CN116475665A - Flaw detection structure, drill bit welding equipment special for drilling machine and welding method - Google Patents
Flaw detection structure, drill bit welding equipment special for drilling machine and welding method Download PDFInfo
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- CN116475665A CN116475665A CN202310471186.8A CN202310471186A CN116475665A CN 116475665 A CN116475665 A CN 116475665A CN 202310471186 A CN202310471186 A CN 202310471186A CN 116475665 A CN116475665 A CN 116475665A
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- 238000001514 detection method Methods 0.000 title claims abstract description 95
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0461—Welding tables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0247—Driving means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The invention discloses a flaw detection structure, drill bit welding equipment special for a drilling machine and a welding method, and relates to the technical field of drill bit welding.
Description
Technical Field
The invention relates to the technical field of drill bit welding, in particular to a flaw detection structure, drill bit welding equipment special for a drilling machine and a welding method.
Background
Drill bit welding equipment dedicated to drilling rigs is commonly used to weld large drill bits, including oil well drill bits, coal mine drill bits, cement drill bits, and the like. The device generally consists of the following main parts: the main body frame, the power system, the welding head clamping mechanism, the welding mechanism and the safety measures are formed, the flaw detection structure of the equipment generally adopts an ultrasonic flaw detection technology and a radiographic flaw detection technology and is used for detecting the quality and the defect condition of welding seams, and various welding methods exist, wherein argon arc welding and resistance welding are the most common. Argon arc welding utilizes argon to protect welding seams, welding quality is guaranteed, resistance welding utilizes resistance heating of welding materials to achieve the purpose of welding, and in general, drill bit welding equipment special for a drilling machine is a very important tool, can guarantee quality and performance of a drill bit, and provides powerful support for the fields of engineering, construction and the like.
In the prior art, the service life of the drill bit is affected in several aspects, after the drill bit is used for a long time, the welded part is easy to break or plastically deform, which may cause short life of the drill bit or incapability of continuous use, and defects such as cracks and air holes can negatively affect the wear resistance and service life of the drill bit, so that measures such as eliminating welding defects, optimizing equipment and quality control of a welding process can effectively improve the welding quality and service life of the drill bit, and the problems are urgently considered.
Therefore, the existing requirements are not met, and a flaw detection structure, drill bit welding equipment special for a drilling machine and a welding method are provided.
Disclosure of Invention
The invention aims to provide a flaw detection structure, drill bit welding equipment special for a drilling machine and a welding method, so as to solve the problems that the service life of the drill bit provided in the background art is influenced in several aspects, after the drill bit is used for a long time, a welding part is easy to fracture or plastically deform, the life of the drill bit is short or the drill bit cannot be used continuously, and defects such as cracks and air holes can negatively influence the wear resistance and the service life of the drill bit.
In order to achieve the above purpose, the present invention provides the following technical solutions:
in a first aspect, a flaw detection structure is provided, including a bearing displacement structure, a flaw detection assembly performing transverse displacement along the bearing displacement structure, and the flaw detection assembly and the bearing displacement structure cooperate to perform scanning flaw detection action on a welded drill bit workpiece.
Through installation subassembly and bearing displacement structure of detecting a flaw, the subassembly of detecting a flaw can be used for detecting drill bit welded defect, adopts technologies such as ultrasonic flaw detection, x-ray flaw detection can carry out comprehensive detection to drill bit welded part, discovers and records abnormal conditions to reduce danger and the loss that lead to because of welded part inefficacy in the drill bit use, bear the weight of displacement structure simultaneously and can make the adjustability of subassembly of detecting a flaw obtain the guarantee, with actual position adjustment demand adaptation of detecting a flaw, can carry out comprehensive control to the quality of drill bit on the production line or in the maintenance, guarantee practicality.
In the above embodiment, the load-bearing displacement structure includes: the device comprises a main bearing rod fixed with the ground through a foot bolt, a rotating sliding rod frame which is welded and fixed on the inner side of one end of the main bearing rod far away from the foot bolt, a matching bearing frame which is connected with the rotating sliding rod frame and rotates along the circumferential direction of the rotating sliding rod frame, a sliding displacement frame which is screwed and fixed on the lower side of the matching bearing frame, a sliding rail is arranged below the matching bearing frame, and the sliding displacement frame and the sliding rail are in sliding connection to drive a flaw detection assembly to integrally carry out transverse displacement.
The bearing main rod is fixed to the ground through the foot bolt, so that the support and stability of the drill bit welding flaw detection device can be provided, the rotating sliding rod frame fixed at the inner side of one end of the bearing main rod far away from the foot bolt can rotate in the circumferential direction of the bearing main rod and is connected with the matched bearing frame, so that the transverse movement of the flaw detection assembly is supported, the sliding rail is arranged below the matched bearing frame, the sliding displacement frame is in sliding connection with the sliding displacement frame, the flaw detection assembly is arranged on the sliding displacement frame, the sliding displacement frame can be driven to realize integral transverse displacement, the support and the transverse movement can be provided for the welding flaw detection of the drill bit, the quality and the defect of a welding part can be detected more accurately, and the safety performance and the service life of the drill bit are improved.
