Precision-adjustable optical-mechanical-electrical integrated ultrasonic detection motion positioning device and method

Abstract

The invention relates to a precision-adjustable optical-mechanical-electrical integrated ultrasonic detection motion positioning device and method, and belongs to the field of welding nondestructive detection. According to the device, the precise detection of the position increment of a detected part is realized through the relative movement between the optocoupler detection module and the photoelectric coding disc; and a dual-optocoupler detection module group is adopted to judge direction information of movement, so that complete displacement vector information is obtained. In order to improve the detection resolution, the meshing state between the driving gear and the driven gear is adjusted on line, the rotation speed ratio between the driving gear and the driven shaft is adjusted, the code disc generates different pulse numbers in unit displacement, and multi-precision position increment collection is achieved. The position increment value is calibrated and corrected, the movement direction is accurately recognized, and the precision and stability of ultrasonic detection are further improved. The device is simple in structure, is suitable for various ultrasonic detection motion platforms and control systems, can be widely applied to scenes of high-precision positioning, automatic detection, robot control and the like, and has good practicability and popularization value.

Description

Technical Field

[0001] The present invention relates to the field of nondestructive testing of welding quality, and in particular to an opto-mechanical-electrical integrated ultrasonic detection motion positioning device and method with adjustable precision based on photoelectric sensing technology, which is suitable for the field of ultrasonic detection of displacement detection and motion direction identification that requires adjustable precision. Background Art

[0002] In the field of precision motion control using ultrasonic testing, high-precision detection of motion position and direction is key to achieving accurate detection. However, in situations where detection efficiency is high, the detection resolution needs to be appropriately reduced. Traditional displacement detection typically relies on a photoelectric encoder, which uses a code disk and a photoelectric coupling device to output pulse signals, thereby achieving incremental displacement measurement. However, due to factors such as mechanical structure space, the encoder's own resolution, and installation location, existing incremental position detection devices still have certain limitations in terms of resolution, direction recognition capabilities, and cost control, making it difficult to achieve high-precision detection and even more difficult to meet the requirements of precision adjustment.

[0003] To improve detection accuracy, it is usually necessary to use a high-resolution code disk or a high-end encoder module. This not only increases costs but also places higher demands on the system's processing and assembly accuracy. Currently, conventional detection systems are almost unable to adjust the detection accuracy of the same device. In addition, some systems still use single-channel detection for direction recognition, which cannot accurately determine the direction of movement, affecting the reliability of detection. Therefore, a displacement detection solution with a simple structure, high resolution, moderate cost, the ability to adjust detection accuracy at any time, and the ability to accurately determine the direction of movement is needed to improve the adaptability of ultrasonic detection systems and meet the development needs of motion control in ultrasonic detection. Summary of the Invention

[0004] The purpose of the present invention is to provide an opto-mechanical-electrical integrated ultrasonic detection motion positioning device and method with adjustable precision, which solves the problem of the existing technology that the detection speed and precision are constant and difficult to adapt to various occasions. The device of the present invention realizes the accurate detection of the position increment of the measured component by setting the relative movement between the optical coupling detection module and the photoelectric encoder disk; the dual optical coupling detection module group is used to determine the direction information of the movement, thereby obtaining complete displacement vector information. By adjusting the transmission ratio of the active gear and the driven gear online, the number of pulses per unit displacement of the photoelectric encoder disk is changed, and the detection resolution is adjustable. The position increment value is calibrated and corrected by the built-in algorithm of the industrial computer, and the direction of movement is accurately identified according to the change law of the dual-channel pulse signal, further improving the accuracy and stability of ultrasonic detection.

[0005] The above-mentioned purpose of the present invention is achieved through the following technical solutions:

