DE10259653B3 - Non-destructive ultrasonic workpiece testing, involves moving ultrasonic heads mutually independently over component contour, in synchronization, exactly opposite each other on different sides of component - Google Patents
Non-destructive ultrasonic workpiece testing, involves moving ultrasonic heads mutually independently over component contour, in synchronization, exactly opposite each other on different sides of component Download PDFInfo
- Publication number
- DE10259653B3 DE10259653B3 DE2002159653 DE10259653A DE10259653B3 DE 10259653 B3 DE10259653 B3 DE 10259653B3 DE 2002159653 DE2002159653 DE 2002159653 DE 10259653 A DE10259653 A DE 10259653A DE 10259653 B3 DE10259653 B3 DE 10259653B3
- Authority
- DE
- Germany
- Prior art keywords
- component
- ultrasound
- heads
- tested
- synchronization
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- 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
- G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
-
- 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
- G01N29/225—Supports, positioning or alignment in moving situation
-
- 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
- G01N29/28—Details, e.g. general constructional or apparatus details providing acoustic coupling, e.g. water
-
- 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
- G01N2291/04—Wave modes and trajectories
- G01N2291/048—Transmission, i.e. analysed material between transmitter and receiver
-
- 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
- G01N2291/10—Number of transducers
- G01N2291/102—Number of transducers one emitter, one receiver
-
- 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
- G01N2291/269—Various geometry objects
Landscapes
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
Description
Die Erfindung betrifft ein Verfahren und eine Vorrichtung zur zerstörungsfreien Werkstoffprüfung eines Bauteils mittels Ultraschall, bei dem das zu prüfende Bauteil mittels einer Anordnung von mindestens zwei Ultraschallköpfen durchschallt wird, die sich auf unterschiedlichen Seiten des Bauteils gegenüber liegen und auf einer vorgegebenen Bahn über das Bauteil bewegt und mittels eines Flüssigkeitsstrahls akustisch an das Bauteil angekoppelt werden. The invention relates to a method and a non-destructive device Material testing of a Component using ultrasound, in which the component to be tested by means of a Arrangement of at least two ultrasound heads is transmitted on opposite sides of the component and on a given one Web over the component is moved and acoustically by means of a liquid jet be coupled to the component.
Aus der
Die
Der Erfindung liegt die Aufgabe beziehungsweise das technische Problem zugrunde, ein nach dem Durchschallungsprinzip arbeitendes Verfahren sowie eine Vorrichtung zur zerstörungsfreien Werkstoffprüfung eines Bauteils mittels Ultraschall zu schaffen, mit dem/der auch große, oder gekrümmte Bauteile mit einer komplexeren dreidimensionalen Form zuverlässig geprüft werden können.The object of the invention is respectively based on the technical problem, one based on the transmission principle working method and a device for non-destructive Materials testing to create a component using ultrasound, with which size, or curved components can be reliably tested with a more complex three-dimensional shape can.
Diese Aufgabe wird gelöst durch ein erfindungsgemäßes Verfahren mit den Merkmalen des Anspruchs 1 oder 2.This task is solved by an inventive method with the features of claim 1 or 2.
Weitere bevorzugte und vorteilhafte Ausführungsmerkmale der erfindungsgemäßen Verfahren sind Gegenstand der abhängigen Ansprüche 3 bis 6.More preferred and advantageous design features of the method according to the invention Subject of the dependent Expectations 3 to 6.
Die der Erfindung zugrunde liegende Aufgabe wird ferner gelöst durch eine erfindungsgemäße Vorrichtung mit den Merkmalen des Anspruchs 7 oder 8.The basis of the invention The task is also solved by a device according to the invention with the features of claim 7 or 8.
Weitere bevorzugte und vorteilhafte Ausgestaltungsmerkmale der erfindungsgemäßen Vorrichtungen sind Gegenstand der abhängigen Ansprüche 9 und 10.More preferred and advantageous Design features of the devices according to the invention are the subject the dependent Claims 9 and 10.
Mit der erfindungsgemäßen Lösung lassen sich auch sehr große oder gekrümmte Bauteile mit einer komplexen dreidimensionalen Form zuverlässig nach dem Durchschallungsprinzip prüfen.With the solution according to the invention also very large or curved Components with a complex three-dimensional shape reliably check the transmission principle.
