CN113523642A - Welding seam detects and welding set - Google Patents
Welding seam detects and welding set Download PDFInfo
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- CN113523642A CN113523642A CN202110358826.5A CN202110358826A CN113523642A CN 113523642 A CN113523642 A CN 113523642A CN 202110358826 A CN202110358826 A CN 202110358826A CN 113523642 A CN113523642 A CN 113523642A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/12—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to investigating the properties, e.g. the weldability, of materials
- B23K31/125—Weld quality monitoring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
- G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
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Abstract
The invention discloses a welding seam detection and welding device which comprises a connecting plate, a bump I, a bump II, a lead screw sliding table, an electromagnetic inductor support, an electromagnetic inductor, a lead screw, a nut V, a welding gun connecting piece, a wheel, a bolt III, a nut III, a bolt II, a nut II, a wheel shaft, a bolt I, a nut I, a round rod and a nut VI. The invention has the advantages that the electromagnetic inductor is adopted to detect the metal damage condition, the requirement on the cleanness degree of the metal surface is low, the surface strip defect and the fatigue crack detection can be carried out without removing the coating on the metal surface, the efficiency is high, the real-time performance is strong, the detection accuracy and the intelligent level are improved, and the labor cost and the maintenance cost are reduced.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to a welding seam detection and welding device.
Background
With the rapid development of modern industry, from traditional industry to high-end equipment manufacturing industry, thick metal plate structural members develop towards large-scale and specialized directions, the corrosion damage of metal is accelerated by wind, wind and rain all the year round, the normal use of the structural members is influenced when the important metal connecting structural members have damage cracks, and great potential safety hazards are brought, so that the weld damage detection and welding of the important metal structural members are performed frequently. And traditional metal damage detects and relies on the manual work to go on more, and inefficiency and rate of accuracy are low, and the welding seam damage detects and the welding is the separate operation usually, and intelligent and degree of automation is low, is unfavorable for the large tracts of land high efficiency to develop welding seam detection and welding. The invention provides a welding seam detection and welding device, which combines automatic welding seam damage detection and metal welding automatically, and improves the welding seam detection accuracy and welding instantaneity.
Disclosure of Invention
In view of the defects of the prior art, the invention aims to provide a welding seam detection and welding device to solve the problems of severe welding operation environment and long welding operation window period in actual engineering, break through the high maintenance cost of the traditional manual detection, improve the detection efficiency of structural damage and realize real-time detection and welding.
Specifically, firstly, an advanced electromagnetic inductor is arranged on the device, the traditional nondestructive testing mode is replaced, the cleanliness requirement on the surface of a workpiece is high in the traditional nondestructive testing, the surface to be tested needs to be cleaned in advance during flaw detection, and the execution difficulty and the testing workload are increased. The invention utilizes the electromagnetic inductor on the basis of nondestructive detection, realizes the detection of the defects by measuring the change of the magnetic field intensity above the workpiece on the basis of uniform induction field, has the advantage of non-contact detection, and overcomes the defect of surface foreign matter to a certain extent. The method comprises the steps of obtaining crack information of a surface to be detected through an electromagnetic inductor, collecting an image of crack data, carrying out corresponding image processing (filtering and the like), transmitting the image to a controller of a welding gun through a cable, carrying out analysis processing on the controller on the basis of obtaining crack position information, transmitting execution information to an actuator on the device through the cable, calibrating a relative distance between a welding head and the electromagnetic inductor in advance, calculating the distance between the crack and the welding head when the position of the crack in the electromagnetic inductor is determined, and planning a welding gun running path on the basis of a related algorithm through the controller, so that accurate welding of the welding gun is accurately controlled. After the welding gun welds according to the action path planned in advance, the welding gun is kept still, and the position information and the relative information of the welding gun and the electromagnetic inductor at the moment are recorded. After the cracks detected by the electromagnetic inductor are welded and repaired, the electromagnetic inductor continuously moves forwards at the current recording position, the moving distance is recorded at all times while the electromagnetic inductor moves, when the electromagnetic inductor detects the position of the next crack, the accurate position of the crack and the depth and the width of the crack are judged, the operations are repeated, and the operations are sequentially executed until the welding seam detection and repair of the surface to be detected are completed.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a welding seam detection and welding device at least comprises a connecting plate, a lug I, a lug II, a screw rod sliding table, an electromagnetic inductor support, an electromagnetic inductor, a screw rod, a nut V, a welding gun connecting piece, a wheel, a bolt III, a nut III, a bolt II, a nut II, a wheel shaft, a bolt I, a nut I, a round rod and a nut VI;
