An eddy current method for inspecting welds on the inner surface of a high pressure compressor disk drum assembly

Abstract

The application provides a kind of eddy current detection method for high-pressure compressor disc drum assembly inner surface weld, comprising: the probe connecting pipe connected with eddy current flaw detection probe is lowered through mechanical arm and passes through the axial hole of high-pressure compressor disc drum assembly and the narrow space between discs, so that probe base section and middle section are in narrow disc space;Through the push rod of direct current motor, the eddy current flaw detection probe is driven to extend, so that the probe end is moved to the inner surface weld area of disc drum assembly for flaw detection detection;Through the rudder engine, the position change of the probe detection end is driven, under the restriction of the narrow disc space environment to the probe body, by changing the position of the probe detection end, the effective detection area is increased, and at the same time, the high-pressure compressor disc drum assembly rotates, to realize full coverage detection to the inner surface weld area.

Description

Technical Field

[0001] This invention relates to the field of information technology, and in particular to an eddy current detection method for weld seams on the inner surface of a high-pressure compressor disc drum assembly. Background Technology

[0002] The high-pressure compressor disc assembly is a critical component of aero-engines, and the integrity of its internal surface welds directly affects engine performance and safety. However, due to the complex structure and confined internal space of the disc assembly, especially the narrow space between the shaft bore and the discs, traditional inspection methods struggle to access these areas for comprehensive inspection. Even when access is possible, complete weld coverage is often impossible, leading to incomplete and unreliable results. Furthermore, the flexibility and accuracy of inspection equipment are severely challenged within such a confined space. The inspection probe is difficult to precisely position and adjust its angle, making it unsuitable for inspecting welds in different locations. Simultaneously, space constraints limit the use of large-size, high-performance inspection equipment, further restricting inspection accuracy and efficiency. These technical challenges not only increase inspection time and cost but, more importantly, may lead to the overlooking of potential defects, creating safety hazards. Therefore, achieving efficient, accurate, and comprehensive inspection of welds within the extremely confined and complex internal space of the high-pressure compressor disc assembly has become a critical technical problem urgently needing to be solved. Summary of the Invention

[0003] This invention provides an eddy current detection method for weld seams on the inner surface of a high-pressure compressor disc drum assembly, mainly comprising:

[0004] The probe connecting tube, to which the eddy current flaw detection probe is attached, is lowered by a robotic arm and passes through the axial hole and narrow space between the discs of the high-pressure compressor disc assembly, placing the base and middle sections of the probe within the narrow space. A DC motor push rod extends the eddy current flaw detection probe, moving its tip to the weld area on the inner surface of the disc assembly for flaw detection. A steering servo motor changes the position of the probe's detection end. Despite the narrow space restricting the probe body, the effective detection area is increased by changing the position of the probe's detection end. Simultaneously, the high-pressure compressor disc assembly rotates, achieving full coverage detection of the weld area on the inner surface.

[0005] Furthermore, the probe includes a base segment, a middle segment, a terminal segment, a first drive unit, a second drive unit, a probe assembly, and a connector. The first drive unit base is installed inside the base segment, and the first drive unit push rod is installed inside the middle segment. The first drive unit is used to push the middle segment to move towards the terminal segment. The second drive unit base is installed inside the middle segment, and the second drive unit push rod is installed inside the terminal segment. The second drive unit is used to push the terminal segment to move towards the weld to be inspected. The second drive unit push rod has a second mounting hole, and the terminal segment has a second fixing member at a position that matches the second mounting hole. When the second drive unit push rod is installed on the terminal segment, the second fixing member is inserted into the second mounting hole. The terminal segment has a third power line receiving groove.

[0006] Furthermore, the steering assembly also includes a steering servo assembly, which includes a steering servo and a rotating shaft. The steering servo is fixedly installed in the base section, and one end of the rotating shaft is rotatably connected to the steering servo, while the other end is fixedly connected to the probe assembly.

[0007] Furthermore, when the position of the probe detection end changes due to the steering servo, PWM pulse signals with different duty cycles are input to the steering servo to control the rotation of the steering servo.

[0008] Furthermore, the upper end of the probe connecting tube is connected to the front end of the robotic arm through a threaded hole.

[0009] Furthermore, when the robotic arm moves the connecting tube horizontally through the narrow space between the discs, the probe connecting tube is located in the axial hole, and the probe base and middle sections are located within the narrow space between the discs.

