JP2013181767A - Ultrasonic flaw detection apparatus and ultrasonic flaw detection method using the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an ultrasonic flaw detection apparatus capable of eliminating overlooking of an internal flaw and leaving a test result as a record, and an ultrasonic flaw detection method using the ultrasonic flaw detection apparatus.SOLUTION: An ultrasonic flaw detection apparatus 10 includes: a robot hand 40 for scanning a front face and/or a back face of a work-piece W in a circumferential direction; a multi-joint robot 20 provided with a control part 51, and a memory 52 for storing a scanning condition and a test result; a probe holder 60 provided with a probe holding part 61 for holding a probe P1 from a side face and having a shape in which the inner circumferential surface thereof goes along an outer circumferential surface of the probe P1, a probe pressing part 62 for pressing a top edge surface circumferential part B of the probe P1, and a first recessed part H1 formed in a flange part 63; a second recessed part H2 formed at a lower surface side of an attachment plate 70; and an elastic member 80 inserted between the first recessed part H1 and the second recessed part H2.

Description

  The present invention relates to an ultrasonic flaw detection apparatus and an ultrasonic flaw detection method using the same, and more specifically, to reduce oversight of internal defects in ultrasonic flaw detection of a gas turbine disk (hereinafter simply referred to as “blade wheel plate”). In addition, the present invention relates to a technique for improving the reliability of quality assurance and improving the efficiency of ultrasonic flaw detection tests by recording test results.

  Since the impeller plate is used as a high-speed rotating body, a highly accurate ultrasonic flaw detection test is required. In the ultrasonic flaw detection test, an ultrasonic wave is incident on an object, the presence / absence of an internal flaw is examined, and the depth / position / planar flaw of the flaw is detected. As an example of an apparatus for performing an ultrasonic flaw detection test, fully automatic ultrasonic flaw detection apparatuses such as those manufactured by Nippon Kraut Kramer and Cegelec are known. These fully automatic ultrasonic flaw detectors are very expensive. Therefore, there is a reality that a manual ultrasonic flaw detection test is utilized.

  As this type of ultrasonic flaw detector, for example, a centrifugal impeller inspection device disclosed in Patent Document 1 is known. This centrifugal impeller inspection device has been proposed as a task to improve the accuracy of non-destructive inspection of the machining process of cast impellers, increase strength reliability, and reduce manufacturing costs. Is composed of a robot control device that moves the focal point along the front and / or back surface of the impeller after exact size processing and a data processing device that analyzes the reflected echo. In addition, the probe of the centrifugal impeller inspection apparatus moves on the probe surface by controlling the relative position of the probe with the measured impeller by the arm of the robot. The robot arm is controlled by a robot controller.

JP-A-9-325137

  However, it has been pointed out that in the manual ultrasonic flaw detection test, there is a problem that an internal defect is overlooked and a test result does not remain as a record, so that reliability in quality assurance is lacking. One of the reasons is that the scanning conditions (scanning speed, lap amount) when performing the ultrasonic flaw detection test manually cannot be quantified. Therefore, in place of the manual ultrasonic flaw detection test, introduction of mechanization while suppressing cost is an on-site problem.

  Further, in the centrifugal impeller inspection device described in Patent Document 1, there is no disclosure regarding technical matters regarding the control of the arm of the robot.

The present invention has been made in view of the above circumstances, and its purpose is as follows.
(1) Eliminate oversight of internal defects,
(2) Test results (for example, scanning results, determination results, etc.) can be recorded as records.
An ultrasonic flaw detection apparatus and an ultrasonic flaw detection method using the same.
Thus, the present invention increases the reliability of the ultrasonic flaw detection test and increases the efficiency.

