Visual centering, knocking and detecting integrated equipment for narrow lap weld of steel belt

Abstract

The invention relates to the field of steel belt welding seam detection, and particularly discloses a steel belt narrow lap welding seam visual centering knocking detection integrated device which comprises a servo rack and a controller arranged on the servo rack, and a visual sensor, a signal acquisition assembly and a mounting sleeve are arranged on the servo rack in a sliding mode. The signal collecting assembly is used for collecting vibration signals when the steel belt is impacted, an impact force hammer is connected into the installation sleeve in a sliding mode, and the maximum stroke of the impact force hammer is larger than the maximum distance between the impact force hammer and a welding seam. A driving assembly used for driving the impact hammer to impact a weld joint at a constant speed is arranged in the mounting sleeve, and the controller is electrically connected with the servo rack, the visual sensor, the signal collecting assembly, the impact hammer and the driving assembly. The device has the advantages of being accurate in knocking force, high in detection precision and high in detection efficiency.

Description

Technical Field

[0001] This application relates to the field of steel strip weld inspection, and in particular to an integrated visual centering and tapping inspection device for narrow lap welds of steel strips. Background Technology

[0002] Narrow lap splicing of steel strip is a high-efficiency, high-strength continuous strip welding process. Specifically, the tail end of the first coil of sheared strip steel and the head end of the second coil of sheared strip steel are first lapped together. The lap joint is then rolled with an energized copper welding wheel to obtain a high-strength weld. Finally, the weld is smoothed with a rolling wheel to enable continuous production of strip steel.

[0003] After narrow lap welding is completed, the weld quality needs to be inspected. A simple, preliminary stress relief process is performed by tapping the weld. Currently, the mainstream tapping inspection method is still manual tapping. The manual inspection process is as follows: the operator taps the weld area at the weld stop position on the weld exit side of the welding machine or moves to the corresponding inspection station. The strip weld is clamped on both sides during tapping. An iron hammer, copper hammer, or rubber hammer is used, and the tapping must cover the entire length of the weld. The tapping interval along the weld length is 50-100mm. If a crisp, uniform "clang" sound is produced during tapping, without obvious noise or muffled sounds, the weld fusion is good. If a dull, hollow "thud" sound is produced, the weld has defects such as incomplete welding or lack of fusion. Simultaneously, after tapping, the vibration feedback is obtained by touching the strip with the hand. A well-fused weld vibrates evenly, while defective welds are prone to localized abnormal vibration. The weld quality is judged by visually observing the weld morphology.

[0004] Regarding the aforementioned technologies, the inventors believe that the following defects exist: if manual tapping is used, the tapping force is uncontrollable, and manual judgment is easily affected by the subjective influence of the staff, resulting in low detection accuracy. When the strip width exceeds 1200mm, the range of manual tapping detection is difficult to cover. Summary of the Invention

[0005] To address the issues of large impact force errors and low detection accuracy during weld tapping inspection, this application provides an integrated visual centering tapping inspection device for narrow lap welds of steel strips.

[0006] The integrated visual centering and tapping inspection device for narrow lap weld seams of steel strips provided in this application adopts the following technical solution: An integrated visual centering and impact testing device for narrow lap welds of steel strips includes a servo frame and a controller mounted on the servo frame. A visual sensor, a signal acquisition component, and a mounting sleeve are slidably mounted on the servo frame. The signal acquisition component is used to collect vibration signals of the steel strip when it is impacted. An impact hammer is slidably connected inside the mounting sleeve. The maximum stroke of the impact hammer is greater than the maximum distance between the impact hammer and the weld. A drive component is provided inside the mounting sleeve to drive the impact hammer to impact the weld at a constant speed. The controller is electrically connected to the servo frame, the visual sensor, the signal acquisition component, the impact hammer, and the drive component.

[0007] Optionally, the drive assembly includes a first electromagnet fixed inside the mounting sleeve, a permanent magnet fixed to the impact hammer, and a constant force component for balancing the total weight of the impact hammer and the permanent magnet.

