A residual stress detection method and detection device thereof

Abstract

The present invention discloses a residual stress detection method and a detection device thereof, which include the following steps: A. deployment of environment and test equipment, construction of a spatial coordinate system, division of a cabin into a plurality of test areas, and application of marking points in the test areas, wherein a mobile platform carries a manipulator, a visual camera and a test equipment; B. retrieval of the marking points, and scheduling the mobile platform to move to a waiting area and a detection area in sequence; C. residual stress detection, wherein the manipulator is guided by a visual camera to run and focus on the marking points in the current detection area, the posture of the test equipment is adjusted with respect to each marking point, and the normal of the marking point is aligned by the visual camera, and residual stress detection is performed on the marking point; E. after the marking points in the current test area are detected, the waiting area outside the next test area is entered, and the above steps are repeated to detect all the marking points on the cabin in sequence; F. uploading the detection data and analyzing the stress.

Description

Technical Field

[0001] The present invention relates to the technical field of cabin equipment, and in particular to a residual stress detection method and a detection device thereof. Background Art

[0002] At present, the residual stress detection of large-volume rotating cabins mainly adopts non-destructive testing methods, including X-ray diffraction (XRD), neutron diffraction (ND), electromagnetic ultrasonic method (EMAT), pulse thermistor (PHT), etc.

[0003] These methods determine the presence of residual stress by measuring the stress distribution inside the material.

[0004] These methods have the advantages of being non-destructive, pollution-free, and highly real-time, and can perform comprehensive inspections on larger workpieces.

[0005] However, there are some disadvantages and unfavorable factors in residual stress detection of large-volume rotating cabins, mainly in the following aspects:

[0006] 1. For large-volume test cabins, existing detection methods and equipment are difficult to cope with test cabins with complex structures and non-uniform geometries. For the detection of such test cabins, most of them are directly detected by manual handheld instruments, and the detection accuracy and repeatability cannot be guaranteed. The manual participation and intervention in the detection are high, which has a certain impact on the detection accuracy;

[0007] 2. The detection efficiency is low. Usually, the detection equipment is manually driven to detect the cabins one by one, which is time-consuming and time-consuming. In addition, the shape of the cabin to be tested greatly limits the feasibility of the test. The main reasons are that there is no mature coordinate calibration program and no mature automatic detection solution. Therefore, most instruments are carried by auxiliary tooling or brackets;

[0008] 3. Although the current XRD detection method has the characteristics of wide detection range and non-destructiveness, it requires the use of high-power X-ray sources and detectors to obtain as much diffraction information as possible, which has a great impact on the health of operators. Some technologically backward equipment has weak signal collection capabilities due to the backward detector technology level. In order to improve the X-ray diffraction signal, such equipment with backward detector technology often adopts the method of further increasing the X-ray power, but the greater the power, the greater the threat to the health of operators;

[0009] 4. The operability and detection feasibility of the residual stress detection equipment in the existing technology are low. It should only be used in laboratory environments and is still in the stage of manual measurement. It is difficult to implement automated measurement and automatically generate residual stress cloud maps. Summary of the invention

[0010] In view of the deficiencies in the prior art, an object of the present invention is to provide a residual stress detection method and a detection device thereof.

[0011] The above technical objectives of the present invention are achieved through the following technical solutions: A residual stress detection method comprises the following steps:

[0012] A. Deployment of environment and test equipment: Scan the space and environment where the cabin is located to build a detection implementation map and edit the detection path, so as to build a spatial coordinate system, divide the cabin into several areas to be tested, apply marking points in the areas to be tested, set a waiting area in the detection path, set an initial site outside the detection path, and arrange a mobile platform at the initial site, which carries a manipulator, a visual camera and test equipment;

[0013] B. Retrieve the marking points, dispatch the mobile platform to the waiting area, and further move the mobile platform to the detection area until the marking points in the current detection area appear in the current field of view;

[0014] C. Residual stress detection: the visual camera guides the robot to operate and focus on the mark points in the current detection area. The robot adjusts the posture of the test equipment with respect to each mark point, and the visual camera finds the normal of the mark point. The test equipment performs residual stress detection on the mark point.

[0015] E. After completing the detection of the marking points in the current area to be tested, enter the waiting area outside the next area to be tested, repeat the above steps, and detect all the marking points on the cabin in turn;

[0016] F.Upload test data and analyze stress.

[0017] Further, in step C, the testing equipment emits X-rays to the positions to be tested and / or marked points, and collects stress data on the positions to be tested and / or marked points on the surface of the product, and then analyzes the collected data through data analysis and processing software to generate Debye rings, data reports, and stress cloud maps of the austenite phase and non-austenite phase.

[0018] Further, in step C, the test equipment includes a two-dimensional detector and an X-ray generator arranged at the execution end of the manipulator, the X-ray generator outputs X-rays in the normal direction of the marking point, and collects the X-ray diffraction part fed back from the marking point through the two-dimensional detector, thereby generating a Debye ring image of the current marking point, and the residual stress calculation formula satisfies:

[0019]

[0020]

[0021]

[0022] Furthermore, in step C, it also includes a manual dragging mode, manually controlling the mobile platform and adjusting it to the detection area, and determining the mark point to be tested, switching the manipulator to the manual control mode and dragging the manipulator to calibrate the test equipment to the mark point, starting the test equipment and adjusting the manipulator posture to the normal of the mark point, and completing the detection of the current mark point.

[0023] Furthermore, in step C, the manipulator is equipped with a six-dimensional force sensor to detect the end contact force of the manipulator and interact with the control module of the manipulator to assist the manipulator in flexible following and collision detection under manual dragging.

[0024] Furthermore, the execution end of the manipulator is provided with a towing handle, a testing device, a visual camera, a touch button and / or an electrolytic polishing device.

