End effector for ultrasonic scanning flaw detection of workpiece
By designing a terminal effector for composite workpieces, combining laser sensors, ultrasonic probes and water nozzles, efficient non-destructive detection of composite workpieces is achieved, solving the problems of low detection accuracy and efficiency in the prior art, and improving safety.
Patent Information
- Application Number
- CN202411432428.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-14
- Publication Date
- 2025-02-25
AI Technical Summary
The existing non-destructive testing processes are difficult to fully cover the workpiece surface during the composite material manufacturing process, resulting in defects being scanned. Especially when the workpiece is a spatial curved surface, the scanning accuracy is poor and the workers' scanning efficiency is low.
Design an end effector including a normal leveling assembly, an ultrasonic flaw detection assembly and a safety protection assembly, use a laser sensor to adjust the verticality of the water column in real time, combine an ultrasonic probe and a water nozzle to achieve non-destructive detection of composite workpieces, and prevent collisions through proximity switches and lidars.
It improves the accuracy and efficiency of ultrasonic scanning of composite workpieces, ensures inspection coverage of all parts of the workpiece, improves production efficiency and quality assurance, and enhances the safety of robot operations.
Smart Images
Figure CN119510558A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of robot end effector mechanisms, and in particular to an end effector used for ultrasonic scanning flaw detection of workpieces. Background Art
[0002] In the manufacturing process of composite materials, non-destructive testing of manufactured parts is a key link to ensure product safety and good performance. Non-destructive testing after the composite material is cured mainly detects whether there are pores, voids, delamination, cracks, etc. inside the material. If these defects are not detected and treated in time, they may cause performance degradation or even failure during the use of the material. However, the existing non-destructive testing process still faces many challenges, such as the scanning trajectory does not completely cover the surface of the material, resulting in the omission of defects; when the workpiece is a spatial curved surface, the deviation between the water column sprayed by the water nozzle and the normal vector of the workpiece surface is too large during scanning, resulting in poor scanning accuracy. At the same time, the scanning efficiency of workers is low and cannot meet production requirements.
[0003] In order to solve these problems, it is particularly important to develop an end effector that can adapt to ultrasonic scanning of workpieces of various shapes and improve the accuracy and efficiency of ultrasonic scanning of composite materials. In the prior art, there is a lack of an end effector that is simple in structure, easy to operate, and can ensure that the water column is always adaptively perpendicular to the workpiece surface. Such an end effector can move quickly on the surface of a cured composite workpiece, while making the water column perpendicular to the workpiece surface, ensuring that the scanning range can cover the entire workpiece surface, ensuring that all parts of the workpiece are scanned and inspected, thereby ensuring the overall performance and safety standards of the composite workpiece.
[0004] Therefore, developing an end effector for ultrasonic scanning and flaw detection of workpieces can not only efficiently complete the nondestructive testing of composite workpieces, but also prevent the end effector from colliding with the workpiece through safety protection components, thereby improving the safety of the robot during operation. This has great practical significance for improving the production efficiency and quality assurance of composite workpieces. Summary of the invention
[0005] The purpose of the present invention is to avoid the shortcomings of the prior art and provide an end effector for ultrasonic scanning and flaw detection of workpieces. The end effector is installed on the end flange of the robot, which can realize non-destructive testing of the interior of the composite workpiece, improve the accuracy and efficiency of scanning detection, and ensure the performance of the composite workpiece.
[0006] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: the end effector for ultrasonic scanning flaw detection of workpieces is characterized by including a normal leveling component, an ultrasonic flaw detection component and a safety protection component, the normal leveling component includes a flange base, sensor mounting plates are arranged on both sides of the flange base, and laser sensors are arranged on the sensor mounting plates; the ultrasonic flaw detection component is arranged below the flange base, and the ultrasonic flaw detection component includes an ultrasonic probe and a water nozzle; the safety protection component is arranged on the front and rear sides of the flange base, and the safety protection component includes a proximity switch installed on the integrated mounting plate and a laser radar installed on the radar mounting plate.
