CN107764898A - Electrostatic adsorption type solder joint ultrasonic wave automatic detection device and method - Google Patents
Electrostatic adsorption type solder joint ultrasonic wave automatic detection device and method Download PDFInfo
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- CN107764898A CN107764898A CN201710965975.1A CN201710965975A CN107764898A CN 107764898 A CN107764898 A CN 107764898A CN 201710965975 A CN201710965975 A CN 201710965975A CN 107764898 A CN107764898 A CN 107764898A
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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
- G01N29/04—Analysing solids
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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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
- G01N2291/26—Scanned objects
- G01N2291/267—Welds
- G01N2291/2672—Spot welding
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Abstract
The present invention relates to a kind of electrostatic adsorption type solder joint ultrasonic wave automatic detection device and method, belong to non-destructive detecting device technical field.It is made up of wall climbing mechanism and correcting mechanism；Wall climbing mechanism is made up of sub-arm A, sub-arm B, sub-arm C, sub-arm D, master arm A, master arm B and workbench；Correcting mechanism is made up of accurate mechanism, water circulation mechanism；Control sub-arm and master arm, which are realized, climbs wall and inhabites, and control correcting mechanism realizes pad localization and detection, makes it the open shop scheduling on narrow and small semi-enclosed space, vertical wall, ceiling, and can be in terminal real-time display self-position；Have the advantages that positioning precision is high, be easily manipulated, do not cause damage in motion process to adsorption plane, and can realize that detects data traces inquiry.
Description
Technical field
The present invention relates to non-destructive detecting device technical field, more particularly to a kind of electrostatic adsorption type solder joint ultrasonic wave is examined automatically
Survey device and method.
Background technology
In the shelf welding of freeze drier, projection welding is most a kind of Novel connecting method, for freeze drier,
The sealing of dividing plate is particularly important, especially for pharmaceutical freeze dryers, if dividing plate welds blow-by, may result in cold
But liquid oozes out pollution FCL medicine；In track bus coating, it is important company that point, which is welded in the connection of coach skin and skeleton,
Method is connect, the quality of solder joint directly affects body quality and vehicle performance.Because in welding process, spot welding is to be confined to
Core, easily influenceed by factors such as materials to be welded surface state, electrode surface states, and bonding state can not be judged from the appearance,
Therefore the quality testing of solder joint is divided into destructive detection and the major class of Non-Destructive Testing two, and destructiveness detection can only be carried out to part sample
Detection, therefore the Non-Destructive Testing of solder joint is significant.
Climbing robot is a kind of a kind of equipment that motion work can be carried out on vertical wall or ceiling, at present
Main climbing robot is that these three suction type accommodations are small based on malleation absorption, negative-pressure adsorption, magnetic suck etc., fortune
Dynamic noise is big, requires higher to wall material, translational speed is slow, load capacity is poor.Malleation absorption is difficult to enter in small space
Row absorption, negative-pressure adsorption is higher to absorption surface roughness requirements, and magnetic suck can only operate on magnetic conductive material.
During the production and use of freeze drier and trolley coach, it is particularly heavy that quality evaluation is carried out to weld nugget
Will, the development of the on-line monitoring of spot welding in recent years is swift and violent, but these equipment are facing to manufacture manufacturer or third party testing agency,
During use, new crackle can be also sprouted at solder joint, causes potential safety hazard.The spot welding of freeze drier dividing plate is used at present
It is still dividing plate inspection after welding, is being assembled afterwards, user's periodic detection is detected using the machine of tearing open, this greatly shadow
Whole production efficiency is rung；And for trolley coach spot welding in production typically using the method for on-line monitoring；Using with one
As butt welding point using the method for sampling observation, in detection using the operating type of Traditional Man scaffold, work powerful big, inspection
Cost height is surveyed, potential safety hazard be present, the problems such as all detections can not be realized.
The content of the invention
It is an object of the invention to provide a kind of electrostatic adsorption type solder joint ultrasonic wave automatic detection device and method, solve
Above mentioned problem existing for prior art.The present invention can carry out climbing wall operation in small space, to spot welding and projection welding spot from
Dynamic positioning and data storage, have the advantages that low good portability, cost, simple to operate, EM equipment module, data can inquire about, together
When can be good at protecting face to be detected and avoid artificial missing inspection.
