CN110231116A - A kind of composite material surface stress ultrasonic measurement method - Google Patents
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Abstract
本发明一种复合材料表面应力超声测量方法属于超声检测技术领域，涉及一种复合材料表面应力超声适应测量方法。该方法首先设计和组装变角度超声测量装置，并集成超声换能器。其次，将超声测量装置通过弹性联轴器与机器人末端相连接，安装超声脉冲收发系统，采用超声脉冲收发器与超声换能器相连接。最后，标定复合材料声弹性常数，完成表面应力测量。本发明设计和组装了可变入射角超声测量装置，通过超声入射角的可变调整，以适应复合材料超声传播速度的各向异性。装置简单紧凑，提高了测量空间分辨率。该方法可满足面向制造现场环境的复合材料表面应力测量需求，实现机器人辅助的表面应力超声自动扫描测量。
The invention discloses an ultrasonic measurement method for the surface stress of a composite material, which belongs to the technical field of ultrasonic detection, and relates to an ultrasonic adaptive measurement method for the surface stress of a composite material. The method first designs and assembles a variable-angle ultrasonic measurement device, and integrates an ultrasonic transducer. Secondly, the ultrasonic measuring device is connected to the end of the robot through an elastic coupling, an ultrasonic pulse transceiver system is installed, and the ultrasonic pulse transceiver is connected to the ultrasonic transducer. Finally, the acoustoelastic constant of the composite material is calibrated to complete the surface stress measurement. The invention designs and assembles a variable incident angle ultrasonic measuring device, and adapts to the anisotropy of the ultrasonic propagation velocity of the composite material through the variable adjustment of the ultrasonic incident angle. The device is simple and compact, and the spatial resolution of measurement is improved. This method can meet the needs of composite material surface stress measurement for the manufacturing site environment, and realize robot-assisted ultrasonic automatic scanning measurement of surface stress.
Description
技术领域technical field
本发明属于超声检测技术领域，特别涉及一种复合材料表面应力超声测量方法。The invention belongs to the technical field of ultrasonic detection, in particular to an ultrasonic measurement method for surface stress of composite materials.
背景技术Background technique
复合材料具有比重小、比强度和比模量大等优点，广泛应用于航空航天等重要工业领域。然而，复合材料在生产制造及应用过程中，极易受温度、化学收缩和装配等影响，在复合材料表面产生残余应力，严重制约着零件的安全使役寿命，残余应力无损测量对评估复合材料性能具有重要意义。残余应力无损测量方法包括X射线衍射法，拉曼光谱法和超声法等，超声法具有装置简单、成本低、适用范围广等优点，是面向制造现场环境复合材料残余应力检测的有效手段。Composite materials have the advantages of small specific gravity, high specific strength and specific modulus, and are widely used in important industrial fields such as aerospace. However, composite materials are easily affected by temperature, chemical shrinkage and assembly during the manufacturing and application process, and residual stress is generated on the surface of composite materials, which seriously restricts the safe service life of parts. Nondestructive measurement of residual stress is very important for evaluating the performance of composite materials. is of great significance. Non-destructive measurement methods for residual stress include X-ray diffraction, Raman spectroscopy, and ultrasonic method. Ultrasonic method has the advantages of simple device, low cost, and wide application range. It is an effective means for residual stress detection of composite materials in the manufacturing site environment.
基于临界折射纵波的检测方法对应力变化敏感性高，广泛应用于应力超声检测领域。临界折射纵波造波方法满足Snell定律，然而，复合材料声速传播具有严重各向异性，超声不同传播方向具有不同的传播速度，因此，为获得不同方向应力状态需要多组不同入射角度测量装置，花费巨大，且测量期间频繁拆卸，过程繁琐，难以保证测量过程中不同装置的测量重复性。通过装置设计，形成可变入射角度，以适应复合材料超声传播速度的各向异性，实现面向制造现场环境的复合材料表面应力测量。The detection method based on the critical refracted longitudinal wave is highly sensitive to stress changes and is widely used in the field of stress ultrasonic detection. The wave-making method of critical refraction longitudinal wave satisfies Snell's law. However, the propagation of sound velocity in composite materials has severe anisotropy, and different propagation directions of ultrasonic waves have different propagation velocities. Huge, and frequently disassembled during the measurement, the process is cumbersome, and it is difficult to ensure the measurement repeatability of different devices during the measurement process. Through the design of the device, a variable incident angle is formed to adapt to the anisotropy of the ultrasonic propagation velocity of the composite material, and the surface stress measurement of the composite material oriented to the manufacturing site environment is realized.
