阅读说明：本技术 一种自动检测焊缝的机器人 (Robot capable of automatically detecting welding seam ) 是由 刘勇强 程金强 姜国建 于 2021-08-23 设计创作，主要内容包括：本发明公开了一种自动检测焊缝的机器人,涉及焊缝检测技术领域,包括焊接台和若干个焊缝检测头,焊缝检测头通过数据线与超声波检测器连接,超声波检测器内设有用于处理信息的数据处理器,焊接台的上端设有第一支撑机构,第一支撑机构包括两个支撑立柱,两个支撑立柱对称分布在焊接台的上端面,两个支撑立柱顶端之间设有可调节位置的连接带,连接带的底端固定有若干个插接块,焊缝检测头固定在插接块的底端面。本发明利用第一支撑机构和第二支撑机构,方便对管件类的待检测件的焊缝位置进行全方位覆盖检测,通过两种方式可实现根据焊接件形状结构对焊接件的焊缝位置进行全方位覆盖检测,不易出现漏检的地方,降低残次品率,并提高检测的效率。(The invention discloses a robot for automatically detecting welding seams, which relates to the technical field of welding seam detection and comprises a welding table and a plurality of welding seam detection heads, wherein the welding seam detection heads are connected with an ultrasonic detector through data lines, a data processor for processing information is arranged in the ultrasonic detector, a first supporting mechanism is arranged at the upper end of the welding table and comprises two supporting stand columns, the two supporting stand columns are symmetrically distributed on the upper end face of the welding table, a connecting belt with the position adjustable is arranged between the top ends of the two supporting stand columns, a plurality of inserting blocks are fixed at the bottom end of the connecting belt, and the welding seam detection heads are fixed on the bottom end face of the inserting blocks. The invention utilizes the first supporting mechanism and the second supporting mechanism to conveniently carry out all-dimensional covering detection on the welding seam position of the piece to be detected of the pipe fittings, can realize all-dimensional covering detection on the welding seam position of the welding piece according to the shape structure of the welding piece through two modes, is not easy to generate a place with missing detection, reduces the defective rate and improves the detection efficiency.)

1. The utility model provides an automatic detect robot of welding seam, includes that welding bench (1) and a plurality of welding seam detect head (4), welding seam detect head (4) and be connected with ultrasonic detector through the data line, are equipped with the data processor who is used for handling information in the ultrasonic detector, and data processor passes through WIFI transmission module and is connected with control center, is equipped with in the control center and compares feedback module, compares feedback module and feeds back the comparison result to control center, its characterized in that again: the upper end of welding bench (1) is equipped with first supporting mechanism (2), first supporting mechanism (2) include two support post (21), and two support post (21) symmetric distribution are equipped with adjustable position's connecting band (25) between two support post (21) tops at the up end of welding bench (1), the bottom mounting of connecting band (25) has a plurality of to insert joint piece (26), the bottom face at insert joint piece (26) is fixed in welding seam detection head (4).

2. The robot for automatically detecting a weld according to claim 1, wherein: rectangular notch (22) have been seted up to support post (21) upper end, the inside top of rectangular notch (22) is rotated and is installed threaded sleeve (23), threaded sleeve (23) axial grafting has screw thread regulation pole (24), the both ends of connecting band (25) are articulated with the most advanced of two screw thread regulation poles (24) respectively.

3. The robot for automatically detecting a weld according to claim 2, wherein: the connecting belt (25) can be made of rubber or non-woven fabric.

