CN216577880U - Robot for intelligently detecting weld defects - Google Patents

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

A robot for intelligent detection of weld defects

technical field

The utility model belongs to the technical field of detection robots, in particular to a robot for intelligently detecting welding seam defects.

Background technique

The regular inspection of weld defects is a key part of ensuring the welding quality of products, and the welding quality of products will directly affect the performance of products. In actual production, if the weld defects are not found in time, the small ones will cause equipment damage and stop production, and the large ones will cause disasters. Therefore, weld defect inspections should be carried out frequently.

In most factory workshops, quality inspectors are generally dispatched to inspect weld defects within a fixed period. Although professional quality inspectors can detect weld defects well, when too many products are inspected, the inspectors are prone to physical fatigue and visual fatigue, which greatly affects the inspection process and reduces the accuracy of inspection. On the other hand, the manual inspection of weld defects by quality inspectors also requires huge inspection costs.

In order to solve the problems existing in the prior art, there is provided a robot with weld defect identification, real-time positioning, automatic driving, and fixed-point operation.

Utility model content

In order to overcome the above-mentioned defects in the prior art, the utility model provides a robot capable of welding seam defect identification, real-time positioning, automatic driving, and fixed-point operation for intelligently detecting welding seam defects.

In order to achieve the above purpose, the technical solution adopted by the present utility model is: a robot for intelligently detecting weld defects, including a control mechanism and a robot body, the robot body is provided with a positioning structure on the top, casters on the bottom, and a robot on the side. There is an image acquisition structure, a telescopic structure is arranged in the middle, and the control mechanism and the robot body are connected by a circuit.

As a preferred solution of the present invention, the positioning structure includes a mounting base, a rotating support column, a cylindrical piston and an LDS laser distance sensor, one end of the rotating support column is rotatably connected to the mounting base, and the other end of the rotating support column is mounted with a cylinder Piston, LDS laser distance sensor is installed on the cylindrical piston.

As a preferred solution of the present invention, the image acquisition structure includes a support block, the support block is connected to one end of the bearing column through a longitudinal cylindrical piston, the other end of the bearing column is connected to the support column through a vertical cylindrical piston, and the end of the support column The layout is equipped with a laser 3D scanner.

As a preferred solution of the present invention, the support block and the bearing column are movably connected, and the bearing column and the support column are movably connected.

As a preferred solution of the present invention, the bearing column and the support column do not interfere with each other when rotating.

As a preferred solution of the present invention, the casters are arranged symmetrically on the bottom of the robot body.

As a preferred solution of the present invention, a charging structure is arranged on the other side of the robot body, and the charging structure is arranged near the bottom of the robot body.

As a preferred solution of the present invention, the telescopic structure is connected to the upper and lower parts of the robot body.

As a preferred solution of the present invention, the control mechanism includes a host computer and a single-chip microcomputer, and the circuit connection between the host computer and the single-chip computer is performed.

As a preferred solution of the present invention, the control mechanism further includes an integrated connector, one end of the integrated connector is connected to the upper computer and the single chip circuit, and the other end of the integrated connector is connected to the robot body circuit.

The beneficial effects of the present utility model are:

The utility model can realize the real-time positioning of the robot through the positioning structure, bypass the obstacles, return to the charging pile for charging and set the task point; it can also use the image acquisition structure to perform defect recognition on the welding seam of the original image, and mark the welding seam defect identification. As a result, the roller set at the bottom facilitates the robot to move stably in the workshop, and the telescopic structure can help the robot to detect weld defects of different heights.

Description of drawings

Fig. 1 is the structural representation of the present utility model;

Fig. 2 is the flow chart of the utility model robot operation;

Fig. 3 is the flow chart of the utility model detecting weld defect;

Reference signs in the figure: control mechanism 1, robot body 2, host computer 11, single-chip microcomputer 12, integrated connector 13, positioning structure 21, casters 22, image acquisition structure 23, telescopic structure 24, charging structure 25, mounting base 211 , Rotating support column 212, cylindrical piston 213, LDS laser distance sensor 214, support block 231, longitudinal cylindrical piston 232, bearing column 233, vertical cylindrical piston 234, support column 235, laser 3D scanner 236.

Detailed ways

The embodiments of the present utility model will be described in detail below with reference to the accompanying drawings.

As shown in Figures 1-3, a robot for intelligently detecting weld defects includes a control mechanism 1 and a robot body 2. The robot body 2 is provided with a positioning structure 21 at the top and casters 22 at the bottom. The casters 22 are symmetrical on both sides. It is arranged at the bottom of the robot body 2 to facilitate the robot body 2 to move stably in the workshop. An image acquisition structure 23 is arranged on the side and a telescopic structure 24 is arranged in the middle. The control mechanism 1 and the robot body 2 are connected by circuit.

The control mechanism 1 includes a host computer 11 and a single-chip microcomputer 12 , and the circuit connection between the host computer 11 and the single-chip computer 12 is performed. The control mechanism 1 also includes an integrated connector 13 , one end of the integrated connector 13 is electrically connected to the host computer 11 and the single chip 12 , and the other end of the integrated connector 13 is electrically connected to the robot body 2 .