In order to solve the above problems, an ultrasonic flaw detection apparatus according to the present invention includes:
A robot hand to which a probe to be brought into contact with a workpiece to be subjected to an ultrasonic flaw detection test is attached, the robot hand scanning the surface and / or the back surface of the workpiece in the circumferential direction, the robot hand and the other ultrasonic flaw detection. An articulated robot comprising control means for controlling each part of the apparatus, and storage means for storing scanning conditions and test results by the robot hand;
A probe holding portion for holding the probe from the side surface, the inner peripheral surface of the probe holding portion having a shape along the outer peripheral surface of the probe, and the upper end surface peripheral portion of the probe A probe holder including a probe pressing portion that presses the first recess, and a first recess formed in the flange portion;
An attachment plate for attaching the probe holder to the robot hand body and having a second recess formed on the lower surface thereof; and
An elastic member interposed between the first recess and the second recess;
The gist is that
Here, “front surface and / or back surface” is clarified that after the inspection of one surface (front surface) of the workpiece is completed, the surface of the other surface (back surface) may be detected by manual or automatic reversal. Is.
In addition, the probe holding portion includes, for example, a substantially inverted L shape in a side sectional view and a substantially inverted arc shape in a side sectional view. What is necessary is just to include the shape which presses or supports the edge which does not limit the step part which the site | part of a holding part is not limited, the corner | angular part where the site | part of a to-be-held part is not limited, and the site | part of a to-be-held part.

  According to this configuration, the robot hand is attached with a probe that is brought into contact with the workpiece to be subjected to the ultrasonic flaw detection test, and is controlled by the control means in accordance with the scanning conditions stored in the storage means, and the surface of the workpiece and / or Alternatively, the back surface is scanned in the circumferential direction. The test result is stored in the storage means under the control of the control means. Therefore, the scanning conditions are quantified and the test results remain as a record. In addition, since the ultrasonic flaw detection test is automated, the reliability of the ultrasonic flaw detection test is enhanced and the efficiency is increased.

In the probe holder, the probe holding unit supports the probe from the side surface, and the probe pressing unit presses the peripheral edge of the upper end surface of the probe. For this reason, the parallelism between the probe and the work surface is stably maintained.
Furthermore, the elastic member is interposed between the first recess and the second recess. Therefore, in combination with the automation of the ultrasonic flaw detection test described above, the pressing pressure on the contact surface of the probe with the workpiece is made uniform.

  As described above, according to the ultrasonic flaw detector according to the present invention, the parallel relationship between the probe and the work surface is stably maintained, and the pressing pressure of the contact surface of the probe with the work is reduced. Since it is made uniform, the inclination of the probe corresponding to the clearance between the probe holding portion and the probe is reduced. For this reason, the ultrasonic flaw detection test can be performed more accurately than before, and internal defects in the ultrasonic flaw detection test are not missed. Thereby, the reliability with respect to the quality assurance of a workpiece | work (for example, impeller board) is improved.

  In this case, it is preferable that a plurality of the first recesses, the second recesses, and the elastic members are provided around the probe at equal intervals. That is, a plurality of first recesses are preferably provided at equal intervals on the peripheral edge of the flange portion, and a plurality of second recesses are preferably provided at equal intervals on the peripheral edge of the mounting plate. This is to further exhibit the above-described effects.

  In this case, it is preferable that the robot hand scans the front surface and / or the back surface of the workpiece alternately in the circumferential direction in a clockwise direction and a counterclockwise direction. This is to increase the flaw detection efficiency while expanding the flaw detection cover area. For the same reason, it is preferable that the robot hand scans the front surface and / or back surface of the workpiece concentrically.

  The ultrasonic flaw detector according to the present invention may further include spray means for performing marking. This is because if the indication of the defect position is pressed by the probe as in the prior art, it disappears with the passage of time, but the marking by the spray means does not disappear with the passage of time. Further, by marking, it is possible to perform a flaw detection by using this as a mark.

In order to solve the above-described problem, an ultrasonic flaw detection method according to the present invention includes an automatic flaw detection process for performing automatic flaw detection using the ultrasonic flaw detection apparatus according to the present invention,
The gist of the present invention is that it includes a manual flaw detection step of performing a flaw detection on a defective portion when a defect is detected in the automatic flaw detection step. In this case, when a defect is detected in the automatic flaw detection process, it is preferable that the spray means performs marking on the defective portion. As a result, the same operational effects as those of the ultrasonic flaw detection apparatus according to the present invention can be obtained, and the accuracy of the quality assurance can be further improved because the defect location can be accurately confirmed by manual flaw detection.

