Composite material member nondestructive testing apparatus

Abstract

The application relates to the technical field of ultrasonic welding, in particular to a composite component nondestructive testing equipment which comprises a collaborative robot, an ultrasonic testing unit, a workpiece rotating unit and a workpiece rotating unit, the ultrasonic testing unit comprises a testing probe and a mounting seat, a coupling cavity for containing a coupling agent is formed in the mounting seat, a liquid inlet and a liquid outlet are communicated with the coupling cavity, the liquid outlet is coaxially arranged with the testing probe which extends into the coupling cavity and is immersed into the coupling agent; the application utilizes the collaborative robot to drive the testing unit to perform testing, the workpiece rotating unit and the workpiece rotating unit drive the workpiece to rotate and cooperate, not only can the testing unit quickly reach the testing position and improve the testing efficiency, but also can the whole overall coverage testing be realized by establishing a profiled motion track to inhibit the appearance of testing dead angles, meanwhile, the coupling agent forms a continuous liquid column between the liquid outlet and the workpiece, the testing probe emits ultrasonic waves, the ultrasonic waves are transmitted in the liquid and enter the workpiece to perform nondestructive testing.

Description

Technical Field

[0001] This invention relates to the field of ultrasonic testing technology, and in particular to a non-destructive testing device for composite components. Background Technology

[0002] Non-destructive testing (NDT) of composite materials is a key technology for ensuring their quality and safety, especially in aerospace, automotive, and wind power industries. Due to the anisotropy, multilayered structure, and complex damage modes of composite materials (such as delamination, porosity, fiber breakage, inclusions, debonding, and wrinkling), ultrasonic testing is typically chosen for defect detection. However, current ultrasonic testing equipment often faces challenges such as operational difficulty, time-consuming processes, and incomplete detection when inspecting complex ring-shaped or irregularly shaped curved components. Furthermore, ultrasonic testing requires water as a coupling medium, necessitating the immersion of the probe, workpiece, and clamping mechanism during conventional testing, which can damage the clamping mechanism over time. Summary of the Invention

[0003] The technical problem to be solved by the present invention is as follows: In order to solve the problems that existing ultrasonic testing equipment often has difficulties in operation, long time consumption and incomplete detection when testing complex ring-shaped and irregular curved surface components, and ultrasonic testing requires water as a coupling medium, and conventional testing requires the detection probe, workpiece and clamping mechanism to be immersed in water, which will affect the clamping mechanism after a long time. The present invention provides a non-destructive testing equipment for composite components.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a non-destructive testing device for composite components, comprising: Collaborative robots that can reciprocate along the X-axis; An ultrasonic testing unit, connected to the end effector of the collaborative robot, includes a testing probe and a mounting base for mounting the testing probe. The mounting base has a coupling cavity for containing a coupling agent, an inlet and an outlet communicating with the coupling cavity. The outlet is located at the bottom of the coupling cavity and is coaxially arranged with the testing probe, which extends into the coupling cavity and is immersed in the coupling agent, for forming a continuous liquid column between the outlet and the workpiece for transmitting ultrasonic waves emitted by the testing probe. A workpiece rotation unit is used to drive the workpiece to rotate around the X-axis; and a workpiece rotation unit, which is used to drive the workpiece to rotate around the Y-axis.

[0005] Furthermore, the cross-sectional area of ​​the outlet is smaller than that of the inlet, and the height of the inlet is higher than the lower end face of the detection probe.

[0006] Furthermore, it also includes a laser modeling unit, which is alternately and detachably mounted to the end effector of the collaborative robot along with the ultrasonic detection unit.

[0007] Furthermore, it also includes a coupling agent circulation unit, which includes a reservoir located below the workpiece for receiving the coupling agent and a return pipe connected between the reservoir and the inlet. A filter, a defoaming device, and a sterilization device are sequentially installed on the return pipe along the direction of coupling agent flow.

[0008] Furthermore, it also includes a clamping unit for fixing the workpiece, which includes an air shaft connected to the output end of the workpiece rotation unit.

[0009] Furthermore, it also includes a quick-change unit, which includes a placement platform. The placement platform has a mounting slot for the laser modeling unit and the ultrasonic detection unit to enter and hang thereon, and a pressure mechanism for pressing down the laser modeling unit and the ultrasonic detection unit in the mounting slot to separate them from the end effector unit.

