CN216577880U - Robot for intelligently detecting weld defects - Google Patents
Robot for intelligently detecting weld defects Download PDFInfo
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- CN216577880U CN216577880U CN202122832035.XU CN202122832035U CN216577880U CN 216577880 U CN216577880 U CN 216577880U CN 202122832035 U CN202122832035 U CN 202122832035U CN 216577880 U CN216577880 U CN 216577880U
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- weld defects
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- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 238000003466 welding Methods 0.000 claims abstract description 15
- 238000009434 installation Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 7
- 238000007689 inspection Methods 0.000 description 3
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- 229920003023 plastic Polymers 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000012423 maintenance Methods 0.000 description 1
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Abstract
A robot for intelligently detecting weld defects comprises a control mechanism and a robot body, wherein a positioning structure is distributed at the top of the robot body, casters are distributed at the bottom of the robot body, an image acquisition structure is distributed on the side surface of the robot body, a telescopic structure is distributed in the middle of the robot body, and the control mechanism is in circuit connection with the robot body; the defect recognition of the welding seam of the original image can be carried out through the image acquisition structure, and the welding seam defect recognition result is marked; the gyro wheel that the bottom set up makes things convenient for the robot to remove in the workshop steadily, and extending structure can help the robot to detect the not weld defect of co-altitude.
Description
Technical Field
The utility model belongs to the technical field of detection robots, and particularly relates to a robot for intelligently detecting weld defects.
Background
The regular detection of the welding seam defects is a key ring for ensuring the welding quality of products, and the welding quality of the products directly influences the service performance of the products. If the weld defects are not found in time in actual production, equipment is damaged and stopped when the weld defects are small, and disasters are caused when the weld defects are large, so that the weld defects are frequently detected.
In most factory workshops, quality inspection personnel are generally sent to detect weld defects within a fixed period. Although professional quality testers can excellently detect the weld defects, when the detected products are too many, the quality testers are easy to have physiological fatigue and visual fatigue, the detection process is greatly influenced, and the detection accuracy is reduced. On the other hand, the quality inspection personnel also pay huge inspection cost when manually inspecting the welding seam defects.
In order to solve the problems in the prior art, the robot has the advantages of weld defect identification, real-time positioning, automatic driving and fixed-point operation.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects in the prior art and provides the robot for intelligently detecting the weld defects, which has the advantages of weld defect identification, real-time positioning, automatic driving and fixed-point operation.
In order to achieve the above purposes, the technical scheme adopted by the utility model is as follows: the utility model provides a robot of intellectual detection system welding seam defect, includes control mechanism and robot, the location structure has been laid at the top of robot, and the truckle has been laid to the bottom, and the image acquisition structure has been laid to the side, and extending structure is laid to the middle part, circuit connection between control mechanism and the robot.
As a preferred scheme of the utility model, the positioning structure comprises an installation base, a rotary supporting column, a cylindrical piston and an LDS laser distance sensor, wherein one end of the rotary supporting column is rotatably connected to the installation base, the other end of the rotary supporting column is provided with the cylindrical piston, and the LDS laser distance sensor is installed on the cylindrical piston.
As a preferred scheme of the utility model, the image acquisition structure comprises a supporting block, the supporting block is connected with one end of a bearing column through a longitudinal cylindrical piston, the other end of the bearing column is connected with a supporting column through a vertical cylindrical piston, and a laser three-dimensional scanner is distributed at the end part of the supporting column.
As a preferable scheme of the utility model, the supporting block is movably connected with the bearing column, and the bearing column is movably connected with the supporting column.
As a preferable scheme of the present invention, the supporting column and the bearing column do not interfere with each other when rotating.
As a preferable mode of the present invention, the casters are symmetrically arranged at the bottom of the robot body.
As a preferable scheme of the present invention, a charging structure is disposed on the other side surface of the robot body, and the charging structure is disposed near the bottom of the robot body.
In a preferred embodiment of the present invention, the telescopic structure is connected to upper and lower portions of the robot body.
As a preferred scheme of the utility model, the control mechanism comprises an upper computer and a singlechip, and the upper computer is in circuit connection with the singlechip.
As a preferred scheme of the utility model, the control mechanism further comprises an integrated plug connector, one end of the integrated plug connector is connected with the upper computer and the singlechip through a circuit, and the other end of the integrated plug connector is connected with the robot body through a circuit.
The utility model has the beneficial effects that:
the robot can be positioned in real time through the positioning structure, bypasses barriers, and returns to the charging pile for charging and a task point for fixing; the defect recognition of the welding line of the original image can be carried out through the image acquisition structure, and the welding line defect recognition result is marked; the gyro wheel that the bottom set up makes things convenient for the robot to remove in the workshop steadily, and extending structure can help the robot to detect the not weld defect of co-altitude.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a flow chart of the operation of the robot of the present invention;
FIG. 3 is a flow chart of the present invention for detecting weld defects;
reference numbers in the figures: control mechanism 1, robot 2, host computer 11, singlechip 12, integrated plug connector 13, location structure 21, truckle 22, image acquisition structure 23, extending structure 24, charge structure 25, installation base 211, rotation support post 212, cylindrical piston 213, LDS laser distance sensor 214, supporting shoe 231, vertical cylindrical piston 232, load-bearing column 233, vertical cylindrical piston 234, support column 235, laser three-dimensional scanner 236.
