阅读说明：本技术 一种载于机械臂的超声检测增材构件表面形貌装置 (Ultrasonic testing additive component surface morphology device carried by mechanical arm ) 是由 周琦 王鹏翔 王克鸿 王绿原 彭勇 冯曰海 黄�俊 于 2019-10-30 设计创作，主要内容包括：本发明是一种载于机械臂的超声检测增材构件表面形貌装置,该装置包括多关节型工业机器人、机器人控制面板、机器人电源三者相连；其中,多关节型工业机器人放置在工作平台上,并将超声收发装置载于机器人手臂上,实现超声收发装置的多维运动；储存数据的信号采集卡与计算机系统相连,计算机接收到N个制件表面超声信号,根据构建的麦克风阵列算法计算制件表面各点的三维高度信息,从而构建所检测增材制件表面形貌的二维彩虹图。该装置将传统超声检测系统与计算机阵列算法及工业机器人结合,实现了超声检测系统在多维空间对构件表面形貌的全面、精准、快速的超声检测,并最终能得到直观清晰的二维彩虹图,便于分析制件表面形貌。(The invention relates to an ultrasonic testing additive component surface appearance device loaded on a mechanical arm, which comprises a multi-joint industrial robot, a robot control panel and a robot power supply which are connected with each other; the multi-joint industrial robot is placed on a working platform, and the ultrasonic transceiver is loaded on the robot arm, so that the multi-dimensional motion of the ultrasonic transceiver is realized; and the signal acquisition card for storing data is connected with a computer system, the computer receives the ultrasonic signals on the surfaces of the N manufactured pieces, and the three-dimensional height information of each point on the surface of the manufactured piece is calculated according to the constructed microphone array algorithm, so that a two-dimensional rainbow diagram of the surface appearance of the detected additive manufactured piece is constructed. The device combines traditional ultrasonic detection system with computer array algorithm and industrial robot, has realized that ultrasonic detection system is in the comprehensive, accurate, quick ultrasonic detection of multidimension space to component surface appearance to can finally obtain directly perceived clear two-dimensional rainbow picture, be convenient for analyze finished piece surface appearance.)

1. A device for ultrasonic testing of surface topography of an additive member carried by a mechanical arm is characterized in that: the device includes: the ultrasonic transducer comprises a pulse generator, an ultrasonic transducer and a receiving amplifier; the robot also comprises a multi-joint industrial robot, a robot control panel, a signal acquisition card, a computer and an operation table; the ultrasonic transducer and the receiving amplifier form an ultrasonic receiving and transmitting device; the articulated industrial robot, the robot control panel and the robot power supply are connected; the multi-joint industrial robot is placed on a working platform, and an ultrasonic transceiver is loaded on a robot arm, so that multi-dimensional motion of the ultrasonic transceiver is realized; and the signal acquisition card for storing data is connected with a computer system, the computer receives the ultrasonic signals on the surfaces of the N manufactured pieces, and the three-dimensional height information of each point on the surface of the manufactured piece is calculated according to the constructed microphone array algorithm, so that a two-dimensional rainbow diagram of the surface appearance of the detected additive manufactured piece is constructed.

2. The apparatus for ultrasonic inspection of additive member surface topography carried by a robotic arm of claim 1, wherein: the industrial robot is combined with the ultrasonic transceiver to drive the ultrasonic transceiver to perform multi-dimensional coverage detection on the surface of a workpiece, meanwhile, detection signals are taken as original data to be brought into a microphone array algorithm applicable to the device, and three-dimensional information of the surface appearance of the workpiece is calculated through computer statistics.

3. The apparatus for ultrasonic inspection of additive member surface topography carried by a robotic arm of claim 1, wherein: and fixing the ultrasonic transceiver on the robot arm by using a flexible clamp for scanning detection.

