CN207923782U - Eddy current testing device for automobile body welding - Google Patents
Eddy current testing device for automobile body welding Download PDFInfo
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- CN207923782U CN207923782U CN201721695043.1U CN201721695043U CN207923782U CN 207923782 U CN207923782 U CN 207923782U CN 201721695043 U CN201721695043 U CN 201721695043U CN 207923782 U CN207923782 U CN 207923782U
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- eddy current
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- solder joint
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Abstract
The utility model discloses a kind of eddy current testing devices for automobile body welding, including eddy current probe and cylinder, the eddy current probe is connected by rotatable mounting base with connector is swung, the cylinder is fixed on the top of the shelf, the cylinder is connected by Pneumatic slid platform with the rotatable mounting base for swinging connector, the swing connector is connected with one end of hanger bracket, and the other end of the hanger bracket is fixed on the top of the shelf by tension spring；By magnet exciting coil and below, multiple linearly aligned test coil of eddy current form the eddy current probe.The eddy current probe that the utility model is formed using multiple linearly aligned test coil of eddy current, and eddy current probe is connected by rotatable mounting base with connector is swung, realize telescopic x, y, the omnidirectional compliant mechanisms of z can make probe contacts face vertical measured surface always, so as to accurately obtain solder joint central point, and the welding quality of the solder joint is detected, greatly reduce the detection time of each solder joint.
Description
Technical field
The utility model is related to a kind of automobile body welding detection device more particularly to a kind of EDDY CURRENTs for automobile body welding
Device.
Background technology
Punching press, be welded, application, general assembly be Auto-body manufacturing four big techniques, wherein rigidity and peace of the welding and assembling technics to vehicle body
Full performance, bearing capacity and comfort play decisive role.Currently, generally using spot-welding technology in automobile production.Spot welding is
A kind of connection method of high speed, economy, is the main connection type between a large amount of metallic plates of vehicle body.However, the original of welded blank
Whether beginning parameter such as plate thickness surface cleanness, distorts, and variation of technological parameter, work condition state etc. all can shadow in welding process
Ring the quality of quality of welding spot.Therefore be detected to vehicle body quality of welding spot is to ensure body quality in automobile production, improve automobile
One important link of performance.
Currently, quality of welding spot detection method mainly includes two kinds of damage detection and non-destructive testing.It is a kind of machine to damage detection
Tool destructive test method needs butt welding point to carry out mechanical destruction.Defects detection is carried out according to the material characteristics of the plane of disruption.This
Kind detection can only take selective examination formula to detect, and time-consuming and has destructiveness for artificial detection.Non-destructive testing is mainly ultrasonic wave inspection
It surveys.Ultrasonic wave has very strong penetration power, and back wave can be all generated at upper and lower interface edge, by comparing the spy of the waveform of reflection
Point is analyzed to judge whether solder joint is defective and determines property, position and the size of defect to realize detection.But due to ultrasound detection
It needs to coat couplant.The coating of couplant and clearing process are complicated, and robotic gripper probe difficult to realize is detected automatically.
Since vehicle body solder joint is numerous, usual solder joint number is between 2000-4000.And existing mainstream detection mode, excessively
Dependent on the subjective judgement of people, confidence level is not high, and all rests on artificial or offline inspection state mostly.This lags far behind
The rhythm of automobile production.Even if when using automatic detection scheme, some site errors of the vehicle body solder joint federation of each batch.Very
Hardly possible accurately confirms the position of solder joint to implement automatic detection.The vehicle body quality of welding spot detection mode of inefficiency has constrained
The development of automobile industry, therefore the high-speed automated detection device of vehicle body quality of welding spot is researched and developed, realize that vehicle body quality of welding spot is automatic
Detection in the continuous production line or the offline detection on independent station be in automobile production field one it is very urgent
Task.
Utility model content
The technical problem to be solved by the utility model is to provide a kind of eddy current testing devices for automobile body welding, can
It accurately obtains solder joint central point, and the welding quality of the solder joint is detected, greatly reduce the detection time of each solder joint.
