CN103235044A - Multi-degree of freedom large-scale ultrasound scanning automation equipment - Google Patents
Multi-degree of freedom large-scale ultrasound scanning automation equipment Download PDFInfo
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- CN103235044A CN103235044A CN2013101718575A CN201310171857A CN103235044A CN 103235044 A CN103235044 A CN 103235044A CN 2013101718575 A CN2013101718575 A CN 2013101718575A CN 201310171857 A CN201310171857 A CN 201310171857A CN 103235044 A CN103235044 A CN 103235044A
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Abstract
The invention discloses multi-degree of freedom large-scale ultrasound scanning automation equipment. The multi-degree of freedom large-scale ultrasound scanning automation equipment is mainly composed of a part surface scanning track generating part, a moving operative part and an imaging and processing software part, wherein the moving operative part is composed of a mechanical arm system, Y and X shaft moving systems and a frame body; the mechanical arm system is composed of an ultrasonic probe, an ultrasonic probe clamping mechanism, an industry mechanical arm and a mechanical arm installing base; the Y shaft moving system is composed of a longitudinal beam and a longitudinal beam moving servo system, and the X shaft moving system is composed of a front transverse beam and a front transverse beam moving servo system and a rear transverse beam and a rear transverse beam moving servo system; and a frame system is composed of a left auxiliary longitudinal beam, a right auxiliary longitudinal beam, a stand column, a height adjusting device and a base. The multi-degree of freedom large-scale ultrasound scanning automation equipment provided by the invention has the advantages that the automation equipment is used for carrying out ultrasound automatic scanning crack detection on a workpiece with a complicated surface shape, the applied range is wide, the automation degree is high, the distribution is beautiful and the like.
Description
Technical field
The present invention relates to the Non-Destructive Testing automatic field, the Ultrasonic Detection automation equipment of inventing has that range of movement is big, and degree of freedom is many, can carry out the Automated inspection of ultrasonic robotization detection and ultrasonic probe to the surface of the work of complicated shape.
Background technology
Ultrasonic Detection is that the ultrasound wave that utilizes ultrasonic transducer (detection probe) to send acts on the detected workpiece, determine size, the position of defective by measuring reflection wave, it is present most widely used Non-Destructive Testing form, have simple to operate, cost is low, to environment and the harmless advantage of operator.In Ultrasonic Detection when work, at first will be carried out in advance screening, correction, check to indexs such as the sensitivity of ultrasonic probe, performances in the laboratory, carry out Ultrasonic Detection at detected workpiece then, if find that reflection wave shows defectiveness unusually, need by determining the position of defective in the laboratory in the test block contrast of embedding defective in advance, need a large amount of manual operations of operator, and translational speed can't accurately be controlled, so can't accurate measurement by operator's experience with feel to carry out during manual operation.Need the center line of ultrasonic probe and the normal of detected face to overlap when carrying out the surface of the work scanning with ultrasonic probe, and need certain snap-in force, just can finish ultrasonic scan for a plurality of degree of freedom of complex-curved needs, so the Ultrasonic Detection automation equipment ubiquity automaticity of using is low at present, can only detect the workpiece of simple shape such as cylinder or plane, the patent No. is that the ultrasonic scan automation equipment of 201210273739.0 inventions can only detect tubing and flat panel workpieces, versatility is poor, and the patent No. is that the ultrasonic scan automation equipment of 01131937.2 invention can only carry out automatic scanning to the heavy caliber girth joint.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcomes the deficiencies in the prior art, a kind of kinematic accuracy height that has is provided, and repeatable strong, range of application is big, can be used for large complicated carvedly, the automaticity height can alleviate the Ultrasonic Detection automation equipment of operator's labour intensity greatly.
