Self-adaptive ultrasonic detection device and method for curved surface aluminum welding seam structure of power equipment

Abstract

The invention discloses a self-adaptive ultrasonic detection device and method for a curved surface aluminum welding seam structure of power equipment. The detection device comprises a vehicle body motion control system and an ultrasonic phased array detection system. The vehicle body motion control system comprises a moving device and a self-adaptive attaching mechanism. The self-adaptive attaching mechanism comprises a connecting frame, a spring shell, a spring, a lifting rod, a linkage piece and a displacement sensor. The detection method comprises the steps of transverse wave signal excitation and acquisition, curved surface contour extraction and correction and anisotropic full-focusing imaging. Stable coupling of the detection probe and the to-be-detected curved surface workpiece is completed through the moving device with the self-adaptive attaching mechanism, and signal loss is avoided; according to the method, the curved surface contour of a workpiece is extracted through amplitude information, the transit time of an acoustic beam can be accurately calculated, and accurate positioning of a defect position and quantitative analysis of the size are realized in cooperation with an anisotropic full-focusing algorithm considering material characteristics, so that efficient and accurate flaw detection of an aluminum welding seam is achieved.

Description

Technical Field

[0001] This invention belongs to the field of non-destructive testing technology for power equipment, specifically an adaptive ultrasonic testing device and method for curved aluminum weld seam structures in power equipment. Background Technology

[0002] Power equipment (such as transformer tanks, GIS housings, busbar pipes, etc.) often adopts aluminum alloy welded structures. During welding and service, aluminum welds are easily affected by factors such as equipment, processes and environment, resulting in defects such as porosity, slag inclusions and cracks. These defects can cause stress concentration, reduced fatigue strength, weakened load-bearing capacity and other problems, and may even lead to component failure, seriously affecting the service life and normal operation of the equipment. Therefore, defect detection of aluminum welds is of great significance to ensuring its service safety.

[0003] Currently, non-destructive testing methods for aluminum welds in power equipment mainly include manual and automated testing. Taking curved welds as an example, Chinese patent application CN113933313A discloses an automated ultrasonic testing device for curved welds. This automated system, which uses a robotic arm to drive the probe along a curved surface trajectory, improves the consistency of testing. However, this device has a complex structure, relies on preset trajectories and calibration, is difficult to deploy on-site, and lacks adaptive coupling and real-time pose perception capabilities for surface undulations. Ultrasonic full-focusing technology, due to its high imaging resolution and accurate defect quantification, has become an important means of weld inspection. Chinese patent application CN114993983A discloses an ultrasonic testing system and method for welds based on the full-focusing method. Although this method can improve the imaging resolution of weld defects, its motion mechanism is mostly linear or rotating axis, lacking adaptive movement and coupling capabilities for curved surfaces, resulting in poor detection performance when performing full-focusing imaging on complex curved surfaces.

[0004] Furthermore, since the aluminum welded shell of power equipment usually has curved surface features, the sound beam may undergo complex transmission at the interface of different media, which may cause calculation errors in the ultrasonic transit time of conventional full-focusing methods. At the same time, the anisotropic columnar crystal structure formed in the weld area during the welding process will cause interference phenomena such as ultrasonic signal distortion and sound beam deflection, which will further cause a significant decrease in defect positioning accuracy and imaging resolution. Summary of the Invention

[0005] To address the technical problems existing in the prior art, this invention provides an adaptive ultrasonic testing device for curved aluminum weld seams in power equipment. This device uses a moving device with an adaptive fitting mechanism to achieve stable coupling between the testing probe and the workpiece to be tested, thus avoiding signal loss and improving adaptability to the field environment, making operation more flexible and convenient. This invention also provides an adaptive ultrasonic testing method for curved aluminum weld seams in power equipment. By extracting and correcting the workpiece's curved surface contour, it can accurately calculate the ultrasonic transit time when the sound beam undergoes complex transmission at the interface of different media. Combined with the anisotropic material characteristics of the weld seam area, it uses an anisotropic full-focusing imaging method to achieve precise location of defects and quantitative analysis of their dimensions, thereby achieving efficient and accurate flaw detection of aluminum weld seams.

[0006] Therefore, the present invention adopts the following technical solution.

