CN112344887B - Shape surface self-adaptive alignment ultrasonic thickness measuring device and self-adaptive alignment ultrasonic thickness measuring method - Google Patents
Shape surface self-adaptive alignment ultrasonic thickness measuring device and self-adaptive alignment ultrasonic thickness measuring method Download PDFInfo
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- CN112344887B CN112344887B CN202011060036.0A CN202011060036A CN112344887B CN 112344887 B CN112344887 B CN 112344887B CN 202011060036 A CN202011060036 A CN 202011060036A CN 112344887 B CN112344887 B CN 112344887B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
- G01B17/02—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring thickness
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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Abstract
The invention provides a shape surface self-adaptive alignment ultrasonic thickness measuring device and a self-adaptive alignment ultrasonic thickness measuring method. The base is used for fixing the whole ultrasonic thickness measuring device and determining a base coordinate system of the measuring platform; the translation device is arranged on the base, the rotation device is arranged on the translation device, and the rotation device can translate to any position in a plane parallel to the base on the translation device; the ultrasonic measuring head is arranged at the tail end of the rotating device, and a plurality of water immersion ultrasonic probes are arranged in the ultrasonic measuring head. The invention can calculate the surface normal vector of the detected area under the basic coordinate system. Based on the coordinates of the normal vector and the central measuring point, the translation device moving distance and the rotation angle of the rotation device required when the axis of the central measuring head is vertical to the measured surface can be calculated through common kinematic transformation. By controlling the movement and rotation of each shaft, the ultrasonic measuring head is aligned with the curved surface normal vector, thereby ensuring the accuracy of ultrasonic thickness measurement.
Description
Technical Field
The invention relates to the field of ultrasonic nondestructive measurement, in particular to a shape surface self-adaptive alignment ultrasonic thickness measuring device and a self-adaptive alignment ultrasonic thickness measuring method.
Background
As industry has grown faster and faster, the status of measurement devices in the field of precision machining has become increasingly prominent, and ultrasonic testing has received increasing attention from researchers due to its unique capabilities in thickness and flaw detection. In the ultrasonic-based measurement process, the ultrasonic beam is required to be vertical to the surface to be measured, the existing ultrasonic measurement mainly depends on manual adjustment to ensure the posture of the measurement device, the measurement efficiency is low, and the measurement result is easily influenced by the posture of the measurement device. In particular, for the measurement of unknown free-form surfaces of models with complex shapes, the accuracy of the posture of the measuring device is more difficult to ensure. In the ultrasonic automatic measurement application of the model unknown curved surface, although the measurement and model reconstruction of the model unknown curved surface can be performed in advance through a vision measurement system or other three-dimensional shape measurement systems and used for guiding the subsequent ultrasonic measurement, the process is complex in process and low in efficiency. Therefore, the development of the ultrasonic thickness measuring device with the shape surface self-adaptive alignment function has important significance.
The patent publication CN111197997a discloses an ultrasonic measuring device for ultrasonic measurement of flowing fluid, having a closable housing with a continuous measuring channel, the measuring channel having a central axis defining a flow direction, the housing being releasably attached to the conduit such that the measuring channel can receive the conduit and secure the conduit when the housing is closed, letting the fluid flow through the measuring channel in the flow direction, at least four ultrasonic transducers for transmitting and receiving ultrasonic signals being provided in the housing, at least two first and two second ultrasonic transducers, the first ultrasonic transducer forming a first pair and defining a first measuring section through which signals are exchanged with each other, and the two second ultrasonic transducers forming a second pair and defining a second measuring section through which signals are exchanged with each other, the ultrasonic transducers being arranged such that the first and second measuring sections extend obliquely with respect to the flow direction and that a first measuring plane defined by the central axis and the first measuring section is different from a second measuring plane defined by the central axis and the second measuring section. But the above-described scheme is complicated.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a shape surface self-adaptive alignment ultrasonic thickness measuring device and a self-adaptive alignment ultrasonic thickness measuring method.
