Ultrasonic testing device for single crystal material or workpiece elastic constants and crystal orientation

Abstract

The utility model provides a monocrystal material or workpiece elasticity constant and crystal orientation ultrasonic testing device, and the special water immersion ultrasonic detection system that it uses includes: manipulator, water tank, probe holder, sample table, probe, wherein: probe holder is connected with the end gripper of manipulator or is the end gripper of manipulator itself, and the sample table for placing the sample to be measured is located in the water tank, and the probe is arranged on the probe holder, and it excites the three-dimensional ultrasonic wave signal of multiple wave types in the workpiece and receives its scanning signal, and constructs the omnidirectional sound time amplitude distribution image under polar coordinates according to this, obtains the actual sound field image of ultrasonic anisotropic propagation, obtains the ultrasonic sound velocity of monocrystal material each direction through image processing, and realizes the double measurement of monocrystal material or workpiece elasticity constant and crystal orientation through inversion algorithm. When the utility model is applied, the elastic modulus and crystal orientation of monocrystal material can be accurately and quickly obtained, the conditions and steps are simplified, and the test time is shortened.

Description

Technical Field

[0001] This invention relates to the field of material mechanical property testing technology, and in particular to an ultrasonic testing device for the elastic constant and crystal orientation of single crystal materials or workpieces. Background Technology

[0002] With the continuous advancement of science and technology and the ongoing development of society, single-crystal materials have occupied an irreplaceable position in high-end fields such as aerospace, semiconductors, optics, and biomedicine due to their excellent comprehensive properties. For example, single-crystal superalloys (such as nickel-based single-crystal alloys) maintain high strength under high temperature (>1000℃) and high pressure environments, effectively avoiding the failure of polycrystalline materials caused by grain boundary slip.

[0003] Compared to polycrystalline materials, a significant characteristic of single-crystal materials is their anisotropy, meaning that their mechanical properties differ along different crystal orientations. The anisotropy of the tensile, creep, and fatigue mechanical properties of single-crystal materials is a common focus in single-crystal material research and is of great significance for material performance design. Existing characterization of the anisotropy of single-crystal materials is mainly achieved through three aspects: microstructure analysis, mechanical parameter testing, and corrosion resistance testing. Common methods for microstructure analysis include X-ray diffraction, neutron diffraction, transmission electron microscopy (TEM), and electron backscattering diffraction (EBSD). The mechanical parameters to be characterized include anisotropic elastic modulus, shear modulus, Poisson's ratio, tensile strength, yield strength, fatigue resistance, and creep life, with common testing methods including moiré interferometry, impact resonance, and various corresponding mechanical property testing methods. However, most of these methods require laboratory testing and are performed in two steps: first, the crystal orientation must be determined, and then the mechanical properties must be tested.

[0004] Compared to the aforementioned testing methods, ultrasonic testing is an economical and practical technique that can be used both in the laboratory and in engineering applications. It also has the advantage of directly relating crystal orientation to mechanical properties in a single test. Ultrasonic testing has achieved numerous practical engineering applications in characterizing the microstructure and mechanical properties of isotropic materials. However, for anisotropic materials, due to the complexity of their acoustic properties, there are fewer practical engineering techniques. In recent years, however, it has become a hot research topic for many scholars due to competition and development in the aerospace industry. For example, in the invention patent published under CN109490417 A, Liu Haibo et al. introduced a planar anisotropy characterization factor by measuring the refracted longitudinal wave velocity in three directions, achieving quantitative characterization of planar anisotropy characteristics. However, the resulting "planar anisotropy characterization factor" can only represent the differences in performance in different directions and cannot be used for orientation determination. In their invention patent CN 119000889 A, Zhang Jianhai et al. proposed a multi-wavelength ultrasonic non-destructive testing device and method for measuring the mechanical properties of materials. This method involves repeatedly adjusting the transceiver angle of the probe in the testing device to excite and receive ultrasonic waves of different waveforms. The elastic constants, surface stress, and hardness of the material are then calculated using a genetic factor algorithm based on these different ultrasonic signals. However, this method suffers from low detection efficiency due to the need to repeatedly change the probe's transceiver angle to generate different ultrasonic signals. Furthermore, it requires the workpiece to only rotate, limiting its application scenarios and making it difficult to meet the demands of automated engineering testing. Lin Bin et al., in their invention patent CN 104897578 A, proposed a method for detecting the Young's modulus of anisotropic materials based on laser ultrasonic surface waves. However, its disadvantages include high cost, high requirements for workpiece surface roughness, and difficulty in engineering application.

[0005] There is an urgent need for an ultrasonic testing device and method for single-crystal materials or workpieces with better technical performance, focusing on elastic constants and crystal orientation. Summary of the Invention

[0006] This utility model provides an ultrasonic testing device for the elastic constant and crystal orientation of single-crystal materials or workpieces. Its key technology is:

[0007] In application, this device uses an ultrasonic transducer T to excite surface wave signals on the surface of a single-crystal material workpiece in an oblique incidence manner. An ultrasonic transducer R receives the surface wave leakage wave on the same side of the workpiece surface, obtaining the surface wave propagation sound field of the single-crystal material. An omnidirectional acoustic amplitude distribution image (OATM) is constructed by extracting the annular sound field signal in polar coordinates, and image processing technology is used to obtain the accurate relative velocities of the single-crystal material in each direction. Combined with the Christoffel equation, through inversion iteration, the elastic constants and crystal orientation of the single-crystal material or workpiece are determined. Ultrasonic waves propagating in solid media exhibit various wave types depending on the workpiece's size and boundary conditions, such as surface longitudinal waves, Rayleigh waves, refracted longitudinal waves, and refracted transverse waves. These waves undergo a series of complex phenomena such as reflection, refraction, scattering, diffraction, and wave type conversion as they propagate within the workpiece. Therefore, ultrasonic signals of various wave types contain rich characteristic information about the workpiece. Based on fundamental acoustic principles, to generate and receive multiple wave types of ultrasonic waves simultaneously to characterize the anisotropy of single-crystal high-temperature alloys, the elastic constant C of the single-crystal material or workpiece is proposed. ij And a crystal orientation ultrasonic testing device.

[0008] The key technology of this utility model is: An ultrasonic testing device for the elastic constant and crystal orientation of a single-crystal material or workpiece.

