KR101036610B1 - Apparatus for measuring ultrasonic beam width - Google Patents

Abstract

PURPOSE: An ultrasonic beam width measurement apparatus is provided to facilitate the measurement of the beam width of an ultrasonic sensor selected according to the kind of an object since beam width is measured on site. CONSTITUTION: An ultrasonic beam width measurement apparatus comprises a liquid tank(100), a target ball clamping unit(200), a sensor transfer unit, and a target transfer unit(600). The liquid tank stores medium liquid for ultrasonic transmission. The target ball clamping unit is placed inside the liquid tank and is coupled with the target ball to be detachable. The sensor transfer unit transfers and fixes the ultrasonic sensor to a measurement position using a gripper module, a straight line transfer module, and a rotary transfer module. The target transfer unit moves a target ball fixing unit vertically inside the liquid tank so the vertical distance between the ultrasonic sensor fixed to the gripper module and a target ball can be adjusted.

Description

Apparatus for Measuring Ultrasonic Beam Width

The present invention relates to an ultrasonic beam width measuring apparatus. More specifically, the beam width of the ultrasonic wave generated by the ultrasonic sensor can be directly and easily measured in the field, so that the beam width characteristic of the ultrasonic sensor selected according to the type of the inspected object can be easily grasped, so that the ultrasonic flaw detection work can be further performed. It is possible to improve the accuracy and reliability of the ultrasonic beamwidth measurement results of the ultrasonic sensor by performing accurate, by configuring the position of the target ball in the fixed state of the ultrasonic sensor and by measuring the ultrasonic beamwidth of the ultrasonic sensor. And by detachably configuring the target ball reflecting the ultrasonic waves, it is possible to easily replace the target ball to be selected according to the ultrasonic sensor can be quickly and easily to perform the ultrasonic beam width measurement for various ultrasonic sensors An ultrasonic beam width measuring apparatus.

Ultrasound refers to sound waves in the form of frequencies that exceed the audible frequency range (20 to 20000 Hz). These ultrasonic waves have a directivity when traveling inside an object, such as a metal, when directed, and reflect at the interface between the space and the object. . In addition, since the ultrasonic wave is not a form of electromagnetic radiation but a mechanical vibration, it has a different wavelength in different materials.

Ultrasonic flaw detection is a method of inspecting defects existing in or on the surface of an inspected object by using such ultrasonic waves. It proceeds by detecting defects inside the carcass. That is, the ultrasonic waves are reflected or refracted by the difference in the physical state and properties (acoustic impedance) of each medium at the interface which is straight in the same medium (subject) but is in contact with another medium (defect). The ultrasonic wave is transmitted to the inside of the test object, and the ultrasonic wave is reflected back through the ultrasonic sensor to indicate a defect indication in the form of a pulse signal on the flaw detector. The signal is analyzed to measure the position, type, size, and the like of the defect.

Ultrasonic flaw detection apparatus for performing such ultrasonic flaw inspection generally generates an ultrasonic wave and simultaneously receives an ultrasonic signal reflected from an internal defect of the subject and pulses the signal received by the receiver of the ultrasonic sensor. And a display unit for displaying signals and a liquid supply device for preventing friction between the ultrasonic sensor and the inspected object.

At this time, the ultrasonic sensor is formed so that the connector portion is formed on one side of the sensor case to be electrically connected to the external device, the printed circuit board is disposed inside, the vibrator connected to the printed circuit board generates an ultrasonic wave at one end of the sensor case. It is arranged to be. The vibrator may be of an integral type or a split type, which is configured to generate ultrasonic waves through a single vibrator and receive reflected waves of ultrasonic waves, and the split type has ultrasonic generation and reflected wave reception functions through two vibrators, respectively. It is configured to be done individually.

The ultrasonic sensor should be selected and applied differently to the type of ultrasonic sensor according to the expected defect type of the object under test, and one of the important criteria for selecting the ultrasonic sensor is the size of the beam width for the ultrasonic wave generated by the ultrasonic sensor. In the case where the ultrasonic beam width is formed to be larger than the defect length of the test object and formed to be relatively small, the analysis method for the reflected wave is different. Therefore, the characteristics of the ultrasonic beam width of the ultrasonic sensor are very important in the ultrasonic inspection work. It can be called an optional factor.

In general, the information on the ultrasonic beam width of the ultrasonic sensor is determined at the time of manufacture of the ultrasonic sensor and provided to the user, the information about the optimal ultrasonic beam width at the time of manufacturing is error occurs in the actual inspection site, in particular, for a certain period As a result of the phenomenon such as the change in the size of the ultrasonic beam width, there is a problem that greatly reduces the accuracy and reliability of the inspection results for the ultrasonic flaw inspection work.

