A strip welding quality automatic detection system

Abstract

The utility model belongs to the plate forming test technology and intelligent manufacturing technology field, concretely relates to a kind of plate strip welding quality automatic detection system.The utility model includes transport workstation, pickup workstation, recycling workstation and cupping testing machine, transport workstation is butt joint with the source of plate strip sample, plate strip sample is transported to specified area, pickup workstation is transferred to the top surface of the mould of cupping testing machine from transport workstation with plate strip sample, and plate strip sample is transferred to recycling workstation from the top surface of the mould of cupping testing machine after cupping test.The plate strip welding quality automatic detection system provided by the utility model does not need manual participation in whole process, and can adapt to the full-automatic cupping test detection of steel plate weld in 0.6mm-2mm range.

Description

Technical Field

[0001] This utility model belongs to the field of sheet metal forming testing technology and intelligent manufacturing technology, specifically relating to an automatic detection system for sheet and strip welding quality. Background Technology

[0002] In cold rolling production, the rapid welding process, caused by varying welding parameters, can easily lead to differences in heat capacity, thermal expansion, and heat flow. This results in reduced weld toughness and welding defects, causing microcracks that can appear and propagate. These microcracks can then break during subsequent cold rolling, disrupting production, affecting strip quality, and in severe cases, causing shutdowns and significant economic losses. Therefore, preliminary quality inspections are typically performed after welding to ensure weld quality.

[0003] The primary method for preliminary on-site inspection of weld seams is the cupping test. This involves placing the weld seam between a diaphragm and a die, pressing it firmly, and then impacting the weld seam with a punch. The direction of weld cracking is used as the criterion for judging weld quality. Currently, this method has several problems: 1. The cupping test is mainly performed manually, relying on the experience of experienced workers, leading to significant human error. 2. The cupping test machine and welding data monitoring are not integrated into the same system, failing to accurately reflect the relationship between the cupping test and welding data. 3. It cannot realistically simulate the stress conditions during the rolling process, resulting in unreliable final quality assessment results. 4. The stamping speed is significantly affected by material friction resistance during the stamping process. 5. The final quality assessment standard is too simplistic, failing to accurately reflect the actual condition of the weld seam, resulting in large errors. Utility Model Content

[0004] The purpose of this utility model is to provide an automatic inspection system for strip welding quality, including a transport workstation, a pickup workstation, a retrieval workstation, and a cupping test machine; the transport workstation is used to connect with the source of the strip sample; the pickup workstation is arranged between the transport workstation and the cupping test machine; the retrieval workstation is connected to the cupping test machine; the cupping test machine includes a mold, a pressure mold, a test machine base, and an electric cylinder; the electric cylinder is installed inside the test machine base, and the output end of the electric cylinder is connected to an electric cylinder push plate, the electric cylinder push plate position... A punch head is installed in the middle of the electric cylinder push plate on the top surface of the testing machine base, and a linear slide rail is installed on the top surface of the testing machine base. The pad mold is installed on the linear slide rail by a slider. An observation port is opened in the middle of the top surface of the pad mold, and a visual inspection device is installed at the observation port. A punching hole is opened in the center of the die, and the punching hole corresponds to the position of the punch head. Guide rods are installed on both sides of the bottom surface of the die, and compression springs are provided on the outside of the guide rods. The two ends of the compression springs are connected to the die and the electric cylinder push plate respectively. The two sides of the electric cylinder push plate are connected to the guide rods through linear bearings to form a sliding pair.

[0005] Furthermore, the transport workstation includes an upper-level conveyor belt and a lower-level conveyor belt; the starting point of the upper-level conveyor belt is connected to the source of the strip sample, and the lower-level conveyor belt is arranged perpendicularly to the ending point of the upper-level conveyor belt. The conveying direction of the lower-level conveyor belt is perpendicular to the conveying direction of the upper-level conveyor belt, and the conveying speed of the lower-level conveyor belt is greater than that of the upper-level conveyor belt, forming a differential speed; guardrails are provided on both sides of the conveying route from the junction of the upper-level and lower-level conveyor belts to prevent the strip sample from falling.

