CN110824013B - Ultrasonic automatic detection device and method for three-layer plate spot-welded joint - Google Patents

Ultrasonic automatic detection device and method for three-layer plate spot-welded joint Download PDF

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CN110824013B
CN110824013B CN201911205902.8A CN201911205902A CN110824013B CN 110824013 B CN110824013 B CN 110824013B CN 201911205902 A CN201911205902 A CN 201911205902A CN 110824013 B CN110824013 B CN 110824013B
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ultrasonic
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welding part
ultrasonic probe
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CN110824013A (en
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徐国成
王丁冉
董娟
谷晓鹏
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Jilin University
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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
    • 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
    • G01N29/225—Supports, positioning or alignment in moving situation
    • 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
    • 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 invention relates to an ultrasonic automatic detection device and method for a three-layer plate spot-welded joint, and belongs to the field of ultrasonic quality detection. A two-dimensional sliding table of the device is fixed on a bracket of a welding part fixing and rotating mechanism, a probe clamp is fixed on the two-dimensional sliding table, and quantitative movement in the X direction and the Y direction is realized through transmission of a stepping motor and a synchronous belt; the stepping motor and the micromotor are connected with the servo motor driver, and the excitation signal of the ultrasonic probe is connected with the ultrasonic microprocessor through a network cable. The welding part is turned over through the rotary motion of the welding part fixing and rotating mechanism, so that ultrasonic detection is respectively carried out on the upper surface (surface A) and the lower surface (surface B) of the welding part; the consistency of the detection paths of the upper surface (A surface) and the lower surface (B surface) and the one-to-one correspondence of the detection points are ensured by a specific motion control method. The invention realizes the automatic ultrasonic detection of the three-layer plate spot welding and improves the reliability of the quality detection of the three-layer plate spot welding.

Description

Ultrasonic automatic detection device and method for three-layer plate spot-welded joint
Technical Field
The invention relates to the field of ultrasonic quality detection, in particular to an automatic ultrasonic detection device and method for a three-layer plate spot welding joint with equal thickness or different thickness, which assist an ultrasonic probe to move quantitatively so as to scan the area where a welding spot is located.
Background
Resistance spot welding occupies a great proportion in the welding and manufacturing process of stainless steel car bodies, is a key technology in car body manufacturing, and the connection among a large number of car body components is completed by adopting resistance spot welding. In an automobile structure, due to design constraints, three thin plates are sometimes used at certain positions for spot welding. In response to the technical requirements of energy conservation and emission reduction of automobiles and light weight of automobile bodies, advanced high-strength steel materials represented by dual-phase steel are increasingly applied to the automobile bodies, three-layer plate resistance spot welding application conditions with different strength and thickness can occur at a plurality of positions such as front longitudinal beams, A, B and C columns of the automobile bodies, and the application proportion is increasing year by year. Under the influence of material properties and plate thickness, in the electrifying process of the resistance spot welding of the three-layer plate with different thicknesses, the current density distribution of the contact surfaces of the upper plate and the lower plate and the middle plate is uneven, the heat generation between the upper contact surface and the lower contact surface is inconsistent along with the increase of the electrifying time, and the welding spot nugget deviates to the thick plate side, so the quality detection of the spot welding of the three-layer plate is particularly important.
The quality evaluation methods of the resistance spot welding joint commonly used at home and abroad mainly comprise two methods: the first method is based on-line evaluation of welding process parameters, however, since resistance spot welding is a complex process with nonlinearity, multivariable coupling and a large number of uncertain factors affecting each other, the above method can only provide partially reliable quality information and cannot evaluate the quality of spot welding completely and accurately. The second method is post-weld destructive inspection, which requires destruction of a weld spot such as peeling and twisting to obtain approximate information of nugget diameter and joint strength, but destructive inspection is costly. The ultrasonic detection research of the three-layer plate is particularly important. Because the three layers are provided with two welding plate contact surfaces, the nugget diameter of each contact surface is different, and a detection blind area is easily caused by a conventional detection method, the research of the wave three-layer plate spot welding ultrasonic detection device has great significance.
Disclosure of Invention
The invention aims to provide an automatic ultrasonic detection device and method for a three-layer plate spot welding joint, which solve the problem that a detection blind area is easy to occur during ultrasonic detection of three-layer plate spot welding in the prior art. The invention can detect the spot welding of three-layer plates with equal thickness or different thicknesses, can carry out double-sided sequential detection and analysis on the welding spots of the three-layer plates, and solves the problem of detection blind areas. The positioning of the scanning starting point is realized by touching and starting travel switches in the x, y and z directions, and the double-sided scanning points are in one-to-one correspondence through a specific motion method; and finally, obtaining a three-dimensional view of the interior of the three-layer plate welding spot, and obtaining a detection result more intuitively.
The above object of the present invention is achieved by the following technical solutions:
the ultrasonic automatic detection device of the three-layer plate spot welding joint is characterized in that an ultrasonic probe 7 is fixed on a probe clamp 6; the probe clamp 6 is fixed on a probe clamp fixing support 4-1 of the two-dimensional sliding table 4; the two-dimensional sliding table 4 is fixed on a bracket 5-1 of the welding part mounting mechanism 5; the weldment mounting mechanism 5 is placed on the detection operation table top 9; the water tank 8 is placed on the detection operation table 9. The industrial computer 1 is connected with the ultrasonic microprocessor 3 through a lead; the ultrasonic microprocessor 3 is connected with the ultrasonic probe 7 through a lead; the industrial computer 1 is connected with the servo motor driver 2 through a lead; the servo motor driver 2 is connected with an X-direction stepping motor 4-2 and a Y-direction stepping motor 4-3 on the two-dimensional sliding table 4 through leads; the servo motor driver 2 is connected with a micro motor 5-2 on the welding part mounting mechanism 5 through a lead; the servo motor driver 2 is connected with a Z-direction stepping motor 6-1 on the probe clamp 6 through a lead. The industrial computer 1 is connected with an X-direction travel switch 4-4 and a Y-direction travel switch 4-5 on the two-dimensional sliding table 4 through leads.
