JP7101974B2 - Welded part inspection equipment - Google Patents

Description

The present invention relates to a welded portion inspection device for inspecting the appearance of a welded portion.

Conventionally, inspections have been performed on parts where plate materials are butt-welded. As a method of inspecting the welded part, for example, there is a method of cutting the welded part and measuring the cut surface with a micrometer or the like, but since this method is a destructive inspection, it should be used when performing a 100% inspection. I can't.

Therefore, as a non-destructive inspection method for welded portions, for example, the method disclosed in Patent Document 1 is known. In the welded portion inspection method of Patent Document 1, whether or not the weld bead has a wall thickness thinner than the base metal thickness is determined based on the surface texture of the welded portion of the product. In this method, first, a slit floodlight is used to irradiate the surface of the welded product with slit light to form a light cutting line. Then, the welded portion including the optical cutting line is imaged by an imaging device, the obtained image is transmitted to the image processing device, and the surface shape of the welded portion of the product is determined by the image processing device based on the shape change of the optical cutting line. Ask. At this time, the amount of depression with respect to the reference line of the weld bead is calculated, and the abutting angle of the two base materials obtained from the tangent line at the boundary point of the solidification region of the two base materials is calculated. Then, the calculated dent amount and abutting angle are compared with those preset allowable ranges, and if at least one of them does not satisfy the allowable range, it is determined that the welded portion is thinned. ing.

Japanese Unexamined Patent Publication No. 2000-271743

By the way, in the welding portion inspection method of Patent Document 1, one surface of the product is irradiated with slit light, the surface is imaged by an imaging device, and the amount of dent of the welding bead on the one surface of the product and two. Since the wall thinning is determined based on whether or not the abutting angle of the base metal is within the preset allowable range, it is not possible to obtain the shape of the other surface of the product. In addition, in the calculation of the dent amount of the weld bead in Patent Document 1, after estimating the reference line, the dent amount with respect to the reference line is calculated, and the estimation factor occupies a large part in the calculation of the dent amount. Become. Further, the abutting angle is an angle obtained by estimating the boundary point of the solidification region and then estimating the tangent line at the boundary point, and this is also largely occupied by the estimation factor. That is, since the judgment is based on estimation, it is considered difficult to obtain high judgment accuracy.

In addition, in the actual field, when the product is inspected from one side, the welded part looks normal, but cracks and protrusions are formed on the other side, and it may be judged that the weld is defective overall. Since the other surface of the product cannot be inspected by the method of Patent Document 1, such a welding defect may be overlooked.

The present invention has been made in view of the above points, and an object of the present invention is to make it possible to determine the quality of welding of a welded portion with high accuracy without performing a destructive inspection.

In order to achieve the above object, in the present invention, the shape of one surface of the welded portion is acquired, and the shape of the other surface is also acquired. Was made to judge.

The first invention is a welded portion inspection device for inspecting a welded portion in which the edges of the plate material are butt-welded, and the welded portion is imaged from one surface in the thickness direction of the plate material to acquire the shape of the one surface. One-sided shape measurement sensor, the other-sided shape measurement sensor that acquires the shape of the other side by imaging the welded portion from the other side in the thickness direction of the plate material, the one-sided shape measurement sensor, and the other side. With the longitudinal drive unit that moves the shape measurement sensor along the longitudinal direction of the welded portion, the shape of one surface of the welded portion acquired by the one-sided surface shape measurement sensor, and the other surface shape measurement sensor. It is characterized by including a determination unit for determining the quality of the welded portion based on the shape of the other surface of the welded portion acquired.

According to this configuration, the shape of one surface of the welded portion is acquired by the one-sided surface shape measurement sensor, and the shape of the other surface of the welded portion is acquired by the other surface shape measurement sensor. As a result, the shapes of both sides of the welded portion are acquired. Further, since each surface is actually imaged when acquiring the shape of both sides of the welded portion, an accurate shape is acquired instead of the calculation based on the estimation result as in the conventional example. Then, the determination unit can determine that the welded portion is defective and that the welded portion is defective if, for example, one surface of the welded portion has a convex portion having a height of a predetermined value or more and a concave portion having a depth of a predetermined value or more. The same can be made for the surface of. Therefore, since the determination unit determines the quality of the welded portion based on the accurate shape of both sides of the welded portion, the accuracy of the determination result is improved.

Further, the one-sided shape measurement sensor includes a first one-sided shape measurement sensor and a second one-sided shape measurement sensor, and the other side shape measurement sensor includes a first other side shape measurement sensor and a second other side shape measurement sensor. The longitudinal drive unit includes a measurement sensor, and the longitudinal drive unit moves the first longitudinal shape measurement sensor and the first other surface shape measurement sensor from one side in the longitudinal direction to the other side of the welded portion. It includes a directional drive unit and a second longitudinal drive unit that moves the second one-sided surface shape measurement sensor and the second other-side surface shape measurement sensor from the other side in the longitudinal direction of the welded portion toward one side. Therefore, when the welded portion is long, the shapes of both sides from one side in the longitudinal direction to the middle portion of the welded portion are acquired by the first one-sided surface shape measurement sensor and the first other-sided surface shape measurement sensor, and the longitudinal direction of the welded portion and the like are obtained. The shapes of both sides from the side to the middle portion can be acquired by the second one-sided surface shape measuring sensor and the second other-sided surface shape measuring sensor.

