Drilling residual stress detection device based on six-degree-of-freedom mechanical arm

Abstract

The invention relates to a drilling residual stress detection device based on a six-degree-of-freedom mechanical arm, and aims to solve the problems of low residual stress detection precision, complex operation and limited application range in the prior art. The device comprises a six-degree-of-freedom mechanical arm, a drilling device, a strain gauge, a strain gauge and a control system. And the six-degree-of-freedom mechanical arm can be accurately positioned and moved in a three-dimensional space, so that the accuracy of the drilling position and angle is ensured. The drilling device achieves automatic drilling through the control system, the strain gauge measures strain changes in the drilling process and after drilling is completed in real time, and the strain gauge collects strain data and analyzes and processes the strain data through the computer processing system. The method is characterized in that the six-degree-of-freedom mechanical arm, the blind hole method and the strain gauge technology are combined, high-precision and automatic residual stress detection on the complex curved surface is achieved, the detection efficiency and the data accuracy are remarkably improved, and the device is widely applied to various fields.

Description

Technical Field

[0001] The present invention belongs to the field of residual stress detection, and specifically relates to a drilling residual stress detection device based on a six-degree-of-freedom robotic arm. In particular, the device uses a six-degree-of-freedom robotic arm to accurately drill holes on planes and curved surfaces at different angles, and is suitable for residual stress detection of complex-shaped workpieces. This technology is mainly used for residual stress detection of materials. By drilling holes in materials and measuring strain changes, the stress distribution and potential hazards of equipment structures can be evaluated and analyzed, thereby improving the safety and reliability of the equipment. Background Art

[0002] In modern industrial production, residual stress detection is an important part of ensuring the safety and reliability of materials and structures. Residual stress refers to the stress that still exists inside the material after the external force is removed. Residual stress is usually generated during manufacturing processes, heat treatment, welding, etc., and has an important impact on the performance and life of the material. Especially for equipment materials, residual stress may cause fatigue cracks, deformation and even structural failure. Therefore, residual stress detection of equipment materials has important practical significance.

[0003] Among the existing residual stress detection methods, the blind hole method and the strain gauge method are the two most commonly used methods. The blind hole method drills a small hole on the surface of the material to cause the redistribution of the stress field, and measures the strain change around the hole to calculate the residual stress; the strain gauge method sticks a strain gauge on the surface of the material to measure the strain of the material under the action of external force. However, the traditional drilling residual stress detection method has some limitations. For example, manual drilling is prone to position deviation and angle error, especially when facing complex-shaped workpieces or curved surfaces, accurate drilling is more difficult. In addition, the traditional method is difficult to operate in a small space, which limits its scope of application.

[0004] With the development of robotics technology, it is becoming possible to use robotic arms for automated operations. Six-degree-of-freedom robotic arms have high flexibility and precise positioning capabilities, and can achieve complex trajectory movements in three-dimensional space. Applying six-degree-of-freedom robotic arms to drilling residual stress detection can accurately drill holes on planes and curved surfaces at different angles, significantly improving detection accuracy and efficiency and reducing human errors.

[0005] The present invention proposes a drilling residual stress detection device based on a six-degree-of-freedom robotic arm, aiming to overcome the shortcomings of the prior art. The device can accurately drill holes on the surface of workpieces with complex shapes, and is particularly suitable for residual stress detection of equipment materials. By drilling holes in fuselage materials and measuring strain changes, the device can effectively evaluate and analyze the stress distribution and potential hazards of material structures, thereby improving the safety and reliability of equipment. Summary of the invention

[0006] Purpose of the invention: The purpose of the present invention is to provide a drilling residual stress detection device based on a six-degree-of-freedom robotic arm to solve the deficiencies in the prior art and achieve high-precision, automated residual stress detection. The device uses a six-degree-of-freedom robotic arm to accurately locate and drill holes on planes and curved surfaces at different angles, and combines the blind hole method and strain gauge technology to accurately measure strain changes and thus detect residual stress.

[0007] Innovation: The present invention solves the problems of low drilling accuracy, complex operation and limited application range of traditional fixed drilling devices on complex curved surfaces by utilizing a six-degree-of-freedom robotic arm in combination with the blind hole method and strain gauge technology. It realizes high-precision real-time automated detection of residual stress, significantly improves detection efficiency and data accuracy, and is widely applicable to a variety of fields.