2016年，刘菲菲等在发明专利CN201410275857.4中公开了“一种复合材料超声-声发射检测信号的获取方法”，该方法采取左声束和右声束零接近距离布局构成超声-声发射复合声束，直接接收来自被测复合材料零件中的声发射信号，然而，该方法主要应用于复合材料缺陷检测；2017年，张宇民等在发明专利CN201710154020.8中公开了“一种测量各向异性材料平面应力的装置”，该方法基于各向异性三向法，设计了正八边形的超声斜入射楔块，采用六个超声换能器组成三个“一发一收”结构形式，但是，该测量装置体积大且昂贵，测量空间分辨率低。In 2016, Liu Feifei and others disclosed "A Method for Obtaining Ultrasonic-Acoustic Emission Detection Signals of Composite Materials" in the invention patent CN201410275857.4. The sound beam directly receives the acoustic emission signal from the composite material part under test. However, this method is mainly used in the detection of composite material defects; in 2017, Zhang Yumin et al. disclosed in the invention patent CN201710154020. Anisotropic material plane stress device", this method is based on the anisotropic three-way method, a regular octagonal ultrasonic oblique incidence wedge is designed, and six ultrasonic transducers are used to form three "one send and one receive" structural forms, but , the measurement device is bulky and expensive, and the measurement spatial resolution is low.
发明内容Contents of the invention
本发明主要解决的技术难题是克服现有方法的不足，面向制造现场环境的复合材料表面应力测量需求，发明了一种复合材料表面应力超声测量方法。该方法中，创新设计了可变入射角超声测量装置，实现了超声入射角的可变调整，以适应复合材料超声传播速度的各向异性，只需一个发射探头和一个接收探头便可以测量任意方向超声传播速度。将可变入射角超声测量装置集成至机器人末端连接，可实现表面应力超声自动扫描测量。The technical problem mainly solved by the invention is to overcome the deficiencies of the existing methods, and to meet the demand for measuring the surface stress of the composite material in the manufacturing site environment, an ultrasonic measurement method for the surface stress of the composite material is invented. In this method, a variable incident angle ultrasonic measurement device is innovatively designed to achieve variable adjustment of the ultrasonic incident angle to adapt to the anisotropy of the ultrasonic propagation velocity of composite materials. Only one transmitting probe and one receiving probe can measure any The speed of ultrasonic propagation in the direction. The variable incident angle ultrasonic measurement device is integrated into the end connection of the robot, which can realize the automatic scanning measurement of surface stress ultrasonic.
本发明采用的技术方案是一种复合材料表面应力超声测量方法，其特征是，首先，设计并组装变角度超声测量装置，并集成超声换能器；其次，将超声测量装置通过弹性联轴器与机器人末端相连接；然后，安装超声脉冲收发系统，采用超声脉冲收发器与超声换能器相连接；最后，标定复合材料声弹性常数，完成表面应力测量。The technical solution adopted in the present invention is an ultrasonic measurement method for composite material surface stress, which is characterized in that, firstly, a variable-angle ultrasonic measurement device is designed and assembled, and an ultrasonic transducer is integrated; secondly, the ultrasonic measurement device is passed through an elastic coupling It is connected to the end of the robot; then, the ultrasonic pulse transceiver system is installed, and the ultrasonic pulse transceiver is used to connect with the ultrasonic transducer; finally, the acoustoelastic constant of the composite material is calibrated to complete the surface stress measurement.
