Probe seat and ultrasonic detection equipment

Abstract

The embodiment of the invention discloses a probe seat and ultrasonic detection equipment, the probe seat is used for bearing and adjusting the relative position between a detection probe of the ultrasonic detection equipment and a detected piece, and the probe seat comprises a frame; a flexible substrate; the probe bearing assembly is movably arranged on the frame and is used for mounting a detection probe; the integrated adjusting device is connected to the frame and the probe bearing assembly, and the integrated adjusting device comprises a pose adjusting assembly used for driving the probe bearing assembly to carry out multi-degree-of-freedom pose adjustment; the pressure adjusting assembly is used for driving the probe bearing assembly to do linear motion in the direction perpendicular to the matching surface; the sensor group comprises a pose sensor combination and a pressure sensor; the controller is arranged on the frame and is in communication connection with the integrated adjusting device, and the controller can control the pose adjusting assembly to pre-position the probe bearing assembly based on a signal of the pose sensor combination and control the feeding amount of the pressure adjusting assembly in the direction perpendicular to the matching surface based on a signal of the pressure sensor.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of non-destructive testing, and in particular to a probe seat and an ultrasonic testing device. BACKGROUND

[0002] In the industrial field, non-destructive testing technology plays an important role in quality and safety measurement. Among common detection technologies, the ray detection is limited by the ability to identify defects, and the device itself is bulky, the detection cost is high, and there is a potential risk to the health of the operator. More importantly, the ray detection has low sensitivity for detecting planar defects (parallel), and often such defects are critical hidden dangers. The magnetic powder detection is completely ineffective for non-ferromagnetic materials, and can only detect surface and near-surface defects, so the application scene is limited. The penetration detection can only detect surface open defects, and the operation process is very cumbersome, is easily affected by the surface roughness of the workpiece, and non-related defects occur, affecting direct judgment. In comparison, the ultrasonic detection technology has obvious advantages. The ultrasonic detection not only makes up for the shortcomings of other detection, and its digital display and high precision show great potential in the future, so the ultrasonic detection is gradually becoming the mainstream technology of industrial defect detection.

[0003] However, the detection effect of ultrasonic detection is directly related to the fit degree of the ultrasonic probe and the detected workpiece. In related technologies, when the detected workpiece is detected by ultrasonic detection, if the gap between the detection probe and the detected workpiece is too large, the ultrasonic signal will be intermittent, which will cause the precision of the ultrasonic detection to decrease, and pressing the detection probe too hard will make the detection sensitivity too high or not display, and is easy to cause unnecessary damage to the detection probe, shortening the service life of the detection probe. SUMMARY

[0004] The present application discloses a probe seat and an ultrasonic detection device, which reflects the fit state of the detection probe and the detected workpiece through the output signals of the pose sensor combination and the pressure sensor, and can adjust the pose of the detection probe and the distance between the detection probe and the detected workpiece through the controller and the integrated adjusting device.

[0005] In order to achieve the above purpose, in a first aspect, the present application discloses a probe seat, which is used to carry and adjust the relative position between the detection probe of an ultrasonic detection device and a detected workpiece, and comprises: a frame; a flexible base body, which is detachably arranged on the frame, and the edge of the flexible base body can be in sealing contact with the mating surface of the detected workpiece; a probe carrying assembly, which is used to install the detection probe, and the probe carrying assembly is movably arranged on the frame; An integrated adjusting device is connected to the frame and the probe carrier assembly, and comprises: A pose adjusting assembly is configured to drive the probe carrier assembly to adjust the pose in multiple degrees of freedom. A pressure adjusting assembly is configured to drive the probe carrier assembly to move linearly along a direction perpendicular to the mating surface. A sensor group comprises a pose sensor combination configured to detect the spatial pose of the probe carrier assembly, and a pressure sensor configured to detect the contact pressure between the detection probe and the detected piece. A controller is arranged on the frame and communicatively connected to the integrated adjusting device, and is configured to: control the pose adjusting assembly to pre-position the pose of the probe carrier assembly based on the output signal of the pose sensor combination; control the pressure adjusting assembly to control the amount of feed along the direction perpendicular to the mating surface based on the output signal of the pressure sensor.

[0006] In a possible implementation, the pose adjusting assembly comprises: A rotating mechanism is arranged on one end of the probe carrier assembly close to the frame. A first driving member is communicatively connected to the controller, and an output end of the first driving member is connected to the rotating mechanism to drive the rotating mechanism to rotate the detection probe.

[0007] In a possible implementation, the pressure adjusting assembly comprises: An axial adjusting mechanism is movably connected to the frame and the probe carrier assembly. A second driving member is communicatively connected to the controller, and an output end of the second driving member is connected to the adjusting mechanism to drive the axial adjusting mechanism to move along the axial direction of the probe carrier assembly.

[0008] In a possible implementation, the axial adjusting mechanism comprises: A first connecting rod, one end of which is connected to the probe carrier assembly, and the other end of which is connected to the output end of the second driving member. A first gimbal is arranged between the first connecting rod and the second driving member. An elastic member is connected to the frame at one end. A second connecting rod is connected to the elastic member at one end away from the frame, and is connected to the probe carrier assembly at the other end. A second gimbal is arranged between the second connecting rod and the elastic member.

