing circumferential rotating wheel 101. Thereby enabling the auxiliary wheel 404 to rotate in the same direction and to assist the rotation of the housing when the housing peripheral rotation wheel 101 rotates.

The shell transportation unit 5 comprises a transportation frame 501, a transportation row wheel 502 and a transportation row wheel support 503, wherein the two transportation frames 501 of the two shell transportation units 5 are oppositely arranged, the transportation frame 501 is formed by welding square steel and steel plates, the transportation frame 501 is fixed on the ground through expansion bolts, the transportation frame 501 is provided with the transportation row wheel 502, two ends of the transportation row wheel 502 are arranged on the transportation row wheel support 503 through bearings, and the transportation row wheel support 503 is fixed on the transportation frame 501 through bolts. The rotating shaft of the transport row wheel 502 is connected with a transport motor, and the transport motor controls rotation. Specifically, each of the rotating shaft ends of the transport wheels 502 has a belt wheel, two adjacent belt wheels are connected by a triangular belt, the belt wheel at the end is connected with an output shaft of a transport motor, and the transport motor is a servo motor. The housing transporting unit 5 serves to support the housing and may assist the transferring unit 2 in transporting the housing until the housing can be completely placed on the transporting rack 501.

The in-weld detection unit 6 comprises a magnetic levitation unmanned aerial vehicle cover 601, a magnetic levitation unmanned aerial vehicle 602, a magnetic levitation unmanned wing 603, an electromagnet track 604, a laser vision sensor 605, a sensor fixing grip 606 and a wing motor 607, wherein the electromagnet track 604 is arranged on the ground between two transportation frames 501 of the two shell transportation units 5, the magnetic levitation unmanned aerial vehicle 602 is arranged above the electromagnet track 604, the magnetic levitation unmanned aerial vehicle cover 601 is arranged above the magnetic levitation unmanned aerial vehicle 602, the magnetic levitation unmanned aerial vehicle cover 601 is connected with the magnetic levitation unmanned aerial vehicle 602 through bolts, and a control main board, a battery and the like are arranged in the magnetic levitation unmanned aerial vehicle cover 601. The magnetic levitation unmanned aerial vehicle 602 comprises four wing rods, the four wing rods are arranged on the outer peripheral surface of the magnetic levitation unmanned aerial vehicle 602 at intervals, each wing rod is provided with a magnetic levitation unmanned wing 603 and a wing motor 607, the magnetic levitation unmanned wing 603 is connected with the wing motor 607, and the wing motor 607 drives the magnetic levitation unmanned wing 603 to rotate.

A laser vision sensor 605 is arranged below the magnetic levitation unmanned aerial vehicle 602. The sensor fixing grippers 606 are fixed below the magnetic levitation unmanned body 602 in pairs, and the laser vision sensor 605 is gripped and fixed by the sensor fixing grippers 606. The inner side of the welding seam is detected through the magnetic suspension unmanned aerial vehicle, on one hand, the magnetic suspension method can enable the height of the laser vision sensor 605 to be stable, detection is more standard, on the other hand, the magnetic suspension unmanned aerial vehicle wing 603 can assist in achieving multiple functions of pushing, braking, rotating and the like, and the laser vision sensor 605 can be accurately corrected.

The welding seam external detection unit 7 comprises a phased array ultrasonic probe 701, a probe fixing base 702, a second lifting cylinder 703 and a probe support 704, wherein the phased array ultrasonic probe 701 is fixed on the probe fixing base 702 through bolts, threads are formed at the front end of a piston rod of the second lifting cylinder 703, a threaded hole is formed in the bottom surface of the probe fixing base 702, the piston rod of the second lifting cylinder 703 is connected to the probe fixing base 702 through threads, a body of the second lifting cylinder 703 is fixed on the probe support 704 through bolts, the probe support 704 is formed by welding square steel and steel plates, and the probe support 704 is fixed on the ground through expansion bolts. The welding seam outside detection unit 7 can acquire signals of the welding seam outside the shell, the lifting function of the welding seam outside detection unit realizes the detection of the outer surfaces of the shells with different height differences, the self-adaption capability is strong, and the cost of manpower and material resources is greatly saved.

