阅读说明：本技术 一种不规则曲面工件的超声自动检测装置和方法 (Ultrasonic automatic detection device and method for irregular curved surface workpiece ) 是由 柯庆镝 蒋守志 张雷 王万喜 李皖鹏 于 2020-12-24 设计创作，主要内容包括：本发明公开了一种不规则曲面工件的超声自动检测装置和方法,属于超声检测装置和方法；一种不规则曲面工件的超声自动检测装置,包括有工作台架,工作台架的上固定安装有传送带,工作台架上表面一侧还固定安装有第一伺服电机,第一伺服电机的输出轴与传送带的驱动辊固定连接；第一安装架的顶端固定连接有第一固定横杆,第一固定横杆的下端固定连接有阵列式激光传感器；工作台架顶面远离第一安装架一端固定连接有第二安装架,第二安装架的顶端设置有第二伺服电机,第二伺服电机上固定连接有第二固定横杆,第二固定横杆上连接有超声探测机构；本发明有效解决了现有设计无法很好胜任不规则曲面工件的超声检测工作,影响检测数据的可靠性的问题。(The invention discloses an ultrasonic automatic detection device and method for an irregular curved surface workpiece, belonging to ultrasonic detection devices and methods; an ultrasonic automatic detection device for an irregular curved surface workpiece comprises a workbench frame, wherein a conveyor belt is fixedly arranged on the workbench frame, a first servo motor is also fixedly arranged on one side of the upper surface of the workbench frame, and an output shaft of the first servo motor is fixedly connected with a driving roller of the conveyor belt; the top end of the first mounting frame is fixedly connected with a first fixed cross rod, and the lower end of the first fixed cross rod is fixedly connected with an array type laser sensor; a second mounting frame is fixedly connected to one end, far away from the first mounting frame, of the top surface of the workbench frame, a second servo motor is arranged at the top end of the second mounting frame, a second fixed cross rod is fixedly connected to the second servo motor, and an ultrasonic detection mechanism is connected to the second fixed cross rod; the invention effectively solves the problem that the existing design can not better meet the ultrasonic detection work of the irregular curved surface workpiece and influence the reliability of the detection data.)

1. The utility model provides an supersound automatic checkout device of irregular curved surface work piece, including workstation frame (1), its characterized in that: a conveyor belt (2) is fixedly installed on the workbench frame (1), a first servo motor (3) is further fixedly installed on one side of the upper surface of the workbench frame (1), and an output shaft of the first servo motor (3) is fixedly connected with a driving roller of the conveyor belt (2); a first mounting frame (4) is fixedly connected to one side, close to a first servo motor (3), of the upper surface of the workbench frame (1), a first fixed cross rod (5) is fixedly connected to the top end of the first mounting frame (4), and an array type laser sensor (6) is fixedly connected to the lower end of the first fixed cross rod (5); first mounting bracket (4) one end fixedly connected with second mounting bracket (7) are kept away from to workstation frame (1) top surface, the top of second mounting bracket (7) is provided with second servo motor (8), fixedly connected with second fixed horizontal pole (9) are gone up in second servo motor (8), be connected with ultrasonic detection mechanism (14) on second fixed horizontal pole (9).

2. The ultrasonic automatic detection device for the irregular curved surface workpiece according to claim 1, which is characterized in that: the conveying belt (2) is fixedly connected with workpiece clamps (12), and workpieces (13) to be detected are clamped between the workpiece clamps (12).

3. The ultrasonic automatic detection device for the irregular curved surface workpiece according to claim 1, which is characterized in that: second servo motor (8) slidable mounting is on the top lateral wall of second mounting bracket (7), fixedly connected with gear on the output shaft of second servo motor (8), be provided with the gear groove on the top surface of second mounting bracket (7), the gear is connected with the gear groove meshing.