The two-dimensional sliding table 4 comprises a probe clamp fixing support 4-1, an X-direction stepping motor 4-2, a Y-direction stepping motor 4-3, an X-direction travel switch 4-4, a Y-direction travel switch 4-5, an X-direction synchronous belt 4-6, a Y-direction synchronous belt 4-7, a Y-direction sliding table 4-8, an X-direction sliding table 4-9 and a fixing support 4-10, wherein the probe clamp fixing support 4-1 is fixed on the Y-direction sliding table 4-8 and realizes Y-direction movement together with the Y-direction sliding table 4-8 under the driving of the Y-direction stepping motor 4-3 and the Y-direction synchronous belt 4-7; the Y-direction sliding table 4-8 is arranged on the X-direction sliding table 4-9; the X-direction sliding table 4-9 is arranged on a fixed support 4-10, is fixed with the X-direction synchronous belt 4-6 and realizes X-direction movement under the driving of the X-direction stepping machine 4-2 and the X-direction synchronous belt 4-6; the X-direction travel switch 4-4 and the X-direction sliding table 4-9 are fixed together to realize the positioning of the X-direction moving starting point; the Y-direction travel switch 4-5 and the Y-direction sliding table 4-8 are fixed together to realize the positioning of the Y-direction moving starting point.
The welding piece mounting mechanism 5 of the welding piece mounting mechanism 5 comprises a support 5-1, a micro motor 5-2, a synchronous belt wheel 5-3, a synchronous belt 5-4, a welding piece fixing clamp 5-5, a bearing 5-6 and a bearing connecting rod 5-7. The miniature motor 5-2 is fixed in the support 5-1, an output shaft of the miniature motor 5-2 is connected with the synchronous pulley 5-3, the synchronous pulley 5-3 is connected with the bearing 5-6 through the synchronous belt 5-4, the welding part fixing clamp 5-5 is installed on the bearing connecting rod 5-7, and the welding part fixing clamp rotates around the axis line of the bearing connecting rod 5-7 under the driving of the miniature motor 5-2 and the synchronous belt 5-4.
The probe clamp 6 comprises a Z-direction stepping motor 6-1, a rack 6-2, a probe connecting support 6-3, a gear 6-4 and a Z-direction travel switch 6-5; the ultrasonic probe is fixed in the probe connecting support 6-3 through a jackscrew; the rack 6-2 is fixed on the probe connecting support 6-3; the Z-direction stepping motor 6-1 is fixed on the probe connecting support 6-3; an output shaft of the Z-direction stepping motor 6-1 is connected with a gear 6-4, and drives the probe connecting support 6-3 to perform Z-direction movement through the meshing action of the gear 6-4 and the rack 6-2, so that the ultrasonic probe is driven to perform Z-direction movement; and a Z-direction travel switch 6-5 is arranged on the probe connecting support 6-3 to realize the positioning of a Z-direction movement starting point.
The invention also aims to provide an ultrasonic automatic detection method of the three-layer plate spot-welded joint, which comprises the following steps:
s1, system connection: connecting the input and output ends of the excitation signal of the ultrasonic probe 7 with the network port of the ultrasonic microprocessor 3; the servo motor driver 2 is connected with the X-direction stepping motor 4-2, the Y-direction stepping motor 4-3, the micro motor 5-2 and the Z-direction stepping motor 6-1 through leads, the servo motor driver 2 is installed on a PCI socket of the industrial computer 1, and the X-direction travel switch 4-4, the Y-direction travel switch 4-5 and the Z-direction travel switch 6-5 are connected with the industrial computer 1;
s2, adjusting the height of the ultrasonic probe: the method comprises the following steps:
s2.1, starting a system, wherein the industrial computer 1 sends a pulse signal to the Z-direction stepping motor 6-1 to adjust the Z-direction height of the ultrasonic probe to the initial height h0Initial height h0The setting method is as follows:
h0＞tmax (1)
wherein, tmaxThe maximum plate thickness of the workpiece to be measured.
When the ultrasonic probe is adjusted to the initial value h0When the Z-direction travel switch 6-5 is pressed in, the Z-direction travel switch reaches the starting point of the Z-direction movement;
s2.2, inputting the upper plate thickness t of the welding part in the industrial computer 11Thickness t of intermediate layer2And the thickness t of the lower layer plate3The industrial computer 1 automatically calculates the detection height h of the ultrasonic probe on the upper surface (A surface) of the welded part according to the plate thickness valueOn the upper part. Initial value h in Z direction0Height h detected from the upper surface (surface A) of the welding partOn the upper partThe difference value is the downward moving distance h of the ultrasonic probem is just(ii) a The industrial computer 1 moves down by a distance h according to the ultrasonic probem is justSending a pulse signal to the Z-direction stepping motor 6-1, and moving the ultrasonic probe to the upper surface of the welding part;
s3, determination of the welding part upper surface X, Y towards a detection starting point: the method comprises the following steps:
s3.1, the industrial computer 1 sends electric pulse signals to an X-direction stepping motor 4-2 and a Y-direction stepping motor 4-3 respectively through a servo motor driver 2, and drives a probe clamp 6 to move on a two-dimensional sliding table 4 along the X direction and the Y direction respectively through transmission of an X-direction synchronous belt 4-6 and a Y-direction synchronous belt 4-7; when the X-direction travel switch 4-4 and the Y-direction travel switch 4-5 are pressed in, the ultrasonic probe 7 reaches a system zero point;
s3.2, inputting the X-direction and Y-direction distances L between the welding points and the system parts in the industrial computer 1xAnd LyThe industrial computer 1 drives the probe clamp 6 to move L on the two-dimensional sliding table 4 along the X direction and the Y direction respectively through the servo motor driver 2x0And Ly0To make the ultrasonic probe reach the detection starting point Oa（0，0，hOn the upper part）；
S4, ultrasonic scanning detection of the upper surface (surface A) of the welding part: inputting X-direction scanning distance L in industrial computer 1x1And a Y-direction scanning distance Ly1(ii) a The industrial computer 1 drives the probe clamp 6 to do reciprocating scanning motion on the upper surface (A surface) of the welding part along the X direction and the Y direction respectively on the two-dimensional sliding table 4 through the servo motor driver 2, so that the probes respectively reach the detection limit points Ob（Lx1，0，hOn the upper part），Oc（0，Ly1，hOn the upper part) And finally reaches the detection end point Od（Lx1，Ly1，hOn the upper part）；
