CN107228617B - The detection method and detection means of titanium/aluminum alloy T type joint back side bars position - Google Patents
The detection method and detection means of titanium/aluminum alloy T type joint back side bars position Download PDFInfo
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- CN107228617B CN107228617B CN201710274059.3A CN201710274059A CN107228617B CN 107228617 B CN107228617 B CN 107228617B CN 201710274059 A CN201710274059 A CN 201710274059A CN 107228617 B CN107228617 B CN 107228617B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
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Abstract
The present invention relates to the detection method and detection means of a kind of titanium/aluminum alloy T type joint back side bars position, belong to welding automatization technology field.In the top of panel to be detected, arrangement is provided with the sweep mechanism of detection sensor, applies pumping signal to excitation coil；Excitation coil is produced compared with high-intensity magnetic field in space, cause current vortex on part to be measured, make circular motion of the detection sensor along swivel base, the gusset of T connector is scanned, detectable far-field eddy is overleaf produced in gusset, far-field eddy produces a detectable signal in search coil pair, and the detectable signal obtains voltage signal after processing, the center position coordinates { X of the detection sensor of each detection moment during writing scant,ZtAnd corresponding voltage signal, { the X corresponding with minimum voltage signal among two maximum voltage signalsmin,ZminBe back side gusset position.The present invention improves the reliability of titanium/aluminum alloy T type joint back side bars position detection, expands the application of detection method.
Description
Technical field
The present invention relates to the detection method and detection means of a kind of titanium/aluminum alloy T type joint back side bars position, belong to weldering
Connect technical field of automation.
Background technology
Sandwich structure plate is a kind of new sandwich form, is typically made up of upper and lower two pieces of panels and middle gusset,
Have the advantages that specific strength is high, specific stiffness is big, have in industries such as rocket engine manufacture, shipbuilding, ocean platform manufactures good
Application prospect.But its manufacturing process is more complicated, particularly the connection of panel and gusset, which turns into, hinders its wide variety of maximum
Obstacle.The connection that panel and gusset are carried out using welding procedure general at present, frequently with mainly penetration fustion welding, the weldering of formation
Seam is because likeness in form tee is so referred to as T connector.But because top panel has blocked gusset in welding process, therefore how fast
The fast motion for accurately detecting the position of T connector back side gusset and guiding related processing equipment especially welding equipment just into
For the key of the structure manufacturing process.
Chinese patent《By means of electromagnetic radiation determine a slender body relative to a Barriers surface location method and
Device》(the patent No.：008000166) a kind of thin long and narrow object that determines is proposed relative to a Barriers surface location
Method, this method proposes that, in the case where approaching and moving along the object longitudinal direction, one by the radiation beam of Accurate collimation
It is inclined by sighting onto object from the Barriers side away from the object, while is vibrated in the above with right angle or scan fortune
It is dynamic；It is collected from the radiation of object backscattering in the same side of object, can by the peak change for the signal being collected into
To determine the center of object i.e. gusset.The invention also proposes a kind of device for realizing this method.But this method
The electromagnetic radiation (being commonly used in actual production includes X ray, gamma-rays etc.) mentioned has certain radiativity, easily to scene
The health of technical staff produces considerable influence, while has certain requirement to all kinds of protective equipments at scene, virtually carries
High cost, is unfavorable for the application and popularization of method；In addition, the above method requires the radiation beam that sends of electromagnetic radiation source and detection
The segment distance that the position being concerned between device observation area must be positioned under barrier, to ensure that detection device can be collected into
Come from the radiation signal for the elongated gusset backscattering that need to be detected, this is just to radiation source and detection device and the phase of barrier
Limitation is proposed to position to require；Simultaneously as the attenuation by absorption in barrier such as electromagnetic radiation along with backscattering compared with
The reason such as weak, the above method is also not particularly suited for detecting the larger situation of barrier and gusset gap, because having in this case
Detection device may be caused can not to be collected into the signal of gusset backscattering.And the electromagnetic radiation beam detection method is due to ray
Beam diameter is smaller, backscattering is weaker etc., more sensitive with sheet separation above for gusset,
Separately there is Chinese patent《Forward type dual sensor currents sensing automatic weld tracking control method》(authorize publication number：
104070267B), the patent proposes a kind of forward type dual sensor currents sensing automatic weld tracking control method, this method
The impedance Z up to dual sensor eddy current sensor head coil is used, by measured value and metal distance between plates H and the phase of the coil
The voltage value signal U outputs formed to area S changing value, so as to obtain voltage value signal U and metallic plate in welding process
Between distance H and voltage value signal U and relative area S linear relationship, so as to realize soldering joint automatic tracking control.This method is only
The positioning of surface weld is realized, fails the detection of the class formation of dorsal support gluten plate.Two sensors are used in the above method
Distance H and relative area S between measurement and metallic plate respectively, the distance H that height sensor detects is compensated to area transducer,
Changed again by the left and right area of area transducer and carry out clear and definite position while welding, positional information acquisition approach need to be by one in this method
Fixed computing, acquisition of information slightly postpone；In addition, during tracking being possible to that error phenomenon occurs, for example work as highly sensing
Device has detected the depth information of weld seam, but area transducer does not detect the depth information also, at this moment if H is compensated to face
Product sensor, then can cause some positional informations for getting not accurate enough.