[0006] The precision-adjustable optomechanical integrated ultrasonic detection motion positioning device has a driving shaft 1 with a hollow internal structure; the driving gear 2 is fixed on the driving shaft 1 and meshes with the driven gear set 3, driving the driven gear set 3 to rotate; the driven gear set 3 is composed of a plurality of driven gears, the inner ring of which has a keyway, and the driven gear set 3 is installed on the driven shaft 4 and rotates around the driven shaft 4 under the drive of the driving gear 2; the shift pin 5 has a key-shaped structure at one end and the other end extends to the outside of the housing 6. By manually pushing the shift pin 5 outside the housing 6, the key-shaped structure is embedded in different driven gears, thereby fixing the driven gear and the driven shaft 4 together and driving the driven shaft 4 to rotate; the optoelectronic The encoding disk 7 is fixed on the driven shaft 4 and rotates with the driven shaft 4. The photoelectric encoding disk 7 is provided with equally spaced light-transmitting holes or reflective stripes along the circumferential direction; the dual optical coupler detection module group 8 is two symmetrically arranged optical coupler detection modules, which are fixed on the shell 6 and suspended above the photoelectric encoding disk 7, and output pulse signals consisting of high / low levels according to the on or off status of the light at both ends of the optical coupler detection module; the water bag 10 is filled with ultrasonic coupling agent, the water bag 10 is fixed on the active shaft 1 and sealed with the active shaft 1, the water bag 10 rolls forward on the surface of the workpiece, driving the active shaft 1 to rotate; the probe bracket 11 is embedded in the active shaft, and the ultrasonic probe 12 is fixed underneath it.

[0007] The driven gear set 3 includes multiple driven gears that rotate independently of each other, and cooperates with the driven gears at different positions through the shift pin 5 to change the speed ratio of the driving shaft 1 and the driven shaft 4, thereby adjusting the speed of the photoelectric encoder 7 to adjust the positioning accuracy of the ultrasonic detection movement.

[0008] The driving shaft 1 is mounted on the housing 6 via a bearing so that the driving shaft 1 rotates within the housing 6. The probe holder 11 extends into the interior of the driving shaft 1 and is mounted on the driving shaft via a bearing. The inner ring of the bearing is connected to the probe holder 11, and the outer ring of the bearing is connected to the driving shaft 1 to ensure that during the rotation of the driving shaft 1, the ultrasonic probe 12 always faces the workpiece to transmit or receive ultrasonic signals.

[0009] The driven shaft 4 is mounted on the housing 6 via a bearing, so that the driven shaft 4 rotates inside the housing.

[0010] The dual-optical coupler detection module group 8 includes two optical coupler detection modules, which respectively generate square wave signals according to the light on or off changes caused by the rotation of the photoelectric encoder 7 to obtain dual-path phase difference signals for determining the direction of movement.

[0011] Another object of the present invention is to provide an optical-mechanical-electrical integrated ultrasonic detection motion positioning method with adjustable precision, comprising the following steps:

[0012] Step 1: Position increment detection: The pulse signal is obtained through the relative motion between the optical coupling detection module and the photoelectric encoder disk, and the motion position increment is determined according to the number of pulse signals;

[0013] Step 2: Determine the direction of motion: Use the dual optocoupler detection module group to collect two signals and determine the direction of motion based on the phase difference between the two signals;

[0014] Step 3: Resolution adjustment: Adjust the speed ratio through the gear transmission structure to increase / decrease the speed of the photoelectric encoder, thereby increasing / decreasing the resolution of the motion position increment detection to meet the requirements of different detection efficiency and resolution;

[0015] Step 4: Calibration and correction: The collected pulse signal is calibrated and corrected through the software algorithm built into the industrial computer to eliminate system errors, and the change sequence of the pulse signal collected by the dual optocoupler detection module is analyzed to accurately determine the direction of movement.

[0016] The photoelectric encoder disk rotates relative to the dual-optical coupler detection module group and obtains dual-path pulse signals; the determination of the movement direction is achieved by analyzing the phase difference between the dual-path pulse signals.

[0017] The resolution is changed by adjusting the speed ratio of the gear transmission mechanism, achieving high-precision position increment detection without changing the system hardware structure. The formula for calculating the number of pulses output per unit displacement is:

[0018]

[0019] Among them, R is the number of pulses output per unit displacement, which is generally used to represent the resolution; P is the number of light-transmitting holes or reflective stripes distributed in the photoelectric encoder disk; V2 is the speed of the driven shaft; V1 is the speed of the driving shaft; z2 is the number of teeth of the driven gear; z1 is the number of teeth of the driving gear meshing with the driven gear; D is the cross-sectional diameter of the water bag; L is the unit distance;

[0020] As can be seen from Formula 1, since L, D, and P are all fixed values, the resolution R changes with the gear ratio of the driving gear and the driven gear. When z1>z2, the high-resolution detection mode is activated, which is suitable for occasions with high detection accuracy requirements; when z1<z2, the low-resolution detection mode is activated, which is suitable for occasions with high detection efficiency requirements.