Since the ultrasonic flaw detection apparatus and the ultrasonic flaw detection method using the same according to the present invention have the above-described configuration,
(1) It is possible to eliminate oversight of internal defects.
(2) The scanning conditions (scanning speed, lap amount) can be quantified,
(3) Test results (for example, scanning results, determination results, etc.) can be recorded as records.
(4) The reliability of quality assurance can be improved.
(5) There is an effect that the efficiency of the ultrasonic flaw detection test can be improved.

1 is a conceptual diagram for explaining an ultrasonic flaw detector 10 according to a first embodiment of the present invention. 1 is an overall view of an articulated robot 20. (A) is a front view of the ultrasonic flaw detector 10 (mainly part of the robot hand 40) according to the first embodiment of the present invention, and (b) is a plan view of the mounting plate 70 as viewed from above. . It is a figure for demonstrating the shape of the workpiece | work W. FIG. It is a figure for demonstrating the operation | movement path | route of the probe P1. (A) is a front view of the ultrasonic flaw detector 10 (mainly part of the robot hand 40) according to the second embodiment of the present invention, and (b) is a plan view seen from above the mounting plate 70. . It is a front view of the ultrasonic flaw detector 10 (mainly the part of the spray 24) which concerns on 3rd embodiment of this invention. It is a side view of the ultrasonic flaw detector 10 (mainly the part of the spray 24) which concerns on 3rd embodiment of this invention. It is a top view of ultrasonic testing equipment 10 (mainly part of spray 24) concerning a third embodiment of the present invention. It is a flowchart for demonstrating the ultrasonic flaw detection method which concerns on one Embodiment of this invention. It is a figure which shows an example of each setting value input screen (monitor 54). It is a figure which shows an example ((a) is the monitor 31 and (b) and (c) is the monitor 54) of the output screen at the time of completion of automatic flaw detection. It is a figure which shows an example ((a) is the monitor 54, (c) is the monitor 31), etc. of the output screen of the detailed data of the defect location at the time of a defect detection. It is a figure which shows the result screen information of an ultrasonic flaw detection test.

DESCRIPTION OF SYMBOLS 10 ... Ultrasonic flaw detector, 20 ... Articulated robot, 21 ... Arm, 22 ... Robot control panel, 23 ... Touch sensor, 24 ... Spray, 25 ... Spray nozzle, 26 ... Spray switch, 30 ... Automatic flaw detector, 31 ... Monitor, 40 ... Robot hand, 50 ... Computer, 51 ... Control unit (CPU), 52 ... Memory, 53 ... Input device, 54 ... Monitor, 60 ... Probe holder, 61 ... Probe holder, 62 ... Probe Tensile pressing part, 63 ... flange part, 64 ... upper fixing part (64a ... washer part, 64b ... fixing bolt), 70 ... mounting plate, 80 ... elastic member, 90 ... spray holder, 91 ... bracket, H1 ... first Concave part, H2 ... second concave part, B ... periphery of upper end surface, W ... workpiece, P1, P2 ... probe, L ... lower part, U ... upper part, K ... step part

Hereinafter, an ultrasonic flaw detection apparatus 10 and an ultrasonic flaw detection method using the same according to an embodiment of the present invention will be described in detail with reference to the drawings.
(Ultrasonic flaw detector 10 according to the first embodiment)
As shown in FIGS. 1 to 3, the ultrasonic flaw detection apparatus 10 according to an embodiment of the present invention contacts the robot W 40 with a workpiece W to be subjected to an ultrasonic flaw detection test using an automatic flaw detector 30. The probe P1 to be attached is attached, and the articulated robot 20 (see FIG. 2), the robot hand 40 attached to the arm 21 of the articulated robot 20, the probe P1 for automatic flaw detection, and the hand flaw detection And the computer 50 electrically connected to the robot control panel 22 of the multi-joint robot 20 and the automatic flaw detector 30 so as to be able to exchange data and other various signals.