Da zum einen die Manipulatoren mit ihrem jeweiligen Ultraschallprüfkopf auf unterschiedlichen Seiten des zu prüfenden Bauteils angeordnet werden und sich das zu prüfende Bauteil dann zwischen den Manipulatoren befindet, besteht anders als beim Stand der Technik hinsichtlich der Bewegungsfreiheit der Manipulatoren faktisch keine Einschränkung, da sich die Manipulatoren nicht gegenseitig behindern können. Selbst mit relativ kleinen Manipulatoren können zudem schon recht große Bauteile abgefahren und alle Bauteilbereiche zuverlässig erreicht werden. Die Beweglichkeit der Manipulatorarme in mehreren Achsen in Kombination mit der Synchronisation gestattet es, den jeweiligen Ultraschallprüfkopf auch bei komplexen dreidimensionalen Bauteilen genau in Bezug zum Bauteil und in Bezug zum Ultraschallprüfkopf des jeweils anderen Manipulators zu positionieren. Die Synchronisation der Bewegung der zwei Ultraschallköpfe und damit die Synchronisation der Manipulatoren gewährleistet ferner, dass auch bei einer solch räumlich voneinander unabhängigen Anordnung der Manipulatoren das Durchschallungsprinzip, bei sich die Ultraschallprüfköpfe auf unterschiedlichen Seiten des Bauteils genau gegenüber liegen müssen, zuverlässig angewendet werden kann.On the one hand, the manipulators with their respective ultrasound probe are arranged on different sides of the component to be tested and the component to be tested is then between the manipulators, unlike in the prior art, there is virtually no restriction with regard to the freedom of movement of the manipulators, since the manipulators cannot interfere with one another. Even with relatively small manipulators, quite large components can be traversed and all component areas can be reliably reached. The mobility of the manipulator arms in several axes in combination with the synchronization allows the respective ultrasound probe to be positioned precisely in relation to the component and in relation to the ultrasound probe of the other manipulator, even with complex three-dimensional components. The synchronization of the movement of the two ultrasound heads, and thus the synchronization of the manipulators, further ensures that even with such a spatially independent arrangement of the manipulators, the transmission principle, in which the ultrasound probes must be exactly opposite on different sides of the component, can be used reliably.
Da zum andern die Ultraschallköpfe in einem vorbestimmten Abstand einander gegenüber liegend stationär angeordnet und nur das zu prüfende Bauteil mit Hilfe der Bauteil-Halteeinrichtung kontrolliert zwischen den Ultraschallköpfen bewegt wird, so dass die Bauteilkontur entlang der Ultraschallköpfe geführt wird, besteht hinsichtlich der Bewegungsfreiheit des Bauteils ebenfalls kaum eine Einschränkung. In Verbindung mit der Beweglichkeit der Bauteil-Halteeinrichtung in mehreren Achsen können somit wiederum auch große sowie komplexe dreidimensionale Teile über alle Bauteilbereiche hinweg zuverlässig geprüft werden. Die Kontrollierte Bewegung der Bauteil-Halteeinrichtung und damit des Bauteils stellt hierbei sicher, dass das Bauteil zur Anwendung des Durchschallungsprinzips in jeder Position zuverlässig in Bezug zu den Ultraschallprüfköpfen ausgerichtet werden kann. Im Vergleich zu der Ausführungsform nach Anspruch 6 ist bei der nebengeordneten Variante nach Anspruch 7 im Mindestfall nur ein einziger Manipulator erforderlich, was die Herstellungskosten der Vorrichtung stark reduziert.On the other hand, since the ultrasound heads are in a predetermined Distance from each other lying stationary arranged and only that to be checked Component controlled between using the component holding device the ultrasound heads is moved so that the component contour is guided along the ultrasonic heads, also exists with regard to the freedom of movement of the component hardly a limitation. In connection with the mobility of the component holding device can in multiple axes thus also large as well as complex three-dimensional parts across all component areas reliable being checked. The controlled movement of the component holding device and thus of the component ensures that the component is used of the transmission principle in every position aligned with the ultrasonic probes can. Compared to the embodiment according to Claim 6 is in the secondary variant according to claim 7 in the minimum case, only a single manipulator is required, which the Manufacturing costs of the device greatly reduced.
Bevorzugte Ausführungsbeispiele der Erfindung mit zusätzlichen Ausgestaltungsdetails und weiteren Vorteilen sind nachfolgend unter Bezugnahme auf die beigefügten Zeichnungen näher beschrieben und erläutert.Preferred embodiments of the invention with additional Design details and other advantages are below Reference to the attached Drawings closer described and explained.
Es zeigt:It shows:
DARSTELLUNG VON BEVORZUGTEN AUSFÜHRUNGSBEISPIELENPRESENTATION OF PREFERRED EMBODIMENTS
In der nachfolgenden Beschreibung und in den Figuren werden zur Vermeidung von Wiederholungen gleiche Bauteile und Komponenten auch mit gleichen Bezugszeichen gekennzeichnet, sofern keine weitere Differenzierung erforderlich ist.In the description below and in the figures are the same to avoid repetition Parts and components also marked with the same reference symbols, unless further differentiation is required.
