Adaptive coupling method and device for ultrasonic B-scan imaging of magnetostrictive sensor

Abstract

The present invention discloses an adaptive coupling method and device for ultrasonic B-scan imaging using a magnetostrictive sensor, comprising a detection frame with a follower winding and a servo winding at both ends; two spreader rods connected to the bottoms of the detection frame at both ends; a magnetostrictive strip having one end wound around the follower winding and the other end wound around the bottoms of the two spreader rods before being wound around the servo winding; a coupling agent application mechanism disposed outside the follower winding and including an application impeller, the scraper end of the application impeller contacting the outer surface of the magnetostrictive strip or the coupling agent within the coupling agent application mechanism; a detection probe located at the bottom of the detection frame, one end of which is connected to the detection frame via a soft support seat, and the other end of which is in contact with the inner side of the magnetostrictive strip located between the two spreader rods. The present invention can better adapt to the curvature of the detected object, eliminates the need to cut the strip, and can efficiently apply the coupling agent. It can also provide assistance during the scanning process, effectively reducing the force required by the operator.

Description

Technical Field

[0001] The present invention relates to the field of ultrasonic detection technology, and in particular to an adaptive coupling method and device for ultrasonic B-scan imaging of a magnetostrictive sensor. Background Art

[0002] In the field of nondestructive testing, B-scans are frequently used for short-range ultrasonic guided wave testing, such as detecting internal defects in pipe and plate welds, detecting corrosion thinning defects, and detecting minor defects in parent metal. For manual inspection, the most effective technique currently is reflection testing combined with B-scan imaging. This involves the inspector placing the probe on a scanning device, bringing it close to the weld to be inspected, and slowly pushing the scanning device to inspect the entire weld.

[0003] During scanning tasks, weak useful signals or low signal-to-noise ratios are unavoidable. A better approach is to use a magnetostrictive strip with a coupling agent to enhance the signal. However, when inspecting curved workpieces on-site, especially those with variable curvature, the strip must be cut to a length close to the workpiece's circumference. This complicates the strip preparation process, especially the application of coupling agent and cutting, which are laborious, time-consuming, and labor-intensive. Furthermore, the strip can only be used on objects with extremely monotonous curvature and trajectory variations, limiting its applicability.

[0004] Therefore, there is an urgent need to design a technical solution that can better adapt to the curvature of the object being inspected, does not require cutting the strip, and can efficiently apply the coupling agent. At the same time, it should provide a certain proportion of assistance to address the existing problem of laborious scanning and achieve labor-saving scanning. Summary of the Invention

[0005] The present invention aims to provide an adaptive coupling method and device for ultrasonic B-scan imaging using a magnetostrictive sensor to address the problems of the prior art. The method and device are more adaptable to the curvature of the object being detected, eliminate the need for cutting the strip, and enable efficient application of coupling agent.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] The present invention provides an adaptive coupling device for ultrasonic B-scan imaging of a magnetostrictive sensor, comprising:

[0008] A detection frame, wherein two ends of the detection frame are respectively provided with a follower winding and a servo winding;

[0009] Two spreading rods are connected to the bottom of both ends of the detection frame, and are respectively located on the outside of the lower side of the follower winding and the outside of the lower side of the servo winding;

[0010] A magnetostrictive strip, one end of which is wound around the follower winding, and the other end of which is wound around the bottoms of the two spreading rods in sequence and then wound around the servo winding;

[0011] a coupling agent coating mechanism, disposed outside the follower winding, the coupling agent coating mechanism comprising a coating impeller, the scraper end of the coating impeller being capable of contacting the outer surface of the magnetostrictive strip or the coupling agent in the coupling agent coating mechanism;

[0012] The detection probe is located at the bottom of the detection frame, one end of which is connected to the detection frame through a supporting soft seat, and the other end is in contact with the inner side of the magnetostrictive strip located between the two support rods. The magnetostrictive sensor includes a detection probe and a magnetostrictive strip. The detection probe is connected to an external imaging instrument to achieve B-scan imaging.

[0013] Preferably, a mounting slot is provided on the top of the detection frame, a three-dimensional force sensor is provided in the mounting slot, a holding handle is provided on the top of the three-dimensional force sensor, and the detection probe is connected to the bottom of the three-dimensional force sensor; an encoder is provided on one side of the detection probe, and the encoder and the three-dimensional force sensor respectively transmit the collected signals to the momentum observer and participate in the calculation of the momentum observer.

[0014] Preferably, the follower winding and the servo winding are movably arranged at both ends of the detection frame through rotating shafts, and a sprocket is provided at one end of the rotating shaft of the follower winding and the rotating shaft of the servo winding, respectively, and the two sprockets are connected by a closed chain transmission.

[0015] Preferably, a plurality of elastic support rods are fixedly provided at the bottom of the three-dimensional force sensor, the elastic support rods are symmetrically arranged at both ends of the detection probe, and the bottoms of the elastic support rods can be rollingly connected to the outer wall of the product to be detected.

