技术领域technical field
本发明涉及无损检测自动化领域，所发明的超声检测自动化装置具有运动范围大，自由度多，能对复杂形状的工件表面进行超声自动化检测和超声探头的自动化检验。The invention relates to the field of non-destructive testing automation. The invented automatic ultrasonic testing device has a large range of motion and many degrees of freedom, and can perform automatic ultrasonic testing and automatic testing of ultrasonic probes on workpiece surfaces with complex shapes.
背景技术Background technique
超声检测是利用超声换能器(检测探头)发出的超声波作用在被检测工件上，通过测量反射波来确定缺陷的大小、位置，是目前应用最广泛的无损检测形式，具有操作简单，成本低，对环境和操作者无害的优点。超声检测工作时首先要对超声探头的灵敏度、性能等指标在实验室进行预先的筛选、校正、检验，然后在被检测工件上进行超声检测，若发现反射波异常表明有缺陷，需要通过在实验室在预先埋置缺陷的试块上对比确定缺陷的位置，需要操作者大量手动操作，且手动操作时移动速度靠操作者的经验和感觉进行，无法精确控制，故无法精确计量。用超声探头进行工件表面扫查时需要超声探头的中心线和被检测面的法线重合，且需要一定的压紧力，对于复杂曲面需要多个自由度才能完成超声扫查，故目前使用的超声检测自动化装置普遍存在自动化程度低，只能对简单形状的工件如圆柱或平面进行检测，专利号为201210273739.0发明的超声扫查自动化装置只能对管材和平板工件进行检测，通用性差，专利号为01131937.2发明的超声扫查自动化装置只能对大口径环焊缝进行自动扫查。Ultrasonic testing is the use of ultrasonic waves emitted by ultrasonic transducers (detection probes) to act on the workpiece to be tested, and to determine the size and position of defects by measuring the reflected waves. It is the most widely used form of non-destructive testing at present, with simple operation and low cost. , the advantage of being harmless to the environment and operators. During ultrasonic testing, the sensitivity, performance and other indicators of the ultrasonic probe must first be pre-screened, calibrated, and inspected in the laboratory, and then ultrasonic testing is performed on the workpiece to be tested. The chamber compares and determines the position of the defect on the test block with pre-embedded defects, which requires a lot of manual operations by the operator, and the movement speed during manual operation depends on the operator's experience and feeling, which cannot be accurately controlled, so it cannot be accurately measured. When scanning the workpiece surface with an ultrasonic probe, the center line of the ultrasonic probe needs to coincide with the normal line of the surface to be tested, and a certain pressing force is required. For complex curved surfaces, multiple degrees of freedom are required to complete the ultrasonic scan. Therefore, the currently used Ultrasonic detection automation devices generally have a low degree of automation, and can only detect simple-shaped workpieces such as cylinders or planes. The ultrasonic scanning automation device invented by the patent No. 201210273739.0 can only detect pipes and flat workpieces, and has poor versatility. Patent No. The ultrasonic scanning automation device invented for 01131937.2 can only automatically scan large-diameter girth welds.
发明内容Contents of the invention
本发明的技术解决问题是：克服现有技术的不足，提供一种具有运动精度高，可重复性强，应用范围大，可用于大型复杂曲面，自动化程度高，能大大减轻操作者劳动强度的超声检测自动化装置。The technical problem of the present invention is: to overcome the deficiencies of the prior art, to provide a machine with high motion precision, strong repeatability, wide application range, can be used for large complex curved surfaces, high degree of automation, and can greatly reduce the labor intensity of the operator. Ultrasonic testing automation device.