4. The ultrasonic automatic detection device for the irregular curved surface workpiece according to claim 1, which is characterized in that: ultrasonic detection mechanism (14) is including first electric putter (10), first electric putter (10) fixed connection is on the fixed horizontal pole of second (9), the bottom swing joint of first electric putter (10) has universal joint (15), fixedly connected with probe anchor clamps (16) are gone up in universal joint (15), the centre gripping has ultrasonic probe (17) on probe anchor clamps (16), go back fixedly connected with second electric putter (11) on first electric putter (10), the bottom fixedly connected with third electric putter (18) of second electric putter (11), second electric putter (11) one end and universal joint (15) lateral wall swing joint are kept away from in third electric putter (18).

5. The ultrasonic automatic detection device for the irregular curved surface workpiece according to claim 1, which is characterized in that: still fixed mounting has control module on workstation frame (1), control module is including filtering unit and control signal generation unit, control module and first servo motor (3), second servo motor (8), array laser sensor (6), first electric putter (10), second electric putter (11) and third electric putter (18) electric connection.

6. An ultrasonic automatic detection method of an irregular curved surface workpiece, which is applied to the ultrasonic automatic detection device of the irregular curved surface workpiece as claimed in claims 1 to 5, and is characterized in that: the method comprises the following steps:

s1, placing the workpiece (13) to be detected between the workpiece clamps (12) on the conveyor belt (2) for clamping;

s2, starting the first servo motor (3), driving the conveyor belt (2) to run at a constant speed, and driving the workpiece (13) to be detected to pass through the lower part of the array type laser sensor (6) at a constant speed;

s3, obtaining distance signals of each point on the surface of the workpiece (13) to be detected through the array type laser sensor (6), and further forming a shape signal of the surface of the workpiece (13) to be detected;

s4, transmitting the distance signal and the shape signal obtained by the array type laser sensor (6) to a control module, filtering the received distance signal and the received shape signal by a filtering unit of the control module, and generating a control signal by a control signal generating unit;

s5, the control module transmits the control signal to the second servo motor (8), the first electric push rod (10), the second electric push rod (11) and the third electric push rod (18) to adjust the position and the state of the ultrasonic probe (17) on the probe clamp (16), and the ultrasonic probe (17) can be completely attached to the surface of the workpiece (13) to be detected to detect the workpiece (13) to be detected when the workpiece (13) to be detected passes through.

7. The method for automatically detecting the ultrasonic wave of the irregular curved surface workpiece as claimed in claim 6, wherein the method comprises the following steps: the specific method for measuring the shape signal of the surface of the workpiece (13) to be detected mentioned in the step S3 is as follows:

the first electric push rod (10) is downwards taken as the positive direction of a Z axis (up and down), the inward vertical Z axis is the positive direction of an X axis (front and back), and the leftward vertical Z, X axis is the positive direction of a Y axis (left and right);

defining the distance from the array type laser sensor (6) to the bottom surface of the workpiece clamp (12) as L, and the distance from the laser sensor to the workpiece (13) to be detected, which is measured by each unit of the array type laser sensor (6), as h_nn；

At this time, a shape matrix of the surface of the workpiece (13) to be inspected can be obtained

The shape matrix and the surface shape of the workpiece (13) to be detected have a rule of correspondence:

when the numerical value of the point location is larger, the point location is more convex; when the point location value is smaller, the point location is more concave;

the control module generates the shape of the workpiece (13) to be measured in the control module according to the correspondence rule.