4. The robot for automatically detecting a weld according to claim 1, wherein: the upper end of the welding table (1) is provided with a through hole (11) positioned between two supporting upright columns (21), and the lower end of the welding table (1) is provided with a second supporting mechanism (3);

the second supporting mechanism (3) comprises a backup plate (31), a servo motor (32), an inverted T-shaped block (34) and a hollow guide steel ring (35), the backup plate (31) is vertically fixed at one end of the bottom of the welding table (1), the servo motor (32) is fixedly installed at the bottom end of the side wall of the backup plate (31), a transmission rod (38) is radially fixed at the tip of a power shaft (33) of the servo motor (32), the top end of the outer wall of the hollow guide steel ring (35) is fixedly installed on the inverted T-shaped block (34), the hollow guide steel ring (35) is arranged in a sliding mode in the through hole (11), a T-shaped sliding groove is formed in the bottom end of the inverted T-shaped block (34), and the tip of the transmission rod (38) is hinged to a T-shaped sliding block (312) capable of freely sliding along the inside of the T-shaped sliding groove.

5. The robot for automatically detecting the weld according to claim 4, wherein: the radial side wall of the hollow guide steel ring (35) is provided with a plurality of inserting holes (311), the inserting blocks (26) are connected with the inserting holes (311) in a clamping mode, and the welding seam detection head (4) extends to the inside of the hollow guide steel ring (35).

6. The robot for automatically detecting a weld according to claim 5, wherein: the radial side wall of the hollow guide steel ring (35) is rotatably embedded with a plurality of rolling balls (310) which are distributed with the inserting holes (311) in a staggered manner.

7. The robot for automatically detecting the weld according to claim 4, wherein: one end of the inverted T-shaped block (34) far away from the servo motor (32) is fixed with a T-shaped guide block (37), one side of a bottom opening of the through hole (11) is vertically provided with a guide plate (36), and the side wall of the guide plate (36) is provided with a clamping groove (39) connected with the T-shaped guide block (37) in a sliding mode.

8. A method for detecting a welding-seam automated robot according to claim 7, comprising the steps of: (ii) a

A1, distributing a plurality of welding seam detection heads (4) in the same plane by using a first supporting mechanism (2), and when a welding piece to be detected slides from one end to the other end along the upper end of a welding table (1) and slowly passes through the plurality of welding seam detection heads (4) in the same horizontal plane at a constant speed, detecting and scanning the welding seam of the flat plate type welding piece, so that the coverage of scanning detection is enlarged, and the situation that the detection cannot be performed can be avoided;

a2, utilize second supporting mechanism (3) to detect head (4) with a plurality of welding seam along hollow direction steel ring (35) outer wall distribution around annular structure for detection range changes to the annular mode from the orthoscopic, and is applicable very much to the welding of pipe fitting formula, no matter the welding seam is in the optional position of the welding outer wall of pipe fitting formula, can expose in the detection scanning range of a plurality of welding seam detection head (4) of annular distribution, the place that does not appear not detect, realize all-round coverage detection.

Technical Field

The invention relates to the technical field of welding line detection, in particular to a robot for automatically detecting a welding line.

Background

The welding process is one of the processing processes commonly used in the daily machining process, small mechanical structural parts can be welded and assembled into large mechanical parts by utilizing the welding process, compared with an assembly mode adopting bolt connection, the overall structural strength is high, the service life is long, in the welding process, if pores, bulges or gaps occur at the welding position, the effective connection of the welded structural parts is directly influenced, and the service life of a welding part is seriously influenced.

Disclosure of Invention

The present invention is directed to a robot for automatically detecting a weld joint, so as to solve the problems set forth in the background art.

In order to achieve the purpose, the invention provides the following technical scheme: a robot for automatically detecting welding seams comprises a welding table and a plurality of welding seam detection heads, wherein the welding seam detection heads are connected with an ultrasonic detector through data lines, a data processor for processing information is arranged in the ultrasonic detector, the data processor is connected with a control center through a WIFI transmission module, a comparison feedback module is arranged in the control center and feeds back comparison results to the control center, the welding seam detection heads perform scanning detection on the welding seam position of a piece to be detected and transmit signals of the scanning detection to the ultrasonic detector, the data processor analyzes and processes detection signals fed back to the ultrasonic detector, once the difference of the compared data exceeds a preset threshold value, the comparison feedback module feeds back a comparison structure to the control center again for early warning, so that a worker can timely and accurately or detect unqualified welding seams of the piece, therefore, new welding can be carried out on the unqualified position to ensure that the welding part is qualified.