[0007] In a first aspect, the present invention provides an adaptive ultrasonic testing device for curved aluminum weld seam structures of power equipment, which includes a vehicle motion control system and an ultrasonic phased array testing system. The vehicle motion control system includes a moving device and an adaptive fitting mechanism. The moving device includes a movable upper plate. The adaptive fitting mechanism includes a connecting frame, a spring housing, a spring, a lifting rod, a linkage, and a displacement sensor. The spring housing is fixed to the upper plate via the connecting frame. The spring is placed inside the spring housing, with its bottom abutting against the top surface of the lifting rod. One end of the linkage is axially connected to the bottom of the lifting rod, and the other end is axially connected to the outer shell of the phased array probe. The displacement sensor is fixed to the upper plate and measures the vertical displacement of the lifting rod in real time. The ultrasonic phased array testing system includes a transmitting phased array probe, a receiving phased array probe, a first fixed wedge, a first flexible wedge, a second fixed wedge, a second flexible wedge, a phased array detector, and a signal receiving and processing unit. The first and second fixed wedges are respectively connected to the first and second flexible wedges. The transmitting and receiving phased array probes are respectively mounted on the first and second fixed wedges. The lifting rod is raised and lowered by the vertical extension and retraction of the spring, which drives the linkage and the phased array probe, so that the flexible wedges adaptively fit the surface of the workpiece being inspected. The phased array detector excites the ultrasonic signal from the transmitting phased array probe and acquires the ultrasonic signal from the receiving phased array probe. The signal receiving and processing unit processes the displacement data from the displacement sensor and simultaneously processes the acquired ultrasonic signal.

[0008] Furthermore, the mobile device also includes a pushing mechanism fixed to the upper plate, which drives the mobile device to move.

[0009] Furthermore, the pushing mechanism includes a handle, a push rod, and a first screw, wherein the push rod is fixedly connected to the upper plate by the first screw.

[0010] Furthermore, the moving device also includes a front wheel and a rear wheel, with the front wheel connected and fixed to the upper plate via a wheel frame. The operator can apply external force to the push rod by gripping the handle, and with the combined action of the front and rear wheels, the entire device is pushed to move smoothly along the inspected curved workpiece, achieving convenient manual scanning.

[0011] Furthermore, the connecting frame is fixed to the upper plate by a second screw.

[0012] Furthermore, there are two sets of adaptive bonding mechanisms, which are respectively located on both sides of the upper plate; the transmitting phased array probe and the receiving phased array probe are respectively located on both sides of the upper plate, cooperating with the corresponding set of adaptive bonding mechanisms.

[0013] Furthermore, based on the different surface shapes of the inspected curved workpiece, the flexible wedge is driven to closely adhere to the inspected curved workpiece by controlling the motion of the adaptive bonding mechanism, moving along the weld direction with a preset step length, and simultaneously scanning and imaging at different positions during the movement; the signal receiving and processing unit uses an adaptive full-focusing algorithm to process the acquired ultrasonic signals. This algorithm dynamically corrects the sound beam transmission path and focusing rule based on real-time displacement data, thereby generating an accurate and high-resolution full-focus image on the inspected curved workpiece.

[0014] Secondly, the present invention provides an adaptive ultrasonic testing method for curved aluminum weld seam structures of power equipment, employing the aforementioned adaptive ultrasonic testing device for curved aluminum weld seam structures of power equipment, the testing steps of which include: Step 1: Excite and acquire shear wave signals using the phased array detector. Step 2: Taking into account the anisotropy of the material in the aluminum weld area, perform surface anisotropic full-focus imaging on the transverse wave pulse echo signal acquired in Step 1 to achieve transverse wave full-focus imaging of internal defects in the inspected surface workpiece.