[0006] Furthermore, the transport workstation also includes a drive motor, a drive motor bracket, and a conveyor drive shaft; the drive motor and drive motor bracket are placed below the lower-level conveyor belt, the drive motor is connected to the conveyor drive shaft via a chain, the conveyor drive shaft drives the lower-level conveyor belt to move, and a cover is installed on the outside of the chain.

[0007] Furthermore, the guardrail baffle includes a long-side adjustment baffle and a short-side adjustment baffle; the long-side adjustment baffle is installed on one side of the lower conveyor belt by means of the guardrail bracket and is located opposite the upper conveyor belt; the short-side adjustment baffle is installed on the other side of the lower conveyor belt by means of the guardrail bracket and extends to the upper conveyor belt through the corner.

[0008] Furthermore, the picking workstation includes a robotic arm mounted on a robotic arm base, with the end point of the lower conveyor belt of the robotic arm base between the conveyor and the cupping test machine; the robotic arm includes multiple sets of free-moving joints, and a picking component is installed at the front end of the robotic arm.

[0009] Furthermore, the pickup component includes a first industrial camera, an electromagnet mounting plate, an electromagnet, and a first camera light source; the first camera light source is mounted in the center of the electromagnet mounting plate, and the electromagnet is mounted on both sides of the electromagnet mounting plate via electromagnet guide blocks, with the electromagnet guide blocks and the electromagnet being coaxially mounted; the first industrial camera is mounted in the middle of the first camera light source via an industrial camera mounting base, and light source protection blocks are provided on both sides of the first camera light source.

[0010] Furthermore, the linear slide rail is arranged on both sides of the electric cylinder push plate; the pad mold is an arch bridge-shaped structure, and the two sides of the pad mold are mounted on the linear slide rail by sliders. The movement of the pad mold on the linear slide rail is driven by a rodless cylinder, and the vision inspection device is installed on the top platform of the arch bridge-shaped structure; the rodless cylinder is mounted on the top surface of the testing machine base through a rodless cylinder support frame, and the rodless cylinder and the pad mold are connected by a rodless cylinder connecting plate.

[0011] Furthermore, the visual inspection device includes a camera support frame, a camera lens mount, a second camera light source, and a second industrial camera; the camera is mounted perpendicularly to the observation port on the camera support frame, and the camera support frame is mounted on the top surface of the mold pad; the camera lens mount is mounted above the observation port, and the second camera light source is mounted above the camera lens mount.

[0012] Furthermore, the camera support frame includes vertical profiles and horizontal profiles; there are two sets of vertical profiles, which are respectively installed on both sides of the observation port; the horizontal profiles are installed above the two sets of vertical profiles, and the left and right ends of the horizontal profiles are respectively connected to the upper ends of the two sets of vertical profiles; the lower ends of the vertical profiles are reinforced by profile corner fittings.

[0013] Furthermore, the base of the testing machine is a cabinet structure, the electric cylinder is installed inside the cabinet structure, a maintenance hole cover is provided on the cabinet structure, and horizontal adjustment bolts are provided at the four corners of the bottom of the cabinet structure to ensure that the cupping test machine is kept horizontal.

[0014] The beneficial effects of this utility model are as follows:

[0015] This utility model provides an automatic strip welding quality inspection system, including a transport workstation, a pickup workstation, a cupping test machine, and a recovery workstation. The transport workstation connects to the source of the strip sample, transporting the sample to a designated area. The pickup workstation transfers the sample from the transport workstation to the top surface of the cupping test machine's die, and after the cupping test, transfers the sample from the die to the recovery workstation. This automatic strip welding quality inspection system requires no manual intervention throughout the entire process and can perform fully automatic cupping tests on steel plate welds within the 0.6mm-2mm range. Attached Figure Description

[0016] Figure 1This is an overall layout diagram of an automatic detection system for plate and strip welding quality according to the present invention.

[0017] Figure 2 This is a schematic diagram of the transportation workstation in this utility model.

[0018] Figure 3 This is a schematic diagram of the pickup workstation in this utility model.

[0019] Figure 4 This is a schematic diagram of the cupping test machine of this utility model.

[0020] Figure 5 This is a schematic diagram of the visual inspection device of the cup protrusion tester of this utility model.

[0021] Figure 6 This is the overall flowchart of the automatic detection method for welding quality of medium plate and strip in this utility model.