[0021] The calibration and correction described in step 4 obtains the system error parameters through offline calibration, and dynamically adjusts the position increment through a real-time algorithm to determine the position increment direction; specifically:

[0022] Step 4.1, Offline calibration stage: Under the standard displacement L, the actual number of pulses recorded by the measurement system is n, and the theoretical number of pulses is The correction factor is obtained from this:

[0023]

[0024] Among them, Δx is the displacement corresponding to a unit pulse, and k is the pulse correction coefficient;

[0025] Step 4.2: During the real-time correction calculation, during the actual measurement process, the number of original pulses collected is n, and the corrected incremental displacement is obtained:

[0026] D=k·n·Δx·θ

[0027] Where D is the final corrected incremental displacement, and θ is the real-time motion direction (+1 for forward and -1 for reverse).

[0028] The direction is determined by the phase relationship between the dual optocoupler signals A(t) and B(t). The principle of position increment direction determination is as follows:

[0029]

[0030] Step 4.3: Dynamic adjustment of the system. To cope with the error changes in different operating states, a time sliding window or filtering algorithm can be introduced to dynamically update k:

[0031] k t+1 =α·k t +(1-α)·k new

[0032] Among them, α∈[0,1] is the smoothing factor, k new It is a temporary correction value obtained from real-time measurement.

[0033] The beneficial effects of the present invention are:

[0034] 1. Adjustable detection accuracy: By changing the gear transmission ratio, the ratio between the ultrasonic probe movement displacement and the number of pulses output by the photoelectric encoder disk can be adjusted, so that the number of rotations of the photoelectric encoder disk per unit displacement can be adjusted, thereby significantly changing the resolution of the ultrasonic probe movement displacement. Higher detection accuracy can be obtained without replacing the high-precision encoder, and it can be applied to occasions with different resolution requirements.

[0035] 2. Accurate motion direction identification: The dual optocoupler detection module group is used to simultaneously collect two pulse signals. Through real-time comparison of the signal phase difference, the motion direction can be accurately determined, enhancing the system's direction recognition ability.

[0036] 3. Simple structure and strong adaptability: The overall structure is compact and adopts modular design, which is easy to integrate into existing mechanical systems and is suitable for displacement detection scenarios of various automation equipment and motion platforms.

[0037] 4. Improved calibration and correction mechanism: Offline calibration of system errors is performed through software algorithms, and online correction is performed in combination with real-time algorithms to achieve dynamic optimization of detection increments and direction information, thereby improving system stability and anti-interference capabilities.

[0038] 5. Low cost and strong versatility: High-performance detection can be achieved by using conventional optical couplers, code discs and gear structures, significantly reducing the overall system cost. It is suitable for medium- and low-speed, high-precision ultrasonic detection applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The drawings described herein are used to provide further understanding of the present invention and constitute a part of this application. The illustrative examples of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0040] Figure 1 This is a structural diagram of the optical, mechanical and electrical integrated ultrasonic detection motion positioning device with adjustable precision of the present invention;

[0041] Figure 2 This is a diagram showing the structure and position of the dual optical coupler and photoelectric encoder disk of the present invention;

[0042] Figure 3 The phase difference and direction discrimination diagram of the dual optical coupler signal of the present invention;

[0043] Figure 4 It is a single position incremental ultrasound echogram of the present invention;

[0044] Figure 5 This is a defect discrimination map based on motion increment high resolution of the present invention.

