Integrated rapid detection device and method for impact damage of composite material

Abstract

The invention relates to the field of impact damage detection, and provides a composite material impact damage integrated rapid detection device and method.The device comprises an end effector, an end effector transmission mechanism, a test piece rapid clamping tool, a tool transmission mechanism, a data acquisition and transmission unit and a control system; the end effector performs ultrasonic and video detection on the test piece; the test piece rapid clamping tool is used for clamping and fixing a test piece; the tool transmission mechanism is used for moving the test piece; the data acquisition and transmission unit is used for preprocessing ultrasonic detection signals; and the control system controls the movement of the end effector transmission mechanism, the test piece rapid clamping tool and the tool transmission mechanism. According to the invention, integrated rapid detection of pit morphology, depth and internal damage of impact damage of the composite material can be realized, the detection speed is high, indexes such as reliability, automation degree and operation stability all exceed those of handheld ultrasonic detection and manual depth measurement, and great economic benefits are achieved.

Description

Technical Field

[0001] The present invention relates to the field of impact damage detection, and in particular to an integrated rapid detection device and method for composite material impact damage. Background Art

[0002] At present, the detection of impact damage to composite materials includes pit depth measurement and ultrasonic detection of internal delamination damage. The pit depth detection is measured using a digital depth micrometer, and the internal delamination damage is detected using ultrasonic A-scan or ultrasonic C-scan. Ultrasonic A-scan detection is manual detection and measurement and marking, while ultrasonic C-scan is automatic detection. Since impact damage is mostly irregular in shape, the damage defects in the C-scan image need to be manually marked after detection.

[0003] Whether it is pit depth measurement or ultrasonic testing, manual testing and manual marking take a long time and are highly dependent on the test personnel, and there are certain problems with quality stability and testing efficiency. If an ultrasonic C-scan automatic testing device is used for automated testing, the existing ultrasonic C-scan testing equipment is mostly gantry-type or manipulator-type large-scale equipment, which is used to detect small-sized laminate test pieces and has a high cost. At the same time, since the morphology of impact damage is mostly irregular, the existing equipment analysis software cannot achieve automatic marking, so defects still need to be manually marked. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide an integrated rapid detection device and method for impact damage of composite materials, which is particularly suitable for laminate test pieces, improves detection efficiency, ensures the stability of detection quality, and reduces detection costs.

[0005] The present invention adopts the following technical solution:

[0006] On the one hand, the present invention provides an integrated rapid detection device for impact damage of composite materials, including an end effector, an end effector transmission mechanism, a test piece rapid clamping tool, a tool transmission mechanism, a data acquisition and transmission unit, and a control system;

[0007] The end effector is used to perform ultrasonic detection and video detection on the test piece to obtain ultrasonic monitoring signals and video detection signals of the test piece;

[0008] The end effector transmission mechanism is used to drive the end effector to move within the detection surface, so that the end effector is coupled with the surface of the test piece and moves along the surface of the test piece according to a set path;

[0009] The test piece quick clamping fixture is used to achieve the clamping and fixing of the test piece;

[0010] The tooling transmission mechanism is used to realize the overall movement of the test piece and the test piece quick clamping tooling;

[0011] The data acquisition and transmission unit is used to receive the ultrasonic detection signal of the test piece collected by the end effector, pre-process the received signal, and transmit the pre-processed ultrasonic detection signal to the control system;

[0012] The control system receives the pre-processed ultrasonic detection signal and video detection signal transmitted by the data acquisition and transmission unit, and analyzes and processes the received signals to obtain the impact defect, pit depth and pit surface morphology of the test piece; at the same time, the control system controls the movement of the end effector transmission mechanism, the test piece quick clamping tooling, and the tooling transmission mechanism.

[0013] According to any possible implementation described above, there is further provided an implementation, wherein the end effector includes an ultrasonic transducer, a video detection probe, an ultrasonic transducer fixture, a distance sensor, and a water outlet spray port;

[0014] The distance sensor, the video detection probe and the ultrasonic transducer are arranged on the end effector transmission mechanism in sequence from top to bottom; the ultrasonic transducer fixture is used to fix the ultrasonic transducer; and the water outlet spray port is used to spray water to provide coupling agent for the surface of the test piece.

[0015] According to any possible implementation described above, there is further provided an implementation, wherein a fixing opening is provided at the lower portion of the ultrasonic transducer fixture, and the ultrasonic transducer extends from the fixing opening; a spring is provided at the upper portion of the ultrasonic transducer fixture, for providing a pressing force for the ultrasonic transducer, so as to achieve complete coupling between the ultrasonic transducer and the surface of the test piece;

[0016] The video detection probe is a high-definition camera.

