CN113049677A - Double-station intelligent detection system for movable arm and bucket rod of excavator and implementation method - Google Patents

Double-station intelligent detection system for movable arm and bucket rod of excavator and implementation method Download PDF

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Publication number
CN113049677A
CN113049677A CN202110255404.5A CN202110255404A CN113049677A CN 113049677 A CN113049677 A CN 113049677A CN 202110255404 A CN202110255404 A CN 202110255404A CN 113049677 A CN113049677 A CN 113049677A
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excavator
movable arm
bucket rod
support frame
probe
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Inventor
方荣超
丁贺
谢春雷
王河
赵小辉
王浩
蔡宇
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Xuzhou XCMG Excavator Machinery Co Ltd
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Xuzhou XCMG Excavator Machinery Co Ltd
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Priority to CN202110255404.5A priority Critical patent/CN113049677A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
    • B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
    • B24B9/04—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of metal, e.g. skate blades
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
    • G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/02—Indexing codes associated with the analysed material
    • G01N2291/023—Solids
    • G01N2291/0234—Metals, e.g. steel
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/26—Scanned objects
    • G01N2291/267—Welds

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  • General Physics & Mathematics (AREA)
  • General Health & Medical Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Engineering & Computer Science (AREA)
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  • Acoustics & Sound (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)

Abstract

The invention relates to a double-station intelligent detection system and an implementation method for a movable arm and a bucket rod of an excavator, and belongs to the field of welding detection. The welding seam quality inspection device comprises an excavator movable arm, an excavator bucket rod, a six-axis robot ground rail, an excavator movable arm positioner, an excavator bucket rod positioner and a welding seam quality inspection tool, wherein the six-axis robot is installed on the six-axis robot ground rail through a robot base and moves along the length direction of the excavator movable arm and the excavator bucket rod, the welding seam quality inspection tool is fixed on the six-axis robot through a flange on a connecting shaft, and the six-axis robot clamping welding seam quality inspection tool sequentially carries out welding seam surface quality inspection and welding seam internal quality inspection on the excavator movable arm and the excavator bucket rod alternately. Has the advantages that: novel conception, simple structure and convenient use. The detection time of a single excavator movable arm or excavator bucket rod workpiece is less than 40min, the working hours are shortened by 50%, and the number of quality inspection workers is reduced from 3 to 1.

Description

Double-station intelligent detection system for movable arm and bucket rod of excavator and implementation method
Technical Field
The invention relates to the field of welding detection, in particular to the field of intelligent detection of welding seam quality of non-standard structural parts, and particularly relates to a double-station intelligent detection system and an implementation method for a movable arm and a bucket rod of an excavator.
Background
Welding quality plays a critical role in safety of the movable arm bucket rod of the excavator in a service process, welding surface forming and welding seam internal quality are poor, and defects such as welding undercut, air holes and cracks can greatly increase the probability of breakage of the movable arm bucket rod of the excavator at a welding position in the service process, so that the detection of the welding seam surface quality and the internal quality of the movable arm bucket rod of the excavator before delivery is an indelible process.
At present, the detection means for detecting the surface quality and the internal quality of the welding seam of the movable arm and the bucket rod of the excavator is manual detection, and the current situation of detecting the quality of the welding surface of an industrial non-standard structural part is as follows:
(1) because of the simplicity of the detection of the surface of the welding seam, workers often adopt human eyes to watch or simply use a gauge to take points for measurement, and the authenticity and the integrity of the data of the surface of the whole welding seam are lacked;
(2) often, because workers or enterprises neglect the importance of the surface quality of the welding seam, detection or measurement is omitted on the surplus height, the width, the welding size and the like of the welding seam;
(3) due to the long length of the welding seam, the quality size of the surface of the welding seam and the diversity of surface defects, the quality inspection worker is difficult to carry out all-dimensional acquisition of relevant data on the welding seam.
Most of the quality detection of the welding surface of the movable arm bucket rod is manually observed or not detected, the high quality of the welding surface of the movable arm bucket rod is difficult to ensure, and an efficient automatic welding surface quality information acquisition station of the movable arm bucket rod still does not exist.
The current situation of quality detection in welding of industrial non-standard structural parts is as follows:
(1) the development direction of the internal quality of the welded non-standard structural part is intelligent detection and intelligent evaluation, the detection means mostly adopts ultrasonic phased array intelligent detection, and no intelligent detection and intelligent evaluation system aiming at the internal quality of the welding seam of the movable arm and the bucket rod of the excavator exists at present.
(2) Welding seams of a bucket rod of a movable arm of the excavator are various in types, particularly, for butt welding seams with backing plates, beveled corner welding seams and the like, a multifunctional quality inspection probe is required to carry out assembling and flaw detection movement, and the design of a quality inspection tool of an intelligent detection and intelligent evaluation system for the internal quality of the welding seams of the bucket rod of the movable arm of the excavator does not exist at present.
In a word, with the improvement of the efficiency of intelligent welding production of the boom and the bucket of the excavator, the production efficiency of the boom and the bucket of the excavator is severely restricted by manual detection means for detecting the surface quality and the internal quality of a welding seam of the boom and the bucket of the excavator.
Disclosure of Invention
The invention aims to provide a double-station intelligent detection system for a movable arm and a bucket rod of a excavator and an implementation method, and solves the problems in the prior art. The invention realizes double-station intelligent detection of the boom and the bucket of the excavator by using the three-dimensional profile sensor, the ultrasonic phased array straight probe and the ultrasonic phased array inclined probe, and is suitable for intelligent detection of butt welding seams, arc welding seams, fillet welding seams and the like of the boom and the bucket of the excavator with the backing plates.
The above object of the present invention is achieved by the following technical solutions:
the double-station intelligent detection system for the boom and the bucket of the excavator comprises a boom 1, a boom 2, a six-axis robot 8, a six-axis robot ground rail 11, a boom positioner and a weld quality inspection tool 7, wherein the six-axis robot 8 is mounted on the six-axis robot ground rail 11 through a robot base 9 and moves along the length directions of the boom 1 and the boom 2, the weld quality inspection tool 7 is fixed on the six-axis robot 8 through a flange 29 on a connecting shaft 24, and the six-axis robot 8 clamps the weld quality inspection tool 7 to alternately perform weld surface quality detection and weld internal quality detection on the boom 1 and the boom 2.