[0015] Furthermore, the specific content of step one includes: The tilt angle of the first fixed wedge is controlled so that the transmitting phased array probe emits ultrasonic longitudinal waves at an angle greater than the first critical incident angle and less than the second critical incident angle; according to Snell's law, the first critical incident angle... Second critical incident angle The calculations are as follows: ,in, c p1 This represents the longitudinal wave velocity in the first fixed wedge. c p2 and cs2 These represent the refracted longitudinal wave velocity and the refracted transverse wave velocity in the first flexible wedge, respectively. When the ultrasonic longitudinal wave emitted by the phased array probe propagates to the interface between the first fixed wedge and the first flexible wedge, a waveform conversion occurs. Part of the wave is reflected back into the first fixed wedge as a longitudinal wave, while the remaining wave is converted into a refracted transverse wave that propagates along the inside of the first flexible wedge. When the refracted shear wave propagates to the interface between the second flexible wedge and the inspected curved surface workpiece, it generates a secondary refracted shear wave, which continues to propagate into the inspected curved surface workpiece. When it encounters a defect, it will be reflected and received by the phased array detector through the receiving phased array probe, thereby acquiring full matrix data. Subsequently, the acquired full matrix data is transmitted to the signal receiving and processing unit for processing to realize ultrasonic shear wave detection imaging.

[0016] Furthermore, the specific details of shear wave full-focusing imaging include: Step 21: Divide the imaging area into equally spaced grids; Step 22: Calculate the distance between the phased array probe transmitting at each scanning location point and the point at the interface between the first fixed wedge and the first flexible wedge. Calculate the propagation distance from the interface between the first fixed wedge and the first flexible wedge to the target imaging point. and the distance from the target imaging point back to the interface between the second fixed wedge and the second flexible wedge. Calculate the distance from the interface between the second fixed wedge and the second flexible wedge to the receiving phased array probe. ; Step 23: Calculate the total propagation time t h , ,in To fix the longitudinal wave velocity within the wedge, To obtain the amplitude imaging of the transverse wave velocity within the flexible wedge. In the formula, This represents the magnitude at grid point ab; , represents the number of effective detection positions of the target imaging point participating in shear wave full focusing; x represents the number of grid points on the horizontal axis, and z represents the number of grid points on the vertical axis; Step 24: Set a threshold for the amplitude, extract the sampling point positions of the flexible wedge and the surface contour of the inspected curved workpiece, and finally use numerical interpolation to fit the contour curve and correct it to obtain the workpiece surface contour curve. ; Step 25: Based on the workpiece surface profile curve obtained in step 24 Calculate the distance between the point at the interface between the first fixed wedge and the first flexible wedge and the point at the interface between the first flexible wedge and the workpiece under inspection. The propagation distance from the interface between the first flexible wedge and the inspected curved surface workpiece to the target imaging correction point. The distance from the target imaging correction point back to the point at the interface between the second flexible wedge and the inspected curved surface workpiece. The distance between the point at the interface between the second flexible wedge and the inspected curved workpiece and the point at the interface between the second fixed wedge and the second flexible wedge. ; Step 26: Calculate the total propagation correction time t. ,in, For ultrasonic application in workpiece materials The transverse wave velocity at the angle, For ultrasonic application in workpiece materials The transverse wave velocity at the angle, Let be the angle between the incident point perpendicular to the tangent of the workpiece and the direction of sound wave propagation within the workpiece. The angle between the reflection point perpendicular to the tangent of the workpiece and the direction of sound wave propagation within the workpiece is used to obtain the corrected amplitude image. .

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. By integrating a vehicle motion control system and an ultrasonic phased array detection system, this invention provides a mobile device with an adaptive fitting mechanism, which can achieve stable coupling between the detection probe and the inspected curved surface workpiece, thereby avoiding signal loss; at the same time, it greatly improves the adaptability to the field environment, makes the operation more flexible and convenient, and effectively improves the detection efficiency.

