CN113252704B - Robot for orthotropic steel box girder U-rib fillet weld coating detection - Google Patents
Robot for orthotropic steel box girder U-rib fillet weld coating detection Download PDFInfo
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- CN113252704B CN113252704B CN202110518143.1A CN202110518143A CN113252704B CN 113252704 B CN113252704 B CN 113252704B CN 202110518143 A CN202110518143 A CN 202110518143A CN 113252704 B CN113252704 B CN 113252704B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
- G01N2021/0106—General arrangement of respective parts
- G01N2021/0112—Apparatus in one mechanical, optical or electronic block
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Abstract
The invention discloses a robot for coating and detecting U-rib angle welding seams of orthotropic steel box girders, which comprises: the infrared detector is used for carrying out coating detection on the U-shaped rib fillet weld; the moving mechanism is used for realizing the omnibearing movement of the robot; a crossing mechanism for crossing the robot from one U rib to the other U rib, the crossing mechanism being mounted on the moving mechanism; the transverse moving mechanism is used for driving the infrared detector to move between two sides of the same U rib and is arranged on the transverse moving mechanism; and the turnover mechanism is used for adjusting the angle of the infrared detector, the turnover mechanism is installed on the transverse moving mechanism, and the infrared detector is installed on the turnover mechanism. Compared with the prior art, the method can quickly and accurately realize the nondestructive detection of the coating of the U-rib angle weld of the orthotropic steel box girder, and has the characteristics of high detection efficiency and high detection accuracy.
Description
Technical Field
The invention relates to the technical field of nondestructive testing of bridge steel structures, in particular to a robot for coating and detecting U-rib angle welds of orthotropic steel box girders.
Background
At present, the orthotropic steel box girder has the advantages of large bending and torsional rigidity, strong bearing capacity, short construction period and the like, and is widely applied to large-span highway bridges or highway and railway dual-purpose bridges. The problems of cracking, jamming, falling and the like can occur in the pavement of the bridge deck in the service process of the orthotropic steel box girder, and the disease source is mainly the U-rib angle welding line of the steel box girder. Under a complex atmospheric environment, the surface of the U-rib angle welding line is subjected to various corrosion to lose the protection effect, certain residual stress inevitably exists in the manufacturing process of the U-rib angle welding line of the orthotropic steel box girder, fatigue cracks can be generated under the action of local load generally after the U-rib angle welding line is in service for years, the bending rigidity and torsional rigidity of the steel bridge deck plate of the orthotropic steel box girder can be greatly reduced by the fatigue cracks, the pavement of concrete on the steel bridge deck plate can be directly caused to generate cracking, falling and other diseases, and the service life of the steel box girder can be influenced.
In conclusion, steel structure coating, especially U-rib fillet weld coating detection needs to be performed in the operation process of a steel structure bridge, and the traditional steel structure coating detection method mainly comprises paint film adhesion measurement, dry paint film thickness gauge coating thickness detection and visual observation coating. The paint film adhesion measurement and the dry paint film thickness gauge coating thickness measurement are mainly the detection in the coating preparation process, and the visual observation method is only suitable for the observation of the obvious defects on the coating surface and cannot judge whether the inside of the coating has defects. The detection means have limitations and are not suitable for the coating detection of the U-rib angle welding seam of the existing steel structure bridge, so that the problems are urgently solved.
Disclosure of Invention
The invention aims to solve the problems in the background art by providing a robot for coating and detecting a U-shaped rib fillet weld of an orthotropic steel box girder.
The purpose of the invention is realized by the following technical scheme:
a robot for orthotropic steel box girder U rib fillet welding seam coating detection, includes:
the infrared detector is used for carrying out U-rib fillet weld coating detection;
the moving mechanism is used for realizing the omnibearing movement of the robot;
a crossing mechanism for crossing the robot from one U rib to the other U rib, the crossing mechanism being mounted on the moving mechanism;
the transverse moving mechanism is used for driving the infrared detector to move between two sides of the same U rib and is arranged on the transverse moving mechanism;
and the turnover mechanism is used for adjusting the angle of the infrared detector, the turnover mechanism is installed on the transverse moving mechanism, and the infrared detector is installed on the turnover mechanism.