[0022] Figure 7 This is a comparison chart of cupping test results. Detailed Implementation

[0023] The present invention will now be further described with reference to the accompanying drawings.

[0024] This invention provides an automatic inspection system for strip welding quality. Utilizing visual inspection technology to replace manual labor, it can automatically complete cupping tests on strips with welds. By capturing feature points from the cupping test results, the system obtains the cupping test parameters and simultaneously collects welding parameter results. These results are then input into an expert system to establish a correspondence between the cupping test results and welding parameters, outputting modified welding parameter values. Ultimately, this improves strip welding quality and reduces the risk of strip breakage in the furnace. The automatic strip welding quality inspection system's on / off control can be integrated with the company's shearing device. After the strip sample is prepared, the inspection line begins operation, ensuring a smooth and problem-free overall inspection process.

[0025] like Figure 1 As shown, this utility model discloses an automatic inspection system for strip welding quality, comprising a transport workstation, a pickup workstation, a cupping test machine, and a recovery workstation. The transport workstation is used to connect with the source of the strip sample and transport the sample to a designated area. The pickup workstation is used to transfer the strip sample from the transport workstation to the top surface of the die 4-3 of the cupping test machine, and after the cupping test, to transfer the sample from the top surface of the die 4-3 to the recovery workstation. The recovery workstation is used to recover the strip sample after the cupping test.

[0026] like Figure 2As shown, the transport workstation 1 includes an upper conveyor belt 1-1, a strip sample 1-2, an aluminum profile 1-3, a horizontal adjustment foot 1-4, a lower conveyor belt 1-5, a drive motor 1-6, a drive motor bracket 1-7, a machine cover 1-8, a long-side adjustment baffle 1-9, a guardrail bracket 1-10, a short-side adjustment baffle 1-11, and a conveyor drive shaft 1-12. The upper conveyor belt 1-1 is generally an existing piece of equipment in the factory. Both the upper and lower conveyor belts 1-1 and 1-5 are made of the same material, have rough surfaces, and their speed directions are perpendicularly intersecting. The lower conveyor belt 1-5 moves towards the pickup workstation 3. The horizontal adjustment foot 1-4 can adjust the entire workstation to be level, ensuring that the workstation can be placed horizontally on the ground. Aluminum profile 1-3 and horizontal adjusting feet 1-4 provide support for the upper conveyor belt 1-1 and the lower conveyor belt 1-5 using threads and screws. The drive motor 1-6 and drive motor bracket 1-7 are placed below the lower conveyor belt 1-5. The drive motor 1-6 and the conveyor drive shaft 1-12 transmit force and movement to the conveyor drive shaft 1-12 via a chain. The conveyor drive shaft 1-12 drives the lower conveyor belt 1-5 to transport the sheet sample 1-2. The machine cover 1-8 protects the chain and extends its service life. To prevent samples from falling, long-side adjusting baffles 1-9 and short-side adjusting baffles 1-11 are placed on both sides of the lower conveyor belt. The long-side adjusting baffle 1-9 is placed and fixed opposite the upper conveyor belt by the guardrail bracket 1-10, while the short-side adjusting baffle 1-11 is fixed by the guardrail bracket 1-10 and extends into the upper conveyor belt.

[0027] During operation, the upper conveyor belt 1-1 moves, carrying the plate sample 1-2 onto the lower conveyor belt 1-5. The drive motor 1-6 moves synchronously, transmitting the motion to the conveyor drive shaft 1-12 via chain drive, and then onto the lower conveyor belt 1-5. If there is a risk of the plate sample 1-2 falling, the long-side adjusting baffle 1-9 and the short-side adjusting baffle 1-11 function to ensure it reaches the pickup workstation 3 smoothly.

[0028] In transport workstation 1, the upper-level conveyor belt 1-1 and the lower-level conveyor belt 1-5 are placed vertically, and their running directions are also perpendicular. That is, the speed of the upper-level conveyor belt 1-1 is... Figure 2 middle The speed of the lower-level conveyor belts 1-5 is Figure 2 middle The lower-level conveyor belt moves towards the pickup workstation 3, and the speed of the lower-level conveyor belt during the movement is... Speed ​​higher than the upper conveyor belt Therefore, the differential speed control of the conveyor belt sample 1-2 can be changed from the original vertical movement to the horizontal movement, so that it can smoothly reach the pickup workstation 3. The lower-level conveyor belt 1-5 is controlled by the drive motor 1-6, which can be adapted to the upper-level conveyor belt 1-1 with various speeds, and can lay the development foundation for dynamic vision pickup.