According to the second invention, in the first invention, the determination unit is formed by a portion of the one surface whose shape is acquired by the one-side shape measurement sensor and a portion of the other surface whose shape is acquired by the other surface shape measurement sensor. Is configured to acquire relative position information indicating the relative positional relationship with the acquired portion and generate data indicating the thickness of the welded portion based on the relative position information. ..

According to this configuration, the relative of the portion whose shape is acquired by the one-sided surface shape measurement sensor on one surface of the welded portion and the portion whose shape is acquired by the other surface shape measurement sensor on the other surface of the welded portion. Welding relationship can be obtained. As a result, in the thickness direction of the welded portion, the relative position between the portion whose shape is acquired by the one-side shape measurement sensor and the portion whose shape is acquired by the other surface shape measurement sensor can be known. The distance between one surface and the other surface is obtained. Since it is possible to generate data indicating the thickness of the welded portion based on the distance between one surface of the welded portion and the other surface, the determining portion also determines whether or not the welded portion is thinned. Will be able to.

A third invention includes, in the first or second invention, a movable member to which both the one-sided shape measurement sensor and the other-sided shape measurement sensor are fixed, and the longitudinal drive unit drives the movable member. It is characterized by that.

According to this configuration, since the one-sided shape measurement sensor and the other-sided shape measurement sensor are fixed to a common movable member, the one-sided shape measurement sensor and the other-sided shape measurement sensor are not displaced relative to each other. The longitudinal drive allows both sensors to be moved along the weld. Therefore, for example, by imaging the same portion of the welded portion from one surface with the one-side shape measurement sensor and imaging from the other surface with the other surface shape measurement sensor, it is easy to generate data indicating the thickness of the welded portion. Therefore, it becomes possible to determine with high accuracy whether or not the welded portion is thinned.

Further, since the one-sided shape measuring sensor and the other-sided shape measuring sensor can be moved by one longitudinal drive unit, the configuration of the welded portion inspection device is simplified.

A fourth aspect of the present invention is, in any one of the first to third inventions, a contact / detachment direction driving unit that moves the one-side shape measurement sensor and the other-side shape measurement sensor in a direction of contacting and separating from the welded portion. It is characterized by having.

That is, the shape of the welded portion may be a three-dimensional shape, and in such a case, the one-side surface shape measurement sensor and the other surface shape measurement sensor are moved in the direction of contacting and separating from the welded portion by the contact / separation direction drive unit. By doing so, it becomes possible to make the relative distance between the one-sided surface shape measuring sensor and the other-sided surface shape measuring sensor and the welded portion an appropriate distance .

According to the first invention, the welded portion is imaged from one surface and the other surface, respectively, and the shapes of both sides are acquired, and the quality of the welded portion is determined based on the shapes of both sides. Welding quality can be judged with high accuracy without destructive inspection. Further, even when the welded portion is long, the entire shape of the welded portion can be acquired to determine the welding quality.

According to the second invention, since data indicating the thickness of the welded portion can be generated, it is possible to determine whether or not the welded portion is thinned.

According to the third invention, since the movable member to which both the one-sided shape measurement sensor and the other-sided face shape measurement sensor are fixed is driven, the relative positions of the one-sided shape measurement sensor and the other side surface shape measurement sensor are obtained. Both sensors can be moved along the weld without causing any misalignment.

According to the fourth invention, since the one-sided surface shape measurement sensor and the other-sided surface shape measurement sensor can be moved in the direction of contacting and separating from the welded portion, the one-sided surface shape measuring sensor and the other-sided surface shape measuring sensor and the welded portion can be moved. The relative distance to and from can be set to an appropriate distance, and the measurement accuracy can be improved .

It is a front view which shows the schematic structure of the weld inspection apparatus which concerns on embodiment of this invention. It is a block diagram of a weld inspection apparatus. FIG. 1 is a view corresponding to FIG. 1 showing a state in which the cylindrical member is set at the inspection position. It is a figure corresponding to FIG. 1 which shows the state which acquired the shape of the right side of a tubular member. FIG. 5 is a sectional view taken along line VV in FIG. It is a figure corresponding to FIG. 1 which shows the state which acquired the shape of the left side of a tubular member. It is a figure which shows the shape of the inner surface and the outer surface when the welded part is normal. It is a figure explaining the definition procedure of the throat thickness of a welded part. FIG. 7 is a view corresponding to FIG. 7 showing a case where the throat thickness of the welded portion is thin. It is sectional drawing in the case where a crack occurs in a welded part. FIG. 7 is a view corresponding to FIG. 7 showing a case where a crack is generated in a welded portion. It is sectional drawing in the case where a convex portion is generated in a welded portion. FIG. 7 is a view corresponding to FIG. 7 showing a case where a convex portion is formed in the welded portion. It is sectional drawing in the case where a step is generated in a welded part. It is sectional drawing in the case where melt-off occurs in a welded part. It is an interface showing the judgment result screen on the right side of the welded part. It is an interface showing the judgment result screen on the left side of the welded portion.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. It should be noted that the following description of the preferred embodiment is essentially merely an example and is not intended to limit the present invention, its application or its use.

