Array ultrasonic detection device and method for internal defects of heterogeneous laminated plate

Abstract

The invention relates to the technical field of defect detection, in particular to an array ultrasonic detection device and method for internal defects of a heterogeneous laminated plate, and provides a high-precision and high-efficiency detection device and method for the internal defects of the heterogeneous laminated plate. A defect area is heated through focused ultrasound, echo signals are enhanced, and the defect recognition rate is increased; according to the method, the mechanical arm and the three-dimensional walking mechanism are combined, automatic large-range scanning and local accurate detection are achieved, the problem of defect missing detection caused by sound attenuation of the heterogeneous laminated plate can be effectively avoided, and the defect detection accuracy is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of defect detection, and in particular, to an array ultrasonic detection device and method for internal defects of a heterogeneous laminate. Background Art

[0002] A heterogeneous laminate is a non-homogeneous composite material formed by bonding two or more different materials. Due to its integration of the chemical and mechanical properties of different materials, it has very excellent performance and is widely used in important fields such as aerospace, automotive manufacturing, shipbuilding, energy, and construction industries. However, during the preparation and service process of the heterogeneous laminate, defects such as bubbles, voids, and cracks may occur inside it, seriously reducing the overall performance of the product. Therefore, accurate and efficient detection of internal defects of the heterogeneous laminate has important engineering significance.

[0003] Ultrasonic detection has the characteristics of high sensitivity and wide application range, and has become a widely used non-destructive testing technology. The probe used in conventional ultrasonic detection has a very small area, and the detection result is usually presented in the form of pulse echo, which is not easy to interpret. Array ultrasound arranges multiple array elements according to specific rules, and can quickly realize imaging detection of a large area under the probe by controlling the deflection and focusing of the sound beam through time delay. However, when ultrasonic waves propagate in a heterogeneous laminate, due to scattering attenuation and absorption attenuation, serious energy loss will occur, and the imaging result of its defects will be submerged in electrical noise or structural noise, seriously affecting the effective identification of defects. When focused ultrasound acts on a material, heat generation will occur due to the mutual friction between internal molecular chains, increasing the temperature of the focused area. And the focused ultrasound has a strong directivity, which can heat only the defect area, enhancing the characteristics of the defect. Therefore, using focused ultrasound as an auxiliary device for array ultrasonic detection is a new idea and method.

[0004] Although the array ultrasonic detection has a relatively fast detection efficiency and a large detection range, when applied to the detection of large-area heterogeneous laminates, there are still problems of low detection efficiency and large detection error, and it is difficult to accurately and quickly evaluate the integrity of its overall structure; the acoustic attenuation results in weak defect signals and low imaging signal-to-noise ratio, which is prone to missed detection or false detection. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to propose an array ultrasonic detection device and method for internal defects of a heterogeneous laminate to solve the problems of low detection efficiency and large detection error of the existing detection methods.

[0006] Based on the above purpose, the present invention provides an array ultrasonic detection device for internal defects of a heterogeneous laminate, including a water tank, a liftable bracket, a six-degree-of-freedom robotic arm, an array ultrasonic probe, a signal generator, a power amplifier, a focused ultrasonic transducer, a three-dimensional walking mechanism, a motion control system, and a main control computer;

[0007] The heterogeneous laminate is fixed in the water tank by a liftable bracket and kept at a gap from the bottom of the water tank;

[0008] Under the control of the main control computer, the array ultrasonic probe emits sound waves to the area to be detected by means of linear focused scanning, receives the echo signal, converts it into an electrical signal and transmits it to the main control computer for imaging processing to determine whether there are defects;

[0009] The six-degree-of-freedom robotic arm is controlled by a motion control system. An array ultrasonic probe is installed at its end, and the probe position information is fed back in real time during the two-dimensional scanning of the surface of the heterogeneous laminate workpiece;

[0010] The output end of the signal generator is connected to the input end of the power amplifier, and the output end of the power amplifier is connected to the focused ultrasonic transducer. The signal generator generates a sinusoidal continuous electrical signal, which is amplified by the power amplifier and acts on the focused ultrasonic transducer to generate a focused ultrasonic field;

[0011] The three-dimensional walking mechanism is installed at the bottom of the water tank and controlled by a motion control system. A focused ultrasonic transducer is installed at its terminal, facing the heterogeneous laminate workpiece horizontally, and the defective area is heated directionally. The array ultrasonic probe performs a secondary detection on the heated area.

