Automatic detection device for ultrasonic phased array of spinning cylinder

Abstract

The invention discloses an automatic detection device for an ultrasonic phased array of a spinning cylinder. The automatic detection device comprises a workpiece rotating table, a ground rail truss system, a scanning mechanical arm, a probe module, a coupling system, an air drying module, a defect calibration system, a data acquisition system and the like. According to the device, full-coverage scanning detection of the barrel is achieved through the workpiece rotating table and the ground rail truss system, automatic scanning and thickness measurement of the barrel are achieved through the mechanical arm and the probe module, and coupling of the probe and the barrel and drying of the barrel during detection are achieved through the coupling system and the air drying module. A defect marking device is designed to calibrate detected defects in time, a data acquisition system processes defect signals and marks the defects, and full-automatic detection of the spinning cylinder is achieved.

Description

Technical Field

[0001] The invention relates to an automatic detection device, in particular to an automatic detection device for a spinning cylinder ultrasonic phased array. Background Art

[0002] The spun cylinder is made by strong spinning and is prone to defects such as cracks, delamination, folding, and peeling. The current quality inspection of spun cylinders mainly uses ultrasonic testing methods. A coupling agent (such as engine oil) is applied to the spun cylinder. The ultrasonic probe is manually held and a cross-scanning method of axial shear waves and annular plate waves is used. The probe emits pulse waves into the inside of the product, and the product is inspected by observing and evaluating internal defects or reflected waves from the bottom of the product. This method has formed a related standard in the aerospace system, "QJ20243-2012 Ultrasonic Testing Method for Ultra-High Strength Steel Strong Spinning Thin-walled Products".

[0003] The current ultrasonic testing method for axial and circumferential scanning of the spun cylinder has low detection efficiency, poor consistency, difficulty in quantitative defect positioning, a lot of coupling waste, many human factors, high requirements on personnel skills, and is prone to missed detection and false detection, making it difficult to effectively control the quality of the spun cylinder.

[0004] In CN 117147684 A "A nondestructive testing device and testing method for thin-walled spinning products", Figure 1 As shown, a nondestructive testing device and method are disclosed, the device includes a guide rail, a horizontal support transmission wheel group, and a probe mounting seat, wherein the guide rail and the horizontal support transmission wheel group are used for the axial and radial movement of the cylinder to meet the full coverage scanning of the cylinder, and the probe mounting seat is used to install an eddy current array probe and an ultrasonic guided wave probe. The method uses ultrasonic guided waves and eddy current detection methods to detect the defect state of each spatial position of a thin-walled spinning product. The invention uses eddy current and ultrasonic guided wave technology. The equipment needs to be equipped with two sets of detection hosts and process two different forms of detection signals. The equipment is relatively complex and has high requirements for hardware equipment.

[0005] "QJ20243-2012 Ultrasonic Testing Method for Ultra-High Strength Steel Strong Spinning Thin-walled Products" can only scan the spun cylindrical products point by point, which is difficult to automate; and it requires high experience and ability of the testing personnel, has low testing efficiency, and a high chance of missed detection and false detection. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide an automatic detection device of a spun cylinder using ultrasonic phased array, so as to solve the problem of realizing full-automatic detection of the spun cylinder.

[0007] In order to solve the existing technical problems, the present invention adopts the following technical solutions: an automatic detection device for ultrasonic phased array of a spun cylinder, comprising a workpiece rotating table, a ground rail truss system, a scanning robot arm, a probe module, a coupling system and a data acquisition system, characterized in that: the workpiece rotating table is composed of a supporting wheel group, and the cylinder is placed on the supporting wheel group for rotation; a ground rail truss system is arranged on one side of the workpiece rotating table; the ground rail truss system is composed of a truss track, a column and a cantilever, the truss track is arranged on one side of the workpiece rotating table and is laid along the axial direction of the cylinder, the column is installed on the truss track, the cantilever is installed on the column, and a scanning robot arm is installed on the cantilever, the column and the cantilever move together on the truss track, and the cantilever moves up and down on the column; the scanning robot arm comprises a first robot arm and a second robot arm, a first drive and host control cabinet and a second drive and host control cabinet, the first robot arm and the first drive and host control cabinet and the second robot arm and the second drive and host control cabinet are respectively installed on the cantilever; the first drive and main The machine control cabinet and the second drive and host control cabinet respectively control the first drive mechanical arm and the second mechanical arm to move along the cantilever, and detect by controlling the probe module installed on the first drive mechanical arm and the second mechanical arm; the probe module is divided into a first probe module and a second probe module, wherein the first probe module includes three probes, namely, a first longitudinal defect probe, a thickness measuring probe and a delamination defect probe, and the second probe module includes two probes, namely, a second longitudinal defect probe and a transverse defect probe. The probes of the first probe module and the second probe module are respectively installed on the two mechanical arms of the scanning mechanical arm through a probe clamping and rebounding device, and the probe clamping and rebounding device can float up and down and can rotate in positive and negative directions; the coupling system includes a collecting plate, a nozzle and a coupling agent filter driver, the collecting plate is installed under the workpiece rotating table, the nozzle is installed and connected to the mechanical arm of the scanning mechanical arm, and the coupling agent filter driver delivers the filtered coupling agent to the nozzle and sprays it on the cylinder detection part; the data acquisition system is connected to the probe of the probe module for collecting data and performing data processing.

