JPH05502725A - Sensor element position control device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] Sensor, death, control' The present invention relates to a control device, and in detail, each control device has a control device that controls each component. arranged to move relative to each other according to a temporal order on opposite sides of the members of The present invention relates to a device for controlling the position of associated sensor elements.

It is common to use non-destructive means such as ultrasonic testing to inspect components. This is due to the alignment or alignment of the associated sensor elements on either side of the member. Requires linement. This will ensure proper coupling between the sensors involved. This prevents distortion of the member signal due to discontinuities within the member.

Traditionally, the alignment of the associated sensors has been carefully selected to achieve the best signal response. using sophisticated mechanical control elements or simple adjustment of the associated sensor elements. It was being held. This significantly limits the speed and accuracy with which component inspections can be performed. It ends up.

It is an object of the present invention to eliminate or eliminate the above-mentioned problems while allowing appropriate inspection of components. is to provide a moderating control device.

According to the invention, each relative to a member and to opposite sides of this member according to temporal order. In an apparatus for controlling the position of an associated sensor element that is positioned so as to move automatically, A means of defining a multi-order thick node matrix and an equal time interval between adjacent bears of large nodes. means for generating a plurality of small nodes that are A method to generate multiple small nodes with equal time intervals between adjacent bears of small nodes. and a step, whereby the plurality of minute nodes are substantially arranged on the opposite side of the member. A control device is provided for defining a turret on the member in a mutual plane perpendicular to .

The associated sensors are housed in separate independent housings and arranged in a multi-order thick node matrix. has three linear axes (X, Y and 2) and two rotational axes (X, Y and 2) for each housing. As an alternative, the associated sensor elements are identical, with each sensor having its own operating means allowing 5-axis movement. It may also be inserted into the sensor housing.

The movement of the first associated sensor element and the movement of the second associated sensor element are Elements can be synchronized in time so that they pass through their corresponding major nodes at the same time. preferable.

The multi-order thick node matrix is calculated by its computer-aided design (CAD, Computer AI). Preferably derived from ded Design information or through machine teaching. Yes.

The control device prevents the component from being immersed in the coupling medium or takes into account suitable compensation factors. to permit incorporation into associated sensor element coupling means, such as a configured to

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 shows in schematic form a control device according to the invention.

FIG. 2 illustrates a large node matrix (one dimension) and associated small nodes.

Figure 3 shows the curved surface small nodes in Figure 2 and multiple nodes equally spaced between them. The micro nodes of are illustrated.

FIG. 4 illustrates the curved firing node shown in FIG. 1 on both sides of the subject component; Ru.

Figure 5 shows a computer-aided design “wire” frame projected with data points. Show.

Figure 6 shows the division into world A and world B for each opposite side of the member. 1 illustrates in schematic form a computer-aided design wireframe world that is divided into two parts.

Figure 7 shows the computer-aided design data that is converted into data sets for each side of the member. The figures are shown partially in cross-sectional form and partially in schematic form.

Figure 8 shows a partially lateral version of the fall compensation of the ejecta from the associated sensor element. The figures are partially illustrated in schematic form.

Referring to Figure 1, there are two machines each having five mechanically independent axes. A 10-axis control system is shown, each consisting of an independent machine. These five axes are Two rotation axes (A and B) and three linear axes (X, Y and Z). The associated machine controls include two independent 5-axis II machines or Note that can be designed to run as one 10-axis machine. Ward 1 illustrates the configuration that would be used for the 10-axis synchronous mode, but with two unique For stand-alone 5-axis machines, the controller requires additional host interfaces and data acquisition. A collection interface and data collection processor will be added.

A member is attached to the machine and control device and a large node matrix is associated with the member. Determined by This large node matrix very conveniently has intersections with large nodes. It can be thought of as a wire frame for members that can be considered as λ. large node matrix is programmable or interactive from computer-aided design (CAD) data. taught in a typical manner.

Let us first consider the A side of the control device, where the five axes of motion are determined by the respective sensor elements. In other words, position requests to each sensor to define each large node are sent to the main central processing unit. The data is transmitted to the control device (CPLI) 1. These requirements (Xl.

Y', Z', A', B') are bus generated through local bus network 3. It is transmitted to the central processing unit (CPU) 5. The bus generation CPU 5 is connected to a plurality of small nodes 7. (Fig. 2) in response to a predetermined “real-time” curve fitting procedure. It is configured as follows. These minor nodes are equally spaced in time interval t1 . Once these small nodes and the spread between them have been calculated, the main It is returned to the central processing unit 1, where the micronode 9 is determined as shown in FIG. is set, and the time is equally spaced again at the set time interval t2. These tiny nodes are , for relative operation between the associated sensor element and member controlled by the control device. This is the main motion control point. These small nodes are connected in a “straight line” between adjacent small nodes 7. Determined by parakeet projection. The time interval t1 is defined as the time interval t1 when the motion is Short enough so that it appears smoothly and continuously rather than like a tor.

The data collection speed is determined in relation to the linear surface distance between minute nodes. system The host computer 15 of the host computer 15 handles the data collection The required number is determined to ensure proper inspection of the component by the sensor element. Data collection request data is transmitted to the main central processing unit 1, and the main central processing unit 1 continues to use the data collection interface. triggering the face 17 and in response to the sensor element being moved relative to the member; Side B encourages data collection.

Site request (X”, Y2゜Z”, A”, B”) that determines the required node location. It operates in a similar manner to door A.

