A kind of laser ultrasonic detection device and increasing material manufacturing, detection integrated equipmentTechnical field
The invention belongs to increases material manufacturing technology fields, and in particular to a kind of laser ultrasonic detection device and increasing material manufacturing, inspectionSurvey integrated equipment.
Background technique
Increasing material manufacturing be it is a kind of based on three-dimensional modeling data, using the side that is successively superimposed opposite with formula manufacturing technology is subtractedFormula, bond material produce the process of product, have that stock utilization is high, the product manufacturing period is short, labyrinth one can be achievedThe advantages such as bodyization manufacture, have broad application prospects in fields such as Aeronautics and Astronautics, medical treatment, engineering machinery.
However defect is inevitably resulted from during increasing material manufacturing, serious restrict increases material product in the work in above-mentioned fieldCheng Yingyong, therefore need to carry out non-destructive testing the internal flaw for increasing material product.
Traditional non-destructive testing technology, including conventional ultrasound, industry CT, vortex, infiltration etc., it is difficult to meet and increase material productDetection demand.
Wherein, vortex and infiltration can only detect surface, near surface flaw, can not detect internal flaw；
Conventional ultrasound (including contact ultrasound and immersion type ultrasound), which is able to detect, increases material product internal flaw, but by interiorThe limitation of portion's structural complexity；
Industry CT can carry out high resolution detection to material product is increased, and not influenced by internal structure complexity, but itsPenetration capacity is limited, it is difficult to detect large scale product and detection efficiency is lower.
Laser ultrasonic detection technology is a kind of novel ultrasonic detecting technology, is irradiated using pulse laser to article surfaceLaser beam inspires ultrasonic wave in product, and collects ultrasonic signal by laser interferometer, to ultrasonic signal intoRow analysis can be achieved with the detection to product defect.Laser ultrasonic detection technology has the spy of non-contact, broadband, high resolutionPoint can carry out on-line checking to the new shaping layer during increasing material manufacturing, avoid complex internal knot after the completion of increasing material manufacturingStructure is to non-destructive testing bring problem, it can be achieved that increasing all standing of material product internal flaw, high resolution detection.
(1) Chinese patent, 106018288 A of patent No. CN --- " the online non-destructive testing increasing material manufacturing part of laser-ultrasoundMethod " disclose a kind of variation using laser pumping ultrasonic surface wave amplitude, the metallurgy that detection increasing material manufacturing process generatesThe method of defect.It being mounted on the high energy beam generating device of increasing material manufacturing equipment by will test device, realizing increasing material manufacturingThe synchronous of part defect is detected in the process, improves the reliability of increasing material manufacturing part.This method can detect to increase in timeThe defects of material manufacturing process avoids part manufacturing after the completion because of labyrinth bring check frequency, has extremely strong realityWith property and promotional value.But this method will test device and be mounted on the high energy beam generating device of increasing material manufacturing equipment, detectJourney and increasing material manufacturing process share a set of mechanism system, and there are certain interference to increasing material manufacturing process for detection process.
(2) Chinese patent, 108426839 A of patent No. CN --- " one kind is based on manipulator scanning laser ultrasound signal phaseClose the increasing material manufacturing component detection method of analysis " disclose a kind of increasing material product inspection based on manipulator scanning laser ultrasound signalSurvey method, including building hand type laser-ultrasound automatic checkout system, the excitation of laser ultrasonic signal and signal acquisition, ultrasoundThe different coefficient of wave signal calculates and defect recognition positions three steps.By utilizing machine to component surface detection zone griddingTool hand formula laser-ultrasound automatic checkout system, successively scanning X and the ultrasound detection signal of Y-direction, and different coefficient calculating is carried out,It realizes increasing material manufacturing component defect quickly to position online, effectively improves detection efficiency.But this method and device do not considerInfluence of the product temperature to ultrasonic signal velocity of wave during increasing material manufacturing, needs to be further increased to the positional accuracy of defect.
Summary of the invention
In order to solve the problems in background technique, the present invention provides a kind of laser ultrasonic detection device, detection process is examinedConsider influence of the temperature to ultrasonic signal velocity of wave during increasing material manufacturing, significantly improves the accuracy of defects detection.
Based on above-mentioned apparatus, the present invention also provides a kind of increasing material manufacturing, detection integrated equipment, detects and increase in the equipmentMaterial manufactures mutually indepedent operation, avoids mutual interference.