[0010] Furthermore, the initial orientation of the eddy current flaw detection probe is a retracted state.

[0011] Furthermore, after the probe tip is moved to the weld area on the inner surface of the disc assembly for flaw detection, the effective detection area is increased by changing the position of the probe detection end, which is limited by the narrow space between the discs, thus achieving full coverage detection of the weld area on the inner surface.

[0012] Furthermore, the position data of the base segment is obtained, and the relative position of the base segment and the inter-disc space is detected by an infrared sensor installed on the probe to determine whether the base segment is in the narrow inter-disc space.

[0013] The technical solutions provided by the embodiments of the present invention may include the following beneficial effects:

[0014] This invention discloses an eddy current detection method for weld seams on the inner surface of a high-pressure compressor disc-drum assembly. Addressing the difficulty in detecting weld seams on the inner wall of the shaft hole and narrow inter-disc space of the high-pressure compressor disc-drum assembly, this invention employs a probe connecting tube in conjunction with a robotic arm to precisely deliver the eddy current testing probe into the detection area. A DC motor controls the probe's extension and retraction, while a servo motor adjusts the angle of the detection end, achieving full coverage scanning of the inner surface weld seams. A PWM signal controls the servo motor's rotation, changing the detection area of ​​the eddy current sensor and improving detection flexibility and accuracy. This invention solves the problems of traditional methods' difficulty in accessing confined spaces and incomplete detection coverage, achieving efficient and accurate detection of weld seams on the inner surface of high-pressure compressor disc-drum assemblies, significantly improving detection quality and efficiency. Attached Figure Description

[0015] Figure 1 This is a flowchart of an eddy current detection method for the inner surface weld of a high-pressure compressor disc drum assembly according to the present invention.

[0016] Figure 2 This is a schematic diagram of a probe structure for the inner surface weld seam of a high-pressure compressor disc drum assembly according to the present invention;

[0017] Figure 3 for Figure 1 A schematic diagram of the internal assembly structure of a probe structure for the inner surface weld seam of a high-pressure compressor disc drum assembly in this invention; Detailed Implementation

[0018] To further understand the content of this invention, a detailed description of the invention is provided in conjunction with the accompanying drawings and embodiments. The specific embodiments described herein are for illustrative purposes only and are not intended to limit the invention. It should also be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0019] like Figure 1 This embodiment of an eddy current detection method for the weld seam on the inner surface of a high-pressure compressor disc drum assembly may specifically include:

[0020] Step S101, an eddy current detection method for the inner surface weld of a high-pressure compressor disc drum assembly, wherein the high-pressure compressor disc drum assembly is obtained, the high-pressure compressor disc drum assembly has a central hole and a narrow inter-disc space, the inner surface weld is located on the inner wall of the inter-disc space and is annular, and the disc drum assembly to be tested is fixed by a three-jaw chuck clamping a rotating device.

[0021] Step S102: Connect one end of the probe connecting tube to the robotic arm, control the robotic arm to drive the probe connecting tube through the axial hole and move it into the inter-disc space. The other end of the probe connecting tube is connected to an eddy current testing probe. The eddy current testing probe includes a base section, a middle section and a detection end connected in sequence. The detection end is equipped with an eddy current sensor.

[0022] Obtain the current position information of the robotic arm and determine its relative position to the shaft center hole of the high-pressure compressor disc assembly. Control the movement of the robotic arm so that one end of the probe connecting tube connects to the front end of the robotic arm through the threaded hole, ensuring a secure connection. Adjust the posture of the robotic arm so that the probe connecting tube remains in a retracted state, preparing to enter the shaft center hole of the high-pressure compressor disc assembly. Control the robotic arm to drive the probe connecting tube vertically downward, passing through the shaft center hole of the high-pressure compressor disc assembly and entering the inter-disc space. After the probe connecting tube passes through the shaft center hole, control the robotic arm to move horizontally, so that the base section and middle section base of the probe enter the narrow inter-disc space. Input a positive 24V voltage to the two DC motor push rods, causing the push rods to extend and drive the eddy current flaw detection probe out of the probe connecting tube. Adjust the position of the eddy current flaw detection probe so that the detection end moves to the weld area on the inner surface of the high-pressure compressor disc assembly. According to the detection requirements, input PWM pulse signals with different duty cycles to the steering servo motor to control the rotation of the steering servo motor, thereby changing the position of the detection end of the eddy current flaw detection probe. During testing, the three-jaw chuck begins to rotate, driving the high-pressure compressor disc drum assembly to rotate, which in turn scans the weld area to be tested with the help of the robotic arm. With the probe body constrained by the narrow space between the discs, the effective testing area is increased by changing the position of the testing end.

