An ultrasonic probe fixing device and method with self-centering and all-directional anti-collision functions

Abstract

The application discloses an ultrasonic probe fixing device and method with self-centering and all-directional anti-collision functions, and relates to the technical field of ultrasonic nondestructive testing. The application discloses an ultrasonic probe fixing device and method with self-centering and all-directional anti-collision functions, and relates to the technical field of ultrasonic nondestructive testing. The application discloses an ultrasonic probe fixing device and method with self-centering and all-directional anti-collision functions, and relates to the technical field of ultrasonic nondestructive testing.

Description

Technical Field

[0001] This invention relates to the field of ultrasonic nondestructive testing technology, specifically to an ultrasonic probe fixing device with self-centering omnidirectional anti-collision function in a contact-type robotic ultrasonic nondestructive testing system. Background Technology

[0002] With the emergence of new materials, structures, and processes, complex curved surface components are increasingly used in industry, especially in the aerospace field. The non-destructive testing of these components presents both new opportunities and challenges for ultrasonic testing technology. Currently, robotic ultrasonic conformal testing technology is considered an effective means of ensuring the manufacturing quality of complex curved surface components. This technology can replace manual labor to achieve precise testing of complex components.

[0003] Ultrasonic nondestructive testing is generally divided into contact ultrasonic testing and non-contact ultrasonic testing. Robotic ultrasonic conformal testing uses a robotic arm (industrial robot) to hold the component being tested (or to hold the ultrasonic transducer, i.e., the ultrasonic source), causing relative motion between the component and the transducer along a predefined trajectory. Ultrasonic waves pass through an ultrasonic coupling fluid (whose main function is to eliminate air between the probe and the workpiece surface, ensuring effective transmission of ultrasonic waves and sufficient sound intensity to achieve the testing purpose) at a required angle, penetrating the surface (liquid-solid interface) of the component and entering its interior. The characteristics of the received ultrasonic signal are then used to determine whether defects exist on the surface or inside the component.

[0004] Precise relative positioning between the robotic arm and the workpiece being inspected is a prerequisite for ensuring collision-free inspection. However, the ultrasonic conformal inspection system for robotic arms is a complex motion system. In actual operation, errors such as workpiece fixation, motion deviation, and program loading errors may cause collisions between the ultrasonic conformal inspection system for robotic arms and the workpiece or other equipment. This can not only damage the inspection equipment but also lead to serious safety accidents. Therefore, collision prevention is the top priority for ultrasonic conformal inspection systems for robotic arms. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an ultrasonic probe fixing device and method with self-centering omnidirectional anti-collision function. In this invention, the swinging part can swing relative to the base part, thereby realizing early warning and automatic return. The ultrasonic transducer can extend and retract along the axis of the ultrasonic transducer sleeve. By adjusting the position of the end of the manipulator, the ultrasonic transducer can maintain a constant contact force with the component being tested, reducing the possibility of system collision and increasing the tolerance for system motion error.

[0006] The present invention achieves the above-mentioned technical objectives through the following technical means.

[0007] An ultrasonic probe fixing device with self-centering omnidirectional anti-collision function includes a base part, a swing part, and a collision detection device; the swing part can swing relative to the base part, and the collision detection device is disposed on the swing part and the base part; the collision detection device is used to detect whether a collision has occurred.

[0008] The swinging part includes a convex ball swing seat, a swing bracket, an ultrasonic transducer sleeve, a contact force retaining spring, an ultrasonic transducer fixed end cap, and an ultrasonic transducer.

[0009] The convex ball pendulum seat is disposed inside the concave ball connecting base, and the convex ball pendulum seat can swing relative to the base portion; the convex ball pendulum seat is connected to one end of the swing bracket, and the other end of the swing bracket is connected to the ultrasonic transducer sleeve.

[0010] The ultrasonic transducer sleeve houses the ultrasonic transducer and is positioned and supported by the ultrasonic transducer fixed end cap. A contact force retaining spring is fitted on the outside of the ultrasonic transducer. The ultrasonic transducer is capable of axial movement relative to the ultrasonic transducer sleeve.

