CN106841398B - The positioning supersonic detection device and method of curved surface weldment - Google Patents
The positioning supersonic detection device and method of curved surface weldment Download PDFInfo
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- CN106841398B CN106841398B CN201710081734.0A CN201710081734A CN106841398B CN 106841398 B CN106841398 B CN 106841398B CN 201710081734 A CN201710081734 A CN 201710081734A CN 106841398 B CN106841398 B CN 106841398B
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- 238000001514 detection method Methods 0.000 title claims abstract description 47
- 238000000034 method Methods 0.000 title abstract description 8
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- 238000002604 ultrasonography Methods 0.000 claims abstract description 33
- 230000007547 defect Effects 0.000 claims abstract description 23
- 238000012545 processing Methods 0.000 claims abstract description 18
- 230000008859 change Effects 0.000 claims abstract description 4
- 238000004422 calculation algorithm Methods 0.000 claims description 14
- 238000003466 welding Methods 0.000 claims description 10
- 238000006243 chemical reaction Methods 0.000 claims description 7
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- 238000013480 data collection Methods 0.000 claims description 4
- 239000002184 metal Substances 0.000 claims description 4
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- 238000004364 calculation method Methods 0.000 claims description 3
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
- G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/023—Solids
- G01N2291/0234—Metals, e.g. steel
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/028—Material parameters
- G01N2291/0289—Internal structure, e.g. defects, grain size, texture
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/10—Number of transducers
- G01N2291/101—Number of transducers one transducer
Abstract
The present invention relates to a kind of positioning supersonic detection device of curved surface weldment and method, belong to ultrasound detection field.The ultrasonic probe of detection means is connected with ultrasound examination module, and ultrasound examination module is connected by pci bus with industrial computer；Multi link mechanical arm is connected with ultrasonic probe, ultrasonic probe is realized the detection of different spatial and posture；The angle change of each connecting rod in multi link mechanical arm is converted to electric signal and feeds back to data collecting card by five angular transducers on multi link mechanical arm, and inputs industrial computer by USB connecting lines.Detection method includes the steps such as workpiece surface processing, multi link mechanical arm position base arrangement and workpiece surface scanning.Solve the quantitative ultrasound test problems that mechanical mechanism driving ultrasonic probe is difficult to complex-curved part, while high accuracy is carried out to inside workpiece defect and quantifies scanning online and numerical value and image feedback is formed by computer fitting.
Description
Technical field
The present invention relates to ultrasound detection field, the positioning supersonic detection device of more particularly to a kind of curved surface weldment and side
Method, the positioning supersonic detection device and method of espespecially a kind of curved surface weldment based on serial-parallel mirror mechanism.
Background technology
Quantitative ultrasound ripple detects, and drives ultrasonic probe frequently with mechanical mechanism, by the control to mechanical mechanism, makes ultrasound
Probe reaches ad-hoc location, and scanning is carried out in specific region.In each scanning point, by mechanical mechanism feedback bit confidence
Breath, inside workpiece state is fed back by ultrasonic probe, then pass through computer fitting, you can the defects of obtaining inside workpiece information.But
If be detected workpiece surface Curvature varying it is larger when, the design of mechanical mechanism also will be extremely complex, is difficult to realize quantitative ultrasound inspection
Survey.Urgently improve.
The content of the invention
It is an object of the invention to provide a kind of positioning supersonic detection device of curved surface weldment and method, solve existing
Mechanical mechanism driving ultrasonic probe is difficult to the quantitative ultrasound test problems of complex-curved part existing for technology, while to workpiece
Internal flaw carries out high accuracy and quantifies scanning online, and forms numerical value and image feedback by computer fitting.
The above-mentioned purpose of the present invention is achieved through the following technical solutions：
The positioning supersonic detection device of curved surface weldment, including ultrasonic probe 2 pass through ultrasonic probe connecting line and ultrasonic wave
Detection module 3 connects, and ultrasound examination module 3 is by ultrasonic pulse radiating circuit, ultrasonic wave receiving circuit and A/D analog-to-digital conversions
Circuit is formed, and is connected by pci bus with industrial computer 1；Multi link mechanical arm 4 is connected with ultrasonic probe 2, makes ultrasonic probe
2 realize the detection of different spatial and posture；Five angular transducers on multi link mechanical arm 4 are mechanical by multi link
The angle change of each connecting rod in arm 4 is converted to electric signal and feeds back to data collecting card 6, and inputs industry by USB connecting lines
Computer 1.