The utility model is to solve above-mentioned technical problem and the technical solution adopted is that provide a kind of for automobile body welding
Eddy current testing device, including eddy current probe and cylinder, the eddy current probe are connected by rotatable mounting base with connector is swung,
The cylinder is fixed on the top of the shelf, and the cylinder is connected by Pneumatic slid platform with the rotatable mounting base for swinging connector, described
It swings connector with one end of hanger bracket to be connected, the other end of the hanger bracket is fixed on the top of the shelf by tension spring；The vortex
The multiple linearly aligned test coil of eddy current of probe by magnet exciting coil and below form.
The above-mentioned eddy current testing device for automobile body welding, wherein the eddy current probe is clamped on robotic arm, institute
It states robotic arm and is equipped with aluminium profiles frame bearing, the aluminium profiles frame bearing is mounted on by ring flange on robotic arm, the vortex
Probe is fixed on the first L-type supporting rod, and the first L-type supporting rod is perpendicular with aluminium profiles frame bearing and locking is connected；It is described
Probe is fixed on the second L-type supporting rod, and the second L-type supporting rod is connected by Wedge-shape connector with aluminium profiles frame bearing.
The above-mentioned eddy current testing device for automobile body welding, wherein the robotic arm is distributed in vehicle body surrounding, each
The vehicle body of eddy current probe face vehicle body solder joint and covering 1/4 on robotic arm.
The above-mentioned eddy current testing device for automobile body welding, wherein the probe apparatus is telescopic x, and y, z are entirely square
To compliant mechanism pop one's head in when camera is taken pictures and retract upwards using the flexible of Mobile Slide control probe；It is carried out after positioning
Probe is stretched out when detection.
The utility model comparison prior art has following advantageous effect：It is provided by the utility model for automobile body welding
Eddy current testing device forms eddy current probe using multiple linearly aligned test coil of eddy current, and by eddy current probe by that can revolve
Turn mounting base and be connected with connector is swung, realizes that telescopic x, the omnidirectional compliant mechanism of y, z can make probe contacts face begin
Vertical measured surface eventually, so as to accurately obtain solder joint central point, and is detected the welding quality of the solder joint, subtracts significantly
The detection time of small each solder joint.
Description of the drawings
Fig. 1 is the vehicle body solder joint automatic checkout system configuration diagram using the utility model eddy current testing device；
Fig. 2 is camera, probe apparatus and lighting source distribution schematic diagram on robotic arm in Fig. 1；
Fig. 3 is the light path polishing schematic diagram formed by LED illumination light source and speculum in Fig. 1；
Fig. 4 is the probe apparatus structural schematic diagram that the utility model has telescopic oscillating function；
Fig. 5 is coil distribution and the solder joint detects schematic diagram of eddy current probe in Fig. 4；
Fig. 6 is that the utility model chooses the maximum place of difference as judgement position view on Full wave shape；
Fig. 7 is the utility model vehicle body bond pad locations correction schematic diagram.
In figure：
1 vehicle body, 2 camera, 3 probe apparatus
4 lighting source, 5 robotic arm, 6 robotic arm switch board
7 probe control box 8PLC controllers, 9 human-computer interaction computer
10 image acquisition and processing device, 11 camera cable, 12 eddy current probe cable
13 robot cable, 14 cable, 15 interchanger
16 aluminium profiles frame bearing, 17 ring flange, 18 first L-type supporting rod
20 Wedge-shape connector, 21 speculum on 19 second L-type supporting rods
301 cylinder, 302 shelf, 303 Pneumatic slid platform
304 tension spring, 305 hanger bracket, 306 eddy current probe
307, which swing link 3061, is vortexed the 3062 excitation magnetic line of force of magnet exciting coil
3063 test coil of eddy current, 3064 solder joint nugget region
Specific implementation mode
The utility model will be further described with reference to the accompanying drawings and examples.
Fig. 1 is the vehicle body solder joint automatic checkout system configuration diagram using the utility model eddy current testing device.
Fig. 1, the vehicle body solder joint automatic checkout system that the utility model uses, including controller and robotic arm 5 are referred to,
Wherein, PLC controller 8 can be selected in controller, and camera 2 and probe 3, the camera 2 and probe are clamped on the robotic arm 5
The first angle is formed between 3, multiple lighting sources 4 is distributed with around the camera 2, between the lighting source 4 and camera 2
The second angle is formed, the camera 2 is connected with image acquisition and processing device 10 obtains vehicle body bond pad locations, the PLC controller 8
It is connected by network with image acquisition and processing device 10, the PLC controller 8 is according to vehicle body bond pad locations on robotic arm 5
Probe positions be corrected.Ranging from 30 °~60 ° of first angle, consider by ranging from 15 °~60 ° of the second angle
To the size of installation space, the second angle is preferably 20 °.The probe 3 is eddy current probe, and PLC controller 8 can also change work into
Control machine or microcontroller.