[0016] Preferably, the detection probe includes a folded coil, which is arranged on an elastic support layer. A lining layer made of insulating flexible cloth is laid on the side of the folded coil close to the magnetostrictive strip. A support block is fixedly connected to the top of the elastic support layer. The upper end of the support block is connected to the bottom of the three-dimensional force sensor through a top spring. A gap is opened in the elastic support layer. The working section of the folded coil is attached to the bottom of the elastic support layer, and the non-working section of the folded coil is fixedly inserted in the gap. The folded coil is externally connected to detection instruments and equipment.

[0017] Preferably, the coupling agent smearing mechanism includes a coupling agent storage bin fixedly arranged on the outside of the follower winding, pillars are provided on the top of the two side walls of the coupling agent storage bin, the smearing impeller is movably connected between the two pillars, and a plurality of arc-shaped scrapers are evenly arranged on the smearing impeller, and the scrapers can be in contact and connected with the coupling agent in the coupling agent storage bin or the outside of the magnetostrictive strip near the follower winding; the rotating shaft of the smearing impeller is externally connected to a power source.

[0018] Preferably, connecting rods are provided at each end of the detection frame, each extending downward and outward, with the ends of the connecting rods connected to the expansion rods via telescopic rods. A power assist ratio adjustment knob is also provided on the detection frame. To address the difficulty in pushing the detection frame due to the viscosity of the coupling agent during scanning, the present invention incorporates a servo motor controlled by a momentum observer within the servo winding. The momentum observer estimates the total scanning resistance in real time, and the servo motor offsets the resistance according to the ratio set by the power assist ratio adjustment knob, achieving power assist control.

[0019] The present invention provides a detection method for an adaptive coupling device for ultrasonic B-scan imaging based on a magnetostrictive sensor, comprising:

[0020] Winding one end of the magnetostrictive strip on the follower winding of the detection device, and then winding the magnetostrictive strip around the bottom of the two support rods in turn, and then winding it on the servo winding;

[0021] Applying coupling agent on the outer surface of the magnetostrictive strip or the coupling agent contact surface in the coupling agent applying mechanism;

[0022] The ultrasonic signal is transmitted to the product to be tested by connecting the detection probe to the inner side of the magnetostrictive strip;

[0023] A three-dimensional force sensor is used to detect and record the thrust applied by the detection probe to the outer wall of the product to be tested, and an encoder is used to monitor the position and movement status of the detection probe;

[0024] Based on the data from the three-dimensional force sensor and encoder, combined with the calculation and analysis of the momentum observer, the total resistance during the scanning process is estimated in real time; the servo motor offsets the resistance according to the ratio set by the power ratio adjustment knob to achieve power control.

[0025] Preferably, the momentum observer is expressed as follows:

[0026] ;

[0027] in, , A is the system matrix, in the matrix is the motor torque constant, J is the moment of inertia of the servo motor, b is the damping coefficient; x is the servo motor system state matrix; B is the control input matrix, is the back electromotive force constant of the servo motor, J is the moment of inertia of the servo motor, , C is the output matrix, , u is the system input matrix, , D is the direct transfer matrix, , E is the input matrix of external interference, d is the external interference; The object being observed.

[0028] Preferably, according to the data of the three-dimensional force sensor and the encoder, based on the analysis of the momentum observer, real-time assistance is provided to adjust the offset state of the scanning resistance during the detection process, specifically including:

[0029] When the angular velocity detected by the encoder is greater than 0, it is determined whether the thrust of the three-dimensional force sensor is greater than the set threshold;

[0030] If the thrust of the three-dimensional force sensor is greater than the set threshold, the servo motor provided in the servo winding is started, and it is determined whether the angular velocity detected by the encoder increases;

[0031] If the thrust of the three-dimensional force sensor is less than a set threshold, the servo motor provided in the servo winding is stopped;

[0032] If the angular velocity detected by the encoder increases, it switches to feedforward control and determines whether the angular velocity detected by the encoder remains unchanged;

[0033] If the angular velocity detected by the encoder remains unchanged, it switches to the constant speed control mode;

[0034] If the angular velocity detected by the encoder does not increase, determine whether the angular velocity detected by the encoder decreases;

[0035] If the angular velocity detected by the encoder does not decrease, switch to the uniform speed control mode;

[0036] If the angular velocity detected by the encoder decreases, it is re-determined whether the thrust of the three-dimensional force sensor is greater than the set threshold.