[0009] In a possible implementation, the pose sensor combination comprises: an angle sensor, disposed on the rotating mechanism and in communication with the controller; a displacement sensor, disposed on the probe carrier assembly close to the frame and in communication with the controller.

[0010] In a possible implementation, the probe holder further comprises a magnetic force adjusting assembly, the magnetic force adjusting assembly comprising: an electromagnet, embedded in the frame, for providing an attractive force to the probe holder so that the probe holder is attached to the detected object; a current adjusting element, disposed on the frame, the current adjusting element being in electrical connection with the electromagnet, and the current adjusting element being in communication with the controller; a plurality of magnetic field strength sensors, disposed on the flexible substrate, the plurality of magnetic field strength sensors being in communication with the controller.

[0011] In a possible implementation, the magnetic force adjusting assembly further comprises: a plurality of permanent magnets, embedded in the frame; a plurality of magnetic permeability adjusting pieces, corresponding to the plurality of permanent magnets, and being attached to one side of the permanent magnets facing the detected object; a motion mechanism, mechanically connected to the plurality of magnetic permeability adjusting pieces; a third driving element, disposed on the frame, the third driving element being in communication with the controller, and the third driving element being capable of providing driving force to the motion mechanism.

[0012] In a possible implementation, the pressure sensor is disposed on the probe carrier assembly close to the frame, and the pressure sensor is in communication with the controller.

[0013] In a possible implementation, the controller is capable of controlling the working states of the first driving element, the second driving element and the third driving element based on the signals of the pose sensor combination, the signals of the pressure sensor and the signals of the magnetic field strength sensors.

[0014] In a second aspect, the embodiments of the present application provide an ultrasonic detection device, comprising: the probe holder according to any one of the first aspect described above; a detection probe, capable of being disposed in the probe holder.

[0015] The combination of the flexible base body and the frame in the probe seat provided by the embodiment of the application not only improves the sealing property in the detection process to prevent the coupling agent from leaking, but also facilitates replacement and adaptation to different curved detected pieces, and improves the detection adaptability; the integrated adjusting device displays the relationship between the pose adjusting assembly, the pressure adjusting assembly and the detected piece through the signals detected by the sensor group and sends the signals to the controller, so that the controller can perform predetermined positioning and contact pressure control on the detection probe based on real-time feedback, thereby improving the detection precision and consistency and reducing manual intervention. The probe seat provided by the embodiment of the application realizes multi-degree-of-freedom adjustment of the relative position between the detection probe of the ultrasonic detection equipment and the detected piece through integrated design, improves the detection efficiency and detection precision of the ultrasonic detection equipment, and also avoids the case that the pressure between the detection probe and the detected piece is too large and thus the detection probe is damaged, thereby indirectly prolonging the service life of the detection probe.

[0016] Additional aspects and advantages of the application will be made apparent by the following description and the appended claims. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings in the following description only constitute some embodiments of the application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0018] Fig. 1 A structural schematic diagram of a probe seat provided by the embodiment of the application; Fig. 2 A structural schematic diagram of a probe seat provided by the embodiment of the application; Fig. 3 A structural schematic diagram of a probe seat provided by the embodiment of the application.

[0019] Explanation of reference signs: 101-frame, 102-flexible base, 103-probe carrier assembly, 104-integrated adjustment device, 1041-pose adjustment assembly, 1042-rotation mechanism, 1043-first driving member, 1051-pressure adjustment assembly, 1052-axial adjustment mechanism, 1053-first connecting rod, 1054-first universal joint, 1055-second driving member, 1056-elastic member, 1057-second connecting rod, 1058-second universal joint, 1061-pressure sensor, 107-controller, 108-magnetic force adjustment assembly, 1081-electromagnet, 1082-current adjusting element, 1083-magnetic field intensity sensor, 1084-permanent magnet, 1085-magnetic permeability adjusting sheet, 1086-third driving member. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work belong to the scope of protection of the present application.

[0021] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not intended to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0022] In addition, in addition to indicating the orientation or positional relationship, the above-mentioned part of the terms can also be used to indicate other meanings, for example, the term "upper" can also be used to indicate a certain dependent relationship or connection relationship in some cases. For those skilled in the art, the specific meaning of these terms in the present application can be understood according to the specific situation.

[0023] In addition, the terms "mount", "set", "provided with", "connected", "connected" should be broadly understood. For example, it can be fixedly connected, detachably connected, or integrally constructed; it can be mechanically connected, or electrically connected; it can be directly connected, or indirectly connected through an intermediate medium, or internal communication between two devices, elements or components. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific situation.

[0024] In addition, the terms "first", "second", and the like are used merely to distinguish different devices, elements or components (the types and configurations of which can be identical or different), and are not intended to indicate or imply relative importance or significance of the indicated devices, elements or components. The meaning of "a plurality" is two or more, unless otherwise specified.

[0025] Reference is made to Figs. 1-2 The probe seat is used for carrying and adjusting the relative position between the detection probe of the ultrasonic detection equipment and the detected piece. The probe seat comprises a frame 101, a flexible base 102, a probe carrying assembly 103, an integrated adjusting device 104 and a controller 107.