[0010] Furthermore, both the laser modeling unit and the ultrasonic detection unit have stepped surfaces for contacting the opening of the hanging slot, and a pressure plate is installed at the output end of the pressure applying mechanism.

[0011] Furthermore, the workpiece rotation unit includes a rotational power source, a base plate for mounting the rotational drive source, a drive wheel connected to the output end of the rotational power source, a driven wheel connected to the air shaft, and a synchronous belt wound around the drive wheel and the driven wheel. The output end of the workpiece rotation unit is connected to the base plate.

[0012] Furthermore, a counterweight is installed on the side of the base plate away from the workpiece rotation unit, and a connecting plate is provided between the counterweight and the base plate. The connecting plate gradually tilts downward along the direction away from the workpiece rotation unit.

[0013] Furthermore, there are two inlets, both of which are at least partially offset from the detection probe.

[0014] The beneficial effects of this invention are as follows: This invention utilizes a collaborative robot to drive the detection unit to perform detection. The workpiece rotation unit and the workpiece turning unit drive the workpiece to rotate in a coordinated manner. This not only enables the detection unit to quickly reach the detection location and improves detection efficiency, but also establishes a contour-following motion trajectory to achieve full-coverage detection and suppress the occurrence of detection blind spots. During the detection process, the coupling agent enters the coupling cavity from the inlet to immerse the detection probe, and under the action of gravity, it flows onto the workpiece through the outlet. The coupling agent forms a continuous liquid column between the outlet and the workpiece. The detection probe emits ultrasonic waves, which are transmitted in the liquid and enter the workpiece for non-destructive testing, without having to immerse the workpiece and clamping mechanism in the coupling agent, thus extending the service life of the clamping mechanism. Attached Figure Description

[0015] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0016] Figure 1 This is a three-dimensional schematic diagram of the present invention; Figure 2 This is a three-dimensional schematic diagram from the first perspective after removing the main frame unit and the workpiece of the present invention; Figure 3 This is a three-dimensional schematic diagram from a second perspective after removing the main frame unit and the workpiece in this invention; Figure 4 This is a schematic diagram showing the cooperation between the workpiece rotation unit and the workpiece turning unit of the present invention; Figure 5 This is a schematic diagram of the detection probe of the present invention; Figure 6 This is a cross-sectional view of the detection probe of the present invention; Figure 7 This is a schematic diagram of the structure of the quick-change unit of the present invention; Figure 8 This is a flowchart of the operation of the present invention.

[0017] In the picture: 1. Collaborative robot; 101. End effector; 102. Main quick-release connector; 2. Ultrasonic testing unit; 201. Mounting base; 2011. Coupling cavity; 202. Testing probe; 203. Liquid inlet; 204. Liquid outlet; 205. First quick-release connector; 3. Workpiece rotation unit; 301. Base plate; 302. Rotation power source; 303. Drive wheel; 304. Driven wheel; 305. Synchronous belt; 306. Counterweight; 307. Connecting plate; 4. Workpiece rotation unit; 5. Laser modeling unit; 501. Second quick-release connector; 6. Coupling agent circulation unit; 601. Liquid storage tank; 602. Return pipe; 603. Filtration equipment; 604. Defoaming equipment; 605. Sterilization equipment; 7. Clamping unit; 8. Quick-change unit; 801. Placement platform; 802. Hanging slot; 803. Pressure application mechanism; 804. Pressure plate; 9. Main frame unit; 10. Detection data visualization unit; 11. Workpiece; 12. Linear reciprocating drive mechanism. Detailed Implementation

[0018] The invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention in a schematic manner. Therefore, they only show the components relevant to the invention. Orientations and references (e.g., up, down, left, right, etc.) are only used to aid in the description of the features in the drawings. Therefore, the following specific embodiments are not intended to be restrictive, and the scope of the claimed subject matter is defined solely by the appended claims and their equivalents.