The specific technical solution of the present invention is:
The present invention provides a kind of laser ultrasonic detection devices, it is characterised in that: including laser ultrasonic detection probe, excitationLaser and laser-ultrasound receiver；
Laser ultrasonic detection probe includes shell, is arranged in the intracorporal focusing probe of shell, reflecting mirror, receiving transducer, firstLens, the second lens and infrared radiation thermometer；
Focusing probe is connect with excitation laser by optical fiber, and receiving transducer and laser-ultrasound receiver are connected by optical fiberIt connects；
The exciting beam that focusing probe issues is reflected by reflecting mirror, via the second reflection from lens to workpiece table to be detectedFace, to form ultrasonic wave；
The detection laser beam that receiving transducer issues is successively through the first lens, the second reflection from lens to workpiece surface to be detected；Detection laser beam displacement caused by workpiece surface to be detected and ultrasonic wave forms modulation light, and modulation light passes sequentially through secondProbe is received after lens, the first lens to receive；
The infrared waves that infrared radiation thermometer is launched are projected directly at workpiece surface to be detected, after through workpiece surface to be detectedReflect and/or be scattered back into infrared radiation thermometer；
The temperature measuring point of infrared waves projection is located at the test point of the excitation point and the detection laser beam of the exciting beamBetween.
Further, above-mentioned laser-ultrasound receiver includes a detection laser and a laser interferometer.
Based on above-mentioned laser ultrasonic detection device, the present invention also provides a kind of increasing material manufacturing, detection integrated equipment, packetsInclude the first robot, the second robot, CMT welding gun, above-mentioned laser ultrasonic detection device, control unit and host computer；
The CMT welding gun installs the first robot end, and the laser ultrasonic detection in the laser ultrasonic detection device is visitedHead is mounted on the second robot end, first robot, the second robot, CMT welding gun and laser ultrasonic detection deviceIt is connect by control unit with host computer.
Further, above-mentioned control unit includes PLC, data collecting card, exciting laser controller and robot controlDevice；
PLC is realized by robot controller and is in communication with each other with the first robot, the second robot；PLC is swashed by excitationThe control of light device carries out starting to the excitation laser in laser ultrasonic detection device and light triggers out, and excitation laser is in light outSynchronous triggering signal is sent to data collecting card, the laser interference of data collecting card and laser-ultrasound receiver all the way for output simultaneouslyInstrument is in communication with each other, and collected ultrasonic signal is transferred to host computer and is stored；PLC is directly connect with infrared radiation thermometer to itIt is controlled.
Further, the operation exploitation environment of above-mentioned host computer is LabVIEW, and operation has NI SCOPE program in host computerModule and NI OPC program module；The NI SCOPE program module collected ultrasonic signal of capture card for storing data；NIOPC program module is in communication with each other for realizing PLC and host computer.
Further, above-mentioned PLC is communicated by ModbusTCP agreement with robot controller.
Further, above-mentioned infrared radiation thermometer is communicated by Profinet communications protocol with PLC.
Further, interval is not less than 10cm distance between above-mentioned first robot end and the second robot end.
The present invention has the advantages that
(1) increasing material manufacturing provided by the invention, detection integrated equipment, carry laser-ultrasound using independent second robotDetection probe carries out scanning detection to new shaping layer, and the first robot carries out increasing material manufacturing work, and two processes are mutually indepedent, fromAnd can according to the Digital manufacturing information of increasing material manufacturing, including CAD model, chip formation and thickness, manufacturing process path etc.,It is processed can effectively to promote online increasing material for the parameters such as step-length, Scanning speed, scanning path of adjustment laser ultrasonic detection in real timeTo the effect of workpiece, defect detection in journey, and then improve the qualification rate for increasing material processing and manufacturing.
(2) present invention using laser ultrasonic detection probe using reflecting mirror, the first lens, the second lens by exciting beamIt is focused with detection laser beam in article surface, so that the relative position of laser beam keeps stable distance and and article surfaceVertically, it can be ensured that optimal laser ultrasound signal is obtained, and is conveniently adjusted exciting laser and detects the position of laser, thusIdeal wave mode can be motivated for the defect of different type and orientation.
(3) infrared radiation thermometer is integrated into laser ultrasonic detection probe by the present invention, makes infrared measurement of temperature by structure positioningPoint is located on ultrasonic wave propagation path, avoids and needs to demarcate test point position using thermal infrared imager thermometric；DetectionObtained temperature data is stored with corresponding laser ultrasound data by corresponding relationship, can be used for the amendment of ultrasound data, can be effectiveImprove the accuracy of defective locations and dimensional measurement.
(4) present invention using PLC Collaborative Control laser interferometer, excitation laser, the first robot, the second robot,The components such as infrared radiation thermometer are capable of position data, ultrasound data and the temperature data of each test point of synchronous acquisition, be ensure that sameThe corresponding relationship of test point different types of data improves the reliability and validity of subsequent imaging and defect recognition.