[0029] like Figure 3 As shown, the pickup workstation 3 includes an end effector connector 3-1, a six-axis robotic arm 3-2, a robotic arm base 3-3, a first industrial camera 3-4, an industrial camera mounting base 3-5, an electromagnet mounting plate 3-6, an electromagnet guide block 3-7, an electromagnet 3-8, a light source protection block 3-9, and a first camera light source 3-10. The pickup workstation 3 can pick up the strip sample 1-2 onto the cupping tester 4. The six-axis robotic arm 3-2 in the pickup workstation 3 consists of six free joints, enabling accurate pickup of the strip sample 1-2. The robotic arm base 3-3 raises the mounting position of the six-axis robotic arm 3-2, allowing it to be at the same level as the transport workstation 1 for easy pickup. The first industrial camera 3-4, the industrial camera mounting base 3-5, the first camera light source 3-10, and the light source protection block 3-9 together constitute a vision positioning system. The first industrial camera 3-4 is placed in the middle of the first camera light source 3-10, and the light source protection blocks 3-9 are placed on both sides of the first camera light source 1-10. The first industrial camera 3-4 is placed on the electromagnet mounting plate 3-6 by the camera mounting base 3-5 and connected by screws. The first camera light source 3-10 and the light source protection block 3-9 are connected and installed on the electromagnet mounting plate 3-6 by screws. The first camera light source 3-10; the electromagnet guide block 3-7 and the electromagnet 3-8 are coaxially installed and symmetrically arranged on the electromagnet mounting plate 3-6, so that the strip is evenly attracted by the force.

[0030] The pickup workstation 3 comprises four parts: an electromagnetic adsorption system, a six-axis robotic arm, a robotic arm base, and a vision system. During operation, the first camera light source 3-10 is turned on, and the first industrial camera 3-4 identifies the edges of the strip sample 1-2, acquiring information about the weld edge and the strip edge to determine the pickup point. The six-axis robotic arm 3-2 then begins to move. Simultaneously, the electromagnet 3-8 is energized, generating magnetic force to adsorb the strip sample 1-2 and place it onto the cupping tester 4. Due to the numerous obstructions in the actual environment, the more flexible six-axis robotic arm 3-2 is chosen to ensure no interference occurs during its movement path. The strip sample 1-2 is made of steel plate. Compared to other adsorption methods, electromagnetic adsorption maximizes the accuracy and reliability of the adsorption; therefore, this invention selects electromagnetic adsorption for pickup. The strip samples 1-2 are cut by existing equipment within the company and fall onto the upper conveyor belt 1-1. The fallen samples 1-2 vary in shape, position, and length, and the adsorption points for each sample are also inconsistent. Traditional fixed-point adsorption is insufficient. Therefore, a vision inspection system is placed between two electromagnets 3-8, using an edge detection algorithm to identify the strip weld seam. Since the weld seam is roughly rectangular, the center point coordinates of the weld rectangle can be detected, and the center point of the first industrial camera 3-4 can be aligned with the center point of the weld rectangle to complete the pickup. Furthermore, to prevent samples from falling during adsorption, a miniature force sensor is installed inside the electromagnetic adsorption system to provide force feedback to the robotic arm, establishing a drop alarm system. This ensures that the loading and unloading of strip samples can be completed in place of manual labor.

