Ultrasonic automatic detection system and method for shell shell

Abstract

The invention discloses a cannonball shell ultrasonic automatic detection system and method, and the system comprises a feeding system which is used for placing a to-be-detected cannonball shell to a to-be-detected station; the ultrasonic detection system adopts a water immersion method or a semi-water immersion method to synchronously carry out ultrasonic flaw detection (A scanning, B scanning and C scanning, and is also suitable for a phased array ultrasonic detection method) on the barrel body and the bottom of the shell to be detected; the air-blowing system is used for carrying out air-blowing drainage operation on the detected cannonball shell so as to ensure that the whole cannonball shell is dry; and the discharging and sorting system is used for respectively placing the detected cannonball shells to appointed stations according to qualified or unqualified cannonball shells. The system has the characteristics of high workpiece detection efficiency and high accuracy, can perform ultrasonic scanning on workpieces of different specifications through different programs, is a professional automatic flaw detection system, and has the advantages of strong anti-interference capability, stable waveform, high precision, high reliability, simplicity in operation, high safety and good maintainability. The system not only can be used for detecting various shell shells, but also can be used for detecting tube bars or shells with different specifications.

Description

Technical Field

[0001] The present invention belongs to the technical field of ultrasonic detection, and more specifically, relates to an automatic ultrasonic detection system and method for artillery shell casings. Background Art

[0002] Ultrasonic flaw detection is a method of inspecting defects in parts by utilizing the characteristic that when ultrasonic waves are incident on the interior of metal materials and reflected at the edge of the interface when they pass from one section to another, the ultrasonic waves are transmitted from the surface of the part through the ultrasonic probe into the interior of the metal, and reflected waves are generated when they encounter defects and the bottom surface of the part, forming pulse waveforms on the fluorescent screen. The location and size of the defects are determined based on these pulse waveforms.

[0003] The cartridge case of a cylindrical artillery shell is typically made of metal and is quite thick, ranging from approximately 0.3mm at its thinnest point to around 30mm at its thickest. It can reach lengths up to 2000mm and diameters up to 300mm. Furthermore, the thickness of the cartridge base and the shell wall differ, ranging from approximately 0.5mm at its thinnest point to approximately 80mm at its thickest. This diverse overall shape of the cartridges creates high inspection requirements, posing significant challenges for flaw detection.

[0004] In the prior art, there are few flaw detection devices for artillery and ammunition cartridge casings, and the detection efficiency is low, making it impossible to achieve fully automated and batch flaw detection. Summary of the Invention

[0005] Purpose of the invention: The purpose of the present invention is to address the deficiencies in the prior art and to provide a system and method for ultrasonic automated detection of shell casings.

[0006] Technical solution: The present invention provides an automatic ultrasonic detection system for shell casings, comprising:

[0007] The loading system uses a robot or truss to place the shell casing to be inspected to the inspection station;

[0008] Ultrasonic testing system, using immersion or semi-immersion method to simultaneously perform ultrasonic flaw detection on the shell body and bottom of the shell to be tested (A scan, B scan, C scan, and phased array ultrasonic testing method is also applicable);

[0009] The air blowing system is used to blow out the shell casing after inspection to ensure its overall dryness;

[0010] The unloading and sorting system places the tested shell casings at designated workstations according to whether they are qualified or unqualified.

[0011] In some embodiments, the loading system includes a loading robot or truss and a loading trolley, and the loading robot or truss is equipped with a visual recognition system.

[0012] In some embodiments, the ultrasonic detection system includes a transport and clamping mechanism and a detection host mechanism, and the transport and clamping mechanism clamps the shell casing to be detected to the detection host mechanism for detection.

[0013] In some embodiments, the transport and clamping mechanism includes a column beam, a guide rail, a translation module, a lifting module, and a pneumatic clamp, and the pneumatic clamp includes a feed clamp and a discharge clamp.

[0014] In some embodiments, the detection host mechanism includes a detection water tank, a water circulation system, a shell detection module, a bottom detection module, a multi-channel flaw detector system, and a drive wheel module;

[0015] The shell detection module and the bottom detection module are both installed on the detection water tank and are used to perform ultrasonic detection on the shell and the bottom of the cylinder respectively; the detection probes in the shell detection module and the bottom detection module are both connected to the multi-channel flaw detector system, and the detection results are processed and analyzed by the host computer software;

[0016] The driving wheel module is located in the detection water tank and includes one or more groups, which are used to drive one or more groups of shell casings to rotate;

[0017] The water circulation system is located outside the detection water tank and is used to circulate the water in the detection water tank.

