CN110375901A - X-ray stress detector and measurement method, storage medium for complex surface - Google Patents
X-ray stress detector and measurement method, storage medium for complex surface Download PDFInfo
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- CN110375901A CN110375901A CN201910605907.3A CN201910605907A CN110375901A CN 110375901 A CN110375901 A CN 110375901A CN 201910605907 A CN201910605907 A CN 201910605907A CN 110375901 A CN110375901 A CN 110375901A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/25—Measuring force or stress, in general using wave or particle radiation, e.g. X-rays, microwaves, neutrons
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Abstract
The invention discloses a kind of X-ray stress detectors and measurement method for complex surface.The present invention includes: laser scanner, several positioning balls, host and multi-degree-of-freemechanical mechanical arm for being mounted on object under test for the X-ray stress detector of complex surface, and laser scanner is used to obtain the three-dimensional configuration model of object under test；Multi-degree-of-freemechanical mechanical arm is equipped with secondary positioning shooting machine, and secondary positioning shooting machine is used to obtain the real-time relative position of positioning ball and multi-degree-of-freemechanical mechanical arm；Multi-degree-of-freemechanical mechanical arm is equipped with the X-ray stress measurement head for measuring position residual stress to be measured；X-ray stress measurement head is connect with host, and the multi-degree-of-freemechanical mechanical arm is connect with host.The present invention controls control X-ray stress measurement head movement by obtaining the location information in position three-dimensional system of coordinate to be measured, by host, can meet the residual stress measurement demand of complex surface, reduce in-situ stresses time of measuring and cost of labor.
Description
Technical field
The present invention relates to X-ray stress measurement fields, and in particular to a kind of X-ray stress detector for complex surface
And measurement method.
Background technique
The principle of diffraction, measuring metallic materials or structure occur when penetrating metal lattice based on X-ray for X-ray stress detector
The superficial layer residual stress of part.When metal material or component surface are there are when residual stress, microcosmic spacing of lattice can also have phase
The microstrain answered, by measurement there are the X-ray diffraction peaks after the material diffraction of residual stress, and with unstressed lattice diffraction
Peak comparison can calculate spacing of lattice variation, to further calculate out stress variation value using Poisson formula.It is penetrated based on X
The X-ray stress detector of line diffraction principle in actual use, need to allow X-ray be incident at a certain angle metal material or
Component surface, diffraction light are emitted at a certain angle, are then detected by detector.
When measuring the regular surfaces such as flat face or disc, incident X-rays and metal material or component surface are readily satisfied
Angular relationship.But when measurement crankshaft, the irregular surfaces such as large gear, since surface variation is irregular, it is difficult to meet
Measurement angle relationship.Therefore need to manually adjust X-ray stress detector, i.e., by move manually or rotational x-ray stress survey
Instrument is measured, is measured so that X-ray stress detector is treated location and set, is taken considerable time in this way and increase cost of labor.
Summary of the invention
In view of the above technical problem, the purpose of the present invention is to provide a kind of X-ray stress measurements for complex surface
Instrument and measurement method solve prior art X-ray stress detector and need manually to measure when measuring irregular surfaces, consume
The problem of taking plenty of time and cost of labor.
The invention adopts the following technical scheme:
A kind of X-ray stress detector for complex surface, comprising: laser scanner, for being mounted on object under test
On several positioning balls, host and multi-degree-of-freemechanical mechanical arm, in which:
The laser scanner is used to obtain the three-dimensional configuration model of object under test；The laser scanner and host connect
It connects, the three-dimensional configuration model data that laser scanner will acquire is sent to host；
The multi-degree-of-freemechanical mechanical arm is equipped with secondary positioning shooting machine, and the secondary positioning shooting machine is for obtaining positioning
The real-time relative position of ball and multi-degree-of-freemechanical mechanical arm, and send real-time relative position to host；
The host is used to establish the three-dimensional system of coordinate comprising multi-degree-of-freemechanical mechanical arm position coordinates and according to the reality
When relative position determine each real-time position information of the positioning ball in three-dimensional system of coordinate；And with the real-time position information of each positioning ball
On the basis of point, the three-dimensional configuration model comprising positioning ball position of object under test is imported in the three-dimensional system of coordinate, obtain to
Location sets the real-time position information in three-dimensional system of coordinate；
The multi-degree-of-freemechanical mechanical arm is equipped with the X-ray stress measurement head for measuring position residual stress to be measured；Institute
X-ray stress measurement head is stated to connect with host, host as X-ray stress measurement head x-ray source and obtain X-ray stress survey
Measure the residual stress data of head measurement；The multi-degree-of-freemechanical mechanical arm is connect with host, with host according to position to be measured in three-dimensional
It is mobile to control X-ray stress measurement head by multi-degree-of-freemechanical mechanical arm for real-time position information in coordinate system.