[0017] According to any possible implementation described above, there is further provided an implementation, wherein the end effector transmission mechanism comprises a Z-axis motion slide rail and a Y-axis motion slide rail, the end effector is slidably connected to the Z-axis motion slide rail, and the Z-axis motion slide rail is slidably connected to the Y-axis motion slide rail;

[0018] The end effector moves up and down in the Z-axis direction along the Z-axis motion slide rail, and moves left and right in the Y-axis direction along the Y-axis motion slide rail; wherein the Z-axis is a vertical direction, the X-axis is a moving direction during test piece testing, and the Y-axis is a direction perpendicular to both the X-axis and the Z-axis.

[0019] According to any possible implementation manner described above, there is further provided an implementation manner, wherein the test piece quick clamping tooling comprises a sample base plate and a clamping unit; the test piece is placed above the sample base plate, and the clamping unit clamps and fixes the test piece; the sample base plate is mounted on the tooling transmission mechanism through a base plate slide rail;

[0020] The clamping unit includes a first part, a second part and a clamping unit slide rail. The first part and the second part are provided with telescopic ejectors on opposite sides. The first part and the second part can approach or move away from each other along the clamping unit slide rail to clamp test pieces of different sizes. With the telescopic ejector, the thickness direction of test pieces of different thicknesses can be fixed.

[0021] Any possible implementation as described above, further provides an implementation, wherein the tooling transmission mechanism includes a base, a sample transmission slide rail, a side transmission belt, an intermediate transmission belt, a belt gear, and a gear motor;

[0022] There are two side conveyor belts, through which the test piece position movement in the clamping area and the tooling recovery area is realized; the test piece is moved between the detection and photography points, the ultrasonic detection points, and the drying and water blowing points through the intermediate transmission belt; the side conveyor belt and the intermediate transmission belt are separated to realize the movement of the test piece in different functional areas without interference;

[0023] The base is provided with a clamping area, a detection and photographing point, an ultrasonic detection point, a drying and water blowing point, and a tooling recovery area in sequence along the traveling direction of the test piece;

[0024] The sample conveying slide rail is arranged on the base, and is used to convey the test piece quick clamping tooling and the test piece to be tested; the gear motor provides power to the belt gear, and the belt gear drives the side conveying belt and the intermediate transmission belt to rotate, thereby driving the test piece quick clamping tooling and the test piece to be tested to the clamping area, the detection and photography point, the ultrasonic detection point, the drying and water blowing point, and the tooling recovery area in sequence;

[0025] The drying and water blowing points are provided with drying and water blowing devices for drying water stains on the surface of the test piece after the test is completed.

[0026] As described above, any possible implementation method further provides an implementation method, wherein the data acquisition and transmission unit includes a data preprocessing module, a data conversion module and a data transmission module, the data preprocessing module amplifies, detects and filters the received signal, the data conversion module converts the preprocessed analog signal into a digital signal, and the data transmission module transmits the digital signal to the control system.

[0027] As for any possible implementation described above, an implementation is further provided, wherein the control system includes a computer analysis and processing unit and a mechanical system control unit, wherein the computer analysis and processing unit is connected to the video detection probe of the end effector, and is connected to the ultrasonic transducer of the end effector through the data acquisition and transmission unit; and the mechanical control unit is respectively connected to the end effector transmission mechanism, the test piece quick clamping fixture and the fixture transmission mechanism through a control cabinet.

[0028] On the other hand, the present invention also provides an integrated rapid detection method for composite material impact damage, the method adopts the above-mentioned integrated rapid detection device for composite material impact damage, and the method comprises:

[0029] S1. Installation of the test piece to be tested: Install the test piece to be tested in the clamping area, use the test piece quick clamping fixture to fix the test piece to be tested on the sample bottom plate, and the sample bottom plate is installed on the fixture transmission mechanism through the bottom plate slide rail;

[0030] S2. Inspection of the test piece to be tested: The control system controls the tooling transmission mechanism to drive the test piece to be tested to pass through the clamping area, the detection and photography point, the ultrasonic detection point, the drying and water blowing point and the tooling recovery area in sequence;

[0031] The test piece moves to the detection and photography point, and the video detection probe of the end effector performs high-definition video detection on the surface morphology of the test piece, and the video detection signal is transmitted to the control system;

[0032] The test piece is moved to the ultrasonic testing point, and the ultrasonic transducer of the end effector performs ultrasonic testing on the test piece. The ultrasonic transducer moves up and down along the Z axis and moves laterally on the testing surface along the Y axis to ensure that the ultrasonic transducer is pressed tightly against the surface of the test piece. At the same time, the water outlet sprays water to ensure that the test piece and the ultrasonic transducer are well coupled. The test piece is non-destructively tested, and the ultrasonic testing signal is transmitted to the data acquisition and transmission unit. The signal processed by the data acquisition and transmission unit is transmitted to the control system.