The invention provides a shape surface self-adaptive alignment ultrasonic thickness measuring device, which comprises a base, a translation device, a rotation device and an ultrasonic measuring head, wherein:
the base is used for fixing the whole ultrasonic thickness measuring device and determining a base coordinate system of the measuring platform;
the translation device is arranged on the base, the rotation device is arranged on the translation device, and the rotation device can translate to any position in a plane parallel to the base on the translation device;
the ultrasonic measuring head is arranged at the tail end of the rotating device, and a plurality of water immersion ultrasonic probes are arranged in the ultrasonic measuring head.
Preferably, the translation device comprises two translation axes with mutually perpendicular motion directions.
Preferably, the rotation device comprises two degrees of rotation, and the rotation axes of the two degrees of rotation are perpendicular to each other.
Preferably, the plurality of water immersed ultrasonic probes are distributed in a cross shape, one probe is arranged at the center of the tail end of the rotating device, four probes are arranged around the rotating device, and the four probes are positioned on the circumference taking the center probe as the center of a circle.
Preferably, the end faces of the plurality of water immersion ultrasonic probes are located in the same plane, and each water immersion ultrasonic probe can measure the water path distance from the end face of the probe to the surface of the workpiece.
Preferably, the ultrasonic measuring head comprises a water spraying type measuring head, a water inlet of the water spraying type measuring head is connected with external water supply equipment, so that the whole inner cavity of the measuring head is filled with water, high-pressure water is sprayed out through a water spraying port of the water spraying type measuring head and is sprayed to the surface of a measured object, and a section of complete water column is formed.
The invention provides a self-adaptive alignment ultrasonic thickness measuring method based on a shape surface self-adaptive alignment ultrasonic thickness measuring device, which comprises the following steps:
and a surface vector calculation step: preliminarily measuring a workpiece, recording the water path distance between the ultrasonic probe and the surface of the workpiece, and calculating the surface normal vector of a measured area according to the water path distance;
and a rotation adjusting step: adjusting the rotating device to enable the axis of the ultrasonic measuring head to be parallel to the normal vector of the surface of the current measured area;
translational adjustment step: and adjusting the translation device to enable the central measuring point to coincide with the central measuring point in the primary measurement.
Preferably, the surface normal of the measured region is calculated using a fitted quadratic bezier curve.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention has reasonable structure and convenient and accurate measurement;
2. for free curved surfaces without CAD models, the invention can rapidly obtain the normal vector of the curved surface through the measurement information of the ultrasonic measuring head, thereby adjusting the motion quantity of each axis of the measuring equipment, leading the measuring head to be aligned with the normal vector of the curved surface, and greatly improving the thickness measuring precision.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
fig. 1 and 2 show a schematic structural diagram of a form-face adaptive alignment ultrasonic thickness measuring device according to the present invention.
Fig. 3 shows a block diagram of a water jet type multi-probe ultrasonic measuring head in the present invention.
Fig. 4 shows a schematic representation of the calculation of the normal vector of the surface of the region to be measured in the present invention.
Fig. 5 shows a schematic diagram of a measurement process for adaptive alignment ultrasonic thickness measurement of a region to be measured using the present invention.
The figure shows: 1. the device comprises a base, 2 translation devices, 3 rotation devices, 4 ultrasonic measuring heads.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
FIG. 1 shows a form-face self-adaptive alignment ultrasonic thickness measuring device of the invention, which comprises a base, a translation device, a rotation device and an ultrasonic measuring head, wherein the ultrasonic measuring head adopts a water-spraying type detecting head. The base is used for fixing the whole ultrasonic thickness measuring device and determining a base coordinate system of the measuring platform. The translation device comprises two translation shafts with mutually perpendicular motion directions, and can move the measuring head to any position in a plane parallel to the base; the rotating device comprises two rotating parts, and the rotating shafts of the two rotating degrees of freedom are mutually perpendicular; the ultrasonic measuring head is arranged at the tail end of the rotating device. The surface normal vector of the unknown curved surface can be measured by the surface self-adaptive alignment ultrasonic thickness measuring device through the five water immersion probes of the ultrasonic measuring head. Based on the coordinates of the normal vector and the center measuring point, the moving distance of the translation device and the rotating angle of the rotating device can be calculated through common kinematic transformation. By controlling the movement and rotation of each axis, the ultrasonic measuring head can be aligned to the curved surface normal vector, thereby ensuring the accuracy of ultrasonic measurement.