The application method of the shell welding seam auxiliary detection system provided by the embodiment of the invention comprises the following steps of:

s1, firstly, a handheld controller sends a starting signal to a synchronous motor, the synchronous motor drives a carrying vehicle wheel 105 to rotate, so that a carrying vehicle body 106 is driven to move forwards along a carrying vehicle track 107 to a specified place where a shell is placed, a gantry crane places the shell on a shell circumferential rotating wheel 101 to enable the axial direction of the shell to be consistent with the transportation direction, then the handheld controller sends a reverse rotation signal to the synchronous motor, the synchronous motor is controlled to rotate reversely, and the carrying vehicle body 106 carries the shell to start a return stroke until reaching the position above a weld alignment unit 3;

s2, the central control computer controls the laser contour sensor 301 to start to scan the contour of the shell above the laser contour sensor, if the upper part is judged to be a non-welding part, the shell circumferential rotating wheel 101 starts to rotate circumferentially to drive the shell to rotate circumferentially, and until the laser contour sensor 301 judges that the upper shell is a welding part, the circumferential rotation is stopped;

s3, when the shell rotates circumferentially, the supporting seat fixing frame 405 drives the auxiliary rotating wheel 404 to rotate to a rotation angle consistent with the circumferential direction of the shell axial rotating wheel 101, the mechanical rotating arm 402 is adjusted to a specified height and is unfolded to form a straight line, the auxiliary rotating wheel 404 contacts the outer wall of the shell to fasten the shell, and meanwhile, the auxiliary rotating wheel 404 rotates in the same direction as the shell circumferential rotating wheel 101 to assist the shell to rotate;

s4, after the weld alignment is finished, the first lifting cylinder 203 starts to lift the lifting bed 202 until the shell is lifted to a specified height, at the moment, the transfer row wheel 201 starts to rotate, the shell is axially transferred to the transport row wheel 502, on one hand, the second lifting cylinder 703 lifts the phased array ultrasonic probe 701 to the specified height in the transfer process, the phased array ultrasonic probe 701 performs ultrasonic flaw detection on the outer wall of the shell, and the result is fed back to the central control system in real time, on the other hand, the transport row wheel 502 starts to operate to assist the transfer row wheel 201 to axially transfer the shell until the whole shell is located on the transport frame 501 and then stops rotating;

s5, the electromagnet track 604 starts to be electrified to enable the magnetic levitation unmanned aerial vehicle 602 to start to suspend to a designated height, at the moment, the magnetic levitation unmanned aerial vehicle 603 starts to rotate to adjust the direction of the magnetic levitation unmanned aerial vehicle 602, the magnetic levitation unmanned aerial vehicle is driven to advance in the shell, the laser vision sensor 605 detects welding seams in the shell in the advancing process, and data are transmitted back to the central control system.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

For purposes of this disclosure, the terms "one embodiment," "some embodiments," "example," "a particular example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

While the above embodiments have been shown and described, it should be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations of the above embodiments may be made by those of ordinary skill in the art without departing from the scope of the invention.

Claims (10)

1. A housing weld assist detection system, comprising:

the transfer unit is fixed on the ground and comprises a first transfer unit and a second transfer unit, and the first transfer unit and the second transfer unit are arranged at intervals along a first preset direction;

the two shell conveying units are arranged at two sides of the first transfer unit at intervals along a second preset direction; the second preset direction is perpendicular to the first preset direction;

the two shell conveying units are arranged at intervals along the second preset direction, and the two shell conveying units respectively correspond to the two shell carrying units in the first preset direction; the second transfer unit is positioned between the shell carrying unit and the shell transporting unit;

the welding line alignment unit is positioned between the two shell conveying units and is arranged between the first transfer unit and the second transfer unit in the first preset direction;

the in-weld detection unit is positioned between the two shell transportation units and corresponds to the weld alignment unit in the first preset direction;

the welding seam outer detection unit is arranged between the welding seam inner detection unit and the second transfer unit in the first preset direction.

2. The shell weld joint auxiliary detection system according to claim 1, wherein the shell carrying unit comprises a carrying vehicle rail arranged along a first preset direction, a carrying vehicle body is arranged on the carrying vehicle rail, the carrying vehicle body can move along the carrying vehicle rail, at least two shell circumferential rotating wheels are arranged at the top of the carrying vehicle body, and the rotating direction of the shell circumferential rotating wheels is consistent with the second preset direction.

3. The auxiliary detection system for the welding seam of the shell according to claim 1, wherein the transferring unit comprises a lifting bed, a transferring row wheel is arranged in the lifting bed, a rotating shaft of the transferring row wheel is connected with a transferring motor, four first lifting cylinders are arranged at the bottom of the lifting bed, the first lifting cylinders are fixed on a cylinder fixing bottom plate through bolts, and the cylinder fixing bottom plate is arranged on the ground through expansion bolts.