The excavator movable arm positioner comprises an excavator movable arm positioner main support frame 3, an excavator movable arm positioner auxiliary support frame 4 and an excavator movable arm positioner auxiliary support frame ground rail 12, wherein the excavator movable arm positioner main support frame 3 is fixed on the ground, and the excavator movable arm positioner auxiliary support frame 4 is fixed on a translation slider of the excavator movable arm positioner auxiliary support frame ground rail 12 and moves in a translation mode relative to the excavator movable arm positioner main support frame 3; the excavator movable arm positioner main support frame 3 and the excavator movable arm positioner auxiliary support frame 4 are respectively provided with an excavator movable arm positioner rotary table 13, and an excavator movable arm positioner main support frame rotary table supporting hand 17 and an excavator movable arm positioner auxiliary support frame rotary table supporting hand 14 are respectively fixedly arranged outside the center of the excavator movable arm positioner rotary table 13 rotary table, and are matched with an excavator movable arm bow-shaped structure, so that no pose constraint exists when the excavator movable arm 1 rotates for 380 degrees; the excavator movable arm positioner rotary table 13 is driven by a gear, an excavator movable arm positioner main support frame rotary table supporting hand 17 and an excavator movable arm positioner auxiliary support frame rotary table supporting hand 14 support and fix two ends of an excavator movable arm, and the two ends of the excavator movable arm are fixed on the excavator movable arm positioner main support frame 3 and the excavator movable arm positioner auxiliary support frame 4 through the excavator movable arm positioner rotary table 13.
The end of the excavator movable arm 1 fixed on the excavator movable arm displacement machine main support frame 3 is an end A, the end of the excavator movable arm 1 fixed on the excavator movable arm displacement machine auxiliary support frame 4 is an end B, an excavator movable arm displacement machine main support frame turntable support hand 17 is matched with the end A of the excavator movable arm, an excavator movable arm displacement machine auxiliary support frame turntable support hand 14 is matched with the end B of the excavator movable arm, the end A of the excavator movable arm must be fixed on the excavator movable arm displacement machine main support frame turntable support hand 17, and the end B of the excavator movable arm must be fixed on the excavator movable arm displacement machine auxiliary support frame turntable support hand 14.
The excavator bucket rod positioner comprises an excavator bucket rod positioner main support frame 5, an excavator bucket rod positioner auxiliary support frame 6 and an excavator bucket rod positioner auxiliary support frame ground rail 10, wherein the excavator bucket rod positioner main support frame 5 is fixed on the ground, and the excavator bucket rod positioner auxiliary support frame 6 is fixed on a translation slide block of the excavator bucket rod positioner auxiliary support frame ground rail 10 and moves in a translation mode relative to the excavator bucket rod positioner main support frame 5; a main support frame 5 and an auxiliary support frame 6 of the excavator bucket rod positioner are respectively provided with an excavator bucket rod positioner turntable 15, a main support frame turntable support hand 16 and an auxiliary support frame turntable support hand 18 of the excavator bucket rod positioner are respectively and fixedly arranged outside the center of the turntable of the excavator bucket rod positioner 15, and are matched with an eccentric structure of a central axis of the excavator bucket rod, so that no pose constraint exists when the excavator bucket rod 2 rotates 380 degrees; the excavator bucket rod positioner rotary table 15 is driven by a gear, a main support frame rotary table supporting hand 16 and an auxiliary support frame rotary table supporting hand 18 of the excavator bucket rod positioner support hand support and fix two ends of an excavator bucket rod, and the two ends of the excavator bucket rod are fixed on the excavator bucket rod positioner main support frame 5 and the excavator bucket rod positioner auxiliary support frame 6 through the excavator bucket rod positioner rotary table 15.
The excavator bucket rod 2 is fixed at one end of an excavator bucket rod displacement main support frame 5 and is a C end, the excavator bucket rod 2 is fixed at one end of an excavator bucket rod displacement machine auxiliary support frame 6 and is a D end, an excavator bucket rod displacement machine main support frame turntable supporting hand 16 is matched with the C end of the excavator bucket rod, an excavator bucket rod displacement machine auxiliary support frame turntable supporting hand 18 is matched with the D end of the excavator bucket rod, the C end of the excavator bucket rod must be fixed on the excavator bucket rod displacement main support frame turntable supporting hand 16, and the D end of the excavator bucket rod must be fixed on the excavator bucket rod displacement machine auxiliary support frame turntable supporting hand 18.
The welding seam quality inspection tool 7 comprises an inclined probe tool 21, a straight probe tool 22, a CCD (charge coupled device) vision camera 23, a connecting shaft 24, a three-dimensional profile sensor 25, a straight probe lifting shaft 32 and an inclined probe lifting shaft 33; the straight probe tool 22 comprises a straight probe 37 and a straight probe tool connecting plate 38, the oblique probe tool 21 comprises an oblique probe tool connecting plate 35 and an oblique probe 36, the straight probe lifting shaft 32 comprises a straight probe lifting motor 20, a straight probe lifting shaft screw 28 and a straight probe lifting shaft sliding block 39, and the oblique probe lifting shaft 33 comprises an oblique probe lifting motor 19, an oblique probe lifting shaft screw 27 and an oblique probe lifting shaft sliding block 26;
the inclined probe tool 21 is fixed on the inclined probe lifting shaft sliding block 26 through an inclined probe tool connecting plate 35, the straight probe tool 22 is fixed on the straight probe lifting shaft sliding block 39 through a straight probe tool connecting plate 38, the straight probe lifting shaft 32 and the inclined probe lifting shaft 33 are respectively fixed on the left side and the right side of the connecting shaft 24, the CCD vision camera 23 is fixed on the front side of the connecting shaft 24 through a CCD vision camera connecting plate 34, the three-dimensional profile sensor 25 is fixed on the rear side of the connecting shaft 24, the straight probe lifting shaft 32 rotates the straight probe lifting shaft screw 28 through the straight probe lifting motor 20 to drive the straight probe lifting shaft sliding block 39 to move so that the straight probe tool 22 moves up and down in a translation manner, and the inclined probe lifting shaft 33 rotates the inclined probe lifting shaft screw 27 through the inclined probe lifting motor 19 to drive the inclined probe lifting shaft sliding block 26 to move so that; the angle probe 36 is mounted on the angle probe tooling connection plate 35, and the straight probe 37 is mounted on the straight probe tooling connection plate 38.
