Nondestructive testing system

Abstract

The invention is suitable for the technical field of detection, and provides a nondestructive detection system. The system comprises a clamping and spraying unit and a spraying control unit. The clamping and spraying unit is used for clamping a to-be-detected workpiece to a target position and spraying long afterglow detection liquid to the to-be-detected workpiece; the spraying control unit is used for acquiring a contour model of a to-be-detected workpiece and dividing a spraying area for the contour model, and the spraying area comprises a plane area, a curved surface area and / or a complex structure area; for the plane area or the curved surface area, the spraying direction of the clamping spraying unit is determined according to the normal vector of the plane area or the curved surface area; for the complex structure area, the spraying direction is determined according to the type of the complex structure area and the corresponding contour model; and controlling the clamping and spraying unit to spray the long afterglow detection liquid on the to-be-detected workpiece in the spraying direction and the corresponding path. According to the invention, the long afterglow detection liquid can be uniformly and comprehensively sprayed on the surface of the workpiece to be detected, and the accuracy of subsequent defect detection is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of detection, in particular to a non-destructive testing system. BACKGROUND

[0002] Non-destructive testing technology can detect defects of a workpiece without destroying the workpiece, and is therefore widely used in industrial manufacturing and infrastructure maintenance. Penetrant testing, as a non-destructive testing technology, detects defects on the surface of a workpiece by using capillary effect. It requires that the penetrant be uniformly and comprehensively sprayed on the surface of the workpiece to ensure that each defect can be fully penetrated and the defect detection effect is ensured.

[0003] Currently, when spraying the penetrant on the workpiece to be detected, the workpiece is usually sprayed according to a fixed spraying method. However, the shape of the workpiece to be detected is diversified and may also include complex structures such as protrusions or grooves. The above spraying method is difficult to achieve uniform and comprehensive spraying on the surface of the workpiece, thereby affecting the accuracy of subsequent defect detection. SUMMARY

[0004] Therefore, the embodiments of the present application provide a non-destructive testing system to solve the technical problem that the traditional spraying method in non-destructive testing is difficult to achieve uniform and comprehensive spraying on the surface of the workpiece, thereby affecting the accuracy of subsequent defect detection.

[0005] In a first aspect, the embodiments of the present application provide a non-destructive testing system, comprising: a clamping and spraying unit and a spraying control unit. The clamping and spraying unit is configured to clamp a workpiece to be detected to a target position and spray a long-persistence detection liquid on the workpiece to be detected. The spraying control unit is configured to: obtain a contour model of the workpiece to be detected, divide a spraying area of the contour model, the spraying area comprising a planar area, a curved surface area and / or a complex structure area, and the complex structure area comprising a groove or a protrusion; For the planar area or the curved surface area, a spraying direction of the clamping and spraying unit is determined according to a normal vector of the planar area or the curved surface area; and for the complex structure area, the spraying direction is determined according to a type of the complex structure area and a corresponding contour model; The clamping and spraying unit is controlled to spray the long-persistence detection liquid on the workpiece to be detected in the spraying direction and a corresponding path.

[0006] In a possible implementation, the spraying control unit is further configured to, for the planar area, determine a first spraying direction based on an average normal vector corresponding to the planar area; and an included angle between the first spraying direction and the average normal vector is less than a preset included angle threshold. For the curved surface area, the curved surface area is divided into multiple sub-areas according to the spraying width of the clamping spraying unit. For each sub-area, sample points are selected according to the curvature extreme point of the sub-area and the preset interval, and the normal vectors at the sample points are interpolated to obtain continuous normal vectors. Based on the continuous normal vectors, a continuous second spraying direction is determined; the angle between the second spraying direction and the opposite direction of the corresponding normal vector is less than the preset angle threshold.

[0007] In a possible implementation, the spraying control unit further determines the type of the complex structure area; the type includes grooves and protrusions; The spraying direction is determined according to the type and normal direction of the complex structure area; the angle between the spraying direction and the normal direction is a preset angle.

[0008] In a possible implementation, the preset angle includes a first angle and a second angle; the second angle is smaller than the first angle by less than 90°; the normal direction includes a depth direction and a height direction; The spray control unit further determines a third spray direction for the groove based on the depth direction of the groove; the angle between the third spray direction and the depth direction is the first angle; For the protrusion, a fourth spraying direction is determined based on the height direction of the protrusion; an angle between the fourth spraying direction and a direction opposite to the height direction is a second angle.