At each step point of the movement of the X-direction stepping motor 4-2 and the Y-direction stepping motor 4-3, the industrial computer 1 sends an excitation signal to the ultrasonic probe 7 through the ultrasonic microprocessor 3, the ultrasonic probe 7 transmits and receives an ultrasonic signal, and a reflected echo signal is fed back to the industrial computer 1; until the ultrasonic probe 7 moves to the detection end point Od（Lx1，Ly1,hOn the upper part) Completing ultrasonic scanning detection on the upper surface of the welding part;
s5, overturning a welding piece: the method comprises the following steps:
s5.1, the industrial computer 1 controls the ultrasonic probe 7 to move upwards through the servo motor driver 2 until the Z-direction travel switch 6-5 is pressed in to reach a Z-direction movement starting point;
s5.2, the industrial computer 1 controls the micro motor 5-2 through the servo motor driver 2 to drive the welding part mounting mechanism 5 to rotate, so that the lower surface (surface B) of the welding part faces upwards;
s5.3, the industrial computer 1 automatically calculates the detection height h of the ultrasonic probe on the lower surface (B surface) of the welding part according to the plate thickness valueLower part. Initial value h in Z direction0Height h detected from lower surface (B surface) of welding partLower partThe difference between the two is the downward movement distance h of the ultrasonic probe 7m is inverse(ii) a The industrial computer 1 moves down by a distance h according to the ultrasonic probem is inverseSending a pulse signal to the Z-direction stepping motor 6-1, and moving the ultrasonic probe 7 to the lower surface (surface B) of the welding part; at this time, since the relative positions of the upper and lower surfaces of the weld and the ultrasonic probe 7 are changed by the turnover of the weld, the ultrasonic probe is positioned at the detection limit point O of the lower surface (B-surface) of the weldb’（Lx1，0，hLower part）；
S5.4, the industrial computer 1 drives the probe clamp 6 to move L along the-X direction on the two-dimensional sliding table 4 through the servo motor driver 2x1To make the ultrasonic probe reach the detection starting point Oa’（0，0，hLower part）；
S6, ultrasonic scanning detection of the lower surface (surface B) of the welding part: the industrial computer 1 drives the probe clamp 6 to do reciprocating scanning motion on the lower surface (B surface) of the welding part along the X direction and the Y direction on the two-dimensional sliding table 4 through the servo motor driver 2, so that the probes respectively reach the detection limit points Ob’（Lx1，0，hLower part），Oc’（0，Ly1，hLower part) And finally reaches the detection end point Od’（Lx1，Ly1，hLower part）；
At each step point of the movement of the X-direction stepping motor 4-2 and the Y-direction stepping motor 4-3, the industrial computer 1 sends an excitation signal to the ultrasonic probe 7 through the ultrasonic microprocessor 3, the ultrasonic probe 7 transmits and receives an ultrasonic signal, and a reflected echo signal is fed back to the industrial computer 1; until the ultrasonic probe moves to the detection end point Od’（Lx1，Ly1，hLower part) And the ultrasonic scanning detection of the lower surface (B surface) of the welding part is finished;
s7, the industrial computer 1 respectively analyzes and processes the signals of the upper and lower connecting interfaces of the three-layer plate spot welding part according to the ultrasonic A echo signals of each stepping point on the upper surface (A surface) and the lower surface (B surface) of the welding part, and outputs the quality analysis result of the welding part.
In steps S2 and S5, the ultrasonic probe 7 detects the height h on the upper surface (surface a) of the weldOn the upper partAnd the height h of the lower surface (B surface) of the welded partLower partThe welding piece is determined according to the plate thickness of the welding piece and the relative position of the welding piece and the shaft axis of the bearing connecting rod 5-7, and the calculation method is as follows:
hon the upper part=s (2)
hLower part=t1+t2+ t3 -s (3)
Wherein s represents the vertical distance between the axis of the bearing link 5-7 and the upper surface (A face) of the weldment when the upper surface (A face) of the weldment is assembled upward.
In steps S4 and S6, in order to ensure that the ultrasonic probes 7 have one-to-one correspondence between the detection step pitch points on the upper surface (a surface) of the weld and the lower surface (B surface) of the weld, the relationship between the scanning paths of the ultrasonic probes 7 on the upper surface (a surface) and the lower surface (B surface) of the weld is:
a. when the ultrasonic probe 7 moves on the upper surface (surface a) of the weld workpiece, the sequence is: x-direction movement Lx1Movement L in the direction → Yy1 / Ny（NyNumber of step points in the Y direction) → X direction movement-Lx1Movement L in the direction → Yy / NyMoving along the X direction L → Xx 1… … until moving to the scanning end point Od（Lx1，Ly1，hOn the upper part）；
The sequence of movement of the ultrasonic probe 7 on the lower surface (B-surface) of the weld is: x-direction movement Lx1Moving in the direction of → Y-Ly1 / Ny（NyNumber of step points in the Y direction) → X direction movement-Lx1Moving in the direction of → Y-Ly / NyMoving along the X direction L → Xx1 … … until moving to the scanning end point Od ’（Lx1，Ly1，hLower part）；
b. When the ultrasonic probe 7 moves on the upper surface (surface a) of the weld workpiece, the sequence is: x-direction movement Lx1/ Nx（NxNumber of step points in the X direction) → Y direction shift Ly1Moving along the X direction L → Xx1/ NxMoving in the direction of → Y-Ly1Moving along the X direction L → Xx1/ Nx … … until moving to the scanning end point Od（Lx1，Ly1，hOn the upper part）；
The sequence of movement of the ultrasonic probe 7 on the lower surface (B-surface) of the weld is: x-direction movement Lx1/ Nx（NxNumber of step points in the X direction) → Y direction movement-Ly1Moving along the X direction L → Xx1/ NxMovement L in the direction → Yy1Moving along the X direction L → Xx1/ Nx … … until moving to the scanning end point Od ，（Lx1，Ly1，hLower part）。
The invention has the beneficial effects that: the transmission mode of the detection device is synchronous belt transmission controlled by a stepping motor, the scanning step range is smaller, and the scanning degree is more accurate; the use of the travel switch enables the positioning points of the double-sided scanning to be at the same position, thereby greatly reducing the error of data analysis; the data presentation mode of the three-dimensional view enables the detection result to be more visual. The sliding table, the rotating device and the three-layer plate spot welding ultrasonic detection system are combined, automatic detection is achieved, scanning errors are greatly reduced, and scanning efficiency is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention.