The connecting shaft 24 contain flange 29, buffer spring 30, connecting plate 31, buffer spring 30's one end and connecting plate 31 are connected, and the other end is connected with flange 29, and straight probe lift axle 32, oblique probe lift axle 33 are fixed respectively to the both sides of connecting plate 31, and the whole flange 29 that passes through the connecting plate 31 upper end of welding seam quality testing frock 7 is fixed on six robots 8 sixth axle.
The inclined probe 36 and the straight probe 37 carry wedge blocks, the wedge blocks are water wedge blocks and are provided with water injection holes, water is injected into the wedge blocks through a water pump in real time in the quality inspection process, the coupling agent of the probes is water, and the water flow speed is 5 ml/min; the oblique probe 36 detects the butt weld and scans along the two sides of the weld respectively; the straight probe 37 detects the fillet weld, and during the fillet weld detection, the oblique probe 36 is used for scanning the front side of the fillet weld, and then the straight probe 37 is used for scanning along the side wall of the fillet weld.
The three-dimensional contour sensor 25 is a welding seam surface quality detection device for a bucket rod of the excavator boom, the internal components of the three-dimensional contour sensor 25 are an industrial camera and a line laser generator, line laser excited by the line laser generator is projected onto the surface of a welding seam, the industrial camera performs point cloud mode imaging after shooting a welding seam area with laser lines, the three-dimensional structure of the welding seam is reconstructed to achieve detection of the welding seam surface quality, the inclined probe 36 and the straight probe 37 are internal quality detection devices for the welding seam of the bucket rod of the excavator boom, and the CCD vision camera 23 monitors the scanning state of the welding seam detected by the inclined probe 36 and the straight probe 37; the detection speed of the three-dimensional profile sensor 25 is 12m/min when the quality of the surface of the welding seam is detected, the detection speed of the inclined probe 36 and the straight probe 37 is 6m/min when the quality of the inside of the welding seam is detected, and the quality detection process of the inside of the welding seam and the quality detection process of the surface of the welding seam are separately carried out.
An implementation method of a double-station intelligent detection system for a movable arm and a bucket rod of a excavator comprises the following steps:
step 1, calibrating an oblique probe and a straight probe by utilizing a phased array calibration block, automatically updating calibration parameters into built-in parameters, calibrating point cloud imaging of a three-dimensional contour sensor by utilizing a three-dimensional contour sensor calibration block, and automatically updating the calibration parameters into the built-in parameters;
step 2, automatically installing the excavator movable arm and the excavator bucket rod at a quality inspection station of the excavator movable arm and a quality inspection station of the excavator bucket rod according to a preset installation direction;
step 3, detecting the surface quality of each welding line of the movable arm of the excavator by using a three-dimensional profile sensor, specifically: when the welding seam joint is in a fillet welding seam form, the included angle between the normal direction of the surface of the workpiece and the axis of the linear laser is 30 degrees, and the linear laser is parallel to the transverse direction of the welding seam; when the welding seam joint is in a butt welding seam form, the normal direction of the surface of the workpiece is superposed with the axis of the linear laser, and the linear laser is parallel to the transverse direction of the welding seam;
step 4, manually polishing the surfaces and the peripheries of all welding seams of the movable arm of the excavator, and removing welding beading, welding slag, splashing and the like;
step 5, firstly carrying out surface quality detection on each welding line of the bucket rod of the excavator by using a three-dimensional profile sensor, specifically: when the welding seam joint is in a fillet welding seam form, the included angle between the normal direction of the surface of the workpiece and the axis of the linear laser is 30 degrees, and the linear laser is parallel to the transverse direction of the welding seam; when the welding seam joint is in a butt welding seam form, the normal direction of the surface of the workpiece is superposed with the axis of the linear laser, and the linear laser is parallel to the transverse direction of the welding seam;
step 6, carrying out internal quality detection on each welding line of the movable arm of the excavator by using the straight probe and the inclined probe, specifically: scanning the quality of the butt weld, namely detecting the butt weld by using an oblique probe, and scanning the base metal on one side of the butt weld, which is attached to the lower surface of the oblique probe, along the direction of the butt weld; after the quality inspection scanning of one side of the welding seam is finished, the quality inspection scanning of the other side is carried out; quality inspection of fillet welds of movable arms of the excavator: firstly, the lower surface of an oblique probe is attached to the front side of the fillet weld for scanning the front side of the fillet weld, and then the lower surface of a straight probe is attached to the side wall of the fillet weld for scanning along the direction of the weld;
step 7, manually polishing the surface and the periphery of each welding line of the bucket rod of the excavator to remove welding beading, welding slag, splashing and the like;
step 8, carrying out internal quality detection on each welding line of the bucket rod of the excavator by utilizing the straight probe and the inclined probe, specifically comprising the following steps: scanning the quality of the butt weld, namely detecting the butt weld by using an oblique probe, and scanning the base metal on one side of the butt weld, which is attached to the lower surface of the oblique probe, along the direction of the butt weld; after the quality inspection scanning of one side of the welding seam is finished, the quality inspection scanning of the other side is carried out; quality inspection of fillet welds of movable arms of the excavator: firstly, the lower surface of an oblique probe is attached to the front side of the fillet weld for scanning the front side of the fillet weld, and then the lower surface of a straight probe is attached to the side wall of the fillet weld for scanning along the direction of the weld;
and 9, feeding the detected movable arm and bucket rod of the excavator into the next station, feeding the movable arm and bucket rod of the excavator in the next batch into a quality inspection station of the movable arm and a quality inspection station of the bucket rod of the excavator, and performing surface quality inspection and internal quality inspection on the movable arm and bucket rod of the excavator in the new batch according to the steps 2-8.
The invention has the beneficial effects that:
1. the double-station intelligent detection system for the boom and the bucket of the excavator, disclosed by the invention, is novel in conception, simple in structure and convenient to use, the detection time for detecting a single workpiece by the boom and the bucket of the excavator is about 40min, the working hour is shortened by 50%, and the number of quality inspection workers is reduced from 3 to 1.
2. The double-station intelligent detection system for the movable arm and the bucket rod of the excavator can automatically complete the quality inspection process, and fully collects, analyzes and records the surface information of the welding line and the internal quality information of the welding line. The practicability is strong.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention.
FIG. 1 is a schematic structural diagram of a double-station intelligent detection system for a movable arm and a bucket rod of a excavator, which is disclosed by the invention;
FIG. 2 is a schematic structural view of a weld quality inspection tool according to the present invention;
FIG. 3 is a schematic view of another angle structure of the weld quality inspection tool of the present invention;
FIG. 4 is an exploded view of the weld quality inspection tool assembly of the present invention.