[0033] The test piece is moved to the drying and water blowing point, and the drying and water blowing device blows away the water stains on the surface of the test piece;

[0034] Move the test piece to the tooling recovery area, remove the test piece quick clamping tooling, and then remove the test piece from the test piece quick clamping tooling for recovery;

[0035] S3. The control system receives the ultrasonic detection signal and the video detection signal transmitted by the data acquisition and transmission unit, and analyzes and processes the received signals to obtain the impact defect, pit depth and pit surface morphology of the test piece.

[0036] As any possible implementation described above, an implementation is further provided, in step S2, multiple test pieces and test piece quick clamping fixtures are installed at one time in the clamping area, and the test piece quick clamping fixtures are recovered at one time in the fixture recovery area after reaching a set number.

[0037] The beneficial effects of the present invention are:

[0038] 1. The existing composite material impact damage detection pit depth measurement and internal delamination damage ultrasonic detection are performed separately and manually, resulting in long detection time and low efficiency. To avoid this problem, the present invention is specifically aimed at composite material impact damage types, integrating pit depth point cloud measurement and ultrasonic C scanning into one, and performing rapid integrated detection of impact damage; improving detection efficiency, ensuring detection quality stability, and reducing detection costs.

[0039] 2. Most of the existing ultrasonic C-scan testing equipment is gantry-type or manipulator-type large equipment, which is used to detect small-sized layer plate test pieces, and the cost is relatively high; and the clamping and disassembly of the test pieces takes a long time. To solve this problem, a mechanical device suitable for rapid detection of layer plate test pieces was customized and developed, and a rapid clamping device for flat test pieces was designed. At the same time, the workpiece clamping area, workpiece detection area and workpiece recovery area were distinguished, and flow operations were carried out to improve the efficiency of test piece detection and reduce detection costs.

[0040] 3. As the morphology of impact damage is mostly irregular, existing equipment analysis software cannot realize automatic labeling, so defects need to be manually labeled. This device can realize automatic identification and determination of defects by analyzing and processing various detection data of the end effector, and generate detection reports, thereby improving detection efficiency, ensuring the stability of detection quality, and reducing detection costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 Shown is a principle block diagram of an integrated rapid detection device for impact damage of composite materials according to the present invention.

[0042] Figure 2 Shown is an overall structural diagram of an integrated rapid detection device for impact damage of composite materials according to an embodiment of the present invention.

[0043] Figure 3 The figure shows the schematic diagram of the structure of the quick clamping tooling for the test piece in the embodiment: (a) is a schematic diagram of clamping; (b) is a schematic diagram of the sample base plate; (c) is a schematic diagram of locking; (d) is a schematic diagram of the locking knob structure.

[0044] Figure 4 Shown is a schematic diagram of the transmission structure of the end effector in the embodiment.

[0045] Figure 5The figure shows a schematic diagram of the end effector structure in the embodiment: (a) is a schematic diagram of the clamping structure; (b) is a schematic diagram of the ultrasonic transducer fixture and spring.

[0046] Figure 6 The following are schematic diagrams of the structure of the base in the embodiment: (a) is a schematic diagram of the overall structure of the tooling transmission mechanism; (b) is a schematic diagram of the transmission mechanism; (c) is a schematic diagram of the drying and water blowing point structure.

