Composite material plate ultrasonic detection robot and detection method

Abstract

The invention discloses a composite material plate ultrasonic detection robot and a detection method.The detection robot comprises a driving module, a guide rail support module and a main control module, rubber suction cups are arranged at the bottom of the driving module and are arranged at the two ends of the guide rail support module, and the main control module comprises a phased array module, a phased array probe and an electric telescopic rod; the driving module is arranged on the cylindrical support and moves left and right along the cylindrical support, the driving module establishes connection with the main control module through the wireless transmission module, and the main control module transmits instructions and data through the wireless transmission module; during detection, the rubber suction cup of the detection robot is firmly adsorbed on the surface of a detected composite material plate, and the phased array module collects detection data in real time and transmits the detection data to the mobile terminal equipment. The device is used for ultrasonic nondestructive testing, modular design and wireless control of non-metal composite material large plates, can quickly and efficiently realize full-automatic ultrasonic testing, displays the quality condition of the composite plates in real time, and is high in detection speed and high in detection precision.

Description

Technical Field

[0001] The invention relates to an intelligent detection system, in particular to an ultrasonic detection robot and a detection method for composite material plates, and belongs to the field of industrial detection equipment manufacturing. Background Art

[0002] Wind turbine blades are an important component of wind turbines. They are made of composite materials such as glass fiber through special processes such as hot melting and hot pressing. During the manufacturing process, due to poor workmanship and lax quality control, quality defects such as delamination and degumming are prone to occur. During later operation, the blades are subjected to rotation and wind swing loads, which can easily lead to uneven force and overall structural instability. In severe cases, it can cause tearing failure, blade breakage and other accidents, which will bring major safety risks and quality hazards to the unit. Therefore, standards, specifications and design documents have detailed provisions for blade quality inspection. Ultrasonic detection technology is one of the important methods for internal quality inspection of composite panels, and the demand for inspection is huge.

[0003] At present, ultrasonic testing of blades usually adopts conventional A-ultrasound or phased array testing methods, both of which are carried out by inspectors holding ultrasonic probes. Due to the huge size of the blades, inspectors usually have to use scaffolding or lifting vehicles to carry out manual testing. This method has safety risks and low detection efficiency. The handheld probe cannot ensure uniform probe pressure, resulting in a large variation in detection sensitivity during the scanning process, low detection accuracy, and the detection results are greatly affected by human operation methods. In addition, the repeatability of the test results is poor. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a composite material plate ultrasonic detection robot and detection method in response to the defects of the prior art, to realize fully automatic ultrasonic detection of non-metallic composite material plates such as fan blades, to solve common problems such as difficulty in implementing detection, safety risks, and low detection accuracy during manual ultrasonic detection, and to improve detection quality and efficiency.

[0005] In order to solve this technical problem, the present invention provides an ultrasonic inspection robot for composite material plates, including a driving module, a guide rail support module and a main control module. The guide rail support module is a square frame with cylindrical supports on both sides of the square frame. A rubber suction cup is provided at the bottom of the driving module and is arranged at both ends of the guide rail support module. The driving module controls the vacuum degree of the rubber suction cup through an internal micro-diaphragm vacuum pump to control the inspection robot to be adsorbed and fixed on the surface of the inspected composite material plate; the main control module is arranged on the cylindrical support and can move left and right along the cylindrical support. The driving module establishes communication with the main control module through a wireless transmission module. The control module transmits instructions and data through the wireless transmission module to control the drive module to achieve horizontal and vertical movement; the main control module includes a main control module chassis, a phased array module, a phased array probe, a water tank and an electric telescopic rod, the main control module chassis is located in the middle of the main control module, the phased array module and the water tank are located on both sides of the main control module chassis, the water tank provides coupling agent for the phased array probe, and the electric telescopic rod is located at the bottom of the main control module chassis to achieve the rise and fall of the phased array probe; the phased array module processes the detection data and wirelessly transmits the detection data to the mobile terminal device for data analysis and evaluation, so as to achieve automatic ultrasonic detection of the composite plate.