The above-mentioned purpose of the present invention is achieved through the following technical solutions：
Electrostatic adsorption type solder joint ultrasonic wave automatic detection device, including wall unit and scanning unit are climbed, the scanning unit is fixed
On wall unit is climbed；The wall unit of climbing is by sub-arm A1, sub-arm B2, sub-arm C3, sub-arm D4, master arm A5, active
Arm B6 and workbench 7 are formed, and sub-arm A ~ D is made up of crawler belt A9, directive wheel 11, support wheel 12 and tensioning plate 10 respectively, actively
Arm A, B respectively by driving wheel 13, reducing motor 14, steering wheel 15, side plate 16, crawler belt B9-1, electric brush slip ring 17, support wheel B ~ D18,
19th, 20 composition；Sub-arm D4 is connected with master arm B6 by secondary driving wheel A8, and sub-arm C3 and master arm B6 passes through secondary driving wheel
B8-1 connections, sub-arm A1 and sub-arm B2 are connected with master arm A5 in the same way；Master arm A5, master arm B6 distinguish
It is fixed on the both sides of workbench 7；Steering wheel 15 is fixed on side plate 16, and the top of steering wheel 15 installation steering wheel steering wheel 23, tensioning plate 10 is logical
Cross axis 21, fixing pin 22 is fixed on steering wheel steering wheel 23, by control system control steering wheel 15 rotation come drive tensioning
Plate 10 realizes sub-arm D4 rotation, controls the rotation of sub-arm A ~ C1 ~ 3 in the same way around the rotation of axis 21；Slow down
For motor 14 by driving the rotation of driving wheel 13 to drive crawler belt B9-1 motion, crawler belt B9-1 drives secondary driving wheel A8 to rotate, secondary
Driving wheel A8 controls sub-arm D4 motion by driving crawler belt A9 motion, controls sub-arm A ~ C1 ~ 3 in the same way
Motion, so as to realize the motion of whole motion, control system carrys out reality by controlling the differential of two reducing motors to rotate
The now steering of whole machine.
Described scanning unit is made up of accurate mechanism, water circulation mechanism, wherein accurate mechanism is fixed on the table 7,
Water circulation mechanism is fixed in accurate mechanism；Accurate mechanism is X-axis, Y-axis parallel to the direction of workbench 7, and vertical direction is Z axis, X
Axle is fixed on the table 7, and Y-axis is fixed on X-axis mobile unit A, B44, on 49, and Z axis is fixed in Y-axis mobile unit 62, is surpassed
Sonic probe 53 is fixed in Z axis mobile unit 52；Accurate mechanism by leading screw A ~ D39,41,43,46, stepper motor A ~ D45,
47th, 48,51, X-axis mobile unit A ~ B44,49, Y-axis mobile unit 62, Z axis mobile unit 52, bearing A ~ E36,40,42,50,
56 compositions；Water circulation mechanism is by the tank 60 for being fixed in Y-axis mobile unit 62, the miniature water circulating pump being fixed on tank 60
61st, be fixed on fiberglass tank 54 on 53 on ultrasonic probe, thin suction pipe 63 on fiberglass tank 53, Miniature atomized shower nozzle 64,
Rubber seal 55, water inlet pipe 58, the outlet pipe 57 of connection fiberglass tank 54 and miniature water circulating pump 61 are formed；Stepper motor
B, by leading screw A, C39, the motion of the 43 accurate mechanism X-axis of control, stepper motor A45 is controlled accurate by leading screw B41 for C47,48
The motion of mechanism Y-axis, stepper motor D51 control the motion of accurate mechanism Z axis by leading screw D46；Make ultrasonic probe all the time with
Solder joint is corresponding on the face of being detected；X-axis mobile unit A, B44, hold-down support A36 and stepper motor A45 respectively on 49；Y-axis is moved
The fixed stepper motor D51 in the top of moving cell 62, lower section are provided with tank 60, and bearing E56 is fixed on tank 60 by connecting shaft 59
On, miniature water circulating pump 61 is installed in the side of tank 60；Ultrasonic probe 53 is arranged in Z axis mobile unit 52；Fiberglass tank
54 side walls are uniformly provided with aperture, and aperture realizes recycling for water built with thin suction pipe 63 by miniature water circulating pump 61.
Described wall climbing mechanism is provided with adsorption module, and adsorption module is by battery pack 38, high pressure generator 34, processor
37th, secondary driving wheel 8, electric brush slip ring 17, crawler belt A, B9,9-1 and wire are formed；Secondary driving wheel A8 by conductive casters A ~ D27,28,
30th, 31, binding post A, B24,24-1, conducting rod A, B25,25-1, insulating sleeve A, B26,26-1, insulation 29 groups of connecting pole
Into, the conducting rod 25 on its middle connecting terminal A24 is in contact with conductive casters A, C27,30, by insulating sleeve 26 and conductive casters B,
D28,31 are spaced, and the conducting rod B25-1 on binding post B24-1 is in contact with conductive casters B, D28,31, passes through insulating sleeve
B26-1 is spaced with conductive casters A, C27,30；Conductive casters A ~ D forms by insulating cylinder 32, copper ring 33；Binding post A, B distinguish
It is connected by two electric brush slip rings 17 with the both ends of high pressure generator 34, makes conductive casters A ~ D powered, crawler belt tooth root 9-1-1 passes through
Being in contact with conductive casters A ~ D makes whole crawler belt powered, makes whole mechanism absorption in plane to be detected using Electrostatic Absorption.
