CN103235044B - 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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- CN103235044B CN103235044B CN201310171857.5A CN201310171857A CN103235044B CN 103235044 B CN103235044 B CN 103235044B CN 201310171857 A CN201310171857 A CN 201310171857A CN 103235044 B CN103235044 B CN 103235044B
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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 Non-Destructive Testing automatic field, it is large that the Ultrasonic Detection automation equipment invented has range of movement, and degree of freedom is many, can carry out the Automated inspection of ultrasonic Aulomatizeted Detect and ultrasonic probe to the surface of the work of complicated shape.
Background technology
Ultrasonic Detection be utilize ultrasonic transducer (detection probe) to send ul-trasonic irradiation on detected workpiece, size, the position of defect is determined by measuring reflection wave, it is current most widely used Non-Destructive Testing form, have simple to operate, cost is low, to environment and the harmless advantage of operator.First screening in advance, correction, inspection will be carried out in laboratory to indexs such as the sensitivity of ultrasonic probe, performances during Ultrasonic Detection work, then on detected workpiece, Ultrasonic Detection is carried out, if find, reflection wave is abnormal shows defectiveness, need by laboratory in the test block of embedding defect in advance contrast determine the position of defect, need a large amount of manual operation of operator, and during manual operation, translational speed is leaned on the experience of operator and feels to carry out, and cannot accurately control, therefore cannot accurate measurement.The normal in the center line of ultrasonic probe and detected face is needed to overlap when carrying out surface of the work scanning with ultrasonic probe, and need certain snap-in force, just ultrasonic scan can be completed for the multiple degree of freedom of complex-curved needs, therefore the Ultrasonic Detection automation equipment ubiquity automaticity used at present is low, can only to the workpiece of simple shape as cylinder or plane detect, the patent No. is that the ultrasonic scan automation equipment of 201210273739.0 inventions can only detect tubing and flat panel workpieces, poor universality, the patent No. is that the ultrasonic scan automation equipment of 01131937.2 invention can only carry out automatic scanning to heavy caliber girth joint.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, provides one to have kinematic accuracy high, repeatable strong, range of application is large, can be used for large complicated carved, automaticity is high, greatly can alleviate the Ultrasonic Detection automation equipment of operator's labour intensity.
Technical solution of the present invention is: the large-scale ultrasonic scan automation equipment of a kind of multiple degrees of freedom, primarily of piece surface scanning path generating portion, Motor execution part, imaging and processing software part composition, Motor execution part is primarily of arm-and-hand system, Y-axis kinematic system, X-axis kinematic system and frame body composition, and arm-and-hand system comprises: ultrasonic probe, ultrasonic probe clamping device, industry mechanical arm, mechanical arm mount pad, Y-axis kinematic system comprises: longeron and longeron motion servo system, 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 left redundant longeron, right redundant longeron, front right column, front left column, rear left column, rear right column, height adjuster, the compositions such as base, ultrasonic probe is arranged on the end of industry mechanical arm by ultrasonic probe clamping device, industry mechanical arm is arranged on mechanical arm mount pad by screw, mechanical arm mount pad is arranged in longeron motion servo system by screw, longeron front end is installed in front beam motion servo system by screw, longeron rear end is arranged in rear cross beam motion servo system by screw, left redundant longeron, right redundant longeron is connected between front beam and rear cross beam by two ends screw, front right column, front left column is arranged on front beam two ends by screw, rear left column, rear right column is arranged on rear cross beam two ends by screw, below each column, height adjuster is installed, height adjuster is arranged on base by foot bolt, base is placed on ground, described longeron, front beam, rear cross beam are the box type structure girder of welding, described front beam motion servo system and rear cross beam motion servo system synchronization are run, and longeron motion servo system interlink, described probe clamping device is passive air prefastening, described industry mechanical arm is six degree of freedom industry mechanical arm, described longeron, slide block is installed at two ends, is between front beam, rear cross beam, the height of described front right column, front left column, rear left column, rear right column is regulated by height adjuster, and height adjuster is that wedge shape regulates, by screw fastening after adjustment, described left redundant longeron, right redundant longeron are contained between front beam and rear cross beam, described ultrasonic scan device is arranged on holistic base, and base is that reinforcing bar mixes soil material.