Described multi link mechanical arm 4 is made up of eight connecting rod serial-parallel mirrors, is specifically：Connecting rod A401 is connected with base 409,
Junction setting angle sensors A 501；Connecting rod B402 is connected with connecting rod A401, junction setting angle sensor B502；Connecting rod
C403 is connected with connecting rod B402, junction setting angle sensor C503；Connecting rod D404 one end is connected with connecting rod B402, junction
Setting angle sensor D504；Connecting rod E405 one end is connected with connecting rod C403, the connecting rod F406 other ends with connecting rod E405 respectively
It is connected with the connecting rod D404 other end so that connecting rod C403, connecting rod D404, connecting rod E405, connecting rod F406 formation one are closed
Parallelogram；Connecting rod G407 one end is connected with connecting rod F406, while ensures that connecting rod G407 is consistent with connecting rod F406 directions, and it is pressed from both sides
Angle is 180 degree；The connecting rod G407 other end is connected with connecting rod H408, junction setting angle sensor E505；Ultrasonic probe 2 is solid
It is scheduled on connecting rod H408, position and attitudes vibration with connecting rod H408, ultrasonic probe 2 reach space optional position and examined
Survey.
Described industrial computer 1 is strong portable machine, as human-computer interaction interface, coordinates control ultrasound examination mould
Block 3 and data collecting card 6, the output for completing the positional information of ultrasonic probe 2 and the analyzing and processing and result of detection data message.
Described ultrasonic probe 2 is single-point type ultrasonic probe, and its supersonic frequency is carried out according to the material and thickness of slab of weldment
Selection；Ultrasonic probe 2 is connected by ultrasonic probe connecting line with ultrasound examination module 3, and it is right in the case of non-water logging to realize
Complex-curved weldment is scanned detection.
Described ultrasound examination module 3 is by the ultrasonic pulse radiating circuit, super that is integrated on one piece of pci bus mainboard
Acoustic receiver circuit and A/D analog to digital conversion circuits are formed, and are connected by pci bus with industrial computer 1, it is acted on be transmitting with
Ultrasonic pulse is gathered, the analog signal of echo impulse is converted into data signal and incoming industrial computer.
Described angular transducer uses high-precision increment type angular transducer, built-in optical code disk, and angular transducer often revolves
Turn an angle, export pulsatile once value.
Described data collecting card 6 is USB multi-channel data acquisition boards, and input passes through data wire and angular transducer phase
Even, each passage connects an angular transducer；Output end is connected by USB connecting lines with industrial computer 1.Its role is to
The umber of pulse of all angles sensor is read, and feeds back to industrial computer.
Described human-computer interaction interface is mainly by parameter setting area, A sweep signaling zone, C-scan imaging area and result of calculation
Viewing area etc. is formed.
Another object of the present invention is to provide a kind of positioning supersonic detection method of curved surface weldment, including following step
Suddenly：
Step (1), workpiece surface processing：Before ultrasonic scanning, dedusting, oil removing are carried out to workpiece surface, smears coupling
Mixture processing, reduce interference of the workpiece surface impurity to ultrasonic signal；
Step (2), activation system, carry out multi link mechanical arm position base arrangement：Workpiece surface data to be checked are defeated
Enter industrial computer, the locus that the ultrasonic probe included with the built-in algorithms of the system can reach is fitted, can
Directly cook up the optimum position of multi link mechanical arm base placement；It is more when weld zone surface area is smaller and negative angle is not present
The connecting rod mechanical arm base anglec of rotation<180 °, then select 1 installation site；When workpiece surface product is excessive or workpiece performance is present
Negative angle, then it can select to set the installation site of more than 2.