[0011] The collision detection device includes an upper fixed electrode, a lower swing electrode, and an insulated swing electrode base;

[0012] An insulating connecting sleeve is provided on the outside of the swing bracket. An upper fixed electrode is provided at the lower end of the insulating connecting sleeve and is mounted on the swing bracket. The lower swing electrode is loosely fitted on the insulating swing electrode seat, which is mounted on the swing bracket. When the swing bracket collides, it will cause the lower swing electrode to swing. The lower swing electrode will contact the upper fixed electrode, thereby transmitting the electrical collision signal to the control system.

[0013] The insulating connecting sleeve has a built-in straightening structure, which is used to reset the swinging part.

[0014] The above solution also includes a coupling fluid spraying device, which includes a brush end cap, an oil-collecting brush mounting base, and a brush; the brush end cap and the oil-collecting brush mounting base are connected and installed on the outside of the ultrasonic transducer sleeve; the brush is installed on the oil-collecting brush mounting base; and a coupling fluid inlet is provided on the brush end cap.

[0015] In the above scheme, the straightening mechanism is a straightening spring or a straightening component, wherein the straightening spring is located on the outside of the swing bracket and close to the convex ball swing seat.

[0016] In the above scheme, the straightening component includes an upper ring, a supporting column, and a lower ring; the diameter of the upper ring is smaller than that of the lower ring; the supporting column is used to connect the upper ring and the lower ring.

[0017] In the above scheme, several vulnerable points are provided on the support column; the support columns are distributed circumferentially at 120° intervals.

[0018] In the above scheme, a pressure sensor is provided at the upper end of the contact force holding spring.

[0019] In the above scheme, the base part includes a concave ball connecting base, and a concave ball structure is provided below the concave ball connecting base, and the concave ball base is connected to the transition flange.

[0020] In the above scheme, the upper fixed electrode and the lower swing electrode are rings made of conductive metal.

[0021] In the above scheme, the insulating connecting sleeve and the concave ball connecting base are connected by threads.

[0022] The working method of the ultrasonic probe fixing device with self-centering all-round anti-collision function is as follows: the robot arm drives the anti-collision clamp to work. When it encounters an obstacle, the swinging part can swing relative to the base part. After the collision detection device detects that a collision is about to occur, it transmits the electrical collision signal to the control system, so that the ultrasonic detection system of the robot arm can stop urgently.

[0023] Beneficial effects:

[0024] 1. The ultrasonic probe fixing device of this invention with self-centering omnidirectional anti-collision function swings its swinging part around a fixed center when a collision occurs, thereby sending an alarm signal to the control center of the ultrasonic conformal detection system, causing the entire system to stop immediately and minimizing losses. After the collision is resolved, its swinging part can automatically return to its original position, reducing the system's adjustment time after the collision. The built-in ultrasonic transducer can extend and retract along the axial direction, and a pressure sensor is installed inside the ultrasonic transducer sleeve. By adjusting the position of the robotic arm end, the ultrasonic transducer can maintain a constant contact force with the component being tested, reducing the possibility of system collisions and increasing the tolerance for system motion errors. The device of this invention is also equipped with a coupling liquid spraying device, which can automatically and evenly apply the coupling liquid to the surface of the workpiece being tested, improving the detection accuracy.

[0025] 2. This invention can be applied to any automated ultrasonic conformal testing system by replacing the transition flange; the ultrasonic probe fixing device with self-centering omnidirectional anti-collision function of this invention can detect collision signals in any direction of 360° circumference and send an alarm signal to the control center; after the collision is resolved, its swinging part will automatically return to its original position and center under the action of the straightening spring, that is, return to the position where the swinging part and the base part are coaxial; the invention is equipped with a contact force holding spring, which can keep the ultrasonic transducer and the tested component at a constant contact force. This design also reduces the possibility of system collision and increases the tolerance for system motion error.