Fig. 2 is camera, probe apparatus and lighting source distribution schematic diagram on robotic arm in Fig. 1.
Continuing with the vehicle body solder joint automatic checkout system that referring to Fig. 2, the utility model uses, wherein the robotic arm 5
It is equipped with aluminium profiles frame bearing 16, the aluminium profiles frame bearing 16 is mounted on by ring flange 17 on robotic arm 5, and the probe 3 is solid
It is scheduled on the first L-type supporting rod 18, the first L-type supporting rod 18 is perpendicular with aluminium profiles frame bearing 16 and locking is connected；It is described
Probe 3 is fixed on the second L-type supporting rod 19, and the second L-type supporting rod 19 passes through Wedge-shape connector 20 and aluminium profiles frame bearing
16 are connected.
It is LED illumination light source, the multiple LED illumination light continuing with the lighting source that referring to Fig. 3, the utility model uses
Source around the distribution of the radians such as camera excircle and carries out polishing by speculum 21.
As indicated at 4, the probe apparatus includes eddy current probe 306 and cylinder 301, and the eddy current probe 306 is by that can revolve
Turn mounting base and be connected with connector 307 is swung, the cylinder 301 is fixed in camera mechanism, and the cylinder 301 passes through aerodynamic slide
Platform 303 is connected with the rotatable mounting base for swinging connector 307, one end phase for swinging connector 307 and hanger bracket 305
Even, the other end of the hanger bracket 305 is fixed on by tension spring 304 on shelf 302；The swing connector 307 can be front and back, left
X, y are realized in right swing, the flexible connection mechanical structure on z three degree of freedom direction.
As shown in figure 5, the eddy current probe 306 of the utility model by magnet exciting coil 3061 and multiple linear arrays below
Test coil of eddy current 3063 forms, and test coil of eddy current 3063 is evenly arranged in 3061 lower section of vortex magnet exciting coil, passes through detection
The excitation magnetic line of force 3062 measures solder joint nugget region 3064.
Shown in Fig. 6, the self-induction of the excitation curve and independent each detection coil 3063 of magnet exciting coil 3061 is represented respectively
The recording curve of electromotive force.Each coil records 148 sampled points.Preceding 10 sampled points record is encouraging for magnet exciting coil 3061
Magnetic signal.Remaining 138 sampled point record is 3063 self induction electromotive force signal of detection coil.Usually carrying out spot-welded
The crystal image organization of nugget is changed afterwards.So the curve of its self induction electromotive force curve and rosin joint and the material not welded
It is different.Compare these detection coils being arranged in order by scanning.It can obtain the range and size of nugget.But it uses sometimes
It is relatively difficult that the curve of an independent coil gamut detects welding spot size as determinating area.The present invention can be according to difference
Material has the characteristic of different sensitizing ranges after welding, is taken separated from the most apparent region conduct of one section of characteristic variations therein
Determinating area.And it is compared after being amplified to this segment signal curve.Such as the present invention usually chooses at 118 points to 128 points
Determinating area of the curve as zinc-plated plank solder joint.The present invention can be selected according to the difference of material property in gamut curve
Leading portion is taken, stage casing, back segment or full scope are as determinating area.
Fig. 7 show the interface of vision system.Show the inclined of practical solder joint that vision system detects and default solder joint
Shifting value.This deviant is sent to robotic arm, and guided robot clamping probe carries out solder joint Welding quality test.
Therefore the vehicle body solder joint automatic checkout system that the utility model uses, mainly known by robot system, vision
Other system, eddy detection system and control system composition.The main composition and function of each section are as follows：
1. robot system：
Robot system includes robotic arm 5 and robotic arm switch board 6.Robot engineering teacher is according to reality before work
Client needs the solder joint measured to robotic programming and teaching.Make robot motion cover client measurement in need solder joint
Position.