[0045] In the figure: 1. driving shaft; 2. driving gear; 3. driven gear set; 4. driven shaft; 5. shift pin; 6. housing; 7. photoelectric encoder; 8. dual optocoupler detection module group; 9. industrial computer; 10. water bag; 11. probe bracket; 12. ultrasonic probe. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present invention will be clearly and completely described below 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 work are within the scope of protection of the present invention. In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0047] See also Figures 1 to 5As shown, the precision-adjustable opto-mechanical-electrical integrated ultrasonic detection motion positioning device and method of the present invention realizes accurate detection of the position increment of the measured component through the relative movement between the optical coupler detection module and the photoelectric encoder disk; the dual optical coupler detection module group is used to determine the direction information of the movement, thereby obtaining complete displacement vector information. In order to improve the detection resolution, the speed ratio between the driving shaft and the driven shaft is adjusted by online adjustment of the meshing state between the driving gear and the driven gear, so that the encoder generates different numbers of pulses within the unit displacement, thereby realizing multi-precision position increment acquisition. The position increment value can be calibrated and corrected by the algorithm, and the direction of movement can be accurately identified based on the change law of the dual-channel pulse signal, further improving the accuracy and stability of ultrasonic detection. The present invention has a simple structure and is applicable to a variety of ultrasonic detection motion platforms and control systems. It can be widely used in scenarios such as high-precision positioning, automated detection, and robot control, and has good practicality and promotion value.

[0048] See also Figures 1 to 3 As shown, the precision-adjustable optomechanical integrated ultrasonic detection motion positioning device of the present invention includes a driving shaft 1, a driving gear 2, a driven gear set 3, a driven shaft 4, a shift pin 5, a housing 6, a photoelectric encoder 7, a dual-optical coupler detection module group 8, an industrial computer 9, a water bag 10, a probe bracket 11, and an ultrasonic probe 12. The driving shaft 1 is a shaft with an internal hollow structure; the driving gear 2 is fixed on the driving shaft 1 and meshes with the driven gear set 3, driving the driven gear set 3 to rotate; the driven gear set 3 is composed of a plurality of driven gears, and the inner ring of the driven gear has a keyway. The driven gear set 3 is mounted on the driven shaft 4 and rotates around the driven shaft 4 under the drive of the driving gear 2, so that the photoelectric encoder disk 7 mounted on the driven shaft 4 rotates synchronously; one end of the shift pin 5 has a key-shaped structure, and the other end extends to the outside of the housing 6. By manually pushing the shift pin 5 outside the housing 6, the key-shaped structure is embedded in different driven gears, thereby fixing the driven gear and the driven shaft 4 together, driving the driven shaft 4 to rotate; the photoelectric encoder disk 7 is fixed on the driven shaft 4 and rotates with the driven shaft 4 The photoelectric encoder disk 7 is provided with equally spaced light-transmitting holes or reflective stripes along the circumferential direction to generate a displacement signal; the dual-optical coupler detection module group 8 is two symmetrically arranged optical coupler detection modules, which are fixed on the housing 6 and suspended above the photoelectric encoder disk 7, and output a pulse signal consisting of a high / low level according to the on / off status of the light at both ends of the optical coupler detection module; the industrial computer 9 receives the pulse signal through the signal line and performs calculation processing; the water bag 10 is a soft sound-transmitting structure with a certain stiffness, and its interior is filled with ultrasonic coupling agent. The water bag 10 is fixed on the active shaft 1, sealed with the active shaft 1, and drives the active shaft 1 to rotate; the probe bracket 11 is embedded in the active shaft, and an ultrasonic probe 12 is fixed thereunder.

[0049] Before ultrasonic testing, the transmission ratio of the driving and driven gears is calculated based on the required step detection accuracy, and the shift pin is manually adjusted to align with the appropriate driven gear. Once testing begins, the housing is manually pushed forward on the workpiece surface. The water bag, in direct contact with the workpiece area to be tested, rolls along the surface, rotating the driving shaft. The driving gear rotates with the driving shaft, driving the driven gear set. The driven gear set, via the shift pin, rotates the driven shaft, which in turn rotates the photoelectric encoder disk. The optical coupler detection module transmits and receives light at both ends. As the encoder disk rotates, the uniformly distributed light-transmitting holes or reflective stripes above it cut the light, alternating the light on and off at both ends of the optical coupler detection module, generating a high / low pulse signal. An industrial computer calculates the rolling distance of the water bag on the workpiece surface based on the frequency of the pulse signal, the transmission ratio of the driving and driven gears, and the size of the water bag, thereby accurately positioning the ultrasonic probe on the workpiece surface.

[0050] The driven gear set includes multiple driven gears that rotate independently of each other, and cooperates with driven gears at different positions through the shift pin 5 to change the speed ratio of the driving shaft 1 and the driven shaft 4, thereby adjusting the speed of the photoelectric encoder disk to adjust the positioning accuracy of the ultrasonic detection movement.