[0026] The flexible base 102 is detachably arranged on the frame 101, and the edge of the flexible base 102 can be in sealing contact with the mating surface of the detected piece.

[0027] The flexible base 102 can be made of silica gel material, and the frame 101 can be a rectangular substrate. The flexible base 102 can be arranged along the circumference of the frame 101, and the flexible base 102 and the frame 101 are connected by a detachable buckle, so as to facilitate replacement of the flexible base 102. The flexible base 102 can be cut into an arc shape at the place where it is used to fit the mating surface of the detected piece, so as to better fit the detected piece.

[0028] The probe seat comprises the probe carrying assembly 103. The probe carrying assembly 103 is used for mounting the detection probe, and the probe carrying assembly 103 is movably arranged on the frame 101.

[0029] A through hole can be formed in the center of the frame 101, the probe carrying assembly 103 can pass through the through hole and be arranged on the frame 101, and the probe carrying assembly 103 can move along the axial direction of the probe carrying assembly 103 relative to the frame 101. A fixing mechanism can be arranged at the end of the probe carrying assembly 103 away from the detected piece, so that when the detection probe passes through the probe carrying assembly 103, the detection probe can move along the axial direction of the probe carrying assembly 103 together with the probe carrying assembly 103, and the detection probe can rotate relative to the probe carrying assembly 103 when the ultrasonic detection equipment is working.

[0030] The probe seat comprises the integrated adjusting device 104, the integrated adjusting device 104 is connected to the frame 101 and the probe carrying assembly 103, and the integrated adjusting device 104 comprises a pose adjusting assembly 1041. The pose adjusting assembly 1041 is used for driving the probe carrying assembly 103 to adjust the attitude in multiple degrees of freedom.

[0031] The integrated adjusting device 104 comprises a pressure adjusting assembly 1051. The pressure adjusting assembly 1051 is used for driving the probe carrying assembly 103 to move linearly along the direction perpendicular to the mating surface.

[0032] The integrated adjusting device 104 comprises a sensor group. The sensor group comprises a pose sensor combination for detecting the spatial pose of the probe carrier assembly 103, and a pressure sensor 1061 for detecting the contact pressure between the detection probe of the ultrasonic detection device and the detected piece.

[0033] The probe holder comprises a controller 107. The controller 107 is arranged on the frame 101 and is in communication connection with the integrated adjusting device 104. The controller 107 is configured to: based on the output signal of the pose sensor combination, control the pose adjusting assembly 1041 to pre-position the probe carrier assembly 103; based on the output signal of the pressure sensor 1061, control the pressure adjusting assembly 1051 to adjust the feed amount in the direction perpendicular to the fitting surface.

[0034] The integrated adjusting device 104 can connect the frame 101 and the probe carrier assembly 103, and through the sensor group, the pressure and the relative angle between the detection probe and the detected piece can be reflected. The controller 107 can adjust the axial displacement of the probe carrier assembly 103 and the pose of the detection probe carried by the probe carrier assembly 103 based on the received signals of the sensor group.

[0035] Thus, the combination of the flexible base body 102 and the frame 101 in the probe holder provided by the embodiments of the present application not only improves the sealing property in the detection process to prevent the coupling agent from leaking, but also facilitates the replacement and adaptation to different curved detected pieces, and improves the detection adaptability. The integrated adjusting device 104 reflects the relationship between the pose adjusting assembly 1041, the pressure adjusting assembly 1051 and the detected piece through the signals detected by the sensor group and sends them to the controller 107, so that the controller 107 can pre-position the detection probe and control the contact pressure based on the real-time feedback, thereby improving the detection accuracy and consistency and reducing the manual intervention.

[0036] The probe holder provided by the embodiments of the present application realizes the multi-degree-of-freedom adjustment of the relative position between the detection probe and the detected piece of the ultrasonic detection device through integrated design, improves the detection efficiency and detection accuracy of the ultrasonic detection device, and also avoids the situation that the detection probe is damaged due to excessive pressure between the detection probe and the detected piece, thereby indirectly prolonging the service life of the detection probe.

[0037] In some embodiments, the pose adjusting assembly 1041 comprises a rotating mechanism 1042 arranged at one end of the probe carrier assembly 103 close to the frame 101.

[0038] Specifically, after the detection probe is inserted into the probe carrying assembly 103, the rotating mechanism 1042 can clamp the detection probe and rotate the detection probe along with the rotating mechanism 1042 to adjust the detection part of the detection probe to a more appropriate angle with the detected part of the detected object, thereby improving the detection accuracy of the ultrasonic detection device.

[0039] The pose adjustment assembly 1041 includes a first driving member 1043, which is in communication connection with the controller 107, and the output end of the first driving member 1043 is connected to the rotating mechanism 1042 to drive the rotating mechanism 1042 to rotate the detection probe.

[0040] The first driving member 1043 can be arranged on the frame 101. The controller 107 controls the first driving member 1043 based on the received pose signals sent by the pose sensor group to adjust the angle of the rotating mechanism 1042, thereby adjusting the angle of the detection probe.