本发明的技术解决方案为：一种多自由度大型超声扫查自动化装置，主要由零件表面扫查轨迹生成部分、运动执行部分、成像及处理软件部分组成，运动执行部分主要由机械手系统、Y轴运动系统、X轴运动系统和框架本体组成，机械手系统包括：超声探头、超声探头夹持机构、工业机械手、机械手安装座；Y轴运动系统包括：纵梁和纵梁运动伺服系统；X轴运动系统包括：前横梁和前横梁运动伺服系统、后横梁和后横梁运动伺服系统；框架系统由左辅助纵梁、右辅助纵梁、前右立柱、前左立柱、后左立柱、后右立柱、高度调整装置、底座等组成，超声探头通过超声探头夹持机构安装在工业机械手的端部，工业机械手通过螺钉安装在机械手安装座上，机械手安装座通过螺钉安装在纵梁运动伺服系统上，纵梁前端通过螺钉安装前横梁运动伺服系统上，纵梁后端通过螺钉安装在后横梁运动伺服系统上，左辅助纵梁、右辅助纵梁通过两端螺钉连接到前横梁和后横梁之间，前右立柱、前左立柱通过螺钉安装在前横梁两端，后左立柱、后右立柱通过螺钉安装在后横梁两端，每个立柱下面都安装有高度调整装置，高度调整装置通过地脚螺栓安装在底座上，底座放置在地面；所述的纵梁，前横梁、后横梁为焊接的箱型结构梁；所述的前横梁运动伺服系统和后横梁运动伺服系统同步运行，和纵梁运动伺服系统联动；所述的探头夹持机构为被动空气预紧式；所述的工业机械手为六自由度工业机械手；所述的纵梁，两端安装滑块，处于前横梁、后横梁之间；所述的前右立柱、前左立柱、后左立柱、后右立柱的高度通过高度调整装置进行调节，高度调整装置为楔形调节，调节后由螺钉紧固；所述的左辅助纵梁、右辅助纵梁装在前横梁和后横梁之间；所述的超声扫查装置安装在一整体的底座上，底座为钢筋混土材料。The technical solution of the present invention is: a multi-degree-of-freedom large-scale ultrasonic scanning automation device, which is mainly composed of a part surface scanning trajectory generation part, a motion execution part, an imaging and processing software part, and the motion execution part is mainly composed of a manipulator system, Y Axis motion system, X-axis motion system and frame body, manipulator system includes: ultrasonic probe, ultrasonic probe clamping mechanism, industrial manipulator, manipulator mount; Y-axis motion system includes: longitudinal beam and longitudinal beam motion servo system; X-axis motion system Including: front beam and front beam motion servo system, rear beam and rear beam motion servo system; frame system consists of left auxiliary longitudinal beam, right auxiliary longitudinal beam, front right column, front left column, rear left column, rear right column, height The ultrasonic probe is installed on the end of the industrial manipulator through the clamping mechanism of the ultrasonic probe, the industrial manipulator is installed on the manipulator mounting seat through screws, and the manipulator mounting seat is installed on the longitudinal beam motion servo system through screws. The front end is installed on the front crossbeam motion servo system through screws, the rear end of the longitudinal beam is installed on the rear crossbeam motion servo system through screws, the left auxiliary longitudinal beam and the right auxiliary longitudinal beam are connected between the front crossbeam and the rear crossbeam through screws at both ends, and the front right column 、The front left column is installed on both ends of the front beam through screws, the rear left column and the rear right column are installed on both ends of the rear beam through screws, and a height adjustment device is installed under each column, and the height adjustment device is installed on the base through anchor bolts above, the base is placed on the ground; the longitudinal beam, the front beam and the rear beam are welded box-shaped structural beams; the front beam motion servo system and the rear beam motion servo system operate synchronously, and are linked with the longitudinal beam motion servo system ; The probe clamping mechanism is a passive air pre-tightening type; the industrial manipulator is a six-degree-of-freedom industrial manipulator; the longitudinal beam is equipped with sliders at both ends, and is between the front beam and the rear beam; The heights of the front right column, the front left column, the rear left column, and the rear right column are adjusted through a height adjustment device, which is wedge-shaped adjustment, and is fastened by screws after adjustment; the left auxiliary longitudinal beam, right auxiliary longitudinal beam The beam is installed between the front cross beam and the rear cross beam; the ultrasonic scanning device is installed on an integral base made of reinforced concrete material.