[0008] Optionally, the constant force component is a constant force tension spring disposed within the mounting sleeve. The output end of the constant force tension spring is fixedly connected to the impact hammer. The tension of the constant force tension spring is the same in magnitude and opposite in direction to the weight of the impact hammer plus the permanent magnet.

[0009] Optionally, both the first electromagnet and the permanent magnet are arranged in a horizontal ring. A non-ferromagnetic top rod that passes through the first electromagnet is fixed to the top of the impact hammer. A ferromagnetic buffer box is provided inside the mounting sleeve and above the first electromagnet. A second electromagnet is provided inside the buffer box. A ferromagnetic buffer cover is provided at the bottom of the buffer box. A non-magnetic elastic buffer is provided between the recess of the buffer box and the buffer cover. When the second electromagnet is opened and the buffer cover abuts against the buffer box, the magnetic force on the buffer cover is greater than the elastic force of the elastic buffer, and the first electromagnet and the permanent magnet never come into contact.

[0010] Optionally, the end of the first electromagnet near the buffer cover is covered with a ferromagnetic shielding plate.

[0011] Optionally, the mounting sleeve is lifted and mounted on the servo frame, and the signal acquisition component includes a connecting hose disposed at the bottom of the mounting sleeve and an accelerometer connected to the connecting hose.

[0012] Optionally, the connecting hose is connected to an external air source.

[0013] Optionally, a limiting sleeve is threadedly connected to the bottom of the mounting sleeve, and a limiting ring is fixedly connected to the peripheral wall of the impact hammer. When the limiting ring abuts against the limiting sleeve, the impact hammer moves to its maximum stroke.

[0014] In summary, this application includes at least one of the following beneficial technical effects: 1. The controller controls the bottom of the first electromagnet to generate a pulse repulsive force on the permanent magnet. At this time, the permanent magnet is briefly accelerated and reaches the specified speed. During this process and the subsequent inertial movement, due to the effect of the constant force component balancing gravity, the impact hammer maintains the maximum speed and continues to move until it strikes the steel belt. Regardless of whether the steel belt is vibrating at this time, the striking force of the impact hammer remains constant. 2. When the first electromagnet drives the impact hammer to reset quickly, the first electromagnet generates an instantaneous attraction or a rapidly decreasing attraction force on the permanent magnet. At this time, the push rod moves upward and simultaneously controls the second electromagnet to be energized. The buffer box shields the second electromagnet, meaning that the magnetic force on the buffer cover from the second electromagnet is minimal. When the push rod pushes the buffer cover, the buffer cover also moves upward. The elastic buffer component buffers and decelerates the buffer cover until it comes into contact with the buffer box. At this point, the magnetic force exerted by the buffer box on the buffer cover is greater than the elastic force of the elastic buffer component, meaning the buffer cover cannot reset. The impact hammer remains at its highest position, preventing it from moving downward uncontrollably due to the elastic force of the elastic buffer component. 3. A vision sensor monitors the position of the impact hammer, and a controller controls the servo frame to align the impact hammer with the corresponding position on the weld, ensuring the accuracy of the striking position during subsequent strikes. Furthermore, during strike testing, the pulse signal received by the impact hammer determines the rigidity of the weld, the signal acquisition component determines the weld quality, and the vision sensor measures the weld surface contour and defects. These three components work together to accurately measure the weld quality. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application; Figure 2 This is a cross-sectional structural diagram used in this application to illustrate the interior of the mounting sleeve; Figure 3 yes Figure 1 An enlarged schematic diagram of part A in the middle.

[0016] Reference numerals: 1. Servo frame; 11. Controller; 12. Vision sensor; 2. Signal acquisition component; 21. Connecting hose; 22. Accelerometer; 31. Mounting sleeve; 32. Impact hammer; 4. Drive component; 41. First electromagnet; 42. Permanent magnet; 43. Constant force component; 51. Push rod; 52. Buffer box; 53. Second electromagnet; 54. Buffer cover; 55. Elastic buffer component; 56. Magnetic shielding plate; 61. Limiting sleeve; 62. Limiting ring. Detailed Implementation

[0017] The following is in conjunction with the appendix Figure 1-3 This application will be described in further detail.