In the above embodiment, the flaw detection assembly includes: the angle adjusting frame is connected to one end of the rotating connecting frame far away from the sliding rail, is in threaded connection with the angle adjusting frame, is provided with an extension rod with self-expansion, is far away from one end of the angle adjusting frame, is fixed with the extension rod, is used for carrying out flaw detection and scanning, and is used for driving the flaw detection head to rotate by three hundred sixty degrees.
Through connecting a swivel mount in the slide displacement frame below, make the detector head can 360 degrees rotations, the drill bit work piece after the welding carries out the omnidirectional scanning, the installation angle adjustment frame, can adapt to the drill bit welding work piece of different angles through the scanning angle of adjustment detector head, the extension pole has from the elasticity, can provide sufficient length for the detector head, be convenient for carry out accurate detection scanning in the depths of drill bit work piece, in the in-process of drill bit welding detection, can let the detector head carry out the omnidirectional scanning to the drill bit after the welding through driving slide displacement frame and swivel mount, and through the position of control angle adjustment frame and extension pole, can adjust the angle and the length that the detector head scanned, thereby detect welded part more accurately, drill bit welding detection can be more comprehensive, accurate, accomplish rapidly, really realize the comprehensive detection and the control to drill bit welding quality, guarantee the security performance and the life of drill bit.
In a second aspect, a drill bit welding device special for a drilling machine is provided, which comprises a welding platform for providing a flaw detection structure and a welding component installation working area, wherein the welding platform is arranged at the center of the welding platform and is used for driving a drill bit workpiece to displace, the welding platform is provided with a welding robot which is opposite to the welding transposition structure and is used for welding the drill bit workpiece, the welding transposition structure is provided with two stations, the drill bit workpiece to be welded is welded at one side station, and after welding is finished, the transposition is used for detecting actions.
Through installing welding platform, cooperation bearing structure and welding robot, place the drill bit work piece that waits to weld on a station earlier, let welding robot carry out welding operation to it, let drill bit work piece remove to another station after accomplishing and detect the operation, can effectively improve the production efficiency and the quality of drill bit work piece to defect and the possibility of mistake appearing in the welding process are reduced.
In the above embodiment, the welding transposition structure includes: the welding device comprises a working bearing table, a positioning substrate arranged at the contact end of the working bearing table and a welding platform, a transposition bearing frame arranged at one end of the working bearing table, which is far away from the positioning substrate, a baffle plate clamped and fixed at the middle position of the transposition bearing frame, two clamping structures which are oppositely arranged along the vertical center line of the transposition bearing, and a rotary connecting seat which drives the transposition bearing frame to rotate by three hundred and sixty degrees, wherein the rotary connecting seat is arranged between the transposition bearing and the working bearing table.
Through installing work plummer, locating baseplate, transposition carrier, baffle, clamping structure and rotation connecting seat, rotation connecting seat drives the whole rotation of transposition carrier and clamping structure, can carry out the change of drill bit work piece, but need not the overall movement, can promote the work efficiency of welding transposition to can effectively reduce the loss.
In the above embodiment, the clamping structure includes: and the clamping and positioning rack is in threaded connection with the transposition carrier and internally forms a cavity, and is fixed on a three-jaw chuck at one end of the clamping and positioning rack, which is far away from the partition plate.
The three-jaw chuck is used for fixing the drill bit workpiece in a welding mode, and the positioning compactness and the positioning flexibility are better guaranteed.
In the above embodiment, the welding robot includes: the welding positioning base, with the welding positioning base passes through the transmission arm that the seat rotated and is connected, with the cooperation arm that the transmission arm rotated and is connected, form in cooperation arm one end, have the extension axle of self-retractility, be fixed in the extension axle is kept away from the subassembly of the one end of cooperation arm installs the frame additional, is fixed in through electric rotating shaft welding head on the subassembly mounting bracket.
Through installing welding position base, transmission arm, cooperation arm, extension axle, subassembly add and install frame and soldered connection, welding position base guarantee during operation can not remove or rock to guarantee welded accuracy and stability, the cooperation sets up the arm and can let the soldered connection remove in three-dimensional space, lets the soldered connection can reach different positions and angles, and whole welding angle's adjustability has obtained better guarantee.
In the embodiment, the matching bearing structure comprises a bearing plate for providing a bit workpiece placement area, a lifting bearing frame which is connected to the lower end of the bearing plate and drives the bearing plate to be height-adjusted, and an extension adjusting rod frame which is connected with the lifting bearing frame and provides adjusting power for the lifting bearing frame, and a connecting piece which is arranged at one end of the lifting bearing frame far away from the bearing plate and provides a component installation area.
Through installing loading board, lifting loading frame, extension regulating rod frame and connecting piece, when carrying out drill bit work piece assembly work, according to the height and the size of different drill bit work pieces, adjust operating height to provide a fixed plane and be used for installing the drill bit work piece, can install the removal wheel additional on the connecting piece, thereby increase holistic adjustable displacement nature.
