CN210775253U - Welding appearance quality detection robot - Google Patents
Welding appearance quality detection robot Download PDFInfo
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- CN210775253U CN210775253U CN201921534875.4U CN201921534875U CN210775253U CN 210775253 U CN210775253 U CN 210775253U CN 201921534875 U CN201921534875 U CN 201921534875U CN 210775253 U CN210775253 U CN 210775253U
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Abstract
The utility model discloses a welding appearance quality detection robot, which comprises a welding detection robot unit, a control cabinet and a clamping tool, wherein the welding detection robot unit comprises a welding detection robot fixed on a welding detection robot base, and an ultrasonic signal detection assembly and a laser active vision assembly are fixed at the tail end of the welding detection robot; a workpiece to be detected clamped by the clamping tool is arranged on the workbench corresponding to the welding detection robot; and the welding detection robot is connected with the control cabinet. The detection robot has the characteristics of high accuracy, high efficiency and high flexibility.
Description
Technical Field
The utility model belongs to the technical field of welding inspection robot, concretely relates to welding appearance quality inspection robot.
Background
With the application of welding automation, the detection of the internal and external quality of a welding seam plays an increasingly important role in a process link. At present, the detection of the internal quality of a welding seam mainly depends on workers to detect through auxiliary equipment such as X-ray, ultrasonic wave and eddy current, the defects need to be marked manually, and the detection of the external quality mainly depends on manual detection. However, the detection method has the defects of strong manual randomness, high omission factor, high equipment cost, low detection efficiency, low detection accuracy and the like, can bring great burden to enterprise operation, and can seriously affect the reputation of company products.
Therefore, the appearance quality detection robot with high accuracy, high efficiency and high flexibility is developed, and has important significance for the welding detection robot industry.
SUMMERY OF THE UTILITY MODEL
For solving the above-mentioned defect that exists among the prior art, the utility model aims to provide a welding appearance quality inspection robot and detection method thereof, this inspection robot has the characteristics of high accuracy, high efficiency, high flexibility.
The utility model discloses a realize through following technical scheme.
The utility model provides a welding appearance quality inspection robot, which comprises a welding inspection robot unit, a control cabinet and a clamping tool, wherein the welding inspection robot unit comprises a welding inspection robot fixed on a welding inspection robot base, and an ultrasonic signal inspection assembly and a laser active vision assembly are fixed at the tail end of the welding inspection robot; a workpiece to be detected clamped by the clamping tool is arranged on the workbench corresponding to the welding detection robot; and the welding detection robot is connected with the control cabinet.
To above-mentioned technical scheme, the utility model discloses still further preferred scheme:
preferably, the ultrasonic signal detection assembly comprises an ultrasonic probe and an ultrasonic signal processing unit, wherein the ultrasonic probe is used for detecting the internal information of the workpiece to be detected.
Preferably, the ultrasonic signal processing unit comprises an ultrasonic receiving unit, a high-frequency filter, an amplifier, an a/D conversion circuit, a time-base circuit, a synchronization circuit and an ultrasonic transmitting unit which are connected in sequence; the A/D conversion circuit is connected with a CPU.
Preferably, the laser active visual component comprises a line laser, an image acquisition unit, a lens and an optical filter, wherein the optical filter is arranged behind the lens, and the line laser is connected with the image acquisition unit.
Preferably, the line laser is a line laser.
Preferably, the laser projection surface of the line laser and the optical axis of the image acquisition unit form a certain included angle, so that the laser stripes of the line laser are projected to the central position of the surface of the workpiece to be measured on the image surface of the image acquisition unit.
The utility model discloses owing to take above technical scheme, it has following beneficial effect:
1. the utility model discloses a welding appearance quality inspection robot has improved the flexibility that welding workpiece detected, has reduced the subjective influence of workman to welding quality detection, has improved the hourglass rate of examining greatly.
2. The utility model discloses an ultrasonic probe combines the mode of laser initiative vision, has promoted the degree of accuracy and the detection efficiency that detect, has improved product quality.
3. The utility model discloses a quality testing result accessible ethernet mouth and outer equipment communication that expands can export repair welding point position to welding inspection robot control system if welding inspection robot to realize that the work piece need not the unloading and can realize repair welding, optimize welding process.
