Nondestructive testing equipment for composite component

Abstract

The invention relates to the technical field of ultrasonic welding, in particular to composite component nondestructive testing equipment which comprises a collaborative robot, an ultrasonic testing unit, a workpiece rotating unit and a workpiece rotating unit. A coupling cavity for accommodating a coupling agent, and a liquid inlet and a liquid outlet which are communicated with the coupling cavity are formed in the mounting seat, and the liquid outlet and a detection probe which extends into the coupling cavity and is immersed into the coupling agent are coaxially arranged; the collaborative robot drives the detection unit to execute detection, and the workpiece rotation unit and the workpiece rotation unit drive the workpiece to rotate and cooperate with each other, so that the detection unit can quickly reach a detection part, the detection efficiency is improved, a profiling motion track can be established to realize overall full-coverage detection, detection dead angles are inhibited, and the detection precision is improved. Meanwhile, the coupling agent forms a continuous liquid column between the liquid outlet and the workpiece, the detection probe emits ultrasonic waves, and the ultrasonic waves are transmitted in the liquid and enter the workpiece for nondestructive detection.

Description

Technical Field

[0001] The present invention relates to the field of ultrasonic testing technology, and in particular to non-destructive testing equipment for composite components. Background Art

[0002] Nondestructive testing of composite materials is a key technology for ensuring their quality and safety, particularly in aerospace, automotive, wind power, and other fields. Due to the anisotropic, multi-layered structure and complex damage patterns (such as delamination, porosity, fiber breakage, inclusions, debonding, and wrinkling) of composite materials, ultrasonic testing is often used for defect detection. However, current ultrasonic testing equipment often faces operational difficulties, time-consuming, and incomplete inspections for complex annular parts and irregularly shaped curved components. Furthermore, ultrasonic testing requires water as a coupling medium, and conventional testing requires the probe, workpiece, and clamping mechanism to be submerged in water. Prolonged immersion can affect the clamping mechanism. Summary of the Invention

[0003] The technical problem to be solved by the present invention is: in order to solve the problems that the ultrasonic testing equipment in the existing technology often has difficulties in operation, takes a long time and is not comprehensive when testing complex annular parts and special-shaped curved surface components, and ultrasonic testing requires the use of water as a coupling medium. During conventional testing, the detection probe, workpiece and clamping mechanism need to be immersed in water, and long-term immersion will affect the clamping mechanism. A non-destructive testing device for composite components is now provided.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solution: a non-destructive testing device for composite components, comprising: A collaborative robot that can move back and forth along the X-axis; An ultrasonic detection unit, connected to the end effector unit of the collaborative robot, comprising a detection probe and a mounting base for mounting the detection probe. The mounting base is internally formed with a coupling cavity for accommodating a coupling agent, a liquid inlet and a liquid outlet communicated with the coupling cavity. The liquid outlet is located at the bottom of the coupling cavity and is coaxially arranged with the detection probe extending into the coupling cavity and immersed in the coupling agent, and is used to form a continuous liquid column between the liquid outlet and the workpiece for transmission of ultrasonic waves emitted by the detection probe. A workpiece rotation unit, which is used to drive the workpiece to rotate around the X-axis; and a workpiece rotating unit, which is used to drive the workpiece to rotate around the Y axis.

[0005] Furthermore, the cross-sectional area of ​​the liquid outlet is smaller than the cross-sectional area of ​​the liquid inlet, and the height of the liquid inlet is higher than the lower end surface of the detection probe.

[0006] Furthermore, it also includes a laser modeling unit, and the laser modeling unit and the ultrasonic detection unit are alternately and detachably mounted on the end execution unit of the collaborative robot.

[0007] Furthermore, it also includes a coupling agent circulation unit, which includes a liquid storage tank located below the workpiece for receiving the coupling agent and a return pipe connected between the liquid storage tank and the liquid inlet, and the return pipe is sequentially installed with a filtering device, a defoaming device and a sterilizing device along the flow direction of the coupling agent.

