Force sensing and ultrasonic flaw detection cooperative control device

Abstract

The invention provides a force sensing and ultrasonic flaw detection cooperative control device which comprises a force control mechanism, a force measuring mechanism and a two-degree-of-freedom self-adaptive mechanism used for enabling a probe to be attached to a workpiece to be detected, the force control mechanism is connected with the two-degree-of-freedom self-adaptive mechanism through the force measuring mechanism, and the two-degree-of-freedom self-adaptive mechanism is connected with a probe support. The probe is installed on the probe support in parallel. The force control mechanism comprises a motor upper end support, a sliding rail support, an electric push rod, a sliding rail, a sliding block sliding in the length direction of the sliding rail, a sliding support and a motor lower end support. The device can sense the contact force between the probe and the workpiece in real time, adjust the position of the probe to adapt to a complex environment, ensure the contact stability of the probe and the surface of the detected workpiece, further improve the force control accuracy of the pressure on the probe, and improve the workpiece defect detection capability.

Description

Technical Field

[0001] The present invention relates to a force sensing and ultrasonic flaw detection coordinated control device, belonging to the technical field of ultrasonic flaw detection control. Background Art

[0002] Flaw detection is crucial in modern industrial production and equipment maintenance. It accurately identifies internal defects in materials, such as cracks and pores, and is crucial for ensuring product quality and the safe and stable operation of equipment. It is a key step in preventing major safety incidents and economic losses. Among them, TOFD flaw detection, a commonly used nondestructive testing technique, is widely used in many industries due to its advantages, such as high defect quantification accuracy and rapid detection speed. However, TOFD flaw detection currently suffers from insufficient force control in practical operations. During actual inspections, operators struggle to precisely control the pressure applied to the probe. When inspecting large workpieces, frequent probe movement can lead to operator hand fatigue and uneven force application. When inspecting complex workpieces, such as those with corners and curves, maintaining a constant contact angle between the probe and the workpiece surface is difficult, resulting in fluctuating force directions. Furthermore, the roughness of the workpiece surface can hinder smooth probe movement, resulting in unstable contact force.

[0003] Combined with these factors, unstable contact between the probe and the workpiece surface can cause attenuation and scattering of the ultrasonic signal during transmission, leading to errors in the detection signal. This unstable signal makes it difficult to extract accurate flaw detection data and precisely measure key parameters such as the defect's location, size, and shape. These parameters are crucial for accurately determining the defect's nature and assessing its impact on equipment safety.

[0004] If force control can be achieved accurately, the probe and the workpiece surface will maintain stable and good contact, ensuring the stability of the flaw detection signal, greatly improving the reliability and accuracy of the flaw detection results, reducing the occurrence of missed detections and misjudgments, and effectively improving the overall quality and efficiency of flaw detection, providing strong protection for industrial production and equipment safety. The purpose of the present invention is to provide a force sensing and ultrasonic flaw detection coordinated control device to solve the problem in the prior art that insufficient force control of the pressure applied to the probe leads to unstable contact between the probe and the surface of the workpiece being tested in a complex environment.

[0005] The technical solution of the present invention is: A coordinated control device for force sensing and ultrasonic flaw detection comprises a force control mechanism, a force measuring mechanism and a two-degree-of-freedom adaptive mechanism for making a probe fit a workpiece to be tested. The force control mechanism is connected to the two-degree-of-freedom adaptive mechanism via the force measuring mechanism. The two-degree-of-freedom adaptive mechanism is connected to the probe bracket. The probe is mounted parallel to the probe bracket. The force control mechanism comprises an upper end bracket of a motor, a slide rail bracket, an electric push rod, a slide rail, a slider sliding along the length direction of the slide rail, a slide bracket and a lower end bracket of a motor. The slide rail bracket is vertically fixed to the lower end of the upper end bracket of the motor. The electric push rod is arranged on the upper end bracket of the motor and is mounted parallel to the length direction of the slide rail bracket. The slide rail is mounted parallel to the slide rail bracket. The slide bracket is connected parallel to the slider. The lower end bracket of the motor is respectively connected to the lower end of the slide bracket and the push head of the electric push rod.