The content of the invention
The purpose of the present invention is to propose to the detection method and detection means of titanium/aluminum alloy T type joint back side bars position, pin
To the weak point of prior art, by a kind of comparatively safe method, titanium/aluminum alloy T type joint back of the body is quick and precisely detected
The position of gluten plate, to guide corresponding process equipment to carry out the manufacture of clamp region.
The detection method of titanium proposed by the present invention/aluminum alloy T type joint back side bars position, comprises the following steps：
(1) inspection in the top of titanium to be detected/aluminum alloy T type joint panel one sweep mechanism of arrangement, sweep mechanism
Surveying sensor includes excitation coil and search coil pair, makes the axis of sweep mechanism and the face of titanium to be detected/aluminum alloy T type joint
Plate is vertical；The line of centres of search coil pair is vertical with the gusset of titanium to be detected/aluminum alloy T type joint, and the one of search coil pair
Equipotential connection is carried out to Same Name of Ends, another pair Same Name of Ends of search coil pair is used to detect titanium to be detected/aluminum alloy T type joint
Gusset in eddy current signal Uin；
(2) a low-frequency high-amplitude value simple alternating current pumping signal I is applied to the excitation coil in detection sensorin；
(3) make circular motion of the detection sensor along swivel base, the gusset of titanium to be detected/aluminum alloy T type joint is entered
Row scanning, produces detectable far-field eddy in the back side gusset of titanium to be detected/aluminum alloy T type joint, and titanium to be detected/aluminium closes
Far-field eddy in the back side gusset of golden T connector produces a detectable signal U in search coil pairin, search coil is to defeated
Go out detectable signal Uin, signal processing system is to detectable signal UinCarry out preposition amplification, bandpass filtering, autobalance, program control put
Greatly, phase-sensitive detection, LPF and Vector modulation, voltage signal U is obtainedout；
(4) during writing scan the detection sensor of each detection moment center position coordinates { Xt,ZtAnd it is corresponding
Voltage signal Uout, wherein subscript t is detection moment, when circular motion of the detection sensor along swivel base is perpendicular through treating
When detecting the back side gusset of titanium/aluminum alloy T type joint, with the minimum voltage signal U among two maximum voltage signalsoutRelatively
Coordinate { the X answeredmin,Zmin, the position of the back side gusset of titanium/aluminum alloy T type joint as to be detected.
The detection means of titanium proposed by the present invention/aluminum alloy T type joint back side bars position, including sweep mechanism, sliding block,
X direction guiding rails, Y-direction guide rail, Z-direction guide rail and control and signal processing system；Described sweep mechanism is arranged under Y-direction guide rail
Portion, described sliding block are arranged on X direction guiding rails, and described Y-direction guide rail is moved by sliding block along X direction guiding rails, described X direction guiding rails
It is erected on Z-direction guide rail；Described sweep mechanism is made up of swivel base and detection sensor, and swivel base is led installed in Y-direction
The bottom of rail, detection sensor are arranged on by rolling bearing on the circumference of swivel base, detection sensor in detection process
Along the circular motion of swivel base；Described detection sensor by excitation coil and search coil to forming, excitation coil and spy
Test coil to being from top to bottom coaxially mounted on the circumference of swivel base, excitation coil and search coil to sharing a set of magnetic core,
The height of excitation coil is more than detection coil pair, and the bottom of excitation coil is around the outside of search coil pair；Described scanning
Mechanism is located at the top of titanium to be detected/aluminum alloy T type joint.