[0018] In some embodiments, the shell detection module includes a horizontal moving mechanism, a vertical lifting mechanism, and a shell multi-axis detection probe holder, wherein the vertical lifting mechanism is mounted on the horizontal moving mechanism, and the shell multi-axis detection probe holder is mounted on the vertical lifting mechanism;

[0019] One or more cylindrical shell probe groups are installed on the detection probe rack, and each cylindrical shell probe group has a separate cylinder to control its lifting.

[0020] In some embodiments, the bottom detection module includes a bottom horizontal moving mechanism, a bottom vertical lifting mechanism and a bottom multi-axis detection probe rack, the bottom vertical lifting mechanism is installed on the bottom horizontal moving mechanism, and the bottom multi-axis detection probe rack is installed on the bottom vertical lifting mechanism; one or more bottom detection probes are installed on the bottom detection probe rack.

[0021] In some embodiments, the air blowing system includes a unloading roller mechanism and a flipping and blowing mechanism, the unloading roller mechanism includes a unloading bracket and a conveying roller and a clamping claw installed on the unloading bracket; the flipping and blowing mechanism includes a flipping disk and a driving mechanism for driving the flipping disk to rotate, an air blowing device and two clamping components installed on the flipping disk.

[0022] In some embodiments, the unloading and sorting system includes an unloading robot, a shell transport trolley, and an NG transport trolley, and the unloading robot has a built-in visual system.

[0023] On the other hand, the present invention also discloses a working method of an automatic ultrasonic detection system for a shell casing, comprising:

[0024] S1. After processing, the metal cartridge to be tested is placed on the loading trolley, and the loading trolley is pushed into the limit position of the loading area;

[0025] S2: The loading robot uses the camera to locate and grab the cartridge to the positioning device. The gripper on the handling clamping mechanism is moved from the positioning device to the inspection station. The cartridge to be inspected is tilted into the water and inspected using the semi-immersion method.

[0026] During S3 inspection, the driving wheel module drives the cartridge workpiece to be inspected to rotate at a constant speed in the water tank. The shell probe group and the bottom inspection probe are respectively installed on the shell multi-axis inspection probe holder and the bottom multi-axis inspection probe holder. The shell multi-axis inspection probe holder automatically scans and detects flaws in the longitudinal direction of the workpiece according to the workpiece shape. The flaw detection probe uses water immersion normal focusing to detect defects inside and near the surface of the workpiece. The bottom multi-axis inspection probe holder simultaneously moves from the center to the edge or from the edge to the center to inspect the bottom edge of the workpiece. Since the two motion trajectories intersect during the rotation of the workpiece, the flaw detection process is completed.

[0027] S4. After the test is completed, the discharge clamp in the handling and clamping mechanism grabs the workpiece after the test and lifts it up and transports it to the unloading roller mechanism. At the same time, the feed clamp synchronously grabs the cartridge to be tested from the positioning device and takes it to the testing station for testing. The above test steps are repeated;

[0028] The unloading roller mechanism transfers the inspected medicine cartridge to the flipping and blowing mechanism, which rotates the cartridge downward, pours out the water in the cartridge and quickly removes the water in the cartridge through the air blowing device. The cartridge is then rotated 180 degrees to the cartridge removal station. At this time, the multi-channel flaw detector system sends a signal to the PLC, which controls the unloading robot to grab the defective workpiece and place it on the NG trolley. The qualified workpiece robot takes out the cartridge and places it on the shell transport. After the shell transport is full, it is pushed to the storage position and the inspection is completed.

[0029] Beneficial effects: The beneficial effects of the present invention are as follows:

[0030] (1) The loading system of the present invention includes a loading robot and a loading trolley. The loading robot is equipped with a visual recognition system and can accurately grab the cartridges arranged in the trolley. The grabbed cartridges are placed on a positioning device. The positioning device pushes the cartridges to the positioning point through a pneumatic device, ensuring that the clamping claws of the handling and clamping mechanism grab the cartridges and accurately place the cartridges into the detection station, thereby ensuring that the probe landing point is accurate.

[0031] (2) The ultrasonic detection system of the present invention includes a transporting and clamping mechanism and a detection host mechanism. The transporting and clamping mechanism clamps the shell to be inspected from the positioning device to the detection host mechanism for automatic ultrasonic detection, which has a high degree of automation. The detection host mechanism includes a detection water tank, a water circulation system, a shell detection module, a bottom detection module, a multi-channel flaw detector system and a driving wheel module. By synchronously detecting the shell and the bottom, the detection efficiency and detection accuracy are improved.

