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CN-122017042-A - Intelligent steel rail welding seam scanning device and method based on cooperation of double mechanical arms

CN122017042ACN 122017042 ACN122017042 ACN 122017042ACN-122017042-A

Abstract

The invention belongs to the technical field of steel rail ultrasonic detection, and discloses an intelligent steel rail welding seam scanning device and method based on cooperation of double mechanical arms, wherein the intelligent steel rail welding seam scanning device comprises a trolley, the trolley comprises a supporting platform, and supporting frames in the vertical direction are symmetrically fixed at the front end and the rear end of the supporting platform; the device comprises a supporting frame, a collecting box, a flaw detector, a guide rail, mechanical arms, a 70-degree probe, a 0-degree probe and a 45-degree probe, wherein the locking mechanism is arranged at the bottom of at least one supporting frame, the collecting box and the flaw detector are arranged at the top of the supporting platform, the guide rail is longitudinally fixed at the bottom of the supporting platform along a steel rail, the mechanical arms capable of sliding along the guide rail are symmetrically arranged at the left side and the right side of the guide rail, and the tail end of each mechanical arm is integrated with the 70-degree probe, the 0-degree probe and the 45-degree probe. The intelligent steel rail welding seam scanning device based on the cooperation of the double mechanical arms replaces the traditional operation mode of performing welding seam flaw detection manually, realizes the automation of flaw detection, reduces the labor intensity of flaw detectors, and improves the precision and efficiency of welding seam flaw detection.

Inventors

  • ZHANG GUANLIN
  • ZHANG BIN
  • SHI QISHUAI
  • YE SHENG
  • LU WENHAO

Assignees

  • 邢台先锋超声电子有限公司

Dates

Publication Date
20260512
Application Date
20260331

Claims (7)