FIG. 1 is a schematic structural diagram of a three-layer plate spot welding ultrasonic full-automatic detection device of the present invention;
FIG. 2 is a schematic structural diagram of a two-dimensional sliding table according to the present invention;
FIG. 3 is a schematic structural view of a weldment mounting mechanism of the present invention;
FIG. 4 is a schematic view of a probe fixture configuration of the present invention;
FIG. 5 is a three-dimensional data analysis diagram of the three-layer plate spot welding ultrasonic full-automatic detection method of the present invention;
fig. 6 and 7 are scanning paths of an ultrasonic probe of the full-automatic three-layer plate spot welding ultrasonic detection method of the present invention, wherein fig. 6 is an upper surface (a surface) scanning path, and fig. 7 is a lower surface (B surface) scanning path;
fig. 8 is a schematic diagram of the probe height adjustment distance.
In the figure: 1. an industrial computer; 2. a servo motor driver; 3. an ultrasonic microprocessor; 4. a two-dimensional sliding table; 5. a weldment mounting mechanism; 6. a probe clamp; 7. an ultrasonic probe; 8. a water tank; 9. detecting an operation table top; 4-1, fixing a support for the probe clamp; 4-2, an X-direction stepping motor; 4-3, a Y-direction stepping motor; 4-4, an X-direction travel switch; 4-5, Y-direction travel switch; 4-6, an X-direction synchronous belt; 4-7, Y-direction synchronous belts; 4-8, Y-direction sliding table; 4-9, an X-direction sliding table; 4-10, fixing a support; 5-1, a bracket; 5-2, a micro motor; 5-3, synchronous belt wheel; 5-4, synchronous belts; 5-5, fixing a clamp for welding parts; 5-6, bearing; 5-7, bearing connecting rod; 6-1, Z-direction stepping motor; 6-2, a rack; 6-3, connecting the probe with a support; 6-4, gear; 6-5, Z direction travel switch. A1, an upper plate; a2, middle layer board; a3, lower layer board; a4, nugget; b1, interface nuggets of the upper layer plate and the middle layer plate; b2, interface of the upper plate and the middle plate; b3, interface nugget of the middle-layer plate and the lower-layer plate; b2, interface of the middle plate and the lower plate; c1, a probe; c2, clamp axis of rotation; d1, upper surface (surface a); d2, lower surface (surface B).
Detailed Description
The details of the present invention and its embodiments are further described below with reference to the accompanying drawings.
Referring to fig. 1 to 8, the ultrasonic automatic detection device and method for the three-layer plate spot welding joint of the invention are suitable for ultrasonic detection of the three-layer plate spot welding joint with equal thickness or different thicknesses. For the three-layer plate spot welding joint, a detection blind area exists by adopting an original ultrasonic detection method, so that double-side detection contrast analysis is needed for the three-layer plate spot welding. The invention realizes the positioning of the scanning starting point by touching and starting the travel switches in the x, y and z directions; the welding part is turned over through the rotary motion of the welding part fixing and rotating mechanism, so that ultrasonic detection is respectively carried out on the upper surface (surface A) and the lower surface (surface B) of the welding part; the consistency of detection paths of the upper surface (surface A) and the lower surface (surface B) and the one-to-one correspondence of detection points are ensured by a specific motion control method; and the internal structure of the three-layer plate welding spot is shown in a three-dimensional diagram. The probe clamp is fixed on the two-dimensional sliding table, and quantitative movement in the X-axis direction and the Y-axis direction is realized through transmission of a stepping motor and a synchronous belt; positioning a moving starting point through a travel switch; the stepping motor and the micromotor are connected with the servo motor driver, and the input and output ends of the excitation signal of the ultrasonic probe are connected with the ultrasonic microprocessor through a network cable. Has the advantages that: the problem of detecting blind areas in ultrasonic detection of three-layer plate spot welding is solved; a stepping motor is adopted, so that the ultrasonic detection scanning precision is improved; the double-sided detection points are in one-to-one correspondence, and the subsequent data analysis error is reduced. Clear thought, novel design, convenient application have improved the reliability and the automatic level of three-layer board spot welding quality testing.
Referring to fig. 1 to 4, the transmission mode of the ultrasonic automatic detection device for the three-layer plate spot welding joint is belt transmission controlled by a stepping motor, so that the minimum scanning step length is reduced, and the scanning precision of an ultrasonic detection probe is improved; the welding piece installation mechanism realizes double-sided detection, the application of the travel switch and a specific scanning path ensure the one-to-one correspondence of the scanning points on the upper surface and the lower surface of the three-layer welding piece, and the error and the complexity of data analysis are reduced. The automation degree and the ultrasonic detection accuracy of the three-layer plate spot welding detection are greatly improved. The device comprises an industrial computer 1, a servo motor driver 2, an ultrasonic microprocessor 3, a two-dimensional sliding table 4, a welding part mounting mechanism 5, a probe clamp 6, an ultrasonic probe 7, a water tank 8 and a detection operation table top 9. The industrial computer 1 is connected with the ultrasonic microprocessor 3 through a lead; the ultrasonic microprocessor 3 is connected with the ultrasonic probe 7 through a lead; the industrial computer 1 is connected with the servo motor driver 2 through a lead; the servo motor driver 2 is connected with an X-direction stepping motor 4-2 and a Y-direction stepping motor 4-3 on the two-dimensional sliding table 4 through leads; the servo motor driver 2 is connected with a micro motor 5-2 on the welding part mounting mechanism 5 through a lead; the servo motor driver 2 is connected with a Z-direction stepping motor 6-1 on the probe clamp 6 through a lead. The industrial computer 1 is connected with an X-direction travel switch 4-4 and a Y-direction travel switch 4-5 on the two-dimensional sliding table 4 through leads.