[0025] Furthermore, step A also includes cabin deployment, in which the cabin is arranged in a horizontal posture with its axial direction, and a load-bearing rotating device is provided at the bottom of the cabin, and the surrounding side of the cabin is set as a working environment to be tested, and the cabin is driven by the load-bearing rotating device to rotate so as to present the marking points on the surface of the cabin in front of the test equipment.

[0026] Furthermore, an anti-collision mechanism is also provided on the mobile platform, which includes a laser obstacle avoidance unit with an adjustable front distance and an obstacle detection unit for detecting the size of obstacles. The mobile platform forms a first deceleration control zone on both sides thereof and a deceleration stop zone in front thereof through the laser obstacle avoidance unit and the obstacle detection unit, and forms a second deceleration controller in front of the deceleration stop zone. The mobile platform is configured to trigger deceleration to a design speed in the first deceleration control zone and the second deceleration control zone, and is configured to trigger deceleration to a stop in the deceleration stop zone.

[0027] Further, in step A, a standard geometric feature model of the cabin to be tested is first constructed, standard stress data is added, and measured stress data at corresponding positions are collected by the test equipment to draw a stress cloud map, generate a residual stress model based on the geometric model and the measured data, and add, test and record marking points on the standard geometric model;

[0028] It also includes a database and at least one work item distributedly stored in the database. The work item is configured with the test equipment. The work item is provided with a geometric data unit. Each geometric data unit is correspondingly configured with a standard storage unit and a measured storage unit. The geometric data unit obtains the geometric model of the cabin to be tested, the standard storage unit obtains the standard stress data of the geometric model, and the measured storage unit obtains the measured stress data of the cabin to be tested.

[0029] Furthermore, it also includes a data analysis module and a data management module. The data management module supports data entry in different formats and connects multiple work items to implement model expression and data management for multiple test equipment inputs. The data analysis module analyzes the test data and device status data of each test equipment in real time, and stores and presents the data analysis results in the database.

[0030] The present invention also provides a residual stress detection device for implementing the above-mentioned detection method, comprising a load-bearing rotating device for supporting a cabin to be tested, and a mobile platform equipped with a test device, a detection path is planned around the periphery of the cabin to be tested, and the mobile platform is configured to move relative to the cabin to be tested and the detection path to a detection position, and the test device performs residual stress detection on a marked point on the cabin to be tested at the detection position, and the test device comprises a manipulator and an X-ray generating device and a two-dimensional detector arranged at the execution end of the manipulator.

[0031] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0032] 1. The mobile platform, manipulator and test equipment are interconnected and controlled through the communication protocol to ensure the stability and reliability of the detection process in the test area, overcoming the test restrictions of traditional equipment on the shape of the sample. The multi-degree-of-freedom mobile platform and the execution end of the manipulator can make the detection part of the equipment adjust the test position arbitrarily within the range of 360 degrees in space, making the equipment not only very convenient and fast for testing samples with regular shapes, but also for in-situ measurement of samples with complex shapes. There is no upper limit on the weight and size of the test samples during the entire test process, which guarantees the smooth progress of the test work to the greatest extent;

[0033] 2. By establishing a motion simulation environment and a geometric feature model of the cabin to be tested, the actual use conditions are simulated to verify the detection range of the equipment and the accessibility of the end actuator. The stress detection data of each area to be tested and the marking point are collected and analyzed through the database and data analysis module to obtain the Debye ring affected by stress and the residual stress result. The stress data is fed back in real time through the data management module, and the marking point is supplemented and entered in real time to improve the intensity information distribution of the Debye ring and the accuracy of the X-ray diffraction peak.

[0034] During the inspection process, the visual camera retrieves the marking points, and controls the mobile platform to inspect the marking points one by one along the planned inspection area and marking points along the inspection path to obtain the inspection data of each marking point. Finally, the spatial coordinate data of the test cabin and the marking points and the stress detection data are fitted, and the stress cloud map model is generated in combination with the geometric feature model of the test cabin. Compared with the traditional data table, the inspection results are more intuitive.

[0035] 3. The two-dimensional detector of the present invention acquires a complete Debye ring at one time, and the residual stress measurement can be completed with a single angle of incidence, which meets the measurement of the complex shape of the changing part and the narrow space mentioned above, and a single X-ray exposure can obtain 500 diffraction points for residual stress data fitting, and the result is more accurate, which greatly improves the measurement speed and accuracy of residual stress, thereby avoiding the error influence of the goniometer deviation on the test result;

[0036] At the same time, the equipment used in this solution uses a full two-dimensional surface detector with high sensitivity and resolution, so sufficient X-ray diffraction intensity can be obtained at a relatively low power (45W). While ensuring high diffraction intensity, the X-ray radiation to the operator is minimized, so the equipment is safer and more environmentally friendly.

[0037] 4. The device integrates the X-ray generator, CCD camera, full two-dimensional surface detector, LED auxiliary positioning system, and visual camera into one detection unit. The structure is more compact, so that the device can be used not only in the laboratory, but also very conveniently outdoors or in the workshop, which improves operability. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a schematic diagram of a mobile platform of the present invention;

[0039] Figure 2 It is a schematic diagram of the detection position of the cabin to be tested and the mobile platform of the present invention;

[0040] Figure 3 It is a schematic diagram of the positions of the cabin to be tested and the mobile platform of the present invention;

[0041] Figure 4 It is a structural schematic diagram of the execution terminal of the present invention;

[0042] Figure 5 It is a schematic diagram of obstacle avoidance of the mobile platform of the present invention;

[0043] Figure 6 It is a schematic diagram of the positioning of the test equipment and the marking points of the present invention;

[0044] Figure 7 is a schematic diagram of the angle α of the present invention;

[0045] Figure 8 It is a schematic diagram of X-ray radiation of the present invention;

[0046] Fig. 9 The radiation data table of X-rays of the present invention;

[0047] Fig.10 A detection position diagram facing a change position of the present invention;

[0048] Fig.11 It is a schematic diagram of the first to third detection areas of the present invention;

[0049] Fig.12 It is a schematic diagram of the first to third detection areas after the rotation angle of the present invention;

