CN113281363A - Aluminum alloy laser welding structure composite evaluation equipment and method - Google Patents
Aluminum alloy laser welding structure composite evaluation equipment and method Download PDFInfo
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Abstract
The invention discloses composite evaluation equipment and method for an aluminum alloy laser welding structure. The device mainly comprises a control system, a motion system, a welding seam locating and tracking system, a portable X-ray diffractometer, an ultrasonic detector and a detection working platform. The purpose is to realize the detection and evaluation of the welding structure on the premise of not damaging the aluminum alloy welding structure. And identifying, positioning and three-dimensional reconstruction of the appearance of the weld joint by using a weld joint locating and tracking system, and selecting a specific quality detection means according to the geometric characteristics of the weldment. The six-axis robot carries a welding seam locating and tracking system, a portable X-ray diffractometer and an ultrasonic detector, realizes detection of an aluminum alloy laser welding structure, collects and analyzes detection data and obtains an evaluation result, and forms a detection and evaluation means of welding seam locating and scanning → a three-dimensional reconstruction model → parameter extraction → reasonable detection means selection → data statistical analysis → evaluation conclusion assessment.
Description
Technical Field
The invention relates to the technical field of aluminum alloy structure assessment, in particular to composite assessment equipment and method for an aluminum alloy laser welding structure.
Background
The welding technology is a common metal connection method at present, and compared with other metal processing methods, the method has the advantages of high structural strength, high speed, short production period, small structural part deformation, simple equipment, material saving, high joint air tightness and the like, can realize reliable, accurate and efficient connection of materials, and is widely applied to industries such as aerospace, buildings, ships, vehicles, electronic equipment and the like. In the aerospace field, more materials are applied to aluminum alloy, titanium alloy and the like, common welding methods are argon arc welding, laser welding, friction stir welding and the like, and the advantages of reducing the weight of the whole structure and improving the integrity of the structure are achieved.
The aluminum alloy is a main material for aerospace, and has the advantages of light weight, good plasticity, good molding, corrosion resistance, good processing performance and the like, but the aluminum alloy has some defects as a welding material, and the welding joint of the aluminum alloy is seriously softened; the thermal expansion coefficient is large, and welding deformation is easy to generate; high thermal and electrical conductivity, large specific heat capacity and latent heat of fusion, and easy generation of incomplete penetration, incomplete fusion, air holes and other defects. Residual stresses, deformations and defects can have a severe impact on the strength, stiffness and performance of the welded structure.
At present, five nondestructive detection technologies of ray detection, ultrasonic detection, penetration detection, magnetic powder detection and eddy current detection are mainly adopted as detection means for an aluminum alloy welding structure, but each nondestructive evaluation method has limitations and cannot comprehensively, efficiently and quantitatively test the performance of the welding structure.
Disclosure of Invention
Aiming at the defects of the existing detection and evaluation means, the invention provides the composite evaluation equipment and method for the aluminum alloy laser welding structure, which can realize the detection and evaluation of the welding structure on the premise of not damaging the aluminum alloy welding structure, and can be compared with a database to form a detection and evaluation means of 'welding seam position finding scanning → three-dimensional reconstruction model → parameter extraction → reasonable detection means is selected → data statistical analysis → evaluation conclusion' and realize the high-efficiency detection of the aluminum alloy laser welding structure.
In order to achieve the secondary purpose, the invention adopts the following technical scheme:
a composite evaluation device for an aluminum alloy laser welding structure mainly comprises a control system, a motion system, a welding seam locating and tracking system, a portable X-ray diffractometer, an ultrasonic detector, a detection working platform and an aluminum alloy laser welding structural part;
control system seeks a tracking system, portable X ray diffractometer, ultrasonic detector and detection work platform through connecting wire control motion system, welding seam, includes: a display and a control cabinet;
the motion system is used for controlling a detection path and comprises a six-axis robot, a movable robot base, a movable slide rail, a detection equipment base, a clamp and a composite detection head;
the composite detection head is fixed on a tail end mechanical arm of the six-axis robot through a clamp.