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, do not constitute a limitation of the invention, and in which:
FIG. 1 is a schematic structural view of the welding profile quality inspection robot of the present invention;
FIG. 2 is an electric control block diagram of the internal and external quality detecting assemblies of the present invention;
fig. 3 is a flow chart of the welding profile quality inspection robot of the present invention.
In the figure: 1. clamping a tool; 2. welding a detection robot base; 3. a welding detection robot; 4. an ultrasonic signal detection assembly; 5. a laser active vision component; 6. a workpiece to be tested; 7. a control cabinet; 8. a work bench.
Detailed Description
The invention will be described in detail with reference to the drawings and specific embodiments, wherein the exemplary embodiments and descriptions are provided to explain the invention, but not to limit the invention.
As shown in fig. 1 and 2, the utility model relates to a welding appearance quality inspection robot includes: a welding robot detection unit, a control cabinet unit and a workpiece clamping unit, wherein,
the welding robot detection unit comprises a welding detection robot base 2 for fixing the robot, a welding detection robot 3 fixed on the welding detection robot base 2, an ultrasonic signal detection assembly 4 and a laser active vision assembly 5 which are fixed at the tail end of the welding detection robot 3; the control cabinet 7 is connected with the welding detection robot 3.
The welding detection robot 3 is used for carrying out six-degree-of-freedom motion and can detect all positions of a workpiece, detection omission is further prevented, the ultrasonic probe 4 comprises an ultrasonic probe and an ultrasonic signal processing unit, the ultrasonic probe is used for detecting internal information of the workpiece 6 to be detected and converting the detection information and then transmitting the detection information to the ultrasonic signal processing unit. The laser active visual component 5 comprises a line laser, an image acquisition unit, a lens and an optical filter, wherein the line laser is a linear laser; the laser projection surface of the line laser and the optical axis of the image acquisition unit form a certain included angle, so that the laser stripes of the line laser are projected to the central position of the surface of the workpiece to be measured on the image surface of the image acquisition unit.
The ultrasonic probe 4 is used for detecting the quality of the interior of a workpiece 6 to be detected, the welding detection robot 3 drives the ultrasonic probe to push and sweep the workpiece, and then the ultrasonic signal processing unit receives and processes signals, so that various quality defects in the workpiece, such as cracks, inclusions, air holes, slag inclusions, incomplete penetration and incomplete fusion, can be detected, positioned, evaluated and diagnosed; the laser active vision component 5 drives the component to push and sweep along the welding line direction through the welding detection robot 3 to obtain a welding line image, and autonomous identification and detection of the appearance of the workpiece are achieved.
As shown in fig. 2, the laser active visual component includes a line laser, an image acquisition unit, a lens and a filter, and is mainly used for acquiring the original image information of the weld joint in a small range. Wherein, the line laser is a word line laser; the lens is arranged at the front end of the image information unit; the optical filter is arranged at the front end of the optical lens and used for filtering stray light; the laser projection surface of the line laser and the optical axis of the image acquisition unit form a certain included angle, and the design value of the included angle ensures that the laser stripes of the line laser are projected to the central position of the surface of the workpiece on the image surface of the image acquisition unit.
As shown in fig. 2, the ultrasonic signal detection assembly includes an ultrasonic probe and an ultrasonic signal processing unit, the ultrasonic probe is driven by the welding detection robot to push and sweep the surface of the workpiece to obtain the internal quality information of the workpiece to be detected, and transmits the detection information to the ultrasonic signal processing unit after being converted, the ultrasonic signal receiving unit receives the signal processed by the ultrasonic probe and transmits the signal to the center of the CPU through the high-frequency filter, the amplifier and the a/D conversion circuit, and the CPU finally transmits the signal to the ultrasonic transmitting unit through the time-base circuit and the synchronization circuit.
As shown in fig. 1, the control cabinet unit 7 is placed at the front end of the welding detection robot 3, the control cabinet unit 7 is a welding seam quality detection software operation platform, and is mainly responsible for receiving a calculation result of the ultrasonic signal detection unit, and is also used for receiving a welding seam original image obtained by pushing and scanning the laser active visual component driven by the mechanical arm, obtaining the external quality of the welding seam through an image processing technology, marking a defect position on a workpiece measurement model in an image interface mode, simultaneously storing a three-dimensional coordinate of the defect position, and outputting the three-dimensional coordinate through an ethernet port if necessary; and the quality detection software running in the control cabinet supports the model leading-in function of the workpiece to be detected, and the position information of the welding seam is obtained by comparing the model leading-in function with the obtained measurement model, and the information can be used for guiding the correction of the motion path of the welding detection robot.
