Detection device, detection system, and propagation member

Abstract

To provide a detection device, a detection system, and a propagating member, which can suppress the occurrence of bubbles in a propagating member.SOLUTION: A detection device comprises a detector, a first propagating member, a second propagating member, and a fixture. The detector transmits an ultrasonic wave and detects a reflected wave. The first propagating member is mounted to the detector, and the ultrasonic wave propagates through the first propagating member. The second propagating member has a second surface contacting a first surface of the first propagating member. The second surface has a protrusion. The second propagating member is softer than the first propagating member. The ultrasonic wave, which has propagated through the first propagating member, propagates through the second propagating member. The fixture presses the periphery of the second propagating member toward the first propagating member.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] Embodiments of the present invention relate to a detection device, a detection system, and a propagation member.

Background Art

[0002] There is a detection device that transmits ultrasonic waves to an object and detects reflected waves. The detection device includes a propagation member for propagating ultrasonic waves. It is desirable that the propagation member has few or no bubbles.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Problems to be solved by the present invention are to provide a detection device, a detection system, and a propagation member that can suppress the generation of bubbles in the propagation member.

Means for Solving the Problems

[0005] The detection device according to the embodiment includes a detector, a first propagation member, a second propagation member, and a fixture. The detector transmits ultrasonic waves and detects reflected waves. The first propagation member is attached to the detector and the ultrasonic waves propagate therethrough. The second propagation member has a second surface that contacts the first surface of the first propagation member. The second surface has convex portions. The second propagation member is softer than the first propagation member. The second propagation member propagates the ultrasonic waves that have propagated through the first propagation member. The fixture presses the periphery of the second propagation member toward the first propagation member.

Brief Description of the Drawings

[0006] [Figure 1]Figure 1 is a perspective view showing a detection device according to an embodiment. [Figure 2] Figure 2 is a cross-sectional view showing the vicinity of the tip of the detection device according to this embodiment. [Figure 3] Figures 3(a) and 3(b) are a perspective view and a plan view showing an example of a second propagation member. [Figure 4] Figure 4 is a cross-sectional view showing the second propagation member. [Figure 5] Figures 5(a) and 5(b) are side views showing a detection device according to an embodiment. [Figure 6] Figures 6(a) and 6(b) are a side view and a perspective view, respectively, showing a detection device according to an embodiment. [Figure 7] Figures 7(a) to 7(d) are schematic side views illustrating other fasteners. [Figure 8] Figures 8(a) and 8(b) are cross-sectional views showing a part of a detection device according to a reference example. [Figure 9] Figures 9(a) and 9(b) are cross-sectional views showing a part of a detection device according to a reference example. [Figure 10] Figures 10(a) to 10(c) are cross-sectional views showing a part of the detection device according to the embodiment. [Figure 11] Figures 11(a) to 11(c) are cross-sectional views showing a part of a detection device related to a reference example. [Figure 12] Figures 12(a) to 12(c) are cross-sectional views showing a part of the detection device according to the embodiment. [Figure 13] Figure 13(a) is a plan view showing another example of the second propagation member. Figure 13(b) is a cross-sectional view of Figure 13(a) taken along line B1-B2. [Figure 14] Figure 14(a) is a plan view showing another example of the second propagation member. Figure 14(b) is a cross-sectional view of Figure 14(a) taken along line B1-B2. [Figure 15] Figure 15(a) is a plan view showing another example of the second propagation member. Figure 15(b) is a cross-sectional view of Figure 15(a) taken along line B1-B2. [Figure 16]FIG. 16(a) is a plan view showing another example of the second propagation member. FIG. 16(b) is a cross-sectional view taken along the line B1-B2 of FIG. 16(a). [Figure 17] FIG. 17(a) is a plan view showing another example of the second propagation member. FIG. 17(b) is a cross-sectional view taken along the line B1-B2 of FIG. 17(a). [Figure 18] FIG. 18(a) is a plan view showing another example of the second propagation member. FIG. 18(b) is a cross-sectional view taken along the line B1-B2 of FIG. 18(a). [Figure 19] FIG. 19(a) is a perspective view showing another example of the second propagation member. FIG. 19(b) is a cross-sectional view taken along the line B1-B2 of FIG. 19(a). [Figure 20] FIGS. 20(a) and 20(b) are bottom views showing a part of the detection device according to the embodiment. [Figure 21] FIG. 21 is a schematic view showing the tip of the detection device according to the embodiment. [Figure 22] FIG. 22 is a schematic view exemplifying a three-dimensional detection result obtained by exploration. [Figure 23] FIG. 23 is a schematic view showing the detection system according to the embodiment. In FIG. 23, the fixture 13 is omitted. [Figure 24] FIG. 24 is a schematic view showing another detection system according to the embodiment. [Figure 25] FIGS. 25(a) to 25(c) are schematic views for explaining an inspection method using the detection device according to the embodiment. [Figure 26] FIG. 26 is a schematic view showing each unit for replacing the second propagation member 12. [Figure 27] FIGS. 27(a) to 27(d) are schematic views showing the operations of each unit for replacing the second propagation member. [Figure 28] FIGS. 28(a) to 28(d) are schematic views showing the operations of each unit for replacing the second propagation member. [Figure 29] FIGS. 29(a) and 29(b) are cross-sectional views showing the detection device according to a modified example of the embodiment. [Figure 30]Figure 30 is a schematic diagram representing the hardware configuration. [Modes for carrying out the invention]

[0007] Each embodiment of the present invention will be described below with reference to the drawings. Drawings are schematic or conceptual, and the relationships between the thickness and width of each part, as well as the ratios of the sizes of different parts, are not necessarily identical to those of reality. Even when showing the same part, the dimensions and ratios may be represented differently in different drawings. In this specification and in each figure, elements similar to those already described are denoted by the same reference numerals, and detailed explanations are omitted as appropriate.

[0008] Figure 1 is a perspective view showing a detection device according to an embodiment. Figure 2 is a cross-sectional view showing the vicinity of the tip of the detection device according to an embodiment. As shown in Figures 1 and 2, the detection device 10 according to this embodiment includes a first propagation member 11, a second propagation member 12, a fixing device 13, and a detector 15.

[0009] The detector 15 transmits ultrasonic waves and detects reflected waves. Specifically, the detector 15 comprises an element array 15a including multiple detection elements. Each detection element transmits ultrasonic waves. Each detection element also detects the reflected waves of the ultrasonic waves. Here, the transmission of ultrasonic waves and detection of reflected waves by the detector 15 are referred to as exploration. The sides of the element array 15a are surrounded by the housing 15h of the detector 15. The sides are in a direction intersecting the direction of ultrasonic wave transmission.

[0010] The first propagation member 11 is attached to the detector 15 (housing 15h). Ultrasonic waves transmitted from the detector 15 propagate through the first propagation member 11. The first propagation member 11 comes into contact with the detector 15. Alternatively, another member through which ultrasonic waves can propagate may be provided between the first propagation member 11 and the detector 15.

[0011] As shown in Figure 2, the first propagation member 11 has a first surface S1. The second propagation member 12 has a second surface S2 that is in contact with the first surface S1. The ultrasonic waves propagating through the first propagation member 11 enter the second propagation member 12 and propagate through the second propagation member 12.

[0012] Here, the direction from the first propagation member 11 toward the second propagation member 12 is defined as the Z direction (first direction). One direction intersecting the Z direction is defined as the X direction (second direction). One direction intersecting the ZX plane is defined as the Y direction (third direction). For example, the X, Y, and Z directions are mutually orthogonal. Also, for explanatory purposes, the direction from the first propagation member 11 toward the second propagation member 12 is referred to as "down," and the direction from the second propagation member 12 toward the first propagation member 11 is referred to as "up." These directions are based on the relative positional relationship between the first propagation member 11 and the second propagation member 12 and are independent of the direction of gravity.

