WO2021115065A1 - 钢管焊缝质量检测装置 - Google Patents

钢管焊缝质量检测装置 Download PDF

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Publication number
WO2021115065A1
WO2021115065A1 PCT/CN2020/129526 CN2020129526W WO2021115065A1 WO 2021115065 A1 WO2021115065 A1 WO 2021115065A1 CN 2020129526 W CN2020129526 W CN 2020129526W WO 2021115065 A1 WO2021115065 A1 WO 2021115065A1
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WO
WIPO (PCT)
Prior art keywords
steel pipe
rotating
turning
assembly
weld
Prior art date
Application number
PCT/CN2020/129526
Other languages
English (en)
French (fr)
Inventor
何凯
洪梓村
徐耀辉
赵文亮
Original Assignee
中国科学院深圳先进技术研究院
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Application filed by 中国科学院深圳先进技术研究院 filed Critical 中国科学院深圳先进技术研究院
Publication of WO2021115065A1 publication Critical patent/WO2021115065A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
    • B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/20—Metals
    • G01N33/207—Welded or soldered joints; Solderability

Definitions

  • the invention belongs to the technical field of weld detection equipment, and in particular relates to a steel pipe weld quality detection device.
  • the steel pipe is welded after bending the steel plate.
  • it is necessary to inspect the quality of the weld after the welding is completed.
  • the inspection of steel pipe welds generally adopts a semi-automatic inspection method, that is, manual operation of lifting beams for lifting during the steps of grabbing, moving and placing steel pipes, which requires a long time and low detection efficiency.
  • the steel pipe is unstable, it will directly hit the ground, which will threaten the safety of workers; and even though there is automatic rotation in the process of inspecting the quality of the weld
  • the platform is assisted, but in the end, the quality of the weld must be judged manually with the naked eye. In this way, it is very likely that there will be missed inspections. Then it is necessary to screen for missed inspections, resulting in lower inspection efficiency.
  • the purpose of the present invention is to provide a steel pipe weld quality inspection device, which aims to solve the technical problem of low efficiency of steel pipe weld inspection in the prior art.
  • a steel pipe weld quality inspection device including a turning mechanism, a grasping mechanism and a weld detector
  • the turning mechanism is provided with a turning area for placing steel pipes, so
  • the weld detector is arranged toward the turning area and used to detect the weld on the steel pipe
  • the turning mechanism is used to turn the weld on the steel pipe toward the weld detector
  • the grabbing mechanism It is used to grab the steel pipe and place it in the turning area.
  • the turning mechanism includes a translation mechanism and a rotation mechanism, the rotation mechanism is mounted on a driving end of the translation mechanism, the translation mechanism drives the rotation mechanism to move in a horizontal direction, and the turning area is provided at On the rotating mechanism, the rotating mechanism is used to rotate the steel pipe located in the turning area.
  • the rotating mechanism includes a rotating bracket and at least one rotating assembly, the turning area is provided on the rotating bracket, and the rotating assembly includes at least two rotating wheels, a rotating belt, and a rotating drive.
  • Rotating wheels are installed on the rotating bracket at intervals, the rotating belt is wound around each of the rotating wheels and located in the turning area, and the driving end of the rotating driving member is connected to and driven by one of the rotating wheels The rotating wheel rotates, and the rotating belt is used to drive the steel pipe to rotate in the turning area.
  • the two rotating components are respectively close to two ends of the turning area.
  • the translation mechanism includes at least one first linear module, the guide of the first linear module is parallel to the central axis of the steel pipe located in the turning area, and the rotating support is connected to The moving parts of the first linear module are connected.
  • the grasping mechanism includes a grasping bracket, a second linear module, and a magnetic member for absorbing the steel pipe.
  • the guide member of the second linear module is installed on the rotating bracket, and the The moving part of the second linear module is connected with the grabbing bracket, and the magnetic member is installed on the grabbing bracket.
  • the steel pipe weld quality inspection device further includes a loading mechanism, the loading mechanism includes a translation assembly and a tipping bucket assembly, the tipping bucket assembly is installed on the translation assembly, the translation assembly is used to drive the tipping bucket The assembly moves, the turning mechanism is installed on the tipping bucket assembly, and the tipping bucket assembly is used for turning over the turning mechanism.
  • the loading mechanism includes a translation assembly and a tipping bucket assembly
  • the tipping bucket assembly is installed on the translation assembly
  • the translation assembly is used to drive the tipping bucket The assembly moves
  • the turning mechanism is installed on the tipping bucket assembly
  • the tipping bucket assembly is used for turning over the turning mechanism.
  • the tipping bucket assembly includes a tipping bucket driving part and a four-bar linkage mechanism
  • the tipping bucket driving part is installed on the translation assembly
  • the driving end of the tipping bucket driving part is connected to the four-bar linkage mechanism
  • the tipping bucket driving part is connected to the four-bar linkage mechanism.
  • the four-bar linkage mechanism is used to drive the turning mechanism to rotate.