[0041] The above embodiment directly clamps and drives the detection probe to rotate through the rotating mechanism 1042 arranged on the probe carrying assembly 103, so that the ultrasonic emission part of the detection probe can be adjusted to the most optimal alignment angle with the detected part of the detected object. In addition, under the coordination of the controller 107, real-time closed-loop control is performed according to the feedback of the pose sensor, which can improve the incident angle accuracy and signal quality of ultrasonic detection, and improve the accuracy and reliability of detection.

[0042] In some embodiments, the pressure adjustment assembly 1051 includes an axial adjustment mechanism 1052, which is movably connected to the frame 101 and the probe carrying assembly 103.

[0043] The axial adjustment mechanism 1052 can be arranged in a silica gel protective cover. The axial adjustment mechanism can link the frame 101 and the probe carrying assembly 103, and enable the probe carrying assembly 103 to move axially relative to the frame 101, thereby adjusting the pressure between the detection probe and the detected object.

[0044] The pressure adjustment assembly 1051 includes a second driving member 1055. The second driving member 1055 is in communication connection with the controller 107, and the output end of the second driving member 1055 is connected to the adjustment mechanism to drive the axial adjustment mechanism 1052 to move along the axial direction of the probe carrying assembly 103.

[0045] The second driving member 1055 can be arranged on the frame 101 and in communication connection with the controller 107, so that the controller 107 can control the second driving member 1055 based on the received pressure signal sent by the pressure sensor 1061, to enable the second driving member 1055 to adjust the axial adjustment mechanism 1052, thereby realizing the adjustment of the position of the probe carrier assembly 103 in the axial direction.

[0046] The above embodiment realizes the controllable movement of the detection probe in the axial direction by the axial adjustment mechanism 1052 driven by the second driving member 1055, which movably connects the frame 101 and the probe carrier assembly 103. The axial adjustment mechanism 1052, the pressure sensor 1061 and the controller 107 together constitute a closed-loop control system, and can automatically adjust the feeding amount of the detection probe relative to the detected member based on the real-time feedback of the contact pressure signal, so as to maintain a constant and appropriate contact pressure between the detection probe and the detected member. This design not only effectively avoids poor coupling or signal distortion caused by too small pressure, but also prevents damage to the detection probe or the detected member caused by too large pressure, thereby improving the stability, repeatability and adaptability to different working conditions of the detection process.

[0047] In some embodiments, the axial adjustment mechanism 1052 includes an elastic member 1056. One end of the elastic member 1056 is connected to the frame 101.

[0048] The axial adjustment mechanism 1052 includes a first connecting rod 1053. One end of the first connecting rod 1053 is connected to the probe carrier assembly 103, and the other end of the first connecting rod 1053 is connected to the output end of the second driving member 1055.

[0049] The axial adjustment mechanism 1052 includes a first universal joint 1054. The first universal joint 1054 is arranged between the first connecting rod 1053 and the second driving member 1055.

[0050] The first universal joint 1054 connects the first connecting rod 1053 and the output end of the second driving member 1055, and the other end of the first connecting rod 1053 is fixedly connected to the probe carrier assembly 103. The controller 107 can drive the second driving member 1055 based on the received signal detected by the pressure sensor 1061, to enable the second driving member 1055 to adjust the axial displacement of the probe carrier assembly 103 through the first connecting rod 1053.

[0051] The axial adjustment mechanism 1052 includes a second connecting rod 1057. One end of the second connecting rod 1057 is connected to the end of the elastic member 1056 away from the frame 101, and the other end of the second connecting rod 1057 is connected to the probe carrier assembly 103.

[0052] The axial adjustment mechanism 1052 comprises a second universal joint 1058. The second universal joint 1058 is arranged between the second connecting rod 1057 and the elastic member 1056.

[0053] The second universal joint 1058 connects the second connecting rod 1057 and the elastic member 1056, one end of the elastic member 1056 is fixedly connected with the frame 101, and the other end of the second connecting rod 1057 is fixedly connected with the probe carrier assembly 103. The elastic member 1056 can compensate for the adjustment angle of the second universal joint 1058, so that the displacement of the probe carrier assembly 103 in the axial direction can be coarsely adjusted by the second universal joint 1058, and then finely adjusted by the elastic member 1056.

[0054] The above embodiment realizes controllable adjustment of the axial displacement of the probe carrier assembly 103 by the mechanism composed of the second driving member 1055, the first connecting rod 1053 and the first universal joint 1054; at the same time, the structure composed of the second connecting rod 1057, the second universal joint 1058 and the elastic member 1056 can assist in supporting the probe carrier assembly 103, so that the probe carrier assembly 103 is more stable and smooth when moving in the axial direction. In addition, the elastic member 1056 can also provide buffering and fine adjustment capability, and can automatically compensate for pressure fluctuations caused by small unevenness or posture adjustment of the detected member. The axial adjustment mechanism 1052, the controller 107 and the sensor together constitute a closed loop control, so that the contact pressure between the detection probe and the detected member can be kept stable, and the reliability and consistency of the detection signal are improved.

