Method for stabilizing water film thickness during water film method ultrasonic flaw detection by using manipulator

Abstract

The invention discloses a method for stabilizing the thickness of a water film during water film method ultrasonic flaw detection by adopting a manipulator, which comprises the following steps: mounting a follow-up frame of an ultrasonic probe at the front end of the manipulator, arranging a distance measuring sensor on the follow-up frame, and driving the follow-up frame by the manipulator through a follow-up mechanism; according to the surface characteristics of the detected workpiece, the manipulator controls the follow-up mechanism to drive the follow-up frame to drive the ultrasonic probe to scan along the surface of the detected workpiece, and the distance measuring sensor detects the distance between the ultrasonic probe and the surface of the detected workpiece in real time in the scanning process; the manipulator receives detection data of the distance measuring sensor and adjusts the distance between the ultrasonic probe and the surface of the detected workpiece to be consistent; the coupling liquid is supplied between the ultrasonic probe and the detected workpiece through the coupling liquid supply system, so that the consistency of the water film thickness between the ultrasonic probe and the detected workpiece in the flaw detection process is ensured. According to the method, the consistency and uniformity of the water film between the probe and the detected workpiece are ensured, false detection and missing detection are avoided, the stability of the coupling distance is ensured, and the detection precision of ultrasonic flaw detection is improved.

Description

Technical Field

[0001] The invention relates to the technical field of ultrasonic flaw detection, and in particular to a method for stabilizing the thickness of a water film when a manipulator is used to perform ultrasonic flaw detection using a water film method. Background Art

[0002] Due to the complexity and variability of the workpieces to be inspected, the application of manipulators in the field of ultrasonic flaw detection is becoming more and more widespread. When conducting ultrasonic flaw detection using the water film method, it is often difficult to achieve the consistency and uniformity of the water film (coupling liquid) between the probe and the curved surface of the workpiece during flaw detection due to the movement trajectory of the manipulator and the surface of the workpiece being inspected. This can not only lead to false detections, but can even lead to missed detections. If the thickness of the water film changes too much, not only will effective detection be impossible, but a large number of false alarms will also be generated. Therefore, how to achieve the stability of the water film thickness during the flaw detection process is the key to ultrasonic flaw detection using the water film method. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a method for stabilizing the water film thickness when a manipulator is used for water film ultrasonic flaw detection. The method ensures the consistency and uniformity of the water film between the probe and the workpiece being inspected during flaw detection, avoids false detection and missed detection, ensures the stability of the coupling distance, and improves the detection accuracy of ultrasonic flaw detection.

[0004] In order to solve the above technical problems, the present invention adopts a method for stabilizing the thickness of a water film when a manipulator is used to perform ultrasonic flaw detection using a water film method, and the method comprises the following steps: Step 1: Install a follower frame of the ultrasonic probe at the front end of the manipulator. The follower frame is provided with distance measuring sensors around it. The manipulator drives the follower frame through the follower mechanism. Step 2: According to the surface features of the workpiece to be inspected, the manipulator controls the follower mechanism to drive the follower frame through programming, and the follower frame drives the ultrasonic probe to scan along the surface of the workpiece to be inspected. During the scanning process, the distance sensor detects the distance between the ultrasonic probe and the surface of the workpiece to be inspected in real time; Step 3: The manipulator receives the detection data of the distance measuring sensor, and adjusts the distance between the ultrasonic probe and the surface of the inspected workpiece through the follow-up mechanism and the follow-up frame according to the detection data, so that the ultrasonic probe and the surface of the inspected workpiece always maintain a consistent distance; Step 4: Provide continuous coupling liquid between the ultrasonic probe and the workpiece through the coupling liquid supply system to ensure the consistency of the water film thickness between the ultrasonic probe and the workpiece during the flaw detection process.

[0005] Furthermore, the manipulator is provided with a six-axis manipulator arm or a flexible manipulator arm.

[0006] Furthermore, the ultrasonic probe, the distance measuring sensor, the follow-up mechanism and the coupling liquid supply system are integrated into the follow-up frame.

[0007] Furthermore, the follower frame is provided with a coupling liquid output channel, and during flaw detection, the coupling liquid supply system supplies the coupling liquid water film thickness between the ultrasonic probe and the workpiece to be tested through the coupling liquid output channel. Since the present invention adopts the above-mentioned technical scheme to stabilize the water film thickness when using a manipulator to perform ultrasonic flaw detection using the water film method, that is, the method installs a follower frame of the ultrasonic probe at the front end of the manipulator, and a distance sensor is arranged around the follower frame. The manipulator drives the follower frame through a follower mechanism; according to the surface characteristics of the workpiece to be inspected, the manipulator controls the follower mechanism to drive the follower frame, and the follower frame drives the ultrasonic probe to scan along the surface of the workpiece to be inspected. During the scanning process, the distance sensor detects the distance between the ultrasonic probe and the surface of the workpiece to be inspected in real time; the manipulator receives the detection data of the distance sensor and adjusts the distance between the ultrasonic probe and the surface of the workpiece to be inspected to be consistent; the coupling liquid supply system provides continuous coupling liquid between the ultrasonic probe and the workpiece to ensure the consistency of the water film thickness between the ultrasonic probe and the workpiece to be inspected during the flaw detection process. The method ensures the consistency and uniformity of the water film between the probe and the workpiece to be inspected during flaw detection, avoids false detection and missed detection, ensures the stability of the coupling distance, and improves the detection accuracy of ultrasonic flaw detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments: Figure 1 Schematic diagram of the positions of the ultrasonic probe, follow-up frame and ranging sensor in this method. DETAILED DESCRIPTION