Detailed Description
The following describes embodiments of the present invention in detail with reference to the accompanying drawings.
As shown in fig. 1-3, a robot for intelligently detecting weld defects comprises a control mechanism 1 and a robot body 2, wherein a positioning structure 21 is arranged at the top of the robot body 2, casters 22 are arranged at the bottom of the robot body, the casters 22 are symmetrically arranged at the bottom of the robot body 2 in a left-right manner, so that the robot body 2 can move stably in a workshop, an image acquisition structure 23 is arranged on the side surface of the robot body, a telescopic structure 24 is arranged in the middle of the robot body, and the control mechanism 1 is in circuit connection with the robot body 2.
The control mechanism 1 comprises an upper computer 11 and a singlechip 12, and the upper computer 11 is in circuit connection with the singlechip 12. The control mechanism 1 further comprises an integrated plug connector 13, one end of the integrated plug connector 13 is in circuit connection with the upper computer 11 and the single chip microcomputer 12, and the other end of the integrated plug connector 13 is in circuit connection with the robot body 2.
Of course, when the LDS laser distance sensor 214 in the positioning structure 21 detects an obstacle in front, the robot body 2 may automatically bypass the obstacle in front.
According to the workshop map constructed by the upper computer 11, before the robot body 2 moves to the designated machine position, a working signal is sent to the upper computer 11, and the upper computer 11 is prompted to arrive at the designated place to start detection.
The image acquisition structure 23 comprises a supporting block 231, the supporting block 231 is connected with one end of a supporting column 233 through a longitudinal cylindrical piston 232, the other end of the supporting column 233 is connected with a supporting column 235 through a vertical cylindrical piston 234, and a laser three-dimensional scanner 236 is arranged at the end of the supporting column 235. The supporting block 231 is movably connected with the supporting column 233, and the supporting column 233 is movably connected with the supporting column 235. The rotation of the supporting posts 233 and 235 does not interfere with each other.
When the robot reaches a designated place, the image acquisition structure 23 scans along the direction of the welding seam through the portable laser three-dimensional scanner 236 of the robot body 2, rapidly acquires a three-dimensional model of the welding part, and uploads the acquired image to the upper computer 11. And the upper computer 11 receives the uploaded image model, and performs image filling, image noise reduction and image enhancement on the original image to obtain an image to be detected. And then, segmenting the image to be detected, identifying the weld defects of the segmented image, fixing the positions of the robot body 2 uploading the original image, and marking the weld defect identification result.
The other side of the robot body 2 is provided with a charging structure 25, and the charging structure 25 is arranged close to the bottom of the robot body 2. Charging structure 25 charges on the electric pile that charges that sets up in the workshop, and it is definite setpoint to fill electric pile under location structure 21's effect, when 2 electric quantities of robot are not enough, confirms robot 2's position and reports the position to host computer 11 through location structure 21's positioning action, can make the robot return to filling electric pile and charging through the instruction.
The upper portion and the lower portion of robot body 2 are being connected to extending structure 24, and extending structure 24 can comprise inside cylinder structure and outside scalable plastics, also can comprise inside lead screw structure and outside scalable plastics, and extending structure 24 can help the robot to detect the welding seam defect of not co-altitude.
The robot for intelligently detecting the weld defects is specifically implemented as follows:
the upper computer 11 is started to start interface initialization, then the robot is started, and the position of the robot is the position of the electric pile which is selected to be charged by the robot after the robot is used up last time. When the robot is started, if the prompt of failed start occurs, the fault maintenance is needed manually, and if the prompt of successful start, the robot can be used.
After the robot is normally started, the upper computer 11 starts the LDS laser distance sensor 214, rotates the laser distance sensor 360 degrees, and detects the surrounding environment in real time.
Before leaving the charging pile, the robot sets the charging pile into a positioning point and reports the positioning point to the upper computer 11, and the upper computer 11 receives the positioning point information and then transmits the information of the detecting instrument to the robot through an instruction.
The positioning structure 21 operated by the robot carries out self-positioning according to the distance measurement and uses the SLAM algorithm to accurately position the specific position of the robot, the position of the robot is updated in real time, the information is transmitted to the upper computer 11 to be displayed, and if the robot works in a strange workshop, the upper computer 11 can start to construct a workshop map for the strange workshop through positioning selection. It is noted that the positioning function of the robot is switched off only when an instruction to switch off the positioning is received.
When the LDS laser distance sensor 214 in the positioning structure 21 detects an obstacle in front, the robot can automatically bypass the obstacle in front, and it should be noted that the function is turned off only when it receives a turn off bypass obstacle function. The robot starts the fixed point acquisition function after reaching the task point, and automatically stops and starts the laser three-dimensional scanner in the image acquisition structure 23 to acquire the original image.
