CN209803060U - Three-dimensional water immersion type ultrasonic nondestructive flaw detection equipment - Google Patents

Abstract

The utility model relates to the technical field of nondestructive inspection equipment, in particular to a three-dimensional water immersion type ultrasonic nondestructive inspection equipment, which comprises a frame, an XY-axis sliding table, an XY-axis running device, an ultrasonic detection device and a water tank, wherein the XY-axis sliding table is connected on the frame through an XY-axis running mechanism, the ultrasonic detection device comprises a three-axis manipulator, a probe clamp and an ultrasonic probe, a base of the three-axis manipulator is fixed at the bottom of the XY-axis sliding table, and the ultrasonic probe is fixed at the movable end of the three-axis manipulator through the probe clamp, the utility model adopts a five-axis linkage system formed by the combination of the three-axis manipulator and the XY-axis running device to realize the omnibearing free movement and rotation of the ultrasonic probe, realize the omnibearing detection of irregular-shaped materials, realize the function of free fixed detection starting points, greatly improve the convenience of detecting the irregular-, the detection efficiency and the detection precision are improved.

Description

A three-dimensional water immersion ultrasonic non-destructive testing equipment

Technical field:

The utility model relates to the technical field of nondestructive testing equipment, in particular to a three-dimensional water-immersion ultrasonic nondestructive testing equipment.

Background technique:

At present, the mold industry and some other non-metal processing industries often purchase metal materials or composite materials in batches for processing. Before the materials enter the factory, sampling inspections are often required to ensure that the batch of raw materials are qualified products, otherwise it will cause huge damage to the processing and product delivery. Loss. As a good detection method, ultrasonic non-destructive testing is favored by major manufacturers. However, there are still some shortcomings in the current ultrasonic testing equipment in the market. The existing equipment can only perform plane scanning testing, which has fixed the only As for the starting point of detection, for irregularly shaped flat materials, empty detection often occurs during the automatic detection process, which is inefficient and easily leads to false detection.

Utility model content:

The purpose of this utility model is to provide a comprehensive detection of irregular shape materials, which realizes the function of freely setting the detection starting point, and greatly improves the convenience of irregular shape flat materials. The three-dimensional water immersion ultrasonic non-destructive testing equipment.

In order to achieve the above purpose, the technical solution adopted by the utility model is: a three-dimensional water immersion ultrasonic non-destructive testing equipment, including a frame, an XY-axis sliding table, and an XY-axis running track with two directions of the X-axis and the Y-axis. device, an ultrasonic detection device arranged on the XY-axis slide table, and a water tank located under the ultrasonic detection device. The XY-axis slide table is connected to the frame through the XY-axis running mechanism. For the ultrasonic probe, the base of the three-axis manipulator is fixed on the bottom of the XY-axis slide table, and the ultrasonic probe is fixed on the movable end of the three-axis manipulator through a probe fixture.

The XY-axis running device includes an X-axis running mechanism and a Y-axis running mechanism. The X-axis running mechanism includes a Y-axis sliding seat that is slidably connected to the frame along the Y-axis direction, and is respectively arranged on the left and right sides of the Y-axis sliding seat. Two first stepping motors, the first synchronous pulley transmission mechanism, the output ends of the two first stepping motors are connected through the first synchronous pulley transmission mechanism, and the XY-axis sliding table is slid and connected in the X-axis direction On the Y-axis sliding seat, the XY-axis sliding table is fixedly connected with the timing belt of the first synchronous pulley transmission mechanism. The Y-axis running mechanism includes a second stepping motor arranged on the frame, and two are connected to rotate along the X-axis direction. In the rotating shaft on the frame and the second synchronous pulley transmission mechanism, the two rotating shafts are respectively located at the front and rear ends of the frame, the output end of the second stepping motor is connected to one of the rotating shafts, and the two rotating shafts are connected through the first The two synchronous pulley transmission mechanisms are connected in transmission, and the Y-axis sliding seat is fixedly connected with the synchronous belt of the second synchronous pulley transmission mechanism.

The frame is assembled from aluminum profiles to form a square frame structure.

The three-axis manipulator is a rotating arm manipulator with three rotation axes.