The positioning structure 21 includes a mounting base 211, a rotating support column 212, a cylindrical piston 213 and an LDS laser distance sensor 214. One end of the rotating support column 212 is rotatably connected to the mounting base 211. An LDS laser distance sensor 214 is mounted on the piston 213 . The positioning structure 21 uses the LDS laser distance sensor 214 to send and receive light, and the LDS laser distance sensor 214 realizes 360 rotation under the action of the rotating support column 212 and the cylindrical piston 213, which can accurately scan the surrounding environment, locate itself according to the distance measurement and use the SLAM algorithm, The specific position of the robot body 2 can be accurately positioned, and the location of the robot body 2 can be reported to the host computer 11 in real time to construct a workshop map of the robot body 2 running.

Of course, when the LDS laser distance sensor 214 in the positioning structure 21 detects that there is an obstacle ahead, the robot body 2 can automatically bypass the obstacle ahead.

According to the workshop map constructed by the host computer 11, before the robot body 2 moves to the designated machine position, it will send a working signal to the host computer 11, indicating that the host computer 11 can start detection when it reaches the designated location.

The image acquisition structure 23 includes a support block 231, the support block 231 is connected to one end of the bearing column 233 through a longitudinal cylindrical piston 232, the other end of the bearing column 233 is connected to a support column 235 through a vertical cylindrical piston 234, and the end of the support column 235 is provided with a laser 3D scanner 236. The support block 231 and the bearing column 233 are movably connected, and the bearing column 233 and the supporting column 235 are movably connected. The bearing column 233 and the supporting column 235 do not interfere with each other when rotating.

When arriving at the designated place, the image acquisition structure 23 scans along the welding seam direction through the portable laser 3D scanner 236 of the robot body 2 to quickly obtain the 3D model of the welding part, and then uploads the collected image to the host computer 11 middle. The host computer 11 receives the uploaded image model, performs image filling, image noise reduction, and image enhancement on the original image to obtain an image to be detected. Then, the image to be detected is segmented, and the segmented image is used for weld defect identification, and then the position of the robot body 2 on which the original image is uploaded is fixed, and the weld defect identification result is marked.

A charging structure 25 is arranged on the other side of the robot body 2 , and the charging structure 25 is arranged near the bottom of the robot body 2 . The charging structure 25 is charged on the charging pile set up in the workshop. Under the action of the positioning structure 21, the charging pile is a determined positioning point. When the power of the robot body 2 is insufficient, the positioning function of the positioning structure 21 is used to determine the position of the robot body 2. position and report the position to the host computer 11, and the robot can be returned to the charging pile for charging by command.

The telescopic structure 24 is connected to the upper and lower parts of the robot body 2. The telescopic structure 24 can be composed of an inner cylinder structure and an outer stretchable plastic, or an inner screw structure and an outer stretchable plastic. The telescopic structure 24 can help the robot detect different heights weld defects.

Specifically implement a robot for intelligent detection of weld defects:

First start the host computer 11 to start the interface initialization, and then start the robot. The position of the robot is the position of the electric pile selected by the robot for charging after the robot was used last time. When the robot starts, if the prompt of failure to start appears, it needs to be manually repaired. If the prompt is successful, the robot can be used.

After the robot starts normally, the host computer 11 starts the LDS laser distance sensor 214 and rotates it 360° to detect the surrounding environment in real time.

Before leaving the charging pile, the robot sets the charging pile as a positioning point and reports the positioning point to the host computer 11. After receiving the positioning point information, the host computer 11 transmits the information of the detection instrument to the robot through instructions.

The positioning structure 21 of the robot's operation will position itself according to the distance measurement and use the SLAM algorithm to accurately locate the specific position of the robot, update the position of the robot in real time and transmit this information to the host computer 11 for display. If it is in an unfamiliar workshop When working, the host computer 11 can start to construct a workshop map for an unfamiliar workshop through positioning selection. It should be noted that the positioning function of the robot will only be turned off when the command to turn off positioning is received.

When the LDS laser distance sensor 214 in the positioning structure 21 detects an obstacle ahead, the robot can automatically bypass the obstacle in front. It should be noted that this function will be turned off only when the function of turning off the obstacle bypassing is received. After the robot reaches the task point, it starts the fixed-point acquisition function, and automatically stops and starts the laser three-dimensional scanner in the image acquisition structure 23 to acquire the original picture.

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 where the instrument is located to the host computer 11. After the transmission is completed, the robot 2 will resume motion and go to the next set task work point .

After the upper computer 11 accepts the weld image, it will perform image filling, image noise reduction, and image enhancement processing, and generate the processed original image as the image to be detected, and then use the weld seam detection software to detect the image to be tested. The image generates corresponding information according to whether it is defective or not, and what defects there are, and the upper computer 11 remarks the result to the machine that scans the image.

After the robot uploads all the images of the task working point, it will send an instruction to the upper computer 11 to return to the charging pile. instruction.

When the robot returns to the charging pile, it enters the standby state, and all controls are turned off at the same time, waiting for the next time the host computer starts the robot.

The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention; 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 figure are used more in this paper: control mechanism 1, robot body 2, host computer 11, single chip microcomputer 12, integrated connector 13, positioning structure 21, casters 22, image acquisition structure 23, telescopic structure 24, Charging structure 25, mounting base 211, rotating support column 212, cylindrical piston 213, LDS laser distance sensor 214, support block 231, longitudinal cylindrical piston 232, bearing column 233, vertical cylindrical piston 234, support column 235, laser 3D scanner 236 and other terms, but does not exclude the possibility of using other terms; the use of these terms is only to describe and explain the essence of the present utility model more conveniently; interpreting them as any additional limitation is consistent with the spirit of the present utility model. contrary.

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).

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