[0008] Furthermore, the automatic detection device of the present invention also includes a calibration station, in which cylinder correction accessories of multiple diameters are embedded, which are used to correct the coaxial position of the spun cylinder before detection.

[0009] Furthermore, the workpiece rotating table described in the present invention is composed of three groups of support wheels: a first support wheel group, a second support wheel group and a third support wheel group. Each support wheel group is provided with two support wheels. The cylinder is placed between the two support wheels, and the wheelbase between the two support wheels is adjustable; the spacing between the first support wheel group and the second support wheel group is adjustable; the outer sides of the first support wheel group and the third support wheel group are installed with front end face limiting wheels and rear end face limiting wheels to prevent axial movement of the cylinder during rotation.

[0010] Furthermore, the automatic detection device described in the present invention also includes a defect calibration device, which includes a video acquisition and a spraying terminal, which are respectively installed on a robotic arm connected to the scanning robotic arm, and the video acquisition and the spraying terminal respectively perform video acquisition and marking on the defects detected on the cylinder.

[0011] Furthermore, the automatic detection device described in the present invention also includes an air drying module, which includes a gantry track, a gantry and a hot air unit. The gantry track is installed on both sides of the workpiece rotating table, the gantry is installed on the gantry track and moves on the gantry track, exhaust outlets are arranged on both sides and the upper part of the inner side of the gantry, and a hot air duct is arranged inside the gantry. The hot air unit sends the hot air out of the exhaust outlet through the hot air duct.

[0012] Furthermore, the automatic detection device described in the present invention also includes a safety protection device, which includes a protective grating, a guardrail, an alarm light and an emergency stop button. The guardrail is installed around the automatic detection device, the protective grating is installed on both sides of the entrance of the automatic detection device, and the alarm light and the emergency stop button are respectively installed on the automatic detection device.

[0013] Furthermore, the probe module of the present invention preferably adopts a phased array 0-degree linear scanning method for detection; the thickness measuring probe uses a high-frequency delay probe and combines it with a multi-channel board with a high sampling frequency for thickness measurement.

[0014] Furthermore, the probe module of the present invention preferably adopts a phased array probe with an axial array arrangement direction and a wedge angle of 0°, and utilizes the electronic deflection function of the phased array to adopt a ±45-degree bidirectional emission sound beam and group deflection to detect lateral defects of the cylinder.

[0015] Furthermore, the probe module of the present invention preferably uses a phased array probe with an axial array arrangement direction, a wedge angle of 45°, a circumferential wedge direction, and a transverse installation to detect transverse defects of the cylinder.

[0016] The present invention realizes full coverage scanning and inspection of the cylinder through a workpiece rotating table and a ground rail truss system, selects a mechanical arm and a probe module to realize automatic scanning and thickness measurement of the cylinder, utilizes a coupling system and an air drying module to realize coupling between the probe and the cylinder and drying of the cylinder during detection, selects a mechanical arm and a probe module to realize automatic scanning and thickness measurement of the cylinder, adopts a coupling agent recovery and filtering device to realize the reuse of the coupling agent and reduce waste, designs a defect marking device to timely calibrate the detected defects, and a data acquisition system processes the defect signal and marks the defect, thereby realizing full-automatic detection of the spun cylinder.