[0006] The driving module comprises a driving module chassis, a support arm, a support column and a rubber suction cup. The two support arms are arranged perpendicular to each other. The two ends of the support arms are connected to a rubber suction cup respectively through a cylindrical support column. A wireless transmission module and a servo motor module 1 are arranged inside the driving module chassis. A spur gear is arranged at the front end of the servo motor module 1, and a spur gear guide rail 1 is arranged in the middle of the support arm. The spur gear guide rail 1 is meshed with a spur gear of the servo motor module inside the driving module chassis. The servo motor rotates in forward and reverse directions to accurately control the left and right displacement of the support arm. The relative movement of the two mutually perpendicular support arms can realize the left and right and up and down movement of the robot on the surface of the inspected composite material plate, thereby realizing comprehensive inspection of the composite plate.

[0007] The surface of the drive module chassis is provided with a push switch 1, a power indicator light and a USB interface.

[0008] The guide rail bracket module is a square frame formed by welding cylindrical aluminum alloy steel pipes, wherein the two aluminum alloy steel pipes on the long sides are cylindrical brackets, and two vertical downward pillars are provided in the middle of the two aluminum alloy steel pipes on the short sides for connecting with the drive module; a straight tooth guide rail 2 is provided in the middle of the cylindrical bracket for connecting with the main control module chassis of the main control module.

[0009] The main control module chassis includes servo motor module 2, servo motor module 3 and spur guide rail 3. The upper part of the electric telescopic rod is connected to the servo motor module 3, and the lower part is connected to the phased array probe. The rise and fall of the phased array probe can be realized by controlling the extension and retraction of the electric telescopic rod, and stable pressure can be provided for the phased array probe. The servo motor module 2 is arranged inside the main control module chassis, and a spur gear is provided at the front end of the servo motor module 2. The spur gear is meshed with the spur guide rail 2 of the guide rail bracket module. By controlling the forward and reverse directions of the servo motor to rotate, the left and right movement of the main control module on the guide rail bracket module is controlled, thereby realizing the reciprocating scanning of the phased array probe on the surface of the inspected composite plate.

[0010] The main control module chassis is provided with two guide rail holes in the middle, which match the size of the cylindrical bracket of the guide rail bracket module. The cylindrical bracket passes through the guide rail holes, so that the main control module and the guide rail bracket module are combined together.

[0011] A rectangular track is provided at the bottom of the main control module chassis, a concave structure at the top of the electric telescopic rod is embedded in the track, a driving motor is provided at the top of the concave structure, a spur gear at the front end of the driving motor is engaged with a spur tooth guide rail at the bottom of the main control module chassis in three phases, and the electric telescopic rod is controlled to move forward and backward on the track at the bottom of the main control module chassis by controlling the servo motor to rotate in forward and reverse directions, thereby realizing reciprocating scanning of the phased array probe on the surface of the inspected composite plate.

[0012] A circular water tank cover is provided on the upper part of the water tank, and an ultrasonic liquid coupling agent is added inside. The coupling agent is pumped to the lower part of the phased array probe through a plastic conduit by a compression pump inside the water tank, so that the phased array probe is well coupled with the inspected composite plate.

[0013] The phased array module is provided with a second push switch, a liquid crystal display, a charging interface and an antenna on the outside. The second push switch controls the start and stop of the main control module. The liquid crystal display displays the power, working status and related instructions. The charging interface is used to charge the main control module. The antenna is used to connect and control the drive module. The antenna is also used to remotely connect to a mobile terminal device, remotely control the detection robot, and wirelessly transmit detection data.

[0014] The present invention also provides a detection method using the composite material plate ultrasonic detection robot described above, characterized in that it comprises the following steps:

[0015] 1) Select the corresponding type of phased array probe according to the composite material plate to be inspected;

[0016] 2) Install the phased array probe at the front end of the electric telescopic rod, and insert the probe line of the phased array probe into the chassis interface of the main control module;

[0017] 3) Insert two plastic tubes into the coupling agent interface of the phased array probe, and connect the other end to the coupling agent interface on the side of the water tank. Add liquid coupling agent into the water tank and tighten the water tank cover.

