CN203732502U - Ultrasonic wave whisk broom seam tracking system - Google Patents
Ultrasonic wave whisk broom seam tracking system Download PDFInfo
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- CN203732502U CN203732502U CN201420005972.5U CN201420005972U CN203732502U CN 203732502 U CN203732502 U CN 203732502U CN 201420005972 U CN201420005972 U CN 201420005972U CN 203732502 U CN203732502 U CN 203732502U
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- 244000007853 Sarothamnus scoparius Species 0.000 title abstract 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 50
- 239000000523 sample Substances 0.000 claims abstract description 39
- 238000010408 sweeping Methods 0.000 claims description 58
- 238000002604 ultrasonography Methods 0.000 claims description 20
- 239000012528 membrane Substances 0.000 claims description 7
- 238000003466 welding Methods 0.000 abstract description 12
- 230000033001 locomotion Effects 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 16
- 230000008569 process Effects 0.000 description 13
- 230000002787 reinforcement Effects 0.000 description 8
- 239000002184 metal Substances 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000010791 quenching Methods 0.000 description 3
- 230000000171 quenching effect Effects 0.000 description 3
- 238000005476 soldering Methods 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 230000005284 excitation Effects 0.000 description 2
- 238000009659 non-destructive testing Methods 0.000 description 2
- 230000011664 signaling Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000008034 disappearance Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The utility model relates to an ultrasonic wave whisk broom seam tracking system. The ultrasonic wave whisk broom seam tracking system mainly comprises an automatic whisk broom mechanical subsystem and a data acquisition subsystem, wherein the data acquisition subsystem comprises an ultrasonic wave signal acquisition part and a computer. The ultrasonic wave whisk broom seam tracking system is characterized in that the ultrasonic wave signal acquisition part acquires a signal of an ultrasonic wave probe of the automatic whisk broom mechanical subsystem and transmits the signal to the computer, and the computer controls a servo motor of the automatic whisk broom mechanical subsystem and a water bag to lift an air cylinder and record a position signal of an encoder. The ultrasonic wave whisk broom seam tracking system has the advantages that an ultrasonic wave straight probe is parallel to a tube body, and cyclical whisk broom movement is done; wave amplitude of an echo reflecting signal at the bottom of an ultrasonic wave is changed as inner burrs are kept on a welding reverse side of a welding seam, and the center of the welding seam is identified.
Description
Technical field
The utility model relates to soldering joint automatic tracking field when steel pipe seam is carried out to Non-Destructive Testing, is specifically related to a kind of system of utilizing ultrasound wave real-time follow-up tack weld.
Background technology
At present, known weld joint tracking relates generally to image recognition mode, and identification weld reinforcement or color, realize butt welded seam and carry out track and localization.Identification weld reinforcement is mainly by laser tracking mode, the linear laser that uses laser instrument to get produces deformation on the weld seam that has certain reinforcement, by the deformation map picture of camera collection, identification weld seam relative position information comes butt welded seam center to be followed the tracks of, but the weld seam that this kind of method followed the tracks of must have certain reinforcement and easily be subject to the interference of light; Color identification weld seam mode is by weld seam welding process, on automatic soldering device, install a set of line-plotting device simultaneously additional, position while welding and the relative position of the line drawing are fixed, identify drawn line color by image identification system again and realize the object of following the tracks of weld seam, this device has overcome the requirement of butt welded seam reinforcement, but exist quenching technical in a lot of weld seam welding processes simultaneously, cause color change or the disappearance of setting-out, the automatic line-plotting device simultaneously installing additional has also increased welding cost.
Existing a lot of ERW(high frequency sews resistance welding pipes) body weld seam does not all have reinforcement, is one quenching technical with that after pipe welding simultaneously, if it is just all improper to use like this image recognition mode to follow the tracks of.
Summary of the invention
In order to overcome the existing restrictive condition that in image recognition processes, seam laser is followed the tracks of and setting-out is followed the tracks of that utilizes, the purpose of this utility model is to provide a kind of ultrasound wave sweeping seam tracking system, this system keeps track mode can overcome for weld seam does not have reinforcement or reinforcement to be less than 0.5mm, the tracking shortcoming that the weld seam that has again quenching process cannot realize setting-out function simultaneously exists.Native system is mainly to utilize ultrasonic normal probe to be parallel to the body sweeping that circulates, and the inner burr that utilizes weld seam welding reverse side to leave makes ultrasound wave bottom echo reflection signal wave amplitude change to identify weld seam center.
