An adaptive robot nondestructive testing end effector and its use method

Abstract

The invention relates to the technical field of robot actuators, and discloses an adaptive robot nondestructive testing end effector, comprising an actuator body, one end of the actuator body is equipped with a six-dimensional force sensor; one end of the actuator body away from the six-dimensional force sensor is equipped with an end waterproof plate, two laser displacement sensors are installed on both sides of the end waterproof plate, and the four laser displacement sensors are installed in a cross-shaped distribution. The six-dimensional force sensor senses the force and torque information acting on the robot and the nondestructive testing end, and the pressing force generated when the surface to be scanned and the end effector contact each other is fed back online in real time, and the pressing force is dynamically adjusted according to the feedback data information, so that constant force pressing is realized in the nondestructive testing scanning process after the adaptive fitting surface is completed, and the problem that the pressing data information cannot be fed back in real time in the traditional nondestructive testing process is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot actuators, and in particular to an adaptive robot nondestructive testing end effector and a use method thereof. Background Art

[0002] Finished product quality inspection in the aerospace field generally refers to various inspection processes for finished components in the manufacturing process. Traditional inspection methods usually require manual operation of non-destructive testing equipment to inspect parts, but manual non-destructive testing of large aerospace components poses a huge challenge to both inspection results and work efficiency. Using robots equipped with non-destructive testing equipment to detect internal defects in materials can effectively solve the problems of low efficiency and unstable inspection results caused by manual operation.

[0003] Nondestructive testing equipment mostly uses liquid immersion nondestructive testing methods. Traditional water immersion full immersion testing is limited by the production environment and the shape and size of the workpiece being tested, making it difficult to achieve automated testing. Water spray nondestructive testing is a common method for nondestructive testing of some large metal components and composite materials. Compared with water immersion nondestructive testing, water spray nondestructive testing does not require a large coupling tank and can be used to detect certain material components that are not suitable for long-term immersion in water.

[0004] However, there is no water return mechanism in the current liquid immersion non-destructive testing device, which leads to a large amount of water overflow during the testing process. In addition, most non-destructive testing scanning probes are flat and cannot completely adhere to the curved surface, which is inconvenient to operate and affects the scanning imaging quality. It is impossible to achieve adaptive clamping at the end of the non-destructive testing. During the non-destructive testing process, there is no real-time measurement of the clamping force of the non-destructive testing, and the problem of online real-time feedback of the clamping force cannot be solved.

[0005] Therefore, we propose an adaptive robotic nondestructive testing end effector and its use method to solve the above-mentioned problems. Summary of the invention

[0006] The purpose of the present invention is to provide an adaptive robot nondestructive testing end effector and a method for using the same. By adding a water return device and a flexible spring mechanism, the overflow problem caused by the inability of the nondestructive testing end effector to return water and the problem of inability to adaptively fit in the process of existing robot nondestructive testing are solved; the force and torque information acting on the robot and the nondestructive testing end is sensed by a six-dimensional force sensor, and the clamping force generated when the surface to be scanned and the end effector contact each other is fed back in real time online, and the clamping force is dynamically adjusted according to the feedback data information, and constant force clamping is achieved in the nondestructive testing scanning process after the adaptive fitting of the surface is completed, thereby solving the problem that the clamping data information cannot be fed back in real time in the traditional nondestructive testing process.

[0007] To achieve the above-mentioned object, the present invention provides the following technical solutions: an adaptive robot nondestructive testing end effector, comprising an actuator body, one end of which is equipped with a six-dimensional force sensor;

[0008] An end waterproof plate is installed at one end of the actuator body away from the six-dimensional force sensor, and two laser displacement sensors are installed on both sides of the end waterproof plate. The four laser displacement sensors are installed in a cross-shaped distribution, and the centers of the four laser displacement sensors are in the axial direction of the water boot assembly;

[0009] A water boot assembly is arranged inside the end waterproof plate, and the water boot assembly includes a water boot body, a water boot return pressure block is installed at one end of the water boot body, a return water cavity is opened in the middle of the water boot return pressure block, and return water ports are opened around the water boot return pressure block;

[0010] A water inlet is provided on the inner wall of the water boot body;

[0011] The water boot assembly also includes a water inlet pipe and a water outlet pipe, the water outlet pipe is also arranged in the water return port, and the water input by the water inlet pipe enters the water return port through the water inlet and fills the entire water return port;

[0012] A non-destructive testing probe is installed in the middle of the water return pressure block of the water boot.