The utility model also includes an electric control device, which includes a controller, an X-axis driver, a Y-axis driver, a Z-axis driver, a switching power supply, a host computer, and the host computer, an X-axis driver, a Y-axis driver, and a Z-axis driver respectively It is electrically connected with the controller, the controller, the X-axis driver, the Y-axis driver, and the Z-axis driver are respectively electrically connected with the switching power supply. Driven by a stepping motor, the X-axis driver, the Y-axis driver, and the Z-axis driver are respectively electrically connected to the X-axis stepping motor, the Y-axis stepping motor, and the Z-axis stepping motor.

The X-axis stepping motor, Y-axis stepping motor, and Z-axis stepping motor are all Leisai 57 stepping motors, and the X-axis driver, Y-axis driver, and Z-axis driver are all Leisai drivers.

The controller is a ZMC104s control card, the positive 24v interface of the switching power supply is electrically connected to the positive 24v interface of the ZMC104s control card, X-axis driver, Y-axis driver and Z-axis driver, and the negative GND interface of the switching power supply is electrically connected to the ZMC104s control card , X-axis driver, Y-axis driver and the negative GND interface of the Z-axis driver, the 1, 2, 3, 4 interfaces of Axis1 of the ZMC104s control card are respectively connected to the PUL+, PUL-, DIR+, DIR- interface of the Y-axis driver, ZMC104s The 9, 10, 11, and 12 interfaces of Axis0 of the control card are respectively connected to the PUL+, PUL-, DIR+, and DIR- interfaces of the X-axis actuator, and the 9, 10, 11, and 12 interfaces of Axis2 of the ZMC104s control card are respectively connected to the Z The PUL+, PUL-, DIR+, DIR- interfaces of the axis driver, the B-, B+, A- and A+ interfaces of the X-axis driver are respectively connected to the B-, B+, A- and A+ interfaces of the X-axis stepping motor, and the Y-axis The B-, B+, A- and A+ ports of the drive are respectively connected to the B-, B+, A- and A+ ports of the Y-axis stepper motor, and the B-, B+, A- and A+ ports of the Z-axis drive are respectively connected to the The B-, B+, A- and A+ interfaces of the Z-axis step motor.

The beneficial effect of the utility model is that: a three-dimensional water immersion ultrasonic non-destructive flaw detection equipment provided by the utility model includes a frame, an XY-axis slide table, an XY-axis running device with two running tracks of the X-axis and the Y-axis, The ultrasonic detection device installed on the XY-axis slide table and the water tank located under the ultrasonic detection device. The XY-axis slide table is connected to the frame through the XY-axis running mechanism. The ultrasonic detection device includes a three-axis manipulator, a probe fixture and an ultrasonic probe. , the base of the three-axis manipulator is fixed on the bottom of the XY-axis slide table, and the ultrasonic probe is fixed on the movable end of the three-axis manipulator through the probe fixture. The probe can move and rotate freely in all directions, and can detect irregularly shaped materials in all directions, realizing the function of freely setting the detection starting point, greatly improving the convenience of detecting irregularly shaped flat materials including inclined-plane parts, and improving the detection efficiency. efficiency and detection accuracy.

Description of drawings:

Fig. 1 is the structural representation of the utility model.

Fig. 2 is a front view of the utility model.

Fig. 3 is a schematic diagram of the circuit principle of the utility model.

Detailed ways:

The utility model will be further described below in conjunction with the accompanying drawings, as shown in Figures 1 to 3, the utility model includes a frame 1, an XY-axis slide table 2, and an XY-axis running track with two directions of the X-axis and the Y-axis. Device 3, an ultrasonic detection device 4 arranged on the XY-axis sliding table 2, a water tank 5 located below the ultrasonic detection device 4, and an electric control device, the XY-axis sliding table 2 is connected to the frame 1 through an XY-axis operating mechanism, The ultrasonic detection device 4 includes a three-axis manipulator 41, a probe fixture 42 and an ultrasonic probe 43. The base of the three-axis manipulator 41 is fixed on the bottom of the XY-axis slide table 2, and the ultrasonic probe 43 is fixed on the movable end of the three-axis manipulator 41 through the probe fixture 42. , the ultrasonic probe 43 and the probe holder 42 can rotate with the three-axis manipulator 41 at any angle and move to any position, so as to realize the detection of the horizontal plane and the inclined plane.