[0007] The flange base of the normal leveling component is fixedly connected to the flange of the robot through a threaded connection. The sensor mounting plate includes a first sensor mounting plate and a second sensor mounting plate, and the first sensor mounting plate and the second sensor mounting plate are respectively fixed on both sides of the flange base through threaded connections; the laser sensor includes a first laser sensor, a second laser sensor, a third laser sensor and a fourth laser sensor, and the first laser sensor and the second laser sensor are fixedly connected to the first sensor mounting plate through a threaded connection, and the third laser sensor and the fourth laser sensor are fixedly connected to the second sensor mounting plate through a threaded connection. The normal leveling component obtains the normal vector of the contact point between the workpiece surface and the water column sprayed by the water nozzle of the ultrasonic flaw detection component in real time through the laser sensor, which is used for the robot to adjust its own posture so that the water column is always perpendicular to the contact surface of the workpiece.
[0008] The ultrasonic flaw detection assembly also includes a cover plate, a guide rail, a slider and a spring. The ultrasonic probe and water nozzle of the ultrasonic flaw detection assembly are installed on the cover plate. The cover plate is fixedly connected to the slider by a threaded connection. The slider is slidably arranged on the guide rail. The guide rail is fixedly connected to the integrated mounting plate of the safety protection assembly by a threaded connection. The slider slides on the guide rail to drive the ultrasonic probe and the water nozzle on the cover plate to float; one end of the spring is installed on the cylinder of the cover plate, and the other end of the spring is installed on the flange base of the normal leveling assembly, which is used for buffering and rebounding the cover plate, the ultrasonic probe and the water nozzle during the floating process; the ultrasonic flaw detection assembly is used to transmit and receive ultrasonic waves and spray water columns, so that ultrasonic waves are transmitted from the stable water flow medium to the workpiece body, thereby completing the scanning of the inside of the workpiece and detecting the internal defects of the workpiece by using ultrasonic waves; the ultrasonic probe is fixedly connected to the cover plate by a threaded connection, and is used to send and receive ultrasonic waves; the water nozzle is installed on the ultrasonic probe by a threaded connection, and is used to spray water columns, serving as a propagation medium for ultrasonic waves.
[0009] The integrated mounting plate of the safety protection component is fixedly connected to the rear side of the flange base by a threaded connection, the guide rails of the proximity switch and the ultrasonic flaw detection component are installed on the integrated mounting plate, and the proximity switch is fixedly connected to the integrated mounting plate by a threaded connection, which is used for collision protection of the end effector; the radar mounting plate of the safety protection component is fixedly connected to the front side of the flange base by a threaded connection, and the laser radar is fixedly connected to the radar mounting plate by a threaded connection, which is used to scan the surrounding environment of the end effector and improve the safety of the end effector; the safety protection component is used to provide an anti-collision function for the end effector to prevent the robot from colliding with the scanned workpiece while carrying the end effector to work.
[0010] Furthermore, the left and right side surfaces of the flange base are inclined structures, and the lower bottom surface of the flange base is provided with a rounded rectangular groove for reducing weight, and the groove is designed with through holes for the water pipe line and the ultrasonic probe line to pass through; the lower bottom surface of the flange base is designed with a circular groove for spring positioning, and the upper surface of the flange base is designed with eight through holes and a circular boss for the flange base to be installed on the robot flange through a threaded connection and for centering the robot flange; the first sensor mounting plate and the second sensor mounting plate are rectangular plates with rounded corners, and the first sensor mounting plate and the second sensor mounting plate are provided with holes for mounting with the flange base and holes for connecting with the laser sensor.
[0011] Furthermore, the integrated mounting plate is a rectangular plate, the upper end of the integrated mounting plate is provided with a through hole connected to the flange base, one side of the lower end of the integrated mounting plate is provided with a through hole connected to the guide rail, the other side of the lower end of the integrated mounting plate is provided with a through hole for position adjustment and fixation of the proximity switch, and the bottom of the integrated mounting plate is provided with a rectangular boss for limiting the slider.
