CN105628739A - Robot laser infrared nondestructive testing device for large workpiece and flaw detection method - Google Patents
Robot laser infrared nondestructive testing device for large workpiece and flaw detection method Download PDFInfo
- Publication number
- CN105628739A CN105628739A CN201510986300.6A CN201510986300A CN105628739A CN 105628739 A CN105628739 A CN 105628739A CN 201510986300 A CN201510986300 A CN 201510986300A CN 105628739 A CN105628739 A CN 105628739A
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- laser
- infrared
- heating
- workpiece
- laser beam
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- 238000001514 detection method Methods 0.000 title claims abstract description 34
- 238000009659 non-destructive testing Methods 0.000 title abstract description 8
- 238000004093 laser heating Methods 0.000 claims abstract description 36
- 238000012545 processing Methods 0.000 claims abstract description 12
- 238000001931 thermography Methods 0.000 claims abstract description 12
- 238000010438 heat treatment Methods 0.000 claims description 21
- 238000007493 shaping process Methods 0.000 claims description 16
- 238000000034 method Methods 0.000 claims description 11
- 238000013144 data compression Methods 0.000 claims description 10
- 238000003331 infrared imaging Methods 0.000 claims description 8
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 230000006835 compression Effects 0.000 claims description 3
- 238000013480 data collection Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N25/00—Investigating or analyzing materials by the use of thermal means
- G01N25/72—Investigating presence of flaws
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J2005/0077—Imaging
Abstract
The invention relates to a robot laser infrared nondestructive testing device for a large workpiece and a flaw detection method. For the large workpiece, due to the fact that the geometric size is large and the shapes are different, the operation mode of manually operating a flaw detection machine is generally adopted, and manual operation is not only low in efficiency but also large in detection result error. The robot laser infrared nondestructive testing device for the large workpiece comprises a movement device which is connected with an industrial robot (1), the industrial robot is provided with an infrared flaw detection panel (2), and the infrared flaw detection panel is provided with a laser heating device (3) and an infrared thermal imaging device (4); the laser heating device and the infrared thermal imaging device are connected with a detected workpiece (5) through laser thermal signals respectively, the infrared thermal imaging device is connected with a data processing device through a cable, and the data processing device is installed on the infrared flaw detection panel. The robot laser infrared nondestructive testing device for the large workpiece and the flaw detection method are applied to nondestructive testing of the workpiece.
Description
Technical field:
The present invention relates to a kind of robotic laser's infrared nondestructive detection device towards large-scale workpiece and visit damage method.
Background technology:
In order to ensure the normal operation of main equipment, the manufacture blank of most equipment carries out Non-Destructive Testing. For large-scale workpieces such as wind power generator blade, the deck of large-tonnage ships and hulls thereof, owing to physical dimension is bigger and different, generally adopting the operating type of manual operation defectoscope, manual work not only efficiency is low, and testing result error is bigger.
Robot Dynamic Non-Destruction Measurement is widely used, but Non-Destructive Testing robot is generally the operating type that pedestal is fixing, it is difficult to complete the one-time detection task of large-size workpiece.
Summary of the invention:
It is an object of the invention to provide a kind of robotic laser's infrared nondestructive detection device towards large-scale workpiece and visit damage method, solving spy and damage inefficient problem.
Above-mentioned purpose is realized by following technical scheme:
A kind of robotic laser's infrared nondestructive detection device towards large-scale workpiece, its composition includes: telecontrol equipment, described telecontrol equipment is connected with industrial robot, described industrial robot has infrared spy and damages panel, and described infrared spy is damaged and is provided with laser heating device, infrared thermal imaging device on panel; Described laser heating device, described infrared thermal imaging device are connected with measured workpiece respectively through LASER HEAT signal, described infrared thermal imaging device is connected with data processing equipment by cable, and described data processing equipment is arranged on described infrared spy and damages in the version of face.
The described robotic laser's infrared nondestructive detection device towards large-scale workpiece, described laser heating device includes one group of LASER HEATING unit, described LASER HEATING unit includes one group of LASER HEATING infinitesimal, described heating infinitesimal includes laser beam emitting device, described laser beam emitting device is connected with laser shaping device by laser beam, described laser shaping device is connected with laser deflection device by laser beam, described laser deflection device is connected with lens changeable by laser beam, and described lens changeable is connected with measured workpiece by laser beam.