The present invention has been made to solve the problems of the prior art, the object of the present invention is to make it easy to directly measure the beam width for the ultrasonic wave generated by the ultrasonic sensor in the field, by selecting the ultrasonic wave according to the type of the subject It is to provide an ultrasonic beamwidth measuring apparatus that can easily determine the beamwidth characteristics of the sensor to perform the ultrasonic flaw inspection more accurately.

Another object of the present invention is to adjust the position of the target ball in the fixed state of the ultrasonic sensor and configured to measure the ultrasonic beam width of the ultrasonic sensor, thereby improving the accuracy and reliability of the ultrasonic beam width measurement results of the ultrasonic sensor. It is to provide an ultrasonic beam width measuring apparatus.

Another object of the present invention is to detachable target ball reflecting the ultrasonic wave, it is possible to easily replace the target ball to be selected according to the ultrasonic sensor to quickly and easily ultrasonic beam width measurement operation for various ultrasonic sensors It is to provide an ultrasonic beam width measuring apparatus that can be performed.

The present invention, in the ultrasonic beam width measuring apparatus for measuring the ultrasonic beam width of the ultrasonic sensor by irradiating the ultrasonic wave to the target ball from the ultrasonic sensor and reflected by the target ball, the medium liquid for ultrasonic transmission A liquid reservoir that can be stored; A target ball fixing unit disposed in the liquid reservoir and detachably coupled to the target ball; A gripper module for holding and fixing the ultrasonic sensor, a linear transfer module for linearly moving the gripper module in directions perpendicular to each other in the X, Y, and Z axes, and rotating the gripper module about the X and Y axes. A sensor transfer unit configured to transfer and fix the ultrasonic sensor to a measurement position through a rotating transfer module for moving; And a target transfer unit configured to vertically move the target ball fixing unit in the Z-axis direction within the liquid reservoir so that the vertical separation distance between the ultrasonic sensor fixed to the gripper module and the target ball can be adjusted. An ultrasonic beam width measuring apparatus is provided.

In this case, the target ball fixing unit may be configured to be detachably coupled to the target ball by the magnetic force of the magnet.

The target ball fixing unit may further include: a base plate disposed horizontally inside the liquid reservoir; A connecting shaft coupled to the base plate to protrude upward and having the magnet coupled to an upper end thereof; A pin holder surrounding the upper outer circumferential surface of the connection shaft and having a pin fixing hole penetrating in a vertical direction in a central portion thereof; And a support pin formed of a magnetic material and inserted into and fixed to a pin fixing hole of the pin holder such that a bottom thereof contacts the magnet, and the target ball is supported by the magnetic force of the magnet transmitted through the support pin. Can be coupled to the top of the.

The target transfer unit may further include a screw rod formed on an outer circumferential surface thereof and vertically disposed in the Z-axis direction in the liquid reservoir so that the screw thread is coupled to the base plate; And a screw rod driving unit configured to rotate the screw rod about the rotation axis in the Z axis direction, and the base plate moves in the Z axis direction as the screw rod reciprocates about the rotation axis in the Z axis direction. It may be configured to move up and down.

In addition, the gripper module is formed to be long in one direction guide block mounted to the rotary transfer module; Two vise blocks mounted on the guide block to be slidably movable in a longitudinal direction; And an actuating rod formed at both ends of an outer circumferential surface and screwed in different directions with the two vise blocks, wherein the two vise blocks are close to or away from each other according to the rotation of the actuating rod. It can be configured to move to.

The rotation transfer module may further include a first rotation block mounted to the linear transfer module to be rotatable about a rotation axis parallel to any one of the X and Y axes; A second rotation block mounted to the first rotation block to be rotatable about the rotation axis parallel to the other axis not parallel to the rotation axis of the first rotation block among the X and Y axes; And a first rotation driver and a second rotation driver for rotationally driving the first rotation block and the second rotation block, respectively, and the guide block of the gripper module may be configured to be mounted to the second rotation block.

The linear transfer module may further include an X-axis gantry disposed in the X-axis direction and mounted to an upper end of the liquid reservoir; A Y-axis gantry disposed in the Y-axis direction and mounted to the X-axis gantry so as to be movable in the X-axis direction; A Z-axis gantry disposed long in the Z-axis direction and mounted to the Y-axis gantry so as to be movable in the Y-axis direction; And a moving block mounted to the Z axis gantry so as to be movable in the Z axis direction, wherein the first rotating block of the rotary feed module is rotatably mounted to the moving block.

According to the present invention, the beam width of the ultrasonic wave generated by the ultrasonic sensor can be directly and easily measured in the field, so that the beam width characteristics of the ultrasonic sensor selected according to the type of the inspected object can be easily grasped, so that the ultrasonic flaw inspection work There is an effect that can be performed more accurately.