[0026] 3. The ultrasonic probe fixing device with self-centering omnidirectional anti-collision function of the present invention can adjust the sensitivity of the anti-collision clamp by adjusting the distance between the lower swing electrode and the upper fixed electrode. The present invention also includes a coupling fluid uniform coating device to uniformly apply the coupling fluid and improve the accuracy of ultrasonic detection. Attached Figure Description

[0027] Figure 1 This is an isometric view of an ultrasonic probe fixing device with anti-collision function involved in an embodiment of the present invention;

[0028] Figure 2 for Figure 1 AA sectional view;

[0029] Figure 3 for Figure 1 BB cross-sectional diagram;

[0030] Figure 4 A collision diagram of a self-centering omnidirectional anti-collision fixture;

[0031] Figure 5 Assembly drawing of a self-centering omnidirectional anti-collision fixture that uses vulnerable parts as straightening components;

[0032] Figure 6 for Figure 5 Part drawings of the vulnerable component bracket involved in the process;

[0033] Figure 7 For the present invention Figure 1 The part drawing of the transition flange involved.

[0034] Figure label:

[0035] 1-Transition flange; 2-Concave ball connecting base; 3-Convex ball swing seat; 4-Insulating connecting sleeve; 5-Straightening spring; 6-Upper fixed electrode; 7-Lower swing electrode; 8-Insulating swing electrode seat; 9-Swing bracket; 10-Pressure sensor; 11-Ultrasonic transducer sleeve; 12-Contact force retaining spring; 13-Brush end cap; 14-Oil collecting brush mounting seat; 15-Brush; 16-Ultrasonic transducer fixed end cap; 17-Ultrasonic transducer; 18-Pressure sensor wiring hole; 19-Coupling fluid inlet; 51-Consumable parts; 511-Upper ring; 512-Support column; 513-Lower ring; 514-Consumable point. Detailed Implementation

[0036] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0037] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0038] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0039] An ultrasonic probe fixing device with self-centering omnidirectional anti-collision function includes a base part, a swing part, and a collision detection device; the swing part can swing relative to the base part, and the collision detection device is disposed on the swing part and the base part; the collision detection device is used to detect whether a collision has occurred.

[0040] The swinging part includes a convex ball swing seat 3, a swing bracket 9, an ultrasonic transducer sleeve 11, a contact force retaining spring 12, an ultrasonic transducer fixed end cap 16, and an ultrasonic transducer 17.

[0041] The convex ball pendulum seat 3 is disposed inside the concave ball connecting base 2, and the convex ball pendulum seat 3 can swing relative to the base portion; the convex ball pendulum seat 3 is connected to one end of the swing bracket 9, and the other end of the swing bracket 9 is connected to the ultrasonic transducer sleeve 11.

[0042] The ultrasonic transducer sleeve 11 houses the ultrasonic transducer 17, which is positioned and supported by the ultrasonic transducer fixed end cap 16. A contact force retaining spring 12 is fitted on the outside of the ultrasonic transducer 17. The ultrasonic transducer 17 is capable of axial movement relative to the ultrasonic transducer sleeve 11.

[0043] The collision detection device includes an upper fixed electrode 6, a lower swing electrode 7, and an insulated swing electrode base 8;

[0044] An insulating connecting sleeve 4 is provided on the outside of the swing bracket 9. An upper fixed electrode 6 is provided at the lower end of the insulating connecting sleeve 4, and the upper fixed electrode 6 is loosely fitted on the swing bracket 9. The lower swing electrode 7 is provided on the insulating swing electrode seat 8, and the insulating swing electrode seat 8 is provided on the swing bracket 9. When the swing bracket 9 collides, it will cause the lower swing electrode 7 to swing. When the lower swing electrode 7 contacts the upper fixed electrode 6, it will transmit the electrical collision signal to the control system.

[0045] The insulating connecting sleeve 4 has a built-in straightening structure, which is used to reset the swinging part.

[0046] The above scheme also includes a coupling fluid spraying device, which includes a brush end cap 13, an oil-collecting brush mounting base 14, and a brush 15; the brush end cap 13 and the oil-collecting brush mounting base 14 are connected and installed on the outside of the ultrasonic transducer sleeve 11; the brush 15 is installed on the oil-collecting brush mounting base 14; and a coupling fluid inlet 19 is provided on the brush end cap 13.