[0018] This application discloses an integrated visual centering and tapping inspection device for narrow lap welds of steel strips. (Refer to...) Figures 1-3 The integrated visual centering and impact inspection equipment for narrow lap weld seams of steel strip includes a servo frame 1 and a controller 11 mounted on the servo frame 1. A vision sensor 12, a signal acquisition component 2, and a mounting sleeve 31 are slidably mounted on the servo frame 1. The signal acquisition component 2 is used to collect vibration signals from the steel strip when it is impacted. The servo frame 1 is a dual-axis frame powered by a servo motor and capable of moving along the length and width of the steel strip, facilitating multi-directional movement of the vision sensor 12, the signal acquisition component 2, and the mounting sleeve 31. An impact hammer 32 is slidably connected inside the mounting sleeve 31. The impact hammer 32 consists of a hammer body, a hammer head, and a force sensor. The hammer body provides the mass, and the hammer head is threaded onto the hammer body for easy replacement. The force sensor is located between the hammer head and the hammer body. The hammer head can be made of nylon, rubber, aluminum, or stainless steel. The impact hammer 32 in this application is a simple modification of an existing impact hammer 32 by removing the hammer handle. The mounting sleeve 31 is equipped with a drive assembly 4 for driving the impact hammer 32 to strike the weld at a constant speed. The maximum stroke of the impact hammer 32 is greater than the maximum distance between the impact hammer 32 and the weld. The controller 11 is electrically connected to the servo frame 1, the vision sensor 12, the signal acquisition assembly 2, the impact hammer 32 and the drive assembly 4.

[0019] The vision sensor 12 monitors the position of the impact hammer 32 and transmits the position information to the controller 11. The controller 11 controls the servo frame 1 to align the impact hammer 32 with the corresponding position of the weld seam, ensuring the accuracy of the striking position during subsequent strikes. The drive assembly 4 drives the impact hammer 32 to strike the weld seam with a constant force. When the impact hammer 32 contacts the weld seam, the force sensor inside the impact hammer 32 receives a pulse signal. In addition to obtaining the impact force of the impact hammer 32 from this pulse signal alone, the rigidity of the weld seam can also be simply judged by the width of the force pulse. For example, the greater the rigidity, the narrower the pulse and the higher the peak value. At the same time as the force sensor receives the pulse signal, the controller 11 also controls the drive assembly 4 to drive the impact hammer 32 to quickly reset, so as to quickly separate the impact hammer 32 from the steel strip, so that the impact hammer 32 and the signal acquisition assembly 2 can obtain clean and ideal pulse excitation, avoiding secondary impacts or force tailing that contaminate the data in a short period of time. When the impact hammer 32 strikes the steel strip, the signal acquisition component 2 also collects the vibration signal of the steel strip during the impact. The controller 11 receives the vibration signal and compares it with the pre-learned "qualified" and "various defects" sample library to determine the quality of the weld.

[0020] After striking one test point, the servo frame 1 drives the impact hammer 32 to move to the next test point. During this process, the vision sensor 12 also measures the weld contour and weld surface defects. The weld contour is used to determine whether the weld size meets the standard dimensions; surface defects such as cracks, undercut, dents, porosity, spatter, and color are used to specifically determine the weld surface defects. Through the cooperation of the impact hammer 32, signal acquisition component 2, and vision sensor 12, the weld quality can be accurately measured. When there is a greater need to eliminate residual stress after narrow lap welds, the number of strikes and the frequency of strikes by the impact hammer 32 on the same test point can be controlled by the drive component 4 to increase the stress release speed. However, the detection data of the signal acquisition component 2 and the impact hammer 32 should be based on the first strike data of the test point, which will reduce the detection accuracy. Therefore, the number of strikes and the frequency should be selected according to the actual needs in specific implementation. However, the overall detection efficiency, stress elimination, and detection accuracy are still far superior to manual methods.

