A fully automatic numerical control adjustment method and system for an ultrasonic cleaning production line

Abstract

The present application relates to the field of ultrasonic cleaning technology, and specifically to a fully automatic numerical control adjustment method and system for an ultrasonic cleaning production line. The method comprises: obtaining the interference speed of the water flow velocity in the cleaning tank on the propagation of ultrasonic waves at each moment, and correcting the propagation speed of ultrasonic waves in the cleaning tank; determining the acoustic path difference of each transducer array element based on the ultrasonic propagation characteristics between each transducer array element and the workpiece based on the corrected propagation speed, and obtaining a first phase compensation amount for each transducer array element; analyzing the fluctuation amount of the ultrasonic power density due to water flow disturbance based on the change in ultrasonic power density with the propagation path length, and determining a second phase compensation amount to achieve a target power density based on the numerical relationship between power density and ultrasonic sound pressure amplitude; and obtaining the final phase compensation amount of the ultrasonic wave emitted by each transducer array element at different radial distances. The present application aims to improve the ultrasonic cleaning effect.

Description

Technical Field

[0001] The present application relates to the field of ultrasonic cleaning technology, and in particular to a fully automatic numerical control adjustment method and system for an ultrasonic cleaning production line. Background Art

[0002] Ultrasonic cleaning lines are automated equipment that remove surface stains from workpieces through the ultrasonic cavitation effect. Their core principle is to harness the energy released when tiny bubbles created by high-frequency sound waves in a liquid burst, stripping away contaminants such as grease, metal debris, and scale from the workpiece's surface. They offer high cleaning efficiency, precision, and the ability to penetrate deep into the gaps between complex structures. In automated power tool manufacturing, these lines are primarily used to clean metal components such as motor rotors, gears, bearings, and housings. To address the diverse materials, complex structures, and high-volume production lines involved, a multi-slot continuous design integrated with a CNC system enables dynamic adjustment of ultrasonic parameters such as frequency, power, temperature, and cleaning time.

[0003] Traditional ultrasonic cleaning lines typically use fixed ultrasonic parameters and static transducer arrays when cleaning workpieces. They rely on empirically pre-set cleaning times or simple PID control to adjust power. These systems fail to account for the dynamic impact of water flow disturbances on the ultrasonic propagation path when the workpiece moves at high speeds. In the existing patent "CN115676258A: A Conveyor Mechanism for Ultrasonic Cleaning," fluctuations in water flow caused by a high-speed conveyor belt can cause variations in the propagation speed of ultrasonic waves in the cleaning fluid. This in turn causes uneven power density distribution on the workpiece surface, ultimately leading to unstable cleaning results. Summary of the Invention

[0004] In view of the above, it is necessary to provide a fully automatic CNC adjustment method and system for an ultrasonic cleaning production line to monitor the motion trajectory of the workpiece and water flow disturbance in real time, and solve the problems of ultrasonic propagation path changes and uneven power density distribution caused by water flow disturbance through phased array phase compensation technology.

[0005] The first aspect of the present application provides a fully automatic numerical control adjustment method for an ultrasonic cleaning production line, the method comprising:

[0006] Obtain the interference speed of the water flow velocity in the cleaning tank on the propagation of ultrasonic waves at each moment;

[0007] Based on the propagation velocity of the ultrasonic wave in the cleaning tank when it is not disturbed and the interference velocity, the propagation velocity of the ultrasonic wave is corrected; based on the ultrasonic wave propagation characteristics between each transducer array element and the workpiece after the corrected propagation velocity, as well as the angle between each transducer array element and the workpiece path direction and the interference velocity, the acoustic path difference of each transducer array element is determined, and combined with the wave number of the ultrasonic wave per unit length, a first phase compensation amount for each transducer array element is obtained;

[0008] Based on the change in ultrasonic power density with propagation path length, the target power density of the ultrasonic wave emitted by each transducer array element is determined. The fluctuation of ultrasonic power density due to water flow disturbance is analyzed. Based on the numerical relationship between power density and ultrasonic sound pressure amplitude, the second phase compensation amount required to achieve the target power density is determined.

[0009] Based on the first phase compensation amount and the second phase compensation amount, a final phase compensation amount of the ultrasonic wave emitted by each transducer array element at different radial distances is obtained.