[0032] (3) The detection probes in the cartridge shell detection module of the present invention include 2-16 probes per group according to different specifications of the cartridge body, specifically 2 groups of cartridge shell longitudinal damage detection probes (multiple probes with a frequency of 5 MHZ or above are used to detect longitudinal damage, one is incident along the shell to the left, and the other is incident along the shell to the right to avoid missing defects in different directions, meeting the requirements of 0.1*0.1*10mm, 0.1*0.3*10mm, 0.1*0.5*10mm, 0.1*1*10mm scale line flaw detection), 2 groups of cartridge shell transverse damage detection probes (composed of multiple probes with a frequency of 5 MHZ or above, 1 or more probes in a group, and two groups of probes arranged back to back to avoid missing defects in different directions). The probe rack adopts a modular quick-change structure, which can quickly replace the probes. During shell detection, each group of probes is independently controlled and falls in turn.

[0033] (4) The system of the present invention is based on the structure and material properties of the detection object. The cartridge shell as a whole adopts a semi-immersion line focusing detection method. The operation mode adopts the method of rotating the shell and moving the probe in a straight line. The probes all adopt a water film focusing method and focus on the arc surface with a radius r. The center of the probe is fixed directly above the workpiece. The distance H between the probe and the detection pipe is adjusted by adjusting the screw rod up and down to achieve the purpose of adjusting the focal length. By adjusting the probe angle, the incident angle of the sound wave is adjusted. When adjusting the artificial defect, the water layer distance and the incident angle of the probe and the pipe body are adjusted according to the specifications of the detection pipe to obtain the ideal state.

[0034] (5) Two clamping assemblies are installed on one side of the flip disk of the present invention, one of which includes a first bracket and a first clamping claw, and the other clamping assembly includes a second bracket and a second clamping claw; when the clamping station is parallel to the conveyor belt, the shell of the cartridge moves forward in sequence and falls to the clamping station. The clamping station holds the shell tightly and rotates 90 degrees to form a configuration in which the left shell opening is downward and the right shell opening is upward. The shell with the left opening downward is just above the air nozzle of the air blowing device, and the air nozzle blows the inside of the cartridge shell dry. The shell with the right opening upward is rotated 180 degrees to the right station after being blown dry at the left station. At the same time, the upward opening just meets the need of the internal support clamp of the unloading robot to grab the shell. After the robot takes away the cartridge, the empty clamping station rotates 90 degrees and returns to the bottom of the conveyor belt. The conveyor belt drops the shell into the empty clamping station, and the cycle repeats.

[0035] (6) The detection system and method of the present invention are characterized by high efficiency and high accuracy in detecting workpieces. Through different programs, workpieces of different specifications can be subjected to UT scanning. It is a professional automated flaw detection system with strong anti-interference ability, stable waveform, high precision, high reliability, simple operation, high safety and good maintainability. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A schematic diagram of the overall structure of a system according to an embodiment of the present invention;

[0037] Figure 2 This is a schematic structural diagram of a transport and clamping mechanism according to an embodiment of the present invention;

[0038] Figure 3 A schematic diagram of the structure of a detection host mechanism according to an embodiment of the present invention;

[0039] Figure 4 This is a schematic structural diagram of a multi-axis detection probe frame for a cylindrical shell according to an embodiment of the present invention;

[0040] Figure 5 A schematic diagram of the layout of detection probes according to an embodiment of the present invention;

[0041] Figure 6 This is a schematic diagram of the cartridge shell detection principle according to an embodiment of the present invention;

[0042] Figure 7 This is a schematic structural diagram of an air blowing system according to an embodiment of the present invention;

[0043] Figure 8 This is a schematic structural diagram of a flip blowing mechanism according to an embodiment of the present invention;

[0044] Figure 9 This is a schematic diagram of the hardware structure of a control system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0045] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0046] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "inside", "outside", etc., indicating the orientation or position relationship are the orientation or position relationship shown, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0047] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0048] The present invention will be further described in detail below through specific implementation examples in conjunction with the accompanying drawings.

[0049] Example 1

[0050] like Figure 1 As shown, a shell casing ultrasonic automatic detection system includes:

[0051] The loading system uses a robot or truss to place the shell casing to be inspected to the inspection station;

[0052] Ultrasonic testing system, using water immersion or semi-water immersion method to simultaneously perform ultrasonic flaw detection on the shell body and bottom of the shell to be tested (A scan, B scan, C scan);

[0053] The air blowing system is used to blow out the shell casing after inspection to ensure its overall dryness;

[0054] The unloading and sorting system places the tested shell casings at designated workstations according to whether they are qualified or unqualified.