[0055] In some embodiments, the pose sensor combination comprises an angle sensor. The angle sensor is arranged on the rotating mechanism 1042 and is in communication connection with the controller 107.

[0056] The pose sensor combination comprises a displacement sensor. The displacement sensor is arranged on one end of the probe carrier assembly 103 close to the frame 101 and is in communication connection with the controller 107.

[0057] The angle sensor arranged on the controller 107 can detect the rotation angle of the rotating mechanism 1042 and send the detected angle signal to the controller 107. The displacement sensor can detect the displacement signal of the probe carrier assembly 103 in the axial direction and send the displacement signal to the controller 107, and then the controller 107 controls the first driving member 1043 and the second driving member 1055 based on the received signal, thereby adjusting the pose of the probe carrier assembly 103.

[0058] In this embodiment, the angle sensor arranged on the rotating mechanism 1042 is used to collect the deflection angle of the detection probe in real time, and the displacement sensor arranged on the probe carrier assembly 103 is used to measure the axial displacement of the probe carrier assembly 103, thereby forming a comprehensive monitoring of the spatial pose of the detection probe. The angle and displacement signals collected by the two sensors are transmitted to the controller 107 synchronously, so that the controller 107 can accurately coordinate the first driving member 1043 and the second driving member 1055 based on these multi-dimensional data, realize real-time, automatic and collaborative adjustment of the pose of the detection probe, and ensure that the detection probe can always maintain stable contact with the detected member at the optimal angle and position, thereby improving the accuracy of ultrasonic detection.

[0059] As shown in Fig. 3 In some embodiments, the probe seat further comprises a magnetic force adjusting assembly 108. The magnetic force adjusting assembly 108 comprises an electromagnet 1081. The electromagnet 1081 is embedded in the frame 101, and the electromagnet 1081 can provide an attractive force to the probe seat so that the probe seat can be attached to the detected member.

[0060] The magnetic force adjusting assembly 108 comprises a current adjusting element 1082. The current adjusting element 1082 is arranged on the frame 101 and electrically connected with the electromagnet 1081. The current adjusting element 1082 is in communication connection with the controller 107.

[0061] The magnetic force adjusting assembly 108 comprises a plurality of magnetic field strength sensors 1083. The plurality of magnetic field strength sensors 1083 are arranged on the flexible base 102, and the plurality of magnetic field strength sensors 1083 are in communication connection with the controller 107.

[0062] The electromagnet 1081 is embedded in the interior of the frame 101 near the side of the detected member, and the electromagnet 1081 is electrically connected with the current adjusting element 1082. The current adjusting element 1082 can be a patch type and is attached to the surface of the frame 101. The current adjusting element 1082 and the plurality of magnetic field strength sensors 1083 are in communication connection with the controller 107. The controller 107 can control the current flowing through the electromagnet 1081 through the current adjusting element 1082 according to the magnetic field strength signals detected by the plurality of magnetic field strength sensors 1083, thereby adjusting the magnetic field strength between the probe seat and the detected member.

[0063] The adjustable adsorption force is provided by the electromagnet 1081 embedded in the frame 101, and the real-time monitoring is performed in combination with the plurality of magnetic field strength sensors 1083 distributed in the flexible base 102, so that the controller 107 can accurately control the excitation current of the electromagnet 1081 through the current adjusting element 1082 according to the detected magnetic field signal, thereby realizing closed-loop adjustment of the adsorption force. This not only ensures that the probe seat can be stably and reliably adsorbed and fixed on the detected surface of different materials, different curvatures or space in any orientation, effectively prevents slipping or overturning during detection, but also avoids potential damage to some precision workpieces due to excessive magnetic force or coupling agent leakage due to insufficient magnetic force caused by insufficient sealing of the sealing lip, thereby improving the adaptability of the probe seat under complex working conditions and the overall stability of the detection process.

[0064] In some embodiments, the magnetic force adjusting assembly 108 further includes a plurality of permanent magnets 1084. The plurality of permanent magnets 1084 are embedded in the frame 101.

[0065] The magnetic force adjusting assembly 108 further includes a plurality of magnetic permeability adjusting sheets 1085. The plurality of magnetic permeability adjusting sheets 1085 correspond one-to-one to the plurality of permanent magnets 1084 and are adsorbed on the side of the permanent magnets 1084 facing the detected piece.

[0066] The magnetic force adjusting assembly 108 further includes an action mechanism. The action mechanism is mechanically connected to the plurality of magnetic permeability adjusting sheets 1085.

[0067] The magnetic force adjusting assembly 108 further includes a third driving member 1086. The third driving member 1086 is arranged in the frame 101 and is in communication connection with the controller 107, and the third driving member 1086 can provide driving force for the action mechanism.

[0068] Specifically, the plurality of permanent magnets 1084 are respectively and independently embedded in the inside of the frame 101 near the side facing the detected piece, and a magnetic permeability adjusting sheet 1085 is adsorbed on the surface of each permanent magnet 1084 facing the detected piece. Each magnetic permeability adjusting sheet 1085 can move relative to the permanent magnet 1084. Each permanent magnet 1084 and the third driving member 1086 are mechanically connected through the action mechanism, and the third driving member 1086 is in communication connection with the controller 107, so that the controller 107 can control the third driving member 1086 based on the magnetic field strength signal detected by the plurality of magnetic field strength sensors 1083, so that the third driving member 1086 can drive the plurality of magnetic permeability adjusting sheets 1085 to move relative to the corresponding permanent magnets 1084 through the action mechanism.