[0018] 4) Press push switch 2 and push switch 1 in sequence to start the main control module and the drive module;

[0019] 5) Place the inspection robot parallel to the inspected composite material sheet, so that all rubber suction cups are in parallel contact with the surface of the inspected composite material sheet, start the micro diaphragm vacuum pump inside the drive module, and the inspection robot is firmly adsorbed on the surface of the inspected composite material sheet;

[0020] 6) Operate the electric telescopic rod to press the phased array probe onto the surface of the inspected composite material plate, and start the water pump in the water tank to pump the liquid coupling agent to the bottom of the phased array probe through the plastic conduit;

[0021] 7) Start the test, the main control module moves from left to right, the phased array module collects data in real time and transmits it to the mobile terminal device through the antenna;

[0022] 8) After the main control module moves to the rightmost end of the guide rail support module, the electric telescopic rod moves downward along the track, the moving distance is half the length of the phased array probe, and then the main control module moves to the left along the guide rail support module;

[0023] 9) After the main control module moves to the leftmost end of the guide rail support module, the electric telescopic rod moves downward along the track, and the moving distance is half of the length of the phased array probe. The main control module moves to the right along the guide rail support module; and so on, until the entire inspection area is completed;

[0024] 10) The phased array module collects test data in real time and transmits it to the mobile terminal device. The test personnel analyze and evaluate the test data through the mobile terminal software.

[0025] Beneficial effects: The present invention is specially designed and developed for ultrasonic nondestructive testing of large non-metal composite materials such as wind turbine blades and resin storage tanks. It has a modular design and wireless control, and can quickly and efficiently realize fully automatic ultrasonic testing of non-metal composite materials, display the quality status of composite materials in real time, and has fast testing speed and high testing accuracy. It is an intelligent testing system. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0027] Figure 2 It is a structural schematic diagram of the driving module of the present invention;

[0028] Figure 3 It is a schematic diagram of the internal structure of the driving module of the present invention;

[0029] Figure 4 It is a structural schematic diagram of the guide rail support module of the present invention;

[0030] Figure 5 It is a schematic diagram of the structure of the main control module of the present invention;

[0031] Figure 6 This is a schematic diagram of another viewing angle of the main control module of the present invention;

[0032] Figure 7 Schematic diagram of the internal structure of the main control module of the present invention;

[0033] Figure 8 This is a schematic diagram of the on-site application of the detection robot of the present invention.

[0034] In the figure: 1. drive module; 2. guide rail bracket module; 3. main control module; 4. inspected composite material plate; 5. mobile terminal device; 11. drive module chassis; 12. power indicator light; 13. push switch 1; 14. USB interface; 15. support arm; 16. spur guide rail 1; 17. pillar; 18. rubber suction cup; 19. servo motor module 1; 21. cylindrical bracket; 22. spur guide rail 2; 31. main control module chassis; 32. phased array module; 33. guide rail hole; 34. water tank; 35. phased array probe; 36. electric telescopic rod; 37. track; 311. servo motor module 2; 312. servo motor module 3; 313. spur guide rail 3; 321. push switch 2; 322. LCD screen; 323. charging interface; 324. antenna; 341. water tank cover; 342. plastic conduit. DETAILED DESCRIPTION