The upper end of welding bench is equipped with first supporting mechanism, first supporting mechanism includes two support post, two support post symmetric distribution are at the up end of welding bench, the rectangle breach has been seted up to the support post upper end, the inside top of rectangle breach is rotated and is installed threaded sleeve, threaded sleeve is pegged graft to the axial has the screw thread regulation pole, the both ends of connecting band are articulated with two screw thread regulation pole's pointed end respectively, be equipped with adjustable position's connecting band between two support post tops, it sets up the top at the welding bench to utilize two support post to vacate the connecting band, leave the clearance between two support post, a welding process for waiting to detect.

The bottom mounting of connecting band has a plurality of to insert the piece, and the welding seam detects the head and fixes the bottom face at inserting the piece, bare-handed rotation screw thread adjusting lever for screw thread adjusting lever can be along the adjustment of threaded sleeve axial direction, can be with the connecting band tensioning, after the connecting band is taut, can fix the position of inserting the piece, can not cause the welding seam to detect the head and rock on the connecting band, improves the accuracy that detects, forms the detection line of one full coverage.

In a further embodiment, the upper end of the welding table is provided with a through hole positioned between two supporting columns, the lower end of the welding table is provided with a second supporting mechanism, the second supporting mechanism comprises a backup plate, a servo motor, an inverted T-shaped block and a hollow guide steel ring, the backup plate is vertically fixed at one end of the bottom of the welding table, the servo motor is fixedly arranged at the bottom end of the side wall of the backup plate, the tip end of a power shaft of the servo motor is radially fixed with a transmission rod, the inverted T-shaped block is fixedly arranged at the top end of the outer wall of the hollow guide steel ring, the hollow guide steel ring is arranged in the through hole in a sliding manner, the bottom end of the inverted T-shaped block is provided with a T-shaped sliding groove, the tip end of the transmission rod is hinged with a T-shaped sliding block capable of freely sliding along the inside of the T-shaped sliding groove, the transmission rod can slide along the T-shaped sliding groove of the inverted T-shaped block, and the servo motor is stopped when the transmission rod rotates to be parallel to the inverted T-shaped block, the usable gliding drive cavity of transfer line guide steel ring along the inside gliding of through-hole when T type slider, until accomodate the outer wall top of cavity guide steel ring inside the through-hole completely, do not influence flat welding like this and along carrying out detection operation between two support post.

In further embodiment, a plurality of spliced eye has been seted up to the radial lateral wall of cavity direction steel ring, inserted block and spliced eye joint, and the welding seam detects the head and extends to the inside of cavity direction steel ring, be in lax state with the connecting band, then rotate the threaded sleeve around rectangle breach lateral wall, can sink the connecting band and set up the outer wall at cavity direction steel ring, inserted block and spliced eye joint afterwards, can detect the head with the welding seam and extend to the inside of cavity direction steel ring, can be with the welding seam detection head be the loop configuration setting at the radial lateral wall of cavity direction steel ring, the convenience is detected the welding seam position of treating the piece to detect of pipe fitting class and is carried out all-round cover and detect.

In further embodiment, the radial lateral wall of cavity direction steel ring rotates the spin that is embedded to have a plurality of and the crisscross distribution of spliced eye, and the spin can laminate with the welding outer wall roll of pipe fitting formula to can support the welding of pipe fitting formula, keep certain clearance with the welding seam detection head, can not cause the damage of welding seam detection head.

In further embodiment, the one end that servo motor was kept away from to handstand T type piece is fixed with T type guide block, and the bottom opening one side of through hole is equipped with the deflector perpendicularly, and the draw-in groove with T type guide block slip joint is seted up to the deflector lateral wall, utilizes T type guide block to slide along the draw-in groove is inside in step, neither influences the upper and lower slip of cavity direction steel ring, can avoid the cavity direction steel ring to rock again, strengthens the support stability of cavity direction steel ring.