[0047] In the figure: 1.1-ultrasonic transducer, 1.2-video detection probe, 1.3-data line, 1.4-ultrasonic transducer fixture, 1.5-distance sensor, 1.6-water outlet spray port, 1.7-ultrasonic transducer fixture spring, 2.1-Z-axis motion slide rail, 2.2-Y-axis motion slide rail, 3.1-sample base plate, 3.1.1-sample base plate slide rail, 3.1.2-sample base plate transmission groove, 3.2-clamping unit, 3.2.1-clamping unit telescopic ejector, 3.2.2-clamping unit slide rail moving clamping device, 3.2.3-locking knob hole, 3.2.4 -locking knob, 4.1-base, 4.2-sample conveying slide rail, 4.3-side transmission belt, 4.4-middle transmission belt, 4.5-belt gear, 4.6-gear motor, 4.7-drying and water blowing device, 4.7.1-air inlet, 4.7.2-air outlet, 4.8-drain outlet, 4.9-water reservoir, 4.10-side baffle, 5.1-data acquisition and transmission unit, 5.2-control cabinet, 5.3-control system, 5.4-emergency stop button, 5.5-computer terminal, 6-clamping area, 7-detection and photography point, 8-ultrasonic detection point, 9-tooling recovery area. DETAILED DESCRIPTION

[0048] The specific embodiments of the present invention will be described in detail below in conjunction with specific drawings. It should be noted that the technical features or combinations of technical features described in the following embodiments should not be considered isolated, and they can be combined with each other to achieve better technical effects.

[0049] like Figure 2 As shown, an integrated rapid detection device for impact damage of composite materials according to an embodiment of the present invention includes an end effector, an end effector transmission mechanism, a test piece rapid clamping fixture, a fixture transmission mechanism, a data acquisition and transmission unit, and a control system;

[0050] The end effector is used to perform ultrasonic detection and video detection on the test piece to obtain ultrasonic monitoring signals and video detection signals of the test piece;

[0051] The end effector transmission mechanism is used to drive the end effector to move within the detection surface, so that the end effector is coupled with the surface of the test piece and moves along the surface of the test piece according to a set path;

[0052] The test piece quick clamping fixture is used to achieve the clamping and fixing of the test piece;

[0053] The tooling transmission mechanism is used to realize the overall movement of the test piece and the test piece quick clamping tooling;

[0054] The data acquisition and transmission unit is used to receive the ultrasonic detection signal of the test piece collected by the end effector, pre-process the received signal, and transmit the pre-processed ultrasonic detection signal to the control system;

[0055] The control system receives the pre-processed ultrasonic detection signal and video detection signal transmitted by the data acquisition and transmission unit, and analyzes and processes the received signals to obtain the impact defect, pit depth and pit surface morphology of the test piece; at the same time, the control system controls the movement of the end effector transmission mechanism, the test piece quick clamping tooling, and the tooling transmission mechanism.

[0056] In a specific embodiment, Figure 5 As shown in (a), the end effector includes an ultrasonic transducer 1.1, a video detection probe 1.2, an ultrasonic transducer fixture 1.4, a distance sensor 1.5 and a water outlet spray port 1.6;

[0057] The distance sensor 1.5, the video detection probe 1.2 and the ultrasonic transducer 1.1 are arranged on the end effector transmission mechanism in sequence from top to bottom; the ultrasonic transducer fixture 1.4 is used to fix the ultrasonic transducer 1.1; the water outlet spray port 1.6 is used to spray water to provide coupling agent for the surface of the test piece.

[0058] In a specific embodiment, the ultrasonic transducer 1.1 can be a conventional product in the field, and can be used in conjunction with the data line 1.3 and the ultrasonic transducer fixture 1.4 to perform ultrasonic testing on the test piece. When used in combination with an automatic defect marking algorithm tool, the impact defect boundary can be automatically marked.

[0059] In a specific embodiment, Figure 5 As shown in (a) and (b), a fixing opening 1.4.1 is provided at the lower part of the ultrasonic transducer fixture 1.4, and the ultrasonic transducer 1.1 extends out from the fixing opening 1.4.1; a spring 1.7 is provided at the upper part of the ultrasonic transducer fixture 1.4 for providing a pressing force for the ultrasonic transducer 1.1 to achieve complete coupling between the ultrasonic transducer 1.1 and the surface of the test piece;

[0060] The video detection probe 1.2 is a high-definition camera, which is used in conjunction with the surface depth point cloud analysis software to measure the depth of the pit and the surface morphology of the pit.

[0061] In a specific embodiment, the distance sensor 1.5 is used to measure the distance between the end effector and the test piece to be tested, to prompt the test piece to be tested to reach the test photography point and the ultrasonic test point, and to prevent the end effector from colliding with the test piece.