[0013] When the first propagation member 11 and the second propagation member 12 are in contact with each other, the first surface S1 and the second surface S2 are parallel to the XY plane. For example, the detector 15, the first propagation member 11, and the second propagation member 12 are aligned in the Z direction. The direction of ultrasonic transmission in the first propagation member 11 may change. In that case, the detector 15, the first propagation member 11, and the second propagation member 12 do not have to be aligned in the Z direction.

[0014] The first propagation member 11 is solid. The first propagation member 11 has sufficient hardness so that substantial deformation does not occur even when the detection device 10 is in operation. This suppresses damage to the element array 15a. The second propagation member 12 is gel-like and not liquid. The second propagation member 12 is softer than the first propagation member 11. That is, the hardness of the second propagation member 12 is less than that of the first propagation member 11. For this reason, the second propagation member 12 deforms more easily than the first propagation member 11. The second propagation member 12 has sufficient softness so that it can deform according to the surface shape of the object being explored when the detection device 10 is in operation.

[0015] The fixing device 13 presses the periphery of the second propagation member 12 toward the first propagation member 11. When the second propagation member 12 is pressed by the fixing device 13, the second surface S2 of the second propagation member 12 comes into contact with the first surface S1 of the first propagation member 11. The second propagation member 12 deforms along the surface shape of the first propagation member 11. The position of the second propagation member 12 relative to the first propagation member 11 is fixed by the fixing device 13.

[0016] When the pressure on the second propagation member 12 by the fixing device 13 is released, the second propagation member 12 separates from the first propagation member 11. The second propagation member 12 is detachably fixed to the first propagation member 11.

[0017] In the example shown in Figure 1, the fixture 13 includes a plate member 13a and a fastener 13b. The plate member 13a includes a first end E1 and a second end E2. The first end E1 is fastened and secured to the housing 15h by the fastener 13b. The fastener 13b is, for example, a screw. The plate member 13a extends along the direction from the housing 15h toward the second propagation member 12. The second end E2, opposite to the first end E1, is bent so that the second propagation member 12 is positioned between the first propagation member 11 and the second end E2. The periphery of the second propagation member 12 is sandwiched between the second end E2 and the first propagation member 11.

[0018] The plate member 13a may be an elastic leaf spring. An elastic force is generated in the plate member 13a in a direction that presses the second propagation member 12 toward the first propagation member 11. Alternatively, the second propagation member 12 may be pressed by a linear member such as a hard steel wire instead of the plate member 13a. The specific structure of the fixing device 13 can be modified as appropriate, as long as one end can be fixed to the housing 15h and the other end is equipped with a pressing member that presses the second propagation member 12 toward the first propagation member 11.

[0019] The first propagation member 11 and the second propagation member 12 can be made of resin. Specifically, the first propagation member 11 may include acrylic, and the second propagation member 12 may include segmented polyurethane.

[0020] For example, the detection device 10 transmits ultrasonic waves to the joint and detects the reflected waves. The acoustic impedance of a typical steel plate used for joining is 4.5 × 10⁻⁶. 7 The impedance is approximately (Pa·s / m). To ensure that ultrasonic waves propagate sufficiently between the detection device 10 and the joint, the acoustic impedances of the first propagation member 11 and the second propagation member 12 are set to 1.0 × 10⁻¹⁰. 5 Larger than (Pa·s / m), 1.0 × 10 8 It is preferable that the acoustic impedance is less than (Pa·s / m). The acoustic impedance can be measured according to JIS A1405-1 (ISO 10534-1). The acoustic impedance may also be measured according to JIS A 1409 (ISO 354).

[0021] To suppress deformation of the first propagation member 11, the Rockwell hardness (M scale) of the first propagation member 11 is preferably greater than 80 and less than 110. The Rockwell hardness can be measured according to JIS Z 2245 (ISO 2039-2). To allow for easy deformation according to the surface shape of the target, the hardness of the second propagation member 12, measured by an Asker rubber hardness tester type F, is preferably greater than 40 and less than 60.

[0022] Figures 3(a) and 3(b) are a perspective view and a plan view showing an example of a second propagation member. As shown in Figures 3(a) and 3(b), the second propagation member 12 includes the first region 12a and the second region 12b.

[0023] The second propagation member 12 is rectangular when viewed from the Z direction. The first region 12a is located on the outer periphery of the second propagation member 12 and is pressed by the fixing device 13. The second region 12b is enclosed by the first region 12a along the XY plane. The second region 12b includes the center of the second propagation member 12 in the XY plane.

[0024] As shown in Figure 3(a), the second region 12b protrudes more than the first region 12a in the Z direction. The thickness T2 of the second region 12b is greater than the thickness T1 of the first region 12a. The thickness corresponds to the length in the Z direction.

[0025] As shown in Figure 2, the first region 12a is pressed against the first propagation member 11 by the fixing device 13. The first region 12a deforms, and its thickness decreases. For example, the second region 12b comes into close contact with the first propagation member 11.

[0026] Figure 4 is a cross-sectional view showing the second propagation member. As shown in Figure 4, the first region 12a has a first sub-surface 12a1 and a second sub-surface 12a2 that intersect with the Z direction. The second sub-surface 12a2 is located on the opposite side from the first sub-surface 12a1. The second region 12b has a third sub-surface 12b3 and a fourth sub-surface 12b4 that intersect with the Z direction. The fourth sub-surface 12b4 is located on the opposite side from the third sub-surface 12b3.

[0027] The third sub-surface 12b3 is continuous with the first sub-surface 12a1. In the illustrated example, the position of the outer circumference of the third sub-surface 12b3 in the Z direction is the same as the position of the first sub-surface 12a1 in the Z direction. The first sub-surface 12a1 and the third sub-surface 12b3 constitute the second surface S2 of the second propagation member 12. The position of the second sub-surface 12a2 in the Z direction is between the position of the third sub-surface 12b3 in the Z direction and the position of the fourth sub-surface 12b4 in the Z direction. That is, the fourth sub-surface 12b4 protrudes from the second sub-surface 12a2.

[0028] As shown in Figures 3(b) and 4, a protrusion P is provided on the third sub-surface 12b3 of the second surface S2. In the illustrated example, the protrusion P is spherical. The protrusion P may also be conical or pyramidal. The position of the first sub-surface 12a1 in the Z direction is between the position of the vertex of the protrusion P in the Z direction and the position of the second sub-surface 12a2 in the Z direction. That is, the protrusion P protrudes relative to the first sub-surface 12a1. When the second propagation member 12 contacts the first propagation member 11, the protrusion P protrudes toward the first surface S1 of the first propagation member 11.

[0029] Figures 5(a) and 5(b) are side views showing a detection device according to an embodiment. As shown in Figure 2, an opening OP is formed at the second end E2 of the plate member 13a. The opening OP penetrates the second end E2 along the Z direction. The second region 12b of the second propagation member 12 is inserted into the opening OP. When the first region 12a is pressed against the fixing device 13, the second region 12b protrudes in the Z direction beyond the second end E2 of the fixing device 13, as shown in Figures 2, 5(a), and 5(b). During exploration, the second region 12b protruding from the fixing device 13 deforms to conform to the surface shape of the target.

[0030] In the detection device 10, as shown in Figure 1, the width of the tip (first surface S1) of the first propagation member 11 is narrower than the width of the element array 15a. The ultrasonic waves transmitted from the element array 15a converge toward the tip of the first propagation member 11 and are emitted from the entire surface of the first surface S1. The width is the length in the X or Y direction. Because the width of the first surface S1 is narrower than the width of the element array 15a, it is easier to bring the tip of the detection device 10 into contact with the desired part of the target, even when the shape of the target is complex or when there are many obstacles.