Described crawler belt A, B9,9-1 is flexible double back font bipolarity crawler belt, and its both sides is provided with tooth root 9-1-1, centre is set
There are the double back font electrode 9-1-2 being connected with both sides tooth root, whole crawler belt two-sided parcel polyimide insulative film in addition to tooth root
9-1-3, one side covering polyimide insulative film 9-1-3 at tooth root, double back font electrode width is 0.5-5mm on crawler belt, therebetween
Away from for 0.7-3mm, it is copper material at double back font electrode and tooth root, copper thickness is covered at double back font electrode for 35 microns,
Copper thickness is covered at tooth root for 45-60 microns, non-lying copper region domain thickness is less than lying copper region domain thickness, electrode turning wherein on crawler belt
Place carries out chamfered, and electrode tip is semi-cylinder.
Another object of the present invention is to provide a kind of electrostatic adsorption type solder joint ultrasonic wave automatic testing method, step is such as
Under：
Step（1）System connects：Connect miniature water circulating pump 61, fiberglass tank 54, rubber seal 55, drainpipe 57, enter
Water pipe 58 and ultrasonic probe 53, adjustment Miniature atomized shower nozzle 64 and the height of ultrasonic probe 53 and relative position, ensure to be checked
Surveying region can uniform fold moisture film；
Step（2）For freeze drier dividing plate, control system passes through dividing plate length and width, spot welding ranks number, spot welding monitoring calculation
Go out the locus coordinate of solder joint, positioning is realized by sensor assembly, the motion of reducing motor and stepper motor is controlled, makes
Accurate motion pop one's head in bond pad locations to be detected；Detection for trolley coach vehicle body solder joint, control system pass through body frame
Figure comes tack weld position with resistance welder walking program and sensor assembly during welding；
Step（3）Perpendicular intersection and to be measured solder joint center superposition of the axis of ultrasonic probe 53 with face to be detected, Miniature atomized
Shower nozzle 64 is sprayed water, and stepper motor D51 motions, after seal with elastometic washer circle 55 contacts with face to be detected, carries out high scale first
Note, makes rubber seal 55 be in close contact face to be detected, until ultrasonic probe 53 contacts with surface to be detected, carries out again high
Scale is determined, and control system opens detecting system, is detected；Single solder joint detection terminates, and miniature water circulating pump 61 works, and extracts
Workpiece surface residual water to be detected is remained in, stepper motor D51 moves to height calibration position first；
Step（4）For each timing node in detection process, carry out sensor assembly position and fed back with detecting the signal of data
Preserve, on the one hand feedback signal is stored in onboard SD card, on the other hand host computer is sent to by signal transmitting and receiving module, according to upper
Position machine built-in algorithms, received data is converted to the C-scan image of scanning area, A waveforms, C-scan are carried out on host computer
Image and position display；
Step（5）According to default bond pad locations, step is repeated（3）、（4）, until all solder joint detections to be detected are completed；Inspection
Survey stepper motor after completing and return to initial position, whole equipment returns to ground in the presence of reducing motor and steering wheel.
The beneficial effects of the present invention are：Control sub-arm and master arm, which are realized, climbs wall and inhabites, and control correcting mechanism is real
Existing pad localization and detection, make it the open shop scheduling on narrow and small semi-enclosed space, vertical wall, ceiling, and can be in terminal
Real-time display self-position；Have the advantages that positioning precision is high, be easily manipulated, do not cause damage in motion process to adsorption plane,
And it can realize that detection data trace inquiry.
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 present invention；
Fig. 2 is the master arm and sub-arm structural representation of the present invention；
Fig. 3 is the master arm and sub-arm connection diagram of the present invention；
Fig. 4 is the isometric view of the secondary driving wheel of the present invention；
Fig. 5 is the schematic front view of the secondary driving wheel of the present invention；
Fig. 6 is Fig. 5 A-A schematic cross-sectional views；
Fig. 7 is the crawler belt section partial schematic diagram of the present invention；
Fig. 8 is the workbench portion schematic diagram of the present invention；
Fig. 9 is the scanning and searching mechanism part-structure figure of the present invention；
Figure 10 is the fiberglass tank of the present invention and the isometric view of rubber seal；
Figure 11 is Figure 10 schematic front view；
Figure 12 is Figure 11 A-A schematic cross-sectional views.