Step (3), workpiece surface scanning, gather the ultrasonic signal of inside workpiece, while identify defect information；
3.1st, by the hand-held ultrasonic probe for being fixed on multi link mechanical arm end, reciprocal scanning fortune is carried out in workpiece surface
It is dynamic；Wherein, the maximum speed V (mm/s) of hand-held ultrasound probe movement determinant includes：The sample frequency fs of ultrasound card
(Hz)；By the required precision ε (mm) and multi link mechanical arm coordinates feedback time t (s) of scanning part, its basic calculating formula is：
V≤min (ε × fs, ε/t)
3.2nd, any point in manual checking path, gather what angular transducer A~E on multi link mechanical arm fed back
Angle information θ1, θ2, θ3, θ3', θ7, wherein, θ1, θ2, θ7The angle rotated for the series connection cradle head of multi link mechanical arm, and
θ3, θ3' it is the angle that the cradle head in parallel of multi link mechanical arm rotates；
3.3rd, using D-H coordinate transformation methods, according to angular transducer feedack, coordinate bit residing for ultrasonic probe is calculated
Put (X7,Y7,Z7)；The basic parameter of D-H coordinate transforms is the long a of bar, the torsional angle α of two between centers, offset distance d, rotational angle theta；
3.4th, ultrasonic wave transmitting and echo signal data collection are carried out in same point, data processing module is calculated according to built-in
Method, denoising is carried out to echo-signal；According to ultrasonic wave reflected at interfaces characteristic, when ultrasonic wave inside workpiece meet it is miscellaneous
During the defects of matter, crackle, non-soldering, because defect and workpiece mother metal have obvious interface, therefore it can be reflected back in current location
Ripple, in built-in algorithms set echo detecting threshold values, you can carry out defect have/defect without feature judge；
3.5th, mobile ultrasonic probe to next scanning element, carries out repeating A sweep detection manually；Complete all scanning elements
Detection after, ultrasonic probe returns to origin position；
3.6th, by data a little form a three-dimensional matrice, be then translated into the scanning area according to coding rule
The C-scan image in domain；Dividing processing is carried out to initial C-scan image, then the internal flaw feature of image is identified, and
Logical built-in algorithms calculate weld seam and the area of internal flaw, complete the detection to welding product.
The beneficial effects of the present invention are：The present invention solve mechanical mechanism driving ultrasonic probe be difficult to it is complex-curved
The quantitative ultrasound test problems of part, while high-precision quantitatively scanning, and pass through computer online has been carried out to inside workpiece defect
Fitting forms numerical value and image feedback.
Brief description of the drawings
Accompanying drawing described herein is used for providing a further understanding of the present invention, forms the part of the application, this hair
Bright illustrative example and its illustrate to be used to explain the present invention, do not form inappropriate limitation of the present invention.
Fig. 1 is the structural representation of the detection means of the present invention；
Fig. 2 is the multi link mechanical arm structural representation of the present invention；
Fig. 3 is the system module flow chart of the present invention；
Fig. 4 is the system scanning flow chart of the present invention；
Fig. 5 is the scanning result schematic diagram of the present invention.
In figure：1st, industrial computer；2nd, ultrasonic probe；3rd, ultrasound detection module；4th, multi link mechanical arm；401st, connecting rod A；
402nd, connecting rod B；403rd, connecting rod C；404th, connecting rod D；405th, connecting rod E；406th, connecting rod F；407th, connecting rod G；408th, connecting rod H；409th, bottom
Seat；501st, angular transducer A；502nd, angular transducer B；503rd, angular transducer C；504th, angular transducer D；505th, angle passes
Sensor E；6th, data collecting card.
Embodiment
Below in conjunction with the accompanying drawings, using automotive trim industry commonly use instrument panel air bag mount vibration friction welding (FW) workpiece sensing as
Example, further illustrate the detailed content and its embodiment of the present invention.
Referring to shown in Fig. 1 and Fig. 2, the positioning supersonic detection device of curved surface weldment of the invention, including industrial computer
1st, ultrasonic probe 2, ultrasound detection module 3, multi link mechanical arm 4, angular transducer and data collecting card 6, the ultrasonic probe 2
Be connected by ultrasonic probe connecting line with ultrasound examination module 3, ultrasound examination module 3 by ultrasonic pulse radiating circuit,
Ultrasonic wave receiving circuit and A/D analog to digital conversion circuits are formed, and are connected by pci bus with industrial computer 1；Multi link mechanical arm
4 are connected with ultrasonic probe 2, ultrasonic probe 2 is realized any locus within the specific limits and the detection of posture；Positioned at more
The angle change of each connecting rod in multi link mechanical arm 4 is converted to electric signal by five angular transducers on connecting rod mechanical arm 4
Data collecting card 6 is fed back to, and industrial computer 1 is inputted by USB connecting lines.