As a preferable mode of the present invention, the crossing mechanism includes a first moving block capable of reciprocating in a horizontal first direction, a lifting block capable of moving up and down, a swinging assembly, and an electromagnetic chuck, the lifting block is connected to a lower end of the first moving block, the swinging assembly includes a swinging block capable of horizontally rotating and a driving member for driving the swinging block to horizontally rotate, the driving member is located below the swinging block, the swinging block is connected to a lower end of the lifting block, and the electromagnetic chuck is connected to a lower end of the driving member.
In a preferred embodiment of the present invention, a direction perpendicular to the horizontal first direction in the same horizontal plane is defined as a horizontal second direction, and the traverse mechanism includes a second moving block capable of reciprocating in the horizontal second direction.
As a preferred scheme of the invention, the turnover mechanism comprises a turnover arm, a turnover shaft and a turnover driving assembly for driving the turnover shaft to rotate, the turnover shaft is horizontally arranged, one end of the turnover arm is fixed on the turnover shaft, and the infrared detector is mounted at the other end of the turnover arm.
In a preferred embodiment of the present invention, the moving mechanism is a mecanum wheel vehicle including a frame, a plurality of mecanum wheels mounted on the frame, and a wheel driving unit for driving the mecanum wheels.
As a preferable aspect of the present invention, the cross mechanism is mounted on the frame, and the frame is provided with a telescopic assembly for adjusting a height of the frame.
As a preferable aspect of the present invention, a shock absorber is mounted on the frame.
As a preferable scheme of the present invention, the first moving block is driven by a first rodless cylinder to achieve reciprocating movement in a horizontal first direction, the lifting block is driven by a sliding table cylinder to achieve up-and-down movement, and the driving member is a swing cylinder.
As a preferable aspect of the present invention, the second moving block is driven by a second rodless cylinder to perform reciprocating movement in a horizontal second direction.
As a preferable scheme of the present invention, the turnover driving assembly includes a driving cylinder, a driving rack and a driving gear, the driving gear is fixed on the turnover shaft, the driving rack is horizontally arranged and engaged with the driving gear, and the driving cylinder extends out along the horizontal direction and is fixedly connected with the driving rack.
Compared with the prior art, the method has the advantages that the method can quickly and accurately realize the nondestructive detection of the coating of the U-rib fillet weld of the orthotropic steel box girder, and has the characteristics of high detection efficiency and high detection accuracy.
Drawings
FIG. 1 is a schematic perspective view of a robot for coating detection of U-rib fillet welds of orthotropic steel box girders;
FIG. 2 is a schematic structural view of an inverted structure;
FIG. 3 is a schematic structural view of the cross-over mechanism;
fig. 4 is a schematic diagram of a robot detection path.
In the figure:
1. a frame; 2. a Mecanum wheel; 3. a reduction motor; 4. a first moving block; 5. a first rodless cylinder; 6. a second moving block; 7. a second rodless cylinder; 8. an infrared detector; 9. a shock absorber; 10. a turning arm; 11. a driving cylinder; 12. a driving rack; 13. a lifting block; 14. a sliding table cylinder; 15. a swing block; 16. a swing cylinder; 17. an electromagnetic chuck; 18. a first U-rib; 19. a second U-rib.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings. It is to be understood that the embodiments described herein are illustrative of the invention and are not to be construed as limiting the invention.
Referring to fig. 1 to 4, fig. 1 is a schematic perspective view of a robot for coating and detecting U-rib fillet welds of orthotropic steel box girders according to the present invention; FIG. 2 is a schematic diagram of an inverted structure; FIG. 3 is a schematic view of the cross-over mechanism; fig. 4 is a schematic diagram of a robot detection path.