The described robotic laser's infrared nondestructive detection device towards large-scale workpiece, described data processing equipment includes data compression device, described data compression device is connected with wireless launcher by cable, described wireless launcher is connected with radio receiver by wireless signal, and described radio receiver is connected with computer by cable.
The described robotic laser's infrared nondestructive detection device towards large-scale workpiece, described telecontrol equipment includes driving device, described driving device is connected with leading screw, described leading screw is installed on a mobile platform, described mobile platform is connected with robot base, described robot base is connected with machinery principal arm by rotating shaft, and described mechanical principal arm is connected with machinery auxiliary by rotating shaft, and described mechanical auxiliary damages panel with infrared spy and is connected.
The described robotic laser's infrared nondestructive detection device towards large-scale workpiece, described infrared spy is damaged has range sensor on panel.
A kind of spy damage method utilizing the robotic laser's infrared nondestructive detection device towards large-scale workpiece described for one of claim 1-5, the method comprises the steps:
When carrying out visiting damage, first pass through laser beam emitting device and launch laser beam, laser beam passes through laser shaping device shaping, laser shaping is changed bar shaped radiating laser beams direction by laser deflection device after completing, and the swing of laser deflection device is controlled by NC, the camera lens of suitable types can be changed according to the size of workpiece simultaneously, to bar shaped laser beam convergent-divergent, and by Laser emission to detected element, laser heating device its hunting period is laser single frames duration, being scanned thermal conversion continuously by the single frames of one group of LASER HEATING infinitesimal is that line frequency scans heating continuously, thermal infrared imaging device is synchronously performed image data acquiring, at Laser emission tempus intercalare after the first line frequency scanning heating, leading screw and driving device move ahead and scan the distance of heating one line frequency, enter the scanning heating of the second line frequency, when the second line frequency heating, laser deflection device backswing, thermal infrared imaging device is synchronously performed holographic image data collection,
Data and are compressed great amount of images data prediction by data compression device, and by wireless launcher, data message is wirelessly transferred, by compression data receiver and it is transferred to computer again through radio receiver, finally by image data processing software, holographic image data decompressed, splice, arrange and real time contrast's workpiece image, detect that workpiece has not damaged, and accurately judge workpiece damage position.
Beneficial effects of the present invention:
The present invention includes laser heating device and thermal infrared imaging device, and workpiece is heated and the acquisition of hologram image by it; Data processing unit includes data compression device, wireless launcher, radio receiver and computer, and the hologram image obtained is compressed, transmits, decompresses and map synthesis process by it.
The reasonable Arrangement of LASER HEATING infinitesimal and control can realize large-scale workpiece heating rapidly and efficiently in the present invention, then obtain hologram image with crossing thermal infrared imaging device, by the real-time process to image, so that it may complete the Non-Destructive Testing of large-scale workpiece.
Mode of heating of the present invention is LASER HEATING, and the detection range of workpiece material is wider; LASER HEATING infinitesimal can pass through NC and control to swing the translational speed of certain angle and industrial robot, it is achieved contoured heat, enhances the flexibility of equipment, is more suitable for workpiece sensing; LASER HEATING infinitesimal passes through apparatus for shaping, point-like laser is shaped as bar shaped laser, and the transversal scanning of bar shaped laser is realized by NC control laser beam pendulous device, and the scan period is a frame duration, the laser heating achieving workpiece makes workpiece heat temperature more uniform, and testing result is more accurate; By the accurate control to LASER HEATING infinitesimal, frame frequency is added hot charging and is converted to line frequency heating, ensure that the uniform of heating simultaneously, improve the efficiency of heating surface.
By this cannot-harm-detection device, the present invention can accurately detect whether large-scale workpiece exists large area defect, and determine position and the shape of defect; Remote operation can be realized, by the restriction of data transmission cable used and workpiece geometries size by the wireless transmit of this cannot-harm-detection device and reception device.
End of the present invention is equipped with range sensor, it is ensured that the cannot-harm-detection device and the distance of workpiece keep constant, are conducive to all even image data acquiring of workpiece heat; For motion, adopt screw nut driven, it may be achieved the accurate control of robot translational speed and location, provide for testing result accurately and ensure.
Accompanying drawing illustrates:
Accompanying drawing 1 is the structural representation of the present invention.
Accompanying drawing 2 is the structural representation of LASER HEATING infinitesimal of the present invention.