8. The method for automatically detecting the ultrasonic wave of the irregular curved surface workpiece as claimed in claim 6, wherein the method comprises the following steps: the method for controlling the adjustment of the position and the state of the ultrasonic probe (17) by the control module in the S5 comprises the following steps:

n1, dividing the detection area block position of the surface shape of the workpiece (13) to be detected in the control module, and generating a block position mark matrix in the control module

Any one of the detection area blocks is marked as O;

n2, according to the generated surface shape of the workpiece (13) to be detected, in the control module, according to the included angle alpha between the normal line and the Z axis at the optional position;

n3, according to the three-dimensional coordinate system, the angle alpha is positive when deviating to the left, negative when deviating to the right, and the positive and negative of the angle alpha are the same as the positive and negative of the angle delta L according to the formula

Is calculated to obtain

ΔL＝Ktanα

In the formula: alpha is an included angle between the normal of the optional position and the Z axis;

Δ L is a length change amount of a detection position of the third electric putter (18) thereat;

k is the distance from the fixed point of the third electric push rod (18) and the universal joint (15) to the joint of the universal joint (15);

n4, the control module controls the length change of the third electric push rod (18) according to the formula mentioned in N3, and further controls the angle change of the ultrasonic probe (17);

n5, and controlling the first electric push rod (10) and the second electric push rod (11) to change the same length according to the height measured by the array type laser sensor (6), so that the ultrasonic probe (17) can be completely attached to the detection position.

Technical Field

The invention relates to an ultrasonic detection device and method, in particular to an ultrasonic automatic detection device and method for an irregular curved surface workpiece.

Background

Ultrasonic inspection is to determine whether there are defects in the interior and surface of a material or workpiece to be inspected by observing the propagation change of ultrasonic waves displayed on an ultrasonic inspection apparatus in the material or workpiece to be inspected, using the characteristics of refraction, reflection, diffraction, attenuation, resonance, etc., of the ultrasonic waves, thereby evaluating the quality and use value thereof without damaging or damaging the material or workpiece to be inspected.

For a common workpiece with a smooth surface, an ultrasonic probe can be directly used for hovering and contacting the workpiece with the coating surface for detection, but for an irregular curved surface workpiece, the conventional ultrasonic detection device cannot accurately and well perform detection work, the reliability of detection data is affected, and in order to better adapt to the ultrasonic detection work of the irregular curved surface workpiece, the ultrasonic automatic detection device and the method for the irregular curved surface workpiece are provided.

Disclosure of Invention

1. Technical problem to be solved by the invention

The invention aims to provide an ultrasonic automatic detection device and method for an irregular curved surface workpiece, which aim to solve the problems in the background technology:

the existing design can not perfectly handle the ultrasonic detection work of the irregular curved surface workpiece, and the reliability of the detection data is influenced.

2. Technical scheme

In order to achieve the purpose, the invention provides the following technical scheme:

an ultrasonic automatic detection device for an irregular curved surface workpiece comprises a workbench frame, wherein a conveyor belt is fixedly arranged on the workbench frame, a first servo motor is further fixedly arranged on one side of the upper surface of the workbench frame, and an output shaft of the first servo motor is fixedly connected with a driving roller of the conveyor belt; a first mounting frame is fixedly connected to one side, close to the first servo motor, of the upper surface of the working table frame, a first fixed cross rod is fixedly connected to the top end of the first mounting frame, and an array type laser sensor is fixedly connected to the lower end of the first fixed cross rod; first mounting bracket one end fixedly connected with second mounting bracket is kept away from to workstation frame top surface, the top of second mounting bracket is provided with second servo motor, the last fixed horizontal pole of fixedly connected with second of second servo motor, be connected with ultrasonic detection mechanism on the fixed horizontal pole of second.

Preferably, the conveying belt is fixedly connected with workpiece clamps, and workpieces to be detected are clamped between the workpiece clamps.

Preferably, second servo motor slidable mounting is on the top lateral wall of second mounting bracket, fixedly connected with gear on second servo motor's the output shaft, be provided with the gear groove on the top surface of second mounting bracket, the gear is connected with the gear groove meshing.

Preferably, ultrasonic detection mechanism is including first electric putter, first electric putter fixed connection is on the fixed horizontal pole of second, first electric putter's bottom swing joint has the universal joint, fixedly connected with probe anchor clamps on the universal joint, the centre gripping has ultrasonic probe on the probe anchor clamps, last fixedly connected with second electric putter of going back of first electric putter, second electric putter's bottom fixedly connected with third electric putter, second electric putter one end and universal joint lateral wall swing joint are kept away from to third electric putter.