[0055] The ultrasonic automatic detection system in this embodiment can be used not only in the field of shell casing detection, but also in the detection of pipes and rods.

[0056] In this embodiment, Figure 1As shown, the loading system includes a loading robot 1 (or a truss system) and a loading cart 2. The loading robot 1 or truss system is equipped with a vision recognition system. The loading robot 1 is a Kuka six-axis robot. Using its attached vision system, the robot grasps the cartridges arranged in the cart and places them on a positioning device 11. The positioning device 11 pneumatically pushes the cartridges to a designated point, ensuring that the gripper of the handling and clamping mechanism accurately grasps the cartridges and places them into the inspection station, ensuring accurate probe placement.

[0057] The contact position between the loading trolley 2 and the cartridge shell is made of nylon to prevent collision. Four wheels are installed at the bottom so that people can push it freely. The bottom of the trolley is welded with a forklift fork to fix the fork arm when the material tray is transferred.

[0058] In this embodiment, Figures 1 to 3 As shown, the ultrasonic detection system includes a transport and clamping mechanism 9 and a detection host mechanism 3. The transport and clamping mechanism 9 clamps the shell to be detected from the positioning device 11 to the detection host mechanism 3 for ultrasonic detection.

[0059] like Figure 2 As shown, the transport and clamping mechanism 9 includes two columns 91, a crossbeam 92, a guide rail 93, a translation module 94, a lifting module 95, and a pneumatic clamp. The pneumatic clamp includes a feed clamp 97 and a discharge clamp 98. The translation module 94 is slidably connected to the guide rail 93 and moves horizontally along the guide rail 93. The lifting module 95 is mounted on the translation module 94, and the pneumatic clamp is mounted on the lifting module 95. The feed clamp 97 and the discharge clamp 98 are connected by a connecting bracket 96. The feed clamp 97 is used to grab the cartridge shell to be inspected at the positioning device 11, while the discharge clamp 98 clamps the inspected cartridge shell to the discharge position. At the same time, the pneumatic clamp is equipped with a self-locking device to prevent the jaws from opening and causing the shell to slip when the power is cut off or the gas is cut off.

[0060] like Figure 1 and Figure 3 As shown, the detection host mechanism 3 includes a detection water tank 31, a water circulation system 10, a cylinder shell detection module, a cylinder bottom detection module, a multi-channel flaw detector system and a driving wheel module 311; the cylinder shell detection module and the cylinder bottom detection module are both installed on the detection water tank 31, and are used to perform ultrasonic detection on the cylinder shell and the cylinder bottom respectively; the detection probes in the cylinder shell detection module and the cylinder bottom detection module are both connected to the multi-channel flaw detector system, and the flaw detection results are processed and analyzed by the software in the host computer of the multi-channel flaw detector system.

[0061] The multi-channel flaw detector system utilizes Shanchao's latest multi-channel ultrasonic flaw detector, featuring full-test process storage, playback, head and tail removal, audible and visual alarms, full-channel monitoring, flaw detection report printing, and internal and external flaw marking signal output. Storage includes test data and waveforms for each tube and rod. The waveform graph displays the gate limit, and qualified and unqualified waveforms can be distinguished by color.

[0062] The driving wheel module 311 is located in the detection water tank and includes one or more groups for driving the shell casing to rotate. The driving wheel module 311 includes a driving motor and a driving shaft. Anti-slip driving rollers are installed on the driving shaft at intervals. The rotation drive of the cartridge to be tested is achieved by placing the cartridge on the driving rollers composed of two groups.

[0063] When multi-station testing is required, multiple sets of drive wheel modules can be set up. At the same time, in order to adapt to cartridge shells of different diameters, the spacing between each drive wheel module is adjustable, so that it can adapt to cartridge shells of different specifications ranging from Ø30 to 300mm at any time.

[0064] The water circulation system 10 is located outside the detection water tank 31 and is connected to the detection water tank 31, and is used to circulate and replace the water in the detection water tank 31. Water is used as the coupling medium during flaw detection, and effective coupling during ultrasonic detection needs to be ensured. The main function of the coupling water supply system is to control constant pressure and complete the circulation of coupling water, thereby ensuring perfect coupling of ultrasonic signals. The coupling water supply system of this equipment flows through the main water pipe, hose, probe, and ground groove to the underground sewage collection tank, and then pumped to the treatment device. The treatment device consists of a stainless steel water tank with a filter device, a circulation pump, and other parts. A low-pressure pump is used for coupling water circulation, and a high-pressure pump is used for high-pressure cleaning. A special liquid level switch is provided in the sump for coupling water system liquid level monitoring.