Detailed description of the invention:
Embodiment 1:
A kind of robotic laser's infrared nondestructive detection device towards large-scale workpiece, its composition includes: telecontrol equipment, described telecontrol equipment is connected with industrial robot 1, described industrial robot has infrared spy and damages panel 2, and described infrared spy is damaged and is provided with laser heating device 3, infrared thermal imaging device 4 on panel; Described laser heating device, described infrared thermal imaging device are connected with measured workpiece 5 respectively through LASER HEAT signal, described infrared thermal imaging device is connected with data processing equipment by cable, and described data processing equipment is arranged on described infrared spy and damages in the version of face.
Embodiment 2:
The robotic laser's infrared nondestructive detection device towards large-scale workpiece according to embodiment 1, described laser heating device includes one group of LASER HEATING unit, described LASER HEATING unit includes one group of LASER HEATING infinitesimal, described LASER HEATING infinitesimal includes laser beam emitting device 7, described laser beam emitting device is connected with laser shaping device 8 by laser beam, described laser shaping device connects 9 by laser beam and laser deflection device and connects, described laser deflection device is connected with lens changeable 10 by laser beam, described lens changeable is connected with measured workpiece by laser beam.
Embodiment 3:
The robotic laser's infrared nondestructive detection device towards large-scale workpiece according to embodiment 1 or 2, described data processing equipment includes data compression device 6, described data compression device is connected with wireless launcher 11 by cable, described wireless launcher is connected with radio receiver 12 by wireless signal, and described radio receiver is connected with computer 13 by cable.
Embodiment 4:
According to the robotic laser's infrared nondestructive detection device towards large-scale workpiece described in claim 1 or 2 or 3, described telecontrol equipment includes driving device, described driving device is connected with leading screw 15, described leading screw is arranged on mobile platform 16, described mobile platform is connected with robot base 17, described robot base is connected with machinery principal arm 18 by rotating shaft 19, and described mechanical principal arm is connected with machinery auxiliary 20 by rotating shaft, and described mechanical auxiliary damages panel with infrared spy and is connected.
Embodiment 5:
According to the robotic laser's infrared nondestructive detection device towards large-scale workpiece described in embodiment 1 or 2 or 3 or 4, described infrared spy is damaged has range sensor 14 on panel.
Embodiment 6:
A kind of spy damage method utilizing the robotic laser's infrared nondestructive detection device towards large-scale workpiece described for one of claim 1-5, the method comprises the steps:
When carrying out visiting damage, first pass through laser beam emitting device and launch laser beam, laser beam passes through laser shaping device shaping, laser shaping is changed bar shaped radiating laser beams direction by laser deflection device after completing, and the swing of laser deflection device is controlled by NC, the camera lens of suitable types can be changed according to the size of workpiece simultaneously, to bar shaped laser beam convergent-divergent, and by Laser emission to detected element, laser heating device its hunting period is laser single frames duration, being scanned thermal conversion continuously by the single frames of one group of LASER HEATING infinitesimal is that line frequency scans heating continuously, thermal infrared imaging device is synchronously performed image data acquiring, at Laser emission tempus intercalare after the first line frequency scanning heating, leading screw and driving device move ahead and scan the distance of heating one line frequency, enter the scanning heating of the second line frequency, when the second line frequency heating, laser deflection device backswing, thermal infrared imaging device is synchronously performed holographic image data collection,
Data and are compressed great amount of images data prediction by data compression device, and by wireless launcher, data message is wirelessly transferred, by compression data receiver and it is transferred to computer again through radio receiver, finally by image data processing software, holographic image data decompressed, splice, arrange and real time contrast's workpiece image, detect that workpiece has not damaged, and accurately judge workpiece damage position.
Claims (6)
1. the robotic laser's infrared nondestructive detection device towards large-scale workpiece, its composition includes: telecontrol equipment, it is characterized in that: described telecontrol equipment is connected with industrial robot, described industrial robot has infrared spy and damages panel, and described infrared spy is damaged and is provided with laser heating device, infrared thermal imaging device on panel; Described laser heating device, described infrared thermal imaging device are connected with measured workpiece respectively through LASER HEAT signal, described infrared thermal imaging device is connected with data processing equipment by cable, and described data processing equipment is arranged on described infrared spy and damages in the version of face.
2. the robotic laser's infrared nondestructive detection device towards large-scale workpiece according to claim 1, it is characterized in that: described laser heating device includes one group of LASER HEATING unit, described LASER HEATING unit includes one group of LASER HEATING infinitesimal, described LASER HEATING infinitesimal includes laser beam emitting device, described laser beam emitting device is connected with laser shaping device by laser beam, described laser shaping device is connected with laser deflection device by laser beam, described laser deflection device is connected with lens changeable by laser beam, described lens changeable is connected with measured workpiece by laser beam.