[0031] like Figure 4As shown, the cupping test machine includes a pad mold 4-1, a slider 4-2, a pressing mold 4-3, a linear slide rail 4-4, a rodless cylinder 4-5, a compression spring 4-6, a rodless cylinder support frame 4-7, an electric cylinder push plate 4-8, a linear bearing 4-9, an electric cylinder connecting plate 4-10, a test machine base 4-11, an electric cylinder 4-12, a horizontal adjusting bolt 4-13, a maintenance hole cover plate 4-14, profile corner pieces 4-15, a vertical profile 4-16, a camera lens mount 4-17, a second camera light source 4-18, a horizontal profile 4-19, a second industrial camera 4-20, a general-purpose angle aluminum 4-21, a rodless cylinder connecting plate 4-22, a guide rod 4-23, and a punch head 4-24. The die 4-1, slider 4-2, linear guide rail 4-4, rodless cylinder 4-5, rodless cylinder support frame 4-7, and rodless cylinder connecting plate 4-22 together constitute the die moving device of the cupping tester, enabling the die to be fed linearly on the cupping tester and facilitating the placement of the sample on the die 4-3 by the pick-up workstation. Slider 4-2 and linear guide rail 4-4 work together to achieve linear movement. The die 4-1 is placed on slider 4-2, and the two are connected by bolts. The rodless cylinder 4-5 is the power source for the die moving device. The rodless cylinder support frame 4-7 is fixed to both ends of the rodless cylinder 4-5 with screws, and the other end is also fixed to the tester base 4-11 with screws, providing support and fixation for the rodless cylinder 4-5. The rodless cylinder 4-5 and the die 4-1 are connected by the rodless cylinder connecting plate 4-22. This part can complete the overall movement of the die 4-1, preparing for the next step of lifting.

[0032] The die 4-3, compression spring 4-6, electric cylinder push plate 4-8, linear bearing 4-9, electric cylinder connecting plate 4-10, testing machine base 4-11, electric cylinder 4-12, testing machine foot 4-13, guide rod 4-23, and punch head 4-24 together constitute the execution part of the cupping test machine 4. The die 4-3 is placed at the top, with three holes below it for symmetrically placing two guide rods 4-23, and a punch head 4-24 in the middle. The guide rods 4-23 and the die 4-3 are connected by bolts. Below the guide rods 4-23 and the die 4-3 is an electric cylinder push plate 4-8. The punch head 4-24 is fixed to the electric cylinder push plate 4-8 with bolts. A compression spring 4-6 is stacked between the electric cylinder push plate 4-8 and the die 4-3, with the guide rod 4-23 in the middle of the spring 4-6. This spring has the function of fixing the plate and sample 1-2 to ensure that there is no displacement when stamping the steel plate. The guide rods 4-23 pass through the holes on both sides of the electric cylinder push plate 4-8 and form a sliding pair with the linear bearing 4-9. The electric cylinder 4-12 is connected to the electric cylinder push plate 4-8 by threads and to the electric cylinder connecting plate 4-10 by circularly distributed bolts to ensure that the electric cylinder 4-12 remains stable during operation. The maintenance hole cover plate 4-14 is located on the side of the testing machine base 4-11 for easy maintenance by technicians. The leveling bolt 4-13 helps keep the cupping tester level, ensuring the accuracy of the cupping test. This part can be used to lift the plate and strip specimen 1-2.

[0033] like Figure 5 As shown, the corner bracket 4-15, vertical profile 4-16, camera lens mount 4-17, second camera light source 4-18, horizontal profile 4-19, second industrial camera 4-20, and general-purpose angle aluminum 4-21 together constitute a visual inspection system for cupping conditions. This system can determine the results of the cupping test and upload the inspection data to the cloud. Two vertical profiles 4-16 are placed at both ends of the horizontal profile 4-19. Six corner brackets 4-15 are placed at the corner points and fixed together with the mold 4-1. These three components together form the support frame for the general-purpose angle aluminum 4-21. The second industrial camera 4-20 is placed on the general-purpose angle aluminum 4-21 and fixed with bolts. The camera lens mount 4-17 is placed above the observation hole in the middle of the mold 4-1 and fixed with bolts. The second camera light source 4-18 is placed above it. This part can identify the cupping test results and upload them to the technician's handheld PC next to the welding parameter control console.

