Double-manipulator ultrasonic detection method

Abstract

The invention discloses a double-manipulator detection method. The method is characterized in that a double-manipulator detection system is used for detecting the surface quality and the internal quality of a workpiece and comprises an extension rod and one or multiple of connected extension rod rotating shafts, wherein the extension rod is arranged between the tail end of a main manipulator and atransmitting probe or between the tail end of an auxiliary manipulator and a receiving probe, the extension rod rotating shafts are arranged between the extension rod and the transmitting probe or the receiving probe. According to the double-manipulator detection method, discrete point attitude data in a trail file of the to-be-detected workpiece are converted into euler angles by utilizing an X-axis constraint method, meanwhile, the X axis of an auxiliary coordinate system is restrained, so that the X axis of the auxiliary coordinate system is in the trail tangential direction, the transmitting probe and the receiving probe are kept perpendicular to the surface of the to-be-detected workpiece, and the manipulators do not collide with the to-be-detected workpiece.

Description

technical field [0001] The invention belongs to the technical field of ultrasonic nondestructive testing, and in particular relates to a double manipulator testing method. Background technique [0002] With the advancement of material science and technology, more and more composite materials are used to replace metal materials to make a variety of workpieces, especially those with complex curved surfaces in the aerospace field. Because composite materials have a higher stiffness-to-weight ratio, lighter weight, and better corrosion and fatigue resistance. The superior performance of composite materials undoubtedly provides a good opportunity for this field to seek new technologies and new materials and optimize the performance of the whole machine. However, the low manufacturing efficiency and high manufacturing cost of composite material structures are a problem, but more composite materials After the workpiece is formed, the detection efficiency is low and the detection c...

AI Technical Summary

Problems solved by technology

[0005] If the manipulator is equipped with an extension rod as a tool, it can extend into the inner space of the workpiece for detection, but the six-degree-of-freedom manipulator will collide with the workpiece due to under-constrained attitude or incorrect attitude constraints, such as Image 6 and Figure 7 As shown, the manipulator 8 is equipped with an extension rod 5, the extension rod 5 is equipped with a transmitting probe 4, and the end of the manipulator 7 is equipped with a receiving probe 3, and the receiving probe 3 collides with the workpiece to be inspected, causing a detection accident

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