[0065] In this embodiment, Figure 3 and Figure 4 As shown, the cylinder shell detection module includes a horizontal moving mechanism 33, a vertical lifting mechanism 34 and a cylinder shell multi-axis detection probe frame 35. The vertical lifting mechanism 34 is installed on the horizontal moving mechanism 33, and the cylinder shell multi-axis detection probe frame 35 is installed on the vertical lifting mechanism 34; wherein, the horizontal moving mechanism 33 adopts a horizontal moving module composed of a slide rail, a slider and a screw, and the vertical lifting mechanism 34 is composed of a worm gear lifting reducer, a transmission chain, a lifting guide screw and a connecting table, and the worm gear drives the cylinder shell multi-axis detection probe frame 35 to move up and down.

[0066] like Figure 4As shown, one or more cylindrical shell probe assemblies are mounted on the detection probe rack 35. Each cylindrical shell probe assembly includes a separately controlled multi-axis drive mechanism 39 and a cylindrical shell detection probe assembly 310 mounted below. When single-station detection is required, a single cylindrical shell probe assembly is sufficient. When multi-station detection is required, multiple corresponding cylindrical shell probe assemblies can be installed.

[0067] The multi-axis drive mechanism 39 enables multi-directional position adjustment of the shell inspection probe assembly 310, achieving the optimal detection angle and range. The multi-axis drive mechanism 39's adjustable tracking device independently adjusts each probe's angle and water layer distance based on the size of the shell being inspected. Precision-crafted from stainless steel, copper, and high-strength aluminum alloy, the multi-axis drive mechanism can contour the shell's shape, ensuring the probe's angle remains constant during inspection.

[0068] like Figure 5 Figure 2 shows a schematic diagram of the specific probe arrangement of a cartridge shell inspection probe group 310 according to one embodiment of the present invention. Each cartridge shell inspection probe group 310 includes 2-16 probes per group, depending on the cartridge shell specifications. Specifically, it comprises two groups of cartridge shell longitudinal flaw detection probes (multiple probes with a frequency of 5 MHz or higher are used to detect longitudinal flaws. One probe is incident along the shell toward the left side, and the other is incident along the shell toward the right side to prevent missed defects in different directions, meeting the requirements of 0.1*0.1*10mm, 0.1*0.3*10mm, 0.1*0.5*10mm, and 0.1*1*10mm scribed line flaw detection); and two groups of cartridge shell transverse flaw detection probes (composed of multiple probes with a frequency of 5 MHz or higher, with one or more probes forming a group, and two groups of probes arranged back-to-back to prevent missed defects in different directions). The probe rack utilizes a modular quick-change structure, enabling rapid probe replacement. During shell inspection, each group of probes is independently controlled and lowered in turn.

[0069] The applicant needs to state that: Figure 5 This is only a schematic diagram of the specific probe arrangement of this embodiment. The specific structure is not limited to this structural layout form, and other structural forms with other quantities and layouts can also be adopted.

[0070] The probe's stainless steel housing effectively resists chemical attack from various water elements. The probe's composite wafer offers high sensitivity, short pulse oscillation cycles, clear waveforms, and minimal blind spots. The probe's top is equipped with a flexible cable, forming an integrated package that prevents coupling water from entering the probe and damaging it. It's also more stable than a connector.

[0071] In this embodiment, the diameter of the shell casing to be inspected ranges from 30mm to 300mm, and the length ranges from 30 to 2000mm. The cartridge body wall thickness ranges from approximately 0.3mm at the thinnest point to approximately 30mm at the thickest point; the cartridge bottom thickness ranges from approximately 1mm at the thinnest point to approximately 80mm at the thickest point; the shell mass is ≤60kg; and the cartridge product materials include steel, stainless steel, copper, aluminum, titanium, zirconium, plastic, carbon fiber, fiberglass, and composite materials. Ultrasonic flaw detection is performed according to the requirements.

[0072] In this embodiment, based on the structure and material properties of the detection object, the cartridge shell adopts a semi-immersion line focusing detection method as a whole, and the operation mode adopts a method in which the shell rotates and the probe moves forward in a straight line, such as Figure 6 As shown in the figure, the probes all adopt the water film focusing method, focusing through the arc surface of radius r; the center of the probe is fixed directly above the workpiece, and the distance H between the probe and the test pipe is adjusted by adjusting the screw up and down to achieve the purpose of adjusting the focal length. By adjusting the probe angle, the incident angle of the sound wave is adjusted, and when adjusting artificial defects, the water layer distance between the probe and the pipe body and the incident angle are adjusted according to the specifications of the test pipe to obtain the ideal state.