  1. 1. The intelligent steel rail welding seam scanning device based on the cooperation of the double mechanical arms is characterized by comprising a trolley (4), wherein the trolley (4) comprises a supporting platform (401), supporting frames (402) which are symmetrically arranged at the front end and the rear end of the supporting platform (401) and respectively in the vertical direction, a Liu Guilun (11) is arranged at the center of the bottom of each supporting frame (402), and a locking mechanism (6) is arranged at the bottom of at least one supporting frame (402); The flaw detector comprises a supporting platform (401), a collecting box (1) and a flaw detector (3) mounted on the top of the supporting platform, guide rails (7) fixed at the bottom of the supporting platform (401) along the longitudinal direction of a steel rail, mechanical arms (9) capable of sliding along the guide rails (7) are symmetrically arranged on the left side and the right side of the guide rails (7), a 70-degree probe (12), a 0-degree probe (13) and a 45-degree probe (14) are integrated at the tail end of each mechanical arm (9), an independent driving mechanism is configured for each mechanical arm (9), steel rail data detected by each probe are transmitted to the collecting box (1), and the collecting box (1) is connected with the flaw detector (3) and is displayed through the flaw detector (3).
  2. 2. The intelligent steel rail welding seam scanning device based on the cooperation of the double mechanical arms, which is disclosed in claim 1, is characterized in that two first centering devices (2) are arranged at the top of the supporting platform (401), and a second centering device (8) is arranged in the middle of the bottom surface of the guide rail (7); Two first centering devices (2) send two laser beams, when two laser beams are close to and parallel to two sides of a detected steel rail respectively, and meanwhile, the cross-shaped laser beams sent by the second centering devices (8) are in the center of the detected steel rail, the intelligent steel rail welding seam scanning device based on the cooperation of the double mechanical arms is used for completing centering.
  3. 3. The intelligent steel rail welding seam scanning device based on the cooperation of the double mechanical arms is characterized in that a lifting hand (10) is respectively arranged on the top surface and the left side and the right side of the supporting platform (401), and a pushing hand (5) is arranged on the rear side of the supporting platform (401).
  4. 4. The intelligent steel rail welding seam scanning device based on the cooperation of the double mechanical arms according to claim 1, wherein the locking mechanism (6) comprises a spring (601), a handle (602), a connecting block (603), a mounting bracket (604), a shell (605), a clamping jaw (606), an elliptical rotating shaft (607), a tension spring (608), a buffer cushion block (609), a fixed block (610), a semicircular screw rod (611), a connecting arm (612), a fixed shaft (613) and a rotating shaft (614); The mounting bracket (604) is fixed with the support frame (402), two sides of the mounting bracket (604) are respectively and rotatably connected with the top of one connecting arm (612), a plurality of fixed shafts (613) are fixed between the two connecting arms (612), one end of the spring (601) is fixed with the top of the mounting bracket (604), the other end of the spring (601) is hung on the periphery of one fixed shaft (613), and the spring (601) provides rotating force for the connecting arms (612) to rotate upwards relative to the mounting bracket (604); The two clamping jaws (606) are connected through tension springs (608), connection points of the tension springs (608) and the clamping jaws (606) are located above the rotating shafts (614), the tops of the two clamping jaws (606) have a approaching trend through the tension springs (608), and the bottoms of the two clamping jaws (606) have a separating trend; -providing said oval rotation shaft (607) between two of said jaws (606); the threaded rod of the handle (602) passes through the connecting block (603), then passes through the center of the elliptical rotating shaft (607) in a threaded manner and is fixed with the fixed block (610) positioned below the elliptical rotating shaft (607); The inner side of each clamping jaw (606) is oppositely fixed with the semicircular screw rod (611) in the horizontal direction, and the bottom inner side of each clamping jaw (606) is oppositely provided with the buffer cushion block (609); When the handle (602) drives the elliptical rotary shaft (607) to rotate to the minimum transverse position along the clamping direction of the clamping jaws (606) at the two sides, under the action of the tension force of the tension spring (608), the tops of the clamping jaws (606) at the two sides are close, the bottoms of the clamping jaws are far away, and the end faces of the semicircular screw rods (611) at the two sides are abutted against the two side faces of the elliptical rotary shaft (607) at the moment, so that the clamping jaws are in a loosening state; when the handle (602) drives the oval rotating shaft (607) to rotate towards the maximum transverse position along the clamping direction, in the rotating process of the oval rotating shaft (607), two side surfaces of the oval rotating shaft (607) push the semicircular screw rods (611) to move outwards, so that the clamping jaws (606) on two sides overcome the tension force of the tension springs (608) to rotate around the rotating shaft (614) connected with the shell (605), the top of the clamping jaws (606) on two sides are far away, the bottom of the clamping jaws are close, and when the oval rotating shaft (607) rotates to the maximum transverse position, the bottoms of the clamping jaws (606) on two sides clamp two sides of a steel rail, and the clamping jaws are in a locking state at the moment.