[0012] Furthermore, the cover plate is an L-shaped structural plate, the vertical plate of the cover plate is provided with a through hole connected to the slider, the horizontal plate of the cover plate is provided with a through hole for connecting the ultrasonic probe and the cover plate, the horizontal plate of the cover plate is also provided with a through hole for routing the ultrasonic component, and a cylindrical boss for spring positioning is provided on one side of the horizontal plate of the cover plate.
[0013] Furthermore, the ultrasonic probe is cylindrical in shape, an ultrasonic generator for transmitting and receiving ultrasonic waves is arranged inside the ultrasonic probe, and boss flanges for respectively fixing the cover plate and the water nozzle are arranged at both ends of the cylindrical shape of the ultrasonic probe.
[0014] Furthermore, the upper end of the water spray nozzle is a cylindrical structure, and the lower end is a shell-like part with a conical structure, which is used for storing and spraying high-pressure water. The side of the upper end of the water spray nozzle is provided with a threaded hole for installing a connecting part of a high-pressure water pipe, and the upper surface of the cylindrical upper end of the water spray nozzle is provided with a threaded hole for fixing the water spray nozzle and the ultrasonic probe, and the bottom of the conical lower end of the water spray nozzle is provided with a circular water outlet for spraying high-pressure water.
[0015] Furthermore, the radar mounting plate is a rectangular plate, the upper side of the radar mounting plate is provided with a hole for connecting to the flange base, and the lower side of the radar mounting plate is provided with a hole for connecting to the laser radar.
[0016] The beneficial effects of the present invention are as follows: the end effector used for ultrasonic scanning flaw detection of workpieces transmits and receives ultrasonic waves through an ultrasonic probe, uses a stable water column from a water nozzle to act as a conductive medium between the ultrasonic wave and the workpiece, and uses four laser sensors to assist the robot in keeping the posture of the end effector always perpendicular to the workpiece surface. The axial floating design of the ultrasonic probe, proximity switch and laser radar are used to avoid collision between the end effector and the workpiece, thereby safely and efficiently completing non-destructive flaw detection of composite workpieces. The robot is used to perform non-destructive testing on the workpiece surface using ultrasonic scanning during the manufacturing process of composite workpieces, which improves the production efficiency of composite workpieces while improving the accuracy of non-destructive testing of composite materials and ensuring the performance of composite workpieces. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Figure 1 It is a schematic diagram of the overall assembly structure of the present invention;
[0018] Figure 2 For the present invention Figure 1 Schematic diagram of the normal leveling component structure;
[0019] Figure 3 For the present invention Figure 1 Schematic diagram of the ultrasonic flaw detection component structure;
[0020] Figure 4 For the present invention Figure 1 Schematic diagram of the safety protection component structure in;
[0021] Figure 5 For the present invention Figure 1 Schematic diagram of the connection structure of the integrated mounting plate and the sensor mounting plate;
[0022] Figure 6 For the present invention Figure 1 Schematic diagram of the ultrasonic probe structure;
[0023] Figure 7 For the present invention Figure 1 Schematic diagram of the water nozzle structure;
[0024] Figure 8 For the present invention Figure 1 Schematic diagram of the cover structure.
[0025] In the figure: 1. flange base; 2. first sensor mounting plate; 3. second sensor mounting plate; 4. first laser sensor; 5. second laser sensor; 6. third laser sensor; 7. fourth laser sensor; 8. integrated mounting plate; 9. cover plate; 10. guide rail; 11. slider; 12. ultrasonic probe; 13. water nozzle; 14. spring; 15. radar mounting plate; 16. laser radar; 17. proximity switch. DETAILED DESCRIPTION
[0026] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.