[0037] Compared with the prior art, the present invention has achieved the following technical effects:

[0038] When the device of the present invention is in use, the magnetostrictive strip moves between the follower winding and the servo winding, and its outer surface contacts the surface of the device being inspected, eliminating the need for cutting the strip. A coupling agent smearing mechanism is provided on the outside of the follower winding. As the magnetostrictive strip moves, its outer surface scrapes against the scraper of the smearing impeller. The smearing impeller is driven to rotate by an external power source, and its scraper can then sequentially contact the coupling agent in the coupling agent smearing mechanism and the outer surface of the magnetostrictive strip, thereby applying the coupling agent to the outer surface of the magnetostrictive strip. This allows the magnetostrictive strip to be applied while working, improving efficiency. Because the magnetostrictive strip is spread apart by two spreading rods, the magnetostrictive strip between the two spreading rods, in conjunction with the expansion and contraction of the elastic support rod, can be adjusted in real time according to the curvature of the inspected part, allowing it to fit inspected parts of different curvatures. The power-assisted control function reduces the workload of the scanner. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0040] Figure 1 A schematic diagram of an apparatus according to one or some embodiments of the present invention;

[0041] Figure 2 Schematic diagram of the working state of the present invention when the detected object is a flat plate;

[0042] Figure 3 This is a schematic diagram of the working state of the present invention when the detected object is a pipe with a larger diameter;

[0043] Figure 4 This is a schematic diagram of the working state of the present invention when the detected object is a pipe of another smaller diameter;

[0044] Figure 5 This is a schematic diagram of the working state of the present invention when the detected object is a concave component;

[0045] Figure 6 This is a schematic structural diagram of the folded coil of the present invention before being bent;

[0046] Figure 7 A schematic diagram of the folded coil of the present invention;

[0047] Figure 8 Schematic diagram of the arrangement of multiple folded coils of the present invention;

[0048] Figure 9 This is a schematic diagram of the elastic support layer structure of the present invention;

[0049] Figure 10 This is a schematic diagram of the connection between the elastic support layer and the folded coil of the present invention;

[0050] Figure 11 This is a schematic diagram of the connection between the detection probe and the three-dimensional force sensor of the present invention;

[0051] Figure 12 This is a schematic diagram of the structure of the device of the present invention after removing the grip handle and the detection probe;

[0052] Figure 13 This is a front view of the ultrasonic detection device of the present invention;

[0053] Figure 14 This is a schematic diagram of the coupling agent coating mechanism of the present invention;

[0054] Figure 15 This is a flow chart of the ultrasonic detection method provided by the present invention.

[0055] Figure 16 A schematic diagram of the control strategy provided by the present invention;

[0056] Figure 17 A control flow chart provided by the present invention;

[0057] Figure 18 A schematic diagram of the control module of the scanner provided by the present invention when it is in a uniform speed stage;

[0058] Figure 19 A schematic diagram of the control module of the scanner provided by the present invention when in the acceleration and deceleration stages;

[0059] Figure 20 This is a schematic diagram of the control system provided by the present invention when the power assist ratio is 80%;

[0060] Figure 21 This is a diagram of the electrical signal transmission relationship of the present invention.

[0061] In the figure: 1-detection frame, 2-follow-up winding, 3-servo winding, 4-assistance ratio adjustment knob, 5-three-dimensional force sensor, 6-detection probe, 601-elastic support layer, 602-support block, 603-folded coil, 7-chain, 8-gripping handle, 9-magnetostrictive strip, 10-elastic support rod, 11-coupling agent application mechanism, 1101-coupling agent storage bin, 1102-application impeller, 1103-scraper, 12-front support rod, 13-rear support rod, 14-encoder, 15-top spring, 16-lining. DETAILED DESCRIPTION

[0062] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0063] The present invention aims to provide an adaptive coupling method and device for ultrasonic B-scan imaging using a magnetostrictive sensor to address the problems of the prior art. The method and device are more adaptable to the curvature of the object being detected, eliminate the need for cutting the strip, and enable efficient application of coupling agent.

[0064] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0065] Current nondestructive testing methods using magnetostrictive tape involve cutting the tape, applying a coupling agent to its surface, pre-fixing the tape to the surface of the object being tested, and then setting up a detection probe and coil for testing. However, existing magnetostrictive tape cannot be moved with the detection probe during testing, resulting in low testing efficiency and poor maneuverability. Another approach involves fixing the magnetostrictive tape to a testing device, but due to structural limitations, this approach cannot be used on objects with complex surface shapes.