The two-dimensional sliding table 4 comprises a probe clamp fixing support 4-1, an X-direction stepping motor 4-2, a Y-direction stepping motor 4-3, an X-direction travel switch 4-4, a Y-direction travel switch 4-5, an X-direction synchronous belt 4-6, a Y-direction synchronous belt 4-7, a Y-direction sliding table 4-8, an X-direction sliding table 4-9 and a fixing support 4-10, wherein the probe clamp fixing support 4-1 is fixed on the Y-direction sliding table 4-8 and realizes Y-direction movement together with the Y-direction sliding table 4-8 under the driving of the Y-direction stepping motor 4-3 and the Y-direction synchronous belt 4-7; the Y-direction sliding table 4-8 is arranged on the X-direction sliding table 4-9; the X-direction sliding table 4-9 is arranged on a fixed support 4-10, is fixed with the X-direction synchronous belt 4-6 and realizes X-direction movement under the driving of the X-direction stepping machine 4-2 and the X-direction synchronous belt 4-6; the X-direction travel switch 4-4 and the X-direction sliding table 4-9 are fixed together to realize the positioning of the X-direction moving starting point; the Y-direction travel switch 4-5 and the Y-direction sliding table 4-8 are fixed together to realize the positioning of the Y-direction moving starting point.
The welding piece mounting mechanism 5 of the welding piece mounting mechanism 5 comprises a support 5-1, a micro motor 5-2, a synchronous belt wheel 5-3, a synchronous belt 5-4, a welding piece fixing clamp 5-5, a bearing 5-6 and a bearing connecting rod 5-7. The miniature motor 5-2 is fixed in the support 5-1, an output shaft of the miniature motor 5-2 is connected with the synchronous pulley 5-3, the synchronous pulley 5-3 is connected with the bearing 5-6 through the synchronous belt 5-4, the welding part fixing clamp 5-5 is installed on the bearing connecting rod 5-7, and the welding part fixing clamp rotates around the axis line of the bearing connecting rod 5-7 under the driving of the miniature motor 5-2 and the synchronous belt 5-4.
The probe clamp 6 comprises a Z-direction stepping motor 6-1, a rack 6-2, a probe connecting support 6-3, a gear 6-4 and a Z-direction travel switch 6-5; the ultrasonic probe is fixed in the probe connecting support 6-3 through a jackscrew; the rack 6-2 is fixed on the probe connecting support 6-3; the Z-direction stepping motor 6-1 is fixed on the probe connecting support 6-3; an output shaft of the Z-direction stepping motor 6-1 is connected with a gear 6-4, and drives the probe connecting support 6-3 to perform Z-direction movement through the meshing action of the gear 6-4 and the rack 6-2, so that the ultrasonic probe is driven to perform Z-direction movement; and a Z-direction travel switch 6-5 is arranged on the probe connecting support 6-3 to realize the positioning of a Z-direction movement starting point.
The two slide rails moving in the X direction and the Y direction are miniature precise ball sliding groups. The motors in the X direction and the Y direction are high-precision stepping motors.
Referring to fig. 4 and 5, the ultrasonic automatic inspection method for the three-layer plate spot-welded joint determines the one-to-one correspondence relationship of the scanning points of the upper surface and the lower surface. The method comprises the following steps:
s1, system connection: connecting the input and output ends of the excitation signal of the ultrasonic probe 7 with the network port of the ultrasonic microprocessor 3; the servo motor driver 2 is connected with the X-direction stepping motor 4-2, the Y-direction stepping motor 4-3, the micro motor 5-2 and the Z-direction stepping motor 6-1 through leads, the servo motor driver 2 is installed on a PCI socket of the industrial computer 1, and the X-direction travel switch 4-4, the Y-direction travel switch 4-5 and the Z-direction travel switch 6-5 are connected with the industrial computer 1;
s2, adjusting the height of the ultrasonic probe: the method comprises the following steps:
s2.1, starting a system, wherein the industrial computer 1 sends a pulse signal to the Z-direction stepping motor 6-1 to adjust the Z-direction height of the ultrasonic probe to the initial height h0Initial height h0The setting method is as follows:
h0＞tmax (1)
wherein, tmaxThe maximum plate thickness of the workpiece to be measured.
When the ultrasonic probe is adjusted to the initial value h0When the Z-direction travel switch 6-5 is pressed in, the Z-direction travel switch reaches the starting point of the Z-direction movement;
s2.2, inputting the upper plate thickness t of the welding part in the industrial computer 11Thickness t of intermediate layer2And the thickness t of the lower layer plate3The industrial computer 1) automatically calculates the detection height h of the ultrasonic probe on the upper surface (A surface) of the welding part according to the plate thickness valueOn the upper part. Initial value h in Z direction0Height h detected from the upper surface (surface A) of the welding partOn the upper partThe difference value is the downward moving distance h of the ultrasonic probem is just(ii) a The industrial computer 1 moves down by a distance h according to the ultrasonic probem is justSending a pulse signal to the Z-direction stepping motor 6-1, and moving the ultrasonic probe to the upper surface of the welding part;
s3, determination of the welding part upper surface X, Y towards a detection starting point: the method comprises the following steps:
s3.1, the industrial computer 1 sends electric pulse signals to an X-direction stepping motor 4-2 and a Y-direction stepping motor 4-3 respectively through a servo motor driver 2, and drives a probe clamp 6 to move on a two-dimensional sliding table 4 along the X direction and the Y direction respectively through transmission of an X-direction synchronous belt 4-6 and a Y-direction synchronous belt 4-7; when the X-direction travel switch 4-4 and the Y-direction travel switch 4-5 are pressed in, the ultrasonic probe 7 reaches a system zero point;
s3.2, inputting the X-direction and Y-direction distances L between the welding points and the system parts in the industrial computer 1xAnd LyThe industrial computer 1 drives the probe clamp 6 to move L on the two-dimensional sliding table 4 along the X direction and the Y direction respectively through the servo motor driver 2x0And Ly0To make the ultrasonic probe reach the detection starting point Oa（0，0，hOn the upper part）；
S4, ultrasonic scanning detection of the upper surface (surface A) of the welding part: inputting X-direction scanning distance L in industrial computer 1x1And a Y-direction scanning distance Ly1(ii) a The industrial computer 1 drives the probe clamp 6 on through the servo motor driver 2The two-dimensional sliding table 4 respectively performs reciprocating scanning movement on the upper surface (A surface) of the welding part along the X direction and the Y direction to enable the probe to respectively reach a detection limit point Ob（Lx1，0，hOn the upper part），Oc（0，Ly1，hOn the upper part) And finally reaches the detection end point Od（Lx1，Ly1，hOn the upper part）；