Technical solution of the present invention is: the large-scale ultrasonic scan automation equipment of a kind of multiple degrees of freedom, mainly formed by piece surface scanning path generating portion, motion operating part, imaging and processing software part, the motion operating part mainly is made up of arm-and-hand system, Y-axis kinematic system, X-axis kinematic system and frame body, and arm-and-hand system comprises: ultrasonic probe, ultrasonic probe clamping device, industry mechanical arm, mechanical arm mount pad; The Y-axis kinematic system comprises: longeron and longeron motion servo system; The X-axis kinematic system comprises: front beam and front beam motion servo system, rear cross beam and rear cross beam motion servo system; Frame system is by the left redundant longeron, the right redundant longeron, preceding right column, preceding left column, back left column, back right column, height adjuster, compositions such as base, ultrasonic probe is installed in the end of industry mechanical arm by the ultrasonic probe clamping device, industry mechanical arm is installed on the mechanical arm mount pad by screw, the mechanical arm mount pad is installed in the longeron motion servo system by screw, the longeron front end is installed in the front beam motion servo system by screw, the longeron rear end is installed in the rear cross beam motion servo system by screw, the left redundant longeron, the right redundant longeron is connected between front beam and the rear cross beam by the two ends screw, preceding right column, preceding left column is installed in the front beam two ends by screw, back left column, back right column is installed in the rear cross beam two ends by screw, below each column height adjuster is installed, height adjuster is installed on the base by foot bolt, and base is placed on ground; Described longeron, front beam, the box type structure girder of rear cross beam for welding; Described front beam motion servo system and the operation of rear cross beam motion servo system synchronization and longeron motion servo system interlink; Described probe clamping device is passive air prefastening; Described industry mechanical arm is the six degree of freedom industry mechanical arm; Described longeron, slide block is installed at two ends, is between front beam, the rear cross beam; The height of right column, preceding left column, back left column, back right column is regulated by height adjuster before described, and height adjuster is that wedge shape is regulated, and it is fastening by screw to regulate the back; Described left redundant longeron, right redundant longeron are contained between front beam and the rear cross beam; Described ultrasonic scan device is installed on the holistic base, and base is that reinforcing bar mixes soil material.
The principle of such scheme is: when to curved surface (special circumstances of curved surface can be thought in the plane) when carrying out ultrasonic scan, at first obtain surface configuration and the size for the treatment of the scanning part, automatically generated the movement locus of scanning by computing machine, if range of movement or attitude scope are in the scope of industry mechanical arm, then only depend on mechanical arm to finish, if range of movement or attitude scope exceed the activity space of mechanical arm, then motion is found the solution part through calculating, draw X-axis or y-axis shift moving speed and displacement, control system is sent instruction to drive motor, wherein X-axis has front beam and rear cross beam two cover motion servo systems, this two covers servo-drive system synchronous operation, finish the X-axis servo motion jointly, X-axis and the interlock of Y-axis servo motion, finish specific circular motion in the plane, realize the curvilinear motion of industry mechanical arm integral body, six-freedom motion in conjunction with mechanical arm itself, can realize 8 degree of freedom motions of arm end ultrasonic probe, can be implemented in the motion of certain space ultrasonic probe inside optional position and attitude, finish the automatic scanning on arbitrary shape workpiece surface, the motion process of single cover servo-drive system is such: the steering order that control system is sent, drive motor rotatablely moves, after slowing down, reducer casing drives the leading screw rotation by shaft coupling, leading screw is by preceding, rear bearing block supports axial location, leading screw and nut are formed leading screw-nut kinematic pair together, nut is fixed on to be needed on the mobile moving member, limited rotatablely moving of nut itself, like this, nut drive moving member moves when leading screw rotates, realize predetermined motion, guide rail plays a part moving member is supported, and moving member is moved along guide rail, realizes high kinematic accuracy; Leading screw-the nut that adopts is ball-screw nut, and the guide rail that adopts is the ball linear guides, occurs creeping phenomenon when avoiding system's low-speed motion, guarantees kinematic accuracy; The longitudinal and cross beam that adopts has the box-structure of sealing, and guaranteeing to have high strength and stiffness, the left and right false longeron in two ends also is for increasing the rigidity of frame system, improve the mode of frame system, avoid resonance effect, guaranteeing kinematic accuracy; Preceding left column, preceding right column, back left column, back right column also adopts the sealing welded structure of hollow, cable can be walked in its inside, guarantee that outward appearance is clean and tidy, and improve the rigidity of column, owing to make and alignment error, they highly can not be identical, height adjuster by its underpart carries out the height adjusting, concrete adjustment process is such: unclamp the coupling bolt of height adjuster and column, by the adjustment bolt of rotary wedge piece, promote wedge and advance, because wedge is gradient at moving direction, when the wedge translation, just adjusted the height of column, the fixedly connected bolt in back of adjusting to the right place, and the water mudding is dead.