具体步骤如下：Specific steps are as follows:
第一步，设计并组装可变角度超声测量装置The first step, design and assemble the variable angle ultrasonic measurement device
采用的可变角度超声测量装置为“一发一收”结构形式，一发指发射探头1，一收指接收探头5；固定连接超声测量装置的发射端A与接收端B，保证每次测量过程中超声传播路径长度d相同；在滑动组件8上部加工安装发射探头1和接收探头5的螺纹孔2与紧固用圆通孔7，长螺钉6通过圆通孔7与基体部分摇杆螺纹11连接；加工滑动组件下部3与基体上部9，并保证两者曲率相等；参考基体分度线调节滑动组件8满足入射轴线a和接收轴线c与基面法线b成第一临界折射角φθ，且三个轴线均在同一平面内，第一临界折射角φθ满足如下条件，The variable-angle ultrasonic measurement device adopted is in the form of "one sending and one receiving" structure, one finger sending probe 1, one finger receiving probe 5; the transmitting end A and receiving end B of the ultrasonic measuring device are fixedly connected to ensure each measurement process The length d of the medium ultrasonic propagation path is the same; the threaded hole 2 for transmitting probe 1 and receiving probe 5 is processed and installed on the upper part of the sliding assembly 8 and the round through hole 7 for fastening, and the long screw 6 is connected to the rocker thread 11 of the base part through the round through hole 7; Process the lower part 3 of the sliding assembly and the upper part 9 of the substrate, and ensure that the curvatures of the two are equal; adjust the sliding assembly 8 with reference to the indexing line of the substrate to meet the first critical refraction angle φ θ between the incident axis a and the receiving axis c and the normal line b of the base surface, and The three axes are all in the same plane, and the first critical refraction angle φ θ satisfies the following conditions,
其中，v1为超声波在基体4中的传播速度，vθ为超声波在被测材料12中的传播速度，θ为超声传播方向与纤维方向夹角。Wherein, v 1 is the propagation velocity of the ultrasonic wave in the matrix 4, v θ is the propagation velocity of the ultrasonic wave in the tested material 12, and θ is the angle between the ultrasonic propagation direction and the fiber direction.
第二步，基于机器人的超声测量功能集成The second step, robot-based ultrasonic measurement function integration
加工机器人末端长轴E与超声测量装置端长轴F，并通过弹性联轴器D与超声测量装置连接；示教与设计机器人C运动轨迹，优化机器人C测量时间；控制机器人C末端下降深度，保证超声测量装置与被测表面12充分接触。Process the long axis E at the end of the robot and the long axis F at the end of the ultrasonic measuring device, and connect it to the ultrasonic measuring device through an elastic coupling D; teach and design the trajectory of the robot C, optimize the measurement time of the robot C; control the descent depth of the end of the robot C, Ensure that the ultrasonic measuring device is fully in contact with the surface 12 to be tested.
发射探头1与脉冲发生器G相连接，示波器J与接收探头2相连接显示超声信号，并通过USB线I与PC端H连接采集并存储数据。The transmitting probe 1 is connected with the pulse generator G, the oscilloscope J is connected with the receiving probe 2 to display the ultrasonic signal, and is connected to the PC terminal H through the USB line I to collect and store the data.
第三步，复合材料表面应力超声检测计算The third step is the ultrasonic detection and calculation of the surface stress of the composite material
首先，将超声测量装置放在参考点处，超声传播方向与纤维方向夹角为θ；根据第二步确定此时的第一临界折射角φθ，通过紧固组件6调整与固定滑动组件8的位置；被测材料表面12产生临界折射纵波e；设置脉冲发生器G频率与增益；然后，通过机器人C控制，设置测量位置间隔距离，平移扫描测量并记录超声传播时间tθ；最后将声时tθ代入如下公式，计算获得固定距离d间的表面应力σθ，First, place the ultrasonic measuring device at the reference point, the angle between the ultrasonic propagation direction and the fiber direction is θ; determine the first critical refraction angle φ θ at this time according to the second step, adjust and fix the sliding component 8 through the fastening component 6 The position of the measured material surface 12 produces a critical refracted longitudinal wave e; set the frequency and gain of the pulse generator G; then, through the control of the robot C, set the distance between the measurement positions, translate and scan to measure and record the ultrasonic propagation time t θ ; When t θ is substituted into the following formula, the surface stress σ θ between the fixed distance d is calculated and obtained,
式中，Kθ为与纤维方向夹角为θ的声弹性系数，为与纤维方向夹角为θ测量距离d间无应力时的传播时间；实际测量中，声时与声弹性系数Kθ需经过实验标定获得。In the formula, K θ is the acoustoelastic coefficient with an angle θ to the fiber direction, is the propagation time when there is no stress between the measured distance d and the included angle with the fiber direction is θ; in actual measurement, the acoustic time The acoustic elastic coefficient K θ needs to be obtained through experimental calibration.
