Residual stress detection system and method

Abstract

The invention provides a residual stress detection system and method which are high in precision, low in cost and suitable for engineering application. The system comprises a sample holder, a calibration base and a detection unmanned aerial vehicle. The sample holder serves as a bearing platform of a test piece, the calibration base is used for calibrating the size, and the detection unmanned aerial vehicle is responsible for conducting size detection on the test piece at different time nodes. Through the standard length identification of the calibration base, the system can realize the detection precision up to 1 [mu] m, and is especially suitable for test piece analysis after the processes of machining, heat treatment, welding and the like. The operation process of the system is simple and convenient, an operator only needs to process the test piece at the beginning and the end of detection, other processes can be automatically completed by the test piece transfer trolley and the detection unmanned aerial vehicle, and the labor cost is greatly reduced. According to calculation, a single detection unmanned aerial vehicle and a transfer vehicle can respectively realize 288 piece and 4320 piece detection capability in a preset detection period, so that the detection efficiency is greatly improved, and continuous use of products is not influenced at the same time.

Description

Technical Field

[0001] The present invention belongs to the field of physical and chemical testing, and specifically relates to a high-precision residual stress detection method and a system for engineering applications based on natural aging deformation detection. Background Art

[0002] Residual stress refers to the internal stress generated during product processing and manufacturing due to various reasons (such as hot and cold treatment, welding, machining, etc.). These stresses still exist inside the material without external loads, which in turn affects the performance indicators such as material use, dimensional stability and fatigue life. Therefore, accurate and economical residual stress detection is of great significance to product processing parameter control.

[0003] The existing technology for residual stress detection methods is divided into two categories. The first is natural creep profile detection, which mainly measures the changes in the external dimensions before and after the residual stress is naturally released. The technical advantage is that the detection cost is low, and the main cost is generated in the dimensional measurement process; when the technology is insufficient, 1. The natural release lasts for a long time, usually a few weeks to a few months; 2. The efficiency of dimensional detection limits the scope of technical application, which is manifested in that after consuming a large amount of equipment hardware and labor costs, the number of products under inspection has not increased much; 3. The judgment of the detection endpoint is inaccurate and is usually set manually. The second is manual intervention detection, which mainly includes X-ray diffraction method, blind hole method, profile method, ultrasonic stress detection method, thermal denaturation method, etc. The technical advantage is that the detection cycle is short, and single-piece detection is usually within one week; the technical shortcomings are 1. The detection cost is high and the scope of technical application is limited; 2. Some methods require the preparation of standard samples or have different degrees of impact on the product. From the perspective of detection economy and the prospects for technology promotion and application, natural creep profile detection has advantages, but only improving the efficiency of dimensional detection is obviously not enough to solve the shortcomings of existing technology.

[0004] Authorization announcement number CN114427927B "A residual stress test device based on creep profile method of three-dimensional visual recognition" uses a three-dimensional visual recognition camera to detect product size, and uses a heat treatment module to accelerate product size changes, so as to achieve the technical effect of detecting the three-dimensional deformation data of the size during the heat treatment of the workpiece. The shortcomings of this technology are that the hardware cost is high, it is difficult to promote and use on a large scale, and the heat treatment process will affect the internal organization and mechanical properties of the product. Authorization announcement number CN112304478B "A residual stress test method based on creep profile method" uses the creep characteristics of materials and the profile method to achieve the technical effect of detecting the surface and internal residual stress field of the metal material detection plate. Authorization announcement number CN112268646B "A residual stress measurement device based on creep profile method" evaluates the surface and internal residual stress field of the workpiece by setting up a thermal aging system and a visual recognition system. The above technology accelerates the change of product profile size by introducing a heat treatment process, thereby improving the detection efficiency, but it has not yet achieved the engineering application effect of large-scale promotion and use.

[0005] The above information disclosed in the above background technology section is only used to enhance the understanding of the background technology of the technology described in this article. Therefore, the background technology may contain certain information that does not form the prior art known in this country to those skilled in the art. Summary of the invention

[0006] In order to solve the defects of the above-mentioned prior art, the present invention proposes a residual stress detection system and method with high detection accuracy, low detection cost and suitable for engineering applications.