The detection method and detection means of titanium proposed by the present invention/aluminum alloy T type joint back side bars position, its advantage
It is：
(1) detection method of the invention, plate above thicker can be passed through and accurately detect titanium/aluminum alloy T type joint
Back side bars position, improve the degree of accuracy of welding.
(2) detection method of the invention can reduce influence of the gap fluctuations of gusset and top panel to accuracy of detection, because
This substantially increases the reliability of titanium/aluminum alloy T type joint back side bars position detection.
(3) in methods and apparatus of the present invention, because the diffusion velocity of electromagnetic field is equal to the light velocity, it is far longer than mechanical movement
Speed, therefore the inventive method can realize the high-velocity scanning campaign of detection sensor, fast positioning can be arrived in dynamic
The center of gusset, therefore the gusset detection and tracking of high-speed welding process can be competent at, improve the application of detection method
Scope.
(4) detection means of the invention, is a kind of safer nondestructiving detecting means, is come compared to more existing detection method
No radiation hazradial bundle is said, it is more convenient and safe, it is easy to popularize.
(5) the more existing detection device of detection means of the present invention, small volume, therefore product cost is reduced, and also it is easy to operate,
It is easy to maintain.
Brief description of the drawings
Fig. 1 is the structural representation of the detection means of titanium proposed by the present invention/aluminum alloy T type joint back side bars position.
Fig. 2 is the position relationship schematic diagram of sweep mechanism and gusset in the detection means shown in Fig. 1.
Fig. 3 is output signal U of the present inventionoutAmplitude is with time (position) change schematic diagram.
In Fig. 1 and Fig. 2,1 is detection sensor, and 2 be excitation coil, and 3 be search coil pair, and 4 be sliding block, and 5 be guide X
Rail, 6 be Z-direction guide rail, and 7 be sweep mechanism, and 8 be swivel base, and 9 be rolling bearing, and 10 be Y-direction guide rail, and 11 be control and signal
Processing system, 12 be T connector, and 13 be top panel, and 14 be gusset.
Embodiment
A kind of detection method of titanium proposed by the present invention/aluminum alloy T type joint back side bars position, comprises the following steps：
(1) in the top of titanium to be detected/aluminum alloy T type joint panel 13 one sweep mechanism of arrangement, sweep mechanism
Detection sensor includes excitation coil and search coil pair, makes the axis and titanium to be detected/aluminum alloy T type joint of sweep mechanism
Panel is vertical；The line of centres of search coil pair is vertical with the gusset 14 of titanium to be detected/aluminum alloy T type joint 12, search coil
To a pair of Same Name of Ends carry out equipotential connection, another pair Same Name of Ends of search coil pair is used to detect titanium/aluminum alloy T to be detected
Eddy current signal U in the gusset of type jointin；The diameter of single search coil is more than the half of gusset thickness and is less than gusset thickness
Twice, to obtain high detection sensitivity and precision.
(2) a low-frequency high-amplitude value simple alternating current pumping signal I is applied to the excitation coil in detection sensorin；Excitation
Coil produces stronger magnetic field in space, so as to cause current vortex on part to be measured.Because frequency is relatively low, the collection skin effect of current vortex
Should be relatively weak, it ensure that vortex can pass through panel and reach gusset.