[0006] Furthermore, the force measuring mechanism includes a force sensor and two studs. The two ends of the force sensor are respectively fixed on the lower end bracket of the motor and the shock-absorbing upper fixing frame of the two-degree-of-freedom shock-absorbing mechanism. The two studs are parallel and symmetrically arranged on both sides of the force sensor. The ends of the two studs are respectively fixedly connected to the lower end bracket of the motor. The shock-absorbing upper fixing frame of the two-degree-of-freedom shock-absorbing mechanism is respectively provided with a copper sleeve for the two studs to pass through.

[0007] Furthermore, the push head of the electric push rod of the force control mechanism moves up and down along the axis, so that the lower end bracket of the motor is linked with the sliding bracket, driving the slider to move in the same direction along the slide rail. The lower end bracket of the motor moves with the power sensor along the axial direction of the stud, and the force transmitted by the two-degree-of-freedom adaptive mechanism is limited to be consistent with the axial direction of the force sensor.

[0008] Furthermore, the force control mechanism further includes a control unit, an input end of the control unit is connected to the force sensor of the force measuring mechanism, and an output end of the control unit is connected to the electric push rod.

[0009] Furthermore, the two-degree-of-freedom shock-absorbing mechanism includes a shock-absorbing upper fixing frame, a shock-absorbing middle fixing frame, a shock-absorbing lower fixing frame, a two-degree-of-freedom structure and a shock-absorbing spring group. The two-degree-of-freedom structure includes a first degree-of-freedom structure and a second degree-of-freedom structure arranged vertically. The first degree-of-freedom structure is arranged between the shock-absorbing upper fixing frame and the shock-absorbing middle fixing frame, and the second degree-of-freedom structure is arranged between the shock-absorbing middle fixing frame and the shock-absorbing lower fixing frame.

[0010] Furthermore, the first degree of freedom structure includes a first semicircular plate, a second semicircular plate and an M3 screw. The first semicircular plate is arranged on the shock-absorbing upper fixing frame, and the second semicircular plate is arranged on the shock-absorbing middle fixing frame. The middle parts of the first semicircular plate and the second semicircular plate are movably connected by an M3 screw.

[0011] Furthermore, the second degree of freedom structure includes a third semicircular plate, a fourth semicircular plate and two M3 screws. The third semicircular plate is arranged on the shock-absorbing middle fixing frame, and the fourth semicircular plate is arranged on the shock-absorbing lower fixing frame. The middle parts of the third semicircular plate and the fourth semicircular plate are movably connected by two M3 screws.

[0012] Furthermore, the shock-absorbing fixing frame adopts a cross-shaped structure.

[0013] Furthermore, the shock-absorbing spring group includes several long springs, two upper short springs and two lower short springs. The long springs are symmetrically arranged and the two ends of the long springs are respectively connected to the shock-absorbing upper fixing frame and the shock-absorbing lower fixing frame. The two upper short springs are symmetrically placed on both sides of the first degree of freedom structure and the two ends of the upper short springs are respectively connected to the shock-absorbing upper fixing frame and the shock-absorbing middle fixing frame. The two lower short springs are symmetrically placed on both sides of the second degree of freedom structure and the two ends of the lower short springs are respectively connected to the shock-absorbing middle fixing frame and the shock-absorbing lower fixing frame.

[0014] The beneficial effects of the present invention are: First, this coordinated force sensing and ultrasonic flaw detection control device, through a force control mechanism, a force measurement mechanism, and a two-degree-of-freedom adaptive mechanism, can sense the contact force between the probe and the workpiece in real time through force feedback and force control, and adjust the probe position to adapt to complex environments. This can improve the stability of the probe's contact with the workpiece surface and enhance the accuracy of force control of the pressure on the probe. This device can achieve adaptive probe conformity to complex workpiece surfaces, perform multi-angle posture adjustment, and precisely control the force applied to different contact points with the workpiece under test, thereby improving the ability to detect workpiece defects.