[0062] In a specific embodiment, Figure 4 As shown, the end effector transmission mechanism includes a Z-axis motion slide rail 2.1 and a Y-axis motion slide rail 2.2, the end effector is slidably connected to the Z-axis motion slide rail 2.1, and the Z-axis motion slide rail 2.1 is slidably connected to the Y-axis motion slide rail 2.2;

[0063] The end effector moves up and down in the Z-axis direction along the Z-axis motion slide rail 2.1, and moves left and right in the Y-axis direction along the Y-axis motion slide rail 2.2; wherein the Z-axis is the vertical direction, the X-axis is the direction of travel during test piece testing, and the Y-axis is a direction perpendicular to both the X-axis and the Z-axis.

[0064] In a specific embodiment, the test piece quick clamping tool comprises a sample base plate and a clamping unit; the test piece is placed on the sample base plate, and the clamping unit clamps and fixes the test piece; the sample base plate 3.1 is installed on the tooling transmission mechanism through the sample base plate slide rail 3.1.1;

[0065] The clamping unit 3.2 includes a first part, a second part and a clamping unit slide rail. The first part and the second part are provided with a retractable ejector pin 3.2.1 on one side opposite to the first part. The first part and the second part can move closer to or farther from each other along the clamping unit slide rail to clamp test pieces of different sizes, such as Figure 3 As shown in (a).

[0066] In a specific embodiment, Figure 3 As shown in (b), a bottom plate slide rail 3.1.1 is provided at the lower part of the sample bottom plate 3.1, a sample transmission groove 3.1.2 is provided on the inner side of the bottom plate slide rail, and the sample bottom plate is connected to the sample transmission slide rail 4.2 through the sample bottom plate slide rail 3.1.1 and the sample bottom plate transmission groove 3.1.2.

[0067] In a specific embodiment, the test piece to be tested is placed on the upper end of the sample bottom plate 3.1 and clamped by the clamping unit 3.2. The clamping unit 3.2 moves along the clamping unit slide rail 3.2.2, and the clamping unit telescopic ejector 3.2.1 is used to fix the test piece to be tested. The locking knob 3.2.4 is installed at the locking knob hole 3.2.3, and locked after rotating 90 degrees (rotating 90 degrees in the opposite direction can loosen and remove the test piece), such as Figure 3 As shown in (c) and (d).

[0068] In a specific embodiment, Figure 3As shown in (a), the telescopic ejector pin 3.2.1 of the clamping unit can be extended and retracted, as shown in the detail diagram, and can clamp the test piece on both sides and fix it on the sample base plate 3.1. After the test piece and the clamping unit 3.2 are installed on the sample base plate 3.1, the sample base plate 3.1 is installed on the sample conveying slide rail 4.2 through the sample base plate slide rail 3.1.1. The sample base plate transmission groove 3.1.2 is stuck on the rotating belts 4.3 and 4.4, and can move forward driven by the gear motor 4.6.

[0069] In a specific embodiment, Figure 6 As shown in (a) and (b), the tooling transmission mechanism includes a base 4.1, a sample transmission slide rail 4.2, a side transmission belt 4.3, an intermediate transmission belt 4.4, a belt gear 4.5, and a gear motor 4.6;

[0070] The base 4.1 is provided with a clamping area 6, a detection and photographing point 7, an ultrasonic detection point 8, a drying and water blowing point and a tooling recovery area 9 in sequence along the traveling direction of the test piece;

[0071] There are two lateral conveyor belts 4.3, and the two lateral conveyor belts 4.3 are used to realize the movement of the test piece in the clamping area 6 and the tooling recovery area 9; the intermediate transmission belt 4.4 is used to realize the movement of the test piece between the detection and photography point 7, the ultrasonic detection point 8, and the drying and water blowing point; the lateral conveyor belt 4.3 and the intermediate transmission belt 4.4 are separated to realize the movement of the test piece in different functional areas without interference;

[0072] like Figure 6 As shown in (b), the sample conveying slide rail 4.2 is arranged on the base 4.1, and is used to convey the test piece quick clamping tooling and the test piece to be tested; the gear motor 4.6 provides power for the belt gear 4.5, and the belt gear 4.5 drives the side conveying belt 4.3 and the intermediate transmission belt 4.4 to rotate, thereby driving the test piece quick clamping tooling and the test piece to be tested to the clamping area 6, the detection and photography point 7, the ultrasonic detection point 8, the drying and water blowing point and the tooling recovery area 9 in sequence;

[0073] The drying and water blowing points are provided with drying and water blowing devices for drying water stains on the surface of the test piece after the test is completed.