[0073] When testing, if Figure 6 As shown, optimal flaw detection results are achieved by ensuring the straightness and stability of the workpiece as it moves through the inspection area. The pitch between the probe and the inspected workpiece is less than 80% of the probe's effective acoustic beam width, ensuring 20%-25% overlap between the probe's detection areas and guaranteeing 100% detection within the inspection area. The system is equipped with an anti-collision sensor to prevent collisions between the probe, robotic arm, and parts or other objects caused by operational errors. If the anti-collision feature is triggered, the system terminates immediately. Emergency stops caused by the emergency stop device, monitoring, and anti-collision device do not affect the system's mechanical accuracy.

[0074] In this embodiment, Figure 3 As shown, the cartridge bottom inspection module includes a bottom horizontal movement mechanism 37, a bottom vertical lifting mechanism 36, and a bottom multi-axis inspection probe holder 38. The bottom vertical lifting mechanism 36 is mounted on the bottom horizontal movement mechanism 37, and the bottom multi-axis inspection probe holder 38 is mounted on the bottom vertical lifting mechanism 36. One or more bottom inspection probes are mounted on the bottom inspection probe holder 38. The bottom horizontal movement mechanism 37 and the bottom vertical lifting mechanism 36 employ similar structures to those of the cartridge shell inspection module above. The bottom multi-axis inspection probe holder 38 is used to mount bottom inspection probes. The bottom inspection probes utilize one or more high-frequency ultrasonic probes to conduct inspections along the cartridge bottom, meeting the requirements for ultrasonic flaw detection of flat-bottom holes with a wall thickness of φ0.8mm*1 / 2 and φ1.2mm*1 / 2.

[0075] When the bottom is tested for flaw detection, Figure 5 As shown, the bottom multi-axis detection probe frame moves simultaneously from the center to the edge or from the edge to the center to detect the bottom edge of the workpiece. Since the workpiece rotates and the two motion trajectories intersect, the detection process is completed.

[0076] In this embodiment, Figure 1 As shown, the air blowing system includes a feed roller mechanism 4 and a flip blowing mechanism 8. As shown in Figure 7, the feed roller mechanism 4 includes a feed bracket 41, a conveying roller 42 mounted on the feed bracket 41, and a clamping claw, wherein the clamping claw includes a barrel clamping mechanism consisting of an end limit groove 43 and a plurality of clamping grooves 44. The groove angles of each clamping groove 44 are different, so that it can accommodate cartridge shells of different barrel diameters. The spacing between each clamping groove 44 can be adjusted to accommodate cartridge shells of different lengths.

[0077] like Figure 7 and Figure 8 As shown, the flipping and blowing mechanism 8 includes a flipping disc 83, a driving mechanism for driving the flipping disc 83 to rotate, an air blowing device 84, and two clamping assemblies mounted on the flipping disc 83. The driving mechanism includes a drive motor 81, a drive shaft, and a drive gear 82. The drive motor 81 is coaxially connected to the drive shaft, and the drive gear 82 is mounted on the drive shaft. The drive gear 82 is meshed with a gear on the outer circumference of the flipping disc 83, thereby driving the flipping disc 83 to rotate.

[0078] At the same time, if Figure 8 As shown, two clamping assemblies are installed on one side of the turning plate 83, one of which includes a first bracket 86 and a first clamping claw 85, and the other includes a second bracket 88 and a second clamping claw 87. Figure 7 As shown), the cartridge shells move forward in sequence and fall into the clamping station. The clamping station holds the shells tightly and rotates 90 degrees to form a shape with the left shell opening facing downward and the right shell opening facing upward (as shown Figure 8 As shown), the shell with the left opening downward is just above the air nozzle of the air blowing device 84 (fixed position), and the air nozzle blows the inside of the cartridge shell dry. The shell with the right opening upward is rotated 180 degrees to the right station after being blown dry at the left station. At the same time, the upward opening just meets the requirements of the internal support claw of the unloading robot to grab the shell. After the robot takes away the cartridge, the empty clamping station rotates 90 degrees and returns to the bottom of the conveyor belt. The conveyor belt drops the shell into the empty clamping station, and the cycle repeats.