FIG. 1 is a front view of the welded portion inspection device 1 according to the embodiment of the present invention. The welded portion inspection device 1 includes a left side inspection device 10, a right side inspection device 20, a control device 30, a storage unit 31, and a display unit 32, and a welded portion in which the edges of the plate materials are butt-welded. It is a device for inspection. By using this welded portion inspection device 1, the welded portion inspection method of the present invention can be realized.

When the welded portion inspection device 1 is viewed from the front as shown in FIG. 1, the left side of FIG. 1 is referred to as the left side of the welded portion inspection device 1, and the right side of FIG. 1 is referred to as the right side of the welded portion inspection device 1. However, this is only defined for convenience of explanation. For example, the left side of FIG. 1 is referred to as the front side of the welded portion inspection device 1, and the right side of FIG. 1 is referred to as the back side of the welded portion inspection device 1. Further, the left side of FIG. 1 may be referred to as the front side of the welded portion inspection device 1, and the right side of FIG. 1 may be referred to as the rear side of the welded portion inspection device 1. The left side inspection device 10 can be referred to as a first inspection device, and the right side inspection device 20 can also be referred to as a second inspection device.

Further, the welded portion inspection device 1 is configured to inspect the welded portion (described later) extending in the left-right direction of FIG. 1, and therefore the left-right direction of FIG. 1 is the longitudinal direction of the welded portion.

(Structure of left side inspection device 10 and right side inspection device 20)
The left side inspection device 10 and the right side inspection device 20 have the same basic structure and are configured to have a symmetrical structure. Hereinafter, one configuration example of the left side inspection device 10 will be described in detail, but the configuration of the left side inspection device 10 is not limited to the following configuration example, and any configuration that can realize the function and bring about the same operation. However, other configurations may be used.

The left side inspection device 10 includes a base 11, a left outer surface shape measurement sensor (first one-sided shape measurement sensor) 12, a left inner surface shape measurement sensor (first other side shape measurement sensor) 13, and a left movable member 14. The left side X-direction drive unit (first longitudinal direction drive unit) 15 and the left side Z-axis direction drive unit (contact / separation direction drive unit) 16 are provided. The base 11 is a member for supporting the left X-direction drive unit 15, the left-side Z-axis direction drive unit 16, and the like. A leg member 11a is provided on the lower surface of the base 11, and can be fixed to the floor surface 100 of a factory or the like so as not to move. The height of the base 11 can be set to an arbitrary height depending on the size, shape, weight, etc. of the inspection object. The dimensions of the base 11 in the left-right direction can also be made arbitrary depending on the size and shape of the inspection object.

A support member 11b for supporting the left X-direction drive unit 15 is provided on the upper surface of the base 11 so as to project upward. As the left X-direction drive unit 15, for example, a conventionally well-known linear actuator equipped with a ball screw mechanism or a linear motor mechanism can be used. In this embodiment, the left-right direction of the welded portion inspection device 1 is the X direction, and the vertical direction is the Z direction. The left X-direction drive unit 15 includes an X-direction screw shaft 15a extending in the left-right direction of the welded portion inspection device 1, an X-direction motor 15b for rotating the X-direction screw shaft 15a in any direction in the forward and reverse directions, and an X-direction screw. It is provided with an X-direction nut member 15c screwed into the shaft 15a, and is controlled by the control device 30. Both ends of the X-direction screw shaft 15a are rotatably supported so as not to be displaced in the left-right direction or the up-down direction with respect to the support member 11b of the base 11. A screw groove (not shown) is formed on the outer peripheral surface of the X-direction screw shaft 15a, and the X-direction nut member 15c is engaged with the screw groove in a screwed state. The X-direction nut member 15c is guided by a guide member (not shown) so as to be movable only in the left-right direction. Therefore, when the X-direction screw shaft 15a is rotated in one direction by the X-direction motor 15b, the X-direction nut member 15c moves in one direction in the left-right direction, and when the X-direction screw shaft 15a is rotated in the other direction, the X-direction nut member 15c will move to the other in the left-right direction. The movement timing and movement direction of the X-direction nut member 15c are controlled by a signal output from the control device 30.

The left Z-axis direction drive unit 16 is supported by the X-direction nut member 15c. The left Z-axis direction drive unit 16 can use a conventionally known linear motion actuator similar to the left-side X-direction drive unit 15, and the Z-direction screw shaft 16a extending in the vertical direction and the Z-direction screw shaft 16a are forward and reverse. It includes a Z-direction motor 16b that rotates in an arbitrary direction, and a Z-direction nut member 16c that is screwed into a Z-direction screw shaft 16a, and is controlled by a control device 30. Both ends of the Z-direction screw shaft 16a are rotatably supported so as not to be displaced in the left-right direction with respect to the X-direction nut member 15c. A screw groove (not shown) is formed on the outer peripheral surface of the Z-direction screw shaft 16a, and the Z-direction nut member 16c is engaged with the screw groove in a screwed state. The Z-direction nut member 16c is guided by a guide member (not shown) so as to be movable only in the vertical direction. Therefore, when the Z-direction screw shaft 16a is rotated in one direction by the Z-direction motor 16b, the Z-direction nut member 16c moves in one direction in the vertical direction, and when the Z-direction screw shaft 16a is rotated in the other direction, the Z-direction nut member 16c will move to the other in the vertical direction. The movement timing and movement direction of the Z-direction nut member 16c are controlled by a signal output from the control device 30.

