Automatic ultrasonic inspection device for plates

Abstract

The invention belongs to the technical field of nondestructive testing, and particularly relates to an automatic ultrasonic testing device for plates. Rapid feeding, discharging and transferring of the plates are completed through the mechanical arm in an assembly line work mode. The inspection device is used for rapidly positioning, inspecting, overturning and other processes of the plate, and stable and efficient inspection is achieved. The front and back surfaces of the plate are quickly inspected, namely, the processes of quickly positioning, inspecting, overturning and the like of the plate are realized, a set of assembly line for automatic overturning and positioning operation of the plate inspection device is formed, and accurate positioning and quick overturning of a plurality of plates are realized while the plates are ensured not to be damaged.

Description

Technical Field

[0001] The invention belongs to the technical field of nondestructive testing, and in particular relates to an automatic ultrasonic inspection device for plates. Background Art

[0002] Metal and composite plates are widely used in aerospace, national defense, energy and other fields. Due to long-term operation under complex working conditions of high pressure and high temperature, the equipment will suffer certain fatigue damage and will also be corroded by dust and smoke, thus forming hole defects. The occurrence of plate damage poses a threat to the working safety of the equipment. Non-contact ultrasonic detection technology is an effective means to detect damage in a timely manner. In related technologies, when performing non-destructive testing on plates, they are often handled and inspected manually, with low detection efficiency and detection accuracy relying on manual experience. In view of this, it is urgent to improve the efficiency and quality of non-destructive testing of plates. Summary of the invention

[0003] In order to overcome the problems existing in the related art, an automatic ultrasonic inspection device for plates is provided.

[0004] According to one aspect of an embodiment of the present disclosure, there is provided an automatic ultrasonic inspection device for plates, the device comprising: a plate loading rack, an adsorption module, a manipulator, a plate detection device, a drying rack, and a unloading rack;

[0005] The manipulator is located in the center of the overall device, and the adsorption module is installed at the upper end of the manipulator to grab and adsorb the plates to be inspected; the plate detection device, drying rack and unloading rack are arranged around the manipulator in a cross shape to facilitate the transportation of plates; the loading rack is used to place the plates to be inspected, and the unloading rack is used to place the inspected plates. The loading rack and the unloading rack are placed on both sides of the manipulator respectively; the plate detection devices are located on both sides of the manipulator, and the drying rack is set on the same side of the unloading rack.

[0006] In a possible implementation, a plurality of plate storage positions are provided on the loading rack and the unloading rack, the plates are stacked at the plate storage positions, and intervals are provided between the plate storage positions.

[0007] In a possible implementation, a polymer pad is installed under the plate storage position.

[0008] In a possible implementation, support legs and casters are installed at the bottom of the loading rack and the unloading rack.

[0009] In a possible implementation, the adsorption module is installed on the upper end of the manipulator through the manipulator mounting plate; the adsorption module uses suction cup adsorption to complete the transportation of the plate; multiple suction cups are arranged on one side of the manipulator mounting plate, and the spacing between each suction cup is consistent with the spacing between the plate storage positions on the loading rack; multiple vacuum generators are arranged on the other side of the manipulator mounting plate, each vacuum generator is connected to the air source through the source inlet and is connected to a suction cup. When the vacuum generator is working, the connected suction cups generate negative pressure, thereby being able to adsorb the plate.

[0010] In a possible implementation, a muffler is installed on the air pipe joint at the upper end of each suction cup.

[0011] In a possible implementation, each suction cup is mounted on the manipulator mounting plate via a spring.

[0012] In one possible implementation, a fixed barcode scanner is installed on the robot mounting plate near each suction cup. After each suction cup completes the adsorption action, the scanning range of the corresponding fixed barcode scanner can cover the graphic code on the adsorbed plate, read and identify the information of the graphic code, and upload it to the host computer to complete the data entry of the adsorbed plate.