In a third aspect, a welding method of a drill bit welding device special for a drilling machine is provided, including the following steps:
s1, preparing: cleaning the surfaces of a drill bit to be welded and equipment, removing grease and other impurities, ensuring the surface to be smooth, determining the welding position, determining the position of the drill bit to be welded on the equipment according to the shape and the specification of the drill bit, and marking or fixing;
s2, welding preparation: preheating welding materials and welding equipment to a preset temperature, and clamping a drill bit workpiece by using a clamping structure;
s3, welding: the welding process needs to control the temperature and welding time of the welding materials, and the selected welding materials are heated to be in a molten state; when the drill bit workpiece on one side station performs welding work, the drill bit workpiece is assembled on the other side station, the drill bit workpiece is clamped and fixed on one of the stations of the transposition carrier through the clamping structure, then the station is rotated to a welding position, and welding operation is performed through a welding robot;
s4, post-welding treatment: after the drill bit workpiece moves to another station, the flaw detection assembly is adopted to detect the welding defects of the drill bit, the flaw detection assembly detects the welding parts of the drill bit comprehensively, detects the welding parts, records abnormal conditions, detects the welding parts, can move back to one side station for next operation if no defects are found, and needs repair or re-welding operation if the defects are found.
In the above embodiment, the flaw detection process includes:
after the current drill bit workpiece is welded, driving the welded drill bit workpiece to rotate 180 degrees by the welding transposition structure and stopping;
the flaw detection head moves to a first shooting position, and an industrial camera shoots a picture of the current position of the drill bit workpiece as a first output image; judging whether the first output image has welding defects or not by an image recognition module, and if so, outputting the position and defect type of the current welding defects; if no welding defect exists, jumping to the next step;
the flaw detection head moves to a second shooting position, and the current working position is shot by the industrial camera to be used as a second output image; repeating the image recognition action, judging whether welding defects exist or not, and jumping to the next step if the welding defects do not exist;
the flaw detection head moves to a third shooting position, and the current working position is shot by the industrial camera to be used as a third output image; repeating the image recognition action, judging whether welding defects exist or not, and jumping to the next step if the welding defects do not exist;
when the drill bit workpiece has no defect, the drill bit workpiece is directly taken down, and when the drill bit workpiece has the defect, the drill bit workpiece is driven to reversely move to a welding station to carry out secondary welding through the welding transposition structure.
In the above embodiment, the definition of the first shooting position is as follows: the shooting direction of the industrial camera is positioned at the horizontal center line of the three-jaw chuck, and is the X direction from the center of one end of the drill bit workpiece to the other end;
the second shooting position is defined as follows: shooting the drill bit workpiece from top to bottom, wherein the shooting direction is the long axis direction of the drill bit workpiece and is the Z direction;
the third shooting position is defined as follows: shooting from the front end of the drill bit workpiece to the extending direction of the rear end, and setting the direction as the Y direction;
and in the shooting process of the drill bit workpiece, the drill bit workpiece is driven to rotate by one hundred and eighty degrees by the three-grab chuck, and at the moment, the third shooting position performs a second shooting action.
Compared with the prior art, the invention has the beneficial effects that:
through installing welding transposition structure, bearing displacement structure, cooperation bearing structure, welding robot and subassembly of detecting a flaw, the welding transposition structure is firstly with the drill bit work piece that waits to weld on a station, lets welding robot carry out welding operation to it, lets the drill bit work piece remove to another station after accomplishing and detects the operation, cooperates the subassembly of detecting a flaw to detect the action, promotes whole welding work's perfection.
Drawings
Fig. 1 is an overall front view of a drill bit welding apparatus for a drilling machine according to the present invention.
FIG. 2 is a perspective view of a welding transposition structure according to the present invention.
Fig. 3 is a schematic structural view of the load-bearing displacement structure of the present invention.
Fig. 4 is a schematic structural view of the welding robot of the present invention.
Fig. 5 is a schematic structural view of the matching bearing structure of the present invention.
Fig. 6 is a diagram of pit defect conditions in accordance with the present invention.
FIG. 7 is a diagram showing the defect condition of the air holes according to the present invention.
FIG. 8 is a weld crack condition diagram of the present invention.
FIG. 9 is a diagram of the weld of the present invention without fusion.