The principle of such scheme is: when carrying out ultrasonic scan to curved surface (plane can think the special circumstances of curved surface), first surface configuration and the size for the treatment of scanning part is obtained, automatically the movement locus of scanning is generated by computing machine, if range of movement or attitude scope are in the scope of industry mechanical arm, then only come by mechanical arm, if range of movement or attitude scope exceed the activity space of mechanical arm, then motion solves part through calculating, draw speed and the displacement of X-axis or Y-axis movement, control system sends instruction to drive motor, wherein X-axis has front beam and rear cross beam two to overlap motion servo system, this two covers servo-drive system synchronous operation, jointly complete X-axis servo motion, X-axis and the interlock of Y-axis servo motion, complete specific circular motion in plane, realize the curvilinear motion of industry mechanical arm entirety, in conjunction with the six-freedom motion of mechanical arm itself, 8 degree of freedom motions of arm end ultrasonic probe can be realized, the motion in certain space ultrasonic probe inside optional position and attitude can be realized, complete 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 sends, drive motor rotary motion, after reducer casing slows down, drive leading screw to rotate by shaft coupling, leading screw is by front, rear bearing block supports axial location, leading screw forms guilde screw kinematic pair together with nut, nut is fixed on the moving member of needs movement, limit the rotary motion of nut itself, like this, when leading screw rotates, nut drives moving member to move, realize predetermined motion, guide rail plays a part to support moving member, moving member is moved along guide rail, realize high kinematic accuracy, the guilde screw adopted is ball-screw nut, and the guide rail adopted is ball linear guides, avoids occurring creeping phenomenon during system low-speed motion, ensures kinematic accuracy, the longitudinal and cross beam adopted has closed box-structure, ensures high strength and stiffness, and the left and right false longeron in two ends is also the rigidity for increasing frame system, improves the mode of frame system, avoids resonance effect, ensures kinematic accuracy, front left column, front right column, rear left column, rear right column also adopts the closed 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 manufacturing and alignment error, they highly can not be identical, carry out height by the height adjuster of its underpart to regulate, concrete adjustment process is such: the coupling bolt unclamping height adjuster and column, by the adjustment bolt of rotary wedge block, promotion wedge advances, because wedge is gradient at moving direction, the height of column is just have adjusted when wedge translation, bolt is fixedly connected with after adjusting to the right place, and shut with cement.
The advantage of the present invention and existing scanning system is: the robotization of height, and all work is all come by computer software, intervenes without the need to operator; High kinematic accuracy and detection positional precision are higher relative to its positioning precision of manual inspection; The diversity of movement locus, optional position and the attitude that will reach any point in 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, there are 2 redundant degree of freedom, can multi-pose be had when scanning like this, keep away barrier for complex-curved scanning provides, path planning provides multiple choices; Be easy to realize system automation.
Accompanying drawing explanation
Fig. 1 is the Motor execution partial schematic diagram of the large-scale ultrasonic scan automation equipment of 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 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 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 multiple degrees of freedom of the technology of the present invention solution;
Fig. 3 is the crossbeam schematic diagram of the large-scale ultrasonic scan automation equipment of multiple degrees of freedom of the technology of the present invention solution;
Fig. 4 is the longeron schematic diagram of the large-scale ultrasonic scan automation equipment of multiple degrees of freedom of the technology of the present invention solution;
Fig. 5 is the longeron schematic diagram of the large-scale ultrasonic scan automation equipment of multiple degrees of freedom of the technology of the present invention solution;
Fig. 5 a is the longeron schematic diagram right view of the large-scale ultrasonic scan automation equipment of multiple degrees of freedom of the technology of the present invention solution;
Fig. 5 b is the longeron schematic diagram front view of the large-scale ultrasonic scan automation equipment of multiple degrees of freedom of the technology of the present invention solution;
Fig. 6 is the beam seat schematic diagram of the large-scale ultrasonic scan automation equipment of multiple degrees of freedom of the technology of the present invention solution;
Fig. 7 is the mechanical arm mount pad schematic diagram of the large-scale ultrasonic scan automation equipment of multiple degrees of freedom of the technology of the present invention solution;
Fig. 8 is the column schematic diagram of the large-scale ultrasonic scan automation equipment of multiple degrees of freedom of the technology of the present invention solution;