The advantage of the present invention and existing scanning system is: the robotization of height, and all work all is to be finished by computer software, need not the operator and intervenes; High kinematic accuracy and detection position precision are higher with respect to its bearing accuracy of manual inspection; The diversity of movement locus, optional position and the attitude that will reach arbitrarily any in the space need 6 degree of freedom, and mechanical arm itself has 6DOF, add X, Y moving guide rail, the total degree of freedom of system reaches 8, have 2 redundant degree of freedom, when scanning, can have colourful attitude like this, keep away barrier for complex-curved scanning provides, path planning provides multiple choices; Be easy to realize system automation.
Description of drawings
Fig. 1 is the motion operating part synoptic diagram of the large-scale ultrasonic scan automation equipment of the multiple degrees of freedom of the technology of the present invention solution;
Fig. 2 is the motion servo system schematic of the large-scale ultrasonic scan automation equipment of the multiple degrees of freedom of the technology of the present invention solution;
Fig. 2 a is the motion servo system front view of the large-scale ultrasonic scan automation equipment of the multiple degrees of freedom of the technology of the present invention solution;
Fig. 2 b is the motion servo system vertical view of the large-scale ultrasonic scan automation equipment of the multiple degrees of freedom of the technology of the present invention solution;
Fig. 3 is the crossbeam synoptic diagram of the large-scale ultrasonic scan automation equipment of the multiple degrees of freedom of the technology of the present invention solution;
Fig. 4 is the longeron synoptic diagram of the large-scale ultrasonic scan automation equipment of the multiple degrees of freedom of the technology of the present invention solution;
Fig. 5 is the longeron synoptic diagram of the large-scale ultrasonic scan automation equipment of the multiple degrees of freedom of the technology of the present invention solution;
Fig. 5 a is the longeron synoptic diagram right view of the large-scale ultrasonic scan automation equipment of the multiple degrees of freedom of the technology of the present invention solution;
Fig. 5 b is the longeron synoptic diagram front view of the large-scale ultrasonic scan automation equipment of the multiple degrees of freedom of the technology of the present invention solution;
Fig. 6 is the beam seat synoptic diagram of the large-scale ultrasonic scan automation equipment of the multiple degrees of freedom of the technology of the present invention solution;
Fig. 7 is the mechanical arm mount pad synoptic diagram of the large-scale ultrasonic scan automation equipment of the multiple degrees of freedom of the technology of the present invention solution;
Fig. 8 is the column synoptic diagram of the large-scale ultrasonic scan automation equipment of the multiple degrees of freedom of the technology of the present invention solution;
Fig. 9 is the height adjuster synoptic diagram of the large-scale ultrasonic scan automation equipment of the multiple degrees of freedom of the technology of the present invention solution;
Figure 10 is the probe clamping structural scheme of mechanism of the large-scale ultrasonic scan automation equipment of the multiple degrees of freedom of the technology of the present invention solution;
Embodiment
Shown in Figure 1, piece surface shape acquisition unit is divided the surface information that obtains to treat the scanning workpiece among the present invention, size according to surface information and probe generates scanning path automatically, tried to achieve to realizing the motion of this each degree of freedom of track by scanning path, movable information is delivered to the motion operating part, realization scanning campaign generates the internal image of scanning automatically according to the ultrasonic reflections signal in scanning, and according to size and the position of the inner whether defectiveness of image automatic judging and defective; The motion operating part is made up of arm-and-hand system, Y-axis kinematic system, X-axis kinematic system and frame body among the present invention; Arm-and-hand system comprises: ultrasonic probe (1), ultrasonic probe clamping device (2), industry mechanical arm (3), mechanical arm mount pad (4); The Y-axis kinematic system comprises: longeron (5) and longeron motion servo system (50); The X-axis kinematic system comprises: front beam (6) and front beam motion servo system (60), rear cross beam (6a) and