[0013] In a possible implementation, the ultrasonic detection device includes a three-axis mobile platform, a detection platform, and a movable stand; the three-axis mobile platform is a gantry structure composed of mobile pairs in three directions, and the probe group is mounted on the Z-axis mobile pair, which can realize movement in the three directions of X, Y, and Z;

[0014] The testing platform includes multiple inspection stations. A calibration test block is placed at one end of each inspection station for ultrasonic testing calibration. The spacing between the inspection stations is consistent with the spacing between the suction cups, so that multiple plates can be placed in the testing water tank at the same time.

[0015] The flipping motor is used to drive the flipping action of the plate. The movable platform is the supporting part of the ultrasonic detection device. The main body is a three-layer profile frame made of profiles, separated by partitions in the middle. A constant temperature circulating water tank is placed on the second layer to realize automatic water circulation and an industrial control box is used to control the motor of the detection platform.

[0016] In one possible implementation, a plate drying rack is provided with a plurality of plate drying positions, each of which is provided with a polymer pad with a boss structure, and the boss structure enables water droplets on the plate to collect and drip; a nozzle fixing plate is fixedly installed on one side of the plate drying position, and a pressurized nozzle is fixedly installed on the nozzle fixing plate, and the plate is dried by compressed air blown out by the pressurized nozzle.

[0017] The beneficial effect of the present disclosure is that the rapid loading and unloading and transportation of plates can be completed by means of a robot through the way of assembly line operation. The inspection device can quickly locate, inspect, flip and other processes of the plates to achieve stable and efficient inspection. The front and back sides of the plates can be quickly inspected, that is, the rapid positioning, inspection, flip and other processes of the plates can be achieved, forming a set of assembly lines for the automatic flipping and positioning operations of the plate inspection device, while ensuring that the plates are not damaged, and realizing the precise positioning and rapid flipping of multiple plates. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of an automatic ultrasonic inspection device for plate according to an exemplary embodiment.

[0019] Figure 2 It is a schematic diagram of a loading rack or unloading rack according to an exemplary embodiment.

[0020] Figure 3 is a schematic diagram of an adsorption module according to an exemplary embodiment.

[0021] Figure 4 is a schematic diagram of an ultrasonic detection device according to an exemplary embodiment.

[0022] Figure 5 is a schematic diagram of a three-axis mobile platform according to an exemplary embodiment.

[0023] Figure 6 is a schematic diagram of an inspection station according to an exemplary embodiment.

[0024] Figure 7 It is a schematic diagram of a mobile stand according to an exemplary embodiment.

[0025] Figure 8 is a schematic diagram of a drying rack according to an exemplary embodiment.

[0026] Fig. 9 is a schematic diagram of a board drying station according to an exemplary embodiment.

[0027] In the figure:

[0028] 1. Plate loading rack; 2. Adsorption module; 3. Robot; 4. Ultrasonic inspection device;

[0029] 5. Drying rack; 6. Sheet material unloading rack; 11. Storage position for polymer pad sheets;

[0030] 12. Support feet and casters; 21. Air source input port; 22. Vacuum generator; 23. Manipulator mounting plate;

[0031] 24. Suction cup; 25. Muffler; 26. Fixed barcode scanner; 27. Suction cup;

[0032] 41. Three-axis mobile platform; 42. Testing platform; 43. Protective cover; 44. Movable stand;

[0033] 411, X-axis moving pair; 412, Y-axis moving pair; 413, Z-axis moving pair; 414, probe group;

[0034] 421, calibration test block; 422, water tank; 423, flip motor; 424, testing station;

[0035] 441. Constant temperature circulating water tank; 442. Industrial control box; 443. Profile rack; 444. Partition;

[0036] 445. Support feet and castors; 51. Plate drying position; 52. Drying tray;

[0037] 511. A polymer pad with a boss; 512. A pressurized nozzle; 513. A nozzle fixing plate. DETAILED DESCRIPTION