[0031] The width of the second surface S2 of the second propagation member 12 is wider than the width of the first surface S1 of the first propagation member 11. When the second propagation member 12 is pushed toward the first propagation member 11, a portion of the second propagation member 12 wraps around to the side of the first propagation member 11 and comes into contact with a portion of the side surface of the first propagation member 11.

[0032] The width of the second region 12b is preferably the same as or wider than the width of the first surface S1. If the width of the second region 12b is narrower than the width of the first surface S1, the ultrasonic waves emitted from the outer periphery of the first surface S1 will be reflected by the fixing device 13 and will not reach the target. If the width of the second region 12b is greater than or equal to the width of the first surface S1, the ultrasonic waves emitted from the first surface S1 will propagate more easily to the second region 12b that is in contact with the target. This can improve the accuracy of the exploration.

[0033] Furthermore, it is preferable that the width of the opening OP is wider than the width of the first surface S1. When the second propagation member 12 is fixed, shear stress is applied to the outer circumference of the second propagation member 12 by the first propagation member 11 and the fixing device 13. If the width of the opening OP is the same as the width of the first surface S1, the shear stress will be large, and the second propagation member 12 will be more susceptible to damage. For this reason, it is preferable that the width of the opening OP is wider than the width of the first surface S1.

[0034] Figures 6(a) and 6(b) are a side view and a perspective view, respectively, showing a detection device according to an embodiment. The fixing device 13 detachably secures the second propagation member 12 to the first propagation member 11. In other words, by using the fixing device 13, it is possible to switch between a state in which the second propagation member 12 is fixed to the first propagation member 11 and a state in which the second propagation member 12 is not fixed to the first propagation member 11.

[0035] For example, as shown in Figures 6(a) and 6(b), the plate member 13a can be removed from the housing 15h by loosening the fastener 13b. When the plate member 13a is removed from the housing 15h, the distance between the second end E2 and the first propagation member 11 increases. This eliminates the pressure from the second end E2 on the second propagation member 12. The second propagation member 12 becomes removable. The second propagation member 12 can be removed and a new, different second propagation member 12 can be installed.

[0036] Alternatively, the plate member 13a may be a leaf spring. In this case, the second end E2 may be moved away from the first propagation member 11 by deforming the plate member 13a. This eliminates the pressure from the second end E2 on the second propagation member 12, making the second propagation member 12 removable.

[0037] Figures 7(a) to 7(d) are schematic side views illustrating other fasteners. Figures 7(a) and 7(b) show the second propagation member 12 fixed to the first propagation member 11. Figures 7(c) and 7(d) show the second propagation member 12 not fixed to the first propagation member 11. Figures 7(b) and 7(d) show the fixing device 13 viewed from a viewpoint opposite to that of Figures 7(a) and 7(c), respectively.

[0038] As shown in Figures 7(a) to 7(d), a slit S may be provided in the plate member 13a. The slit S extends along the Z direction. When the fastener 13b is loosened, the plate member 13a becomes slidable along the direction in which the slit S extends. As the plate member 13a slides, as shown in Figures 7(c) and 7(d), the second end E2 of the plate member 13a moves away from the first propagation member 11. The pressure from the second end E2 on the second propagation member 12 is removed, and the second propagation member 12 becomes removable.

[0039] When using ultrasound to examine the condition of an object, it is preferable that there is no air between the detection device and the object. In the absence of air, ultrasound propagates more easily between the detection device and the object, and reflected waves are easier to detect. This improves the accuracy of the examination. Conventionally, to facilitate the propagation of ultrasound, liquid couplants with good acoustic impedance have been used. By applying the detection device to an object that has been pre-coated with couplant, the space between the detection device and the object is filled with couplant.

[0040] When using couplant, it is necessary to wipe it off after exploration. If the couplant remains attached to the target surface, it may cause alteration (e.g., rust) or deterioration. Furthermore, wiping off the couplant is time-consuming. To shorten exploration time, there is a need for a technology that eliminates the need to apply and wipe off couplant.

[0041] According to the detection device 10, a second propagation member 12 is used instead of the couplant. The second propagation member 12 is softer than the first propagation member 11 and can deform according to the surface shape of the object when the detection device 10 is operating. When the second propagation member 12 deforms and fills the space between the first propagation member 11 and the object, the amount of air between the first propagation member 11 and the object can be reduced.

[0042] On the other hand, the second propagation member 12 is soft and therefore easily damaged. Also, foreign matter (such as metal powder) attached to the target can easily become embedded in the second propagation member 12. If damage or other abnormalities such as the attachment of foreign matter occur on the surface of the second propagation member 12, ultrasonic waves will not propagate easily between the second propagation member 12 and the target. The accuracy of ultrasonic wave detection will decrease. For this reason, it is preferable to replace the second propagation member 12 at an appropriate time. In the detection device 10, the second propagation member 12 is detachably fixed by a fixing device 13. Therefore, the second propagation member 12 can be easily replaced.

[0043] Let me explain one aspect of the advantages of this embodiment. Figures 8(a), 8(b), 9(a), and 9(b) are cross-sectional views showing a part of a detection device according to a reference example. In the detection device r1 shown in the reference example in Figure 8(a), the second propagation member 12 does not have a protrusion P. When the second propagation member 12 is placed on the fixing device 13, only the periphery of the second propagation member 12 is in contact with the fixing device 13. Furthermore, the second propagation member 12 has sufficient flexibility to deform along the surface shape of the object. As a result, as shown in Figure 8(a), the second region 12b deforms in the direction of gravity due to its own weight. A depression is created on the second surface S2. In particular, as described above, when the hardness of the second propagation member 12 measured by the Asker rubber hardness tester type F is 40 to 60, the second region 12b deforms easily.

[0044] When the second propagation member 12 is pressed against the first propagation member 11 in the state shown in Figure 8(a), a bubble B is generated between the first surface S1 and the second surface S2, as shown in Figure 8(b). Bubble B (air) does not propagate ultrasound as easily as the first propagation member 11 or the second propagation member 12. This makes it difficult for ultrasound to reach the target, and makes it difficult to detect reflected waves that reflect the state of the target. This reduces the accuracy of the exploration and makes it difficult to investigate the state of the target based on reflected waves. For this reason, it is desirable that there is no bubble B between the first propagation member 11 and the second propagation member 12.

[0045] In the detection device r2 shown in the reference example in Figure 9(a), couplant CP is applied to the second surface S2. Couplant CP is a liquid. By pressing the second propagation member 12, to which couplant CP is applied, against the first propagation member 11, the couplant fills the gap between the first surface S1 and the second surface S2, as shown in Figure 9(b), thereby preventing the generation of air bubbles B.

[0046] Couprants (CPs) propagate ultrasound more easily than air. Using couprants makes it easier for ultrasound to reach the target. With detection device r2, the accuracy of the search can be improved compared to detection device r1. On the other hand, with detection device r2, the propagation speed of ultrasound differs between areas where couprants are present and areas where they are not. Therefore, there is still room for improvement in the accuracy of the search with detection device r2 as well.

[0047] Figures 10(a) to 10(c) are cross-sectional views showing a part of the detection device according to the embodiment. As shown in Figure 10(a), in the detection device 10 according to this embodiment, the second propagation member 12 has a protrusion P. When the second propagation member 12 is pushed toward the first propagation member 11, as shown in Figure 10(b), the protrusion P first comes into contact with the first surface S1 of the first propagation member 11. In this state, when the second propagation member 12 is pushed further toward the first propagation member 11, as shown in Figure 10(c), the second surface S2 of the second propagation member 12 comes into close contact with the first surface S1. Even without using a couplant CP, the protrusion P can suppress the generation of air bubbles B between the first surface S1 and the second surface S2.