[0050] Fig.13 It is a connection block diagram of the database of the present invention (the data module of the changed work item is consistent with the data module of the work item);

[0051] Fig.14 It is the X-ray diffraction diagram of the present invention;

[0052] In the figure: 1, the cabin to be tested; 1.1, the changing part; 1.2, the first changing part; 1.3, the second changing part;

[0053] 2. Area to be tested; 2.1. First test area; 2.2. Second test area; 2.3. Third test area;

[0054] 3. Marking point; 4. Mobile platform; 4.1. First deceleration control area; 4.2. Second deceleration control area; 4.3. Deceleration stop area;

[0055] 5. Detection path; 5.1. Waiting area; 5.2. Detection area; 6. Initial site;

[0056] 7. Robotic arm; 7.1. Drag handle; 7.2. Visual camera; 7.3. Touch button;

[0057] 8. Test equipment; 8.1. X-ray generator; 8.2. Two-dimensional detector; 8.3. Class I detection device; 8.4. Class II detection device; 8.5. Class III detection device; 8.6. Positioning beam; 8.7. Correction area; 8.8. Collimator;

[0058] 9. Carrying optional equipment;

[0059] 10. Database; 11. Data analysis module; 12. Data management module; 13. Work item; 14. Standard storage unit; 15. Measured storage unit; 16. Geometry data unit; 17. Change work item; DETAILED DESCRIPTION

[0060] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0061] It should be understood that although the terms upper, middle, lower, top, end, etc. appear in this article to describe various elements, these elements are not limited by these terms. These terms are only used to distinguish elements from each other for easy understanding, and are not used to define any direction or order limitation.

[0062] like Figure 1-13 As shown, a residual stress detection method comprises the following steps:

[0063] A. Deployment of environment and test equipment 8, divide the cabin into several test areas 2, apply marking points 3 in the test areas 2, and scan the space and environment of the cabin to build a test implementation map and edit the test path 5 ( Figure 3 The dashed part in the middle), a component space coordinate system is constructed at the same time, and a waiting area 5.1 is set in the detection path 5, an initial station 6 is set outside the detection path 5, and a mobile platform 4 is arranged at the initial station 6, and a test device 8 is carried on the mobile platform 4. The test device 8 includes a manipulator 7, and a visual camera 7.2 and a test device 8 arranged at the execution end of the manipulator 7, and the test device 8 is a residual stress test device 8;

[0064] B. Retrieve the marker point 3, dispatch the mobile platform 4 to the waiting area 5.1, and further move the mobile platform 4 to the detection area 5.2 until the marker point 3 in the current detection area 5.2 appears in the current field of view.

[0065] C. Residual stress detection: the visual camera 7.2 guides the manipulator 7 to run and focus on the marking point 3 in the current detection area 5.2, the manipulator 7 adjusts the posture of the test device 8 with respect to each marking point 3, and the visual camera 7.2 finds the normal of the marking point 3, and the test device 8 performs residual stress detection on the marking point 3;

[0066] E. After the detection of the marking points 3 in the current test area 2 is completed, enter the waiting area 5.1 outside the next test area 2, repeat the above steps, and detect all the marking points 3 on the cabin in turn;

[0067] F.Upload test data and analyze stress.

[0068] The mobile platform 4 is configured to carry the movement of the staff and to feed back the images captured by the visual camera 7.2 to the staff through a display screen. Thus, during the process of retrieving the marking points 3 in the current area to be tested 2, the staff can manually control the position of the mobile platform 4 to assist the visual camera 7.2 in covering the current area to be tested 2.

[0069] It should be pointed out that the marking points are formed on the tangent of the arc surface points through the constructed detection implementation map to form a spatial coordinate system, and each mobile platform, manipulator and its execution terminal share the same spatial coordinate system, so the position can be quickly and uniformly calibrated. When the above-mentioned tools and equipment are updated, only simple operations are needed to complete the collaborative calibration, which provides a guarantee for the multi-functional use of the equipment.

[0070] Thanks to the visual camera and the spatial coordinate system, the visual camera can effectively identify the mark points to be measured on the product and obtain the spatial coordinate system of the mark points. For the mark points of the cabin to be measured in the present invention, the tangent method is used to confirm the algorithm, and the radial normal, curvature and other parameters of the current mark points are obtained at the same time.

[0071] As an example, the robot base is the basic coordinate system, the execution end is the end coordinate system end, the visual camera is the independent coordinate system cam, and the test equipment is the tool coordinate system tool. The coordinate systems of each module are converted and calibrated based on the coordinate system, and finally the coordinates of all modules are unified to achieve coordinated actions.

[0072] In step A, firstly, a standard geometric feature model of the test cabin 1 is constructed, standard stress data is added, and marking points 3 are added, tested and recorded on the standard geometric model, and the model of the test cabin and the spatial position data of the marking points thereon are imported into the spatial coordinate system, wherein the standard stress data can be understood as the allowable stress range;

[0073] In step B to step C, the mobile platform moves along the planned detection path in sequence according to the planned test area and its marking points, retrieves the marking points, and performs stress detection on the marking points one by one, and obtains the measured stress data;

[0074] In the current test area, the real-time spatial position of the marking point is determined by the visual camera, so as to guide the mobile platform and the manipulator to adjust their posture to the position in step C, and the measured stress data of the corresponding position is collected by the test equipment 8 to draw a stress cloud map, and generate a residual stress model based on the geometric model and the measured data, which is conducive to ensuring the reliability of the marking point position and stress data;

[0075] Moreover, when constructing the stress cloud map, thanks to the shared spatial coordinates, the stress cloud map model is generated by fitting the coordinate data and the measured data to the geometric feature model, and the detection results are more intuitive.