In further embodiment, the connecting band is rubber material and non-woven fabrics material all can, selectable rubber material and non-woven fabrics material are all can, also can select the soft material of other matter lower margin all can replace rubber material and non-woven fabrics material, the purpose is in order to adopt the softer material of texture, let the connecting band can be crooked, laminate completely at the outer wall of cavity direction steel ring, be convenient for can insert the grafting piece completely in the spliced eye, be convenient for pass the spliced eye with the welding seam detection head and enter into cavity direction steel ring and detect the operation. .

Preferably, the detection method based on the robot for automatically detecting the weld seam includes the following steps:

a1, distributing a plurality of welding line detection heads in the same plane by using a first supporting mechanism, and when a welding piece to be detected slides from one end to the other end along the upper end of a welding table and slowly passes through the plurality of welding line detection heads in the same horizontal plane at a constant speed, detecting and scanning the welding line of the flat plate type welding piece, so that the coverage area of scanning detection is enlarged, and the situation that the welding line cannot be detected can be avoided;

a2, utilize second supporting mechanism to detect the head with a plurality of welding seam along the distribution of cavity direction steel ring outer wall around annular structure for detection range changes to the annular mode from the orthoscopic, and is very suitable for to the welding piece of pipe fitting formula, no matter the welding seam is in the optional position of the welding piece outer wall of pipe fitting formula, all can expose in the detection scanning range of a plurality of welding seam detection head that the annular distributes, the place that does not appear not detecting, realizes all-round coverage detection.

Compared with the prior art, the invention has the beneficial effects that:

the invention relates to a robot for automatically detecting welding seams, which is characterized in that a plurality of welding seam detection heads can be arranged in the same level by utilizing a first supporting mechanism, so that a flat plate type piece to be detected can be conveniently subjected to omnibearing covering detection, a plurality of welding seam detection heads can be arranged on the radial side wall of a hollow guide steel ring in an annular structure by utilizing a second supporting mechanism, the position of the welding seam of the piece to be detected of a pipe fitting type can be conveniently subjected to omnibearing covering detection, the omnibearing covering detection of the position of the welding seam of a welding piece according to the shape structure of the welding piece can be realized by two modes, the position of missed detection is not easy to appear, the defective rate is reduced, and the detection efficiency is improved.

Drawings

FIG. 1 is a schematic view of the main structure of the present invention;

FIG. 2 is a schematic view of a welding table and a second supporting mechanism according to the present invention;

FIG. 3 is a schematic view of a connecting strip and weld inspection head according to the present invention;

fig. 4 is a sectional view of the inverted T-shaped block of the present invention.

In the figure: 1. a welding table; 11. a through hole; 2. a first support mechanism; 21. supporting the upright post; 22. a rectangular notch; 23. a threaded sleeve; 24. a threaded adjusting rod; 25. a connecting belt; 26. an insertion block; 3. a second support mechanism; 31. a backup plate; 32. a servo motor; 33. a power shaft; 34. an inverted T-shaped block; 35. a hollow guide steel ring; 36. a guide plate; 37. a T-shaped guide block; 38. a transmission rod; 39. a card slot; 310. rolling a ball; 311. inserting holes; 312. a T-shaped slider; 4. a weld joint detection head.

Detailed Description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example one

Referring to fig. 1 to 4, the present embodiment provides a robot for automatically detecting a weld, including a welding table 1 and a plurality of weld detecting heads 4, where the weld detecting heads 4 are connected to an ultrasonic detector through data lines, the weld detecting heads 4 scan and detect the weld position of a workpiece to be detected, and transmit the scanned and detected signal to the ultrasonic detector, a data processor for processing information is disposed in the ultrasonic detector, and the data processor analyzes and processes the detected signal fed back to the ultrasonic detector.