[0015] Second, this coordinated force sensing and ultrasonic flaw detection control device uses a two-degree-of-freedom adaptive mechanism to allow the probe to move independently in multiple directions. When the workpiece surface experiences changes in roughness or curvature, the spring assembly adjusts the contact posture in real time, ensuring the probe maintains the ideal contact angle with the workpiece, avoiding detection deviations caused by surface fluctuations and thereby improving ultrasonic flaw detection accuracy.

[0016] 3. This type of force sensing and ultrasonic flaw detection collaborative control device adopts a vertical stud design in the force measurement mechanism to achieve unidirectional transmission and precise decoupling of force signals. The stud strictly limits the force transmission path to the vertical direction through mechanical limiters to avoid interference with the sensor by lateral or side forces. This design ensures that the force sensor only measures the contact force in the target direction, effectively eliminating the impact of multi-directional force coupling on the measurement results. The rigid connection structure between the stud and the force sensor significantly shortens the lag time of force transmission. During the detection process, when the probe contacts the surface of the workpiece, the force sensor can quickly sense the change in force and complete the compensation adjustment in time through the closed-loop control system to ensure the real-time force control.

[0017] Fourth, this force sensing and ultrasonic flaw detection collaborative control device can be mounted on a robot, achieving automated scanning through real-time control. This breaks the reliance of traditional flaw detection equipment on the workpiece surface condition and is suitable for high-precision inspection scenarios such as aerospace composite materials and nuclear power pressure vessels, improving inspection efficiency and flexibility. Through structural innovation, it provides a flexible solution for flaw detection and nondestructive testing, ensuring inspection accuracy while reducing manual operation intensity, and is suitable for the efficient flaw detection needs of complex workpieces in multiple industries. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the three-dimensional structure of a force sensing and ultrasonic flaw detection coordinated control device according to an embodiment of the present invention; Figure 2 This is a front view of a force sensing and ultrasonic flaw detection coordinated control device according to an embodiment; Figure 3 This is a left view of a force sensing and ultrasonic flaw detection coordinated control device according to an embodiment; Figure 4 2 is a schematic structural diagram of the force sensing and ultrasonic flaw detection coordinated control device of the embodiment when the probe is moved downward; Figure 5 This is an exploded view of a two-degree-of-freedom shock absorbing mechanism in an embodiment; Figure 6 Schematic diagram of the forces acting on the two-degree-of-freedom damping mechanism in the embodiment when the first degree-of-freedom structure rotates and the second degree-of-freedom structure does not rotate, wherein (a) is a schematic diagram of the forces acting on the front view, (b) is a schematic diagram of the forces acting on the rear view, (c) is a schematic diagram of the forces acting on the left view, and (d) is a schematic diagram of the forces acting on the right view; Figure 7 Schematic diagram of the forces acting on the two-degree-of-freedom damping mechanism in the embodiment when the first degree-of-freedom structure is not rotating and the second degree-of-freedom structure is rotating, wherein (a) is a schematic diagram of the forces acting on the front view, (b) is a schematic diagram of the forces acting on the rear view, (c) is a schematic diagram of the forces acting on the left view, and (d) is a schematic diagram of the forces acting on the right view; Wherein: 1-force control mechanism, 2-force measurement mechanism, 3-two-degree-of-freedom adaptive mechanism, 4-probe, 5-probe holder, 6-workpiece; 11-motor upper bracket, 12-slide rail bracket, 13-electric push rod, 14-slide rail, 15-slider, 16-slide bracket, 17-motor lower bracket; 21-force sensor, 22-stud; 31- shock-absorbing upper fixing frame, 32- shock-absorbing middle fixing frame, 33- shock-absorbing lower fixing frame, 34- first degree of freedom structure, 35- second degree of freedom structure, 36- shock-absorbing spring assembly; 341-first semicircular plate, 342-second semicircular plate, 343-M3 plug screw 1; 351-third semicircular plate, 352-fourth semicircular plate, 353-M3 plug screw 2; 361-long spring, 362-upper short spring, 363-lower short spring. DETAILED DESCRIPTION