[0027] In order to achieve the above object, the present invention provides the following specific implementation methods: Figure 1 As shown, the end effector for ultrasonic scanning flaw detection of workpieces is characterized in that it includes a normal leveling component, an ultrasonic flaw detection component and a safety protection component. The normal leveling component includes a flange base 1, and sensor mounting plates are arranged on both sides of the flange base 1, and laser sensors are arranged on the sensor mounting plates; the ultrasonic flaw detection component is arranged below the flange base 1, and the ultrasonic flaw detection component includes an ultrasonic probe 12 and a water nozzle 13; the safety protection component is arranged on the front and rear sides of the flange base 1, and the safety protection component includes a proximity switch 17 installed on the integrated mounting plate 8 and a laser radar 16 installed on the radar mounting plate 15.
[0028] like Figure 2 As shown, the flange base 1 of the normal leveling component is fixedly connected to the flange of the robot through a threaded connection, and the sensor mounting plate includes a first sensor mounting plate 2 and a second sensor mounting plate 3, which are respectively fixed on both sides of the flange base 1 through threaded connections; the laser sensor includes a first laser sensor 4, a second laser sensor 5, a third laser sensor 6 and a fourth laser sensor 7, the first laser sensor 4 and the second laser sensor 5 are fixedly connected to the first sensor mounting plate 2 through a threaded connection, and the third laser sensor 6 and the fourth laser sensor 7 are fixedly connected to the second sensor mounting plate 3 through a threaded connection. The normal leveling component obtains the normal vector of the contact point between the workpiece surface and the water column sprayed by the water nozzle 13 of the ultrasonic flaw detection component in real time through the laser sensor, which is used for the robot to adjust its own posture so that the water column is always perpendicular to the contact surface of the workpiece.
[0029] like Figure 3As shown, the ultrasonic flaw detection assembly further includes a cover plate 9, a guide rail 10, a slider 11 and a spring 14. The ultrasonic probe 12 and the water nozzle 13 of the ultrasonic flaw detection assembly are mounted on the cover plate 9. The cover plate 9 is fixedly connected to the slider 11 by threaded connection. The slider 11 is slidably arranged on the guide rail 10. The guide rail 10 is fixedly connected to the integrated mounting plate 8 of the safety protection assembly by threaded connection. The slider 11 slides on the guide rail 10 to drive the ultrasonic probe 12 and the water nozzle 13 on the cover plate 9 to float; one end of the spring 14 is mounted on the cylinder of the cover plate 9, and the other end of the spring 14 is mounted on the normal The flange base 1 of the leveling component is used for the cover plate 9, the ultrasonic probe 12 and the water nozzle 13 to perform buffering and rebound during the floating process; the ultrasonic flaw detection component is used to transmit and receive ultrasonic waves and spray water columns, so that ultrasonic waves are transmitted from the stable water flow medium to the workpiece body, thereby completing the scanning of the inside of the workpiece and detecting the internal defects of the workpiece by using ultrasonic waves; the ultrasonic probe 12 is fixedly connected to the cover plate 9 by a threaded connection, and is used to send and receive ultrasonic waves; the water nozzle 13 is installed on the ultrasonic probe 12 by a threaded connection, and is used to spray water columns, serving as a propagation medium for ultrasonic waves.
[0030] like Figure 4 As shown, the integrated mounting plate 8 of the safety protection component is fixedly connected to the rear side of the flange base 1 by threaded connection, the proximity switch 17 and the guide rail 10 of the ultrasonic flaw detection component are installed on the integrated mounting plate 8, and the proximity switch 17 is fixedly connected to the integrated mounting plate 8 by threaded connection, which is used for collision protection of the end effector; the radar mounting plate 15 of the safety protection component is fixedly connected to the front side of the flange base 1 by threaded connection, and the laser radar 16 is fixedly connected to the radar mounting plate 15 by threaded connection, which is used to scan the surrounding environment of the end effector and improve the safety of the end effector; the safety protection component is used to provide an anti-collision function for the end effector to prevent the robot from colliding with the scanned workpiece during the process of carrying the end effector to work.