The welding seam locating and tracking system is used for identifying, locating and three-dimensionally reconstructing the appearance of a welding seam and comprises: two vision acquisition cameras and three-dimensional deformation scanning cameras;
the portable X-ray diffractometer and the ultrasonic detector are both used for carrying out nondestructive testing on the welding seam quality, the portable X-ray diffractometer comprises an X-ray transmitting device and an X-ray detecting probe, and the ultrasonic detector comprises an ultrasonic generating device and an ultrasonic detecting probe;
the vision acquisition camera, the three-dimensional deformation scanning camera, the X-ray detection probe and the ultrasonic detection probe are arranged on the composite detection head;
the detection work platform is used for removing aluminum alloy laser welding structure spare, includes: a liftable platform and a translation platform;
the motion system and the detection working platform are both arranged on the detection equipment base.
Optionally, in the weld locating and tracking system, two vision collecting cameras identify and feed back a weld on the surface of the workpiece, and feed back a weld path to the control system, and the control system controls the robot motion trajectory according to the weld path;
the three-dimensional deformation scanning cameras scan the surface of the welding seam in multiple angles, detection information is fed back to the control system, the control system conducts three-dimensional reconstruction on the surface appearance characteristics of the welding seam according to the identified characteristics, the reconstructed three-dimensional model is checked through a display, the welding structure model is compared with the original model, deformation data of the welding structure are obtained, and the key size of the welding structure is extracted;
optionally, the portable X-ray diffractometer and the ultrasonic detector may work simultaneously or separately, and the specific detection means is determined by the control system according to the three-dimensional scanning result of the welding structure;
the aluminum alloy laser welding structure composite evaluation equipment as recited in claim 1, wherein: after the X-ray detection probe and the ultrasonic detection probe identify the internal defect information of the welding seam, feeding back the internal defect information to the control system, checking a defect detection result through a display, and comparing the defect detection result with original data in a database by the control system to obtain an evaluation result of the aluminum alloy laser welding structural part;
the database is used for storing quality evaluation data of a large number of standard welding structural parts, importing the detection data and the evaluation results into a new database, establishing a laser welding evaluation database of different welding structures, and accurately predicting the welding structures through a large number of monitoring data.
The invention also aims to provide a composite evaluation method for the aluminum alloy laser welding structure, which has high scanning precision and is simple and convenient to operate.
In order to achieve the purpose, the invention adopts the following technical scheme:
a composite evaluation method of an aluminum alloy laser welding structure adopts the composite evaluation equipment of the aluminum alloy laser welding structure, and comprises the following steps:
the method comprises the following steps that firstly, a detection working platform is started, and an aluminum alloy laser welding structural part is moved to an area to be detected through the working platform;
step two, sequentially opening a control system, a motion system and a vision acquisition camera, and controlling the six-axis robot to move until the vision acquisition camera searches the initial position of the welding seam;
thirdly, after the vision acquisition camera obtains a welding seam path, the moving path is fed back to the control system, and the control system controls the motion trail of the robot according to the welding seam path;
step four, the robot starts to move, three-dimensional deformation scanning cameras are opened simultaneously, and three-dimensional scanning and reconstruction are carried out on the geometric shape of the welding seam;
step five, the control system selects a detection means according to the geometric characteristics of the welding structure, and if the detection means is selected to be X-ray detection, the X-ray diffractometer is started; if the detection means is selected to be ultrasonic detection, starting an ultrasonic detector; if the detection means is selected to be X-ray and ultrasonic composite detection, simultaneously starting an X-ray diffractometer and an ultrasonic detector;
and step six, after receiving the detection result, the control system compares the detection result with the database, and feeds back the defect detection result and the evaluation result of the aluminum alloy laser welding structural part to a worker through a display.
The invention has the beneficial effects that: the composite evaluation equipment and the method for the aluminum alloy laser welding structure provided by the invention integrate a control system, a motion system, a welding seam locating and tracking system, a portable X-ray diffractometer and an ultrasonic detector, have high automation degree, can comprehensively, efficiently and quantitatively test the performance of the welding structure, and realize accurate evaluation on the welding structure.
Drawings
FIG. 1 is a schematic structural diagram of an aluminum alloy laser welding structure composite evaluation device;
FIG. 2 is a flow chart of a composite evaluation method for an aluminum alloy welded structure.