In einem Zwischenraum oder einem
Bereich zwischen den beiden Manipulatoren
Die Vorrichtung umfasst ferner mindestens eine
mit den Bewegungseinrichtungen der Manipulatorenen bzw. der Manipulatorarme
gekoppelte Kontroll- und Synchronisationseinrichtung 16 zum kontrollierten,
synchronisierten Bewegen der Manipulatorarme
Die erfindungsgemäße Vorrichtung gemäß diesem
Ausführungsbeispiel
ist des weiteren mit einer Datenverarbeitungseinrichtung
Die Synchronisation der Bewegung
der Manipulatorarme
Die räumliche Lage des zu prüfenden,
an der Bauteil-Halteeinrichtung
Falls die Form des zu prüfenden Bauteil
B mit Hilfe einer Abtastvorrichtung ermittelt wird, kann auf die
vorherige Festlegung von Referenzpunkten ggf. verzichtet werden,
da durch die Abtastung auch die räumliche Lage des Bauteils B
bestimmbar ist. Die synchronisierte Bewegung der Manipulatorarme
Diese Vorrichtung zur zerstörungsfreien Werkstoffprüfung eines
Bauteils mittels Ultraschall umfasst eine Prüfkopfanordnung, die zwei sich über einen
Zwischenraum hinweg in einem vorbestimmten Abstand einander stationär gegenüberliegend angeordnete
Ultraschallköpfe
20, 22 zum Durchschallen des Bauteils B besitzt. Der Gegenseitige
Abstand der Ultraschallköpfe
Die Vorrichtung ist des weiteren
mit einer Kontrolleinrichtung
Zum Beispiel durch Festlegen des
Bauteils B an der beweglichen Bauteil-Halteeinrichtung
Die von den Ultraschallköpfen der
Vorrichtungen nach
Die Erfindung ist nicht auf die obigen
Ausführungsbeispiele,
die lediglich der allgemeinen Erläuterung des Kerngedankens der
Erfindung dienen, beschränkt.
Im Rahmen des Schutzumfangs können das
erfindungsgemäße Verfahren
und die erfindungsgemäße Vorrichtung
vielmehr auch andere als die oben konkret beschriebenen Ausführungs-
und Ausgestaltungsform annehmen. So ist beispielsweise auch eine
erfindungsgemäße Vorrichtung
und ein erfindungsgemäßes Verfahren
vorstellbar, dass eine Kombination aus den Varianten gemäß den
Es bezeichnen:Designate it:
- 22
- Erster Manipulatorfirst manipulator
- 44
- Zweiter Manipulatorsecond manipulator
- 66
- Manipulatorarm von 2manipulator from 2
- 88th
- Manipulatorarm von 4manipulator from 4
- 1010
- Ultraschallkopf von 2ultrasound probe from 2
- 1212
- Ultraschallkopf von 4ultrasound probe from 4
- 1414
- Stationäre Bauteil-HalteeinrichtungStationary component holding device
- 1616
- Kontroll- und Synchronisationseinrichtunginspection and synchronization device
- 1818
- DatenverarbeitungseinrichtungData processing device
- 2020
- Ultraschallkopf (stationär)ultrasound probe (stationary)
- 2222
- Ultraschallkopf (stationär)ultrasound probe (stationary)
- 2424
- Bewegliche Bauteil-Halteeinrichtungportable Component holding means
- 2626
- Manipulatorarm von 24manipulator from 24
- 2828
- Greif- und Fixierungselementgripping and fixation element
- 3030
- Kontrolleinrichtungcontrol device
- 3232
- Anzeigeeinrichtung von 18display from 18
- BB
- Zu prüfenden BauteilTo tested component
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE2002159653 DE10259653B3 (en) | 2002-12-18 | 2002-12-18 | Non-destructive ultrasonic workpiece testing, involves moving ultrasonic heads mutually independently over component contour, in synchronization, exactly opposite each other on different sides of component |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE2002159653 DE10259653B3 (en) | 2002-12-18 | 2002-12-18 | Non-destructive ultrasonic workpiece testing, involves moving ultrasonic heads mutually independently over component contour, in synchronization, exactly opposite each other on different sides of component |
Publications (1)
Publication Number | Publication Date |
---|---|
DE10259653B3 true DE10259653B3 (en) | 2004-04-29 |
Family
ID=32049655
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE2002159653 Expired - Fee Related DE10259653B3 (en) | 2002-12-18 | 2002-12-18 | Non-destructive ultrasonic workpiece testing, involves moving ultrasonic heads mutually independently over component contour, in synchronization, exactly opposite each other on different sides of component |
Country Status (1)
Country | Link |
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DE (1) | DE10259653B3 (en) |