Fig. 9 is the height adjuster schematic diagram of the large-scale ultrasonic scan automation equipment of 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 multiple degrees of freedom of the technology of the present invention solution;
Embodiment
Shown in Fig. 1, in the present invention, piece surface shape fetching portion obtains the surface information treating scanning workpiece, size according to surface information and probe generates scanning path automatically, the motion for realizing this each degree of freedom of track is tried to achieve by scanning path, movable information is delivered to Motor execution part, realize scanning campaign, in scanning, automatically generate the internal image of scanning according to ultrasonic reflections signal, and according to the size of the inner whether defectiveness of image automatic judging and defect and position, in the present invention, Motor execution 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), Y-axis kinematic system comprises: longeron (5) and longeron motion servo system (50), 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), front right column (8), front left column (8a), rear left column (8b), rear right column (8c), height adjuster (9), base (10) etc., ultrasonic probe (1) is arranged on the end of industry mechanical arm (3) by ultrasonic probe clamping device (2), ensure that ultrasonic probe (1) acts on by scanning curved surface with certain pressure by probe clamping device (2), the base through screws of industry mechanical arm (3) is arranged on mechanical arm mount pad (4), mechanical arm mount pad (4) is connected with nut with four slide blocks of longeron motion servo system (50) by screw, longeron motion servo system (50) is arranged on the lower plane of longeron (5), longeron (5) one end by screw install front beam motion servo system (60) four slide blocks and nut on, front beam motion servo system (60) is arranged on front beam (6) by screw, longeron (5) other end is connected with nut with four slide blocks of rear cross beam motion servo system (6a0) by screw, rear cross beam motion servo system (6a0) is arranged on rear cross beam (6a) by screw, left redundant longeron (7), right redundant longeron (7a) is connected between front beam (6) and rear cross beam (6a) by two ends screw, front right column (8), front left column (8a) is arranged on front beam (6) two ends by screw, rear left column (8b), rear right column (8c) is arranged on rear cross beam (6a) two ends by screw, height adjuster (9) is installed below each column, height adjuster (9) is arranged on base (10) by foot bolt, base (10) is placed on ground.
Fig. 2 is motion servo system schematic in the present invention, and 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), lower left slider (107), upper left slider (107a), upper right slide block (107b), bottom right slide block (107c), upper rail (108), lower guideway (108a), the compositions such as collision avoidance system (109) and base (112), the output shaft of drive motor (101) drives reducer casing (102) by ring flange, the output shaft of reducer casing is connected with leading screw (105) by shaft coupling (103), leading screw (105) is arranged between front-end bearing pedestal (104) and rear bearing block (104a), front-end bearing pedestal (104) and rear bearing block (104a) are arranged on base, nut (106) is arranged on leading screw (105), upper left slider (107), upper right slide block (107c) is arranged on upper rail (108), lower left slider (107a), bottom right slide block (107b) is arranged on lower guideway (108a), upper rail (108) and lower guideway (108a) are arranged on base (112) respectively by two row's screws, collision avoidance system (109) is also arranged on base (112) by screw, motion servo system is arranged on longeron or crossbeam by base (112), and installed surface is (201).
Fig. 3 is front beam (6) and rear cross beam (6a) schematic diagram in the present invention, they have identical structure, adopt box weldment, (601), (601a) place is false longeron installation site, (602) place is motion servo system base (112) installation site, and (603) are column installation site.
Fig. 4 is longeron (5) schematic diagram in the present invention, longeron (5) is made up of longeron body (51) and longeron mount pad (52), longeron mount pad (52) has four, be arranged on the two ends of longeron respectively by screw, position (501) place is the installed surface of longeron motion servo system.
Fig. 5 is longeron body (51) schematic diagram in the present invention, figure (5a) is left view, figure (5b) is right view, cross girder (51) adopts box weldment, (501) place is the installed surface of longeron motion servo system, and position (502) and (502a) place are longeron mount pad installation place.
Fig. 6 is longeron mount pad (52) schematic diagram in the present invention, longeron mount pad totally four, longeron body (52) two ends respectively install two, position (521) place is mounting nuts (106) place, drive longeron (5) mobile by nut (106), position (522) and position (523) place are slide block installation place, and two longeron mount pads install left slider (107), lower left slider (107a), upper right slide block (107c), bottom right slide block (107b) respectively.
Fig. 7 is mechanical arm mount pad (4) schematic diagram in the present invention, (401) place is for installing longitudinal nut location place, (402) have everywhere, respectively four slide blocks are installed, mechanical arm passes through the floor installation of self on mechanical arm mount pad (4), is moved by mechanical arm mount pad (4) driving mechanical hand.