[0009] It is a specialized water immersion ultrasonic testing system, which includes: a robotic arm 1, a water tank 2, a probe holder 3, a sample stage 7, and a probe 8; wherein: the probe holder 3 is connected to the end effector of the robotic arm 1 or is itself the end effector of the robotic arm 1; the sample stage 7, used to place the sample 9 to be tested, is located in the water tank 2; the probe 8 is arranged on the probe holder 3;

[0010] The ultrasonic testing device for the elastic constant and crystal orientation of the single-crystal material or workpiece meets the following requirements: it excites three-dimensional ultrasonic signals of multiple waveforms in the workpiece and receives its scanning signals, thereby constructing an omnidirectional acoustic time-amplitude distribution image in polar coordinates, obtaining an actual sound field image of ultrasonic anisotropic propagation, obtaining the ultrasonic velocity in each direction of the single-crystal material through morphological methods such as image processing, and realizing the elastic constant C of the single-crystal material or workpiece through an inversion algorithm. ij This method combines measurement of crystal orientation with other properties. It is efficient, convenient, and provides intuitive imaging, facilitating automated engineering applications. By processing images rich in anisotropic features, it transforms anisotropic characterization from traditional signal processing to image morphology processing and artificial intelligence recognition.

[0011] The ultrasonic testing device for the elastic constant and crystal orientation of single crystal materials or workpieces described in this utility model preferably also claims protection for the following: the specialized water immersion ultrasonic testing system further includes: a probe opening and closing motor 4, a probe deflection motor 5, a sample stage rotation motor 6, and a controller; wherein: the probe opening and closing motor 4, i.e., the excitation probe opening and closing motor 4-1 and the receiving probe opening and closing motor 4-2, and the probe deflection motor 5, i.e., the excitation probe deflection motor 5-1 and the receiving probe deflection motor 5-2, are all in two sets, used to control the spatial attitude of the two probes 8, i.e., the excitation probe 8-1 and the receiving probe 8-2 respectively; the sample stage 7 is a rotating disk; the controller is connected to a computer, a robotic arm 1, the probe opening and closing motor 4, the probe deflection motor 5, and the sample stage rotation motor 6.

[0012] The ultrasonic testing device for the elastic constant and crystal orientation of single crystal materials or workpieces determines the angle of the excitation and receiving probe 8 by calculating the theoretical sound velocity of single crystal anisotropic materials, and excites and receives multi-wavelength ultrasonic waves at one time. Driven by the probe opening and closing motor 4 and the probe deflection motor 5, the probe 8 and the sample 9 under test perform relative rotational motion. Combined with the ultrasonic testing electronic equipment with ultrasonic excitation receiver and data acquisition card as the core, it realizes omnidirectional scanning and testing of the workpiece.

[0013] The controller includes a robotic arm motion controller and a multi-axis motion controller. The robotic arm motion controller connects the computer to the robotic arm 1 and controls the movement of each joint axis or end effector of the robotic arm 1. The multi-axis motion controller connects the computer to the motors. The motors are a probe opening / closing motor 4 and / or a probe deflection motor 5 and / or a sample stage rotation motor 6. The multi-axis motion controller receives control commands from the computer and controls the motor's speed, direction, and position via pulse signals or bus communication.

[0014] The receiving probe 8-2 used to receive ultrasonic waves is specifically a hydrophone and a water immersion ultrasonic probe.

[0015] The ultrasonic testing device for the elastic constant and crystal orientation of single-crystal materials or workpieces described in this utility model is used for ultrasonic testing methods of the elastic constant and crystal orientation of single-crystal materials or workpieces, and it sequentially satisfies the following steps and content requirements:

[0016] Step 1: Configure a multi-wavelength transceiver ultrasonic scanning system;

[0017] First, the system structure and operation mode meet the following requirements:

[0018] The structural schematic diagram and system block diagram of the multi-wavelength transceiver ultrasonic scanning system used are shown below. Figure 3 and Figure 6It consists of a mechanical scanning device and an ultrasonic testing electronic device. The mechanical scanning device is the aforementioned "specialized water immersion ultrasonic testing system." It mainly consists of a computer-controlled robotic arm 1, a robotic arm motion controller, a multi-axis motion controller, motors, and a probe holder 3. The motors specifically include an opening and closing motor A4-1, an opening and closing motor B4-2, a deflection motor A5-1, a deflection motor B5-2, and a sample stage rotation motor 6. The ultrasonic testing electronic device includes an ultrasonic excitation receiver and a data acquisition card. Among them, the excitation probe (8-1) and the receiving probe 8-2 are respectively connected to the transmitting end and the receiving end of the ultrasonic excitation receiver. The output end of the ultrasonic excitation receiver is connected to the input end of the data acquisition card. The output end of the data acquisition card is connected to the computer. The data acquisition card uploads the ultrasonic data to the computer in real time.

[0019] The robotic arm 1 is used to coordinate the axis of the probe holder 3 with that of the sample stage 7, and simultaneously control the horizontal orientation of the probe holder 3 and the distance between it and the sample 9 to be tested. During scanning, it can either keep the sample stage 7 stationary while the robotic arm 1 drives the probe holder 3 to scan around the sample 9, or keep the probe holder 3 stationary while the sample stage rotation motor 6 drives the sample stage 7 to rotate. The robotic arm 1 can drive the probe holder 3 to rotate, meaning that during detection, the probe holder 3 and the sample stage 7 rotate relative to each other. The deflection motor A5-1 controls the incident angle of the excitation probe 8-1 on the probe holder 3. Machine B5-2 controls the receiving angle of the receiving probe 8-2 on the probe holder 3. Opening and closing motors A4-1 and B4-2 control the step offset of the two probes and change the length of the test line segment. The length range d is 0-50mm, and the step offset Δd is 0.1-0.5mm. Excitation probe 8-1 and receiving probe 8-2 are respectively connected to the transmitting end and receiving end of the ultrasonic excitation receiver. The output end of the ultrasonic excitation receiver is connected to the input end of the data acquisition card. The output end of the data acquisition card is connected to the computer. The data acquisition card uploads the data to the computer in real time.