In 10-axis machine mode, all 10 position requests are its main central processing bag! via 1 and transmitted to a single side, e.g. side A (see Figure 4). The nodes are sorted into large node requests for their respective side A and side B; The large node request for side B is routed through the communications central processing unit of each side As and B. It will be sent by Synchronization between side A and side 3 of the machine uses communication CPIJ21. It is done using By the way, the lo-axis mode of operation is the same in all other respects. The operation is similar to that of the independent 5-axis racking machine side.

Each servomechanism controls its respective member and sensor element according to instructions from the controller. configured to manipulate the relative position of. Relative movement between member and sensor element is continuous and data is collected at predetermined points. If the orientation of the sensor element is maintained substantially perpendicular to each member side on either side of the member. Accurate determination of the locations of these data acquisition points is important in the present invention in order to This is important. By determining the minute node position according to the movement, the control target can be set for each section. directs the incremental movement of the sensor. For the first time with a defined geometric configuration in three-dimensional space. Computer-aided design data from part manufacturing to program the hole node matrix or interactive teaching techniques can be used.

When using computer-aided design (CAD) data, the The wire frame of the part to be created is sent through the host combinator 15, and data identification in ``wireframes'' is used, and ``wireframes'' It is used to accurately identify the position of parts in serials available from here, and is widely used. Provides a node matrix. The machine thus moves from the CAD reference frame to the CAD A large node matrix can be defined that associates the coordinates of frame j. This current common base The quasi-frame is called the world axis (see Figure 6). Position request data can be biased , compensating for separation distance and material thickness, to create two sets of data points, namely World A and and generate world B. The data for each world A and world B is It can be transferred sequentially through another transformation matrix, machine side A and machine side B. (See FIG. 7). These large nodes The sets are used as described above to provide small nodes and micronodes for this control device. do.

To repeatedly teach the member to the controller, the member is first set at discrete position setpoints on the member. It is learned by collecting. Group these sets of discrete setting positions and proposed by forming a line through the material and subsequently fitting a two-dimensional curve through the points. Served. When all lines are defined, the linear rule is used between set positions, The setting position on the 0 member that finally defines the “wire frame”! is usually the world axis However, if the data acts as a fixed reference on the member being learned, If available, the set position is the member coordinates for this data. It is useful to have the zero member coordinates considered to be . Because similar parts The materials are in different positions on the machine! This is because the reference point is the only Found before rescanning the part.

The control device can be configured such that, for example, one sensor element is a transmitter and another sensor element is a transmitter. are receivers arranged on opposite sides of the member, with suitable connections between the member and the sensor element. Application of various types of related sensor elements to machines, such that it is ensured that there is a connection I hope you understand that it is possible.

For example, to ensure proper coupling with ultrasonic non-destructive testing machines with ultrasonic probes. It is common to use water jet systems or immerse the component payload in water to I am a connoisseur. The control device controls the relative movement of the members and sensor elements in these situations. can be controlled. In the water jet system, the control device lowers the water in real time (see Figure 8). to ensure that the jetting angle ensures that the submerged jet 31 hits the member surface at a vertical angle. It is decided that

In the foregoing description, an effort has been made to draw attention to features of the invention that are considered to be of particular importance. the specification or relating to any patentable features or combinations of such features disclosed in the drawings; The applicant also claims protection.

Summary book A 10-axis controller controls the position of two independent machines with associated sensors. the sensor is fixed relative to the component according to a temporal sequence. are configured to move relative to each other and on opposite sides thereof. Control (2) The device is A multi-order thick node matrix is defined, and time is equally spaced between adjacent bears of a large node. multiple small nodes with equal time intervals between adjacent pairs of small nodes. Generate a number of minute nodes. The plurality of micronodes are substantially parallel to each opposite side. Locate points on the components in mutually perpendicular planes.

international search report 1 rigid 1. +1゜Il,, ^nee, 1i,, PCT/91100005 International Coordination inspection report

Claims (6)

[Claims] 1. to move relative to the member and on opposite sides of the member in a chronological order In a control device for controlling the position of associated sensor elements configured, A means of defining a multidimensional large node matrix and an equal space of time between adjacent pairs of large nodes. means for generating a plurality of small nodes that are A method for generating multiple micronodes with equal time spacing between adjacent pairs of smallnodes. step, whereby the plurality of minute nodes are substantially located on the side of the opposing member. said control device for defining points on the member in mutual planes perpendicular to . 2. The associated sensors are housed in separate independent housings and integrated into multidimensional large nodes. The matrix has three linear axes (X, Y and Z) and two rotational axes for each housing. A control device according to claim 1 defining five axes of motion (A and B). Place. 3. The associated sensor elements are each operated in a manner that allows each sensor to move in five axes. As set forth in claim 1, the sensor is provided with a working means and is housed in the same sensor housing. control device. 4. The movement of the first associated sensor element and the movement of the second associated sensor element are The sensor elements must be synchronized in time so that they pass through their corresponding large nodes at the same time. The control device according to any one of the desired ranges 1 to 3. 5. A multidimensional large node matrix can be constructed from its computer-aided design information or through machine teaching. The control device according to any one of claims 1 to 4, which is derived by: 6. If the component is immersed in the bonding medium or appropriate security factors are taken into account. configured to permit incorporation into associated sensor element coupling means, such as a A control device according to any one of claims 1 to 5.