[0021] Specifically, in terms of the dimensions of the servo rack 1, the length (along the width direction of the steel strip) of the servo rack 1 is 2000mm. This size can accommodate the widest standard steel strip (1800mm) and has a margin of 200mm. The width is 500mm and the height is 800mm. This size provides a large adjustment range, as well as a large load capacity and high stability. Rubber shock-absorbing pads are also installed at the bottom of the servo rack 1. At the same time, no less than 4 M16 leveling feet (adjustment range ±10mm) can be optionally installed to ensure the levelness of the servo rack 1.

[0022] Reference Figure 2 The drive assembly 4 includes a first electromagnet 41 fixed inside the mounting sleeve 31, a permanent magnet 42 fixed to the impact hammer 32, and a constant force component 43 for balancing the total weight of the impact hammer 32 and the permanent magnet 42. The constant force component 43 is a constant force spring, a magnetic constant force spring, or a pneumatic constant force system installed inside the mounting sleeve 31. Among them, the pneumatic constant force system is usually a non-standard customized part, which consists of a cylinder, a PLC, a high-speed valve / constant pressure valve, and a force sensor. It has high accuracy but also high price. Therefore, a constant force spring or a magnetic constant force spring is preferred. If a magnetic constant force spring is used, the outer shell of the magnetic constant force spring needs to be replaced with a magnetic shielding shell. The specific selection method depends on the specific working conditions and cost. In this application, the striking frequency of the impact hammer 32 is controlled at 0-3 times / second, and the striking force is adjustable from 50-300N. The constant force component 43 is a constant force spring, which has lower accuracy and response but also the lowest price. The output end of the constant force spring is fixedly connected to the impact hammer 32. The tension of the constant force spring is the same as the weight of the impact hammer 32 plus the permanent magnet 42, but in the opposite direction.

[0023] In actual impact testing, due to the thinness of the strip, although the ends of the weld are clamped and tightened during impact testing, the strip will still vibrate significantly when impacted. In particular, the thinner the strip, the greater the vibration amplitude, which is far from being as stable as a steel plate. Therefore, conventional impact equipment will have relatively accurate impact force during the first impact on the strip (provided that the weld thickness is consistent). However, when the strip vibrates to the crest or trough, a large error will occur. For example, when the strip vibrates to the trough, the impact equipment cannot effectively contact the strip, thus collecting invalid data.

[0024] When the impact hammer 32 needs to be driven to strike, the controller 11 controls the bottom of the first electromagnet 41 to generate a pulse repulsive force on the permanent magnet 42. At this time, the permanent magnet 42 is briefly accelerated and reaches the specified speed. During this process and subsequent inertial movement, due to the effect of the constant force component 43 balancing gravity, the impact hammer 32 maintains its maximum speed until it strikes the steel strip. Regardless of whether the steel strip is vibrating at this time, the striking force of the impact hammer 32 remains constant. When the impact hammer 32 contacts the steel strip, the controller 11 controls the bottom of the first electromagnet 41 to generate an attractive force between it and the permanent magnet 42. At this time, the impact hammer 32 is driven upward by the permanent magnet 42, which not only drives the impact hammer 32 to reset but also reduces the contact time between the impact hammer 32 and the steel strip.