[0019] like Figures 1-7 As shown, a non-destructive testing device for composite components includes a collaborative robot 1, an ultrasonic testing unit 2, a workpiece rotation unit 3, and a workpiece rotation unit 4. The collaborative robot 1 is a six-axis robot that can reciprocate along the X-axis (i.e., along the length of the workpiece 11), thus forming a seventh axis. The drive source of the seventh axis is a linear reciprocating drive mechanism 12, which can be, but is not limited to, a linear module, a cylinder, or a hydraulic cylinder. The collaborative robot 1, which reciprocates along the length of the workpiece 11, can drive the ultrasonic detection unit 2 to perform detection over the entire length of the workpiece 11. During the process, the movement of the collaborative robot 1 can be guided by the combination of slide rails and sliders. The ultrasonic detection unit 2 is connected to the end effector unit 101 of the collaborative robot 1, and includes a detection probe 202 and a mounting base 201 for mounting the detection probe 202. The mounting base 201 has a coupling cavity 2011 for containing a coupling agent, an inlet 203 and an outlet 204 communicating with the coupling cavity 2011. The outlet 204 is located at the bottom of the coupling cavity 2011 and is coaxially arranged with the detection probe 202 that extends into the coupling cavity 2011 and is immersed in the coupling agent, for forming a continuous liquid column between the outlet 204 and the workpiece 11 for the transmission of ultrasonic waves emitted by the detection probe 202. The workpiece rotation unit 3 is used to drive the workpiece 11 to rotate around the X-axis; The workpiece rotation unit 4 is used to drive the workpiece 11 to rotate around the Y-axis. That is, the rotation axes of the workpiece rotation unit 4 and the workpiece rotation unit 3 are perpendicular to each other. The two can work together with the collaborative robot 1 to perform contour-following motion so that the ultrasonic detection unit 2 can quickly reach the part of the workpiece 11 to be detected. When the detection probe 202 is detected, its detection surface must be perpendicular to the normal of the workpiece 11. Although the six-axis robot can drive the detection probe 202 to most positions of the workpiece 11, since the workpiece 11 often has irregular curved surfaces and R-angles, the collaborative robot 1 drives the detection unit to perform the detection. The workpiece rotation unit 3 and the workpiece rotation unit 4 drive the workpiece 11 to rotate and cooperate to reach any position of the workpiece 11 for all-round detection.

[0020] During operation, the collaborative robot 1 drives the detection unit to perform the detection. The workpiece rotation unit 3 and the workpiece rotation unit 4 drive the workpiece 11 to rotate in coordination. This not only enables the detection unit to quickly reach the detection area and improves the detection efficiency, but also establishes a contour motion trajectory to achieve full coverage detection and suppress the occurrence of detection blind spots. During the detection process, the coupling agent enters the coupling cavity 2011 from the liquid inlet 203 to immerse the detection probe 202, and is sprayed onto the workpiece 11 through the liquid outlet 204. The coupling agent forms a continuous liquid column between the liquid outlet 204 and the workpiece 11. The detection probe 202 emits ultrasonic waves, which are transmitted in the liquid and enter the workpiece 11 for non-destructive testing without having to immerse both the detection probe 202 and the workpiece 11 in the coupling agent.

[0021] In some examples, the cross-sectional area of ​​the outlet 204 is smaller than that of the inlet 203, and the height of the inlet 203 is higher than the lower end face of the detection probe 202. This ensures that the inlet volume is always greater than the outlet volume. At the same time, the inlet 203, which is higher than the lower end face of the detection probe 202, ensures that the detection probe 202 is always immersed in the coupling agent, preventing the detection probe 202 from coming out of the coupling agent and causing the liquid column to be interrupted.

[0022] In some examples, a laser modeling unit 5 is also included, which is alternately and detachably mounted on the end effector 101 of the collaborative robot 1 along with the ultrasonic detection unit 2. The laser modeling unit 5 may be a laser profilometer, which can scan and model the contour of the workpiece 11 to provide a basis for path planning of the collaborative robot 1.

[0023] In some examples, a coupling agent circulation unit 6 is also included, which includes a reservoir 601 located below the workpiece 11 for receiving the coupling agent and a return pipe 602 connected between the reservoir 601 and the inlet 203. A filter 603, a defoaming device 604, and a sterilization device 605 are sequentially installed on the return pipe 602 along the direction of coupling agent flow. A level gauge is installed on the defoaming device 604, and the sterilization device 605 uses ultraviolet light for sterilization. The return pipe 602 includes a rigid pipe section and a flexible pipe section. The rigid pipe section is fixed in the main frame unit by a support member, and one end of the flexible pipe section is connected to the rigid pipe section, and the other end is connected to the inlet 203.

[0024] In some examples, a clamping unit 7 for securing the workpiece 11 is also included, which includes an air shaft connected to the output end of the workpiece rotation unit 3. The air shaft, in conjunction with a special transition sleeve for the workpiece 11, inflates and tightens the workpiece 11.