[0012] The present invention also provides an array ultrasonic detection method for internal defects of a heterogeneous laminate, including the following steps:

[0013] S1. Keep the array probe perpendicular to the heterogeneous laminate workpiece to be measured horizontally;

[0014] S2. Set a number of adjacent elements in the array probe as a sub-aperture. By controlling the time delay rule of the array probe, the sub-aperture emits a focused beam and transmits it through water coupling to propagate in the detection area, and the ultrasonic echo formed by reflection is received by the sub-aperture elements. Repeat the above excitation and reception processes for all sub-apertures until the last sub-aperture;

[0015] S3. Perform a complete scan of the heterogeneous laminate workpiece to be measured through the array probe;

[0016] S4. Collect data according to step S2 and reconstruct the ultrasonic image, judge whether there is an abnormality in the image, and then determine whether there are defects inside the workpiece and record the relative positions;

[0017] S5. According to the position information x, z of the defect obtained in step S4, move the focused ultrasonic transducer to directly below the defect, and use the thermal effect of the focused ultrasonic to heat the local area of the defect to enhance the characteristics of the defect.

[0018] S6. Use the array probe to image and detect the defect area again to reconfirm whether there are defects inside the workpiece.

[0019] Preferably, this method further includes:

[0020] S41. Filter the echo signals received by each element of the array probe to remove unnecessary noise components and perform envelope detection;

[0021] S42. Divide the imaging area into grids and determine the interlayer interface parameters;

[0022] S43. Calculate the travel time of ultrasonic waves according to the geometric relationship of the focused beam propagating in the heterogeneous laminate, the properties of each layer of medium, and using the ray tracing method;

[0023] S44: Use the SA-BiPBF imaging method to image the heterogeneous laminate to achieve visual inspection of the heterogeneous laminate.

[0024] Preferably, step S43 specifically includes:

[0025] S431. Calculate the focusing depth of the focused beam in the target layer according to the thickness of each layer of the heterogeneous laminate, the width of the sub-aperture;

[0026] S432. Calculate the flight time of the focused beam propagating to the imaging point;

[0027] S433. Calculate the flight time of the backscattered echo to the receiving element;

[0028] S434. Add the results obtained in step S432 and step S433 to calculate the total travel time of ultrasonic waves in the heterogeneous laminate.

[0029] Preferably, step S44 specifically includes:

[0030] S441. SA-BiPBF imaging method:

[0031] An array ultrasonic probe with N sub-apertures and M elements in each sub-aperture collects ultrasonic data from the heterogeneous laminate, and represents the imaging area calculated by the SA-BiPBF imaging method with a pixel matrix;

[0032] S442: Perform logarithmic normalization processing and dynamic range compression.

[0033] Preferably, step S5 specifically includes:

[0034] Use a focused ultrasonic transducer to focus and heat the defect area, so that the size of the defect changes. When using the array probe to detect the defect, the echo signal of the defect will be enhanced.

[0035] Preferably, step S1 specifically includes:

[0036] Place the heterogeneous laminate workpiece on a fixed bracket. The motion control system emits a signal to control the robotic arm to move the array probe to the specified origin position of the heterogeneous laminate workpiece, and adjust the pose of the robotic arm so that the array probe is horizontally perpendicular to the heterogeneous laminate workpiece.

[0037] Preferably, step S3 specifically includes:

[0038] The robotic arm moves the array probe to perform a step-by-step motion scan along the X direction. After completing the scan in the X direction, it steps a certain distance along the Y direction and moves in the reverse direction along the X direction, thereby realizing the "bow"-shaped scan detection in the X-Y plane.

[0039] Advantages of the present invention:

[0040] 1. The present invention uses a robotic arm to clamp an array ultrasonic probe to perform a large-scale scan on a heterogeneous laminate. When a suspected defect is detected, the focused ultrasonic transducer is moved below the defect position by a three-dimensional walking mechanism under the water tank to perform focused heating on the defect area, and the array ultrasonic probe is used again for imaging detection. This method can effectively avoid the problem of missed detection of defects caused by acoustic attenuation in the heterogeneous laminate and improve the detection accuracy of defects.