The utility model solves the technical scheme that its technical matters adopts:
Ultrasound wave sweeping seam tracking system, this system mainly comprises automatic sweeping mechanical subsystem and data acquisition subsystem; Data acquisition subsystem is made up of ultrasonic signal collecting part and computing machine, it is characterized in that: the signal of the ultrasonic probe of the automatic sweeping mechanical subsystem of ultrasonic signal collecting part collection is transferred to computing machine, servomotor and the Shui Bao of the automatic sweeping mechanical subsystem of computer control lift cylinder, and the position signalling of record coding device.
Ultrasonic signal collecting part adopts existing digital supersonic detector module, and module produces high pressure emitting voltage, and excitation ultrasound ripple probe produces ultrasound wave and receives and carries out digital processing, shows and record to host computer by Internet Transmission.
Described automatic sweeping mechanical subsystem, comprise ball screw, servomotor, arc-shaped rail, two guide rods, two extension springs, arc orbit slide block, scrambler, water bag with guide pin bushing lifts cylinder, probe water bag, ultrasonic probe, guide rod folder, guide pillar guide pin bushing, sweeping seat, ultrasonic probe is arranged in probe water bag, probe water bag is fixed between two guide rods by holder, two guide rod tops are provided with the water bag of guide pin bushing lifts cylinder, the water bag that is used for popping one's head in lifts temporarily, lifting cylinder with the water bag of guide pin bushing is fixed on sweeping seat, sweeping seat is fixed on arc guide rail slide block, arc guide rail slide block is placed on arc-shaped rail and with arc-shaped rail and mates, slide along arc-shaped rail, two guide rod tops are provided with guide rod folder, by regulating the position of two guide rods of guide rod folder clamping, can adapt to detect different tube diameters range, two are drawn high spring and guide rod folder is lifted to cylinder with water bag are connected, the flexibility that ensures probe water bag presses down, guide pillar guide pin bushing is installed in sweeping seat, guide pillar guide pin bushing is connected with ball screw nut hinge, ball screw one end connects servomotor, the other end connects scrambler, do forward and reverse rotation at driven by servomotor ball screw, drive sweeping seat to move along arc-shaped rail, thereby ensure that probe water bag is all the time along the scanning back and forth of steel pipe arc-shaped surface.
A rubber membrane is installed in the bottom of described probe water bag.In testing process, use water seaoning to detect; be full of water by water pipe toward water bag the inside; give certain hydraulic pressure simultaneously; remain water bag full water state; a rubber membrane is installed in the bottom of probe water bag, and in sweeping process, rubber membrane contacts with body all the time, avoids probe or metal water bag to contact with body; the wearing and tearing of protection body and probe, are used water seaoning to detect and also can improve the stability of ultrasonic echo simultaneously and reduce blind area, near field.
The nut of ball screw is along screw mandrel axis direction moving linearly, sweeping seat moves as circular arc along arc-shaped rail, in sweeping seat, there is guide pillar guide pin bushing to adapt to relative position variation on height between feed screw nut and sweeping seat, and then realize along ball screw rectilinear motion, along guide rail movement in a curve.Ball screw other end scrambler records sweeping seat relative position S.
Ultrasound wave sweeping welding seam tracking method, it is characterized in that carrying out according to the following steps: the ultrasonic data acquisition part of data acquisition subsystem gathers ultrasonic probe in workpiece bottom echoed signal, the relative position scrambler value of reading S of the corresponding echo height number percent H of each echoed signal and current sweeping seat, taking the scrambler value of reading as X-axis, echo height number percent is Y-axis trace, institute's forming curves is carried out to difference algorithm again, accurately location echo amplitude changes, clear discovery is at sweeping region diverse location ultrasound wave bottom echo reflection signal amplitude variation relation, it is the different ultrasound wave bottom reflection signals of body diverse location, because tubular form is regular shaped, thickness is basically identical and reverse side is smooth, therefore echo reflection signal is basically identical in non-welded seam area ultrasound wave bottom, and the existence due to spike burr at weld seam reverse side, echo amplitude significantly changes, and then the spike burr of discovery weld seam reverse side, judge weld seam center, reach identification weld seam centrales.
When ultrasonic data acquisition part repetition frequency F is at 500Hz, it is 1000 lines that scrambler line is counted L, each sweeping speed V be 1s once, the electric machine rotation R number of turns 50 is enclosed, one time sweeping is 100mm at body apart from GD, can judge that each ultrasonic echo correspondence position accuracy value is
GDS=GD/V/F
The data of above example can be derived as 0.2mm.
Scrambler registration accuracy is
EGD=GD/L/R
Data with last time can be derived as 0.002mm.
This shows, in the time adopting the utility model to implement weld joint tracking, tracking accuracy also can meet most track demand, and for example weld seam Non-Destructive Testing aspect soldering joint automatic tracking has solved again normal image and identified the welding seam tracking method that cannot implement.