[0020] Secondly, the following requirements must be met when determining the incident angle of the probe:

[0021] Ultrasonic waves propagating in solid media exhibit various wave types depending on the workpiece's dimensions and boundary conditions, such as surface longitudinal waves (SLW), Rayleigh waves, refracted longitudinal waves, and refracted transverse waves. When these waves propagate within the workpiece, they undergo a series of complex phenomena including reflection, refraction, scattering, diffraction, and wave type conversion. Figure 2 As shown, ultrasonic signals of various waveforms contain rich characteristic information about the workpiece; based on the basic principles of acoustics, a test scheme is proposed to generate and receive multi-wavelength ultrasonic waves at one time to characterize the anisotropy of single-crystal superalloys: first, according to... Figure 1As shown, the acoustic beam axes of the coplanar excitation probe 8-1 and receiving probe 8-2 are both located in the same normal plane as the sample 9 under test (specifically, the axes of the excitation probe 8-1 and receiving probe 8-2 are coplanar and this plane is perpendicular to the upper surface of the sample 9 under test); the ultrasonic waves excited by the excitation probe 8-1 are coupled by water at a certain angle α. T Injected into the sample 9 to be tested, α is controlled T The test sample 9 is used to generate multi-wavelength ultrasonic waves, including surface longitudinal waves, Rayleigh waves, refracted longitudinal waves, and refracted transverse waves; the receiving probe 8-2 is used at the optimal angle β. R Receives multi-wavelength ultrasonic waves leaking into the water, α T The value is determined according to formula (1), β R Value follows α T Adjust appropriately to satisfy α T =β R This makes the SLW component stronger;

[0022]

[0023] In the formula: c1 is the speed of sound in water, c2max is the maximum longitudinal wave speed of the anisotropic material, and c2min is the minimum longitudinal wave speed of the anisotropic material.

[0024] Thirdly, the multi-wavelength transceiver ultrasonic scanning system meets the following requirements when acquiring system data: During detection, the spatial position of the robotic arm 1 is adjusted so that the probe holder 3 is parallel to the sample stage 7; the angle of the excitation probe 8-1 is calculated using formula 1, and the deflection motors A5-1 and B5-2 respectively control and adjust the attitude of the receiving probe 8-2 and the excitation probe 8-1, while the opening and closing motors A4-1 and B4-2 respectively control the radial test segment lengths of the excitation probe 8-1 and the receiving probe 8-2 to ensure that the multi-wavelength ultrasonic waves can be successfully excited and received; the robotic arm 1 adjusts the distance between the probe holder 3 and the sample 9 to be tested according to the focal length parameter of the probe 8 so that the probe 8 is focused on the surface of the sample 9; the probe holder 3 and the sample stage 7 rotate relative to each other, and data is acquired in real time during the rotation scanning process and uploaded to the computer;

[0025] Step 2: Use a multi-wavelength transceiver ultrasonic scanning system to test sample 9, obtaining the multi-wavelength anisotropic propagation sound field and the omnidirectional acoustic time amplitude distribution map after wavelet transform for all samples 9; further optimization also satisfies the following detailed requirements in sequence:

[0026] First, two isotropic material samples were prepared as comparison samples. The sound velocity of the comparison samples was known and there was a significant difference in sound velocity. The sound velocities of the two comparison samples were within the range of sound velocity fluctuation of single crystal materials.

[0027] Secondly, according to Figure 1The test sample 9 is placed in a manner that includes: an isotropic material comparison block and a single crystal material; one type of workpiece is placed for each scan.

[0028] Third, the incident angle of the excitation probe 8-1 is controlled by the deflection motor A5-1, and the receiving angle of the receiving probe 8-2 is controlled by the deflection motor B5-2. During the subsequent detection process, the two probes 8 must maintain the same posture, and the distance from all receiving probes 8-2 on the probe holder 3 to the workpiece surface must be consistent.

[0029] Fourth, the test line formed by the excitation probe 8-1 and the receiving probe 8-2 is rotated around the axis (i.e., with the normal of the incident point on the sample (9)) by one revolution with the normal of the incident point on the sample 9, thus completing the detection of multiple test line directions within 360° in the XY plane. The rotation scanning step angle is 1. After the scan was completed, the following results were obtained: angles in different directions. A two-dimensional array (M×L) of the lower time-domain signal (data length L);

[0030] Fifth, the radial propagation distance of the SLW is changed by stepping the opening and closing motors A4-1 and B4-2, corresponding to... Figure 1 The dashed area is scanned line by line. Each Δd data point corresponds to a two-dimensional array (M×L). After N Δd steps, different radial lengths (N×Δd) and different directional angles are obtained. A three-dimensional array (N×M×L) of the lower time-domain signal (L);

[0031] Sixth, the square matrix N×M is transformed into a ring distribution diagram using the polar coordinate transformation formula (2), thereby obtaining multiple wave-type ultrasonic field patterns of the workpiece to be tested;

[0032]

[0033] In the formula: r corresponds to 1 to N, Corresponding to 1 to M; x, y are the coordinates of the imaging pixel;

[0034] Seventh, the three-dimensional array (N×M×L) is imaged by fixing N (e.g., taking N=1): the direction dimension of the array is processed into polar coordinates polar angle, the propagation time dimension is processed into polar radius, and the time dimension is reversed (i.e., the polar radius of the later wave is greater than that of the earlier wave) to intuitively display the speed of sound in different directions, thus obtaining the omnidirectional acoustic time amplitude diagram (OATM) of each sample;

[0035]

[0036] In the formula: t i For values ​​from 1 to L, t represents the acoustic time corresponding to the minimum radial length of the test line. Corresponding to 1 to M; X, Y are the coordinates of the imaging pixels of the omnidirectional acoustic time-amplitude diagram; by changing the imaging time window range, it is possible to display the omnidirectional acoustic time-amplitude diagrams of multiple waveforms, including surface longitudinal waves, surface transverse waves, Rayleigh waves, refracted longitudinal waves, and refracted transverse waves.

[0037] Step 3: After filtering out interference noise from the omnidirectional acoustic time amplitude distribution map using the sound field image, image processing is performed to obtain the relative sound velocity distribution curves of the longitudinal and transverse waves; further optimization also includes the following steps:

[0038] First, the original RGB format image of the test workpiece OATM is processed by dimensionality reduction, filtering, and edge detection to extract the SLW wavefront and SSV wavefront, respectively, and the occurrence time t of the SLW wavefront and SSV wavefront in each direction of the workpiece is obtained. T-SLW and t T-SSV ;

[0039] Secondly, the time t for the appearance of SLW or SSV waves on a test line. T-SLW or t T-SSV It consists of three parts: the incident wave and the sound path in water (t). T ), sound path t in the workpiece SLW or / and t SSV , Outgoing wave path (t) R The relative sound velocities of longitudinal and transverse waves in a single-crystal material are determined by the time t of occurrence. T-SLW and t T-SSV Derived from relative representation:

[0040] t T-SLW =t T +t SLW +t R (3)

[0041] t T-SSV =t T +t SSV +t R (4)

[0042] Third, after processing the OATM diagram of the isotropic material, the relative velocities of the SLW and SSV waves are obtained. The relative velocities are calibrated using the known sound velocities of the isotropic material to obtain the sound velocity measurement calibration factor Q of the detection system.