[0031] Further, if Figure 5 As shown, the left and right sides of the flange base 1 are inclined structures, and the lower bottom surface of the flange base 1 is provided with a rounded rectangular groove for reducing weight, and the groove is designed with through holes for the water pipe line and the ultrasonic probe line to pass through; the lower bottom surface of the flange base 1 is designed with a circular groove for positioning the spring 14, and the upper surface of the flange base 1 is designed with eight through holes and circular bosses for the flange base 1 to be installed on the robot flange through threaded connection and for centering the robot flange; the first sensor mounting plate 2 and the second sensor mounting plate 3 are rectangular plates with rounded corners, and the first sensor mounting plate 2 and the second sensor mounting plate 3 are provided with holes for mounting with the flange base 1 and holes for connecting with the laser sensor.
[0032] Further, if Figure 5As shown, the integrated mounting plate 8 is a rectangular plate, the upper end of the integrated mounting plate 8 is provided with a through hole connected to the flange base 1, one side of the lower end of the integrated mounting plate 8 is provided with a through hole connected to the guide rail 10, the other side of the lower end of the integrated mounting plate 8 is provided with a through hole for position adjustment and fixation of the proximity switch 17, and the bottom of the integrated mounting plate 8 is provided with a rectangular boss for limiting the slider 11.
[0033] Further, if Figure 5 As shown, the radar mounting plate 15 is a rectangular plate, the upper side of the radar mounting plate 15 is provided with a hole for connecting with the flange base 1, and the lower side of the radar mounting plate 15 is provided with a hole for connecting with the laser radar 16.
[0034] Further, if Figure 8 As shown, the cover plate 9 is an L-shaped structural plate, the vertical plate of the cover plate 9 is provided with a through hole connected to the slider 11, the horizontal plate of the cover plate 9 is provided with a through hole for connecting the ultrasonic probe 12 to the cover plate 9, the horizontal plate of the cover plate 9 is also provided with a through hole for routing the ultrasonic component, and one side of the horizontal plate of the cover plate 9 is provided with a cylindrical boss for positioning the spring 14.
[0035] Further, if Figure 6 As shown, the ultrasonic probe 12 is cylindrical in shape, and an ultrasonic generator for transmitting and receiving ultrasonic waves is arranged inside the ultrasonic probe 12. Both ends of the cylindrical shape of the ultrasonic probe 12 are respectively provided with boss flanges for fixing the cover plate 9 and the water nozzle 13.
[0036] Further, if Figure 7 As shown, the upper end of the water spray nozzle 13 is a cylindrical structure, and the lower end is a shell part with a conical structure, which is used for storing and spraying high-pressure water. The side of the upper end of the water spray nozzle 13 is provided with a threaded hole for installing a connecting piece of a high-pressure water pipe, and the upper surface of the cylindrical upper end of the water spray nozzle 13 is provided with a threaded hole for fixing the water spray nozzle 13 and the ultrasonic probe 12, and the bottom of the conical lower end of the water spray nozzle 13 is provided with a circular water outlet for spraying high-pressure water.
[0037] The end effector for ultrasonic scanning flaw detection of workpieces is installed on the end flange of the industrial robot when in use. After the electronic device inspection is completed, the proximity switch 17 and the laser radar 16 start working to provide collision protection for the end effector. Then the robot moves to the upper surface of the workpiece to be inspected, and the water nozzle 13 is fed with high-pressure water, and the water nozzle 13 sprays a stable water column, and the ultrasonic probe 12 is turned on to detect the internal defects of the workpiece. The robot starts to move automatically along the surface of the workpiece. At the same time, the laser sensor of the end effector obtains the positions of the four coordinate points around the contact point between the sprayed water column and the workpiece surface, and inputs them to the computer to calculate the normal vector of the surface of the workpiece contact point. The robot automatically adjusts the posture of the end effector so that the water column is perpendicular to the workpiece surface. The entire working process uses robot programming to ensure that the robot can scan along all surfaces of the workpiece without missing any scans. At the same time, the laser sensor is used to ensure that the water column is always perpendicular to the workpiece surface, which can effectively improve the detection effect of ultrasonic flaw detection.