(3) make circular motion of the detection sensor along swivel base, the gusset of titanium to be detected/aluminum alloy T type joint is entered
Row scanning, produces detectable far-field eddy in the back side gusset of titanium to be detected/aluminum alloy T type joint, and titanium to be detected/aluminium closes
Far-field eddy in the back side gusset of golden T connector produces a detectable signal U in search coil pairin, search coil is to defeated
Go out detectable signal Uin, signal processing system is to UinCarry out preposition amplification, bandpass filtering, autobalance, programming amplifying, phase sensitivity inspection
Survey, LPF and Vector modulation, obtain voltage signal Uout；
(4) during writing scan the detection sensor of each detection moment center position coordinates { Xt,ZtAnd it is corresponding
Voltage signal Uout, wherein subscript t is detection moment, when circular motion of the detection sensor along swivel base is perpendicular through treating
When detecting the back side gusset of titanium/aluminum alloy T type joint, with the minimum voltage signal U among two maximum voltage signalsoutRelatively
Coordinate { the X answeredmin,Zmin, the position of the back side gusset of titanium/aluminum alloy T type joint as to be detected.
The detection means of titanium proposed by the present invention/aluminum alloy T type joint back side bars position, its structural representation such as Fig. 1
It is shown, it is characterised by, the detection means includes sweep mechanism 7, sliding block 4, X direction guiding rails 5, Y-direction guide rail 10, Z-direction guide rail 6 and control
With signal processing system 11.Sweep mechanism 7 is arranged on the bottom of Y-direction guide rail 10, and sliding block 4 is arranged on X direction guiding rails 5, Y-direction guide rail
10 are moved by sliding block 4 along X direction guiding rails 5.X direction guiding rails 5 are erected on Z-direction guide rail 6.Sweep mechanism 7 is by swivel base 8 and detection
Sensor 1 forms, and swivel base 8 is arranged on the bottom of Y-direction guide rail 10, and detection sensor 1 is arranged on rotation by rolling bearing 9
On the circumference for turning chassis 8, circular motion of the detection sensor 1 along swivel base 8 in detection process.Detection sensor 1 is by encouraging
Coil 2 and search coil form to 3, and excitation coil 2 and search coil are to 3 circles for being from top to bottom coaxially mounted to swivel base 8
Zhou Shang, excitation coil 2 and search coil share a set of magnetic cores to 3, and the height of excitation coil 2 is more than search coil to 3, excitation line
Circle 2 bottom around search coil to 3 outside.Sweep mechanism 7 is located at the top of titanium to be detected/aluminum alloy T type joint 12,
As shown in Figure 2.
Below in conjunction with the accompanying drawings, to the principle of titanium proposed by the present invention/aluminum alloy T type joint back side bars position detection method
It is described further.
In titanium proposed by the present invention/aluminum alloy T type joint back side bars position detection method, control and information processing system
Single-chip microcomputer control exciting unit in 11 produces the simple alternating current pumping signal of low frequency fixed ampllitude based on DDS, and the signal passes through band logical
Low-frequency high-amplitude value simple alternating current excitation I is obtained after filtering and power amplificationin, excitation of the signal function in detection sensor 1
Coil 2 produces stable alternating electromagnetic field in space.In one embodiment of the present of invention, control uses with information processing system 11
Model ADuC812, the microprocessor products produced by Analog Devices companies are formed for core.
Detection sensor 1 circles under the drive of sweep mechanism 7, perpendicular through the T connector back side to be detected gusset
During 14 upper area, magnetic field is produced in the T connector back side to be detected gusset 14 caused by the excitation coil 2 of detection sensor 1
Raw detectable far-field eddy, the search coil in detection sensor 1 are detected to 3 in the T connector back side to be detected gusset 14
Far-field eddy signal Uin, control is with the information processing system in information processing system 11 to detectable signal UinPut before carrying out
Greatly, bandpass filtering, autobalance, programming amplifying, phase-sensitive detection, LPF, Vector modulation, voltage signal U is obtainedout。
Control and the detection of each detection moment during the single-chip microcomputer collection and writing scan in information processing system 11 pass
Center position coordinates { the X of sensor 1t,ZtAnd corresponding voltage signal Uout, wherein subscript t is detection moment；When detection senses
Circular motion of the device 1 along swivel base 8 perpendicular through titanium to be detected/aluminum alloy T type joint 12 back side gusset 14 when, monolithic
Machine judges and minimum UoutCorresponding { Xmin,ZminBe titanium to be detected/aluminum alloy T type joint back side gusset 14 center
Coordinate.