[0007] In one aspect, according to an embodiment of the present invention, a residual stress detection system includes:

[0008] A sample rack, which serves as a workbench for carrying the test pieces to be tested; and a number of

[0009] The calibration base is fixedly placed on the sample rack, and the test piece is arranged in the middle of the calibration base;

[0010] The inspection drone is calibrated by identifying the calibration base and performing dimensional inspection on the appearance of the test piece at different time points.

[0011] The test piece is fixedly placed on a calibration base. As the residual stress changes over time, the test piece undergoes dimensional changes, and then the test piece is inspected by a detection drone.

[0012] In some embodiments of the present invention, the sample rack includes a sample rack support and a sample rack transverse plate, the sample rack transverse plate is perpendicular to the ground, and a plurality of sample rack transverse plates are arranged in parallel up and down and arranged horizontally on the sample rack support.

[0013] Furthermore, the sample rack support is a plurality of metal support rods perpendicular to the ground, and a plurality of support rods forming angles with each other are arranged between the metal support rods.

[0014] In some embodiments of the present invention, the calibration base includes a bottom plate, a lateral calibration substrate and a support; the lateral calibration substrate is a cross-sectional L-shaped metal plate vertically fixed on the bottom plate, and a metal plate with a prefabricated standard length marking is fixed on the lateral calibration substrate; the supports are evenly distributed at the four corners below the bottom plate; the upper part of the bottom plate is provided with a plurality of bottom calibration substrates located at the upper edge of the bottom plate, and the bottom calibration substrates are metal plates with prefabricated standard length markings.

[0015] Furthermore, the bottom plate is also provided with a calibration base barcode for binding the test data with the test piece.

[0016] In some embodiments of the present invention, the detection drone includes a detection drone body, a rotor mechanism and a drone support frame; the rotor mechanism is arranged at the four corners of the drone body, the drone support frame is arranged on the bottom side of the drone body, and a lateral measuring instrument is arranged opposite to the drone support frame, and the lateral measuring instrument is used to collect the dimensional data of each position of the test piece under the side view; a top measuring instrument is provided in the middle of the lower part of the drone body, and the top measuring instrument is used to collect the dimensional data of each position on the top of the test piece under the top view.

[0017] In some embodiments of the present invention, a transfer vehicle is also included, which is used to clamp and place the calibration base on the sample rack; the transfer vehicle includes: a specimen transfer vehicle body, the bottom of the transfer vehicle body is provided with moving wheels, the top is provided with a Z-axis slide rail, the Z-axis slide rail is slidably connected to the Z-axis slide, and a clamping plate is provided on one side of the Z-axis slide.

[0018] In some embodiments of the present invention, the clamping plate includes a fixed seat, a base plate, a clamping cylinder and a movable chuck. The clamping cylinder is fixed on the bottom side of the base plate of the clamping plate. The movable chuck is movably connected to the other end of the base plate away from the clamping cylinder. The piston end of the clamping cylinder is fixedly connected to the movable chuck to control the reciprocating movement of the movable chuck along the length direction of the base plate.

[0019] On the other hand, according to an embodiment of the present invention, a residual stress detection method is provided, which performs residual stress detection on a test piece based on the residual stress detection system described above, and specifically includes the following steps:

[0020] S1. The operator places the test piece on the bottom plate to ensure that the side calibration substrate, bottom calibration substrate and calibration base barcode are not blocked by the test piece;

[0021] S2. The specimen transfer vehicle transfers the specimen assembly after the specimen placement and places it on an empty position on the specimen rack;

[0022] S3, the detection drone maneuvers to stop at the specimen assembly placement position on the specimen rack, and performs calibration by identifying the calibration base;

[0023] S4, the top measuring instrument on the testing drone detects the test piece and collects the top position size data of the test piece from the top view;

[0024] S5. The lateral measuring instrument of the testing drone detects the test piece and collects the size data of each position of the test piece under the side view angle;

[0025] S6. The testing drone turns 90 degrees and stops above the same test piece;

[0026] S7, the top measuring instrument of the detection drone collects the size data of each position on the top of the test piece from the top view again;

[0027] S8, the lateral measuring instrument of the detection drone collects the dimensional data of each position of the test piece under the side view angle again;

[0028] S9, repeat S3-S8 to complete a round of testing of different specimen sizes on different specimen racks;

[0029] S10, repeat S3-S9 at intervals of 1-7 days to complete the testing of different wheel sets and different test pieces of different sizes;

[0030] S11. After the test piece completes the preset wheel set size detection, the test piece transfer vehicle moves the calibration base with the test piece from the test piece stand, completes the size change detection of the test piece within the preset time interval, and then characterizes the residual stress distribution;

[0031] S12. Repeat S1-S11 to complete the residual stress detection of different specimens.