In the figure: the welding platform 1, the defective work area 11, the area to be packaged 12, the drill work 13, the welding transposition structure 2, the work bearing table 21, the positioning substrate 22, the transposition bearing frame 23, the rotation connecting seat 24, the partition 25, the bearing displacement structure 3, the bearing main rod 31, the rotation sliding rod frame 32, the matched bearing frame 33, the lead 34, the sliding displacement frame 35, the matched bearing structure 4, the bearing plate 41, the lifting bearing frame 42, the connecting piece 43, the extension adjusting rod frame 44, the positioning handheld frame 45, the matched buffer frame 46, the welding robot 5, the welding positioning base 51, the transmission mechanical arm 52, the matched mechanical arm 53, the extension shaft 54, the assembly adding frame 55, the welding head 56, the flaw detection assembly 6, the rotation connecting frame 61, the angle adjusting frame 62, the extension rod 63, the flaw detection head 64, the clamping structure 7, the clamping positioning frame 71, the three-jaw chuck 72, the first shooting position A, the second shooting position B and the third shooting position C.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
The applicant believes that the service life of the drill bit is affected in several aspects, after the drill bit is used for a long time, the welded part is easy to break or plastically deform, which may cause the life of the drill bit to be short or the drill bit cannot be used continuously, and defects such as cracks, air holes and the like can negatively affect the wear resistance and the service life of the drill bit, so that measures such as eliminating welding defects, optimizing equipment, controlling the quality of the welding process and the like can effectively improve the welding quality and the service life of the drill bit, and are the urgent problems to be considered.
Therefore, the applicant designs a special drill bit welding device for a drilling machine, which consists of a welding platform 1, a welding transposition structure 2, a bearing displacement structure 3, a matching bearing structure 4, a welding robot 5, a flaw detection assembly 6 and a clamping structure 7, wherein the welding transposition structure 2 firstly places drill bit workpieces to be welded on one station, the welding robot 5 performs welding operation on the drill bit workpieces, the workpieces are moved to another station to perform detection operation after the welding operation is completed, the matching flaw detection assembly 6 performs detection action, the bearing displacement structure 3 ensures the position adjustment performance of the flaw detection assembly 6, meanwhile, the matching bearing structure 4 is arranged to support the drill bit workpieces 13, the operation height is adjusted according to the heights and the sizes of different drill bit workpieces 13, and a fixed plane is provided for installing the drill bit workpieces 13, so that the perfection of the whole welding operation is improved.
The invention relates to a drill bit welding device special for a drilling machine, which comprises the following steps in practical application as shown in fig. 1: the welding platform comprises a welding platform 1, a welding transposition structure 2, a bearing displacement structure 3, a matched bearing structure 4, a welding robot 5, a flaw detection assembly 6 and a clamping structure 7, wherein the welding transposition structure 2 is installed at the middle position of the upper side of the welding platform 1, the bearing displacement structure 3 is installed on one side of the upper side of the welding platform 1, the flaw detection assembly 6 is installed on one side of the bearing displacement structure 3, the welding robot 5 is installed on one side of the welding transposition structure 2, and the matched bearing structure 4 is installed on the other side of the welding transposition structure 2.
The welding platform 1 comprises a defective work piece area 11, an area to be packaged 12 and drill bit work pieces 13, the defective work piece area 11 is arranged at the position, opposite to the welding robot 5, above the welding platform 1, the area to be packaged 12 is arranged below the bearing displacement structure 3, and a plurality of drill bit work pieces 13 are placed above the area to be packaged 12.
In practical application, as shown in fig. 2, the welding transposition structure 2 comprises a working bearing table 21, a positioning substrate 22, a transposition carrier 23, a rotary connecting seat 24 and a partition plate 25, wherein the positioning substrate 22 is arranged below the working bearing table 21, the positioning substrate 22 is in threaded connection with the welding platform 1, the transposition carrier 23 is arranged above the working bearing table 21, the transposition carrier 23 is in rotary connection with the working bearing table 21 through the rotary connecting seat 24, two stations are formed above the transposition carrier 23, the two stations are both provided with clamping structures 7, and the clamping structures 7 are used for fixing drill workpieces 13.
The clamping structure 7 comprises a clamping and positioning rack 71 and a three-jaw chuck 72, the clamping and positioning rack 71 and the transposition carrier 23 are fixed through bolts, a cavity is formed in the clamping and positioning rack 71, a motor is additionally arranged, the three-jaw chuck 72 is arranged on the outer side of the clamping and positioning rack 71, and the three-jaw chuck 72 is used for fixing the drill bit workpiece 13.
In the actual use process, the drill bit workpiece 13 is clamped and fixed at one of the stations of the transposition carrier 23 through the clamping structure 7, and then the station is rotated to a welding position for welding operation; meanwhile, the other station enters the preparation position in the rotating process to wait for the clamping of the next drill bit workpiece 13, so that automatic transposition can be realized, the production efficiency is improved, manual operation is reduced, the drill bit workpiece 13 is fixedly clamped, the welding precision and the welding quality are ensured, and the three-jaw chuck 72 can effectively prevent the drill bit workpiece 13 from shifting or loosening in the welding process.
In practical application, as shown in fig. 3, the bearing displacement structure 3 comprises a bearing main rod 31, a rotating sliding rod frame 32, a matching bearing frame 33, a lead 34 and a sliding displacement frame 35, wherein the rotating sliding rod frame 32 is arranged on the inner side of the bearing main rod 31, the matching bearing frame 33 is sleeved on the rotating sliding rod frame 32, the matching bearing frame 33 is rotationally connected with the rotating sliding rod frame 32, the sliding displacement frame 35 is arranged at the lower end of the matching bearing frame 33, the sliding displacement frame 35 is in sliding connection with the matching bearing frame 33, sliding rails are arranged in the sliding region of the matching bearing frame 33 and the sliding displacement frame 35 in a matching manner, so that the sliding performance can be ensured, and the sliding displacement frame 35 is arranged on the outer side of the sliding displacement frame 35, and the driving wiring performance of the sliding displacement frame is ensured.
