CN102692457B - Four-seven-axis linkage apparatus for three-dimensional flaw detection on curved surface - Google Patents
Four-seven-axis linkage apparatus for three-dimensional flaw detection on curved surface Download PDFInfo
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- CN102692457B CN102692457B CN201110071714.8A CN201110071714A CN102692457B CN 102692457 B CN102692457 B CN 102692457B CN 201110071714 A CN201110071714 A CN 201110071714A CN 102692457 B CN102692457 B CN 102692457B
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Abstract
The invention relates to a four-seven-axis linkage apparatus for three-dimensional flaw detection on a curved surface. The apparatus comprises a main body to fix the whole apparatus; and the main body is provided with an upper portion movement system and a lower portion movement system. The upper portion movement system comprises a mobile module for realizing movement along spatial orthogonally X axis, Y axis and Z axis, and a swing module for realizing swing around X axis, Y axis and C axis; and the lower portion movement system comprises a workpiece revolution module for supporting revolution movement of the workpiece. The upper portion movement system is connected with the main body through a main crossbeam, and the lower portion movement system is fixed on a detection board. The apparatus can realize four-axis linkage detection through the mobile module and the workpiece revolution module; for convenience of the detection, arbitrary combination with modules swinging around the X axis, Y axis and Z axis can realize a five-seven-axis linkage module; and a probe can carry out four-seven-axis complex movement and adapt to large complex surface workpiece. Relatively, sealing requirement for workpiece supporting movement structure is low; and because of small movement range of the probe, service life of the probe lead is prolonged substantially.
Description
Technical field
The present invention relates to the physical construction of ultrasonic inspection multiaxis defect-detecting equipment, relate in particular to a kind of curved surface three-D ultrasonic four-seven-axis linkage device for flaw detection.
Background technology
Ultrasonic inspection is ultrasound wave while propagating in tested material, utilizes the shown acoustic properties of material internal defect the impact of ultrasonic propagation to be surveyed to the method for internal defects.
When ultrasound wave is propagated in detected material, the acoustic characteristic of material and the variation of interior tissue produce certain impact to hyperacoustic propagation, by the detection Knowing material performance to ultrasound wave degree of susceptibility and situation and the technology of structural change, are called Ultrasonic Detection.Supersonic detection method has through transmission technique, pulse reflection method, tandem method etc. conventionally.
For a long time, complex-curved, as comparatively complicated ruled surface and complex-curved automatic flaw detections that is difficult to carry out ultrasonic or eddy current such as the turbo blades of turbosupercharger, therefore need a kind of detection system structure that can adapt to arbitrary surface flaw detection.
Summary of the invention
In order to overcome above defect, the technical problem to be solved in the present invention is: provide a kind of and can carry out that curve, curved surface, arbitrary shape are ultrasonic, eddy current test, movement locus accurately, the high curved surface three-D ultrasonic of the controllability surveyed four-seven-axis linkage device for flaw detection.
The technical solution adopted in the present invention is: a kind of curved surface three-D ultrasonic four-seven-axis linkage device for flaw detection, the body that comprises fixing whole device, described body is provided with top kinematic system, bottom kinematic system, described top kinematic system comprises and realizes the mobile module moving along X-axis, Y-axis, the Z-direction of orthogonal space, described top kinematic system is connected with described body by link, and described bottom kinematic system is fixed on check-out console.
According to another embodiment of the invention, the flaw detection of a kind of curved surface three-D ultrasonic further comprises that with four-seven-axis linkage device described bottom kinematic system comprises that supporting workpiece makees the workpiece of gyration and turn round module.