4. The apparatus for ultrasonic inspection of additive member surface topography carried by a robotic arm of claim 1, wherein: the multi-dimensional motion is that the X direction is taken as a scanning direction, the Y direction is taken as an offset direction, and the robot arm drives the ultrasonic transceiver to perform parallel scanning along the side length direction of the X direction of the workpiece through a planned path; setting the y-direction offset distance to be 1mm each time, setting the walking paths of the x direction and the y direction to be in a linear mode, enabling the transceiver to walk an S-shaped track above the detected workpiece, and setting the total displacement of the x direction and the y direction to be matched with the length and the width of the detected workpiece.

5. The apparatus for ultrasonic inspection of additive member surface topography carried by a robotic arm of claim 1, wherein: the robot control panel sets the walking speed of the robot arm at 15-20 cm/min.

6. The apparatus for ultrasonic inspection of additive member surface topography carried by a robotic arm of claim 1, wherein: the fluctuation height change of the surface topography of the detected workpiece is within the range of 0.1-1 mm.

7. The apparatus for ultrasonic inspection of additive member surface topography carried by a robotic arm of claim 1, wherein: the distance height range between the ultrasonic transceiver and the detected member is 0.1-0.2 m.

Technical Field

The invention belongs to the field of nondestructive testing, and particularly relates to a device for ultrasonically testing the surface topography of an additive component, which is loaded on a mechanical arm.

Background

The additive manufacturing technology is used for forming a three-dimensional solid part by overlapping each layer of thin sheets, so that the manufacturing of a complex structure which is difficult or impossible to process in the traditional process is realized, the quality of each layer cannot be accurately detected after the parts are overlapped layer by layer, and the quality of each layer and the combination quality between the layers directly determine the quality of the whole part. Therefore, the key point is the surface appearance of each layer of thin sheet, and the complexity of the thin sheet often causes the problems of poor accessibility, large detection blind area and the like of the conventional detection means, thereby bringing great challenges to nondestructive detection; due to the continuous forming characteristic of the additive manufacturing parts, the mass needs to be detected after a certain volume of additive is added to control whether the additive is continuously added, and meanwhile, the integral detection of the large-size parts after the additive is added is needed. The precise measurement of the external dimension needs to be carried out by adopting a nondestructive testing means, but the information reported in the public is lacked at present.

The sound attenuation coefficient of the ultrasound in the air is large, the sound intensity exponentially attenuates along with the propagation distance, and the detection range of the ultrasound in the air is small and is generally within 30 m. However, ultrasonic distance measurement is a non-contact measurement mode, and compared with infrared, laser and radio distance measurement, ultrasonic distance measurement has the advantages of simple structure, low cost, and difficulty in being influenced by light, smoke and electromagnetism, so that ultrasonic distance measurement is irreplaceable in other distance measurement modes under certain special conditions. At present, ultrasonic ranging in air is widely applied to landform morphology imaging, robot positioning measurement and the like.

Beijing university of science and technology has developed a double-manipulator ultrasonic detection method (xu Chun Guang, Guo brilliant, Hao Juan, etc.), and patent publication No. CN 108982664A proposes a method for detecting the internal quality of a workpiece by using a double-manipulator detection system, wherein the manipulator does not collide with the workpiece to be detected, the device combines an industrial robot and an ultrasonic detection technology, can exert the characteristics of strong flexibility, high automation degree, repeatable programming, high precision, etc. of the robot, and can complete coverage detection on complex curved surface workpieces with large size and open structure by programming a robot path. However, the method only completes the detection of the internal defects of the component, and the detection of the surface topography of the component is still deficient. Therefore, the invention utilizes the advantages of ultrasonic distance measurement and combines an industrial robot to detect the surface appearance of the component.

Chinese patent CN 109196350 a discloses a method of ultrasonically detecting defects inside a material, by emitting ultrasound from an ultrasound emitting transducer, an ultrasound receiving transducer acquiring at least one time signal representing the amplitude of the ultrasound propagating in the material over time at a measurement location during a measurement; for each measurement location, it is capable of normalizing the time signal during the measurement using a normalization term to obtain a normalized time signal; and processing the normalized time signals of the different measurement locations to detect defects in the material. However, the method can only detect the defect condition of some fixed points to complete the detection of the single-point morphology or the internal defect, and the method cannot complete the surface morphology detection of a large-scale structural member and cannot realize the two-dimensional formation of the surface morphology of the member because the method cannot realize the rapid movement of equipment in the detection process.