[0032] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0033] (1) High detection accuracy. The prefabricated length dimension is calibrated by measuring the calibration substrate and the bottom calibration substrate. The lateral measuring instrument and the top measuring instrument can detect the dimension with an accuracy of up to 1μm. Under the influence of the residual stress of the specimen after special processes such as machining, heat treatment, and welding, the dimensional change detection accuracy responds well.

[0034] (2) Low testing cost. This patented technology places the test piece assembly on the test piece rack, transports it through the test piece transport vehicle, and automatically inspects it through the inspection drone. Except for the operator placing and removing the test piece on the bottom plate at the beginning and end of the inspection, no human intervention is required throughout the inspection process, and the labor cost is low. In addition, in addition to the transport vehicle and inspection drone, the hardware cost of this patented technology is only the site and low-cost test piece rack, and the hardware cost is low.

[0035] (3) Suitable for engineering applications. This patented technology can realize residual stress detection of a large number of specimens by setting up a universal specimen rack over a large area to place the specimens for inspection, transporting them through a specimen transport vehicle, and automatically inspecting them through a testing drone. According to the preset test period of 60 days for the specimen, the single working time of the specimen transport vehicle is 10 minutes, the charging / working ratio is 1:1, and the single testing time of the testing drone is 2.5 minutes, and the charging / working ratio is 1:1, the beat of a single testing drone can reach 288 pieces / day, and the beat of a single specimen transport vehicle can reach 4320 pieces / 1 testing cycle, which is suitable for large-scale engineering applications. In addition, this patented technology does not affect the continued use of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The present invention will now be described by way of example with reference to the accompanying drawings, in which:

[0037] Figure 1 A schematic side view of the partial layout of a preferred embodiment of the present invention;

[0038] Figure 2 A schematic diagram of the test piece rack structure of a preferred embodiment of the present invention;

[0039] Figure 3 A schematic top view of a partial layout of a preferred embodiment of the present invention;

[0040] Figure 4 A schematic side view of a calibration base according to a preferred embodiment of the present invention;

[0041] Figure 5 A schematic top view of a calibration base according to a preferred embodiment of the present invention;

[0042] Figure 6 A schematic diagram of a transfer vehicle according to a preferred embodiment of the present invention Figure 1 ;

[0043] Figure 7 A schematic diagram of a transfer vehicle according to a preferred embodiment of the present invention Figure 2 ;

[0044] Figure 8 A schematic top view of a clamping plate according to a preferred embodiment of the present invention;

[0045] Fig. 9 A schematic side view of a clamping plate according to a preferred embodiment of the present invention;

[0046] Fig.10 A schematic side view of a detection drone according to a preferred embodiment of the present invention;

[0047] Fig.11 This is a bottom-up schematic diagram of a detection drone according to a preferred embodiment of the present invention.

[0048] Figure numerals: 1- specimen rack, 101- specimen rack bracket, 102- specimen rack cross plate, 2- calibration base, 201- specimen, 202- lateral calibration substrate, 203- bottom plate, 204- support, 205- bottom calibration substrate, 206- calibration base barcode, 3- transfer vehicle, 301- Z-axis slide rail, 302- Z-axis slide table, 303- clamping plate, 3031- fixed seat, 3032- clamping plate Bottom plate, 3033-clamping cylinder, 3034-moving chuck, 304-transfer vehicle body, 305-moving wheel, 4-detection drone, 401-rotor one, 402-driving motor, 403-rotor two, 404-detection drone body, 405-lateral measuring instrument one, 406-drone support frame one, 407-top measuring instrument, 408-lateral measuring instrument two, 409-drone support frame two. DETAILED DESCRIPTION

[0049] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0050] This embodiment provides a residual stress detection system. Figure 1-11 ,include:.