In figure：1st, sub-arm A；2nd, sub-arm B；3rd, sub-arm C；4th, sub-arm D；5 master arm A；6th, master arm B；7th, work
Make platform；8th, secondary driving wheel A；8-1, secondary driving wheel B；9th, crawler belt A；9-1, crawler belt B；9-1-1, tooth root；9-1-2, double back font electricity
Pole；9-1-3, polyimide insulative film；10th, tensioning plate；11 directive wheels；12 support wheel A；13rd, driving wheel；14th, reducing motor；
15th, steering wheel；16th, side plate；17th, electric brush slip ring；18 support wheel B；19 support wheel C；20 support wheel D；21st, axis；22nd, steady pin
Nail；23rd, steering wheel steering wheel；24th, binding post A；24-1, binding post B；25th, conducting rod A；25-1, conducting rod B；26th, insulation sleeve
Cylinder A；26-1, insulating sleeve B, 27, conductive casters A；28th, conductive casters B；29th, insulate connecting pole；30th, conductive casters C；31st, conductive casters D；
32nd, insulating cylinder；33rd, copper ring；34th, high pressure generator；35th, sensor group；36th, bearing A；37th, processor；38th, battery pack；39、
Leading screw A；40th, bearing B；41st, leading screw B；42nd, bearing C；43rd, leading screw C；44th, X-axis mobile unit A；45th, stepper motor A；46th, silk
Thick stick D；47th, stepper motor B；48th, stepper motor C；49th, X-axis mobile unit B；50th, bearing D；51st, stepper motor D；52nd, Z axis moves
Moving cell；53rd, ultrasonic probe；54th, fiberglass tank；55th, rubber seal；56th, bearing E；57th, drainpipe；58th, intake
Pipe；59th, connecting shaft；60th, tank；61st, miniature water circulating pump；62nd, Y-axis mobile unit；63rd, thin suction pipe；64th, Miniature atomized sprays
Head.
Embodiment
The detailed content and its embodiment of the present invention is further illustrated below in conjunction with the accompanying drawings.
Referring to shown in Fig. 1 to Figure 12, electrostatic adsorption type solder joint ultrasonic wave automatic detection device of the invention, including climb wall list
Member and scanning unit, the scanning unit, which is fixed on, climbs on wall unit；The wall unit of climbing is by sub-arm A1, sub-arm B2, auxiliary
Arm C3, sub-arm D4, master arm A5, master arm B6 and workbench 7 is helped to form, sub-arm A ~ D is respectively by crawler belt A9, directive wheel
11st, support wheel 12 and tensioning plate 10 form, and master arm A, B are respectively by driving wheel 13, reducing motor 14, steering wheel 15, side plate 16, shoe
Band B9-1, electric brush slip ring 17, support wheel B ~ D18,19,20 form；Sub-arm D4 is connected with master arm B6 by secondary driving wheel A8,
Sub-arm C3 is connected with master arm B6 by secondary driving wheel B8-1, sub-arm A1 and sub-arm B2 in the same way with master arm
A5 is connected；Master arm A5, master arm B6 are separately fixed at the both sides of workbench 7；Steering wheel 15 is fixed on side plate 16, steering wheel
D15 tops installation steering wheel steering wheel 23, tensioning plate 10 is fixed on steering wheel steering wheel 23 by axis 21, fixing pin 22, passes through control
System control steering wheel D15's processed rotates to drive rotation of the tensioning plate 10 around axis 21, sub-arm D4 rotation is realized, with same
Mode control the rotations of sub-arm A ~ C1,2,3；Reducing motor 14 is by driving the rotation of driving wheel 13 to drive crawler belt B9-1's
Motion, crawler belt B9-1 drive secondary driving wheel A8 to rotate, and secondary driving wheel A8 controls sub-arm D4 by driving crawler belt A9 motion
Motion, the motion of sub-arm A ~ C1 ~ 3 is controlled in the same way, so as to realize the motion of whole motion, control system
By controlling the differential of two reducing motors to rotate to realize the steering of whole machine.Sub-arm A ~ D passes through four steering wheels respectively
To control, master arm A, B are driven by two reducing motors being fixed thereon respectively.
Steering wheel is digital high pulling torque 180 degree metal steering wheel in this example, and reducing motor is the big torsion reducing motor of low-power consumption,
Using pulse width control electrode rotating speed, steering wheel steering wheel is metal steering wheel.