[0066] In order to solve the above problems, the present invention provides an adaptive coupling device for ultrasonic B-scan imaging of a magnetostrictive sensor. Figure 1 ~Attached Figure 21, including a detection frame 1. The detection frame 1 of this embodiment includes a top plate, and both ends of the top plate are respectively provided with connecting rods inclined downward and outward. The ends of the connecting rods are connected to the support rods through telescopic rods. The connecting rods and the telescopic rods are both hollow structures. The inner diameter of the connecting rod is larger than the outer diameter of the telescopic rod, and the telescopic rod is inserted into the connecting rod. A tensioning spring is provided between the telescopic rod and the connecting rod, so that the device will not be stretched too long in a natural state. The telescopic rod and the support rod are integrated, and a telescopic rod is fixedly connected to each end of the support rod, thereby forming a whole. The two telescopic rods at both ends of the support rod are extended at the same time to achieve the purpose of support. The support rods of this embodiment include a front support rod 12 and a rear support rod 13. The two connecting rods at one end of the top plate are rotatably connected to the two ends of the front support rod 12, and the two connecting rods at the other end of the top plate are transmission connected to the two ends of the rear support rod 13. A follower winding 2 and a servo winding 3 are provided at both ends of the detection frame 1, the follower winding 2 is the front winding, and the servo winding 3 is the driving winding; the front support rod 12 and the rear support rod 13 are respectively located on the outside below the follower winding 2 and the outside below the servo winding 3; one end of the magnetostrictive strip 9 is wound around the follower winding 2, and the other end is wound around the bottom of the two support rods in turn and then wound around the servo winding 3; a coupling agent coating mechanism 11 is provided on the outside of the follower winding 2, and the coupling agent coating mechanism 11 includes a coating impeller 1102, and the end of the scraper 1103 of the coating impeller 1102 can contact the outer surface of the magnetostrictive strip 9 or the coupling agent in the coupling agent coating mechanism 11, and the rotating shaft of the coating impeller 1102 is externally connected to a power source such as a drive motor, and the coating One end of the rotating shaft of the impeller 1102 can also be connected to an external rotating crankshaft, using human power as a driving force source. A detection probe 6 is located at the bottom of the detection frame 1. A mounting slot is provided on the top plate of the detection frame 1, housing a three-dimensional force sensor 5. A gripping handle 8 is provided on the top of the three-dimensional force sensor 5, and the detection probe 6 is connected to the bottom of the three-dimensional force sensor 5. An encoder 14 is provided on one side of the detection probe 6. Both the encoder 14 and the three-dimensional force sensor 5 are connected to a momentum observer, transmitting their collected signals to the momentum observer and contributing to the momentum observer's calculations. The other end of the detection probe 6 is in contact with the inside of a magnetostrictive strip 9 located between two support rods. Multiple elastic struts 10 are fixed to the bottom of the three-dimensional force sensor 5. These struts 10 are symmetrically located at both ends of the detection probe 6, and their bottoms are capable of rolling engagement with the outer wall of the product being inspected. This invention enables free-path (non-straight, non-preset) ultrasonic guided wave B-scan testing. Using magnetostrictive strip 9 as a track, the strip is fed from follower winding 2, passes through return coil 603, and is then gathered and wound up by servo winding 3. The present invention is a compact, cart-like device. During testing, the strip 9 can be used as a whole roll, eliminating the need for cutting. This simplifies the on-site testing process and reduces operational complexity. It also facilitates the reuse of the entire roll, saving costs.The magnetostrictive sensor of the present invention comprises a detection probe and a magnetostrictive strip; the detection probe is externally connected to an imaging instrument to realize B-scan imaging.

[0067] When operating the device, a user holds handle 8 near the weld to be inspected, then applies magnetostrictive strip 9 between two support rods to the surface of the part to be inspected. The elastic support rod 10 is adjusted to push and adjust the curvature of magnetostrictive strip 9, thereby ensuring a tight fit between the strip and the surface of the part to be inspected, while the device is slowly pushed. Thanks to the encoder 14, each minute distance the probe 6 is pushed, the data from one point is collected. The probe 6 is connected to existing testing equipment, allowing for analysis and imaging of the test data. This continuous scanning process allows the entire weld to be inspected. The present invention utilizes an elastic support rod 10 in conjunction with a retractable spreader rod, capable of adjusting the shape of the magnetostrictive strip 9 as needed, thereby providing better adaptability to the curvature of the object being tested and enabling appropriate scanning of non-straight, tortuous paths. The detection probe 6 is connected to the bottom of the three-dimensional force sensor 5 using a top spring 15. A flexible insulating cloth lining 16 is attached to the side of the magnetostrictive strip near the strip, providing a tight fit with the inner side of the magnetostrictive strip 9. A coupling agent application mechanism 11 allows for simultaneous application of coupling agent during operation. During the testing process, coupling is achieved using coupling agent, ensuring uniform coupling agent between the moving magnetostrictive strip 9 and the workpiece being tested, resulting in stable acoustic coupling and effectively ensuring the quality of the excitation and coupling effects. The magnetostrictive strip 9 is flattened between the front and rear spreader rods 12 and 13, making it easy to press against the surface of the object being tested. The wheeled structure formed by the front support rod 12, the rear support rod 13 and the elastic support rod 10, combined with the gripping handle 8, makes the present invention easy to grasp and the scanning process more humane. At the same time, it solves the problem of the device slipping on the vertical pipe and ensures the quality of the B-scan image.