At each step point of the movement of the X-direction stepping motor 4-2 and the Y-direction stepping motor 4-3, the industrial computer 1 sends an excitation signal to the ultrasonic probe 7 through the ultrasonic microprocessor 3, the ultrasonic probe 7 transmits and receives an ultrasonic signal, and a reflected echo signal is fed back to the industrial computer 1; until the ultrasonic probe 7 moves to the detection end point Od（Lx1，Ly1,hOn the upper part) Completing ultrasonic scanning detection on the upper surface of the welding part;
s5, overturning a welding piece: the method comprises the following steps:
s5.1, the industrial computer 1 controls the ultrasonic probe 7 to move upwards through the servo motor driver 2 until the Z-direction travel switch 6-5 is pressed in to reach a Z-direction movement starting point;
s5.2, the industrial computer 1 controls the micro motor 5-2 through the servo motor driver 2 to drive the welding part mounting mechanism 5 to rotate, so that the lower surface B of the welding part faces upwards;
s5.3, the industrial computer 1 automatically calculates the detection height h of the ultrasonic probe on the lower surface (B surface) of the welding part according to the plate thickness valueLower part. Initial value h in Z direction0Height h detected from lower surface (B surface) of welding partLower partThe difference between the two is the downward movement distance h of the ultrasonic probe 7m is inverse(ii) a The industrial computer 1 moves down by a distance h according to the ultrasonic probem is inverseSending a pulse signal to the Z-direction stepping motor 6-1, and moving the ultrasonic probe 7 to the lower surface (surface B) of the welding part; at this time, since the relative positions of the upper and lower surfaces of the weld and the ultrasonic probe 7 are changed by the turnover of the weld, the ultrasonic probe is positioned at the detection limit point O of the lower surface (B-surface) of the weldb’（Lx1，0，hLower part）；
S5.4, the industrial computer 1 passesThe servo motor driver 2 drives the probe clamp 6 to move L on the two-dimensional sliding table 4 along the X directionx1To make the ultrasonic probe reach the detection starting point Oa’（0，0，hLower part）；
S6, ultrasonic scanning detection of the lower surface (surface B) of the welding part: the industrial computer 1 drives the probe clamp 6 to do reciprocating scanning motion on the lower surface (B surface) of the welding part along the X direction and the Y direction on the two-dimensional sliding table 4 through the servo motor driver 2, so that the probes respectively reach the detection limit points Ob’（Lx1，0，hLower part），Oc’（0，Ly1，hLower part) And finally reaches the detection end point Od’（Lx1，Ly1，hLower part）；
At each step point of the movement of the X-direction stepping motor 4-2 and the Y-direction stepping motor 4-3, the industrial computer 1 sends an excitation signal to the ultrasonic probe 7 through the ultrasonic microprocessor 3, the ultrasonic probe 7 transmits and receives an ultrasonic signal, and a reflected echo signal is fed back to the industrial computer 1; until the ultrasonic probe moves to the detection end point Od’（Lx1，Ly1，hLower part) And the ultrasonic scanning detection of the lower surface (B surface) of the welding part is finished;
s7, the industrial computer 1 respectively analyzes and processes the signals of the upper and lower connecting interfaces of the three-layer plate spot welding part according to the ultrasonic A echo signals of each stepping point on the upper surface (A surface) and the lower surface (B surface) of the welding part, and outputs the quality analysis result of the welding part.
In steps S2 and S5, the ultrasonic probe 7 detects the height h on the upper surface (surface a) of the weldOn the upper partAnd the height h of the lower surface (B surface) of the welded partLower partThe welding piece is determined according to the plate thickness of the welding piece and the relative position of the welding piece and the shaft axis of the bearing connecting rod 5-7, and the calculation method is as follows:
hon the upper part=s (2)
hLower part=t1+t2+ t3 -s (3)
Wherein s represents the vertical distance between the axis of the bearing connecting rod (5-7) and the upper surface (A surface) of the welding part when the upper surface (A surface) of the welding part is assembled upwards.
The above description is only a preferred example of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like of the present invention shall be included in the protection scope of the present invention.

Claims (6)

1. The utility model provides an ultrasonic wave automatic checkout device of three-layer board spot welding connects which characterized in that: the device comprises an industrial computer (1), a servo motor driver (2), an ultrasonic microprocessor (3), a two-dimensional sliding table (4), a welding part mounting mechanism (5), a probe clamp (6), an ultrasonic probe (7), a water tank (8) and a detection operation table top (9);
the ultrasonic probe (7) is fixed on the probe clamp (6); the probe clamp (6) is fixed on a probe clamp fixing support (4-1) of the two-dimensional sliding table (4); the two-dimensional sliding table (4) is fixed on a bracket (5-1) of the welding part mounting mechanism (5); the welding part installation mechanism (5) is placed on the detection operation table top (9); the water tank (8) is placed on the detection operation table top (9);
the industrial computer (1) is connected with the ultrasonic microprocessor (3) through a lead; the ultrasonic microprocessor (3) is connected with the ultrasonic probe (7) through a lead;
the industrial computer (1) is connected with the servo motor driver (2) through a lead; the servo motor driver (2) is connected with an X-direction stepping motor (4-2) and a Y-direction stepping motor (4-3) on the two-dimensional sliding table (4) through leads; the servo motor driver (2) is connected with the micro motor (5-2) on the welding part mounting mechanism (5) through a lead; the servo motor driver (2) is connected with a Z-direction stepping motor (6-1) on the probe clamp (6) through a lead;
the industrial computer (1) is connected with an X-direction travel switch (4-4) and a Y-direction travel switch (4-5) on the two-dimensional sliding table (4) through leads;
the welding part mounting mechanism (5) comprises a support (5-1), a micro motor (5-2), a synchronous pulley (5-3), a synchronous belt (5-4), a welding part fixing clamp (5-5), a bearing (5-6) and a bearing connecting rod (5-7), wherein the micro motor (5-2) is fixed in the support (5-1), an output shaft of the micro motor (5-2) is connected with the synchronous pulley (5-3), the synchronous pulley (5-3) is connected with the bearing (5-6) through the synchronous belt (5-4), the welding part fixing clamp (5-5) is mounted on the bearing connecting rod (5-7) and rotates around the axis of the bearing connecting rod (5-7) under the driving of the micro motor (5-2) and the synchronous belt (5-4), ultrasonic detection is respectively carried out from the upper surface and the lower surface of the welding part.