上述方案的原理是：当对曲面(平面可以认为是曲面的特殊情况)进行超声扫查时，首先获取待扫查零件的表面形状和尺寸，由计算机自动生成扫查的运动轨迹，若运动范围或姿态范围在工业机械手的范围内，则仅靠机械手来完成，若运动范围或姿态范围超出机械手的活动空间，则运动求解部分经过计算，得出X轴或Y轴移动的速度和位移，控制系统给驱动电机发出指令，其中X轴有前横梁和后横梁两套运动伺服系统，这两套伺服系统同步运行，共同完成X轴伺服运动，X轴和Y轴伺服运动联动，完成平面内特定的曲线动作，实现工业机械手整体的曲线运动，结合机械手本身的六自由度运动，可以实现机械手末端超声探头的8个自由度运动，能实现在一定空间内超声探头任意位置和姿态的运动，完成任意形状工件表面的自动扫查，单套伺服系统的运动过程是这样的：控制系统发出的控制指令，驱动电机旋转运动，经减速箱减速后由联轴器带动丝杠旋转，丝杠由前、后轴承座支撑轴向定位，丝杠和螺母一起组成丝杠-螺母运动副，螺母固定在需要移动的移动件上，限制了螺母本身的旋转运动，这样，当丝杠旋转时螺母带动移动件移动，实现预定的运动，导轨起对移动件支撑的作用，使移动件沿导轨移动，实现高的运动精度；所采用的丝杠-螺母为滚珠丝杠螺母，所采用的导轨为滚珠线性导轨，避免系统低速运动时出现爬行现象，保证运动精度；所采用的纵梁和横梁具有封闭的箱型结构，保证有高的强度和刚度，两端左、右辅助纵梁也是为增加框架系统的刚度，提高框架系统的模态，避免共振现象，保证运动精度；前左立柱、前右立柱、后左立柱、后右立柱也采用中空的封闭焊接结构，其内部可以走线缆，确保外观整洁，且提高立柱的刚度，由于制造及安装误差，它们高度不可能完全相同，通过其下部的高度调整装置进行高度调节，具体的调节过程是这样的：松开高度调整装置和立柱的连接螺栓，通过旋转楔形块的调整螺栓，推动楔形块前进，由于楔形块在移动方向有斜度，当楔形块平移时就调整了立柱的高度，调整到位后固定连接螺栓，并用水泥封死。The principle of the above scheme is: when performing ultrasonic scanning on a curved surface (a plane can be considered as a special case of a curved surface), first obtain the surface shape and size of the part to be scanned, and the computer automatically generates the motion trajectory of the scan. If the motion range Or the attitude range is within the range of the industrial manipulator, and it is completed only by the manipulator. If the movement range or attitude range exceeds the manipulator’s activity space, the motion solution part is calculated to obtain the speed and displacement of the X-axis or Y-axis movement, and the control The system sends instructions to the drive motor, and the X-axis has two sets of motion servo systems for the front beam and the rear beam. The two sets of servo systems run synchronously to complete the X-axis servo motion. The X-axis and Y-axis servo motion are linked to complete the specified in-plane The curved movement of the industrial manipulator realizes the overall curved movement of the industrial manipulator, combined with the six-degree-of-freedom movement of the manipulator itself, it can realize the 8-degree-of-freedom movement of the ultrasonic probe at the end of the manipulator, and can realize the movement of the ultrasonic probe at any position and posture in a certain space. For automatic scanning of the surface of workpieces with arbitrary shapes, the movement process of a single set of servo system is as follows: the control command issued by the control system drives the motor to rotate, and after being decelerated by the gearbox, the coupling drives the screw to rotate, and the , The rear bearing seat supports axial positioning, the screw and the nut together form the screw-nut motion pair, the nut is fixed on the moving part that needs to be moved, limiting the rotation of the nut itself, so that when the screw rotates, the nut drives the movement Parts move to achieve the predetermined movement, and the guide rail plays a role in supporting the moving part, so that the moving part moves along the guide rail to achieve high motion accuracy; the screw-nut used is a ball screw nut, and the guide rail used is a ball linear The guide rail avoids the phenomenon of crawling when the system moves at low speed and ensures the movement accuracy; the