CN102759570A - Single-manipulator automatic ultrasonic non-destructive detection device - Google Patents
Single-manipulator automatic ultrasonic non-destructive detection device Download PDFInfo
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- CN102759570A CN102759570A CN2012102303264A CN201210230326A CN102759570A CN 102759570 A CN102759570 A CN 102759570A CN 2012102303264 A CN2012102303264 A CN 2012102303264A CN 201210230326 A CN201210230326 A CN 201210230326A CN 102759570 A CN102759570 A CN 102759570A
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- mechanical arm
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
- G01N29/262—Arrangements for orientation or scanning by relative movement of the head and the sensor by electronic orientation or focusing, e.g. with phased arrays
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/26—Scanned objects
- G01N2291/263—Surfaces
- G01N2291/2638—Complex surfaces
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- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The invention discloses a single-manipulator automatic ultrasonic non-destructive detection device which comprises the following components of an industrial control machine, a manipulator device, an ultrasonic transmitter-receiver set, a water coupling device and an auxiliary device, wherein the manipulator device comprises a joint-type six-degree-of-freedom manipulator, a manipulator controller, a power supply and a signal integrated wire cable; the ultrasonic transmitter-receiver set comprises a phased array ultrasonic transducer, an ultrasonic pulse transmitter-receiver card and a high-speed data collecting card; the water coupling device comprises a water spraying nozzle, a pressure stabilizing and flow stabilizing water pump and a flexible guide pipe; and the auxiliary device comprises a camera, a monitor, an adjustable workpiece support and a water recycling groove. The device is suitable for ultrasonic reflection method detection of workpiece thin layer and front surface; compared with the traditional device, the device can implement automatic ultrasonic detection of complex and irregular curve surfaces, has high detection efficiency, has very wide part adaptability and system flexibility, and has wide industrial application prospect.
Description
One, technical field
The invention belongs to technical field of nondestructive testing, the pick-up unit that provides a kind of complex-curved fast and accurately quick nondestructive to detect is applicable to the detection of inherent vice in the complex-curved workpiece.
Two, background technology
The enough manufacturing defect to interior of Ultrasonic NDT detect and analyze; Be the important means of assurance product quality and performance, steady production technology, all bringing into play important effect in design phase, development stage, production phase and the operational phase of product.Be compared to other lossless detection method, characteristics such as that Ultrasonic NDT has is radiationless, equipment volume is little, testing environment is easy to realize, simple to operate are adapted at carrying out in the commercial production widespread use.Development along with market economy and production technology; The complexity of the shape of workpiece, material strengthens day by day in the industrial products; Requirement to production efficiency improves day by day; Commercial production has proposed high precision, high-level efficiency, high-adaptability, has been convenient to operation, has been easy to requirement such as realization the application of Ultrasonic NDT; This just needs us to improve the automaticity of ultrasonic nondestructive testing, improves detection efficiency, and requires Ultrasonic NDT that the workpiece of various different geometries, material, status flag is had higher adaptive faculty.
The detection method that the present invention adopted is the pulse reflection method Ultrasonic NDT; Be applicable to workpiece thin layer and front surface; Be inner to test specimen, through observing to come test specimen is detected from the situation of inherent vice or test specimen bottorm echo by ultrasonic probe transponder pulse ripple.Because some characteristics of ultrasonic propagation; The curved surface direction of normal that requires to guarantee in the ultrasound detection process each check point on ultrasound wave incident direction and the workpiece is consistent; Perhaps become some specific angles, this ultrasonic transducer that just needs equipment to carry changes with curved surface and carries out real-time servo-actuated.Therefore, but the detected object of traditional automatic ultrasonic non-destructive detecting device is less, mainly is the workpiece of simple shape such as some flat work pieces, cylinder, simple surface, and is very poor to the adaptability with complicated shape curve surface work pieces.Current commercial production application; The complex-curved ultrasound detection of carrying out is lacked effective automatic detection system; Classic method is to utilize manual work to carry out the hand inspection, perhaps utilizes the probe of dedicated shape to detect, and perhaps ultrasonic probe is carried and on the track of solid shape, carries out scanning.The checking efficiency of artificial hand inspection is very low, and labour intensity is big; Dedicated probe or track only are applicable to the workpiece of some particular geometric proterties, can't adapt to the ultrasound detection of any complex-curved workpiece basically.