[0008] To solve the above technical problems, according to one aspect of the present invention, more specifically, a drilling residual stress detection device based on a six-degree-of-freedom robotic arm mainly includes the following components:

[0009] Six-degree-of-freedom robotic arm: used to achieve precise positioning and movement of the drilling device in three-dimensional space. The six-degree-of-freedom robotic arm has six independent degrees of freedom of movement, including three translational degrees of freedom (X, Y, and Z axis directions) and three rotational degrees of freedom (rotation around the X, Y, and Z axes). It can drill holes on planes and curved surfaces at different angles to ensure the accuracy of the drilling position and angle.

[0010] Drilling device: Installed at the end of the robot arm, it includes a drill bit, a drive motor and a control system. The drilling device is used to perform precision drilling on the workpiece to be inspected. The control system can automatically control the drilling process according to preset drilling parameters, such as drilling position, depth and speed, to ensure the accuracy and consistency of drilling.

[0011] Strain gauges: Set on the surface around the drilling location to measure the strain changes caused by drilling. Strain gauges are pasted on the surface of the workpiece to capture strain data in real time.

[0012] Strain gauge: Connects to strain gauges to collect strain signals in real time and calculate the residual stress of the workpiece through a computer processing system. The strain gauge includes a signal amplifier, a data acquisition card, and analysis software to accurately measure and record strain changes.

[0013] Technical solution: The present invention realizes high-precision automated residual stress detection on complex surfaces by utilizing a six-degree-of-freedom robotic arm combined with the blind hole method and strain gauge technology. First, the robotic arm is accurately positioned through the control system so that it moves the drilling device to the area to be tested and remains stable; then, the drilling device is started to drill holes on the surface of the material. During this process, the strain gauge is attached around the hole and connected to the strain gauge to record the strain changes caused by drilling in real time; then, the control system drives the robotic arm to move to the next detection point and repeats the above drilling and data collection process; finally, the data collected by the strain gauge is analyzed by the data processing system, and the residual stress distribution of the material is calculated using the blind hole method. The specific steps of the present invention are as follows:

[0014] Step (1): Workpiece preparation: The workpiece to be tested is fixed on the workbench of the testing device, and a strain gauge is pre-pasted on the surface of the workpiece. The position of the strain gauge is selected around the predetermined drilling area.

[0015] Step (2): Drilling operation: Through the control system, the six-degree-of-freedom robot moves the drilling device to the predetermined position. According to the preset drilling parameters, the drilling device is started to perform precision drilling on the workpiece surface. The high degree of freedom of the robot arm ensures the accuracy of the drilling position and angle, and can operate accurately even on complex curved surfaces.

[0016] Step (3): Strain measurement: During and after the drilling process, the strain gauge data is collected in real time. The strain gauge transmits this data to the computer processing system for data analysis and processing. Through the blind hole method, the computer processing system uses the strain changes before and after drilling to calculate the residual stress of the workpiece.

[0017] Step (4): Residual stress calculation: The computer processing system calculates the residual stress of the workpiece based on the strain data using the blind hole method. The system will output the residual stress distribution on the workpiece surface based on the preset algorithm and model.

[0018] Step (5): Result analysis and application: Analyze the calculation results and generate a detailed stress distribution report to evaluate the mechanical properties and structural safety of the workpiece. In particular, in the detection of equipment materials, it can help identify potential stress concentration areas and improve the safety and reliability of the equipment.

[0019] The beneficial effects of the drilling residual stress detection device based on a six-degree-of-freedom mechanical arm of the present invention are:

[0020] The present invention combines a six-degree-of-freedom robot with a drilling device, and is suitable for planes and curved surfaces of different angles, and is particularly suitable for drilling residual stress detection of workpieces of complex shapes, thereby achieving high-precision, automated drilling operations and ensuring the accuracy of drilling position and depth. Using strain gauges and strain meters, the strain changes before and after drilling can be measured in real time and accurately, thereby calculating the residual stress of the workpiece. Through the above technical solution, the present invention can effectively solve the deficiencies in the prior art, achieve high-precision residual stress detection of workpieces of complex shapes, and has broad application prospects and market value. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0022] Figure 1 It is a structural schematic diagram of the present invention;

[0023] Figure 2 It is a schematic diagram of the drilling residual stress detection process of the present invention;

[0024] Figure 3 is a flow chart of strain data analysis of the present invention;

[0025] Figure 4 A schematic diagram of the mechanical arm of the present invention drilling a hole on a complex curved surface;

[0026] Figure 5 The present invention is a flow chart of the detection method.