[0047] In the above scheme, the straightening mechanism is a straightening spring or a straightening component, wherein the straightening spring is located on the outside of the swing bracket 9 and close to the convex ball swing seat 3.

[0048] In the above scheme, the straightening component includes an upper ring 511, a supporting column 512, and a lower ring 513; the diameter of the upper ring 511 is smaller than that of the lower ring 513; the supporting column 512 is used to connect the upper ring 511 and the lower ring 513.

[0049] In the above scheme, the support column 512 is provided with several vulnerable points 514; the support column 512 is distributed circumferentially at 120° intervals.

[0050] In the above scheme, a pressure sensor 10 is provided at the upper end of the contact force holding spring 12.

[0051] In the above scheme, the base part includes a concave ball connecting base 2, and a concave ball structure is provided below the concave ball connecting base 2. The concave ball base 2 is connected to the transition flange 1.

[0052] In the above scheme, the upper fixed electrode 6 and the lower swing electrode 7 are rings made of conductive metal.

[0053] In the above scheme, the insulating connecting sleeve 4 and the concave ball connecting base 2 are connected by threads.

[0054] The working method of the ultrasonic probe fixing device with self-centering all-round anti-collision function is as follows: the robot arm drives the anti-collision clamp to work. When it encounters an obstacle, the swinging part can swing relative to the base part. After the collision detection device detects that a collision is about to occur, it transmits the electrical collision signal to the control system, so that the ultrasonic detection system of the robot arm can stop urgently.

[0055] Combined with appendix Figure 1 As shown, an ultrasonic probe fixing device with self-centering all-around anti-collision function includes a base part, a swing part, a collision detection device and a coupling liquid spraying device. The present invention can detect the occurrence of collisions from all directions, which can prevent the system from serious safety accidents.

[0056] The base includes a transition flange 1, a concave ball connecting base 2, and an insulating connecting sleeve 4; the swinging part includes a convex ball swing seat 3, a straightening spring 5, a lower swinging electrode 7, an insulating swinging electrode seat 8, a swinging bracket 9, an ultrasonic transducer sleeve 11, a contact force retaining spring 12, an ultrasonic transducer fixed end cap 16, and an ultrasonic transducer 17; the collision detection device includes an insulating connecting sleeve 4, an upper fixed electrode 6, a lower swinging electrode 7, and an insulating swinging electrode seat 8; the coupling liquid spraying device includes a brush end cap 13, an oil collecting brush mounting seat 14, and a brush 15.

[0057] The transition flange 1 is mainly used for the transition connection between the ball joint base 2 and the robot. The transition flange 1 is provided with a pin positioning hole 1-1, a countersunk bolt hole 1-2 and a threaded hole 1-3. When using it, the countersunk bolt should be used to install it to the end flange of the robot first through the countersunk bolt hole 1-2, and then the ball joint base 2 should be installed.

[0058] The upper fixed electrode 6 is bolted onto the insulating connecting sleeve 4, and the straightening spring 5 is placed inside the insulating connecting sleeve 4. Then, the swinging part passes through the assembly consisting of the insulating connecting sleeve 4, the straightening spring 5, and the upper fixed electrode 6, and is installed onto the concave ball connecting base 2 using the external thread of the insulating connecting sleeve 4.

[0059] The lower swing electrode 7 is bolted to the insulating swing electrode base 8, and passes through the aforementioned assembly from one end of the ultrasonic transducer sleeve 11, moving to... Figure 1The ultrasonic transducer sleeve 11 is positioned appropriately and fixed to the swing bracket 9 using a set screw through the threaded hole 8-1 on the side of the insulating swing electrode seat 8. The distance between the transducer and the upper fixed electrode 6 can be adjusted using the set screw as needed to regulate the detection sensitivity of the novel self-centering omnidirectional anti-collision fixture. A pressure sensor wiring hole 18 is provided on the upper end face of the ultrasonic transducer sleeve 11.