[0019] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0020] The embodiment provides a force sensing and ultrasonic flaw detection coordinated control device, such as Figure 1 and Figure 2 , including a force control mechanism 1, a force measuring mechanism 2 and a two-degree-of-freedom adaptive mechanism 3 for making the probe 4 fit the workpiece 6 to be measured. The force control mechanism 1 is connected to the two-degree-of-freedom adaptive mechanism 3 through the force measuring mechanism 2. The two-degree-of-freedom adaptive mechanism 3 is connected to the probe bracket 5. The probe 4 is installed parallel to the probe bracket 5. The force control mechanism 1 includes a motor upper end bracket 11, a slide rail bracket 12, an electric push rod 13, a slide rail 14, a slider 15 sliding along the length direction of the slide rail 14, a sliding bracket 16 and a motor lower end bracket 17. The slide rail bracket 12 is vertically fixed to the lower end of the motor upper end bracket 11. The electric push rod 13 is arranged on the motor upper end bracket 11, and the electric push rod 13 is installed parallel to the length direction of the slide rail bracket 12. The slide rail 14 is installed parallel to the slide rail bracket 12. The sliding bracket 16 is connected in parallel to the slider 15. The motor lower end bracket 17 is respectively connected to the lower end of the sliding bracket 16 and the push head of the electric push rod 13.

[0021] This coordinated force sensing and ultrasonic flaw detection control device, through a force control mechanism 1, a force measurement mechanism 2, and a two-degree-of-freedom adaptive mechanism 3, can sense the contact force between the probe 4 and the workpiece 6 in real time through force feedback and force control, and adjust the position of the probe 4 to adapt to complex environments. This can improve the stability of the contact between the probe 4 and the surface of the workpiece 6 being tested, and can improve the accuracy of the force control of the pressure on the probe 4. This device can achieve adaptive conformity of the probe 4 to the surface of a complex workpiece 6, perform posture adjustment at multiple angles, and accurately control the force applied to different contact points with the workpiece 6 to improve the ability to detect defects in the workpiece 6.

[0022] like Figure 3 The force measuring mechanism 2 includes a force sensor 21 and two studs 22. The two ends of the force sensor 21 are respectively fixed on the lower end bracket 17 of the motor and the shock-absorbing upper fixing frame 31 of the two-degree-of-freedom shock-absorbing mechanism. The two studs 22 are parallel and symmetrically arranged on both sides of the force sensor 21. The ends of the two studs 22 are respectively fixedly connected to the lower end bracket 17 of the motor. The shock-absorbing upper fixing frame 31 of the two-degree-of-freedom shock-absorbing mechanism is provided with a copper sleeve for the two studs 22 to pass through.

[0023] The measurement process of force measurement mechanism 2 is as follows: When probe 4 contacts the surface of workpiece 6 and is subjected to force, the force is transmitted sequentially through probe 4 and the two-degree-of-freedom damping mechanism to force sensor 21 of force measurement mechanism 2. Force sensor 21 utilizes a DYMH-113 capsule sensor. When the capsule is subjected to force, the internal strain gauges elastically deform, changing their resistance. This provides the basis for the subsequent bridge circuit to convert the resistance signal into a voltage signal. Real-time data on the contact force between probe 4 and workpiece 6 is transmitted to the feedback control unit of the control system. Based on pre-set positioning and control algorithms, this force information is analyzed and processed, and the electric actuator 13 is driven to precisely control and adjust the contact force of probe 4, ensuring it remains within the optimal range.

[0024] like Figure 4 The push head of the electric push rod 13 of the force control mechanism 1 moves up and down along the axis, causing the lower end bracket 17 of the motor to be linked with the sliding bracket 16, driving the slider 15 to move in the same direction along the slide rail 14. The lower end bracket 17 of the motor carries the force sensor 21 and moves along the axis of the stud 22. The force transmitted by the two-degree-of-freedom adaptive mechanism 3 is limited to be consistent with the axial direction of the force sensor 21. The force control mechanism 1 also includes a control unit. The force sensor 21 of the force measuring mechanism 2 is connected to the input end of the control unit, and the output end of the control unit is connected to the electric push rod 13.