Described scanning unit is made up of accurate mechanism, water circulation mechanism, wherein accurate mechanism is fixed on the table 7,
Water circulation mechanism is fixed in accurate mechanism；Accurate mechanism is X-axis, Y-axis parallel to the direction of workbench 7, and vertical direction is Z axis, X
Axle is fixed on the table 7, and Y-axis is fixed on X-axis mobile unit A, B44, on 49, and Z axis is fixed in Y-axis mobile unit 62, is surpassed
Sonic probe 53 is fixed in Z axis mobile unit 52；Accurate mechanism by leading screw A ~ D39,41,43,46, stepper motor A ~ D45,
47th, 48,51, X-axis mobile unit A, B44,49, Y-axis mobile unit 62, Z axis mobile unit 52, bearing A ~ E36,40,42,50,
56 compositions；Water circulation mechanism is by the tank 60 for being fixed in Y-axis mobile unit 62, the miniature water circulating pump being fixed on tank 60
61st, be fixed on fiberglass tank 54 on 53 on ultrasonic probe, thin suction pipe 63 on fiberglass tank 53, Miniature atomized shower nozzle 64,
Rubber seal 55, water inlet pipe 58, the outlet pipe 57 of connection fiberglass tank 54 and miniature water circulating pump 61 are formed；Stepper motor
B, by leading screw A, C39, the motion of the 43 accurate mechanism X-axis of control, stepper motor A45 is controlled accurate by leading screw B41 for C47,48
The motion of mechanism Y-axis, stepper motor D51 control the motion of accurate mechanism Z axis by leading screw D46；Make ultrasonic probe all the time with
Solder joint is corresponding on the face of being detected；X-axis mobile unit A, B44, hold-down support A36 and stepper motor A45 respectively on 49；Y-axis is moved
The fixed stepper motor D51 in the top of moving cell 62, lower section are provided with tank 60, and bearing E56 is fixed on tank 60 by connecting shaft 59
On, miniature water circulating pump 61 is installed in the side of tank 60；Ultrasonic probe 53 is arranged in Z axis mobile unit 52；Fiberglass tank
54 side walls are uniformly provided with aperture, and aperture realizes recycling for water built with thin suction pipe 63 by miniature water circulating pump 61.
Described wall climbing mechanism is provided with adsorption module, and adsorption module is by battery pack 38, high pressure generator 34, processor
37th, secondary driving wheel 8, electric brush slip ring 17, crawler belt A, B9,9-1 and wire are formed；Secondary driving wheel A8 by conductive casters A ~ D27,28,
30th, 31, binding post A, B24,24-1, conducting rod A, B25,25-1, insulating sleeve A, B26,26-1, insulation 29 groups of connecting pole
Into, the conducting rod 25 on its middle connecting terminal A24 is in contact with conductive casters A, C27,30, by insulating sleeve 26 and conductive casters B,
D28,31 are spaced, and the conducting rod B25-1 on binding post B24-1 is in contact with conductive casters B, D28,31, passes through insulating sleeve
B26-1 is spaced with conductive casters A, C27,30；Conductive casters A ~ D forms by insulating cylinder 32, copper ring 33；Binding post A, B distinguish
It is connected by two electric brush slip rings 17 with the both ends of high pressure generator 34, makes conductive casters A ~ D powered, crawler belt tooth root 9-1-1 passes through
Being in contact with conductive casters A ~ D makes whole crawler belt powered, makes whole mechanism absorption in plane to be detected using Electrostatic Absorption.Utilize
Electrostatic Absorption makes whole mechanism absorption in plane to be detected.
Shown in Figure 7, described crawler belt A, B9,9-1 is flexible double back font bipolarity crawler belt, and its both sides is provided with tooth root
9-1-1, centre are provided with the double back font electrode 9-1-2 being connected with both sides tooth root, and whole crawler belt two-sided parcel in addition to tooth root gathers
Acid imide dielectric film 9-1-3, one side covering polyimide insulative film 9-1-3 at tooth root, double back font electrode width is on crawler belt
0.5-5mm, its spacing are 0.7-3mm, are copper material at double back font electrode and tooth root, cover copper at double back font electrode
Thickness is 35 microns, copper thickness is covered at tooth root for 45-60 microns, non-lying copper region domain thickness is less than lying copper region domain wherein on crawler belt
Thickness, electrode corner carry out chamfered, and electrode tip is semi-cylinder, is prevented as the breakdown caused by accumulation.