  • the four-bar linkage mechanism includes a first linkage, a second linkage, a third linkage, and a fourth linkage
  • the first linkage is mounted on the translation assembly
  • the first linkage Both ends of the rod are hinged with one end of the second link and one end of the third link, and both ends of the fourth link are respectively connected with the other end of the second link and the third link.
  • the other end of the connecting rod is hinged, the driving end of the dump driving member is connected with the second connecting rod or the third connecting rod, and the turning mechanism is installed on the fourth connecting rod.
  • the four-bar linkage mechanism drives the turning mechanism to rotate between 0° and 90°.
  • the grabbing mechanism and the turning mechanism can cooperate with each other to grab the welded steel pipe into the turning area and fix it, so as to realize automatic transportation; Then the turning mechanism turns over the steel pipe so that the welds on the steel pipe pass through the position of the weld detector in turn. At this time, the weld detector scans and detects the weld, so as to realize automatic detection, effectively improve the detection efficiency, and avoid manual missed inspections. Circumstances: After the inspection, the grasping mechanism and the turning mechanism cooperate with each other to lower the steel pipe, reducing manual participation and effectively improving the inspection efficiency.
  • Fig. 1 is a structural schematic diagram of an application state of a steel pipe weld quality inspection device provided by an embodiment of the present invention
  • Figure 2 is a schematic diagram showing the structure of the steel pipe weld quality inspection device in Figure 1 grabbing the steel pipe;
  • Fig. 3 is a schematic diagram of the structure of the steel pipe placed in the steel pipe weld quality inspection device in Fig. 1;
  • FIG. 4 is a schematic structural view of the rotating mechanism of the steel pipe weld quality inspection device in FIG. 1;
  • Fig. 5 is a schematic structural diagram of a grasping mechanism of the steel pipe weld quality inspection device in Fig. 1.
  • first and second are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined with “first” and “second” may explicitly or implicitly include one or more of these features. In the description of the present invention, “plurality” means two or more than two, unless otherwise specifically defined.
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. , Or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components.
  • installed can be a fixed connection or a detachable connection. , Or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components.
  • the embodiment of the present invention provides a steel pipe weld quality inspection device, which is applied to perform weld 51 quality inspection on large steel pipes 50 or steel pipes 50 of other specifications.
  • the steel pipe weld quality inspection device includes a turning mechanism 10, a grasping mechanism 20, and a weld detector 30.
  • the turning mechanism 10 is provided with a turning area 11 for placing the steel pipe 50, and the weld detector 30 is set toward the turning area 11. It is also used to detect the weld 51 on the steel pipe 50.
  • the turning mechanism 10 is used to turn the weld 51 on the steel pipe 50 toward the weld detector 30.
  • the grasping mechanism 20 is used to grasp the steel pipe 50 and place it in the turning area 11.
  • the grasping mechanism 20 and the turning mechanism 10 can cooperate with each other to make the welded steel pipe 50 Grab it into the turning area 11 and fix it to realize automated handling; then the turning mechanism 10 turns over the steel pipe 50 so that the weld 51 on the steel pipe 50 passes through the position of the weld detector 30 in turn.
  • the weld detector 30 is butt-welded
  • the seam 51 is scanned and detected, thereby realizing automatic detection, effectively improving the detection efficiency, and avoiding manual missed detection; after the detection, the grasping mechanism 20 and the turning mechanism 10 cooperate with each other to put down the steel pipe 50, reducing manual participation and effective Improve detection efficiency.
  • the weld detector 30 may be an eddy current sensor, an ultrasonic flaw detector, or the like.
  • the turning mechanism 10 includes a translation mechanism 12 and a rotation mechanism 13.
  • the rotation mechanism 13 is installed on the driving end of the translation mechanism 12, and the translation mechanism 12 drives the rotation mechanism 13 in a horizontal position.
  • the turning area 11 is provided on the rotating mechanism 13, and the rotating mechanism 13 is used to rotate the steel pipe 50 located in the turning area 11.
  • the rotating mechanism 13 drives the steel pipe 50 to rotate along the central axis of the steel pipe 50 in the turning area 11, and then the translation mechanism 12 drives the entire rotating mechanism 13 to move in the horizontal direction, thus passing Controlling the movement and rotation of the steel pipe 50 in the horizontal direction can enable the weld 51 on the steel pipe 50 to be turned over to the position of the weld detector 30 for detection, avoiding missed inspections and having a good use effect.
  • the rotating mechanism 13 includes a rotating bracket 131 and at least one rotating assembly 132, the turning area 11 is provided on the rotating bracket 131, and the rotating assembly 132 includes at least two rotating wheels 1321.
  • the rotating belt 1322 and the rotating drive member 1323, each rotating wheel 1321 is installed on the rotating bracket 131 at intervals, the rotating belt 1322 is wound around each rotating wheel 1321 and located in the turning area 11, the driving end of the rotating drive member 1323 is connected to one of them
  • the rotating wheel 1321 is connected to and drives the rotating wheel 1321 to rotate, and the rotating belt 1322 is used to drive the steel pipe 50 to rotate in the turning area 11.