[0017] Beneficial Effects

[0018] The present invention adopts a fully automatic detection method. The program detection has low requirements on the skills of the operator, high detection efficiency, good consistency of detection results, and in principle, the probability of missed detection and false detection is zero.

[0019] The present invention only adopts the ultrasonic phased array detection method, has simple requirements for data acquisition host processing, has low requirements for equipment hardware, and also has thickness measurement and defect calibration functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a nondestructive testing device for thin-walled spun products, and the following symbols are shown in the figure: a-guide rail, b-horizontal support transmission wheel set, c-probe mounting seat, d-thin-walled spun product, e-ultrasonic guided wave probe, f-eddy current array probe;

[0021] Figure 2 Schematic diagram of the nondestructive testing device of the present invention, including: a calibration station 1, a workpiece rotating table 2, a ground rail truss system 3, a scanning robot arm 4, a probe module 5, a coupling system 6, an air drying module 7, a defect calibration device 8, a safety protection device 9, and a data acquisition system 10;

[0022] Figure 3 Schematic diagram of calibration station 1;

[0023] Figure 4 Schematic diagram of the workpiece rotating platform 2, which includes: a first supporting wheel group 21, a second supporting wheel group 22, a third supporting wheel group 23, a front end surface limiting wheel 24, and a rear end surface limiting wheel 25;

[0024] Figure 5 Schematic diagram of a ground rail truss system 3, which includes: a truss track 31, a column 32, and a cantilever 33;

[0025] Figure 6 Schematic diagram of the scanning robot 4, which includes: a first robot 41, a second robot 42, a first drive and host control cabinet 43, and a second drive and host control cabinet 44;

[0026] Figure 7 A schematic diagram of a first probe module 51, which includes: a first longitudinal defect probe 511, a thickness measuring probe 512, a delamination defect probe 513, and a first probe clamping and rebounding device 514;

[0027] Figure 8 A schematic diagram of a second probe module 52, which includes: a second longitudinal defect probe 521, a transverse defect probe 522, and a second probe clamping and rebounding device 523;

[0028] Fig. 9 Schematic diagram of coupling system 6, including: collection plate 61, nozzle 62, coupling agent filter driver 63;

[0029] Fig.10 Schematic diagram of the air drying module 7, which includes: a gantry track 71, a gantry 72, a hot air duct 73, and a hot air unit 74;

[0030] Fig.11 Schematic diagram of defect calibration device 8, including: video acquisition 81 and spray terminal 82;

[0031] Fig.12 Schematic diagram of the safety protection device 9, which includes: a protective grating 91, a guardrail 92, an alarm light 93, and an emergency stop button 94;

[0032] Fig.13 Schematic diagram of the installation method and orientation of the probe and wedge block when measuring transverse (circumferential) defects;

[0033] Fig.14 Schematic diagram of the installation method and orientation of the probe and wedge block when measuring longitudinal (axial) defects;

[0034] Fig.15 Schematic diagram of artificial defect (flat bottom hole) design;

[0035] Fig.16 Defect detection result diagram;

[0036] Fig.17 Schematic diagram of transverse and longitudinal groove type artificial defects;

[0037] Fig.18 Ultrasonic phased array test result diagram;

[0038] Fig.19 Comparison chart of conventional ultrasound and phased array. DETAILED DESCRIPTION

[0039] In order to make the purpose, features and advantages of the technical solution proposed in the present invention more obvious and easy to understand, the embodiments of the technical solution proposed in the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the proposed technical solution, not all of them. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0040] As attached Figure 2 As shown, an ultrasonic phased array automatic detection device for a spun cylinder mainly includes a calibration station 1, a workpiece rotating table 2, a ground rail truss system 3, a scanning robot arm 4, a probe module 5, a coupling system 6, an air drying module 7, a defect calibration device 8, a safety protection device 9 and a data acquisition system 10.

[0041] As attached Figure 3As shown, the calibration station 1 is used to calibrate the coaxial position of the spinning cylinder before detection, and after calibration, the cylinder is moved into the workpiece rotating table. The device is embedded with calibration accessories of multiple diameters to meet the calibration of cylinders of different specifications.