According to another embodiment of the invention, a kind of curved surface three-D ultrasonic flaw detection further comprises that with four-seven-axis linkage device described mobile module comprises
X-axis mobile module, between described link and body, by the first guide rail and the first slide block of coordinating with the first guide rail, be connected, on described link, be connected with X-axis crossbeam supporting plate, on described X-axis crossbeam supporting plate, be fixed with by the X-axis driving member of X-axis motor actuation movement;
Y-axis mobile module, in Y direction on link, be provided with the y-axis motor that drives Y-axis mobile module, be connected with Y-axis driving member with described y-axis motor, y-axis motor is fixed on body, on described body, be also fixed with Y-axis guide rail, coordinate and be provided with the second slide block with described Y-axis guide rail, between described the second slide block and Y-axis driving member, by retainer, be connected;
Z axis mobile module, comprise the Z axis motor being fixedly connected with body, Z axis motor is connected with Z-axis transmission part, described Z-axis transmission part is provided with the 3rd slide block, coordinate and be provided with Z axis guide rail with the 3rd slide block, on described the 3rd slide block, be connected with probe polished rod, described Z axis guide rail fixing with a Z axis column on, Z axis column is connected with X-axis crossbeam supporting plate by the first web member.
According to another embodiment of the invention, a kind of curved surface three-D ultrasonic flaw detection further comprises that with four-seven-axis linkage device described top kinematic system also comprises the swing module realizing around A axle, B axle or the swing of C axle.
According to another embodiment of the invention, the flaw detection of a kind of curved surface three-D ultrasonic further comprises second guide rail with its axially parallel that is provided with of X-axis crossbeam supporting plate with four-seven-axis linkage device, on the second guide rail, be equipped with Four-slider, between X-axis crossbeam supporting plate the first web member, by the second guide rail, be connected activity clamping between described the first web member and Z axis column with Four-slider.
According to another embodiment of the invention, the flaw detection of a kind of curved surface three-D ultrasonic further comprises with four-seven-axis linkage device in the direction of motion of described X-axis mobile module, Y-axis mobile module, Z axis mobile module and is respectively equipped with position sensing element.
According to another embodiment of the invention, a kind of curved surface three-D ultrasonic flaw detection further comprises that with four-seven-axis linkage device the bearing arranging in the bottom of described Z axis column is 2 supporting constructions of duplex bearing or single-point support structure.
According to another embodiment of the invention, a kind of curved surface three-D ultrasonic flaw detection further comprises that with four-seven-axis linkage device described probe polished rod inside is monolateral hollow-core construction.
According to another embodiment of the invention, a kind of curved surface three-D ultrasonic flaw detection further comprises that with four-seven-axis linkage device workpiece revolution module comprises the supporting disk of supporting workpiece, be placed in the turning motor that supporting disk below drives the running of revolution module, between described supporting disk and turning motor, be provided with check-out console, check-out console below is provided with the outer base being connected with turning motor, check-out console top is provided with the base being fixedly connected with described outer base, between described base and supporting disk, be provided with the centering ring being fixedly connected with base, described centering ring inner ring is provided with the driving ring being fixedly connected with supporting disk, be connected with driving-disc with described driving ring, described driving-disc and base, outer base connects, between described outer base and driving-disc, be provided with a whole collar, driving-disc is connected by the whole collar with turning motor.
According to another embodiment of the invention, a kind of curved surface three-D ultrasonic flaw detection further comprises that with four-seven-axis linkage device described whole collar inside is equipped with a bearing, between the driving-disc above described bearing and whole collar inner side, is provided with the first seal.
According to another embodiment of the invention, a kind of curved surface three-D ultrasonic flaw detection further comprises between described whole collar outside and outer base and is also provided with the second seal with four-seven-axis linkage device.
According to another embodiment of the invention, a kind of curved surface three-D ultrasonic flaw detection further comprises with described probe polished rod end and is connected with probe with four-seven-axis linkage device, described swing module is arranged between probe polished rod and probe, described swing module is fixedly connected with described probe polished rod by the second web member, and described swing module comprises
B axle swings module, is connected with yaw pedestal with described the second web member, and yaw pedestal is provided with the probe socket driving by B axle oscillating motor, and described probe is arranged on probe socket;
C axle swings module, comprises the transition sleeve being fixedly connected with described the second web member, is equipped with C axle oscillating motor in described transition sleeve, and described C axle oscillating motor output is connected with described probe socket;
A axle swings module, comprises A axle oscillating motor, and the output of described oscillating motor is connected with probe.
According to another embodiment of the invention, a kind of curved surface three-D ultrasonic flaw detection further comprises with four-seven-axis linkage device the signal feedback device that described B axle oscillating motor, C axle oscillating motor, A axle oscillating motor are coaxially connected with respectively.