In the figure: 1. a movable arm of the excavator; 2. a dipper stick; 3. a main supporting frame of a movable arm positioner of the excavator; 4. an auxiliary support frame of a excavator movable arm positioner; 5. the excavator bucket rod shifts the main supporting arm; 6. the excavator bucket rod positioner auxiliary support frame; 7. welding seam quality inspection tooling; 8. a six-axis robot; 9. a robot base; 10. a ground rail of an auxiliary support frame of the excavator bucket rod positioner; 11. a six-axis robot ground rail; 12. a ground rail of an auxiliary support frame of a movable arm positioner of the excavator; 13. a turntable of a movable arm positioner of the excavator; 14. a turntable support hand of an auxiliary support frame of a movable arm positioner of the excavator; 15. a turntable of the excavator bucket rod positioner; 16. a main support frame turntable support arm of a bucket rod positioner of the excavator; 17. a main support frame turntable support hand of a movable arm positioner of the excavator; 18. a turntable support of an auxiliary support frame of the excavator bucket rod positioner; 19. an oblique probe lifting motor; 20. a straight probe lifting motor; 21. an inclined probe tool; 22. a straight probe tool; 23. a CCD vision camera; 24. a connecting shaft; 25. a three-dimensional profile sensor; 26. a slant probe lifting shaft sliding block; 27. a slant probe lifting shaft screw; 28. a straight probe lifting shaft screw; 29. a flange; 30. a buffer spring; 31. a connecting plate; 32. a straight probe lifting shaft; 33. a tilt probe lift shaft; 34. a CCD vision camera connecting plate; 35. connecting a slant probe tool; 36. an inclined probe; 37. a straight probe; 38. connecting a straight probe tool; 39. and a straight probe lifting shaft sliding block.
Detailed Description
The details of the present invention and its embodiments are further described below with reference to the accompanying drawings.
Referring to fig. 1 to 4, the double-station intelligent detection system for the boom and the bucket of the excavator comprises a boom 1, a boom 2, a six-axis robot 8, a six-axis robot ground rail 11, a boom positioner and a weld quality inspection tool 7, wherein the six-axis robot 8 is mounted on the six-axis robot ground rail 11 through a robot base 9 and can move along the length directions of the boom 1 and the boom 2, the weld quality inspection tool 7 is fixed on the six-axis robot 8 through a flange 29 on a connecting shaft 24, and the six-axis robot 8 clamps the weld quality inspection tool 7 to alternately perform weld surface quality detection and weld internal quality detection on the boom 1 and the boom 2.
The excavator movable arm positioner comprises an excavator movable arm positioner main support frame 3, an excavator movable arm positioner auxiliary support frame 4 and an excavator movable arm positioner auxiliary support frame ground rail 12, wherein the excavator movable arm positioner main support frame 3 is fixed on the ground, and the excavator movable arm positioner auxiliary support frame 4 is fixed on a translation slider of the excavator movable arm positioner auxiliary support frame ground rail 12 and moves in a translation mode relative to the excavator movable arm positioner main support frame 3.
The excavator movable arm positioner main support frame 3 and the excavator movable arm positioner auxiliary support frame 4 are respectively provided with an excavator movable arm positioner rotary table 13, and an excavator movable arm positioner main support frame rotary table supporting hand 17 and an excavator movable arm positioner auxiliary support frame rotary table supporting hand 14 are respectively fixedly arranged outside the center of the excavator movable arm positioner rotary table 13 rotary table (an eccentric structure) and matched with an excavator movable arm bow structure, so that no pose constraint exists when the excavator movable arm 1 rotates for 380 degrees; the excavator movable arm positioner rotary table 13 is driven by a gear to provide power for the excavator movable arm 1 to rotate randomly, and is respectively connected with an excavator movable arm positioner main support frame 3 and an excavator movable arm positioner auxiliary support frame 4 upper end traction motor through a steel wire rope to realize a lifting function so as to meet the requirement of convenient loading of the excavator movable arm 1, and simultaneously, the excavator movable arm 1 is prevented from touching the ground when rotating for 380 degrees and keeps a safe distance with the ground, an excavator movable arm positioner main support frame rotary table supporting hand 17 and an excavator movable arm positioner auxiliary support frame rotary table supporting hand 14 support and fix two ends of the excavator movable arm, and the two ends of the excavator movable arm are fixed on the excavator movable arm positioner main support frame 3 and the excavator movable arm positioner auxiliary support frame 4 through the excavator movable arm positioner rotary table 13, the design can adapt to different types of excavator movable arm installation requirements, on one hand, the excavator movable arm positioner auxiliary support frame ground rail 12 can enable the excavator movable arm positioner auxiliary support frame 4 to move smoothly, the mounting requirements of different excavator movable arm types are met, on the other hand, the operation motor is locked through the movable arm positioner auxiliary support frame ground rail 12, and the position of the locked excavator movable arm positioner auxiliary support frame 4 prevents the excavator movable arm positioner auxiliary support frame 4 from moving backwards due to self weight.
The automatic quality detection and feeding device is characterized in that one end of the excavator movable arm 1 fixed on the excavator movable arm displacement machine main support frame 3 is an A end, one end of the excavator movable arm 1 fixed on the excavator movable arm displacement machine auxiliary support frame 4 is a B end, an excavator movable arm displacement machine main support frame turntable support hand 17 is matched with the A end of the excavator movable arm, an excavator movable arm displacement machine auxiliary support frame turntable support hand 14 is matched with the B end of the excavator movable arm, the mounting directions of the two ends of the excavator movable arm are preset when the excavator movable arm automatic quality detection and feeding are carried out, so that the A end of the excavator movable arm must be fixed on the excavator movable arm displacement machine main support frame turntable support hand 17, and the B end of the excavator movable arm must be fixed on the excavator movable arm displacement machine auxiliary support frame turntable support hand 14 to meet the requirement of improving the intelligent detection efficiency of the.
The excavator bucket rod positioner comprises an excavator bucket rod positioner main support frame 5, an excavator bucket rod positioner auxiliary support frame 6 and an excavator bucket rod positioner auxiliary support frame ground rail 10, wherein the excavator bucket rod positioner main support frame 5 is fixed on the ground, and the excavator bucket rod positioner auxiliary support frame 6 is fixed on a translation slide block of the excavator bucket rod positioner auxiliary support frame ground rail 10 and moves in a translation mode relative to the excavator bucket rod positioner main support frame 5.