It further, further include hand-held control panel, the hand-held control panel and host are wirelessly connected, logical with hand-held control panel
Host control multi-degree-of-freemechanical mechanical arm movement is crossed, so that it is mobile to control X-ray stress measurement head.
Further, the secondary positioning shooting machine includes camera group and laser emitter, the laser emitter pair
Position ball and send grid laser, the camera group by identification grid laser position, thus obtain each positioning ball with it is mostly free
The real-time relative position of mechanical arm is spent, and sends real-time relative position to host.
Further, the X-ray stress measurement head includes X-ray emission head, two detectors and detector guide rail, institute
Stating detector guide rail is arc, and the X-ray emission head is mounted on detector guideway central position, described two detectors
It is slided along detector guide rail, described two detectors are located at the two sides of X-ray emission head.
Further, the multi-degree-of-freemechanical mechanical arm uses the 6DOF manipulator in 6 joints.
Further, several positioning balls use several metal steel balls, and the diameter of several metal steel balls
It is all different.
Further, the number of several positioning balls is greater than or equal to 3.
A kind of measurement method of the X-ray stress detector for complex surface, using the X for complex surface
Ray stress measuring instrument, comprising the following steps:
Several positioning balls are installed on object under test, and obtain the three-dimensional configuration comprising each positioning ball position of object under test
Model；
Three-dimensional system of coordinate is established, and multi-degree-of-freemechanical mechanical arm position coordinates are set in three-dimensional system of coordinate；
The real-time relative position of each positioning ball and multi-degree-of-freemechanical mechanical arm is obtained, and according to each positioning ball and multiple degrees of freedom machine
The real-time relative position of tool arm determines real-time position information of each positioning ball in three-dimensional system of coordinate；
The point on the basis of the real-time position information of each positioning ball, by the three-dimensional configuration comprising positioning ball position of object under test
Model imports in the three-dimensional system of coordinate；
When the residual stress of measuring targets position to be measured measures, according to position to be measured in three-dimensional system of coordinate
Location information controls multi-degree-of-freemechanical mechanical arm by host, so that the movement of X-ray stress measurement head is controlled, so that X-ray stress
Measuring head treats location and sets the measurement for carrying out residual stress.
Further, further includes: the hand-held control panel and host are wirelessly connected, and are obtained in host by hand-held control panel
Real-time position information of the position to be measured in three-dimensional system of coordinate, and multi-degree-of-freemechanical mechanical arm fortune is remotely controlled by hand-held control panel
It is dynamic, so that it is mobile to control X-ray stress measurement head.
A kind of computer storage medium is stored thereon with computer program, when the computer program is executed by processor,
Realize the measurement method of the X-ray stress detector for complex surface.
Compared with prior art, the beneficial effects of the present invention are:
The present invention is led to by obtaining location information of the position to be measured in the three-dimensional system of coordinate comprising multi-degree-of-freemechanical mechanical arm
The remnants of complex surface can be met to control the movement of X-ray stress measurement head by crossing host control multi-degree-of-freemechanical mechanical arm movement
Stress measurement demand reduces in-situ stresses time of measuring and cost of labor.
Detailed description of the invention
Fig. 1 is schematic diagram of the present invention for the X-ray stress detector of complex surface；
Fig. 2 is three-dimensional configuration model schematic of the present invention in embodiment comprising positioning 2 location information of ball；
Fig. 3 is X-ray stress measurement head schematic diagram of the present invention for the X-ray stress detector of complex surface；
Fig. 4 is flow diagram of the present invention for the measurement method of the X-ray stress detector of complex surface；
Fig. 5 is the present invention for the first camera in the measurement method embodiment of the X-ray stress detector of complex surface
Identify the schematic diagram of target bead；
Fig. 6 is the present invention for two cameras in the measurement method embodiment of the X-ray stress detector of complex surface
Identify the schematic diagram of target bead；
Fig. 7 is the present invention for three cameras in the measurement method embodiment of the X-ray stress detector of complex surface
Identify the schematic diagram of target bead.
Wherein, 1, laser scanner；2, ball is positioned；3, secondary positioning shooting machine；4, X-ray stress measurement head；5, mostly certainly
By degree mechanical arm；6, host；7, control panel is held；41, X-ray emission head；42, detector；43, detector guide rail.