[0041] 2. Each sub-aperture of the array ultrasonic probe of the present invention adopts a focusing rule. Compared with the traditional array ultrasonic detection method, the echo signals of each defect are stronger, ensuring good detection accuracy and detection signal-to-noise ratio to detect internal defects deeper in the heterogeneous laminate.

[0042] 3. This method uses a robotic arm to drive the array ultrasonic probe for scanning and a three-dimensional walking mechanism ultrasonic focusing transducer for auxiliary detection. Compared with traditional manual inspection, it expands the detection range and improves the detection efficiency. Description of the Drawings

[0043] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only those of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0044] Figure 1 Schematic diagram of the array ultrasonic detection device according to the embodiment of the present invention;

[0045] Figure 2 Schematic diagram of the focusing area and focusing depth according to the embodiment of the present invention;

[0046] Figure 3Flowchart of the computer for internal defect array ultrasonic imaging of the heterogeneous laminate in the embodiment of the present invention;

[0047] Figure 4 Flowchart of the array ultrasonic detection method in the embodiment of the present invention.

[0048] The markings in the figure are: 1, water tank; 2, liftable bracket; 3, heterogeneous laminate workpiece; 4, six-degree-of-freedom robotic arm; 5, array ultrasonic probe; 6, signal generator; 7, power generator; 8, focused ultrasonic transducer; 9, three-dimensional walking mechanism; 10, motion control system; 11, main control computer. Detailed implementation manners

[0049] To make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with specific embodiments.

[0050] It should be noted that unless otherwise defined, the technical terms or scientific terms used in the present invention should have the ordinary meanings understood by those with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar terms used in the present invention do not denote any order, quantity or importance, but are only used to distinguish different components. The terms such as "including" or "comprising" mean that the elements or objects appearing before this term cover the elements or objects listed after this term and their equivalents, without excluding other elements or objects. The terms such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The terms such as "upper", "lower", "left" and "right" are only used to represent relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0051] As Figure 1 shown, an array ultrasonic automatic detection device for internal defects of a large heterogeneous laminate in this embodiment includes a water tank 1, a liftable bracket 2, a heterogeneous laminate workpiece 3, a six-degree-of-freedom robotic arm 4, an array ultrasonic probe 5, a signal generator 6, a power amplifier 7, a focused ultrasonic transducer 8, a three-dimensional walking mechanism 9, a motion control system 10, and a main control computer 11.

[0052] The heterogeneous laminate workpiece 3 is fixed in the water tank 1 through the liftable bracket 2 and keeps a gap with the bottom of the water tank 1 so that the focused ultrasonic transducer 8 can act on the lower part of the area to be detected;

[0053] Under the control of the main control computer 11, the array ultrasonic probe 5 emits sound waves to the area to be detected in a linear focused scanning manner, receives the echo signal, converts it into an electrical signal and transmits it to the main control computer 11 for imaging processing to determine whether there are defects;

[0054] The six-degree-of-freedom robotic arm 4 is controlled by the motion control system 10. An array ultrasonic probe 5 is installed at its end. During the two-dimensional scanning of the surface of the heterogeneous laminated plate workpiece 3, the position information of the probe is fed back in real time.

[0055] The output end of the signal generator 6 is connected to the input end of the power amplifier 7, and the output end of the power amplifier 7 is connected to the focused ultrasonic transducer 8. The signal generator 6 generates a sinusoidal continuous electrical signal, which is amplified by the power amplifier 7 and acts on the focused ultrasonic transducer 8 to generate a focused ultrasonic field.

[0056] The three-dimensional walking mechanism 9 is installed at the bottom of the water tank 1 and is controlled by the motion control system 10. The focused ultrasonic transducer 8 is installed at its end. It faces the heterogeneous laminated plate workpiece 3 horizontally and performs directional heating on the defect area. The array ultrasonic probe 5 performs secondary detection on the heated area.