[0027] In the figure: 1. Six-degree-of-freedom robotic arm; 2. Drilling device; 21. Six-degree-of-freedom robotic arm is positioned at the area to be tested; 22. Drilling device drills holes on the surface of the material to be tested; 23. Strain gauges are pasted around the drilled holes; 24. Strain gauges collect strain data in real time; 3. Strain gauges; 4. Material to be tested; 41. Robotic arm is positioned on a complex curved surface; 42. Drilling device drills holes perpendicular to the curved surface; 43. Strain gauge arrangement and data collection; 5. Strain gauge; 6. Control system; 7. Data processing system. DETAILED DESCRIPTION

[0028] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict.

[0029] like Figure 1-5 As shown, the present invention provides the following technical solution: a drilling residual stress detection device based on a six-degree-of-freedom mechanical arm, the detection device includes the following components: a six-degree-of-freedom mechanical arm 1, a drilling device 2, a strain gauge 3, a material to be tested 4, a strain gauge 5, a control system 6, and a data processing system 7. The following is a specific implementation process:

[0030] Example 1: Residual stress detection of planar materials

[0031] Step 1: Device Installation and Initialization

[0032] like Figure 1 As shown, a six-degree-of-freedom robotic arm 1 is fixed on a workbench to ensure that its working range covers the material to be tested 4, a drilling device 2 is installed at the end of the robotic arm, a strain gauge 3 and a strain meter 5 are connected, and they are connected to a control system 6 and a data processing system 7.

[0033] Step 2: Testing point selection and strain gauge arrangement

[0034] Several detection points are selected on the surface of the material to be tested 4, and strain gauges 3 are pasted around each detection point. The strain gauges are connected to the strain gauges 5 through wires.

[0035] Step 3: Robotic Arm Positioning

[0036] like Figure 2 As shown, the coordinates of the detection points are inputted through the control system 6, and the mechanical arm 1 is driven to move the drilling device 2 to the first detection point position 21, ensuring that the drilling device is perpendicular to the material surface.

[0037] Step 4: Drilling Operation

[0038] The drilling device 2 is started to drill a hole 22 on the surface of the material, and the strain gauge 3 records the strain change caused by the drilling. The strain gauge 5 collects strain data 24 in real time and transmits it to the control system 6.

[0039] Step 5: Data Analysis

[0040] like Figure 3 As shown, the data processing system receives the strain data and calculates the residual stress by the blind hole method. Finally, the residual stress distribution result is output.

[0041] Step 6: Repeat the test

[0042] The control system drives the robot arm to move to the next detection point and repeats steps 3 to 5 to complete the residual stress detection of all detection points.

[0043] Example 2: Residual stress detection of complex curved surface materials

[0044] Step 1: Device Installation and Initialization

[0045] like Figure 1 As shown, a six-degree-of-freedom robot arm 1 is fixed on a workbench to ensure that its working range covers the curved surface material 4 to be measured. A drilling device 2 is installed at the end of the robot arm, connected to a strain gauge 3 and a strain meter 5, and connected to a control system 6 and a data processing system.

[0046] Step 2: Testing point selection and strain gauge arrangement

[0047] Select several test points on the curved surface material 4 to be tested, and stick a strain gauge 3 around each test point. The strain gauge is connected to the strain meter 5 through a wire.

[0048] Step 3: Robotic Arm Positioning

[0049] like Figure 4 As shown, the detection point coordinates are inputted through the control system 6, and the robot arm 1 is driven to move the drilling device 2 to the first detection point position 41, ensuring that the drilling device is perpendicular to the material surface.