[0048] According to this embodiment, the generation of bubbles B between the first propagation member 11 and the second propagation member 12 can be suppressed. Furthermore, the variation in the propagation speed of ultrasonic waves at each point between the first propagation member 11 and the second propagation member 12 can be reduced. As a result, more accurate exploration results can be obtained.

[0049] In order to effectively suppress the generation of bubbles B, the width of the area where the protrusions P are provided is preferably greater than 0.3 times the width of the second region 12b. More preferably, the width of the area where the protrusions P are provided is greater than 0.5 times the width of the second region 12b.

[0050] Let's describe another aspect of the advantages of this embodiment. Figures 11(a) to 11(c) are cross-sectional views showing a part of a detection device related to a reference example. In the detection device r3 shown in the reference example in Figure 11(a), the width of the second surface S2 is the same as the width of the first surface S1. Figure 11(a) shows the situation during exploration. The second propagation member 12 is in contact with the target O.

[0051] After the exploration is complete, the detection device r3 moves away from the target O. Since the second propagation member 12 is gel-like, it may adhere to the target O. As the second propagation member 12 moves away from the target O, it is pulled toward the target O. As a result, the outer circumference of the second surface S2 may partially peel off from the first surface S1, as shown in Figure 11(b).

[0052] Subsequently, when the second propagation member 12 moves away from the target O, the detached portion of the second surface S2 comes into contact with the first surface S1 again. At this time, as shown in Figure 11(c), bubbles B may form between the detached outer circumference of the second surface S2 and the first surface S1. If the exploration is repeated, more bubbles B will be formed. Also, the generated bubbles B gradually move towards the center of the first surface S1. As a result, it becomes difficult to investigate the state of the target based on the reflected waves.

[0053] Figures 12(a) to 12(c) are cross-sectional views showing a part of the detection device according to the embodiment. In the detection device 10 according to this embodiment, as shown in Figure 12(a), the width of the second surface S2 is wider than the width of the first surface S1. The second propagation member 12 is in contact with a part of the third surface S3 of the first propagation member 11. The third surface S3 is connected to the first surface S1 and is inclined with respect to the first surface. The third surface S3 intersects with the X direction or the Y direction.

[0054] When the detection device 10 moves away from the target O, the inclination of the contact surface between the second propagation member 12 and the third surface S3 with respect to the Z direction is smaller than the inclination of the contact surface between the second propagation member 12 and the first surface S1 with respect to the Z direction. The frictional force acting between the second propagation member 12 and the third surface S3 is greater than the frictional force acting between the second propagation member 12 and the first surface S1. Therefore, as shown in Figure 12(b), even when the second propagation member 12 is pulled toward the target O, separation of the outer circumference of the second surface S2 from the first surface S1 can be suppressed.

[0055] As a result, as shown in Figure 12(c), the generation of bubbles B between the first surface S1 and the second surface S2 can be suppressed. According to this embodiment, even when the second propagation member 12 repeatedly contacts and separates from the target O, more accurate exploration results can be obtained.

[0056] Furthermore, as shown in Figure 9(a), a couplant CP may be applied to the second surface S2. When couplant CP is applied, the lubricity between the first propagation member 11 and the second propagation member 12 is improved. Even if the outer circumference of the second surface S2 peels off in the state shown in Figure 11(b), the second surface S2 will still make smooth contact with the first surface S1 or the third surface S3. Air will flow more easily to the outside of the first propagation member 11 and the second propagation member 12, and the generation of bubbles can be suppressed.

[0057] Figures 13(a), 14(a), 15(a), 16(a), 17(a), and 18(a) are plan views showing another example of the second propagation member. Figures 13(b), 14(b), 15(b), 16(b), 17(b), and 18(b) are cross-sectional views of Figures 13(a) to 18(a) along the line B1-B2. In the second propagation member 12-1 shown in Figures 13(a) and 13(b), multiple protrusions P1 are provided on the second surface S2. In the plan views of Figures 13(a) to 18(a), the whiter the color, the more the point protrudes upward. The darker the color, the more the point is recessed downward.

[0058] Multiple protrusions P1 are arranged along two intersecting directions. According to the second propagation member 12-1, when the second surface S2 of the second propagation member 12 contacts the first surface S1 of the first propagation member 11, at least one of the protrusions P1 makes contact with the first surface S1 first. Air between the first surface S1 and the second surface S2 flows to the outside of the first propagation member 11 and the second propagation member 12 through the gaps between the protrusions P1. This suppresses the generation of air bubbles between the first surface S1 and the second surface S2.

[0059] In the second propagation member 12-2 shown in Figures 14(a) and 14(b), multiple protrusions P1 are arranged along two intersecting directions. Multiple recesses R1 are also arranged along two directions. The protrusions P1 and recesses R1 are arranged alternately in the X and Y directions.

[0060] With the second propagation member 12-2, similar to the second propagation member 12-1, air between the first surface S1 and the second surface S2 flows to the outside through the gap between the protrusions P1. Also, the protrusions P1 deform and move into the recesses R1, filling the recesses R1. As a result, when the second propagation member 12-2 is installed, the variation in density at each point of the second propagation member 12 can be reduced. The variation in the propagation speed of ultrasonic waves at each point of the second propagation member 12 can be reduced.

[0061] The second propagation member 12-3 shown in Figures 15(a) and 15(b) is provided with a convex portion P1 curved along the XY plane and a concave portion R1 curved along the XY plane. The convex portion P1 protrudes from the flat portion of the second surface S2. The concave portion R1 is recessed from the flat portion of the second surface S2. The convex portion P1 and the concave portion R1 are provided alternately in directions intersecting the direction in which they extend.

[0062] Furthermore, each convex portion P1 is provided with multiple convex portions P2 in the direction in which it extends. Each convex portion P2 protrudes more than the convex portion P1. Each concave portion R1 is provided with multiple concave portions R2 in the direction in which it extends. Each concave portion R2 is recessed more than the concave portion R1. The surfaces of each convex portion P1, each convex portion P2, each concave portion R1, and each concave portion R2 are curved in a spherical shape.

[0063] According to the second propagation member 12-3, when the first surface S1 and the second surface S2 come into contact, the protrusions P2 and P1 sequentially come into contact with the first surface S1. The air between the first surface S1 and the second surface S2 flows out of the first propagation member 11 and the second propagation member 12 through the recess R1. When the second propagation member 12 is further pushed toward the first propagation member 11, the protrusions P1 and P2 deform, and the recesses R1 and R2 are filled. This suppresses the generation of bubbles between the first surface S1 and the second surface S2. In addition, as the deformed protrusions P1 and P2 move toward the recesses R1 and R2, the variation in density at each point of the second propagation member 12 can be reduced. This also reduces the variation in the propagation speed of ultrasonic waves at each point of the second propagation member 12.

[0064] The second propagation member 12-4, shown in Figures 16(a) and 16(b), has additional protrusions P0 compared to the second propagation member 12-3. The protrusions P0 project outward from the flat portion of the second surface S2. The protrusions P0 are spherical. The width of the protrusions P0 is wider than the widths of each of the protrusions P1, P2, recess R1, and recess R2. At least a portion of each protrusion P1 and at least a portion of each recess R1 are located on top of the protrusions P0. The vertex of the protrusion P2 located on the central side of the second region 12b is located above the vertex of the protrusion P2 located on the peripheral side of the second region 12b.