[0057] Embodiment 2: Combine Figure 2 、 Figure 3 、 Figure 4 To illustrate this embodiment, a method for array ultrasonic detection of internal defects in a heterogeneous laminated plate according to this embodiment is described. The specific steps of this detection method are as follows:

[0058] Step 1: Place the heterogeneous laminated plate workpiece on a fixed bracket. The motion control system emits a signal to control the robotic arm to move the array probe to the specified origin position of the heterogeneous laminated plate workpiece, and adjust the pose of the robotic arm so that the array probe is horizontally perpendicular to the heterogeneous laminated plate workpiece.

[0059] Step 2: Set a number of adjacent array elements in the array probe as a sub-aperture. By controlling the time-delay law of the array probe by a computer, the sub-aperture emits a focused beam and transmits it through water coupling to propagate in the detection area, and the ultrasonic echo formed by reflection is received by the sub-aperture elements. Repeat the above excitation and reception processes for all sub-apertures until the last sub-aperture.

[0060] Step 3: Move the array probe along the horizontal direction (X direction) by the robotic arm for step-by-step movement scanning. After completing the X-direction scanning, step a certain distance along the vertical direction (Y direction), and move in the reverse direction along the X direction, so as to realize the "bow"-shaped scanning detection in the X-Y plane.

[0061] Step 4: After each movement of the robotic arm, the probe collects data according to Step 2 and transmits it to the computer. The computer reconstructs the ultrasonic image, judges whether there is an abnormality in the image, and further determines whether there are defects inside the workpiece, and records the relative position (x, z).

[0062] Step 5: Set the signal generator to generate a continuous sinusoidal electrical signal, which is amplified by a power amplifier and then loaded onto the focused ultrasound transducer; according to the position information (x, z) of the defect obtained in Step 4, move the focused ultrasound transducer to directly below the defect through a three-dimensional walking mechanism, and use the thermal effect of focused ultrasound to heat the local area of the defect to enhance the characteristics of the defect.

[0063] Step 6: Use the array probe to image and detect the defect area again to confirm whether there are defects inside the workpiece again;

[0064] In some embodiments of the present invention, in Step 1, the array ultrasonic probe is kept horizontally perpendicular to the heterogeneous laminate, the water layer thickness is set to 10 mm, and the probe detects the heterogeneous laminate vertically from the upper left corner.

[0065] In some embodiments of the present invention, in Step 2, the array ultrasonic probe used is a linear array with 128 array elements, the center frequency is 7.5 MHz, the element distance is 0.3 mm, the number of elements in a single sub-aperture is 36, the probe width is 20 mm, the signal sampling frequency is 75 MHz, the focusing depth is set at the maximum range of the near field, no beam deflection is performed, the electronic scanning direction is along the array direction, and each sub-aperture is separated by one element.

[0066] In some embodiments of the present invention, in Step 3, in order to reduce the influence of the blind area at the edge of the array probe on detection, after the array ultrasonic probe is clamped by a robotic arm and moved along the X-axis, the overlapping range of the two detection areas is 36×0.3×2 mm, and it is moved 10 mm along the Y-axis direction.

[0067] In some embodiments of the present invention, in Step 5, the aperture of the focused ultrasound transducer is 95 mm, the geometric focal length is 150 mm, and the center frequency is 1.12 MHz;

[0068] In some embodiments of the present invention, the process of the computer performing array ultrasonic imaging of the internal defects of the heterogeneous laminate in Step 4 is as Figure 3 shown, and the specific steps are as follows:

[0069] S41: The computer filters the echo signals received by each element of the array probe, removes unnecessary noise components and performs envelope detection;

[0070] S42: Divide the imaging area into grids and determine the interlayer interface parameters;

[0071] Where the x-axis is parallel to the surface of the workpiece to be measured and points to the right along the array direction, and the z-axis is perpendicular to the array surface and points into the workpiece to be measured. By setting the resolution of the x and z axes, the measured area is divided into grids to obtain the coordinate positions of each pixel point, and the resolution of the pixel is set to 0.1 mm;

[0072] S43: Calculate the travel time of ultrasonic waves based on the geometric relationship of the focused beam propagating in the heterogeneous laminate, the properties of each layer of medium, and using the ray tracing method.