Brief description of the drawings
Fig. 1 is automatic sweeping mechanical subsystem front elevation of the present utility model.
Fig. 2 is automatic sweeping mechanical subsystem side view of the present utility model.
Fig. 3 is identification weld seam centring system block diagram.
Fig. 4 is body ultrasound wave bottom reflection original waveform figure.
Fig. 5 is weld seam reverse side spike burr bottom reflection original waveform figure.
Fig. 6 is that wave amplitude is Y-axis at the bottom of ultrasonic acquisition, and current sweeping device correspondence position coding reading is X-axis curve map.
Fig. 7 is for to carry out difference algorithm transformation curve figure to Fig. 6.
In figure: 1-ball screw, 2-servomotor, 3-arc-shaped rail, 4-guide rod, 5-extension spring, 6-arc orbit slide block, 7-scrambler, 8-water bag lifts cylinder, 9-probe water bag, 10-ultrasonic probe, 11-guide rod folder, 12-guide pillar guide pin bushing, 13-sweeping seat, 14-ultrasonic data acquisition part, 15-computing machine.
Embodiment
The utility model will be further described by reference to the accompanying drawings.
As shown in Figure 3, the utility model ultrasound wave sweeping seam tracking system, this system mainly comprises automatic sweeping mechanical subsystem and data acquisition subsystem; Data acquisition subsystem is made up of ultrasonic signal collecting part 14 and computing machine 15, it is characterized in that: the signal that ultrasonic signal collecting part 14 gathers the ultrasonic probe 10 of automatic sweeping mechanical subsystem is transferred to computing machine 15, servomotor 2 and Shui Bao that computing machine 15 is controlled automatic sweeping mechanical subsystem lift cylinder 8, and the position signalling of record coding device 7.
Ultrasonic signal collecting part adopts existing digital supersonic detector module, and module produces high pressure emitting voltage, and excitation ultrasound ripple probe produces ultrasound wave and receives and carries out digital processing, shows and record to host computer by Internet Transmission.
As Fig. 1, shown in Fig. 2, described automatic sweeping mechanical subsystem, comprises ball screw 1, servomotor 2, arc-shaped rail 3, two guide rods 4, two extension springs 5, arc orbit slide block 6, scrambler 7, water bag with guide pin bushing lifts cylinder 8, probe water bag 9, ultrasonic probe 10, guide rod folder 11, guide pillar guide pin bushing 12, sweeping seat 13, ultrasonic probe 10 is arranged in probe water bag 9, probe water bag 9 is fixed between two guide rods 4 by holder, two guide rod 4 tops are provided with the water bag of guide pin bushing lifts cylinder 8, the water bag 9 that is used for popping one's head in lifts temporarily, lifting cylinder 8 with the water bag of guide pin bushing is fixed on sweeping seat 13, sweeping seat 13 is fixed on arc guide rail slide block 6, arc guide rail slide block 6 is placed on arc-shaped rail 3 and with arc-shaped rail 3 and mates, slide along arc-shaped rail 3, two guide rod 4 tops are provided with guide rod folder 11, by the position that regulates guide rod to press from both sides two guide rods 4 of 11 clampings, can adapt to detect different tube diameters range, two are drawn high spring 5 and guide rod folder 11 is lifted to cylinder 8 with Shui Bao are connected, and the flexibility of the water bag 9 that ensures to pop one's head in presses down, guide pillar guide pin bushing 12 is installed in sweeping seat 13, guide pillar guide pin bushing 12 is connected with the nut hinge of ball screw 1, ball screw 1 one end connects servomotor 2, the other end connects scrambler 7, drive ball screw 1 to do forward and reverse rotation at servomotor 2, drive sweeping seat 13 to move along arc-shaped rail 3, thereby ensure that probe water bag 9 is all the time along the scanning back and forth of steel pipe arc-shaped surface.A rubber membrane is installed in the bottom of described probe water bag 9.In testing process, use water seaoning to detect; be full of water by water pipe toward water bag the inside; give certain hydraulic pressure simultaneously; remain water bag full water state; a rubber membrane is installed in the bottom of probe water bag, and in sweeping process, rubber membrane contacts with body all the time, avoids probe or metal water bag to contact with body; the wearing and tearing of protection body and probe, are used water seaoning to detect and also can improve the stability of ultrasonic echo simultaneously and reduce blind area, near field.
The nut of ball screw 1 is along screw mandrel axis direction moving linearly, sweeping seat 13 moves as circular arc along arc-shaped rail 3, in sweeping seat 13, having guide pillar guide pin bushing 12 to adapt between the nut of ball screw 1 and sweeping seat 13 relative position on height changes, and then realize along ball screw 1 rectilinear motion, along guide rail movement in a curve.Ball screw other end scrambler records sweeping seat relative position S.