[0010] The interference speed of the water flow velocity in the cleaning tank on the ultrasonic wave propagation at each moment is specifically: the component of the water flow velocity at each moment in the ultrasonic wave propagation direction.

[0011] The propagation speed of the ultrasonic wave in the cleaning tank is corrected, specifically: the sum of the propagation speed of the ultrasonic wave without disturbance and the interference speed is used as the corrected propagation speed.

[0012] The determining of the acoustic path difference of each transducer array element is specifically as follows:

[0013] Calculate the path length of the ultrasonic wave from each transducer array element to the workpiece, and obtain the transmission time of the ultrasonic wave in the path length at the corrected propagation speed, which is recorded as ;

[0014] After the water flow is disturbed, the acoustic path difference of the nth transducer array element is recorded as , the specific formula is ,in, Indicates the azimuth angle formed by the path from the nth array element to the workpiece and the preset reference direction, It represents the interference speed of water flow on ultrasonic propagation at the tth moment, Represents the cosine function.

[0015] The first phase compensation amount of each transducer array element is obtained as follows:

[0016] Calculating the wave number of the ultrasonic wave contained in the unit length, and taking the product of the wave number and the acoustic path difference as the phase delay caused by the acoustic path difference of each transducer array element;

[0017] The inverse of the phase delay is used as a first phase compensation amount of the corresponding transducer array element.

[0018] The specific formula for determining the target power density of the ultrasonic waves emitted by each transducer array element is: , where r represents the radial distance from the workpiece to the ultrasonic propagation axis in space, Indicates the maximum power density of ultrasonic waves at the propagation center; represents the attenuation coefficient; e represents the natural constant; It represents the target power density of the ultrasonic wave emitted by each transducer array element at the radial distance r of the ultrasonic wave propagation axis;

[0019] The attenuation coefficient is obtained by analyzing the power density of the ultrasonic wave at different radial distances in its propagation direction in the absence of disturbance, and obtaining it through nonlinear regression according to the formula corresponding to the target power density.

[0020] The fluctuation amount of the power density of the analyzed ultrasonic wave affected by the water flow disturbance is specifically:

[0021] The power density distribution of water velocity at the same radial distance from the ultrasonic propagation axis at different times is measured and fitted under the condition that there is no workpiece, and the slope of the fitting curve corresponding to each radial distance is used as the fluctuation coefficient of each radial distance.

[0022] The product of the fluctuation coefficient and the interference velocity at the corresponding moment is taken as the fluctuation amount of the ultrasonic power density affected by the water flow disturbance at the radial distance r of the ultrasonic propagation axis.

[0023] The second phase compensation amount for determining the preset target power density is determined by the following formula: Where, It represents the target power density of the ultrasonic wave at the radial distance r from the propagation axis; It indicates the fluctuation of ultrasonic power density due to water flow disturbance at the radial distance r from the propagation axis; represents the arccosine trigonometric function; It represents the second phase compensation amount of the ultrasonic wave emitted by each transducer array element at the radial distance r of the propagation axis.

[0024] The final phase compensation amount of the ultrasonic wave emitted by each transducer array element at different radial distances is specifically the sum of the first phase compensation amount and the second phase compensation amount.

[0025] In the second aspect, an embodiment of the present application also provides a fully automatic CNC adjustment system for an ultrasonic cleaning production line, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor implements the steps of any one of the above methods when executing the computer program.

[0026] This application has at least the following beneficial effects:

[0027] This application uses a Doppler flowmeter and a laser displacement sensor to obtain the water flow velocity vector and position coordinates on the workpiece surface in real time. In the absence of water flow disturbance, the ultrasonic wave propagation velocity is corrected based on the ultrasonic wave propagation velocity and water flow disturbance to ensure an accurate propagation velocity model; based on the corrected propagation velocity, the ultrasonic wave propagation characteristics between each transducer array element and the workpiece are considered, and the sound path difference of each transducer array element is calculated in combination with the interference factor and the angle between the propagation path, which helps to subsequently accurately adjust the ultrasonic wave phase compensation, thereby improving the uniformity and efficiency of ultrasonic cleaning; the phase compensation amount of each array element is determined according to the sound path difference, and then by analyzing the attenuation of power density and water flow disturbance, combined with phase compensation, the compensation amount is finally loaded into the transducer excitation signal in real time, and the directionality of the ultrasonic beam is dynamically adjusted to offset the influence of water flow disturbance on the propagation path, so that it can stably achieve the desired cleaning effect. This application uses multi-sensor fusion to monitor the coupling effect of water flow and workpiece movement in real time, establishes a dynamic model of sound path difference and phase compensation, and realizes real-time phase correction of the ultrasonic beam, thereby reducing the fluctuation amplitude of power density on the workpiece surface and improving cleaning uniformity, solving the problem that traditional static parameter adjustment cannot cope with dynamic disturbances. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A flowchart of a fully automatic numerical control adjustment method for an ultrasonic cleaning production line provided in one embodiment of the present application;