Preferably, still fixed mounting has control module on the workstation frame, control module is including filtering unit and control signal generation unit, control module and first servo motor, second servo motor, array laser sensor, first electric putter, second electric putter and third electric putter electric connection.

An ultrasonic automatic detection method of an irregular curved surface workpiece, which is applied to the ultrasonic automatic detection device of the irregular curved surface workpiece as claimed in claims 1 to 5, and comprises the following steps:

s1, placing the workpiece to be detected between the workpiece clamps on the conveyor belt to be clamped;

s2, starting the first servo motor to drive the conveyor belt to run at a constant speed and drive the workpiece to be detected to pass through the lower part of the array type laser sensor at a constant speed;

s3, obtaining distance signals of all points on the surface of the workpiece to be detected through the array type laser sensor, and further forming a shape signal of the surface of the workpiece to be detected;

s4, transmitting the distance signal and the shape signal obtained by the array type laser sensor to a control module, filtering the received distance signal and the received shape signal by a filtering unit of the control module, and generating a control signal by a control signal generating unit;

s5, the control module transmits the control signal to the second servo motor, the first electric push rod, the second electric push rod and the third electric push rod, the position and the state of the ultrasonic probe on the probe clamp are adjusted, and the ultrasonic probe can be completely attached to the surface of the workpiece to be detected to detect the workpiece to be detected when the workpiece to be detected passes through.

Preferably, the specific method for measuring the shape signal of the surface of the workpiece to be detected in S3 is as follows:

the first electric push rod is used for downwards forming the positive direction of a Z axis (up and down), the inward vertical Z axis is used for the positive direction of an X axis (front and back), and the leftward vertical Z, X axis is used for the positive direction of a Y axis (left and right);

defining the distance from the array type laser sensor to the bottom surface of the workpiece clamp as L, and the distance from the laser sensor to the workpiece to be detected, which is measured by each unit of the array type laser sensor, as h_nn；

At this time, a shape matrix of the surface of the workpiece to be detected can be obtained

The shape matrix and the surface shape of the workpiece to be detected have the following correspondence rule:

when the numerical value of the point location is larger, the point location is more convex; when the point location value is smaller, the point location is more concave;

and the control module generates the shape of the workpiece to be detected in the control module according to the corresponding rule.

Preferably, the method for controlling the adjustment of the position and the state of the ultrasonic probe by the control module in S5 includes the following steps:

n1, dividing the detection area of the surface shape of the workpiece to be detected in the control module by block positions, and generating a block position mark matrix in the control module

Any one of the detection area blocks is marked as O;

n2, according to the generated surface shape of the workpiece to be detected, in the control module, according to the included angle alpha between the normal line and the Z axis at the optional position;

n3, according to the three-dimensional coordinate system, the angle alpha is positive when deviating to the left, negative when deviating to the right, and the positive and negative of the angle alpha are the same as the positive and negative of the angle delta L according to the formula

Is calculated to obtain

ΔL＝K tanα

In the formula: alpha is an included angle between the normal of the optional position and the Z axis;

Δ L is the amount of change in the length of the third electric putter at the position detected thereat;

k is the distance from the third electric push rod and the universal joint fixing point to the universal joint;

n4, the control module controls the length of the third electric push rod to change according to the formula mentioned in N3, and further controls the angle of the ultrasonic probe to change;

n5, according to the height that array laser sensor surveyed, control first electric putter, second electric putter and change same length for ultrasonic probe can laminate this detection position completely.