[0009] Implementation example Figure 1 As shown, the method for stabilizing the water film thickness when the manipulator is used to perform water film ultrasonic flaw detection in the present invention comprises the following steps: Step 1: Install the follower frame 2 of the ultrasonic probe 1 at the front end of the manipulator, and the follower frame 2 is provided with distance measuring sensors 3 around it. The manipulator drives the follower frame 2 through the follower mechanism; Step 2: According to the surface features of the workpiece to be inspected, the manipulator controls the follower mechanism to drive the follower frame 2 through programming, and the follower frame 2 drives the ultrasonic probe 1 to scan along the surface of the workpiece to be inspected. During the scanning process, the distance sensor 3 detects the distance between the ultrasonic probe 1 and the surface of the workpiece to be inspected in real time; Step 3: The manipulator receives the detection data of the distance measuring sensor 3, and adjusts the distance between the ultrasonic probe 1 and the surface of the inspected workpiece through the follow-up mechanism and the follow-up frame 2 according to the detection data, so that the ultrasonic probe 1 and the surface of the inspected workpiece always maintain a consistent distance; Step 4: A coupling liquid supply system is used to continuously supply coupling liquid between the ultrasonic probe 1 and the workpiece to ensure that the water film thickness between the ultrasonic probe 1 and the workpiece is consistent during the flaw detection process.

[0010] Preferably, the manipulator is provided with a six-axis manipulator arm or a flexible manipulator arm.

[0011] Preferably, the ultrasonic probe 1 , the distance measuring sensor 3 , the follower mechanism and the coupling liquid supply system are integrated into the follower frame 2 .

[0012] Preferably, the follower frame 2 is provided with a coupling liquid output channel, and during flaw detection, the coupling liquid supply system supplies the coupling liquid water film thickness between the ultrasonic probe 1 and the workpiece to be tested through the coupling liquid output channel.

[0013] This method is easy to operate, and the mechanical structure used is simple and practical, which effectively improves the reliability and stability of ultrasonic flaw detection. By using the distance sensor and the follow-up mechanism, the distance between the ultrasonic probe and the workpiece to be inspected is measured in real time, and the distance is adjusted in time by the manipulator, so as to ensure that the coupling distance between the ultrasonic probe and the workpiece to be inspected is consistent during the ultrasonic flaw detection process, that is, the water film thickness is stabilized.

Claims

1. A method for stabilizing the thickness of a water film when using a manipulator for water film ultrasonic flaw detection, characterized in that The steps include: Step 1: Install a follower frame of the ultrasonic probe at the front end of the manipulator. The follower frame is provided with distance measuring sensors around it. The manipulator drives the follower frame through the follower mechanism. Step 2: According to the surface features of the workpiece to be inspected, the manipulator controls the follower mechanism to drive the follower frame through programming, and the follower frame drives the ultrasonic probe to scan along the surface of the workpiece to be inspected. During the scanning process, the distance sensor detects the distance between the ultrasonic probe and the surface of the workpiece to be inspected in real time; Step 3: The manipulator receives the detection data of the distance measuring sensor, and adjusts the distance between the ultrasonic probe and the surface of the inspected workpiece through the follow-up mechanism and the follow-up frame according to the detection data, so that the ultrasonic probe and the surface of the inspected workpiece always maintain a consistent distance; Step 4: Provide continuous coupling liquid between the ultrasonic probe and the workpiece through the coupling liquid supply system to ensure the consistency of the water film thickness between the ultrasonic probe and the workpiece during the flaw detection process.

2. The method for stabilizing the water film thickness when using a manipulator for water film ultrasonic flaw detection according to claim 1, characterized in that: The manipulator is provided with a six-axis manipulator arm or a flexible manipulator arm.

3. The method for stabilizing the water film thickness when using a manipulator for water film ultrasonic flaw detection according to claim 1 or 2, characterized in that: The ultrasonic probe, the distance measuring sensor, the follow-up mechanism and the coupling liquid supply system are integrated in the follow-up frame.

4. The method for stabilizing the water film thickness when using a manipulator for water film ultrasonic flaw detection according to claim 3 is characterized in that: The follower frame is provided with a coupling liquid output channel, and during flaw detection, the coupling liquid supply system supplies the coupling liquid water film thickness between the ultrasonic probe and the workpiece to be tested through the coupling liquid output channel.

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