As shown in fig. 1, the workpiece clamping unit includes a workbench 8 fixed on the ground, the workbench can place various specifications of welding work, and can rapidly clamp, the workpiece 6 to be measured is placed on the workbench 8, the clamping tool 1 fixes and clamps the workpiece 6 to be measured through a fixing hole of the workbench 8, and the clamping position can be rapidly clamped and is stable and reliable.
As shown in fig. 3, the utility model discloses welding appearance quality inspection robot testing process as follows:
clamping and fixing a welded workpiece to be measured on a workbench, starting a control cabinet, and manually guiding the welded workpiece into a three-dimensional model or an actual measurement standard model of the workpiece to be measured; the laser active vision component works, the welding detection robot drives the laser active vision component to push and sweep along the direction of the welding seam according to the planned motion track, and according to the image information obtained by pushing and sweeping, the information can directly realize data interaction through an Ethernet port and is used for guiding the welding detection robot to execute a repair welding repair task on the position of the welding seam which is not fully welded. During operation, the quality internal detection assembly starts detection work at the same time, the welding detection robot carries an ultrasonic probe to detect a flaw of a welding seam according to the corrected motion path, the ultrasonic signal detection unit processes a received signal and calculates whether the welding seam has internal quality defects or not, and internal and external quality detection information is combined and then uploaded to the control cabinet. And the control cabinet receives the resolving result of the quality internal detection assembly and generates a quality detection report according to actual needs.
The present invention is not limited to the above embodiments, and based on the technical solutions disclosed in the present invention, those skilled in the art can make some replacements and transformations for some technical features without creative labor according to the disclosed technical contents, and these replacements and transformations are all within the protection scope of the present invention.
Claims (6)
1. A welding appearance quality detection robot is characterized by comprising a welding detection robot unit, a control cabinet (7) and a clamping tool (1), wherein the welding detection robot unit comprises a welding detection robot (3) fixed on a welding detection robot base (2), and an ultrasonic signal detection assembly (4) and a laser active visual assembly (5) are fixed at the tail end of the welding detection robot (3); a workpiece (6) to be detected clamped by the clamping tool (1) is arranged on the workbench (8) corresponding to the welding detection robot (3); and the welding detection robot (3) is connected with the control cabinet (7).
2. The welding profile quality inspection robot according to claim 1, wherein the ultrasonic signal detection assembly (4) comprises an ultrasonic probe and an ultrasonic signal processing unit for detecting internal information of the workpiece (6) to be inspected.
3. The welding appearance quality inspection robot according to claim 2, wherein the ultrasonic signal processing unit includes an ultrasonic receiving unit, a high-frequency filter, an amplifier, an a/D conversion circuit, a time base circuit, a synchronization circuit, and an ultrasonic transmitting unit, which are connected in this order; the A/D conversion circuit is connected with a CPU.
4. The welding profile quality inspection robot of claim 1, wherein the laser active vision assembly comprises a line laser, an image acquisition unit, a lens and an optical filter, the optical filter is arranged behind the lens, and the line laser is connected with the image acquisition unit.
5. The welding profile quality inspection robot of claim 4, wherein the line laser is a in-line laser.
6. The robot of claim 4, wherein the laser projection plane of the line laser forms an angle with the optical axis of the image capturing unit, such that the laser stripe of the line laser is projected onto the center of the surface of the workpiece to be measured on the image plane of the image capturing unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201921534875.4U CN210775253U (en) | 2019-09-16 | 2019-09-16 | Welding appearance quality detection robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921534875.4U CN210775253U (en) | 2019-09-16 | 2019-09-16 | Welding appearance quality detection robot |
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| CN210775253U true CN210775253U (en) | 2020-06-16 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113240247A (en) * | 2021-04-21 | 2021-08-10 | 深圳铭锋达精密技术有限公司 | Quality measurement method and device, terminal equipment and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113240247A (en) * | 2021-04-21 | 2021-08-10 | 深圳铭锋达精密技术有限公司 | Quality measurement method and device, terminal equipment and storage medium |
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