A left movable member 14 is fixed to the Z direction nut member 16c, and the Z direction nut member 16c and the left movable member 14 are configured to move together. The left movable member 14 includes a connecting member 14a that is connected to the Z-direction nut member 16c and extends in the vertical direction, an upper sensor support member 14b that extends substantially horizontally from the upper portion of the connecting member 14a to the right side, and a lower portion of the connecting member 14a. It has a lower sensor support member 14c extending substantially horizontally from the to the right side. The left outer surface shape measurement sensor 12 is fixed to the tip (right end) of the upper sensor support member 14b, and the left inner surface shape measurement sensor 13 is fixed to the tip (right end) of the lower sensor support member 14c. The left outer surface shape measurement sensor 12 and the left inner surface shape measurement sensor 13 are separated from each other by a predetermined distance in the vertical direction, and the vertical distance between the left outer surface shape measurement sensor 12 and the left inner surface shape measurement sensor 13 can be adjusted, for example. This is possible by changing the distance between the upper sensor support member 14b and the lower sensor support member 14c.

Therefore, since the left outer surface shape measurement sensor 12 and the left inner surface shape measurement sensor 13 are fixed to the common left movable member 14, they do not move relatively. When the left X-direction drive unit 15 is activated, the left movable member 14 is driven in the left-right direction together with the left Z-axis direction drive unit 16, and the left outer surface shape measurement sensor 12 and the left inner surface shape measurement sensor 13 are along the longitudinal direction of the welded portion. To move. Further, when the left Z-axis direction drive unit 16 is activated, the left movable member 14 is driven in the vertical direction, and the left outer surface shape measurement sensor 12 and the left inner surface shape measurement sensor 13 move in the direction of contact and separation with respect to the welded portion. ..

As shown in FIG. 5, the member 200 to be inspected has a welded portion 201 in which one plate material is bent into a cylindrical shape and both edge portions of the plate material are butt-welded. In this embodiment, the case where the member 200 to be inspected is a cylinder will be described, but for example, a member such as a cylinder having an elliptical cross section or a square cylinder may be used, and the cross-sectional shape thereof is not particularly limited. As shown in FIG. 3, the member 200 to be inspected is fixed by a jig 300 and has a posture in which the longitudinal direction thereof is the left-right direction. As shown in FIG. 5, the outer surface 201a of the welded portion 201 is the outer surface of the member 200 to be inspected (one surface in the thickness direction of the plate material), and the inner surface 201b of the welded portion 201 is the surface of the member 200 to be inspected. This is the inner surface (the other surface in the thickness direction of the plate material). Further, the welded portion 201 continuously extends over both ends in the axial direction of the member 200 to be inspected. The member 200 to be inspected may be a cylindrical member whose part is open, or a plate material obtained by butt-welding a plurality of plate materials.

The left outer surface shape measurement sensor 12 is a sensor for capturing an image of the welded portion 201 from one surface (outer surface 201a) in the thickness direction of the plate material and acquiring the shape of the one surface. Further, the left inner surface shape measurement sensor 13 is a sensor for acquiring the shape of the other surface by imaging the welded portion 201 from the other surface (inner surface 201b) in the thickness direction of the plate material. The left outer surface shape measurement sensor 12 and the left inner surface shape measurement sensor 13 can use sensors having the same measurement principle, but it is preferable that the left inner surface shape measurement sensor 13 is smaller than the left outer surface shape measurement sensor 12. ..

As the left outer surface shape measurement sensor 12, for example, a conventionally known optical cutting type shape measurement sensor can be used. That is, as shown in FIG. 5, the left outer surface shape measurement sensor 12 irradiates the outer surface 201a of the welded portion 201 with a line laser L1 extending in a direction orthogonal to the longitudinal direction of the welded portion 201, and from the outer surface 201a. The reflected light is received by a light receiving element, and the three-dimensional coordinates of each point on the line can be obtained by a conventionally known triangular survey method. By moving the left outer surface shape measurement sensor 12 in the left-right direction by the left X-direction drive unit 15 and sequentially obtaining three-dimensional coordinates, the shape of the outer surface 201a of the welded portion 201 can be obtained as a surface instead of a line.

The left inner surface shape measurement sensor 13 irradiates the inner surface 201b of the welded portion 201 with a line laser L2 extending in a direction orthogonal to the longitudinal direction of the welded portion 201, and receives the reflected light from the inner surface 201b by the light receiving element. It is configured so that the three-dimensional coordinates of each point on the line can be obtained. By moving the left inner surface shape measurement sensor 13 in the left-right direction by the left X-direction drive unit 15 and sequentially obtaining three-dimensional coordinates, the shape of the inner surface 201b of the welded portion 201 can be obtained as a surface instead of a line.

The shape data of the outer surface 201a and the shape data of the inner surface 201b of the welded portion 201 acquired by the left outer surface shape measurement sensor 12 and the left inner surface shape measurement sensor 13 are output to the control device 30.

Since the left outer surface shape measurement sensor 12 and the left inner surface shape measurement sensor 13 can each acquire the three-dimensional coordinates of each point, by setting a certain reference coordinate, the shape is formed by the left outer surface shape measurement sensor 12. It is possible to acquire relative position information indicating the relative positional relationship between the portion for which the shape has been acquired and the portion for which the shape has been acquired by the left inner surface shape measurement sensor 13.