The excavator bucket rod positioner main support frame 5 and the excavator bucket rod positioner auxiliary support frame 6 are respectively provided with an excavator bucket rod positioner turntable 15, and an excavator bucket rod positioner main support frame turntable support hand 16 and an excavator bucket rod positioner auxiliary support frame turntable support hand 18 are respectively fixedly arranged outside the center of the excavator bucket rod positioner turntable 15 (eccentric structure), and are matched with an eccentric structure of an axle wire of the excavator bucket rod, so that no pose constraint exists when the excavator bucket rod 2 rotates for 380 degrees; the excavator bucket rod positioner turntable 15 is driven by a gear to provide power for the arbitrary rotation of an excavator bucket rod 2, and is respectively connected with the excavator bucket rod positioner main support frame 5 and the upper end traction motor of the excavator bucket rod positioner auxiliary support frame 6 through steel wires to realize the lifting function so as to meet the requirement of convenient loading of the excavator bucket rod 2, and simultaneously avoid the earth contact when an excavator movable arm 1 rotates for 380 degrees and keep a safe distance with the ground, the excavator bucket rod positioner main support frame turntable bracket 16 and the excavator bucket rod positioner auxiliary support frame turntable bracket 18 bracket and fix the two ends of the excavator bucket rod, and fix the two ends of the excavator bucket rod on the excavator bucket rod positioner main support frame 5 and the excavator bucket rod positioner auxiliary support frame 6 through the excavator bucket rod positioner turntable 15, the design can adapt to the installation requirements of different types of excavator bucket rods, on one hand, the excavator bucket rod positioner auxiliary support frame ground rail 10 can enable the excavator bucket rod positioner auxiliary support frame 6 to move smoothly, the auxiliary support frame is suitable for installation requirements of different excavator bucket rod types, on the other hand, the ground rail 10 of the auxiliary support frame of the excavator bucket rod positioner is locked by the running motor, and the position of the auxiliary support frame 6 of the excavator bucket rod positioner, which is locked, prevents the auxiliary support frame 6 of the excavator bucket rod positioner from moving backwards due to the dead weight of the excavator bucket rod 2.
The automatic quality detection and feeding device is characterized in that one end of the excavator bucket rod 2 fixed on the excavator bucket rod shifting main support frame 5 is a C end, one end of the excavator bucket rod 2 fixed on the excavator bucket rod shifting main support frame auxiliary support frame 6 is a D end, the excavator bucket rod shifting main support frame turntable support handle 16 is matched with the C end of the excavator bucket rod, the excavator bucket rod shifting auxiliary support frame turntable support handle 18 is matched with the D end of the excavator bucket rod, the mounting directions of the two ends of the excavator bucket rod are preset when the excavator bucket rod is subjected to automatic quality detection and feeding, so that the C end of the excavator bucket rod must be fixed on the excavator bucket rod shifting main support frame turntable support handle 16, and the D end of the excavator bucket rod must be fixed on the excavator bucket rod shifting auxiliary support frame turntable support handle 18, so that the intelligent detection efficiency requirement of the excavator bucket rod 2 is met.
The welding seam quality inspection tool 7 comprises an inclined probe tool 21, a straight probe tool 22, a CCD (charge coupled device) vision camera 23, a connecting shaft 24, a three-dimensional profile sensor 25, a straight probe lifting shaft 32 and an inclined probe lifting shaft 33; the straight probe tool 22 comprises a straight probe 37 and a straight probe tool connecting plate 38, the oblique probe tool 21 comprises an oblique probe tool connecting plate 35 and an oblique probe 36, the straight probe lifting shaft 32 comprises a straight probe lifting motor 20, a straight probe lifting shaft screw 28 and a straight probe lifting shaft sliding block 39, and the oblique probe lifting shaft 33 comprises an oblique probe lifting motor 19, an oblique probe lifting shaft screw 27 and an oblique probe lifting shaft sliding block 26.
The inclined probe tool 21 is fixed on an inclined probe lifting shaft sliding block 26 through an inclined probe tool connecting plate 35, the straight probe tool 22 is fixed on a straight probe lifting shaft sliding block 39 through a straight probe tool connecting plate 38, the straight probe lifting shaft 32 and the inclined probe lifting shaft 33 are respectively fixed on the left side and the right side of a connecting shaft 24, a CCD vision camera 23 is fixed on the front side of the connecting shaft 24 through a CCD vision camera connecting plate 34, the three-dimensional profile sensor 25 is fixed on the rear side of the connecting shaft 24, the straight probe lifting shaft 32 rotates a straight probe lifting shaft lead screw 28 through a straight probe lifting motor 20 to drive the straight probe lifting shaft sliding block 39 to move so that the straight probe tool 22 moves up and down in a translation manner, and the inclined probe lifting shaft 33 rotates an inclined probe lifting shaft lead screw 27 through an inclined probe lifting motor 19 to drive the inclined probe lifting shaft sliding block 26 to move so; the angle probe 36 is mounted on the angle probe tooling connection plate 35, and the straight probe 37 is mounted on the straight probe tooling connection plate 38.
The connecting shaft 24 comprises a flange 29, a buffer spring 30 and a connecting plate 31, one end of the buffer spring 30 is connected with the connecting plate 31, the other end of the buffer spring 30 is connected with the flange 29, a straight probe lifting shaft 32 and an inclined probe lifting shaft 33 are respectively fixed on two sides of the connecting plate 31, the whole welding seam quality inspection tool 7 is fixed on the sixth shaft of the six-shaft robot 8 through the flange 29 on the upper end of the connecting plate 31, when internal quality scanning is carried out on a movable arm bucket rod of the excavator, the buffer spring 30 ensures that the straight probe 37 and the inclined probe 36 are not damaged by rigid collision, meanwhile, the probes and a scanning area in the quality inspection process are always well coupled, and the reliability of a phased array quality inspection result is ensured.
The inclined probe 36 and the straight probe 37 carry wedge blocks, the wedge blocks are water wedge blocks and are provided with water injection holes, water is injected into the wedge blocks through a water pump in real time in the quality inspection process, the coupling agent of the probes is water, and the water flow speed is 5 ml/min.