In addition, by adjusting the position of the target ball while fixing the position of the ultrasonic sensor and configured to measure the ultrasonic beam width of the ultrasonic sensor, there is an effect that can improve the accuracy and reliability of the ultrasonic beam width measurement results of the ultrasonic sensor. .

In addition, by detachably configuring the target ball reflecting the ultrasonic waves, it is possible to easily replace the target ball to be selected according to the ultrasonic sensor, so that it is possible to quickly and easily perform the ultrasonic beam width measurement for various ultrasonic sensors There is.

1 is a perspective view conceptually showing the configuration of an ultrasonic beam width measuring apparatus according to an embodiment of the present invention;
2 is a cross-sectional view conceptually showing the configuration of an ultrasonic beam width measuring apparatus according to an embodiment of the present invention;
Figure 3 is an exploded cross-sectional view schematically showing the configuration of the target ball fixing unit of the ultrasonic beam width measuring apparatus according to an embodiment of the present invention,
4 is a partially exploded perspective view schematically showing the configuration of the gripper module and the rotational transfer module of the ultrasonic beam width measuring apparatus according to an embodiment of the present invention;
FIG. 5 is a side view schematically showing an operating state in which a gripper module rotates about an X axis through a rotation transfer module according to an embodiment of the present invention; FIG.
FIG. 6 is a side view schematically showing an operating state in which the gripper module rotates about a Y axis through a rotation transfer module according to an embodiment of the present invention; FIG.
7 is a measurement flowchart schematically illustrating a principle of measuring an ultrasonic beam width in an X-axis or Y-axis direction by using an ultrasonic beam width measuring apparatus according to an embodiment of the present invention;
8 is a conceptual diagram schematically illustrating a principle of measuring a three-dimensional shape of an ultrasonic beam width through an ultrasonic beam width measuring apparatus according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. First of all, in adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are used as much as possible even if displayed on different drawings. In addition, in describing the present invention, when it is determined that the detailed description of the related well-known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted.

1 is a perspective view conceptually showing the configuration of an ultrasonic beamwidth measuring apparatus according to an embodiment of the present invention, Figure 2 is a cross-sectional view conceptually showing the configuration of the ultrasonic beamwidth measuring apparatus according to an embodiment of the present invention, 3 is an exploded cross-sectional view schematically showing the configuration of the target ball fixing unit of the ultrasonic beam width measuring apparatus according to an embodiment of the present invention.

Ultrasonic beam width measuring apparatus according to an embodiment of the present invention is a device for measuring the beam width of the ultrasonic wave generated from the ultrasonic sensor (S) used for the ultrasonic flaw detection, ultrasonic wave from the ultrasonic sensor (S) to a specific target ball (T) It is configured to measure the ultrasonic beam width of the ultrasonic sensor S by measuring the reflected wave reflected by the target ball (T), the liquid reservoir 100, the target ball fixing unit 200, sensor transfer unit And (C) and the target transfer unit 600.

The liquid reservoir 100 is formed to store the medium liquid M for ultrasonic transmission, and the medium liquid M is stored in the liquid reservoir 100, and the ultrasonic sensor using the medium liquid M as a transmission medium. Ultrasound generated from S is transmitted to the target ball (T). That is, in the test for measuring the ultrasonic beam width of the ultrasonic sensor S, the ultrasonic sensor S and the target ball T are disposed in the medium liquid M, and then ultrasonic waves are generated in the ultrasonic sensor S to generate the target ball. Irradiated to (T) and proceeds by measuring the reflected wave of the ultrasonic wave reflected from the target ball (T). At this time, since the ultrasonic sensor S does not generally have a waterproof structure, as shown in FIG. 2, only a portion of the vibrator S1 located at one end of the ultrasonic sensor S is disposed to be immersed in the medium liquid M, and the vibrator The ultrasonic wave generated through S1 is configured to be delivered to the target ball T through the medium liquid M. Since the type of medium liquid M stored in the liquid reservoir 100 does not need to be limited to a specific liquid, pure water may be used.

The target ball fixing unit 200 is for fixing the position of the target ball (T) in combination with the target ball (T) disposed inside the medium liquid (M), is disposed in the liquid reservoir 100 and the target ball (T) ) Is formed to be detachably coupled to be configured to smoothly replace and apply the target ball (T) according to the type of the ultrasonic sensor (S). Target ball (T) is generally formed in the shape of a ball (sphere) (ball) is fixed to a specific position inside the medium liquid (M), this target ball (T) in the ultrasonic sensor (S) for accurate measurement results Depending on the size of the generated ultrasonic beam width, the diameter should be applied in different kinds. Therefore, since the target ball T coupled to the target ball fixing unit 200 should also be applied differently according to the type of the ultrasonic sensor S to be measured, the target ball fixing unit 200 facilitates the target ball T. It is preferable that the target ball (T) is configured to be detachably coupled so that replacement can be applied. The target ball fixing unit 200 may be configured such that the target ball T is easily detachable to the target ball fixing unit 200 using the magnet 250 according to an embodiment of the present invention. Detailed description will be described later.