[0029] Figure 2 A flowchart for obtaining the final phase compensation value provided in one embodiment of the present application. DETAILED DESCRIPTION

[0030] In the description of the embodiments of this application, words such as "exemplary," "or," and "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "or," and "for example" is intended to present the relevant concepts in a concrete manner.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the art of this application. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0032] It should also be noted that the terms "first" and "second" in this application and the accompanying drawings are used to distinguish similar objects, rather than to describe a specific order or sequence. The methods disclosed in the embodiments of this application or the methods shown in the flowcharts include one or more steps for implementing the methods. Without departing from the scope of protection of this application, the order of executing multiple steps can be interchanged with each other, and some steps can also be deleted.

[0033] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0034] The following describes in detail a fully automatic numerical control adjustment method and system for an ultrasonic cleaning production line provided by the present application with reference to the accompanying drawings.

[0035] See also Figure 1 , which shows a flowchart of a fully automatic numerical control adjustment method for an ultrasonic cleaning production line provided by one embodiment of the present application, the method comprising the following steps:

[0036] The first step is to obtain the interference speed of the water flow velocity in the cleaning tank on the propagation of ultrasonic waves at each moment.

[0037] A set of Doppler flowmeters was installed at the inlet and outlet of the cleaning tank, 50 mm from the edge of the cleaning tank, tilted 45 degrees downward perpendicular to the conveyor plane, and 200 mm above the liquid surface. The two sets of sensor data were aligned using a synchronous clock (1 MHz crystal oscillator), and the Kalman filter algorithm was used to fuse the data to eliminate measurement noise and calculate the water flow velocity vector. ,in represents the flow velocity component along the direction of conveyor belt movement, Represents the vertical component.

[0038] Two sets of laser displacement sensors are installed directly above the cleaning tank. One set is a lateral positioning sensor, which is installed on both sides of the conveyor belt width direction, 300mm above the liquid level. The measuring beam forms a 60° angle with the conveyor belt plane to calculate the y coordinate of the workpiece center. , reflecting the lateral offset of the workpiece on the conveyor belt; the other set is the longitudinal positioning sensor, which is installed just above the entrance of the cleaning tank, 250mm above the conveyor belt surface, and emits a laser beam vertically downward to calculate the x-coordinate of the workpiece , since the workpiece moves at a constant speed along the conveyor belt, ,in Represents the conveyor belt speed. A three-dimensional coordinate system is established with the center of the cleaning tank as the origin, and all sensor measurements are transformed into this unified coordinate system through the coordinate transformation matrix.

[0039] In this embodiment, the sampling frequency of the Doppler flow meter is 1 kHz, and the sampling frequency of the laser displacement sensor is 5 kHz. All sensors are connected to the CNC system via industrial Ethernet and synchronized using the IEEE 1588 precision clock protocol to ensure the timestamp consistency of the velocity vector and position data.

[0040] The water flow disturbance in the cleaning tank will produce a dynamic impact force on the surface of the workpiece, causing the actual motion trajectory of the workpiece to deviate from the ideal path of uniform motion of the conveyor belt; at the same time, the component of the water flow velocity vector in the direction of ultrasonic propagation will directly change the length of the sound path. If this disturbance velocity is not calculated, it will lead to ultrasonic phase compensation errors, causing the beam pointing of the transducer array to deviate from the target area of ​​the workpiece, resulting in uneven cleaning power density.

[0041] The water velocity vector represents the real-time velocity distribution of the water flow on the workpiece surface, while the water flow disturbance velocity is the projection component of the vector in the direction of conveyor movement, which is decomposed from the two-dimensional velocity through the coordinate system conversion algorithm. This component directly reflects the disturbance effect of the water flow in the main propagation direction of the ultrasonic wave and is the core factor causing the change of the sound path difference. Its calculation formula can be expressed as ,in, It represents the interference speed of water flow on ultrasonic wave propagation at the tth moment; Represents the angle between the water velocity vector and the ultrasonic wave propagation direction; represents the water velocity vector at the tth moment, Represents the cosine function.