本发明的有益效果是该方法设计了可变入射角超声测量装置，实现了超声入射角的可变调整，以适应复合材料超声传播速度的各向异性，只需一个发射探头和一个接收探头便可以测量任意方向超声传播速度。并建立了一种复合材料表面应力超声适应测量方法，解决了复合材料超声传播速度各向异性问题，减少了探头的使用数量，提高了测量空间分辨率。采用弹性联轴器与机器人末端相连，装置简单紧凑，提高了测量空间分辨率。该方法可满足面向制造现场环境的复合材料表面应力测量需求。实现了机器人辅助的表面应力超声自动扫描测量。The beneficial effect of the present invention is that the method designs a variable incident angle ultrasonic measuring device, which realizes the variable adjustment of the ultrasonic incident angle, so as to adapt to the anisotropy of the ultrasonic propagation velocity of the composite material, and only needs one transmitting probe and one receiving probe. Ultrasound propagation velocity in any direction can be measured. An ultrasonic adaptive measurement method for composite surface stress is established, which solves the problem of anisotropy of ultrasonic propagation velocity of composite materials, reduces the number of probes used, and improves the measurement spatial resolution. The flexible coupling is connected to the end of the robot, the device is simple and compact, and the spatial resolution of the measurement is improved. This method can meet the demand of composite material surface stress measurement for manufacturing site environment. The robot-assisted ultrasonic automatic scanning measurement of surface stress is realized.
附图说明Description of drawings
附图1-超声测量装置图；其中1-发射探头，2-螺纹孔，3-滑动组件下部，4-基体，5-接收探头，6-紧固组件，7-圆通孔，8-滑动组件，9-基体上部，10-固定连接块，11-摇杆，12-被测材料，a-入射轴线，b-基面法线，c-接收轴线，d-传播路径，e-临界折射纵波，A-发射端，B-接收端。Attached drawing 1-diagram of ultrasonic measuring device; 1-transmitting probe, 2-threaded hole, 3-lower part of sliding component, 4-base body, 5-receiving probe, 6-fastening component, 7-round through hole, 8-sliding component , 9-upper part of substrate, 10-fixed connection block, 11-rocker, 12-measured material, a-incident axis, b-base surface normal, c-receiving axis, d-propagation path, e-critical refracted longitudinal wave , A-transmitter, B-receiver.
附图2-超声自动扫描系统图；C-机器人，D-弹性联轴器，E-机器人末端长轴，F-超声测量装置端长轴，G-脉冲发生器，H-PC端，I-USB线，J-示波器，1-发射探头，5-接收探头。Attached Figure 2 - Ultrasonic automatic scanning system diagram; C-robot, D-elastic coupling, E-robot end long axis, F-ultrasonic measuring device end long axis, G-pulse generator, H-PC end, I- USB cable, J-oscilloscope, 1-transmitting probe, 5-receiving probe.
具体实施方式Detailed ways
结合附图和技术方案详细说明本发明的具体实施方案。The specific implementation of the present invention will be described in detail in conjunction with the accompanying drawings and technical solutions.
常温25℃条件下，超声纵波在基体中的传播速度为2586.43m/s，在T700碳纤维复合材料中沿纤维方向时有最大速度为8971.02m/s，垂直于纤维方向有最小速度为3638.4m/s，因此根据公式(1)可知第一临界折射角φθ最大为45.31°，最小为16.76°。At room temperature of 25°C, the propagation velocity of ultrasonic longitudinal waves in the matrix is 2586.43m/s. In the T700 carbon fiber composite material, the maximum velocity along the fiber direction is 8971.02m/s, and the minimum velocity perpendicular to the fiber direction is 3638.4m/s. s, so according to formula (1), it can be known that the first critical refraction angle φ θ is at most 45.31° and at least 16.76°.