2. The ultrasonic automatic inspection device for a three-layer plate spot welded joint according to claim 1, wherein: the two-dimensional sliding table (4) comprises a probe clamp fixing support (4-1), an X-direction stepping motor (4-2), a Y-direction stepping motor (4-3), an X-direction travel switch (4-4), a Y-direction travel switch (4-5), an X-direction synchronous belt (4-6), a Y-direction synchronous belt (4-7), a Y-direction sliding table (4-8), an X-direction sliding table (4-9) and a fixing support (4-10), wherein the probe clamp fixing support (4-1) is fixed on the Y-direction sliding table (4-8) and is driven by the Y-direction stepping motor (4-3) and the Y-direction synchronous belt (4-7) together with the Y-direction sliding table (4-8) to realize Y-direction movement; the Y-direction sliding table (4-8) is arranged on the X-direction sliding table (4-9); the X-direction sliding table (4-9) is arranged on a fixed support (4-10), is fixed with the X-direction synchronous belt (4-6) and realizes X-direction movement under the driving of the X-direction stepper (4-2) and the X-direction synchronous belt (4-6); the X-direction travel switch (4-4) is fixed with the X-direction sliding table (4-9) to realize the positioning of the X-direction moving starting point; the Y-direction travel switch (4-5) and the Y-direction sliding table (4-8) are fixed together to realize the positioning of the Y-direction movement starting point.
3. The ultrasonic automatic inspection device for a three-layer plate spot welded joint according to claim 1, wherein: the probe clamp (6) comprises a Z-direction stepping motor (6-1), a rack (6-2), a probe connecting support (6-3), a gear (6-4) and a Z-direction travel switch (6-5); the ultrasonic probe is fixed in the probe connecting support (6-3) through a jackscrew; the rack (6-2) is fixed on the probe connecting support (6-3); a Z-direction stepping motor (6-1) is fixed on the probe connecting support (6-3); an output shaft of the Z-direction stepping motor (6-1) is connected with a gear (6-4), and drives a probe connecting support (6-3) to move in the Z direction through the meshing action of the gear (6-4) and a rack (6-2), so that the ultrasonic probe is driven to move in the Z direction; and a Z-direction travel switch (6-5) is arranged on the probe connecting support (6-3) to realize the positioning of a Z-direction movement starting point.
4. An ultrasonic automatic detection method for a three-layer plate spot-welded joint is characterized by comprising the following steps: the method comprises the following steps:
s1, system connection: connecting the input and output ends of the excitation signal of the ultrasonic probe (7) with the network port of the ultrasonic microprocessor (3); the servo motor driver (2) is connected with the X-direction stepping motor (4-2), the Y-direction stepping motor (4-3), the micro motor (5-2) and the Z-direction stepping motor (6-1) through leads, the servo motor driver (2) is installed on a PCI socket of the industrial computer (1), and the X-direction travel switch (4-4), the Y-direction travel switch (4-5) and the Z-direction travel switch (6-5) are connected with the industrial computer (1);
s2, adjusting the height of the ultrasonic probe: the method comprises the following steps:
s2.1, starting a system, wherein the industrial computer (1) sends a pulse signal to the Z-direction stepping motor (6-1) to adjust the Z-direction height of the ultrasonic probe to the initial height h0Initial height h0The setting method is as follows:
h0＞tmax (1)
wherein, tmaxThe maximum plate thickness of the workpiece to be measured;
when the ultrasonic probe is adjusted to the initial height h0When the Z-direction travel switch (6-5) is pressed in, the Z-direction travel switch reaches the starting point of the Z-direction movement;
s2.2, inputting the upper plate thickness t of a welding part in the industrial computer (1)1Thickness t of intermediate layer2And the thickness t of the lower layer plate3The industrial computer (1) automatically calculates the detection height h of the ultrasonic probe on the upper surface of the welding part according to the plate thickness valueOn the upper part(ii) a Initial height h in Z direction0Height h detected from the upper surface of the welding partOn the upper partThe difference value is the downward moving distance h of the ultrasonic probem is just(ii) a The industrial computer (1) moves down by a distance h according to the ultrasonic probem is justSending a pulse signal to a Z-direction stepping motor (6-1) and moving an ultrasonic probe to the upper surface of a welding part;
s3, determination of the welding part upper surface X, Y towards a detection starting point: the method comprises the following steps:
s3.1, the industrial computer (1) sends electric pulse signals to the X-direction stepping motor (4-2) and the Y-direction stepping motor (4-3) through the servo motor driver (2), and drives the probe clamp (6) to move on the two-dimensional sliding table (4) along the X direction and the Y direction through transmission of the X-direction synchronous belt (4-6) and the Y-direction synchronous belt (4-7); when the X-direction travel switch (4-4) and the Y-direction travel switch (4-5) are pressed in, the ultrasonic probe (7) reaches the system zero point;
s3.2, inputting X-direction and Y-direction distances L between welding points and system parts in the industrial computer (1)xAnd LyThe industrial computer (1) drives the probe clamp (6) to move L on the two-dimensional sliding table (4) along the X direction and the Y direction respectively through the servo motor driver (2)x0And Ly0To make the ultrasonic probe reach the detection starting point Oa（0，0，hOn the upper part）；
S4, ultrasonic scanning detection of the upper surface of the welding part: inputting X-direction scanning distance L in industrial computer (1)x1And a Y-direction scanning distance Ly1(ii) a The industrial computer (1) drives the probe clamp (6) to do reciprocating scanning motion on the upper surface of the welding part along the X direction and the Y direction on the two-dimensional sliding table (4) through the servo motor driver (2) so that the probes reach the detection limit points O respectivelyb（Lx1，0，hOn the upper part），Oc（0，Ly1，hOn the upper part) And finally reaches the detection end point Od（Lx1，Ly1，hOn the upper part）；