[0013] Preferably, the actuator body includes a robot connecting plate, the six-dimensional force sensor is installed between the robot connecting plate and the robot end, a fixing plate is fixedly installed on the upper end of the robot connecting plate, and a camera is fixedly installed on one end of the fixing plate.

[0014] Preferably, four bolts are installed on the wader body, and the wader water return pressure block is fixedly connected to the wader body through the four bolts. A sponge layer and a wear-resistant layer are also installed on the wader water return pressure block.

[0015] Preferably, the water return port, the water inlet pipe and the water outlet pipe are each provided with four, and the water inlet pipe and the water outlet pipe are each installed with a flow sensor.

[0016] Preferably, the flow sensor includes an upper sensor head and a lower sensor head, and the upper sensor head and the lower sensor head are jointly installed on the outer periphery of the water inlet pipe. Fixed rings are installed at both ends of the upper sensor head and the lower sensor head. The accumulated water flow, real-time water flow and bubbles in the pipe are recorded by the flow sensor.

[0017] Preferably, the water boot assembly is also equipped with a floating connecting plate assembly, and the floating connecting plate assembly includes a floating connecting plate 1, a floating connecting plate 2, and a floating connecting plate 3. The floating connecting plate 1, the floating connecting plate 2, and the floating connecting plate 3 are sequentially installed on one side of the water boot return pressure block from the outside to the inside, and four buffer spring mechanisms are provided between the floating connecting plate 2 and the floating connecting plate 3.

[0018] Preferably, the size of the water boot body is smaller than that of the floating connecting plate 1, and the size of the floating connecting plate 1 is smaller than that of the floating connecting plate 2.

[0019] Preferably, the floating connecting plate 1 and the water boot body are connected via four flexible spring mechanisms;

[0020] The flexible spring mechanism includes a spring body and a supporting connecting plate, the spring body is installed at both ends of the supporting connecting plate, the supporting connecting plate is installed on the floating connecting plate 1, one end of the spring body is connected to the upper part of the supporting connecting plate, and the other end is connected to the floating connecting plate 1.

[0021] The present invention also discloses a method for using an adaptive robot nondestructive testing end effector, comprising the following steps:

[0022] S01: The robot is initially pressed toward the area to be scanned by the nondestructive testing end by human dragging according to the teaching point or under the action of the six-dimensional force sensor, and the water boot return water pressure block is adaptively fitted to the curvature of the area to be scanned by using the flexible spring mechanism;

[0023] S02: The robot continues to drive the nondestructive testing end to compact the area to be scanned to form a closed water return cavity 63. At this time, the buffer spring mechanism on the end effector is compressed to further buffer;

[0024] S03: Four laser displacement sensors emit lasers to the detection surface. According to the ideal normal vector obtained by the laser displacement sensors, the end effector performs normal posture adjustment adaptively under the control of the host computer to ensure that the nondestructive testing end effector is perpendicular to the surface to be detected;

[0025] S04: Open the terminal water inlet pipe, and water flows from the water inlet of the water boot assembly into the water return port. The flow sensor installed on the outside of the water inlet pipe records the water inlet volume. When the accumulated value of the water inlet exceeds the capacity value of the water return port, open the water outlet pipe, and monitor the bubbles discharged from the water outlet pipe according to the flow sensor installed on the outside of the water outlet pipe. When there are many bubbles discharged from the water outlet pipe, increase the water inlet volume to flush the bubbles in the water outlet pipe to ensure the quality of non-destructive testing.