[0038] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] Figure 1 is a schematic diagram of an automatic ultrasonic inspection device for plates according to an exemplary embodiment. Figure 1 As shown, the device includes: a plate loading rack 1, an adsorption module 2, a manipulator 3, a plate detection device 4, a drying rack 5 and a unloading rack 6. The manipulator 3 is located at the center of the overall device, and the adsorption module 2 is installed at the upper end of the manipulator 3, and is used to grab and adsorb the plate to be detected. The plate detection device 4, the drying rack 5 and the unloading rack 6 are arranged around the manipulator 3 in a cross shape to facilitate the transportation of the plate. The loading rack 1 is used to place the plates to be inspected, and the unloading rack 6 is used to place the plates that have been inspected. The loading rack 1 and the unloading rack 6 are respectively placed on both sides of the manipulator. The plate detection device 4 is respectively located on both sides of the manipulator 3, and the drying rack 5 is arranged on the same side as the unloading rack 6.

[0040] Figure 2 is a schematic diagram of a loading rack or unloading rack according to an exemplary embodiment, such as Figure 2 As shown, the loading rack 1 has the same structure as the unloading rack 6. The loading rack 1 is provided with a plurality of plate storage positions 11, where the plates are stacked. A polymer pad is installed under the plate storage position 11. The polymer pad can be made of polyethylene or other non-metallic materials without halogen elements to prevent the plates from being scratched or bruised. Intervals are set between each plate storage position 11. Support feet and casters 12 are installed at the bottom of the loading rack 1, which has a stable structure and flexible transfer.

[0041] The adsorption module 2 is mounted on the upper end of the manipulator 3 via the manipulator mounting plate 23 . Figure 3 is a schematic diagram of an adsorption module according to an exemplary embodiment. Figure 3 As shown, the adsorption module 2 uses a suction cup 24 to complete the handling of the plate. The suction cup can be made of elastic materials such as polyurethane, which will not damage the plate. A plurality of suction cups 24 are arranged on one side of the manipulator mounting plate 23, and the spacing between each suction cup 24 is consistent with the spacing between the plate storage positions 11 on the loading rack 1, so that the manipulator can adsorb multiple plates at one time. A plurality of vacuum generators 22 are arranged on the other side of the manipulator mounting plate 23, each vacuum generator 22 is connected to the air source through the source inlet 21, and is connected to a suction cup 24. When the vacuum generator 22 is working, the connected suction cup 24 generates negative pressure, thereby being able to adsorb the plate. In a possible implementation, a muffler 25 is installed on the air pipe joint at the upper end of each suction cup 24 to reduce the noise generated by pneumatic adsorption. Because the plate adopts a stacked structure, the suction cup needs to complete adaptive adsorption under the influence of the thickness of the plate. Each suction cup 24 is installed on the manipulator mounting plate 23 by a spring 27. The plate is relatively thin, and a spring with suitable stiffness can be selected to meet the adsorption of multi-layer plates through a few positioning points. A fixed barcode scanner 26 is installed on the robot mounting plate 23 near each suction cup 24. After each suction cup completes the adsorption action, the scanning range of the corresponding fixed barcode scanner 26 can cover the graphic code (such as a QR code or a barcode) on the adsorbed plate, read the information of the identification graphic code, and upload it to the upper computer to complete the data entry of the adsorbed plate. In this way, the plate data can be automatically identified and entered while loading, effectively reducing problems such as under-recording and wrong recording of plate information.