2. visual identifying system：
When on-line checking or offline inspection, newcomer's vehicle body bond pad locations and the bond pad locations of robot teaching are total every time
Have some deviations.This just needs vision system to carry out from new definition, calculating deviation and guided robot to physical location.Such as figure
Shown in 1 and Fig. 2, visual identifying system includes that an industrial camera, several light sources angled with camera, visual mechanisms are same
The computer of the angled mechanical clamp mechanism of detection probe and an operation visual identity software.
It is taken pictures by vision system butt welding point under normal mode and carries out the identification of solder joint.If solder joint and background have significantly
Gray scale difference.System can be easy to calculate solder joint central point and provide deviant.
When solder joint and background do not have apparent gray scale difference.Successively by software control and the angled light source of camera
It lights to obtain the image containing different shade directions.By being calculated the image superposition in different shade directions without apparent
Grey scale change but the center for having the concave-convex solder joint changed.The light path of multimirror and telescopic probe designs make survey simultaneously
Amount system bulk is substantially reduced.
Vision measurement is camera perpendicular to measured surface under normal conditions.Mechanism turns to probe vertical after the completion of taking pictures
It is measured in workpiece surface.In order to reduce pitch time, save mechanical switch actuation time.The utility model passes through software
The angle correct for carrying out image directly carries out position detection after the completion of can taking pictures in this way.
3. the eddy detection system of linear array coil：
Eddy detection system includes the eddy current probe of linear array test coil of eddy current, EDDY CURRENT control box, whirlpool
Flow the computer of inspection software operation and storage result.Application of the EDDY CURRENT in solder joint welding quality.Due to different and ultrasound
It needs to coat and remove couplant in detection process.Greatly simplify operational sequence.Robotic gripper probe can be achieved to replace manually
It measures.It takes pictures in order not to block, the utility model moves the flexible of control eddy current measurement mechanism with Pneumatic slid platform.Work as vision
EDDY CURRENT mechanism retracts upwards when taking pictures, and stretches out probe when being detected after positioning.
The utility model, which uses linearly aligned test coil of eddy current method, can measure the Spot size of solder joint.Simultaneously
To ensure that probe can design the machinery of the flexible connection in 3 freedom degree directions perpendicular to workpiece surface in real time in detection process
Structure.When quality of welding spot Near The Critical Point by Full wave shape range be difficult judgement quality when, can individually be selected on Full wave shape
Take the maximum place of difference as judgement position.Such as using leading portion waveform, rear end waveform or whole waveforms, as shown in Figure 6 only
Choose solder joint determinating area of the region between 118 points to 128 points as zinc-plated plank.
4.PLC control systems
PLC control system includes SIEMENS PLC, relevant electrical hardware, power control cabinet, one, man-machine interface computer and exchanges
Machine.
PLC control system is responsible for the work of coordinating robot, vision system and eddy detection system.It also is responsible for simultaneously
Communication is interacted with the upstream and downstream controller of on-line system.Control the inflow, outflow, quality measurements of on-line system vehicle frame
Archive and upper-level system Quality Feedback result.
Using the vehicle body solder joint automatic checkout system of the utility model eddy current testing device, control process is as follows：
S1：Probe apparatus on mechanical arm is directed at vehicle body bond pad locations；
S2：It is taken pictures to vehicle body bond pad locations using camera, obtains the image with certain angle of inclination；
S3：Then tilted image is corrected by image acquisition and processing device by orthographic projection shooting angle, is obtained real
Weld locations are surveyed, and calculate the offset of actual measurement weld locations and original set point, as shown in Figure 7；
S4：The PLC controller corrects the probe positions on robotic arm according to vehicle body bond pad locations offset；
S5：Control probe apparatus is detected vehicle body quality of welding spot.
The work schedule of whole system is as follows：The preliminary teaching of solder joint is detected by robot engineering teacher first.Make machine
Device people remembers the approximate location of all detection solder joints.Then client chooses the solder joint for wanting to measure as needed.Click automatic fortune
Row.PLC says the word according to client selected location and starts to move to robot.Robot is sent after moving to above specified solder joint
Photographing instruction is to vision system.Vision system is taken pictures and forms image.PLC is numbered according to solder joint and is sent the image recognition
Optimized parameter.If can not identify current solder joint center, PLC can by parameter library parameter put in order send successively it is new
Image recognition parameter.After being compared with the robot test position of original setting after detecting center, practical solder joint center is sent
Deviant to robot, and set this visual identity parameter be the optimized parameter of the solder joint for next time use.Robot root
Eddy current probe, which is moved, according to deviant carries out welding quality measurement to bond pad locations.And result is saved in human-computer interaction computer
In.Then the detection of next solder joint is carried out.All solder joint PLC notices upstream device outflow vehicle bodies are detected.