  First, the automatic flaw detector 30 constitutes a part of the ultrasonic flaw detector 10 and is connected to the computer 50 and the probes P1 and P2. The diameters of the probes P1 and P2 to be connected are 10 to 25 mm, and the feed rate is controlled at 6 to 150 mm / sec. The lap amount can be controlled from 0 to 100%. As for the data recording specification, automatic recording is possible for C-Scan images, and manual recording is possible for A-Scan images. An A-Scan image is displayed on the monitor of the automatic flaw detector 30.

  The workpiece W (see FIG. 4) has a substantially cylindrical solid shape, (a) a circular shape without a hole, (b) a circular shape with a hole, (c) a stepped circular shape, (d) a stepped hole. There are four types of circular shapes. The workpiece W has a thickness of 100 mm to 450 mm, an outer diameter of 1000 mm to 2200 mm, and a maximum weight of 5000 kg.

  The computer 50 is a control unit (CPU) 51 for controlling the robot hand 40 and other parts of the ultrasonic flaw detector 10 and scanning conditions (for example, scanning speed and / or lap amount by the robot hand 40, but is not limited thereto. And at least one kind of scanning condition may be included) and test results (for example, scanning results, determination results, etc., but are not limited thereto, and at least one kind of testing results can be said. And a memory 52 for storing various control programs and various data, an input device 53 for inputting scanning conditions, for example, a keyboard and a mouse, and a monitor 54 for outputting scanning conditions and test results. With. The control unit 51 is connected to the robot control panel 22 and the automatic flaw detector 30 through an interface so as to be able to exchange data and other various signals.

  The articulated robot 20 shown in FIGS. 1 to 3 is a long arm type vertical articulated robot (6 axes), and an electric servo drive system using an AC servo motor is suitable, but is not limited thereto. The articulated robot 20 is controlled by a control unit 51 and a robot control panel 22 connected thereto, and the arm 21 and the robot hand 40 attached to the articulated robot 20 are operated by the control. Further, the articulated robot 20 detects a defect in the workpiece W in the ultrasonic flaw detection test or the touch sensor 23 for detecting the center position / outer diameter / thickness of the workpiece W during automatic flaw detection. Comprises a spray 24 for marking the defect. In the past, the defect position instruction was pressed by the probe P1 and disappeared over time. However, by marking, the defect position did not disappear over time. Is possible.

  The robot hand 40 includes a probe holder 60, a mounting plate 70, and an elastic member 80, and the probe holder 60 is brought into contact with a workpiece W to be subjected to an ultrasonic flaw detection test using the automatic flaw detector 30. The probe P1 is held. The robot hand 40 holds the probe P1 and scans the front surface and / or back surface of the workpiece W in the circumferential direction. In the present embodiment, the robot hand 40 rotates clockwise on the front surface and / or back surface of the workpiece W.・ Alternately scan in the circumferential direction counterclockwise. Here, the “front surface and / or back surface” includes a case where the flaw detection of the other surface (back surface) of the work W is performed by manual or automatic inversion after the flaw detection on one surface (front surface) of the work W is completed. Means the same. Further, the robot hand 40 scans the front surface and / or the back surface of the workpiece W in a circumferential direction by a concentric rotation operation or rotation operation (see FIGS. 5A and 5B). This is because scanning in the circumferential direction can increase the flaw detection cover area and increase flaw detection efficiency, rather than scanning in a straight line (see FIG. 5C).

  The probe holder 60 shown in FIGS. 1 to 3 holds the probe P1 from the side surface of the probe P1, and the probe holder 60 of the multi-joint robot 20 is attached via a mounting plate 70 provided on the robot hand 40. It is connected to the arm 21. The probe holder 60 includes a probe holding part 61, a probe pressing part 62, a flange part 63, and an upper fixing part 64. The probe holding portion 61 has a substantially inverted L shape in a side sectional view, but is not limited to this. For example, the angle at which the outer peripheral end corner portion, outer peripheral end stepped portion, outer peripheral end edge portion, and held probe P1 portion to be held are not limited as in a substantially reverse arc shape in a side sectional view. And a step where the part of the probe P1 to be held is not limited, and a shape that presses or supports an edge where the part of the probe P1 to be held is not limited. The inner peripheral surface of the probe holding portion 61 has a shape along the outer peripheral surface of the probe P1 (in this embodiment, a circular shape when viewed from the top and a vertical line shape when viewed from the side). The outer peripheral side faces or contacts with a proper clearance or in a close contact state.