[0065] According to the second propagation member 12-4, the presence of the protrusion P0 ensures that even when the deformation of the second propagation member 12-3 due to its own weight is large, the second surface S2 sequentially contacts the first surface S1 from the center outward in the second region 12b. This makes it easier for air to flow to the outside of the first propagation member 11 and the second propagation member 12 when the first surface S1 and the second surface S2 come into contact. This further suppresses the generation of bubbles between the first surface S1 and the second surface S2.

[0066] The second propagation member 12-5 shown in Figures 17(a) and 17(b) is provided with pyramidal protrusions P1 and pyramidal recesses R1. Multiple protrusions P1 and recesses R1 are provided along two mutually orthogonal directions. Furthermore, the protrusions P1 and recesses R1 are provided alternately in the X and Y directions. Each protrusion P1 and each recess R1 is triangular in cross-section along the orthogonal direction.

[0067] With the second propagation member 12-5, similar to the second propagation member 12-3, when the first surface S1 and the second surface S2 come into contact, the protrusions P1 sequentially come into contact with the first surface S1. This suppresses the generation of air bubbles between the first surface S1 and the second surface S2. In addition, as the deformed protrusions P1 move to the recesses R1, the density variation at each point of the second propagation member 12 can be reduced.

[0068] In the second propagation member 12-6 shown in Figures 18(a) and 18(b), additional protrusions P0 are provided compared to the second propagation member 12-5. The protrusions P0 are spherical. At least a portion of each protrusion P1 and at least a portion of each recess R1 are provided on the protrusions P0. The vertices of the protrusions P1 provided on the central side of the second region 12b are located above the vertices of the protrusions P1 provided on the peripheral side of the second region 12b.

[0069] According to the second propagation member 12-6, similar to the second propagation member 12-4, the presence of a protrusion P0 further suppresses the generation of bubbles between the first surface S1 and the second surface S2.

[0070] In the second propagation members 12-1 to 12-6, in order to effectively suppress the generation of bubbles B, the width of the area where the protrusions and recesses are provided is preferably greater than 0.3 times the width of the second region 12b. More preferably, the width of this area is greater than 0.5 times the width of the second region 12b.

[0071] Figure 19(a) is a perspective view showing another example of the second propagation member. Figure 19(b) is a cross-sectional view of Figure 19(a) taken along line B1-B2. The second propagation member 12-7 shown in Figures 19(a) and 19(b) has a hole H instead of a protrusion. The hole H penetrates the second region 12b in the Z direction. Multiple holes H may be provided.

[0072] When the second propagation member 12-7 is pressed against the first propagation member 11, the air between the first surface S1 and the second surface S2 is discharged through the hole H. The second propagation member 12-6 suppresses the generation of air bubbles between the first surface S1 and the second surface S2, similar to the case where a protrusion is provided.

[0073] A hole H may be provided in any of the second propagation members 12-1 to 12-6. By combining the protrusion and the hole H, the generation of air bubbles between the first surface S1 and the second surface S2 can be effectively suppressed.

[0074] Figures 20(a) and 20(b) are bottom views showing a part of the detection device according to the embodiment. As shown in Figure 20(a), the opening OP may extend in one direction in a slit shape. As shown in Figure 20(b), the plate member 13a may be composed of multiple wires W. The opening OP is formed at a position where no wires W are provided.

[0075] The following sections will provide a detailed explanation of the structure of the detector 15, the detection system including the detection device 10, the inspection using ultrasound, and the replacement of the second propagation member 12.

[0076] (Specific structure of the detector) Figure 21 is a schematic diagram showing the tip of the detection device according to the embodiment. In Figure 21, the fixing device 13 is omitted. Inside the detector 15, as shown in Figure 21, an element array 15a is provided. The element array 15a includes a plurality of detection elements 15b. The detection elements 15b are, for example, transducers that emit ultrasonic waves with a frequency of 1 MHz to 100 MHz. The plurality of detection elements 15b are arranged along the X and Y directions.

[0077] The reflected wave data obtained through the exploration can be used for inspecting the target. Figure 21 shows the inspection of the joint 50. In the joint 50, a metal member 51 (first member) and a metal member 52 (second member) are joined at a weld 53. The weld 53 is formed by spot resistance welding. In the weld 53, a solidified area 54 is formed where a part of the metal member 51 and a part of the metal member 52 have melted, mixed together, and solidified. Each detection element 15b transmits ultrasonic waves US towards the joint 50 and receives reflected waves RW from the joint 50.

[0078] As a specific example, as shown in Figure 21, one detection element 15b transmits ultrasonic waves (US) toward the weld 53. A portion of the ultrasonic waves (US) is reflected from the upper or lower surface of the joint 50. Each of the multiple detection elements 15b receives (detects) this reflected wave (RW). Each detection element 15b sequentially transmits ultrasonic waves (US), and each reflected wave (RW) is detected by the multiple detection elements 15b. This provides a detection result of the reflected wave indicating the condition near the weld 53.

[0079] Figure 22 is a schematic diagram illustrating the three-dimensional detection results obtained from the exploration. In the exploration, as described above, each detection element 15b sequentially transmits ultrasonic waves, and each reflected wave is detected by multiple detection elements 15b. In the specific example shown in Figure 22, 64 detection elements 15b are provided in an 8x8 configuration. In this case, the 64 detection elements 15b sequentially transmit ultrasonic waves. One detection element 15b repeatedly detects the reflected wave 64 times. From one detection element 15b, the detection result of the reflected wave intensity distribution in the Z direction is output 64 times. The intensity distributions of the 64 reflected waves output from one detection element 15b are summed up. The summed intensity distribution becomes the intensity distribution at the coordinates where one detection element 15b is provided in one exploration. The same processing is performed for the detection results from each of the 64 detection elements 15b. As a result, the intensity distribution of the reflected wave in the Z direction is generated at each point in the XY plane. Figure 22 shows the three-dimensional intensity distribution as an image. In Figure 22, areas with high brightness correspond to areas with high ultrasonic wave intensity. Three-dimensional intensity distribution data is used for the examination.

[0080] (Detection system) Figure 23 is a schematic diagram showing a detection system according to an embodiment. In Figure 23, the fixing device 13 is omitted. The detection system 1a comprises a detection device 10 and a processing device 90. In the detection system 1a, the detection device 10 has a shape that can be grasped by a person's hand. The inspector, holding the detection device 10, brings the second propagation member 12 at the tip of the detection device 10 into contact with the weld 53 and inspects the weld 53. At this time, the inspector presses the second propagation member 12 against the joint 50 so that the second propagation member 12 deforms to conform to the shape of the weld 53. For example, the inspector presses the second propagation member 12 against the joint 50 until the fixing device 13 comes into contact with the joint 50. With the detection device 10 in contact with the weld 53, the inspector performs the search.

[0081] The processing unit 90 controls the element array 15a of the detection device 10. For example, the detection device 10 and the processing unit 90 are connected by a cable. During exploration, electrical signals are transmitted from the processing unit 90 to each detection element 15b, and ultrasonic waves are transmitted from each detection element 15b. Each detection element 15b also outputs an electrical signal in response to the detection of reflected waves. The magnitude of the electrical signal corresponds to the intensity of the reflected wave. Each detection element 15b transmits intensity data indicating the intensity of the detected reflected wave to the processing unit 90. The processing unit 90 performs various processes based on the intensity data.

[0082] Figure 24 is a schematic diagram showing another detection system according to the embodiment. The detection system 1b shown in Figure 24 includes a robot 20 and a processing unit 90. The robot 20 includes a manipulator 21 and a control unit 22.

[0083] In the example shown in Figure 24, the manipulator 21 is a vertical articulated type. The manipulator 21 may also be a horizontal articulated type or a parallel link type. The control device 22 is connected to the manipulator 21 and controls the operation of the manipulator 21. The control device 22 is a so-called robot controller.