[0073] S431. Calculate the focal depth of the focused beam in the target layer:

[0074] The angle between the refracted sound beam and the interface normal depends on the propagation speeds of ultrasonic waves in the two media and the incident angle. Therefore, after the focused beam crosses the interface, the half-angle of the beam satisfies:

[0075]

[0076] In the formula, θ 1 represents the known incident angle of the sound beam, θ 2 and θ 3 are the refraction angles of the sound beam after passing through interface 1 and interface 2 respectively, c 1 , c 2 and c 3 are the propagation speeds of sound waves in the three layers of media respectively. If the thickness of each layer in the layered medium is known, then after the focused beam passes through the second interface, the calculation expression for its focal depth z fi is as follows:

[0077]

[0078] In the formula, x center represents half of the sub-aperture width, x 1 and x 2 are the lateral distances of the beam propagating in the first layer of medium and the second layer of medium respectively, d 1 and d 2 are the thicknesses of the first layer of medium and the second layer of medium respectively.

[0079] S432. Calculate the flight time t i (x, z):

[0080] The lateral coordinate x fi of the focal point can be determined according to the center of the i-th sub-aperture. The time t i (x, z) for the corrected focused beam to propagate from formation to the imaging point P(x, z) is:

[0081]

[0082] S433. Calculate the flight time t i (x, z) of the backscattered echo to the receiving array element:

[0083] The interlayer interface is discretized into nodes with a certain interval, and the nodes of each layer are linearly connected to the nodes of the adjacent layer according to the specified rules. Assuming that Q nodes are set for each layer interface, for a three-layer medium, there will be Q 2 different paths, and the shortest time is used as the actual propagation time of the ultrasonic wave. The time delay t j (x,z) between any imaging point P(x,z) in the third-layer medium and the receiving array element is:

[0084]

[0085] S434. Total travel time of ultrasonic waves in a heterogeneous laminated plate:

[0086] The total travel time required for the ultrasonic wave to be emitted from the i-th sub-aperture, propagate inside the heterogeneous laminated plate, and reach the j-th sensor for reception is

[0087] t ij (x,z) = t i (x,z) + t j (x,z)

[0088] S44: The SA-BiPBF imaging method is used to image the heterogeneous laminated plate to achieve visual inspection of the heterogeneous laminated plate.

[0089] An array ultrasonic probe with N sub-apertures and M array elements in each sub-aperture collects ultrasonic data from the heterogeneous laminated plate. The pixel matrix of the imaging area calculated by the SA-BiPBF imaging method is expressed as:

[0090]

[0091] where S ij (t) represents the ultrasonic echo signal emitted from the i-th sub-aperture and received by the j-th sensor.

[0092] S442. Perform logarithmic normalization processing and dynamic range compression:

[0093] The pixel matrix after logarithmic normalization processing is:

[0094]

[0095] where max() represents the maximum value function, the pixel value is expressed in decibels, and the imaging range is set within the range containing 85% of the pixel amplitudes.

[0096] Thus, the imaging of internal defects in the heterogeneous laminated plate can be obtained to achieve visual inspection of internal defects.

[0097] Those of ordinary skill in the art should understand that: The discussion of any of the above embodiments is only exemplary and is not intended to imply that the scope of the present invention is limited to these examples; Under the concept of the present invention, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of the present invention as described above, and they are not provided in detail for the sake of brevity. Any omission, modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. An array ultrasonic detection device for internal defects of heterogeneous laminates, characterized in that: It includes a water tank, a lifting bracket, a six-degree-of-freedom robotic arm, an array ultrasonic probe, a signal generator, a power amplifier, a focused ultrasonic transducer, a three-dimensional walking mechanism, a motion control system, and a main control computer; The heterogeneous laminate is fixed in the water tank by a liftable bracket and keeps a gap with the bottom of the water tank; The array ultrasonic probe, under the control of the main control computer, transmits sound waves to the area to be detected in a linear focusing scanning manner, receives echo signals, converts them into electrical signals, and transmits them to the main control computer for imaging processing to determine whether there are defects; The six-degree-of-freedom mechanical arm is controlled by a motion control system, and an array ultrasonic probe is installed at the end thereof, and the probe position information is fed back in real time during the two-dimensional scanning of the surface of the heterogeneous laminate workpiece; The output end of the signal generator is connected to the input end of the power amplifier, and the output end of the power amplifier is connected to the focused ultrasonic transducer. The signal generator generates a sinusoidal continuous electrical signal, which is amplified by the power amplifier and acts on the focused ultrasonic transducer to generate a focused ultrasonic field. The three-dimensional walking mechanism is installed at the bottom of the water tank and is controlled by a motion control system. A focused ultrasonic transducer is installed at its terminal, which is horizontally facing the heterogeneous laminate workpiece to perform directionality heating on the defective area, and the array ultrasonic probe performs secondary detection on the heated area.