The XY-axis running device 3 comprises an X-axis running mechanism and a Y-axis running mechanism. The two first stepping motors 32 on the side, the first synchronous pulley transmission mechanism 33, the output ends of the two first stepping motors 32 are connected by the first synchronous pulley transmission mechanism 33, and the XY axis slide table 2 Slidingly connected to the Y-axis sliding seat 31 along the X-axis direction, the XY-axis sliding table 2 is fixedly connected to the timing belt of the first synchronous pulley transmission mechanism 33 . The two first stepping motors 32 control the movement of the XY-axis sliding table 2 in the left and right directions respectively, with higher precision, and the transmission operation of the synchronous belt transmission mechanism is more stable.

The Y-axis running mechanism includes a second stepper motor 34 arranged on the frame 1, two rotating shafts 35 connected to the frame 1 along the X-axis direction, a second synchronous pulley transmission mechanism 36, and two rotating shafts 35 Located at the front and rear ends of the frame 1 respectively, the output end of the second stepping motor 34 is driven and connected to one of the rotating shafts 35, and the two rotating shafts 35 are connected through the second synchronous pulley transmission mechanism 36, and the Y-axis sliding seat 31 is fixedly connected with the synchronous belt of the second synchronous pulley transmission mechanism 36, and adopts the synchronous belt transmission mechanism transmission operation to be more stable.

The frame 1 is assembled from aluminum profiles to form a square frame structure. The three-axis manipulator 41 is a rotary arm manipulator having three rotation axes.

The electronic control device includes a controller, an X-axis driver, a Y-axis driver, a Z-axis driver, a switching power supply, and a host computer, and the host computer, X-axis driver, Y-axis driver, and Z-axis driver are respectively electrically connected to the controller. The shaft driver, the Y-axis driver, and the Z-axis driver are respectively electrically connected to the switching power supply. The three-axis manipulator 41 is equipped with a motion controller, an X-axis stepping motor, a Y-axis stepping motor, a Z-axis stepping motor, three limit switches and three Leisai drivers. The three axes of the three-axis manipulator 41 pass through the Driven by X-axis stepping motor, Y-axis stepping motor, and Z-axis stepping motor, there are three limit switches. The X-axis driver, the Y-axis driver, and the Z-axis driver are electrically connected to the X-axis stepping motor, the Y-axis stepping motor, and the Z-axis stepping motor respectively. The host computer is equipped with a system operation interface written by matlab. The X-axis stepping motor, Y-axis stepping motor, and Z-axis stepping motor are all Leisai 57 stepping motors, and the X-axis driver, Y-axis driver, and Z-axis driver are all Leisai drivers.

The controller is the ZMC104s control card. The positive 24v interface of the switching power supply is electrically connected to the positive 24v interfaces of the ZMC104s control card, X-axis driver, Y-axis driver and Z-axis driver. The negative GND interface of the switching power supply is electrically connected to the ZMC104s control card, X The negative GND interface of the axis driver, the Y-axis driver and the Z-axis driver, the 1, 2, 3, and 4 interfaces of Axis1 of the ZMC104s control card are respectively connected to the PUL+, PUL-, DIR+, and DIR- interfaces of the Y-axis driver, and the ZMC104s control card The 9, 10, 11, and 12 ports of Axis0 are respectively connected to the PUL+, PUL-, DIR+, and DIR- ports of the X-axis actuator, and the 9, 10, 11, and 12 ports of Axis2 of the ZMC104s control card are respectively connected to the Z-axis drive The PUL+, PUL-, DIR+, DIR- ports of the X-axis drive, the B-, B+, A- and A+ ports of the X-axis driver are respectively connected to the B-, B+, A- and A+ ports of the X-axis stepper motor, and the Y-axis drive’s The B-, B+, A- and A+ interfaces are respectively connected to the B-, B+, A- and A+ interfaces of the Y-axis stepper motor, and the B-, B+, A- and A+ interfaces of the Z-axis driver are respectively connected to the Z-axis B-, B+, A- and A+ interfaces of the stepper motor.