[0084] As shown in Figure 24, a detection device 10 is provided at the tip of the manipulator 21. An imaging device 25 may also be provided at the tip of the manipulator 21. The imaging device 25 photographs the welded member and acquires an image. The processing device 90 extracts the weld marks from the obtained image and detects the position of the weld 53. The control device 22 operates the manipulator 21 so that the tip of the detection device 10 comes into contact with the weld 53.

[0085] The processing unit 90 may indirectly control the detection device 10 via the control unit 22, or it may directly control the detection device 10. The control unit 22 and the processing unit 90 may be connected via wireless communication or a network.

[0086] (inspection) Figures 25(a) to 25(c) are schematic diagrams illustrating an inspection method using a detection device according to an embodiment. The detection results (intensity data) of the reflected waves obtained by the detection system 1a or 1b shown in Figure 23 or Figure 24 are used for inspecting the welded joint 53. The processing device 90 may perform the following processing using the intensity data.

[0087] As shown in Figure 25(a), some of the ultrasonic waves US are reflected by the upper surface 51a of the metal member 51 or the upper surface 53a of the welded portion 53. Another portion of the ultrasonic waves US enters the joint 50 and is reflected by the lower surface 51b of the metal member 51 or the lower surface 53b of the welded portion 53.

[0088] The positions of the upper surface 51a, lower surface 51b, upper surface 53a, and lower surface 53b in the Z direction are different from each other. That is, the distances in the Z direction between these surfaces and the detection element 15b are different from each other. When the detection element 15b detects reflected waves from these surfaces, the peaks of the reflected wave intensity are detected. By calculating the time from the transmission of the ultrasonic wave US until each peak is detected, it is possible to determine which surface the ultrasonic wave US is being reflected from.

[0089] Figures 25(b) and 25(c) are graphs illustrating the relationship between the time elapsed after transmitting an ultrasonic wave (US) and the intensity of the reflected wave (RW). Here, the intensity of the reflected wave (RW) is expressed as an absolute value. The graph in Figure 25(b) illustrates the detection results of reflected waves (RW) from the upper surface 51a and lower surface 51b of the metal member 51. The graph in Figure 25(c) illustrates the detection results of reflected waves (RW) from the upper surface 53a and lower surface 53b of the welded joint 53.

[0090] In the graphs of Figures 25(b) and 25(c), peak Pe10 is based on the reflected wave RW from the first propagation member 11 and the second propagation member 12. Peak Pe11 is based on the reflected wave RW from the upper surface 51a. Peak Pe12 is based on the reflected wave RW from the lower surface 51b. The time from the transmission of the ultrasonic US until the detection of peaks Pe11 and Pe12 corresponds to the positions of the upper surface 51a and lower surface 51b of the metal member 51 in the Z direction, respectively.

[0091] Similarly, peak Pe13 is based on the reflected wave RW from the upper surface 53a. Peak Pe14 is based on the reflected wave RW from the lower surface 53b. The time from the transmission of the ultrasonic US until peaks Pe13 and Pe14 are detected corresponds to the positions of the upper surface 53a and lower surface 53b of the weld 53 in the Z direction, respectively.

[0092] The processing unit 90 determines whether a peak Pe12 exists in the reflected wave intensity distribution in the Z direction at each point within the first plane. The first plane is parallel to the X and Y directions. As a specific example, the processing unit 90 detects peaks in a predetermined range in the Z direction where a peak Pe12 can be detected. The predetermined range is set in advance according to the length of the first propagation member 11 in the Z direction, the distance between the first propagation member 11 and the metal member 51, etc. The processing unit 90 compares the intensity of the peak with a predetermined threshold. When the peak exceeds the threshold, the processing unit 90 determines that the peak is a peak Pe12. The presence of a peak Pe12 indicates that the lower surface 51b exists at the location of the peak and that the metal member 51 and the metal member 52 are not joined. The processing unit 90 determines that the point where a peak Pe12 is detected is not joined. The processing unit 90 sequentially determines whether each point within the first plane is joined. The set of points determined to be joined corresponds to the welded joint 53. For example, the inspection checks whether a weld 53 has been formed. The inspection may also calculate the diameter of the weld 53, or it may be determined whether the diameter is sufficient.

[0093] The intensity of the reflected wave may be expressed in any manner. For example, the reflected wave intensity output from the detection element 15b includes positive and negative values ​​depending on the phase. Various processing may be performed based on the reflected wave intensity, which includes both positive and negative values. The reflected wave intensity, which includes both positive and negative values, may be converted to an absolute value. The average value of the reflected wave intensity may be subtracted from the reflected wave intensity at each time point. Alternatively, a weighted average value, a weighted moving average value, etc., of the reflected wave intensity may be subtracted from the reflected wave intensity at each time point. Even when using the results of these processing steps applied to the reflected wave intensity, the various processing described in this application can still be performed.

[0094] (Replacement of the second propagation member) The second propagation member 12 may be automatically replaced. The following describes the units for automatically replacing the second propagation member 12.

[0095] Figure 26 is a schematic diagram showing each unit for replacing the second propagation member 12. The detection system 1a or 1b may include the release unit 31, the extrusion unit 32, and the transport unit 33 shown in Figure 26.

[0096] The release unit 31 includes a bar 31a, a drive unit 31x, and a drive unit 31y. The bar 31a is a member that extends in a direction intersecting the Z direction. The drive unit 31x moves the bar 31a in the X direction. The drive unit 31y moves the bar 31a and the drive unit 31x in the Y direction along the guide 31g. The bar 31a is hooked onto the plate member 13a and deforms the plate member 13a. This releases the fixing of the second propagation member 12 by the fixing device 13. The specific shape of the bar 31a is arbitrary, as long as it extends in one direction. For example, the tip of the bar 31a may be curved and hook-shaped.

[0097] The extrusion unit 32 includes a bar 32a, an extrusion section 32b, a drive section 32x, and a drive section 32z. The bar 32a is a member extending in a direction intersecting the Z direction. The extrusion section 32b is attached to the end of the bar 32a via the drive section 32z. The drive section 32z moves the extrusion section 32b in the Z direction. The drive section 32x moves the bar 32a in the X direction.

[0098] With the extrusion portion 32b positioned below the second propagation member 12 which is placed on the second end E2, the extrusion portion 32b moves in the Z direction. The extrusion portion 32b comes into contact with the second propagation member 12. The second propagation member 12 is pushed out by the extrusion portion 32b and lifts off the second end E2. As a result, the second propagation member 12 becomes removable from the second end E2.

[0099] The transport unit 33 includes a holding part 33a, a drive part 33x, and a drive part 33z. The holding part 33a extends in a direction intersecting the Z direction. The tip of the holding part 33a has a structure capable of holding the second propagation member 12. In the example of Figure 26, a claw is provided at the tip of the holding part 33a. The holding part 33a holds the second propagation member 12 by hooking it onto the claw. An air intake port is provided at the tip of the holding part 33a, and the second propagation member 12 may also be held by vacuum suction.

[0100] The drive unit 33x moves the holding unit 33a in the X direction. The drive unit 33z moves the drive unit 33x and the holding unit 33a in the Z direction. The transport unit 33 holds and transports the second propagation member 12. The transport unit 33 transports one new second propagation member 12 from the placement location where a new second propagation member 12 is placed to the second end E2.

[0101] For example, the drive units 31x, 32x, and 33x include air cylinders. The drive units 31y, 32z, and 33z include motors.