3. Advantageous effects

(1) Compared with the prior art, the invention combines the ultrasonic detection technology and the laser positioning technology, when in use, a workpiece to be detected is placed between workpiece clamps on a conveyor belt, then the conveyor belt is driven to move at a constant speed by a first servo motor, the array type laser sensor above the conveyor belt forms a shape signal of the surface of the whole workpiece by the height of each position of the workpiece detected by the laser, a control module converts the shape signal into a control signal, and controls a second servo motor and a first electric push rod, a second electric push rod and a third electric push rod of an ultrasonic detection mechanism to timely adjust the position and the state of an ultrasonic probe according to the control signal, so that the ultrasonic probe can be completely attached to the surface of the workpiece to be detected to detect the workpiece when the workpiece to be detected passes through the control module, the design is utilized to better promote the ultrasonic detection effect, and the problem that the prior art can not better detect the ultrasonic detection of the workpiece with irregular, the reliability of the detection data is influenced.

(2) Compared with the existing design, the method creatively combines the laser sensing detection technology with the ultrasonic detection technology, when in use, the array type laser sensor is firstly used for detecting the surface data of the workpiece to be detected to form a shape signal, and then the ultrasonic detection mechanism is controlled to be attached to the surface of the workpiece for ultrasonic detection.

Drawings

FIG. 1 is a schematic structural diagram of an ultrasonic automatic detection device for an irregular curved surface workpiece according to the present invention;

FIG. 2 is an enlarged schematic structural view of part A in FIG. 1 of an apparatus for ultrasonic automatic inspection of irregular curved workpieces according to the present invention;

FIG. 3 is a schematic structural diagram of an ultrasonic detection mechanism of an automatic ultrasonic detection device for an irregular curved workpiece according to the present invention;

FIG. 4 is a schematic flow chart of an ultrasonic automatic detection method for an irregular curved surface workpiece according to the present invention;

fig. 5 is a schematic structural diagram of a workpiece to be detected in embodiment 3 of the apparatus and method for ultrasonic automatic detection of an irregular curved surface workpiece according to the present invention;

fig. 6 is a schematic diagram of an ultrasonic probe start detection area in embodiment 3 of the apparatus and method for automatically detecting an irregular curved workpiece according to the present invention;

fig. 7 is a schematic diagram of a second-stage detection start area in embodiment 3 of the apparatus and method for ultrasonic automatic detection of an irregular curved workpiece according to the present invention;

fig. 8 is a schematic view of the working principle of an apparatus and a method for automatically detecting an irregular curved workpiece according to embodiment 4 of the present invention.

The reference numbers in the figures illustrate:

1. a working bench; 2. a conveyor belt; 3. a first servo motor; 4. a first mounting bracket; 5. a first fixed cross bar; 6. an array-type laser sensor; 7. a second mounting bracket; 8. a second servo motor; 9. a second fixed cross bar; 10. a first electric push rod; 11. a second electric push rod; 12. a workpiece holder; 13. a workpiece to be detected; 14. an ultrasonic detection mechanism; 15. a universal joint; 16. a probe clamp; 17. an ultrasonic probe; 18. and a third electric push rod.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1:

referring to fig. 1-3, an ultrasonic automatic detection device for an irregular curved surface workpiece comprises a working table frame 1, wherein a conveyor belt 2 is fixedly installed on the working table frame 1, a first servo motor 3 is also fixedly installed on one side of the upper surface of the working table frame 1, and an output shaft of the first servo motor 3 is fixedly connected with a driving roller of the conveyor belt 2; a first mounting frame 4 is fixedly connected to one side, close to the first servo motor 3, of the upper surface of the working table frame 1, a first fixed cross rod 5 is fixedly connected to the top end of the first mounting frame 4, and an array type laser sensor 6 is fixedly connected to the lower end of the first fixed cross rod 5; 4 one end fixedly connected with second mounting bracket 7 of first mounting bracket are kept away from to work rack 1 top surface, and the top of second mounting bracket 7 is provided with second servo motor 8, and the last fixedly connected with second of second servo motor 8 fixes horizontal pole 9, is connected with ultrasonic detection mechanism 14 on the second fixes horizontal pole 9.