  • the rotating drive member 1323 drives one of the rotating wheels 1321 to rotate, and the other rotating wheels 1321 are driven by the rotating belt 1322 to rotate synchronously.
  • the rotating belts 1322 are also rotating in each direction.
  • the wheels 1321 rotate cyclically.
  • the rotating belt 1322 drives the steel pipe 50 to rotate along the central axis of the steel pipe 50 in the turning zone 11 during the rotation process.
  • the structure is simple and the manufacturing cost is simple. Low, wide application range, can drive various types of steel pipe 50 placed in the turning area 11 to rotate.
  • FIGS. 1, 2 and 4 there are two rotating components 132, and the two rotating components 132 are respectively close to the two ends of the turning area 11. Specifically, by providing two rotating assemblies 132, the two ends of the steel pipe 50 are respectively placed on the two rotating belts 1322, and then the two rotating belts 1322 are simultaneously driven to rotate the steel pipe 50 to ensure the stability of the rotation of the steel pipe 50.
  • the translation mechanism 12 includes at least one first linear module 121, the guide of the first linear module 121 and the steel pipe 50 located in the turning area 11
  • the central axis is parallel, and the rotating bracket 131 is connected to the moving part of the first linear module 121.
  • the rotating bracket 131 can drive the steel pipe 50 to move horizontally in the length direction, so that the weld detector 30 can be moved in the longitudinal direction.
  • welds 51 located at all positions on the steel pipe 50 are detected, and the use effect is good.
  • the translation mechanism 12 further includes a translation support 122, a plurality of first linear modules 121 are provided, and each first linear module 121 is installed side by side on the translation support 122, and each first linear module 121 Move at the same time to smoothly drive the rotating bracket 131 to move.
  • the first linear module 121 can be a linear sliding table (in this case, the guide is a linear guide, and the moving part is a slider), a screw module (in this case, the guide is a screw, and the moving part is a moving nut) or Linear motor (in this case, the guide is the stator and the moving part is the mover), etc., set as required.
  • the grasping mechanism 20 includes a grasping bracket 21, a second linear module 22, and a magnetic member 23 for adsorbing the steel pipe 50.
  • the second linear module 22 The guide member is installed on the rotating bracket 131, the moving member of the second linear module 22 is connected with the grabbing bracket 21, and the magnetic member 23 is installed on the grabbing bracket 21. Specifically, when grabbing the steel pipe 50, the grabbing bracket 21 first moves toward the steel pipe 50 under the drive of the second linear module 22. After the grabbing bracket 21 and the steel pipe 50 are close to each other, the magnetic member 23 starts to be energized.
  • the second linear module 22 can be a linear sliding table (in this case, the guide is a linear guide, and the moving part is a slider), a screw module (in this case, the guide is a screw, and the moving part is a moving nut) or a linear slide. Motor (in this case, the guide is the stator and the moving part is the mover), etc., set as required.
  • the steel pipe weld quality inspection device further includes a loading mechanism 40, which includes a translation assembly 41 and a dumping bucket assembly 42.
  • the dumping bucket assembly 42 is mounted on the translation assembly 41.
  • the translation assembly 41 is used to drive the tipping bucket assembly 42 to move, the turning mechanism 10 is installed on the tipping bucket assembly 42, and the tipping bucket assembly 42 is used for turning over the turning mechanism 10.
  • the translation assembly 41 is used to load the tipping bucket assembly 42 and the turning mechanism 10 installed on the tipping bucket assembly 42 to move, instead of manually transporting the steel pipe 50; wherein, the tipping bucket assembly 42 is used to cooperate with the first straight line when the steel pipe 50 is transported.
  • the module 121 and the second linear module 22 grab and place the steel pipe 50, and then are transferred to the designated position under the drive of the translation assembly 41; through the translation assembly 41, the first linear module 121, and the second linear mold
  • operations such as grasping, transferring and placing the steel pipe 50 can be realized automatically, instead of manual operations, thereby effectively improving the inspection efficiency and detection of the steel pipe 50 Security in the process.
  • the translation component 41 can be various vehicle-mounted mobile platforms, such as an AGV trolley.
  • the weld detector 30 can be installed on the translation assembly 41 through the support rod 31 and located at the side of the turning area 11 under the support of the support rod 31.
  • the specific detection operation process of the steel pipe weld quality detection device of the embodiment of the present invention is as follows:
  • the translation component 41 as a vehicle-mounted platform first drives the whole to move to the position of the steel pipe 50 to be tested, and then the first linear module 121, the second linear module 22, the tipping bucket assembly 42, and the grabbing mechanism 20 cooperate with each other to grab the steel pipe 50
  • the magnetic member 23 on the grasping mechanism 20 is de-energized so that the steel pipe 50 can rotate in the turning area 11, and then start the rotation
  • the assembly 132 drives the steel pipe 50 to rotate in the horizontal direction.
  • the first linear module 121 simultaneously moves the steel pipe 50 in the horizontal direction.