[0079] In this embodiment, Figure 1As shown, the unloading and sorting system includes an unloading robot 7, a shell transport cart 6, and an NG transport cart 5. The unloading robot 7, like the loading robot 1, also features a built-in vision system. When the inspection system detects a defect, it generates a PLC alarm signal and sends a sorting signal to the unloading robot. The unloading robot then places the defective workpieces into the NG transport cart 5, which is then transported away by a forklift once the stock is full. The unloading robot places normal, defect-free cartridges into the shell transport cart 6, which is then transported away by a forklift once the stock is full.

[0080] like Figure 9 Figure 2 shows the control hardware schematic for this system. The detection probes on the shell and bottom of the cylinder are connected to a multi-channel flaw detector system (industrial computer) via acquisition cards for data viewing and analysis. Simultaneously, the multi-channel flaw detector system (industrial computer) is connected to the motors and robots in each mechanism via various PLCs, enabling control and adjustment of these motors and robots.

[0081] This system has high efficiency and accuracy in detecting workpieces. It can perform UT scanning on workpieces of different specifications through different programs. It is a professional automatic flaw detection system with strong anti-interference ability, stable waveform, high precision, high reliability, easy operation, high safety and good maintainability.

[0082] Example 2

[0083] The working method of the above-mentioned shell casing ultrasonic automatic detection system includes:

[0084] S1. After the metal cartridge to be tested is stress-relieved at low temperature, it is placed on the loading trolley and the loading trolley is pushed into the limit position of the loading area;

[0085] S2. The loading robot locates the cartridge by the camera and grabs it to the positioning device. The gripper on the handling clamping mechanism is moved from the positioning device to the inspection station. The cartridge to be inspected is tilted into the water and inspected using the water immersion method or the semi-water immersion method.

[0086] During S3 inspection, the driving wheel module drives the cartridge workpiece to be inspected to rotate at a constant speed in the water tank. The shell probe group and the bottom inspection probe are respectively installed on the shell multi-axis inspection probe frame and the bottom multi-axis inspection probe frame. The shell multi-axis inspection probe frame automatically scans and detects flaws in the longitudinal direction of the workpiece according to the workpiece shape. The flaw detection probe uses water immersion or semi-immersion normal focusing to detect defects inside and near the surface of the workpiece; the bottom multi-axis inspection probe frame simultaneously moves from the center to the edge or from the edge to the center to inspect the bottom edge of the workpiece. Since the two motion trajectories intersect during the rotation of the workpiece, the flaw detection process is completed.

[0087] S4. After the test is completed, the discharge clamp in the handling and clamping mechanism grabs the workpiece after the test and lifts it up and transports it to the unloading roller mechanism. At the same time, the feed clamp synchronously grabs the cartridge to be tested from the positioning device and takes it to the testing station for testing. The above test steps are repeated;

[0088] The unloading roller mechanism transfers the inspected medicine cartridge to the flipping and blowing mechanism, which rotates the cartridge downward, pours out the water in the cartridge and quickly removes the water in the cartridge through the air blowing device. The cartridge is then rotated 180 degrees to the cartridge removal station. At this time, the multi-channel flaw detector system sends a signal to the PLC, which controls the unloading robot to grab the defective workpiece and place it on the NG trolley. The qualified workpiece robot takes out the cartridge and places it on the shell transport. After the shell transport is full, it is pushed to the storage position and the inspection is completed.

[0089] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technician familiar with this profession can make some changes or modifications to equivalent embodiments of the technical contents disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. An automatic ultrasonic detection system for shell casings, characterized by: include: The loading system uses a robot or truss to place the shell casing to be inspected to the inspection station; Ultrasonic testing system, using water immersion or semi-water immersion method to simultaneously perform ultrasonic flaw detection on the shell body and bottom of the shell to be tested; The air blowing system is used to blow out the shell casing after inspection to ensure its overall dryness; The unloading and sorting system places the tested shell casings at designated workstations according to whether they are qualified or unqualified.

2. The shell casing ultrasonic automatic detection system according to claim 1, characterized in that: The loading system includes a loading robot or a truss and a loading trolley, and the loading robot or the truss is provided with a visual recognition system.

3. The shell casing ultrasonic automatic detection system according to claim 1, characterized in that: The ultrasonic detection system includes a transporting and clamping mechanism and a detection host mechanism. The transporting and clamping mechanism clamps the shell to be detected to the detection host mechanism for detection.