[0034] The cupping test machine 4 operates as follows: When the strip sample 1-2 is placed on the cupping test machine 4, the rodless cylinder 4-5 drives the die 4-1 and the visual inspection device above it, including the profile corner piece 4-15, the vertical profile 4-16, the camera lens mount 4-17, the second camera light source 4-18, the horizontal profile 4-19, the second industrial camera 4-20, and the general-purpose angle aluminum 4-21, to move along the linear slide rail 4-4 to directly above the die 4-3 and then stop. The electric cylinder 4-12 is energized and moves, driving the die 4-3, the compression spring 4-6, the electric cylinder push plate 4-8, the guide rod 4-23, and the punch head 4-24 to move upward. The linear bearing 4-9 and the electric cylinder connecting plate 4-1... 0 remains stationary; when the pressing die 4-3 and the pad die 4-1 come into contact, the pad die 4-1 and the guide rod 4-23 are blocked and stop moving; the compression spring 4-6, the electric cylinder push plate 4-8, and the punch head 4-24 continue to move upward. At this time, the compression spring 4-6 begins to compress, providing clamping force to the strip sample 1-2, so that it remains stationary during punching; the punch head 4-24 simultaneously moves upward and comes into contact with the strip sample 1-2, completing the cupping test; while the cupping test is in progress, the second industrial camera 4-20 and the second camera light source 4-18 continue to work, completing the judgment of the cupping test results; after the above process is completed, the electric cylinder 4-12 and the rodless cylinder 4-5 begin to move in the opposite direction, returning to their original positions.

[0035] The cupping test machine 4 replaces the original hydraulic drive with an electric cylinder 4-12 drive, improving the lifting accuracy, facilitating subsequent observation of the cupping test results, and standardizing the cupping test process. The mold 4-1 is changed to linear movement for easier automation. Manual observation is replaced with visual inspection, using deep learning to determine the results, facilitating database establishment and reducing human error. The visual inspection algorithm of the cupping test machine 4 uses an edge detection algorithm for preprocessing, collecting feature points from the cupping test results. Based on these feature points and deep learning algorithms, the cupping test results are determined, and the final results and inspection report are uploaded to the cloud.

[0036] Based on long-term experience, this invention establishes the following criteria for judging the results of the cupping test:

[0037] (1) During the cupping test, if the sample is found to crack from the vertical weld, parallel weld, or at a certain angle to the weld, the test should be stopped, and the welding quality should be deemed acceptable. Figure 7 The weld shown in (b) is a qualified weld;

[0038] (2) During the cupping test, if the sample is found to crack in the middle, i.e., cracking at the weld, the test should be stopped, and the welding quality should be deemed unqualified. Figure 7 The defective weld is shown in (a).

[0039] (3) During the cupping test, the sample simultaneously exhibits both criteria (1) and criteria (2), such as Figure 7 As shown in (c), the order in which criteria (1) and criteria (2) occur must be followed; if criterion (1) occurs first, the weld is judged to be qualified, and if criterion (2) occurs first, the weld is judged to be unqualified.

[0040] The cupping test machine in this invention can determine the stop time of the cupping test through video monitoring of the entire stamping process. When a weld crack appears, the stamping is stopped. By using a deep learning algorithm to determine the positional relationship between the crack and the weld, a preliminary result of whether the weld is qualified can be obtained. Then, by extracting feature points in detail, the feature parameters are obtained and input into the mathematical model.

[0041] The recycling workstation is responsible for receiving the samples after the cupping test so that the workers can re-examine them. The intermediate transfer device is the pickup workstation 3.

[0042] The welding parameter control console 2 displays the data acquisition work through the welding data display instrument 2-1 and uploads the data to the central data control platform for further processing. The welding parameter control console 2 can complete the data acquisition and modification of welding parameters and is generally an existing piece of equipment within the enterprise (not shown here). The general operation process is as follows: while performing the cupping test, the technician inputs the welding data into the PC port. By comparing the cupping test characteristic point parameters identified by the cupping test machine 4 with the results of the existing database, the range of welding parameter modifications is obtained. Based on the functional analysis of the online strip welding quality control system and the layout of this utility model design, as follows... Figure 6 As shown, the overall operation flow of the system designed in this utility model is as follows:

[0043] (1) The technician presses the “Start” button of the system and starts to observe the welding parameters and input them into the handheld mobile terminal;

[0044] (2) The steel plate welding production line stops moving and begins sample preparation. The motors of the sample preparation conveyor belt and the transport workstation start rotating at the same time, driving the conveyor belt to transport the sample, and changing the sample from vertical movement to horizontal movement at the transport workstation.