[0042] The second step: based on the propagation speed of the ultrasonic wave in the cleaning tank when it is not disturbed and the interference speed, the propagation speed of the ultrasonic wave is corrected; based on the ultrasonic propagation characteristics between each transducer array element and the workpiece after the corrected propagation speed, as well as the angle between each transducer array element and the workpiece path direction and the interference speed, the acoustic path difference of each transducer array element is determined, and combined with the wave number of the ultrasonic wave within the unit length, the first phase compensation amount of each transducer array element is obtained.

[0043] Water flow disturbances can cause the ultrasonic propagation path to bend, resulting in uneven distribution of acoustic energy across the workpiece surface. Traditional static acoustic field designs cannot cope with these dynamic changes, leading to inconsistent cleaning results (e.g., insufficient cleaning of deep holes and excessive cleaning of surface areas). By calculating the acoustic path difference, we can quantify the impact of water flow disturbances on ultrasonic propagation, providing a basis for subsequent phase compensation.

[0044] Acoustic path difference refers to the difference in length of the propagation path of ultrasonic waves in the presence and absence of water flow disturbances. The propagation speed of ultrasonic waves in the cleaning fluid will change due to the water flow disturbance speed. The water flow will also refract the ultrasonic beam, causing the actual propagation path to deviate from the straight propagation path in the absence of disturbances. The acoustic path difference will cause ultrasonic phase delay. The superposition of phase differences of multiple transducer array elements will distort the power density distribution of the synthetic sound field. This application offsets this distortion through phase compensation.

[0045] The acoustic path difference is related to the propagation speed of ultrasound in the cleaning fluid. However, water flow disturbances can cause the cleaning fluid to flow in a directional manner, resulting in a change in the propagation speed of the ultrasound. When the direction of ultrasound propagation is at an angle to the water flow, the component of the water flow velocity in the propagation direction is superimposed on the inherent speed of the ultrasound. If the two directions are aligned, the speed of sound increases, while if they are in opposite directions, the speed of sound decreases. For oblique flow, only the projected component of the water flow velocity needs to be considered. This change in speed of sound directly affects the propagation path and energy distribution of the ultrasound, resulting in uneven power density on the workpiece surface, necessitating real-time correction of the speed of sound.

[0046] Based on the principle of wave superposition, the corrected sound speed is ,in, It indicates the propagation speed of ultrasonic waves in the cleaning fluid when there is no disturbance, and is used to characterize the effective influence of water flow on the speed of sound.

[0047] The transducer array element is the basic energy conversion unit that constitutes the ultrasonic cleaning production line. Its core function is to convert electrical energy into mechanical energy (ultrasonic vibration). In this application, a phased array is used, in which each array element can independently control the phase and amplitude, and optimize the sound field by synthesizing ultrasonic beams in different directions.

[0048] Calculate the Euclidean distance from the workpiece to each transducer array element based on the workpiece coordinates , then after being disturbed by the water flow, the acoustic path difference of the nth transducer array element is recorded as , the formula is: ,in, It represents the transmission time of ultrasonic wave from the nth transducer array element to the workpiece, Indicates the propagation speed of ultrasonic waves in the cleaning fluid, It represents the azimuth formed by the path from the nth array element to the workpiece and the preset reference direction. In this embodiment, the positive direction of the X axis is set as the reference direction, and cos() represents the cosine function.

[0049] The larger the acoustic path difference, the more significant the change in the ultrasonic propagation path caused by the water flow disturbance, and the greater the accumulated acoustic path change during the disturbance time, which in turn leads to more significant fluctuations in the ultrasonic power density distribution, and requires a larger dynamic adjustment of the phase compensation amount of the transducer; conversely, the weaker the impact of the water flow disturbance on the ultrasonic propagation path, the smaller the required phase compensation amount.

[0050] The phase delay caused by the acoustic path difference of the nth transducer array element is recorded as , the formula is: ,in Represents the wave number, that is, the number of wavelengths contained in a unit length, It represents the wavelength of ultrasonic waves in the cleaning fluid. When the sound path changes, the phase delay is equal to the product of the wave number k and the change in sound path.