longitudinal beams and beams adopted have a closed box structure to ensure high strength and rigidity, and the left and right auxiliary longitudinal beams at both ends are also used to increase the frame system The rigidity of the frame system can be improved, the resonance phenomenon can be avoided, and the movement accuracy can be guaranteed; the front left column, front right column, rear left column, and rear right column also adopt a hollow closed welding structure, and cables can be routed inside to ensure the appearance Clean and tidy, and improve the rigidity of the column. Due to manufacturing and installation errors, their heights cannot be exactly the same. The height adjustment is performed through the height adjustment device at the bottom. The specific adjustment process is as follows: loosen the connecting bolts of the height adjustment device and the column , by rotating the adjustment bolt of the wedge block, the wedge block is pushed forward. Since the wedge block has a slope in the moving direction, the height of the column is adjusted when the wedge block translates. After the adjustment is in place, fix the connecting bolt and seal it with cement.
本发明与现有扫查系统的优点是：高度的自动化，所有的工作都是由计算机软件来完成，无需操作者来干预；高运动精度和检测位置精度，相对于手工检测其定位精度更高；运动轨迹的多样性，在空间要达到任意一点的任意位置和姿态需要6个自由度，而机械手本身具有6自由度，再加上X、Y移动导轨，系统总的自由度达到8个，具有2个冗余自由度，这样在扫查时可以具有多姿态，为复杂曲面扫查提供避障、路径规划提供多种选择；易于实现系统自动化。The advantages of the present invention and the existing scanning system are: high degree of automation, all the work is done by computer software, without operator intervention; high motion accuracy and detection position accuracy, compared with manual detection, its positioning accuracy is higher ;The variety of motion trajectories requires 6 degrees of freedom to achieve any position and attitude at any point in space, while the manipulator itself has 6 degrees of freedom, plus X, Y moving guide rails, the total system degrees of freedom reaches 8, It has 2 redundant degrees of freedom, so that it can have multiple attitudes during scanning, providing obstacle avoidance and path planning for complex surface scanning, and providing multiple options; it is easy to realize system automation.
附图说明Description of drawings
图1为本发明技术解决方案的多自由度大型超声扫查自动化装置的运动执行部分示意图；Fig. 1 is a schematic diagram of the motion execution part of the multi-degree-of-freedom large-scale ultrasonic scanning automation device of the technical solution of the present invention;
图2为本发明技术解决方案的多自由度大型超声扫查自动化装置的运动伺服系统示意图；Fig. 2 is a schematic diagram of the motion servo system of the multi-degree-of-freedom large-scale ultrasonic scanning automation device of the technical solution of the present invention;
图2a为本发明技术解决方案的多自由度大型超声扫查自动化装置的运动伺服系统主视图；Fig. 2a is the front view of the motion servo system of the multi-degree-of-freedom large-scale ultrasonic scanning automation device of the technical solution of the present invention;
图2b为本发明技术解决方案的多自由度大型超声扫查自动化装置的运动伺服系统俯视图；Figure 2b is a top view of the motion servo system of the multi-degree-of-freedom large-scale ultrasonic scanning automation device of the technical solution of the present invention;