[0051] The sample rack 1 is used as a workbench for carrying the test piece 201 to be tested; and a plurality of

[0052] The calibration base 2 is fixedly placed on the sample rack 1, and the test piece 201 is arranged in the middle of the calibration base 2;

[0053] The detection drone 4 performs calibration by identifying the calibration base 2 and performs dimensional detection on the appearance of the test piece 201 at different time points.

[0054] The transfer vehicle 3 is used to clamp and place the calibration base 2 on the sample rack 1;

[0055] The test piece is fixedly placed on a calibration base. As the residual stress changes over time, the test piece undergoes dimensional changes, and then the test piece is inspected by a detection drone.

[0056] Figure 1-Figure 3A sample rack 1 according to another exemplary embodiment of the present invention is shown, and the sample rack 1 includes a sample rack support 101 and a sample rack cross plate 102. Optionally or preferably, the sample rack support 101 is implemented as a plurality of metal support rods perpendicular to the ground. Further, a plurality of through holes are formed in the middle of the metal support rods, and the function of the through holes is to reduce weight. A plurality of support rods at angles to each other are provided between the metal support rods, and the function of the support rods is to increase the load-bearing capacity of the sample rack support 101. Further, the sample rack 101 is implemented as being arranged in rows. Optionally or preferably, the sample rack cross plate 102 is placed parallel to the ground. Further, the sample rack cross plate 102 is arranged between two rows of sample rack supports 101. Further, a plurality of sample rack cross plates 102 can be arranged in parallel up and down.

[0057] Figure 3-Figure 5 A calibration base 2 according to another exemplary embodiment of the present invention is shown, and the calibration base 2 includes a lateral calibration substrate 202, a bottom plate 203, a support 204, a bottom calibration substrate 205 and a calibration base barcode 206. Optionally or preferably, the calibration base supports 204 are 4 in the same structure, evenly distributed at the four corners below the bottom plate 203. Optionally or preferably, a plurality of bottom calibration substrates 205 are provided on the upper portion of the calibration base bottom plate 203. Further, the bottom calibration substrate 205 is a metal plate with a prefabricated standard length mark, which is used for the length detection and calibration of the top measuring instrument 407. Further, the bottom calibration substrate 205 is located at the upper plate edge of the bottom plate 203, and the number of the bottom calibration substrates 205 is 4. Optionally or preferably, a plurality of lateral calibration substrates 202 are also provided on the upper portion of the calibration base bottom plate 203. Furthermore, the lateral calibration substrate 202 is a cross-sectional L-shaped metal plate vertically fixed on the bottom plate 203. Furthermore, a metal plate with a prefabricated standard length mark is also fixed on the lateral calibration substrate 202. Furthermore, two metal plates are provided on the lateral calibration substrate 202, which are used for length detection and calibration of lateral measuring instrument 1 405 and lateral measuring instrument 2 408. Optionally or preferably, a calibration base barcode 206 is also provided on the calibration base bottom plate 203, which is used to facilitate the binding of detection data with the test piece 201. Furthermore, the test piece 201 is fixedly placed on the bottom plate 203, and after the external dimensions change due to the residual stress over time, the detection drone 4 performs dimensional detection.

[0058] Figure 6-Figure 7A transfer vehicle 3 according to another exemplary embodiment of the present invention is shown, and the transfer vehicle 3 includes a Z-axis slide rail 301, a Z-axis slide table 302, a clamping plate 303, a transfer vehicle body 304 and moving wheels 305. Optionally or preferably, the Z-axis slide rail 301 is arranged on the transfer vehicle body 304, and the Z-axis slide table 302 moves up and down along the length direction of the Z-axis slide rail 301. Further, the clamping plate 303 is arranged on the Z-axis slide table 302.

[0059] Figure 8-Figure 9 A clamping plate 303 according to another exemplary embodiment of the present invention is shown, and the clamping plate 303 includes a fixed seat 3031, a clamping plate bottom plate 3032, a clamping cylinder 3033 and a movable clamp 3034. Further, the movable clamp 3034 moves along the length direction of the clamping plate bottom plate 3032 under the control of the clamping cylinder 3033. Further, the movable clamp 3034 is used in conjunction with the fixed seat 3031, and under the action of the clamping cylinder 3033, the calibration base 2 is clamped and placed.