Wherein the reference numerals are respectively:
1-control system: 11-a display; 12-a control cabinet;
2-motion system: 21-six axis robot; 22-a mobile robot base; 23-moving the slide rail; 24-detection equipment base; 25-a clamp; 26-a composite detection head;
3-a welding seam locating and tracking system: 31-a vision-acquisition camera; 32-three-dimensional deformation scanning camera;
4-portable X-ray diffractometer: 41-an X-ray emitting device; 42-and X-ray detection probes;
5-ultrasonic detector: 51-an ultrasonic wave generating device; 52-ultrasonic detection probe;
6-detecting a working platform: 61-a liftable platform; 62-a translatable platform;
7-aluminum alloy laser welded structural member.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
The invention discloses composite evaluation equipment for an aluminum alloy laser welding structure, which mainly comprises a control system, a motion system, a welding seam locating and tracking system, a portable X-ray diffractometer, an ultrasonic detector, a detection working platform and an aluminum alloy laser welding structural member.
The invention is further illustrated by the following specific example.
In the example, the performance of the cylindrical aluminum alloy welding structure is evaluated through the composite evaluation equipment for the aluminum alloy welding structure. The specific implementation process is as follows:
step one, fixing a cylindrical aluminum alloy welding structural part on a detection working platform and opening. The liftable platform and the movable platform are comprehensively controlled by the control system, so that the portable x-ray diffractometer and the ultrasonic detector can be guaranteed to scan at the position of the welding seam of the cylindrical aluminum alloy welded structural member all the time, and the positioning and subsequent detection of the welding seam locating and tracking system are facilitated.
And step two, opening the motion system and the vision acquisition camera in sequence, and adjusting the distance between the vision acquisition camera and the surface of the welded structural part through the control system so as to ensure that the appearance of the welding seam can be clearly displayed in the display. The two vision acquisition cameras identify and feed back the welding seam on the surface of the workpiece, and the control system controls the six-axis robot to move until the vision acquisition cameras search the initial position of the welding seam.
And step three, after the vision acquisition camera obtains the welding seam path, the moving path is fed back to the control system, and the control system controls the motion track of the robot according to the welding seam path.
Step four, the robot moves while opening three-dimensional deformation scanning cameras, multi-angle scanning is conducted on the geometric morphology of the welding seam, detection information is fed back to a control system, the control system conducts three-dimensional reconstruction on the surface morphology characteristics of the welding seam according to the recognized characteristics, the reconstructed three-dimensional model is checked through a display, the welding structure model and the original model are compared, deformation data of the welding structure are obtained, and the key size of the welding structure is extracted;
and step five, selecting a detection means by the control system according to the geometric characteristics of the welding structure. Optionally, the thickness of the welded structural part is 50mm, and an ultrasonic detector is selected for accurately detecting the defects of the welded structural part and determining the positions and the sizes of the defects. The gap between the probe and the surface to be inspected is filled with a coupling agent to ensure sufficient acoustic coupling. The control system controls the six-axis robot according to the welding line path identified by the vision acquisition camera so as to ensure that the ultrasonic detector is in contact with the welding structural part. The ultrasonic detector emits ultrasonic beams to the aluminum alloy welding component, the ultrasonic beams are transmitted to the surface of the workpiece to be detected and reflected by the surface of the workpiece to be detected, and reflected waves are received by the ultrasonic detector to form echoes; due to the existence of the defects of the welding structural part, the surface radiated waves change, and the positions and the sizes of the defects are detected by analyzing ultrasonic echoes;
and step six, processing data to obtain the detection position of the defect after the control system receives the ultrasonic detection return. And comparing the deformation result and the defects of the welded structural part with a standard database, and feeding back the defect detection result and the evaluation result of the aluminum alloy laser welded structural part to a worker through a display. And the data processing result is rebuilt into a database, and the welding structure is accurately predicted through a large amount of monitoring data.
Specifically, the evaluation result of the welded structural part is obtained by comparing the data measured in the computer with the database.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the invention and are not to be construed as limitations of the embodiments of the present invention, but may be modified in various embodiments and applications by those skilled in the art according to the spirit of the present invention, and the content of the present description should not be construed as a limitation of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (5)
1. A composite evaluation device for an aluminum alloy laser welding structure mainly comprises a control system (1), a motion system (2), a welding seam locating and tracking system (3), a portable X-ray diffractometer (4), an ultrasonic detector (5), a detection working platform (6) and an aluminum alloy laser welding structural member (7);
control system (1) seeks a tracker (3), portable X ray diffractometer (4), ultrasonic detector (5) and detection work platform (6) through connecting wire control motion system, welding seam, includes: a display (11) and a control cabinet (12);
the motion system (2) is used for controlling a detection path and comprises a six-axis robot (21), a movable robot base (22), a movable sliding rail (23), a detection equipment base (24), a clamp (25) and a composite detection head (26);
the composite detection head (26) is fixed on a tail end mechanical arm of the six-axis robot (21) through a clamp (25).