Error be present in view of the positioning of minimum, single-chip microcomputer judges to pass through two maximum UoutPosition corresponding to detection moment
Put coordinate { Xmax1,Zmax1And { Xmax2,Zmax2Be respectively gusset 14 both sides of the edge, the midpoint { (X at two edgesmax1+
Xmax2‐)/2,(Zmax1+Zmax2)/2 } be the center of back side gusset 14 auxiliary coordinate.
By certain algorithm such as averaging method etc., the centre coordinate and auxiliary coordinate of back side gusset 14 are integrated, obtained
More accurately coordinate is corrected at the center of the T connector back side to be detected gusset 14.
Titanium proposed by the present invention/aluminum alloy T type joint back side bars position detection means, including detection sensor 1, scanning
Mechanism 7, sliding block 4, X direction guiding rails 5, Y-direction guide rail 10, Z-direction guide rail 6 and control and signal processing system 11.
Detection sensor 1 includes excitation coil 2 and search coil to 3.Excitation coil 2 and search coil to 3 from top to bottom
It is coaxially mounted on the circumference of swivel base 8, excitation coil 2 and search coil share a set of magnetic core, the height of excitation coil 2 to 3
Degree is more than search coil to 3, the bottom of excitation coil 2 around search coil to 3 outside.
Sweep mechanism 7 includes detection sensor 1, swivel base 8, rolling bearing 9.Swivel base 8 drives detection sensor 1
Circled in the top of T connector 12 to be detected, the plane of circular motion is hung down with the T connector back side to be detected gusset 14
Directly, the center of circle of swivel base 8 is located at the surface at the center of gusset 14, and detection sensor 1 passes through rolling bearing 9 and swivel base 8
Connection, is relatively rotated between detection sensor 1 and swivel base 8 by rolling bearing 9, keeps detection sensor 1 in circle
And the search coil of detection sensor 1 constant to the posture and angle of gusset 14 is passed through with identical posture all the time to 3 in Zhou Yundong
Cross the area just above of T connector 12 to be detected.
Sweep mechanism 7 is arranged on the bottom of Y-direction guide rail 10, and detection sensor 1 and gusset 14 are adjusted by Y-direction guide rail 10
Vertical interval.
Sliding block 4 is arranged on X direction guiding rails 5, and Y-direction guide rail 10 is moved by sliding block 4 along X direction guiding rails 5, and X direction guiding rails 5 are according to inspection
The centre coordinate of the gusset 14 driving sliding block 4 measured moves, and the swivel base 8 in sweep mechanism 7 is located at the surface of gusset 14.
Control includes exciting unit, signal processing system and single-chip microcomputer with signal processing system 11.Exciting unit is based on straight
Digital Frequency Synthesize (DDS) technology is connect, the sine wave signal of low frequency fixed ampllitude, the signal are synthesized from AD9854 chips full digital
After bandpass filtering and the amplification of LM1875 power chips, low-frequency high-amplitude value simple alternating current pumping signal I is producedin, for driving
Excitation coil 2, to produce detectable far-field eddy in T connector back side gusset 14.Signal processing system is to detecting line
Circle detects the far-field eddy signal U in T connector back side gusset 14 to 3in, after carrying out preposition amplification, bandpass filtering, obtain one
Individual unbalanced Uin1Signal, a signal opposite with the signal, the signal and U are synthesized by automatic balancing circuitin1Synthesis
Afterwards, the U of outputin2Signal will be balanced near 0 line；Then again to Uin2Signal carries out programming amplifying, phase-sensitive detection, low pass filtered
After ripple, Vector modulation, output voltage signal Uout, relative to Uin, due to UoutAmplitude change and phase place change carry out vector
It is added, UoutWith higher signal to noise ratio and sensitivity.；Single-chip microcomputer coordinates control sweep mechanism 7, exciting unit, signal transacting system
The work of system, and the center position coordinates { X of acquisition testing sensor 1t,ZtAnd corresponding UoutSignal, when being scanned by analyzing
Voltage signal UoutAmplitude versus time curve, position minimum point, so as to obtain gusset central instant, detect corresponding to this moment
The center position coordinates of sensor 1 are the centre coordinate of gusset 14.