[0068] In this embodiment, the follower winding 2 and servo winding 3 are movably mounted at opposite ends of the detection frame 1 via rotating shafts. Sprockets are provided at one end of the rotating shafts of the follower winding 2 and the servo winding 3, respectively. A closed chain 7 is used to connect the two sprockets, ensuring the synchronous rotation of the follower winding 2 and servo winding 3. An unused roll of magnetostrictive tape 9 is wound around the follower winding 2, with a magnetostrictive tape 9 locking device located at the center of the follower winding 2, capable of securing one end of the magnetostrictive tape 9. A used magnetostrictive tape 9 is wound around the servo winding 3, with a magnetostrictive tape 9 locking device located at the center of the servo winding 3, capable of securing the other end of the magnetostrictive tape 9. The inner wheels of the elastic support rods 10 contact the magnetostrictive tape 9, while the outer wheels roll against the surface of the object being detected, thereby squeezing the magnetostrictive tape 9 into a closer fit.

[0069] The detection probe 6 of this embodiment includes a folded coil 603. A support block 602 is fixed within an elastic support layer 601. The folded coil 603 is fixed to the support block 602. The folded coil 603 is located in the gap between the support block 602 and the elastic support layer 601. The folded coil 603 is connected to external detection equipment. The folded coil 603 is made of metal foil, preferably cut from a highly conductive metal foil such as T2 copper foil, platinum foil, or silver foil. The foil should not be too thick, preferably less than 0.5 mm, as this will affect flexibility. The folded coil 603, produced using the metal foil cutting method, maintains its shape for a long time, both before and after bending. The coil is cut using methods such as wire cutting or laser cutting, using a 0.3 mm thick, highly conductive metal foil. Because the coil is originally a foil, its wire width is greater than its thickness and it is a single piece, allowing it to remain flat and untangled. Insulating cloth is attached to the top and bottom of the coil, secured to the coil using gluing or sewing. The coil is then bent at right angles to form a vertically arranged working section and non-working section, thereby completing the production of the folded coil 603, and utilizing the right-angled folded structure of the folded coil 603 to generate ultrasonic guided waves; multiple folded coils 603 are connected in series and folded, and externally connected to detection instruments and equipment, and the folded structures are arranged in sequence to form an area capable of generating ultrasonic guided waves; only an end section of the folded coil 603 with a length of about 1 cm is prepared for exciting ultrasonic guided waves, which is the working section, and the surface of the working section is adhered to an inner lining made of insulating cloth; the remaining part is bent up and is not used to excite the generation of ultrasonic guided waves, forming a non-working section.

[0070] The elastic support layer 601 is a square material sheet made of a soft material with elasticity and plasticity. Its front side contacts the magnetostrictive strip 9, and its back side is used to fix with the support block 602. Figure 1 Taking the structure as an example, this embodiment uses the bottom surface of the elastic support layer 601 as the front surface and the top surface as the back surface. The support block 602 is connected to the bottom of the three-dimensional force sensor 5 via the top spring 15. The front and back surfaces of the elastic support layer 601 are provided with a through gap, the gap length of which is the same as the width of the folded coil 603; the interval between two adjacent gaps is approximately 1 cm. The coil is bent at a specified distance from the end, forming an L-shape in three-dimensional space when arranged in a planar manner. The end reserved for exciting the ultrasonic guided wave is pressed against the front surface of the elastic support layer 601, and the remaining portion is inserted into the gap of the support layer.

[0071] The coupling agent application mechanism 11 includes a coupling agent storage bin 1101 fixedly mounted outside the follower winding 2. Supports are provided at the top of the two side walls of the coupling agent storage bin 1101. A coating impeller 1102 is movably connected between the two supports. The rotating shaft of the coating impeller 1102 is connected to a power source such as a drive motor to drive the coating impeller 1102. A plurality of arc-shaped scrapers 1103 are evenly distributed around the coating impeller 1102. The scrapers 1103 can contact and connect with the coupling agent in the coupling agent storage bin 1101 or the outside of the magnetostrictive strip 9 near the follower winding 2. The scrapers 1103 first contact the coupling agent and then scrape the outside of the magnetostrictive strip 9. The scrapers 1103 are elastic and can, after being exposed to the coupling agent, scrape against the magnetostrictive strip 9 to apply the coupling agent to the outer surface of the magnetostrictive strip 9. The magnetostrictive strip 9, originating from the follower winding 2, first enters the coupling agent coating mechanism 11, where it frequently scrapes against the scraper 1103, coating the side in contact with the object being inspected with a layer of coupling agent. The inspection frame 1 is provided with a power ratio adjustment knob 4, which can set the power ratio of the servo system within the servo winding 3. The servo system includes a servo motor, which is connected to the rotating shaft of the servo winding 3 via a meshing gear set. Because the servo motor is connected to the rotating shaft of the servo winding 3, the power ratio of the servo motor to the rotation of the servo winding 3 can be adjusted. Once the servo motor senses human thrust, it will start. When the servo motor starts, it can provide a certain amount of power to the servo winding 3, reducing the manpower required to push the device of the present invention. The power ratio adjustment knob 4 is a conventional knob structure, and its adjustment method is based on the control method of the momentum observer of the present invention. By adjusting the power ratio adjustment knob 4, the servo motor can provide a certain percentage of the total load power.