图3为本发明技术解决方案的多自由度大型超声扫查自动化装置的横梁示意图；Fig. 3 is a crossbeam schematic diagram of a multi-degree-of-freedom large-scale ultrasonic scanning automation device of the technical solution of the present invention;
图4为本发明技术解决方案的多自由度大型超声扫查自动化装置的纵梁示意图；Fig. 4 is the longitudinal beam schematic diagram of the multi-degree-of-freedom large-scale ultrasonic scanning automation device of the technical solution of the present invention;
图5为本发明技术解决方案的多自由度大型超声扫查自动化装置的纵梁示意图；Fig. 5 is a schematic diagram of the longitudinal beam of the multi-degree-of-freedom large-scale ultrasonic scanning automation device of the technical solution of the present invention;
图5a为本发明技术解决方案的多自由度大型超声扫查自动化装置的纵梁示意图右视图；Fig. 5a is a schematic right view of the longitudinal beam of the multi-degree-of-freedom large-scale ultrasonic scanning automation device of the technical solution of the present invention;
图5b为本发明技术解决方案的多自由度大型超声扫查自动化装置的纵梁示意图主视图；Fig. 5b is a schematic front view of the longitudinal beam of the multi-degree-of-freedom large-scale ultrasonic scanning automation device of the technical solution of the present invention;
图6为本发明技术解决方案的多自由度大型超声扫查自动化装置的横梁座示意图；Fig. 6 is a schematic diagram of the beam seat of the multi-degree-of-freedom large-scale ultrasonic scanning automation device of the technical solution of the present invention;
图7为本发明技术解决方案的多自由度大型超声扫查自动化装置的机械手安装座示意图；Fig. 7 is a schematic diagram of the manipulator mounting seat of the multi-degree-of-freedom large-scale ultrasonic scanning automation device of the technical solution of the present invention;
图8为本发明技术解决方案的多自由度大型超声扫查自动化装置的立柱示意图；Fig. 8 is a schematic diagram of a column of a multi-degree-of-freedom large-scale ultrasonic scanning automation device of the technical solution of the present invention;
图9为本发明技术解决方案的多自由度大型超声扫查自动化装置的高度调整装置示意图；Fig. 9 is a schematic diagram of the height adjustment device of the multi-degree-of-freedom large-scale ultrasonic scanning automation device of the technical solution of the present invention;
图10为本发明技术解决方案的多自由度大型超声扫查自动化装置的探头夹持机构示意图；Fig. 10 is a schematic diagram of the probe clamping mechanism of the multi-degree-of-freedom large-scale ultrasonic scanning automation device of the technical solution of the present invention;
具体实施方式Detailed ways
图1所示，本发明中零件表面形状获取部分获得待扫查工件的表面信息，根据表面信息和探头的大小自动生成扫查轨迹，由扫查轨迹求得为实现此轨迹各个自由度的运动，把运动信息传递到运动执行部分，实现扫查运动，在扫查中根据超声波反射信号自动生成扫查的内部图像，并根据图像自动判别内部是否有缺陷及缺陷的尺寸与位置；本发明中运动执行部分由机械手系统、Y轴运动系统、X轴运动系统和框架本体组成；机械手系统包括：超声探头(1)、超声探头夹持机构(2)、工业机械手(3)、机械手安装座(4)；Y轴运动系统包括：纵梁(5)和纵梁运动伺服系统(50)；X轴运动系统包括：前横梁(6)及前横梁运动伺服系统(60)、后横梁(6a)及后横梁运动伺服系统(6a0)；框架系统由左辅助纵梁(7)、右辅助纵梁(7a)、前右立柱(8)、前左立柱(8a)、后左立柱(8b)、后右立柱(8c)、高度调整装置(9)、底座(10)等组成；超声探头(1)通过超声探头夹持机构(2)安装在工业机械手(3)的端部，由探头夹持机构(2)保证超声探头(1)以一定的压力作用于被扫查曲面，工业机械手(3)的底座通过螺钉安装在机械手安装座(4)上，机械手安装座(4)通过螺钉和纵梁运动伺服系统(50)的四个滑块和螺母相连，纵梁运动伺服系统(50)安装在纵梁(5)的下平面，纵梁(5)一端通过螺钉安装前横梁运动伺服系统(60)的四个滑块和螺母上，前横梁运动伺服系统(60)通过螺钉安装在前横梁(6)上，纵梁(5)另一端通过螺钉和后横梁运动伺服系统(6a0)的四个滑块和螺母相连，后横梁运动伺服系统(6a0)通过螺钉安装在后横梁(6a)上，左辅助纵梁(7)、右辅助纵梁(7a)通过两端螺钉连接到前横梁(6)和后横梁(6a)之间，前右立柱(8)、前左立柱(8a)通过螺钉安装在前横梁(6)两端，后左立柱(8b)、后右立柱(8c)通过螺钉安装在后横梁(6a)两端，每个立柱下面都安装有高度调整装置(9)，高度调整装置(9)通过地脚螺栓安装在底座(10)上，底座(10)放置在地面。