[0018] 2. By constructing a single-transmitter, single-receiver ultrasonic phased array detection method, the amplitude information is used to extract and correct the workpiece surface contour. This enables accurate calculation of the ultrasonic transit time when the sound beam undergoes complex transmission at the interface of different media. Combined with the anisotropic material characteristics of the weld area, the anisotropic full-focusing imaging method is used to achieve accurate location of defects and quantitative analysis of their dimensions, which greatly improves the imaging resolution of defects in curved aluminum welds of power equipment. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the right side of an adaptive ultrasonic testing device for curved aluminum weld seams in power equipment according to the present invention. Figure 2This is a schematic diagram of the left side of an adaptive ultrasonic testing device for curved aluminum weld seams in power equipment according to the present invention. Figure 3 This is a schematic diagram of the spring housing and lifting rod of the present invention; Figure 4 This is a schematic diagram of the structure of the phased array receiving probe of the present invention; Figure 5 This is a schematic diagram illustrating the principle of an adaptive ultrasonic testing method for curved aluminum weld seams in power equipment according to the present invention. Figure label: 111. Upper plate; 112. Front wheel; 113. Rear wheel; 114. Pushing mechanism; 121. Connecting frame; 122. Second screw; 123. Spring housing; 124. Spring; 125. Displacement sensor; 126. Lifting rod; 127. Linkage component; 1121. Wheel frame; 1141. Handle; 1142. Push rod; 1143. First screw; 21. Transmitting phased array probe; 22. Receiving phased array probe; 23. First fixed wedge; 24. First flexible wedge; 25. Phased array detector; 26. Signal receiving and processing unit; 27. Second fixed wedge; 28. Second flexible wedge. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0023] Example 1 See Figure 1-4 This embodiment is an adaptive ultrasonic testing device for curved aluminum weld seam structures of power equipment, including a vehicle motion control system and an ultrasonic phased array testing system.

[0024] The vehicle motion control system includes a moving device and an adaptive fitting mechanism.

[0025] The mobile device includes a movable upper plate 111, front wheels 112, rear wheels 113, and a pushing mechanism 114 fixed to the upper plate 111. The front wheels 112 are connected and fixed to the upper plate 111 via wheel frames 1121. The pushing mechanism 114 includes a handle 1141, a push rod 1142, and a first screw 1143. The push rod 1142 is fixedly connected to the upper plate 111 via the first screw 1143.

[0026] The adaptive fitting mechanism includes a connecting frame 121, a spring housing 123, a spring 124, a lifting rod 126, a linkage 127, and a displacement sensor 125. The spring housing 123 is fixed to the upper plate 111 via the connecting frame 121, and the connecting frame 121 is fixed to the upper plate 111 via a second screw 122. The spring 124 is placed inside the spring housing 123, with the top of the spring 124 abutting against the top of the spring housing 123 and the bottom of the spring 124 abutting against the top surface of the lifting rod 126. One end of the linkage 127 is axially connected to the bottom of the lifting rod 126, and the other end is axially connected to the outer shell of the phased array probe. The displacement sensor 125 is fixed to the upper plate 111 and measures the displacement change of the lifting rod 126 in the vertical direction in real time. This displacement change data is a key parameter for compensating for the height change of the probe when it moves on the curved surface.

[0027] The ultrasonic phased array testing system includes a transmitting phased array probe 21, a receiving phased array probe 22, a first fixed wedge 23, a first flexible wedge 24, a second fixed wedge 27, a second flexible wedge 28, a phased array detector 25, and a signal receiving and processing unit 26. The first fixed wedge 23 and the second fixed wedge 27 are respectively connected to the first flexible wedge 24 and the second flexible wedge 28. The transmitting phased array probe 21 and the receiving phased array probe 22 are respectively mounted on the first fixed wedge 23 and the second fixed wedge 27. The lifting rod 126 is raised and lowered by the vertical extension and retraction of the spring 124 under force, which drives the linkage 127 and the phased array probe, so that the flexible wedge adaptively fits the surface of the inspected curved workpiece. The phased array detector 25 excites the ultrasonic signal from the transmitting phased array probe 21 and acquires the ultrasonic signal from the receiving phased array probe 22. The signal receiving and processing unit 26 processes the displacement data from the displacement sensor 125 and simultaneously processes the acquired ultrasonic signal.

[0028] The transmitting phased array probe 21 and the receiving phased array probe 22 are interconnected on both sides of the vehicle body, with a center frequency of 5MHz, an element spacing of 0.5mm, and an element width of 0.4mm. The fixed wedge is made of polystyrene, and the flexible wedge is made of silicone rubber. The phased array detector is a Vantage64LE.

[0029] There are two sets of adaptive bonding mechanisms, which are respectively located on both sides of the upper plate 111; the transmitting phased array probe 21 and the receiving phased array probe 22 are respectively located on both sides of the upper plate 111, and cooperate with the corresponding set of adaptive bonding mechanisms.