[0042] As attached Figure 4 As shown, the workpiece rotating platform 2 is composed of three groups of supporting wheels, and the wheel spacing of each group of supporting wheels is adjustable to adapt to the detection of cylinders with different diameters. The spacing between the first supporting wheel group 21 and the second supporting wheel group 22 is adjustable to adapt to the detection of cylinders with different lengths. The front end surface limiting wheel 24 and the rear end surface limiting wheel 25 are installed on the side of the first supporting wheel group 21 and the third supporting wheel group 23 to prevent the cylinder from rotating and causing axial movement.

[0043] As attached Figure 5 As shown, the ground rail truss system 3 is composed of a truss track 31, a column 32, and a cantilever 33, wherein the column 32 and the cantilever 33 move together on the truss track 31 in the X-axis direction, and the cantilever 33 can move up and down in the Z-axis on the column 32.

[0044] As attached Figure 6 As shown, the scanning robot 4 includes a first robot 41, a second robot 42, a first drive and host control cabinet 43 and a second drive and host control cabinet 44. The first drive and host control cabinet 43 and the second drive and host control cabinet 44 control the first drive robot 41 and the second robot 42 to move in the Y axis to adapt to the detection of spinning tubes with different outer diameters. The control cabinet contains a Y-axis drive control circuit board and an ultrasonic host board.

[0045] The probe module 5 includes a first probe module 51 and a second probe module 52. Figure 7 As shown, the first probe module 51 includes a first longitudinal defect probe 511, a thickness measuring probe 512, a delamination defect probe 513, and a first probe clamping and rebounding device 514. The first longitudinal defect probe 511 is used to detect defects (cracks, scratches, etc.) distributed along the axial direction of the cylinder. The thickness measuring probe 512 is used to measure the thickness of the cylinder. The number of measuring points can be adjusted according to requirements. The delamination defect probe 513 is used to measure the delamination defects generated during the spinning process. The first probe clamping and rebounding device 514 can float up and down and can rotate by plus or minus 10° to solve the influence of the corrugated and uneven surface of the spinning cylinder on the coupling unevenness and damage to the probe; as shown in the attached Figure 8As shown, the second probe module 52 includes a second longitudinal defect probe 521, a transverse defect probe 522, and a second probe clamping and rebounding device 523. The second longitudinal defect probe 521 is used to detect defects (cracks, scratches, etc.) distributed along the axial direction (longitudinal direction) of the cylinder, and the transverse defect probe 522 is used to detect defects (cracks, scratches, etc.) distributed along the transverse (circumferential) direction of the cylinder. The second probe clamping and rebounding device 523 is the same as the first probe clamping and rebounding device 514, which can float up and down and can rotate plus or minus 10° to solve the influence of the corrugated and uneven surface of the spun cylinder on the coupling unevenness and damage of the probe.

[0046] As attached Fig. 9 As shown, the coupling system 6 includes a collection plate 61, a nozzle 62, and a coupling agent filter driver 63, wherein the coupling agent filter driver 63 includes a pipeline connecting various parts, a coupling agent filter device, and a coupling agent transmission drive pump.

[0047] As attached Fig.10 As shown, the air drying module 7 includes a gantry track 71, a gantry 72, a hot air duct 73 and a hot air unit 74, wherein the gantry 72 can move on the gantry track 71 to meet the drying needs of cylinders of different lengths. In addition to its supporting function, the gantry 72 also has exhaust vents on both sides and the top to facilitate the drying of the entire cylinder.

[0048] As attached Fig.11 As shown, the defect calibration device 8 includes a video acquisition device 81 and a spray terminal 82. The hardware part of the device can be purchased separately and needs to be interconnected with the data acquisition system. After the defect is detected, the defect calibration device can be commanded to spray out the approximate shape of the defect.

[0049] As attached Fig.12 As shown, the safety protection device 9 includes a protective grating 91, a guardrail 92, an alarm light 93 and an emergency stop button 94. The hardware part of the device can also be purchased separately and needs to be interconnected with the data acquisition system. If someone comes out of the light grating or guardrail, the running equipment will stop immediately to prevent injury to personnel.

[0050] The data acquisition system 10 is used to collect data and perform data processing.