3. the robotic laser's infrared nondestructive detection device towards large-scale workpiece according to claim 1 and 2, it is characterized in that: described data processing equipment includes data compression device, described data compression device is connected with wireless launcher by cable, described wireless launcher is connected with radio receiver by wireless signal, and described radio receiver is connected with computer by cable.
4. the robotic laser's infrared nondestructive detection device towards large-scale workpiece according to claim 1 or 2 or 3, it is characterized in that: described telecontrol equipment includes driving device, described driving device is connected with leading screw, described leading screw is installed on a mobile platform, described mobile platform is connected with robot base, described robot base is connected with machinery principal arm by rotating shaft, and described mechanical principal arm is connected with machinery auxiliary by rotating shaft, and described mechanical auxiliary damages panel with infrared spy and is connected.
5. the robotic laser's infrared nondestructive detection device towards large-scale workpiece according to claim 1 or 2 or 3 or 4, is characterized in that: described infrared spy is damaged has range sensor on panel.
6. utilize a spy damage method for the robotic laser's infrared nondestructive detection device towards large-scale workpiece described for one of claim 1-5, it is characterized in that: the method comprises the steps:
When carrying out visiting damage, first pass through laser beam emitting device and launch laser beam, laser beam passes through laser shaping device shaping, laser shaping is changed bar shaped radiating laser beams direction by laser deflection device after completing, and the swing of laser deflection device is controlled by NC, the camera lens of suitable types can be changed according to the size of workpiece simultaneously, to bar shaped laser beam convergent-divergent, and by Laser emission to detected element, laser heating device its hunting period is laser single frames duration, being scanned thermal conversion continuously by the single frames of one group of LASER HEATING infinitesimal is that line frequency scans heating continuously, thermal infrared imaging device is synchronously performed image data acquiring, at Laser emission tempus intercalare after the first line frequency scanning heating, leading screw and driving device move ahead and scan the distance of heating one line frequency, enter the scanning heating of the second line frequency, when the second line frequency heating, laser deflection device backswing, thermal infrared imaging device is synchronously performed holographic image data collection,
Data and are compressed great amount of images data prediction by data compression device, and by wireless launcher, data message is wirelessly transferred, by compression data receiver and it is transferred to computer again through radio receiver, finally by image data processing software, holographic image data decompressed, splice, arrange and real time contrast's workpiece image, detect that workpiece has not damaged, and accurately judge workpiece damage position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510986300.6A CN105628739A (en) | 2015-12-25 | 2015-12-25 | Robot laser infrared nondestructive testing device for large workpiece and flaw detection method |
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| CN201510986300.6A CN105628739A (en) | 2015-12-25 | 2015-12-25 | Robot laser infrared nondestructive testing device for large workpiece and flaw detection method |
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| CN105628739A true CN105628739A (en) | 2016-06-01 |
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| CN201510986300.6A Pending CN105628739A (en) | 2015-12-25 | 2015-12-25 | Robot laser infrared nondestructive testing device for large workpiece and flaw detection method |
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Cited By (6)
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| CN108333219A (en) * | 2018-03-19 | 2018-07-27 | 长沙理工大学 | A kind of online lossless detection method for band large-scale metal component laser gain material manufacturing process |
| CN108872311A (en) * | 2018-07-05 | 2018-11-23 | 上海工程技术大学 | A kind of workpiece automation infrared nondestructive detection device |
| CN109454345A (en) * | 2018-12-19 | 2019-03-12 | 黑龙江科技大学 | The method that micropore auxiliary laser punches special fixture and carries out capillary processing |
| CN110328566A (en) * | 2019-06-14 | 2019-10-15 | 武汉科技大学 | The detection repairing climbing robot and detection method for repairing and mending on overlength cylindrical structure surface |
| WO2020143136A1 (en) * | 2019-01-10 | 2020-07-16 | 华南理工大学 | Active infrared thermal detection method for damage in bonding structure of glass curtain wall and system for same |
| CN113567499A (en) * | 2021-06-24 | 2021-10-29 | 航天彩虹无人机股份有限公司 | A detection device that detects a flaw for unmanned aerial vehicle |
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| CN113567499A (en) * | 2021-06-24 | 2021-10-29 | 航天彩虹无人机股份有限公司 | A detection device that detects a flaw for unmanned aerial vehicle |
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Application publication date: 20160601 |