Specific embodiment
In the following, being described further in conjunction with attached drawing and specific embodiment to the present invention, it should be noted that not
Under the premise of conflicting, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination
Example.
Embodiment:
It please refers to shown in Fig. 1-7, a kind of X-ray stress detector for complex surface, as shown in Figure 1, comprising: laser
Scanner 1, several positioning balls 2, host 6 and multi-degree-of-freemechanical mechanical arm 5 for being mounted on object under test, in which: described to swash
Photoscanner 1 is used to obtain the three-dimensional configuration model of object under test；The laser scanner 1 and host 6 connect, with laser scanning
The three-dimensional configuration model data that instrument 1 will acquire is sent to host 6；
The degree-of-freedom manipulator 5 is equipped with secondary positioning shooting machine 3, and the secondary positioning shooting machine 3 is fixed for obtaining
The real-time relative position of position ball 2 and multi-degree-of-freemechanical mechanical arm 5, and send real-time relative position to host 6；
The host 6 is used to establish the three-dimensional system of coordinate comprising 5 position coordinates of multi-degree-of-freemechanical mechanical arm and according to described
Real-time relative position determines real-time position information of each positioning ball 2 in three-dimensional system of coordinate；And with the real time position of each positioning ball 2
The three-dimensional configuration model comprising positioning 2 position of ball of object under test is imported in the three-dimensional system of coordinate, is obtained by point on the basis of information
Take real-time position information of the position to be measured in three-dimensional system of coordinate；
The multi-degree-of-freemechanical mechanical arm 5 is equipped with the X-ray stress measurement head 4 for measuring position residual stress to be measured；
The X-ray stress measurement head 4 is connect with host 6, using host 6 as the x-ray source of X-ray stress measurement head 4 and is obtained X and is penetrated
The residual stress data that uniaxial stress measuring head 4 measures；The multi-degree-of-freemechanical mechanical arm 5 is connect with host 6, with host 6 according to
Location sets the real-time position information in three-dimensional system of coordinate, controls X-ray stress measurement head 4 by multi-degree-of-freemechanical mechanical arm 5 and moves
It is dynamic.
It preferably, further include hand-held control panel 7, the hand-held control panel 7 is wirelessly connected with host 6, to hold control panel 7
It controls multi-degree-of-freemechanical mechanical arm 5 by host 6 to move, so that it is mobile to control X-ray stress measurement head 4.
The secondary positioning shooting machine 3 includes camera group and laser emitter, and the laser emitter sends out positioning ball 2
Grid laser is sent, the camera group is by identification grid laser position, to obtain each positioning ball 2 and multi-degree-of-freemechanical mechanical arm
5 real-time relative position, and send real-time relative position to host 6.
Specifically, camera group may include several cameras, if Fig. 5 is the first camera view, circle represents object
The opposite off-centring angle in the first camera view, it is known that target bead is with respect to camera off-centring from figure
10 °, as shown in fig. 6, due to offset angle 1 of the target bead in the first camera it is known that so α 1 can also be calculated,
Similarly calculate α 2.Meanwhile two camera spacing L are known, therefore can both determine α 3, L1 according to trigonometric function formula,
L2.When camera group includes three cameras, as shown in fig. 7, L1, L2, L3 can be calculated from above.By the first camera image
It is found that in the first camera view, angle α 23 between second camera and third camera, third camera and target are small
Ball angle α 3, second camera and target bead angle α 2.Other camera clamp angular dependences equally can be obtained, finally by space
Geometry can calculate the small spherical coordinates of target.
The X-ray stress measurement head 4 includes 41, two detectors 42 of X-ray emission head and detector guide rail 43, described
Detector guide rail 43 is sector, and the X-ray emission head 41 is mounted on 43 central location of detector guide rail, described two detectors
42 can slide along detector guide rail 43, and described two detectors 42 are located at the two sides of X-ray emission head 41.Specifically,
As shown in figure 3,41 exit Xray of X-ray emission head, X-ray is received after sample diffraction by detector 42, and passes through
Data processing, to obtain sample surfaces residual stress distribution information.Detector 42 can be moved along detector guide rail 43, adjustment
X-ray diffraction angle, to realize the measurement to different materials sample.41 two sides of X-ray emission head respectively configure a detector
42, it can thus be moved to avoid repetition when measurement residual stress.Calibration information is indicated in 43 side of detector guide rail, in order to
Manually adjust detector position.