[0050] Step 4: Drilling Operation

[0051] The drilling device 2 is started to drill a hole 42 on the surface of the complex curved material, and the strain gauge 3 records the strain change caused by the drilling. The strain gauge 5 collects the strain data in real time and transmits it to the control system 6.

[0052] Step 5: Data Analysis

[0053] like Figure 3 As shown, the data processing system receives the strain data and calculates the residual stress by the blind hole method. Finally, the residual stress distribution result is output.

[0054] Step 6: Repeat the test

[0055] The control system drives the robot arm to move to the next detection point and repeats steps 3 to 5 to complete the residual stress detection of all detection points.

[0056] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention also fall within the protection scope of the present invention.

Claims

1. A drilling residual stress detection device based on a six-degree-of-freedom robotic arm, characterized in that: include: A six-degree-of-freedom mechanical arm (1), a drilling device (2), a strain gauge (3), a strain meter (5) and a control system (6); wherein: the six-degree-of-freedom mechanical arm (1) is used to realize the precise positioning and movement of the drilling device (2) in a three-dimensional space, has three translational degrees of freedom and three rotational degrees of freedom, and can drill holes on planes and curved surfaces at different angles, thereby ensuring the accuracy of the drilling position and angle; The drilling device (2) is installed at the end of the six-degree-of-freedom mechanical arm (1), and includes a drill bit, a drive motor and a control system, and is used to perform precision drilling on the workpiece to be inspected. The control system (6) automatically controls the drilling process according to preset drilling parameters to ensure the accuracy and consistency of the drilling. The strain gauge (3) is arranged on the surface around the drilling position to measure the strain change caused by the drilling. The strain gauge is pasted on the surface of the workpiece to capture the strain data in real time. The strain gauge (5) is connected to the strain gauge (3) and is used to collect strain signals in real time and calculate the residual stress of the workpiece through a computer processing system, including a signal amplifier, a data acquisition card and analysis software, which can accurately measure and record strain changes; The control system (6) is connected to the six-degree-of-freedom mechanical arm (1), the drilling device (2), the strain gauge (3) and the strain meter (5) and is used for accurately positioning the mechanical arm, controlling the drilling process, collecting and processing strain data, and calculating and analyzing the residual stress of the workpiece.

2. The drilling residual stress detection device based on a six-degree-of-freedom mechanical arm according to claim 1 is characterized in that: The control system (6) comprises: Positioning module: used for the six-degree-of-freedom robot arm (1) to move the drilling device (2) to the area to be tested and keep it stable; A drilling control module: used to start and control the drilling device (2) according to preset drilling parameters; Data acquisition module: used for real-time acquisition of strain data of the strain gauge (3); Data processing module: used to calculate the residual stress distribution of the workpiece through the blind hole method.

3. The drilling residual stress detection device based on a six-degree-of-freedom mechanical arm according to claim 1, characterized in that: The high-freedom movement and high-precision positioning of the six-freedom mechanical arm (1) ensure the accuracy of the drilling position and angle.

4. The drilling residual stress detection device based on a six-degree-of-freedom mechanical arm according to claim 1, characterized in that: The strain gauge (3) is arranged around a predetermined drilling area and is used to capture and transmit strain data in real time during and after the drilling process.

5. The drilling residual stress detection device based on a six-degree-of-freedom mechanical arm according to claim 1 is characterized in that: The strain gauge (5) comprises a signal amplifier, a data acquisition card and analysis software, and is used for accurately measuring and recording strain changes, and performing data analysis and processing through a computer processing system.

6. The drilling residual stress detection device based on a six-degree-of-freedom mechanical arm according to claim 1, characterized in that: The control system (6) is capable of driving the six-degree-of-freedom mechanical arm (1) to move to the next detection point, and repeating the drilling and data collection process until the detection of all areas to be tested is completed.

7. The drilling residual stress detection device based on a six-degree-of-freedom mechanical arm according to claim 1 is characterized in that: The computer processing system calculates the residual stress of the workpiece according to the strain data using the blind hole method and generates a detailed stress distribution report.

8. The drilling residual stress detection device based on a six-degree-of-freedom mechanical arm according to claim 1, characterized in that: The device is suitable for residual stress detection of various complex-shaped workpieces including but not limited to the aerospace field, and significantly improves detection efficiency and data accuracy.

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