Current have some to be directed against complex-curved multi-spindle machining structure ultrasonic non destructive detection equipment, and part has solved the ultrasound detection difficult problem of complex-curved workpiece.But its system is comparatively complicated, and Control Shaft is many, and control program poor stability, the critical piece of its system all utilize basic components and parts to build, and kinematic system degree of ripeness and stability are all relatively poor, and is also distant with the distance of finished industrial product.And existing scheme all need place tank with workpiece, utilizes the couplant of water as ultrasound detection, and this has just limited the size that can detect the space, and motion has been proposed special requirement and restriction.In general, aspects such as the detection efficiency of these systems, adaptability are also not really desirable.
Three, summary of the invention
The object of the present invention is to provide a kind of the cannot-harm-detection device of automatic ultrasonic fast and accurately, solved difficult problems such as traditional automatic detection system is low to complex-curved detection efficiency, bad adaptability.The present invention goes for general closed planar, ruled surface workpiece; Also go for having the workpiece of complicated irregular surface characteristic; Widely used large-scale stamping parts in the automobile industry for example, irregular surface such as aircraft skin, missile airframe workpiece or the like in the aerospace field.The articulated type six degree of freedom mechanical arm lift-launch ultrasonic probe that utilization of the present invention has mature technology carries out the scanning of space curve track; Handle through industrial computer control mechanical arm, ultrasonic transmitting-receiving and to acquired signal, replace tank with the water spray coupling in the scanning process.This platform structure is compact simple, be easy to control and operation, realized the detection to complex-curved related physical property, and detection efficiency and adaptability obtain very big improvement.
Said engineering machine is the high-performance industrial computer, can the control of realization system, function such as data processing, mechanical arm trajectory planning, ultrasound emission and data acquisition.Said mechanical arm is an articulated type six degree of freedom mechanical arm, and its characteristics are the joint series connection of six different directions, its single armed compact conformation, and motion can accurately be located the point in most of zone in the diameter of Spherical Volume flexibly.Said mechanical arm controller is high-end mechanical arm controller, can control in real time robot movement, online programming and fault diagnosis.Said Ultrasonic NDT device comprises phase array transducer, ultrasonic pulse card feeding-discharging high-speed data acquisition card; Wherein phase array transducer has good acoustic beam accessibility, can measure the workpiece of complicated shape, and have good resolution, signal to noise ratio (S/N ratio) and sensitivity; Pulse card feeding-discharging and high-speed collection card be excitation ultrasound pulse signal and echo carried out high speed acquisition fast, can significantly improve the work efficiency of ultrasound detection.Said water coupling device comprises sprinkler head, constant current constant voltage water pump and flexible conduit, and sprinkler head can coat ultrasonic transducer, and can spray gather, stable water column; The transmitting terminal and the surface of the work that connect phase array transducer; So that coupling to be provided, it is two parts, and a part is the water spray storehouse; Water flows out through conduit inflow water spray storehouse and from spout, and the transmitting terminal of transducer also is placed in the water spray storehouse; A part is a support, is connected the mechanical arm working end, and for transducer provides the space, the terminals of transducer are placed in the rack space; The constant current constant voltage water pump can provide stable flow velocity, steady pressure and remove bubble and the current of remarkable impurity for shower nozzle, can also filter and recycle recycle-water.Said servicing unit comprises camera and monitor, adjustable work support, water accumulator tank; Camera and monitor provide real time monitoring for platform work, operate to make things convenient for the testing staff; The adjustable work trestle includes four columns, and each column all can move on X, Y plane along guide rail, and the adjustable height of column so just can provide effective support to different sizes, difform workpiece; Used coupling water reclaimed during the water accumulator tank will be worked, and flowed back to water pump.
Four, description of drawings
Fig. 1 is single mechanical arm automatic ultrasonic nondestructive detection system.
Five, embodiment
Be elaborated for embodiment of the present invention below.