Chinese patent CN1312487C discloses a novel ultrasonic detection device and detection method, including: ultrasonic probe and linkage device, transmitting/receiving circuit, control/processing unit, display and man-machine interface. A probe physical position equidistance movement signal generating device which moves synchronously with the probe and is composed of a mechanical counting type or an optical mouse type structure is arranged in the ultrasonic probe linkage device; the mechanical electric pulse counting device or the optical mouse device is used for generating a pulse fixed-distance marking signal or a grid marking signal which is sensitive to the movement of the abscissa and/or the ordinate of the detection surface of the detected object, the transmitting circuit is synchronously controlled to generate a high-voltage excitation pulse to the probe, and the probe generates ultrasonic waves which are transmitted into the detected object through coupling. The problem of image distortion caused by non-uniform movement is solved, and the purposes of generating excitation pulse according to a physical position moving signal, receiving an echo signal for processing and really reflecting the internal information of an object are achieved. However, the method is very difficult to cover and detect complex curved surface workpieces with large sizes and open structures, can not realize omnibearing movement detection on the surfaces of the structures, has no detection flexibility, has low automation degree, and can not repeatedly program the detection paths of the components.

The specification of a steel plate on-site ultrasonic detection device with the classification number of TG115.28 in the middle drawing describes a hand-push type C-scanning ultrasonic detection device. The detection device consists of a multi-channel ultrasonic instrument, a drum-type probe, a position adjusting mechanism, a probe wetting mechanism and the like. In the detection process, the rapid detection of the quality of defects in a steel plate with a certain thickness (15-100 mm) is realized by adjusting mechanisms such as probe perpendicularity and steel plate fitting and designing an acoustic transmission film and surface water spraying wetting mechanism. The device can realize the mobile scanning of the detected component within a certain range, but the device is a hand-push type C-scan, does not have an accurate scanning function, cannot realize the automatic component detection scanning, and has very low efficiency; the scanning path can not be programmed and circularly controlled mechanically, and is completely controlled manually, the deviation of the scanning result is too large, and the detection reach range can not be expanded.

Disclosure of Invention

The invention aims to provide a device for detecting the surface topography of an additive component by ultrasonic waves loaded on a mechanical arm, aiming at overcoming the defects of the flexibility of the existing method and device for detecting the surface topography of the component. The method combines an industrial robot with an ultrasonic detection technology, is applied to the detection of the surface appearance of the component, and combines a computer array algorithm with the industrial robot with the ultrasonic detection technology, is applied to the detection of the surface appearance of the component.

The technical scheme for realizing the purpose of the invention is as follows:

an ultrasonic testing surface topography device carried by a mechanical arm, comprising: the ultrasonic transducer comprises a pulse generator, an ultrasonic transducer and a receiving amplifier; the robot also comprises a multi-joint industrial robot, a robot control panel, a signal acquisition card, a computer system and an operation table; the ultrasonic transducer and the receiving amplifier form an ultrasonic receiving and transmitting device; the articulated industrial robot, the robot control panel and the robot power supply are connected; the multi-joint industrial robot is placed on a working platform, and an ultrasonic transceiver is loaded on a robot arm, so that multi-dimensional motion of the ultrasonic transceiver is realized; and the signal acquisition card for storing data is connected with a computer system, the computer receives the ultrasonic signals on the surfaces of the N manufactured pieces, and the three-dimensional height information of each point on the surface of the manufactured piece is calculated according to the constructed microphone array algorithm, so that a two-dimensional rainbow diagram of the surface appearance of the detected additive manufactured piece is constructed.

The ultrasonic transceiver should be perpendicular to the tested member and the distance between the ultrasonic transceiver and the tested member is 0.1-0.2 m.