Coverage is g between adsorption plane and crawler belt, insulation thickness t1, and active electrode logarithm is n, effective adsorption area
For S, permittivity of vacuum is, insulating barrier relative dielectric constant is, driving voltage U, then electrostatic attraction be.Non- lying copper region domain thickness bottom is less than lying copper region thickness on crawler belt；Copper thickness is covered at tooth root to be more than
Electrode goes out to cover copper thickness, it is advantageous that, wear phenomenon occurs at tooth root in motion process, thicker copper membrane can make crawler belt
Birthday noodle are longer, and half side exposed at tooth root, and cost can be reduced by the local method for covering copper after track wear；On crawler belt
Non- lying copper region thickness, which is less than, to be covered copper and removes thickness, and processing on the one hand can be made more simple, reduces crawler belt cost of manufacture, on the other hand
Due in adsorption process, the whole lower local micro-strain of meeting of crawler belt pressure effect, discharging gap partial air, being formed certain
Negative pressure, local decompression further can increase normal pressure, and increase normal pressure is equivalent to increase absorption affinity.
Referring to shown in Fig. 9 to Figure 12, couplant uses water during detection, and miniature water circulating pump 61 draws water from tank 60, warp
Cross water inlet pipe 58 by Miniature atomized shower nozzle 64 by surface to be detected apply last layer uniform water film, 53 on ultrasonic probe on pacify
Special tank is filled, special tank is made up of rubber seal 55, fiberglass tank 54, and pore is provided with around fiberglass tank 54,
Hole is connected built with thin suction pipe 63, thin suction pipe 63 by drainpipe 57 with miniature water circulating pump 61, and the top of fiberglass tank 54 is opened
Through hole, Miniature atomized shower nozzle 64 realize water circulation via through hole, water inlet pipe 58, and rubber seal 55 seals.Water circulation
Controlled by control system with sealing system, made when probe is moved at solder joint to be detected, stepper motor D51 is moved downward, and is made close
Seal 55 contacts face to be detected, and miniature water circulating pump 61 supplies water to Miniature atomized shower nozzle 64, makes surface even spread one to be detected
Layer moisture film, stepper motor D51 continue to move, and ultrasonic probe 53 is contacted surface to be detected, and control system sends sign on,
After detection terminates, miniature water circulating pump 61 extracts residual water by drainpipe 57, and stepper motor D51 is moved upwards, makes ultrasound
Ripple probe 53 and rubber seal 55 separate with to be detected, move to next test position, perform same action.
Processor 37, sensor group 35, high pressure generator 34, battery pack 38 collectively constitute mechanism control system；Control system
System also includes controller, 3-axis acceleration sensor, three-axis gyroscope, height sensor, ultrasonic sensor, for perceptron
Structure motion state and determination ultrasonic probe position, and feed back to controller；According to acceleration transducer, gyro data and surpass
The data that sound wave range sensor feeds back to singlechip controller are analyzed, and controller is according to itself algorithm, with reference to voltage
The feedback voltage information control of sensor institute controls voltage data on each mechanical arm, control machinery arm, the absorption of master arm, realizes
Climb wall.
The electrostatic adsorption type solder joint ultrasonic wave automatic testing method of the present invention, step are as follows：
Step（1）System connects：Connect miniature water circulating pump（61）, fiberglass tank（54）, rubber seal（55）, drainpipe
（57）, water inlet pipe（58）And ultrasonic probe（53）, adjust Miniature atomized shower nozzle（64）With ultrasonic probe（53）Height and phase
To position, ensure that region to be detected can uniform fold moisture film；
Step（2）For freeze drier dividing plate, control system passes through dividing plate length and width, spot welding ranks number, spot welding monitoring calculation
Go out the locus coordinate of solder joint, positioning is realized by sensor assembly, the motion of reducing motor and stepper motor is controlled, makes
Accurate motion pop one's head in bond pad locations to be detected；Detection for trolley coach vehicle body solder joint, control system pass through body frame
Figure comes tack weld position with resistance welder walking program and sensor assembly during welding；
Step（3）Ultrasonic probe（53）Perpendicular intersection and to be measured solder joint center superposition of the axis with face to be detected, miniature mist
Change shower nozzle（64）Sprayed water, stepper motor D（51）Motion, seal with elastometic washer circle（55）After being contacted with face to be detected, carry out first
The secondary number of altitude, makes rubber seal（55）Face to be detected is in close contact, until ultrasonic probe（53）Connect with surface to be detected
Touch, carry out height demarcation again, control system is opened detecting system, detected；Single solder joint detection terminates, miniature recirculated water
Pump（61）Work, extraction remain in workpiece surface residual water to be detected, stepper motor D（51）Move to the position of height demarcation first
Put.
Step（4）For each timing node in detection process, sensor assembly position is carried out with detecting the signal of data
Feedback preserves, and on the one hand feedback signal is stored in onboard SD card, be on the other hand sent to host computer, root by signal transmitting and receiving module
According to host computer built-in algorithms, received data is converted to the C-scan image of scanning area, A waveforms, C are carried out on host computer
Scan image and position display；
Step（5）According to default bond pad locations, step is repeated（3）、（4）, until all solder joint detections to be detected are completed；Inspection
Survey stepper motor after completing and return to initial position, whole equipment returns to ground in the presence of reducing motor and steering wheel.
