The invention discloses a tower drum welding seam inspection robot and a control method thereof.The tower drum welding seam inspection robot is used for inspecting a welding seam of a tower drum and comprises a wall-climbing robot, a self-adaptive adjusting module, a compensation module and an inspection module; the self-adaptive adjusting module is connected with the wall-climbing robot and is used for self-adaptively adjusting the fitting degree of the inspection module and the tower drum; the compensation module is connected with the self-adaptive adjustment module and is used for compensating deviation; the inspection module is connected with the compensation module and used for inspecting welding seams of the tower drum. A scanning device can be adaptively adjusted, automatic adjustment is carried out according to different positions needing to be inspected and different welding seams, the inspection quality of the scanning device and the probe is guaranteed, the detection accuracy is improved, the deviation between the scanning device and the welding seams of the tower drum can be compensated through the arranged compensation module, and therefore the inspection accuracy is guaranteed.

    本发明公开了一种塔筒焊缝检查机器人及其控制方法,其中,一种塔筒焊缝检查机器人,用于检查塔筒的焊缝,包含:爬壁机器人、自适应调节模块、补偿模块以及检查模块;自适应调节模块与爬壁机器人相连,用于自适应调节检查模块与塔筒的贴合程度;补偿模块与自适应调节模块相连,用于补偿偏差;检查模块与补偿模块相连,用于检查塔筒的焊缝。本发明可以对扫查器进行自适应调节,根据需要检查的不同位置和不同焊缝进行自动的调整,保证扫查器和探头的检查质量,提高检测的精确度,且通过设有的补偿模块,可以对扫查器与塔筒焊缝之间偏差进行补偿,从而保证检查的精确度。


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    Title :

    Tower drum welding seam inspection robot and control method thereof


    Additional title:

    塔筒焊缝检查机器人及其控制方法


    Contributors:
    HUANG SHUGUANG (author) / YANG XINHANG (author) / ZHANG YANZHAO (author) / YANG TAO (author) / ZHANG YUNFEI (author) / SHAN NI (author)

    Publication date :

    2022-02-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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