[0069] In the above embodiment, the permanent magnet 1084 can provide a basic suction force for the probe holder, and in combination with the magnetic permeability adjusting piece 1085 which can be precisely controlled by the third driving member 1086 through the action mechanism, the mechanical adjustment of the suction force of the probe holder is realized, which enables the controller 107 to control the relative position between the adjusting piece and the permanent magnet 1084 according to the feedback of the magnetic field intensity sensor 1083, so as to continuously and stably adjust the final suction force acting on the surface of the detected piece. Not only does it enhance the adaptability of the probe holder to detected pieces of different materials, avoid the heating and power consumption problems that may exist in the long-time and high-intensity work of the electromagnet 1081, but also further optimizes the fitting pressure distribution of the probe holder on the complex curved surface through multi-point independent control, finally ensuring the appropriate suction force while improving the overall stability of the probe holder.

[0070] In some embodiments, the pressure sensor 1061 is arranged on one side of the probe carrier assembly 103 close to the frame 101, and the pressure sensor 1061 is in communication connection with the controller 107.

[0071] Specifically, after the detection probe is installed on the probe holder, the detection probe is flush with the probe carrier assembly 103, and the pressure sensor 1061 is arranged on one end of the probe carrier assembly 103 close to the detected piece. The pressure signal collected by the pressure sensor 1061 can reflect the pressure between the detection probe and the detected piece, and the pressure sensor 1061 can send the pressure signal to the controller 107, and the controller 107 adjusts the axial displacement of the probe carrier assembly 103 based on the received pressure signal.

[0072] In the above embodiment, by directly arranging the pressure sensor 1061 on one end of the probe carrier assembly 103 close to the detected piece and flush with the end face of the detection probe, the sensor can directly detect the actual contact pressure between the detection probe and the detected piece, avoiding the mechanical transmission error that may be caused by indirect measurement. This design provides the controller 107 with real and timely pressure signals, so that the controller 107 can accurately control the pressure adjusting assembly 1051 based on the signals to realize closed-loop adjustment of the axial displacement of the detection probe, thereby ensuring that the detection probe and the detected piece always maintain an optimal contact pressure, effectively ensuring the stability of ultrasonic coupling and the quality of detection signals, and preventing the detection probe from being worn or distorted due to improper pressure.

[0073] In some embodiments, the controller 107 can control the working state of the first driving member 1043, the second driving member 1055 and the third driving member 1086 based on the signals of the pose sensor combination and the pressure sensor 1061.

[0074] The controller 107 drives the first driving member 1043, the second driving member 1055 and the third driving member 1086 to work based on the received pose signals collected by the pose sensor group, the pressure signals collected by the pressure sensor 1061 and the magnetic field intensity signals collected by the magnetic field intensity sensor 1083, and then adjusts the pose of the detection probe, the contact pressure between the detection probe and the detected member and the adsorption force between the probe seat and the detected member.

[0075] Specifically, the controller 107 can receive the basic parameters of the detected member input by the operator, and determine the magnetic adsorption force critical value based on the basic parameters through a first formula. The basic parameters of the detected member can include magnetic permeability, thickness, hardness and other data. The first formula is:

[0076] Wherein, F0 is the magnetic adsorption force critical value, is the structural coefficient of the electromagnet 1081 (determined by the number of electromagnet poles and the core material), I0 is the current passing through the electromagnet 1081, is the permeability of the detected member, h0 is the thickness of the detected member.

[0077] The controller 107 determines the actual magnetic adsorption force of the probe seat based on the current passing through the electromagnet 1081, the fixed magnetic field parameters of the permanent magnet 1084 and the gap distance length through a second formula. The second formula is:

[0078] Wherein, F s is the actual magnetic adsorption force, μ0 is the vacuum permeability, μ r is the relative permeability of the detected member, S1 is the area of the frame 101 of the probe seat close to the detected member side, B f is the magnetic induction intensity generated by the permanent magnet 1084, N is the number of turns of the electromagnet 1081 coil, I is the working current of the electromagnet 1081, L G is the gap distance length (which can be 0 when adsorbed), L f is the core magnetic circuit length of the electromagnet 1081.

[0079] Then the controller 107 compares the actual magnetic adsorption force with the magnetic adsorption force critical value, if F s <F0, the controller 107 determines that the magnetic adsorption force is insufficient, at this time the controller 107 can control the current adjusting element 1082 to increase the current passing through the electromagnet 1081; if F s >F0, the controller 107 determines that the magnetic adsorption force is too large, the controller 107 can control the current adjusting element 1082 to reduce the current passing through the electromagnet 1081, and finally ensure that F s matches F0.