As shown in Fig. 1, in the present invention, the part surface shape acquisition part obtains the surface information of the workpiece to be scanned, automatically generates the scanning trajectory according to the surface information and the size of the probe, and obtains the motion of each degree of freedom for realizing the trajectory by scanning the trajectory , transfer the motion information to the motion execution part, realize the scanning motion, automatically generate the internal image of the scanning according to the ultrasonic reflection signal during the scanning, and automatically judge whether there is a defect inside and the size and position of the defect according to the image; in the present invention The motion execution part is composed of manipulator system, Y-axis motion system, X-axis motion system and frame body; the manipulator system includes: ultrasonic probe (1), ultrasonic probe clamping mechanism (2), industrial manipulator (3), manipulator mount ( 4); Y-axis motion system includes: longitudinal beam (5) and longitudinal beam motion servo system (50); X-axis motion system includes: front beam (6) and front beam motion servo system (60), rear beam (6a) And the rear beam motion servo system (6a0); the frame system consists of the left auxiliary longitudinal beam (7), the right auxiliary longitudinal beam (7a), the front right column (8), the front left column (8a), the rear left column (8b), Rear right column (8c), height adjustment device (9), base (10), etc.; the ultrasonic probe (1) is installed on the end of the industrial manipulator (3) through the ultrasonic probe clamping mechanism (2), and is clamped by the probe The mechanism (2) ensures that the ultrasonic probe (1) acts on the scanned surface with a certain pressure, the base of the industrial manipulator (3) is installed on the manipulator mounting base (4) through screws, and the manipulator mounting base (4) is through the screws and longitudinal The four slide blocks of the beam motion servo system (50) are connected with nuts, the longitudinal beam motion servo system (50) is installed on the lower plane of the stringer (5), and the longitudinal beam (5) one end is installed with the front beam motion servo system ( 60) on the four slide blocks and nuts, the front crossbeam motion servo system (60) is installed on the front crossbeam (6) by screws, and the other end of the longitudinal beam (5) passes through the four screws and the rear crossbeam motion servo system (6a0). The two sliders are connected with nuts, the rear beam motion servo system (6a0) is installed on the rear beam (6a) through screws, and the left auxiliary longitudinal beam (7) and right auxiliary longitudinal beam (7a) are connected to the front beam ( 6) and the rear beam (6a), the front right column (8) and the front left column (8a) are installed on the two ends of the front beam (6) through screws, and the rear left column (8b) and the rear right column (8c) pass through The screws are installed at both ends of the rear beam (6a), and a height adjustment device (9) is installed under each column, and the height adjustment device (9) is installed on the base (10) through anchor bolts, and the base (10) is placed on the ground .