The conveyor belt 2 is fixedly connected with workpiece clamps 12, and workpieces 13 to be detected are clamped between the workpiece clamps 12.

Second servo motor 8 slidable mounting is on the top lateral wall of second mounting bracket 7, fixedly connected with gear on the output shaft of second servo motor 8, is provided with the gear groove on the top surface of second mounting bracket 7, and the gear is connected with the gear groove meshing.

Ultrasonic detection mechanism 14 is including first electric putter 10, first electric putter 10 fixed connection is on the fixed horizontal pole 9 of second, the bottom swing joint of first electric putter 10 has universal joint 15, fixedly connected with probe anchor clamps 16 on the universal joint 15, the centre gripping has ultrasonic probe 17 on the probe anchor clamps 16, last fixedly connected with second electric putter 11 of going back of first electric putter 10, the bottom fixedly connected with third electric putter 18 of second electric putter 11, second electric putter 11 one end and the 15 lateral walls swing joint of universal joint are kept away from to third electric putter 18.

Still fixed mounting has control module on the workstation frame 1, and control module is including filtering unit and control signal generation unit, and control module and first servo motor 3, second servo motor 8, array laser sensor 6, first electric putter 10, second electric putter 11 and third electric putter 18 electric connection.

Compared with the existing design, the invention combines the ultrasonic detection technology and the laser positioning technology, when in use, a workpiece 13 to be detected is firstly placed between the workpiece clamps 12 on the conveyor belt 2, then the conveyor belt 2 is driven to move at a constant speed by the first servo motor 3, the array type laser sensor 6 above the conveyor belt 2 forms a shape signal of the surface of the whole workpiece through the height of each position of the workpiece measured by the laser, the control module converts the shape signal into a control signal, controls the second servo motor 8 and the first electric push rod 10, the second electric push rod 11 and the third electric push rod 18 of the ultrasonic detection mechanism 14 to timely adjust the position and the state of the ultrasonic probe 17 according to the control signal, ensures that the ultrasonic probe 17 can be completely attached to the surface of the workpiece 13 to be detected to detect the workpiece 13 when the workpiece 13 to be detected passes through, and better promotes the ultrasonic detection effect by utilizing the design, the problem that the existing design can not perfectly handle the ultrasonic detection work of the irregular curved surface workpiece and influence the reliability of the detection data is solved.

Example 2:

referring to fig. 4, the basic difference between the method and the embodiment 1 is that an ultrasonic automatic inspection method for an irregular curved workpiece is applied to the ultrasonic automatic inspection apparatus for an irregular curved workpiece according to claims 1 to 5, and includes the following steps:

s1, placing the workpiece 13 to be detected between the workpiece clamps 12 on the conveyor belt 2 for clamping;

s2, starting the first servo motor 3 to drive the conveyor belt 2 to run at a constant speed and drive the workpiece 13 to be detected to pass under the array type laser sensor 6 at a constant speed;

s3, obtaining distance signals of each point on the surface of the workpiece 13 to be detected through the array type laser sensor 6, and further forming a shape signal of the surface of the workpiece 13 to be detected;

s4, transmitting the distance signal and the shape signal obtained by the array type laser sensor 6 to a control module, filtering the received distance signal and the received shape signal by a filtering unit of the control module, and generating a control signal by a control signal generating unit;

s5, the control module transmits the control signal to the second servo motor 8, the first electric push rod 10, the second electric push rod 11 and the third electric push rod 18, the position and the state of the ultrasonic probe 17 on the probe clamp 16 are adjusted, and the ultrasonic probe can be completely attached to the surface of the workpiece 13 to be detected to detect the workpiece 13 to be detected when the workpiece 13 to be detected passes through.

