Ultrasonic C scanning automatic detection method for arc surface work pieces, without clamping and positioning

Abstract

The invention discloses an ultrasonic C scanning automatic detection method for arc surface work pieces. According to the method, an ultrasonic probe is clamped through a six-degree-of-freedom industrial robot, the fact that a probe beam is always vertically emitted to an arc surface work piece during a detection process can be guaranteed, and real-time collection and plane imaging of original A wave of all scanning points are realized. The specific process comprises the followings steps: arbitrarily laying an arc surface work piece to a detection platform inside a water tank, obtaining Cartesian coordinates of 4 key points of the arc surface work piece by adjusting the position and pose of a mechanical arm and the level of ultrasonic echo signals on the surface of the work piece, and automatically planning a complete probe motion path and accomplishing corresponding ultrasonic acquisition and C scanned images. The method has the advantages that clamping and positioning are not required, arc surface work pieces are rapid and accurate to detect, high-precision and full coverage ultrasonic detection of the arc surface work pieces can be realized, detection efficiency of curved surface tracking is greatly improved, and occurrence of missing detection and false detection is effectively avoided.

Description

technical field [0001] The invention belongs to the technical field of ultrasonic detection, and relates to an automatic ultrasonic C-scan detection method for arc surface workpieces without clamping and positioning. Background technique [0002] Ultrasonic testing is an important branch of non-destructive testing, and digital, automated, and intelligent robotic ultrasonic testing technology can effectively solve many problems caused by manual testing. Robots have been widely used in testing work in the world. [0003] When performing ultrasonic C-scan automatic inspection on arc-shaped workpieces and other curved surface workpieces, conventional methods require high-precision clamping and positioning, and complex path algorithms to achieve curved surface tracking. Surface tracking is usually realized by mechanical tracking or laser tracking. It is necessary to install a follower device at the front of the ultrasonic probe. During the scanning process, this device passes the...

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Problems solved by technology

This method is to integrate the multi-directional vector linear array ultrasonic probe with the rotating motor, and realize the ultrasonic imaging of the internal connection state of the circ

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