At each step point of the movement of the X-direction stepping motor (4-2) and the Y-direction stepping motor (4-3), the industrial computer (1) sends an excitation signal to the ultrasonic probe (7) through the ultrasonic microprocessor (3), the ultrasonic probe (7) transmits and receives an ultrasonic signal, and a reflected echo signal is fed back to the industrial computer (1); until the ultrasonic probe (7) moves to the detection end point Od（Lx1，Ly1,hOn the upper part) Completing ultrasonic scanning detection on the upper surface of the welding part;
s5, overturning a welding piece: the method comprises the following steps:
s5.1, the industrial computer (1) controls the ultrasonic probe (7) to move upwards through the servo motor driver (2) until the Z-direction travel switch (6-5) is pressed in to reach a Z-direction movement starting point;
s5.2, the industrial computer (1) controls the micro motor (5-2) through the servo motor driver (2) to drive the welding part mounting mechanism (5) to rotate, so that the lower surface of the welding part faces upwards;
s5.3, the industrial computer (1) automatically calculates the detection height h of the ultrasonic probe on the lower surface of the welding part according to the plate thickness valueLower part(ii) a Initial height h in Z direction0Height h detected from lower surface of welding partLower partThe difference value is the downward moving distance h of the ultrasonic probe (7)m is inverse(ii) a The industrial computer (1) moves down by a distance h according to the ultrasonic probem is inverseSending a pulse signal to the Z-direction stepping motor (6-1), and moving the ultrasonic probe (7) to the lower surface of the welding part; at this time, the relative positions of the upper and lower surfaces of the weld and the ultrasonic probe (7) are changed due to the turnover of the weld, and therefore, the ultrasonic probe is positioned at the detection limit point O of the lower surface of the weldb’（Lx1，0，hLower part）；
S5.4, the industrial computer (1) drives the probe clamp (6) to move L along the-X direction on the two-dimensional sliding table (4) through the servo motor driver (2)x1Bringing an ultrasonic probe toUp to the detection starting point Oa’（0，0，hLower part）；
S6, ultrasonic scanning detection of the lower surface of the welding part: the industrial computer (1) drives the probe clamp (6) to do reciprocating scanning motion on the lower surface of the welding part along the X direction and the Y direction on the two-dimensional sliding table (4) through the servo motor driver (2) so that the probes reach the detection limit points O respectivelyb’（Lx1，0，hLower part），Oc’（0，Ly1，hLower part) And finally reaches the detection end point Od’（Lx1，Ly1，hLower part）；
At each step point of the movement of the X-direction stepping motor (4-2) and the Y-direction stepping motor (4-3), the industrial computer (1) sends an excitation signal to the ultrasonic probe (7) through the ultrasonic microprocessor (3), the ultrasonic probe (7) transmits and receives an ultrasonic signal, and a reflected echo signal is fed back to the industrial computer (1); until the ultrasonic probe moves to the detection end point Od’（Lx1，Ly1，hLower part) Completing ultrasonic scanning detection of the lower surface of the welding part;
and S7, the industrial computer (1) respectively analyzes and processes the signals of the upper and lower connecting interfaces of the three-layer plate spot welding part according to the ultrasonic A echo signals of each stepping point on the upper surface and the lower surface of the welding part, and outputs the quality analysis result of the welding part.
5. The method for ultrasonic automatic inspection of a three-layer plate spot weld joint according to claim 4, wherein: in steps S2 and S5, the ultrasonic probe (7) detects the height h of the upper surface of the weldOn the upper partAnd the detection height h of the lower surface of the welding partLower partThe welding piece is determined according to the plate thickness of the welding piece and the relative position of the welding piece and the shaft axis of the bearing connecting rod (5-7), and the calculation method is as follows:
hon the upper part=s (2)
hLower part=t1+t2+ t3 -s (3)
Wherein s represents the vertical distance between the axis of the bearing connecting rod (5-7) and the upper surface of the welding part when the upper surface of the welding part is assembled upwards.
6. The method for ultrasonic automatic inspection of a three-layer plate spot weld joint according to claim 4, wherein: in steps S4 and S6, in order to ensure that the ultrasonic probes (7) have one-to-one correspondence between the detection step points on the upper surface and the lower surface of the weld, the relationship between the scanning paths of the ultrasonic probes (7) on the upper surface and the lower surface of the weld is as follows:
a. when the ultrasonic probe (7) moves on the upper surface of the welding part in sequence: x-direction movement Lx1Movement L in the direction → Yy1 / Ny，NyNumber of stepping points in Y direction → X direction movement-Lx1Movement L in the direction → Yy / NyMoving along the X direction L → Xx 1… … until moving to the scanning end point Od（Lx1，Ly1，hOn the upper part）；
The moving sequence of the ultrasonic probe (7) on the lower surface of the welding part is as follows: x-direction movement Lx1Moving in the direction of → Y-Ly1 / Ny，NyNumber of stepping points in Y direction → X direction movement-Lx1Moving in the direction of → Y-Ly / NyMoving along the X direction L → Xx1 … … until moving to the scanning end point Od ’（Lx1，Ly1，hLower part）；
b. When the ultrasonic probe (7) moves on the upper surface of the welding part in sequence: x-direction movement Lx1/ Nx，NxNumber of stepping points in X direction → movement in Y direction Ly1Moving along the X direction L → Xx1/ NxMoving in the direction of → Y-Ly1Moving along the X direction L → Xx1/ Nx… … until moving to the scanning end point Od（Lx1，Ly1，hOn the upper part）；
The moving sequence of the ultrasonic probe (7) on the lower surface of the welding part is as follows: x-direction movement Lx1/ Nx，NxNumber of stepping points in X direction → movement in Y direction-Ly1Moving along the X direction L → Xx1/ NxMovement L in the direction → Yy1Moving along the X direction L → Xx1/ Nx… … until moving to the scanning end point Od ，（Lx1，Ly1，hLower part）。
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