[0051] To offset the phase delay caused by water flow disturbance, a compensation phase needs to be applied to the excitation signal of array element n so that the sound waves of all array elements are superimposed in phase at the workpiece. Therefore, the opposite of the phase delay caused by the acoustic path difference is used as the first phase compensation value of the corresponding transducer array element.

[0052] The third step: Based on the change of ultrasonic power density with the length of the propagation path, determine the target power density of the ultrasonic wave emitted by each transducer array element, analyze the fluctuation of the ultrasonic power density affected by water flow disturbance, and combine the numerical relationship between power density and ultrasonic sound pressure amplitude to determine the second phase compensation amount to achieve the target power density.

[0053] In ultrasonic cleaning, power density distribution is a key factor in determining cleaning effectiveness. When workpieces travel through the cleaning tank on a high-speed conveyor belt, water flow disturbances cause uneven spatial distribution of ultrasonic energy, resulting in localized over- or underpowering. Traditional phase compensation methods only consider acoustic path differences, ignoring the nonlinear characteristics of power density distribution and failing to resolve the conflict between energy focusing and uniformity. Therefore, it is necessary to establish a power density model that links phase compensation with power distribution to achieve precise control of the acoustic field and ensure that workpieces in different locations receive stable and sufficient cleaning energy.

[0054] After the ultrasonic wave is emitted from the transducer, the energy spreads to the surroundings in the form of spherical waves. The power density in the central area is the highest due to the concentrated energy. The power density in the peripheral area naturally decays according to the Gaussian curve due to energy dispersion and medium absorption. The power density attenuation function in this application is , where r represents the radial distance from the workpiece to the ultrasonic propagation axis in space, Indicates the maximum power density of ultrasonic waves at the propagation center; represents the attenuation coefficient; e represents the natural constant; The attenuation function of the ultrasonic wave emitted by each transducer element at a radial distance r from the ultrasonic propagation axis is also referred to as the target power density. The attenuation coefficient is obtained by measuring the power density at different radial distances r using a hydrophone in an undisturbed environment and fitting it using nonlinear regression. It should be understood that since the direction of the ultrasonic wave emitted by the transducer element remains constant, while the workpiece moves with the conveyor, it is necessary to analyze the ultrasonic power density at the radial distance between the workpiece's position and the ultrasonic wave propagation axis emitted by each transducer element.

[0055] Path distortion causes changes in the sound wave interference pattern, causing fluctuations in the originally uniform power density distribution. In the area where the peaks overlap, the power density increases; in the area where the peaks overlap, the power density decreases. This fluctuation is closely related to the magnitude and direction of the water flow velocity. When disturbed, the fluctuation amount of the ultrasonic power density caused by the water flow at the radial distance r from the ultrasonic propagation axis is recorded as , the formula is: ,in It represents the fluctuation coefficient, which characterizes the sensitivity of power density to water flow disturbance. In the absence of workpieces, the ultrasonic power is fixed, and the power density distribution of water velocity at different times at the same radial distance of the ultrasonic propagation axis is measured. Get the slope of the curve.

[0056] When the ultrasonic waves emitted by the transducer array are superimposed in space, the phase difference directly determines the interference result. When , the sound wave amplitudes are superimposed and the power density is enhanced; the phase difference is or When the amplitude is offset, the power density decreases. The water flow disturbance causes the power density to fluctuate by changing the sound path difference. , the goal of phase compensation is to introduce a phase difference Offset the influence of water flow disturbance and restore the power density of the synthetic sound field to the target value .

[0057] Assume that the sound pressure of a single array element in the target area is , where A represents the maximum amplitude of sound pressure, which is determined by the transmitting power of the transducer and reflects the strength of the sound wave energy. It represents the angular frequency of ultrasound and characterizes the speed of sound wave vibration.

[0058] Introducing phase difference After the ultrasonic wave, the synthetic sound pressure is , the amplitude is .

[0059] Because the power density is proportional to the square of the sound pressure amplitude, that is, is proportional to, which can be simplified to , substituting into the single-wave power density, we get , represents the composite power density, Represents single power density. ,so .

[0060] It should be noted that when When , a clipping function is introduced to truncate it to -1~1 to avoid the arc cosine function having no real number solution.