The flaw detection assembly 6 comprises a rotary connecting frame 61, an angle adjusting frame 62, an extending rod 63 and a flaw detection head 64, wherein the rotary connecting frame 61 is in threaded connection with the sliding displacement frame 35, the rotary connecting frame has autorotation, the angle adjusting frame 62 is arranged on one side of the rotary connecting frame 61, the angle adjusting frame 62 carries out angle adjustment along the rotary connecting frame 61, the extending rod 63 is installed below the angle adjusting frame 62, the extending rod 63 is telescopic, flaw detection height adjustment is carried out, the flaw detection head 64 is installed below the extending rod 63, and the flaw detection head 64 consists of a sensor or a probe, so that flaw detection work is carried out.
In the practical use process, the autorotation of the rotating connecting frame 61 can enable the flaw detection head 64 to freely rotate, the detected object can be detected comprehensively, the angle adjusting frame 62 can adjust the detection angle, the workpiece detection requirements of different shapes and different materials are met, the adjustable length of the extension rod 63 can help the flaw detection head 64 to reach different heights on the surface of the detected object to detect, the flaw detection head 63 can be provided with an industrial camera to carry out shooting flaw detection, an ultrasonic flaw detection assembly can be selected according to the requirements, and the flaw detection assembly 6 is usually matched with other equipment to be used, such as a control system, a data processing system and the like, so that the efficient and accurate detection work can be realized. At the same time, the flaw detection assembly 6 also needs to be maintained and calibrated regularly to ensure its performance and measurement accuracy are stable and reliable.
In practical application, as shown in fig. 4, the welding robot 5 comprises a welding positioning base 51, a transmission mechanical arm 52, a matching mechanical arm 53, an extension shaft 54, a component mounting frame 55 and a welding head 56, wherein the transmission mechanical arm 52 is arranged above the welding positioning base 51, the matching mechanical arm 53 is arranged above the transmission mechanical arm 52, the welding positioning base 51 rotates by three hundred sixty degrees, the matching mechanical arm 52 and the matching mechanical arm 53 form adjustment degrees in multiple directions, the extension shaft 54 is arranged at the front end of the matching mechanical arm 53, the extension shaft 54 is telescopic, the component mounting frame 55 is arranged at the front end of the extension shaft 54, the component mounting frame 55 and the extension shaft 54 are fixed through bolts, the welding head 56 is arranged below the component mounting frame 55, and the welding head 56 is rotationally connected with the component mounting frame 55 so as to perform angle fine adjustment.
In practical application, as shown in fig. 5, the matched bearing structure 4 comprises a bearing plate 41, a lifting bearing frame 42, a connecting piece 43, an extending adjusting rod frame 44, a positioning handheld frame 45 and a matched buffer frame 46, wherein the lifting bearing frame 42 is arranged below the bearing plate 41, the connecting piece 43 is arranged at the lower end of the lifting bearing frame 42, the connecting piece 43 is used for installing a driving wheel, so that the effect of adjusting the whole matched bearing structure 4 can be achieved, the extending adjusting rod frame 44 is connected below the lifting bearing frame 42, the extending adjusting rod frame 44 is connected with the lifting bearing frame 42 through a bracket in a rotating manner, the lifting bearing frame 42 is driven to move through the expansion and contraction of the extending adjusting rod frame 44, the integral height of the bearing plate 41 is changed, the matched buffer frame 46 is arranged at the rear end of the extending adjusting rod frame 44, and the positioning handheld frame 45 is arranged at the rear end of the matched buffer frame 46.
In actual use, the user can place the drill workpiece 13 on the carrying plate 41 first, and then adjust the position of the carrying plate 41 by holding the positioning hand rest 45 to be exactly opposite to the position of the clamping structure 7. When the height adjustment is needed, the height of the lifting bearing frame 42 can be changed by holding the extending adjusting rod frame 44, so that the height of the bearing plate 41 is correspondingly changed, the rear end of the extending adjusting rod frame 44 can be connected with the matched buffer frame 46 to achieve the adjusting effect, and thus the buffer effect can be provided, and the stability in the adjusting process is ensured.
The welding method of the drill bit welding equipment special for the drilling machine comprises the following steps of:
s1, preparing: the drill work piece 13 to be welded and the welding head 56 are cleaned, grease and other impurities are removed, the surface is smooth, the welding position is determined, the position to be welded of the drill work piece 13 is determined on the equipment according to the shape and the specification of the drill work piece 13, and marking or fixing is performed.