According to another embodiment of the invention, a kind of curved surface three-D ultrasonic flaw detection further comprises that with four-seven-axis linkage device described body is frame, door frame form, the link that connects top kinematic system and described frame body is main beam, and the link that connects top kinematic system and described door frame body is beam framework.
The invention has the beneficial effects as follows: can be in the X-axis of the orthogonal space of popping one's head in, Y-axis, Z axis moves with workpiece revolution module and realizes four-axle linked detection, for better convenient detection, by with around A axle, the combination in any of the swing module of B axle or C axle forms the interlocking module of five-seven axles, probe can carry out compound movement, can adapt to larger complex surface workpiece, owing to not needing to workpiece is carried out various motions or only carry out part rotatablely moving, therefore, the sealing requirements of workpiece motion s structure is reduced, and probe is because its range of movement is little, its probe wire life-span extends greatly.
Accompanying drawing explanation
Fig. 1 is the structural representation of the preferred embodiments of the present invention;
Fig. 2 is the side view of Y-axis mobile module in Fig. 1;
Fig. 3 is the side view of Z axis mobile module in Fig. 1;
Fig. 4 is the assembly structure figure of Fig. 3;
Fig. 5 is the structural representation of workpiece revolution module in Fig. 1;
Fig. 6 is door frame formal ontology structural representation;
Wherein: 1, hood, 2, link, 3, the first slide block, 4, the first guide rail, 5, body, 6, X-axis crossbeam supporting plate, 7, pedestal, 8, X-axis driving member, 9, the first shaft coupling, 10, X-axis grating, 11, X-axis motor, 12, connecting hole, 13, y-axis motor, 14, motor cabinet, 15, the second shaft coupling, 16, Y-axis driving member, 17, concentric sleeve, 18, Y-axis guide rail, 19, the second slide block, 20, retainer, 21, motor plate, 22, Z axis column, 23, Z axis motor, 24, the 3rd shaft coupling, 25, Z-axis transmission part, 26, the 3rd slide block, 27, the first web member, 28, the second guide rail, 29, Four-slider, 30, Z axis guide rail, 31, probe polished rod, 32, Y-axis grating, 33, bearing, 34, probe, 35, the second web member, 36, yaw pedestal, 37, B axle oscillating motor, 38, probe socket, 39, B shaft encoder, 40, transition sleeve, 41, C axle oscillating motor, 42, C shaft encoder, 43, A axle oscillating motor, 44, A shaft encoder, 45, supporting disk, 46, turning motor, 47, check-out console, 48, outer base, 49, base, 50, centering ring, 51, driving ring, 52, steel ball, 53, driving-disc, 54, the whole collar, 55, bond structure, 56, the first seal, 57, the second seal.
Embodiment
The present invention is further detailed explanation with preferred embodiment by reference to the accompanying drawings now.These accompanying drawings are the schematic diagram of simplification, basic structure of the present invention is only described in a schematic way, so it only show the formation relevant with the present invention.
As shown in Figure 1, a kind of curved surface three-D ultrasonic four-seven-axis linkage device for flaw detection, the body 5 that comprises fixing whole device, described body 5 is provided with top kinematic system, bottom kinematic system, described top kinematic system comprises that realization is along orthogonal space X-axis, Y-axis, the mobile module that Z-direction moves, described bottom kinematic system comprises that supporting workpiece does the workpiece revolution module of gyration, described top kinematic system is connected with described body 5 by link 2, described bottom kinematic system is fixed on check-out console 47, described top kinematic system also comprises that realization is around A axle, the swing module that B axle or C axle swing.By mobile module, swing combination in any structure in module, workpiece revolution module, the linkage structure that forms four-seven axles drives probe 34 to realize that curve, curved surface, arbitrary shape are ultrasonic, eddy current test.
As shown in Figure 1, whole four-seven-axis linkage device can be arranged in hood 1, for relatively large structure, also can not use hood 1 to be directly positioned in the interior space.