4. The shell weld assist detection system of claim 3 wherein the weld alignment unit comprises a laser profile sensor disposed on a sensor mount, the distance between the top of the laser profile sensor and the ground being less than the distance between the top of the transfer row wheel and the ground.

5. The housing weld auxiliary detection system of claim 1, further comprising two housing fastening auxiliary carrying units, the two housing fastening auxiliary carrying units being disposed on both sides of the two housing carrying units at a spacing along the second preset direction.

6. The auxiliary detection system for shell weld joints according to claim 5, wherein the shell fastening auxiliary transport unit comprises a mechanical arm main body and a mechanical rotating arm, the mechanical rotating arm can move up and down along the mechanical arm main body, the mechanical rotating arm can rotate on a horizontal plane, an auxiliary rotating wheel is arranged at a free end of the mechanical rotating arm, the auxiliary rotating wheel is connected with the mechanical rotating arm through an auxiliary wheel supporting seat and a supporting seat fixing frame, and the supporting seat fixing frame is connected with the mechanical rotating arm in a rotating mode.

7. The auxiliary detection system for the welding seam of the shell according to claim 1, wherein the shell transportation unit comprises a transportation frame, two transportation frames of the two shell transportation units are arranged oppositely, a transportation row wheel is arranged on the transportation frame, and a rotating shaft of the transportation row wheel is connected with a transportation motor.

8. The auxiliary detection system for the weld joint of the shell according to claim 7, wherein the detection unit in the weld joint comprises an electromagnet rail and a magnetic levitation unmanned aerial vehicle body, the electromagnet rail is arranged between two conveying frames of two conveying units of the shell, the magnetic levitation unmanned aerial vehicle body is arranged above the electromagnet rail, a magnetic levitation unmanned aerial vehicle cover is arranged above the magnetic levitation unmanned aerial vehicle body, the magnetic levitation unmanned aerial vehicle body comprises four wing rods, each wing rod is provided with a magnetic levitation unmanned wing, the magnetic levitation unmanned wing is connected with a wing motor, and a laser vision sensor is arranged below the magnetic levitation unmanned aerial vehicle body.

9. The shell weld joint auxiliary detection system according to claim 1, wherein the weld joint external detection unit comprises a phased array ultrasonic probe connected with a piston of a second lifting cylinder, the body of the second lifting cylinder is arranged on a probe support, and the probe support is fixed on the ground through an expansion bolt.

10. A method of using the shell weld assist detection system of claims 1-9, comprising the steps of:

s1, firstly controlling a conveying vehicle body to move along a conveying vehicle track, driving the conveying vehicle body to move forward to a specified place where a shell is placed, placing the shell on a circumferential rotating wheel of the shell by a gantry crane, and then controlling the conveying vehicle body to bear the shell to start a return stroke until the conveying vehicle body reaches the specified place;

s2, controlling the laser profile sensor to start profile scanning on the shell above the laser profile sensor, and if the upper part is judged to be a non-welding part, starting circumferential rotation of the shell circumferential rotation wheel to drive the shell to perform circumferential rotation until the laser profile sensor judges that the upper part of the shell is a welding part, and stopping circumferential rotation;

s3, when the shell rotates circumferentially, the supporting seat fixing frame drives the auxiliary rotating wheel to rotate to a circumferential rotation angle, the mechanical rotating arm is adjusted to a specified height and is unfolded to form a straight line, so that the auxiliary rotating wheel contacts the outer wall of the shell to fasten the shell, and meanwhile, the auxiliary rotating wheel rotates in the same direction with the shell circumferential rotating wheel to assist the shell to rotate;

s4, after the weld alignment is finished, the lifting bed is lifted by the first lifting cylinder until the shell is lifted to a specified height, at the moment, the transfer row wheels start to rotate simultaneously, the shell is axially transferred to the transport row wheels, in the transfer process, on one hand, the phased array ultrasonic probe is lifted to the specified height by the second lifting cylinder, the ultrasonic probe performs ultrasonic flaw detection on the outer wall of the shell, the result is fed back to the central control system in real time, on the other hand, the transport row wheels start to operate to assist the transfer row wheels to axially transfer the shell until the whole shell is located on the transport frame, and then the rotation is stopped;

s5, the electromagnet track starts to be electrified to enable the magnetic levitation unmanned aerial vehicle body to start to suspend to a designated height, at the moment, the magnetic levitation unmanned aerial vehicle wing starts to rotate to adjust the azimuth of the magnetic levitation unmanned aerial vehicle body, the magnetic levitation unmanned aerial vehicle body is driven to advance in the shell, the laser vision sensor detects welding seams in the shell in the advancing process, and data are transmitted back to the central control system.

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