In Fig. 3, ultrasonic acquisition part 14 is pressed some cycles and is received ultrasonic probe 10 signals, and digitizing is arrived computing machine 15 by Internet Transmission, computing machine 15 drives servomotor 2 to do back and forth and repeatedly rotatablely moves, each data wave panel height degree and the corresponding scrambler 7 response location signals of receiving of record simultaneously, form taking encoder position value S as X-axis, wave amplitude height value is the curve of Y-axis, again by existing curve negotiating difference algorithm, obtain more accurate curve two ends rising edge corresponding central point, namely weld seam center.Computing machine just can send by the weld seam center of identification the driving device of the automatic sweeping mechanical subsystem of tracking signal, reaches the object of following the tracks of weld seam.
In Fig. 4, can see body portion ultrasound wave original echo waveform, taking waveform reflection amplitudes as Y-axis, taking waveform incident sound path as X-axis, clear at body portion reflection multiecho, wave amplitude height is in 80% left and right of indication range.
In Fig. 5, can see weld seam part ultrasound wave original echo waveform, taking waveform reflection amplitudes as Y-axis, taking waveform incident sound path as X-axis, substantially can't see multiecho in weld seam part, wave amplitude reflection height is in 40% left and right of indication range, obviously low than body portion.
In Fig. 6, be the relative position scrambler value of the reading S to carry out the corresponding echo height number percent H of each echoed signal of ultrasound wave in sweeping process and current sweeping device at sweeping device, taking the scrambler value of reading as X-axis, echo height number percent is Y-axis trace, it is high to Low to high process that the curve that can see ultrasonic echo changes in amplitude in sweeping process is that number percent has, be sweeping process from mother metal to weld seam again to mother metal process, do sweeping action in weld seam both sides.
In Fig. 7, Fig. 6 curve is carried out to existing difference algorithm, obtain the Accurate Points on the edge of accurate amplitude change, get central point as two ends taking two edges and be weld seam central point.
Claims (2)
1. ultrasound wave sweeping seam tracking system, this system mainly comprises automatic sweeping mechanical subsystem and data acquisition subsystem, data acquisition subsystem is made up of ultrasonic signal collecting part and computing machine, it is characterized in that: the signal of the ultrasonic probe of the automatic sweeping mechanical subsystem of ultrasonic signal collecting part collection is transferred to computing machine, described automatic sweeping mechanical subsystem, comprises ball screw, servomotor, arc-shaped rail, two guide rods, two extension springs, arc orbit slide block, scrambler, water bag with guide pin bushing lifts cylinder, probe water bag, ultrasonic probe, guide rod folder, guide pillar guide pin bushing, sweeping seat, ultrasonic probe is arranged in probe water bag, probe water bag is fixed between two guide rods by holder, two guide rod tops are provided with the water bag of guide pin bushing lifts cylinder, lifting cylinder with the water bag of guide pin bushing is fixed on sweeping seat, sweeping seat is fixed on arc guide rail slide block, arc guide rail slide block is placed on arc-shaped rail and with arc-shaped rail and mates, slide along arc-shaped rail, two guide rod tops are provided with guide rod folder, and two are drawn high spring and guide rod folder is lifted to cylinder with water bag are connected, guide pillar guide pin bushing is installed in sweeping seat, and guide pillar guide pin bushing is connected with the nut hinge of ball screw, and ball screw one end connects servomotor, and the other end connects scrambler.
2. ultrasound wave sweeping seam tracking system according to claim 1, is characterized in that: a rubber membrane is installed in the bottom of described probe water bag.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420005972.5U CN203732502U (en) | 2014-01-06 | 2014-01-06 | Ultrasonic wave whisk broom seam tracking system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420005972.5U CN203732502U (en) | 2014-01-06 | 2014-01-06 | Ultrasonic wave whisk broom seam tracking system |
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| CN203732502U true CN203732502U (en) | 2014-07-23 |
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| CN201420005972.5U Expired - Lifetime CN203732502U (en) | 2014-01-06 | 2014-01-06 | Ultrasonic wave whisk broom seam tracking system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113820469A (en) * | 2021-09-16 | 2021-12-21 | 哈尔滨工程大学 | Bulb tubular intersecting weld joint detection equipment |
-
2014
- 2014-01-06 CN CN201420005972.5U patent/CN203732502U/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113820469A (en) * | 2021-09-16 | 2021-12-21 | 哈尔滨工程大学 | Bulb tubular intersecting weld joint detection equipment |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140723 |
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| CX01 | Expiry of patent term |