As shown in FIG. 1, the right side inspection device 20 includes a base 21, a right outer surface shape measurement sensor (second one-sided shape measurement sensor) 22, and a right inner surface shape measurement sensor (second other side shape measurement sensor) 23. The right side movable member 24, the right side X direction drive unit (second longitudinal direction drive unit) 25, and the right side Z axis direction drive unit (contact / separation direction drive unit) 26 are provided. A leg member 21a is provided on the lower surface of the base 21, and a support member 21b is provided on the upper surface. The right X-direction drive unit 25 includes an X-direction screw shaft 25a, an X-direction motor 25b, and an X-direction nut member 25c, and is controlled by the control device 30.

The right side Z-axis direction drive unit 26 is supported by the X-direction nut member 25c. The right Z-axis direction drive unit 26 includes a Z-direction screw shaft 26a, a Z-direction motor 26b, and a Z-direction nut member 26c, and is controlled by the control device 30.

A right movable member 24 is fixed to the Z-direction nut member 26c. The right movable member 24 has a connecting member 24a, an upper sensor support member 24b, and a lower sensor support member 24c. The right outer surface shape measurement sensor 22 is fixed to the tip (left end) of the upper sensor support member 24b, and the right inner surface shape measurement sensor 23 is fixed to the tip (left end) of the lower sensor support member 24c.

The right outer surface shape measurement sensor 22 is a sensor for capturing an image of the welded portion 201 from one surface (outer surface 201a) in the thickness direction of the plate material and acquiring the shape of the one surface. Further, the right inner surface shape measurement sensor 23 is a sensor for acquiring the shape of the other surface by imaging the welded portion 201 from the other surface (inner surface 201b) in the thickness direction of the plate material. The right outer surface shape measurement sensor 22 and the right inner surface shape measurement sensor 23 are configured in the same manner as the left side sensors 12 and 13, respectively.

(Structure of storage unit 31)
The storage unit 31 is composed of, for example, a hard disk drive, an SSD (solid state drive), or the like, and is connected to the control device 30. The storage unit 31 stores shape data acquired by the left outer surface shape measurement sensor 12, the left inner surface shape measurement sensor 13, the right outer surface shape measurement sensor 22, the right inner surface shape measurement sensor 23, various data obtained by processing the shape data, and the like. Can be remembered.

(Structure of display unit 32)
The display unit 32 is composed of, for example, a liquid crystal display, an organic EL display, or the like, and is connected to the control device 30. The display unit 32 can display various interfaces and the like, which will be described later, and can also be used as a confirmation screen when operating the welded portion inspection device 1.

(Configuration of control device 30)
The control device 30 can be composed of, for example, a microcomputer having a CPU (central processing unit), a ROM, a RAM, or the like, and performs the following operations according to a predetermined program stored in advance in the storage unit 31 or the like. be able to.

The control device 30 controls the left X-direction drive unit 15, the left Z-axis direction drive unit 16, the right X-direction drive unit 25, and the right Z-axis direction drive unit 26. Left outer surface shape measurement sensor 12 and left inner surface shape measurement based on various dimensions such as outer diameter and length of the member to be inspected 200, positions of sensors 12 and 13, outer shape information of sensors 12 and 13 and the like input in advance. The sensor 13 is moved, and the right outer surface shape measurement sensor 22 and the right inner surface shape measurement sensor 23 are moved. When moving the left outer surface shape measurement sensor 12 and the left inner surface shape measurement sensor 13, the sensor 12 prevents the left outer surface shape measurement sensor 12 and the left inner surface shape measurement sensor 13 from coming into contact with the outer and inner surfaces of the member 200 to be inspected. , 13 and the left side Z-axis direction drive unit 16 are operated in order to secure a gap capable of measuring the shape between the outer surface and the inner surface of the member 200 to be inspected.

Then, the left X-direction drive unit 15 is operated to move the left outer surface shape measurement sensor 12 and the left inner surface shape measurement sensor 13 from the left side to the right side of the member 200 to be inspected. The left outer surface shape measurement sensor 12 and the left inner surface shape measurement sensor 13 are moved from the left outer side of the member 200 to be inspected to at least the central portion in the left-right direction. When the cross-sectional shape of the member 200 to be inspected has changed, the left outer surface shape measurement sensor 12 and the left inner surface shape measurement sensor 13 are moved by the left X-direction drive unit 15 while also being moved by the left Z-axis direction drive unit 16. Can be moved.

Similarly, the control device 30 operates the right X-direction drive unit 25 and the right Z-axis direction drive unit 26 to move the right outer surface shape measurement sensor 22 and the right inner surface shape measurement sensor 23. The right outer surface shape measurement sensor 22 and the right inner surface shape measurement sensor 23 are moved from the right side to the left side of the member 200 to be inspected. The right outer surface shape measurement sensor 22 and the right inner surface shape measurement sensor 23 are moved from the outer right side of the member 200 to be inspected to at least the central portion in the left-right direction. The left outer surface is obtained by the left outer surface shape measurement sensor 12, the left inner surface shape measurement sensor 13, the right outer surface shape measurement sensor 22, and the right inner surface shape measurement sensor 23 so that the entire outer surface 201a and inner surface 201b of the welded portion 201 can be obtained. The shape measurement sensor 12, the left inner surface shape measurement sensor 13, the right outer surface shape measurement sensor 22, and the right inner surface shape measurement sensor 23 may be moved. The moving distances of the right outer surface shape measurement sensor 22 and the right inner surface shape measurement sensor 23 may be the same, or one may be longer than the other.