  • the steel pipe 50 rotates in the horizontal direction and moves in the horizontal direction, so that The steel pipe 50 is turned in a spiral shape as a whole to detect the weld seam detector 30 on the side of the turning area 11 for scanning detection.
  • the rotation speed of the rotating wheel 1321 and the movement speed of the first linear module 121 can be controlled, that is, the circumferential rotation speed and the horizontal movement speed of the steel pipe 50 can be controlled. This ensures that the weld detector 30 can always perform non-destructive inspection along the spiral weld 51 of the steel pipe 50.
  • the magnetic member 23 is energized to fix the steel pipe 50 in the turning area 11, and then the tipping bucket assembly 42 is activated, so that the rotating bracket 131 drives the steel pipe 50 to rotate to a state perpendicular to the ground (at this time, the first linear module
  • the guide part of 121 is also vertical to the ground), and then one end of the steel pipe 50 is gradually approached to the ground through the first linear module 121, until the steel pipe 50 is stably placed on the ground, and the magnetic part 23 is broken.
  • the moving platform drives the turning mechanism 10 to move away from the tested steel pipe 50 to grab another steel pipe 50 to be tested, so that the inspection work of the welds 51 of the steel pipe 50 is completed one by one automatically. High efficiency, less manual participation.
  • the tipping bucket assembly 42 includes a tipping bucket driving member 421 and a four-bar linkage mechanism 422.
  • the tipping bucket driving member 421 is mounted on the translation assembly 41.
  • the driving end of the tipping bucket driving member 421 is connected to the four connecting rods.
  • the rod mechanism 422 is connected, and the four-bar linkage mechanism 422 is used to drive the turning mechanism 10 to rotate.
  • the tipping bucket driving member 421 drives the four-bar linkage mechanism 422 to gradually expand, wherein the tipping bucket driving member 421 is preferably a hydraulic cylinder.
  • the piston rod of the hydraulic cylinder Extend to drive the four-bar linkage 422 to move, so that the four-bar linkage 422 is in an unfolded state, so that the posture of the steel pipe 50 is adjusted to be perpendicular to the ground.
  • the piston rod of the hydraulic cylinder contracts, so that The four-bar linkage mechanism 422 gradually assumes a retracted state until the central axis in the turning area 11 is parallel to the horizontal plane, that is, the posture of each mechanism is adjusted to the initial state.
  • the four-bar linkage mechanism 422 includes a first linkage 4221, a second linkage 4222, a third linkage 4223, and a fourth linkage 4224.
  • the first linkage 4221 is installed On the translation assembly 41, both ends of the first link 4221 are hinged with one end of the second link 4222 and one end of the third link 4223 respectively, and both ends of the fourth link 4224 are respectively connected to the other end of the second link 4222.
  • One end is hinged with the other end of the third link 4223, the driving end of the dump driving member 421 is connected with the second link 4222 or the third link 4223, and the turning mechanism 10 is installed on the fourth link 4224.
  • the first connecting rod 4221 and the fourth connecting rod 4224 are close to each other.
  • the piston rod of the hydraulic cylinder extends to drive the second connecting rod 4222 to be perpendicular to the first connecting rod.
  • the direction of the rod 4221 rotates.
  • the second link 4222 drives the fourth link 4224 to rotate at the same time, so that the fourth link 4224 gradually moves away from the first link 4221.
  • the fourth link 4224 also drives the third link.
  • the rod 4223 moves in a direction perpendicular to the first connecting rod 4221 until the steel pipe 50 is perpendicular to the ground; after the steel pipe 50 is put down, the piston rod of the hydraulic cylinder contracts to drive the second connecting rod 4222, the fourth connecting rod 4224, and the third connecting rod.
  • the lever 4223 is rotated in the opposite direction to restore the initial state.
  • the four-bar linkage mechanism 422 drives the turning mechanism 10 to rotate between 0° and 90°. Specifically, by making the four-bar linkage mechanism 422 drive the turning mechanism 10 to rotate between 0° and 90°, it is possible to ensure that the steel pipe 50 is perpendicular to the ground when placed, thereby ensuring the stability of the steel pipe 50 and avoiding the occurrence of the steel pipe 50 being placed on the ground. It will fall down when placed to avoid potential safety hazards.