[0060] Figure 10-11 A detection drone 4 according to another exemplary embodiment of the present invention is shown, and the detection drone 4 includes a rotor 1 401, a drive motor 402, a rotor 2 403, a detection drone body 404, a lateral measuring instrument 1 405, a drone support frame 1 406, a top measuring instrument 407, a lateral measuring instrument 2 408 and a drone support frame 2 409. Optionally or preferably, the rotor 1 401 and the rotor 2 403 are used as a set, and under the action of the drive motor 402, the technical effect of the maneuverability of the detection drone 4 is achieved. Further, the set of rotors is set to 4 sets. Optionally or preferably, a top measuring instrument 407 is provided in the middle of the lower part of the detection drone body 404. The function of the top measuring instrument 407 is to detect the dimensions of each position under the top view of the test piece 201 from the top. Further, drone support frame 1 406 and drone support frame 2 409 are also provided on both sides of the lower side of the detection drone body 404. The function of the drone support frame 1 406 and the drone support frame 2 409 is to provide support for the parking of the detection drone 4. Furthermore, the drone support frame 1 406 and the drone support frame 2 409 are respectively fixed with a lateral measuring instrument 1 405 and a lateral measuring instrument 2 408. The function of the lateral measuring instrument 1 405 and the lateral measuring instrument 2 408 is to measure the dimensions of each position of the test piece 201 under the side view angle.

[0061] Another aspect of the present invention further provides a residual stress detection method, which performs residual stress detection on a test piece based on the above-mentioned residual stress detection system, and specifically includes the following steps:

[0062] S1. The operator places the test piece 201 on the bottom plate 203 to ensure that the lateral calibration substrate 202, the bottom calibration substrate 205 and the calibration base barcode 206 are not blocked by the test piece 201;

[0063] S2, the transfer vehicle 3 transfers the calibration base 2 on which the specimen 201 is placed and places it on an empty position of the specimen rack 1;

[0064] S3, the detection drone 4 maneuvers to stop at the placement position of the calibration base 2 on the specimen rack 1, and performs calibration by identifying the calibration base;

[0065] S4, the top measuring instrument 407 of the detection drone 4 detects the size data of each position on the top of the test piece 201 in a top-down perspective;

[0066] S5, the lateral measuring instrument 1 405 and the lateral measuring instrument 2 408 of the detection drone 4 respectively detect the size data of each position under the two side views of the test piece 201;

[0067] S6, the detection drone 4 maneuvers 90 degrees and stops above the same test piece 201;

[0068] S7, the top measuring instrument 407 of the detection drone 4 detects the size data of each position on the top of the test piece 201 from a top-down perspective again;

[0069] S8, the lateral measuring instrument 1 405 and the lateral measuring instrument 2 408 of the detection drone 4 respectively detect the size data of each position under the other two side viewing angles of the test piece 201 again;

[0070] S9, repeat S3-S8 to complete a round of size detection of different test pieces 201 on different test piece racks 1;

[0071] S10, repeat S3-S9 at a certain interval to complete the size detection of different test pieces 201 of different wheel sets. In a preferred embodiment, the time interval is 1 day to 7 days.

[0072] S11. After the test piece 201 completes the preset wheel set size detection, the transfer vehicle 3 moves the calibration base 2 with the test piece 201 out of the test piece rack 1, completes the size change detection of the test piece 201 within the preset time interval, and then characterizes the residual stress distribution.

[0073] S12. Repeat S1-S11 to complete residual stress detection of different test pieces 201.

[0074] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A residual stress detection system, characterized in that: include: The specimen rack serves as a workbench for carrying the specimens to be tested; and several The calibration base is fixedly placed on the sample rack, and the test piece is arranged in the middle of the calibration base; The inspection drone is calibrated by identifying the calibration base and performing dimensional inspection on the appearance of the specimen at different time points; The test piece is fixedly placed on a calibration base. As the residual stress changes over time, the test piece undergoes dimensional changes, and then the test piece is inspected by a detection drone.