[0008] Furthermore, it also includes a clamping unit for fixing the workpiece, which includes an air expansion shaft, and the air expansion shaft is connected to the output end of the workpiece rotation unit.

[0009] Furthermore, a quick-change unit is included, which includes a placement platform, wherein the placement platform is provided with a hanging groove for the laser modeling unit and the ultrasonic detection unit to enter and hang thereon, and a pressure mechanism for pressing the laser modeling unit and the ultrasonic detection unit in the hanging groove to separate them from the end execution unit.

[0010] Furthermore, the laser modeling unit and the ultrasonic detection unit are both formed with a step surface for abutting against the notch of the hanging slot, and a pressure plate is installed at the output end of the pressure mechanism.

[0011] Furthermore, the workpiece rotation unit includes a rotational power source, a base plate for mounting the rotational drive source, a driving wheel connected to the output end of the rotational power source, a driven wheel connected to the pneumatic shaft, and a synchronous belt wound around the driving wheel and the driven wheel, and the output end of the workpiece rotation unit is connected to the base plate.

[0012] Furthermore, a counterweight is installed on the side of the base plate away from the workpiece rotating unit, and a connecting plate is provided between the counterweight and the base plate, and the connecting plate is gradually inclined downward in a direction away from the workpiece rotating unit.

[0013] Furthermore, there are two liquid inlets, and both are at least partially offset from the detection probe.

[0014] The beneficial effects of the present invention are as follows: the present invention utilizes a collaborative robot to drive the detection unit to perform detection, and the workpiece rotation unit and the workpiece rotation unit drive the workpiece to rotate in coordination, which not only enables the detection unit to quickly reach the detection location and improve the detection efficiency, but also can establish a contoured motion trajectory to achieve overall full coverage detection and suppress the occurrence of detection blind spots. At the same time, during the detection process, the coupling agent enters the coupling cavity from the liquid inlet to immerse the detection probe, and flows to the workpiece through the liquid outlet under the action of gravity. The coupling agent forms a continuous liquid column between the liquid outlet and the workpiece, and the detection probe emits ultrasonic waves. The ultrasonic waves are transmitted in the liquid and enter the workpiece for non-destructive testing, without the need to immerse the workpiece and the clamping mechanism in the coupling agent, thereby extending the service life of the clamping mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be further described below with reference to the accompanying drawings and examples.

[0016] Figure 1 is a three-dimensional schematic diagram of the present invention; Figure 2 It is a three-dimensional schematic diagram of the present invention from a first perspective after removing the main frame unit and the workpiece; Figure 3 It is a three-dimensional schematic diagram of the second perspective of the present invention after removing the main frame unit and the workpiece; Figure 4 It is a schematic diagram of the cooperation between the workpiece rotary unit and the workpiece rotation unit of the present invention; Figure 5 It is a structural schematic diagram of the detection probe of the present invention; Figure 6 is a cross-sectional view of the detection probe of the present invention; Figure 7 It is a structural schematic diagram of the quick-change unit of the present invention; Figure 8 It is an operational flow chart of the present invention.

[0017] In the picture: 1. Collaborative robot; 101. End effector unit; 102. Main quick-release connector; 2. Ultrasonic detection unit; 201. Mounting base; 2011. Coupling cavity; 202. Detection probe; 203. Liquid inlet; 204. Liquid outlet; 205. First quick-release connector; 3. Workpiece rotation unit; 301. Base plate; 302. Rotational power source; 303. Driving wheel; 304. Driven wheel; 305. Synchronous belt; 306. Counterweight; 307. Connecting plate; 4. Workpiece rotation unit; 5. Light modeling unit; 501. Second pair of quick-release connectors; 6. Couplant circulation unit; 601. Liquid storage tank; 602. Return pipe; 603. Filtering equipment; 604. Defoaming equipment; 605. Sterilization equipment; 7. Clamping unit; 8. Quick-change unit; 801. Placement platform; 802. Hanging slot; 803. Pressing mechanism; 804. Pressing plate; 9. Main frame unit; 10. Detection data visualization unit; 11. Workpiece; 12. Linear reciprocating drive mechanism. DETAILED DESCRIPTION