Preferably, the number of several positioning balls 2 is greater than or equal to 3, when at least three anchor points are as coordinate basis
When, it can fast and easy precise positioning.
Preferably, multi-degree-of-freemechanical mechanical arm 5 is used using the light manipulator of 6DOF with 6 joints, load-bearing 5Kg,
Repeat 5 μm of displacement accuracy, it is ensured that the position accuracy demand of residual stress measurement.
A kind of measurement method of X-ray stress detector for complex surface of the invention, the X for complex surface are penetrated
Uniaxial stress measuring instrument, it is shown referring to figure 4., comprising the following steps:
Step S100: installing several positioning balls 2 on object under test, and obtain object under test includes each 2, positioning ball
The three-dimensional configuration model set；
Step S200: establishing three-dimensional system of coordinate, and 5 position coordinates of multi-degree-of-freemechanical mechanical arm are arranged in three-dimensional system of coordinate；
Step S300: obtain it is each positioning ball 2 and multi-degree-of-freemechanical mechanical arm 5 real-time relative position, and according to positioning ball 2 and
The real-time relative position of multi-degree-of-freemechanical mechanical arm 5 determines real-time position information of each positioning ball 2 in three-dimensional system of coordinate；
Step S400: object under test is included positioning 2, ball by the point on the basis of the real-time position information of each positioning ball 2
The three-dimensional configuration model set imports in the three-dimensional system of coordinate；At this moment, the threedimensional model of degree-of-freedom manipulator 5 and object under test
It is shown in three-dimensional system of coordinate, location information of each position from 5 each section of degree-of-freedom manipulator of object under test exists
It can be clearly seen in three-dimensional system of coordinate, so as to know object under test position to be measured relative to multi-degree-of-freemechanical mechanical arm
5 location information.
Behind the position to be measured of specified object under test, the residual stress of measuring targets position to be measured is measured, due to
It position in three-dimensional system of coordinate through obtaining can also be according to position to be measured in three-dimensional even if position to be measured is in non-regulation planar
Location information in coordinate system controls multi-degree-of-freemechanical mechanical arm 5 by host 6 and moves, to control X-ray stress measurement head 4
It is mobile, X-ray stress measurement head 4 is automatically moved to and treats location and sets the place measured, (location is treated and sets and measure
Place refer in the prior art, to certain point carry out stress measurement when, stress detector here may be used with a distance from position to be measured
To be set.) realize that X-ray stress measurement head 4 treats location and sets the measurement for carrying out residual stress, it does not need manually movement and answers
Force measuring instrument avoids time-consuming and laborious.
Preferably, can be believed by real time position of the position to be measured in the hand-held acquisition of control panel 7 host in three-dimensional system of coordinate
Breath, and remotely control multi-degree-of-freemechanical mechanical arm 5 moves by hand-held control panel 7, so that it is mobile to control X-ray stress measurement head 4.
Since X-ray has radioactivity, to guarantee personnel safety, hand-held control panel 7 is set, is connected using radio connection and host 6
It connects, such staff can be in remotely control Sample Scan process, while passing through the secondary positioning in 5 end of multi-degree-of-freemechanical mechanical arm
Video camera 3 checks scanning situation.
Specific operating procedure is as follows: sample referred to herein refers to object under test.
The laser scanner 1 uses common three-dimensional laser scanner, and three-dimensional laser scanning technique is capable of providing scanning
The three dimensional point cloud of body surface can be used for obtaining the digital three-dimensional model of high-accuracy high-resolution.
The laser scanner 1 uses handheld laser scanner 1, simple and convenient, complex environment easy to accomplish
Quick sample scanning work.Handheld laser scanner 1 has quickly scanning and high-precision scanning both of which, quickly scans mould
Formula carries out the scanning of fast standard precision to sample, is conducive to quickly establish sample three-dimensional appearance.High-precision scan pattern for pair
The high-precision in stress measurement region scans the scanning accuracy, it can be achieved that 10 μm, fully meets 50 μm of precision of residual stress measurement
It is required that.Handheld laser scanner 1 can realize the prescan to sample, i.e., the scanning of sample three-dimensional appearance and residual stress measurement can
With separated progress, measurement efficiency is greatly improved.
Positioning ball 2 is made of the metal steel ball of one group of different-diameter, and metal steel ball circularity has certain circularity, is used
When, positioning ball 2 is fixed on sample surfaces.The fixed position of positioning ball 2 is required to significant localizing sample three-dimensional feature.Utilize hand
It holds formula laser scanner 1 to be scanned sample and positioning ball 2, the threedimensional model with positioning 2 information of ball is established, such as Fig. 2 institute
Show.