Shown in Figure 2, described multi link mechanical arm 4 is made up of eight connecting rod serial-parallel mirrors, is specifically：Connecting rod A401 with
Base 409 is connected, junction setting angle sensors A 501；Connecting rod B402 is connected with connecting rod A401, and junction setting angle passes
Sensor B502；Connecting rod C403 is connected with connecting rod B402, junction setting angle sensor C503；Connecting rod D404 one end and connecting rod
B402 is connected, junction setting angle sensor D504；Connecting rod E405 one end is connected with connecting rod C403, and connecting rod F406 is respectively with connecting
The bar E405 other end is connected with the connecting rod D404 other end so that connecting rod C403, connecting rod D404, connecting rod E405, connecting rod F406
Form the parallelogram of a closing；Connecting rod G407 one end is connected with connecting rod F406, while ensures connecting rod G407 and connecting rod
F406 directions are consistent, and its angle is 180 degree；The connecting rod G407 other end is connected with connecting rod H408, junction setting angle sensing
Device E505；Ultrasonic probe 2 is fixed on connecting rod H408, position and attitudes vibration with connecting rod H408, the reachable sky of ultrasonic probe 2
Between optional position detected.
Described industrial computer 1 is strong portable machine, as human-computer interaction interface, coordinates control ultrasound examination mould
Block 3 and data collecting card 6, the output for completing the positional information of ultrasonic probe 2 and the analyzing and processing and result of detection data message.
Described ultrasonic probe 2 is single-point type ultrasonic probe, and its supersonic frequency is carried out according to the material and thickness of slab of weldment
Selection；Ultrasonic probe 2 is connected by ultrasonic probe connecting line with ultrasound examination module 3, and it is right in the case of non-water logging to realize
Complex-curved weldment is scanned detection.
Described ultrasound examination module 3 is by the ultrasonic pulse radiating circuit, super that is integrated on one piece of pci bus mainboard
Acoustic receiver circuit and A/D analog to digital conversion circuits are formed, and are connected by pci bus with industrial computer 1, it is acted on be transmitting with
Ultrasonic pulse is gathered, the analog signal of echo impulse is converted into data signal and incoming industrial computer.
Described angular transducer uses high-precision increment type angular transducer, built-in optical code disk, and angular transducer often revolves
Turn an angle, export pulsatile once value.
Described data collecting card 6 is USB multi-channel data acquisition boards, and input passes through data wire and angular transducer phase
Even, each passage connects an angular transducer；Output end is connected by USB connecting lines with industrial computer 1.Its role is to
The umber of pulse of all angles sensor is read, and feeds back to industrial computer.
Shown in Figure 5, described human-computer interaction interface is mainly imaged by parameter setting area, A sweep signaling zone, C-scan
Area and result of calculation viewing area etc. are formed.
Referring to shown in Fig. 3 Fig. 4, the positioning supersonic detection method of curved surface weldment of the invention, comprise the following steps：
Step (1), workpiece surface processing：Before ultrasonic scanning, dedusting, oil removing are carried out to workpiece surface, smears coupling
Mixture processing, reduce interference of the workpiece surface impurity to ultrasonic signal；
Step (2), activation system, carry out multi link mechanical arm position base arrangement：Workpiece surface data to be checked are defeated
Enter industrial computer, the locus that the ultrasonic probe included with the built-in algorithms of the system can reach is fitted, can
Directly cook up the optimum position of multi link mechanical arm base placement；It is more when weld zone surface area is smaller and negative angle is not present
The connecting rod mechanical arm base anglec of rotation<180 °, then select 1 installation site；When workpiece surface product is excessive or workpiece performance is present
Negative angle, then it can select to set the installation site of more than 2.