[0018] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating the basic structure of the present invention only in a schematic manner. They therefore only show components relevant to the present invention, and directions and references (e.g., up, down, left, right, etc.) may be used solely to facilitate the description of features in the drawings. The following detailed description is therefore not to be taken in a limiting sense, and the scope of the claimed subject matter is defined solely by the appended claims and their equivalents.

[0019] like Figure 1-Figure 7 As shown, a non-destructive testing device for composite components includes a collaborative robot 1, an ultrasonic testing unit 2, a workpiece rotation unit 3 and a workpiece rotation unit 4; The collaborative robot 1 is a six-axis robot that can reciprocate along the X-axis (i.e., along the length of the workpiece 11), thereby forming a seventh axis. The driving source of the seventh axis is a linear reciprocating drive mechanism 12, which can be, but is not limited to, a linear module, a pneumatic cylinder, or an oil cylinder. The collaborative robot 1 that reciprocates along the length of the workpiece 11 can drive the ultrasonic detection unit 2 to perform inspections along the entire length of the workpiece 11, and the slide rail and slider combination can provide guidance for the movement of the collaborative robot 1 during the process. The ultrasonic detection unit 2 is connected to the end effector unit 101 of the collaborative robot 1 and includes a detection probe 202 and a mounting base 201 for mounting the detection probe 202. The mounting base 201 has a coupling cavity 2011 for accommodating a coupling agent, a liquid inlet 203 and a liquid outlet 204 in communication with the coupling cavity 2011. The liquid outlet 204 is located at the bottom of the coupling cavity 2011 and is coaxially arranged with the detection probe 202 that extends into the coupling cavity 2011 and is immersed in the coupling agent. The liquid outlet 204 is used to form a continuous liquid column between the liquid outlet 204 and the workpiece 11 for the transmission of ultrasonic waves emitted by the detection probe 202. The workpiece rotating unit 3 is used to drive the workpiece 11 to rotate around the X axis; The workpiece rotation unit 4 is used to drive the workpiece 11 to rotate around the Y-axis, that is, the rotation axes of the workpiece rotation unit 4 and the workpiece rotation unit 3 are perpendicular to each other. The two can cooperate with the collaborative robot 1 to perform contour-matching movements so that the ultrasonic detection unit 2 can quickly reach the part of the workpiece 11 to be detected for detection. When the detection probe 202 is detecting, its detection surface needs to be perpendicular to the normal of the workpiece 11. Although the detection probe 202 can be driven by the six-axis robot to reach most positions of the workpiece 11, since the workpiece 11 often has irregular curved surfaces and R angles, the detection unit is driven by the collaborative robot 1 to perform detection, and the workpiece rotation unit 3 and the workpiece rotation unit 4 drive the workpiece 11 to rotate and cooperate to reach any position of the workpiece 11 for all-round detection.

[0020] During operation, the collaborative robot 1 drives the detection unit to perform detection, and the workpiece rotation unit 3 and the workpiece rotation unit 4 drive the workpiece 11 to rotate and cooperate with each other, which not only enables the detection unit to quickly reach the detection position and improve the detection efficiency, but also can establish a contoured motion trajectory to achieve overall full coverage detection and suppress the occurrence of detection blind spots. During the detection process, the coupling agent enters the coupling cavity 2011 from the liquid inlet 203 to immerse the detection probe 202, and is sprayed onto the workpiece 11 through the liquid outlet 204. The coupling agent forms a continuous liquid column between the liquid outlet 204 and the workpiece 11, and the detection probe 202 emits ultrasonic waves. The ultrasonic waves are transmitted in the liquid and enter the workpiece 11 for non-destructive testing, without the need to immerse both the detection probe 202 and the workpiece 11 in the coupling agent.