Then sample is placed on position to be measured, is positioned using 3 tos to of the secondary positioning shooting machine in 5 end of multi-degree-of-freemechanical mechanical arm
Ball 2 is scanned, and since positioning 2 diameter of ball is different, can readily identify location information.System can be different straight by record
Diameter positions the coordinate points information of ball 2, to realize that sample three-dimensional appearance and multi-degree-of-freemechanical mechanical arm 5 have the matching of coordinate system by oneself.
The invention has the characteristics that:
1 carries out form scan to metal material or component surface using portable hand-held formula laser measuring apparatus, uses
Simple and convenient, precision is enough.
2 demarcate at least three anchor points as coordinate basis, convenient for positioning in sample surfaces.
3 install secondary positioning shooting machine 3 in 4 side of X-ray stress measurement head, accurately identify anchor point.
4 X-ray stress measurement heads 4 are mounted in multi-degree-of-freemechanical mechanical arm 5, it can be achieved that high-precision positioning.
5 select limnograph data after measurement point by hand-held control panel 7.
The scanning of 6 sample shapes and measurement can be carried out independently, save the time.
7 measurement results are shown in three dimensions, visual in image, without complicated post-processing.
8 are designed using compact structure, easy to carry, are suitble to field work.
9 modular design concepts are easily installed use.
10 by increasing sample stage, it can be achieved that automatic scanning.
11 can realize partial sweep and measure stress, shorten the modeling time.
The present invention also provides a kind of computer storage mediums, are stored thereon with computer program, if method of the invention
It is realized in the form of SFU software functional unit and when sold or used as an independent product, can store to store in the computer and be situated between
In matter.Based on this understanding, the present invention realizes all or part of the process in above-described embodiment method, can also pass through calculating
Machine program is completed to instruct relevant hardware, and the computer program can be stored in a computer storage medium, the meter
Calculation machine program is when being executed by processor, it can be achieved that the step of above-mentioned each embodiment of the method.Wherein, the computer program packet
Include computer program code, the computer program code can for source code form, object identification code form, executable file or
Certain intermediate forms etc..The computer storage medium may include: that can carry any reality of the computer program code
Body or device, recording medium, USB flash disk, mobile hard disk, magnetic disk, CD, computer storage, read-only memory (ROM, Read-
Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and
Software distribution medium etc..It should be noted that the content that the computer storage medium includes can be according in jurisdiction
Legislation and the requirement of patent practice carry out increase and decrease appropriate, such as in certain jurisdictions, according to legislation and patent practice, meter
Calculation machine storage medium does not include electric carrier signal and telecommunication signal.
It will be apparent to those skilled in the art that can make various other according to the above description of the technical scheme and ideas
Corresponding change and deformation, and all these changes and deformation all should belong to the protection scope of the claims in the present invention
Within.
Claims (10)
1. a kind of X-ray stress detector for complex surface characterized by comprising laser scanner (1), for pacifying
Several positioning balls (2), host (6) and multi-degree-of-freemechanical mechanical arm (5) on object under test, in which:
The laser scanner (1) is used to obtain the three-dimensional configuration model of object under test；The laser scanner (1) and host
(6) it connects, host (6) is sent to the three-dimensional configuration model data that laser scanner (1) will acquire；
The degree-of-freedom manipulator (5) is equipped with secondary positioning shooting machine (3), and the secondary positioning shooting machine (3) is for obtaining
The real-time relative position of ball (2) and multi-degree-of-freemechanical mechanical arm (5) is positioned, and sends real-time relative position to host (6)；
The host (6) is used to establish the three-dimensional system of coordinate comprising multi-degree-of-freemechanical mechanical arm (5) position coordinates and according to described
Real-time relative position determines real-time position information of each positioning ball (2) in three-dimensional system of coordinate；And with the real-time of each positioning ball (2)
The three-dimensional configuration model comprising positioning ball (2) position of object under test is imported the three-dimensional coordinate by point on the basis of location information
In system, real-time position information of the position to be measured in three-dimensional system of coordinate is obtained；
The multi-degree-of-freemechanical mechanical arm (5) is equipped with the X-ray stress measurement head (4) for measuring position residual stress to be measured；
The X-ray stress measurement head (4) connect with host (6), x-ray source of the host (6) as X-ray stress measurement head (4), and
Obtain the residual stress data of X-ray stress measurement head (4) measurement；The multi-degree-of-freemechanical mechanical arm (5) connect with host (6),
Real-time position information with host (6) according to position to be measured in three-dimensional system of coordinate controls X by multi-degree-of-freemechanical mechanical arm (5)
Ray stress measuring head (4) is mobile.