2. An array ultrasonic detection method for internal defects of heterogeneous laminates, characterized in that: The method comprises the following steps: S1, keep the array probe horizontal and vertical to the heterogeneous laminate workpiece to be tested; S2, setting several adjacent array elements in the array probe as a sub-aperture, and controlling the time delay law of the array probe so that the sub-aperture emits a focused beam and transmits it to the detection area through water coupling, and the ultrasonic echo formed by the reflection is received by the sub-aperture array element, and repeating the above excitation and reception process for all sub-apertures until the last sub-aperture; S3, performing a complete scan of the heterogeneous laminate workpiece to be tested by using an array probe; S4, collecting data according to step S2 and reconstructing the ultrasonic image, determining whether there is an abnormality in the image, and then determining whether there is a defect inside the workpiece, and recording the relative position; S5, according to the position information x, z of the defect obtained in step S4, the focused ultrasonic transducer is moved to the position directly below the defect, and the local area of ​​the defect is heated by the thermal effect of the focused ultrasound to enhance the characteristics of the defect; S6. Use the array probe to perform imaging detection on the defective area again to confirm whether there are defects inside the workpiece.

3. The array ultrasonic detection method for internal defects of heterogeneous laminates according to claim 2, characterized in that: The method further comprises: S41, filtering the echo signals received by each array element of the array probe to remove unnecessary noise components and perform envelope detection; S42, meshing the imaging area and determining the interlayer interface parameters; S43, calculating the travel time of the ultrasonic wave according to the geometric relationship of the focused beam propagating in the heterogeneous laminate, the properties of the media of each layer and the ray tracing method; S44: The SA-BiPBF imaging method is used to image heterogeneous laminates to achieve visual detection of heterogeneous laminates.

4. The array ultrasonic detection method for internal defects of heterogeneous laminates according to claim 3, characterized in that: Step S43 specifically includes: S431, calculating the focus point depth of the focused beam in the target layer according to the thickness of each layer of the heterogeneous laminate, the width of the sub-aperture; S432, calculating the flight time of the focused beam propagating to the imaging point; S433, calculating the flight time from the backscattered echo to the receiving array element; S434, adding the results obtained in step S432 and step S433, and calculating the total travel time of the ultrasonic wave in the heterogeneous laminate.

5. The array ultrasonic detection method for internal defects of heterogeneous laminates according to claim 3, characterized in that: Step S44 specifically includes: S441, SA-BiPBF imaging method: An array ultrasonic probe having N sub-apertures and M array elements in each sub-aperture collects ultrasonic data of the heterogeneous laminate, and the imaging area calculated by the SA-BiPBF imaging method is represented by a pixel matrix; S442: Perform logarithmic normalization processing and dynamic range compression.

6. The array ultrasonic detection method for internal defects of heterogeneous laminates according to claim 2, characterized in that: Step S5 specifically includes: The defect area is focused and heated by using a focused ultrasonic transducer, so that the size of the defect changes. When the defect is detected by using an array probe, the echo signal of the defect will be enhanced.

7. The array ultrasonic detection method for internal defects of heterogeneous laminates according to claim 2, characterized in that: Step S1 specifically includes: The heterogeneous laminate workpiece is placed on a fixed bracket, and the motion control system sends a signal to control the robotic arm to move the array probe to the specified origin position of the heterogeneous laminate workpiece, and adjust the robotic arm posture to keep the array probe horizontal and vertical to the heterogeneous laminate workpiece.

8. The array ultrasonic detection method for internal defects of heterogeneous laminates according to claim 2, characterized in that: Step S3 specifically includes: The array probe is moved by a robotic arm to perform a spacing-by-spacing motion scan along the X direction. After completing the X direction scan, it steps a certain distance along the Y direction and moves in the opposite direction along the X direction, thereby realizing a "bow"-shaped scanning detection in the XY plane.

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