Aforementioned industrial computer is connected through netting twine with the mechanical arm controller, can transmission control procedure and the some position file of robot movement; The mechanical arm controller is connected through the integrated cable of power supply and signal with mechanical arm, can power supply be provided for mechanical arm, and the location parameter in each joint of mechanical arm and the signal of kinematic parameter are provided.Articulated type six degree of freedom mechanical arm can move according to the signal that controller provides, and there is ring flange the working end of mechanical arm, and the support of sprinkler head is fixed on the ring flange.Phase array transducer is installed in the sprinkler head, and sprinkler head is divided into two parts, and a part is the water spray storehouse, and water flows out through conduit inflow water spray storehouse and from spout, and the transmitting terminal of transducer also is placed in the water spray storehouse; A part is a support, is connected the mechanical arm working end, and for transducer provides the space, the terminals of transducer are placed in the rack space.Ultrasonic pulse card feeding-discharging and high speed acquisition are installed on the industrial computer, by industrial computer control the carrying out transmitting-receiving and the collection of pulse signal.Mechanical arm and adjustable work support are installed on the base in the water accumulator tank, can make most coupling water can flow into the water accumulator tank; Support is installed on two cross rails, and two cross rails are installed on the two vertical guide rails, and every support has independently elevating mechanism, and like this, four supports can provide effective support to the curve surface work pieces of different area.
When single mechanical arm automatic ultrasonic the cannot-harm-detection device was worked, the water couplant circulation system was at first opened, and shower nozzle begins water spray, and for ultrasound detection provides the water coupling, used coupling water reclaims through the water accumulator tank, through filtering recycle again; Robot movement and ultrasonic pulse emission is gathered and is carried out synchronously in the scanning process.In this course, engineering control prow is earlier that the controller transmission procedure is file with point, and mechanical arm controller operation control program sends instruction to mechanical arm, and drives mechanical hand is accomplished the pointwise campaign.Meanwhile, carry and under the driving of ultrasonic pulse card feeding-discharging, launch ultrasonic signal at the ultrasonic transducer of robot tool end, echoed signal is gathered by high-speed data acquisition card.At last, detection data transmission to the industrial computer that collects is handled and is analyzed.
Claims (3)
1. a single mechanical arm robotization Non-Destructive Testing equipment is characterized in that the composition system of this platform has: industrial computer; Robot device comprises articulated type six degree of freedom mechanical arm, mechanical arm controller, power supply and the integrated cable of signal; Ultrasonic R-T unit comprises phase array transducer, ultrasonic pulse card feeding-discharging, high-speed data acquisition card; The water coupling device comprises sprinkler head, voltage stabilization and current stabilization water pump, flexible conduit; Servicing unit comprises camera, monitor, adjustable work support, water accumulator tank.
2. like right 1 described single mechanical arm robotization Non-Destructive Testing equipment, it is characterized in that the engineering machine is connected and communication through netting twine with the mechanical arm controller; The mechanical arm controller is connected and communication through the integrated cable of power supply and signal with articulated type six degree of freedom mechanical arm; Water pump supplies water to sprinkler head through flexible conduit, and through the water accumulator tank water is carried out recycle.
3. like right 1 described single mechanical arm robotization Non-Destructive Testing equipment; It is characterized in that; Ultrasonic transducer is fixed on sprinkler head inside; Sprinkler head is fixed on the tool ends end of articulated type six degree of freedom mechanical arm, and sprinkler head and ultrasonic transducer can carry out the motion of six degree of freedom with mechanical arm.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012102303264A CN102759570A (en) | 2012-07-04 | 2012-07-04 | Single-manipulator automatic ultrasonic non-destructive detection device |
| PCT/CN2013/078676 WO2014005511A1 (en) | 2012-07-04 | 2013-07-02 | Single-manipulator detection device |