[0076] Through the above, the geometric information of the cabin can be displayed by 3D graphics to support common graphic operations, mark the key positions of the geometry of the cabin 1 to be tested, add test marking points, place the test equipment 8 / instrument position according to the test distance, angle, bandwidth and other information, record the coordinates of the test points / test equipment 8, and save them in the corresponding work item 13, so as to facilitate the processing of the test results, perform calculations in the 3D graphics and image them in the physical model to be tested according to the coordinate positions, and display the measured data results in the geometric graphics.

[0077] Thanks to the arrangement of the spatial coordinate system, it is conducive to the arrangement of the test cabin and the mobile platform, as well as the route planning of the mobile platform, so that the mobile platform can move smoothly and quickly, thereby realizing the automatic movement of the mobile platform and the manipulator driving the test equipment to automatically perform stress detection, and finally output the stress cloud map and the corresponding Debye ring.

[0078] like Fig.13 As shown, the test device 8 also includes a database 10, and at least one work item 13 distributedly stored in the database 10, the spatial coordinate system is stored in the database, the work item 13 is configured with the test device 8, the work item 13 is provided with a geometric data unit 16, each geometric data unit 16 is correspondingly configured with a standard storage unit 14 and a measured storage unit 15, wherein the geometric data unit 16 obtains the geometric model of the cabin 1 to be tested, the standard storage unit 14 obtains the standard stress data of the geometric model, and the measured storage unit 15 obtains the measured stress data of the cabin 1 to be tested.

[0079] Through the above, multiple mobile platforms are set up, and the test areas are arranged on the multiple mobile platforms. Each mobile platform corresponds to a work item, so that the detection work can be implemented quickly.

[0080] The test device 8 also includes a data analysis module 11 and a data management module 12. The data management module 12 supports data entry in different formats and connects multiple work items 13 to implement model expression and data management for the input of multiple test devices 8. The data analysis module 11 analyzes the test data of each test device 8 and the device status data of the test device 8 in real time, and stores and presents the data analysis results in the database 10.

[0081] Each geometric data unit 16 is also configured with a corresponding marking point storage unit, which is connected to the data analysis module. By confirming the spatial position of the marking point, that is, the coordinates of the marking point in the constructed implementation space coordinate system and other data, and further analyzing and determining the surface curvature of the cabin to be tested, the problem of difficulty in confirming the data parameters of curved arc workpieces is solved.

[0082] For the data management module 12, in order to address the incomplete data acquisition that may occur during the test process, including condition information, status information, partial stress data information, and supplementary information that may be needed for data analysis, such as adding marker point 3, and coping with the change part 1.1, the data management center supports manual import of Excel, CSV, SAS and other format files in the interface, and supports extended content such as SPSS.

[0083] The testing device 8 also includes a data acquisition module, which is used to collect and organize the measured stress data and Debye rings corresponding to the tested area 2 , the marking point 3 , and the changed part 1 . 1 , and transmit them to the database 10 .

[0084] The test equipment also includes an equipment control module. The equipment control module manages test instruments, sensors and other acquisition and control devices, and is a communication integration module for unified scheduling, management and monitoring. In actual test scenarios, all devices are connected to the test equipment bus and accept control and acquisition instructions. On the one hand, it simplifies the connection process and improves application efficiency; on the other hand, it provides an application basis for a series of management tasks of the test status and the test equipment itself.

[0085] The equipment control module specifically includes the configuration item interaction interface, the execution of the data interface protocol and the control instruction set. During the test process, this module is responsible for scheduling the automatic or manual control tasks of the test equipment in the actual test environment according to the test plan, online data and interpretation results. During the actual test process, the interpretation results can include condition settings, real-time feedback values ​​of online data, and statistical analysis results for efficient adjustment.

[0086] Therefore, through the communication protocol of the above-mentioned modules and test equipment, joint collaboration in the same spatial coordinate system is achieved, the detection instructions of the mobile platform and the test equipment are issued, the test area and the detection area are reached, the residual stress marking points are automatically sampled and the position is determined, the manipulator and the test equipment are guided, and finally the residual stress detection is completed and an intuitive stress cloud map is generated.

[0087] like Figures 10 to 12 As shown, as a detection method for a test cabin 1 with a variable geometric feature, in step C and step E, the part where the profile or geometric feature changes is defined as a variable part, the variable part is planned into a first part and a second part, and a first detection area 2.1 covering the first part, a second detection area 2.2 covering the second part, and a third detection area 2.3 covering the first part and the second part are edited on the detection path 5 of the mobile platform 4. Fig.11 and Fig.12In the detection path 5, the first detection area 2.1 and the second detection area 2.2 are arranged adjacently (indicated by the dotted line), and the third detection area 2.3 covers between the first detection area 2.1 and the second detection area 2.2 (indicated by the solid line). In the detection path 5, the mobile platform 4 drives the execution terminal and the test equipment 8 to detect the first detection area 2.1, the third detection area 2.3 and the second detection area 2.2 in turn to obtain multi-dimensional measured residual stress data at the changed part, and obtain multi-dimensional diffraction intensity peaks on the periphery of the same part, thereby optimizing the stress distribution and numerical presentation of the Debye ring and the stress cloud map. The purpose of this detection method is to accurately detect the residual stress at the changed part. Since the residual stress has an extension effect on its surrounding parts, this detection method effectively reduces the data faults and abruptness between adjacent areas to be tested 2. It should be pointed out that the rest of the cabin 1 to be tested has relative material and crystal consistency, and the above-mentioned coincidence detection can also be used in the area between the changed part 1.1 and the contour part to obtain more accurate stress cloud maps and Debye rings.

[0088] Specifically, the changing part 1.1 can also be divided into multiple parts according to the execution end on the multi-degree-of-freedom manipulator 7, and a detection area 5.2 corresponding to each part and a detection area 5.2 covering multiple parts can be set on the detection path 5 to obtain a more accurate stress cloud map and Debye ring, and improve the adaptability to different geometric feature parts.

[0089] In addition, the changed part 1.1 can also be defined as data intrusions and faults in the Debye ring and stress cloud map. The data change is mainly obtained through real-time detection by the data analysis unit, so that the corresponding newly added test area 2 can be entered through manual or automatic editing, so that the mobile platform 4 and the test equipment 8 at the execution end can respond quickly.