Mobile module comprises X-axis mobile module as shown in Figure 1, between described link 2 and body 5, by the first guide rail 4 and the first slide block 3 of coordinating with the first guide rail 4, be connected, link 2 is connected with X-axis crossbeam supporting plate 6, on described X-axis crossbeam supporting plate 6, by pedestal 7, be connected with X-axis driving member 8, first shaft coupling 9 that passes through of described X-axis driving member 8 is connected with X-axis motor 11, X-axis driving member 8 two ends are provided with bearing seat, in the direction of motion of X-axis mobile module, be provided with the position sensible element of X-axis, this programme is selected grating 10, the feedback system of servo-drive system or stepper motor needs X-axis grating 10 that the information of X-axis movement position is provided, X-axis driving member 8 guarantees that by the accurate processing on X crossbeam supporting plate 8 three is in the depth of parallelism of directions X with X-axis grating 10.
Wherein, the structure of the first guide rail 4 is the guide rail of cylindrical slideway, square rail, ram form, and described the first slide block 3 structures match with the first guide rail 4 structures.For small-scale structure, guide rail slide block can be used cylindrical structure, also can use finished product square structure, be exactly that slide block 3 in this programme figure is installed on the unitized construction on square guide rail 4, can also use ram structure, adopt on the laminating or plastic-sticking guiding rail of guide rail, in the junction of link 2 and the first guide rail 4, static pressure oil film structure is set.
As shown in Figure 2, Y-axis mobile module, comprise the connecting hole 12 that is arranged on Y direction on link 2, in described connecting hole 12, be provided with the y-axis motor 13 that drives Y-axis mobile module, described y-axis motor 13 is fixedly connected with a motor cabinet 14, described motor cabinet 14 is fixed on body 5, by the second shaft coupling 15 and described y-axis motor 13, be connected with the motion that Y-axis driving member 16 drives Y-direction, precision in the direction of motion of Y-axis guarantees in the Y-axis position sensible element of this direction, this case adopts Y-axis grating 32, on described Y-axis driving member 16, be provided with concentric sleeve 17 with its concentric, on described body 5, be also fixed with Y-axis guide rail 18, coordinate with described Y-axis guide rail 18 and be provided with two the second slide blocks 19, between described the second slide block 19 and concentric sleeve 17, by a retainer 20, be fixedly connected with, described retainer 20 is fixedly connected with X-axis crossbeam supporting plate 6.Retainer 20 can reduce the microdeformation that Z axis load bias causes.
As shown in Figure 3-4, Z axis mobile module, comprise the motor plate 21 being fixed on body 5, the Z axis column 22 being fixedly connected with motor plate 21, on described motor plate 21, Z axis motor 23 is installed, in described Z axis column 22, by the 3rd shaft coupling 24, be connected with Z-axis transmission part 25 with Z axis motor 23, described Z-axis transmission part 25 is provided with the 3rd slide block 26, between described Z axis column 22 and X-axis crossbeam supporting plate 6, by the first web member 27, be connected, described the first web member 27 is provided with the second guide rail 28 of the axially parallel of a pair of and X-axis crossbeam supporting plate 6, described the second guide rail 28 is placed on X-axis crossbeam supporting plate 6, the both sides up and down of X-axis crossbeam supporting plate 6 are selected the second guide rail 28 to be placed in this case, expanded to greatest extent the reach of the upper and lower and X-axis crossbeam supporting plate 6 of Z axis, between the second guide rail 28 and X-axis crossbeam supporting plate 6, by Four-slider 29, be connected, in order to guarantee verticality, between described the first web member 27 and the surface of contact of Z axis column 22, pass through groove version activity clamping, can place thin type flat key location, be fixedly connected with the groove structure on described Z axis column 22 the Z axis guide rail 30 coordinating with the 3rd slide block 26, be connected with probe polished rod 31 with described the 3rd slide block 26.
In order to reduce Z axis, move up and down to the load of lower bearing, the bearing 33 arranging in the bottom of Z axis column 22 is 2 supporting constructions of duplex bearing or single-point support structure.
In the direction of Z axis mobile module motion, be provided with equally Z axis position sensible element, be Z axis grating, the read head of Z axis grating is connected with the 3rd slide block 26 or probe polished rod 31 use screw fastenings.