[0035] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0036] like Figure 1-Figure 8As shown, the present invention provides an ultrasonic inspection robot for composite material plates, including a driving module 1, a guide rail support module 2 and a main control module 3, wherein the guide rail support module 2 is a square frame, and cylindrical supports 21 are provided on both sides of the square frame. A rubber suction cup 18 is provided at the bottom of the driving module 1 and is arranged at both ends of the guide rail support module 2. The driving modules 1 at both ends of the guide rail support module 2 have the same structure; the driving module 1 controls the vacuum degree of the rubber suction cup 18 through an internal micro-diaphragm vacuum pump, extracts the air in the rubber suction cup 18, controls the inspection robot to be adsorbed and fixed on the surface of the inspected composite material plate 4, and can realize horizontal and vertical movement. After the air is pumped in, the rubber suction cup 18 is separated from the inspected composite material plate 4. The adsorption device is suitable for the adsorption and fixation of non-magnetic composite plate surface inspection equipment, and a micro-diaphragm vacuum pump is used to control the internal vacuum degree of the rubber suction cup, so as to flexibly realize the adsorption and detachment; the main control module 3 is arranged on the cylindrical bracket 21 and can move left and right along the cylindrical bracket 21; the driving module 1 establishes a connection with the main control module 3 through the wireless transmission module; the main control module 3 transmits instructions and data through the wireless transmission module to control the driving module 1 to realize horizontal and vertical movement; the main control module 3 includes a main control module chassis 31, a phased array module 32, a phased array probe 35, a water tank 34 and an electric telescopic rod 36; the main control module chassis 31 is located in the middle of the main control module 3; the phased array module 32 and the water tank 34 are located on both sides of the main control module chassis 31; the water tank 34 provides coupling agent for the phased array probe 35; the electric telescopic rod 36 is located at the lower part of the main control module chassis 31 to realize the rise and fall of the phased array probe 35; the phased array module 32 processes the detection data and wirelessly transmits the detection data to the mobile terminal device 5 for data analysis and evaluation, so as to realize the automatic ultrasonic detection of the composite plate.

[0037] The driving module 1 includes a driving module chassis 11, a support arm 15, a support column 17 and a rubber suction cup 18. The two support arms 15 are arranged perpendicular to each other. The two ends of the support arms 15 are connected to a rubber suction cup 18 through a cylindrical support column 17. A wireless transmission module and a servo motor module 19 are arranged inside the driving module chassis 11. A spur gear is arranged at the front end of the servo motor module 19. A spur gear guide rail 16 is arranged in the middle of the support arm 15. The spur gear guide rail 16 is meshed with the spur gear at the front end of the servo motor module 19 inside the driving module chassis 11; the servo motor rotates in forward and reverse directions to accurately control the left and right displacement of the support arm 15. The relative movement of the two mutually perpendicular support arms 15 can realize the left and right and up and down movement of the robot on the surface of the inspected composite material plate 4, thereby realizing comprehensive inspection of the composite plate.

[0038] The surface of the driver module chassis 11 is provided with a push switch 13, a power indicator light 12 and a USB interface 14. The push switch 13 is used to start and stop the driver module 1, the power indicator light 12 displays the operating status of the driver module 1, and the USB interface 14 is used to charge the driver module 1, as well as to import and export programs and data.

[0039] The guide rail bracket module 2 is a square frame formed by welding cylindrical aluminum alloy steel pipes, wherein the two aluminum alloy steel pipes on the long sides are cylindrical brackets 21, and two vertical downward pillars are provided in the middle of the two aluminum alloy steel pipes on the short sides for connecting with the drive module 1; a straight tooth guide rail 22 is provided in the middle of the cylindrical bracket 21 for connecting with the main control module chassis 31 of the main control module 3.

[0040] The main control module chassis 31 includes a servo motor module 2 311, a servo motor module 3 312 and a spur guide rail 3 313. The upper part of the electric telescopic rod 36 is connected to the servo motor module 312, and the lower part is connected to the phased array probe 35. The phased array probe 35 can be raised and lowered by controlling the extension and retraction of the electric telescopic rod 36, and a stable pressure can be provided for the phased array probe 35 to ensure stable contact between the phased array probe and the inspected composite sheet. The servo motor module 2 311 is arranged inside the main control module chassis 31. A spur gear is provided at the front end of the servo motor module 2 311. The spur gear is meshed with the spur guide rail 2 22 of the guide rail bracket module 2. By controlling the forward and reverse directions of the servo motor to rotate, the left and right movement of the main control module 3 on the guide rail bracket module 2 is controlled, thereby realizing the reciprocating scanning of the phased array probe 35 on the surface of the inspected composite sheet.

[0041] The main control module chassis 31 is provided with two guide rail holes 33 in the middle thereof, which match the size of the cylindrical bracket 21 of the guide rail bracket module 2. The cylindrical bracket 21 passes through the guide rail holes 33, so that the main control module 3 and the guide rail bracket module 2 are combined together.