[0023] For example, when acquiring the current position information of the robotic arm, the X, Y, and Z coordinate data of the robotic arm are collected by sensors. Combined with the preset coordinates of the shaft center hole of the high-pressure compressor disc drum assembly (X0 = 120mm, Y0 = 80mm, Z0 = 200mm), the relative positional deviations between the two are calculated as ΔX = 5mm, ΔY = 3mm, and ΔZ = 10mm. When controlling the movement of the robotic arm, a PID algorithm is used to adjust the motion trajectory of the robotic arm, aligning one end of the probe connecting tube with the threaded hole at the front end of the robotic arm, with a torque value of 2.5 N·m, ensuring a stable connection. When adjusting the posture of the robotic arm, the tilt angle of the robotic arm is detected by an attitude sensor and adjusted to be parallel to the axis of the shaft center hole, with the angle error controlled within ±0.5°, keeping the probe connecting tube in a retracted state with a retracted length of 50mm. When the robotic arm lowers the probe connecting tube vertically, a stepper motor is used for driving. The stepper motor has a step angle of 1.8° and a descent distance of 0.01mm per step, passing through the central hole into the inter-disc space, with a total descent distance of 150mm. After the probe connecting tube passes through the central hole, the robotic arm moves horizontally using a linear motor at a speed of 10mm / s, allowing the base and middle sections to enter the narrow inter-disc space, with a movement distance of 80mm. When a positive 24V voltage is input to the two DC motor push rods, the push rods extend at a speed of 5mm / s and an extension length of 30mm, driving the eddy current testing probe out of the probe connecting tube. When adjusting the position of the eddy current testing probe, the distance between the probe's detection end and the inner surface weld is detected by a laser sensor, adjusting it to a position 2mm from the weld surface. According to the testing requirements, a PWM pulse signal with a duty cycle of 5% to 25% and a frequency of 100Hz is input to the steering servo, controlling the steering servo to rotate from -90° to 90°, thus changing the position of the detection end. With the probe body constrained by the narrow space between the discs, the effective scanning area is increased by changing the position of the detection end and using a spiral scanning algorithm. At the same time, after the three-jaw chuck drives the high-pressure compressor disc drum assembly to rotate, full coverage detection of the inner surface annular weld seam area is achieved.

[0024] like Figure 2 and Figure 3 One end of the connecting tube 7 is fixedly connected to the eddy current flaw detection probe, forming a probe connecting tube, and the other end is connected to the robotic arm. The robotic arm controls the probe to move along the direction of the connecting tube. The probe includes a base section 1, a middle section base 2, a terminal section base 3, a first drive unit 4, a second drive unit 5, a probe assembly 6, and a connector 7.

[0025] The first drive unit 4 has a base 41 installed inside the base section 1, and a push rod 42 installed inside the middle section base 2. The first drive unit 4 is used to push the middle section base 2 towards the end section base 3. The second drive unit 5 has a base 51 installed inside the middle section base 2, and a push rod 52 installed inside the end section base 3. The second drive unit 5 is used to push the end section base 3 towards the weld to be inspected. The push rod 52 of the second drive unit has a second mounting hole 521. The end section base 3 has a second fixing member at a position that matches the second mounting hole 521. When the push rod 52 of the second drive unit is installed on the end section base 3, the second fixing member is inserted into the second mounting hole 521. The end section base 3 has a third power line receiving groove 33.

[0026] It also includes a steering servo assembly 9, which includes a steering servo 91 and a rotating shaft 92. The steering servo 91 is fixedly installed in the base section 1. One end of the rotating shaft 92 is rotatably connected to the steering servo 91, and the other end is fixedly connected to the probe assembly 6.

[0027] In this way, PWM pulse signals with different duty cycles are input to the steering servo 91 to control the rotation of the steering servo 91. The rotation shaft 92 drives the position of the probe assembly 6 to change. Under the condition that the overall detection structure is limited by the narrow space between the discs, the effective detection area is increased by changing the detection position and angle of the probe, so as to achieve full coverage detection of the weld area on the inner surface.

[0028] Step S103: Control two DC motors to drive the base section and the middle section to extend respectively, thereby moving the detection end to the inner surface weld area.