Step (3), workpiece surface scanning, gather the ultrasonic signal of inside workpiece, while identify defect information；
3.1st, by the hand-held ultrasonic probe for being fixed on multi link mechanical arm end, reciprocal scanning fortune is carried out in workpiece surface
It is dynamic；Wherein, the maximum speed V (mm/s) of hand-held ultrasound probe movement determinant includes：The sample frequency fs of ultrasound card
(Hz)；By the required precision ε (mm) and multi link mechanical arm coordinates feedback time t (s) of scanning part, its basic calculating formula is：
V≤min (ε × fs, ε/t)
3.2nd, any point in manual checking path, gather what angular transducer A~E on multi link mechanical arm fed back
Angle information θ1, θ2, θ3, θ3', θ7, wherein, θ1, θ2, θ7The angle rotated for the series connection cradle head of multi link mechanical arm, and
θ3, θ3' it is the angle that the cradle head in parallel of multi link mechanical arm rotates；
3.3rd, using D-H coordinate transformation methods, according to angular transducer feedack, coordinate bit residing for ultrasonic probe is calculated
Put (X7,Y7,Z7)；The basic parameter of D-H coordinate transforms is the long a of bar, the torsional angle α of two between centers, offset distance d, rotational angle theta；
Coordinate transform step 1：Connecting rod 1, the DH parameter lists of connecting rod 2 are as follows：
After being converted to each joint, its coordinate can be according to following homogeneous matrix representation：
Wherein CiRepresent cos θi, S expression sin θsi。
The O after experience converts twice2Relative to O0Coordinate be：
Its transformation matrix of coordinates A0 2For：
Wherein C12Represent cos (θ1+θ2), S12Represent sin (θ1+θ2)。
Coordinate transform step 2：Connecting rod 3,3 ', 4,5,6 is parallelogram linking arm, and its DH parameter list is as follows：
It can thus be concluded that O6On O2Coordinate be：
Its transformation matrix of coordinates A2 6For：
Coordinate transform step 3：The DH parameter lists of connecting rod 7 are as follows：
O after conversion7Relative to O6Coordinate be：
Its transformation matrix of coordinates A6 7For：
After undergoing above cubic transformation, ultrasound probe position O can be calculated to obtain7Relative to measurement origin O0Coordinate be：
According to algorithm above, you can the angle information fed back according to five angular transducers, calculate residing for ultrasonic probe
Position coordinates (X7,Y7,Z7)。
3.4th, ultrasonic wave transmitting and echo signal data collection are carried out in same point, data processing module is calculated according to built-in
Method, denoising is carried out to echo-signal；According to ultrasonic wave reflected at interfaces characteristic, when ultrasonic wave inside workpiece meet it is miscellaneous
During the defects of matter, crackle, non-soldering, because defect and workpiece mother metal have obvious interface, therefore it can be reflected back in current location
Ripple, in built-in algorithms set echo detecting threshold values, you can carry out defect have/defect without feature judge；
3.5th, mobile ultrasonic probe to next scanning element, carries out repeating A sweep detection manually；Complete all scanning elements
Detection after, ultrasonic probe returns to origin position；
3.6th, by data a little form a three-dimensional matrice, be then translated into this according to certain coding rule
The C-scan image of scanning area；Dividing processing is carried out to initial C-scan image, then the internal flaw feature of image carried out
Identification, and logical built-in algorithms calculate weld seam and the area of internal flaw, complete the detection to welding product.
Embodiment：
A kind of positioning supersonic detection method of the curved surface weldment based on serial-parallel mirror mechanism, specific implementation step are as follows：
1st, workpiece surface is handled：Before scanning data, to fascia air bag domain oscillation friction welding (FW) workpiece surface
Dedusting, oil removing, daubing coupling agent processing are carried out, reduces interference of the workpiece surface impurity to ultrasonic signal.
2nd, scanning workpiece surface shape data is inputted, plans multi link mechanical arm base riding position.By USB interface to
The three-dimensional surface STP formatted datas of fascia air bag domain oscillation friction welding (FW) workpiece are imported in system, and are visited by ultrasound
The locus that head can reach, plan multi link mechanical arm base riding position.The spatial shape size of this workpiece is 44.3mm*
40.7mm*11.6mm, wherein, welding region area is 21.9mm*20.3mm, and the thickness of slab of both sides is respectively 3mm+2.5mm, will be outer
After surface data imports workpiece, it is at the outer left side 5mm of welding region to export multi link mechanical arm base centre position, is added without another
Firm banking.
3rd, workpiece surface scanning, gathers the ultrasonic signal of inside workpiece, while identifies defect information.