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Abstract

本发明属于焊缝检测设备技术领域，尤其涉及一种钢管焊缝质量检测装置，包括翻转机构、抓取机构和焊缝检测器，翻转机构上设有用于放置钢管的翻转区，焊缝检测器朝向翻转区设置并用于检测钢管上的焊缝，翻转机构用于将钢管上的焊缝朝向焊缝检测器翻转，抓取机构用于抓取钢管放置至翻转区内。在检测时，抓取机构和翻转机构可以相互配合将焊接好的钢管抓取至翻转区内并固定，实现自动化的搬运；然后翻转机构翻转钢管，使得钢管上的焊缝依次通过焊缝检测器的位置，此时焊缝检测器对焊缝进行扫描检测，实现自动化检测，有效地提高检测效率，避免出现人工漏检的情况；检测完后，抓取机构和翻转机构再相互配合将钢管放下，减少人工参与，检测效率高。

Description

钢管焊缝质量检测装置 技术领域
本发明属于焊缝检测设备技术领域，尤其涉及一种钢管焊缝质量检测装置。
 背景技术
钢管是由钢板弯曲后焊接而成的，为了保证钢管的质量，需要在焊接完成后对焊缝的质量进行检测。目前对钢管焊缝的检测一般是采用半自动化的检测方式，即在抓取、移动和放置钢管等的步骤时是人工操作吊梁进行吊装来实现，所需时间较长，检测效率较低，并且由于钢管的重量较大，在吊梁移动的过程中，若对钢管固定不稳定便会直接砸向地面，会对工人的安全造成威胁；以及在检测焊缝质量的过程中虽然有自动旋转平台进行辅助，但最终还是要通过人工用肉眼来判断焊缝质量的好坏，这样便很有可能会出现漏检的情况，那么便还需要对漏检进行筛查，导致检测效率变低。
 技术解决方案
本发明的目的在于提供一种钢管焊缝质量检测装置，旨在解决现有技术中的对钢管焊缝检测效率较低的技术问题。
为实现上述目的，本发明采用的技术方案是：一种钢管焊缝质量检测装置，包括翻转机构、抓取机构和焊缝检测器，所述翻转机构上设有用于放置钢管的翻转区，所述焊缝检测器朝向所述翻转区设置并用于检测所述钢管上的焊缝，所述翻转机构用于将所述钢管上的焊缝朝向所述焊缝检测器翻转，所述抓取机构用于抓取所述钢管放置至所述翻转区内。
可选地，所述翻转机构包括平移机构和旋转机构，所述旋转机构安装于所述平移机构的驱动端上，所述平移机构驱动所述旋转机构在水平方向移动，所述翻转区设于所述旋转机构上，所述旋转机构用于将位于所述翻转区内的所述钢管旋转。
可选地，所述旋转机构包括旋转支架和至少一个旋转组件，所述翻转区设于所述旋转支架上，所述旋转组件包括至少两个旋转轮、旋转带和旋转驱动件，各个所述旋转轮间隔安装在所述旋转支架上，所述旋转带绕设于各个所述旋转轮上并位于所述翻转区内，所述旋转驱动件的驱动端与其中一个所述旋转轮连接并驱动该所述旋转轮转动，所述旋转带用于带动所述钢管在所述翻转区内转动。
可选地，所述旋转组件设有两个，且两个所述旋转组件分别靠近于所述翻转区的两端。
可选地，所述平移机构包括至少一个第一直线模组，所述第一直线模组的导向件与位于所述翻转区内的所述钢管的中轴线平行，所述旋转支架与所述第一直线模组的移动件连接。
可选地，所述抓取机构包括抓取支架、第二直线模组和用于吸附所述钢管的磁性件，所述第二直线模组的导向件安装于所述旋转支架上，所述第二直线模组的移动件与所述抓取支架连接，所述磁性件安装于所述抓取支架上。
可选地，所述钢管焊缝质量检测装置还包括装载机构，所述装载机构包括平移组件和翻斗组件，所述翻斗组件安装于所述平移组件上，所述平移组件用于带动所述翻斗组件移动，所述翻转机构安装于所述翻斗组件上，所述翻斗组件用于翻转所述翻转机构。
可选地，所述翻斗组件包括翻斗驱动件和四连杆机构，所述翻斗驱动件安装于所述平移组件上，所述翻斗驱动件的驱动端与所述四连杆机构连接，所述四连杆机构用于带动所述翻转机构转动。
可选地，所述四连杆机构包括第一连杆、第二连杆、第三连杆和第四连杆，所述第一连杆安装于所述平移组件上，所述第一连杆的两端分别与所述第二连杆的一端和所述第三连杆的一端铰接，所述第四连杆的两端分别与所述第二连杆的另一端和所述第三连杆的另一端铰接，所述翻斗驱动件的驱动端与所述第二连杆或所述第三连杆连接，所述翻转机构安装于所述第四连杆上。
可选地，所述四连杆机构带动所述翻转机构在0°~90°之间转动。
本发明实施例的有益效果：本发明的钢管焊缝质量检测装置，在检测时，抓取机构和翻转机构可以相互配合将焊接好的钢管抓取至翻转区内并固定，实现自动化的搬运；然后翻转机构翻转钢管，使得钢管上的焊缝依次通过焊缝检测器的位置，此时焊缝检测器对焊缝进行扫描检测，从而实现自动化检测，有效地提高检测效率，避免出现人工漏检的情况；检测完后，抓取机构和翻转机构再相互配合将钢管放下，减少人工参与，有效地提高检测效率。
 附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的钢管焊缝质量检测装置的应用状态结构示意图；