And fixing the ultrasonic transceiver on the robot arm by using a flexible clamp for scanning detection, wherein the distance between the two probes depends on the thickness of a workpiece, the angle of an acoustic beam and the detection frequency.

The multi-dimensional movement is specifically as follows: the x direction is used as the scanning direction, and the y direction is used as the offset direction. And the robot arm drives the ultrasonic transceiver to perform parallel scanning along the length direction of the X direction of the workpiece by planning a path. Setting the y-direction offset distance to be 1mm each time, setting the walking paths of the x direction and the y direction to be in a linear mode, enabling the transceiver to walk an S-shaped track above the detected workpiece, and setting the total displacement of the x direction and the y direction to be matched with the length and the width of the detected workpiece.

The robot control panel sets the walking speed of the robot arm, so that the walking distance of the robot arm per second is reasonably matched with the emission frequency of the ultrasonic transducer.

Compared with the prior art, the invention has the following remarkable advantages:

1. the device combines the traditional ultrasonic detection system with a computer array algorithm and an industrial robot, and realizes comprehensive, accurate and rapid ultrasonic detection of the surface appearance of the component in a multi-dimensional space by the ultrasonic detection system; 2. compared with the traditional ultrasonic distance measurement principle, the method adopts a transit time method

The distance information is measured more accurately and quickly, the efficiency is higher, and finally, a more visual and clear two-dimensional rainbow diagram can be obtained without carrying outAnd (4) data evolution is convenient for analyzing the surface appearance of the workpiece.

Drawings

Fig. 1 is a schematic diagram of an ultrasonic testing device for additive component surface topography carried by a mechanical arm according to the present invention.

FIG. 2 is a schematic view of a surface topography measurement method of the present invention.

Fig. 3 is a schematic diagram of the operation of the apparatus of the present invention.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

An ultrasonic testing surface topography device carried by a mechanical arm, comprising: the ultrasonic wave generator comprises a pulse generator 1, an ultrasonic transducer 2, a receiving amplifier 3, a time counter 4, an oscilloscope 5 and an amplitude discriminator 6; the system also comprises a signal acquisition card 7, a computer system 8, a multi-joint industrial robot 9, a robot control panel 10 and an operation table 11; the ultrasonic transducer 2, the receiving amplifier 3 and the time counter 4 form an ultrasonic transceiver, and the ultrasonic transducer 2 is a transmitting probe; the pulse generator 1 controls the ultrasonic transducer 2 and the amplitude discriminator 6; the time counter 4 is arranged inside the ultrasonic transceiver; the receiving amplifier 3 is connected with the oscilloscope 5 and the amplitude discriminator 6; the articulated industrial robot 9, the robot control panel 10 and the robot power supply are connected; the multi-joint industrial robot is placed on a working platform, and an ultrasonic transceiver is loaded on a robot arm, so that multi-dimensional motion of the ultrasonic transceiver is realized; the signal acquisition card 7 for storing data is connected with a computer system 8.

The ultrasonic transceiver should be perpendicular to the tested member and the distance between the ultrasonic transceiver and the tested member is 0.1-0.2 m.

The proximity detection measurement range is 0.2m in consideration of being small. And the transmission medium is air, and a transducer with PZT5 piezoelectric ceramic thickness vibration mode is selected.

The ultrasonic transceiver is fixed on the robot arm 9 by using a flexible clamp for scanning detection, wherein the distance between the two probes depends on the thickness of a workpiece, the angle of an acoustic beam and the detection frequency.

The multidimensional motion is: the x direction is used as the scanning direction, and the y direction is used as the offset direction. The robot arm 9 drives the ultrasonic transceiver to scan in parallel along the length direction of the workpiece X by planning a path. Setting the y-direction offset distance to be 1mm each time, setting the walking paths of the x direction and the y direction to be in a linear mode, enabling the transceiver to walk an S-shaped track above the detected workpiece, and setting the total displacement of the x direction and the y direction to be matched with the length and the width of the detected workpiece.

The fluctuation height change of the surface topography of the detected workpiece is within the range of 0.1-1 mm.