[0102] For example, as shown in Figure 26, the release unit 31, the extrusion unit 32, and the conveying unit 33 may be configured as a single exchange device 30. Alternatively, the release unit 31, the extrusion unit 32, and the conveying unit 33 may each be provided independently and separately. In this case, the movement directions of the bars 31a, 32a, and 33a may be different from each other.

[0103] Figures 27(a) to 27(d) and 28(a) to 28(d) are schematic diagrams illustrating the operation of each unit for replacing the second propagation member. As shown in Figure 27(a), the bar 31a of the release unit 31 is inserted between the first propagation member 11 and the plate member 13a. As shown in Figure 27(b), the release unit 31 moves the bar 31a away from the first propagation member 11. This deforms the plate member 13a and releases the fixing of the second propagation member 12. The second propagation member 12 moves away from the first propagation member 11. The extrusion unit 32 positions the tip of the extrusion section 32b below the second end E2 and raises it. As a result, as shown in Figure 27(c), the second propagation member 12 is pushed out from the second end E2.

[0104] As shown in Figure 27(d), the transport unit 33 holds the second propagation member 12 by clamping the second region 12b with the holding portion 33a. When the opening OP of the second end E2 is slit-shaped as shown in Figure 6(a), the amount of the second propagation member 12 extruded by the extrusion unit 32 may be smaller than that shown in the example in Figure 27(b). This is because the second propagation member 12 can be removed from the second end E2 by sliding the second propagation member 12 along the direction in which the opening OP extends.

[0105] As shown in Figure 28(a), the transport unit 33 transports the held second propagation member 12 to another location. As shown in Figure 28(b), the transport unit 33 transports a new second propagation member 12 onto the second end E2. The new second propagation member 12 is placed on the extrusion unit 32b. As shown in Figure 28(c), the extrusion unit 32 lowers the extrusion unit 32b and places the second propagation member 12 on the second end E2. As shown in Figure 28(d), the release unit 31 brings the bar 31a closer to the first propagation member 11 and releases the deformation of the plate member 13a. Through these operations, the second propagation member 12 is replaced.

[0106] The processing unit 90 controls the operation of the release unit 31, the extrusion unit 32, and the transport unit 33. For example, if the processing unit 90 determines that the second propagation member 12 is abnormal, it causes each unit to replace the second propagation member 12. This makes it possible to obtain more appropriate reflected wave detection results.

[0107] (modified version) Figures 29(a) and 29(b) are cross-sectional views showing a detection device according to a modified example of the embodiment. In the modified detection device 10a, the second propagation member 12 does not have a protrusion. Instead, when the second propagation member 12 is pressed against the first propagation member 11, as shown in Figure 29(a), the extrusion unit 32 pushes the center of the second propagation member 12 toward the first propagation member 11. As a result, a part of the second surface S2 protrudes toward the first propagation member 11. The second surface S2 becomes in the same state as when a protrusion is provided.

[0108] When the extrusion unit 32 pushes up the second propagation member 12, the area around the second propagation member 12 is sandwiched by the fixing device 13 in the Z direction so that the second propagation member 12 does not lift up from the fixing device 13.

[0109] With the extrusion unit 32 pushing up the second propagation member 12, the second propagation member 12 is pressed against the first propagation member 11. The pushed-up portion of the second propagation member 12 comes into contact with the first surface S1 of the first propagation member 11. In this state, if the second propagation member 12 is pushed further toward the first propagation member 11, the second surface S2 of the second propagation member 12 comes into close contact with the first surface S1, as shown in Figure 29(b).

[0110] According to the modified detection device 10a, similar to the detection device 10, it is possible to suppress the generation of air bubbles B between the first surface S1 and the second surface S2.

[0111] Figure 30 is a schematic diagram representing the hardware configuration. As the processing unit 90, for example, the computer 90a shown in Figure 30 can be used. The computer 90a includes a CPU 91, ROM 92, RAM 93, storage device 94, input interface 95, output interface 96, and communication interface 97.

[0112] ROM92 stores programs that control the operation of computer 90a. ROM92 contains the programs necessary for computer 90a to perform each of the processes described above. RAM93 functions as a memory area where the programs stored in ROM92 are deployed.

[0113] The CPU 91 includes processing circuits. The CPU 91 uses the RAM 93 as work memory and executes programs stored in at least one of the ROM 92 or the storage device 94. During program execution, the CPU 91 controls each component via the system bus 98 and performs various processes.

[0114] The memory device 94 stores data necessary for program execution and data obtained through program execution.

[0115] The input interface (I / F) 95 connects the processing unit 90 and the input device 95a. The input I / F 95 is, for example, a serial bus interface such as USB. The CPU 91 can read various data from the input device 95a via the input I / F 95.

[0116] The output interface (I / F) 96 connects the processing unit 90 and the output device 96a. The output I / F 96 is a video output interface such as a Digital Visual Interface (DVI) or a High-Definition Multimedia Interface (HDMI®). The CPU 91 can transmit data to the output device 96a via the output I / F 96 and display an image on the output device 96a.

[0117] The communication interface (I / F) 97 connects the processing unit 90 to a server 97a located outside the processing unit 90. The communication I / F 97 is, for example, a network card such as a LAN card. The CPU 91 can read various data from the server 97a via the communication I / F 97.

[0118] The storage device 94 includes one or more selected from Hard Disk Drives (HDDs) and Solid State Drives (SSDs). The input device 95a includes one or more selected from a mouse, keyboard, microphone (voice input), and touchpad. The output device 96a includes one or more selected from a monitor and a projector. Devices that have the functions of both input device 95a and output device 96a, such as a touch panel, may also be used.

[0119] The processing of the various data described above may be recorded as a program that can be executed by a computer on a magnetic disk (flexible disk and hard disk, etc.), an optical disk (CD-ROM, CD-R, CD-RW, DVD-ROM, DVD±R, DVD±RW, etc.), a semiconductor memory, or another non-transitory computer-readable storage medium.

[0120] For example, information recorded on a recording medium can be read by a computer (or embedded system). The recording format (storage format) of the recording medium is arbitrary. For example, a computer reads a program from the recording medium and has the CPU execute the instructions written in the program based on this program. In a computer, program acquisition (or reading) may be performed via a network.

[0121] Embodiments of the present invention include the following aspects. (Note 1) A detector that transmits ultrasound and detects reflected waves, A first propagation member attached to the detector, through which the ultrasonic waves propagate, A second propagation member having a second surface in contact with the first surface of the first propagation member, the second surface having a convex portion, being softer than the first propagation member, and through which the ultrasonic waves propagated by the first propagation member propagate, A fixing device that presses the periphery of the second propagation member toward the first propagation member, A detection device equipped with the following features. (Note 2) The detection device according to Appendix 1, wherein the length of the second surface in a second direction perpendicular to the first direction toward the first propagation member from the detector is longer than the length of the first surface in the second direction. (Note 3) The second propagation member is, The first region that is held down by the aforementioned fixing device, A second region is surrounded by the first region, protrudes from the first region in the first direction, and contacts the object, The detection device described in Appendix 2, including the device described in Appendix 2. (Note 4) The detection device according to Appendix 3, wherein the length of the second region in the second direction is longer than the length of the first surface in the second direction. (Note 5) A detection device according to any one of appendices 2 to 4, wherein a portion of the second propagation member contacts a portion of the surface of the first propagation member that intersects the second direction. (Note 6) The detector comprises an element array including a plurality of detection elements, Each of the plurality of detection elements transmits the ultrasonic waves and detects the reflected waves. The detection device according to any one of appendices 2 to 5, wherein the length of the first surface in the second direction is shorter than the length of the element array in the second direction. (Note 7) The detection device according to any one of appendices 1 to 6, wherein the second surface has a plurality of protrusions and a plurality of recesses. (Note 8) The detection device according to any one of appendices 1 to 7, wherein the second propagation member has a hole that penetrates the second propagation member along a first direction toward the first propagation member from the detector. (Note 9) The detection device according to any one of the appendices 1 to 8, wherein the hardness of the second propagation member measured by the Asker rubber hardness tester type F is greater than 40 and less than 60. (Note 10) A detection device described in any one of the appendices 1 to 9, A processing device for inspecting an object that has reflected the ultrasonic waves, based on intensity data indicating the intensity of the reflected waves detected by the detector, A detection system equipped with [the following features]. (Note 11) The aforementioned object is a joint including a welded portion, The processing apparatus is a detection system as described in Appendix 10 for inspecting the welded portion. (Note 12) A detection device described in any one of the appendices 1 to 9, A manipulator equipped with the aforementioned detection device at its tip, A detection system equipped with [the following features].