[0025] In some examples, a quick-change unit 8 is also included, which includes a placement platform 801, the placement platform 801 having a mounting slot 802 for the laser modeling unit 5 and the ultrasonic detection unit 2 to enter and hang thereon, and a pressure mechanism 803 for pressing the laser modeling unit 5 and the ultrasonic detection unit 2 in the mounting slot 802 to separate them from the end effector unit 101. The mounting slot 802 has an opening at at least one end for the laser modeling unit 5 and the ultrasonic detection unit 2 to enter, and there are at least two of them, one for placing the laser modeling unit 5 and the other for placing the ultrasonic detection unit 2. The shape of the mounting slot 802 may be U-shaped. The end effector 101 is equipped with a main quick-release connector 102, the ultrasonic detection unit 2 is equipped with a first quick-release connector 205 that mates with the main quick-release connector 102, and the laser modeling unit 5 is equipped with a second quick-release connector 501 that mates with the main quick-release connector 102. The pressure applying mechanism 803 can be either a linear drive mechanism or a rotary drive mechanism. The linear drive mechanism can linearly lift and lower to apply pressure to the ultrasonic detection unit 2 or the laser modeling unit 5, and it can be, but is not limited to, a cylinder, telescopic rod, or rotary cylinder. The rotary drive mechanism can rotate to above the ultrasonic detection unit 2 or the laser modeling unit 5 to apply pressure to it, and it can be a motor. When the end effector 101 drives the laser modeling unit 5 or the ultrasonic detection unit 2 into the hanging slot 802, the pressure applying mechanism 803 applies pressure to the laser modeling unit 5 or the ultrasonic detection unit 2, and the main quick-release connector 102 separates from the second quick-release connector, leaving the laser modeling unit 5 or the ultrasonic detection unit 2 on the placement platform 801.

[0026] In some examples, both the laser modeling unit 5 and the ultrasonic detection unit 2 have stepped surfaces for abutting against the opening of the hanging slot 802, so that they can be hung on the placement platform 801. The output end of the pressure applying mechanism 803 is equipped with a pressure plate 804. The pressure applying mechanism 803 is installed at the bottom of the placement platform 801, and its output end extends out of the placement platform 801 and is fixed with the pressure plate 804. A bolt is installed on the end of the pressure plate 804 away from the pressure applying mechanism 803, and the nut of the bolt forms a pressure surface.

[0027] In some examples, the workpiece rotation unit 3 includes a rotary power source 302, a base plate 301 for mounting the rotary power source 302, a drive wheel 303 connected to the output end of the rotary power source 302, a driven wheel 304 connected to the air shaft, and a synchronous belt 305 wound around the drive wheel 303 and the driven wheel 304. The output end of the workpiece rotation unit 4 is connected to the base plate 301. The rotary power source 302 can be a servo motor. When the rotary power source 302 is started, the driving wheel 303 is driven to rotate. The driving wheel 303 drives the driven wheel 304 to rotate through the synchronous belt 305, which drives the air shaft and the workpiece 11 on it to rotate synchronously around the X-axis. The driven wheel 304 is equipped with a rotary air connector to ventilate the air shaft. The workpiece rotation unit 4 can also be a servo motor. Activating the workpiece rotation unit 4 will drive the substrate 301 and the workpiece 11 on it to rotate around the Y-axis.

[0028] In some examples, a counterweight 306 is installed on the side of the base plate 301 away from the workpiece rotation unit 3. The workpiece rotation unit 4 is located between the workpiece rotation unit 3 and the counterweight 306. A connecting plate 307 is provided between the counterweight 306 and the base plate 301. The connecting plate 307 gradually tilts downward in the direction away from the workpiece rotation unit 3, thereby reducing the length of the connecting plate 307 and thus reducing the volume of the entire setup.

[0029] In some examples, there are two inlets 203, and both are at least partially offset from the detection probe 202, so that most of the liquid flowing out of the inlets 203 will not directly collide with the detection probe 202, thereby reducing the probability of bubble generation and preventing the liquid column from being interrupted after a large number of bubbles are generated.