4. The shell casing ultrasonic automatic detection system according to claim 3, characterized in that: The transport and clamping mechanism includes a column beam, a guide rail, a translation module, a lifting module, and a pneumatic clamp. The pneumatic clamp includes a feeding clamp and a discharging clamp.

5. The shell casing ultrasonic automatic detection system according to claim 3, characterized in that: The detection host mechanism includes a detection water tank, a water circulation system, a cylinder shell detection module, a cylinder bottom detection module, a multi-channel flaw detector system and a driving wheel module; The shell detection module and the bottom detection module are both installed on the detection water tank and are used to perform ultrasonic detection on the shell and the bottom of the cylinder respectively; the detection probes in the shell detection module and the bottom detection module are both connected to the multi-channel flaw detector system, and the detection results are processed and analyzed by the host computer software; The driving wheel module is located in the detection water tank and includes one or more groups, which are used to drive one or more groups of shell casings to rotate; The water circulation system is located outside the detection water tank and is used to circulate the water in the detection water tank.

6. The shell casing ultrasonic automatic detection system according to claim 5, characterized in that: The shell detection module includes a horizontal moving mechanism, a vertical lifting mechanism and a shell multi-axis detection probe frame, wherein the vertical lifting mechanism is installed on the horizontal moving mechanism, and the shell multi-axis detection probe frame is installed on the vertical lifting mechanism; One or more cylindrical shell probe groups are installed on the detection probe rack, and each cylindrical shell probe group has a separate cylinder to control its lifting.

7. The shell casing ultrasonic automatic detection system according to claim 5, characterized in that: The cylinder bottom detection module includes a bottom horizontal moving mechanism, a bottom vertical lifting mechanism and a bottom multi-axis detection probe rack. The bottom vertical lifting mechanism is installed on the bottom horizontal moving mechanism, and the bottom multi-axis detection probe rack is installed on the bottom vertical lifting mechanism; one or more bottom detection probes are installed on the bottom detection probe rack.

8. The shell casing ultrasonic automatic detection system according to claim 1, characterized in that: The air blowing system includes a unloading roller mechanism and a flip blowing mechanism. The unloading roller mechanism includes a unloading bracket and a conveying roller and a clamping claw installed on the unloading bracket; the flip blowing mechanism includes a flip disk and a driving mechanism for driving the flip disk to rotate, an air blowing device and two clamping components installed on the flip disk.

9. The shell casing ultrasonic automatic detection system according to claim 1, characterized in that: The unloading and sorting system includes an unloading robot, a shell transport trolley, and an NG transport trolley. The unloading robot is equipped with a built-in visual system.

10. The method for operating a shell casing ultrasonic automatic detection system according to any one of claims 1 to 9, characterized in that: include: S1. After processing, the metal cartridge to be tested is placed on the loading trolley, and the loading trolley is pushed into the limit position of the loading area; S2: The loading robot uses the camera to locate and grab the cartridge to the positioning device. The gripper on the handling clamping mechanism is moved from the positioning device to the inspection station. The cartridge to be inspected is tilted into the water and inspected using the semi-immersion method. During S3 inspection, the driving wheel module drives the cartridge workpiece to be inspected to rotate at a constant speed in the water tank. The shell probe group and the bottom inspection probe are respectively installed on the shell multi-axis inspection probe holder and the bottom multi-axis inspection probe holder. The shell multi-axis inspection probe holder automatically scans and detects flaws in the longitudinal direction of the workpiece according to the workpiece shape. The flaw detection probe uses water immersion normal focusing to detect defects inside and near the surface of the workpiece. The bottom multi-axis inspection probe holder simultaneously moves from the center to the edge or from the edge to the center to inspect the bottom edge of the workpiece. Since the two motion trajectories intersect during the rotation of the workpiece, the flaw detection process is completed. S4. After the test is completed, the discharge clamp in the handling and clamping mechanism grabs the workpiece after the test and lifts it up and transports it to the unloading roller mechanism. At the same time, the feed clamp synchronously grabs the cartridge to be tested from the positioning device and takes it to the testing station for testing. The above test steps are repeated; The unloading roller mechanism transfers the inspected medicine cartridge to the flipping and blowing mechanism, which rotates the cartridge downward, pours out the water in the cartridge and quickly removes the water in the cartridge through the air blowing device. The cartridge is then rotated 180 degrees to the cartridge removal station. At this time, the multi-channel flaw detector system sends a signal to the PLC, which controls the unloading robot to grab the defective workpiece and place it on the NG trolley. The qualified workpiece robot takes out the cartridge and places it on the shell transport. After the shell transport is full, it is pushed to the storage position and the inspection is completed.

Images