Cited By (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102004044342A1 (en) * | 2004-03-24 | 2005-10-20 | Slv Gmbh | Ultrasonic testing device for jet-welded seam, has evaluation device to determine seam irregularities based on seam geometry data and processed ultrasonic signals that are reflected and refracted from boundary surfaces of seam |
EP1930722A2 (en) | 2006-12-07 | 2008-06-11 | Siemens Aktiengesellschaft | Method of non-destructively testing a work piece and non-destructive testing arrangement |
EP1978357A1 (en) * | 2007-04-04 | 2008-10-08 | Siemens Aktiengesellschaft | Method of non-destructively testing a work piece and non-destructive testing arrangement |
EP2511700A1 (en) * | 2011-04-11 | 2012-10-17 | General Electric Company | Non-contact magnetic particle inspection apparatus |
DE102011050051A1 (en) * | 2011-05-02 | 2012-11-08 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Device for positioning heads of two manipulators of e.g. robot relative to each other during testing carbon fiber reinforced plastic made component, has evaluation device determining positions of heads by evaluating positioning signal |
GB2497418A (en) * | 2011-12-09 | 2013-06-12 | Gen Electric | System and method for inspection of a part with dual multi-axis robotic devices |
WO2014005530A1 (en) * | 2012-07-04 | 2014-01-09 | 北京理工大学 | Dual robot detection apparatus for non-damage detection |
WO2014198910A1 (en) * | 2013-06-14 | 2014-12-18 | European Aeronautic Defence And Space Company Eads France | Device for the robotic control of a structure by ultrasound-laser |
DE102014103097A1 (en) * | 2014-03-07 | 2015-09-10 | Areva Gmbh | Method for testing a workpiece by means of ultrasound |
EP2930508A1 (en) * | 2014-04-10 | 2015-10-14 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Method for inspecting components by ultrasound and testing device with a manipulator |
EP3225987A1 (en) * | 2016-04-01 | 2017-10-04 | General Electric Company | Ultrasonic bar and tube end testing with linear axis robot |
WO2019201925A1 (en) * | 2018-04-16 | 2019-10-24 | Flexible Robotic Solutions | A robot system and method for non-destructive testing |
CN112326793A (en) * | 2020-11-05 | 2021-02-05 | 北京理工大学 | Manipulator backtracking movement method based on ultrasonic C-scan projection view defect relocation |
US20220252549A1 (en) * | 2019-02-10 | 2022-08-11 | Scanmaster Systems (Irt) Ltd. | System and method for more efficient ultrasonic inspection of jet-engine disks |
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DE4015847A1 (en) * | 1990-05-17 | 1991-11-21 | Messerschmitt Boelkow Blohm | Ultrasonic test head arrangement for metal sheet bonding - uses highly-damped LF impact wave sound head with measured frequency decreasing as thickness of plate assembly increases |
EP0852721B1 (en) * | 1995-09-29 | 2000-05-03 | Siemens Aktiengesellschaft | Process and device for the ultrasonic examination of disk elements of unknown contours shrunk onto shafts |
-
2002
- 2002-12-18 DE DE2002159653 patent/DE10259653B3/en not_active Expired - Fee Related
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4015847A1 (en) * | 1990-05-17 | 1991-11-21 | Messerschmitt Boelkow Blohm | Ultrasonic test head arrangement for metal sheet bonding - uses highly-damped LF impact wave sound head with measured frequency decreasing as thickness of plate assembly increases |
EP0852721B1 (en) * | 1995-09-29 | 2000-05-03 | Siemens Aktiengesellschaft | Process and device for the ultrasonic examination of disk elements of unknown contours shrunk onto shafts |
Cited By (29)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102004044342A8 (en) * | 2004-03-24 | 2006-02-16 | Slv Halle Gmbh | Arrangement and method for the automated ultrasonic testing of spatially shaped beam-welded components |
DE102004044342B4 (en) * | 2004-03-24 | 2006-03-23 | Slv Halle Gmbh | Ultrasonic testing device for jet-welded seam, has evaluation device to determine seam irregularities based on seam geometry data and processed ultrasonic signals that are reflected and refracted from boundary surfaces of seam |