The image acquisition structure 23 starts the laser scanner to scan the weld, and transmits the scanned original image of the weld and the address signal of the instrument to the upper computer 11, and after transmission, the robot 2 resumes moving to the next set task work point.
The upper computer 11 receives the welding seam image, then carries out image filling, image noise reduction and image enhancement processing, generates the processed original image into an image to be detected, then detects the image to be detected through welding seam detection software, the detected image generates corresponding information according to whether the detected image has defects or not and what defects exist, and the upper computer 11 notes the result of the machine for scanning the image.
After the robot uploads images of all task working points, an instruction for returning to the electric pile for charging is sent to the upper computer 11, and the upper computer can send an instruction for returning the robot to a specific charging pile by inquiring all charging piles.
And when the robot returns to the charging pile, the robot enters a state to be started, all controls are closed at the same time, and the robot is started by the upper computer next time.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model; thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Although the reference numerals in the figures are used more here: the robot comprises a control mechanism 1, a robot body 2, an upper computer 11, a single chip microcomputer 12, an integrated plug connector 13, a positioning structure 21, a caster 22, an image acquisition structure 23, a telescopic structure 24, a charging structure 25, an installation base 211, a rotating support column 212, a cylindrical piston 213, an LDS laser distance sensor 214, a support block 231, a longitudinal cylindrical piston 232, a bearing column 233, a vertical cylindrical piston 234, a support column 235, a laser three-dimensional scanner 236 and other terms, but the possibility of using other terms is not excluded; these terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.
Claims (10)
1. The utility model provides a robot of intellectual detection system welding seam defect which characterized in that: the robot comprises a control mechanism (1) and a robot body (2), wherein a positioning structure (21) is arranged at the top of the robot body (2), casters (22) are arranged at the bottom of the robot body, an image acquisition structure (23) is arranged on the side surface of the robot body, an expansion structure (24) is arranged in the middle of the robot body, and the control mechanism (1) and the robot body (2) are connected through a circuit.
2. The robot for intelligently detecting the weld defects according to claim 1, characterized in that: location structure (21) are including installation base (211), rotation support post (212), cylinder piston (213) and LDS laser distance sensor (214), and the one end of rotation support post (212) is rotated and is connected on installation base (211), and cylinder piston (213) are installed to the other end of rotation support post (212), install LDS laser distance sensor (214) on cylinder piston (213).
3. The robot for intelligently detecting the weld defects according to claim 1, characterized in that: the image acquisition structure (23) comprises a supporting block (231), the supporting block (231) is connected with one end of a bearing column (233) through a longitudinal cylindrical piston (232), the other end of the bearing column (233) is connected with a supporting column (235) through a vertical cylindrical piston (234), and a laser three-dimensional scanner (236) is arranged at the end part of the supporting column (235).
4. The robot for intelligently detecting the weld defects according to claim 3, characterized in that: the supporting block (231) is movably connected with the bearing column (233), and the bearing column (233) is movably connected with the supporting column (235).
5. The robot for intelligently detecting the weld defects according to claim 4, is characterized in that: the bearing column (233) and the supporting column (235) do not interfere with each other when rotating.
6. The robot for intelligently detecting the weld defects according to claim 1, characterized in that: the caster wheels (22) are symmetrically arranged at the bottom of the robot body (2) from left to right.
7. The robot for intelligently detecting the weld defects according to claim 1, characterized in that: and a charging structure (25) is arranged on the other side surface of the robot body (2), and the charging structure (25) is arranged close to the bottom of the robot body (2).
8. The robot for intelligently detecting the weld defects according to claim 1, characterized in that: the telescopic structure (24) is connected with the upper part and the lower part of the robot body (2).
9. The robot for intelligently detecting the weld defects according to claim 1, characterized in that: the control mechanism (1) comprises an upper computer (11) and a single chip microcomputer (12), and the upper computer (11) is in circuit connection with the single chip microcomputer (12).
10. The robot for intelligently detecting the weld defects according to claim 9, characterized in that: the control mechanism (1) further comprises an integrated plug connector (13), one end of the integrated plug connector (13) is in circuit connection with the upper computer (11) and the single chip microcomputer (12), and the other end of the integrated plug connector (13) is in circuit connection with the robot body (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122832035.XU CN216577880U (en) | 2021-11-18 | 2021-11-18 | Robot for intelligently detecting weld defects |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122832035.XU CN216577880U (en) | 2021-11-18 | 2021-11-18 | Robot for intelligently detecting weld defects |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216577880U true CN216577880U (en) | 2022-05-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122832035.XU Expired - Fee Related CN216577880U (en) | 2021-11-18 | 2021-11-18 | Robot for intelligently detecting weld defects |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216577880U (en) |
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2021
- 2021-11-18 CN CN202122832035.XU patent/CN216577880U/en not_active Expired - Fee Related
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| GR01 | Patent grant | ||
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220524 |