[0025] Reference Figure 2 The first electromagnet 41 and the permanent magnet 42 are both arranged in a horizontal ring. A non-ferromagnetic push rod 51 is fixed to the top of the impact hammer 32 and passes through the first electromagnet 41. A ferromagnetic buffer box 52 is set inside the mounting sleeve 31 and above the first electromagnet 41. A second electromagnet 53 is set inside the buffer box 52. A ferromagnetic buffer cover 54 is set at the bottom of the buffer box 52. In this application, both the buffer box 52 and the buffer cover 54 are made of iron, which has low cost and high stability. The push rod 51 is made of plastic or aluminum alloy. A non-magnetic elastic buffer 55 is set between the recess of the buffer box 52 and the buffer cover 54. The elastic buffer 55 can be a spring shock absorber (spring telescopic rod), spring hydraulic shock absorber, pneumatic shock absorber, or other structure with shock absorption function, with the outer shell made of non-ferromagnetic materials such as plastic or aluminum. The shock absorption force of the pneumatic shock absorber can be adjusted by connecting an external air pump, while the spring shock absorber is not easy to adjust. The specific choice depends on the specific working conditions. When the second electromagnet 53 is opened and the buffer cover 54 abuts against the buffer box 52, the magnetic force on the buffer cover 54 is greater than the elastic force of the elastic buffer 55. The first electromagnet 41 and the permanent magnet 42 never come into contact. The end of the first electromagnet 41 near the buffer cover 54 is covered with a ferromagnetic shielding plate 56, which is preferably made of iron, to reduce the influence of the first electromagnet 41 on the buffer cover 54. The mounting sleeve 31 is made of aluminum alloy, which provides a lightweight and highly stable mounting base while minimizing interference with the magnetic force.

[0026] When the first electromagnet 41 drives the impact hammer 32 to reset quickly, the first electromagnet 41 generates an instantaneous attraction or a rapidly decreasing attraction force on the permanent magnet 42. At this time, the push rod 51 moves upward, simultaneously controlling the second electromagnet 53 to be energized. The buffer box 52 then shields the second electromagnet 53, meaning that the magnetic force exerted on the buffer cover 54 by the second electromagnet 53 is minimal. When the push rod 51 pushes the buffer cover 54, the buffer cover 54 also moves upward. The elastic buffer 55 then buffers and decelerates the buffer cover 54 until it comes into contact with the buffer box 52. At this point, the magnetic force exerted by the buffer box 52 on the buffer cover 54 is greater than the elastic force of the elastic buffer 55, meaning that the buffer cover 54 cannot reset. The impact hammer 32 remains at its highest position, preventing it from moving uncontrollably downward due to the elastic force of the elastic buffer 55. The upward and reset process of the impact hammer 32 is buffered and damped by the elastic buffer 55, which effectively reduces the impact vibration on the mounting sleeve 31. The downward process of the impact hammer 32 is driven by magnetic force, and the vibration transmitted to the mounting sleeve 31 after impacting the strip is also small. As a result, the vibration of the impact hammer 32 acting on the mounting sleeve 31 throughout the entire process is small, so as to improve the detection accuracy.

[0027] Reference Figure 1 and Figure 3 The mounting sleeve 31 is lifted and mounted on the servo frame 1. The lifting method can be a cylinder or a lead screw combined with a servo motor. The signal acquisition component 2 includes a connecting hose 21 located at the bottom of the mounting sleeve 31 and an accelerometer 22 connected to the connecting hose 21. The accelerometer 22 is magnetically attached and is held tightly to the steel belt by magnetic force. An air source is connected to the connecting hose 21.

[0028] When strip steel needs to be inspected, the mounting sleeve 31 is raised so that the accelerometer 22 is initially positioned above the strip steel. Once the impact hammer 32 has moved to the appropriate position, the mounting sleeve 31 is lowered to bring the accelerometer 22 into contact with the strip steel. The connecting hose 21 is ensured to have sufficient length to accommodate strip steel vibration. Because the connection between the accelerometer 22 and the mounting sleeve 31 is flexible, the accelerometer 22 is less affected by the mounting sleeve 31 when measuring vibrations on the strip steel. When the accelerometer 22 needs to be moved to the next testing position, the mounting sleeve 31 is raised to disconnect the accelerometer 22 from the strip steel. High-pressure gas is then injected into the connecting hose 21, and the mounting sleeve 31 is moved horizontally to reduce the swaying amplitude of the accelerometer 22 during movement, thus keeping the accelerometer 22 and impact hammer 32 side-by-side and minimizing the distance between them. When the focus is on improving detection efficiency, the accelerometer 22 can be moved without raising the mounting sleeve 31; that is, the accelerometer 22 can be moved directly by translating the mounting sleeve 31 and pulling it through the connecting hose 21. Furthermore, since the mounting sleeve 31 is adjustable in height, the equipment of this application is also suitable for adapting to strip steel and steel plates of various thicknesses.