[0051] The probe module 5 is installed on the mechanical scanning arm 4, and the mechanical scanning arm 4 is installed on the cantilever 33 of the ground rail truss system 3. The first probe module 51 is installed with a first longitudinal defect probe 511, a thickness probe 512, a delamination defect probe 513 and a coupling agent nozzle 62; the second probe module 52 is installed with a second longitudinal defect probe 521, a transverse defect probe 522, a coupling agent nozzle 62 and a spray terminal 82 of the defect calibration device 8. The second longitudinal defect probe 521 and the transverse defect probe 522 are arranged axially in multiple channels, and together with the thickness probe 512 and the delamination defect probe 513, they are equipped with coupling agent spraying, synchronous detection of cracks, folds, peeling, delamination, etc. in all directions in the spinning cylinder, and simultaneous determination of the cylinder thickness at each position. The rebound device adapts to the influence of poor probe coupling caused by the spinning texture of the cylinder, and further protects the probe.

[0052] Adjust the position of the spun cylinder in the calibration station 1 in advance, push it into the workpiece rotating table 2 after adjustment, and adjust the size of the second support wheel group 22 and the third support wheel group 23 according to the size of the spun cylinder to stably support the spun cylinder, and at the same time, erect the front end limit wheel 24 and the rear end limit wheel 25 to fix the cylinder. The ground rail truss system 3 moves to one end of the cylinder, the mechanical scanning arm 4 fits the probe module 5 to the cylinder, the coupling agent nozzle 62 sprays the coupling agent, and the second support wheel group 22 rotates to drive the cylinder to rotate. After the spun cylinder rotates one circle, the ground rail truss system 3 moves the effective detection area of ​​the probe (the size of the probe arranged along the axial direction) inward along the axial direction, and the spun cylinder continues to rotate one circle, and repeats in sequence until the entire cylinder is detected. If there is a defect, the system will trigger the defect calibration device 8 to mark the defect. Since the first probe module 51 is equipped with a first longitudinal defect probe 511, a thickness measuring probe 512, and a delamination defect probe 513; and the second probe module 52 is equipped with a second longitudinal defect probe 521 and a transverse defect probe 522, during the scanning process of the robotic arm, various defects are detected at the same time and the thickness at the corresponding position is measured.

[0053] Description of the present invention on the detection of common defects of spinning cylinder

[0054] Spin forming uses a spinning wheel to roll the forging blank into a thin-walled cylinder consistent with the mold through mechanical methods such as extrusion, pushing and pulling. The push-pull force will form longitudinal (axial) defects, and the spinning pressure of the spinning wheel will form transverse (circumferential) defects. Whether it is cracks, delamination, folding or peeling, this is related to the material process control during the forging process of the blank, but it will form longitudinal, transverse or angled defects.

[0055] (1) Delamination, peeling and thickness measurement

[0056] Delamination and peeling defects usually occur in the thickness direction of the cylinder, that is, if they exist, the thickness of the cylinder will decrease. According to the defect characteristics, the present invention uses a phased array 0-degree linear scanning method for detection. In order to improve the thickness measurement accuracy, a high-frequency delay probe is selected and combined with a high-sampling frequency multi-channel board for thickness measurement.

[0057] (2) Detection of transverse (circumferential) defects

[0058] As attached Fig.13 The figure shows the installation method and orientation of the probe and wedge block during transverse (circumferential) measurement. In view of the characteristics of transverse defects, the present invention designs and customizes a phased array probe with an axial array arrangement direction and a wedge block angle of 0°. The electronic deflection function of the phased array technology is used to transmit the sound beam in both directions of ±45 degrees and deflect in groups to detect transverse defects of the cylinder.

[0059] (3) Detection of longitudinal (axial) defects

[0060] As attached Fig.14 The figure shows the installation method and orientation of the probe and wedge block during the actual measurement of longitudinal (axial) defects. According to the characteristics of longitudinal defects, the present invention designs and customizes a phased array probe with an axial arrangement direction, a wedge block angle of 45°, a circumferential wedge direction, and a transverse installation to detect transverse defects of the cylinder.

[0061] (4) Air drying module

[0062] In the present invention, after the cylinder is inspected, the cylinder needs to be dried to prevent the coupling agent from corroding the cylinder. A gantry track 71 is designed for products of different lengths, so that the gantry 72 can move on the gantry track 71 to cover the entire cylinder. In order to achieve the effect of drying around the cylinder, the gantry 72 is designed, and exhaust ports are set on both sides and the top to ensure that there is airflow around the cylinder in the passing area. In order to accelerate drying, a hot air duct 73 and a hot air unit 74 are designed so that hot air is blown out of the exhaust port to increase the drying speed.