[0051] The driving shaft 1 is mounted on the housing 6 via a bearing so that the driving shaft 1 can rotate within the housing 6; the probe holder 11 extends into the interior of the driving shaft 1 and is mounted on the driving shaft via a bearing. The inner ring of the bearing is connected to the probe holder 11, and the outer ring of the bearing is connected to the driving shaft 1, to ensure that during the rotation of the driving shaft 1, the ultrasonic probe 12 always faces the workpiece to transmit / receive ultrasonic signals.

[0052] The driven shaft 4 is mounted on the housing 6 via a bearing, so that the driven shaft 4 can rotate inside the housing.

[0053] The dual-optical coupler detection module assembly 8 comprises two optical coupler detection modules, offset along the edge of the code disk. These modules generate square wave signals based on the on / off changes in light caused by the rotation of the photoelectric encoder disk 7. These square wave signals are then used to generate dual-path phase difference signals for determining the direction of motion.

[0054] See also Figures 1 to 3As shown, the precision-adjustable opto-mechanical-electrical integrated ultrasonic detection motion positioning device of the present invention realizes accurate detection of the position increment of the measured component by setting the relative motion between the optical coupler detection module and the photoelectric encoder disk; the dual optical coupler detection module group is used to determine the direction information of the motion, thereby obtaining complete displacement vector information. In order to improve the detection resolution, a reasonable speed ratio is set through the gear transmission method, so that the encoder produces more signal changes within the unit displacement, thereby realizing high-precision position increment acquisition. The position increment value can be calibrated and corrected by the algorithm, and the motion direction can be accurately identified based on the change law of the dual-channel pulse signal, further improving the accuracy and stability of ultrasonic detection. The industrial computer has a built-in pulse acquisition circuit, a direction judgment circuit and an embedded processing chip, which contains a calibration and correction algorithm for calculating the incremental displacement and outputting the final detection result. The output interface outputs the processing result to the host computer or motion control system to realize real-time feedback and closed-loop control of the displacement.

[0055] See also Figure 4 and Figure 5 As shown, the precision-adjustable optomechanical-electrical integrated ultrasonic detection motion positioning method of the present invention comprises the following steps:

[0056] Step 1: Position increment detection: Obtain pulse signals through the relative motion between the optical coupler detection module and the photoelectric encoder disk, and determine the motion position increment based on the number of pulse signals;

[0057] Step 2: Determine the direction of motion: Use the dual optocoupler detection module group to collect two signals and determine the direction of motion based on the phase difference between the two signals;

[0058] Step 3: Improve resolution: Adjust the speed ratio through the gear transmission structure to increase the speed of the photoelectric encoder disk, thereby improving the resolution of the motion position increment detection. Specifically:

[0059]

[0060] Where P is the original number of pulses per revolution (number of encoder disc slots), n1 is the original speed corresponding to each unit displacement, n2 is the speed of the disc after speed amplification, R is the number of pulses output per unit displacement (resolution), z1 is the number of teeth on the driving gear, and z2 is the number of teeth on the driven gear.

[0061] Step 4: Calibration and correction: The collected pulse signal is calibrated and corrected through the software algorithm of the signal processing module to eliminate the system error, and the change sequence of the dual optocoupler signal is analyzed to accurately determine the direction of movement. Specifically:

[0062] Step 4.1, Offline calibration stage: Under the standard displacement L, the actual number of pulses recorded by the measurement system is n, and the theoretical number of pulses is The correction factor is obtained from this:

[0063]

[0064] Among them, Δx is the displacement corresponding to a unit pulse, and k is the pulse correction coefficient;

[0065] Step 4.2: During the real-time correction calculation, during the actual measurement process, the number of original pulses collected is n, and the corrected incremental displacement is obtained:

[0066] D=k·n·Δx·θ

[0067] Where D is the final corrected incremental displacement, and θ is the real-time motion direction (+1 for forward and -1 for reverse).

[0068] The direction is determined by the phase relationship between the dual optocoupler signals A(t) and B(t). The principle of position increment direction determination is as follows:

[0069] If A(t) leads B(t), then θ = +1 (positive)

[0070] If B(t) leads A(t), then θ = -1 (reverse direction)

[0071] Step 4.3: Dynamic adjustment of the system. To cope with the error changes in different operating states, a time sliding window or filtering algorithm can be introduced to dynamically update k:

[0072] k t+1 =α·k t +(1-α)·k new

[0073] Among them, α∈[0,1] is the smoothing factor, k new It is a temporary correction value obtained from real-time measurement.