[0045] (3) The visual camera of the picking workstation begins to identify the sample position and determines whether the sample has reached the picking position of the robot arm.

[0046] (4) When the sample reaches the picking position of the robot arm, the transport workstation stops moving, the vision camera positions the weld position of the sample, the robot arm starts moving, positions and picks up the sample and transfers it to the automated cupping test machine.

[0047] (5) After the robot arm picks up the sample, it sends signals to the transport workstation. The transport workstation then continues to move and performs all the operations after step (3) on the second sample.

[0048] (6) After the robot places the sample on the pad of the cupping tester, the rodless cylinder of the cupping tester starts to move according to the set parameters, driving the die of the cupping tester to move in a straight line to directly above the pad of the cupping tester.

[0049] (7) After the linear motion of the die of the cupping tester is completed, its motion drives the actuator to complete the cupping test, and at the same time the vision inspection system begins to detect the cupping test results;

[0050] (8) After the visual inspection is completed, the visual system uploads the cupping test results data to the PC and inputs them into the mathematical model along with the welding parameters obtained in step (1) to calculate the modified welding parameters.

[0051] (9) The picking station transfers the tested sample to the recycling station, where it is re-inspected by a technician. The technician modifies the welding parameters based on the re-inspection results and the calculation results of step (8).

[0052] The automatic inspection system for plate and strip welding quality provided by this utility model does not require manual intervention throughout the inspection process. It can be adapted to fully automatic cupping test inspection of steel plate welds within the range of 0.6mm-2mm. By establishing a database through a large amount of cupping test data, welding parameters can be optimized to improve the accuracy of inspection and ultimately achieve the goal of improving welding quality.

[0053] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An automatic inspection system for strip welding quality, characterized in that: The system includes a transport workstation, a pickup workstation, a retrieval workstation, and a cupping test machine. The transport workstation is used to connect with the source of the strip sample. The pickup workstation is located between the transport workstation and the cupping test machine. The retrieval workstation is connected to the cupping test machine. The cupping test machine includes a mold (4-1), a pressure mold (4-3), a test machine base (4-11), and an electric cylinder (4-12). The electric cylinder (4-12) is installed inside the test machine base (4-11), and its output end is connected to an electric cylinder push plate (4-8). The electric cylinder push plate (4-8) is located on the top surface of the test machine base (4-11), and a punch head (4-24) is installed in the middle of the electric cylinder push plate (4-8) during the test. A linear slide rail (4-4) is installed on the top surface of the base (4-11); the pad mold (4-1) is installed on the linear slide rail (4-4) via a slider (4-2), and an observation port is opened in the middle of the top surface of the pad mold (4-1), and a visual inspection device is installed at the observation port; a punching hole is opened in the center of the pressing mold (4-3), and the punching hole corresponds to the position of the punching head (4-24). Guide rods (4-23) are installed on both sides of the bottom surface of the pressing mold (4-3), and a compression spring (4-6) is provided on the outside of the guide rod (4-23). ​​The two ends of the compression spring (4-6) are connected to the pressing mold (4-3) and the electric cylinder push plate (4-8) respectively. The two sides of the electric cylinder push plate (4-8) are connected to the guide rod (4-23) via linear bearings (4-9) to form a sliding pair.

2. The automatic inspection system for strip welding quality according to claim 1, characterized in that: The transport workstation includes an upper conveyor belt (1-1) and a lower conveyor belt (1-5). The starting point of the upper conveyor belt (1-1) is connected to the source of the strip sample. The lower conveyor belt (1-5) is arranged vertically at the end point of the upper conveyor belt (1-1). The conveying direction of the lower conveyor belt (1-5) is perpendicular to the conveying direction of the upper conveyor belt (1-1), and the conveying speed of the lower conveyor belt (1-5) is greater than that of the upper conveyor belt (1-1), forming a differential speed. Guardrails are provided on both sides of the conveying route starting from the junction of the upper conveyor belt (1-1) and the lower conveyor belt (1-5) to prevent the strip sample from falling.