[0063] The present invention can not only be used for phased array detection of spun cylinders, but also can detect cylinder welds, the bonding interface between cylinder metal shells and internal non-metallic materials, and defects in cylinder fiber-wound shells by adjusting the probes in the probe module and changing the signal processing.

[0064] Detection experiment

[0065] The detection experimental method of the present invention measures the transverse defects, longitudinal defects and thickness of the actual spun cylinder, and compares it with the conventional ultrasonic "QJ20243-2012 Ultrasonic Detection Method for Ultra-High Strength Steel Strong Spinning Thin-Wall Products". Both can achieve its defect detection capability and further demonstrate the unique advantages of the ultrasonic phased array.

[0066] (1) Simulate delamination and peeling defects

[0067] The flat bottom hole processed on the spinning cylinder is used to simulate the detection of delamination and peeling defects. The specific defect scale of the artificial flat bottom hole is as shown in the attached figure. Fig.15 The artificial defect sizes are shown in Table 1.

[0068] Table 1 Artificial defect design

[0069]

[0070] In accordance with the AA grade requirements of the standard "QJ20243-2012 Ultrasonic Testing Method for Ultra-High Strength Steel Strong Spinning Thin-walled Products", artificial defects were designed and produced as shown in Table 2.

[0071] Table 2 Quality acceptance level of spinning products

[0072]

[0073] The ultrasonic phased array test results are shown in the attached Fig.16 As shown, it can be clearly seen from the detection image that the set artificial defects can be accurately detected.

[0074] (2) Simulation of transverse and longitudinal defects

[0075] The horizontal and vertical grooves processed on the spinning cylinder are used to simulate the detection of horizontal and vertical crack defects. The thickness of the workpiece to be inspected is 3.5mm, and two horizontal and vertical grooves are processed, with dimensions of 20mm*0.4mm*0.2mm (length*width*depth) and 20mm*0.8mm*0.4mm (length*width*depth). Fig.17 shown.

[0076] In accordance with the standard "GB / T5777-2019 Full Circumferential Automatic Ultrasonic Testing of Longitudinal and / or Transverse Defects in Seamless and Welded Steel Pipes", the groove size achieved this time reached U3 level and is close to U2 level.

[0077] Table 3 Acceptance level and corresponding comparison of groove depth

[0078]

[0079] The ultrasonic phased array detection results are shown in Table 3. It can be seen from the detection images that the artificial defects set can be effectively detected by the phased array detection method of the present invention, and both the signal-to-noise ratio and imaging can achieve good results.

[0080] (3) Conventional and phased array comparison test

[0081] Based on the defects of the actual spinning cylinder, conventional ultrasonic and phased array comparative tests were carried out, as shown in the attached Fig.19 shown.

[0082] As can be seen from the figure, for defects on the physical object, the phased array can also clearly detect those that can be detected by conventional ultrasound. In addition, the phased array can perform a variety of imaging methods, realize two-dimensional or even three-dimensional data storage and recording, and realize two-dimensional quantification.

Claims

1. An automatic detection device for a spinning cylinder using ultrasonic phased array, comprising a workpiece rotating table (2), a ground rail truss system (3), a scanning robot arm (4), a probe module (5), a coupling system (6) and a data acquisition system (10), characterized in that: The workpiece rotating platform (2) is composed of a supporting wheel group, and the cylinder is placed on the supporting wheel group for rotation; a ground rail truss system (3) is arranged on one side of the workpiece rotating platform (2); The ground rail truss system (3) is composed of a truss track (31), a column (32) and a cantilever (33); the truss track (31) is arranged on one side of the workpiece rotating platform (2) and is laid along the axial direction of the cylinder; the column (32) is installed on the truss track (31); the cantilever (33) is installed on the column (32); a scanning mechanical arm (4) is installed on the cantilever (33); the column (32) and the cantilever (33) move together on the truss track (31); and the cantilever (33) moves up and down on the column (32); The scanning robot arm (4) comprises two robot arms, a first robot arm (41) and a second robot arm (42), a first drive and host control cabinet (43) and a second drive and host control cabinet (44); the first robot arm (41) and the first drive and host control cabinet (43) and the second robot arm (42) and the second drive and host control cabinet (44) are respectively mounted on the cantilever (33); the first drive and host control cabinet (43) and the second drive and host control cabinet (44) respectively control the first robot arm (41) and the second robot arm (42) to move along the cantilever (33), and perform detection by controlling the probe modules (5) mounted on the first robot arm (41) and the second robot arm (42); The probe module (5) is divided into a first probe module (51) and a second probe module (52), wherein the first probe module (51) comprises three probes, namely a first longitudinal defect probe (511), a thickness measuring probe (512) and a delamination defect probe (513), and the second probe module (52) comprises two probes, namely a second longitudinal defect probe (521) and a transverse defect probe (522). The probes of the first probe module (51) and the second probe module (52) are respectively mounted on two mechanical arms of the scanning mechanical arm (4) through a probe clamping and rebounding device, and the probe clamping and rebounding device can float up and down and can rotate in positive and negative directions. The coupling system (6) comprises a collecting plate (61), a spray head (62) and a coupling agent filter driver (63); the collecting plate (61) is installed under the workpiece rotating platform (2); the spray head (62) is installed and connected to the mechanical arm of the scanning mechanical arm (4); and the coupling agent filter driver (63) delivers the filtered coupling agent to the spray head (62) to spray on the detection part of the cylinder; The data acquisition system (10) is connected to the probe of the probe module (5) and is used for collecting data and performing data processing.