[0043] Fourth, after completing the OATM plot processing of the single-crystal material, the relative velocities v of the SLW and SSV waves of the single-crystal material are obtained. SLW and v SSV ;

[0044] Step 4: Combine the sound velocity of the calibration sample with curve fitting to obtain the sound velocity distribution functions of the longitudinal and transverse waves. and

[0045] Based on the sound velocity measurement calibration factor Q of the detection system, the sound velocity distribution functions of longitudinal and transverse waves in single-crystal materials are analyzed. and Curve fitting was performed to obtain the sound velocity distribution functions in each of the longitudinal and transverse directions. and

[0046]

[0047] Step 5, according to and The elastic constant C is obtained by inversion iteration using the test values ​​and the Christoffel model. ij And crystal orientation angle; further preferred methods also include the following steps:

[0048] Firstly, the coordinate system OX'Y'Z' of the workpiece's inspected surface (001)' is regarded as the workpiece's crystal coordinate system OXYZ and obtained by Euler transformation around the X, Y, and Z axes by rotations of α, β, and γ respectively. The rotation transformation matrix M(α,β,γ) is shown in formula (7):

[0049]

[0050] Let m respectively 11 =cosαcosγ-sinαcosβsinγ,

[0051] m 12 =-cosαsinγ-sinαcosβcosγ,m 13 =sinαsinβ,

[0052] m 21 =sinαcosγ+cosαcosβcosγ,m 22 =-sinαcosβ+cosαcosβcosγ,

[0053] m 23 =-cosαsinβ,m 31 =sinβsinγ,m 32 =sinβcosγ,m 33 =cosβ

[0054] Formula (7) simplifies to:

[0055]

[0056] Secondly, the angle between the test line formed between the transmitting and receiving probes in the probe assembly and the OX' axis is... Counterclockwise is positive; rotation angle In steps Scan 0–360°, step count: Surface being tested Direction of ultrasonic propagation The directional index in the crystal coordinate system is:

[0057]

[0058] Third, calculate each using formulas (10) and (11) respectively. Christoffel matrix determinants of surface longitudinal and surface transverse waves of the test line;

[0059]

[0060] In the formula, for cubic crystal system materials, Γ ij as follows:

[0061]

[0062]

[0063] Fourth, inversion calculation: first input the elastic constant C ij The initial values ​​and the initial values ​​of the Euler transformation angles α, β, and γ are optimized iteratively using the objective function of equation (12):

[0064]

[0065] In the formula, arg represents taking the parameter C. ij And [α, β, γ], k represents the k-th iteration, M represents Number of circumferential tests;

[0066] Fifth, output C ij The optimal solution is the elastic constant of the single crystal material. The optimal solutions of α, β, and γ are obtained by performing the Euler transformation of equation (13) and the dot product operation of equation (14) to obtain the angles α', β', and γ' between each axis of the workpiece coordinate system OX'Y'Z' and each axis of the crystal coordinate system OXYZ. Thus, the elastic constant C of the single crystal material can be obtained in one test. ij and the crystal orientation angle of the material;

[0067]

[0068] In the formula: td, rd, and nd are the direction vectors of the XYZ axes of the workpiece coordinate system in the crystal coordinate system, respectively;

[0069]

[0070] In the formula, RD, TD and ND are the angles α', β' and γ' between the transverse T-side normal of the detection surface, the rolling R-side normal and the detection surface normal and the XYZ axes of the crystal coordinate system, respectively. These are the crystal orientation angles of the workpiece.

[0071] This invention and its testing method are used for non-destructive testing of single-crystal materials based on various ultrasonic sound field patterns combined with inversion algorithms. Without causing any structural damage or requiring prior knowledge of crystal orientation, the elastic constants and crystal orientation of the single-crystal material or workpiece can be obtained in a single step. This invention and its testing method can be used to evaluate the differences in isotropic factors caused by rolling processes in isotropic materials. This invention can directly obtain the actual sound field of ultrasound in the material. Based on the principle that "defects within the workpiece will cause distortion of the omnidirectional acoustic amplitude image," it creatively proposes: using image morphology and artificial intelligence processing techniques to extract distortion features from the image, achieving the detection of defects such as impurities. This invention and related technologies simplify experimental conditions and testing procedures in industrial settings, shortening the testing time for engineering materials. Attached Figure Description

[0072] Figure 1 A schematic diagram of a multi-wavelength ultrasonic omnidirectional scanning test scheme;

[0073] Figure 2 This is a schematic diagram of the formation of multi-wavelength ultrasound.

[0074] Figure 3 This is a schematic diagram of the structure of a water immersion ultrasonic omnidirectional scanning detection system;

[0075] Figure 4 Schematic diagram of a water immersion ultrasonic omnidirectional scanning testing fixture;

[0076] Figure 5 A schematic diagram of a water tank for omnidirectional ultrasonic immersion testing;

[0077] Figure 6 Block diagram of a multi-wavelength ultrasonic omnidirectional scanning test system;

[0078] Figure 7 The surface leakage wave of the 001 sample at a certain moment contains only SLW acoustic field distribution diagram;

[0079] Figure 8 The surface leakage wave of the 001 sample at a certain moment contains SLW and SSV acoustic field distribution diagram.

[0080] Figure 9 The amplitude acoustic time diagram of SLW in each direction of the 001 sample at a certain moment;

[0081] Figure 10 The amplitude acoustic time diagrams of SLW and SSV in each direction of the 001 sample at a certain moment;

[0082] Figure 11 The results of OATM image processing for a typical SLW sample;

[0083] Figure 12 The relative velocity curves in each direction for a typical SLW sample are shown.

[0084] Figure 13 The velocity curves in each direction of a typical sample after SLW calibration are shown.

[0085] Figure 14 C is the elastic constant of a single-crystal material or workpiece. ij The main steps and contents of the ultrasonic testing method for crystal orientation. Detailed Implementation

[0086] The present invention will be further described below with reference to the embodiments and the accompanying drawings, but is not limited thereto.

[0087] The meanings of the reference numerals in the attached figures are explained as follows: 1. Robotic arm; 2. Water tank; 3. Probe holder; 4. Opening and closing motors: A4-1 and B4-2; 5. Probe deflection motors: A5-1 and B5-2; 6. Sample stage rotation motor; 7. Sample stage; 8. Probes: 8-1 (excitation probe) and 8-2 (receiving probe); 9. Sample to be tested.

[0088] Figure 7 , Figure 8 The image shows the sound field at a representative moment for a typical sample (the dashed circle in the image represents the imaging range). Figure 9 , Figure 10 This is an OATM image of a typical sample.