The oblique probe 36 detects the butt weld and scans along the two sides of the weld respectively; the straight probe 37 detects the fillet weld, and during the fillet weld detection, the oblique probe 36 is used for scanning the front side of the fillet weld, and then the straight probe 37 is used for scanning along the side wall of the fillet weld.
The three-dimensional contour sensor 25 is a welding seam surface quality detection device for a bucket rod of the excavator boom, the internal components of the three-dimensional contour sensor 25 are an industrial camera and a line laser generator, line laser excited by the line laser generator is projected onto the surface of a welding seam, the industrial camera performs point cloud mode imaging after shooting a welding seam area with laser lines, the three-dimensional structure of the welding seam is reconstructed to achieve detection of the welding seam surface quality, the inclined probe 36 and the straight probe 37 are internal quality detection devices for the welding seam of the bucket rod of the excavator boom, and the CCD vision camera 23 monitors the scanning state of the welding seam detected by the inclined probe 36 and the straight probe 37; the detection speed of the three-dimensional profile sensor 25 is 12m/min when the quality of the surface of the welding seam is detected, the detection speed of the inclined probe 36 and the straight probe 37 is 6m/min when the quality of the inside of the welding seam is detected, and the quality detection process of the inside of the welding seam and the quality detection process of the surface of the welding seam are separately carried out.
Referring to fig. 1 to 4, the implementation method of the double-station intelligent detection system for the boom and the stick of the excavator disclosed by the invention comprises the following steps:
step 1, calibrating an oblique probe and a straight probe by utilizing a phased array calibration block, automatically updating calibration parameters into built-in parameters, calibrating point cloud imaging of a three-dimensional contour sensor by utilizing a three-dimensional contour sensor calibration block, and automatically updating the calibration parameters into the built-in parameters;
step 2, automatically installing the excavator movable arm and the excavator bucket rod at a quality inspection station of the excavator movable arm and a quality inspection station of the excavator bucket rod according to a preset installation direction;
step 3, detecting the surface quality of each welding line of the movable arm of the excavator by using a three-dimensional profile sensor, specifically: when the welding seam joint is in a fillet welding seam form, the included angle between the normal direction of the surface of the workpiece and the axis of the linear laser is 30 degrees, and the linear laser is parallel to the transverse direction of the welding seam; when the welding seam joint is in a butt welding seam form, the normal direction of the surface of the workpiece is superposed with the axis of the linear laser, and the linear laser is parallel to the transverse direction of the welding seam;
step 4, manually polishing the surfaces and the peripheries of all welding seams of the movable arm of the excavator, and removing welding beading, welding slag, splashing and the like;
step 5, firstly carrying out surface quality detection on each welding line of the bucket rod of the excavator by using a three-dimensional profile sensor, specifically: when the welding seam joint is in a fillet welding seam form, the included angle between the normal direction of the surface of the workpiece and the axis of the linear laser is 30 degrees, and the linear laser is parallel to the transverse direction of the welding seam; when the welding seam joint is in a butt welding seam form, the normal direction of the surface of the workpiece is superposed with the axis of the linear laser, and the linear laser is parallel to the transverse direction of the welding seam;
step 6, carrying out internal quality detection on each welding line of the movable arm of the excavator by using the straight probe and the inclined probe, specifically: scanning the quality of the butt weld, namely detecting the butt weld by using an oblique probe, and scanning the base metal on one side of the butt weld, which is attached to the lower surface of the oblique probe, along the direction of the butt weld; after the quality inspection scanning of one side of the welding seam is finished, the quality inspection scanning of the other side is carried out; quality inspection of fillet welds of movable arms of the excavator: firstly, the lower surface of an oblique probe is attached to the front side of the fillet weld for scanning the front side of the fillet weld, and then the lower surface of a straight probe is attached to the side wall of the fillet weld for scanning along the direction of the weld;
step 7, manually polishing the surface and the periphery of each welding line of the bucket rod of the excavator to remove welding beading, welding slag, splashing and the like;
step 8, carrying out internal quality detection on each welding line of the bucket rod of the excavator by utilizing the straight probe and the inclined probe, specifically comprising the following steps: scanning the quality of the butt weld, namely detecting the butt weld by using an oblique probe, and scanning the base metal on one side of the butt weld, which is attached to the lower surface of the oblique probe, along the direction of the butt weld; after the quality inspection scanning of one side of the welding seam is finished, the quality inspection scanning of the other side is carried out; quality inspection of fillet welds of movable arms of the excavator: firstly, the lower surface of an oblique probe is attached to the front side of the fillet weld for scanning the front side of the fillet weld, and then the lower surface of a straight probe is attached to the side wall of the fillet weld for scanning along the direction of the weld;
and 9, feeding the detected movable arm and bucket rod of the excavator into the next station, feeding the movable arm and bucket rod of the excavator in the next batch into a quality inspection station of the movable arm and a quality inspection station of the bucket rod of the excavator, and performing surface quality inspection and internal quality inspection on the movable arm and bucket rod of the excavator in the new batch according to the steps 2-8.
The above description is only a preferred example of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like of the present invention shall be included in the protection scope of the present invention.

Claims (10)

1. The utility model provides a double-station intelligent detection system for movable arm and bucket rod of excavator, which is characterized in that: the welding seam quality detection device comprises a movable arm (1) of the excavator, an bucket rod (2) of the excavator, six robots (8), six robot ground rails (11), a movable arm positioner of the excavator, an bucket rod positioner of the excavator and a welding seam quality detection tool (7), wherein the six robots (8) are installed on the six robot ground rails (11) through robot bases (9), and move along the length direction of the movable arm (1) of the excavator and the bucket rod (2) of the excavator, the welding seam quality detection tool (7) is fixed on the six robots (8) through flanges (29) on connecting shafts (24), and the six robots (8) clamp the welding seam quality detection tool (7) and sequentially carry out welding seam surface quality detection and welding seam internal quality detection on the movable arm (1) of the excavator and the bucket rod (2) alternately.