[0030] Example 2 This embodiment provides an adaptive ultrasonic testing method for curved aluminum weld seams in power equipment, which uses the adaptive ultrasonic testing device for curved aluminum weld seams in power equipment described in Embodiment 1. The specific testing steps are as follows: Step 1: Construct a phased array using the aforementioned adaptive ultrasonic testing device for curved aluminum weld seams in power equipment to excite and acquire transverse wave signals.

[0031] Controlling the tilt angle of the first fixed wedge allows the transmitting phased array probe to emit ultrasonic longitudinal waves at an angle greater than the first critical incident angle and less than the second critical incident angle; the longitudinal wave velocity of the polystyrene fixed wedge. The ultrasonic longitudinal wave and shear wave velocities within this material are respectively According to Snell's law, the first and second critical incident angles can be calculated as 22.14° and 48.72°, respectively. Therefore, the incident angle of the transmitting phased array probe is selected as 41°. The sampling frequency of the Vantage64LE phased array detector is set to 62.5MHz, and the number of sampling points is set to 4096. When these waves propagate to the interface between the first fixed wedge and the first flexible test block, waveform conversion occurs, transforming them into refracted transverse waves propagating along the inside of the first flexible wedge. These waves then propagate to the interface between the second flexible wedge and the inspected curved surface workpiece, generating secondary refracted transverse waves. When these waves continue to propagate into the inspected curved surface workpiece and encounter a defect, they are reflected and received by the Vantage64LE phased array detector through the receiving phased array probe, thus acquiring full matrix data. Subsequently, the acquired full matrix data is transmitted to the signal receiving and processing unit for processing, realizing ultrasonic transverse wave detection imaging.

[0032] Step 2, see Figure 5 The transverse wave pulse echo signal acquired in step one is subjected to surface anisotropic full-focus imaging to achieve transverse wave full-focus imaging of internal defects in the inspected curved surface workpiece. This includes the following steps: Step 1: Divide the imaging area into a grid with equal spacing of 0.1mm × 0.1mm; Step 2: Calculate the coordinates of the phased array probes transmitting at each scanning location (their coordinates are...). (to the interface between the first fixed wedge and the first flexible wedge) Distance between Calculate the point at the interface between the first fixed wedge and the first flexible wedge. To the target imaging point propagation distance Calculate from the target imaging point Return to the interface between the second fixed wedge and the second flexible wedge. distance Calculate the point at the interface between the second fixed wedge and the second flexible wedge. To receive the phased array probe Distance between The formulas for calculating each distance are as follows: , , , , To transmit the phased array probe at the secondary transverse wave source point generated by the first flexible wedge. For the transverse wave to reach the target imaging point Then return to the sound source point when receiving the phased array probe; Step 3: Calculate the total propagation time t h , ,in To fix the longitudinal wave velocity within the wedge (the first and second fixed wedges are made of the same material, so their longitudinal wave velocities are also the same). To obtain the transverse wave velocity within the flexible wedge (the first and second flexible wedges are made of the same material, so their longitudinal wave velocities are also identical), amplitude imaging is performed. In the formula, This represents the magnitude at grid point ab; , represents the number of effective detection positions of the target imaging point participating in shear wave full focusing; x represents the number of grid points on the horizontal axis, and z represents the number of grid points on the vertical axis; Step 4: Set a threshold for the amplitude, extract the sampling point positions of the flexible wedge and the surface contour of the inspected curved workpiece, and finally use numerical interpolation to fit the contour curve and correct it to obtain the workpiece surface contour curve. ; Step 5: Based on the workpiece surface profile curve obtained in Step 4 Calculate the distance between the point at the interface between the first fixed wedge and the first flexible wedge and the point at the interface between the first flexible wedge and the workpiece under inspection. The propagation distance from the interface between the first flexible wedge and the inspected curved surface workpiece to the target correction point. The distance from the target correction point back to the interface between the second flexible wedge and the inspected curved surface workpiece. The distance between the point at the interface between the second flexible wedge and the inspected curved workpiece and the point at the interface between the second fixed wedge and the second flexible wedge. The formulas for calculating each distance are as follows: , , , ; Step 6: Calculate the total propagation correction time. During the propagation of the sound wave on the workpiece, the anisotropy of the material in the aluminum weld area is considered. When the incident and reflected waves pass through the interface between the flexible wedge and the curved workpiece, their different angular positions require corresponding time compensation.