Data processor passes through WIFI transmission module and is connected with control center, data processor takes place the control center to the backstage through wireless transmission's mode, be equipped with in the control center and compare feedback module, feedback module goes on right to detected signal, compare feedback module and feed back the comparison result to control center again, after the difference is great to surpass the predetermined threshold value in case data after the comparison, compare feedback module and will compare the structure and feed back to control center once more and carry out the early warning, so that the staff in time is accurate or detect the unqualified welding seam of piece, thereby can follow new welding to unqualified position, in order to ensure that the welding is qualified.

Because the welding outward appearance structure among the prior art is various, flat many, among the prior art, just adopt single welding seam to detect head 4 and scan the detection piece of different kinds of passing through, the error that easily leads to the scanning is great like this, the product defective rate increases greatly, detect head 4 and can carry out all-round cover scanning detection operation to the welding of isostructure in order to improve the welding seam, be equipped with first supporting mechanism 2 in the upper end of welding bench 1, utilize first supporting mechanism 2 to detect head 4 distribution in the coplanar with a plurality of welding seam, enlarge the cover plane that the scanning detected, can avoid appearing the place that can not detect.

Flat 1 first supporting mechanism 2 includes two support post 21, two support post 21 symmetric distribution are at the up end of welding bench 1, but be equipped with adjusting position's connecting band 25 between two support post 21 tops, rectangle breach 22 has been seted up to support post 21 upper end, threaded sleeve 23 is installed in the inside top rotation of rectangle breach 22, threaded sleeve 23 axial is pegged graft and is had threaded adjusting rod 24, the both ends of connecting band 25 are articulated with two threaded adjusting rod 24's pointed end respectively, it sets up the top at welding bench 1 to utilize two support post 21 to vacate connecting band 25, leave the clearance between two support post 21, a welding process for waiting to detect.

The bottom mounting of connecting band 25 has a plurality of grafting piece 26, bare-handed rotation screw thread adjusting lever 24 for screw thread adjusting lever 24 can be adjusted along threaded sleeve 23 axial direction, can be with the connecting band 25 tensioning, and after connecting band 25 was taut, can fix the position of grafting piece 26, no longer rocks.

The welding seam detection head 4 is fixed on the bottom end face of the insertion block 26, the connecting belt 25 is tensioned and is in a stretched state, and therefore the welding seam detection heads 4 distributed at the bottom end of the insertion block 26 are uniformly distributed in the same horizontal plane, the welding seam detection heads 4 cannot shake on the connecting belt 25, detection accuracy is improved, and a full-coverage detection line is formed.

When a welding piece to be detected slides from one end to the other end along the upper end of the welding table 1 and slowly passes through a plurality of welding line detection heads 4 in the same horizontal plane at a constant speed, the welding line of the flat plate type welding piece can be detected and scanned, the position where the welding line is not detected can not be generated, and the all-dimensional coverage detection is realized.

Compared with the mode of detecting by adopting a single welding seam detecting head 4 in the prior art, although the welding seam can also be detected, the detection process cannot be ensured, the welding seams at different positions are covered, the position of the flat plate type welding piece needs to be frequently moved and adjusted, and the position of the flat plate type welding piece needs to be adjusted and corrected by means of an adjusting mechanism.

In order to improve the precision, need set up a large amount of electronic control element automatic control adjustment mechanism, the cost that will lead to detecting like this improves greatly, but adopts the mode that a plurality of welding seam detection head 4 that sets up in same horizontal plane carries out the detection, just need not set up adjustment mechanism, as long as flat welding spare is through the detection line of detecting head 4 constitution by a plurality of welding seam, just can detect the head with the welding seam of optional position through the welding seam, it is wide to detect the coverage, and is efficient, is worth extensively promoting.