图2为图1中钢管焊缝质量检测装置抓取钢管的结构示意图；
图3为图1中钢管焊缝质量检测装置放置钢管的结构示意图；
图4为图1中钢管焊缝质量检测装置的旋转机构的结构示意图；
图5为图1中钢管焊缝质量检测装置的抓取机构的结构示意图。
其中，图中各附图标记：
10—翻转机构；
11—翻转区；12—平移机构；13—旋转机构；121—第一直线模组；122—平移支架；131—旋转支架；132—旋转组件；1321—旋转轮；1322—旋转带；1323—旋转驱动件；
20—抓取机构；
21—抓取支架；22—第二直线模组；23—磁性件；
30—焊缝检测器；
31—支撑杆；
40—装载机构；
41—平移组件；42—翻斗组件；421—翻斗驱动件；422—四连杆机构；4221—第一连杆；4222—第二连杆；4223—第三连杆；4224—第四连杆；
50—钢管；
51—焊缝。
 本发明的实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图1~5描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。
在本发明的描述中，需要理解的是，术语“长度”、“宽度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
如图1~3所示，本发明实施例提供了一种钢管焊缝质量检测装置，应用于对大型钢管50或其他一些规格大小的钢管50进行焊缝51质量检测。具体地，钢管焊缝质量检测装置包括翻转机构10、抓取机构20和焊缝检测器30，翻转机构10上设有用于放置钢管50的翻转区11，焊缝检测器30朝向翻转区11设置并用于检测钢管50上的焊缝51，翻转机构10用于将钢管50上的焊缝51朝向焊缝检测器30翻转，抓取机构20用于抓取钢管50放置至翻转区11内。
以下对本发明实施例提供的钢管焊缝质量检测装置作进一步说明：本发明实施例的钢管焊缝质量检测装置，在检测时，抓取机构20和翻转机构10可以相互配合将焊接好的钢管50抓取至翻转区11内并固定，实现自动化的搬运；然后翻转机构10翻转钢管50，使得钢管50上的焊缝51依次通过焊缝检测器30的位置，此时焊缝检测器30对焊缝51进行扫描检测，从而实现自动化检测，有效地提高检测效率，避免出现人工漏检的情况；检测完后，抓取机构20和翻转机构10再相互配合将钢管50放下，减少人工参与，有效地提高检测效率。
其中，焊缝检测器30可以为涡流传感器或超声波探伤仪等。
在一个实施例中，如图1、2、4所示，翻转机构10包括平移机构12和旋转机构13，旋转机构13安装于平移机构12的驱动端上，平移机构12驱动旋转机构13在水平方向移动，翻转区11设于旋转机构13上，旋转机构13用于将位于翻转区11内的钢管50旋转。具体地，钢管50放入翻转区11内后，旋转机构13带动钢管50在翻转区11内沿着钢管50的中轴线转动，然后平移机构12带动整个旋转机构13在水平方向上移动，这样通过控制钢管50在水平方向上移动并旋转就可以使得位于钢管50上的焊缝51均可翻转至焊缝检测器30的位置处进行检测，避免出现漏检的情况，使用效果好。
在一个实施例中，如图1、2、4所示，旋转机构13包括旋转支架131和至少一个旋转组件132，翻转区11设于旋转支架131上，旋转组件132包括至少两个旋转轮1321、旋转带1322和旋转驱动件1323，各个旋转轮1321间隔安装在旋转支架131上，旋转带1322绕设于各个旋转轮1321上并位于翻转区11内，旋转驱动件1323的驱动端与其中一个旋转轮1321连接并驱动该旋转轮1321转动，旋转带1322用于带动钢管50在翻转区11内转动。具体地，在带动钢管50在翻转区11内转动时，旋转驱动件1323驱动其中一个旋转轮1321转动，其他旋转轮1321在旋转带1322的带动下同步转动，此时旋转带1322也在各个旋转轮1321之间循环转动，通过将钢管50放置在旋转带1322上，从而使得旋转带1322在转动的过程中带动钢管50在翻转区11内沿着钢管50的中轴线转动，结构简单，制作成本低，适用范围广，可驱动放置于翻转区11内各种型号的钢管50转动。
在一个实施例中，如图1、2、4所示，旋转组件132设有两个，且两个旋转组件132分别靠近于翻转区11的两端。具体地，通过设置两个旋转组件132，使得钢管50的两端分别放置在两个旋转带1322上，然后通过两个旋转带1322同时带动钢管50转动，保证钢管50转动的稳定性。
在一个实施例中，如图1、2、5所示，平移机构12包括至少一个第一直线模组121，第一直线模组121的导向件与位于翻转区11内的钢管50的中轴线平行，旋转支架131与第一直线模组121的移动件连接。具体地，通过将第一直线模组121的导向件设置在钢管50的长度方向上，这样使得旋转支架131可以带动钢管50在其长度方向上水平移动，从而使得焊缝检测器30可以在钢管50移动和转动的过程中，检测到位于钢管50上所有位置的焊缝51，使用效果好。