S2, welding preparation: the welding material and the welding equipment are preheated to a proper temperature and are set between 500 ℃ and 800 ℃, so that the welding quality is guaranteed, the welding service life is prolonged, the drill bit workpiece 13 to be welded is transported to the one-side transposition carrier 23 through the matching carrier structure 4, the drill bit workpiece is lifted to be opposite to the clamping structure 7 in position, and the drill bit workpiece is fixed and limited by the three-jaw chuck 72.
S2-1, when the drill bit workpiece 13 on one side station performs welding work, the drill bit workpiece 13 is assembled on the other side station, the drill bit workpiece 13 is clamped and fixed on one of the stations of the transposition carrier 23 through the clamping structure 7, and then the station is rotated to a welding position to perform welding operation; meanwhile, the other station enters the preparation position in the rotating process to wait for the clamping of the next drill bit workpiece 13, so that automatic transposition can be realized, the production efficiency is improved, manual operation is reduced, and meanwhile, the drill bit workpiece 13 is fixedly clamped, and the welding precision and the welding quality are ensured.
S3, welding: the welding process needs to control the temperature and welding time of the welding material, firstly, the selected welding material is heated to be in a molten state; then, the drill work piece 13 is fixed on the three-jaw chuck 72, and the melted welding material is applied to the welding position; and finally, after the drill bit and the welding material are cooled and solidified, the welding work is completed.
S3-1, driving the welding robot 5 by output signals of a neural network, wherein the neural network model comprises an input layer, 3 neurons, namely welding temperature, welding pressure and welding time, and 3 parameters; hidden layer, 7 neurons; output layer, 1 neuron (i.e. shear strength); let the transfer function of all neurons be a logical function, namely: d, d kp (n) represents a prediction signal, y kp (n) is the actual output signal
-∞<x<∞
The error signal of the P-th neuron of the output layer is e kp (n)＝d kp (n)-y kp (n) locating the neuron P with an error energy of
S4, post-welding treatment: the flaw detection assembly 6 is used for carrying out the flaw detection after welding, the autorotation of the rotating connecting frame 61 can enable the flaw detection head 64 to freely rotate, the detected object can be detected comprehensively, the angle adjusting frame 62 can adjust the detection angle, the angle adjusting frame is suitable for the detection requirements of drill bit workpieces 13 with different shapes and different materials, the adjustable length of the extending rod 63 can help the flaw detection head 64 to reach different heights on the surface of the detected object for detection, and when the flaw detection is incomplete, the S2-1 drill bit workpieces 13 can be repeated to return to a welding position for carrying out the welding work, and the two detection actions are carried out by matching with an industrial camera and an ultrasonic flaw detection assembly arranged on the flaw detection head 64.
S4-1, after the current drill bit workpiece 13 finishes welding, driving the welded drill bit workpiece to rotate 180 degrees by the welding transposition structure 2 and stopping;
the flaw detection head moves to a first shooting position A, and an industrial camera shoots a picture of the current position of the drill bit workpiece 13 as a first output image; judging whether the current first output image has welding defects or not by an image recognition module, and if so, outputting the position and defect type of the current welding defects; if no welding defect exists, jumping to the next step;
the flaw detection head moves to a second shooting position B, and the current working position is shot by the industrial camera to be used as a second output image; repeating the image recognition action, judging whether welding defects exist or not, and jumping to the next step if the welding defects do not exist;
the flaw detection head moves to a third shooting position C, and the current working position is shot by the industrial camera to be used as a third output image; repeating the image recognition action, judging whether welding defects exist or not, and jumping to the next step if the welding defects do not exist;
when the drill bit workpiece 13 has no defect, the drill bit workpiece 13 is directly taken down, and when the drill bit workpiece 13 has the defect, the drill bit workpiece 13 is driven to reversely move to a welding station through a welding transposition structure to carry out secondary welding.
The following is a detailed description of algorithms for different flaw detection defects (for the post-industrial camera data):
1. welding pits are formed on the material when a drill bit is overheated in the welding process, and a welding head is not cleaned and heated before welding, so that pits are formed due to uneven temperature, pits are formed due to vibration in the welding process, and fig. 6 is a pit defect condition diagram, in the actual flaw detection process, pit positions are determined by extracting areas, the images are required to be extracted, the positions are determined by a line projection method of the images according to the characteristics of stripe images acquired by a line structured light vision system, and the line projection method is used for projecting the line directions of the images, and the principle is that:
p y＝∑x f(x,y)
wherein x, y is a rank value, f (x, y) is a pixel gray value, p y The gray product along the y-axis is recorded. Image extraction is performed by determining the specific location of the pit.
2. The welding pores are formed by clamping gas (such as air, water vapor, oxygen and the like) in welding into a welding seam or welding metal, the formation of the welding pores can reduce the mechanical property and corrosion resistance of a welding joint and even possibly lead to the fracture of the welding seam, and fig. 7 is a pore defect condition diagram, and in the actual flaw detection process, the gray value distribution centroid of a pixel point in each cross section of a structural light stripe is taken as the center line of the structural light stripe of the cross section, and the expression is as follows:
wherein g (x i ，y i ) Representing the coordinates of a certain cross-section point, g (x i ，y i ) (i=1, 2 … … N) represents the corresponding gray value, N is the number of all pixel points in the cross section, (x) c ，y c ) The representation is the center point of the structured light stripe of the cross section.