Example two

Please refer to fig. 1, fig. 2 and fig. 4, which are further improved based on the embodiment 1:

the welding of pipe fitting class is also more among the prior art, when current check out test set was operated to the welding seam detection of pipe fitting class, need handheld welding seam detection head 4 to look for the welding seam at the welding outer wall of pipe fitting class, can detect the welding seam, but in the testing process, need frequently to rotate the welding of pipe fitting class, need consume certain manpower, the efficiency of influence detection, be equipped with second supporting mechanism 3 through the lower extreme at welding bench 1, utilize second supporting mechanism 3 to be the loop configuration setting with a plurality of welding seam detection head 4, conveniently wait to detect the welding seam position of piece to carry out all-round cover to the pipe fitting class and detect, need not rotate the weld gap of pipe fitting class with the help of a large amount of manpowers, can realize carrying out all-round cover to the welding seam position of pipe fitting class and detect, the place of the missed-checking is difficult to appear, the defective percentage is reduced.

The upper end of the welding table 1 is provided with a through hole 11 positioned between two support columns 21, the second support mechanism 3 comprises a backup plate 31, a servo motor 32, an inverted T-shaped block 34 and a hollow guide steel ring 35, the backup plate 31 is vertically fixed at one end of the bottom of the welding table 1, the servo motor 32 is fixedly installed at the bottom end of the side wall of the backup plate 31, the tip of a power shaft 33 of the servo motor 32 is radially fixed with a transmission rod 38, and the servo motor 32 provides power to drive the transmission rod 38 to do circular motion at the tip of the power shaft 33.

The top end of the outer wall of the hollow guide steel ring 35 is fixedly installed on the inverted T-shaped block 34, the hollow guide steel ring 35 is arranged in the through hole 11 in a sliding mode, a T-shaped sliding groove is formed in the bottom end of the inverted T-shaped block 34, the tip end of the transmission rod 38 is hinged to a T-shaped sliding block 312 capable of freely sliding along the inside of the T-shaped sliding groove, the transmission rod 38 can be toggled in a reciprocating mode within the range of 0-180 degrees by taking the power shaft 33 as a rotating center, and the hollow guide steel ring 35 at the top end of the inverted T-shaped block 34 can be driven to slide up and down along the inside of the through hole 11 through the T-shaped sliding block 312.

The hollow guide steel ring 35 can be driven by a telescopic cylinder to slide up and down along the inside of the through hole 11, the telescopic cylinder provides power, the telescopic amount is not convenient to control, the telescopic range needs to be preset, the operation mode is complicated, the transmission rod 38 can rotate within the range of 0-180 degrees by taking the power shaft 33 as a rotation center, the lifting operation of the hollow guide steel ring 35 can be met, and more setting and complicated operation can be reduced. The operation mode and steps are simplified.

In order to fix a plurality of welding seam welding heads 4 on the first supporting mechanism 2, the servo motor 32 is used for driving the transmission rod 38 to rotate, the transmission rod 38 can slide along a T-shaped sliding groove of the inverted T-shaped block 34 by using a T-shaped sliding block 312, the servo motor 32 is stopped when the transmission rod 38 rotates to be parallel to the bottom end face of the inverted T-shaped block 34, the transmission rod 38 can slide by using the T-shaped sliding block 312 and simultaneously drive the hollow guide steel ring 35 to slide downwards along the inside of the through hole 11 until the top end of the outer wall of the hollow guide steel ring 35 is completely accommodated into the through hole 11, and therefore the detection operation of the flat plate type welding along the position between the two supporting upright columns 21 is not influenced.

The radial lateral wall of cavity direction steel ring 35 has seted up a plurality of spliced eye 311, grafting piece 26 and spliced eye 311 joint, and welding seam detection head 4 extends to the inside of cavity direction steel ring 35, upwards rise cavity direction steel ring 35 along through-hole 11 is inside, bare-handed rotation screw thread regulation pole 24, adjust two screw thread regulation poles 24 to one side that is close to each other, can be in lax state with connecting band 25, then rotate threaded sleeve 23 around rectangle breach 22 lateral wall, can sink connecting band 25 and set up the outer wall at cavity direction steel ring 35, later with the spliced eye 311 joint of grafting piece 26 and cavity direction steel ring 35, can extend welding seam detection head 4 to the inside of cavity direction steel ring 35.