[0033] Total propagation correction time , in, For ultrasonic application in workpiece materials The transverse wave velocity at the angle, For ultrasonic application in workpiece materials The transverse wave velocity at the angle, Let be the angle between the incident point perpendicular to the tangent of the workpiece and the direction of sound wave propagation within the workpiece. The angle between the reflection point perpendicular to the tangent of the workpiece and the direction of sound wave propagation within the workpiece is used to obtain the corrected amplitude image. .

[0034] The above is a detailed description of the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of the present invention. It should be noted that those skilled in the art can make several improvements and modifications to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. An adaptive ultrasonic testing device for curved aluminum weld seams in power equipment, characterized in that, This includes the vehicle motion control system and the ultrasonic phased array detection system; The vehicle motion control system includes a moving device and an adaptive fitting mechanism. The moving device includes a movable upper plate (111). The adaptive fitting mechanism includes a connecting frame (121), a spring housing (123), a spring (124), a lifting rod (126), a linkage (127), and a displacement sensor (125). The spring housing (123) is fixed to the upper plate (111) through the connecting frame (121). The spring (124) is placed inside the spring housing (123), and the bottom of the spring (124) abuts against the top surface of the lifting rod (126). One end of the linkage (127) is axially connected to the bottom of the lifting rod (126), and the other end is used to axially connect to the outer shell of the phased array probe. The displacement sensor (125) is fixed to the upper plate (111) and measures the displacement change of the lifting rod (126) in the vertical direction in real time. The ultrasonic phased array detection system includes a transmitting phased array probe (21), a receiving phased array probe (22), a first fixed wedge (23), a first flexible wedge (24), a second fixed wedge (27), a second flexible wedge (28), a phased array detector (25), and a signal receiving and processing unit (26). The first fixed wedge (23) and the second fixed wedge (27) are respectively connected to the first flexible wedge (24) and the second flexible wedge (28). The transmitting phased array probe (21) and the receiving phased array probe (22) are respectively mounted on the first fixed wedge (23). The lifting rod (126) is raised and lowered by the vertical extension and retraction of the spring (124) after the wedge (23) and the second fixed wedge (27) are subjected to force, which drives the linkage (127) and the phased array probe, so that the flexible wedge adapts to the surface of the workpiece under inspection; the phased array detector (25) realizes the excitation of the ultrasonic signal of the phased array probe (21) and the acquisition of the ultrasonic signal of the phased array probe (22); the signal receiving and processing unit (26) processes the displacement data from the displacement sensor (125) and processes the acquired ultrasonic signal simultaneously.

2. The adaptive ultrasonic testing device for curved aluminum weld seams in power equipment according to claim 1, characterized in that, The mobile device also includes a pushing mechanism (114) fixed on the upper plate (111).

3. The adaptive ultrasonic testing device for curved aluminum weld seams in power equipment according to claim 2, characterized in that, The pushing mechanism (114) includes a handle (1141), a push rod (1142) and a first screw (1143), wherein the push rod (1142) is fixedly connected to the upper plate (111) by the first screw (1143).

4. The adaptive ultrasonic testing device for curved aluminum weld seams in power equipment according to claim 1, characterized in that, The mobile device also includes a front wheel (112) and a rear wheel (113), wherein the front wheel (112) is connected and fixed to the upper plate (111) via a wheel frame (1121).

5. The adaptive ultrasonic testing device for curved aluminum weld seams in power equipment according to claim 1, characterized in that, The connecting frame (121) is fixed to the upper plate (111) by the second screw (122).

6. The adaptive ultrasonic testing device for curved aluminum weld seams in power equipment according to claim 1, characterized in that, The adaptive bonding mechanism has two sets, which are respectively located on both sides of the upper plate (111); the transmitting phased array probe (21) and the receiving phased array probe (22) are respectively located on both sides of the upper plate (111) and cooperate with the corresponding set of adaptive bonding mechanisms.