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 (5)
- A kind of 1. electrostatic adsorption type solder joint ultrasonic wave automatic detection device, it is characterised in that：Including climbing wall unit and scanning unit, The scanning unit, which is fixed on, climbs on wall unit；The wall unit of climbing is by sub-arm A（1）, sub-arm B（2）, sub-arm C（3）、 Sub-arm D（4）, master arm A（5）, master arm B（6）And workbench（7）Form, sub-arm A ~ D is respectively by crawler belt A（9）, be oriented to Wheel（11）, support wheel（12）And tensioning plate（10）Composition, master arm A, B are respectively by driving wheel（13）, reducing motor（14）, steering wheel （15）, side plate（16）, crawler belt B（9-1）, electric brush slip ring（17）, support wheel B ~ D（18、19、20）Composition；Sub-arm D（4）With master Swing arm B（6）Pass through secondary driving wheel A（8）Connection, sub-arm C（3）With master arm B（6）Pass through secondary driving wheel B（8-1）Connection, it is auxiliary Help arm A（1）With sub-arm B（2）In the same way with master arm A（5）It is connected；Master arm A（5）, master arm B（6）Respectively It is fixed on workbench（7）Both sides；Steering wheel（15）It is fixed on side plate（16）On, steering wheel（15）Top is installed by steering wheel steering wheel（23）, Tensioning plate（10）Pass through axis（21）, fixing pin（22）It is fixed on steering wheel steering wheel（23）On, steering wheel is controlled by control system （15）Rotation drive tensioning plate（10）Around axis（21）Rotation, realize sub-arm D（4）Rotation, in the same way Control sub-arm A ~ C（1~3）Rotation；Reducing motor（14）By driving driving wheel（13）Rotation drive crawler belt B（9-1）'s Motion, crawler belt B（9-1）Drive secondary driving wheel A（8）Rotate, secondary driving wheel A（8）By driving crawler belt A（9）Motion control Sub-arm D（4）Motion, control sub-arm A ~ C in the same way（1~3）Motion, so as to realize whole motion Motion, control system is by controlling the differential of two reducing motors to rotate to realize the steering of whole machine.
- 2. electrostatic adsorption type solder joint ultrasonic wave automatic detection device according to claim 1, it is characterised in that：Described sweeps Verification certificate member is made up of accurate mechanism, water circulation mechanism, wherein accurate mechanism is fixed on workbench（7）On, water circulation mechanism is fixed In accurate mechanism；Accurate mechanism is parallel to workbench（7）Direction is X-axis, Y-axis, and vertical direction is Z axis, and X-axis is fixed on work Platform（7）On, Y-axis is fixed on X-axis mobile unit A, B（44、49）On, Z axis is fixed on Y-axis mobile unit（62）On, ultrasonic wave is visited Head（53）It is fixed on Z axis mobile unit（52）On；Accurate mechanism is by leading screw A ~ D（39、41、43、46）, stepper motor A ~ D（45、 47、48、51）, X-axis mobile unit A ~ B（44、49）, Y-axis mobile unit（62）, Z axis mobile unit（52）, bearing A ~ E（36、 40、42、50、56）Composition；Water circulation mechanism is by being fixed in Y-axis mobile unit（62）Tank（60）, be fixed on tank（60） On miniature water circulating pump（61）, be fixed on ultrasonic probe（53）Upper fiberglass tank（54）, fiberglass tank（53）On Thin suction pipe（63）, Miniature atomized shower nozzle（64）, rubber seal（55）, connection fiberglass tank（54）With miniature water circulating pump （61）Water inlet pipe（58）, outlet pipe（57）Form；Stepper motor B, C（47、48）Pass through leading screw A, C（39、43）Control is accurate The motion of mechanism X-axis, stepper motor A（45）Pass through leading screw B（41）Control the motion of accurate mechanism Y-axis, stepper motor D（51）It is logical Cross leading screw D（46）Control the motion of accurate mechanism Z axis；Make ultrasonic probe corresponding with solder joint on detected face all the time；X-axis is moved Moving cell A, B（44、49）Upper hold-down support A respectively（36）With stepper motor A（45）；Y-axis mobile unit（62）Step is fixed in top Stepper motor D（51）, lower section is provided with tank（60）, bearing E（56）Pass through connecting shaft（59）It is fixed on tank（60）On, tank （60）Side is installed by miniature water circulating pump（61）；Ultrasonic probe（53）Installed in Z axis mobile unit（52）On；Fiberglass tank （54）Side wall is uniformly provided with aperture, and aperture is built with thin suction pipe（63）, pass through miniature water circulating pump（61）Realize the circulation profit of water With.