[0026] S05: After the bubble flushing is completed, the water flow of the water inlet pipe and the water outlet pipe is adjusted based on the feedback data of the installed water inlet and water outlet flow sensors 5 to achieve a dynamic balance between water inlet and water outlet, and then the robot drives the non-destructive testing terminal to perform non-destructive testing scanning according to a predetermined trajectory;

[0027] S06: During the initial scanning process of non-destructive testing, the six-dimensional force sensor feeds back the clamping force value of the end in real time, and dynamically adjusts it according to the value feedback from the non-destructive testing;

[0028] S07: Manually drag the nondestructive testing end to flexibly control the end effector to adjust the posture and perform a secondary scan on the damaged area.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1. Compared with the existing technology, a water return device is added to achieve a dynamic balance between water inlet and water outlet by exporting water flow, thereby minimizing the overflow problem while ensuring the scanning quality; by replacing water boots with different curvatures, the compatibility of non-destructive testing scanning of components with different curvatures is achieved, and non-destructive testing of components with various curvatures is realized. The flexible spring mechanism and buffer spring mechanism are designed to realize multi-angle rotation and clamping of the robot's non-destructive testing end effector, without manual adjustment, to achieve adaptive clamping of non-destructive testing.

[0031] 2. Compared with the prior art, a six-dimensional force sensor is added. The six-dimensional force sensor installed at the end of the robot can sense the force and torque information acting on it. The load gravity compensation algorithm used in conjunction with it can eliminate the influence of load gravity. The external force / torque information is used as input to control the robot movement, and the flexible follow-up of the non-destructive testing end is realized, providing a safer robot non-destructive testing movement method for non-destructive testing. The six-dimensional force sensor can sense the clamping force in the non-destructive testing process in real time, and realize dynamic adjustment of the clamping force when the curvature of the surface changes, which not only ensures the detection quality of non-destructive testing but also prevents damage to the detection components caused by changes in the clamping force due to changes in curvature.

[0032] 3. Compared with the prior art, flow sensors for the water inlet pipe and the water outlet pipe are added. The cumulative flow of the water inlet pipe is recorded by the flow sensor installed on the outside of the water inlet pipe. When the cumulative flow exceeds the capacity of the return water port, it is judged that the water flow fills the return water port. The water outlet pipe is opened, and the bubble situation in the water outlet pipe is judged by the flow sensor installed on the outside of the water outlet pipe. The current flow situation is quantified based on the instantaneous flow of the water inlet pipe and the water outlet pipe, thereby further solving the overflow problem in the non-destructive testing process.

[0033] 4. Compared with the existing technology, four laser displacement sensors are added. The ideal normal vector of the surface is obtained through the laser displacement sensor. The end effector adaptively adjusts the normal posture under the control of the host computer to ensure that the non-destructive testing end effector moves perpendicular to the surface to be tested to ensure the quality of non-destructive testing. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0035] Figure 2 An exploded view of the water boot assembly of the present invention;

[0036] Figure 3 It is a rear view of the water boot assembly of the present invention;

[0037] Figure 4 It is a schematic diagram of the structure of the water boot assembly of the present invention;

[0038] Figure 5 It is a schematic diagram of the structure of the flow sensor of the present invention;

[0039] Figure 6 It is a schematic diagram of the structure of the six-dimensional force sensor of the present invention.

[0040] In the figure: 1. actuator body; 11. robot connecting plate; 12. fixing plate; 13. camera; 2. six-dimensional force sensor; 3. end waterproof plate; 4. laser displacement sensor; 5. flow sensor; 51. upper sensor head; 52. lower sensor head; 53. fixing ring; 6. water boot assembly; 61. water boot body; 611. water inlet; 612. bolt; 62. water boot return water pressure block; 63. return water cavity; 64. return water outlet; 65. sponge layer; 66. wear-resistant layer; 67. water inlet pipe; 68. water outlet pipe; 7. non-destructive testing probe; 8. flexible spring mechanism; 81. spring body; 82. support connecting plate; 9. floating connecting plate assembly; 91. floating connecting plate one; 92. floating connecting plate two; 93. floating connecting plate three; 94. buffer spring mechanism. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] See also Figure 1 - Figure 6,The present invention provides a technical solution: an adaptive robot nondestructive testing end effector, comprising an actuator body 1, one end of which is equipped with a six-dimensional force sensor 2;