Fig. 2 shows a block diagram of a water jet type multi-probe ultrasonic measuring head in the present invention. The measuring head is provided with two water inlets, a water spray port, a probe mounting seat and a measuring head cavity. The water inlet is connected with external water supply equipment, so that the whole inner cavity of the measuring head is always filled with water. High-pressure water is sprayed out through a water spray opening of the measuring head and is sprayed to the surface of the measured workpiece to form a section of complete water column. Five water immersion ultrasonic probes are arranged on the probe clamping seat, and the axes of the probes are parallel to the axis of the measuring head. Five probes are distributed in a cross shape, the main probe is positioned at the center, and the other four probes are distributed around and positioned on the circumference taking the center probe as the center of a circle. The five water immersion probes can measure the water distance from the probe to the surface of the workpiece and the thickness of the workpiece.
Fig. 3 shows a schematic representation of the calculation of the normal vector of the surface of the region to be measured in the present invention. Because the ultrasonic measurement can realize the measurement of the water distance between the probe end face and the workpiece surface, the water distance data of five probes can be obtained through the preliminary measurement of the measured area, and the data can be expressed as a coordinate point P in a basic coordinate system i | i＝1,2,...,5 Through the corresponding measurement coordinate points P of the probe 2, the probe 1 and the probe 4 2 ,P 1 ,P 4 A secondary Bezier curve can be fitted to obtain a measurement coordinate point P corresponding to the probe 1 on the curve 1 Tangential vector t at 1 The method comprises the steps of carrying out a first treatment on the surface of the The same applies to the measurement coordinate points P of the probe 3, the probe 1 and the probe 5 3 ,P 1 ,P 5 Fitting a second quadratic Bezier curve to calculate P on the curve 1 Tangential vector t at 2 Then utilize t 2 ×t 1 The surface normal n of the region to be measured can be obtained.
Fig. 4 shows a measurement process of adaptive alignment ultrasonic thickness measurement of a measured area by using the present invention, mainly comprising the following steps:
the first step: the measuring device is utilized to carry out preliminary measurement on the region to be measured. Only the measuring head and the measured object are needed in the preliminary measurementThe surface of the area is approximately vertical, and the distance between each probe and the surface of the workpiece is recorded to obtain a corresponding coordinate point P i | i＝1,2,...,5 . And calculating the surface normal vector n of the current measured area by using the five coordinate points.
And a second step of: the rotation joint of the measuring device is adjusted so that the axis of the measuring head is parallel to the surface normal n of the current area to be measured. Based on the surface normal n calculated in the first step, the rotation angles of the two rotation axes when the axis of the measuring head is parallel to the surface normal n can be inversely solved by ordinary kinematic transformation. The two rotary joints of the measuring device are driven to lead the axis of the measuring head to be parallel to the surface normal vector n, and the straight line of the axis of the measuring head at the moment is l 1 。
And a third step of: and (3) adjusting a translation joint of the measuring device to enable the central measuring point to coincide with the central measuring point in the primary measurement. Based on the surface normal vector n of the detected region and the central measuring point P in preliminary measurement 1 Can obtain P 1 And a straight line l perpendicular to the curved surface to be measured 2 . By calculating l 1 And l 2 The distance H in the plane of the base can obtain the translational joint movement amount when the final central measuring point is overlapped with the central measuring point in the initial measurement; driving two movable joints of the measuring device to enable a central measuring point corresponding to the main probe to coincide with a central measuring point in primary measurement; at this time, the thickness measurement of the measured area can ensure that the measuring head is vertical to the measured area, so that the accuracy of ultrasonic thickness measurement can be ensured.
The invention can rapidly obtain the curved surface normal vector through the measurement information of the ultrasonic measuring head, thereby adjusting the motion quantity of each axis of the measuring equipment, leading the measuring head to be aligned with the curved surface normal vector and greatly improving the thickness measuring precision.
In the description of the present application, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements being referred to must have a specific orientation, be configured and operated in a specific orientation, and are not to be construed as limiting the present application.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily without conflict.