[0025] like Figure 5 The two-degree-of-freedom shock-absorbing mechanism includes an upper shock-absorbing mounting frame 31, a middle shock-absorbing mounting frame 32, a lower shock-absorbing mounting frame 33, a two-degree-of-freedom structure, and a shock-absorbing spring assembly 36. The two-degree-of-freedom structure includes a vertically arranged first-degree-of-freedom structure 34 and a second-degree-of-freedom structure 35. The first-degree-of-freedom structure 34 is arranged between the upper shock-absorbing mounting frame 31 and the middle shock-absorbing mounting frame 32, and the second-degree-of-freedom structure 35 is arranged between the middle shock-absorbing mounting frame 32 and the lower shock-absorbing mounting frame 33. The vertically arranged first-degree-of-freedom structure 34 and the second-degree-of-freedom structure 35 respectively achieve rotational displacement in the X and Y directions, driving the upper shock-absorbing mounting frame 31 and the lower shock-absorbing mounting frame 33 to rotate in two mutually perpendicular planes. The probe holder 5 is fixed to the lower end of the shock-absorbing mounting frame 33, and the probe 4 is mounted parallel to the probe holder 5, thereby achieving multi-angle adaptive fitting of the probe 4.

[0026] The first degree of freedom structure 34 includes a first semicircular plate 341, a second semicircular plate 342, and an M3 screw 343. The first semicircular plate 341 is mounted on the upper damping bracket 31, and the second semicircular plate 342 is mounted on the middle damping bracket 32. The middle portions of the first and second semicircular plates 341, 342 are movably connected by an M3 screw 343. By providing the first degree of freedom structure 34, the upper and middle damping brackets 31, 32 can rotate relative to each other about the first locking screw. The second degree of freedom structure 35 includes a third semicircular plate 351, a fourth semicircular plate 352, and an M3 screw 353. The third semicircular plate 351 is mounted on the middle damping bracket 32, and the fourth semicircular plate 352 is mounted on the lower damping bracket 33. The middle portions of the third and fourth semicircular plates 351, 352 are movably connected by an M3 screw 353. By providing the second degree of freedom structure 35 , the shock absorbing middle fixing frame 32 and the shock absorbing lower fixing frame 33 can realize relative rotational motion with the first locking screw as the axis.

[0027] The middle damping bracket 32 ​​has a cross-shaped structure. The damping spring assembly 36 includes several long springs 361, two upper short springs 362, and two lower short springs 363. The upper damping bracket 31 is connected to the lower damping bracket 33 via four diagonally placed long springs 361. The two upper short springs 362 are symmetrically placed on either side of the first degree of freedom structure 34, with their ends connecting the upper damping bracket 31 and the middle damping bracket 32, respectively. The two lower short springs 363 are symmetrically placed on either side of the second degree of freedom structure 35, with their ends connecting the middle damping bracket 32 ​​and the lower damping bracket 33, respectively.

[0028] Figure 6 3 is a schematic diagram of the force applied to the two-degree-of-freedom damping mechanism in the embodiment when the first-degree-of-freedom structure 34 rotates and the second-degree-of-freedom structure 35 does not rotate. Figure 6 In (a), (b), (c) and (d), f1 and f5 are the tensions generated by the extension of the two long springs 361, f2 and f4 are the pressures generated by the compression of the other two long springs 361, f3 is the pressure generated by the compression of an upper short spring 362, and f6 is the tension generated by the extension of the other upper short spring 362. Figure 6 For the springs obscured in front and behind in each view, only the force generated by the frontmost spring is shown. Analyzing the forces acting on the shock-absorbing upper mounting bracket 31: It is subject to the tensile forces f1 and f5 of the two long springs 361, the compressive force f3 of one upper short spring 362, the tensile force f6 of the other upper short spring 362, and the compressive forces f2 and f4 of the other two long springs 361. The net force is zero, so "f1 + f5 + f6 = f2 + f4 + f3," demonstrating that the present invention achieves independent buffering and decoupling of X-direction forces.