[0021] In some examples, the cross-sectional area of ​​the liquid outlet 204 is smaller than the cross-sectional area of ​​the liquid inlet 203, and the height of the liquid inlet 203 is higher than the lower end surface of the detection probe 202, thereby ensuring that the liquid inlet volume is always greater than the liquid outlet volume. At the same time, the liquid inlet 203 higher than the lower end surface of the detection probe 202 can ensure that the detection probe 202 is always immersed in the coupling agent, thereby preventing the detection probe 202 from escaping from the coupling agent and causing the liquid column to be interrupted.

[0022] In some examples, a laser modeling unit 5 is also included. The laser modeling unit 5 and the ultrasonic detection unit 2 are alternately and detachably mounted on the end execution unit 101 of the collaborative robot 1. The laser modeling unit 5 can be a laser profiler, which can scan and model the contour of the workpiece 11 to provide a basis for the path planning of the collaborative robot 1.

[0023] In some examples, a coupling agent circulation unit 6 is further included, which includes a liquid storage tank 601 located below the workpiece 11 for receiving the coupling agent and a return pipe 602 connected between the liquid storage tank 601 and the liquid inlet 203. The return pipe 602 is sequentially installed with a filtering device 603, a defoaming device 604 and a sterilizing device 605 along the flow direction of the coupling agent. The defoaming device 604 is installed with a liquid level gauge, and the sterilizing device 605 uses ultraviolet rays for sterilization; the return pipe 602 includes a hard pipe section and a soft pipe section. The hard pipe section is fixed in the main frame unit by a support member. One end of the soft pipe section is connected to the hard pipe section, and the other end is connected to the liquid inlet 203.

[0024] In some examples, a clamping unit 7 for fixing the workpiece 11 is also included, which includes an air-expanding shaft connected to the output end of the workpiece rotating unit 3 . The air-expanding shaft cooperates with a special transition sleeve for the workpiece 11 to inflate and tighten the workpiece 11 .

[0025] In some examples, a quick-change unit 8 is further included, which includes a placement platform 801, wherein the placement platform 801 is provided with a hanging groove 802 for the laser modeling unit 5 and the ultrasonic detection unit 2 to enter and hang thereon, and a pressing mechanism 803 for pressing the laser modeling unit 5 and the ultrasonic detection unit 2 in the hanging groove 802 to separate them from the end effector 101; At least one end of the hanging groove 802 has an opening for the laser modeling unit 5 and the ultrasonic detection unit 2 to enter. There are at least two hanging grooves, one of which is used to place the laser modeling unit 5 and the other is used to place the ultrasonic detection unit 2. The shape of the hanging groove 802 can be U-shaped; A main quick-release joint 102 is installed on the end execution unit 101, a first secondary quick-release joint 205 that cooperates with the main quick-release joint 102 is installed on the ultrasonic detection unit 2, and a second secondary quick-release joint 501 that cooperates with the main quick-release joint 102 is installed on the laser modeling unit 5. The pressure-applying mechanism 803 can be a linear drive mechanism or a rotary drive mechanism. The linear drive mechanism can be lifted and lowered linearly to apply pressure to the ultrasonic detection unit 2 or the laser modeling unit 5. It can be but not limited to a cylinder, a telescopic rod or a rotary cylinder, etc. The rotary drive mechanism can rotate to the top of the ultrasonic detection unit 2 or the laser modeling unit 5 to apply pressure thereon. It can be a motor. When the end execution unit 101 drives the laser modeling unit 5 or the ultrasonic detection unit 2 into the hanging slot 802, the pressure-applying mechanism 803 applies pressure to the laser modeling unit 5 or the ultrasonic detection unit 2, and the main quick-release joint 102 is separated from the secondary quick-release joint, so that the laser modeling unit 5 or the ultrasonic detection unit 2 remains on the placement platform 801.