The sensor transfer unit (C) is configured to hold the ultrasonic sensor (S) for transport and fix it at a measurement position. The gripper module (300) holding and holding the ultrasonic sensor (S) and the gripper module (300) are perpendicular to each other. It comprises a linear transfer module 400 for linearly moving in the X-axis, Y-axis and Z-axis direction, and a rotary feed module 500 for rotating the gripper module 300 about the X-axis and the Y-axis. Accordingly, the ultrasonic sensor S is moved to a specific position through the linear transfer module 400 in a state of being gripped by the gripper module 300, and rotates in a predetermined angle range by the rotary transfer module 500 to generate ultrasonic waves. Let's do it. At this time, the X axis and the Y axis are two axes orthogonal to each other on a horizontal plane as shown in FIG. 1, and the Z axis is preferably configured as an axis in the vertical direction perpendicular to the X axis and the Y axis at the same time. Therefore, the ultrasonic sensor S is movable to all points on the horizontal plane of the liquid reservoir 100 by the linear transfer module 400, and corresponds to the height of the medium liquid M stored in the liquid reservoir 100. As shown in FIG. 3, only the vibrator S1 portion of the ultrasonic sensor S is vertically movable in the Z-axis direction so as to be immersed in the medium liquid M. As shown in FIG. In addition, the ultrasonic sensor S generates ultrasonic waves so that the ultrasonic waves are delivered to the target ball T in a state where only the vibrator S1 is immersed in the medium liquid M. In this process, the ultrasonic sensor S It can rotate about an X-axis and a Y-axis by this.

The target transfer unit 600 is a vertical separation distance L between the ultrasonic sensor S fixed to the gripper module 300 of the sensor transfer unit C and the target ball T fixed to the target ball fixing unit 200. The target ball fixing unit 200 is configured to move up and down in the Z-axis direction in the liquid reservoir 100 so that the can be adjusted. At this time, the vertical separation distance L between the ultrasonic sensor S and the target ball T is the ultrasonic sensor S in the Z-axis direction through the linear transfer module 400 of the sensor transfer unit C as described above. It is also possible to move up and down, but separately from the vertical movement distance (L) of the ultrasonic sensor (S) and the target ball (T) by moving the position of the target ball (T) up and down separately through the target transfer unit (600). The reason is that in the state in which only the vibrator S1 of the ultrasonic sensor S is immersed in the medium liquid M, the vertical separation distance between the ultrasonic sensor S and the target ball T without changing the vertical position of the ultrasonic sensor S is changed. To adjust.

That is, in order to more closely adjust the vertical separation distance L between the ultrasonic sensor S and the target ball T through the linear transfer module 400, the ultrasonic sensor S is continuously moved downward. In this case, since the ultrasonic sensor S may be completely immersed in the medium liquid M according to the storage height of the medium liquid M, the medium liquid M may be transferred to the liquid storage tank 100 before moving the ultrasonic sensor S downward. The height of the medium liquid (M) must be adjusted separately. This process is not only inconvenient, but also difficult to accurately adjust the height of the medium liquid (M), it is difficult to accurately set the vertical separation distance (L) of the ultrasonic sensor (S) and the target ball (T), and thus the ultrasonic wave In measuring the beam width, the accuracy may be significantly reduced. In contrast, the ultrasonic beam width apparatus according to the exemplary embodiment of the present invention moves the ultrasonic sensor S downward by the linear transfer module 400 so that only the vibrator S1 is locked in the medium liquid M so as to be locked in the medium liquid M. It is configured to adjust the vertical separation distance (L) of the ultrasonic sensor (S) and the target ball (T) by moving the position of the target ball (T) up and down through the transfer unit (600). Therefore, it is not necessary to separately adjust the height of the medium liquid M by discharging the medium liquid M, and the upper and lower positions of the target ball T through the target transfer unit 600 regardless of the height of the medium liquid M. Since it is possible to adjust the vertical separation distance (L) of the ultrasonic sensor (S) and the target ball (T) more precisely, it is possible to improve the accuracy of the measurement results of the ultrasonic beam width.

Next, a detailed configuration of the ultrasonic beam width measuring apparatus according to an embodiment of the present invention configured as described above will be described in more detail.