3.1, by the hand-held ultrasonic probe for being fixed on multi link mechanical arm end, reciprocal scanning fortune are carried out in workpiece surface
It is dynamic, wherein, the maximum speed V (mm/s) of hand-held ultrasound probe movement determinant includes：The sample frequency fs of ultrasound card
(Hz)；By the required precision ε (mm) and multi link mechanical arm coordinates feedback time t (s) of scanning part, its basic calculating formula is：
V≤min (ε × fs, ε/t)
3.2 any point in manual checking path, gather what angular transducer A~E on multi link mechanical arm fed back
Angle information θ1, θ2, θ3, θ3', θ7, wherein, θ1, θ2, θ7The angle rotated for the series connection cradle head of multi link mechanical arm, and
θ3, θ3' it is the angle that the cradle head in parallel of multi link mechanical arm rotates.
3.3 use D-H coordinate transformation methods, according to angular transducer feedack, calculate coordinate bit residing for ultrasonic probe
Put (X7,Y7,Z7)。
3.4 carry out ultrasonic wave transmitting and echo signal data collection in same point, data processing module according to built-in algorithms,
Denoising is carried out to echo-signal；According to ultrasonic wave reflected at interfaces characteristic, when ultrasonic wave inside workpiece meet impurity,
During the defects of crackle, non-soldering, because defect and workpiece mother metal have an obvious interface, therefore can in current location reflection echo,
According to default echo threshold in algorithm, you can carry out defect have/defect without feature judge.
3.5 manual mobile ultrasonic probes carry out repeating A sweep detection to next scanning element.Complete all scanning elements
Detection after, probe return to origin position.
3.6 by data a little form a three-dimensional matrice, be then translated into this according to certain coding rule
The C-scan image of scanning area.Dividing processing is carried out to initial C-scan image, then the internal flaw feature of image carried out
Identification, and logical built-in algorithms calculate the area of weld seam and the area of internal flaw, complete the detection to welding product.
Shown in Figure 5, human-computer interaction interface is mainly by parameter setting area, A sweep signaling zone, C-scan imaging area and meter
Results display area etc. is calculated to form.It is final calculate fascia air bag domain oscillation friction welding (FW) workpiece weld seam area be
102.25mm2, the area of internal flaw is 8.89mm2, while scanning result is fed back into C-scan imaging area.
The preferred embodiment of the present invention is the foregoing is only, is not intended to limit the invention, for the technology of this area
For personnel, the present invention can have various modifications and variations.All any modification, equivalent substitution and improvements made for the present invention etc.,
It should be included in the scope of the protection.
Claims (7)
- A kind of 1. positioning supersonic detection device of curved surface weldment, it is characterised in that：Ultrasonic probe（2）Connected by ultrasonic probe Line and ultrasound examination module（3）Connection, ultrasound examination module（3）Electricity is received by ultrasonic pulse radiating circuit, ultrasonic wave Road and A/D analog to digital conversion circuits are formed, and pass through PCI buses and industrial computer（1）Connection；Multi link mechanical arm（4）With surpassing Sonic probe（2）Connection, makes ultrasonic probe（2）Realize the detection of different spatial and posture；Positioned at multi link mechanical arm（4）On Five angular transducers by multi link mechanical arm（4）In the angle change of each connecting rod be converted to electric signal and feed back to data and adopt Truck（6）, and industrial computer is inputted by USB connecting lines（1）；Described multi link mechanical arm（4）It is made up of eight connecting rod serial-parallel mirrors, is specifically：Connecting rod A（401）With base（409）Phase Even, junction setting angle sensors A（501）；Connecting rod B（402）With connecting rod A（401）It is connected, junction setting angle sensor B（502）；Connecting rod C（403）With connecting rod B（402）It is connected, junction setting angle sensor C（503）；Connecting rod D（404）One end with Connecting rod B（402）It is connected, junction setting angle sensor D（504）；Connecting rod E（405）One end and connecting rod C（403）It is connected, connecting rod F（406）Respectively with connecting rod E（405）The other end and connecting rod D（404）The other end be connected so that connecting rod C（403）, connecting rod D （404）, connecting rod E（405）, connecting rod F（406）Form the parallelogram of a closing；Connecting rod G（407）One end and connecting rod F （406）It is connected, while ensures connecting rod G（407）With connecting rod F（406）Direction is consistent, and its angle is 180 degree；Connecting rod G（407）It is another One end and connecting rod H（408）It is connected, junction setting angle sensor E（505）；Ultrasonic probe（2）It is fixed on connecting rod H（408） On, with connecting rod H（408）Position and attitudes vibration, ultrasonic probe（2）Detected reachable space optional position.