[0043] An end waterproof plate 3 is installed at one end of the actuator body 1 away from the six-dimensional force sensor 2, and two laser displacement sensors 4 are installed on both sides of the end waterproof plate 3. The four laser displacement sensors 4 are installed in a cross-shaped distribution, and the centers of the four laser displacement sensors 4 are in the axial direction of the water boot assembly 6;

[0044] A water boot assembly 6 is arranged inside the end waterproof plate 3. The water boot assembly 6 includes a water boot body 61. A water boot return pressure block 62 is installed at one end of the water boot body 61. A water return cavity 63 is opened in the middle of the water boot return pressure block 62.

[0045] A water inlet 611 is formed on the inner wall of the water boot body 61 .

[0046] The water boot assembly 6 also includes a water inlet pipe 67 and a water outlet pipe 68. Four water return ports 64 are arranged on the water boot return pressure block 62. Four water outlet pipes 68 are arranged in the water return ports 64. The water outlet pipes 68 collect overflowing water and centrally flow it to the collection box.

[0047] A non-destructive testing probe 7 is installed in the middle of the water return pressure block 62 of the water boot.

[0048] Preferably, the actuator body 1 includes a robot connecting plate 11, the six-dimensional force sensor 2 is installed between the robot connecting plate 11 and the robot end, a fixing plate 12 is fixedly installed on the upper end of the robot connecting plate 11, and a camera 13 is fixedly installed on one end of the fixing plate 12.

[0049] Four bolts 612 are installed on the water boot body 61, and the water boot return pressure block 62 is fixedly connected to the water boot body 61 through the four bolts 612. A sponge layer 65 and a wear-resistant layer 66 are also installed on the water boot return pressure block 62. The sponge layer 65 has a certain compression performance to further enhance the flexibility of the end and protect the water boot return pressure block 62 from directly contacting the scanned curved surface. A wear-resistant layer 66 is attached to the sponge layer 65 to ensure smooth movement of the non-destructive testing end actuator during the scanning process and reduce wear and loss caused by direct contact with the scanning area.

[0050] There are four return water ports 64, water inlet pipes 67 and water outlet pipes 68, and flow sensors 5 are installed on the water inlet pipes 67 and the water outlet pipes 68. The water input by the water inlet pipe 67 enters the return water port 64 through the water inlet 611 set on the water boot body 61, filling the entire return water port 64. During the non-destructive testing process, in order to ensure that the water in the return water cavity 63 is full, the water inlet pipe 67 keeps working to transport water to the return water cavity 63 for scanning. Continuous water delivery will cause overflow problems.

[0051] The water boot assembly 6 is also equipped with a floating connecting plate assembly 9, which includes a floating connecting plate 1 91, a floating connecting plate 2 92, and a floating connecting plate 3 93. The floating connecting plate 1 91, the floating connecting plate 2 92, and the floating connecting plate 3 93 are installed on one side of the water boot return water pressure block 62 from the outside to the inside. There are four buffer spring mechanisms 94 between the floating connecting plate 2 92 and the floating connecting plate 3 93. When the area to be scanned is compressed, the buffer spring mechanism 94 shares part of the compression force caused by the normal compression.

[0052] The size of the water boot body 61 is smaller than the floating connecting plate 1 91 , and the size of the floating connecting plate 1 91 is smaller than the floating connecting plate 2 92 .

[0053] The floating connecting plate 91 and the water boot body 61 are connected via four flexible spring mechanisms 8;

[0054] The flexible spring mechanism 8 includes a spring body 81 and a supporting connecting plate 82. The spring body 81 is installed at both ends of the supporting connecting plate 82. The supporting connecting plate 82 is installed on a floating connecting plate 91. One end of the spring body 81 is connected to the upper part of the supporting connecting plate 82, and the other end is connected to the floating connecting plate 91.