In this embodiment, a robot that is used for orthotropic steel box girder U rib angle welding seam application to detect includes:
the infrared detector 8 is used for carrying out U-rib angle welding seam coating detection;
the moving mechanism is used for realizing the omnibearing movement of the robot; specifically, in this embodiment, the moving mechanism is a mecanum wheel vehicle, which includes a frame 1, 4 mecanum wheels 2 mounted on the frame 1, and a wheel driving assembly for driving the mecanum wheels 2, the wheel driving assembly is 4 reduction motors 3, the 4 reduction motors 3 are distributed in one-to-one correspondence with the 4 mecanum wheels 2, and the mecanum wheels 2 are mounted on output shafts of the reduction motors 3 corresponding to the mecanum wheels 2;
the crossing mechanism is used for enabling the robot to cross from one U rib to the other U rib; specifically, in this embodiment, the traversing mechanism includes a first moving block 4 capable of reciprocating in the left-right direction, a lifting block 13 capable of reciprocating in the up-down direction, a swinging block 15 capable of horizontally rotating, and an electromagnetic chuck 17, the first moving block 4 is driven by a first rodless cylinder 5 to realize reciprocating movement in the left-right direction, the first rodless cylinder 5 is mounted on the frame 1, a slider of the first rodless cylinder 5 is fixedly connected with the first moving block 4, the lifting block 13 is connected to the lower end of the first moving block 4, the lifting block 13 is driven by a sliding table cylinder 14 to realize up-down movement, the swinging block 15 is connected to the lower end of the lifting block 13, the swinging block 15 is driven by a swinging cylinder 16 to realize horizontal rotation, the swinging cylinder 16 is located below the swinging block 15, and the electromagnetic chuck 17 is connected to the lower end of the swinging cylinder 16;
the transverse moving mechanism is used for driving the infrared detector 8 to move between two sides of the same U-shaped rib, specifically, in the embodiment, the transverse moving mechanism comprises a second moving block 6 capable of reciprocating along the front-back direction, the second moving block 6 is driven by a second rodless cylinder 7 to realize reciprocating movement in the front-back direction, the second rodless cylinder 7 is fixed on a sliding block of the first rodless cylinder 5, and the sliding block of the second rodless cylinder 7 is fixedly connected with the second moving block 6;
the turnover mechanism is used for adjusting the angle of the infrared detector 8; specifically, in this embodiment, the turnover mechanism includes trip arm 10, trip shaft and is used for driving the rotatory upset drive assembly of trip shaft, the trip shaft level is arranged, just the trip shaft can the pivoted connect in on the second movable block 6, the one end of trip arm 10 is fixed in on the trip shaft, infrared detector 8 install in the other end of trip arm 10, the upset drive assembly is including driving actuating cylinder 11, drive rack 12 and drive gear, drive gear is fixed in on the trip shaft, drive rack 12 level is arranged, and with drive gear meshes mutually, drive actuating cylinder 11 stretch out along the horizontal direction, and with drive rack 12 fixed connection.
In order to improve the adaptability, in this embodiment, a telescopic assembly for adjusting the height of the vehicle frame 1 is arranged on the vehicle frame 1, the vehicle frame 1 includes an upper frame body and a lower frame body, the telescopic assembly is arranged between the upper frame body and the lower frame body, the telescopic assembly includes 4 supporting leg members, the 4 supporting leg members are distributed in a rectangular shape, each supporting leg member includes an upper supporting leg and a lower supporting leg, a plurality of through holes are formed in the lower supporting leg in the vertical direction, and a spring bolt capable of being inserted into the through holes is arranged on the upper supporting leg.
In order to improve the damping effect, in this embodiment, a damper 9 is mounted on the frame 1.
In an initial state, the robot is located at the first U rib 18, the infrared detector 8 is located at the AB side of the first U rib 18, the reduction motor 3 is started to drive the mecanum wheel 2 to work, so that the robot moves along the left and right directions of the first U rib 18, the robot moves 200mm integrally at each time, the infrared detector 8 detects the detection of the U rib corner weld coating at the corresponding position according to each moving interval until the robot moves to the right end of the first U rib 18, so that the U rib corner weld coating detection at the AB side of the first U rib 18 is completed, then, the driving cylinder 11 is started to drive the turnover shaft to rotate, further, the turnover arm 10 is driven to rotate, so that the infrared detector 8 is turned over to the robot, then, the slider of the second rodless cylinder 7 moves to the CD side of the first U rib 18, the second moving block 6 and the turnover block thereon are driven, the infrared detector 8 moves to the CD side of the first U rib 18, at this time, the turnover mechanism continues to work, the infrared detector 8 is driven to move to the CD side of the first U rib 18, so that the turnover mechanism moves to the U rib 18 and the U rib detection of the U rib starts to move according to the CD side of the U rib 18, so that the U rib detection of the U rib starts the U rib detection at each time, so that the U rib detection of the U rib 18 moves from the left and right end of the robot moves, and the U rib detection of the robot, and the robot moves 200mm, and the robot moves.