  The probe pressing portion 62 presses the peripheral edge B of the upper end surface of the probe P1 from above with a pressing force F (see formula (1) to be described later), and is reverse L-shaped in a side sectional view. It is the shape. Thus, in the probe holder 60, the probe holding part 61 holds the probe P1 from the side surface, and the probe pressing part 62 presses the peripheral edge B of the upper end surface of the probe P1. Parallelism between the probe P1 and the workpiece W surface is stably maintained.

  The flange 63 formed in the probe holder 60 is formed with a first recess H1 in a cylindrical space. The attachment plate 70 is a plate for attaching the probe holder 60 to the body of the robot hand 40, and a second concave portion H2 of a cylindrical space is formed on the lower surface side thereof. The upper fixing part 64 includes a washer part 64a and a fixing bolt 64b. The fixing bolt 64b penetrates the washer part 64a and the probe holding part 61 in the horizontal direction and presses the probe pressing part 62. Thereby, the probe holding | maintenance part 61 and the probe press part 62 are fixed.

  The elastic member 80 is interposed between the first recess H1 and the second recess H2. The elastic member 80 includes various springs such as a compression coil spring and a strong spring, and a plurality of elastic members 80 are provided at equal intervals around the probe holder 60. That is, a plurality of first recesses H1 may be provided at equal intervals on the peripheral edge of the flange portion 63, and a plurality of second recesses H2 may be provided on the peripheral edge of the mounting plate 70 at equal intervals. In the present embodiment, a total of four probe holders 60 are provided every 90 ° at the center angle when the probe holder 60 is viewed from above, but the number is not limited to this as long as the number is three or more. Due to the automation of the ultrasonic flaw detection test, the elastic member 80 equalizes the pressing pressure P (see formula (2) described later) on the contact surface of the probe P1 with the workpiece W.

Here, the pressing force F of the probe P1 will be described. The pressing force F means a pressing force F indicated by an arrow A in FIG. 1 and is determined by the following equation (1). The spring here refers to the elastic member 80 (see FIGS. 3 and 6, n = 4 in these drawings).
Pushing force F = spring constant k × (spring free length L0−spring mounting length L1−robot pushing length L2) × spring mounting number n (1)
The pressing pressure P is determined by the following equation (2).
Pushing pressure P = Pushing force F / Bottom area of work W Equation (2)

  With the above configuration, the robot hand 40 is attached with the probe P1 to be brought into contact with the workpiece W to be subjected to the ultrasonic flaw detection test, and is controlled by the control unit 51 and the robot control panel 22 in accordance with the scanning conditions stored in the memory 52. Controlled, the front and / or back of the workpiece W is scanned concentrically in the circumferential direction alternately in the right and left directions. The test result is stored in the memory 52 under the control of the control unit 51. Therefore, the scanning conditions are quantified and the test results remain as a record. In addition, since the ultrasonic flaw detection test is automated, the reliability of the ultrasonic flaw detection test is enhanced and the efficiency is increased.

  Therefore, according to the ultrasonic flaw detector 10 according to the embodiment of the present invention, the parallel relationship between the probe P1 and the front surface and / or the back surface of the workpiece W is stably maintained, and the probe P1 Since the pressing pressure P on the contact surface with the workpiece W is made uniform, the inclination of the probe P1 corresponding to the clearance between the probe holding portion 61 and the probe P1 is reduced. Therefore, the ultrasonic flaw detection test can be performed more accurately than before, and internal defects in the ultrasonic flaw detection test are not missed. Thereby, the reliability with respect to quality assurance of the workpiece W (for example, the impeller plate) is enhanced.