7. The adaptive ultrasonic testing device for curved aluminum weld seams in power equipment according to claim 1, characterized in that, Depending on the surface shape of the workpiece being inspected, the flexible wedge is driven to closely adhere to the workpiece by controlling the motion of the adaptive bonding mechanism. The wedge moves along the weld direction at a preset step length, and images are sequentially scanned at different positions during the movement. The signal receiving and processing unit uses an adaptive full-focusing algorithm to process the acquired ultrasonic signals. This algorithm dynamically corrects the sound beam transmission path and focusing rule based on real-time displacement data, thereby generating an accurate and high-resolution full-focus image on the workpiece being inspected.

8. An adaptive ultrasonic testing method for curved aluminum weld seams in power equipment, comprising using the testing device described in any one of claims 1-7, characterized in that, include: Step 1: Excite and acquire shear wave signals using the phased array detector. Step 2: Taking into account the anisotropy of the material in the aluminum weld area, perform surface anisotropic full-focus imaging on the transverse wave pulse echo signal acquired in Step 1 to achieve transverse wave full-focus imaging of internal defects in the inspected surface workpiece.

9. The detection method according to claim 8, characterized in that, Step one includes the following: The tilt angle of the first fixed wedge is controlled so that the transmitting phased array probe emits ultrasonic longitudinal waves at an angle greater than the first critical incident angle and less than the second critical incident angle; according to Snell's law, the first critical incident angle... Second critical incident angle The calculations are as follows: ,in, c p1 This represents the longitudinal wave velocity in the first fixed wedge. c p2 and c s2 These represent the refracted longitudinal wave velocity and the refracted transverse wave velocity in the first flexible wedge, respectively. When the refracted shear wave propagates to the interface between the second flexible wedge and the inspected curved surface workpiece, it generates a secondary refracted shear wave, which continues to propagate into the inspected curved surface workpiece. When it encounters a defect, it will be reflected and received by the phased array detector through the receiving phased array probe, thereby acquiring full matrix data. Subsequently, the acquired full matrix data is transmitted to the signal receiving and processing unit for processing to realize ultrasonic shear wave detection imaging.

10. The detection method according to claim 8, characterized in that, The specific content of shear wave full-focus imaging includes: Step 21: Divide the imaging area into equally spaced grids; Step 22: Calculate the distance between the phased array probe transmitting at each scanning location point and the point at the interface between the first fixed wedge and the first flexible wedge. Calculate the propagation distance from the interface between the first fixed wedge and the first flexible wedge to the target imaging point. and the distance from the target imaging point back to the interface between the second fixed wedge and the second flexible wedge. Calculate the distance from the interface between the second fixed wedge and the second flexible wedge to the receiving phased array probe. ; Step 23: Calculate the total propagation time t h , ,in To fix the longitudinal wave velocity within the wedge, To obtain the amplitude imaging of the transverse wave velocity within the flexible wedge. In the formula, This represents the magnitude at grid point ab; , represents the number of effective detection positions of the target imaging point participating in shear wave full focusing; x represents the number of grid points on the horizontal axis, and z represents the number of grid points on the vertical axis; Step 24: Set a threshold for the amplitude, extract the sampling point positions of the flexible wedge and the surface contour of the inspected curved workpiece, and finally use numerical interpolation to fit the contour curve and correct it to obtain the workpiece surface contour curve. ; Step 25: Based on the workpiece surface profile curve obtained in step 24 Calculate the distance between the point at the interface between the first fixed wedge and the first flexible wedge and the point at the interface between the first flexible wedge and the workpiece under inspection. The propagation distance from the interface between the first flexible wedge and the inspected curved surface workpiece to the target imaging correction point. The distance from the target imaging correction point back to the point at the interface between the second flexible wedge and the inspected curved surface workpiece. The distance between the point at the interface between the second flexible wedge and the inspected curved workpiece and the point at the interface between the second fixed wedge and the second flexible wedge. ; Step 26: Calculate the total propagation correction time t. ,in, For ultrasonic application in workpiece materials The transverse wave velocity at the angle, For ultrasonic application in workpiece materials The transverse wave velocity at the angle, Let be the angle between the incident point perpendicular to the tangent of the workpiece and the direction of sound wave propagation within the workpiece. The angle between the reflection point perpendicular to the tangent of the workpiece and the direction of sound wave propagation within the workpiece is used to obtain the corrected amplitude image. .

Images