Further, after moving the left outer surface shape measurement sensor 12 and the left inner surface shape measurement sensor 13 to the intermediate portion of the member to be inspected 200, they are moved in the opposite direction and arranged on the left outer side of the member to be inspected 200. Further, after moving the right outer surface shape measurement sensor 22 and the right inner surface shape measurement sensor 23 to the intermediate portion of the member 200 to be inspected, they are moved in the opposite direction and arranged on the outer right side of the member 200 to be inspected. At this time, the movement timing and speed are adjusted so that the left outer surface shape measurement sensor 12 and the left inner surface shape measurement sensor 13 do not come into contact with the right outer surface shape measurement sensor 22 and the right inner surface shape measurement sensor 23.

The control device 30 has an image processing unit 30a. The shape data acquired by the left outer surface shape measurement sensor 12, the left inner surface shape measurement sensor 13, the right outer surface shape measurement sensor 22, and the right inner surface shape measurement sensor 23 are input to the image processing unit 30a. The image processing unit 30a continuously acquires shape data to obtain the shape of the outer surface 201a and the shape of the inner surface 201b of the welded portion 201.

The control device 30 has a determination unit 30b. The determination unit 30b generates a shape display interface 37 as shown in FIGS. 7, 9, 11 and 13, and displays it on the display unit 32. The shape display interface 37 is provided with a display position adjusting unit 37a. By operating the display position adjusting unit 37a, an arbitrary position of the member to be inspected 200 in the left-right direction can be selected, and the shape of the outer surface 201a and the shape of the inner surface 201b of the welded portion 201 at the selected position can be used for shape display. It can be displayed on the interface 37. The upper line S1 of the shape display interface 37 is a line showing the shape of the outer surface 201a of the welded portion 201 and the outer surface of the plate material in the vicinity thereof, and the lower line S2 of the shape display interface 37 is the line S2 of the welded portion 201. It is a line which shows the shape of the inner surface of the plate material of the inner surface 201b and its vicinity.

Further, as described above, the left outer surface shape measurement sensor 12, the left inner surface shape measurement sensor 13, the right outer surface shape measurement sensor 22, and the right inner surface shape measurement sensor 23 can each acquire the three-dimensional coordinates of each point. Therefore, it is possible to acquire relative position information indicating the relative positional relationship between the portion whose shape is acquired by the left outer surface shape measurement sensor 12 and the portion whose shape is acquired by the left inner surface shape measurement sensor 13. It is possible to acquire relative position information indicating the relative positional relationship between the portion whose shape has been acquired by the right outer surface shape measurement sensor 22 and the portion whose shape has been acquired by the right inner surface shape measurement sensor 23. The determination unit 30b generates data indicating the thickness of the welded portion 201 based on the relative position information. Based on the data indicating the thickness, the lines S1 and S2 are displayed on the shape display interface 37 with a separation distance corresponding to the thickness.

The determination unit 30b calculates the throat thickness of the welded portion 201. A method of calculating the throat thickness will be described with reference to FIG. First, the determination unit 30b acquires the shape of the outer surface 201a and the shape of the inner surface 201b of the welded portion 201 of an arbitrary portion. The welding range of the welded portion 201 is set in advance, and at arbitrary points P1 to P10 on the line S2 indicating the shape of the inner surface 201b of the welded portion 201, the line S2 and the line S1 indicating the shape of the outer surface 201a are separated from each other. Draw a circle (shown by a dashed line) with dimensions as the radius. Points P1 to P10 are examples, and it is preferable to take a large number of points in more detail. The radius r1 at the point where the radius of the circle thus drawn is the smallest (point P7 in this example) is defined as the throat thickness. The throat thickness may be defined with reference to the line S1 indicating the shape of the outer surface 201a of the welded portion 201. As a result, the throat thickness can be obtained, so that it is possible to determine whether or not the welded portion 201 has a wall thickness.

The determination unit 30b determines whether or not the throat thickness is within a predetermined range after obtaining the throat thickness based on the shape of the outer surface 201a and the shape of the inner surface 201b of the welded portion 201. The predetermined range serving as the determination standard can be set according to the plate thickness of the plate material and the like, and can be set in advance by the user of the welded portion inspection device 1. The determination unit 30b determines that the welded portion 201 is good (good welding quality) if the throat thickness is within the predetermined range, while the welded portion 201 is bad if the throat thickness exceeds the predetermined range (the welded portion 201 is bad). Welding quality is poor).

10 and 11 show a case where cracks are generated on the outer surface 201a and the inner surface 201b of the welded portion 201. When cracks are detected, as shown in the partially enlarged view of FIG. 10, the angle of the tangent line is obtained by the moving average at each point on the line indicating the outer surface 201a of the welded portion 201, and the angle gradient is equal to or higher than the threshold value. , It becomes a concave shape, and it is determined whether or not the width of the concave is within a predetermined range. This determination is also made by the determination unit 30b. The width of the recess can be set to, for example, 0.15 mm or more. When the determination unit 30b detects a crack, the welded portion 201 is determined to be bad, while when the determination unit 30b does not detect a crack, the welded portion 201 is determined to be good.