First, the target ball fixing unit 200 may be configured to be detachably coupled to the target ball fixing unit 200 by the magnetic force using the magnet 250 as described above, for this purpose As shown in FIGS. 2 and 3, a base plate 210 horizontally disposed inside the liquid reservoir 100 and a connection shaft 220 coupled to protrude upwardly to the base plate 210 and having a magnet coupled to an upper end thereof. And a pin holder 230 having a pin fixing hole 231 penetrating in an up and down direction and being coupled to the upper outer circumferential surface of the connection shaft 220 and formed in a magnetic material such that the lower end contacts the magnet 250. It is configured to include a support pin 240 that is inserted into the pin fixing hole 231 of the pin holder 230.

That is, the bolt insertion hole 211 in the vertical direction is formed in the center of the base plate 210 arranged in the horizontal direction, the coupling bolt 212 is inserted into the bolt insertion hole 211 and the base plate 210 It is fixed by the coupling nut 212 to protrude upward. The connecting shaft 220 is formed so that the lower end is screwed to the coupling bolt 212, the magnet insertion groove 221 is formed so that the magnet 250 is inserted coupling. The pin holder 230 is screw-coupled to surround the upper outer circumferential surface of the connecting shaft 220 in a state in which the magnet 250 is inserted and coupled to the magnet insertion groove 221, and a pin fixing hole is formed at the center of the pin holder 230. 231 is formed to penetrate in the vertical direction. The support pin 240 is inserted through the pin fixing hole 231 so that the lower end contacts the magnet 250 and is fixed. Therefore, the magnetic force of the magnet 250 is also transmitted to the support pin 240 made of a magnetic material, and the target ball T is shown in FIG. 3 by the magnetic force of the magnet 250 transmitted through the support pin 240. It is coupled to the top of the support pin 240 as shown. As such, the target ball T coupled to the upper end of the support pin 240 by magnetic force can be easily separated from the support pin 240 as necessary, and easily replaced with another type of target ball T. Can be.

The target ball fixing unit 200 of this structure is coupled so that all the components can be separated from each other, in particular, as shown in (a) to (c) of Figure 3 is supported according to the size of the target ball (T) The pin holder 230 and the connecting shaft 220 are detachably formed so that the pins 240 can be easily replaced and applied in different shapes. At this time, the pin fixing holes 231 respectively formed in different pin holders 230 are formed to have different inner diameters. For example, in a state where a relatively large sized target ball T is mounted as shown in (c) of FIG. 3, a relatively small sized target ball (as shown in (a) of FIG. 3) If it is to be replaced by T), it is preferable that the support pin 240 is also applied to replace the small thickness, as shown in (a) of Figure 3 is a separate inner diameter of the pin fixing hole 231 is formed small The pin holder 230 is preferably mounted to the connecting shaft 220. At this time, if the thickness of the support pin 240 is applied over a predetermined range compared to the diameter of the target ball (T), the reflection characteristics of the reflected wave reflected by the target ball (T) can be changed by the support pin (240). Therefore, the thickness of the support pin 240 is preferably applied to a kind small enough within the range that the target ball (T) can be stably coupled.

In addition, the target ball fixing unit 200 has a stable structure through the base plate 210 and at the same time the position where the target ball (T) is fixed is formed at a position spaced upward from the base plate 210, The reflection characteristic of the reflected wave reflected by the ball T is configured not to be changed by the base plate 210. This is also achieved through the structure of the support pin 240 and the connecting shaft 220 is relatively small thickness.

The target transfer unit 600 is configured to adjust the vertical separation distance L between the target ball T and the ultrasonic sensor S by moving the target ball fixing unit 200 in the vertical direction, FIGS. 1 and 2. Screw rod 610 is formed on the outer circumferential surface as shown in the vertically disposed in the Z-axis direction inside the liquid reservoir 100 to be threaded through the base plate 210 of the target ball fixing unit 200 And a screw rod driver 620 for rotating the screw rod 610 about the Z axis. In this case, the screw rod 610 may be rotatably coupled to a separate fixing block 630 coupled to one side of the upper end of the liquid reservoir 100.

According to this structure, when the screw rod 610 is rotated about the Z axis by the screw rod driving unit 620, the base plate 210 moves up and down in the Z axis direction along the thread P of the screw rod 610. Done. As such, when the base plate 210 moves up and down, the target ball T coupled to the base plate 210 moves up and down together with the base plate 210, and thus the ultrasonic sensor S and the target ball are moved. The vertical separation distance L of T is adjusted.

As described above, the sensor transfer unit C includes a gripper module 300, a linear transfer module 400, and a rotation transfer module 500, as shown in FIGS. 1 and 2. The linear transfer module 400 is disposed at the upper edge of the linear transfer module, and the rotary transfer module 500 is rotatably coupled to the linear transfer module 400, and the gripper module 300 rotates to the rotary transfer module 500. It is coupled to rotate with the transfer module 500. Therefore, the ultrasonic sensor S gripped and fixed to the gripper module 300 is rotated about the X axis and the Y axis together with the gripper module 300 by the rotation transfer module 500, and the linear transfer module 400. As a result, the gripper module 300 and the rotational transfer module 500 move in the X-axis, Y-axis, and Z-axis directions.