[0038] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims
1. An end effector for ultrasonic scanning flaw detection of workpieces, characterized in that: The invention comprises a normal leveling component, an ultrasonic flaw detection component and a safety protection component. The normal leveling component comprises a flange base (1). Sensor mounting plates are arranged on both sides of the flange base (1), and laser sensors are arranged on the sensor mounting plates. The ultrasonic flaw detection component is arranged below the flange base (1), and comprises an ultrasonic probe (12) and a water spray nozzle (13). The safety protection component is arranged on the front and rear sides of the flange base (1), and comprises a proximity switch (17) installed on the integrated mounting plate (8) and a laser radar (16) installed on the radar mounting plate (15).
2. The end effector for ultrasonic scanning flaw detection of a workpiece according to claim 1, characterized in that: The flange base (1) of the normal leveling component is fixedly connected to the flange of the robot through a threaded connection. The sensor mounting plate comprises a first sensor mounting plate (2) and a second sensor mounting plate (3). The first sensor mounting plate (2) and the second sensor mounting plate (3) are respectively fixed on both sides of the flange base (1) through a threaded connection. The laser sensor comprises a first laser sensor (4), a second laser sensor (5), a third laser sensor (6) and a fourth laser sensor (7). The first laser sensor (4) and the second laser sensor (5) are fixedly connected to the first sensor mounting plate (2) through a threaded connection. The third laser sensor (6) and the fourth laser sensor (7) are fixedly connected to the second sensor mounting plate (3) through a threaded connection. The normal leveling component obtains the normal vector of the contact point between the workpiece surface and the water column sprayed by the water nozzle of the ultrasonic flaw detection component in real time through the laser sensor, which is used for the robot to adjust its own posture so that the water column is always perpendicular to the contact surface of the workpiece.
3. The end effector for ultrasonic scanning flaw detection of a workpiece according to claim 1, characterized in that: The ultrasonic flaw detection assembly further comprises a cover plate (9), a guide rail (10), a slider (11) and a spring (14); the ultrasonic probe (12) and the water nozzle (13) of the ultrasonic flaw detection assembly are mounted on the cover plate (9); the cover plate (9) is fixedly connected to the slider (11) by threaded connection; the slider (11) is slidably arranged on the guide rail (10); the guide rail (10) is fixedly connected to the integrated mounting plate (8) of the safety protection assembly by threaded connection; the slider (11) slides on the guide rail (10) to drive the ultrasonic probe (12) and the water nozzle (13) on the cover plate (9) to float; one end of the spring (14) is mounted on the cylinder of the cover plate (9); the spring (14) ) The other end is mounted on the flange base (1) of the normal leveling component, and is used for the cover plate (9), the ultrasonic probe (12) and the water nozzle (13) to buffer and rebound during the floating process; the ultrasonic flaw detection component is used to transmit and receive ultrasonic waves and spray water columns, so that ultrasonic waves are transmitted from the stable water flow medium to the workpiece body, thereby completing the scanning of the inside of the workpiece and detecting the internal defects of the workpiece using ultrasonic waves; the ultrasonic probe (12) is fixedly connected to the cover plate (9) by a threaded connection, and is used to send and receive ultrasonic waves; the water nozzle (13) is installed on the ultrasonic probe (12) by a threaded connection, and is used to spray water columns, serving as a propagation medium for ultrasonic waves.