[0042] A rectangular track 37 is provided at the bottom of the main control module chassis 31, and the track 37 is embedded in the concave structure at the top of the electric telescopic rod 36. A driving motor is provided at the top of the concave structure. The spur gear at the front end of the driving motor is meshed with the spur tooth guide rail 313 at the bottom of the main control module chassis 31. By controlling the forward and reverse rotation of the servo motor, the electric telescopic rod 36 is controlled to move back and forth on the track 37 at the bottom of the main control module chassis 31, thereby realizing the reciprocating scanning of the phased array probe 35 on the surface of the inspected composite plate.

[0043] A circular water tank cover 341 is provided on the upper part of the water tank 34, and an ultrasonic liquid coupling agent is added inside. The coupling agent is pumped to the lower part of the phased array probe 35 through the plastic conduit 342 by a compression pump inside the water tank 34, so that the phased array probe 35 is well coupled with the composite plate to be inspected.

[0044] The phased array module 32 is provided with a push switch 321, a liquid crystal display 322, a charging interface 323 and an antenna 324 on the outside. The push switch 321 controls the start and stop of the main control module 3. The liquid crystal display 322 displays the power, working status and related instructions. The charging interface 323 is used to charge the main control module 3. The antenna 324 is used to connect and control the drive module 1. The antenna is also used to remotely connect to the mobile terminal device 5, remotely control the detection robot, and wirelessly transmit detection data.

[0045] The present invention also provides a detection method using the composite material plate ultrasonic detection robot described above, characterized in that it comprises the following steps:

[0046] 1) According to the characteristics of the inspected composite material plate 4 and the requirements of the inspection standard, a corresponding type of phased array probe 35 is selected;

[0047] 2) Install the phased array probe 35 at the front end of the electric telescopic rod 36, and insert the probe line of the phased array probe 35 into the interface of the main control module chassis 31;

[0048] 3) Insert the two plastic tubes 342 into the coupling agent interface of the phased array probe 35, and connect the other ends to the coupling agent interface on the side of the water tank 34, add liquid coupling agent into the water tank 34, and tighten the water tank cover 341 to ensure that the coupling agent does not leak;

[0049] 4) Press the push switch 2 321 and the push switch 1 13 in sequence to start the main control module 3 and the drive module 1; open the control program of the mobile terminal device 5, connect the main control module through the antenna 324, and then operate the program of the mobile terminal device 5 to connect the main control module 3 with the drive modules 1 on both sides; operate the program of the mobile terminal device 5 to start system calibration and software and hardware testing to ensure that all modules of the patented inspection robot operate normally and the self-test of the operation program of the mobile terminal device 5 is qualified;

[0050] 5) The inspection robot is placed parallel to the inspected composite material plate 4, all rubber suction cups 18 are in parallel contact with the surface of the inspected composite material plate 4, and the micro-diaphragm vacuum pump inside the driving module 1 is started to evacuate the air inside the rubber suction cup 18, so that the inspection robot is firmly adsorbed on the surface of the inspected composite material plate 4;

[0051] 6) Operate the electric telescopic rod 36 to press the phased array probe 35 onto the surface of the inspected composite material plate 4, and start the water pump of the water tank 34 to pump the liquid coupling agent to the lower part of the phased array probe 35 through the plastic conduit 342;

[0052] 7) Start the detection, the main control module 3 moves from left to right, the phased array module 32 collects data in real time and transmits it to the mobile terminal device 5 through the antenna 324;

[0053] 8) After the main control module 3 moves to the rightmost end of the guide rail support module 2, the electric telescopic rod 36 moves downward along the track 37, the moving distance is half the length of the phased array probe 35, and then the main control module 3 moves to the left along the guide rail support module 2;

[0054] 9) After the main control module 3 moves to the leftmost end of the guide rail support module 2, the electric telescopic rod 36 moves downward along the track 37, and the moving distance is half the length of the phased array probe 35, and the main control module 3 moves to the right along the guide rail support module 2; and so on, until the entire inspection area is completed;

[0055] 10) The phased array module 32 collects the detection data in real time and transmits it to the mobile terminal device 5. The detection personnel analyze and evaluate the detection data through the mobile terminal software.