After the first U rib 18 is detected, the robot needs to move to the second U rib 19, at this time, the sliding block of the first rodless cylinder 5 moves to the right end of the robot, then the sliding table cylinder 14 works to drive the lifting block 13 to move downwards, so that the swinging block 15, the swinging cylinder 16 and the electromagnetic chuck 17 move downwards together until the electromagnetic chuck 17 is in contact with the first U rib 18, then the electromagnetic chuck 17 works to fixedly adsorb the robot on the first U rib 18, at this time, the robot cannot move left and right, the swinging cylinder 16 works to drive the robot to rotate 90 degrees anticlockwise by taking the center of the electromagnetic chuck 17 as an axis, and at this time, the robot stretches across the first U rib 18 and the second U rib 19; the electromagnetic chuck 17 stops adsorbing, the sliding table cylinder 14 works to enable the lifting block 13 to move upwards and reset, the swinging block 15, the swinging cylinder 16 and the electromagnetic chuck 17 move upwards and reset together, then the first rodless cylinder 5 works to enable the first moving block 4 to move to the second U rib 19, the sliding table cylinder 14 works to drive the lifting block 13 to move downwards, the swinging block 15, the swinging cylinder 16 and the electromagnetic chuck 17 move downwards together until the electromagnetic chuck 17 is in contact with the second U rib 19, then the electromagnetic chuck 17 works to fixedly adsorb the robot to the second U rib 19, the swinging cylinder 16 works to drive the robot to rotate 90 degrees anticlockwise by taking the center of the electromagnetic chuck 17 as an axis, at the moment, the robot integrally moves to the second U rib 19, and then after the robot resets to an initial state, coating detection of the second U rib 19 can be carried out.
The foregoing embodiments are merely illustrative of the principles and features of this invention, and the invention is not limited to the embodiments described above, but rather, is susceptible to various changes and modifications without departing from the spirit and scope of the invention, as claimed. The scope of the invention is defined by the appended claims.
Claims (9)
1. The utility model provides a robot that is used for orthotropic steel box girder U rib angle welding seam application to detect which characterized in that: the method comprises the following steps:
the infrared detector is used for carrying out coating detection on the U-shaped rib fillet weld;
the moving mechanism is used for realizing the omnibearing movement of the robot;
a crossing mechanism for crossing the robot from one U rib to the other U rib, the crossing mechanism being mounted on the moving mechanism;
the transverse moving mechanism is used for driving the infrared detector to move between two sides of the same U rib and is arranged on the transverse moving mechanism;
the turnover mechanism is used for adjusting the angle of an infrared detector, the turnover mechanism is mounted on the transverse moving mechanism, and the infrared detector is mounted on the turnover mechanism;
the crossing mechanism comprises a first moving block capable of reciprocating in a horizontal first direction, a lifting block capable of moving up and down, a swinging assembly and an electromagnetic chuck, the lifting block is connected to the lower end of the first moving block, the swinging assembly comprises a swinging block capable of horizontally rotating and a driving piece used for driving the swinging block to horizontally rotate, the driving piece is located below the swinging block, the swinging block is connected to the lower end of the lifting block, and the electromagnetic chuck is connected to the lower end of the driving piece.
2. The robot for the coating detection of the U-rib fillet weld of the orthotropic steel box girder as claimed in claim 1, is characterized in that: the direction perpendicular to the horizontal first direction in the same horizontal plane is defined as a horizontal second direction, and the transverse moving mechanism comprises a second moving block capable of moving in a reciprocating mode along the horizontal second direction.
3. The robot for the coating detection of the U-rib fillet weld of the orthotropic steel box girder as claimed in claim 1, is characterized in that: the turnover mechanism comprises a turnover arm, a turnover shaft and a turnover driving assembly used for driving the turnover shaft to rotate, the turnover shaft is horizontally arranged, one end of the turnover arm is fixed on the turnover shaft, and the infrared detector is installed at the other end of the turnover arm.
4. The robot for the coating detection of the U-rib fillet weld of the orthotropic steel box girder as claimed in claim 1, is characterized in that: the moving mechanism is a Mecanum wheel vehicle which comprises a vehicle frame, a plurality of Mecanum wheels arranged on the vehicle frame and a wheel driving assembly used for driving the Mecanum wheels.