[0090] As a further improvement of this embodiment, it is expected that multiple mobile platforms 4 and manipulators 7 execution terminals are set up to cooperate with each other, thereby improving work efficiency. In this case, multiple mobile platforms and the test equipment they carry are connected through a control and scheduling system, share the spatial coordinates formed by the implementation map and the detection path, and allocate the area to be tested.

[0091] Thus, the mobile platform 4 can be allocated into a type-one detection device 8.3, a type-two detection device 8.4 and a type-three detection device 8.5, wherein, for the cabin 1 to be tested, the type-one detection device 8.3 and the type-two detection device 8.4 are configured to perform synchronous detection relative to both sides of the cabin 1 to be tested, thereby relatively reducing the travel trajectory of the mobile platform 4 to optimize the motion trajectory and detection time, and the type-three detection device 8.5 is configured to assist the above-mentioned detection device, which is used to further implement the above-mentioned overlap detection at the changed part, so that the type-one and type-two detection devices 8.4 can continue to work one by one along their planned detection routes. In this way, the database 10 adds an independent entry work item 13 corresponding to the type-three detection device 8.5 to adapt to changes in the detection environment and detection data in real time.

[0092] As a further optimization of the above-mentioned three-category detection device 8.5, the detection path 5 of the three-category detection device 8.5 is edited in the outer loop of the one-category and two-category detection device 8.4 to prevent mutual interference, and after the one-category and two-category detection device 8.4 leaves the current area to be tested 2, the three-category detection device 8.5 moves to the previous area to be tested 2. In this process, the database 10 adds a corresponding change work item 1713 for storing data change information of the changed part and specific location information of the changed part.

[0093] The above-mentioned type 1 detection device, type 2 detection device and type 3 detection device are planned and operated through the equipment control module in combination with the spatial coordinate system in the database.

[0094] Specifically, in step A, it also includes cabin deployment, the cabin is arranged in an axially horizontal posture, and a bearing rotating device 9 is set at the bottom of the cabin, and the surrounding side of the cabin is set as a working environment to be tested, and the bearing rotating device 9 drives the cabin to rotate to present the marking point 3 on the surface of the cabin in front of the test equipment 8. Therefore, in the cycle process from step B to step F, it also includes the bearing rotating device 9 moving and driving the cabin to rotate an angle, and the data management module 12 respectively records the movement angle of the bearing rotating device 9 and the actual rotation angle of the cabin 1 to be tested, so as to realize real-time monitoring of the data during the detection process, and the rotation of the cabin 1 to be tested is preferably carried out after the current mobile platform 4 completes an axial direction detection.

[0095] Among them, the bearing rotating device 9 includes two transmission rollers arranged side by side at the bottom of the test cabin, and a power motor for driving the two transmission rollers to rotate, so as to drive the test cabin to rotate through the action of the transmission rollers, or to drive the test cabin to rotate with the help of external force. At this time, the transmission rollers apply auxiliary guiding force through the power motor.

[0096] The load-bearing rotating device 9 is connected to a database 10, a data analysis unit, a data acquisition unit and a data management module 12. The database 10 sets up a monitoring database 10 corresponding to the rotational movement of the rotating load-bearing device and the cabin to record and store the movement history.

[0097] In some cases, a certain changed part 1.1 of the test cabin 1 is detected and analyzed during an axial test area 2 detection process. At this time, the load-bearing rotating device 9 drives the cabin to rotate according to the geometric model characteristics and the marking points 3 thereon, so that the next circumferential test area 2 appears in front of the mobile platform 4, and the stress detection and data analysis process is carried out as above.

[0098] like Figure 11 to Figure 12 As shown, in other cases, a certain change part 1.1 of the test cabin 1 has an extension in the rotation direction, so that the change part 1.1 cannot be covered and tested. Therefore, in this step, according to the geometric model characteristics and the data change of the change part, the rotation angle is determined, and the angle rotation is performed once or multiple times (the center line in the figure is the rotation axis of the test cabin 1), thereby ensuring that the change part 1.1 is fully covered in the rotation direction, and the cabin is moved from Fig.11 Rotate the position shown to Fig.12 The position shown in Fig.11 and Fig.12 It is reflected by the position of the changed part. It should be pointed out that stress detection is performed for each angular rotation implemented. The detection is specifically performed by three types of detection devices 8.5. Marking points 3 are added to the changed part 1.1 or the data changed part 1.1. In fact, through the multi-degree-of-freedom manipulator 7 and the end actuator, the number of rotations of the cabin can be reduced and the work efficiency can be improved. The detection plan for the changed part 1.1 in the rotation direction is consistent with the above-mentioned coincidence detection method, so that the axial dimension and the rotation dimension are applied to the changed part 1.1 to obtain accurate Debye rings and stress cloud maps, so as to carry out targeted stress relief work on the residual stress.

[0099] Preferably, when detecting the rotating change part 1.1, the cabin is preset to rotate to a first angle, and the first and second type detection devices 8.4 detect the cabin 1 to be tested after rotating to the first angle, and the data management unit establishes the angle detection data information in the database 10, and when the cabin rotates to the initial detection angle, the data analysis unit integrates and analyzes the detection data of the first angle with the detection data of the initial detection angle, and further improves the detection accuracy of the overlapping part of the initial angle and the first angle, as well as the data continuity of the Debye ring and the stress cloud map.

