WO2014005511A1 - Single-manipulator detection device - Google Patents

Description

[Corrected according to Rule 91 11.07.2013] Single robot detection device

Technical field

The invention belongs to the technical field of non-destructive testing, and provides a fast and accurate detecting device for rapid non-destructive testing of complex curved surfaces, which is suitable for detecting internal defects in complex curved workpieces.

Background technique

The use of ultrasonic non-destructive testing device to detect and analyze the manufacturing defects inside the workpiece is an important means to ensure product quality and performance, and to stabilize the production process. It plays an important role in the design, development, production and use phases of the product. effect. Compared with other non-destructive testing methods, ultrasonic non-destructive testing has the characteristics of no radiation, small equipment, easy to implement detection environment, simple operation, etc. It is suitable for wide application in industrial production. With the development of market economy and production technology, the shape and material complexity of workpieces in industrial products are increasing day by day, and the requirements for production efficiency are increasing. Industrial applications have high precision, high efficiency and high adaptability for the application of ultrasonic nondestructive testing. Sexual, easy to operate, easy to implement, etc., which requires us to improve the automation of ultrasonic non-destructive testing systems, improve detection efficiency, and require ultrasonic non-destructive testing to adapt to a variety of different geometric shapes, materials, state features of the workpiece ability.

Traditional automated ultrasonic non-destructive testing equipment has fewer detectable objects, mainly simple workpieces such as flat workpieces, cylinders, and simple curved surfaces, and has poor adaptability to workpieces with complex shapes and curved surfaces. In the current industrial production application field, there is a lack of effective automated testing equipment for ultrasonic testing of complex curved surfaces. The traditional method is to perform manual inspection by hand, or use a probe of a special shape for testing, or mount the ultrasonic probe on a fixed-shaped track. Scan. The manual inspection is very inefficient and labor intensive; the special probe or track is only suitable for a specific geometry of the workpiece, and it is basically unable to adapt to the ultrasonic inspection of any complex curved workpiece.

At present, there are some ultrasonic non-destructive testing devices for multi-axis mechanical structures for complex curved surfaces, which partially solve the problem of ultrasonic testing of complex curved workpieces. However, the system is more complicated, the control axis is more, the stability of the control program is poor, and the main components of the system are constructed by using basic components. The maturity and stability of the motion system are poor, and the distance from the industrial finished product is far. Moreover, existing solutions require the placement of the workpiece in a water tank, using water as a coupling agent for ultrasonic testing, which limits the size of the detectable space and imposes special requirements and limitations on the motion mechanism. Overall, the detection efficiency and adaptability of these systems are not ideal.

Summary of the invention

In view of the above problems, an object of the present invention is to provide a fast and accurate automatic ultrasonic non-destructive testing device, which solves the problems of low efficiency and poor adaptability of a conventional automatic detecting device for complex curved surfaces.

The technical solution of the present invention provides a robot detecting device, comprising: an industrial computer; a robot device, comprising a robot and a robot controller, wherein the robot and the robot controller are connected and communicated by a power supply and a signal integrated cable, the robot The controller and the engineering machine are connected and communicated through a network cable; The ultrasonic transceiver device comprises a phased array ultrasonic transducer, an ultrasonic pulse transceiver card, and a high speed data acquisition card, wherein the ultrasonic pulse transceiver card and the high speed acquisition card are mounted on the industrial computer, and the industrial computer controls the pulse signal Transceiver and acquisition; water coupling device, including water spray nozzle, steady flow water pump, flexible conduit, wherein the robot controller connects the robot through the power supply and the signal integration cable, can supply power to the robot, and provides the position of each joint of the robot a signal of a parameter and a motion parameter, the spray head having a spray tank, the spray tank being mounted at a top end of the robot, and water flowing into the spray tank through the conduit and from the spray head The spout is discharged, and the emitting end of the phased array ultrasonic transducer is installed in the sprinkler.

The detecting device of the invention adopts the pulse reflection method to perform non-destructive testing by ultrasonic, and is suitable for the thin layer and the front surface of the workpiece, and the ultrasonic probe transmits a pulse wave to the inside of the test piece, and observes the reflected wave from the internal defect or the bottom surface of the test piece. To test the test piece. Due to some characteristics of ultrasonic propagation, it is required to ensure that the direction of the ultrasonic wave is consistent with the surface normal direction of each detection point on the workpiece during ultrasonic testing, or at a certain angle, which requires the ultrasonic transducer of the device to change with the surface. Perform real-time follow-up. Therefore, the present invention can be applied to general flat and regular curved workpieces, and can also be applied to workpieces with complex irregular curved surface features, such as large stampings widely used in the automotive industry, aircraft skins, missile bodies, etc. in the aerospace field. Irregular surface artifacts, and more.

The invention utilizes an articulated six-degree-of-freedom manipulator with mature technology to carry out scanning of the space curve trajectory, and controls the manipulator, the ultrasonic transmission and reception, and processes the collected signal through the industrial computer, and replaces the water tank by water spray coupling during the scanning process. The detection device platform is compact, simple, easy to control and operate, and realizes the detection of physical properties related to complex curved surfaces, and the detection efficiency and adaptability are greatly improved.

DRAWINGS

Figure 1 shows a single robot automated ultrasonic non-destructive testing system.

detailed description

Specific embodiments of the present invention will be described in detail below. The industrial computer and the robot controller are connected by a network cable, and can transmit the control program and the point file of the robot movement; the robot controller and the robot are connected by the power supply and the signal integration cable, can supply power to the robot, and provide position parameters of each joint of the robot. And the signal of the motion parameters. The articulated six-degree-of-freedom manipulator can move according to the signal provided by the controller. The working end of the manipulator has a flange, and the bracket of the sprinkler is fixed on the flange.