3. Welding crack refers to defect generated in welding joint or base metal, which is usually caused by thermal stress and other factors and can negatively affect mechanical property and corrosion resistance of welding joint, fig. 8 is a diagram of welding crack condition, in actual flaw detection process, a threshold value is firstly given by adopting a threshold value segmentation algorithm to perform actual calculation, then segmentation is performed according to whether pixels are larger than or smaller than the threshold value, and the image is divided into front C according to gray scale characteristics of the image 1 And background C 2 Two parts. The essence of the algorithm is to find a threshold value to maximize the inter-class variance, and the definition of the inter-class variance is:
m is in G Is the global average of the image, m (k) is the cumulative average of a portion of the image, P 1 (k) All pixels of the image belonging to C 1 Is a probability of (2).
In the actual processing process, searching an original image, and adding a new mark when encountering a point P with a pixel value of 1 and no mark; searching the points around the P point in the previous step, and adding the point with the pixel value of 1 to the same mark if the point is an area; marking the pixels which are marked and belong to the same area as the same mark; until pixels belonging to one connected region have been added to the same region; returning to the first step to continuously search for pixels without marks; until the entire image is scanned.
4. Welding does not fuse, which means that during the welding process, unmelted metal or an unfused weld joint appears, typically as the weld surface exhibits intermittent breaks and cracks. Fig. 9 is a diagram of the welding unfused condition, including the image processing process, in the actual processing process, image filtering is needed first, although the acquired welding contrast is obvious, when the calculation of pixels in the neighborhood is linear operation, when the window function is used for carrying out smooth weighted summation operation, the mathematical expression is as follows:
g(x,y)＝f(x,y)/M
wherein f (x, y) is the original image, and M is the total number of pixels under the template.
The image is blurred while the noise reduction process is filtered. Replacing the current pixel value by using the weighted average of pixels in a certain pixel area:
after the image is scanned, the initial coordinate and the final coordinate of the structural light stripe in each row are obtained, and the central value is obtained through two coordinate values, wherein the central value is the central point of the structural light stripe in the row, and the mathematical expression is as follows:
y＝y 1
wherein x is start ，x end The start x-coordinate and the end x-coordinate of each line of the structured-light stripe in the image are represented, and the line coordinate of each line of the structured-light stripe image is the y-coordinate of the structured-light centerline.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (11)
1. Flaw detection structure, its characterized in that includes:
a load-bearing displacement structure;
the flaw detection assembly transversely displaces along the bearing displacement structure;
and the flaw detection assembly is matched with the bearing displacement structure to perform scanning flaw detection action on the welded drill bit workpiece.
2. The inspection structure of claim 1, wherein the load-bearing displacement structure comprises:
the bearing main rod is fixed with the ground through a foot bolt;
rotating the sliding rod frame, and welding and fixing the inner side of one end of the bearing main rod far away from the foot bolt;
the matched bearing frame is connected with the rotary slide bar frame and rotates along the circumferential direction of the rotary slide bar frame;
the sliding displacement frame is fixedly connected below the matched bearing frame in a threaded manner;
the sliding rail is arranged below the matched bearing frame, and the sliding displacement frame is in sliding connection with the sliding rail to drive the flaw detection assembly to integrally carry out transverse displacement.
3. The inspection structure of claim 1, wherein the inspection assembly comprises:
the rotary connecting frame is connected below the sliding displacement frame and is rotationally connected with the sliding displacement frame;
the angle adjusting frame is connected to one end, far away from the sliding rail, of the rotary connecting frame;
the extension rod is in threaded connection with the angle adjusting frame and has self-retractility;
the flaw detection head is fixed with one end of the extension rod, which is far away from the angle adjusting frame, and performs flaw detection scanning operation;
and the rotating connecting frame rotates by three hundred and sixty degrees to drive the flaw detection head to rotate, and the welded drill bit workpiece is subjected to omnibearing scanning.
4. A drill bit welding apparatus for a drilling machine, comprising the flaw detection structure of claims 1-3, further comprising:
the welding platform is used for providing a flaw detection structure and a welding assembly installation working area;
the welding transposition structure is arranged at the center of the welding platform and drives the drill bit workpiece to shift;
the matched bearing structure is arranged on one side of the welding transposition structure and drives the drill bit workpiece to displace;
the welding robot is opposite to the welding transposition structure and is used for welding the drill bit workpiece;
the welding transposition structure is provided with two stations, a drill bit workpiece to be welded is welded at one side station, and after welding is completed, transposition is performed for detecting actions.