[0061] By adjusting the phase difference of the transducer array, the acoustic interference pattern can be changed, so that the synthetic sound field can be enhanced or weakened in the target area. According to the principle of sound pressure superposition, the phase compensation amount and power fluctuation need to meet , so as to achieve the target power density; in the formula, It represents the target power density of the ultrasonic wave at the radial distance r from the propagation axis; It indicates the fluctuation of ultrasonic power density due to water flow disturbance at the radial distance r from the propagation axis; represents the arccosine trigonometric function; It represents the second phase compensation amount of the ultrasonic wave emitted by each transducer array element at the radial distance r of the propagation axis.

[0062] The fourth step: based on the first phase compensation amount and the second phase compensation amount, obtaining the final phase compensation amount of the ultrasonic wave emitted by each transducer array element at different radial distances.

[0063] When ultrasonic waves emitted by multiple transducers meet in space, the composite sound pressure amplitude is determined by the phase difference of each sub-wave. The square of the composite sound pressure is proportional to the power density, so even a small change in phase difference can cause nonlinear fluctuations in power density. When power is insufficient in the target area, a phase difference is introduced to cause the sound waves to superimpose in phase, enhancing the sound energy. Conversely, when power is too high, an anti-phase difference is introduced to weaken the sound energy. The inverse sine function maps power fluctuations to phase adjustments, enabling control of the sound field's energy distribution.

[0064] The final phase compensation is Where, It represents the second phase compensation amount of the ultrasonic wave emitted by the nth transducer array element at the radial distance r of the propagation axis; represents the first phase compensation value of the nth transducer array element; It represents the final phase compensation of the ultrasonic wave emitted by the nth transducer array element at the radial distance r of the propagation axis. The flowchart for obtaining the final phase compensation is as follows: Figure 2 shown.

[0065] The final phase compensation value for each transducer array element is calculated and quantized into digital control words, which contain frequency, phase, and amplitude information. The DDS module then receives these digital control words and generates a digital sine wave signal with precise phase offset through a phase accumulator and waveform memory driven by an internal high-speed clock. This digital signal is then converted into an analog waveform by a high-speed digital-to-analog converter and smoothed by a low-pass filter before being output as a high-precision analog excitation signal. Finally, these excitation signals with precise phase compensation are fed to the power amplifier, which, after amplification, drives the corresponding transducer array element, enabling dynamic focusing of the ultrasonic beam on the workpiece surface. This effectively offsets the impact of water flow disturbances caused by the high-speed conveyor belt on ultrasonic propagation, ensuring uniform and stable cleaning results.

[0066] Based on the same inventive concept as the above method, an embodiment of the present application also provides a fully automatic CNC adjustment system for an ultrasonic cleaning production line, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor implements the steps of any one of the above methods when executing the computer program.

[0067] The flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to the embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the part of the module, program segment or code contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. In the description corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different boxes can also occur in an order different from that disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented by a dedicated hardware-based system that performs the specified function or action, or may be implemented by a combination of dedicated hardware and computer instructions.

[0068] It is obvious to those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and that the present application can be implemented in other specific forms without departing from the basic features of the present application. Therefore, from any point of view, the above embodiments of the present application should be regarded as exemplary and non-restrictive; modifications to the technical solutions described in the above embodiments, or equivalent replacement of some of the technical features therein, do not deviate from the essence of the corresponding technical solutions within the scope of the technical solutions of the embodiments of the present application, and should be included in the scope of protection of the present application.

Claims

1. A fully automatic numerical control adjustment method for an ultrasonic cleaning production line, characterized in that: The method comprises the following steps: Obtain the interference speed of the water flow velocity in the cleaning tank on the propagation of ultrasonic waves at each moment; Based on the propagation velocity of the ultrasonic wave in the cleaning tank when it is not disturbed and the interference velocity, the propagation velocity of the ultrasonic wave is corrected; based on the ultrasonic wave propagation characteristics between each transducer array element and the workpiece after the corrected propagation velocity, as well as the angle between each transducer array element and the workpiece path direction and the interference velocity, the acoustic path difference of each transducer array element is determined, and combined with the wave number of the ultrasonic wave per unit length, a first phase compensation amount for each transducer array element is obtained; Based on the change in ultrasonic power density with propagation path length, the target power density of the ultrasonic wave emitted by each transducer array element is determined. The fluctuation of ultrasonic power density due to water flow disturbance is analyzed. Based on the numerical relationship between power density and ultrasonic sound pressure amplitude, the second phase compensation amount required to achieve the target power density is determined. Based on the first phase compensation amount and the second phase compensation amount, a final phase compensation amount of the ultrasonic wave emitted by each transducer array element at different radial distances is obtained.