Compared with the existing design, the ultrasonic automatic detection method for the irregular curved surface workpiece is matched with the ultrasonic automatic detection device for the irregular curved surface workpiece, the method creatively combines the laser sensing detection technology with the ultrasonic detection technology, when the method is used, the surface data of the workpiece to be detected 13 are detected through the array type laser sensor 6 to form a shape signal, and then the ultrasonic detection mechanism 14 is controlled to be attached to the surface of the workpiece for ultrasonic detection.

Example 3:

referring to fig. 5-7, the embodiment 1-2 is different from the embodiment in that a three-dimensional coordinate system is established with the ultrasonic detection mechanism 14 of the ultrasonic automatic inspection apparatus for irregular curved workpieces as a base point, the downward direction of the first electric putter 10 is the positive direction of the Z axis (up and down), the inward direction of the vertical Z axis is the positive direction of the X axis (front and back), and the leftward direction of the vertical Z, X axis is the positive direction of the Y axis (left and right);

the control module controls the workpiece to be detected 13 to pass through the array type laser sensor 6 by controlling the first servo motor 3 to obtain a shape signal of the surface of the workpiece to be detected 13, the distance between the array type laser sensor 6 and the working table frame 1 is constant, the control module receives the shape signal of the array type laser sensor 6 and generates a control signal of the whole detection process according to the distance difference of different positions so as to control the first servo motor 3, the second servo motor 8, the first electric push rod 10, the second electric push rod and the third electric push rod 18;

the ultrasonic probe 17 is embedded into the universal joint 15, and the posture of the ultrasonic probe 17 can be changed by changing the angle of the universal joint 15;

the first servo motor 3 controls the workpiece 13 to be detected to move and adjust along the Y axis (left and right) direction in the detection stage, and the surface of the workpiece 13 to be detected with a coating can be better attached to the ultrasonic probe 17 through speed adjustment;

the second servo motor 8 drives the whole detection mechanism to move along the positive and negative directions of the X axis (front and back) in the detection process, so that the whole detection mechanism can be adjusted in the X axis direction;

a first electric push rod 10 which controls a universal joint 15 connected with the lower end, so that the ultrasonic probe 17 can move up and down along the Z axis (up and down);

the lower end of the second electric push rod is fixedly provided with a third electric push rod 18, and the third electric push rod 18 is driven to move upwards and downwards along the Z axis (up and down) by retraction and extension;

the third electric push rod 18 is hinged to the side wall of the universal joint 15 in a sliding mode, when the third electric push rod 18 extends or shortens, the angle of the universal joint 15 and the angle of the ultrasonic probe 17 can be adjusted, so that the ultrasonic probe 17 can be attached to a curved surface of a workpiece, and meanwhile the third electric push rod 18 can be kept in a horizontal state all the time.

Taking fig. 5 as an example, when the detection workpiece shown in fig. 5 is detected, the curved surface is coated with a coupling agent and fixed on a workpiece fixture 12, the control module controls the first servo motor 3 to drive the conveyor belt 2 to move, so that the workpiece 13 to be detected passes through the array type laser sensor 6, the control module acquires the surface shape of the workpiece 13 to be detected, and generates a control signal after filtering, and the control module controls the first servo motor 3, the second servo motor 8, the first electric push rod 10, the second electric push rod 11 and the third electric push rod 18 to change the posture of the ultrasonic probe 17 through the control signal; the workpiece 13 to be detected is continuously controlled to pass through the detection area, when the workpiece 13 to be detected enters the detection area, the first servo motor 3 is suspended for waiting for detection, the second servo motor 8 rapidly reaches a preset detection starting area according to a control signal, then the control module controls the first electric push rod 10, the second electric push rod 11 and the third electric push rod 18, and the third electric push rod 18 is controlled to stretch and retract at first, so that the universal joint 15 clamping the ultrasonic probe 17 changes a proper direction along the Y axis (left and right), and the purpose that the ultrasonic probe 17 can be well attached to the surface is achieved; after the direction is changed, the control module controls the first electric push rod 10 and the second electric push rod 11 to stretch and contract to the same height, so that the ultrasonic probe 17 can be well attached to the area to be detected.