(Ultrasonic flaw detector 10 according to the second embodiment)
The ultrasonic flaw detector 10 shown in FIG. 6 will be described. Regarding the reference numerals, the same members as those of the ultrasonic flaw detector 10 will be described using the same reference numerals.
The probe holder 60 holds the probe P1 from the side surface of the probe P1, and is connected to the arm 21 of the articulated robot 20 via an attachment plate 70 provided on the robot hand 40. The probe holder 60 includes a probe holding part 61, a probe pressing part 62, a flange part 63, and an upper fixing part 64. The probe holding part 61 has a substantially inverted L shape in a side sectional view. The inner peripheral surface of the probe holding portion 61 has a shape along the outer peripheral surface of the probe P1 (in this embodiment, a circular shape when viewed from above, a lower portion L is a vertical line when viewed from the side, and an upper portion U when viewed from the side. And the lower part is curved in a substantially vertical line) and faces or contacts the outer peripheral side surface of the probe P1 in a state where there is an appropriate clearance or in close contact.

  The probe pressing portion 62 presses the upper end surface peripheral portion B of the lower portion L of the probe P1 from above with a pressing force F, and is constituted by a step portion K of the probe holding portion 61. Thus, the probe pressing part 62 may be constituted by a part of the probe holding part 61. That is, the stepped portion K of the probe pressing portion 62 has a substantially inverted L shape in a side sectional view, but is not limited to this. For example, the angle at which the outer peripheral end corner portion, outer peripheral end stepped portion, outer peripheral end edge portion, and held probe P1 portion to be held are not limited as in a substantially reverse arc shape in a side sectional view. And a step where the part of the probe P1 to be held is not limited, and a shape that presses or supports an edge where the part of the probe P1 to be held is not limited. As a result, the probe holder 60 has a probe holding portion 61 that holds the probe P from the side surface and a probe pressing portion 62 that presses the peripheral edge B of the upper end surface of the probe P. Parallelism between the contact P and the workpiece W surface is stably maintained.

  The flange 63 formed in the probe holder 60 is formed with a first recess H1 in a cylindrical space. The attachment plate 70 is a plate for attaching the probe holder 60 to the body of the robot hand 40, and a second concave portion H2 of a cylindrical space is formed on the lower surface side thereof. The upper fixing portion 64 includes a washer portion 64a and a fixing bolt 64b. The fixing bolt 64b passes through the washer portion 64a and the probe holding portion 61 in the vertical direction and presses the probe pressing portion 62. Thereby, the probe holding | maintenance part 61 and the probe press part 62 are fixed.

The elastic member 80 is interposed between the first recess H1 and the second recess H2. The elastic member 80 includes various springs such as a compression coil spring and a strong spring, and a plurality of elastic members 80 are provided at equal intervals around the probe holder 60. That is, a plurality of first recesses H1 may be provided at equal intervals on the peripheral edge of the flange portion 63, and a plurality of second recesses H2 may be provided on the peripheral edge of the mounting plate 70 at equal intervals. In the present embodiment, a total of four probe holders 60 are provided every 90 ° at the center angle when the probe holder 60 is viewed from above, but the number is not limited to this as long as the number is three or more. The elastic member 80 makes the pressing pressure P of the contact surface of the probe P1 with the workpiece W uniform, in combination with automation of the ultrasonic flaw detection test.
Since other configurations are the same as those of the ultrasonic flaw detector 10 according to the first embodiment, description thereof is omitted.

(Ultrasonic flaw detector 10 according to the third embodiment)
FIG. 7A to FIG. 7C show the ultrasonic flaw detector 10 according to the third embodiment, and show a specific example when the spray 24 is attached. 7A is a front view, FIG. 7B is a side view, and FIG. 7C is a plan view (viewed from above).
The spray 24 is held by a spray holder 90 and is mechanically and electrically connected and connected to the robot hand 40 via a bracket 91. As will be described later (see FIG. 8), the spray 24 marks a defective portion with a spray when a defect is detected in automatic flaw detection.