[0089] Example 1

[0090] An ultrasonic testing device for the elastic constants and crystal orientation of single-crystal materials or workpieces uses an ultrasonic transducer T to excite surface wave signals on the surface of the single-crystal material workpiece in an oblique incidence manner. An ultrasonic transducer R receives the surface wave leakage wave on the same side of the workpiece surface to obtain the surface wave propagation sound field of the single-crystal material. By extracting the annular sound field signal in polar coordinates, an omnidirectional acoustic time amplitude distribution image (OATM) is constructed. Image processing technology is used to obtain the accurate relative velocity of the single-crystal material in each direction. Combined with the Christoffel equation, the elastic constants and crystal orientation of the single-crystal material or workpiece are determined through inversion iteration.

[0091] The key technology of this ultrasonic testing method for the elastic constant and crystal orientation of single-crystal materials or workpieces is:

[0092] It uses a specialized water immersion ultrasonic testing system, which includes: a robotic arm 1, a water tank 2, a probe holder 3, a sample stage 7, and a probe 8; wherein: the probe holder 3 is connected to the end effector of the robotic arm 1 or is itself the end effector of the robotic arm 1; the sample stage 7, used to place the sample 9 to be tested, is located in the water tank 2; and the probe 8 is arranged on the probe holder 3.

[0093] The ultrasonic testing device for the elastic constant and crystal orientation of the single-crystal material or workpiece meets the following requirements: it excites three-dimensional ultrasonic signals of multiple waveforms in the workpiece and receives its scanning signals, thereby constructing an omnidirectional acoustic time-amplitude distribution image in polar coordinates, obtaining an actual sound field image of ultrasonic anisotropic propagation, obtaining the ultrasonic velocity in each direction of the single-crystal material through morphological methods such as image processing, and realizing the elastic constant C of the single-crystal material or workpiece through an inversion algorithm. ij This method combines measurement of crystal orientation with other properties. It is efficient, convenient, and provides intuitive imaging, facilitating automated engineering applications. By processing images rich in anisotropic features, it transforms anisotropic characterization from traditional signal processing to image morphology processing and artificial intelligence recognition.

[0094] The ultrasonic testing device for the elastic constant and crystal orientation of single crystal materials or workpieces described in this embodiment preferably also claims protection for the following: the specialized water immersion ultrasonic testing system further includes: a probe opening and closing motor 4, a probe deflection motor 5, a sample stage rotation motor 6, and a controller; wherein: the probe opening and closing motor 4, i.e., the excitation probe opening and closing motor 4-1 and the receiving probe opening and closing motor 4-2, and the probe deflection motor 5, i.e., the excitation probe deflection motor 5-1 and the receiving probe deflection motor 5-2, are all in two sets, used to control the spatial attitude of the two probes 8, i.e., the excitation probe 8-1 and the receiving probe 8-2 respectively; the sample stage 7 is a rotating disk; the controller is connected to a computer, a robotic arm 1, the probe opening and closing motor 4, the probe deflection motor 5, and the sample stage rotation motor 6.

[0095] The elastic constant C of the single crystal material or workpiece ij The crystal orientation ultrasonic testing device determines the angle of the probe 8 for excitation and reception by calculating the theoretical sound velocity of single-crystal anisotropic materials, and excites and receives multiple types of ultrasonic waves at once. Driven by the probe opening and closing motor 4 and the probe deflection motor 5, the probe 8 and the sample 9 under test rotate relative to each other. Combined with the ultrasonic testing electronic equipment with the ultrasonic excitation receiver and data acquisition card as the core, it realizes omnidirectional scanning and detection of the workpiece.

[0096] The controller includes a robotic arm motion controller and a multi-axis motion controller. The robotic arm motion controller connects the computer to the robotic arm 1 and controls the movement of each joint axis or end effector of the robotic arm 1. The multi-axis motion controller connects the computer to the motors. The motors are a probe opening / closing motor 4 and / or a probe deflection motor 5 and / or a sample stage rotation motor 6. The multi-axis motion controller receives control commands from the computer and controls the motor's speed, direction, and position via pulse signals or bus communication.

[0097] The receiving probe 8-2 used to receive ultrasonic waves is specifically a hydrophone and a water immersion ultrasonic probe.

[0098] Extended Application Notes: The ultrasonic testing method for the elastic constant and crystal orientation of single-crystal materials or workpieces using the aforementioned ultrasonic testing device for single-crystal materials or workpieces shall sequentially meet the following steps and content requirements:

[0099] Step 1: Configure a multi-wavelength transceiver ultrasonic scanning system;

[0100] First, the system structure and operation mode meet the following requirements:

[0101] The structural schematic diagram and system block diagram of the multi-wavelength transceiver ultrasonic scanning system are shown below. Figure 3 and Figure 6The multi-wavelength transceiver ultrasonic scanning system consists of a mechanical scanning device and ultrasonic testing electronic equipment. The mechanical scanning device is the aforementioned "dedicated water immersion ultrasonic testing system." The ultrasonic testing electronic equipment includes an ultrasonic excitation receiver and a data acquisition card. The excitation probe 8-1 and the receiving probe 8-2 are respectively connected to the transmitting and receiving ends of the ultrasonic excitation receiver. The output end of the ultrasonic excitation receiver is connected to the input end of the data acquisition card, and the output end of the data acquisition card is connected to a computer. The data acquisition card uploads ultrasonic data to the computer in real time. The robotic arm 1 is used to adjust the axis of the probe holder 3 and the sample stage 7 for coordination, while controlling the horizontal posture of the probe holder 3 and the distance between it and the sample 9 to be tested. During scanning, it can either keep the sample stage 7 stationary while the robotic arm 1 drives the probe holder 3 to scan around the sample 9, or keep the probe holder 3 stationary while the sample stage rotation motor 6 drives the sample stage 7 to rotate. The robotic arm 1 can drive the probe holder 3 to rotate, meaning that during testing, the probe holder 3 and the sample stage 7 rotate relative to each other. The deflection motor A5-1 controls the incident angle of the excitation probe 8-1 on the probe holder 3. Machine B5-2 controls the receiving angle of the receiving probe 8-2 on the probe holder 3. Opening and closing motors A4-1 and B4-2 control the step offset of the two probes and change the length of the test line segment. The length range d is 0-50mm, and the step offset Δd is 0.1-0.5mm. Excitation probe 8-1 and receiving probe 8-2 are respectively connected to the transmitting end and receiving end of the ultrasonic excitation receiver. The output end of the ultrasonic excitation receiver is connected to the input end of the data acquisition card. The output end of the data acquisition card is connected to the computer. The data acquisition card uploads the data to the computer in real time.