Here, the linear transfer module 400 is disposed on the upper end of the liquid reservoir 100 in the X axis gantry 410 long, and arranged in the Y axis direction in the X axis gantry 410 in the X axis direction Y-axis gantry 420 that is mounted to be movable, Z-axis gantry 430 and Z-axis gantry 430, which is disposed long in the Z-axis direction and mounted to the Y-axis gantry 420 to be movable in the Y-axis direction It is configured to include a moving block 440 is mounted to be movable in the Z-axis direction. The three-axis gantry is a configuration that moves the object in each of the corresponding axial direction using a mechanical element such as a screw rod (not shown), a chain (not shown) or a belt (not shown), respectively, Since it corresponds to a well-known technique widely used, a detailed description thereof will be omitted. However, the Z-axis gantry 430 according to an embodiment of the present invention is coupled through the Z-axis direction to a separate coupling block 431 coupled to the Y-axis gantry 420, as shown in Figs. It may be configured in the form of a screw rod, the movement block 440 coupled to the bottom by moving up and down in the Z-axis direction by the user's rotation operation may be configured to move up and down. The Z-axis gantry 430 is configured to adjust the vibrator (S1) portion of the ultrasonic sensor (S) to be immersed in the medium liquid (M), the user visually confirms the downward movement distance of the ultrasonic sensor (S) by hand It is preferable to be configured to adjust the moving distance.

Next, the structure of the gripper module 300 and the rotation transfer module 500 of the sensor transfer unit C is demonstrated with reference to FIGS.

4 is a partially exploded perspective view schematically showing the configuration of the gripper module and the rotary feed module of the ultrasonic beam width measuring apparatus according to an embodiment of the present invention, Figure 5 is a rotary feed module according to an embodiment of the present invention FIG. 6 is a side view schematically illustrating an operation state of rotating the gripper module about the X axis, and FIG. 6 schematically illustrates an operation state of rotating the gripper module about the Y axis through the rotation transfer module according to an embodiment of the present invention. It is a side view shown.

The rotary feed module 500 may include a first rotary block 510 mounted to the moving block 440 of the linear transfer module 400 so that the rotary feed module 500 may rotate about a rotation axis parallel to one of the X and Y axes. , A second rotating block 520 mounted to the first rotating block 510 so as to be rotatable about a rotation axis parallel to the other axis not parallel to the rotation axis of the first rotation block 510 among the X and Y axes. ), And a first rotation driver 530 and a second rotation driver 540 for rotationally driving the first rotation block 510 and the second rotation block 520, respectively. For example, as shown in FIG. 4, the first rotation block 510 may be coupled to the moving block 440 of the linear transfer module 400 so as to rotate about the Y axis, and the second rotation block ( 520 may be coupled to the first rotation block 510 to rotate about an X axis perpendicular to the Y axis. The first rotary driver 530 and the second rotary driver 540 may be coupled to the respective rotary blocks 510 and 520 in the form of a driving motor, respectively.

The gripper module 300 is fixedly coupled to the rotary transfer module 500, and is formed to be long in one direction to guide the guide block 310 fixedly coupled to the second rotary block 520 of the rotary transfer module 500, and a guide. Two vise blocks 320 are mounted to the block 310 so as to be slidably movable in the longitudinal direction, and threads P1 and P2 in different directions are formed at both ends of the outer circumferential surface to be different from the two vise blocks 320. It comprises a working rod 330 screwed in the direction. At this time, the guide groove 310 is formed at the lower end of the guide block 310 in the longitudinal direction to allow the vise block 320 to slide, and the vise block 320 is inserted into the guide groove 311 and slides. The guide protrusion 322 is formed to be. In addition, the vise block 320 is formed with a screw hole 321 to be screwed with the operating rod 330.

According to this structure, as shown in (a) of FIG. 5, when the operating rod 330 rotates in one direction, the two vise blocks 320 slide in a direction close to each other and the ultrasonic sensors S both sides. In the pressure fixed, the operating rod 330 is rotated in the opposite direction, the two vise block 320 slides in a direction away from each other to release the ultrasonic sensor (S). In this case, a separate dial handle 331 is formed at one end of the operation rod 330 to be rotated by the user, through which the holding operation of the ultrasonic sensor S may be configured by a user's manual operation. have.