[0042] The ultrasonic testing device 4 is used to perform ultrasonic testing on the plate. Figure 4 As shown, the ultrasonic testing device 4 includes a three-axis mobile platform 41, a testing platform 42 and a movable stand 44; the three-axis mobile platform 41 is used to move the ultrasonic probe from three directions to perform ultrasonic testing on the plate. The device 4 is also equipped with a protective cover to prevent mechanical damage caused by human factors during operation. Figure 5 As shown, the three-axis mobile platform 41 is a gantry structure composed of three-directional mobile pairs, and the probe group 414 is mounted on the Z-axis mobile pair 413, which can realize movement in the three directions of X, Y, and Z. Figure 6 As shown, the testing platform 42 includes multiple testing stations, and a calibration test block 421 is placed at one end of each testing station for ultrasonic testing calibration. The spacing between the testing stations is consistent with the spacing between the suction cups 24, so that multiple plates can be placed in the testing water tank 422 at the same time. The flip motor 423 is used to drive the flipping action of the plate. Figure 7As shown, the movable stand 44 is the supporting part of the ultrasonic detection device. The main body is a three-layer profile frame 443 formed by splicing profiles, separated by a partition 444 in the middle, and a constant temperature circulating water tank 441 is placed on the second layer to realize automatic water circulation and an industrial control box 442 is used to control the detection platform motor.

[0043] like Figure 8 As shown, the plate drying rack 5 is provided with a plurality of plate drying positions 51, each of which is provided with a polymer pad 511 with a boss structure, and the boss structure can collect and drip water droplets on the plate. Fig. 9 As shown, a nozzle fixing plate 513 is fixedly installed on one side of the plate drying position 51, and a pressurizing nozzle 512 is fixedly installed on the nozzle fixing plate 513, so that the plate is quickly dried by the compressed air blown out by the pressurizing nozzle 512.

[0044] In an application example, the detection process sequence of the plate automatic ultrasonic inspection device disclosed in the present invention is as follows:

[0045] Step 1: Place the plate on the loading rack 1. The bottom of the loading rack 1 has support feet and casters 12. The universal casters can realize the manual transfer of the rack to a fixed position on the production line, and the support feet are used to fix the position of the rack.

[0046] Step 2: After the loading rack arrives at the fixed point, the adsorption module 2 carried by the operating manipulator 3 moves with the machine to the fixed point of the loading rack 1, and the vacuum generator 22 is started to start adsorbing the plate to be inspected.

[0047] Step 3: After adsorption, during the transportation of the plate, the fixed barcode scanner 26 on the adsorption module 2 scans the graphic code on the plate and transmits the information of the plate to the host computer.

[0048] Step 4: After the scanning is completed, the plate is transferred to the detection platform 42 of the ultrasonic detection device 4 with the manipulator 3, and the industrial control box 442 in the movable stand 44 drives the three-axis mobile platform 41 on the ultrasonic detection device 4 to inspect the plate. There are multiple stations on the detection platform 42, and the multi-probe 411 carried on the three-axis mobile platform 41 can realize simultaneous scanning of multiple stations. The detection platform 42 is also equipped with a calibration test block 421, which can be calibrated at any time during the scanning process.

[0049] Step 5. After completing the scanning of surface A, the industrial control box 442 drives the flipping motor 423 to realize automatic flipping of the plate; start scanning surface B of the plate, and the scanning method of surface B is the same as that of surface A; finally, upload the scanning results to the host computer.

[0050] Step 7: The host computer automatically determines whether the plate is qualified or not according to the scanning result corresponding to the information recorded by the previous scanning, and outputs the scanning result to the robot 3. The robot 3 selects the plate according to the scanning result and separates the qualified plate from the unqualified plate;

[0051] Step 8, after the plate determination is completed, the manipulator 3 places the plate that has completed the inspection on the plate drying position 51 on the drying rack 5 for batch drying, and starts the pressurized nozzle 512 on the drying rack 5 to accelerate the drying of the plate through compressed air;

[0052] Step nine: After drying, the board is transferred to the unloading rack by a robot and then manually transferred.