图2为本发明中运动伺服系统示意图，运动伺服系统包括驱动电机(101)、减速箱(102)、联轴器(103)、前轴承座(104)、后轴承座(104a)、丝杠(105)、螺母(106)、下左滑块(107)、上左滑块(107a)、上右滑块(107b)、下右滑块(107c)、上导轨(108)、下导轨(108a)、防撞装置(109)及底座(112)等组成，驱动电机(101)的输出轴通过法兰盘驱动减速箱(102)，减速箱的输出轴通过联轴器(103)和丝杠(105)相连，丝杠(105)安装在前轴承座(104)和后轴承座(104a)之间，前轴承座(104)和后轴承座(104a)安装在底座上，螺母(106)安装在丝杠(105)上，上左滑块(107)、上右滑块(107c)安装在上导轨(108)上、下左滑块(107a)、下右滑块(107b)安装在下导轨(108a)上，上导轨(108)和下导轨(108a)分别通过两排螺钉安装在底座(112)上，防撞装置(109)也通过螺钉安装在底座(112)上，运动伺服系统通过底座(112)安装在纵梁或横梁上，安装面是(201)。Fig. 2 is the motion servo system schematic diagram in the present invention, and motion servo system comprises drive motor (101), reduction box (102), shaft coupling (103), front bearing seat (104), rear bearing seat (104a), leading screw (105), nut (106), lower left slider (107), upper left slider (107a), upper right slider (107b), lower right slider (107c), upper guide rail (108), lower guide rail ( 108a), anti-collision device (109) and base (112), etc., the output shaft of the driving motor (101) drives the reduction box (102) through the flange, and the output shaft of the reduction box passes through the coupling (103) and wire The rod (105) is connected, the lead screw (105) is installed between the front bearing seat (104) and the rear bearing seat (104a), the front bearing seat (104) and the rear bearing seat (104a) are installed on the base, and the nut (106 ) is installed on the lead screw (105), the upper left slider (107) and upper right slider (107c) are installed on the upper guide rail (108), and the lower left slider (107a) and lower right slider (107b) are installed On the lower guide rail (108a), the upper guide rail (108) and the lower guide rail (108a) are installed on the base (112) by two rows of screws respectively, and the anti-collision device (109) is also installed on the base (112) by screws, and the motion servo The system is installed on the longitudinal beam or beam through the base (112), and the installation surface is (201).
图3为本发明中前横梁(6)和后横梁(6a)示意图，它们具有相同的结构，采用箱型焊接件，(601)、(601a)处为辅助纵梁安装位置，(602)处为运动伺服系统底座(112)安装位置，(603)为立柱安装位置。Fig. 3 is a schematic diagram of the front crossbeam (6) and the rear crossbeam (6a) in the present invention, they have the same structure, adopt box-shaped weldments, (601), (601a) are the auxiliary longitudinal beam installation positions, and (602) It is the installation position of the motion servo system base (112), and (603) is the installation position of the column.
图4为本发明中纵梁(5)示意图，纵梁(5)由纵梁体(51)和纵梁安装座(52)构成，纵梁安装座(52)共有四个，分别通过螺钉安装在纵梁的两端，位置(501)处为纵梁运动伺服系统的安装面。Fig. 4 is a schematic diagram of the longitudinal beam (5) in the present invention, the longitudinal beam (5) is composed of the longitudinal beam body (51) and the longitudinal beam mounting base (52), and there are four longitudinal beam mounting bases (52), which are respectively installed by screws At both ends of the longitudinal beam, the position (501) is the installation surface of the longitudinal beam motion servo system.
图5为本发明中纵梁体(51)示意图，图(5a)为左视图，图(5b)为右视图，横梁体(51)采用箱型焊接件，(501)处为纵梁运动伺服系统的安装面，位置(502)和(502a)处为纵梁安装座安装处。Fig. 5 is the schematic diagram of longitudinal beam body (51) in the present invention, and figure (5a) is left view, and figure (5b) is right view, beam body (51) adopts box-shaped weldment, (501) place is longitudinal beam motion servo On the installation surface of the system, the positions (502) and (502a) are the installation places of the longitudinal beam installation seat.
图6为本发明中纵梁安装座(52)示意图，纵梁安装座共四个，纵梁体(52)两端各安装两个，位置(521)处为安装螺母(106)处，由螺母(106)带动纵梁(5)移动，位置(522)和位置(523)处为滑块安装处，两个纵梁安装座分别安装上左滑块(107)、下左滑块(107a)、上右滑块(107c)、下右滑块(107b)。Fig. 6 is a schematic diagram of the longitudinal beam mounting seat (52) in the present invention. There are four longitudinal beam mounting seats, two of which are respectively installed at both ends of the longitudinal beam body (52), and the position (521) is the mounting nut (106). The nut (106) drives the longitudinal beam (5) to move, the position (522) and the position (523) are the slider installation places, and the upper left slider (107) and the lower left slider (107a) are respectively installed on the two longitudinal beam mounting seats. ), the upper right slider (107c), the lower right slider (107b).