4. The end effector for ultrasonic scanning flaw detection of a workpiece according to claim 1, characterized in that: The integrated mounting plate (8) of the safety protection component is fixedly connected to the rear side of the flange base (1) by threaded connection, the proximity switch (17) and the guide rail (10) of the ultrasonic flaw detection component are installed on the integrated mounting plate (8), and the proximity switch (17) is fixedly connected to the integrated mounting plate (8) by threaded connection, which is used for collision protection of the end effector; the radar mounting plate (15) of the safety protection component is fixedly connected to the front side of the flange base (1) by threaded connection, and the laser radar (16) is fixedly connected to the radar mounting plate (15) by threaded connection, which is used for scanning the surrounding environment of the end effector to improve the safety of the end effector; the safety protection component is used to provide an anti-collision function for the end effector to prevent the robot from colliding with the scanned workpiece during the process of carrying the end effector to work.
5. An end effector for ultrasonic scanning flaw detection of a workpiece as described in claims 1 to 4, characterized in that: The left and right side surfaces of the flange base (1) are inclined structures. The lower bottom surface of the flange base (1) is provided with a rounded rectangular groove for reducing weight, and the groove is provided with a through hole for the water pipe line and the ultrasonic probe line to pass through; the lower bottom surface of the flange base (1) is provided with a circular groove for spring positioning, and the upper surface of the flange base (1) is provided with eight through holes and a circular boss for mounting the flange base (1) on the robot flange through a threaded connection and for centering the robot flange.
6. The end effector for ultrasonic scanning flaw detection of a workpiece according to claim 2, characterized in that: The first sensor mounting plate (2) and the second sensor mounting plate (3) are rectangular plates with rounded corners. The first sensor mounting plate (2) and the second sensor mounting plate (3) are provided with holes for mounting with the flange base (1) and holes for connecting with the laser sensors.
7. An end effector for ultrasonic scanning flaw detection of a workpiece as claimed in claim 1 or 4, characterized in that: The integrated mounting plate (8) is a rectangular plate. The upper end of the integrated mounting plate (8) is provided with a through hole connected to the flange base (1). One side of the lower end of the integrated mounting plate (8) is provided with a through hole connected to the guide rail (10). The other side of the lower end of the integrated mounting plate (8) is provided with a through hole for position adjustment and fixing of the proximity switch (17). The bottom of the integrated mounting plate (8) is provided with a rectangular boss for limiting the slider (11).
8. An end effector for ultrasonic scanning flaw detection of a workpiece as claimed in claim 1 or 3, characterized in that: The cover plate (9) is an L-shaped structural plate, the vertical plate of the cover plate (9) is provided with a through hole connected to the slider (11), the horizontal plate of the cover plate (9) is provided with a through hole for connecting the ultrasonic probe (12) to the cover plate (9), the horizontal plate of the cover plate (9) is also provided with a through hole for routing the ultrasonic component, and one side of the horizontal plate of the cover plate (9) is provided with a cylindrical boss for positioning the spring (14); the ultrasonic probe (12) is cylindrical in shape, an ultrasonic generator for transmitting and receiving ultrasonic waves is provided inside the ultrasonic probe (12), and boss flanges for respectively fixing the cover plate (9) and the water nozzle (13) are provided at both ends of the cylindrical shape of the ultrasonic probe (12).
9. An end effector for ultrasonic scanning flaw detection of a workpiece as claimed in claim 1 or 3, characterized in that: The upper end of the water spray nozzle (13) is a cylindrical structure, and the lower end is a shell part with a conical structure, which is used for storing and spraying high-pressure water. The side of the upper end of the water spray nozzle (13) is provided with a threaded hole for installing a connecting piece for a high-pressure water pipe. The upper surface of the cylindrical upper end of the water spray nozzle (13) is provided with a threaded hole for fixing the water spray nozzle (13) and the ultrasonic probe (12). The bottom of the conical lower end of the water spray nozzle (13) is provided with a circular water outlet for spraying high-pressure water.
10. An end effector for ultrasonic scanning flaw detection of a workpiece as claimed in claim 1 or 4, characterized in that: The radar mounting plate (15) is a rectangular plate. The upper side of the radar mounting plate (15) is provided with a hole for connecting with the flange base (1), and the lower side of the radar mounting plate (15) is provided with a hole for connecting with the laser radar (16).