[0056] If the upper area of ​​the inspected composite material plate 4 is to be inspected, air is pumped into the four rubber suction cups 18 in the vertical direction of the drive modules on both sides to separate the suction cups from the plate, and then the vertical arms 15 on both sides are controlled to move upward synchronously; then the air inside the four rubber suction cups 18 is emptied to make the suction cups absorb the plate. Then air is pumped into the four rubber suction cups 18 in the horizontal direction on both sides to separate the suction cups from the plate, and then the patented inspection robot is controlled to move upward to the target area; then the air inside the four rubber suction cups 18 is emptied to make the suction cups absorb the plate.

[0057] If the lower area of ​​the inspected composite material plate 4 is to be further inspected, the operation method is the same as above, except that the moving direction is opposite.

[0058] If you want to continue testing the left area of ​​the inspected composite material plate 4: pump air into the four rubber suction cups 18 in the horizontal direction of the drive modules on both sides to separate the suction cups from the plate, and then manipulate the horizontal arms 15 on both sides to move synchronously to the left; then evacuate the air inside the four rubber suction cups 18 to make the suction cups absorb the plate. Then pump air into the four rubber suction cups 18 in the vertical direction on both sides to separate the suction cups from the plate; then manipulate the patented inspection robot to move to the left to the target area; then evacuate the air inside the four rubber suction cups 18 to make the suction cups absorb the plate.

[0059] If the right area of ​​the inspected composite material plate 4 is to be further inspected, the operation method is the same as above, except that the moving direction is opposite.

[0060] Repeat the above steps until the welding joints in the inspected area are inspected and the inspection task is completed.

[0061] The main control module of the present invention is highly integrated, and each module can accurately achieve good coupling of the ultrasonic probe under the centralized control of the program software, and implement the entire process of detection and data analysis; the adsorption control device is particularly suitable for the adsorption and fixation of non-magnetic composite plates and smooth metal plate surface detection equipment, and adopts a micro-diaphragm vacuum pump to flexibly realize the adsorption and detachment of the detection equipment by controlling the internal vacuum degree of the rubber suction cup, with good process applicability, strong versatility and high economic benefits; the main control module and the drive module can be wirelessly connected, and the main control module and the mobile terminal device are also wirelessly connected, and data analysis and evaluation and remote control of the patented detection robot are performed at the mobile terminal, so as to realize automatic detection; the detection robot can be moved to the target area through the dual-axis displacement control system of the driving mechanism, and the full coverage and accurate detection of the target area can be realized through the left and right movement of the main control mechanism on the guide rail bracket module and the front and rear movement of the electric telescopic rod on the lower track of the main control module.

[0062] The present invention has a compact structure, and each module device is small in size and is battery-powered, easy to carry, and has a wide range of applications. It is especially suitable for complex environment detection such as large composite panels and blades in service, and is safe and reliable. It adopts a modular design, and each module is easy to disassemble and assemble, which is convenient for later maintenance and upgrading, and has low manufacturing and use costs. The detection robot adopts the ultrasonic principle, has no radiation hazard, and has fast data response and processing speeds. It can be carried out simultaneously with other construction work, with high detection efficiency and low cost. The present invention has a wireless transmission function, and detection personnel can perform remote wireless control on a laptop or smart phone. There is no need for detection professionals to climb scaffolding or use a lifting vehicle to implement detection. The detection cost and safety risk are low, and the parameter control is accurate. It can quickly and efficiently realize full-automatic ultrasonic detection of non-metallic composite panels, and display the quality status of the composite panels in real time. The detection speed is fast, the detection data can be analyzed in real time, the display is intuitive, the data interpretation is convenient, and the detection accuracy is high.

[0063] The above embodiments of the present invention are merely illustrative and not exclusive, and all modifications within the scope of the present invention or equivalent to the scope of the present invention are encompassed by the present invention.