  5. 5. The intelligent steel rail welding seam scanning device based on the cooperation of the double mechanical arms, which is disclosed in claim 1, is characterized in that the X direction is set along the longitudinal direction of a steel rail, the Y direction is set along the width direction of the steel rail, and the Z direction is set along the vertical direction, wherein each mechanical arm (9) comprises a sliding block (901), a base (902), a1 st connecting arm (903), a2 nd connecting arm (904), a3 rd connecting arm (905) and 5 servo motors; One end of the base (902) is fixed with the sliding block (901), the sliding block (901) is slidably arranged on one side of the guide rail (7) and slides along the guide rail (7) in the X direction under the driving of a first servo motor, the other end of the base (902) is connected with one end of the 1 st connecting arm (903) through a second servo motor, and the rotating shaft of the second servo motor is in the X direction and is used for driving the 1 st connecting arm (903) to rotate around the X axis of the connecting arm so as to adjust the Y direction and the Z direction; the other end of the 1 st connecting arm (903) is connected with one end of the 2 nd connecting arm (904) through a third servo motor, and the rotating shaft of the third servo motor is in the X direction and is used for driving the 2 nd connecting arm (904) to rotate around the X axis of the connecting arm so as to adjust the Y direction and the Z direction; The other end of the 2 nd connecting arm (904) is connected with the side part of the 3 rd connecting arm (905) through a fourth servo motor, and the rotation shaft of the fourth servo motor is in the X direction and is used for driving the 3 rd connecting arm (905) to rotate 360 degrees around the X axis; One end of the 3 rd connecting arm (905) is sequentially fixed with the 0-degree probe (13) and the 45-degree probe (14), a fifth servo motor is arranged at the other end of the 3 rd connecting arm (905) opposite to the first connecting arm, a rotating shaft of the fifth servo motor is in a Z direction, and the 70-degree probe (12) is arranged at the output end of the fifth servo motor and used for driving the 70-degree probe (12) to rotate 360 degrees around the Z axis of the 70-degree probe.
  6. 6. A method of an intelligent rail weld scanning device based on dual-robot cooperation as claimed in any one of claims 1 to 5, comprising the steps of: Step S1, the locking mechanism (6) is adjusted to be in a release state through the handle (602), and the connecting arm (612) is turned upwards around a hinge point with the mounting bracket (604) under the action of the elasticity of the spring (601), so that the shell (605) and all components assembled to the shell (605) are driven to be turned upwards and away from the steel rail; Step S2, pushing the trolley (4) to enable Liu Guilun (11) to move along the steel rail to a weld joint area to be detected; step S3, starting the first centering device (2) and the second centering device (8) to finish centering checking operation; Step S4, pressing down the shell (605) by using external force to enable the connecting arm (612) to be turned down around a hinge point with the mounting bracket (604) to be in a proper position, so that the shell (605) is in a vertical state, and then operating the handle (602) to enable the locking mechanism (6) to be adjusted to be in a locking state through the handle (602); S5, cooperatively controlling the two mechanical arms (9), enabling the two mechanical arms (9) to reciprocate, and repeatedly scanning and detecting the welding line area for a plurality of times; the detected weld quality data are transmitted to a flaw detector (3) in real time through a collecting box (1), and are displayed in a waveform mode after being analyzed and processed by the flaw detector (3); And S6, returning to the step S1 after the current weld joint area is scanned, adjusting the locking mechanism (6) to a release state through the handle (602), and pushing the trolley (4) to reach the next weld joint area for scanning.
  7. 7. The method of the intelligent steel rail welding seam scanning device based on the cooperation of the double mechanical arms, as set forth in claim 6, wherein the step S5 is specifically: at least eight scanning methods aiming at different areas and defect orientations of the steel rail welding seams are integrated by controlling the cooperative motion mode of the double mechanical arms and the working mode of the probe, and the specific scanning method comprises the following steps: ① The method for scanning the 70-degree probe of the rail bottom comprises the steps of controlling the two mechanical arms (9) to synchronously move, enabling the 70-degree probes (12) at the tail ends of the mechanical arms to be in a single-shot mode, and symmetrically scanning the rail bottom area from the inclined planes at two sides of the bottom of the steel rail for detecting the transverse crack defect of the rail bottom; ② The rail head 70-degree probe scanning method comprises the steps of controlling a left mechanical arm (9) to move, so that a 70-degree probe (12) at the tail end of the mechanical arm scans a rail head area from the rail head tread, namely the top surface, and is used for detecting defects in the rail head; ③ The scanning method of the 0-degree probe comprises the steps of controlling a left mechanical arm (9) to move, enabling a 0-degree probe (13) at the tail end of the mechanical arm to be placed from a tread of a rail head, enabling the 0-degree probe (13) to adopt a 0-degree bicrystal probe, scanning the rail head and a rail web to a deep area of a rail bottom vertically or at a small angle by utilizing the sound beam characteristic of the probe, and detecting defects approximately parallel to the tread; ④ Controlling a left mechanical arm (9) to move, enabling a single 45-degree probe (14) at the tail end of the mechanical arm to emit ultrasonic waves from the tread of the rail head at a fixed refraction angle, scanning the area extending from the rail web to the rail bottom, and detecting defects with a certain inclination angle; ⑤ Controlling a left mechanical arm (9) as a transmitting unit, a right mechanical arm (9) as a receiving unit, and respectively placing 45-degree probes (14) at the tail ends of the two mechanical arms (9) from two side surfaces of the rail head to form a K-shaped acoustic path; ⑥ Controlling a left mechanical arm (9) as a transmitting unit, a right mechanical arm (9) as a receiving unit, moving 45-degree probes (14) at the tail ends of the two mechanical arms (9) to two side surfaces of the rail bottom, and performing K-type scanning on the rail bottom part for detecting internal defects of a rail bottom area; ⑦ Controlling a left mechanical arm (9) and a right mechanical arm (9) to serve as a transmitting unit and a receiving unit respectively, arranging 45-degree probes (14) on the tread of the rail head and on the same side of the central line of a welding line, arranging two probes in tandem in front of or on the left side of the central line of the welding line, longitudinally moving along a steel rail, and detecting vertical defects of the front half part of the welding line, namely, the part close to the scanning starting side and the rail waist region; ⑧ The method for scanning the rail web in tandem comprises the steps of controlling a left mechanical arm (9) and a right mechanical arm (9) to serve as a transmitting unit and a receiving unit respectively, arranging 45-degree probes (14) on the tread of the rail web and on the same side, the rear side or the right side of a central line of a welding line, arranging the two probes in tandem, longitudinally moving along a steel rail, and detecting vertical defects of the front half part of the welding line, namely, the part close to the scanning starting side and the rail web area.