[0029] The specific detection principle of the accelerometer 22 is existing technology, and will only be briefly introduced here. When the impact hammer 32 strikes the test point of the weld, the impact hammer 32 records the input force signal, and the accelerometer 22 records the vibration acceleration signal at the contact point with the strip. Through signal processing, the relationship between the input force and the output response is established, thereby calculating the key parameters such as the natural frequency, damping ratio, and mode shape of the strip. The key parameters of high-quality welds and defective welds will be significantly different.

[0030] The signal acquisition component 2 can also be replaced by several sound receivers (microphones) mounted on the servo rack 1. These microphones collect the sound waves radiated into the air when the steel strip weld is struck, and analyze the spectral characteristics of the sound signal to determine the weld quality. Ideally, a soundproof enclosure should be used to insulate the striking detection station. The smaller the gaps in the enclosure, the better the noise reduction effect. After the microphones acquire the signal, it needs to be processed using a digital noise reduction algorithm. Then, a Fast Fourier Transform is performed on the denoised signal to obtain the spectrum. The difference in the spectrum between qualified and defective welds is compared, or a trained machine learning model is used for classification. This method is non-contact measurement, simple to install, does not interfere with the steel strip being tested, and does not require the tested part to be made of ferromagnetic material. Because it directly acquires the sound signal, it directly corresponds to the subjective experience of the operator, facilitating initial understanding and verification. However, its accuracy is lower than that of the accelerometer 22, and its resistance to environmental interference is weaker.

[0031] Reference Figure 2 The bottom thread of the mounting sleeve 31 is connected to a limiting sleeve 61, and the circumferential wall of the impact hammer 32 is fixed with a limiting ring 62. When the limiting ring 62 and the limiting sleeve 61 are tightly pressed together, the impact hammer 32 moves to its maximum stroke. The cooperation between the limiting sleeve 61 and the limiting ring 62 limits the maximum stroke of the impact hammer 32, preventing the impact hammer 32 from penetrating the weld and damaging the constant force component 43 due to poor weld quality in thin steel strips, and also preventing excessive displacement of the impact hammer 32 and damage to the constant force component 43 due to external forces or other uncertain factors after the machine stops. When changing the thickness of the strip to be tested, the maximum stroke of the impact hammer 32 can be changed by rotating the limiting sleeve 61. It is only necessary to ensure that the impact hammer 32 still has a certain amount of redundancy when it can strike the trough of the strip within its stroke.

[0032] The implementation principle of the integrated visual centering and impact detection device for narrow lap weld seams of steel strip in this application embodiment is as follows: When it is necessary to drive the impact hammer 32 to strike, the mounting sleeve 31 is raised so that the accelerometer 22 is first positioned above the steel strip. When the impact hammer 32 moves to the corresponding position, the mounting sleeve 31 is lowered so that the accelerometer 22 is in contact with the steel strip, and the connecting hose 21 is ensured to have a certain length margin to accommodate the vibration of the steel strip.

[0033] The controller 11 controls the bottom of the first electromagnet 41 to generate a pulse repulsive force against the permanent magnet 42. At this time, the permanent magnet 42 is briefly accelerated and reaches a specified speed. During this process and subsequent inertial movement, due to the effect of the constant force component 43 balancing gravity, the impact hammer 32 maintains its maximum speed until it strikes the steel strip. Regardless of whether the steel strip is vibrating at this time, the striking force of the impact hammer 32 remains constant. When the impact hammer 32 contacts the steel strip, the controller 11 controls the bottom of the first electromagnet 41 to generate an attractive force between it and the permanent magnet 42. At this time, the impact hammer 32 is driven upward by the permanent magnet 42, which not only drives the impact hammer 32 to reset but also reduces the contact time between the impact hammer 32 and the steel strip.