[0072] As the magnetostrictive strip 9 moves, the inspection frame 1 continuously moves forward; the actively excited inspection probe 6 remains in the center of the inspection frame 1, maintaining continuous contact and relative sliding with the magnetostrictive strip 9. The device of the present invention, combined with the inspection probe 6, can perform coupled magnetostrictive ultrasonic guided wave B-scan inspections on a variety of scenarios, including flat and curved flat surfaces, pipelines, and continuous elbows. Combined with the gripping handle 8, coupled magnetostrictive ultrasonic guided wave B-scan inspections can be performed specifically on straight pipeline sections.

[0073] like Figure 15 As shown, the present invention provides a detection method of an adaptive coupling device for ultrasonic B-scan imaging based on the magnetostrictive sensor, comprising:

[0074] Step 1401: Wind one end of the magnetostrictive strip 9 onto the follower winding 2 of the detection device, and then wind the magnetostrictive strip 9 around the bottoms of the two spreading rods in sequence before winding it onto the servo winding 3;

[0075] Step 1402: applying coupling agent to the outer surface of the magnetostrictive strip 9 or the coupling agent contact surface in the coupling agent applying mechanism;

[0076] Step 1403: The ultrasonic signal is transmitted to the product to be tested by contacting and connecting the detection probe 6 with the inner side of the magnetostrictive strip 9;

[0077] Step 1404: Detect and record the thrust applied by the detection probe 6 to the outer wall of the product to be detected using the three-dimensional force sensor 5, and monitor the position and motion state of the detection probe 6 using the encoder 14;

[0078] Step 1405: Based on the data from the three-dimensional force sensor 5 and the encoder 14, combined with the analysis of the momentum observer, the total resistance during the scanning process is estimated in real time; the servo motor provides a certain amount of assistance to the servo winding 3 according to the ratio set by the assistance ratio adjustment knob 4, thereby offsetting the resistance and achieving assistance control.

[0079] The design of the momentum observer is as follows:

[0080] Use the momentum observer to observe the external damping load.

[0081] Define the servo motor system state matrix as , where the first state variable of the state matrix is ​​set to the angular velocity ; The second state variable Set to motor torque ;The system input matrix is Servo motor input current. Based on the state space method, the state equation is:

[0082] ;

[0083] Among them, A is the system matrix, the matrix is the servo motor torque constant, J is the servo motor's moment of inertia, and b is the damping coefficient: , B is the control input matrix, is the back electromotive force constant of the servo motor, and J is the moment of inertia of the servo motor: ; C is the output matrix, ; D is the direct transfer matrix, ; E is the input matrix of external interference, d is the external interference; is the observed object, whose size is equal to the residual load of the external total load after the thrust is offset (the residual load is equal to the difference between the external total load and the human thrust load); all parameters in matrix A and matrix B can be calibrated by parameter identification method in a laboratory environment.

[0084] Therefore, the momentum observer equation is: ; Where L is the gain matrix of the observer.

[0085] The estimation error of the momentum observer is: ; The observed external load is: ; The estimated value of the external damping load can be obtained as: .

[0086] In order to ensure the stability of the momentum observer, the momentum observer equation feedback gain matrix L is designed. Using the quadratic Lyapunov function, we have: .

[0087] Where P is the solution matrix of the Riccati equation, which has the symmetric positive definite property.

[0088] in, , is the error state error, P should remain negative. Therefore: .

[0089] With the help of the Riccati equation, the positive definite symmetric matrix P is first calculated, and then the matrix L is solved. Thus, a stable momentum observer is obtained.

[0090] like Figure 17 As shown, according to the data of the three-dimensional force sensor 5 and the encoder 14, based on the analysis of the momentum observer, the motion state of the detection probe 6 is adjusted in real time, specifically including:

[0091] When the angular velocity detected by the encoder 14 is greater than 0, it is determined whether the thrust of the three-dimensional force sensor 5 is greater than a set threshold;

[0092] If the thrust of the three-dimensional force sensor 5 is greater than the set threshold, the servo motor provided in the servo winding 3 is started, and it is determined whether the angular velocity detected by the encoder 14 increases;

[0093] If the thrust of the three-dimensional force sensor 5 is less than the set threshold, the servo motor provided in the servo winding 3 is stopped;

[0094] If the angular velocity detected by the encoder 14 increases, the control switches to feedforward control and determines whether the angular velocity detected by the encoder 14 remains unchanged;

[0095] If the angular velocity detected by the encoder 14 remains unchanged, the mode is switched to the uniform speed control mode;

[0096] If the angular velocity detected by the encoder 14 does not increase, it is determined whether the angular velocity detected by the encoder 14 decreases;

[0097] If the angular velocity detected by the encoder 14 does not decrease, the mode is switched to the uniform speed control mode;

[0098] If the angular velocity detected by the encoder 14 decreases, it is re-determined whether the thrust of the three-dimensional force sensor 5 is greater than the set threshold.