2. the X-ray stress detector according to claim 1 for complex surface, which is characterized in that further include holding
Control panel (7), the hand-held control panel (7) and host (6) are wirelessly connected, more by host (6) control with hand-held control panel (7)
Degree-of-freedom manipulator (5) movement, so that it is mobile to control X-ray stress measurement head (4).
3. the X-ray stress detector according to claim 1 for complex surface, which is characterized in that described secondary fixed
Position video camera (3) includes camera group and laser emitter, and the laser emitter sends grid laser, institute to positioning ball (2)
Camera group is stated by identification grid laser position, to obtain the real-time phase of each positioning ball (2) and multi-degree-of-freemechanical mechanical arm (5)
Host (6) are sent to position, and by real-time relative position.
4. the X-ray stress detector according to claim 1 for complex surface, which is characterized in that the X-ray is answered
Power measuring head (4) includes X-ray emission head (41), two detectors (42) and detector guide rail (43), the detector guide rail
It (43) is arc, the X-ray emission head (41) is mounted on detector guide rail (43) central location, described two detectors (42)
It can be slided along detector guide rail (43), described two detectors (42) are located at the two sides of X-ray emission head (41).
5. the X-ray stress detector according to claim 1 for complex surface, which is characterized in that described mostly free
Spend the 6DOF manipulator that mechanical arm (5) use 6 joints.
6. the X-ray stress detector according to claim 1 for complex surface, which is characterized in that described several fixed
Position ball (2) uses several metal steel balls, and the diameter of several metal steel balls is all different.
7. the X-ray stress detector according to claim 1 for complex surface, which is characterized in that described several fixed
The number of position ball (2) is greater than or equal to 3.
8. a kind of measurement method of the X-ray stress detector for complex surface, which is characterized in that using such as claim 1
To 7 described in any item X-ray stress detectors for complex surface, comprising the following steps:
Several positioning balls (2) are installed on object under test, and obtain the three-dimensional shaped comprising each positioning ball (2) position of object under test
States model；
Three-dimensional system of coordinate is established, and multi-degree-of-freemechanical mechanical arm (5) position coordinates are set in three-dimensional system of coordinate；
The real-time relative position of each positioning ball (2) and multi-degree-of-freemechanical mechanical arm (5) is obtained, and according to each positioning ball (2) and mostly certainly
Real-time position information of each positioning ball (2) in three-dimensional system of coordinate is determined by the real-time relative position of degree mechanical arm (5)；
The point on the basis of the real-time position information of each positioning ball (2), by the three-dimensional configuration comprising positioning ball position of object under test
Model imports in the three-dimensional system of coordinate；
When the residual stress of measuring targets position to be measured measures, according to position of the position to be measured in three-dimensional system of coordinate
Information controls multi-degree-of-freemechanical mechanical arm (5) by host (6), so that X-ray stress measurement head (4) movement is controlled, so that X is penetrated
Uniaxial stress measuring head (4) treats location and sets the measurement for carrying out residual stress.
9. the measurement method of the X-ray stress detector according to claim 8 for complex surface, which is characterized in that
Further include: the hand-held control panel (7) and host (6) are wirelessly connected, and are obtained by hand-held control panel (7) to be measured in host (6)
Real-time position information of the position in three-dimensional system of coordinate, and remotely multi-degree-of-freemechanical mechanical arm (5) are controlled by hand-held control panel (7)
Movement, so that it is mobile to control X-ray stress measurement head (4).
10. a kind of computer storage medium, is stored thereon with computer program, which is characterized in that the computer program is located
When managing device execution, the measurement side such as the described in any item X-ray stress detectors for complex surface of claim 8-9 is realized
Method.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114264261A (en) * | 2021-12-24 | 2022-04-01 | 哈尔滨工业大学芜湖机器人产业技术研究院 | Flexible electronic glass detection tool and detection method thereof |
| CN114659692A (en) * | 2022-04-14 | 2022-06-24 | 西北稀有金属材料研究院宁夏有限公司 | Sample residual stress detection method |
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| CN114659692B (en) * | 2022-04-14 | 2024-04-09 | 西北稀有金属材料研究院宁夏有限公司 | Method for detecting residual stress of sample |
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