  This marking is performed as follows. First, the probe P1 is moved by electronic control or manual work. Next, the spray 24 is moved by electronic control so that the spray nozzle 25 is positioned above the defective portion. Then, the spray switch 26 is pressed by electronic control to spray the spray liquid. Since this spray liquid does not disappear, the flaw detection location can be accurately identified in the subsequent manual flaw detection (see FIG. 8). Other configurations are the same as those of the second embodiment, and thus are omitted.

(Ultrasonic flaw detection method)
With reference to the flowchart of FIG. 8, an ultrasonic flaw detection method according to an embodiment of the present invention, that is, a step of performing automatic flaw detection using the ultrasonic flaw detection apparatus 10, and when a defect is detected in this automatic flaw detection A method including a step of performing hand flaw detection on the defective portion will be described. Note that the flowchart in the figure is an example of the steps of the ultrasonic flaw detection method, and is not limited to this.

First, in the power-on process (S1), the ultrasonic flaw detector 10 and other related equipment are powered on. As a result, the ultrasonic flaw detector 10 and other related equipment perform initial setting and operation preparation of each part, become operable, and proceed to step S2.
In the workpiece loading step (S2), the workpiece W to be subjected to ultrasonic flaw detection is loaded and set at a predetermined position, and then the process proceeds to step S3.

In the probe setting step (S3), the work W is attached to the probe holder 60, and after the probe P1 is set at a predetermined position, the process proceeds to step S4.
Next, in each set value input step (S4), input is performed according to the input screen of the monitor 54 shown in FIG. As shown in the figure
(1) On the identification information input screen, identification information (which is reflected in the saved file number and read by the barcode reader) is input,
(2) The probe to be used is selected on the use probe selection screen.
(3) On the workpiece shape selection screen, the shape (see FIG. 4) and the front / back surface are selected.
(4) On the workpiece dimension input screen, the outer diameter / height is entered, and if necessary, the inner diameter / step dimension is entered.
(5) On the scanning condition input screen, the lapping amount (0 to 100%), the scanning speed (can be set for each radius), and the criterion value are input.
(6) Each set value is confirmed on each set value confirmation screen, and then the process proceeds to step S5.

  In the sensing and calibration step (S5), sensing and calibration are performed by automatic operation of the articulated robot 20. In sensing, the center position / outer diameter / thickness of the workpiece W is detected by the touch sensor 23 from the outside of the workpiece dimension input value (for example, 200 mm outside from the outer periphery). In the subsequent calibration, a portion inside the input outer diameter (for example, 100 mm inside from the outer peripheral edge) is scanned in an arc shape, and the flaw detector sensitivity and the like are adjusted by the operator based on the output image of the monitor 31. . Thereafter, the process proceeds to step S6.

In the setting information final confirmation step (S6), the setting information is finally confirmed, and the process proceeds to step S7.
In the automatic flaw detection process (S7), the robot hand 40 (probe P1) scans the front and / or back surfaces of the workpiece W alternately in the circumferential direction and concentric circles in the clockwise and counterclockwise directions. By alternately changing the rotation direction, the articulated robot 20 can be downsized (space saving and cost saving). Thereafter, the process proceeds to step S8.

  In the automatic flaw detection completion result output step (S8), an A-Scan image is displayed on the automatic flaw detector 30 (see FIG. 10A). The presence or absence of a defect can be determined by the defect detection gate. The specific test result of the workpiece W as viewed from above is displayed on the monitor 54 in the manner shown in FIG. These figures show a case where there is a defect, and it is also possible to display only the defective part (see FIG. 12). The echo intensity (%) can be arbitrarily set in the above step S4, and the determination criterion can be set according to the required accuracy. Moreover, the result 1 and the result 2 shown in the figure (b) and the figure (c) can be switched by a mouse click or the like. The echo strength (%) for display selection can be arbitrarily changed. Thereafter, the process proceeds to step S9.