[0030] Working principle: First, the workpiece 11 is manually loaded, and then the air shaft clamps the workpiece 11. Next, the laser modeling unit 5 scans and models the workpiece 11. After receiving the signal, the collaborative robot 1 performs path planning to drive the detection unit to perform detection. At the same time, the workpiece rotation unit 3 and the workpiece rotation unit 4 drive the workpiece 11 to rotate and cooperate. This not only enables the detection unit to quickly reach the detection area and improves the detection efficiency, but also establishes a contour motion trajectory to achieve full coverage detection and suppress the occurrence of detection blind spots. During the testing process, the coupling agent enters the coupling cavity 2011 through the inlet 203, immersing the detection probe 202. Under gravity, it flows through the outlet 204 onto the workpiece 11. The coupling agent forms a continuous liquid column between the outlet 204 and the workpiece 11. The detection probe 202 emits ultrasonic waves, which propagate in the liquid and enter the workpiece 11 for non-destructive testing. The reflected sound waves are collected and analyzed to generate a test report. Finally, the workpiece is manually unloaded, and the above process is repeated for the next round of testing. Figure 8 As shown.

[0031] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A non-destructive testing device for composite components, characterized in that: include: Collaborative robot (1) that can reciprocate along the X-axis; An ultrasonic testing unit (2), which is connected to the end effector (101) of the collaborative robot (1), includes a testing probe (202) and a mounting base (201) for mounting the testing probe (202). The mounting base (201) has a coupling cavity (2011) for containing a coupling agent, an inlet (203) communicating with the coupling cavity (2011), and an outlet (204). The outlet (204) is located at the bottom of the coupling cavity (2011) and is coaxially arranged with the testing probe (202) which extends into the coupling cavity (2011) and is immersed in the coupling agent. It is used to form a continuous liquid column between the outlet (204) and the workpiece (11) for the transmission of ultrasonic waves emitted by the testing probe (202). The workpiece rotation unit (3) is used to drive the workpiece (11) to rotate around the X-axis; and a workpiece rotation unit (4), which is used to drive the workpiece (11) to rotate around the Y-axis; It also includes a clamping unit (7) for fixing the workpiece (11), which includes an air shaft connected to the output end of the workpiece rotation unit (3); The workpiece rotation unit (3) includes a rotary power source (302), a base plate (301) for mounting the rotary power source (302), a drive wheel (303) connected to the output end of the rotary power source (302), a driven wheel (304) connected to the air shaft, and a synchronous belt (305) wound around the drive wheel (303) and the driven wheel (304). The output end of the workpiece rotation unit (4) is connected to the base plate (301). A counterweight (306) is installed on the side of the base plate (301) away from the workpiece rotation unit (3). A connecting plate (307) is provided between the counterweight (306) and the base plate (301). The connecting plate (307) gradually tilts downward in the direction away from the workpiece rotation unit (3).

2. The non-destructive testing equipment for composite components according to claim 1, characterized in that: The cross-sectional area of ​​the outlet (204) is smaller than that of the inlet (203), and the height of the inlet (203) is higher than the lower end face of the detection probe (202).

3. The non-destructive testing equipment for composite components according to claim 1, characterized in that: It also includes a laser modeling unit (5), which is alternately and detachably mounted on the end effector (101) of the collaborative robot (1) along with the ultrasonic detection unit (2).

4. The non-destructive testing equipment for composite components according to claim 1, characterized in that: It also includes a coupling agent circulation unit (6), which includes a reservoir (601) located below the workpiece (11) for receiving the coupling agent and a return pipe (602) connected between the reservoir (601) and the inlet (203). A filter (603), a defoaming device (604) and a sterilization device (605) are installed sequentially on the return pipe (602) along the direction of coupling agent flow.

5. The non-destructive testing equipment for composite components according to claim 1, characterized in that: It also includes a quick-change unit (8), which includes a placement platform (801) having a mounting slot (802) for the laser modeling unit (5) and the ultrasonic detection unit (2) to enter and hang thereon, and a pressure mechanism (803) for pressing the laser modeling unit (5) and the ultrasonic detection unit (2) in the mounting slot (802) to separate them from the end effector unit (101).

6. The non-destructive testing equipment for composite components according to claim 5, characterized in that: Both the laser modeling unit (5) and the ultrasonic detection unit (2) have stepped surfaces for contacting the groove opening of the hanging slot (802), and the output end of the pressure applying mechanism (803) is equipped with a pressure plate (804).

7. The non-destructive testing equipment for composite components according to claim 1, characterized in that: There are two inlets (203), and both are at least partially offset from the detection probe (202).

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