[0034] After striking a test point, the servo frame 1 drives the impact hammer 32 to move to the next test point. During this process, the vision sensor 12 also measures the weld contour and weld surface defects. The weld contour determines whether the weld size meets the standard size. Through the cooperation of the impact hammer 32, the signal acquisition component 2 and the vision sensor 12, the weld quality can be accurately measured.

[0035] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An integrated visual centering and tapping inspection device for narrow lap welds of steel strips, characterized in that: The system includes a servo frame (1) and a controller (11) mounted on the servo frame (1). A vision sensor (12), a signal acquisition component (2), and a mounting sleeve (31) are slidably mounted on the servo frame (1). The signal acquisition component (2) is used to acquire vibration signals when the steel strip is impacted. An impact hammer (32) is slidably connected inside the mounting sleeve (31). The maximum stroke of the impact hammer (32) is greater than the maximum distance between the impact hammer (32) and the weld. A drive component (4) is provided inside the mounting sleeve (31) for driving the impact hammer (32) to impact the weld at a constant speed. The controller (11) is electrically connected to the servo frame (1), the vision sensor (12), the signal acquisition component (2), the impact hammer (32), and the drive component (4).

2. The integrated visual centering and tapping inspection equipment for narrow lap welds of steel strips according to claim 1, characterized in that: The drive assembly (4) includes a first electromagnet (41) fixed in the mounting sleeve (31), a permanent magnet (42) fixed on the impact hammer (32), and a constant force member (43) for balancing the total weight of the impact hammer (32) and the permanent magnet (42).

3. The integrated visual centering and tapping inspection equipment for narrow lap welds of steel strips according to claim 2, characterized in that: The constant force component (43) is a constant force tension spring installed in the mounting sleeve (31). The output end of the constant force tension spring is fixedly connected to the impact hammer (32). The tension of the constant force tension spring is the same as the weight of the impact hammer (32) plus the permanent magnet (42) but opposite in direction.

4. The integrated visual centering and tapping inspection equipment for narrow lap welds of steel strips according to claim 2, characterized in that: The first electromagnet (41) and the permanent magnet (42) are both arranged in a horizontal ring. The top of the impact hammer (32) is fixed with a non-ferromagnetic top rod (51) that passes through the first electromagnet (41). A ferromagnetic buffer box (52) is provided inside the mounting sleeve (31) and above the first electromagnet (41). A second electromagnet (53) is provided inside the buffer box (52). A ferromagnetic buffer cover (54) is provided at the bottom of the buffer box (52). A non-magnetic elastic buffer member (55) is provided between the recess of the buffer box (52) and the buffer cover (54). When the second electromagnet (53) is opened and the buffer cover (54) abuts against the buffer box (52), the magnetic force on the buffer cover (54) is greater than the elastic force of the elastic buffer member (55). The first electromagnet (41) and the permanent magnet (42) never come into contact.

5. The integrated visual centering and tapping inspection equipment for narrow lap welds of steel strips according to claim 4, characterized in that: The first electromagnet (41) is covered with a ferromagnetic shielding plate (56) at one end near the buffer cover (54).

6. The integrated visual centering and tapping inspection equipment for narrow lap welds of steel strips according to claim 1, characterized in that: The mounting sleeve (31) is raised and lowered on the servo frame (1), and the signal acquisition component (2) includes a connecting hose (21) located at the bottom of the mounting sleeve (31) and an accelerometer (22) connected to the connecting hose (21).

7. The integrated visual centering and tapping inspection device for narrow lap welds of steel strips according to claim 6, characterized in that: The connecting hose (21) is connected to an external air source.

8. The integrated visual centering and tapping inspection equipment for narrow lap welds of steel strips according to claim 1, characterized in that: The bottom of the mounting sleeve (31) is threadedly connected to a limiting sleeve (61), and the peripheral wall of the impact hammer (32) is fixedly connected to a limiting ring (62). When the limiting ring (62) abuts against the limiting sleeve (61), the impact hammer (32) moves to its maximum stroke.

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