[0009] In one possible implementation, the spray control unit is further configured to: control the clamping spray unit to spray the long afterglow detection liquid on a first surface area on the workpiece to be inspected that corresponds to the plane area in the first spraying direction and along a "Z"-shaped path; For the second surface area corresponding to the sub-area on the workpiece to be inspected, the clamping and spraying unit is controlled to spray the long afterglow detection liquid on the second surface area along the length direction of the second surface area in a continuous second spraying direction.

[0010] In one possible implementation, the spray control unit is further configured to: control the clamping spray unit to spray the long afterglow detection liquid in a third spraying direction along the first direction on a third surface area of ​​the workpiece to be inspected corresponding to the groove, and control the clamping spray unit to spray the long afterglow detection liquid in a direction perpendicular to the third spraying direction and in a direction opposite to the first direction; the first direction is parallel to the length direction of the groove; For a fourth surface region on the workpiece to be detected corresponding to the protrusion, the spray control unit controls the gripping and spraying unit to spray the long afterglow detection liquid in a fourth spraying direction along a second direction, and controls the gripping and spraying unit to spray the long afterglow detection liquid in a direction perpendicular to the fourth spraying direction along the reverse direction of the second direction; the second direction is parallel to the length direction of the protrusion.

[0011] In a possible implementation, the long afterglow detection liquid includes a long afterglow permeation liquid and a cleaning liquid; the long afterglow permeation liquid is prepared based on a long afterglow powder, distilled water, a sodium hydroxide solution, a dispersing agent, and a permeating agent; in the preparation process, the long afterglow powder, the distilled water, and the sodium hydroxide solution are mixed to obtain a mixed solution, and the pH value of the mixed solution is within a preset pH value range; the mixed solution, the dispersing agent, and the permeating agent are mixed and stirred to obtain a stirred mixed solution as the long afterglow permeation liquid; The spray control unit also controls the gripping and spraying unit to spray the long afterglow permeation liquid on the workpiece to be detected in the spraying direction and the corresponding path, and controls the gripping and spraying unit to spray the cleaning liquid on the workpiece to be detected in the spraying direction and the corresponding path after a preset time period.

[0012] In a possible implementation, the spray control unit also controls the gripping and spraying unit to spray the long afterglow permeation liquid of a first preset viscosity on the surface region on the workpiece to be detected corresponding to the planar region and the curved surface region; and controls the gripping and spraying unit to spray the long afterglow permeation liquid of a second preset viscosity on the surface region on the workpiece to be detected corresponding to the complex structure region; the first preset viscosity is greater than the second preset viscosity.

[0013] In a possible implementation, the system further includes an irradiation detection unit; The irradiation detection unit is configured to irradiate the workpiece to be detected after spraying the long afterglow detection liquid with ultraviolet light, acquire a surface image of the workpiece to be detected after ultraviolet light irradiation, and send the surface image to the spray control unit. The spray control unit is further configured to determine whether the workpiece to be detected has defects based on the surface image.

[0014] In a possible implementation, the gripping and spraying unit includes a first mechanical arm mechanism, a lifting mechanism, and a second mechanical arm mechanism. The first mechanical arm mechanism is configured to clamp the workpiece to be detected to a preset position. The lifting mechanism is configured to lift the workpiece to be detected from the preset position to the target position. The second robotic arm mechanism is used to spray the long afterglow detection liquid on the workpiece to be inspected in the spraying direction and corresponding path.

[0015] The nondestructive testing system provided in the embodiment of the present application is provided with a spray control unit to divide the contour model of the workpiece to be inspected into spraying areas, so as to determine the appropriate spraying direction in different ways according to the characteristics of different types of areas. For a plane area or a curved surface area, the spraying direction is determined based on the normal vector of the plane area or the curved surface area, and for a complex structure area, the spraying direction is determined according to the type of the complex structure area and the corresponding contour model, and then the clamping spray unit is controlled to spray the long afterglow detection liquid on the corresponding surface area of ​​the workpiece to be inspected in combination with the corresponding spraying path in the above-mentioned spraying direction, thereby ensuring that the long afterglow detection liquid can be evenly and comprehensively sprayed on the surface of the workpiece to be inspected, thereby improving the accuracy of subsequent defect detection.

[0016] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0018] Figure 1 This is a schematic structural diagram of a nondestructive testing system provided in one embodiment of the present application; Figure 2 is a structural diagram of a nondestructive testing system provided by another embodiment of the present application; Figure 3 is a structural diagram of a first robotic arm mechanism provided in one embodiment of the present application; Figure 4 It is a structural diagram of the first robotic arm mechanism provided in one embodiment of the present application.