[0100] (Test equipment 8)

[0101] Specifically, in step C, the test device 8 includes a two-dimensional detector 8.2 and an X-ray generator 8.1 arranged at the execution end of the manipulator 7. The X-ray generator 8.1 outputs X-rays in the normal direction of the marking point 3, and collects the X-ray diffraction part fed back from the marking point 3 through the two-dimensional detector 8.2, thereby generating a Debye ring image of the current marking point 3, and the residual stress calculation formula satisfies:

[0102]

[0103]

[0104]

[0105] like Figure 7 As shown in the figure, the definition of angle α, the arcs where επ+α and επ-α are located are schematic diagrams of Debye rings without stress, and the arcs where εα and ε-α are located are schematic diagrams of Debye rings under stress, as shown in the figure. Fig.14 As shown, it is a calculated diagram of X-ray diffraction, in which the diffraction peak 2θ ranges from 143° to 166°. Fig.14 In the figure, B is the incident X-ray, ε is the normal line of the diffraction surface (strain), the arc dotted line where C is located is the Debye ring, A is the diffraction surface on the test cabin, and Z is the diffracted X-ray.

[0106] During the detection process, when the incident X-ray beam irradiates the surface of the mark point 3, the Debye ring image formed by the ideal uniform isotropic material is a standard circle with uniform distribution of diffraction intensity. When there is residual stress in the material being tested, the Debye ring image is no longer a standard circle, and its shape will be deformed under the influence of stress, thereby intuitively showing the influence of stress and analyzing residual stress.

[0107] The two-dimensional detector 8.2 of the present invention collects and acquires a complete Debye ring at one time, and the residual stress measurement can be completed with a single-angle incident X-ray (usually 35°), which meets the measurement of the complex shape and narrow space of the changing part 1.1 mentioned above, and a single X-ray exposure can obtain 500 diffraction points for residual stress data fitting, and the result is more accurate, which greatly improves the measurement speed and accuracy of residual stress.

[0108] like Figure 2 and Figure 8As shown, specifically, in step C, the test equipment 8 emits X-rays to the position to be tested and / or the marking point 3, and the X-ray diffraction part will be recorded by the detector to obtain the diffraction information, thereby obtaining the Debye ring, and the data acquisition unit collects stress data of the position to be tested and / or the marking point 3 on the surface of the product, and is assigned to the corresponding work item 13, and stored in the database 10, and then the collected data is analyzed by the data analysis and processing software to generate the Debye rings, data reports, and stress cloud maps of the austenite phase and the non-austenite phase, wherein the Debye rings at the test area 2 and / or the marking generate non-standard circles under the influence of residual stress, and the lattice distortion information of the material to be tested can be obtained by analyzing the Debye rings under stress-free conditions and the Debye rings under the influence of stress, and then the residual stress data on the surface of the material to be tested can be calculated by combining Hooke's law with the built-in software of the system, and the above-mentioned coincidence detection further satisfies the integrity of the intensity distribution of the Debye ring, making the data analysis more reliable.

[0109] Specifically, the testing device 8 is also equipped with a CCD camera, an LED auxiliary positioning system, and an electronic angle display meter, and the electronic angle display meter is used to adjust the relative level between the surface of the sample being tested and the device.

[0110] like Figure 6 As shown, when positioning the test device 8 and the marking point 3, the test device 8 outputs a ring-shaped positioning light beam 8.6 by means of the LED auxiliary positioning system, and its light spot at the marking point 3 corresponds to the irradiation position of the X-ray, and generates a correction area 8.7 at the marking point 3 by means of the CCD camera. By adjusting the posture of the manipulator 7, when the positioning light beam 8.6 is located in the correction area 8.7, the positioning of the test device 8 and the marking point 3 is completed. At this time, residual stress detection is implemented according to the current relative position of the marking point 3 to obtain the diffraction intensity information of the Debye ring, as well as the integrity and intensity distribution characteristics of the Debye ring, so as to analyze and judge whether there are large grains in the material and whether there is an orientation / organization structure. At the same time, the above-mentioned Debye ring information and stress data are stored in the work item 13 corresponding to the marking point 3, integrated by the data analysis module 11 and the data management module 12, and a residual stress detection report is output.

[0111] It is worth mentioning that the amount of X-ray radiation during residual stress detection is closely related to the health of the operator. The equipment has low power and small radiation dose, and can reduce the impact of radiation on the human body from the source as much as possible.

[0112] like Figure 8 and Fig. 9 The figure shows the radiation data of the instrument at different distances and test angles when using a Cr target and a φ1mm collimator 8.8 at 30KV 1.5mA.

[0113] In the present invention, the combination of mobile platform, manipulator, 3D vision camera and stress detection equipment has a compact and lightweight overall structure, which is convenient for rapid switching of different application scenarios, fast deployment in new scenarios, modular test formulas, fast program updates, and each module can be disassembled and independently mounted to cooperate with other modules, making it suitable for a variety of residual stress detection scenarios and other assembly, transportation, obstacle avoidance, measurement and other scenarios.

[0114] (Mobile Platform 4 Deployment)

[0115] In step A, an initial station 6 and at least one mobile platform 4 are set in the detection path 5, and each mobile platform 4 carries a test device 8, wherein the mobile platform 4 is configured to start and stop, move in a straight line, turn and rotate on the spot on a planar path, and a charging pile and charging safety protection facilities are set at the initial station 6 for the mobile platform 4 to be prepared at the initial station 6.

[0116] As a further implementation method of the charging pile, the charging pile can provide power to the mobile platform 4, the manipulator 7 and its execution terminal, and the testing equipment 8, and a dry powder fire extinguishing device (not shown in the figure) is arranged above the charging pile, specifically including a spray nozzle, a temperature-sensitive glass ball and a pressure gauge, so that when the surrounding temperature reaches a certain extreme value or an open flame occurs, the dry powder inactivation device can be activated by high voltage to output dry powder to extinguish the fire.

[0117] The present invention also provides a residual stress detection device for implementing the above-mentioned detection method, including a load-bearing rotating device 9 for supporting a cabin to be tested, and a mobile platform equipped with a test device, a detection path is planned on the periphery of the cabin to be tested, and the mobile platform is configured to move relative to the cabin to be tested and the detection path to a detection position, and the test device performs residual stress detection on the marked points on the cabin to be tested at the detection position, and the test device includes a manipulator and an X-ray generating device and a two-dimensional detector arranged at the execution end of the manipulator.