[0029] Obtain the dimensional data of the shaft center hole of the high-pressure compressor disc drum assembly to determine the initial position of the robotic arm. The robotic arm controls the probe body to descend vertically, passing through the shaft center hole of the high-pressure compressor disc drum assembly. Based on the dimensional data of the narrow space between the discs, control the probe body to move horizontally, passing through the narrow space. Obtain the position data of the base section base to determine if the probe is within the narrow space between the discs. If the base section base and the middle section base are within the narrow space, input a positive 24V voltage to the two DC motor push rods. Based on the extension data of the DC motor push rods, determine if the eddy current testing probe has extended to the weld area on the inner surface of the disc drum assembly. If the eddy current testing probe has extended to the weld area on the inner surface of the disc drum assembly, obtain the position data of the weld area. Based on the position data of the weld area, input PWM pulse signals with different duty cycles to the steering servo. Obtain the rotation data of the steering servo to determine if the probe detection end position has changed. Combined with the three-jaw chuck driving the high-pressure compressor disc drum assembly to rotate, the inner surface weld area is detected.

[0030] Specifically, the generation steps are as follows:

[0031] The dimensions of the high-pressure compressor disc assembly's central bore are obtained. A laser scanner measures the diameter of the central bore to be 50 mm. Using 3D modeling software, the initial position coordinates of the robotic arm are calculated to be (0,0,0). The robotic arm controls the probe body to descend vertically. A servo motor drives the robotic arm to descend at a speed of 10 mm per second, passing through the central bore of the high-pressure compressor disc assembly until the probe body reaches the bottom of the central bore. Based on the dimensions of the narrow space between the discs, a laser radar scan reveals a height of 15 mm and a width of 30 mm. The robotic arm is then controlled to move horizontally at a speed of 5 mm per second, propelling the probe body through the narrow space. The position data of the base section is obtained. An infrared sensor mounted on the probe detects the relative position of the base section to the space between the discs, determining whether the base section is within the narrow space. If the probe base section is within the narrow space, a positive 24V voltage is input to two DC motor push rods via a microcontroller, driving the push rods to extend at a speed of 2 mm per second. Based on the extension data of the DC motor push rod, the encoder records the extension length as 12 mm to determine whether the eddy current flaw detection probe extends to the weld area on the inner surface of the disc drum assembly. If the eddy current flaw detection probe extends to the weld area on the inner surface of the disc drum assembly, the eddy current sensor acquires the position data of the weld area, recording the coordinates of the weld area as (10, 15, 20). Based on the position data of the weld area, a PWM pulse signal with a duty cycle of 25% is input to the steering servo via the DAC module, controlling the servo to rotate 90 degrees. The rotation data of the steering servo is acquired, and the rotation angle of the servo is detected by a gyroscope to determine whether the position of the probe detection end has changed. Combined with the three-jaw chuck driving the high-pressure compressor disc drum assembly to rotate, a full-coverage inspection of the inner surface weld area is completed.

[0032] Step S104: Obtain the PWM control signal, which includes pulse signals with different duty cycles.

[0033] Based on the detection requirements, PWM signal control commands are generated. A signal processing module converts the control commands into digital signals. The frequency of the digital signal is acquired to determine the fundamental frequency of the PWM signal. Different duty cycle parameters are calculated based on the probe position adjustment requirements. A PWM signal generation module combines the fundamental frequency and duty cycle parameters. The PWM signal waveform is acquired to determine if the signal meets the control requirements. If the signal waveform is abnormal, the duty cycle parameters are adjusted and regenerated. A PWM signal that meets the requirements is acquired and transmitted to the steering servo control port. Changes in probe position are detected to determine the effectiveness of the PWM signal control.

[0034] Understandably, the generation steps are as follows:

[0035] Based on the detection requirements, PWM signal control commands are generated, specifically setting the rotation angle of the steering servo from -90° to 90°. A signal processing module converts the control commands into digital signals with a 12-bit resolution and a sampling frequency of 10kHz. The digital signal frequency is acquired, and the fundamental frequency of the PWM signal is determined to be 1kHz. Based on the probe position adjustment requirements, different duty cycle parameters are calculated; for example, 5%, 15%, and 25% correspond to probe rotation angles of -90°, 0°, and 90°, respectively. A PWM signal generation module combines the fundamental frequency and duty cycle parameters to generate a PWM waveform with a period of 20ms. The PWM signal waveform is acquired, and its compliance with control requirements is determined. FFT analysis confirms that the waveform spectrum is distortion-free. If the signal waveform is abnormal, the duty cycle parameters are adjusted and regenerated; for example, the 2.5% duty cycle is corrected to 5%. A satisfactory PWM signal is acquired and transmitted to the steering servo control port, with a port voltage of 5V and a current of 200mA. The probe position change is detected to determine the effect of PWM signal control. The error between the actual probe angle and the set angle obtained by the position sensor is less than ±1°.