- 3. electrostatic adsorption type solder joint ultrasonic wave automatic detection device according to claim 1, it is characterised in that：Described climbs Wall mechanism is provided with adsorption module, and adsorption module is by battery pack（38）, high pressure generator（34）, processor（37）, secondary driving wheel （8）, electric brush slip ring（17）, crawler belt A, B（9、9-1）And wire is formed；Secondary driving wheel A（8）By conductive casters A ~ D（27、28、30、 31）, binding post A, B（24、24-1）, conducting rod A, B（25、25-1）, insulating sleeve A, B（26、26-1）, insulation connecting pole （29）Formed, its middle connecting terminal A（24）On conducting rod（25）With conductive casters A, C（27、30）It is in contact, passes through insulation sleeve Cylinder（26）With conductive casters B, D（28、31）It is spaced, binding post B（24-1）On conducting rod B（25-1）With conductive casters B, D （28、31）It is in contact, passes through insulating sleeve B（26-1）With conductive casters A, C（27、30）It is spaced；Conductive casters A ~ D is by insulating cylinder （32）, copper ring（33）Composition；Binding post A, B pass through two electric brush slip rings respectively（17）With high pressure generator（34）Both ends are connected Connect, make conductive casters A ~ D powered, crawler belt tooth root（9-1-1）Make that whole crawler belt is powered, and utilization is quiet by being in contact with conductive casters A ~ D Electro Sorb makes whole mechanism absorption in plane to be detected.
- 4. electrostatic adsorption type solder joint ultrasonic wave automatic detection device according to claim 1, it is characterised in that：Described shoe Band A, B（9、9-1）For flexible double back font bipolarity crawler belt, its both sides is provided with tooth root（9-1-1）, middle be provided with and both sides tooth root The double back font electrode being connected（9-1-2）, whole crawler belt two-sided parcel polyimide insulative film in addition to tooth root（9-1-3）, tooth One side covers polyimide insulative film at root（9-1-3）, double back font electrode width is 0.5-5mm on crawler belt, and its spacing is 0.7-3mm, it is copper material at double back font electrode and tooth root, copper thickness is covered at double back font electrode for 35 microns, tooth root Copper thickness is covered for 45-60 microns in place, and non-lying copper region domain thickness is less than lying copper region domain thickness wherein on crawler belt, and electrode corner enters Row chamfered, electrode tip are semi-cylinder.
- 5. electrostatic adsorption type solder joint ultrasonic wave automatic detection device according to claim 1, it is characterised in that：Detection method Step is as follows：Step（1）System connects：Connect miniature water circulating pump（61）, fiberglass tank（54）, rubber seal（55）, drainpipe （57）, water inlet pipe（58）And ultrasonic probe（53）, adjust Miniature atomized shower nozzle（64）With ultrasonic probe（53）Height and phase To position, ensure that region to be detected can uniform fold moisture film；Step（2）For freeze drier dividing plate, control system passes through dividing plate length and width, spot welding ranks number, spot welding monitoring calculation Go out the locus coordinate of solder joint, positioning is realized by sensor assembly, the motion of reducing motor and stepper motor is controlled, makes Accurate motion pop one's head in bond pad locations to be detected；Detection for trolley coach vehicle body solder joint, control system pass through body frame Figure comes tack weld position with resistance welder walking program and sensor assembly during welding；Step（3）Ultrasonic probe（53）Perpendicular intersection and to be measured solder joint center superposition of the axis with face to be detected, miniature mist Change shower nozzle（64）Sprayed water, stepper motor D（51）Motion, seal with elastometic washer circle（55）After being contacted with face to be detected, carry out first The secondary number of altitude, makes rubber seal（55）Face to be detected is in close contact, until ultrasonic probe（53）Connect with surface to be detected Touch, carry out height demarcation again, control system is opened detecting system, detected；Single solder joint detection terminates, miniature recirculated water Pump（61）Work, extraction remain in workpiece surface residual water to be detected, stepper motor D（51）Move to the position of height demarcation first Put；Step（4）For each timing node in detection process, carry out sensor assembly position and fed back with detecting the signal of data Preserve, on the one hand feedback signal is stored in onboard SD card, on the other hand host computer is sent to by signal transmitting and receiving module, according to upper Position machine built-in algorithms, received data is converted to the C-scan image of scanning area, A waveforms, C-scan are carried out on host computer Image and position display；Step（5）According to default bond pad locations, step is repeated（3）、（4）, until all solder joint detections to be detected are completed；Inspection Survey stepper motor after completing and return to initial position, whole equipment returns to ground in the presence of reducing motor and steering wheel.
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