[0029] Figure 73 is a schematic diagram of the force applied to the two-degree-of-freedom damping mechanism in the embodiment when the first-degree-of-freedom structure 34 is not rotating and the second-degree-of-freedom structure is rotating 35 . Figure 7 In (a), (b), (c) and (d), f a 、f e is the tension generated by the stretching of the two long springs 361, f b 、f d is the pressure generated by the compression of the other two long springs 361, f c is the pressure generated by the compression of a lower short spring 363, f f The tension is generated by the stretching of another lower short spring 363. Figure 7 For the springs that are blocked in front and behind in each view, only the force generated by the frontmost spring is drawn. a 、f e , the tension f of a lower short spring 363 f , the pressure f of the other two long springs 361 b 、f d , the pressure f of the other lower short spring 363 c , the net force is 0, then "f a +f e +f f =f b +f d +f c ”. This proves that the present invention achieves independent buffering and decoupling of Y-direction forces.

[0030] In this coordinated force sensing and ultrasonic flaw detection control device, the force control mechanism 1 and the force measurement mechanism 2 sense external forces and provide feedback to adjust the magnitude of these forces, achieving closed-loop control. The two-degree-of-freedom adaptive mechanism 3 enables the probe 4 to conform to the workpiece 6 under various conditions, allowing for posture adjustments in multiple dimensions and automatically adjusting the force applied at different contact points with the workpiece 6 to better adapt to complex workpiece surfaces and improve the ability to detect defects in the workpiece 6.

[0031] This coordinated force sensing and ultrasonic flaw detection control device allows probe 4 to move independently in multiple directions via a two-degree-of-freedom adaptive mechanism 3. When the surface roughness or curvature of a workpiece 6 changes, the spring assembly adjusts the contact posture in real time, ensuring that the probe 4 maintains an ideal contact angle with the workpiece 6, avoiding detection deviations caused by surface fluctuations and thereby improving the accuracy of ultrasonic flaw detection.

[0032] This type of force sensing and ultrasonic flaw detection collaborative control device adopts a vertical stud design in the force measuring mechanism 2 to achieve unidirectional transmission and precise decoupling of the force signal. The stud strictly limits the force transmission path to the vertical direction through mechanical limiting to avoid lateral or side force interference with the sensor. This design ensures that the force sensor 21 only measures the contact force in the target direction, effectively eliminating the influence of multi-directional force coupling on the measurement results. The rigid connection structure between the stud and the force sensor 21 significantly shortens the lag time of force transmission. During the detection process, when the probe 4 contacts the surface of the workpiece 6, the stud can quickly sense the change in force and complete the compensation adjustment in time through the closed-loop control system to ensure the real-time performance of force control.

[0033] This collaborative force sensing and ultrasonic flaw detection control device, designed to be mounted on a robot, enables automated scanning through real-time control, transcending the reliance of traditional flaw detection equipment on the workpiece's surface condition. It is suitable for high-precision inspections of aerospace composite materials, nuclear power pressure vessels, and other applications, improving inspection efficiency and flexibility. Through structural innovation, it provides a flexible solution for flaw detection and nondestructive testing, ensuring accuracy while reducing manual labor, making it suitable for efficient flaw detection of complex workpieces across multiple industries.

[0034] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A force sensing and ultrasonic flaw detection coordinated control device, characterized by: It includes a force control mechanism, a force measuring mechanism and a two-degree-of-freedom adaptive mechanism for making the probe fit the workpiece to be measured. The force control mechanism is connected to the two-degree-of-freedom adaptive mechanism through the force measuring mechanism. The two-degree-of-freedom adaptive mechanism is connected to the probe bracket. The probe is installed parallel to the probe bracket. The force control mechanism includes an upper end bracket of the motor, a slide rail bracket, an electric push rod, a slide rail, a slider sliding along the length direction of the slide rail, a sliding bracket and a lower end bracket of the motor. The slide rail bracket is vertically fixed to the lower end of the upper end bracket of the motor. The electric push rod is arranged on the upper end bracket of the motor and is installed parallel to the length direction of the slide rail bracket. The slide rail is installed parallel to the slide rail bracket. The sliding bracket is connected parallel to the slider. The lower end bracket of the motor is respectively connected to the lower end of the sliding bracket and the push head of the electric push rod.