图7为本发明中机械手安装座(4)示意图，(401)处为安装纵向螺母位置处，(402)共有四处，分别安装四个滑块，机械手通过自身的底座安装在机械手安装座(4)上，由机械手安装座(4)带动机械手移动。Fig. 7 is a schematic diagram of the manipulator mounting seat (4) in the present invention, (401) is the position where the longitudinal nut is installed, (402) has four places, and four sliders are installed respectively, and the manipulator is installed on the manipulator mounting seat (4) by its own base ), the manipulator is driven by the manipulator mount (4) to move.
图8为本发明中立柱(8)示意图，立柱采用箱型中空结构，内部的中空便于走线缆，位置(801)处为横梁安装位置，位置(802)处为高度调节装置安装位置，(803)为插头安装位置。Fig. 8 is a schematic diagram of the column (8) in the present invention, the column adopts a box-shaped hollow structure, and the inner hollow is convenient for cable routing, the position (801) is the installation position of the beam, and the position (802) is the installation position of the height adjustment device, ( 803) is the plug installation position.
图9为本发明中高度调整装置(9)示意图，下楔块(91)和上楔块(92)以斜面配合，斜率相同，角度小于材料的摩擦角，通过旋转丝杠(93)带动上楔块(92)在下楔块上移动，进而调整高度，高度调整合适后用混凝土封死。Fig. 9 is a schematic diagram of the height adjustment device (9) in the present invention, the lower wedge (91) and the upper wedge (92) are matched with an inclined plane, the slope is the same, the angle is smaller than the friction angle of the material, and the upper wedge (93) is driven by the rotating screw (93). Wedge (92) moves on the lower wedge, and then adjusts the height, and after the height is adjusted properly, seal it with concrete.
图10为本发明中探头夹持机构(2)示意图，由活塞杆(21)，气缸(22)及连接板(23)组成，活塞杆前端(210)处安装超声探头(1)，由气缸(220)处接通一定压力的气体，保证超声探头(1)以一定的压力作用于被扫查面。Fig. 10 is a schematic diagram of the probe clamping mechanism (2) in the present invention, which is composed of a piston rod (21), a cylinder (22) and a connecting plate (23), and an ultrasonic probe (1) is installed at the front end of the piston rod (210). (220) is connected with a certain pressure of gas to ensure that the ultrasonic probe (1) acts on the scanned surface with a certain pressure.
总之，本发明的多自由度大型超声扫查自动化装置，具有自动化程度高、外观优美、能减轻操作者强度等优点。In short, the multi-degree-of-freedom large-scale ultrasonic scanning automation device of the present invention has the advantages of high degree of automation, beautiful appearance, and can reduce the intensity of the operator.
本发明说明书中未作详细描述的内容属于本领域专业技术人员公知的现有技术。The contents not described in detail in the description of the present invention belong to the prior art known to those skilled in the art.
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。The above is only a preferred embodiment of the present invention, it should be pointed out that, for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications can also be made. It should be regarded as the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310171857.5ACN103235044B (en) | 2013-05-06 | 2013-05-06 | Multi-degree of freedom large-scale ultrasound scanning automation equipment |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310171857.5ACN103235044B (en) | 2013-05-06 | 2013-05-06 | Multi-degree of freedom large-scale ultrasound scanning automation equipment |
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| CN103235044A CN103235044A (en) | 2013-08-07 |
| CN103235044Btrue CN103235044B (en) | 2015-07-08 |
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| CN201310171857.5AExpired - Fee RelatedCN103235044B (en) | 2013-05-06 | 2013-05-06 | Multi-degree of freedom large-scale ultrasound scanning automation equipment |
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