Above-mentioned is the measurement method of individual machine people's system.To meet the requirement for covering all vehicle body whole solder joints, this reality
Go out the system of four robots with new design.Control method is the same with logic.It off-line system and on-line system control method and patrols
It is volume identical, only it is not involved in the interaction of the upstream and downstream vehicle body of on-line system.
Eddy current testing device provided by the utility model for automobile body welding is greatly simplified behaviour compared with ultrasonic measurement
Make process, realizes robotic gripper probe and carry out vehicle body solder joint detection；Linear test coil of eddy current arrangement can measure
The nugget actual diameter of solder joint, detection sensitivity are up to 0.7mm.Mechanical connection flexible can ensure that eddy current probe is looked for automatically
It is flat, vertically it is tested plane.The examination criteria of subsection setup can be used for being set using more accurate parameter according to tested material difference
It sets.
Although the utility model is disclosed as above with preferred embodiment, so it is not limited to the utility model, any
Those skilled in the art, without departing from the spirit and scope of the utility model, when can make a little modification and it is perfect, therefore this
The protection domain of utility model, which is worked as, is subject to what claims were defined.
Claims (3)
1. a kind of eddy current testing device for automobile body welding, which is characterized in that including eddy current probe and cylinder, the vortex is visited
Head is connected by rotatable mounting base with connector is swung, and the cylinder is fixed on the top of the shelf, and the cylinder passes through Pneumatic slid platform
It is connected with the rotatable mounting base for swinging connector, the swing connector is connected with one end of hanger bracket, the hanger bracket
The other end is fixed on the top of the shelf by tension spring；Multiple linearly aligned vortex of the eddy current probe by magnet exciting coil and below
Detection coil forms.
2. being used for the eddy current testing device of automobile body welding as described in claim 1, which is characterized in that the eddy current probe clamping
On robotic arm, the robotic arm is equipped with aluminium profiles frame bearing, and the aluminium profiles frame bearing is mounted on machine by ring flange
On arm, the eddy current probe is fixed on the first L-type supporting rod, and the first L-type supporting rod and aluminium profiles frame bearing are perpendicular
And it locks and is connected；The probe is fixed on the second L-type supporting rod, and the second L-type supporting rod passes through Wedge-shape connector and aluminium
Type frame bearing is connected.
3. being used for the eddy current testing device of automobile body welding as claimed in claim 2, which is characterized in that the robotic arm distribution
The vehicle body of eddy current probe face vehicle body solder joint and covering 1/4 in vehicle body surrounding, each robotic arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721695043.1U CN207923782U (en) | 2017-12-07 | 2017-12-07 | Eddy current testing device for automobile body welding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721695043.1U CN207923782U (en) | 2017-12-07 | 2017-12-07 | Eddy current testing device for automobile body welding |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207923782U true CN207923782U (en) | 2018-09-28 |
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ID=63606538
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721695043.1U Active CN207923782U (en) | 2017-12-07 | 2017-12-07 | Eddy current testing device for automobile body welding |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107843645A (en) * | 2017-12-07 | 2018-03-27 | 上海超具机器人科技有限公司 | Eddy current testing device for automobile body welding |
| CN112304202A (en) * | 2020-05-20 | 2021-02-02 | 上海达铭科技有限公司 | Laser spot welding nugget geometric parameter measuring device and using method thereof |
-
2017
- 2017-12-07 CN CN201721695043.1U patent/CN207923782U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107843645A (en) * | 2017-12-07 | 2018-03-27 | 上海超具机器人科技有限公司 | Eddy current testing device for automobile body welding |
| CN112304202A (en) * | 2020-05-20 | 2021-02-02 | 上海达铭科技有限公司 | Laser spot welding nugget geometric parameter measuring device and using method thereof |
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