[0080] The controller 107 can also determine the critical contact pressure value between the tested component and the detection probe based on the basic parameters of the tested component, the actual condition of the detection probe, and the third formula, thereby determining the appropriate contact pressure range between the tested component and the detection probe. The third formula is:

[0081] Where, p ymax p is the critical maximum contact pressure. ymin The minimum critical contact pressure is K, which is the safety factor and can be taken as 0.005~0.008. HB is the Brinell hardness of the tested part, and S2 is the contact area between the test probe and the tested part.

[0082] The contact area between the detection probe and the workpiece can be calculated using the fourth formula. The fourth formula is:

[0083] Where S2 is the contact area between the detection probe and the object being tested, and r is the radius of the detection probe.

[0084] The controller 107 automatically calls preset adaptation parameters based on the material of the workpiece pre-defined before testing. For example, the sampling period Ts can be set to 10ms in the controller 107, and the pressure tolerance can be set. Then, the feed rate of the second drive unit 1055 is calculated using an incremental PID formula. The incremental PID formula is:

[0085] in, The pressure signal acquired during the nth sampling period. The pressure signal is the one acquired in the previous sampling period of the nth sampling period. For the first The pressure signals acquired in the first two sampling cycles of a sampling period, where Ts is the set sampling period, Kp is the proportional coefficient, Ki is the integral coefficient, and Kd is the derivative coefficient.

[0086] The total feed rate of the second drive unit 1055 is:

[0087] in, This represents the theoretical total feed rate achieved by the second drive unit 1055 after the current sampling period. This represents the actual total feed rate achieved by the second drive unit 1055 after the previous sampling cycle. This is the feed amount of the second drive unit 1055 in the current sampling period.

[0088] Preferably, the interference estimation value can also be introduced in the controller 107 The interference estimation value can be calculated by a fifth formula. The fifth formula is as follows:

[0089] wherein, is the interference estimation value, is the pressure change rate, which can be calculated by a sixth formula; Ts is a set sampling period; is the speed change amount of the second driving member 1055. The sixth formula is as follows:

[0090] The actual total feed amount of the second driving member 1055 after the current sampling period is calculated based on the theoretical total feed amount of the second driving member 1055 after the current sampling period, the interference estimation value, and a seventh formula. The seventh formula is as follows:

[0091] wherein, is the actual total feed amount of the second driving member 1055 after the current sampling period, is the theoretical total feed amount of the second driving member 1055 after the current sampling period, is the interference estimation value.

[0092] The controller 107 drives the second driving member 1055 to work based on the obtained actual total feed amount of the second driving member 1055 after the current sampling period. Preferably, a first display lamp and a second display lamp can also be arranged on the frame 101. The controller 107 sets the maximum forward rotation speed and the maximum reverse rotation speed of the second driving member 1055, and converts the set speed parameters into a pulse width modulation signal (i.e. a PWM driving signal). The first indicator lamp is used to indicate the contact pressure between the detection probe and the detected member, and the second indicator lamp is used to indicate the working state of the second driving member 1055.

[0093] Specifically, when , the first indicator lamp displays red, which indicates that the contact pressure between the detection probe and the detected member is too small. The controller 107 confirms that is positive, and drives the second driving member 1055 to rotate forward, thereby driving the detection probe to feed towards the detected member and increasing the contact pressure between the detection probe and the detected member; when , the first indicator lamp displays yellow, which indicates that the contact pressure between the detection probe and the detected member is too large. The controller 107 confirms that When the contact pressure between the detection probe and the detected piece is less than the first indication threshold, the controller 107 drives the second driving member 1055 to rotate in a first direction, and drives the detection probe to feed towards the detected piece; when the contact pressure between the detection probe and the detected piece is greater than the first indication threshold, the controller 107 drives the second driving member 1055 to rotate in a second direction, and drives the detection probe to feed away from the detected piece. When the contact pressure between the detection probe and the detected piece is within the appropriate range, the first indication is displayed in green, and the controller 107 controls the second driving member 1055 to stop working to maintain a stable contact pressure.

[0094] The controller 107 adjusts the current flowing through the electromagnet 1081 based on the magnetic attraction force threshold and the characteristic curve of the electromagnet 1081 preconfigured in the controller 107, to ensure that the adsorption force of the probe seat remains stable.

[0095] Further, a memory can be arranged outside the probe seat and in communication connection with the controller 107. When the contact pressure between the detection probe and the detected piece and the adsorption force are stable, the controller 107 can package the detection data obtained based on the detection probe, the pressure signal obtained based on the pressure sensor 1061, the pose signal obtained based on the pose sensor combination, the magnetic field intensity signal obtained based on the magnetic field intensity sensor 1083, and the current value through the electromagnet 1081, and store them in the memory.

[0096] When the detection of the detected piece by the detection probe is completed, the second driving member 1055 can be reversed to remove the contact pressure applied on the surface of the detected piece by the probe carrier assembly 103 and the detection probe, and then the controller 107 controls the current adjusting module to reduce the current through the electromagnet 1081 to 0, to reduce the adsorption force between the probe seat and the detected piece, controls the third driving member 1086 to drive the magnetic permeability adjusting piece 1085 to completely cover the permanent magnet 1084, so that the probe seat is separated from the surface of the detected piece.