[0026] In some examples, the laser modeling unit 5 and the ultrasonic detection unit 2 are both formed with a step surface for abutting against the notch of the hanging groove 802, so that they can be hung on the placement platform 801, and the output end of the pressure mechanism 803 is installed with a pressure plate 804, and the pressure mechanism 803 is installed at the bottom of the placement platform 801, and its output end extends out of the placement platform 801 and is fixed to the pressure plate 804, and a bolt is installed at the end of the pressure plate 804 facing away from the pressure mechanism 803, and the nut of the bolt forms a pressure surface.

[0027] In some examples, the workpiece rotating unit 3 includes a rotary power source 302, a base plate 301 for mounting the rotary power source 302, a driving wheel 303 connected to the output end of the rotary power source 302, a driven wheel 304 connected to the pneumatic shaft, and a synchronous belt 305 wound around the driving wheel 303 and the driven wheel 304. The output end of the workpiece rotating unit 4 is connected to the base plate 301. The rotary power source 302 can be a servo motor. When the rotary power source 302 is started, it drives the driving wheel 303 to rotate. The driving wheel 303 drives the driven wheel 304 to rotate through the synchronous belt 305, driving the air shaft and the workpiece 11 thereon to rotate synchronously around the X-axis. The driven wheel 304 is equipped with a rotary air joint to ventilate the air shaft. The workpiece rotating unit 4 may also be a servo motor. When the workpiece rotating unit 4 is started, the substrate 301 and the workpiece 11 thereon are driven to rotate around the Y-axis.

[0028] In some examples, a counterweight block 306 is installed on the side of the base plate 301 away from the workpiece rotation unit 3, the workpiece rotation unit 4 is located between the workpiece rotation unit 3 and the counterweight block 306, and a connecting plate 307 is provided between the counterweight block 306 and the base plate 301. The connecting plate 307 gradually tilts downward in the direction away from the workpiece rotation unit 3, thereby reducing the length of the connecting plate 307 and thereby reducing the volume of the entire setting.

[0029] In some examples, there are two liquid inlets 203, and both are at least partially offset from the detection probe 202, so that most of the liquid flowing out of the liquid inlet 203 will not directly collide with the detection probe 202, thereby reducing the probability of bubble generation and preventing the liquid column from being interrupted after a large number of bubbles are generated.

[0030] Working principle: First, the workpiece 11 is manually loaded and clamped by the pneumatic shaft. Then, the laser modeling unit 5 scans and models the workpiece 11. After receiving the signal, the collaborative robot 1 performs path planning and drives the detection unit to perform the detection. At the same time, the workpiece rotation unit 3 and the workpiece rotation unit 4 drive the workpiece 11 to rotate and cooperate. This not only enables the detection unit to quickly reach the detection location and improve the detection efficiency, but also establishes a contour motion trajectory to achieve overall full coverage detection and avoid the occurrence of detection blind spots. During the inspection process, the coupling agent enters the coupling cavity 2011 from the liquid inlet 203 and immerses the inspection probe 202. Under the action of gravity, it flows through the liquid outlet 204 to the workpiece 11. The coupling agent forms a continuous liquid column between the liquid outlet 204 and the workpiece 11. The inspection probe 202 emits ultrasonic waves, which are transmitted in the liquid and enter the workpiece 11 for non-destructive inspection. The reflected sound waves are collected and analyzed to generate an inspection report. Finally, the material is manually unloaded and the above process is repeated for the next round of inspection. Figure 8 shown.

[0031] With the above-described preferred embodiments of the present invention as a guide, and with reference to the above description, relevant personnel are fully capable of making various changes and modifications without departing from the technical scope of this invention. The technical scope of this invention is not limited to the contents of the specification and must be determined according to the scope of the claims.