[0060] The upper fixed electrode 6 and the lower swing electrode 7 are circular rings made of conductive metal, with threaded holes 6-1 and 7-1 on their sides for connecting the two ends of the collision detection signal line. After a collision is resolved, the swinging part of the self-centering omnidirectional anti-collision clamp will automatically return to its original position under the force of the centering spring 5, that is, return to the coaxial position between the swinging part and the base. The force of the centering spring 5 should be sufficient to ensure that the swinging part returns to the coaxial position with the base after the collision.

[0061] Combined with appendix Figure 4 As shown, during the ultrasonic testing process, if the self-centering all-around anti-collision clamping device with a robotic arm clamps a collision, its swinging part will swing around the center of the convex ball swing seat 3, thereby causing one side of the lower swing electrode 7 to shift upward and contact the upper fixed electrode 6. At this time, the control center of the ultrasonic conformal testing system will detect the collision and bring the entire system to an emergency stop, minimizing the damage.

[0062] When the collision is resolved, the swinging part of the ultrasonic probe fixing device with self-centering all-around anti-collision function will automatically return to its original position under the action of the straightening spring 5, that is, return to the position where the swinging part and the base part are coaxial.

[0063] A pressure sensor 10, a contact force holding spring 12, and an ultrasonic transducer 17 are installed inside the ultrasonic transducer sleeve 11. The ultrasonic transducer 17 is fixed inside the ultrasonic transducer sleeve 11 by the ultrasonic transducer fixing end cap 16. The ultrasonic transducer 17 can extend and retract along the axis. This design allows the ultrasonic transducer 17 to maintain a constant contact force with the component being tested by adjusting the position of the robotic arm end. At the same time, this design also reduces the possibility of system collisions and increases the tolerance for system motion errors.

[0064] Combination Figure 1 and Figure 2As shown, in the self-centering, all-around anti-collision ultrasonic probe fixing device, the brush end cap 13, the oil-collecting brush mounting base 14, the brush 15, and the coupling fluid inlet 19 are connected by bolts and threads, and are fixed to the ultrasonic transducer sleeve 11 by bolts. When the coupling fluid enters the cavity composed of the brush end cap 13 and the oil-collecting brush mounting base 14 from the inlet 19, the coupling fluid will flow into the vicinity of the end face of the ultrasonic transducer through the brush hole and the fitting gap between the ultrasonic transducer sleeve 11 and the oil-collecting brush mounting base 14. During the movement, the brush 15 will evenly coat the surface of the component being tested with the flowing coupling fluid.

[0065] Combined with appendix Figure 5 As shown, in applications where high coaxiality is required between the swinging part and the base, a vulnerable component 51 can be used to ensure the coaxiality accuracy between the swinging part and the base. If the anti-collision fixture collides, the vulnerable component 51 will be damaged, and its swinging part will swing around the center of the convex ball bearing 3, thereby causing one side of the lower swinging electrode 7 to shift upward and contact the upper fixed electrode 6, thus sending a collision signal to the system control center, thereby causing the entire system to stop urgently and minimizing the damage.

[0066] Combined with appendix Figure 6 As shown, the vulnerable part 51 is a conical vulnerable part 3D printed from engineering plastic or resin material; the vulnerable part 51 consists of an upper ring 511, a support column 512 and a lower ring 513, the diameter of the upper ring 51 is smaller than the diameter of the lower ring 513, and the support columns are arranged circumferentially at intervals of 120°; there are multiple vulnerable points 514 on the support columns.

[0067] Combined with appendix Figure 7 The image shows a transition flange 1, which has a threaded hole 1-3, a countersunk hole 1-2, and a hole 1-1. The transition flange 1 is connected to the ball joint base 2 through the threaded hole 1-3.

[0068] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0069] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention.