[0036] Step S105: Control the servo motor located at the detection end to rotate by a preset angle according to the PWM control signal, thereby driving the eddy current sensor on the detection end to change the detection area and scan the weld area on the inner surface.

[0037] Based on a preset PWM control signal, PWM pulse signals with different duty cycles are generated. These generated PWM pulse signals are transmitted to the steering servo, driving it to rotate. The rotation angle of the steering servo is acquired, and it is determined whether a preset angle has been reached. If the rotation angle has not reached the preset angle, the duty cycle of the PWM pulse signal is adjusted, and the steering servo continues to rotate. If the rotation angle reaches the preset angle, the adjustment of the PWM pulse signal stops. The rotation of the steering servo causes a change in the position of the eddy current sensor's detection end. Based on the change in the position of the eddy current sensor's detection end, the detection area is determined. Within the weld seam area on the inner surface of the high-pressure compressor disc assembly, a full-coverage detection of the weld seam area is performed in conjunction with the rotation of the disc assembly.

[0038] For example, the generation steps are as follows:

[0039] Based on a preset PWM control signal, a PWM pulse signal with a duty cycle of 5% to 25% and a frequency of 100Hz is generated to meet the driving requirements of the steering servo. The generated PWM pulse signal is sent to the steering servo via a signal transmission module, driving the servo to rotate in 5° increments. The rotation angle of the steering servo is acquired in real time by an angle sensor to determine if the current angle has reached the preset target value of 90°. If the current angle is 80°, and the preset target has not been reached, the duty cycle of the PWM pulse signal is adjusted to 25%, and the servo rotation continues. If the angle reaches 90°, the adjustment of the PWM pulse signal is stopped, and the current duty cycle is locked. The rotation of the steering servo causes the eddy current sensor detection end to shift from its initial position to the target position by a distance of 10mm. Based on the position change of the eddy current sensor detection end, a geometric algorithm is used to calculate the detection area, determining the detection region to be a fan-shaped area with a radius of 15mm. Within the weld seam area on the inner surface of the high-pressure compressor disc assembly, a path planning algorithm is used to generate a scanning path, covering 80% of the weld seam area. Eddy current sensors are used to perform full-coverage detection of the weld area within the planned path. The detection data is analyzed in real time by a signal processing module to generate a weld defect distribution map.

[0040] Step S106: Repeat the steps of acquiring the PWM control signal and controlling the servo motor to rotate according to the PWM control signal until the full coverage detection of the inner surface weld area is completed.

[0041] Acquire the initial PWM control signal and generate a pulse signal with the corresponding duty cycle. Drive the steering servo to rotate according to the PWM control signal, moving the eddy current flaw detector probe's detection end. Collect the current position information of the probe's detection end and record the coordinates of the current detection area. Determine if the current position information is located in the inner surface weld area; if not, proceed to step 5. Adjust the duty cycle of the PWM control signal to generate a new pulse signal. Drive the steering servo to rotate according to the new PWM control signal, moving the probe's detection end to a new position. Collect the new position information of the probe's detection end and update the detection area coordinates. Determine if the new position information is located in the inner surface weld area; if not, return to step 5. If the current position information is located in the inner surface weld area, the detection process is complete.

[0042] For example, an initial PWM control signal is acquired, generating a pulse signal with a duty cycle of 10%. Based on the pulse signal, the steering servo is driven to rotate -45 degrees, moving the eddy current flaw detector probe to the first detection position. The current position information of the probe is acquired and recorded as (x1, y1). It is determined whether the coordinates (x1, y1) cover the inner surface weld area. If not, the duty cycle of the PWM control signal is adjusted to 20%, generating a new pulse signal. Based on the new pulse signal, the steering servo is driven to rotate 45 degrees, moving the probe to the new position (x2, y2). The new position information of the probe is acquired, updating the coordinates to (x2, y2). It is determined whether the coordinates (x2, y2) cover the inner surface weld area. If not, the duty cycle of the PWM control signal is adjusted again to 25%, generating a new pulse signal. Based on the new pulse signal, the steering servo is driven to rotate 90 degrees, moving the probe to the new position (x3, y3). Determine whether the coordinates (x3, y3) are located in the inner surface weld area. If so, complete the inspection process.