rear cross beam motion servo system (6a0); Frame system is made up of left redundant longeron (7), right redundant longeron (7a), preceding right column (8), preceding left column (8a), back left column (8b), back right column (8c), height adjuster (9), base (10) etc.; Ultrasonic probe (1) is installed in the end of industry mechanical arm (3) by ultrasonic probe clamping device (2), guarantee that by probe clamping device (2) ultrasonic probe (1) acts on by the scanning curved surface with certain pressure, the base through screws of industry mechanical arm (3) is installed on the mechanical arm mount pad (4), mechanical arm mount pad (4) links to each other with nut by four slide blocks of screw and longeron motion servo system (50), longeron motion servo system (50) is installed in the lower plane of longeron (5), longeron (5) one ends are installed on four slide blocks and nut of front beam motion servo system (60) by screw, front beam motion servo system (60) is installed on the front beam (6) by screw, longeron (5) other end links to each other with nut by four slide blocks of screw and rear cross beam motion servo system (6a0), rear cross beam motion servo system (6a0) is installed on the rear cross beam (6a) by screw, left redundant longeron (7), right redundant longeron (7a) is connected between front beam (6) and the rear cross beam (6a) by the two ends screw, preceding right column (8), preceding left column (8a) is installed in front beam (6) two ends by screw, back left column (8b), back right column (8c) is installed in rear cross beam (6a) two ends by screw, height adjuster (9) is installed below each column, height adjuster (9) is installed on the base (10) by foot bolt, and base (10) is placed on ground.
Fig. 2 is motion servo system schematic among the present invention, the motion servo system comprises drive motor (101), reducer casing (102), shaft coupling (103), front-end bearing pedestal (104), rear bearing block (104a), leading screw (105), nut (106), following left slider (107), last left slider (107a), go up right slide block (107b), bottom right slide block (107c), upper rail (108), lower guideway (108a), collision avoidance system (109) and base compositions such as (112), the output shaft of drive motor (101) drives reducer casing (102) by ring flange, the output shaft of reducer casing links to each other with leading screw (105) by shaft coupling (103), leading screw (105) is installed between front-end bearing pedestal (104) and the rear bearing block (104a), front-end bearing pedestal (104) and rear bearing block (104a) are installed on the base, nut (106) is installed on the leading screw (105), last left slider (107), going up right slide block (107c) is installed on the upper rail (108), following left slider (107a), bottom right slide block (107b) is installed on the lower guideway (108a), upper rail (108) and lower guideway (108a) are installed on the base (112) by two row's screws respectively, collision avoidance system (109) also is installed on the base (112) by screw, the motion servo system is installed on longeron or the crossbeam by base (112), and installed surface is (201).
Fig. 3 is front beam (6) and rear cross beam (6a) synoptic diagram among the present invention, they have identical structure, adopt the box weldment, and (601), (601a) locate to be the false longeron installation site, (602) locate to be motion servo system base (112) installation site that (603) are the column installation site.
Fig. 4 is longeron (5) synoptic diagram among the present invention, longeron (5) is made of longeron body (51) and longeron mount pad (52), longeron mount pad (52) has four, is installed in the two ends of longeron respectively by screw, and position (501) locate the installed surface into longeron motion servo system.
Fig. 5 is longeron body (51) synoptic diagram among the present invention, figure (5a) is left view, and figure (5b) is right view, and cross girder (51) adopts the box weldment, (501) locate installed surface into longeron motion servo system, position (502) and (502a) locate to be longeron mount pad installation place.
Fig. 6 is longeron mount pad (52) synoptic diagram among the present invention, totally four of longeron mount pads, longeron body (52) two ends are respectively installed two, position (521) is located to locate for nut (106) is installed, it is mobile to drive longeron (5) by nut (106), the slide block installation place is located to be in position (522) and position (523), and two longeron mount pads are installed left slider (107), following left slider (107a) respectively, gone up right slide block (107c), bottom right slide block (107b).