[0055] The floating connecting plate 2 92 limits the floating connecting plate 1 91, but the flexible spring mechanism 8 allows the floating connecting plate 1 91 to perform multi-angle rotation and compression movements. The floating connecting plate 1 91 limits the water boot body 61, and the flexible spring mechanism 8 allows the water boot assembly 6 to perform multi-angle rotation and compression movements, so that the water boot assembly 6 has high flexibility and can adaptively fit the scanning surface when it is close to the scanning surface.

[0056] The flow sensor 5 includes an upper sensor head 51 and a lower sensor head 52, which are installed together on the outer periphery of the water inlet pipe 67. Fixed rings 53 are installed at both ends of the upper sensor head 51 and the lower sensor head 52. The accumulated water flow, real-time water flow and bubbles in the pipe are recorded by the flow sensor 5.

[0057] Open the flow sensor 5 installed on the outside of the water inlet pipe 67 to record the cumulative water inflow of the water inlet pipe 67. When the cumulative water inflow is greater than the capacity of the return water port 64, open the water outlet pipe 68 and evaluate the bubble situation in the water outlet pipe 68. If the flow sensor 5 detects that there are many bubbles in the water outlet pipe 68 that affect the quality of non-destructive testing, the quality of non-destructive testing can be improved by increasing the water inlet flow to flush the bubbles at the water outlet.

[0058] The six-dimensional force sensor 2 installed on the end effector can realize the accurate measurement of three forces (Fx, Fy, Fz) and three moments (Mx, My, Mz) in the coordinate system. The six-dimensional force sensor 2 is installed between the robot connecting plate 11 (tool end) and the robot flange (robot end). When the two ends are subjected to relative force, the sensor undergoes elastic deformation, and the resistance of the strain gauge inside the sensor changes, which is converted into a voltage signal output, thereby providing real-time feedback on the force situation.

[0059] The six-dimensional force sensor 2 is used to sense the force and torque information acting on the robot and the non-destructive testing end. The force / torque information of the non-destructive testing operator is used as input, and the load gravity compensation algorithm is used to eliminate the influence of the load gravity, so as to realize the adaptive flexible follow-up of human-machine collaboration. The robot is dragged to the area where non-destructive testing is required, and the operator adjusts the posture of the end load and initially locates the posture of the non-destructive testing scan according to the operating habits.

[0060] Two laser displacement sensors 4 are installed on both side surfaces of the waterproof side guard plate. The four laser displacement sensors 4 are installed in a cross shape. The centers of the four laser displacement sensors 4 are in the axial direction of the water boot assembly 6. The regional normal formed by the four laser beams emitted by the laser displacement sensor 4 on the scanned surface is used as the ideal normal vector of the area. If the normal of the current end effector is inconsistent with the ideal normal vector of the laser displacement sensor 4, the upper computer controls the flexible spring mechanism 8 to adaptively adjust the normal posture of the end effector until the end is adjusted to the ideal normal vector.

[0061] When performing non-destructive testing scanning, the surface to be scanned and the end effector contact each other to generate a clamping force. The six-dimensional force sensor 2 can provide real-time feedback on the force and torque that the non-destructive testing end is borne when pressing the scanning surface. The data information fed back by the six-dimensional force sensor 2 is used to dynamically adjust the normal clamping force to achieve constant force clamping during the non-destructive testing scanning process.

[0062] After completing a large-scale preliminary scan, the human-machine collaborative towing robot conducts another non-destructive inspection scan on the areas that require a second scan.