Claims

1. A nondestructive testing device for composite components, characterized by: include: A collaborative robot (1) capable of reciprocating along an X-axis direction; An ultrasonic detection unit (2) connected to the end execution unit (101) of the collaborative robot (1) comprises a detection probe (202) and a mounting base (201) for mounting the detection probe (202), wherein a coupling cavity (2011) for accommodating a coupling agent, a liquid inlet (203) and a liquid outlet (204) in communication with the coupling cavity (2011) are formed inside the mounting base (201), wherein the liquid outlet (204) is located at the bottom of the coupling cavity (2011) and is coaxially arranged with the detection probe (202) extending into the coupling cavity (2011) and immersed in the coupling agent, and is used to form a continuous liquid column between the liquid outlet (204) and the workpiece (11) for transmission of ultrasonic waves emitted by the detection probe (202); A workpiece rotation unit (3) for driving the workpiece (11) to rotate about the X-axis; and a workpiece rotating unit (4), which is used to drive the workpiece (11) to rotate around the Y axis.

2. The nondestructive testing equipment for composite components according to claim 1, characterized in that: The cross-sectional area of ​​the liquid outlet (204) is smaller than the cross-sectional area of ​​the liquid inlet (203), and the height of the liquid inlet (203) is higher than the lower end surface of the detection probe (202).

3. The nondestructive testing equipment for composite components according to claim 1, characterized in that: It also includes a laser modeling unit (5), wherein the laser modeling unit (5) and the ultrasonic detection unit (2) are alternately and detachably mounted on the end execution unit (101) of the collaborative robot (1).

4. The nondestructive testing equipment for composite components according to claim 1, characterized in that: The invention also includes a coupling agent circulation unit (6), which includes a liquid storage tank (601) located below the workpiece (11) for receiving the coupling agent and a return pipe (602) connected between the liquid storage tank (601) and the liquid inlet (203), wherein a filtering device (603), a defoaming device (604) and a sterilizing device (605) are sequentially installed on the return pipe (602) along the flow direction of the coupling agent.

5. The nondestructive testing equipment for composite components according to claim 1, characterized in that: It also includes a clamping unit (7) for fixing the workpiece (11), which includes an air expansion shaft, and the air expansion shaft is connected to the output end of the workpiece rotation unit (3).

6. The nondestructive testing equipment for composite components according to claim 3, characterized in that: The quick-change unit (8) includes a placement platform (801), wherein the placement platform (801) is provided with a hanging groove (802) for the laser modeling unit (5) and the ultrasonic detection unit (2) to enter and be hung thereon, and a pressure mechanism (803) for pressing the laser modeling unit (5) and the ultrasonic detection unit (2) in the hanging groove (802) to separate them from the end execution unit (101).

7. The nondestructive testing equipment for composite components according to claim 6, characterized in that: The laser modeling unit (5) and the ultrasonic detection unit (2) are both formed with step surfaces for abutting against the notch of the hanging slot (802), and a pressure plate (804) is installed at the output end of the pressure mechanism (803).

8. The nondestructive testing equipment for composite components according to claim 5, characterized in that: The workpiece rotating unit (3) comprises a rotating power source (302), a base plate (301) for mounting the rotating power source (302), a driving wheel (303) connected to the output end of the rotating power source (302), a driven wheel (304) connected to the pneumatic shaft, and a synchronous belt (305) wound around the driving wheel (303) and the driven wheel (304). The output end of the workpiece rotating unit (4) is connected to the base plate (301).

9. The nondestructive testing equipment for composite components according to claim 8, characterized in that: A counterweight block (306) is installed on the side of the base plate (301) facing away from the workpiece rotating unit (3), and a connecting plate (307) is provided between the counterweight block (306) and the base plate (301), wherein the connecting plate (307) gradually tilts downward in a direction away from the workpiece rotating unit (3).

10. The nondestructive testing equipment for composite components according to claim 1, characterized in that: There are two liquid inlets (203), and both are at least partially offset from the detection probe (202).

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