Description

Intelligent steel rail welding seam scanning device and method based on cooperation of double mechanical arms Technical Field The invention relates to the technical field of ultrasonic detection, in particular to an intelligent steel rail welding seam scanning device and method based on cooperation of double mechanical arms. Background With the development of railway transportation and the increase of demand, the steel rail welding technology is widely applied to railway construction. The quality of the weld formed after the welding of the rails has a very important impact on the safety, reliability and economic benefits of operation of railway transportation. The rail weld is broken in a short time to cause fatal damage, unlike cast iron and cast steel, thereby causing railway traffic accidents. Therefore, the flaw detection of the steel rail weld joint becomes one of important means for guaranteeing the railway traffic safety. At present, the flaw detection method of the steel rail weld joint mainly stays in a manual probe operation mode, and has the following defects of 1, complex procedure, long time consumption and low efficiency. According to the existing flaw detection process requirements, the full section of the weld joint is required to be subjected to flaw detection by using a plurality of steel rail probe channels at different steel rail parts during on-site weld joint detection. The method has the advantages that the multiple probes and scanning modes are switched, so that more than 10 minutes are needed for detecting the flaw of one weld joint, the labor cost is high, great pressure is brought to the breaking prevention work, and the flaw detection data accuracy is low. Because of manual scanning, the positions, paths, angles, scanning ranges and the like of the probes cannot be the same every time, the operation error is high, the data consistency is poor, the flaw detection effect is directly related to the specialized level of flaw detectors, erroneous judgment and missing judgment are easy to form, and 3, flaw detection data is not beneficial to analysis and the process lacks supervision. Different from the base metal flaw detection, most of weld flaw detection data are A ultrasonic waveform data, detection positions and detection effectiveness cannot be completely checked in later analysis, and the weld flaw detection data need to be played frame by frame, so that analysis difficulty is high and time is long. Disclosure of Invention Aiming at the defects in the prior art, the invention provides an intelligent steel rail welding seam scanning device and method based on the cooperation of double mechanical arms, which can effectively solve the problems. The technical scheme adopted by the invention is as follows: The invention provides an intelligent steel rail welding seam scanning device based on double mechanical arm cooperation, which comprises a trolley (4), wherein the trolley (4) comprises a supporting platform (401), supporting frames (402) which are symmetrically arranged at the front end and the rear end of the supporting platform (401) and respectively in the vertical direction, a Liu Guilun (11) is arranged at the center of the bottom of each supporting frame (402), and a locking mechanism (6) is arranged at the bottom of at least one supporting frame (402); The flaw detector comprises a supporting platform (401), a collecting box (1) and a flaw detector (3) mounted on the top of the supporting platform, guide rails (7) fixed at the bottom of the supporting platform (401) along the longitudinal direction of a steel rail, mechanical arms (9) capable of sliding along the guide rails (7) are symmetrically arranged on the left side and the right side of the guide rails (7), a 70-degree probe (12), a 0-degree probe (13) and a 45-degree probe (14) are integrated at the tail end of each mechanical arm (9), an independent driving mechanism is configured for each mechanical arm (9), steel rail data detected by each probe are transmitted to the collecting box (1), and the collecting box (1) is connected with the flaw detector (3) and is displayed through the flaw detector (3). Furthermore, the top of the supporting platform (401) is provided with two first centering devices (2), and the middle part of the bottom surface of the guide rail (7) is provided with a second centering device (8); Two first centering devices (2) send two laser beams, when two laser beams are close to and parallel to two sides of a detected steel rail respectively, and meanwhile, the cross-shaped laser beams sent by the second centering devices (8) are in the center of the detected steel rail, the intelligent steel rail welding seam scanning device based on the cooperation of the double mechanical arms is used for completing centering. Furthermore, the top surface and the left side and the right side of the supporting platform (401) are respectively provided with a lifting hand (10), and the rear side of the suppor