[0063] The present invention also discloses a method for using an adaptive robot nondestructive testing end effector, comprising the following steps:

[0064] S01: The robot is initially pressed toward the area to be scanned by the nondestructive testing end by human dragging according to the teaching point or under the action of the six-dimensional force sensor 2, and the water boot return water pressure block 62 is adaptively fitted to the curvature of the area to be scanned by the flexible spring mechanism 8;

[0065] S02: The robot continues to drive the nondestructive testing end to compact the area to be scanned to form a closed return water cavity 63. At this time, the buffer spring mechanism 94 on the end effector is compressed to further buffer;

[0066] S03: Four laser displacement sensors 4 emit lasers to the detection surface, and the ideal normal vector is obtained according to the laser displacement sensor 4. The end effector performs normal posture adjustment adaptively under the control of the host computer to ensure that the nondestructive testing end effector is perpendicular to the surface to be detected;

[0067] S04: Open the terminal water inlet pipe 67, and the water flows from the water inlet 611 of the water boot assembly 6 into the water return port 64. The flow sensor 5 installed on the outside of the water inlet pipe 67 records the water inflow. When the accumulated value of the water inflow exceeds the capacity value of the water return port 64, the water outlet pipe 68 is opened, and the bubbles discharged from the water outlet pipe 68 are monitored according to the flow sensor 5 installed on the outside of the water outlet pipe 68. When there are many bubbles discharged from the water outlet pipe 68, the water inflow is increased to flush the bubbles in the water outlet pipe 68 to ensure the quality of non-destructive testing;

[0068] S05: After the bubble flushing is completed, the water flow of the water inlet pipe 67 and the water outlet pipe 68 is adjusted based on the feedback data of the installed water inlet and water outlet flow sensors 5 to achieve a dynamic balance between water inlet and water outlet, and then the robot drives the non-destructive testing terminal to perform non-destructive testing scanning according to a predetermined trajectory;

[0069] S06: During the initial scanning process of the non-destructive test, the six-dimensional force sensor 2 feeds back the clamping force value of the end in real time, and dynamically adjusts it according to the value feedback from the non-destructive test;

[0070] S07: Manually drag the nondestructive testing end to flexibly control the end effector to adjust the posture and perform a secondary scan on the damaged area.

[0071] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

[0072] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An adaptive robot non-destructive testing end effector, comprising an actuator body (1), one end of the actuator body (1) being equipped with a six-dimensional force sensor (2); characterized in that: An end waterproof plate (3) is installed at one end of the actuator body (1) away from the six-dimensional force sensor (2), and two laser displacement sensors (4) are installed on both sides of the end waterproof plate (3); A water boot assembly (6) is arranged inside the end waterproof plate (3), the water boot assembly (6) comprising a water boot body (61), a water boot return pressure block (62) is mounted at one end of the water boot body (61), a water return cavity (63) is provided in the middle of the water boot return pressure block (62), and water return ports (64) are provided around the water boot return pressure block (62); a water inlet (611) is provided on the inner wall of the water boot body (61); The water boot assembly (6) further comprises a water inlet pipe (67) and a water outlet pipe (68); the water outlet pipe (68) is also arranged in the water return port (64); water inputted from the water inlet pipe (67) enters the water return port (64) through the water inlet (611) and fills the entire water return port (64); A non-destructive testing probe (7) is installed in the middle of the water return pressure block (62); The water return port (64), the water inlet pipe (67) and the water outlet pipe (68) are each provided with four, and the water inlet pipe (67) and the water outlet pipe (68) are each installed with a flow sensor (5); The water boot assembly (6) is further provided with a floating connection plate assembly (9), the floating connection plate assembly (9) comprising a floating connection plate 1 (91), a floating connection plate 2 (92) and a floating connection plate 3 (93), the floating connection plate 1 (91), the floating connection plate 2 (92) and the floating connection plate 3 (93) being sequentially installed on one side of the water boot return water pressure block (62) from the outside to the inside, and four buffer spring mechanisms (94) being arranged between the floating connection plate 2 (92) and the floating connection plate 3 (93); The floating connecting plate 1 (91) and the water boot body (61) are connected via four flexible spring mechanisms (8); The flexible spring mechanism (8) comprises a spring body (81) and a supporting connecting plate (82), the spring body (81) being mounted on both ends of the supporting connecting plate (82), the supporting connecting plate (82) being mounted on the floating connecting plate (91), one end of the spring body (81) being connected to the upper portion of the supporting connecting plate (82), and the other end being connected to the floating connecting plate (91).