[0074] In a specific embodiment, Figure 6As shown in (c), the base 4.1 is also provided with a drain port 4.8, a water reservoir 4.9, and a side baffle 4.10. The drying and water blowing device 4.7 is connected to the side baffle 4.10 through a drying and water blowing slide rail 4.7.3, and an external air source is connected through the air inlet 4.7.1. 4.7.2 is a lateral multi-porous air outlet, which can dry the water stains on the surface of the test piece after the test. During the test process, the water flows out from the drain port 4.8 and is stored in the water reservoir 4.9. The water reservoir 4.9 can be removed regularly to discharge the waste water.

[0075] In a specific embodiment, Figure 1 As shown, the data acquisition and transmission unit 5.1 includes a data preprocessing module, a data conversion module and a data transmission module. The data preprocessing module amplifies, detects and filters the received signal, the data conversion module converts the preprocessed analog signal into a digital signal, and the data transmission module transmits the digital signal to the control system 5.3.

[0076] In a specific embodiment, Figure 1 As shown, the control system 5.3 includes a computer analysis and processing unit and a mechanical system control unit. The computer analysis and processing unit is connected to the video detection probe 1.2 of the end effector, and is connected to the ultrasonic transducer 1.1 of the end effector through the data acquisition and transmission unit 5.1; the mechanical control unit is respectively connected to the end effector transmission mechanism, the test piece quick clamping fixture and the fixture transmission mechanism through the control cabinet 5.2.

[0077] In a specific embodiment, the computer analysis and processing unit adopts multi-information fusion technology to analyze and process various detection data of the end effector, automatically identify and judge, and generate a detection report. The mechanical system control unit is used to generate a moving path and perform collision monitoring. After confirming that the end effector and the like do not collide with the test piece to be detected, the moving path is transmitted to the control cabinet 5.2 to control the movement of the mechanical mechanism. In an emergency, pressing the emergency stop button 5.4 can stop the mechanical system transmission to prevent unsafe events such as collisions.

[0078] An embodiment of the present invention provides an integrated rapid detection method for composite material impact damage, the method adopts the above-mentioned integrated rapid detection device for composite material impact damage, and the method comprises:

[0079] S1. Installation of the test piece to be tested: Install the test piece to be tested in the clamping area 6, and use the test piece quick clamping fixture to fix the test piece to be tested on the sample bottom plate 3.1. The sample bottom plate 3.1 is installed on the fixture transmission mechanism through the bottom plate slide rail 3.1.1;

[0080] S2, testing of the test piece: the control system 6.3 controls the tooling transmission mechanism to drive the test piece to be tested to pass through the clamping area 6, the detection and photography point 7, the ultrasonic detection point 8, the drying and water blowing point and the tooling recovery area 9 in sequence;

[0081] The test piece is moved to the detection and photographing point 7, and the video detection probe 1.2 of the end effector performs high-definition video detection on the surface morphology of the test piece, and the video detection signal is transmitted to the control system 5.3;

[0082] The test piece is moved to the ultrasonic detection point 8, and the ultrasonic transducer 1.1 of the end effector performs ultrasonic detection on the test piece. The ultrasonic transducer 1.1 moves up and down along the Z axis and moves laterally on the detection surface along the Y axis. Through the setting of the ultrasonic detection point 8, the ultrasonic transducer fixture 1.4 is closely attached to the surface of the test piece and a certain pressure is formed on the ultrasonic transducer fixture spring 1.7 to ensure that the ultrasonic transducer 1.1 is pressed against the surface of the test piece. At the same time, the water outlet spray port 1.6 sprays water, so that the test piece and the ultrasonic transducer 1.1 are well coupled, and the test piece is non-destructively tested. The ultrasonic detection signal is transmitted to the data acquisition and transmission unit 5.1, and the signal processed by the data acquisition and transmission unit 1.1 is transmitted to the control system 5.3;

[0083] The test piece is moved to the drying and water blowing point, and the drying and water blowing device 4.7 blows away the water stains on the surface of the test piece;

[0084] The test piece is moved to the tooling recovery area 9, the test piece quick clamping tooling is removed, and then the test piece is removed from the test piece quick clamping tooling for recovery;

[0085] S3. The control system 5.3 receives the ultrasonic detection signal and the video detection signal transmitted by the data acquisition and transmission unit 5.1, and analyzes and processes the received signals to obtain the impact defect, pit depth and pit surface morphology of the test piece.

[0086] In a specific embodiment, in step S2, a plurality of test pieces and test piece quick clamping fixtures are installed at one time in the clamping area 6, and the test piece quick clamping fixtures are recovered at one time in the fixture recovery area 9 after reaching a set number.