[0122] The detection device, detection system, or second propagation member described above can suppress the generation of bubbles between the first propagation member and the second propagation member, thereby improving the accuracy of the exploration.

[0123] Although several embodiments of the present invention have been illustrated above, these embodiments are presented as examples only and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims of the invention and its equivalents. Furthermore, the embodiments described above can be implemented in combination with each other. [Explanation of Symbols]

[0124] 1a,1b: Detection system, 10,10a: Detection device, 11: First propagation member, 12,12-1~12-7: Second propagation member, 12a: First region, 12a1: First partial surface, 12a2: Second partial surface, 12b: Second region, 12b3: Third partial surface, 12b4: Fourth partial surface, 13: Fixing device, 13a: Plate member, 13b: Fastener, 15: Detector, 15a: Element array, 15b: Detection element, 15h: Housing, 20: Robot, 21: Manipulator, 22: Control device, 25: Imaging device, 30: Exchange device, 31: Release unit, 31a: Bar, 31g: Guide, 31x,31y: Drive unit, 32: Extrusion unit, 32a: Bar, 32b: Extrusion unit, 32x, 32z: Drive unit, 33: Conveyor unit, 33a: Holding unit, 33x, 33z: Drive unit, 50: Joint, 51: Metal member, 51a: Top surface, 51b: Bottom surface, 52: Metal member, 53: Welded part, 53a: Top surface, 53b: Bottom surface, 54: Solidification part, 90: Processing unit, 90a: Computer, 91: CPU, 92: ROM, 93: RAM, 94: Storage device, 95: Input interface, 95a: Input device, 96: Output interface, 96a: Output device, 97: Communication interface, 97a: Server, 98: System bus, B: Bubble, CP: Couplant, E1: First end, E2: Second end, H: Hole, O: Target, OP: Opening, P, P0, P1, P2: convex portion, Pe10~Pe14: peak, R1, R2: concave portion, RW: reflected wave, S: slit, S1: first surface, S2: second surface, S3: third surface, T1, T2: thickness, US: ultrasound, W: wire, r1~r3: detection device

Claims

1. A detector that transmits ultrasound and detects reflected waves, A first propagation member attached to the detector, through which the ultrasonic waves propagate, A second propagation member having a second surface including a portion in contact with the first surface of the first propagation member, the second surface having a convex portion, being softer than the first propagation member, the length of the second surface in a second direction substantially perpendicular to the first direction from the detector toward the first propagation member being longer than the length of the first surface in the second direction, and the ultrasonic waves propagating through the first propagation member, A fixing device that presses the periphery of the second propagation member toward the first propagation member, Equipped with, The detector comprises an element array including a plurality of detection elements, Each of the plurality of detection elements transmits the ultrasonic waves and detects the reflected waves. A detection device in which the length of the first surface in the second direction is shorter than the length of the element array in the second direction.

2. The second propagation member is, The first region that is held down by the fixing device, A second region is surrounded by the first region, protrudes from the first region in the first direction, and contacts the object, The detection device according to claim 1, including the following:

3. The detection device according to claim 2, wherein the length of the second region in the second direction is longer than the length of the first surface in the second direction.

4. A detector that transmits ultrasound and detects reflected waves, A first propagation member attached to the detector, through which the ultrasonic waves propagate, A second propagation member having a second surface including a portion in contact with the first surface of the first propagation member, the second surface having a convex portion, being softer than the first propagation member, the length of the second surface in a second direction substantially perpendicular to the first direction from the detector toward the first propagation member being longer than the length of the first surface in the second direction, and the ultrasonic waves propagating through the first propagation member, A fixing device that presses the periphery of the second propagation member toward the first propagation member, Equipped with, The second propagation member is, The first region that is held down by the fixing device, A second region is surrounded by the first region, protrudes from the first region in the first direction, and contacts the object, A detection device comprising a second region, wherein the length of the second region in the second direction is longer than the length of the first surface in the second direction.

5. The detector comprises an element array including a plurality of detection elements, Each of the plurality of detection elements transmits the ultrasonic waves and detects the reflected waves. The detection device according to claim 4, wherein the length of the first surface in the second direction is shorter than the length of the element array in the second direction.

6. The detection device according to any one of claims 1 to 5, wherein a part of the second propagation member contacts a part of the surface of the first propagation member that intersects the second direction.

7. The detection device according to any one of claims 1 to 5, wherein the second surface has a plurality of protrusions and a plurality of recesses.

8. The detection device according to any one of claims 1 to 5, wherein the second propagation member has a hole that penetrates the second propagation member along a first direction toward the first propagation member from the detector.

9. The detection device according to any one of claims 1 to 5, wherein the hardness of the second propagation member measured by the Asker rubber hardness tester type F is greater than 40 and less than 60.

10. The detection device according to any one of claims 1 to 5, wherein the thickness of the first propagation member in the first direction is greater than the thickness of the second propagation member in the first direction.

11. A detection device according to any one of claims 1 to 5, A processing device for inspecting an object that has reflected the ultrasonic waves, based on intensity data indicating the intensity of the reflected waves detected by the detector, A detection system equipped with [the following features].

12. The aforementioned object is a joint including a welded portion, The detection system according to claim 11, wherein the processing apparatus inspects the welded portion.

13. A detection device according to any one of claims 1 to 5, A manipulator equipped with the aforementioned detection device at its tip, A detection system equipped with [the following features].

14. A detector that transmits ultrasound and detects reflected waves, A first propagation member attached to the detector, through which the ultrasonic waves propagate, A second propagation member having a second surface including a portion that contacts the first surface of the first propagation member, the second surface having a convex portion, being softer than the first propagation member, and through which the ultrasonic waves propagated by the first propagation member propagate, A fixing device that presses the periphery of the second propagation member toward the first propagation member, Equipped with, The second surface is a detection device having a plurality of protrusions and a plurality of recesses.

15. A detector that transmits ultrasound and detects reflected waves, A first propagation member attached to the detector, through which the ultrasonic waves propagate, A second propagation member having a second surface including a portion that contacts the first surface of the first propagation member, the second surface having a convex portion, being softer than the first propagation member, and through which the ultrasonic waves propagated by the first propagation member propagate, A fixing device that presses the periphery of the second propagation member toward the first propagation member, Equipped with, The detection device has a second propagation member having a hole that penetrates the second propagation member along a first direction from the detector toward the first propagation member.

16. The detection device according to claim 14 or 15, wherein the length of the second surface in a second direction substantially perpendicular to the first direction toward the first propagation member from the detector is longer than the length of the first surface in the second direction.

17. The second propagation member is, The first region that is held down by the fixing device, A second region is surrounded by the first region, protrudes from the first region in the first direction, and contacts the object, The detection device according to claim 16, including the following:

18. The detection device according to claim 17, wherein the length of the second region in the second direction is longer than the length of the first surface in the second direction.

Images