[0099] The person shown provides the thrust Measured by the torque sensor, when the thrust If the load is greater than the threshold and the scanning device has a speed greater than the threshold, the scanning device starts and provides a certain percentage of the total load. = × (n% is manually set by the power ratio adjustment knob 4); there is damping force when pushing The pushing speed changes slowly and the scanning speed is constant. = + The control system is equipped with a momentum observer that can calculate the remaining load force after the total load is offset. The estimated value of the actual load force is = + Due to the existence of velocity fluctuations and acceleration, Not equal to .

[0100] like Figure 16 As shown, when the person's thrust When the scanning mechanism is large enough and in motion, the servo system starts and the servo motor is regulated by the control algorithm to provide assistance. ≈ × (n% is manually set by the power ratio adjustment knob 4); Due to the viscosity of the coupling agent, the damping force when pushing As the pushing speed changes, if the power is combined at this time Greater than resistance , the scanning device accelerates and enters the acceleration stage control mode; when the speed is sufficient, the human thrust Moderately reduce and basically maintain stability, helping As the power decreases moderately and remains relatively stable, the combined power Approximately equal to the damping force , at this time, the speed is basically maintained; when the scan is about to end, the thrust of the person When it continues to decrease, the power Also continues to decrease, the combined power Continuously less than the damping force At this time, the scanning device slows down and enters the deceleration stage control mode; when the scanning device is basically stationary and the human thrust is less than the threshold, the scanning device stops and does not provide assistance.

[0101] Among them, when the scanner is in the uniform speed stage, the control module diagram is as follows Figure 18 When the scanner is in the acceleration and deceleration stages, its control module diagram is as shown in Figure 19 shown.

[0102] In addition, the present invention also provides a control system for a power assist control scheme, such as Figure 20 and Figure 21 As shown, the three-dimensional sensor 5 sends the measured thrust to the power-assistance control system. The power-assistance control system controls the torque of the servo motor through the current i. Based on the torque of the servo motor and manpower, the device of the present invention is prompted to crawl. The encoder 14 updates the position in real time and sends the monitored angular velocity to the momentum observer. The momentum observer transmits the load to the power-assistance control system so that it provides corresponding power assistance.

[0103] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. An adaptive coupling device for magnetostrictive sensor ultrasonic B-scan imaging, characterized by: include: A detection frame, wherein two ends of the detection frame are respectively provided with a follower winding and a servo winding; Two spreading rods are connected to the bottom of both ends of the detection frame, and are respectively located on the outside of the lower side of the follower winding and the outside of the lower side of the servo winding; A magnetostrictive strip, one end of which is wound around the follower winding, and the other end of which is wound around the bottoms of the two spreading rods in sequence and then wound around the servo winding; a coupling agent smearing mechanism disposed outside the follower winding, the coupling agent smearing mechanism including a smearing impeller, the scraper tip of the smearing impeller being capable of contacting the outer surface of the magnetostrictive strip or the coupling agent within the coupling agent smearing mechanism; when the magnetostrictive strip moves, its outer surface scrapes against the scraper of the smearing impeller, and the smearing impeller is driven to rotate by an external power source, so that the scraper can sequentially contact the coupling agent within the coupling agent smearing mechanism and the outer surface of the magnetostrictive strip, thereby smearing the coupling agent onto the outer surface of the magnetostrictive strip; The detection probe is located at the bottom of the detection frame, one end of which is connected to the detection frame through a supporting soft seat, and the other end is in contact with the inner side of the magnetostrictive strip located between the two support rods.

2. The adaptive coupling device for ultrasonic B-scan imaging using a magnetostrictive sensor according to claim 1, characterized in that: A mounting slot is provided on the top of the detection frame, a three-dimensional force sensor is provided in the mounting slot, a holding handle is provided on the top of the three-dimensional force sensor, and the detection probe is connected to the bottom of the three-dimensional force sensor; an encoder is provided on one side of the detection probe, and the encoder and the three-dimensional force sensor respectively transmit the collected signals to the momentum observer and participate in the calculation of the momentum observer.

3. The adaptive coupling device for ultrasonic B-scan imaging using a magnetostrictive sensor according to claim 1, characterized in that: The follower winding and the servo winding are respectively arranged at two ends of the detection frame through rotating shafts. One end of the rotating shaft of the follower winding and the rotating shaft of the servo winding are respectively provided with sprockets, and the two sprockets are connected by a closed chain transmission.