the electromagnetic sensor is positioned in the electromagnetic sensor support, the screw rod penetrates through a hole in the electromagnetic sensor support, the electromagnetic sensor support is fixed on the connecting plate through a nut V, bosses and threads are arranged at two ends of a round rod at the position of the hole corresponding to the connecting plate, the round rod is fixed on the connecting plate through a nut VI, the round rod has a reinforcing effect on the connecting plate, a bolt III penetrates through the hole corresponding to a lug I and a lug II and is fixed through a nut III, the bolt III, the lug I and the lug II are fixed together, a screw rod sliding table is fixed on the lug II through the bolt I and the nut I, a combined positioning hole is formed in the screw rod sliding table, and the bolt I penetrates through the combined positioning hole in the screw rod sliding table to connect a plurality of screw rod sliding tables together; the bolt I penetrates through a flange hole in the lower volume of the welding gun connecting piece and a combined positioning hole in the lead screw sliding table to connect the welding gun connecting piece and the lead screw sliding table together, flange positioning holes are formed in the upper side of the welding gun connecting piece and the welding gun connecting position, the bolt II penetrates through the upper side of the welding gun connecting piece and the welding gun connecting position and is fixed with the welding gun connecting piece and a welding gun together through a nut II, the wheel shaft penetrates through a hole in the lower side of the connecting plate and is welded with the connecting plate after being adjusted in position, and wheels with bearings are fixed at two ends of the wheel shaft.
The electromagnetic inductor is an electromagnetic nondestructive detection method for detecting and analyzing a magnetic field distortion signal at a defect based on an electromagnetic induction principle, when a special coil (exciting coil) for passing alternating current is close to a conductor, the alternating current generates an alternating magnetic field in the surrounding space, and induced current on the surface of a workpiece (conductor) to be detected is gathered on the surface of the workpiece due to a skin effect. When the workpiece has no defects, the induction current lines are parallel to each other, and when a crack exists in the workpiece, the current distribution is influenced by the change of the resistivity, the current lines deflect near the crack, and the magnetic field on the surface of the workpiece is distorted. The size of the crack can be reflected by the strength of the change of the magnetic field. Compared with the traditional nondestructive detection technology, the electromagnetic inductor has the greatest advantages that in the detection process of the detected workpiece, the detection probe and the detected workpiece do not need to be in direct contact to detect the surface defects of the workpiece, the work such as early-stage polishing and test block marking does not need to be carried out, the detection process can be carried out through a surface medium, and the detection precision and the detection accuracy are greatly improved. The invention is intended to mount a guide rail on the belly of the device of the invention, when the robot moves to a desired position, the guide rail is fixed, the probe moves on the guide rail for detection, the guide rail is retracted after the detection of the part is finished, and the robot moves to the next position. The electromagnetic inductor adopts a plane array detection probe, and in order to reduce probe jitter in the advancing process of the device, the spring is adopted to press and fix the probe on the device, so that the device is ensured to be stable when accurate addressing is carried out and the electromagnetic inductor carries out probe detection. The electromagnetic inductor is arranged on the device, when the device mechanically moves along the surface to be detected at a certain speed, the electromagnetic inductor arranged on the guide rail detects the crack condition of the surface to be detected in real time, when the electromagnetic inductor detects a metal crack, the device stops moving and starts to detect the size and the depth of the crack, the electromagnetic inductor transmits the detected crack information to the controller, an operator transmits a control command to the actuator in the device on a man-machine interaction interface according to the transmitted crack information, and the actuator receives the control information and then accurately controls the moving direction and the moving distance of the welding gun to accurately weld the crack according to the specific positions and the relative positions of the welding gun and the electromagnetic inductor.