Fig. 7 is mechanical arm mount pad (4) synoptic diagram among the present invention, (401) locate to vertical nut location place is installed, (402) are total everywhere, and four slide blocks are installed respectively, mechanical arm is installed on the mechanical arm mount pad (4) by the base of self, drives mechanical arm by mechanical arm mount pad (4) and moves.
Fig. 8 is central post of the present invention (8) synoptic diagram, and column adopts the box hollow structure, and inner hollow is convenient to cable, and position (801) locate to be the crossbeam installation site, and position (802) locate to be the arrangement for adjusting height installation site, and (803) are the plug installation site.
Fig. 9 is height adjuster (9) synoptic diagram among the present invention, lower wedge block (91) and last voussoir (92) cooperate with the inclined-plane, slope is identical, angle is less than the angle of friction of material, mobile at lower wedge block by voussoir (92) in rotating threaded shaft (93) drive, and then adjust height, shut with concrete the suitable back of height control.
Figure 10 is clamping device (2) synoptic diagram of popping one's head among the present invention, by piston rod (21), cylinder (22) and web joint (23) are formed, piston rod front end (210) locates to install ultrasonic probe (1), locate to connect the gas of certain pressure by cylinder (220), guarantee that ultrasonic probe (1) acts on by scanning face with certain pressure.
In a word, the large-scale ultrasonic scan automation equipment of multiple degrees of freedom of the present invention has automaticity height, outward appearance grace, can alleviate advantages such as operator's intensity.
The content that is not described in detail in the instructions of the present invention belongs to this area professional and technical personnel's known prior art.
The above only is preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (9)
1. the large-scale ultrasonic scan automation equipment of multiple degrees of freedom mainly is made up of piece surface scanning path generating portion, motion operating part, imaging and processing software part; It is characterized in that: the motion operating part is made up of arm-and-hand system, Y-axis kinematic system, X-axis kinematic system and frame body; Arm-and-hand system comprises: ultrasonic probe (1), ultrasonic probe clamping device (2), industry mechanical arm (3), mechanical arm mount pad (4); The Y-axis kinematic system comprises: longeron (5) and longeron motion servo system (50); The X-axis kinematic system comprises front beam (6) and front beam motion servo system (60), rear cross beam (6a) and rear cross beam motion servo system (6a0); Frame system is by left redundant longeron (7), right redundant longeron (7a), preceding right column (8), preceding left column (8a), back left column (8b), back right column (8c), height adjuster (9), base (10) is formed, ultrasonic probe (1) is installed in the end of industry mechanical arm (3) by ultrasonic probe clamping device (2), the base through screws of industry mechanical arm (3) is installed on the mechanical arm mount pad (4), mechanical arm mount pad (4) is installed in the longeron motion servo system (50) by screw, longeron motion servo system (50) is installed in the lower plane of longeron (5), longeron (5) front end is installed in the front beam motion servo system (60) by screw, longeron (5) rear end is installed in the rear cross beam motion servo system (6a0) by screw, left redundant longeron (7), right redundant longeron (7a) is connected between front beam (6) and the rear cross beam (6a) by the two ends screw, preceding right column (8), preceding left column (8a) is installed in front beam (6) two ends by screw, back left column (8b), back right column (8c) is installed in rear cross beam (6a) two ends by screw, height adjuster (9) is installed below each column, height adjuster (9) is installed on the base (10) by foot bolt, base (10) is placed on ground, and front beam motion servo system (60) has identical structure with rear cross beam motion servo system (6a0).
2. the large-scale ultrasonic scan device of a kind of multiple degrees of freedom according to claim 1 is characterized in that: described longeron (5), front beam (6), the box type structure girder of rear cross beam (6a) for welding.
3. the large-scale ultrasonic scan device of a kind of multiple degrees of freedom according to claim 1 is characterized in that: described front beam motion servo system and the operation of rear cross beam motion servo system synchronization and longeron motion servo system interlink.
4. the large-scale ultrasonic scan device of a kind of multiple degrees of freedom according to claim 1, it is characterized in that: described probe clamping device (2) is passive air prefastening.
5. the large-scale ultrasonic scan device of a kind of multiple degrees of freedom according to claim 1, it is characterized in that: described industry mechanical arm (3) is the six degree of freedom industry mechanical arm.