The welding seam locating and tracking system (3) is used for identifying, positioning and three-dimensional reconstruction of the appearance of the welding seam, and comprises: two vision acquisition cameras (31) and three-dimensional deformation scanning cameras (32);
the portable X-ray diffractometer (4) and the ultrasonic detector (5) are used for carrying out nondestructive testing on the welding seam quality, the portable X-ray diffractometer (4) comprises an X-ray emitting device (41) and an X-ray detecting probe (42), and the ultrasonic detector (5) comprises an ultrasonic generating device (51) and an ultrasonic detecting probe (52);
the vision acquisition camera (31), the three-dimensional deformation scanning camera (32), the X-ray detection probe (42) and the ultrasonic detection probe (52) are arranged on the composite detection head (26);
the detection work platform (6) is used for moving the aluminum alloy laser welding structural part (7), and comprises: a lifting platform (61) and a translation platform (62);
the motion system (2) and the detection working platform are both arranged on the detection equipment base (24).
2. The aluminum alloy laser welding structure composite evaluation equipment as recited in claim 1, wherein: in the welding seam locating and tracking system (3), two vision acquisition cameras (31) identify and feed back welding seams on the surfaces of the welding pieces, and feed back welding seam paths to the control system (1), and the control system controls the motion track of the robot according to the welding seam paths;
the three-dimensional deformation scanning cameras (32) scan the surface of the welding seam in multiple angles, detection information is fed back to the control system (1), the control system (1) conducts three-dimensional reconstruction on the surface appearance characteristics of the welding seam according to the identified characteristics, the reconstructed three-dimensional model is checked through the display (12), the welding structure model and the original model are compared, deformation data of the welding structure are obtained, and the key size of the welding structure is extracted.
3. The aluminum alloy laser welding structure composite evaluation equipment as recited in claim 1, wherein: the portable X-ray diffractometer (4) and the ultrasonic detector (5) can work simultaneously or independently, and the specific detection means is determined by the control system according to the three-dimensional scanning result of the welding structure.
4. The aluminum alloy laser welding structure composite evaluation equipment as recited in claim 1, wherein: after the X-ray detection probe (42) and the ultrasonic detection probe (52) identify the internal defect information of the welding seam, the internal defect information is fed back to the control system (1), the defect detection result is checked through the display (12), and the control system (1) compares the defect detection result with original data in a database to obtain an evaluation result of the aluminum alloy laser welding structural part;
the database is used for storing quality evaluation data of a large number of standard welding structural parts, importing the detection data and the evaluation results into a new database, establishing a laser welding evaluation database of different welding structures, and accurately predicting the welding structures through a large number of monitoring data.
5. A composite evaluation method for an aluminum alloy laser welding structure is characterized in that composite evaluation equipment for the aluminum alloy laser welding structure is adopted, and the method comprises the following steps:
the method comprises the following steps that firstly, a detection working platform (6) is started, and an aluminum alloy laser welding structural part (7) is moved to an area to be detected through the working platform;
step two, sequentially opening the control system (1), the motion system (2) and the vision acquisition camera (31) to control the six-axis robot (21) to move until the vision acquisition camera (31) searches the initial position of the welding seam;
thirdly, after the vision collection camera (31) obtains the welding seam path, the moving path is fed back to the control system, and the control system controls the motion track of the robot according to the welding seam path;
the robot starts to move, three-dimensional deformation scanning cameras (32) are opened simultaneously, and three-dimensional scanning and reconstruction are carried out on the geometric shape of the welding seam;
step five, the control system (1) selects a detection means according to the geometric characteristics of the welding structure, and if the detection means is selected to be X-ray detection, the X-ray diffractometer (4) is started; if the detection means is selected to be ultrasonic detection, an ultrasonic detector (5) is started; if the detection means is selected to be X-ray and ultrasonic composite detection, the X-ray diffractometer (4) and the ultrasonic detector (5) are started simultaneously;
and sixthly, comparing the detection result with a database after the control system (1) receives the detection result, and feeding back the defect detection result and the evaluation result of the aluminum alloy laser welding structural part to a worker through a display (12).
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