[0102] Secondly, the following requirements must be met when determining the incident angle of the probe:

[0103] Ultrasonic waves propagating in solid media exhibit various wave types depending on the workpiece's dimensions and boundary conditions, such as surface longitudinal waves (SLW), Rayleigh waves, refracted longitudinal waves, and refracted transverse waves. When these waves propagate within the workpiece, they undergo a series of complex phenomena including reflection, refraction, scattering, diffraction, and wave type conversion. Figure 2 As shown, ultrasonic signals of various waveforms contain rich characteristic information about the workpiece; based on the basic principles of acoustics, a test scheme is proposed to generate and receive multi-wavelength ultrasonic waves at one time to characterize the anisotropy of single-crystal superalloys: first, according to... Figure 1 As shown, the acoustic beam axes of the coplanar excitation probe 8-1 and receiving probe 8-2 are both located in the same normal plane as the sample 9 under test (specifically, the axes of the excitation probe 8-1 and receiving probe 8-2 are coplanar and this plane is perpendicular to the upper surface of the sample 9 under test); the ultrasonic waves excited by the excitation probe 8-1 are coupled by water at a certain angle α. T Injected into the sample 9 to be tested, α is controlled TThe test sample 9 is used to generate multi-wavelength ultrasonic waves, including surface longitudinal waves, Rayleigh waves, refracted longitudinal waves, and refracted transverse waves; the receiving probe 8-2 is used at the optimal angle β. R Receives multi-wavelength ultrasonic waves leaking into the water, α T The value is determined according to formula (1), β R Value follows α T Adjust appropriately to satisfy α T =β R This makes the SLW component stronger;

[0104]

[0105] In the formula: c1 is the speed of sound in water, c2max is the maximum longitudinal wave speed of the anisotropic material, and c2min is the minimum longitudinal wave speed of the anisotropic material.

[0106] Thirdly, the multi-wavelength transceiver ultrasonic scanning system meets the following requirements when acquiring system data: During detection, the spatial position of the robotic arm 1 is adjusted so that the probe holder 3 is parallel to the sample stage 7; the angle of the excitation probe 8-1 is calculated using formula 1, and the deflection motors A5-1 and B5-2 respectively control and adjust the attitude of the receiving probe 8-2 and the excitation probe 8-1, while the opening and closing motors A4-1 and B4-2 respectively control the radial test segment lengths of the excitation probe 8-1 and the receiving probe 8-2 to ensure that the multi-wavelength ultrasonic waves can be successfully excited and received; the robotic arm 1 adjusts the distance between the probe holder 3 and the sample 9 to be tested according to the focal length parameter of the probe 8 so that the probe 8 is focused on the surface of the sample 9; the probe holder 3 and the sample stage 7 rotate relative to each other, and data is acquired in real time during the rotation scanning process and uploaded to the computer;

[0107] Step 2: Using the multi-wavelength transceiver ultrasonic scanning system, the probe holder 3 rotates relative to the sample stage 7, scanning one revolution around the normal of a point on the test surface of the sample 9. Then, the test line length is gradually changed to scan multiple revolutions, obtaining the multi-wavelength anisotropic propagation sound field of all samples 9 and the omnidirectional acoustic time amplitude distribution map after wavelet transform; the following detailed requirements are also met in sequence:

[0108] First, two isotropic material samples were prepared as comparison samples. The sound velocity of the comparison samples was known and there was a significant difference in sound velocity. The sound velocities of the two comparison samples were within the range of sound velocity fluctuation of single crystal materials.

[0109] Secondly, according to Figure 1 The test sample 9 is placed in a manner that includes isotropic materials and single crystal materials; one type of workpiece is placed for each scan.

[0110] Third, the incident angle of the excitation probe 8-1 is controlled by the deflection motor A5-1, and the receiving angle of the receiving probe 8-2 is controlled by the deflection motor B5-2. During the subsequent detection process, the two probes 8 must maintain the same posture, and the distance from all receiving probes 8-2 on the probe holder 3 to the workpiece surface must be consistent.

[0111] Fourth, the test line formed by the excitation probe 8-1 and the receiving probe 8-2 is rotated around the axis (i.e., the normal to the incident point on the sample (9)) for one revolution, thus completing the detection of multiple test line directions within 360° in the XY plane. The rotation scanning step angle is 1. After the scan was completed, the following results were obtained: angles in different directions. A two-dimensional array (M×L) of the lower time-domain signal (data length L);

[0112] Fifth, the stepping method of the opening and closing motors A4-1 and B4-2 changes the radial propagation distance of the SLW, corresponding to... Figure 1 The dashed area is scanned point by point, and each Δd data point corresponds to a two-dimensional array (M×L). After N Δd steps, different radial lengths (N×Δd) and different directional angles are obtained. A three-dimensional array (N×M×L) of the lower time-domain signal (L);

[0113] Sixth, the square matrix N×M is transformed into a ring distribution diagram using the polar coordinate transformation formula (2), thereby obtaining multiple wave-type ultrasonic field patterns of the workpiece to be tested;

[0114]

[0115] In the formula: r corresponds to 1 to N, Corresponding to 1 to M; x, y are the coordinates of the imaging pixel;

[0116] Seventh, the three-dimensional array (N×M×L) is imaged by fixing N (e.g., taking N=1): the direction dimension of the array is processed into polar coordinates polar angle, the propagation time dimension is processed into polar radius, and the time dimension is reversed (i.e., the polar radius of the later wave is greater than that of the earlier wave) to intuitively display the speed of sound in different directions, thus obtaining the omnidirectional acoustic time amplitude diagram (OATM) of each sample;

[0117]

[0118] In the formula: t i For values ​​from 1 to L, t represents the acoustic time corresponding to the minimum radial length of the test line. Corresponding to 1 to M; X, Y are the coordinates of the imaging pixels of the omnidirectional acoustic time-amplitude diagram; by changing the imaging time window range, it is possible to display the omnidirectional acoustic time-amplitude diagrams of multiple waveforms, including surface longitudinal waves, surface transverse waves, Rayleigh waves, refracted longitudinal waves, and refracted transverse waves.