2. The double-station intelligent detection system for the boom and the arm of the excavator according to claim 1, wherein: the excavator movable arm positioner comprises an excavator movable arm positioner main support frame (3), an excavator movable arm positioner auxiliary support frame (4) and an excavator movable arm positioner auxiliary support frame ground rail (12), wherein the excavator movable arm positioner main support frame (3) is fixed on the ground, and the excavator movable arm positioner auxiliary support frame (4) is fixed on a translation slider of the excavator movable arm positioner auxiliary support frame ground rail (12) and moves in a translation mode relative to the excavator movable arm positioner main support frame (3); the excavator movable arm positioner main support frame (3) and the excavator movable arm positioner auxiliary support frame (4) are respectively provided with an excavator movable arm positioner rotary table (13), and an excavator movable arm positioner main support frame rotary table supporting hand (17) and an excavator movable arm positioner auxiliary support frame rotary table supporting hand (14) are respectively and fixedly arranged outside the center of the rotary table of the excavator movable arm positioner rotary table (13) and are matched with an excavator movable arm bow-shaped structure, so that no pose constraint exists when the excavator movable arm (1) rotates for 380 degrees; the excavator movable arm positioner rotary table (13) is driven by a gear, a main bracket rotary table bracket hand (17) of the excavator movable arm positioner and an auxiliary bracket rotary table bracket hand (14) of the excavator movable arm positioner support the two ends of the excavator movable arm and fix the two ends of the excavator movable arm, and the two ends of the excavator movable arm are fixed on the excavator movable arm positioner main bracket (3) and the excavator movable arm positioner auxiliary bracket (4) through the excavator movable arm positioner rotary table (13).
3. The double-station intelligent detection system for the boom and the arm of the excavator according to claim 1, wherein: the end, fixed at excavator movable arm displacement machine main support frame (3), of excavator movable arm (1) is the A end, the end, fixed at excavator movable arm displacement machine auxiliary support frame (4), of excavator movable arm displacement machine main support frame turntable supporting hand (17) is matched with the A end of excavator movable arm, excavator movable arm displacement machine auxiliary support frame turntable supporting hand (14) is matched with the B end of excavator movable arm, the A end of excavator movable arm must be fixed to excavator movable arm displacement machine main support frame turntable supporting hand (17), and the B end of excavator movable arm must be fixed to excavator movable arm displacement machine auxiliary support frame turntable supporting hand (14).
4. The double-station intelligent detection system for the boom and the arm of the excavator according to claim 1, wherein: the excavator bucket rod positioner comprises an excavator bucket rod positioner main support frame (5), an excavator bucket rod positioner auxiliary support frame (6) and an excavator bucket rod positioner auxiliary support frame ground rail (10), wherein the excavator bucket rod positioner main support frame (5) is fixed on the ground, and the excavator bucket rod positioner auxiliary support frame (6) is fixed on a translation slider of the excavator bucket rod positioner auxiliary support frame ground rail (10) and moves in a translation mode relative to the excavator bucket rod positioner main support frame (5); a main support frame (5) of the excavator bucket rod positioner and an auxiliary support frame (6) of the excavator bucket rod positioner are respectively provided with an excavator bucket rod positioner turntable (15), a main support frame turntable support (16) of the excavator bucket rod positioner and an auxiliary support frame turntable support (18) of the excavator bucket rod positioner are respectively and fixedly arranged outside the center of the turntable of the excavator bucket rod positioner turntable (15) and are matched with an eccentric structure of the central axis of the excavator bucket rod, so that no pose constraint exists when the excavator bucket rod (2) rotates for 380 degrees; the excavator bucket rod positioner rotary table (15) is driven by a gear, a main support frame rotary table supporting hand (16) of the excavator bucket rod positioner and an auxiliary support frame rotary table supporting hand (18) of the excavator bucket rod positioner support and fix two ends of an excavator bucket rod, and the two ends of the excavator bucket rod are fixed on the excavator bucket rod positioner main support frame (5) and the excavator bucket rod positioner auxiliary support frame (6) through the excavator bucket rod positioner rotary table (15).
5. The double-station intelligent detection system for the boom and the arm of the excavator according to claim 1, wherein: the excavator bucket rod (2) is fixed at one end of an excavator bucket rod displacement main support frame (5) and is a C end, the excavator bucket rod (2) is fixed at one end of an excavator bucket rod displacement machine auxiliary support frame (6) and is a D end, an excavator bucket rod displacement machine main support frame turntable supporting hand (16) is matched with the C end of the excavator bucket rod, an excavator bucket rod displacement machine auxiliary support frame turntable supporting hand (18) is matched with the D end of the excavator bucket rod, the C end of the excavator bucket rod must be fixed on the excavator bucket rod displacement main support frame turntable supporting hand (16), and the D end of the excavator bucket rod must be fixed on the excavator bucket rod displacement machine auxiliary support frame turntable supporting hand (18).
6. The double-station intelligent detection system for the boom and the arm of the excavator according to claim 1, wherein: the welding seam quality inspection tool (7) comprises an inclined probe tool (21), a straight probe tool (22), a CCD (charge coupled device) vision camera (23), a connecting shaft (24), a three-dimensional profile sensor (25), a straight probe lifting shaft (32) and an inclined probe lifting shaft (33); the straight probe tool (22) comprises a straight probe (37) and a straight probe tool connecting plate (38), the oblique probe tool (21) comprises an oblique probe tool connecting plate (35) and an oblique probe (36), the straight probe lifting shaft (32) comprises a straight probe lifting motor (20), a straight probe lifting shaft lead screw (28) and a straight probe lifting shaft sliding block (39), and the oblique probe lifting shaft (33) comprises an oblique probe lifting motor (19), an oblique probe lifting shaft lead screw (27) and an oblique probe lifting shaft sliding block (26);
the oblique probe tool (21) is fixed on an oblique probe lifting shaft sliding block (26) through an oblique probe tool connecting plate (35), a straight probe tool (22) is fixed on a straight probe lifting shaft sliding block (39) through a straight probe tool connecting plate (38), a straight probe lifting shaft (32) and an oblique probe lifting shaft (33) are respectively fixed on the left side and the right side of a connecting shaft (24), a CCD vision camera (23) is fixed on the front side of the connecting shaft (24) through a CCD vision camera connecting plate (34), a three-dimensional profile sensor (25) is fixed on the rear side of the connecting shaft (24), the straight probe lifting shaft (32) rotates a straight probe lifting shaft lead screw (28) through a straight probe lifting motor (20) to drive the straight probe lifting shaft sliding block (39) to further enable the straight probe tool (22) to move up and down in a translation manner, the oblique probe lifting shaft (33) rotates an oblique probe lifting shaft lead screw (27) through an oblique probe lifting motor (19) to drive the oblique probe lifting shaft sliding block (26) to further Moving up and down in a translation way; the inclined probe (36) is installed on the inclined probe tool connecting plate (35), and the straight probe (37) is installed on the straight probe tool connecting plate (38).