3. The automatic detection system for strip welding quality according to claim 2, characterized in that: The transport workstation also includes a drive motor (1-6), a drive motor bracket (1-7), and a conveyor drive shaft (1-12); the drive motor (1-6) and the drive motor bracket (1-7) are placed below the lower-level conveyor belt (1-5), the drive motor (1-6) is connected to the conveyor drive shaft (1-12) via a chain, the conveyor drive shaft (1-12) drives the lower-level conveyor belt (1-5) to move, and a cover (1-8) is installed on the outside of the chain.

4. The automatic inspection system for strip welding quality according to claim 2, characterized in that: The guardrail baffle includes a long side adjustment baffle (1-9) and a short side adjustment baffle (1-11); the long side adjustment baffle (1-9) is installed on one side of the lower conveyor belt (1-5) by the guardrail bracket (1-10) and is located opposite the upper conveyor belt (1-1); the short side adjustment baffle (1-11) is installed on the other side of the lower conveyor belt (1-5) by the guardrail bracket (1-10) and extends to the upper conveyor belt (1-1) through the corner.

5. The automatic inspection system for strip welding quality according to claim 2, characterized in that: The picking workstation includes a robotic arm (3-2), which is mounted on a robotic arm base (3-3). The end point of the lower conveyor belt (1-5) of the robotic arm base (3-3) is between the conveyor belt and the cupping test machine. The robotic arm (3-2) includes multiple sets of free-moving joints, and a picking component is installed at the front end of the robotic arm (3-2).

6. The automatic inspection system for strip welding quality according to claim 5, characterized in that: The pickup component includes a first industrial camera (3-4), an electromagnet mounting plate (3-6), an electromagnet (3-8), and a first camera light source (3-10). The first camera light source (3-10) is mounted in the center of the electromagnet mounting plate (3-6), and the electromagnet (3-8) is mounted on both sides of the electromagnet mounting plate (3-6) via an electromagnet guide block (3-7). The electromagnet guide block (3-7) and the electromagnet (3-8) are mounted coaxially. The first industrial camera (3-4) is mounted in the middle of the first camera light source (3-10) via an industrial camera mounting base (3-5), and light source protection blocks (3-9) are provided on both sides of the first camera light source (3-10).

7. The automatic inspection system for strip welding quality according to claim 1, characterized in that: The linear slide rail (4-4) is set on both sides of the electric cylinder push plate (4-8); the pad mold (4-1) is an arch bridge structure, and the pad mold (4-1) is mounted on the linear slide rail (4-4) on both sides by sliders (4-2). The movement of the pad mold (4-1) on the linear slide rail (4-4) is driven by the rodless cylinder (4-5). The visual inspection device is installed on the top platform of the arch bridge structure; the rodless cylinder (4-5) is mounted on the top surface of the test machine base (4-11) through the rodless cylinder support frame (4-7). The rodless cylinder (4-5) and the pad mold (4-1) are connected by the rodless cylinder connecting plate (4-22).

8. The automatic inspection system for strip welding quality according to claim 1, characterized in that: The visual inspection device includes a camera support frame, a camera lens mount (4-17), a second camera light source (4-18), and a second industrial camera (4-20); the camera is mounted on the camera support frame perpendicular to the observation port, and the camera support frame is mounted on the top surface of the mold pad (4-1); the camera lens mount (4-17) is mounted above the observation port, and the second camera light source (4-18) is mounted above the camera lens mount (4-17).

9. The automatic inspection system for strip welding quality according to claim 8, characterized in that: The camera support frame includes vertical profiles (4-16) and horizontal profiles (4-19); there are two sets of vertical profiles (4-16), which are installed on both sides of the observation port; the horizontal profiles (4-19) are installed above the two sets of vertical profiles (4-16), and the left and right ends of the horizontal profiles (4-19) are connected to the upper ends of the two sets of vertical profiles (4-16); the lower end of the vertical profiles (4-16) is reinforced by profile corner pieces (4-15).

10. The automatic inspection system for strip welding quality according to claim 1, characterized in that: The base (4-11) of the testing machine is a cabinet structure. The electric cylinder (4-12) is installed inside the cabinet structure. A maintenance hole cover (4-14) is provided on the cabinet structure. Horizontal adjustment bolts (4-13) are provided at the four corners of the bottom of the cabinet structure. The horizontal adjustment bolts (4-13) ensure that the cupping test machine is kept horizontal.

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