[0043] Step S107: Obtain the signal collected by the eddy current sensor and determine whether there is a defect in the weld area on the inner surface.

[0044] The probe body is vertically lowered by a robotic arm, passing through the central hole of the high-pressure compressor disc assembly. The probe body is then horizontally moved through the narrow space between the discs, positioning the overall probe connecting tube within the central hole. A positive 24V voltage is input to the two DC motor push rods, causing them to extend and extend the eddy current testing probe. The probe tip is moved to the weld area on the inner surface of the disc assembly, activating the eddy current sensor for signal acquisition. The raw signal acquired by the eddy current sensor is filtered to remove noise interference. Feature extraction is performed on the filtered signal, analyzing its amplitude, phase, and frequency characteristics. The extracted signal features are compared with preset feature thresholds to determine if the signal is abnormal. If the signal features exceed the preset thresholds, the defect type in the weld area is determined based on the feature type. A test result report is generated, including the defect location, type, and severity information.

[0045] For example, the probe body is vertically lowered by a robotic arm, passing through the central hole of the high-pressure compressor disc assembly to a depth of 300 mm. The probe body is then horizontally moved through the narrow space between the discs, positioning the overall probe connecting tube within the central hole, with a horizontal movement distance of 150 mm. A positive 24V voltage is input to two DC motor push rods, causing them to extend at a speed of 5 mm per second, extending the eddy current testing probe by 20 mm. The probe tip is then moved to the weld area on the inner surface of the disc assembly, activating the eddy current sensor for signal acquisition at a sampling frequency of 100 kHz. The raw signal acquired by the eddy current sensor is filtered using a low-pass filter with a cutoff frequency set to 10 kHz to remove high-frequency noise interference. Feature extraction is performed on the filtered signal, using Fast Fourier Transform (FFT) to analyze the signal amplitude, phase, and frequency characteristics. The extracted amplitude range is 0.5V to 1.5V, the phase range is 30 degrees to 90 degrees, and the frequency range is 1 kHz to 5 kHz. The extracted signal features are compared with preset feature thresholds: amplitude threshold of 1.2V, phase threshold of 60 degrees, and frequency threshold of 3kHz, to determine if the signal is abnormal. If the signal features exceed the preset thresholds, the defect type in the weld area is determined based on the feature type: excessive amplitude indicates a crack defect, excessive phase indicates a porosity defect, and excessive frequency indicates an inclusion defect. A detection result report is generated, including defect location, type, and severity information. The location accuracy is ±0.1 mm, the type classification accuracy is 95%, and the severity is divided into low, medium, and high levels.

[0046] Step S108: If the test is completed, control the DC motor to drive the base section and the middle section to retract, so that the eddy current flaw detection probe is reset, and control the robotic arm to drive the probe connecting tube to withdraw from the shaft hole, thus completing the test.

[0047] Acquire a detection completion signal, which includes the probe's current position and detection status information. Based on the detection completion signal, generate a DC motor control command, which includes a reverse 24V voltage parameter. Input the reverse 24V voltage to the DC motor push rod, causing the push rod to retract and reset the eddy current flaw detector probe. Acquire a probe reset completion signal, which includes the probe's retracted state and position information. Based on the probe reset completion signal, generate a robotic arm control command, which includes vertical upward motion parameters. The robotic arm controls the probe connecting tube to rise vertically, passing through the high-pressure compressor disc drum assembly's central hole. Acquire a robotic arm rise completion signal, which includes the probe connecting tube's position information. Based on the robotic arm rise completion signal, generate a robotic arm horizontal movement control command, which includes horizontal movement parameters. The robotic arm controls the probe connecting tube to move horizontally, completely retracting it from the high-pressure compressor disc drum assembly's central hole.