In the detection process, firstly, the third electric push rod 18 contracts, the universal joint 15 is adjusted to rotate rightwards to an angle which can be attached to the surface of the workpiece, then the first electric push rod 10 and the second electric push rod 11 stretch and contract to the same length, the ultrasonic probe 17 is perfectly attached to the position of the curved surface, and then ultrasonic detection is carried out; after the position detection is finished, the control module controls the first servo motor 3 to continuously operate to drive the workpiece to move along the positive direction of the Y axis (left and right), and then the workpiece enters the next position, because the position and the previous position are located on the same X axis plane, the second servo motor 8 does not need to adjust the position, and only needs the first electric push rod 10, the second electric push rod 11 and the third electric push rod 18 to adjust the state of the probe, and then the probe is attached to the surface of the other position again.

After an X-axis plane process is continuously completed, the second servo motor 8 will continue to reach the start area of the second stage detection shown in fig. 7 according to the control signal, and then the first electric push rod 10, the second electric push rod and the third electric push rod 18 continue to adjust the posture of the probe, the first servo motor 3 rotates reversely, so that the whole second stage detection is completed, and the whole workpiece detection is completed by repeating the steps.

Example 4:

referring to fig. 8, the embodiment 1-3 is different in that the specific method for measuring the shape signal of the surface of the workpiece 13 to be detected includes:

the first electric push rod 10 is taken as the positive direction of the Z axis (up and down), the inward vertical Z axis is taken as the positive direction of the X axis (front and back), and the leftward vertical Z, X axis is taken as the positive direction of the Y axis (left and right);

defining the distance from the array type laser sensor 6 to the bottom surface of the workpiece clamp 12 as L, and the distance from the laser sensor to the workpiece 13 to be detected measured by each unit of the array type laser sensor 6 as h_nn；

At this time, a shape matrix of the surface of the workpiece 13 to be inspected can be obtained

The correspondence rule between the shape matrix and the surface shape of the workpiece 13 to be detected is:

when the numerical value of the point location is larger, the point location is more convex; when the point location value is smaller, the point location is more concave;

the control module generates the shape of the workpiece to be measured 13 in the control module according to the correspondence rule.

Taking fig. 8 as an example, as shown in the figure, L is a parallel line of the Z axis, F is a normal line of the Z axis, and α is an included angle between the normal lines F and L; q is the surface of any section of workpiece to be measured, O is one of the detection points, and P is the tangent of the point; in the using process, the method for adjusting and controlling the position and the state of the ultrasonic probe 17 by the control module comprises the following steps:

n1, dividing the detection area block in the control module for the surface shape of the workpiece 13 to be detected, and generating a block mark matrix in the control module

Any one of the detection area blocks is marked as O;

n2, according to the generated surface shape of the workpiece 13 to be detected, in the control module, according to the included angle alpha between the normal line and the Z axis at the optional position;

n3, according to the three-dimensional coordinate system, the angle alpha is positive when deviating to the left, negative when deviating to the right, and the positive and negative of the angle alpha are the same as the positive and negative of the angle delta L according to the formula

Is calculated to obtain

ΔL＝K tanα

In the formula: alpha is an included angle between the normal of the optional position and the Z axis;

Δ L is the amount of change in the length of the position detected at this position by the third electric putter 18;

k is the distance from the fixed point of the third electric push rod 18 and the universal joint 15 to the joint of the universal joint 15;

n4, the control module controls the length of the third electric push rod 18 to change according to the formula mentioned in N3, and further controls the angle of the ultrasonic probe 17 to change;

and N5, controlling the first electric push rod 10 and the second electric push rod 11 to change the same length according to the height measured by the array type laser sensor 6, so that the ultrasonic probe 17 can be completely attached to the detection position.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the equivalent replacement or change according to the technical solution and the modified concept of the present invention should be covered by the scope of the present invention.