Meanwhile, as described above, the first rotation block 510 may be configured to rotate about the Y axis, and the second rotation block 520 may be configured to rotate about the X axis, in this case, as shown in FIG. 5. As shown in (a) and (b) and (c), the second rotating block 520 may be rotated in both directions about the X axis by the second rotation driving unit 540, and thus the gripper module 300. The ultrasonic sensor S fixed to) also rotates about the X axis. Similarly, as shown in FIG. 6, the first rotation block 510 may be rotated in both directions about the Y axis by the first rotation driver 530 in the states (a) to (b) and (c). Thus, the ultrasonic sensor S also rotates about the Y axis. In this case, it is preferable that the first rotation driver 530 and the second rotation driver 540 be configured to be automatically controlled through separate controllers (not shown), respectively, for accurate measurement results.

Next, the ultrasonic beam width measurement process using the ultrasonic beam width measuring apparatus according to an embodiment of the present invention configured as described above will be described with reference to FIGS. 7 and 8.

FIG. 7 is a measurement flowchart schematically illustrating a principle of measuring an ultrasonic beam width in an X-axis or Y-axis direction using an ultrasonic beam width measuring apparatus according to an embodiment of the present invention, and FIG. 8 is a flowchart of FIG. 8 according to an embodiment of the present invention. It is a conceptual diagram schematically showing the principle of measuring the three-dimensional shape of the ultrasonic beam width through the ultrasonic beam width measuring apparatus.

As illustrated in FIGS. 7 and 8, the ultrasonic wave W generated in the ultrasonic sensor S has a form in which its beam width increases as the direction of travel increases within a predetermined range from the point where the ultrasonic wave W is generated. Appears. The shape of the ultrasonic wave W is shown not only in one two-dimensional plane shown in FIG. 7 but also in three-dimensional space as shown in FIG. Therefore, the ultrasonic beam width measuring apparatus according to an embodiment of the present invention is configured to measure the shape of the three-dimensional beam width with respect to the beam width of the ultrasonic wave W generated from the ultrasonic sensor S.

In more detail, as shown in (a) of FIG. 7, the center of the ultrasonic sensor S is disposed in the vertical direction of the center of the target ball T through the linear transfer module 400 and the ultrasonic sensor S and In the reference state where the vertical separation distance of the target ball (T) to be L1, by generating an ultrasonic wave (W) through the ultrasonic sensor (S) and irradiates the target ball (T), at this time through the target ball (T) The reflected wave reflected is measured through the ultrasonic sensor (S). Then, as shown in (b), (c), (d) of Figure 7 through the rotary feed module 500 to rotate the ultrasonic sensor (S) in a counterclockwise direction to measure the reflected wave continuously. The reflected wave of the ultrasonic wave (W) measured as described above has the largest intensity of the signal in the state (a) of FIG. 7, and the intensity of the signal decreases as it rotates to the states (b) and (c) of FIG. As shown in (d) of FIG. 7, when the traveling direction of the ultrasonic wave W completely leaves the target ball T, the reflected wave does not reach the ultrasonic sensor S, and thus the intensity of the signal is maintained without change. The signal for the reflected wave is displayed through a separate display unit 700 which displays the reflected wave signal received by the ultrasonic sensor S as a pulse signal, and each state is shown in FIGS. 7A to 7D. As shown in the figure, the display unit 700 continuously outputs the pulse signal. In the same manner, when the ultrasonic wave S is rotated clockwise from the reference state (e) of FIG. 7 to the state (f), (g), (h) of FIG. A pulse signal having a shape as shown in FIGS. 7E to 7H is newly displayed on the display unit 700 continuously. This is in the form of left and right symmetry with the pulse signal of (a) to (d) of Fig. 7 outputs through this entire process forms a single pulse signal.

As such, when the ultrasonic sensor S is rotated clockwise and counterclockwise at a position perpendicular to the target ball T, the signal for the reflected wave is finally converted into the pulse signal shown in FIG. Since the uniform beams appear on the left and right sides from the point where the ultrasonic beam width is completely outside the target ball T, the region corresponding to the middle section except the uniform signal sections on both the left and right sides of the pulse signal is the ultrasonic wave (W). It will be shown the beam width (WX1) for.

In this case, the ultrasonic sensor S is positioned in the reference state shown in FIG. 7A by the linear transfer module 400, and then, for example, by the rotary transfer module 500, for example, the first rotation block 510. The ultrasonic sensor S rotates in both directions about the Y axis by the rotation of) and achieves the states (a) to (h) of FIG. 7. Through this process, the beam width WX1 of the ultrasonic wave W measured in FIG. 7 corresponds to the beam width appearing on the X axis. When the measurement process for the X-axis beam width WX1 is completed, the ultrasonic sensor S is rotated in both directions about the X-axis by the rotation of the second rotating block 520 and the ultrasonic beam width is measured in the same manner. , The Y-axis beam width WY1 (see FIG. 8) appearing on the Y-axis can be measured.