Claims

1. A composite material plate ultrasonic inspection robot, characterized in that: The invention comprises a driving module (1), a guide rail support module (2) and a main control module (3), wherein the guide rail support module (2) is a square frame, and cylindrical supports (21) are provided on both sides of the square frame. The driving module (1) is provided with a rubber suction cup (18) at the bottom thereof and is arranged at both ends of the guide rail support module (2). The driving module (1) controls the vacuum degree of the rubber suction cup (18) through an internal micro-diaphragm vacuum pump to control the detection robot to be adsorbed and fixed on the surface of the inspected composite material plate (4); the main control module (3) is arranged on the cylindrical support (21) and can move left and right along the cylindrical support (21). The driving module (1) establishes a connection with the main control module (3) through a wireless transmission module, and the main control module (3) transmits instructions and data through the wireless transmission module to control the driving module (1). The block (1) can realize horizontal and vertical movement; the main control module (3) comprises a main control module chassis (31), a phased array module (32), a phased array probe (35), a water tank (34) and an electric telescopic rod (36); the main control module chassis (31) is located in the middle of the main control module (3); the phased array module (32) and the water tank (34) are located on both sides of the main control module chassis (31); the water tank (34) provides coupling agent for the phased array probe (35); the electric telescopic rod (36) is located at the bottom of the main control module chassis (31) to realize the lifting and lowering of the phased array probe (35); the phased array module (32) processes the detection data and wirelessly transmits the detection data to the mobile terminal device (5) for data analysis and evaluation, thereby realizing ultrasonic automatic detection of the composite plate.

2. The composite material plate ultrasonic detection robot according to claim 1, characterized in that: The driving module (1) comprises a driving module chassis (11), a support arm (15), a support column (17) and a rubber suction cup (18); the two support arms (15) are arranged perpendicular to each other; the two ends of the support arms (15) are respectively connected to a rubber suction cup (18) via a cylindrical support column (17); a wireless transmission module and a servo motor module (19) are arranged inside the driving module chassis (11); a spur gear is arranged at the front end of the servo motor module (19); a spur gear guide rail (16) is arranged in the middle of the support arm (15); the spur gear guide rail (16) is meshed with the spur gear of the servo motor module (19) inside the driving module chassis (11); the servo motor rotates in forward and reverse directions to accurately control the left and right displacement of the support arm (15); the relative movement of the two mutually perpendicular support arms (15) can realize the left and right and up and down movement of the robot on the surface of the inspected composite material plate (4), thereby realizing comprehensive inspection of the composite plate.

3. The composite material plate ultrasonic detection robot according to claim 2, characterized in that: The surface of the drive module chassis (11) is provided with a push switch (13), a power indicator light (12) and a USB interface (14).

4. The composite material plate ultrasonic detection robot according to claim 1, characterized in that: The guide rail support module (2) is a square frame formed by welding cylindrical aluminum alloy steel pipes, wherein the two aluminum alloy steel pipes on the long sides are cylindrical supports (21), and the two aluminum alloy steel pipes on the short sides are provided with two vertically downward pillars in the middle, which are used to connect with the drive module (1); a straight tooth guide rail 2 (22) is provided in the middle of the cylindrical support (21), which is used to connect with the main control module chassis (31) of the main control module (3).

5. The composite material plate ultrasonic detection robot according to claim 1, characterized in that: The main control module chassis (31) comprises a servo motor module 2 (311), a servo motor module 3 (312) and a spur guide rail 3 (313); the upper part of the electric telescopic rod (36) is connected to the servo motor module 3 (312), and the lower part is connected to the phased array probe (35); the lifting and lowering of the phased array probe (35) can be achieved by controlling the extension and retraction of the electric telescopic rod (36), and stable pressure can be provided for the phased array probe (35); the servo motor module 2 (311) is arranged inside the main control module chassis (31); a spur gear is arranged at the front end of the servo motor module 2 (311); the spur gear is meshed with the spur guide rail 2 (22) of the guide rail bracket module (2); by controlling the servo motor to rotate in forward and reverse directions, the main control module (3) is controlled to move left and right on the guide rail bracket module (2), thereby realizing the reciprocating scanning of the phased array probe (35) on the surface of the inspected composite plate.