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| CN2012102303264A CN102759570A (en) | 2012-07-04 | 2012-07-04 | Single-manipulator automatic ultrasonic non-destructive detection device |
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| CN102759570A true CN102759570A (en) | 2012-10-31 |
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| WO (1) | WO2014005511A1 (en) |
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| WO2014005511A1 (en) * | 2012-07-04 | 2014-01-09 | 北京理工大学 | Single-manipulator detection device |
| WO2014005530A1 (en) * | 2012-07-04 | 2014-01-09 | 北京理工大学 | Dual robot detection apparatus for non-damage detection |
| CN103969336A (en) * | 2014-04-28 | 2014-08-06 | 南车青岛四方机车车辆股份有限公司 | Automatic detecting and imaging method of hyper-acoustic phased array of weld joint in complex space |
| CN104076089A (en) * | 2014-06-27 | 2014-10-01 | 南京晨光集团有限责任公司 | Automatic ultrasonic C scanning detection system for annular forging |
| CN104198591A (en) * | 2014-08-28 | 2014-12-10 | 宁夏共享集团有限责任公司 | Automatic ultrasonic detection device applicable to casting of complex structure |
| CN104597125A (en) * | 2014-12-26 | 2015-05-06 | 奥瑞视（北京）科技有限公司 | Ultrasonic detection control method and ultrasonic detection control device for 3D printed piece |
| CN104792870A (en) * | 2015-04-03 | 2015-07-22 | 上海和伍新材料科技有限公司 | Ultrasonic non-destructive testing method for brazing quality of electrical contact of low-voltage electrical apparatus |
| CN104990991A (en) * | 2015-07-16 | 2015-10-21 | 常州市常超电子研究所有限公司 | Water-immersed spot focusing probe |
| CN105699487A (en) * | 2016-03-09 | 2016-06-22 | 北京理工大学 | Manipulator detection device and method for residual stress of complex component |
| CN106404909A (en) * | 2016-12-13 | 2017-02-15 | 江苏盘古机器人科技有限公司 | Quality detecting device of laser welding system |
| EP3225987A1 (en) * | 2016-04-01 | 2017-10-04 | General Electric Company | Ultrasonic bar and tube end testing with linear axis robot |
| CN107688053A (en) * | 2017-09-25 | 2018-02-13 | 三峡大学 | A kind of spot welding ultrasound B sweeps automatic detection device and method |
| CN107941914A (en) * | 2018-01-12 | 2018-04-20 | 北京理工大学 | Robotic ultrasound detecting system position and the method for ultrasound data high speed synchronous sample |
| CN108088915A (en) * | 2017-10-31 | 2018-05-29 | 中国大唐集团科学技术研究院有限公司火力发电技术研究所 | A kind of non-destructive ultrasonic detects voussoir |
| CN108907461A (en) * | 2018-07-18 | 2018-11-30 | 大连交通大学 | A kind of laser welding system and welding method |
| CN110057914A (en) * | 2019-05-29 | 2019-07-26 | 山东大学 | The automation non-destructive testing device and method of composite material curved-surface structure |
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| CN113720913A (en) * | 2021-09-18 | 2021-11-30 | 中航复合材料有限责任公司 | Multi-station ultrasonic reflection method automatic scanning system for composite material casing detection |
| CN113791139A (en) * | 2021-09-18 | 2021-12-14 | 中航复合材料有限责任公司 | Multi-station ultrasonic penetration method automatic scanning system for detecting composite material case |
| CN113866271A (en) * | 2021-09-18 | 2021-12-31 | 中航复合材料有限责任公司 | Ultrasonic double-reflection method automatic scanning system for composite material blade detection |
| CN114062500A (en) * | 2021-11-18 | 2022-02-18 | 中国航空制造技术研究院 | Ultrasonic detection system for composite material I-beam |
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| CN110779989A (en) * | 2019-11-04 | 2020-02-11 | 北京理工大学 | Material monitoring system and method based on ultrasonic three-dimensional reconstruction |
| CN112345131A (en) * | 2020-11-18 | 2021-02-09 | 华北科技学院 | Device for measuring internal stress of surface of polymer arc-shaped thin plate and using method |
| CN112345131B (en) * | 2020-11-18 | 2022-05-10 | 华北科技学院 | Device for measuring internal stress of surface of polymer arc-shaped thin plate and using method |
| CN113720913A (en) * | 2021-09-18 | 2021-11-30 | 中航复合材料有限责任公司 | Multi-station ultrasonic reflection method automatic scanning system for composite material casing detection |
| CN113791139A (en) * | 2021-09-18 | 2021-12-14 | 中航复合材料有限责任公司 | Multi-station ultrasonic penetration method automatic scanning system for detecting composite material case |
| CN113866271A (en) * | 2021-09-18 | 2021-12-31 | 中航复合材料有限责任公司 | Ultrasonic double-reflection method automatic scanning system for composite material blade detection |
| CN114062500A (en) * | 2021-11-18 | 2022-02-18 | 中国航空制造技术研究院 | Ultrasonic detection system for composite material I-beam |
| CN114062500B (en) * | 2021-11-18 | 2023-09-19 | 中国航空制造技术研究院 | Ultrasonic detection system for composite I-beam |
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Application publication date: 20121031 |