The working principle of the invention is as follows:
the invention adopts the electromagnetic inductor to detect the crack condition of the metal to be detected, the electromagnetic inductor induces uniform alternating current in the workpiece by using an alternating current electric field, the distribution of induced current around the electromagnetic inductor is changed due to defects, cracks and fatigue damage in the material, so that the distribution of the induced magnetic field on the surface of the electromagnetic inductor is changed, and the crack detection is realized by detecting the magnetic field disturbance caused by the crack on the surface of the workpiece. A guide rail is arranged on the belly of the device, an array probe of an electromagnetic inductor is pressed and fixed on the guide rail of the device by a spring, when the device moves to a desired position, the guide rail is fixed, the probe moves on the guide rail for detection, when a crack is detected, the position information and the crack information of the electromagnetic inductor at the moment are recorded, and the information data are transmitted to a control unit of a welding gun for subsequent movement control. After the part is detected, the device continues to detect forwards until the welding requirement of the metal to be detected is met.
The method has the advantages that the electromagnetic inductor is adopted to detect the metal damage condition, the requirement on the cleanness degree of the metal surface is low, the surface strip defect and the fatigue crack can be detected without removing the coating on the metal surface, the efficiency is high, the real-time performance is strong, the detection accuracy and the intelligent level are improved, and the labor cost and the maintenance cost are reduced. The traditional damage detection and welding operation are usually carried out separately, the efficiency is low, the automation degree is not high, the device of the invention timely transmits metal crack information and position information to the controller after the electromagnetic inductor detects the metal crack information and the position information, an operator timely edits commands according to the crack information and the position information to control the operation of the actuator, the actuator controls the welding gun to carry out accurate welding, the defects of low efficiency, high risk and high cost of the traditional manual welding are overcome, and the operation efficiency and the accuracy are greatly improved.
Drawings
FIG. 1 is a first schematic diagram illustrating the appearance details of the present invention;
FIG. 2 is a second schematic diagram of the appearance details of the present invention;
FIG. 3 is a schematic view of the lead screw sliding table mechanism of the present invention;
FIG. 4 is a schematic view of a screw slide of the present invention;
FIG. 5 is a schematic view of a web of the present invention;
FIG. 6 is a schematic view of a bump II according to the present invention;
FIG. 7 is a schematic view of a bump I according to the present invention;
FIG. 8 is a schematic diagram of the gun motion control of the present invention.
The reference numbers in the figures: the welding device comprises a connecting plate 1, a lug 2, a lug I, a lug II 3, a lead screw sliding table 4, an electromagnetic inductor bracket 5, an electromagnetic inductor 6, a lead screw 7, a nut V8, a welding gun 9, a welding gun connector 10, a wheel 11, a bolt III 12, a nut III 13, a bolt II 14, a nut II 15, a wheel shaft 16, a bolt I17, a nut I18, a round rod 19 and a nut VI 20.
Detailed Description
The invention will be further described with reference to the accompanying drawings, in which the following examples are given to illustrate preferred embodiments of the invention, but do not represent limitations of the invention.