2. The automatic detection device according to claim 1, characterized in that: The automatic detection device also includes a calibration station (1), in which a plurality of cylinder calibration accessories of different diameters are embedded, and which are used to calibrate the coaxial position of the spun cylinder before detection.

3. The automatic detection device according to claim 1, characterized in that: The workpiece rotating platform (2) is composed of three groups of supporting wheels, namely a first supporting wheel group (21), a second supporting wheel group (22) and a third supporting wheel group (23), each supporting wheel group is provided with two supporting wheels, the cylinder is placed between the two supporting wheels, and the wheel spacing between the two supporting wheels is adjustable; the spacing between the first supporting wheel group (21) and the second supporting wheel group (22) is adjustable; the outer side surfaces of the first supporting wheel group (21) and the third supporting wheel group (23) are provided with a front end surface limiting wheel (24) and a rear end surface limiting wheel (25) to prevent the cylinder from rotating and causing axial movement.

4. The automatic detection device according to claim 1, characterized in that: The automatic detection device also includes a defect calibration device (8), which includes a video acquisition device (81) and a spraying terminal (82). The video acquisition device (81) and the spraying terminal (82) are respectively installed on the mechanical arm of the scanning mechanical arm (4), and the video acquisition device (81) and the spraying terminal (82) respectively perform video acquisition and marking on the defects detected on the cylinder.

5. The automatic detection device according to claim 1, characterized in that: The automatic detection device further comprises an air drying module (7), the air drying module (7) comprising a gantry track (71), a gantry (72) and a hot air unit (74), the gantry track (71) being mounted on both sides of the workpiece rotating platform (2), the gantry (72) being mounted on the gantry track (71) and moving on the gantry track (71), exhaust ports being arranged on both sides and the upper part of the inner side of the gantry (72), a hot air duct (73) being arranged inside the gantry (72), and the hot air unit (74) sending hot air out of the exhaust port through the hot air duct (73).

6. The automatic detection device according to claim 1, characterized in that: The automatic detection device further comprises a safety protection device (9), the safety protection device (9) comprising a protection grating (91), a protection fence (92), an alarm light (93) and an emergency stop button (94), the protection fence (92) being installed around the automatic detection device, the protection grating (91) being installed on both sides of the entrance of the automatic detection device, and the alarm light (93) and the emergency stop button (94) being installed on the automatic detection device respectively.

7. The automatic detection device according to claim 1, characterized in that: The probe module (5) uses a phased array 0-degree linear scanning method to perform detection; the thickness measuring probe (512) uses a high-frequency delay probe in combination with a high-sampling frequency multi-channel board to perform thickness measurement.

8. The automatic detection device according to claim 1, characterized in that: The probe module (5) adopts a phased array probe with an array arrangement direction of axial direction and a wedge angle of 0°, and utilizes the electronic deflection function of the phased array to transmit sound beams in two directions of ±45 degrees and deflect in groups to detect transverse defects of the cylinder.

9. The automatic detection device according to claim 1, characterized in that: The probe module (5) adopts a phased array probe with an array arrangement direction in the axial direction, a wedge angle of 45°, a wedge direction in the circumferential direction, and is installed transversely to detect transverse defects of the cylinder.

Images