4. The adaptive coupling device for ultrasonic B-scan imaging using a magnetostrictive sensor according to claim 2, wherein: A plurality of elastic support rods are fixedly provided at the bottom of the three-dimensional force sensor. The elastic support rods are symmetrically arranged at both ends of the detection probe, and the bottoms of the elastic support rods can be rollingly connected to the outer wall of the product to be detected.

5. The adaptive coupling device for ultrasonic B-scan imaging using a magnetostrictive sensor according to claim 2, characterized in that: The detection probe includes a folded coil, which is arranged on an elastic support layer. A lining layer made of insulating flexible cloth is laid on the side of the folded coil close to the magnetostrictive strip. A support block is fixedly connected to the top of the elastic support layer. The upper end of the support block is connected to the bottom of the three-dimensional force sensor through a top spring. A gap is opened in the elastic support layer. The working section of the folded coil is attached to the bottom of the elastic support layer, and the non-working section of the folded coil is fixedly inserted in the gap. The folded coil is externally connected to detection instruments and equipment.

6. The adaptive coupling device for ultrasonic B-scan imaging using a magnetostrictive sensor according to claim 1, characterized in that: The coupling agent smearing mechanism includes a coupling agent storage bin fixedly arranged on the outside of the follower winding, pillars are provided on the top of the two side walls of the coupling agent storage bin, the smearing impeller is movably connected between the two pillars, and a plurality of arc-shaped scrapers are evenly arranged on the smearing impeller, and the scrapers can contact and connect with the coupling agent in the coupling agent storage bin or the outside of the magnetostrictive strip near the follower winding; the rotating shaft of the smearing impeller is externally connected to a power source.

7. The adaptive coupling device for ultrasonic B-scan imaging using a magnetostrictive sensor according to claim 1, characterized in that: Both ends of the detection frame are respectively provided with connecting rods inclined downward and outward, and the ends of the connecting rods are connected to the spreading rods through telescopic rods; and a power assist ratio adjustment knob is provided on the detection frame.

8. A coupling method for an adaptive coupling device for ultrasonic B-scan imaging of a magnetostrictive sensor based on any one of claims 1 to 7, characterized in that: include: Winding one end of the magnetostrictive strip on the follower winding of the detection device, and then winding the magnetostrictive strip around the bottom of the two support rods in turn, and then winding it on the servo winding; Coupling agent is applied to the outer surface of the magnetostrictive strip or the coupling agent contact surface in the coupling agent application mechanism; when the coupling agent is applied to the coupling agent contact surface in the coupling agent application mechanism, the outer surface of the magnetostrictive strip scrapes against the scraper of the application impeller as the magnetostrictive strip moves, and the application impeller is driven to rotate by an external power source, so that the scraper can sequentially contact the coupling agent in the coupling agent application mechanism and the outer surface of the magnetostrictive strip, thereby applying the coupling agent to the outer surface of the magnetostrictive strip; The ultrasonic signal is transmitted to the product to be tested by connecting the detection probe to the inner side of the magnetostrictive strip; A three-dimensional force sensor is used to detect and record the thrust applied by the detection probe to the outer wall of the product to be tested, and an encoder is used to monitor the position and movement status of the detection probe; According to the data from the three-dimensional force sensor and encoder, combined with the calculation and analysis of the momentum observer, the motion state of the detection probe is adjusted in real time.

9. The coupling method according to claim 8, characterized in that: The momentum observer formula is: ； in, , A is the system matrix, in the matrix is the servo motor torque constant, J is the servo motor moment of inertia, b is the damping coefficient; x is the servo motor system state matrix; B is the control input matrix, is the back electromotive force constant of the servo motor, J is the moment of inertia of the servo motor, , C is the output matrix, , u is the system input matrix, , D is the direct transfer matrix, , E is the input matrix of external interference, d is the external interference; The object being observed.

10. The coupling method according to claim 9, characterized in that: Based on the data from the 3D force sensor and encoder and the analysis of the momentum observer, real-time assistance is provided to adjust the offset state of the scanning resistance during the inspection process, including: When the angular velocity detected by the encoder is greater than 0, it is determined whether the thrust of the three-dimensional force sensor is greater than the set threshold; If the thrust of the three-dimensional force sensor is greater than the set threshold, the servo motor provided in the servo winding is started, and it is determined whether the angular velocity detected by the encoder increases; If the thrust of the three-dimensional force sensor is less than a set threshold, the servo motor provided in the servo winding is stopped; If the angular velocity detected by the encoder increases, it switches to feedforward control and determines whether the angular velocity detected by the encoder remains unchanged; If the angular velocity detected by the encoder remains unchanged, it switches to the constant speed control mode; If the angular velocity detected by the encoder does not increase, determine whether the angular velocity detected by the encoder decreases; If the angular velocity detected by the encoder does not decrease, switch to the uniform speed control mode; If the angular velocity detected by the encoder decreases, it is re-determined whether the thrust of the three-dimensional force sensor is greater than the set threshold.

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