The working principle of the ultrasonic flaw detection of the utility model is: fill the water tank 5 with water, put the detection workpiece into the water tank 5, the ultrasonic pulse transmitter/receiver generates a high-frequency electric pulse, and the pulse voltage is applied to the probe through the propagation of the cable On the chip, the inverse piezoelectric effect of the chip generates high-frequency ultrasonic waves, and the ultrasonic waves are transmitted to the detection workpiece through water. When a defect is encountered in the propagation path, part of the ultrasonic energy is reflected back to the probe through the original path, and passes through the A in the ultrasonic module. /D The high-speed sampling of the ultrasonic acquisition card is processed by the timing control filter card in the ultrasonic module and then sent to the memory of the host computer. The application program of the host computer performs waveform drawing and image scanning on the data and sends it to the display interface.

The embodiment of the utility model to freely determine the detection starting point is as follows: firstly, through the operation interface, the X, Y, and Z three-axis manipulator 41 drives the ultrasonic probe 43 to approach the detection workpiece in the water tank 5, and selects the best according to the amplitude characteristics of the returned A-type diagram. The detection height, and then according to the shape and geometric characteristics of the detected workpiece, select the parameters of the best scanning path of the X-axis and Y-axis, and choose the best starting point for detection.

The method of realizing the three-dimensional visualization of the internal feature information of the material in the utility model is that first, the ultrasonic probe 43 is used to move in the XY plane to send and receive the ultrasonic signal, and then the data is sent to the upper computer for storage after being processed by the digital-to-analog converter, and then the amplitude is adjusted. After setting and processing, a waveform image (namely A-type image) is formed, and then the waveform information detected at a certain depth is processed to obtain a three-dimensional visualization image.

The method of the utility model to display the position of the defect is that the ultrasonic wave transmits the signal, and if it encounters a different medium, most of the signal will be reflected back, resulting in a large value of the collected signal, and a larger peak will appear at the position of the defect, so The position of the defect can be known, and at the same time when scanning, the numerical value can be displayed in color, and the position of the defect can be clearly seen.

The utility model has the following advantages: first, the use of the three-axis manipulator 41 combined with the XY-axis running device 3 forms a five-axis linkage system, which can realize the omnidirectional free movement and rotation of the ultrasonic probe 43, and can perform omnidirectional detection of irregularly shaped materials. Improve detection efficiency and detection accuracy. Second, the integration of multi-axis robot motion control technology not only realizes automatic detection, but also realizes the function of freely setting the detection starting point, which greatly improves the convenience of detection of irregularly shaped flat materials including inclined-plane parts; third, Using the depth detection information of ultrasonic flaw detection combined with the movement information of the XY plane probe, the three-dimensional visualization of the internal feature information of the material is realized, which greatly improves the intuitiveness of detection; fourth, the system can automatically segment the ultrasonic image and automatically identify the material The size and location of internal defects can effectively improve the effect of the degree of automation of non-destructive testing and reduce the technical requirements for operation.

Of course, the above is only a preferred embodiment of the utility model, so all equivalent changes or modifications made according to the structure, features and principles described in the scope of the utility model patent application are included in the utility model patent application within range.

Claims (7)

1. The utility model provides a three-dimensional water logging formula ultrasonic wave nondestructive test equipment, includes frame (1), XY axle slip table (2), has XY axle running device (3) of two direction orbit of X axle and Y axle, its characterized in that: the ultrasonic detection device comprises an XY-axis sliding table (2), an ultrasonic detection device (4) and a water tank (5) located below the ultrasonic detection device (4), wherein the XY-axis sliding table (2) is connected to a rack (1) through an XY-axis running mechanism, the ultrasonic detection device (4) comprises a three-axis manipulator (41), a probe clamp (42) and an ultrasonic probe (43), a base of the three-axis manipulator (41) is fixed to the bottom of the XY-axis sliding table (2), and the ultrasonic probe (43) is fixed to a movable end of the three-axis manipulator (41) through the probe clamp (42).