Claims

1. An ultrasonic probe fixing device with self-centering omnidirectional anti-collision function, characterized in that, It includes a base portion, a swing portion, and a collision detection device; the swing portion is capable of swinging relative to the base portion, and the collision detection device is disposed on the swing portion and the base portion; the collision detection device is used to detect whether a collision has occurred. The swinging part includes a convex ball swing seat (3), a swing bracket (9), an ultrasonic transducer sleeve (11), a contact force holding spring (12), an ultrasonic transducer fixed end cap (16), and an ultrasonic transducer (17). The convex ball pendulum seat (3) is set inside the concave ball connecting base (2), and the convex ball pendulum seat (3) can swing relative to the base part; the convex ball pendulum seat (3) is connected to one end of the swing bracket (9), and the other end of the swing bracket (9) is connected to the ultrasonic transducer sleeve (11). The ultrasonic transducer sleeve (11) houses the ultrasonic transducer (17) and is positioned and supported by the ultrasonic transducer fixed end cap (16). A contact force holding spring (12) is fitted on the outside of the ultrasonic transducer (17), and a pressure sensor (10) is provided at the upper end of the contact force holding spring (12). The ultrasonic transducer (17) can move axially relative to the ultrasonic transducer sleeve (11). The collision detection device includes an upper fixed electrode (6), a lower swing electrode (7), and an insulated swing electrode seat (8). An insulating connecting sleeve (4) is provided on the outside of the swing bracket (9). An upper fixed electrode (6) is provided at the lower end of the insulating connecting sleeve (4), and the upper fixed electrode (6) is loosely fitted on the swing bracket (9). The lower swing electrode (7) is provided on the insulating swing electrode seat (8), and the insulating swing electrode seat (8) is provided on the swing bracket (9). When the swing bracket (9) collides, it will drive the lower swing electrode (7) to swing. The lower swing electrode (7) contacts the upper fixed electrode (6) to transmit the electrical collision signal to the control system. The insulating connecting sleeve (4) has a built-in straightening mechanism, which is used to reset the swinging part; the straightening mechanism is a straightening spring or a straightening component, wherein the straightening spring is located outside the swinging bracket (9) and close to the convex ball swing seat (3); the straightening component includes an upper ring (511), a support column (512) and a lower ring (513); the diameter of the upper ring (511) is smaller than that of the lower ring (513); the support column (512) is used to connect the upper ring (511) and the lower ring (513).

2. The ultrasonic probe fixing device with self-centering omnidirectional anti-collision function according to claim 1, characterized in that, It also includes a coupling fluid spraying device, which includes a brush end cap (13), an oil-collecting brush mounting base (14), and a brush (15); the brush end cap (13) and the oil-collecting brush mounting base (14) are connected and installed on the outside of the ultrasonic transducer sleeve (11); the brush (15) is installed on the oil-collecting brush mounting base (14); the brush end cap (13) has a coupling fluid inlet (19).

3. The ultrasonic probe fixing device with self-centering omnidirectional anti-collision function according to claim 1, characterized in that, The support column (512) has several vulnerable points (514); the support columns (512) are distributed circumferentially at 120° intervals.

4. The ultrasonic probe fixing device with self-centering omnidirectional anti-collision function according to claim 1, characterized in that, The base portion includes a concave ball connecting base (2), with a concave ball structure below the concave ball connecting base (2), and the concave ball connecting base (2) is connected to the transition flange (1).

5. The ultrasonic probe fixing device with self-centering omnidirectional anti-collision function according to claim 1, characterized in that, The upper fixed electrode (6) and the lower swing electrode (7) are rings made of conductive metal.

6. The ultrasonic probe fixing device with self-centering omnidirectional anti-collision function according to claim 4, characterized in that, The insulating connecting sleeve (4) is connected to the concave ball connecting base (2) by a thread.

7. The method of operating the ultrasonic probe fixing device with self-centering omnidirectional anti-collision function according to any one of claims 1-6, characterized in that, The robotic arm drives the ultrasonic probe fixing device. When it encounters an obstacle, the swinging part can swing relative to the base part. After the collision detection device detects that a collision is about to occur, it transmits the electrical collision signal to the control system, thereby controlling the robotic arm to stop suddenly.

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