Utilize the plug-in block 26 to fix the position of welding seam detection head 4, can distribute a plurality of welding seam detection head 4 around annular structure along cavity direction steel ring 35 outer wall like this, make the detection range change from the orthoscopic to the annular mode, it is very suitable to the welding of pipe fitting formula, no matter the welding seam is in the optional position of the welding outer wall of pipe fitting formula, all can expose in the detection scanning range of a plurality of welding seam detection head 4 that the annular distributes, the place that does not appear not detect, realize all-round coverage detection.

Utilize first supporting mechanism 2 to set up a plurality of welding seam detection head 4 in same level, the convenience is to the flat piece that waits to detect and carry out all-round cover detection, utilize second supporting mechanism 3 to be the loop configuration setting at the radial lateral wall of cavity direction steel ring 35 with a plurality of welding seam detection head 4, the convenience is to the welding seam position that waits to detect the piece of pipe fitting class carry out all-round cover detection, can realize carrying out all-round cover detection according to welding seam position of welding piece shape structure to a welding piece through two kinds of modes, the place of examining is missed to appear not easy, reduce the defective percentage, and improve the efficiency of detection.

In order to avoid the pipe fitting type welding piece entering the hollow guiding steel ring 35, the damage caused by mistakenly touching the welding line detection head 4, a plurality of rolling balls 310 which are distributed with the inserting holes 311 in a staggered manner are embedded in the radial side wall of the hollow guiding steel ring 35 in a rotating manner, the rolling balls 310 can be attached to the outer wall of the pipe fitting type welding piece in a rolling manner, so that the pipe fitting type welding piece can be supported, a certain gap is kept between the rolling balls 310 and the welding line detection head 4, the damage of the welding line detection head 4 cannot be caused, in addition, the rolling balls 310 can play a role in rolling guiding the pipe fitting type welding piece, and the moving friction force of the pipe fitting type welding piece is reduced.

When cavity direction steel ring 35 slided from top to bottom along through hole 11 is inside, the phenomenon that rocks easily appears, through be fixed with T type guide block 37 at the one end that inverted T type piece 34 kept away from servo motor 32, bottom opening one side of through hole 11 is equipped with deflector 36 perpendicularly, the draw-in groove 39 with the slip joint of T type guide block 37 is seted up to deflector 36 lateral wall, when cavity direction steel ring 35 slides from top to bottom, utilize T type guide block 37 to slide along draw-in groove 39 inside in step, neither influence the upper and lower slip of cavity direction steel ring 35, can avoid cavity direction steel ring 35 to rock again, strengthen the support stability of cavity direction steel ring 35.

EXAMPLE III

Referring to fig. 1, a further improvement is made on the basis of embodiment 2:

connecting band 25 is all can for rubber material and non-woven fabrics material, selectable rubber material and non-woven fabrics material are all can, also can select the soft material of other matter lower margin all can replace rubber material and non-woven fabrics material, the purpose is in order to adopt the softer material of texture, let connecting band 25 can be crooked, laminate completely at the outer wall of cavity direction steel ring 35, be convenient for can insert the spliced eye 311 completely with the inserted block 26 in, be convenient for pass spliced eye 311 with welding seam detection head 4 and enter into cavity direction steel ring 35 in detect the operation.

If the connecting band 25 is made of hard materials, the bending of the connecting band is affected, the welding seam detection heads 4 are affected to penetrate through the insertion holes 311 and enter the hollow guide steel ring 35, and the welding seam detection heads 4 cannot be enclosed into an annular structure to cover the welding seams of the pipe fitting in all directions.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.