变角度超声测量装置关键参数为：滑动组件8宽为20mm，基体组件4半径为14mm，装置发射端A与接收端B固定间隔距离为8mm，调节滑动组件8可实现入射轴线a和接收轴线c与基面法线b间的角度最大为70°，最小为0°，基体组件4分度划线间隔为5°，满足T700碳纤维复合材料第一临界折射角区间要求。The key parameters of the variable-angle ultrasonic measurement device are: the width of the sliding component 8 is 20 mm, the radius of the base component 4 is 14 mm, the fixed distance between the transmitting end A and the receiving end B of the device is 8 mm, and the incident axis a and the receiving axis c can be realized by adjusting the sliding component 8 The maximum angle to the normal b of the base surface is 70°, the minimum is 0°, and the interval between the 4 divisions of the matrix component is 5°, which meets the requirements of the first critical refraction angle interval of T700 carbon fiber composite materials.
采用2.25MHz发射探头1与接收探头5，通过螺纹2沿入射轴线a与滑动组件8连接；紧固组件6通过滑动组件8的两侧圆通孔7与摇杆11螺纹连接，实现紧固功能；装置发射端A与接收端B间的固定连接块10中心加工直径6mm圆孔13，超声测量装置端长轴F与圆孔13配合并用胶粘；弹性联轴器D采用夹紧顶丝式，孔径为6mm×6mm，两端分别与机器人末端长轴E和超声测量装置端长轴F连接。The 2.25MHz transmitting probe 1 and receiving probe 5 are used to connect with the sliding component 8 along the incident axis a through the thread 2; the fastening component 6 is threaded with the rocker 11 through the round through holes 7 on both sides of the sliding component 8 to realize the fastening function; A round hole 13 with a diameter of 6 mm is processed in the center of the fixed connection block 10 between the transmitting end A and the receiving end B of the device, and the long axis F of the ultrasonic measuring device end is matched with the round hole 13 and glued; the elastic coupling D adopts a clamping top wire type, The aperture is 6mm×6mm, and the two ends are respectively connected with the long axis E at the end of the robot and the long axis F at the end of the ultrasonic measuring device.
发射探头1与脉冲发生器G连接，接收探头5与示波器J连接，脉冲发生器G与示波器J连接实现信号同步，脉冲发生器G频率设置为2.25MHz，脉冲发生器G和示波器J均与PC端H连接实现信号处理与存储。Transmitting probe 1 is connected to pulse generator G, receiving probe 5 is connected to oscilloscope J, and pulse generator G is connected to oscilloscope J to achieve signal synchronization. The frequency of pulse generator G is set to 2.25MHz, and both pulse generator G and oscilloscope J are connected to PC Terminal H is connected to realize signal processing and storage.
将复合材料制成拉伸件并在材料拉伸机进行阶梯形式拉伸，标定获得公式(2)中的声弹性系数Kθ，测量与纤维方向夹角为θ测量距离d间无应力时的传播时间以及与纤维方向夹角为θ测量距离d间应力状态下的传播时间tθ，计算获得固定距离d间的表面应力σθ。The composite material is made into a stretched piece and stretched in a stepwise form on a material stretching machine, and the acoustic elastic coefficient K θ in the formula (2) is obtained through calibration, and the angle between the measurement and the fiber direction is θ and there is no stress between the measurement distance d propagation time And the propagation time t θ under the stress state between distance d is measured at angle θ with the fiber direction, and the surface stress σ θ between fixed distance d is calculated.
本发明提出的复合材料表面应力超声适应测量方法解决了超声传播速度各向异性问题，装置简单紧凑，提高了测量空间分辨率；实现了机器人辅助的表面应力超声自动扫描测量。The composite material surface stress ultrasonic adaptive measurement method proposed by the invention solves the problem of ultrasonic propagation velocity anisotropy, the device is simple and compact, and the measurement space resolution is improved; the robot-assisted surface stress ultrasonic automatic scanning measurement is realized.
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