Example 1
As shown in fig. 1-8, the invention relates to a welding seam detection and welding device, which comprises a connecting plate 1, a bump i 2, a bump ii 3, a screw rod sliding table 4, an electromagnetic inductor bracket 5, an electromagnetic inductor 6, a screw rod 7, a nut v 8, a welding gun 9, a welding gun connecting piece 10, a wheel 11, a bolt iii 12, a nut iii 13, a bolt ii 14, a nut ii 15, a wheel shaft 16, a bolt i 17, a nut i 18, a round rod 19 and a nut vi 20;
the electromagnetic inductor 6 is positioned in the electromagnetic inductor bracket 5, the screw rod 7 penetrates through a hole in the electromagnetic inductor bracket 5 and fixes the electromagnetic inductor bracket 5 on the connecting plate 1 by using a nut V8, two ends of a round rod 19 are provided with bosses and threads, the round rod 19 is fixed on the connecting plate 1 by using a nut VI 20, the round rod 19 has a reinforcing effect on the connecting plate 1, a bolt III 12 penetrates through a hole corresponding to a lug I2 and a lug II 3 and is fixed together by using a nut III 13, the bolt III 12, the lug I2 and the lug II 3 are fixed together, the bolt I17 and a nut I18 fix the screw rod sliding table 4 on the lug II 3, the screw rod sliding table 4 is provided with a combined positioning hole, and the bolt I17 penetrates through the combined positioning hole in the screw rod sliding table 4 to connect a plurality of screw rod sliding tables 4 together; the bolt I17 penetrates through a flange hole in the lower book of the welding gun connecting piece 10 and a combined positioning hole in the lead screw sliding table 4 to connect the welding gun connecting piece 10 and the lead screw sliding table 4 together, flange positioning holes are formed in the joint of the upper side of the welding gun connecting piece 10 and the joint of the welding gun 9, the bolt II 14 penetrates through the joint of the upper side of the welding gun connecting piece 10 and the joint of the welding gun 9 and is fixed with the welding gun connecting piece 10 and the welding gun 9 together through a nut II 15 for flange positioning holes, the wheel shaft 16 penetrates through a hole in the lower side of the connecting plate 1 and is welded with the connecting plate 1 after the position is adjusted, and wheels 11 with bearings are fixed at two ends of the wheel shaft 16.
Example 2: as shown in fig. 1 to 8, a welding line detection and welding device, includes a connecting plate 1, a bump i 2, a bump ii 3, a lead screw sliding table 4, an electromagnetic inductor bracket 5, an electromagnetic inductor 6, a lead screw 7, a nut v 8, a welding gun 9, a welding gun connector 10, a wheel 11, a bolt iii 12, a nut iii 13, a bolt ii 14, a nut ii 15, a wheel shaft 16, a bolt i 17, a nut i 18, a round bar 19, and a nut vi 20;
the electromagnetic inductor 6 is positioned in the electromagnetic inductor bracket 5, the screw rod 7 penetrates through a hole in the electromagnetic inductor bracket 5 and fixes the electromagnetic inductor bracket 5 on the connecting plate 1 by using a nut V8, two ends of a round rod 19 are provided with bosses and threads, the round rod 19 is fixed on the connecting plate 1 by using a nut VI 20, the round rod 19 has a reinforcing effect on the connecting plate 1, a bolt III 12 penetrates through a hole corresponding to a lug I2 and a lug II 3 and is fixed together by using a nut III 13, the bolt III 12, the lug I2 and the lug II 3 are fixed together, the bolt I17 and a nut I18 fix the screw rod sliding table 4 on the lug II 3, the screw rod sliding table 4 is provided with a combined positioning hole, and the bolt I17 penetrates through the combined positioning hole in the screw rod sliding table 4 to connect a plurality of screw rod sliding tables 4 together; the bolt I17 penetrates through a flange hole in the lower book of the welding gun connecting piece 10 and a combined positioning hole in the lead screw sliding table 4 to connect the welding gun connecting piece 10 and the lead screw sliding table 4 together, flange positioning holes are formed in the joint of the upper side of the welding gun connecting piece 10 and the joint of the welding gun 9, the bolt II 14 penetrates through the joint of the upper side of the welding gun connecting piece 10 and the joint of the welding gun 9 and is fixed with the welding gun connecting piece 10 and the welding gun 9 together through a nut II 15 for flange positioning holes, the wheel shaft 16 penetrates through a hole in the lower side of the connecting plate 1 and is welded with the connecting plate 1 after the position is adjusted, and wheels 11 with bearings are fixed at two ends of the wheel shaft 16.
The working principle of the invention is as follows: the invention has the advantages that when the thrust acts on the tail end of the connecting plate 1, the wheel 11 slides along the surface of a welding object, when the crack is met, the shape of the crack can be detected by the electromagnetic inductor 6, the crack shape signal is transmitted to the computer for graphic analysis to obtain X-Y axis parameter information, the change of the X-axis position is corresponded by the thrust speed, and the change of the Y-axis position is corresponded by the motor drive on the screw rod sliding table 4, so the corresponding description of the X-Y direction complex curve crack in the tail end plane of the welding gun 9 is realized, and the purpose of welding is realized.