X direction guiding rails 5 are erected on Z-direction guide rail 6, and Z-direction guide rail 6 can drive X direction guiding rails 5 to be chased after along welding direction
Track.
In titanium proposed by the present invention/aluminum alloy T type joint back side bars position detection method, sweep mechanism 7 drives detection
Sensor 1 carries out circular scanning campaign, detection sensor 1 and the position of the T connector back side to be detected gusset 14 in scanning motion
Relation is as shown in Figure 2.A diameter of d of search coil in detection sensor 1x, the centre distance swivel base 7 of detection sensor 1
The distance at center be R1, the thickness of gusset 14 is d, and the swivel base 8 in sweep mechanism 7 is with angular velocity omega0Drive detection sensor
1 passes through the upper area of gusset 14, and detection range (position B) to the detection that detection sensor 1 is initially entered from gusset 14 senses
It is α that the center of device 1, which overlaps the angle that (position C) is turned over the center of gusset 14,.
During initialization, detection sensor 1 is in position A, and as shown in Figure 2, now gusset 14 is also introduced into detection sensing
The detection range of device 1, voltage signal can be obtained with information processing system 12 by, which controlling, isThis is
The output signal U of search coil 3inThe voltage signal obtained after information processing system, the frequency f of signal1By pumping signal Iin
Frequency determines that signal amplitude maintains low value U1.In theory, if two coil strict conformances of sensor, the material of panel
With thickness absolute uniform, U1Should be 0.But actual conditions are U1It can be a smaller value.
Detection sensor 1 continues to move to, and as in-position B, gusset 14 initially enters the detection model of detection sensor 1
In enclosing, output signal UoutAmplitude change.
Detection sensor 1 is by position B → C, output signal UoutAmplitude gradually increase, reach high level UmaxAfterwards, start again
It is gradually reduced.When the center of detection sensor 1 overlaps (i.e. the in-position C of detection sensor 1) with the center of gusset 14,
Output signal UoutAmplitude be preferably minimized value U1。
Now sin α=(0.5d+dx)/R1
So angle turned over
The process duration
Detection sensor 1 gradually leaves position C, output signal UoutIt can undergo and change with symmetrical amplitude versus time before
Journey：Amplitude gradually reduces again after being gradually increased to a certain degree.It is defeated after gusset 14 leaves the detection range of detection sensor 1
Go out signal UoutAmplitude return to low value U1。
The above-mentioned scanning process duration isAs shown in Figure 3.
In above-mentioned scanning process, dxWith d it is close when Detection results it is best.Because dxOutput signal U during more than doutTwo
The distance between peak value T increases, signal intensity of the characteristic curve at the central instant of gusset 14 shown in Fig. 3 is shallower, is not easy
The center moment for obtaining characteristic gusset central instant or acquisition is inaccurate；Work as dxDuring less than d, voltage can be caused
Signal UoutTwo peak value UmaxSmaller, the change of peak value to valley floor is relatively slow, so as to cause the location difficulty of gusset center；
Work as dxDuring less than d/2, the voltage signal U of output is detectedoutCharacteristic curve occur near central instant one section it is lasting low
Value, will now be not easy to obtain the center moment.
As shown in Fig. 2 the related processing equipment translational speed that welding determines according to technological requirement is v, position C and D are round
The adjacent detection sampled point of detection sensor two on gusset 14 in all scanning processes, when detection sensor 1 is by position C → D, biography
Sensor Far East Time is t1=π/ω0, because detection sensor 1 needs the center using gusset 14 to shift to an earlier date as control signal
Welding equipment is transferred to, therefore it is required that welding equipment is moved to position D time t2≥t1, it is known that t2=2R1/ v, so detection
The sweep speed of sensor 1 at least ω0≥πv/2R1.And in order to improve accuracy of detection, the traveling time t of welding equipment2It should take
t1N times, so just can be before welding equipment to 14 a certain position of gusset with regard to the n before obtaining the position in sensor
Sampled point is detected, improves the accuracy of detection of the position of gusset 14.
Titanium proposed by the present invention/aluminum alloy T type joint back side bars position detection means, its workflow include following several
Individual step：
Step 1: determine the suitable vertical spacing of sweep mechanism 7 and titanium to be detected/aluminum alloy T type joint back side gusset 14
With pumping signal IinSuitable frequency.