[0048] Specifically, a detection completion signal is acquired, which includes the probe's current position and detection status information. This is achieved by collecting the probe's coordinates (e.g., X = 150mm, Y = 200mm, Z = 300mm) and detection status indicators (e.g., status code "1" indicating detection completion) on the inner surface of the drum assembly using sensors. Based on the detection completion signal, a DC motor control command is generated, containing a reverse 24V voltage parameter. A PID control algorithm is used to calculate the voltage output value, ensuring the push rod retraction speed remains stable at 5mm / s. A reverse 24V voltage is input to the DC motor push rod, causing it to retract and reset the eddy current flaw detection probe. The push rod displacement sensor monitors the retraction distance in real time, stopping when the retraction distance reaches a set value (e.g., 50mm). A probe reset completion signal is acquired, containing the probe's retraction status and position information. The probe position coordinates are updated to X = 150mm, Y = 200mm, Z = 250mm, and the retraction status indicator is "0". Based on the probe reset completion signal, a robotic arm control command is generated. This command includes vertical upward motion parameters, and an interpolation algorithm is used to plan the motion trajectory at a speed of 10 mm / s. The robotic arm controls the probe connecting tube to rise vertically, passing through the central hole of the high-pressure compressor disc assembly. A height sensor monitors the rising height in real time, stopping when the height reaches a set value (e.g., 400 mm). A robotic arm rise completion signal is acquired, containing the probe connecting tube's position information. The position coordinates are updated to X = 150 mm, Y = 200 mm, Z = 400 mm. Based on this signal, a robotic arm horizontal movement control command is generated. This command includes horizontal motion parameters, and a path planning algorithm determines the horizontal movement distance to be 200 mm at a speed of 15 mm / s. The robotic arm controls the probe connecting tube to move horizontally, completely withdrawing it from the central hole of the high-pressure compressor disc assembly. The position sensor confirms the final coordinates as X = 350 mm, Y = 200 mm, Z = 400 mm.

[0049] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. An eddy current method for inspecting welds on the inner surface of a high pressure compressor disk drum assembly, comprising: The probe connecting pipe connected with the eddy current flaw detection probe is lowered through the mechanical arm and passes through the shaft hole and the narrow space between the discs of the high-pressure compressor disc drum assembly, so that the base section and the middle section of the probe are located in the narrow space between the discs; the eddy current flaw detection probe is driven to extend through the DC motor push rod, so that the probe end moves to the weld area on the inner surface of the disc drum assembly for flaw detection; the position of the probe detection end is changed through the steering rudder, so as to increase the effective detection area under the restriction of the narrow space between the discs, and at the same time, the high-pressure compressor disc drum assembly rotates to realize full coverage detection of the weld area on the inner surface. The probe includes a base section base, a middle section base, a tail section base, a first driving unit, a second driving unit, a probe assembly and a connecting piece. The first driving unit base is installed in the base section base, the first driving unit push rod is installed in the middle section base, and the first driving unit is used to push the middle section base to move towards the tail section base. The second driving unit base is installed in the middle section base, the second driving unit push rod is installed in the tail section base, and the second driving unit is used to push the tail section base to move towards the weld to be detected. A second mounting hole is formed in the second driving unit push rod, and the tail section base has a second fixing piece at a position matched with the second mounting hole. When the second driving unit push rod is installed on the tail section base, the second fixing piece is inserted into the second mounting hole. A third power line containing groove is formed in the tail section base. The steering assembly further includes a steering rudder assembly, which includes a steering rudder and a rotating shaft. The steering rudder is fixedly installed in the base section base, one end of the rotating shaft is rotatably connected with the steering rudder, and the other end is fixedly connected with the probe assembly. A PWM pulse signal with a duty cycle of 5% to 25% and a frequency of 100 Hz is input to the steering rudder to control the rotation angle of the steering rudder to be -90° to 90°, thereby changing the position of the detection end. After the probe end moves to the weld area on the inner surface of the disc drum assembly for flaw detection, the position of the probe detection end is changed to increase the effective detection area under the restriction of the narrow space between the discs. The high-pressure compressor disc drum assembly is driven to rotate by the three-jaw chuck, thereby realizing full coverage detection of the weld area on the inner surface. The position data of the base section base is obtained by using an infrared sensor installed on the probe to detect the relative position of the base section base and the space between the discs. The mechanical arm is connected with the base section base, and the position information of the base section base is collected by a sensor and sent to the upper computer.

2. The eddy current detection method of claim 1, wherein, When the mechanical arm drives the connecting pipe to move horizontally through the narrow space between the discs, the probe connecting pipe is located in the shaft hole, and the probe base section and the middle section are located in the narrow space between the discs.

3. The eddy current detection method of claim 1, wherein, ​

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