12 and 13 show a case where a convex portion is formed on the outer surface 201a and the inner surface 201b of the welded portion 201. When detecting the convex portion, an extension line S3 in which the inner surface or the outer surface of the plate material is extended in the circumferential direction is generated, and the dimension H1 from the extension line S3 to the tip end portion of the convex portion is measured. When the dimension H1 is equal to or more than a predetermined value, the determination unit 30b determines that the welded portion 201 is bad because there is a convex portion, while when the dimension H1 is less than the predetermined size, the determination unit 30b becomes a problem. It is judged that the welded portion 201 is good because there is no convex portion.

FIG. 14 shows a case where a step is formed in the welded portion 201. When detecting a step, an extension line S4 of the outer surface is generated from one edge of the plate material, and an extension line S5 of the outer surface is also generated from the other edge. The distance H2 between the extension line S4 and the extension line S5 is measured. When the distance H2 is equal to or greater than a predetermined distance, the determination unit 30b determines that the welded portion 201 is bad because there is a step, while when the distance H2 is less than the predetermined distance, the determination unit 30b becomes a problem. It is determined that the welded portion 201 is good as there is no step.

FIG. 15 shows a case where the welded portion 201 is melted down. Melt-off can be detected by whether or not there is a break in both the line showing the shape of the outer surface 201a and the line showing the shape of the inner surface 201b of the welded portion 201. The determination unit 30b determines that the welded portion 201 is bad if there is melt-down, while it determines that the welded portion 201 is good if there is no melt-through.

FIG. 16 is a determination result display interface 38, which is generated by the determination unit 30b. A judgment result display area 38a is provided in the upper right portion of the judgment result display interface 38, and when it is judged that the welded portion 201 is good in all the above-mentioned judgments, "OK" is displayed and described above. If even one of all the judgments is judged to be bad, "NG" is displayed.

The determination result display interface 38 includes a region 38b for displaying the entire throat thickness and the height of the step in the longitudinal direction of the member to be inspected 200, and a region 38c for displaying the NG portion and the OK portion of the member to be inspected 200. A region 38d for displaying an image showing the outer surface and the inner surface of the welded portion 201 of the member 200 to be inspected in black and white binary is provided.

(Welded part inspection method)
Next, a welded portion inspection method using the welded portion inspection device 1 will be described. As shown in FIG. 3, the left outer surface shape measurement sensor 12 and the left inner surface shape measurement sensor 13 are moved to the left end, and the right outer surface shape measurement sensor 22 and the right inner surface shape measurement sensor 23 are moved to the right end. After that, the member 200 to be inspected is placed in a posture whose longitudinal direction coincides with the left-right direction of the welded portion inspection device 1 and fixed at the set position by the jig 300. The set position, the dimensions of each part of the member 200 to be inspected, and the like are input to the control device 30 in advance.

After that, as shown in FIG. 4, the right outer surface shape measurement sensor 22 and the right inner surface shape measurement sensor 23 are moved toward the left side, and the welded portion 201 is imaged from the outer surface 201a by the right outer surface shape measurement sensor 22 to image the outer surface 201a. The one-sided shape acquisition step of acquiring the shape of is performed. Further, the other surface shape acquisition step is performed in which the welded portion 201 is imaged from the inner surface 201b by the right inner surface shape measurement sensor 23 to acquire the shape of the inner surface 201b. Since the right outer surface shape measurement sensor 22 and the right inner surface shape measurement sensor 23 can be moved at the same time, the one-side shape acquisition step and the other surface shape acquisition step can be performed in parallel. Further, during the movement, the relative positions of the right outer surface shape measurement sensor 22 and the right inner surface shape measurement sensor 23 do not shift, and can be moved in the X direction at the same speed.

Next, the right outer surface shape measurement sensor 22 and the right inner surface shape measurement sensor 23 are moved toward the right side, and the left outer surface shape measurement sensor 12 and the left inner surface shape measurement sensor 13 are moved toward the right side to measure the left outer surface shape. A one-sided shape acquisition step is performed in which the welded portion 201 is imaged from the outer surface 201a by the sensor 12 to acquire the shape of the outer surface 201a. Further, the other surface shape acquisition step is performed in which the welded portion 201 is imaged from the inner surface 201b by the left inner surface shape measurement sensor 13 to acquire the shape of the inner surface 201b. Since the left outer surface shape measurement sensor 12 and the left inner surface shape measurement sensor 13 can be moved at the same time, the one-side shape acquisition step and the other surface shape acquisition step can be performed in parallel.

When the welded portion 201 is short, the shape of the welded portion 201 is formed by only one of the left outer surface shape measuring sensor 12 and the left inner surface shape measuring sensor 13 and the right outer surface shape measuring sensor 22 and the right inner surface shape measuring sensor 23. You can also get it.

After that, as described above, the determination unit 30b is the outer surface 201a of the welded portion 201 acquired by the left outer surface shape measurement sensor 12, the left inner surface shape measurement sensor 13, the right outer surface shape measurement sensor 22, and the right inner surface shape measurement sensor 23. A determination step of determining the quality of the welded portion 201 is performed based on the shape and the shape of the inner surface 201b. The determination step may be performed while performing the shape acquisition step, or the determination step may be performed after the shape acquisition step is completed.