Detailed description of the invention
Fig. 2 is increasing material manufacturing, the structural schematic diagram for detecting integrated equipment.
Fig. 1 is the structural schematic diagram of laser ultrasonic detection probe.
Fig. 3 is the structural block diagram of control unit.
Appended drawing reference is as follows:
1- workbench, 2- substrate, 3- increase material product, 4- welding robot (the first robot), 5-CMT welding gun, 6- industryRobot (the second robot), 7- laser ultrasonic detection probe, 8- focusing probe, 9- exciting beam, 10- receiving transducer, 11-Detection laser beam, 12- modulation light, 13- infrared radiation thermometer, 14- infrared waves, 15- reflecting mirror, the first lens of 16-, 17- second are saturatingMirror, the new shaping layer of 18- product, 19- shell, 20- excitation laser, 21- mounting bracket, 22- laser-ultrasound receiver.
Specific embodiment
Further details of introduction is made to the present invention with reference to the accompanying drawing:
Embodiment 1: laser ultrasonic detection device
In order to promote the accuracy for the internal flaw non-destructive testing for increasing material product, the present invention provides a kind of inspections of laser-ultrasoundDevice is surveyed, as shown in Figure 1, including laser ultrasonic detection probe 7, excitation laser 20 and laser-ultrasound receiver 22；
Laser ultrasonic detection probe 7 includes shell 19, the focusing probe 8 being arranged in shell 19, reflecting mirror 15, receives and visitFirst 10, first lens 16, the second lens 17 and infrared radiation thermometer 13；
Wherein, excitation laser 20 and laser-ultrasound receiver 22 are arranged at hull outside；Laser-ultrasound receiver22 include a detection laser and a laser interferometer；
Focusing probe 8 is connect by optical fiber with external drive laser 20, and receiving transducer 10 passes through optical fiber and external laserUltrasonic receiver 22 connects；
The exciting beam 9 that excitation laser 20 is issued by focusing probe 8 is reflected by reflecting mirror 15, then via secondLens 17 reflect, and perpendicular acting is 18 in the new shaping layer of product；New 18 surface of shaping layer of product is under the action of exciting beam 9Thermoelastic effect occurs, part generates temperature field and stress field, to form ultrasonic wave and in article surface (surface wave) and inside(longitudinal wave, shear wave) is propagated；
Detection laser in laser-ultrasound receiver 22 is successively passed through by the detection laser beam 11 that receiving transducer 10 issuesFirst lens 16, the reflection of the second lens 17, micro-displacement of the perpendicular projection on new 18 surface of shaping layer of product, with ultrasonic wave generationIt modulates, generates modulation light 12.The modulation light 12 of partial dispersion is reflected into reception via the second lens 17, the first lens 16Probe 10, the laser interferometer being finally transferred in laser-ultrasound receiver 22 is demodulated, and laser ultrasonic signal is obtained；
The infrared waves 14 that infrared radiation thermometer 13 is launched are projected directly on new 18 surface of shaping layer of product, infrared waves projectionTemperature measuring point be located between the excitation point and the test point of the detection laser beam of the exciting beam, after through product newly at18 surface reflection of shape layer and/or it is scattered back into infrared radiation thermometer, completes new moulding material temperature on laser-ultrasound propagation pathMeasurement, the product temperature value gone out by real-time detection promote defect so as to be modified for the velocity of wave to ultrasonic signalThe accuracy of detection.
Based on above to the introduction of detection device, giving a kind of increasing material manufacturing, detection integrated equipment in the present embodiment, butBe the detection device use be not restricted to the increasing material manufacturing provided in this example, detection integrated equipment, other increasing material manufacturingsIt can be used in equipment.
Embodiment 2: increasing material manufacturing, detection integrated equipment
It is faced below by increasing material manufacturing, the mechanical framework of detection integrated equipment, control framework and detection process tripartiteThe equipment is introduced:
Mechanical framework
As shown in Fig. 2, which includes the first robot (being welding robot 4 in the present embodiment), the second robotThe laser ultrasonic detection device that is provided in (in the present embodiment be industrial robot 6), CMT welding gun 5, embodiment 1, control unit withAnd host computer；
Workbench 1 fixes on the ground, and substrate 2 is fixed on workbench 1, forms workbench.Welding robot 4 is fixedOn ground or sliding rail (not providing in figure), CMT welding gun 5 is installed in end, and welding robot 4 carries the movement of CMT welding gun 5,Successively accumulation, cementing material, forms and increases material product 3 on workbench.Industrial robot 6 is fixed on ground or sliding rail (in figure notProvide) on, the laser ultrasonic detection probe 7 in laser ultrasonic detection device is fixed on industrial robot end by mounting bracket 21End, laser ultrasonic detection probe 7 are connect with external drive laser and laser-ultrasound receiver.In detection process, industrial machineDevice people end and welding robot end maintain a certain distance and (are generally not less than 10cm), and it is super that industrial robot carries laserSound detection probe carries out stepped or continuous scanning movement, detects to the defect increased inside the new shaping layer of material product.