As described above, after measuring the X-axis beam width WX1 and the Y-axis beam width WY1 in the vertical separation distance L1 between the ultrasonic sensor S and the target ball T, the ultrasonic sensor ( By moving the position of the target ball (T) in the up and down direction while fixing the position of S) so that the vertical separation distance between the ultrasonic sensor (S) and the target ball (T) is larger than L1. As described above, by measuring the X-axis beam width WX2 and the Y-axis beam width WY2 in the same manner as in the L1 state in the vertical distance L2 state, the three-dimensional ultrasonic beam width from the vertical distance L1 to L2 can be obtained. In this case, the three-dimensional ultrasonic beam width is theoretically obtained by calculating the ultrasonic beam widths measured at the L1 and L2 points. Therefore, in order to further improve the accuracy, measuring the X-axis beam width and the Y-axis beam width at more points is recommended. desirable. For example, as shown in FIG. 8, the accuracy of the X-axis beam width WX3 and the Y-axis beam width WY3 may be improved even at a point where the vertical separation distance is L3. Of course, you can also measure at three or more points.

The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art to which the present invention pertains may make various modifications and changes without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas falling within the scope of the same shall be construed as falling within the scope of the present invention.

100: liquid reservoir 200: target ball fixing unit
250: magnet 300: gripper module
400: linear feed module 500: rotary feed module
600: target transfer unit

Claims (7)

In the ultrasonic beam width measuring apparatus for irradiating the ultrasonic wave to the target ball from the ultrasonic sensor and measuring the reflected wave reflected by the target ball, the ultrasonic beam width of the ultrasonic sensor,
A liquid reservoir capable of storing medium liquid for ultrasonic delivery;
A target ball fixing unit disposed in the liquid reservoir and detachably coupled to the target ball;
A gripper module for holding and fixing the ultrasonic sensor, a linear transfer module for linearly moving the gripper module in directions perpendicular to each other in the X, Y, and Z axes, and rotating the gripper module about the X and Y axes. A sensor transfer unit configured to transfer and fix the ultrasonic sensor to a measurement position through a rotating transfer module for moving; And
Target transfer unit for vertically moving the target ball fixing unit in the Z-axis direction in the liquid reservoir so that the vertical separation distance between the ultrasonic sensor and the target ball fixed to the gripper module can be adjusted
It includes, the gripper module
A guide block extending in one direction and mounted to the rotary transfer module;
Two vise blocks mounted on the guide block to be slidably movable in a longitudinal direction; And
Operating rods are formed at both ends of the outer circumferential surface in different directions to screw the two vise blocks in different directions.
And the two vise blocks move in a direction approaching or away from each other according to the rotation of the working rod.
The method of claim 1,
The target ball fixing unit is an ultrasonic beam width measuring apparatus, characterized in that configured to be detachably coupled to the target ball by a magnetic force of a magnet.
The method of claim 2,
The target ball fixing unit
A base plate disposed horizontally in the liquid reservoir;
A connecting shaft coupled to the base plate to protrude upward and having the magnet coupled to an upper end thereof;
A pin holder surrounding the upper outer circumferential surface of the connection shaft and having a pin fixing hole penetrating in a vertical direction in a central portion thereof; And
A support pin formed of a magnetic material and inserted into and fixed in a pin fixing hole of the pin holder such that a bottom thereof contacts the magnet.
And the target ball is coupled to an upper end of the support pin by a magnetic force of the magnet transmitted through the support pin.
The method of claim 3, wherein
The target transfer unit is
A screw rod formed on an outer circumferential surface thereof and vertically disposed in the Z-axis direction in the liquid reservoir so as to be threaded through the base plate; And
Screw rod driving unit for rotating the screw rod about the rotation axis in the Z-axis direction
And, wherein the base plate is configured to move up and down in the Z-axis direction as the screw rod reciprocates about a rotation axis in the Z-axis direction.
delete The method of claim 1,
The rotary feed module
A first rotating block mounted to the linear transfer module to be rotatable about a rotation axis parallel to one of the X and Y axes;
A second rotation block mounted to the first rotation block to be rotatable about the rotation axis parallel to the other axis not parallel to the rotation axis of the first rotation block among the X and Y axes; And
A first rotational drive and a second rotational drive for rotating the first and second rotational blocks respectively;
And a guide block of the gripper module is mounted to the second rotating block.
The method according to claim 6,
The linear transfer module
An X-axis gantry disposed in the X-axis direction and mounted to an upper end of the liquid reservoir;
A Y-axis gantry disposed in the Y-axis direction and mounted to the X-axis gantry so as to be movable in the X-axis direction;
A Z-axis gantry disposed long in the Z-axis direction and mounted to the Y-axis gantry so as to be movable in the Y-axis direction; And
Moving block mounted to the Z-axis gantry movably in the Z-axis direction
And a first rotary block of the rotary feed module is rotatably mounted to the movable block.

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