2. The force sensing and ultrasonic flaw detection coordinated control device according to claim 1, characterized in that: The force measuring mechanism includes a force sensor and two studs. The two ends of the force sensor are respectively fixed on the lower end bracket of the motor and the shock-absorbing upper fixing frame of the two-degree-of-freedom shock-absorbing mechanism. The two studs are parallel and symmetrically placed on both sides of the force sensor. The ends of the two studs are respectively fixedly connected to the lower end bracket of the motor. The shock-absorbing upper fixing frame of the two-degree-of-freedom shock-absorbing mechanism is provided with a copper sleeve for the two studs to pass through.

3. The force sensing and ultrasonic flaw detection coordinated control device according to claim 2, characterized in that: The push head of the electric push rod of the force control mechanism moves up and down along the axis, so that the lower end bracket of the motor is linked with the sliding bracket, driving the slider to move in the same direction along the slide rail. The lower end bracket of the motor carries the power sensor to move along the axis direction of the stud. The force transmitted by the two-degree-of-freedom adaptive mechanism is limited to be consistent with the axial direction of the force sensor.

4. A force sensing and ultrasonic flaw detection coordinated control device according to any one of claims 1 to 3, characterized in that: The force control mechanism further comprises a control unit, an input end of the control unit is connected to the force sensor of the force measuring mechanism, and an output end of the control unit is connected to the electric push rod.

5. A force sensing and ultrasonic flaw detection coordinated control device according to any one of claims 1 to 3, characterized in that: The two-degree-of-freedom shock-absorbing mechanism includes a shock-absorbing upper fixing frame, a shock-absorbing middle fixing frame, a shock-absorbing lower fixing frame, a two-degree-of-freedom structure and a shock-absorbing spring group. The two-degree-of-freedom structure includes a first degree-of-freedom structure and a second degree-of-freedom structure arranged vertically. The first degree-of-freedom structure is arranged between the shock-absorbing upper fixing frame and the shock-absorbing middle fixing frame, and the second degree-of-freedom structure is arranged between the shock-absorbing middle fixing frame and the shock-absorbing lower fixing frame.

6. The force sensing and ultrasonic flaw detection coordinated control device according to claim 5, characterized in that: The first degree of freedom structure includes a first semicircular plate, a second semicircular plate and an M3 screw. The first semicircular plate is arranged on the shock-absorbing upper fixing frame, and the second semicircular plate is arranged on the shock-absorbing middle fixing frame. The middle parts of the first semicircular plate and the second semicircular plate are movably connected by an M3 screw.

7. The force sensing and ultrasonic flaw detection coordinated control device according to claim 5, characterized in that: The second degree of freedom structure includes a third semicircular plate, a fourth semicircular plate and two M3 screws. The third semicircular plate is arranged on the shock-absorbing middle fixing frame, and the fourth semicircular plate is arranged on the shock-absorbing lower fixing frame. The middle parts of the third semicircular plate and the fourth semicircular plate are movably connected by two M3 screws.

8. The force sensing and ultrasonic flaw detection coordinated control device according to claim 5, characterized in that: The shock-absorbing fixing frame adopts a cross-shaped structure.

9. The force sensing and ultrasonic flaw detection coordinated control device according to claim 8, characterized in that: The shock-absorbing spring group includes several long springs, two upper short springs and two lower short springs. The long springs are symmetrically arranged and the two ends of the long springs are respectively connected to the shock-absorbing upper fixing frame and the shock-absorbing lower fixing frame. The two upper short springs are symmetrically placed on both sides of the first degree of freedom structure and the two ends of the upper short springs are respectively connected to the shock-absorbing upper fixing frame and the shock-absorbing middle fixing frame. The two lower short springs are symmetrically placed on both sides of the second degree of freedom structure and the two ends of the lower short springs are respectively connected to the shock-absorbing middle fixing frame and the shock-absorbing lower fixing frame.

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