7. The dual-station intelligent detection system for the boom and the stick of the excavator according to claim 6, wherein: connecting axle (24) contain flange (29), buffer spring (30), connecting plate (31), the one end and the connecting plate (31) of buffer spring (30) are connected, and the other end is connected with flange (29), fixed straight probe lift axle (32), oblique probe lift axle (33) are respectively fixed to the both sides of connecting plate (31), welding seam quality testing frock (7) are whole to be fixed on six robots (8) sixth axle through flange (29) of connecting plate (31) upper end.
8. The dual-station intelligent detection system for the boom and the stick of the excavator according to claim 6, wherein: the inclined probe (36) and the straight probe (37) carry wedge blocks, the wedge blocks are water wedge blocks and are provided with water injection holes, water is injected into the wedge blocks through a water pump in real time in the quality inspection process, the coupling agent of the probes is water, and the water flow speed is 5 ml/min; the inclined probe (36) detects the butt weld and scans along two sides of the weld respectively; the straight probe (37) detects the fillet weld, and during the fillet weld detection, the oblique probe (36) is used for scanning the front side of the fillet weld, and then the straight probe (37) is used for scanning along the side wall of the fillet weld.
9. The dual-station intelligent detection system for the boom and the stick of the excavator according to claim 6, wherein: the three-dimensional contour sensor (25) is a welding seam surface quality detection device for a movable arm and a bucket rod of the excavator, internal components of the three-dimensional contour sensor (25) are an industrial camera and a line laser generator, line laser excited by the line laser generator is projected onto the surface of a welding seam, the industrial camera performs point cloud mode imaging after shooting a welding seam area with laser lines, a three-dimensional structure of the welding seam is reconstructed to achieve detection of the welding seam surface quality, an inclined probe (36) and a straight probe (37) are the welding seam internal quality detection device for the movable arm and the bucket rod of the excavator, and a CCD (23) vision camera monitors scanning states of the inclined probe (36) and the straight probe (37) for detecting the welding seam; the detection speed of the three-dimensional profile sensor (25) is 12m/min when the quality of the surface of the welding seam is detected, the detection speed of the oblique probe (36) and the straight probe (37) is 6m/min when the quality of the inside of the welding seam is detected, and the quality detection process of the inside of the welding seam and the quality detection process of the surface of the welding seam are separately carried out.
10. A method for implementing the double-station intelligent detection system for the boom and the stick of the excavator according to any one of claims 1 to 9, wherein the method comprises the following steps: the method comprises the following steps:
step 1, calibrating an oblique probe and a straight probe by utilizing a phased array calibration block, automatically updating calibration parameters into built-in parameters, calibrating point cloud imaging of a three-dimensional contour sensor by utilizing a three-dimensional contour sensor calibration block, and automatically updating the calibration parameters into the built-in parameters;
step 2, automatically installing the excavator movable arm and the excavator bucket rod at a quality inspection station of the excavator movable arm and a quality inspection station of the excavator bucket rod according to a preset installation direction;
step 3, detecting the surface quality of each welding line of the movable arm of the excavator by using a three-dimensional profile sensor, specifically: when the welding seam joint is in a fillet welding seam form, the included angle between the normal direction of the surface of the workpiece and the axis of the linear laser is 30 degrees, and the linear laser is parallel to the transverse direction of the welding seam; when the welding seam joint is in a butt welding seam form, the normal direction of the surface of the workpiece is superposed with the axis of the linear laser, and the linear laser is parallel to the transverse direction of the welding seam;
step 4, manually polishing the surfaces and the peripheries of all welding seams of the movable arm of the excavator to remove welding beading, welding slag and splashing;
step 5, firstly carrying out surface quality detection on each welding line of the bucket rod of the excavator by using a three-dimensional profile sensor, specifically: when the welding seam joint is in a fillet welding seam form, the included angle between the normal direction of the surface of the workpiece and the axis of the linear laser is 30 degrees, and the linear laser is parallel to the transverse direction of the welding seam; when the welding seam joint is in a butt welding seam form, the normal direction of the surface of the workpiece is superposed with the axis of the linear laser, and the linear laser is parallel to the transverse direction of the welding seam;
step 6, carrying out internal quality detection on each welding line of the movable arm of the excavator by using the straight probe and the inclined probe, specifically: scanning the quality of the butt weld, namely detecting the butt weld by using an oblique probe, and scanning the base metal on one side of the butt weld, which is attached to the lower surface of the oblique probe, along the direction of the butt weld; after the quality inspection scanning of one side of the welding seam is finished, the quality inspection scanning of the other side is carried out; quality inspection of fillet welds of movable arms of the excavator: firstly, the lower surface of an oblique probe is attached to the front side of the fillet weld for scanning the front side of the fillet weld, and then the lower surface of a straight probe is attached to the side wall of the fillet weld for scanning along the direction of the weld;
step 7, manually polishing the surface and the periphery of each welding line of the bucket rod of the excavator to remove welding beading, welding slag and splashing;
step 8, carrying out internal quality detection on each welding line of the bucket rod of the excavator by utilizing the straight probe and the inclined probe, specifically comprising the following steps: scanning the quality of the butt weld, namely detecting the butt weld by using an oblique probe, and scanning the base metal on one side of the butt weld, which is attached to the lower surface of the oblique probe, along the direction of the butt weld; after the quality inspection scanning of one side of the welding seam is finished, the quality inspection scanning of the other side is carried out; quality inspection of fillet welds of movable arms of the excavator: firstly, the lower surface of an oblique probe is attached to the front side of the fillet weld for scanning the front side of the fillet weld, and then the lower surface of a straight probe is attached to the side wall of the fillet weld for scanning along the direction of the weld;
and 9, feeding the detected movable arm and bucket rod of the excavator into the next station, feeding the movable arm and bucket rod of the excavator in the next batch into a quality inspection station of the movable arm and a quality inspection station of the bucket rod of the excavator, and performing surface quality inspection and internal quality inspection on the movable arm and bucket rod of the excavator in the new batch according to the steps 2-8.
CN202110255404.5A 2021-03-09 2021-03-09 Double-station intelligent detection system for movable arm and bucket rod of excavator and implementation method Pending CN113049677A (en)

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Application Number Priority Date Filing Date Title
CN202110255404.5A CN113049677A (en) 2021-03-09 2021-03-09 Double-station intelligent detection system for movable arm and bucket rod of excavator and implementation method

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