Fig. 8 is central post of the present invention (8) schematic diagram, column adopts box hollow structure, inner hollow is convenient to cable, position (801) place is crossbeam installation site, position (802) place is arrangement for adjusting height installation site, and (803) are plug installation site.
Fig. 9 is height adjuster (9) schematic diagram in the present invention, lower wedge block (91) and upper voussoir (92) coordinate with inclined-plane, slope is identical, angle is less than the angle of friction of material, moved on lower wedge block by voussoir (92) in rotating threaded shaft (93) drive, and then adjustment height, the suitable rear concrete of height control is shut.
Figure 10 is clamping device (2) schematic diagram of popping one's head in the present invention, by piston rod (21), cylinder (22) and web joint (23) composition, ultrasonic probe (1) is installed at piston rod front end (210) place, connected the gas of certain pressure by cylinder (220), ensure 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 that automaticity is high, attractive appearance, can alleviate the advantages such as operator's intensity.
The content be not described in detail in instructions of the present invention belongs to the known prior art of professional and technical personnel in the field.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles 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 (1)
1. the large-scale ultrasonic scan automation equipment of multiple degrees of freedom, primarily of piece surface scanning path generating portion, Motor execution part, imaging and processing software part composition, it is characterized in that: Motor execution 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), probe clamping device (2) are passive air prefastening, industry mechanical arm (3), industry mechanical arm (3) are six degree of freedom industry mechanical arm, mechanical arm mount pad (4), Y-axis kinematic system comprises: longeron (5) and longeron motion servo system (50), X-axis kinematic system comprises front beam (6) and front beam motion servo system (60), front beam motion servo system and rear cross beam motion servo system synchronization are run, with longeron motion servo system and mechanical arm interlock, rear cross beam (6a) and rear cross beam motion servo system (6a0), frame system is by left redundant longeron (7), right redundant longeron (7a), front right column (8), front left column (8a), rear left column (8b), rear right column (8c), height adjuster (9), base (10) forms, ultrasonic probe (1) is arranged on the end of industry mechanical arm (3) by ultrasonic probe clamping device (2), probe is driven to realize 6DOF scanning motion by mechanical arm, the mounting seat of industry mechanical arm (3) is arranged on mechanical arm mount pad (4) by screw, mechanical arm mount pad (4) is arranged in longeron motion servo system (50) by screw, longeron motion servo system (50) is arranged on the lower plane of longeron (5), longeron (5) front end is installed on front beam motion servo system (60) by screw, longeron (5) rear end is arranged in rear cross beam motion servo system (6a0) by screw, left redundant longeron (7), right redundant longeron (7a) is connected between front beam (6) and rear cross beam (6a) by two ends screw, longeron (5), two ends are respectively at front beam motion servo system (60), rear cross beam motion servo system (6a0) is connected, longeron (5), front beam (6), rear cross beam (6a) is the box type structure girder of welding, left redundant longeron (7), right redundant longeron (7a) is contained in right column (8) before between front beam (6) and rear cross beam (6a), front left column (8a) is arranged on front beam (6) two ends by screw, rear left column (8b) afterwards right column (8c) is arranged on rear cross beam (6a) two ends by screw, height adjuster (9) is installed below each column, height adjuster (9) is arranged on base (10) by foot bolt, right column (8), front left column (8a), rear left column (8b), the height of rear right column (8c) is regulated by height adjuster (9), height adjuster (9) is wedge shape adjustment, by screw fastening after adjustment, and shut with cement, base (10) is placed on ground, ultrasonic scan device is arranged on holistic base (10), base is that reinforcing bar mixes soil material, front beam motion servo system (60) and rear cross beam motion servo system (6a0) have identical structure.
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| Application Number | Priority Date | Filing Date | Title |
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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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| Application Number | Priority Date | Filing Date | Title |
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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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| CN103235044A CN103235044A (en) | 2013-08-07 |
| CN103235044B true CN103235044B (en) | 2015-07-08 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN110002160B (en) * | 2019-04-12 | 2020-10-02 | 山东青岛烟草有限公司 | Portable smoke box warehouse entry is with diversified yard device of sweeping |
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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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2013
- 2013-05-06 CN CN201310171857.5A patent/CN103235044B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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