Probe polished rod 31 inside are monolateral hollow-core construction by monolateral Milling Process.When the structure of design Z axis mobile module, by the inner monolateral Milling Process of the polished rod 31 of popping one's head in, become monolateral hollow-core construction, the polished rod 31 center that makes to pop one's head in reduces the distance with Z axis guide rail 30, the moment of torsion bringing to X-axis crossbeam supporting plate 6 to reduce the bias of probe polished rod 31 as far as possible.
By locking device, be connected with probe 34 with described probe polished rod 31 ends, guarantee the precision of positioning and directing, probe 34 wherein can be single probe, also probe group can be installed, to adapt to different detection process, as bistatic, double crystal probe, TOFD or phased array probe, or be used for improving detection efficiency.
Linear electric motors in each mobile module drive and adopt stepper motor or servomotor coaxial or coaxial or non-coaxial drive driving member mode drives coupled parts through speed change by shaft coupling, and the definition of each axle should be observed cartesian coordinate system definition criterion.Driving member can be preferably ball-screw-transmission part.
In order to meet when complicated curved surface is detected a flaw, to reduce and pop one's head in 34 motions and guarantee the requirement in probe wire life-span, when the detecting structure of probe 34 of the above-mentioned three axle three degree of freedoms of application, workpiece can be installed on workpiece revolution module and be become four-axis system by fixture, reach the object that increases system reliability.
As shown in Figure 5, workpiece revolution module comprises the supporting disk 45 of supporting workpiece, be placed in the turning motor 46 that supporting disk 45 belows drive the running of revolution module, between described supporting disk 45 and turning motor 46, be provided with check-out console 47, check-out console 47 belows are provided with the outer base 48 being connected with turning motor 46, check-out console 47 tops are provided with the base 49 being fixedly connected with described outer base 48, between described base 49 and supporting disk 45, be provided with the centering ring 50 being fixedly connected with base 49, described centering ring 50 inner rings are provided with the driving ring 51 being fixedly connected with supporting disk 45, between driving ring 51 and centering ring 50, be provided with a circle steel ball 52, bearing is provided, to reduce friction when guaranteeing centering, be connected with driving-disc 53 with described driving ring 51, described driving-disc 53 is connected with base 49, outer base 48, in order to increase the centering precision of driving, between described outer base 48 and driving-disc 53, be provided with the whole collar 54 that an inside is equipped with bearing 33, for more stable effect, can adopt dual bearing structure, in the described whole collar 54, be provided with connection driving-disc 53 and be connected with the bond structure 55 of turning motor 46.
Between the driving-disc 53 above described bearing 33 and the whole collar 54 inner sides, be provided with the first seal 56, in order to ensure sealing effectiveness, can to adopt Double seal ring structure, for water seaoning ultrasonic inspection, in order sealing, between the described whole collar 54 outsides and outer base 48, to be provided with the second seal 57.
And the motion that four degree of freedom motions of probe 34 can increase respectively by one to three axle becomes the linkage structure of five to seven axles.As shown in Figure 1, top kinematic system also comprises the swing module realizing around A axle, B axle or the swing of C axle.Swinging module is arranged between probe polished rod 31 and probe 34, described swing module is fixedly connected with described probe polished rod 31 by the second web member 35, check bolt or similar structure will be set in concrete application structure, to guarantee to pop one's head in there is not any variation in 34 angle, also non-threaded structure be can take, reliable installation, reliable directed and location guaranteed.
When flaw detection does not need yaw structure, the angle that probe 34 directions that can determine according to process requirements determine is implemented flaw detection, can carry out to workpiece probe 34 mounting meanss of plane compressional wave flaw detection, the mode such as can adopt interference fit or be threaded, this structure is the four-axle linked device of four degree of freedom.
If surveyed, need to change along with the variation of surface of the work flaw detection angle, the structure of described swing module needs to comprise that B axle swings module, be connected with yaw pedestal 36 with described the second web member 35, yaw pedestal 36 is provided with the probe socket 38 driving by B axle oscillating motor 37, on probe socket 38, be coaxially connected with signal feedback device with B axle oscillating motor 37, the preferred B shaft encoder 39 of this programme, described probe 34 adopts interference fit or the mode such as be threaded is connected on probe socket 38, according to the needs of high resolution scanning, can adopt point focusing probe, line focus probe or dotted line combined focus probe, be that this structure and four-axle linked respective outer side edges have formed the five-axle linkage device with five degree of freedom.