DE102004044342A1 (en) * | 2004-03-24 | 2005-10-20 | Slv Gmbh | Ultrasonic testing device for jet-welded seam, has evaluation device to determine seam irregularities based on seam geometry data and processed ultrasonic signals that are reflected and refracted from boundary surfaces of seam |
EP1930722A2 (en) | 2006-12-07 | 2008-06-11 | Siemens Aktiengesellschaft | Method of non-destructively testing a work piece and non-destructive testing arrangement |
EP1930722A3 (en) * | 2006-12-07 | 2013-04-10 | Siemens Aktiengesellschaft | Method of non-destructively testing a work piece and non-destructive testing arrangement |
EP2944953A1 (en) | 2006-12-07 | 2015-11-18 | Siemens Aktiengesellschaft | Non-destructive testing arrangement |
EP1978357A1 (en) * | 2007-04-04 | 2008-10-08 | Siemens Aktiengesellschaft | Method of non-destructively testing a work piece and non-destructive testing arrangement |
EP2511700A1 (en) * | 2011-04-11 | 2012-10-17 | General Electric Company | Non-contact magnetic particle inspection apparatus |
DE102011050051B4 (en) | 2011-05-02 | 2021-10-21 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Transmission testing device and transmission testing method for testing workpieces |
DE102011050051A1 (en) * | 2011-05-02 | 2012-11-08 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Device for positioning heads of two manipulators of e.g. robot relative to each other during testing carbon fiber reinforced plastic made component, has evaluation device determining positions of heads by evaluating positioning signal |
GB2497418A (en) * | 2011-12-09 | 2013-06-12 | Gen Electric | System and method for inspection of a part with dual multi-axis robotic devices |
GB2497418B (en) * | 2011-12-09 | 2014-09-24 | Gen Electric | System and method for inspection of a part with dual multi-axis robotic devices |
GB2513032A (en) * | 2011-12-09 | 2014-10-15 | Gen Electric | System and method for inspection of a part with dual multi-axis robotic devices |
US8833169B2 (en) | 2011-12-09 | 2014-09-16 | General Electric Company | System and method for inspection of a part with dual multi-axis robotic devices |
GB2513032B (en) * | 2011-12-09 | 2015-11-18 | Gen Electric | System and method for inspection of a part with dual multi-axis robotic devices |
WO2014005530A1 (en) * | 2012-07-04 | 2014-01-09 | 北京理工大学 | Dual robot detection apparatus for non-damage detection |
FR3007126A1 (en) * | 2013-06-14 | 2014-12-19 | Eads Europ Aeronautic Defence | ROBOTIC CONTROL DEVICE FOR ULTRASOUND-LASER STRUCTURE |
US10036633B2 (en) | 2013-06-14 | 2018-07-31 | Airbus Sas | Device for the robotic control of a structure by ultrasound-laser |
WO2014198910A1 (en) * | 2013-06-14 | 2014-12-18 | European Aeronautic Defence And Space Company Eads France | Device for the robotic control of a structure by ultrasound-laser |
DE102014103097A1 (en) * | 2014-03-07 | 2015-09-10 | Areva Gmbh | Method for testing a workpiece by means of ultrasound |
US10067097B2 (en) | 2014-03-07 | 2018-09-04 | Areva Gmbh | Method for testing a workpiece using ultrasound |
EP2930508A1 (en) * | 2014-04-10 | 2015-10-14 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Method for inspecting components by ultrasound and testing device with a manipulator |
EP3225987A1 (en) * | 2016-04-01 | 2017-10-04 | General Electric Company | Ultrasonic bar and tube end testing with linear axis robot |
US10684261B2 (en) | 2016-04-01 | 2020-06-16 | General Electric Company | Ultrasonic bar and tube end testing with linear axis robot |
WO2019201925A1 (en) * | 2018-04-16 | 2019-10-24 | Flexible Robotic Solutions | A robot system and method for non-destructive testing |
BE1026211B1 (en) * | 2018-04-16 | 2019-11-18 | Flexible Robotic Solutions Bvba | ROBOT SYSTEM AND METHOD FOR NON-DESTRUCTIVE TESTING |
US11422116B2 (en) | 2018-04-16 | 2022-08-23 | Flexible Robotic Solutions | Robot system and method for non-destructive testing |
US20220252549A1 (en) * | 2019-02-10 | 2022-08-11 | Scanmaster Systems (Irt) Ltd. | System and method for more efficient ultrasonic inspection of jet-engine disks |
CN112326793A (en) * | 2020-11-05 | 2021-02-05 | 北京理工大学 | Manipulator backtracking movement method based on ultrasonic C-scan projection view defect relocation |
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