2. The adaptive robot nondestructive testing end effector according to claim 1, characterized in that: The actuator body (1) comprises a robot connecting plate (11), the six-dimensional force sensor (2) is mounted between the robot connecting plate (11) and a robot end, a fixing plate (12) is fixedly mounted on the upper end of the robot connecting plate (11), and a camera (13) is fixedly mounted on one end of the fixing plate (12).

3. The adaptive robot nondestructive testing end effector according to claim 1, characterized in that: Four bolts (612) are installed on the water boot body (61), and the water boot return pressure block (62) is fixedly connected to the water boot body (61) via the four bolts (612). A sponge layer (65) and a wear-resistant layer (66) are also installed on the water boot return pressure block (62).

4. The adaptive robot nondestructive testing end effector according to claim 1, characterized in that: The flow sensor (5) comprises an upper sensor head (51) and a lower sensor head (52), the upper sensor head (51) and the lower sensor head (52) being mounted together on the outer periphery of the water inlet pipe (67), and fixing rings (53) being mounted on both ends of the upper sensor head (51) and the lower sensor head (52), and the accumulated water flow and the real-time water flow as well as the bubbles in the pipe are recorded by the flow sensor (5).

5. The adaptive robot nondestructive testing end effector according to claim 1, characterized in that: The size of the water boot body (61) is smaller than that of the floating connecting plate 1 (91), and the size of the floating connecting plate 1 (91) is smaller than that of the floating connecting plate 2 (92).

6. The method for using the adaptive robot nondestructive testing end effector according to claim 1, characterized in that: The following steps are involved: S01: The robot is initially pressed toward the area to be scanned by the nondestructive testing end being dragged by human power according to the teaching point or under the action of the six-dimensional force sensor (2), and the water boot return water pressure block (62) is adaptively adapted to the curvature of the area to be scanned by using the flexible spring mechanism (8); S02: The robot continues to drive the nondestructive testing end to compact the area to be scanned to form a closed return water cavity (63). At this time, the buffer spring mechanism (94) on the end effector is compressed to further provide buffering; S03: four laser displacement sensors (4) emit lasers to the detection surface, and an ideal normal vector is obtained according to the laser displacement sensors (4). The end effector performs normal posture adjustment adaptively under the control of the host computer to ensure that the nondestructive testing end effector is perpendicular to the surface to be detected; S04: the terminal water inlet pipe (67) is opened, and water flows from the water inlet (611) of the water boot assembly (6) into the water return port (64). The flow sensor (5) installed outside the water inlet pipe (67) records the water inflow. When the accumulated value of the water inflow exceeds the capacity value of the water return port (64), the water outlet pipe (68) is opened, and the bubbles discharged from the water outlet pipe (68) are monitored according to the flow sensor (5) installed outside the water outlet pipe (68). When the number of bubbles discharged from the water outlet pipe (68) is large, the water inflow is increased to flush the bubbles in the water outlet pipe (68), thereby ensuring the quality of the non-destructive testing; S05: After the bubble flushing is completed, the water flow rates of the water inlet pipe (67) and the water outlet pipe (68) are adjusted based on the feedback data of the installed water inlet and water outlet flow sensors (5) to achieve a dynamic balance between water inlet and water outlet, and then the robot drives the non-destructive testing end to perform non-destructive testing scanning according to a predetermined trajectory; S06: During the initial scanning process of the non-destructive test, the six-dimensional force sensor (2) provides real-time feedback of the clamping force value at the end, and dynamically adjusts the clamping force value according to the feedback value of the non-destructive test; S07: Manually drag the nondestructive testing end to flexibly control the end effector to adjust the posture and perform a secondary scan on the damaged area.

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