[0087] In a specific embodiment, if an emergency occurs during the detection process, the emergency stop button 5.4 is pressed to stop the movement.

[0088] After the inspection is completed, the inspection device stops running, the end effector returns to the origin, and all test pieces and the test piece quick clamping fixture are removed. The data is processed on the computer 5.5 to form a test report, and the work is completed.

[0089] The present invention targets impact-related damage types of composite materials, integrates pit depth point cloud measurement and ultrasonic C-scanning into one, and performs rapid integrated detection of impact-related damage; improves detection efficiency, ensures detection quality stability, and reduces detection costs.

[0090] The invention customizes and develops a mechanical device suitable for rapid detection of layered test pieces, including a rapid clamping device for flat test pieces, and the division of a workpiece clamping area, a workpiece detection area, and a workpiece recovery area, which can carry out flow operations, improve test piece detection efficiency, and reduce detection costs.

[0091] The device of the present invention can realize automatic identification and determination of defects by analyzing and processing various detection data of the end effector, and generate a detection report, thereby improving detection efficiency, ensuring the stability of detection quality, and reducing detection costs.

[0092] Although several embodiments of the present invention have been given herein, those skilled in the art should understand that the embodiments of the present invention may be modified without departing from the spirit of the present invention. The above embodiments are merely exemplary and should not be used as a limitation on the scope of the present invention.

Claims

1. An integrated rapid detection device for impact damage of composite materials, characterized in that: The device includes an end effector, an end effector transmission mechanism, a test piece quick clamping fixture, a fixture transmission mechanism, a data acquisition and transmission unit, and a control system; The end effector is used to perform ultrasonic detection and video detection on the test piece to obtain ultrasonic monitoring signals and video detection signals of the test piece; The end effector transmission mechanism is used to drive the end effector to move within the detection surface, so that the end effector is coupled with the surface of the test piece and moves along the surface of the test piece according to a set path; The test piece quick clamping fixture is used to achieve the clamping and fixing of the test piece; The tooling transmission mechanism is used to realize the overall movement of the test piece and the test piece quick clamping tooling; The data acquisition and transmission unit is used to receive the ultrasonic detection signal of the test piece collected by the end effector, pre-process the received signal, and transmit the pre-processed ultrasonic detection signal to the control system; The control system receives the pre-processed ultrasonic detection signal and video detection signal transmitted by the data acquisition and transmission unit, and analyzes and processes the received signals to obtain the impact defect, pit depth and pit surface morphology of the test piece; at the same time, the control system controls the movement of the end effector transmission mechanism, the test piece quick clamping tooling, and the tooling transmission mechanism.

2. The integrated rapid detection device for composite material impact damage according to claim 1, characterized in that: The end effector includes an ultrasonic transducer, a video detection probe, an ultrasonic transducer fixture, a distance sensor and a water spray outlet; The distance sensor, the video detection probe and the ultrasonic transducer are arranged on the end effector transmission mechanism in sequence from top to bottom; the ultrasonic transducer fixture is used to fix the ultrasonic transducer; and the water outlet spray port is used to spray water to provide coupling agent for the surface of the test piece.

3. The integrated rapid detection device for composite material impact damage according to claim 2, characterized in that: A fixing opening is arranged at the lower part of the ultrasonic transducer fixture, and the ultrasonic transducer extends out from the fixing opening; a spring is arranged at the upper part of the ultrasonic transducer fixture, which is used to provide a pressing force for the ultrasonic transducer, so as to achieve complete coupling between the ultrasonic transducer and the surface of the test piece; The video detection probe is a high-definition camera.

4. The integrated rapid detection device for composite material impact damage according to claim 1, characterized in that: The end effector transmission mechanism comprises a Z-axis motion slide rail and a Y-axis motion slide rail, the end effector is slidably connected to the Z-axis motion slide rail, and the Z-axis motion slide rail is slidably connected to the Y-axis motion slide rail; The end effector moves up and down in the Z-axis direction along the Z-axis motion slide rail, and moves left and right in the Y-axis direction along the Y-axis motion slide rail; wherein the Z-axis is a vertical direction, the X-axis is a moving direction during test piece testing, and the Y-axis is a direction perpendicular to both the X-axis and the Z-axis.

5. The integrated rapid detection device for composite material impact damage according to claim 1, characterized in that: The test piece quick clamping tooling comprises a sample base plate and a clamping unit; the test piece is placed on the sample base plate, and the clamping unit clamps and fixes the test piece; the sample base plate is mounted on the tooling transmission mechanism through a base plate slide rail; The clamping unit comprises a first part, a second part and a clamping unit slide rail, and telescopic ejectors are arranged on opposite sides of the first part and the second part. The first part and the second part can move closer to or farther from each other along the clamping unit slide rail to clamp test pieces of different sizes.