While the present invention has been described in detail with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (4)
1. A welding seam detection and welding device is characterized by comprising a connecting plate (1), a convex block I (2), a convex block II (3), a lead screw sliding table (4), an electromagnetic inductor support (5), an electromagnetic inductor (6), a lead screw (7), a nut V (8), a welding gun (9), a welding gun connecting piece (10), a wheel (11), a bolt III (12), a nut III (13), a bolt II (14), a nut II (15), a wheel shaft (16), a bolt I (17), a nut I (18), a round rod (19) and a nut VI (20);
the electromagnetic inductor (6) is positioned in the electromagnetic inductor bracket (5), the screw rod (7) penetrates through a hole in the electromagnetic inductor bracket (5), and the electromagnetic inductor bracket (5) is fixed at the position of a hole corresponding to the connecting plate (1) by the nut V (8); bosses and threads are arranged at two ends of the round rod (19), the round rod (19) is fixed on the connecting plate (1) by the nut VI (20), the bolt III (12) penetrates through holes corresponding to the lug I (2) and the lug II (3) and is fixed by the nut III (13), and the screw rod sliding table (4) is fixed on the lug II (3) by the bolt I (17) and the nut I (18); the screw rod sliding tables (4) are provided with combined positioning holes, and the bolts I (17) penetrate through the combined positioning holes in the screw rod sliding tables (4) to connect the screw rod sliding tables (4) together; the bolt I (17) penetrates through a flange hole in the lower book of the welding gun connecting piece (10) and a combined positioning hole in the lead screw sliding table (4) to connect the welding gun connecting piece (10) and the lead screw sliding table (4) together, flange positioning holes are formed in the connecting part of the upper side of the welding gun connecting piece (10) and the welding gun (9), and the welding gun connecting piece (10) and the welding gun (9) are fixed together through the flange positioning holes by a bolt II (14) and a nut II (15); the wheel shaft (16) penetrates through a hole in the lower side of the connecting plate (1) and then is welded with the connecting plate, and wheels (11) with bearings are fixed at two ends of the wheel shaft (16).
2. Weld seam detection and welding device according to claim 1, characterized in that the electromagnetic inductor (6) detects the metal surface to be measured, acquiring image information relative to its reference coordinate system; filtering interference information through image processing; and determining a coordinate system of the image information relative to the welding manipulator base through image calibration, and further determining the position relation of the image information relative to the welding gun.
3. The weld detection and welding apparatus of claim 1, wherein the desired trajectory is input to the controller based on the weld information with the electrode tail at the weld joint as a free point; the controller controls the free point to track the track, feeds back actual track information in real time, performs error analysis with an expected track, and corrects the motion of the welding mechanism in real time.
4. The weld detection and welding apparatus of claim 1, wherein the free point includes spatial coordinates xyz and euler angle rpy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110358826.5A CN113523642A (en) | 2021-04-02 | 2021-04-02 | Welding seam detects and welding set |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110358826.5A CN113523642A (en) | 2021-04-02 | 2021-04-02 | Welding seam detects and welding set |
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| Publication Number | Publication Date |
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| CN113523642A true CN113523642A (en) | 2021-10-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110358826.5A Pending CN113523642A (en) | 2021-04-02 | 2021-04-02 | Welding seam detects and welding set |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114871612A (en) * | 2022-05-31 | 2022-08-09 | 长江智能科技(广东)股份有限公司 | Automatic welding detection production line |
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2021
- 2021-04-02 CN CN202110358826.5A patent/CN113523642A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114871612A (en) * | 2022-05-31 | 2022-08-09 | 长江智能科技(广东)股份有限公司 | Automatic welding detection production line |
| CN114871612B (en) * | 2022-05-31 | 2024-05-10 | 长江智能科技(广东)股份有限公司 | Automatic welding detection production line |
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