Control framework
As shown in Fig. 3, control unit includes PLC, data collecting card, exciting laser controller and robot controlDevice；
The control of control unit and host computer to device each in equipment
Host computer uses NI LabVIEW running environment, and using S7-1200PLC control, ((laser is dry for laser-ultrasound receiverInterferometer, excitation laser), welding robot, industrial robot, infrared radiation thermometer, PLC by NI OPC program module with it is upperMachine carries out data communication, realizes detection Control & data acquisition function.
PLC is communicated by ModbusTCP agreement with industrial robot controller, and host computer will test scanning campaignThe information such as initial point, terminal, step-length are transferred to robot controller by PLC, control welding robot or industrial robot is mobileTo specified location point, and to the actual position information of location point (welding robot or industrial robot terminal position data) intoRow acquisition.PLC carries out starting and out light triggering to excitation laser by issuing TTL, enables excitation laser according to certainRepetition rate go out light, ultrasonic signal is motivated in workpiece；Excitation laser exports synchronous triggering all the way while light outSignal, access 5114 data collecting card log-on data of PCI acquisition, collected ultrasound data are transferred to the NI- of host computerSCOPE program module, stores data.Infrared radiation thermometer is connected by Profinet communications protocol with PLC, detection processIn it is in operating status always, continue to monitor new shaping layer surface temperature, only when excitation laser goes out light PLC to temperature measurerData are once read, and the product temperature on ultrasonic signal propagation path is recorded.
When robot is moved to a certain test point, PLC acquires the position data of industrial robot end, and triggers laserDevice and laser interferometer complete a ultrasonic signal excitation and data acquisition, and the temperature of temperature measurer is read while signal excitationData, and the position data, ultrasound data and the temperature data that correspond to the same test point are stored.Complete a detectionAfter the Data acquisition and storage of point, control robot is moved to next test point, continues detection and data acquisition.AcquisitionObtained temperature data is used for the amendment of ultrasound data, and position data is imaged for ultrasound data.
Detection process
Welding robot 4 carries out the increasing material manufacturing of product in manufacture station, and industrial robot 6 cooperates laser ultrasonic detection dressIt sets and new shaping layer 18 is successively detected in detection station, entire increasing material product internal flaw is realized when product is completedDetection, avoid forming after complex internal structure to product defects detection bring problem.
Wherein, for small size product (being less than 0.5m), since welding robot 4 and industrial robot 6 exist centainlyLocation conflicts, the manufacture that welding robot drives welding gun to complete one layer of product in detection process, then industrial robot is according to increasingThe path of manufacture process planning drives laser ultrasonic detection probe 7 to carry out scanning movement, completes the detection of new shaping layer, examinesNext layer of manufacture is carried out after the completion of surveying again；It is so alternately manufactured and is detected, until entire product completes manufacture；
For large scale product (being greater than 0.5m), it can be synchronized during increasing material manufacturing and carry out laser ultrasonic detection, swashedLight ultrasonic inspection probe 7 and CMT welding gun 5 keeps carrying out scanning according to characterization processes planning path, together not less than at a distance from 10cmStep completes the detection of new shaping layer internal flaw.Characterization processes path planning can be set based on increasing material manufacturing processing routeMeter, and according to new shaping layer thickness, local shape and design feature, the parameters such as scanning step-length, speed path are adjusted in real time.
In detection process, PC control industrial robot 6 drives laser ultrasonic detection probe 7 to be moved to test point, controlsExcitation laser processed issues laser beam, and synchronous triggering laser-ultrasound receiver issues and receives laser beam, ultrasonic wave modulation light intoEnter laser interferometer, complete the acquisition of a laser ultrasonic signal, and record industrial robot terminal position information (atPicture).After the data acquisition for completing the test point, laser ultrasonic detection probe 7 is moved to next test point, continues laserThe acquisition of ultrasonic signal, until completing the detection of entire new shaping layer.At the same time, infrared radiation thermometer keeps real-time monitoring shapeState records the temperature of test point, and is associated and stores with the laser ultrasound signal collected.To the laser collectedUltrasonic signal is handled and is analyzed, and can the defect of new shaping layer be identified and be evaluated.