When swinging module in different positions during with different angle detection workpiece, just need to there is C axle to swing module, comprise the transition sleeve 40 being fixedly connected with described the second web member 35, in described transition sleeve 40, be equipped with C axle oscillating motor 41 and with the coaxial signal feedback device being connected of C axle oscillating motor 41, the preferred C shaft encoder 42 of this programme, 41 outputs of described C axle oscillating motor are connected with described probe socket 38, and this structure coordinates with five-axis simultaneous structure and formed the six-axis linkage device with six-freedom degree.
Add if necessary A axle to swing module, comprise A axle oscillating motor 43, with the coaxial signal feedback device being connected of A axle oscillating motor 43, the preferred A shaft encoder 44 of this programme, the output of described oscillating motor 34 is connected with probe, can realize in 34 the scope of 360 ° of popping one's head in and carry out accurate coordinate detection.Add this swing module to coordinate with six-axis linkage device for thering is the seven-axis linkage device of 7 degree of freedom.
Described body 5 is frame, door frame form, and as shown in Figure 1, body 5 is frame form, the link 2 that connects top kinematic system and described frame body is main beam, as shown in Figure 6, body 5 is door frame form, and the link 2 that connects top kinematic system and described door frame body is beam framework.During door frame formal ontology 5, adopt two stepping motor synchronous to drive driving member.
The above-mentioned foundation desirable embodiment of the present invention of take is enlightenment, and by above-mentioned description, relevant staff can, within not departing from the scope of this invention technological thought, carry out various change and modification completely.The technical scope of this invention is not limited to the content on instructions, must determine its technical scope according to claim scope.
Claims (3)
1. a curved surface three-D ultrasonic four-seven-axis linkage device for flaw detection, the body that comprises fixing whole device, described body is provided with top kinematic system, bottom kinematic system, it is characterized in that: described top kinematic system comprises and realizes the mobile module moving along X-axis, Y-axis, the Z-direction of orthogonal space, described top kinematic system is connected with described body by link, and described bottom kinematic system is fixed on check-out console;
Described bottom kinematic system comprises that supporting workpiece does the workpiece revolution module of gyration;
Described mobile module comprises
X-axis mobile module, between described link and body, by the first guide rail and the first slide block of coordinating with the first guide rail, be connected, on described link, be connected with X-axis crossbeam supporting plate, on described X-axis crossbeam supporting plate, be fixed with by the X-axis driving member of X-axis motor actuation movement;
Y-axis mobile module, in Y direction on link, be provided with the y-axis motor that drives Y-axis mobile module, be connected with Y-axis driving member with described y-axis motor, y-axis motor is connected with body, on described body, be also fixed with Y-axis guide rail, coordinate and be provided with the second slide block with described Y-axis guide rail, between described the second slide block and Y-axis driving member, by retainer, be connected;
Z axis mobile module, comprise the Z axis motor being fixedly connected with body, Z axis motor is connected with Z-axis transmission part, described Z-axis transmission part is provided with the 3rd slide block, coordinate and be provided with Z axis guide rail with the 3rd slide block, on described the 3rd slide block, be connected with probe polished rod, described Z axis guide rail fixing with a Z axis column on, Z axis column is connected with X-axis crossbeam supporting plate by the first web member;
Described top kinematic system also comprises the swing module realizing around A axle, B axle or the swing of C axle;
Be connected with probe with described probe polished rod end, described swing module is arranged between probe polished rod and probe, and described swing module is fixedly connected with described probe polished rod by the second web member, and described swing module comprises
B axle swings module, is connected with yaw pedestal with described the second web member, and yaw pedestal is provided with the probe socket driving by B axle oscillating motor, and described probe is arranged on probe socket;
C axle swings module, comprises the transition sleeve being fixedly connected with described the second web member, is equipped with C axle oscillating motor in described transition sleeve, and described C axle oscillating motor output is connected with described probe socket;
A axle swings module, comprises A axle oscillating motor, and the output of described A axle oscillating motor is connected with probe.