6. The composite material plate ultrasonic detection robot according to claim 1, characterized in that: The main control module chassis (31) is provided with two guide rail holes (33) in the middle thereof, which match the size of the cylindrical support (21) of the guide rail support module (2); the cylindrical support (21) passes through the guide rail holes (33), so that the main control module (3) and the guide rail support module (2) are combined together.

7. The composite material plate ultrasonic detection robot according to claim 1, characterized in that: A rectangular track (37) is provided at the bottom of the main control module chassis (31), a concave structure at the top of the electric telescopic rod (36) is embedded in the track (37), a driving motor is provided at the top of the concave structure, a spur gear at the front end of the driving motor is meshed with a spur gear guide rail (313) at the bottom of the main control module chassis (31), and the electric telescopic rod (36) is controlled to move forward and backward on the track (37) at the bottom of the main control module chassis (31) by controlling the servo motor to rotate in forward and reverse directions, thereby realizing reciprocating scanning of the phased array probe (35) on the surface of the inspected composite plate.

8. The composite material plate ultrasonic detection robot according to claim 1, characterized in that: A circular water tank cover (341) is provided on the upper part of the water tank (34), and an ultrasonic liquid coupling agent is added therein. The coupling agent is pumped to the lower part of the phased array probe (35) through a plastic conduit (342) by a compression pump inside the water tank, so that the phased array probe (35) is well coupled with the composite plate to be inspected.

9. The composite material plate ultrasonic inspection robot according to any one of claims 1 to 8, characterized in that: The phased array module (32) is externally provided with a second push switch (321), a liquid crystal display (322), a charging interface (323) and an antenna (324); the second push switch (321) controls the start and stop of the main control module (3); the liquid crystal display (322) displays the power level, working status and related instructions; the charging interface (323) is used for charging the main control module (3); the antenna (324) is used for connecting and controlling the drive module (1); and the antenna (324) is also used for remotely connecting to a mobile terminal device (5), remotely controlling the detection robot, and wirelessly transmitting detection data.

10. A detection method of a composite material plate ultrasonic detection robot according to any one of claims 1 to 9, characterized in that: The steps include: 1) Selecting a phased array probe (35) of a corresponding type according to the composite material plate (4) to be inspected; 2) Installing the phased array probe (35) at the front end of the electric telescopic rod (36), and inserting the probe line of the phased array probe (35) into the interface of the main control module chassis (31); 3) Insert two plastic tubes (342) into the coupling agent interface of the phased array probe (35), connect the other ends to the coupling agent interface on the side of the water tank (34), add liquid coupling agent into the water tank (34), and tighten the water tank cover (341); 4) Press the second push switch (321) and the first push switch (13) in sequence to start the main control module (3) and the drive module (1); 5) placing the inspection robot parallel to the inspected composite material plate (4), with all rubber suction cups (18) in parallel contact with the surface of the inspected composite material plate (4), starting the micro diaphragm vacuum pump inside the driving module (1), and firmly adsorbing the inspection robot on the surface of the inspected composite material plate (4); 6) operating the electric telescopic rod (36) to press the phased array probe (35) onto the surface of the inspected composite material plate (4), and starting the water pump of the water tank (34) to pump the liquid coupling agent to the lower part of the phased array probe (35) through the plastic conduit (342); 7) Start the detection, the main control module (3) moves from left to right, the phased array module (32) collects data in real time, and transmits it to the mobile terminal device (5) through the antenna (324); 8) After the main control module (3) moves to the rightmost end of the guide rail support module (2), the electric telescopic rod (36) moves downward along the track (37), and the moving distance is half the length of the phased array probe (35), and then the main control module (3) moves to the left along the guide rail support module (2); 9) After the main control module (3) moves to the leftmost end of the guide rail support module (2), the electric telescopic rod (36) moves downward along the track (37), and the moving distance is half the length of the phased array probe (35), and the main control module (3) moves to the right along the guide rail support module (2); and so on, until the entire inspection area is completed; 10) The phased array module (32) collects the detection data in real time and transmits it to the mobile terminal device (5). The detection personnel analyze and evaluate the detection data through the mobile terminal software.

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