[0074] Example:

[0075] This example performs ultrasonic testing on laser-welded joints in railcar bodies. The material used is SUS301L austenitic stainless steel, 4mm thick, with 17 fillet welds. The gear ratio between the spindle and the encoder is set at 1:4, meaning that for every 0.1mm movement of the object under test, the encoder rotates 0.4mm, resulting in a fourfold increase in detection resolution. The outer ring of the photoelectric encoder is equipped with 360 equally spaced slots. The optical coupler module utilizes a dual-channel structure with a channel spacing that differs by 1 / 4 cycle, collecting two phase difference signals and determining the direction of motion. Software performs real-time error correction on the incremental data of the optical coupler output signal. The error correction parameters are derived from offline calibration training using a standard displacement stage. The maximum nonlinear error before correction is 0.035mm, and after correction is less than 0.008mm. Metallographic testing was performed to measure and compare the size of internal defects in the fillet welds of the stainless steel body. The results show that the maximum error between the detection results obtained using this method and device and the actual defect measurements is within 0.01mm.

[0076] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements to the present invention are intended to fall within the scope of protection of the present invention.

Claims

1. An optical-mechanical-electrical integrated ultrasonic detection and positioning device with adjustable precision, characterized by: The driving shaft (1) is a shaft with an internal hollow structure; the driving gear (2) is fixed on the driving shaft (1) and meshes with the driven gear set (3), driving the driven gear set (3) to rotate; the driven gear set (3) is composed of a plurality of driven gears, the inner ring of which has a keyway, and the driven gear set (3) is installed on the driven shaft (4) and rotates around the driven shaft (4) under the drive of the driving gear (2); the shift pin (5) has a key structure at one end and the other end extends to the outside of the housing (6). By manually pushing the shift pin (5) outside the housing (6), the key structure is embedded in different driven gears, thereby fixing the driven gear and the driven shaft (4) together and driving the driven shaft (4) to rotate; the photoelectric encoder (7) is fixed on the driven shaft (4). The invention relates to a method for producing a light-transmitting device for producing a light-transmitting device for a workpiece. The light-transmitting device is mounted on a driving shaft (4) and rotates with the driven shaft (4). The photoelectric encoder disk (7) is provided with light-transmitting holes or reflective stripes at equal intervals along the circumferential direction. The dual-optical coupler detection module group (8) is composed of two symmetrically arranged optical coupler detection modules. The optical coupler detection modules are fixed on the housing (6) and suspended above the photoelectric encoder disk (7). The optical coupler detection modules output pulse signals composed of high / low levels according to the on / off conditions of the light at both ends of the optical coupler detection modules. The interior of the water bag (10) is filled with ultrasonic coupling agent. The water bag (10) is fixed on the driving shaft (1) and sealed with the driving shaft (1). The water bag (10) rolls forward on the surface of the workpiece, driving the driving shaft (1) to rotate. The probe bracket (11) is embedded in the driving shaft, and an ultrasonic probe (12) is fixed below the probe bracket.

2. The precision-adjustable optomechanical-electrical integrated ultrasonic detection motion positioning device according to claim 1, characterized in that: The driven gear set (3) comprises a plurality of driven gears that rotate independently of each other, and cooperates with driven gears at different positions via a shift pin (5) to change the speed ratio of the driving shaft (1) and the driven shaft (4), thereby adjusting the speed of the photoelectric encoder (7) to adjust the positioning accuracy of the ultrasonic detection movement.

3. The precision-adjustable optomechanical-electrical integrated ultrasonic detection motion positioning device according to claim 1, characterized in that: The driving shaft (1) is mounted on the housing (6) via a bearing, so that the driving shaft (1) rotates in the housing (6); the probe holder (11) extends into the interior of the driving shaft (1) and is mounted on the driving shaft via a bearing, the inner ring of the bearing is connected to the probe holder (11), and the outer ring of the bearing is connected to the driving shaft (1), so as to ensure that during the rotation of the driving shaft (1), the ultrasonic probe (12) always faces the workpiece to transmit or receive ultrasonic signals.