2. The fully automatic numerical control adjustment method for an ultrasonic cleaning production line according to claim 1, characterized in that: The interference speed of the water flow velocity in the cleaning tank on the ultrasonic wave propagation at each moment is specifically: the component of the water flow velocity at each moment in the ultrasonic wave propagation direction.

3. The fully automatic numerical control adjustment method for an ultrasonic cleaning production line according to claim 1, characterized in that: The propagation speed of the ultrasonic wave in the cleaning tank is corrected, specifically: the sum of the propagation speed of the ultrasonic wave in the absence of disturbance and the interference speed is used as the corrected propagation speed.

4. The fully automatic numerical control adjustment method for an ultrasonic cleaning production line according to claim 1, characterized in that: The determining of the acoustic path difference of each transducer array element is specifically as follows: Calculate the path length of the ultrasonic wave from each transducer array element to the workpiece, and obtain the transmission time of the ultrasonic wave in the path length at the corrected propagation speed, which is recorded as ; After the water flow is disturbed, the acoustic path difference of the nth transducer array element is recorded as , the specific formula is ,in, Indicates the azimuth angle formed by the path from the nth array element to the workpiece and the preset reference direction, It represents the interference speed of water flow on ultrasonic propagation at the tth moment, Represents the cosine function.

5. The fully automatic numerical control adjustment method for an ultrasonic cleaning production line according to claim 1, characterized in that: The first phase compensation amount of each transducer array element is obtained as follows: Calculating the wave number of the ultrasonic wave contained in the unit length, and taking the product of the wave number and the acoustic path difference as the phase delay caused by the acoustic path difference of each transducer array element; The inverse of the phase delay is used as a first phase compensation amount of the corresponding transducer array element.

6. The fully automatic numerical control adjustment method for an ultrasonic cleaning production line according to claim 1, characterized in that: The specific formula for determining the target power density of the ultrasonic waves emitted by each transducer array element is: , where r represents the radial distance from the workpiece to the ultrasonic propagation axis in space, Indicates the maximum power density of ultrasonic waves at the propagation center; represents the attenuation coefficient; e represents the natural constant; It represents the target power density of the ultrasonic wave emitted by each transducer array element at the radial distance r of the ultrasonic wave propagation axis; The attenuation coefficient is obtained by analyzing the power density of the ultrasonic wave at different radial distances in its propagation direction in the absence of disturbance, and obtaining it through nonlinear regression according to the formula corresponding to the target power density.

7. The fully automatic numerical control adjustment method for an ultrasonic cleaning production line according to claim 1, characterized in that: The fluctuation amount of the power density of the analyzed ultrasonic wave affected by the water flow disturbance is specifically: The power density distribution of water velocity at the same radial distance from the ultrasonic propagation axis at different times is measured and fitted under the condition that there is no workpiece, and the slope of the fitting curve corresponding to each radial distance is used as the fluctuation coefficient of each radial distance. The product of the fluctuation coefficient and the interference velocity at the corresponding moment is taken as the fluctuation amount of the ultrasonic power density affected by the water flow disturbance at the radial distance r of the ultrasonic propagation axis.

8. The fully automatic numerical control adjustment method for an ultrasonic cleaning production line according to claim 1, characterized in that: The formula for determining the second phase compensation amount to achieve the preset target power density is: Where, It represents the target power density of the ultrasonic wave at the radial distance r from the propagation axis; It indicates the fluctuation of ultrasonic power density due to water flow disturbance at the radial distance r from the propagation axis; represents the arccosine trigonometric function; It represents the second phase compensation amount of the ultrasonic wave emitted by each transducer array element at the radial distance r of the propagation axis.

9. The fully automatic numerical control adjustment method for an ultrasonic cleaning production line according to claim 1, characterized in that: The final phase compensation amount of the ultrasonic wave emitted by each transducer array element at different radial distances is specifically the sum of the first phase compensation amount and the second phase compensation amount.

10. A fully automatic numerical control adjustment system for an ultrasonic cleaning production line, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 9 are implemented.

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