进一步地，平移机构12还包括平移支架122，第一直线模组121设置有多个，且各个第一直线模组121并排地安装在平移支架122上，各个第一直线模组121同时移动以平稳带动旋转支架131移动。其中，第一直线模组121可以为线性滑台（此时导向件为直线导轨，移动件为滑块）、丝杆模组（此时导向件为丝杆，移动件为移动螺母）或直线电机（此时导向件为定子，移动件为动子）等，按需设置。
在一个实施例中，如图1、2、5所示，抓取机构20包括抓取支架21、第二直线模组22和用于吸附钢管50的磁性件23，第二直线模组22的导向件安装于旋转支架131上，第二直线模组22的移动件与抓取支架21连接，磁性件23安装于抓取支架21上。具体地，在抓取钢管50时，抓取支架21先在第二直线模组22的带动下朝向钢管50移动，抓取支架21与钢管50相互贴合靠近后，磁性件23开始通电，此时磁性件23将钢管50吸附在抓取支架21上，然后抓取支架21在第二直线模组22的带动下将钢管50移动至翻转区11内，然后磁性件23再断电，使得钢管50放置在旋转组件132上。其中，第二直线模组22可以为线性滑台（此时导向件为直线导轨，移动件为滑块）、丝杆模组（此时导向件为丝杆，移动件为移动螺母）或直线电机（此时导向件为定子，移动件为动子）等，按需设置。
在一个实施例中，如图1~3所示，钢管焊缝质量检测装置还包括装载机构40，装载机构40包括平移组件41和翻斗组件42，翻斗组件42安装于平移组件41上，平移组件41用于带动翻斗组件42移动，翻转机构10安装于翻斗组件42上，翻斗组件42用于翻转翻转机构10。具体地，平移组件41用于装载翻斗组件42和安装在翻斗组件42上的翻转机构10进行移动，以代替人工搬运钢管50；其中，翻斗组件42用于在搬运钢管50时配合第一直线模组121和第二直线模组22对钢管50进行抓取和放置，然后在平移组件41的带动下转移至指定位置；通过在平移组件41、第一直线模组121、第二直线模组22、翻斗组件42和抓取机构20的配合下，可以实现全自动地实现对钢管50的抓取、转移和放置等操作，以代替人工操作，从而有效的提高钢管50的检测效率和检测过程中的安全性。其中，平移组件41可以为各种车载移动平台，如AGV小车。进一步地，焊缝检测器30可以通过支撑杆31安装在平移组件41上并在支撑杆31的支撑下位于翻转区11的侧方。
如图1~3所示，本发明实施例的钢管焊缝质量检测装置具体检测操作过程如下：
平移组件41作为车载平台先带动整体移动至待检测的钢管50位置处，然后第一直线模组121、第二直线模组22、翻斗组件42和抓取机构20相互配合将钢管50抓取在位于翻转区11内的旋转组件132上并使得钢管50的长度方向呈水平设置，此时抓取机构20上的磁性件23断电以使得钢管50可以在翻转区11内转动，然后启动旋转组件132以带动钢管50在水平方向上转动，此时第一直线模组121同时带着钢管50在水平方向移动，此时由于钢管50即在水平方向旋转也在水平方向上移动，从而使得钢管50整体呈螺旋状翻转以检测供位于翻转区11侧方的焊缝检测器30进行扫描检测。在使得钢管50整体呈螺旋状翻转过程中，由于旋转轮1321的旋转速度和第一直线模组121的移动速度均可控制，即钢管50的周向旋转速度和水平移动速度均可控制，这就保证了焊缝检测器30始终可以沿着钢管50的螺旋线状焊缝51进行无损检测。在检测完后，磁性件23通电以将钢管50固定在翻转区11内，然后启动翻斗组件42，以使得旋转支架131带动钢管50转动至与地面垂直的状态（此时第一直线模组121的导向件也呈与地面竖直的状态），然后再通过第一直线模组121带动钢管50的一端逐渐靠近地面，直至钢管50被稳定地放置在地面上，此时磁性件23断电以松开钢管50，然后移动平台带动翻转机构10移动以离开检测好的钢管50以去抓取另一个待检测的钢管50，如此全自动地逐个完成钢管50焊缝51的检测工作，检测效率高，人工参与少。
在一个实施例中，如图1~3所示，翻斗组件42包括翻斗驱动件421和四连杆机构422，翻斗驱动件421安装于平移组件41上，翻斗驱动件421的驱动端与四连杆机构422连接，四连杆机构422用于带动翻转机构10转动。具体地，翻斗机构在带动翻转机构10翻转时，翻斗驱动件421驱动四连杆机构422逐步展开，其中翻斗驱动件421优选为液压缸，在驱动四连杆机构422时，液压缸的活塞杆伸长以带动四连杆机构422运动，使得四连杆机构422呈展开状态，从而实现将钢管50的姿态调节成与地面垂直，钢管50放置在地面上后，液压缸的活塞杆收缩，使得四连杆机构422逐步呈收拢状态，直至翻转区11内的中轴线与水平面平行，即将各机构的姿态调节成初始状态。