[0119] Step 3 involves filtering out interference noise from the omnidirectional acoustic time-amplitude distribution map using the sound field image and then performing image processing to obtain the relative sound velocity distribution curves for the longitudinal and transverse waves. This also includes the following steps:

[0120] First, the original RGB format image of the test workpiece OATM is processed by dimensionality reduction, filtering, and edge detection to extract the SLW wavefront and SSV wavefront, respectively, and the occurrence time t of the SLW wavefront and SSV wavefront in each direction of the workpiece is obtained. T-SLW and t T-SSV ;

[0121] Secondly, the time t for the appearance of SLW or SSV waves on a test line. T-SLW or T-SSV It consists of three parts: the incident wave and the sound path in water (t). T ), sound path t in the workpiece SLW or / and t SSV , Outgoing wave path (t) R The relative sound velocities of longitudinal and transverse waves in a single-crystal material are determined by the time t of occurrence. T-SLW and t T-SSV Derived from relative representation:

[0122] t T-SLW =t T +t SLW +t R (3)

[0123] t T-SSV =t T +t SSV +t R (4)

[0124] Third, after processing the OATM diagram of the isotropic material, the relative velocities of the SLW and SSV waves are obtained. The relative velocities are calibrated using the known sound velocities of the isotropic material to obtain the sound velocity measurement calibration factor Q of the detection system.

[0125] Fourth, after completing the OATM plot processing of the single-crystal material, the relative velocities v of the SLW and SSV waves of the single-crystal material are obtained. SLW and v SSV ;

[0126] Step 4: Combine the sound velocity of the calibration sample with curve fitting to obtain the sound velocity distribution functions of the longitudinal and transverse waves. and

[0127] Based on the sound velocity measurement calibration factor Q of the detection system, the sound velocity distribution functions of longitudinal and transverse waves in single-crystal materials are analyzed. and Curve fitting was performed to obtain the sound velocity distribution functions in each of the longitudinal and transverse directions. and

[0128]

[0129] Step 5, according to and The elastic constant C is obtained by inversion iteration using the test values ​​and the Christoffel model. ij And crystal orientation angle; also includes the following steps:

[0130] Firstly, the coordinate system OX'Y'Z' of the workpiece's inspected surface (001)' is regarded as the workpiece's crystal coordinate system OXYZ and obtained by Euler transformation around the X, Y, and Z axes by rotations of α, β, and γ respectively. The rotation transformation matrix M(α,β,γ) is shown in formula (7):

[0131]

[0132] Let m respectively 11 =cosαcosγ-sinαcosβsinγ,

[0133] m 12 =-cosαsinγ-sinαcosβcosγ,m 13 =sinαsinβ,

[0134] m 21 =sinαcosγ+cosαcosβcosγ, m 22 =-sinαcosβ+cosαcosβcosγ,

[0135] m 23 = -cosαsinβ,m 31 =sinβsinγ,m 32 =sinβcosγ,m 33 =cosβ

[0136] Formula (7) simplifies to:

[0137]

[0138] Secondly, the angle between the test line formed between the transmitting and receiving probes in the probe assembly and the OX' axis is... Counterclockwise is positive; rotation angle In steps Scan 0–360°, step count: Surface being tested Direction of ultrasonic propagation The directional index in the crystal coordinate system is:

[0139]

[0140] Third, calculate each using formulas (10) and (11) respectively. Christoffel matrix determinants of surface longitudinal and surface transverse waves of the test line;

[0141]

[0142]

[0143] In the formula, for cubic crystal system materials, Γ ij as follows:

[0144]

[0145] Fourth, inversion calculation: first input the elastic constant C ij The initial values ​​and the initial values ​​of the Euler transformation angles α, β, and γ are optimized iteratively using the objective function of equation (12):

[0146]

[0147] In the formula, arg represents taking the parameter C. ij And [α, β, γ], k represents the k-th iteration, M represents Number of circumferential tests;

[0148] Fifth, output C ij The optimal solution is the elastic constant of the single crystal material. The optimal solutions of α, β, and γ are obtained by performing the Euler transformation of equation (13) and the dot product operation of equation (14) to obtain the angles α', β', and γ' between each axis of the workpiece coordinate system OX'Y'Z' and each axis of the crystal coordinate system OXYZ. Thus, the elastic constant C of the single crystal material can be obtained in one test. ij and the crystal orientation angle of the material;

[0149]

[0150] In the formula: td, rd, and nd are the direction vectors of the XYZ axes of the workpiece coordinate system in the crystal coordinate system, respectively;

[0151]

[0152] In the formula, RD, TD and ND are the angles α', β' and γ' between the transverse T-side normal of the detection surface, the rolling R-side normal and the detection surface normal and the XYZ axes of the crystal coordinate system, respectively. These are the crystal orientation angles of the workpiece.

[0153] This embodiment and its related testing methods utilize multiple wave-mode ultrasonic sound field patterns combined with inversion algorithms to perform non-destructive testing on single-crystal materials. Without causing any structural damage or requiring prior knowledge of crystal orientation, the elastic constants and crystal orientation of the single-crystal material or workpiece can be obtained in a single step. This invention and its related testing methods can be used to evaluate the differences in isotropic factors caused by rolling processes in isotropic materials. This invention and its related testing methods can visually obtain the actual sound field of ultrasound in the material. Based on the principle that "defects within the workpiece will cause distortion in the omnidirectional acoustic amplitude image," this invention and its related testing methods creatively propose: using image morphology and artificial intelligence processing techniques to extract distortion features from the image, thereby achieving the detection of defects such as impurities. This invention and its related testing methods simplify experimental conditions and testing procedures in industrial settings, shortening the testing time for engineering materials.

[0154] Example 2

[0155] Based on the ultrasonic testing method for the elastic constants and crystal orientation of single-crystal materials or workpieces in the embodiments, such as... Figure 1 , Figure 2 As shown;

[0156] The system utilizes the multi-wavelength ultrasonic transceiver scanning system described in Example 1 to detect the elastic constants and crystal orientation of two single-crystal high-temperature alloy plates with a material density of 8.78 kg / m³. 3 The dimensions are 80mm × 20mm × 3mm, and the samples are numbered 001 and 011 respectively. <001> <100> , <011> <100> (The first index is the crystal orientation along the longitudinal direction of the test plate, and the second index is the crystal orientation along the normal direction of the side of the test plate).

[0157] The experiment used a 10MHz immersion focusing probe with a crystal diameter of 6.35mm and a focal length of 12.8mm for transmission, and a 10MHz immersion flat probe with a crystal diameter of 5mm for reception. The system sampling frequency was 125MHz.

[0158] Step 1: Configure a multi-wavelength transceiver ultrasonic scanning system;

[0159] The ultrasonic transmitting probe 8-1, the receiving probe 8-2, and the workpiece 9 are... Figure 1 The samples are placed in water in the manner shown, so that the sound beam axes of the coplanar transmitting probe 8-1 and receiving probe 8-2 are both in the same normal plane of the sample 9 to be tested, and the distance between the incident points of the transmitting probe 8-1 and the receiving probe 8-2 is d.