- 2. the positioning supersonic detection device of curved surface weldment according to claim 1, it is characterised in that：Described industry meter Calculation machine（1）For strong portable machine.
- 3. the positioning supersonic detection device of curved surface weldment according to claim 1, it is characterised in that：Described ultrasound spy Head（2）For single-point type ultrasonic probe, its supersonic frequency is selected according to the material and thickness of slab of weldment；Ultrasonic probe（2）It is logical Cross ultrasonic probe connecting line and ultrasound examination module（3）Connection, is realized in the case of non-water logging to complex-curved weldment It is scanned detection.
- 4. the positioning supersonic detection device of curved surface weldment according to claim 1, it is characterised in that：Described ultrasonic wave Detection module（3）By ultrasonic pulse radiating circuit, ultrasonic wave receiving circuit and the A/D being integrated on one piece of pci bus mainboard Analog to digital conversion circuit is formed, and passes through PCI buses and industrial computer（1）Connection.
- 5. the positioning supersonic detection device of curved surface weldment according to claim 1, it is characterised in that：Described angle passes Sensor uses high-precision increment type angular transducer, built-in optical code disk, and angular transducer often rotates an angle, exports an arteries and veins Punching value.
- 6. the positioning supersonic detection device of curved surface weldment according to claim 1, it is characterised in that：Described data are adopted Truck（6）For USB multi-channel data acquisition boards, input is connected by data wire with angular transducer, each passage connection one Individual angular transducer；Output end passes through USB connecting lines and industrial computer（1）It is connected.
- A kind of 7. positioning supersonic detection method of curved surface weldment, it is characterised in that：Comprise the following steps：Step（1）, workpiece surface processing：Before ultrasonic scanning, dedusting, oil removing, daubing coupling agent are carried out to workpiece surface Processing, reduce interference of the workpiece surface impurity to ultrasonic signal；Step（2）, multi link mechanical arm position base arrangement：By workpiece surface data input industrial computer to be checked, with this The locus that the ultrasonic probe that the built-in algorithms of industrial computer are included can reach is fitted, and can directly be cooked up more The optimum position that connecting rod mechanical arm base is laid；Step（3）, workpiece surface scanning, gather the ultrasonic signal of inside workpiece, while identify defect information；3.1st, by the hand-held ultrasonic probe for being fixed on multi link mechanical arm end, reciprocal scanning campaign is carried out in workpiece surface；3.2nd, any point in manual checking path, the angle of angular transducer A ~ E feedbacks on multi link mechanical arm is gathered Information θ1, θ2, θ3, θ3 ’, θ7, wherein, θ1, θ2,θ7The angle rotated for the series connection cradle head of multi link mechanical arm, and θ3, θ3 ’ The angle rotated for the cradle head in parallel of multi link mechanical arm；3.3rd, using D-H coordinate transformation methods, according to angular transducer feedack, coordinate position residing for ultrasonic probe is calculated (X7,Y7,Z7)；The basic parameter of D-H coordinate transforms is the long a of bar, the torsional angle α of two between centers, offset distance d, rotational angle theta；3.4th, carry out ultrasonic wave transmitting in same point and echo signal data collection, data processing module are right according to built-in algorithms Echo-signal carries out denoising；According to ultrasonic wave reflected at interfaces characteristic, when ultrasonic wave inside workpiece meet impurity, split When line, non-soldering defect, because defect and workpiece mother metal have an obvious interface, therefore can be in current location reflection echo, inside Put in algorithm setting echo detecting threshold values, you can carrying out defect has/defect without feature judge；3.5th, mobile ultrasonic probe to next scanning element, carries out repeating A sweep detection manually；Complete the inspection of all scanning elements After survey, ultrasonic probe returns to origin position；3.6th, by data a little form a three-dimensional matrice, be then translated into the scanning area according to coding rule C-scan image；Dividing processing is carried out to initial C-scan image, then the internal flaw feature of image is identified, and it is logical interior Put algorithm and calculate weld seam and the area of internal flaw, complete the detection to welding product.
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