5. The robot for the coating detection of the U-rib fillet weld of the orthotropic steel box girder as claimed in claim 4, is characterized in that: the crossing mechanism is arranged on the frame, and a telescopic component for adjusting the height of the frame is arranged on the frame.
6. The robot for the coating detection of the U-rib fillet weld of the orthotropic steel box girder according to claim 4, is characterized in that: and a shock absorber is arranged on the frame.
7. The robot for the coating detection of the U-rib fillet weld of the orthotropic steel box girder as claimed in claim 1, is characterized in that: the first moving block is driven by a first rodless cylinder to realize reciprocating movement in the horizontal first direction, the lifting block is driven by a sliding table cylinder to realize up-down movement, and the driving piece is a swing cylinder.
8. The robot for the coating detection of the U-rib fillet weld of the orthotropic steel box girder as claimed in claim 2, is characterized in that: the second moving block is driven by a second rodless cylinder to realize reciprocating movement in a horizontal second direction.
9. The robot for the coating detection of the U-rib fillet weld of the orthotropic steel box girder as claimed in claim 3, is characterized in that: the overturning driving assembly comprises a driving cylinder, a driving rack and a driving gear, the driving gear is fixed on the overturning shaft, the driving rack is horizontally arranged and meshed with the driving gear, and the driving cylinder extends out along the horizontal direction and is fixedly connected with the driving rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110518143.1A CN113252704B (en) | 2021-05-12 | 2021-05-12 | Robot for orthotropic steel box girder U-rib fillet weld coating detection |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110518143.1A CN113252704B (en) | 2021-05-12 | 2021-05-12 | Robot for orthotropic steel box girder U-rib fillet weld coating detection |
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| CN113252704A CN113252704A (en) | 2021-08-13 |
| CN113252704B true CN113252704B (en) | 2023-03-28 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113385439B (en) * | 2021-08-18 | 2021-10-26 | 江苏嘉一北科光学科技有限公司 | Glass optical detection's inspection conveyer |
| CN113756187B (en) * | 2021-09-17 | 2023-03-24 | 江阴市建设工程质量检测中心有限公司 | Be used for orthotropic steel case roof beam U rib angle welding seam detection robot |
| CN114378502B (en) * | 2022-03-24 | 2022-06-24 | 中国核工业二四建设有限公司 | Mobile robot for automatic continuous welding of right-angle fillet weld |
| TWI829533B (en) * | 2023-02-17 | 2024-01-11 | 科嶠工業股份有限公司 | Internal rib defect detection device and method thereof of foup for substrate used |
| CN116643012B (en) * | 2023-07-21 | 2023-09-19 | 江苏致宏木业有限公司 | Detection device and detection method for defects of artificial board |
| CN117214307B (en) * | 2023-11-09 | 2024-02-02 | 山西诚达工程质量检测有限公司 | Nondestructive inspection device for steel structure welding seam |
| CN118010755B (en) * | 2024-04-10 | 2024-07-23 | 湖南中钢智能装备有限公司 | Excavator counter weight welding seam detects frock |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102861970A (en) * | 2012-09-27 | 2013-01-09 | 中铁山桥集团有限公司 | Welding method of orthotropic plate U-shaped rib fillet welding robot and special equipment thereof |
| CN109765294A (en) * | 2018-12-19 | 2019-05-17 | 中国京冶工程技术有限公司 | U ribs of steel box girder welding line ultrasonic phased array automatic checkout system |
| CN109613010A (en) * | 2019-01-30 | 2019-04-12 | 西南交通大学 | Orthotropic Steel Bridge Deck fatigue crack detection system |
| CN111021244A (en) * | 2019-12-31 | 2020-04-17 | 川南城际铁路有限责任公司 | Intelligent orthotropic steel bridge deck fatigue cracking detection robot |
| CN111283651B (en) * | 2020-03-09 | 2023-05-09 | 余姚市浙江大学机器人研究中心 | Steel box girder inspection method of wall climbing robot |
| CN212568533U (en) * | 2020-06-29 | 2021-02-19 | 江苏润扬大桥发展有限责任公司 | Detection apparatus for steel box girder U rib |
| CN112505151B (en) * | 2021-02-03 | 2021-04-16 | 西南交通大学 | Orthotropic steel bridge deck fatigue crack detection equipment and use method thereof |
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