[0053] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. An automatic ultrasonic inspection device for plates, characterized in that: The device comprises: a plate material loading rack (1), an adsorption module (2), a manipulator (3), a plate material detection device (4), a drying rack (5) and a material unloading rack (6); The manipulator (3) is located at the center of the overall device. The adsorption module (2) is installed at the upper end of the manipulator (3) and is used to grab and adsorb the plate to be inspected. The plate detection device (4), the drying rack (5) and the unloading rack (6) are arranged around the manipulator (3) in a cross-shaped manner to facilitate the transportation of the plate. The loading rack (1) is used to place the plate to be inspected, and the unloading rack (6) is used to place the inspected plate. The loading rack (1) and the unloading rack (6) are respectively placed on both sides of the manipulator. The plate detection device (4) is respectively located on both sides of the manipulator (3), and the drying rack (5) is arranged on the same side as the unloading rack (6).

2. The device according to claim 1, characterized in that A plurality of plate storage positions (11) are arranged on the loading rack (1) and the unloading rack (6), the plates are stacked at the plate storage positions (11), and intervals are arranged between the plate storage positions (11).

3. The device according to claim 2, characterized in that A polymer pad is installed below the plate storage position (11).

4. The device according to claim 2, characterized in that Support legs and casters (12) are installed at the bottom of the loading rack (1) and the unloading rack (6).

5. The device according to claim 1, characterized in that The adsorption module (2) is installed on the upper end of the manipulator (3) through the manipulator mounting plate (23); the adsorption module (2) uses a suction cup (24) to complete the transportation of the plate; a plurality of suction cups (24) are arranged on one side of the manipulator mounting plate (23), and the spacing between the suction cups (24) is consistent with the spacing between the plate storage positions (11) on the loading rack (1); a plurality of vacuum generators (22) are arranged on the other side of the manipulator mounting plate (23), and each vacuum generator (22) is connected to the air source through a source inlet (21) and is connected to a suction cup (24). When the vacuum generator (22) is working, the connected suction cups (24) generate negative pressure, thereby being able to adsorb the plate.

6. The device according to claim 5, characterized in that A silencer (25) is additionally installed on the air pipe joint at the upper end of each sucker (24).

7. The device according to claim 5, characterized in that Each suction cup (24) is mounted on the manipulator mounting plate (23) via a spring (27).

8. The device according to claim 5, characterized in that A fixed code scanner (26) is installed on the manipulator mounting plate (23) near each suction cup (24). After each suction cup completes the adsorption action, the scanning range of the corresponding fixed code scanner (26) can cover the graphic code on the adsorbed plate, read the information of the identification graphic code, and upload it to the host computer to complete the data entry of the adsorbed plate.

9. The device according to claim 1, characterized in that The ultrasonic detection device (4) comprises a three-axis mobile platform (41), a detection platform (42) and a movable stand (44); the three-axis mobile platform (41) is a gantry structure composed of moving pairs in three directions, and the probe group (414) is mounted on the Z-axis moving pair (413), and can realize movement in three directions of X, Y and Z; The detection platform (42) includes a plurality of inspection stations, and a calibration test block (421) is placed at one end of each inspection station for calibration of ultrasonic detection; the spacing between the inspection stations is consistent with the spacing between the suction cups (24), so that a plurality of plates can be placed in the detection water tank (422) at the same time; The flipping motor (423) is used to drive the flipping action of the plate. The movable stand (44) is the supporting part of the ultrasonic detection device. The main body is a three-layer profile frame (443) formed by splicing profiles, separated by a partition (444) in the middle. A constant temperature circulating water tank (441) is placed on the second layer to realize automatic water circulation and an industrial control box (442) is placed to realize the control of the detection platform motor.

10. The device according to claim 1, characterized in that The plate drying rack (5) is provided with a plurality of plate drying positions (51), each of which is provided with a polymer pad (511) with a boss structure, the boss structure being capable of allowing water droplets on the plate to collect and drip; a nozzle fixing plate (513) is fixedly installed on one side of the plate drying position (51), a pressurized nozzle (512) is fixedly installed on the nozzle fixing plate (513), and the plate is dried by compressed air blown out by the pressurized nozzle (512).

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