2. curved surface three-D ultrasonic as claimed in claim 1 four-seven-axis linkage device for flaw detection, it is characterized in that: X-axis crossbeam supporting plate be provided with the second guide rail with its axially parallel, on the second guide rail, be equipped with Four-slider, between X-axis crossbeam supporting plate the first web member, by the second guide rail, be connected activity clamping between described the first web member and Z axis column with Four-slider.
3. curved surface three-D ultrasonic flaw detection as claimed in claim 1, with four-seven-axis linkage device, is characterized in that: in the direction of motion of described X-axis mobile module, Y-axis mobile module, Z axis mobile module, be respectively equipped with position sensing element.
4. curved surface three-D ultrasonic as claimed in claim 1 four-seven-axis linkage device for flaw detection, is characterized in that: in the bottom of described Z axis column, the bearing of setting is 2 supporting constructions of duplex bearing or single-point support structure.
5. curved surface three-D ultrasonic flaw detection as claimed in claim 1, with four-seven-axis linkage device, is characterized in that: described probe polished rod inside is monolateral hollow-core construction.
6. curved surface three-D ultrasonic as claimed in claim 1 four-seven-axis linkage device for flaw detection, it is characterized in that: workpiece revolution module comprises the supporting disk of supporting workpiece, be placed in the turning motor that supporting disk below drives the running of revolution module, between described supporting disk and turning motor, be provided with check-out console, check-out console below is provided with the outer base being connected with turning motor, check-out console top is provided with the base being fixedly connected with described outer base, between described base and supporting disk, be provided with the centering ring being fixedly connected with base, described centering ring inner ring is provided with the driving ring being fixedly connected with supporting disk, be connected with driving-disc with described driving ring, described driving-disc and base, outer base connects, between described outer base and driving-disc, be provided with a whole collar, driving-disc is connected by the whole collar with turning motor.
7. curved surface three-D ultrasonic flaw detection as claimed in claim 6, with four-seven-axis linkage device, is characterized in that: described whole collar inside is equipped with a bearing, between the driving-disc above described bearing and whole collar inner side, is provided with the first seal.
8. curved surface three-D ultrasonic as claimed in claim 6 four-seven-axis linkage device for flaw detection, is characterized in that: outside the described whole collar and be also provided with the second seal between outer base.
9. curved surface three-D ultrasonic flaw detection as claimed in claim 1, with four-seven-axis linkage device, is characterized in that: the signal feedback device that described B axle oscillating motor, C axle oscillating motor, A axle oscillating motor are coaxially connected with respectively.
10. curved surface three-D ultrasonic as claimed in claim 1 four-seven-axis linkage device for flaw detection, it is characterized in that: described body is frame body or door frame body form, the link that connects top kinematic system and described frame body is main beam, and the link that connects top kinematic system and described door frame body is beam framework.
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| CN201110071714.8A CN102692457B (en) | 2011-03-24 | 2011-03-24 | Four-seven-axis linkage apparatus for three-dimensional flaw detection on curved surface |
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| CN201110071714.8A CN102692457B (en) | 2011-03-24 | 2011-03-24 | Four-seven-axis linkage apparatus for three-dimensional flaw detection on curved surface |
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| CN108072698A (en) * | 2016-11-15 | 2018-05-25 | 中国科学院沈阳计算技术研究所有限公司 | A kind of water soaked ultrasonic detection system and method |
| CN108318508A (en) * | 2018-05-07 | 2018-07-24 | 丹东市中讯科技有限公司 | A kind of flaw detection mechanical structure |
| CN109738528B (en) * | 2018-12-19 | 2021-06-08 | 中国兵器科学研究院宁波分院 | Ultrasonic C scanning automatic detection system |
| CN111307953B (en) * | 2020-03-31 | 2023-09-26 | 奥瑞视（北京）科技有限公司 | Ultrasonic detection device and method for large-sized revolving body |
| CN112747922A (en) * | 2020-12-22 | 2021-05-04 | 神华铁路装备有限责任公司 | Flaw detection mechanism and flaw detection scanning device |
| CN113091663B (en) * | 2021-03-25 | 2022-11-29 | 中国航发南方工业有限公司 | Water immersion ultrasonic geometric accuracy calibration system |
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