Claims (1)
1. The ultrasonic thickness measuring device with the shape surface self-adaptive alignment is characterized by comprising a base, a translation device, a rotation device and an ultrasonic measuring head, wherein:
the base is used for fixing the whole ultrasonic thickness measuring device and determining a base coordinate system of the measuring platform;
the translation device is arranged on the base, the rotation device is arranged on the translation device, and the rotation device can translate to any position in a plane parallel to the base on the translation device;
the ultrasonic measuring head is arranged at the tail end of the rotating device, and a plurality of water immersion ultrasonic probes are arranged in the ultrasonic measuring head;
the plurality of water immersed ultrasonic probes are distributed in a cross shape, one probe is arranged in the center of the tail end of the rotating device, four probes are arranged around the rotating device, and the four probes around the rotating device are positioned on the circumference taking the central probe as the circle center;
the end faces of the water immersion ultrasonic probes are positioned in the same plane, and each water immersion ultrasonic probe can measure the water distance from the end face of the probe to the surface of the workpiece;
the ultrasonic measuring head comprises a water spraying measuring head, a water inlet of the water spraying measuring head is connected with external water supply equipment, so that the whole inner cavity of the measuring head is filled with water, and high-pressure water is sprayed out through a water spraying port of the water spraying measuring head and sprayed to the surface of a measured object to form a section of complete water column;
the translation device comprises two translation shafts with mutually perpendicular motion directions;
the rotating device comprises two rotating degrees of freedom, and rotating shafts of the two rotating degrees of freedom are perpendicular to each other;
the self-adaptive alignment ultrasonic thickness measurement method of the shape surface self-adaptive alignment ultrasonic thickness measurement device comprises the following steps:
and a surface vector calculation step: preliminarily measuring a workpiece, recording the water path distance between the ultrasonic probe and the surface of the workpiece, and calculating the surface normal vector of a measured area according to the water path distance;
and a rotation adjusting step: adjusting the rotating device to enable the axis of the ultrasonic measuring head to be parallel to the normal vector of the surface of the current measured area;
translational adjustment step: the translation device is adjusted to enable the central measuring point to coincide with the central measuring point in the primary measurement;
the surface normal of the measured area is calculated by adopting a fitted quadratic Bezier curve.
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| CN113324501A (en) * | 2021-05-31 | 2021-08-31 | 东风商用车有限公司 | Multi-probe ultrasonic thickness measuring device |
| CN113579856B (en) * | 2021-08-12 | 2023-08-04 | 中航西安飞机工业集团股份有限公司 | Positioning device with multi-coordinate fitting and measuring method |
| CN114459399B (en) * | 2022-02-17 | 2023-03-14 | 成都飞机工业（集团）有限责任公司 | Ultrasonic probe clamping rod, ultrasonic detection device and application method of ultrasonic detection device |
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| FR2605402B1 (en) * | 1986-10-15 | 1991-07-26 | Onera (Off Nat Aerospatiale) | DEVICE FOR DETECTING THE PRESENCE OF FREEZING AND / OR MEASURING THE THICKNESS OF FREEZING BY ULTRA-SOUND AND FREEZING PROBE FOR USE IN SUCH A DEVICE |
| CN106342170B (en) * | 2007-12-07 | 2012-08-08 | 中国航空工业集团公司北京航空材料研究院 | Hollow turbine vane wall thickness method for automatic measurement |
| CN102865839B (en) * | 2012-09-21 | 2015-07-01 | 华南理工大学 | Ultrasound thickness measuring method and device based on broadband frequency-modulation and receiving compensation |
| CN103529126A (en) * | 2013-10-18 | 2014-01-22 | 中国核动力研究设计院 | Ultrasonic automatic detection system and detection method of workpiece with clearance gridding-shaped multi-slope curve surfaces |
| CN106643591B (en) * | 2016-12-12 | 2018-11-09 | 大连理工大学 | The thin-wall part adaptively adjusted pop one's head in machine ultrasonic thickness-measuring method |
| KR102085761B1 (en) * | 2019-10-17 | 2020-03-06 | 어윤기 | Stone cutting device measuring depth using ultra-sonic wave |
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| CN105806290A (en) * | 2016-05-03 | 2016-07-27 | 大连理工大学 | Curved surface local normal vector measuring method based on vortex dot matrix |
| CN111122702A (en) * | 2019-12-28 | 2020-05-08 | 中国航发哈尔滨轴承有限公司 | Water immersion ultrasonic detection method for internal defects of aviation bearing ring forge piece |
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