6. the large-scale ultrasonic scan device of a kind of multiple degrees of freedom according to claim 1 is characterized in that: described longeron (5), two ends link to each other respectively at front beam motion servo system (60), rear cross beam motion servo system (6a0).
7. the large-scale ultrasonic scan device of a kind of multiple degrees of freedom according to claim 1, it is characterized in that: the height of right column (8), preceding left column (8a), back left column (8b), back right column (8c) is regulated by height adjuster (9) before described, height adjuster (9) is regulated for wedge shape, it is fastening by screw to regulate the back, and the water mudding is dead.
8. the large-scale ultrasonic scan device of a kind of multiple degrees of freedom according to claim 1, it is characterized in that: described left redundant longeron (7), right redundant longeron (7a) are contained between front beam (6) and the rear cross beam (6a).
9. the large-scale ultrasonic scan device of a kind of multiple degrees of freedom according to claim 1, it is characterized in that: described ultrasonic scan device is installed on the holistic base (10), and base is that reinforcing bar mixes soil material.
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| CN201310171857.5A CN103235044B (en) | 2013-05-06 | 2013-05-06 | Multi-degree of freedom large-scale ultrasound scanning automation equipment |
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| CN201310171857.5A CN103235044B (en) | 2013-05-06 | 2013-05-06 | Multi-degree of freedom large-scale ultrasound scanning automation equipment |
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| CN103235044B CN103235044B (en) | 2015-07-08 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105092123A (en) * | 2015-07-10 | 2015-11-25 | 北京航空航天大学 | Local stress detection platform for bolt assembling of aerospace structural member |
| CN106353401A (en) * | 2016-08-26 | 2017-01-25 | 四川石油天然气建设工程有限责任公司 | Automatic bend flaw detection system |
| CN108508092A (en) * | 2018-05-29 | 2018-09-07 | 北京安可为检测科技有限公司 | Wind electricity blade automatic ultrasonic non-destructive testing scanning equipment |
| CN110002160A (en) * | 2019-04-12 | 2019-07-12 | 山东青岛烟草有限公司 | A kind of multi-faceted barcode scanning device of movable type smoke box storage |
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| CN101264602A (en) * | 2008-05-05 | 2008-09-17 | 哈尔滨工程大学 | Super working stroke six-freedom macro-micro combination series connection robot |
| CN201555577U (en) * | 2009-12-03 | 2010-08-18 | 甘太喜 | Horizontal cross member of coordinate measuring device and coordinate measuring device provided with same |
| CN202471659U (en) * | 2011-12-31 | 2012-10-03 | 上海航天精密机械研究所 | Automatic scanning device for ultrasonic phased array inspection of aluminum plate in friction stir welding |
| CN103018341A (en) * | 2012-11-29 | 2013-04-03 | 北京理工大学 | High-rigidity three-coordinate scanning frame for scanning sound field of ultrasonic phased array transducer |
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| CN101264602A (en) * | 2008-05-05 | 2008-09-17 | 哈尔滨工程大学 | Super working stroke six-freedom macro-micro combination series connection robot |
| CN201555577U (en) * | 2009-12-03 | 2010-08-18 | 甘太喜 | Horizontal cross member of coordinate measuring device and coordinate measuring device provided with same |
| CN202471659U (en) * | 2011-12-31 | 2012-10-03 | 上海航天精密机械研究所 | Automatic scanning device for ultrasonic phased array inspection of aluminum plate in friction stir welding |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105092123A (en) * | 2015-07-10 | 2015-11-25 | 北京航空航天大学 | Local stress detection platform for bolt assembling of aerospace structural member |
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| CN108508092B (en) * | 2018-05-29 | 2023-09-12 | 北京安可为检测科技有限公司 | Automatic ultrasonic nondestructive testing scanning device for wind power blade |
| CN110002160A (en) * | 2019-04-12 | 2019-07-12 | 山东青岛烟草有限公司 | A kind of multi-faceted barcode scanning device of movable type smoke box storage |
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| CN103235044B (en) | 2015-07-08 |
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