[0160] Step 2 involves rotating the probe holder 3 of the multi-wavelength transceiver ultrasonic scanning system relative to the sample stage 7, scanning one revolution around the normal to a point on the surface of the workpiece under inspection (sample 9). Then, the test line length is gradually changed to scan multiple revolutions, obtaining the multi-wavelength anisotropic propagation sound field of all samples under test and the omnidirectional acoustic time-amplitude distribution map after wavelet transform. This includes the following steps:

[0161] 1) Isotropic materials, known sound velocity stainless steel plate and nickel plate are selected for sound velocity calibration of the detection system. The stainless steel plate is 70mm×50mm×3mm in size, and the nickel plate is 70mm×18mm×4.6mm in size.

[0162] 2) According to Figure 1 The workpieces to be inspected are placed in the following manner: two single-crystal high-temperature alloy samples 001 and 011; two isotropic metal plates: stainless steel and nickel; one type of workpiece is placed for each inspection.

[0163] 3) The estimated sound velocity range of single-crystal high-temperature alloy is 4200~6300m / s. According to formula (1), the transmitting probe α T and receiving probe β R All angles were adjusted to 15°. During the testing process, the ultrasonic probe posture was kept fixed to ensure that the probe and all workpieces under test were at the same water distance.

[0164] 4) Rotate the test line formed by the excitation probe 8-1 and the receiving probe 8-2 around the axis (i.e., the normal to the incident point on the sample (9)) for one revolution to complete the detection of multiple test line directions within 360° in the XY plane. The rotation scanning step angle is 1. After scanning, the result is a two-dimensional array (1000×3500).

[0165] 5) Change the radial propagation distance of SLW in steps of Δd = 0.4 mm. Figure 1 The dashed area is scanned point by point, with each Δd data point corresponding to a two-dimensional array (1000×3500). After N=20 Δd steps, different radial lengths (20×Δd) and angles in different directions can be obtained. A three-dimensional array (20×1000×3500) of the lower time domain signal (L);

[0166] 6) The 20×1000 square matrix is ​​transformed into a ring distribution diagram using polar coordinate transformation formula (2), thereby obtaining multiple wave-type ultrasonic field patterns of the single crystal material or workpiece to be tested, see Figure 7 , Figure 8 As shown;

[0167] 7) Image the three-dimensional array (20×1000×3500), and when N=1, image the two-dimensional array (1000×3500). Process the array's directional dimension into polar coordinates (polar angles) and the propagation time dimension into polar radii (polar radii), obtaining the omnidirectional acoustic time-amplitude map (OATM) for each workpiece. By changing the imaging time window range, process the OATM displaying only SLW, SLW and SSV, and SLW+SSV and subsequent multiple waveforms into images as shown below. Figure 9 , Figure 10 As shown.

[0168] Step 3: After filtering out interference noise from the omnidirectional acoustic time-amplitude distribution map using the sound field image, image processing is performed to obtain the relative sound velocity distribution curves of the longitudinal and transverse waves. This includes the following steps:

[0169] 1) Dimensionality reduction, filtering, and edge detection processing are performed on the original OATM RGB format images of single-crystal samples, stainless steel plates, and nickel plates. (See [link to documentation]). Figure 11 As shown, the occurrence times of SLW waves in each direction are obtained by extracting the SLW wavefront and SSV wavefront. According to formulas (3) and (4), the identical terms t are removed. T -t R The relative sound speeds of SLW and SSV can be obtained. Figure 12 As shown;

[0170] 2) After completing the OATM plot processing of isotropic stainless steel plates and nickel plates, the relative velocities of SLW and SSV waves are obtained. The relative velocities are calibrated using known sound velocities to obtain the sound velocity measurement calibration factor Q of the detection system.

[0171] 3) By combining the sound velocity measurement calibration factor Q of the detection system, the relative sound velocity curve of the single crystal plate is fitted to obtain the sound velocity distribution functions of the longitudinal and transverse waves. and See Figure 13 As shown.

[0172] 4) According to and The elastic constant C is obtained by inversion iteration using the test values ​​and the Christoffel model. ij And crystal orientation angle. The value of the single crystal elastic constant can be obtained through inversion algorithm.

[0173] Table 1. Results of ultrasonic elastic constants and crystal orientation tests on monocrystalline plates.

[0174]

[0175]

[0176] The above embodiments are only for illustrating the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be construed as limiting the scope of protection of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be included within the scope of protection of this utility model.

Claims

1. An ultrasonic testing device for the elastic constant and crystal orientation of single-crystal materials or workpieces, characterized in that: It is a specialized water immersion ultrasonic testing system. The "specialized water immersion ultrasonic testing system" includes: a robotic arm (1), a water tank (2), a probe holder (3), a sample stage (7), and a probe (8); wherein: the probe holder (3) is connected to the end effector of the robotic arm (1) or is itself the end effector of the robotic arm (1); the sample stage (7) for placing the sample (9) to be tested is located in the water tank (2); and the probe (8) is arranged on the probe holder (3).

2. The ultrasonic testing device for the elastic constant and crystal orientation of single-crystal materials or workpieces according to claim 1, characterized in that: The specialized water immersion ultrasonic testing system also includes: a probe opening and closing motor (4), a probe deflection motor (5), a sample stage rotation motor (6), and a controller; Among them: the probe opening and closing motor (4) is the excitation probe opening and closing motor (4-1) and the receiving probe opening and closing motor (4-2); the probe deflection motor (5) is the excitation probe rotation motor (5-1) and the receiving probe deflection motor (5-2), and there are two sets of each, which are used to control the spatial attitude of the two probes (8), namely the excitation probe (8-1) and the receiving probe (8-2); the sample stage (7) is a rotating disk; the controller is connected to the computer, the robot (1), the probe opening and closing motor (4), the probe deflection motor (5), and the sample stage rotation motor (6).

3. The ultrasonic testing device for the elastic constant and crystal orientation of single-crystal materials or workpieces according to claim 2, characterized in that: The controller includes a robot motion controller and a multi-axis motion controller; wherein: the robot motion controller is used to connect the computer and the robot (1), and the robot motion controller also controls the movement of each joint axis or end effector of the robot (1); A multi-axis motion controller is used to connect a computer and a motor; the motor is a probe opening and closing motor (4) and / or a probe deflection motor (5) and / or a sample stage rotation motor (6); The receiving probes (8-2) used to receive ultrasonic waves are specifically hydrophones and immersion ultrasonic probes.

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