[0097] The embodiment of the present application also provides an ultrasonic detection device, which comprises the probe seat provided in any of the above embodiments. The ultrasonic detection device provided by the embodiment of the present application has the beneficial effects of any of the above embodiments of the probe seat, and thus the beneficial effects of any of the above embodiments of the probe seat are not repeated here.

[0098] The ultrasonic detection device comprises a detection probe, which can be arranged in the probe seat.

[0099] The detection probe of the ultrasonic detection device is arranged in the probe seat and can rotate or axially move with the probe carrier assembly 103 in the probe seat.

[0100] The ultrasonic detection equipment provided by the above embodiments can adjust the adsorption force between the probe holder and the detected piece, the pressure between the detection probe and the detected piece, and the pose of the detection probe through the controller 107 arranged on the probe holder, thereby having higher detection precision, and since the case that the pressure between the detection probe and the detected piece is too large does not occur, the service life of the ultrasonic detection equipment is indirectly prolonged.

[0101] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A probe head holder, characterized by, The probe seat is used for carrying and adjusting the relative position between a detection probe of an ultrasonic detection device and a detected object, and comprises: a frame; a flexible base body detachably arranged on the frame, an edge of the flexible base body being capable of sealingly contacting a mating surface of the detected object; a probe carrying assembly for mounting the detection probe, the probe carrying assembly being movably arranged on the frame; an integrated adjusting device connected to the frame and the probe carrying assembly, the integrated adjusting device comprising: a pose adjusting assembly for driving the probe carrying assembly to perform multi-degree-of-freedom pose adjustment; a pressure adjusting assembly for driving the probe carrying assembly to perform linear motion in a direction perpendicular to the mating surface; a sensor group comprising a pose sensor combination for detecting the spatial pose of the probe carrying assembly and a pressure sensor for detecting the contact pressure between the detection probe and the detected object; a controller arranged on the frame and communicatively connected to the integrated adjusting device, the controller being configured to: control the pose adjusting assembly to perform pose pre-positioning of the probe carrying assembly based on an output signal of the pose sensor combination; and control the pressure adjusting assembly to perform feeding in a direction perpendicular to the mating surface based on an output signal of the pressure sensor.

2. The probe head according to claim 1, characterized in that The pose adjusting assembly comprises: a rotating mechanism arranged at one end of the probe carrying assembly close to the frame; a first driving member communicatively connected to the controller, an output end of the first driving member being connected to the rotating mechanism to drive the rotating mechanism to rotate the detection probe.

3. The probe head according to claim 2, characterized in that The pressure adjusting assembly comprises: an axial adjusting mechanism movably connected to the frame and the probe carrying assembly; a second driving member communicatively connected to the controller, an output end of the second driving member being connected to the adjusting mechanism to drive the axial adjusting mechanism to move along the axial direction of the probe carrying assembly.

4. The probe head according to claim 3, characterized in that The axial adjusting mechanism comprises: a first connecting rod, one end of the first connecting rod being connected to the probe carrying assembly, and the other end of the first connecting rod being connected to the output end of the second driving member; a first gimbal arranged between the first connecting rod and the second driving member; a resilient member, one end of the resilient member being connected to the frame; a second connecting rod, one end of the second connecting rod being connected to the end of the resilient member away from the frame, and the other end of the second connecting rod being connected to the probe carrying assembly; a second gimbal arranged between the second connecting rod and the resilient member.

5. The probe head according to claim 3, characterized in that The probe seat further comprises a magnetic force adjusting assembly, the magnetic force adjusting assembly comprising: an electromagnet embedded in the frame, for providing an attractive force to the probe seat so that the probe seat is attached to the detected object; a current adjusting element arranged on the frame, the current adjusting element being electrically connected to the electromagnet, and the current adjusting element being communicatively connected to the controller; a plurality of magnetic field strength sensors arranged on the flexible base body, the plurality of magnetic field strength sensors being communicatively connected to the controller.

6. The probe head according to claim 5, characterized in that The magnetic force adjusting assembly further comprises: a plurality of permanent magnets embedded in the frame. A plurality of magnetic permeability adjusting pieces, which are attracted to one side of the plurality of permanent magnets facing the detected piece one by one; An action mechanism, which is mechanically connected to the plurality of magnetic permeability adjusting pieces; A third driving piece, which is provided on the frame, and which is in communication with the controller, and which can provide driving force for the action mechanism.

7. The probe holder according to claim 5, wherein The controller can control the working states of the first driving piece, the second driving piece and the third driving piece based on the signals of the pose sensor combination, the signal of the pressure sensor and the signal of the magnetic field intensity sensor.

8. The probe head according to claim 2, characterized in that The pose sensor combination comprises: An angle sensor, which is provided on the rotating mechanism, and which is in communication with the controller; A displacement sensor, which is provided on one end of the probe bearing assembly close to the frame, and which is in communication with the controller.

9. The probe holder according to claim 1, wherein The pressure sensor is provided on one side of the probe bearing assembly close to the frame, and the pressure sensor is in communication with the controller.

10. An ultrasonic testing apparatus characterized by comprising: Comprise: The probe holder according to any one of claims 1 to 9; A detection probe, which can be provided in the probe holder.

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