在一个实施例中，如图1~3所示，四连杆机构422包括第一连杆4221、第二连杆4222、第三连杆4223和第四连杆4224，第一连杆4221安装于平移组件41上，第一连杆4221的两端分别与第二连杆4222的一端和第三连杆4223的一端铰接，第四连杆4224的两端分别与第二连杆4222的另一端和第三连杆4223的另一端铰接，翻斗驱动件421的驱动端与第二连杆4222或第三连杆4223连接，翻转机构10安装于第四连杆4224上。具体地，在初始状态，第一连杆4221与第四连杆4224相互贴合靠近，在需要放下钢管50时，液压缸的活塞杆伸长以驱动第二连杆4222朝向垂直于第一连杆4221的方向转动，此时第二连杆4222同时带动第四连杆4224转动，使得第四连杆4224逐渐远离第一连杆4221，与此同时，第四连杆4224也带动第三连杆4223朝向与第一连杆4221垂直的方向移动，直至使得钢管50与地面垂直；放下钢管50后，液压缸的活塞杆收缩以带动第二连杆4222、第四连杆4224和第三连杆4223沿着相反的方向转动，以恢复初始状态。
在一个实施例中，如图1、3所示，四连杆机构422带动翻转机构10在0°~90°之间转动。具体地，通过使得四连杆机构422带动翻转机构10在0°~90°之间转动，从而可以保证钢管50在放置时与地面垂直，从而保证钢管50放置的稳定性，避免出现钢管50在放置时出现倒伏的情况，避免出现安全隐患。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种钢管焊缝质量检测装置，其特征在于：包括翻转机构、抓取机构和焊缝检测器，所述翻转机构上设有用于放置钢管的翻转区，所述焊缝检测器朝向所述翻转区设置并用于检测所述钢管上的焊缝，所述翻转机构用于将所述钢管上的焊缝朝向所述焊缝检测器翻转，所述抓取机构用于抓取所述钢管放置至所述翻转区内。
  2. 根据权利要求1所述的钢管焊缝质量检测装置，其特征在于：所述翻转机构包括平移机构和旋转机构，所述旋转机构安装于所述平移机构的驱动端上，所述平移机构驱动所述旋转机构在水平方向移动，所述翻转区设于所述旋转机构上，所述旋转机构用于将位于所述翻转区内的所述钢管旋转。
  3. 根据权利要求2所述的钢管焊缝质量检测装置，其特征在于：所述旋转机构包括旋转支架和至少一个旋转组件，所述翻转区设于所述旋转支架上，所述旋转组件包括至少两个旋转轮、旋转带和旋转驱动件，各个所述旋转轮间隔安装在所述旋转支架上，所述旋转带绕设于各个所述旋转轮上并位于所述翻转区内，所述旋转驱动件的驱动端与其中一个所述旋转轮连接并驱动该所述旋转轮转动，所述旋转带用于带动所述钢管在所述翻转区内转动。
  4. 根据权利要求3所述的钢管焊缝质量检测装置，其特征在于：所述旋转组件设有两个，且两个所述旋转组件分别靠近于所述翻转区的两端。
  5. 根据权利要求3所述的钢管焊缝质量检测装置，其特征在于：所述平移机构包括至少一个第一直线模组，所述第一直线模组的导向件与位于所述翻转区内的所述钢管的中轴线平行，所述旋转支架与所述第一直线模组的移动件连接。
  6. 根据权利要求3所述的钢管焊缝质量检测装置，其特征在于：所述抓取机构包括抓取支架、第二直线模组和用于吸附所述钢管的磁性件，所述第二直线模组的导向件安装于所述旋转支架上，所述第二直线模组的移动件与所述抓取支架连接，所述磁性件安装于所述抓取支架上。
  7. 根据权利要求1~6任一项所述的钢管焊缝质量检测装置，其特征在于：所述钢管焊缝质量检测装置还包括装载机构，所述装载机构包括平移组件和翻斗组件，所述翻斗组件安装于所述平移组件上，所述平移组件用于带动所述翻斗组件移动，所述翻转机构安装于所述翻斗组件上，所述翻斗组件用于翻转所述翻转机构。
  8. 根据权利要求7所述的钢管焊缝质量检测装置，其特征在于：所述翻斗组件包括翻斗驱动件和四连杆机构，所述翻斗驱动件安装于所述平移组件上，所述翻斗驱动件的驱动端与所述四连杆机构连接，所述四连杆机构用于带动所述翻转机构转动。
  9. 根据权利要求8所述的钢管焊缝质量检测装置，其特征在于：所述四连杆机构包括第一连杆、第二连杆、第三连杆和第四连杆，所述第一连杆安装于所述平移组件上，所述第一连杆的两端分别与所述第二连杆的一端和所述第三连杆的一端铰接，所述第四连杆的两端分别与所述第二连杆的另一端和所述第三连杆的另一端铰接，所述翻斗驱动件的驱动端与所述第二连杆或所述第三连杆连接，所述翻转机构安装于所述第四连杆上。
  10. 根据权利要求8所述的钢管焊缝质量检测装置，其特征在于：所述四连杆机构带动所述翻转机构在0°~90°之间转动。
PCT/CN2020/129526 2019-12-10 2020-11-17 钢管焊缝质量检测装置 WO2021115065A1 (zh)

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