6. The integrated rapid detection device for composite material impact damage according to claim 1, characterized in that: The tooling transmission mechanism includes a base, a sample transmission slide rail, a side transmission belt, an intermediate transmission belt, a belt gear, and a gear motor; The base is provided with a clamping area, a detection and photographing point, an ultrasonic detection point, a drying and water blowing point, and a tooling recovery area in sequence along the traveling direction of the test piece; There are two side conveyor belts, through which the test piece position in the clamping area and the tooling recovery area is moved; the test piece is moved between the detection and photography points, the ultrasonic detection points, and the drying and water blowing points through the intermediate transmission belt; the side conveyor belt and the intermediate transmission belt are set separately; The sample conveying slide rail is arranged on the base, and is used to convey the test piece quick clamping tooling and the test piece to be tested; the gear motor provides power to the belt gear, and the belt gear drives the side conveying belt and the intermediate transmission belt to rotate, thereby driving the test piece quick clamping tooling and the test piece to be tested to the clamping area, the detection and photography point, the ultrasonic detection point, the drying and water blowing point, and the tooling recovery area in sequence; The drying and water blowing points are provided with drying and water blowing devices for drying water stains on the surface of the test piece after the test is completed.

7. The integrated rapid detection device for composite material impact damage according to claim 1, characterized in that: The data acquisition and transmission unit includes a data preprocessing module, a data conversion module and a data transmission module. The data preprocessing module amplifies, detects and filters the received signal, the data conversion module converts the preprocessed analog signal into a digital signal, and the data transmission module transmits the digital signal to the control system.

8. The integrated rapid detection device for composite material impact damage according to claim 1, characterized in that: The control system includes a computer analysis and processing unit and a mechanical system control unit. The computer analysis and processing unit is connected to the video detection probe of the end effector and is connected to the ultrasonic transducer of the end effector through the data acquisition and transmission unit. The mechanical control unit is respectively connected to the end effector transmission mechanism, the test piece quick clamping fixture and the fixture transmission mechanism through a control cabinet.

9. An integrated rapid detection method for impact damage of composite materials, characterized in that: The method adopts the integrated rapid detection device for composite material impact damage according to any one of claims 1 to 8, and the method comprises: S1. Installation of the test piece to be tested: Install the test piece to be tested in the clamping area, use the test piece quick clamping fixture to fix the test piece to be tested on the sample bottom plate, and the sample bottom plate is installed on the fixture transmission mechanism through the bottom plate slide rail; S2. Inspection of the test piece to be tested: The control system controls the tooling transmission mechanism to drive the test piece to be tested to pass through the clamping area, the detection and photography point, the ultrasonic detection point, the drying and water blowing point and the tooling recovery area in sequence; The test piece moves to the detection and photography point, and the video detection probe of the end effector performs high-definition video detection on the surface morphology of the test piece, and the video detection signal is transmitted to the control system; The test piece is moved to the ultrasonic testing point, and the ultrasonic transducer of the end effector performs ultrasonic testing on the test piece. The ultrasonic transducer moves up and down along the Z axis and moves laterally on the testing surface along the Y axis to ensure that the ultrasonic transducer is pressed tightly against the surface of the test piece. At the same time, the water outlet sprays water to ensure that the test piece and the ultrasonic transducer are well coupled. The test piece is non-destructively tested, and the ultrasonic testing signal is transmitted to the data acquisition and transmission unit. The signal processed by the data acquisition and transmission unit is transmitted to the control system. The test piece is moved to the drying and water blowing point, and the drying and water blowing device blows away the water stains on the surface of the test piece; Move the test piece to the tooling recovery area, remove the test piece quick clamping tooling, and then remove the test piece from the test piece quick clamping tooling for recovery; S3. The control system receives the ultrasonic detection signal and the video detection signal transmitted by the data acquisition and transmission unit, and analyzes and processes the received signals to obtain the impact defect, pit depth and pit surface morphology of the test piece.

10. The integrated rapid detection method for composite material impact damage according to claim 9, characterized in that: In step S2, a plurality of test pieces and test piece quick clamping fixtures are installed at one time in the clamping area, and the test piece quick clamping fixtures are recovered at one time in the fixture recovery area after a set number of the test pieces is reached.

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