4. The precision-adjustable optomechanical-electrical integrated ultrasonic detection motion positioning device according to claim 1, characterized in that: The driven shaft (4) is mounted on the housing (6) via a bearing, so that the driven shaft (4) performs rotational motion inside the housing.

5. The precision-adjustable optomechanical-electrical integrated ultrasonic detection motion positioning device according to claim 1, characterized in that: The dual-optical coupler detection module group (8) includes two optical coupler detection modules, which respectively generate square wave signals according to the on or off changes of light caused by the rotation of the photoelectric encoder (7) to obtain a dual-path phase difference signal for determining the direction of movement.

6. An optical-mechanical-electrical integrated ultrasonic detection motion positioning method with adjustable precision, characterized by: The following steps are involved: Step 1: Position increment detection: Obtain pulse signals through the relative motion between the optical coupler detection module and the photoelectric encoder disk, and determine the motion position increment based on the number of pulse signals; Step 2: Determine the direction of motion: Use the dual optocoupler detection module group to collect two signals and determine the direction of motion based on the phase difference between the two signals; Step 3: Resolution adjustment: Adjust the speed ratio through the gear transmission structure to increase / decrease the speed of the photoelectric encoder, thereby increasing / decreasing the resolution of the motion position increment detection to meet the requirements of different detection efficiency and resolution; Step 4: Calibration and correction: The collected pulse signal is calibrated and corrected through the software algorithm built into the industrial computer to eliminate system errors, and the change sequence of the pulse signal collected by the dual optocoupler detection module group is analyzed to accurately determine the direction of movement.

7. The precision-adjustable opto-mechanical-electrical integrated ultrasonic detection motion positioning method according to claim 6, characterized in that: In step 1, the photoelectric encoder disk rotates relative to the dual-optical coupler detection module group and obtains a dual-path pulse signal; in step 2, the direction of movement is determined by analyzing the phase difference between the dual-path pulse signals.

8. The precision-adjustable opto-mechanical-electrical integrated ultrasonic detection motion positioning method according to claim 6, characterized in that: The resolution adjustment described in step 3 achieves high-precision position increment detection by adjusting the speed ratio of the gear transmission mechanism without changing the system hardware structure; the formula for calculating the number of pulses output per unit displacement is: Where R is the number of pulses output per unit displacement, representing the resolution; P is the number of light-transmitting holes or reflective stripes distributed in the photoelectric encoder disk; V2 is the speed of the driven shaft; V1 is the speed of the driving shaft; z2 is the number of teeth on the driven gear; z1 is the number of teeth on the driving gear meshing with the driven gear; D is the cross-sectional diameter of the water bag; L is the unit distance; It can be seen from formula (1) that since L, D, and P are all fixed values, the resolution R changes with the gear ratio of the driving gear and the driven gear. When z1>z2, the high-resolution detection mode is started; and when z1<z2, the low-resolution detection mode is started.

9. The precision-adjustable opto-mechanical-electrical integrated ultrasonic detection motion positioning method according to claim 6, characterized in that: The calibration and correction described in step 4 obtains the system error parameters through offline calibration, and dynamically adjusts the position increment through a real-time algorithm to determine the position increment direction; specifically: Step 4.1, Offline calibration stage: Under the standard displacement L, the actual number of pulses recorded by the measurement system is n, and the theoretical number of pulses is The correction factor is obtained from this: Among them, Δx is the displacement corresponding to a unit pulse, and k is the pulse correction coefficient; Step 4.2: During the real-time correction calculation, during the actual measurement process, the number of original pulses collected is n, and the corrected incremental displacement is obtained: D=k·n·Δx·θ Where D is the final corrected incremental displacement, θ is the real-time motion direction, +1 indicates the forward direction, and -1 indicates the reverse direction; The direction is determined by the phase relationship between the dual optocoupler signals A(t) and B(t). The principle of position increment direction determination is as follows: Step 4.3: Dynamic adjustment of the system. To cope with the error changes in different operating states, a time sliding window or filtering algorithm is introduced to dynamically update k: k t+1 =a·k t +(1-a)·k new Among them, α∈[0,1] is the smoothing factor, k new It is a temporary correction value obtained from real-time measurement.

Images