5. The drill-specific bit welding apparatus as recited in claim 4, wherein the welding indexing structure comprises:
a working bearing table;
the positioning substrate is arranged at the contact end of the working bearing table and the welding platform;
the transposition carrier is arranged at one end, far away from the positioning substrate, of the working carrier;
the baffle plate is fixedly clamped at the middle position of the transposition carrier;
the clamping structures are oppositely arranged along the transposition bearing vertical center line;
and a rotating connecting seat is arranged between the transposition bearing and the working bearing table and drives the transposition bearing frame to rotate by three hundred and sixty degrees.
6. The drill-specific bit welding apparatus of claim 5, wherein the clamping structure comprises:
the clamping and positioning rack is in threaded connection with the transposition carrier and forms a cavity inside;
the three-jaw chuck is fixed at one end of the clamping and positioning rack, which is far away from the partition plate.
7. The drill-specific bit welding apparatus as recited in claim 4, wherein the welding robot comprises:
welding a positioning base;
the transmission mechanical arm is rotationally connected with the welding positioning base through a rotating seat;
the matched mechanical arm is rotationally connected with the transmission mechanical arm;
the extension shaft is formed at one end of the matched mechanical arm and has self-retractility;
the assembly mounting frame is fixed at one end of the extension shaft far away from the matched mechanical arm;
and the welding head is fixed on the assembly mounting frame through an electric rotating shaft.
8. The drill bit welding apparatus for a drilling machine of claim 4, wherein the mating carrier structure comprises:
a carrier plate providing a bit workpiece placement area;
lifting the bearing frame, and connecting the bearing frame with the lower end of the bearing plate to drive the bearing plate to adjust the height;
the extension adjusting rod frame is connected with the lifting bearing frame and provides adjusting power for the lifting bearing frame;
the connecting piece is arranged at one end, far away from the bearing plate, of the lifting bearing frame and provides a component installation area.
9. A welding method based on a drill bit welding device dedicated for a drilling machine according to any one of claims 4-8, characterized by comprising the steps of:
s1, preparing: cleaning the surfaces of a drill bit to be welded and equipment, removing grease and other impurities, ensuring the surface to be smooth, determining the welding position, determining the position of the drill bit to be welded on the equipment according to the shape and the specification of the drill bit, and marking or fixing;
s2, welding preparation: preheating welding materials and welding equipment to a preset temperature, and clamping a drill bit workpiece by using a clamping structure;
s3, welding: the welding process needs to control the temperature and welding time of the welding materials, and the selected welding materials are heated to be in a molten state; when the drill bit workpiece on one side station performs welding work, the drill bit workpiece is assembled on the other side station, the drill bit workpiece is clamped and fixed on one of the stations of the transposition carrier through the clamping structure, then the station is rotated to a welding position, and welding operation is performed through a welding robot;
s4, post-welding treatment: after the workpiece moves to another station, the flaw detection assembly is adopted to detect the welding defects of the drill bit, the flaw detection assembly detects the welding parts of the drill bit comprehensively, detects the welding parts by flaw detection, records abnormal conditions, detects the welding parts, can move back to one station for next operation if no defects are found, and needs repair or re-welding operation if the defects are found.
10. The welding method of drill bit welding equipment special for drilling machine according to claim 9, wherein the flaw detection process comprises:
after the current drill bit workpiece is welded, driving the welded drill bit workpiece to rotate 180 degrees by the welding transposition structure and stopping;
the flaw detection head moves to a first shooting position, and an industrial camera shoots a picture of the current position of the drill bit workpiece as a first output image; judging whether the first output image has welding defects or not by an image recognition module, and if so, outputting the position and defect type of the current welding defects; if no welding defect exists, jumping to the next step;
the flaw detection head moves to a second shooting position, and the current working position is shot by the industrial camera to be used as a second output image; repeating the image recognition action, judging whether welding defects exist or not, and jumping to the next step if the welding defects do not exist;
the flaw detection head moves to a third shooting position, and the current working position is shot by the industrial camera to be used as a third output image; repeating the image recognition action, judging whether welding defects exist or not, and jumping to the next step if the welding defects do not exist;
when the drill bit workpiece has no defect, the drill bit workpiece is directly taken down, and when the drill bit workpiece has the defect, the drill bit workpiece is driven to reversely move to a welding station to carry out secondary welding through the welding transposition structure.
11. The welding method of a drill bit welding apparatus for a drilling machine according to claim 10, wherein the first shooting position is defined as follows: the shooting direction of the industrial camera is positioned at the horizontal center line of the three-jaw chuck, and is the X direction from the center of one end of the drill bit workpiece to the other end;
the second shooting position is defined as follows: shooting the drill bit workpiece from top to bottom, wherein the shooting direction is the long axis direction of the drill bit workpiece and is the Z direction;
the third shooting position is defined as follows: shooting from the front end of the drill bit workpiece to the extending direction of the rear end, and setting the direction as the Y direction;
and in the shooting process of the drill bit workpiece, the drill bit workpiece is driven to rotate by one hundred and eighty degrees by the three-grab chuck, and at the moment, the third shooting position performs a second shooting action.
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| Publication number | Priority date | Publication date | Assignee | Title |
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