In the defect detection determination step (S9), defect detection is performed based on the result output in S8. As a result, if it is determined that no defect has been detected, the process proceeds to the data storage step of S 10, and the automatic flaw detection result is recorded in the memory 52.
On the other hand, if it is determined that a defect has been detected, the process proceeds to the defect location indicating step of S11. Here, a detailed data display screen (see FIG. 11) of the defective portion is displayed on the monitor 54 and the monitor 31, and marking is performed by the spray 24, and the process proceeds to S12.
In S12, the hand flaw detection of the marked part is performed. Thereby, the detailed state of the defect is confirmed. The result of manual flaw detection is stored in the memory 52.

  An ultrasonic flaw detection test was performed using the ultrasonic flaw detection apparatus 10 and will be described. As shown in Table 1 and FIG. 12, in Example A, an ultrasonic flaw detection test was carried out using a fully automatic ultrasonic flaw detector (Comparative Example 1) and an ultrasonic flaw detector 10 ( This is a comparative verification of Example 1). Example B is a comparative verification between an example in which an ultrasonic flaw detection test was performed by hand flaw detection (Example 2 ') and an example in which the ultrasonic flaw detection apparatus 10 was used (Example 2). Example C compares and verifies an artificial defect test piece (Comparative Example 3 in which a defective portion has already been found) and one (Example 3) that was performed using the ultrasonic flaw detector 10. Table 1 shows workpiece specifications, inspection conditions, inspection results, and the like, and FIG. 12 shows the result screen information of the ultrasonic flaw detection test.

As shown in Table 1 and FIG. 12, in Example A and Example C, the defect information in each comparative example and each example coincided. From this, it was confirmed that the accuracy of the ultrasonic flaw detector 10 according to the example was good.
In Example B, two positions were detected in Example 2 ′, but in Example 2, one position was detected and the results were different. This is because the defective part was close. From this, in the ultrasonic flaw detection test, after performing automatic flaw detection using the ultrasonic flaw detection apparatus 10, it has been confirmed that a method of confirming a defective portion by manual flaw detection is effective.

  Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment. The present invention can be variously modified without departing from the above embodiment.

  The ultrasonic flaw detection apparatus and the ultrasonic flaw detection method using the same according to the present invention are expected to be useful in various manufacturers related to impeller plates that require high-precision inspection.

Claims (7)

A robot hand to which a probe to be brought into contact with a workpiece to be subjected to an ultrasonic flaw detection test is attached, the robot hand scanning the surface and / or the back surface of the workpiece in the circumferential direction, the robot hand and the other ultrasonic flaw detection. An articulated robot comprising control means for controlling each part of the apparatus, and storage means for storing scanning conditions and test results by the robot hand;
A probe holding portion for holding the probe from the side surface, the inner peripheral surface of the probe holding portion having a shape along the outer peripheral surface of the probe, and the upper end surface peripheral portion of the probe A probe holder including a probe pressing portion that presses the first recess, and a first recess formed in the flange portion;
An attachment plate for attaching the probe holder to the robot hand body and having a second recess formed on the lower surface thereof; and
An elastic member interposed between the first recess and the second recess;
An ultrasonic flaw detector characterized by comprising:   The ultrasonic flaw detector according to claim 1, wherein a plurality of the first recess, the second recess, and the elastic member are provided at equal intervals around the probe.   The ultrasonic flaw detector according to claim 1, wherein the robot hand scans the front surface and / or the back surface of the workpiece alternately in a circumferential direction clockwise and counterclockwise.   The ultrasonic flaw detector according to any one of claims 1 to 3, wherein the robot hand scans the front surface and / or the back surface of the workpiece concentrically.   The ultrasonic flaw detector according to any one of claims 1 to 4, further comprising spray means for performing marking. An automatic flaw detection process for performing automatic flaw detection using the ultrasonic flaw detector according to any one of claims 1 to 5,
An ultrasonic flaw detection method comprising: a manual flaw detection step of performing a flaw detection on a defective portion when a defect is detected in the automatic flaw detection step.   The ultrasonic flaw detection method according to claim 6, wherein when a defect is detected in the automatic flaw detection step, the spray means according to claim 5 marks the defect portion.

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