Sweep mechanism 7 drives detection sensor 1 to carry out circular scanning campaign, if voltage signal U after moving one weekout's
Amplitude then reduces sweep mechanism 7 and titanium to be detected/aluminum alloy T type joint back side gusset 14 without significant change by Y-direction guide rail 10
Vertical interval, or pass through control and the exciting unit in signal processing system 11 and reduce pumping signal IinFrequency, Zhi Dao electricity
Press signal UoutAmplitude when there is significant change, keep now sweep mechanism 7 and titanium to be detected/aluminum alloy T type joint back side muscle
The vertical interval and pumping signal I of plate 14inFrequency it is constant.
Step 2: record the center position coordinates { X of the detection sensor 1 of each detection moment during circular scanningt,Zt}
And corresponding voltage signal Uout
Sweep mechanism 7 drives detection sensor 1 to be hung down from titanium to be detected/upper area of aluminum alloy T type joint back side gusset 14
Straight through voltage signal UoutThere is following change：When gusset 14 initially enters the detection range of detection sensor 1, UoutAmplitude
Low value U of the meeting by1Start to increase, after a certain high level is reached, as detection sensor 1 moves closer to the center of gusset 14
Position, UoutAmplitude start to be gradually reduced again.The U when the center of detection sensor 1 overlaps with the center of gusset 14out's
Amplitude is preferably minimized U1.Detection sensor 1 continues to move to, output signal UoutIt can undergo and change with symmetrical amplitude versus time before
Process：UoutAmplitude starts gradually to reduce again after being gradually increased to a certain degree again, when detection sensor 1 gradually leaves gusset 14
Edge after, voltage signal UoutAmplitude return to low value.Detection sensor 1 is rotated further,
Control and the center of the detection sensor 1 of each detection moment during record circular scanning in information processing system 12
Position coordinates { Xt,ZtAnd corresponding voltage signal Uout, minimum UoutCorresponding { Xmin,ZminIt is that titanium to be detected/aluminium closes
The center position coordinates of the back side gusset 14 of golden T connector.
Step 3: welding direction is followed the trail of by Z-direction guide rail 6 while tracking gusset by X direction guiding rails 5.
Send the position coordinates at the center of gusset 14 to single-chip microcomputer as control signal and do not represent for above-mentioned control
The welding equipment that system is controlled with information processing system 11.
Single-chip microcomputer drives sliding block 4 to adjust detection sweep mechanism along X direction guiding rails 5 according to the center position coordinates of gusset 14 of acquisition
7 with the relative position of gusset 14, sweep mechanism 7 is always positioned at the surface of gusset 14, keep detection sensor 1 and gusset 14
Relative pose it is constant.Meanwhile while welding equipment moves according to the centre coordinate of gusset 14 of transmission, single-chip microcomputer drives
Dynamic Z-direction guide rail 6 drives sweep mechanism 7 to be moved along the direction of welding, in moving process along Z-direction gusset each point centre bit
The information put is gathered and recorded one by one, guides the motion of welding equipment.