The phased array ultrasonic transducer is installed in the water spray nozzle. The water spray nozzle is divided into two parts, one part is a water spray tank, the water flows into the spray water tank through the conduit and flows out from the nozzle, and the emitting end of the transducer is also placed in the spray. In the water tank; a part is a bracket, which is connected to the working end of the robot and provides space for the transducer, and the terminal of the transducer is placed in the space of the bracket. The ultrasonic pulse transceiver card and the high-speed acquisition card are installed on the industrial computer, and the industrial computer controls the transmission and reception of the pulse signal.

The manipulator and the adjustable workpiece holder are mounted on the base in the water recovery tank, so that most of the coupling water can flow into the water recovery tank; the bracket is mounted on the two horizontal rails, and the two horizontal rails are mounted on the two vertical rails, each of which The bracket has a separate lifting mechanism so that the four brackets can provide effective support for curved workpieces of different areas.

The engineering machine is a high-performance industrial computer, which can realize functions such as system control, data processing, robot trajectory planning, ultrasonic transmission and data acquisition. The manipulator is an articulated six-degree-of-freedom manipulator featuring six joints in different directions. Its single-arm structure is compact and flexible, and it can precisely locate points in most areas of the spherical space. The robot controller is a high-end robot controller that provides real-time control, online programming and troubleshooting of robot movement.

The ultrasonic non-destructive testing device comprises a phased array ultrasonic transducer and an ultrasonic pulse transceiver card high speed data acquisition card; wherein the phased array ultrasonic transducer has good sound beam reachability, can measure workpieces with complex shapes, and has Good resolution, signal-to-noise ratio and sensitivity; pulse transceiver card and high-speed acquisition card can quickly stimulate the ultrasonic pulse signal and high-speed acquisition of echo, which can significantly improve the efficiency of ultrasonic detection.

The water coupling device comprises a water spray head, a steady flow regulated water pump and a flexible duct. The water spray head can cover the ultrasonic transducer, and can spray the concentrated and stable water column, and connect the transmitting end of the phased array ultrasonic transducer with The surface of the workpiece is provided to provide coupling, which is two parts, one part is a spray tank, water flows into the spray tank through the duct and flows out from the nozzle, and the emitting end of the transducer is also placed in the spray tank; The working end of the manipulator provides space for the transducer, and the terminal of the transducer is placed in the space of the bracket; the steady-flow regulated water pump can provide a stable flow rate, stabilize the pressure and remove the water flow of bubbles and significant impurities, and can also The recovered water is filtered and recycled.

Auxiliary devices include cameras and monitors, adjustable workpiece holders, and water recovery tanks; cameras and monitors provide real-time monitoring of platform work for inspection personnel to operate; adjustable work supports include four columns, each column Both can move along the guide rail in the X and Y planes, and the height of the column can be adjusted, so that the workpieces of different sizes and shapes can be effectively supported; the water recovery tank recovers the coupled water used in the work and flows back to the water pump.

When the single robot automated ultrasonic nondestructive testing device is working, the water coupling agent circulation system is first opened, the nozzle starts to spray water, provides water coupling for ultrasonic testing, the used coupling water is recovered through the water recovery tank, and is recycled by filtration; the scanning process The middle manipulator motion is synchronized with the ultrasonic pulse emission acquisition. In this process, the engineering controller first transmits the program and points to the controller for the controller, and the robot controller runs the control program to issue instructions to the robot to drive the robot to complete the point-by-point motion. At the same time, the ultrasonic transducer mounted on the tool end of the robot transmits the ultrasonic signal under the driving of the ultrasonic pulse transceiver card, and the echo signal is collected by the high-speed data acquisition card. Finally, the collected test data is transmitted to the industrial computer for processing and analysis.

Claims (5)

 A robot detecting device, comprising: Industrial computer The robot device includes a robot and a robot controller, wherein the robot and the robot controller are connected and communicated by a power supply and a signal integration cable, and the robot controller and the engineering machine are connected and communicated through a network cable; The ultrasonic transceiver device comprises a phased array ultrasonic transducer, an ultrasonic pulse transceiver card, and a high speed data acquisition card, wherein the ultrasonic pulse transceiver card and the high speed acquisition card are mounted on the industrial computer, and the industrial computer controls the pulse signal Transceiver and acquisition; Water coupling device, including water spray nozzle, steady flow water pump, flexible conduit, The robot controller is connected to the manipulator through the power supply and the signal integration cable, and can supply power to the manipulator, and provides signals of positional parameters and motion parameters of each joint of the manipulator to control the movement of the manipulator. The water spray head has a spray water tank, the spray water tank is installed at a top end of the robot, water flows into the spray water tank through a conduit and flows out from the spray nozzle of the water spray head, and the phased array ultrasonic wave is exchanged. The emitting end of the energy device is installed in the water spray tank. The robot detecting device according to claim 1, further comprising a water pump that supplies water to the water jet nozzle through the flexible duct and circulates the water through the water collecting tank. The robot detecting device according to claim 2, wherein said robot and the workpiece holder are mounted on a base in said water collecting tank to allow coupling water to flow into said water collecting tank. The robot detecting device according to claim 3, wherein the workpiece holders are four and are respectively mounted on two horizontal rails, and the two horizontal rails are mounted on the two vertical rails and movable along the two vertical rails. Each of the brackets is movable on the cross rail and has a separate lifting mechanism to enable the four brackets to provide effective support for curved workpieces of different areas. The robot detecting device according to claim 1, wherein said robot is an articulated six-degree-of-freedom manipulator, and said water jetting nozzle and said ultrasonic transducer are capable of performing six degrees of freedom movement with a robot.

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