2. A residual stress detection system according to claim 1, characterized in that: The sample rack comprises a sample rack support and a sample rack transverse plate, wherein the sample rack transverse plate is perpendicular to the ground, and a plurality of sample rack transverse plates are arranged in parallel up and down and are horizontally arranged on the sample rack support.

3. A residual stress detection system according to claim 2, characterized in that: The sample rack support is a plurality of metal support rods perpendicular to the ground, and a plurality of support rods forming angles with each other are arranged between the metal support rods.

4. A residual stress detection system according to claim 1, characterized in that: The calibration base includes a bottom plate, a lateral calibration substrate and a support; the lateral calibration substrate is a cross-sectional L-shaped metal plate vertically fixed on the bottom plate, and a metal plate with a prefabricated standard length mark is fixed on the lateral calibration substrate; the supports are evenly distributed at the four corners below the bottom plate; the upper part of the bottom plate is provided with a plurality of bottom calibration substrates located at the upper edge of the bottom plate, and the bottom calibration substrates are metal plates with prefabricated standard length marks.

5. A residual stress detection system according to claim 4, characterized in that: The bottom plate is also provided with a calibration base barcode for binding the test data with the test piece.

6. A residual stress detection system according to claim 1, characterized in that: The detection drone includes a detection drone body, a rotor mechanism and a drone support frame; the rotor mechanism is arranged at the four corners of the drone body, the drone support frame is arranged on the bottom side of the drone body, and a lateral measuring instrument is arranged opposite to the drone support frame, and the lateral measuring instrument is used to collect the size data of each position of the test piece under the side view; a top measuring instrument is arranged in the middle of the lower part of the drone body, and the top measuring instrument is used to collect the size data of each position on the top of the test piece under the top view.

7. A residual stress detection system according to claim 1, characterized in that: It also includes a transfer vehicle, which is used to clamp and place the calibration base on the sample rack; the transfer vehicle includes: a sample transfer vehicle body, the bottom of the transfer vehicle body is provided with moving wheels, the top is provided with a Z-axis slide rail, the Z-axis slide rail is slidably connected to the Z-axis slide, and a clamping plate is provided on one side of the Z-axis slide.

8. A residual stress detection system according to claim 7, characterized in that: The clamping plate includes a fixed seat, a base plate, a clamping cylinder and a movable clamping head. The clamping cylinder is fixedly arranged on the bottom side of the base plate of the clamping plate. The movable clamping head is movably connected to the other end of the base plate away from the clamping cylinder. The piston end of the clamping cylinder is fixedly connected to the movable clamping head to control the movable clamping head to reciprocate along the length direction of the base plate.

9. A residual stress detection method, based on the residual stress detection system according to any one of claims 1 to 8, to perform residual stress detection on a test piece, characterized in that: The details include: S1. The operator places the test piece on the bottom plate, ensuring that the side calibration substrate, bottom calibration substrate and calibration base barcode are not blocked by the test piece; S2. The specimen transfer vehicle transfers the specimen assembly after the specimen placement and places it on an empty position on the specimen rack; S3, the detection drone maneuvers to stop at the specimen assembly placement position on the specimen rack, and calibrates by identifying the calibration base; S4, the top measuring instrument on the testing drone detects the test piece and collects the top position size data of the test piece from the top view; S5. The lateral measuring instrument of the testing drone detects the test piece and collects the size data of each position of the test piece under the side view angle; S6. The testing drone turns 90 degrees and stops above the same test piece; S7, the top measuring instrument of the detection drone collects the size data of each position on the top of the test piece from the top view again; S8, the lateral measuring instrument of the detection drone collects the dimensional data of each position under the side view angle of the test piece again; S9, repeat S3-S8 to complete a round of testing of different specimen sizes on different specimen racks; S10, repeat S3-S9 at intervals of 1-7 days to complete the testing of different wheel sets and different test pieces of different sizes; S11. After the test piece completes the preset wheel set size detection, the test piece transfer vehicle moves the calibration base with the test piece from the test piece stand, completes the size change detection of the test piece within the preset time interval, and then characterizes the residual stress distribution; S12. Repeat S1-S11 to complete the residual stress detection of different specimens.

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