Claims (2)
1. the detection method of a kind of titanium/aluminum alloy T type joint back side bars position, it is characterised in that this method includes following step
Suddenly：
(1) detection in the top of titanium to be detected/aluminum alloy T type joint panel one sweep mechanism of arrangement, sweep mechanism passes
Sensor includes excitation coil and search coil pair, and the axis and the panel of titanium to be detected/aluminum alloy T type joint for making sweep mechanism hang down
Directly；The line of centres of search coil pair is vertical with the gusset of titanium to be detected/aluminum alloy T type joint, and a pair of search coil pair are same
Name end carries out equipotential connection, and another pair Same Name of Ends of search coil pair is used for the muscle for detecting titanium to be detected/aluminum alloy T type joint
Eddy current signal U in platein；
(2) a low-frequency high-amplitude value simple alternating current pumping signal I is applied to the excitation coil in detection sensorin；
(3) make circular motion of the detection sensor along swivel base, the gusset of titanium to be detected/aluminum alloy T type joint is swept
Retouch, detectable far-field eddy, titanium/aluminum alloy T to be detected are produced in the back side gusset of titanium to be detected/aluminum alloy T type joint
Far-field eddy in the back side gusset of type joint produces a detectable signal U in search coil pairin, search coil is to output spy
Survey signal Uin, signal processing system is to detecting UinCarry out preposition amplification, bandpass filtering, autobalance, programming amplifying, phase sensitivity inspection
Survey, LPF and Vector modulation, obtain voltage signal Uout；
(4) during writing scan the detection sensor of each detection moment center position coordinates { Xt,ZtAnd corresponding voltage
Signal Uout, wherein subscript t is detection moment, when circular motion of the detection sensor along swivel base is perpendicular through to be detected
During the top of the back side gusset of titanium/aluminum alloy T type joint, the output signal U within the periodoutPresentation first increases to be reduced so again
Increase the change procedure reduced again again afterwards, two maximum peak voltage signals and a smallest peaks valley voltage signal occur, wherein
Two peak signals can be exported when detection sensor center is alignd with gusset both sides of the edge, when detection sensor center and gusset
Can export minimum value signal during center alignment, thus with the minimum voltage signal U among two maximum voltage signalsoutIt is corresponding
Coordinate { Xmin,Zmin, the position of the back side gusset of titanium/aluminum alloy T type joint as to be detected.
2. the detection means of a kind of titanium/aluminum alloy T type joint back side bars position, it is characterised in that the detection means includes sweeping
Retouch mechanism, sliding block, X direction guiding rails, Y-direction guide rail, Z-direction guide rail and control and signal processing system；Described sweep mechanism is arranged on Y
The bottom of direction guiding rail, described sliding block are arranged on X direction guiding rails, and described Y-direction guide rail is moved by sliding block along X direction guiding rails, institute
The X direction guiding rails stated are erected on Z-direction guide rail；Described sweep mechanism is made up of swivel base and detection sensor, swivel base
Installed in the bottom of Y-direction guide rail, detection sensor is arranged on by rolling bearing on the circumference of swivel base, in detection process
Circular motion of the detection sensor along swivel base；Described detection sensor, to forming, is swashed by excitation coil and search coil
Coil and search coil are encouraged to being from top to bottom coaxially mounted on the circumference of swivel base, excitation coil and search coil are to sharing
A set of magnetic core, the height of excitation coil are more than detection coil pair, and the bottom of excitation coil is around the outside of search coil pair；Institute
The sweep mechanism stated is located at the top of titanium to be detected/aluminum alloy T type joint.
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| CN201710274059.3A CN107228617B (en) | 2017-04-25 | 2017-04-25 | The detection method and detection means of titanium/aluminum alloy T type joint back side bars position |
| JP2018083206A JP6507285B2 (en) | 2017-04-25 | 2018-04-24 | Front detection method of position of rear rib plate of titanium aluminum alloy T-shaped structure and detection device therefor |
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| JPS5930478A (en) * | 1982-08-11 | 1984-02-18 | Hitachi Zosen Corp | Position detector of welding robot |
| JPH1058141A (en) * | 1996-08-23 | 1998-03-03 | Osaka Gas Co Ltd | Welding position detecting device |
| SE513401C2 (en) * | 1999-01-15 | 2000-09-11 | Volvo Aero Corp | Method and apparatus for determining the position of an elongated object in relation to the surface of a forward body by electromagnetic radiation |
| CN102928504B (en) * | 2012-11-14 | 2016-03-23 | 西部钛业有限责任公司 | Detect tubing interior crossing type eddy current detecting equipment |
| CN103761995A (en) * | 2014-01-29 | 2014-04-30 | 清华大学 | High temperature gas cooled reactor outside fitted ball passing detection method and system having self-diagnostic function |
| US9347764B2 (en) * | 2014-04-23 | 2016-05-24 | American Axle & Manufacturing, Inc. | Sensor assembly configured to sense target movement in first direction and insensitive to target movement in second and third directions orthogonal to first direction |
| CN104070267B (en) * | 2014-05-23 | 2016-06-22 | 湘潭大学 | Forward type dual probe currents sensing automatic weld tracking control method |
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