[0118] (Mobile Platform 4)

[0119] The mobile platform 4 is equipped with a control cabinet, in which the manipulator 7 controller, the residual stress detector controller, and the mobile platform 4 controller are integrated, and the collaborative operation between the controllers is achieved through a communication interface.

[0120] like Figure 5 As shown, specifically, the mobile platform 4 is also provided with an anti-collision mechanism, which includes a laser obstacle avoidance unit with an adjustable front distance, an obstacle detection unit for detecting the size of obstacles, a touch sensor, and a proximity sensor. It can perform 360-degree obstacle detection and three-dimensional detection of low objects or planar obstacles, and actively slow down and stop, so as to realize human-machine collaboration and improve safety performance.

[0121] It should be pointed out that the correct placement of the mobile platform 4 is one of the important conditions for the detection equipment to implement residual stress detection and analysis. Therefore, it is necessary to ensure the movement reliability of the mobile platform 4, and the mobile platform 4 forms a first deceleration control area 4.1 on both sides thereof through a laser obstacle avoidance unit and an obstacle detection unit, forms a deceleration stop area 4.3 in front thereof, forms a second deceleration controller in front of the deceleration stop area 4.3, and is set to trigger deceleration to the design speed in the first deceleration control area 4.1 and the second deceleration control area 4.2, and is set to trigger deceleration to stop in the deceleration stop area 4.3.

[0122] It is worth mentioning that the editing of the environmental map in step A is achieved through the laser radar on the mobile platform 4, such as the laser obstacle avoidance unit. When the mobile platform 4 moves on the detection path 5, the environmental map is updated in real time, and the environment is dynamically detected and the dynamic map is updated to reduce the impact of the environment on the movement and stress detection of the mobile platform 4, thereby ensuring the normal operation of the test equipment 8. In addition, when multiple mobile platforms are set up, the geometric data and map data in each work item are shared for real-time update, and multiple mobile platforms share a spatial coordinate system and work map to ensure rapid collaboration between them and avoid mutual interference.

[0123] Regarding the linkage relationship between the mobile platform 4 and the manipulator 7, when the manipulator 7 is controlled to move and perform the retrieval and stress detection of the mark point 3, it is expected that the mobile platform 4 is stopped and braked. Therefore, a connection is established between the mobile platform 4 and the manipulator 7 and the test equipment 8 through a communication protocol to meet the needs of collaborative work. The EAC extended communication protocol configured in this mobile platform 4 controls the action instructions such as the pause, continue, execute, and cancel of other mounted components, such as the manipulator 7 and the test equipment 8. The current action status and execution results of the manipulator 7 and the test equipment 8 are obtained through the mobile platform 4, and a corresponding communication interface module is reserved on the mobile platform 4.

[0124] (Robot 7 and its execution terminal)

[0125] like Figure 1 and Figure 4 As shown, the robot arm serves as a specific execution unit, driving its execution end to achieve different posture changes to meet different stress detection positions and adjust the position of the X-ray generating device 8.1 and the relative marking point 3.

[0126] Specifically, in step C, it also includes a manual dragging mode, manually controlling the mobile platform 4 and adjusting it to the detection area 5.2, and determining the mark point 3 to be tested, switching the manipulator 7 to the manual control mode and dragging the manipulator 7 to calibrate the test equipment 8 to the mark point 3, starting the test equipment 8 and adjusting the posture of the manipulator 7 to the normal of the mark point 3, and completing the detection of the current mark point 3.

[0127] Specifically, in step C, the manipulator 7 is equipped with a built-in six-dimensional force sensor and a force feedback sensor for detecting the end contact force of the manipulator 7, thereby interacting with the control module of the manipulator 7 to assist the manipulator 7 in flexible following and collision detection under manual dragging.

[0128] Specifically, the execution end of the manipulator 7 is provided with a drag handle 7.1, a testing device 8, a visual camera 7.2, a touch button 7.3 and / or an electrolytic polishing device.

[0129] Preferably, in order to ensure the relative position between the execution terminal and the marking point so as to accurately obtain the spatial coordinate data of the marking point, a laser ranging module is also provided on the execution terminal. At the same time, the laser ranging module also serves as an auxiliary safety setting to prevent the end tool from contacting the product.

[0130] Among them, in order to avoid affecting the position accuracy of the manipulator 7 when starting the test equipment 8, the touch button 7.3 of the present invention is triggered by a laser. The touch button 7.3 is integrated and installed at the head position of the execution end. In step C, after the staff calibrates the test equipment 8, the device starts to detect the action after a short delay when triggered by a finger. The touch button 7.3 responds to the finger blocking the light instead of pressure, so the contact force can be almost negligible.

[0131] In some other embodiments, a yellow area cover (not shown) is provided for the touch button 7.3 to prevent accidental triggering. Provides immunity to ambient light, EMI and RFI.

[0132] As a stress elimination step after residual stress detection, the metal workpiece is used as an anode and electrolysis is carried out in an electrolyte to selectively remove its rough surface and improve the surface smoothness. The electrolytic polishing device is an electrolytic pen, and the electrolytic pen can be optionally configured at the execution end. Through the above-mentioned stress analysis, the mobile platform 4 and the manipulator 7 are guided to remain in the position to be stress eliminated. According to the specifications of electrolytic pens of different specifications, electrolytic polishing work with different shapes and different depth requirements is handled. At the same time, according to different polishing areas and polishing depths, as well as the selection of polishing time, the stability of the polishing rate is ensured by precise control of a digital counter.