2. The three-dimensional water immersion type ultrasonic nondestructive inspection apparatus according to claim 1, characterized in that: the XY-axis running device (3) comprises an X-axis running mechanism and a Y-axis running mechanism, the X-axis running mechanism comprises a Y-axis sliding seat (31) connected to the rack (1) in a sliding manner along the Y-axis direction, two first stepping motors (32) respectively arranged on the left side and the right side of the Y-axis sliding seat (31) and a first synchronous pulley transmission mechanism (33), the output ends of the two first stepping motors (32) are in transmission connection through the first synchronous pulley transmission mechanism (33), the XY-axis sliding table (2) is connected to the Y-axis sliding seat (31) in a sliding manner along the X-axis direction, the XY-axis sliding table (2) is fixedly connected with a synchronous belt of the first synchronous pulley transmission mechanism (33), the Y-axis running mechanism comprises a second stepping motor (34) arranged on the rack (1), two rotating shafts (35) connected to the rack (1) in a rotating manner along the X-axis direction and a second synchronous pulley transmission mechanism (36), two rotating shafts (35) are respectively positioned at the front end and the rear end of the rack (1), the output end of the second stepping motor (34) is in driving connection with one of the rotating shafts (35), the two rotating shafts (35) are in driving connection through a second synchronous pulley transmission mechanism (36), and the Y-axis sliding seat (31) is fixedly connected with a synchronous belt of the second synchronous pulley transmission mechanism (36).

3. The three-dimensional water immersion type ultrasonic nondestructive inspection apparatus according to claim 1, characterized in that: the frame (1) is assembled by aluminum profiles to form a square frame body structure.

4. the three-dimensional water immersion type ultrasonic nondestructive inspection apparatus according to claim 1, characterized in that: the three-axis manipulator (41) is a rotary arm type manipulator having three rotary axes.

5. the three-dimensional water immersion type ultrasonic nondestructive inspection apparatus according to claim 1, characterized in that: still including electrically controlled device, electrically controlled device includes the controller, the X axle driver, the Y axle driver, the Z axle driver, switching power supply, the host computer, the X axle driver, the Y axle driver, the Z axle driver is connected with the controller electricity respectively, the controller, the X axle driver, the Y axle driver, the Z axle driver is connected with switching power supply electricity respectively, three axles of triaxial manipulator (41) are respectively through X axle step motor, Y axle step motor, Z axle step motor drive, the X axle driver, the Y axle driver, the Z axle driver respectively with X axle step motor, Y axle step motor, Z axle step motor electricity is connected.

6. The three-dimensional water immersion type ultrasonic nondestructive inspection apparatus according to claim 5, characterized in that: x axle stepper motor, Y axle stepper motor, Z axle stepper motor are all Racing 57 stepper motor, and X axle driver, Y axle driver, Z axle driver are all Racing driver.

7. The three-dimensional water immersion type ultrasonic nondestructive inspection apparatus according to claim 5, characterized in that: the controller is a ZMC104s control card, a positive electrode 24v interface of a switching power supply is respectively and electrically connected with a positive electrode 24v interface of a ZMC104s control card, an X-Axis driver, a Y-Axis driver and a Z-Axis driver, a negative electrode GND interface of the switching power supply is respectively and electrically connected with a negative electrode GND interface of a ZMC104s control card, an X-Axis driver, a Y-Axis driver and a Z-Axis driver, 1, 2, 3 and 4 interfaces of Axis1 of the ZMC104s control card are respectively connected with PUL +, PUL-, DIR + and DIR-interfaces of the Y-Axis driver, 9, 10, 11 and 12 interfaces of Axis2 of the ZMC104 DIR s control card are respectively connected with PUL +, PUL-, DIR + and DIR-interfaces of the Z-Axis driver, and B-, A-and A + interfaces of the X-Axis driver are respectively connected with a stepping motor B-, DIR-interface of the X-Axis driver, B +, A-and A + interfaces of the Y-axis driver are respectively connected with the B-, B +, A-and A + interfaces of the stepping motor of the Y-axis, and the B-, B +, A-and A + interfaces of the Z-axis driver are respectively connected with the B-, B +, A-and A + interfaces of the stepping motor of the Z-axis.