Moreover, since this weld inspection method does not destroy the product, it can be used for 100% inspection.

(Action and effect of the embodiment)
As described above, according to this embodiment, the shape of the outer surface 201a of the welded portion 201 is determined by the left outer surface shape measurement sensor 12, the left inner surface shape measurement sensor 13, the right outer surface shape measurement sensor 22, and the right inner surface shape measurement sensor 23. The shape of the inner surface 201b can be obtained. When acquiring the shape of the outer surface 201a and the shape of the inner surface 201b of the welded portion 201, the respective surfaces 201a and 201b are actually imaged, so the calculation is not based on the estimation result as in the conventional example, but is accurate. You can get the shape. Then, if, for example, one surface of the welded portion 201 has a convex portion having a height of a predetermined value or more, a concave portion having a depth of a predetermined value or more, a crack, a step, or the like, the determination unit 30b determines that the welded portion 201 is defective. It can be determined, and the other surface can be determined in the same manner. Therefore, the quality of the welded portion 201 can be determined based on the accurate shapes of both sides 201a and 201b of the welded portion 201, so that the accuracy of the determination result can be improved.

(Other embodiments)
The above embodiments are merely exemplary in all respects and should not be construed in a limited way. Furthermore, all modifications and modifications that fall within the equivalent scope of the claims are within the scope of the present invention.

In the above embodiment, the case where the welded portion inspection device 1 includes the left side inspection device 10 and the right side inspection device 20 has been described, but one of the left side inspection device 10 and the right side inspection device 20 may be omitted.

Further, the outer surface shape measurement sensor 12 and the inner surface shape measurement sensor 13 are configured to be moved in the X-axis direction, but the present invention is not limited to this, and the outer surface shape measurement sensor 12 and the inner surface shape measurement sensor 13 are moved in the direction orthogonal to the paper surface (Y direction) as shown in FIG. It may be.

Further, the member 200 to be inspected does not have to be cylindrical, and may be, for example, a flat plate, a curved plate, or a bent plate. When the member 200 to be inspected is not cylindrical, it can be called a front surface shape measurement sensor or a back surface shape measurement sensor.

As described above, the present invention can be applied when performing a non-destructive inspection of a welded portion.

1 Welded part inspection device 200 Inspected member 201 Welded part 12 Left outer surface shape measurement sensor (first one-sided surface shape measurement sensor)
13 Left inner surface shape measurement sensor (first other surface shape measurement sensor)
14 Left movable member 15 Left X direction drive unit (first longitudinal drive unit)
16 Left side Z-axis direction drive unit (contact / separation direction drive unit)
22 Right outer surface shape measurement sensor (second one-sided surface shape measurement sensor)
23 Right inner surface shape measurement sensor (second other surface shape measurement sensor)
25 Right side X direction drive unit (second longitudinal direction drive unit)
33b Judgment unit 201a outer surface (one surface in the thickness direction)
201b Inner surface (the other surface in the thickness direction)

Claims (4)

In a welded part inspection device that inspects a welded part in which the edges of plate materials are butt-welded.
A one-sided shape measurement sensor that acquires the shape of the one side by imaging the welded portion from one side in the thickness direction of the plate material.
A other surface shape measurement sensor that acquires the shape of the other surface by imaging the welded portion from the other surface in the thickness direction of the plate material.
A longitudinal drive unit that moves the one-side shape measurement sensor and the other-side shape measurement sensor along the longitudinal direction of the welded portion, and
The quality of the welded portion is determined based on the shape of one surface of the welded portion acquired by the one-sided surface shape measurement sensor and the shape of the other surface of the welded portion acquired by the other surface shape measurement sensor. Equipped with a judgment unit for judgment
The one-sided shape measurement sensor includes a first one-sided shape measurement sensor and a second one-sided shape measurement sensor.
The other surface shape measurement sensor includes a first other surface shape measurement sensor and a second other surface shape measurement sensor.
The longitudinal drive unit includes a first longitudinal drive unit that moves the first one-sided surface shape measurement sensor and the first other-side surface shape measurement sensor from one side in the longitudinal direction to the other side of the welded portion. Welding including a second longitudinal direction driving portion that moves the second one-sided surface shape measuring sensor and the second other-sided surface shape measuring sensor from the other side in the longitudinal direction to one side of the welded portion. Department inspection equipment. In the welded portion inspection device according to claim 1,
The determination unit has a relative positional relationship between a portion of one surface whose shape has been acquired by the one-side shape measurement sensor and a portion of the other surface whose shape has been acquired by the other surface shape measurement sensor. A welded portion inspection device, characterized in that it is configured to acquire relative position information indicating the above and generate data indicating the thickness of the welded portion based on the relative position information. In the weld inspection apparatus according to claim 1 or 2.
A movable member to which both the one-sided shape measuring sensor and the other-sided shape measuring sensor are fixed is provided.
The longitudinal drive unit is a welded portion inspection device characterized by driving the movable member. In the welded portion inspection device according to any one of claims 1 to 3,
A welded portion inspection device including a contact / detachment direction driving unit that moves the one-sided surface shape measuring sensor and the other-sided surface shape measuring sensor in a direction of contacting / separating with respect to the welded portion.

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