[0133] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. A residual stress detection method, It is characterized in that The following steps are involved: A. Deployment of the environment and test equipment (8), scan the space and environment where the cabin is located to construct a detection implementation map and edit the detection path (5), thereby constructing a spatial coordinate system. The cabin is divided into a number of test areas (2), and marking points (3) are applied in the test areas (2), and a waiting area (5.1) is set in the detection path (5). An initial station (6) is set outside the detection path (5), and a mobile platform (4) is arranged at the initial station (6). The mobile platform (4) carries a manipulator (7), a visual camera (7.2) and a test equipment (8); the marking points are formed on the tangent of the arc point through the constructed detection implementation map to form a spatial coordinate system, and each mobile platform, manipulator and its execution terminal share the same spatial coordinate system; B. Retrieve the marking point (3), dispatch the mobile platform (4) to the waiting area (5.1), and further move the mobile platform (4) to the detection area (5.2) until the marking point (3) in the current detection area (5.2) appears in the current field of view; C. Residual stress detection, the visual camera (7.2) guides the manipulator (7) to operate and focus on the marking point (3) in the current detection area (5.2), the manipulator (7) adjusts the posture of the test device (8) with respect to each marking point (3), and the visual camera (7.2) finds the normal of the marking point (3), and the test device (8) performs residual stress detection on the marking point (3); E. After the detection of the marking points (3) in the current test area (2) is completed, enter the waiting area (5.1) outside the next test area (2), repeat the above steps, and detect all the marking points (3) on the cabin in turn; F. Upload test data and analyze stress; In step C, the mobile platform moves along the planned detection path in sequence according to the planned test area and its marking points, retrieves the marking points, obtains and records the spatial coordinates of the marking points, and performs stress detection on the marking points one by one to obtain the measured stress data; In the current test area, the real-time spatial position of the marking point is determined by the visual camera, so as to guide the mobile platform and the manipulator to adjust to the detection posture, collect the measured stress data of the corresponding position through the test equipment, and fit the spatial coordinates of the marking point to the detection data on the test cabin to be tested to the geometric feature model, so as to draw the stress cloud map and generate the residual stress model based on the geometric model and the measured data; In step A, the cabin is also deployed. The cabin is arranged in a horizontal posture with its axis, and a load-bearing rotating device is set at the bottom of the cabin. The surrounding side of the cabin is set as the working environment to be tested. The cabin is driven by the load-bearing rotating device to rotate so that the marked points (3) on the surface of the cabin are presented to the test equipment (8).

2. A residual stress detection method according to claim 1, Features: In step C, the testing device (8) emits X-rays to the positions to be tested and / or the marking points (3), and collects stress data from the positions to be tested and / or the marking points (3) on the surface of the product, and then analyzes the collected data through data analysis and processing software to generate Debye rings, data reports, and stress cloud diagrams of the austenite phase and the non-austenite phase.

3. A residual stress detection method according to claim 1, Features: In step C, the test device (8) includes a two-dimensional detector (8.2) and an X-ray generator (8.1) arranged at the execution end of the manipulator (7). The X-ray generator (8.1) outputs X-rays in the normal direction of the marking point (3), and collects the X-ray diffraction part fed back from the marking point (3) through the two-dimensional detector (8.2), thereby generating a Debye ring image of the current marking point (3).

4. A residual stress detection method according to claim 1, Features: In step C, a manual dragging mode is also included, in which the mobile platform (4) is manually controlled and adjusted to the detection area (5.2), and the mark point (3) to be tested is determined, the manipulator (7) is switched to the manual control mode and the manipulator (7) is dragged to calibrate the test device (8) to the mark point (3), the test device (8) is started and the posture of the manipulator (7) is adjusted to the normal direction of the mark point (3), and the detection of the current mark point (3) is completed.

5. A residual stress detection method according to claim 1, Features: The mobile platform (4) is also provided with an anti-collision mechanism, which includes a laser obstacle avoidance unit with an adjustable front distance and an obstacle detection unit for detecting the size of obstacles. The mobile platform (4) forms a first deceleration control area (4.1) on both sides thereof and a deceleration stop area (4.3) in front thereof through the laser obstacle avoidance unit and the obstacle detection unit. A second deceleration controller is formed in front of the deceleration stop area (4.3). The first deceleration control area (4.1) and the second deceleration control area (4.2) are configured to trigger deceleration to a design speed, and the deceleration stop area (4.3) is configured to trigger deceleration to a stop.

6. A residual stress detection method according to claim 1, Features: In step A, a standard geometric feature model of the test cabin (1) is first constructed, standard stress data is added, and marking points are added, tested and recorded on the standard geometric model (3). The geometric feature model and the marking points are configured in a spatial coordinate system, and measured stress data at corresponding positions are collected by a test device (8). The coordinate data and the measured stress data are fitted to the geometric feature model to draw a stress cloud map, thereby generating a residual stress model based on the geometric model and the measured data. The invention also includes a database (10) and at least one work item (13) distributedly stored in the database (10), wherein the work item (13) is configured with a test device (8), and the work item (13) is provided with a geometric data unit (16), and each geometric data unit (16) is correspondingly configured with a standard storage unit (14) and a measured storage unit (15), wherein the geometric data unit (16) obtains a geometric model of a cabin body (1) to be tested, the standard storage unit (14) obtains standard stress data of the geometric model, and the measured storage unit (15) obtains measured stress data of the cabin body (1) to be tested.

7. A residual stress detection method according to claim 6, Features: The system also includes a data analysis module (11) and a data management module (12). The data management module (12) supports data entry in different formats and is connected to a plurality of work items (13) to implement model expression and data management for the entry of a plurality of test devices (8). The data analysis module (11) performs real-time analysis on the test data of each test device (8) and the device status data of the test device (8), and stores and presents the data analysis results in a database (10).

8. A residual stress detection device according to the residual stress detection method according to any one of claims 1 to 7, Features: The invention comprises a load-bearing rotating device for supporting a cabin to be tested, and a mobile platform equipped with a test device. A test path is planned on the periphery of the cabin to be tested, and the mobile platform is arranged to move relatively between the cabin to be tested and the test path to a test position, and the test device performs residual stress detection on the marking points on the cabin to be tested at the test position. The test device comprises a manipulator and an X-ray generating device and a two-dimensional detector arranged at the execution end of the manipulator.

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