[0019] Reference numerals: 1: rack body; 2: clamping and spraying unit; 3: first mechanical arm mechanism; 31: first linear slide; 32: first mechanical arm; 33: first rotating device; 4: lifting mechanism; 41: second linear slide; 42: third linear slide; 43: first support; 431: vertical rod; 432: horizontal rod; 44: second support; 45: first force sensor; 46: second force sensor; 5: second mechanical arm mechanism; 51: second mechanical arm; 511: first spraying device; 512: second spraying device; 52: I-shaped double-track slide; 521: first X-axis slide; 522: second X-axis slide; 523: Y-axis slide; 6: waste liquid storage box. DETAILED DESCRIPTION

[0020] The application will be described in greater detail with reference to specific embodiments. The following embodiments are presented by way of example and are not intended to limit the present application in any manner. It should be noted that, for one of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application. These all fall within the scope of the present application.

[0021] It should be understood that, when used in the specification and the appended claims of the present application, the term "comprising" indicates the presence of the described features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0022] It should also be understood that the term "and / or" used in the specification and the appended claims of the present application means any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0023] In the description of the present application and the appended claims, the terms "first", "second", "third", and the like are used only to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

[0024] In the present application, the reference "one embodiment" or "some embodiments" and the like means that the specific features, structures, or characteristics described in connection with the embodiment are included in one or more embodiments of the present application. Therefore, the statements "in one embodiment", "in some embodiments", "in other some embodiments", "in yet some embodiments", and the like appearing in different places in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "include", "contain", "have", and their variations mean "including but not limited to", unless otherwise specifically emphasized.

[0025] In addition, the "multiple" mentioned in the embodiments of the present application should be interpreted as two or more than two.

[0026] In the penetration detection technology, when spraying the penetration liquid on the workpiece to be detected, the entire workpiece is usually sprayed according to a fixed spraying mode. However, the shape of the workpiece to be detected is diversified, and may also include complex structures such as protrusions or grooves. The above spraying method is difficult to achieve uniform and comprehensive spraying on the surface of the workpiece, thereby affecting the accuracy of subsequent defect detection.

[0027] Based on the above problems, the present application sets a clamping and spraying unit and a spraying control unit. The spraying control unit acquires the contour model of the workpiece to be detected, divides the contour model into a spraying area, and determines the appropriate spraying direction according to different areas. For a planar area or a curved surface area, the normal vector of the planar area or the curved surface area is used to determine the spraying direction. For a complex structure area, the type of the complex structure area and the corresponding contour model are used to determine the spraying direction. Then, the clamping and spraying unit is controlled to spray the long-persistence detection liquid on the corresponding surface area of the workpiece to be detected in the above spraying direction combined with the corresponding spraying path, so that the long-persistence detection liquid can be uniformly and comprehensively sprayed on the surface of the workpiece to be detected.

[0028] In order to make the purpose, technical scheme and advantages of the present application more clear, specific embodiments will be described below with reference to the accompanying drawings.

[0029] Figure 1 is a structural schematic diagram of a non-destructive testing system provided by an embodiment of the present application. As shown in Figure 1 The non-destructive testing system provided by the embodiment of the present application can include a clamping and spraying unit and a spraying control unit.

[0030] The clamping and spraying unit is used to clamp the workpiece to be detected to a target position and spray the long-persistence detection liquid on the workpiece to be detected.

[0031] The spraying control unit is used to: acquire the contour model of the workpiece to be detected, divide the contour model into a spraying area, and the spraying area includes a planar area, a curved surface area and / or a complex structure area, and the complex structure area includes a groove or a protrusion.

[0032] For a planar area or a curved surface area, the normal vector of the planar area or the curved surface area is used to determine the spraying direction of the clamping and spraying unit; for a complex structure area, the type of the complex structure area and the corresponding contour model are used to determine the spraying direction.

[0033] The clamping and spraying unit is controlled to spray the long-persistence detection liquid on the workpiece to be detected in the spraying direction and the corresponding path.

[0034] In this embodiment, the surface of the workpiece to be detected can include a plane, a curved surface and a region with a complex structure, and the region with a complex structure is a region including a groove or a protrusion. The spraying control unit first controls the clamping spraying unit to clamp the workpiece to be detected to a target position, and then acquires a contour model of the workpiece to be detected, such as scanning the workpiece to be detected by using a laser scanning technology to obtain point cloud data, and then obtaining the contour model of the workpiece to be detected based on the point cloud data. Then, the spraying control unit divides the contour model into a plane region, a curved surface region and / or a complex structure region based on the contour model. It can be understood that there can be multiple plane regions, one plane region only includes a plane, there can be multiple curved surface regions, one curved surface region is a curved surface without protrusions and grooves, and there can be multiple complex structure regions, one complex structure region includes a groove or a protrusion. Therefore, subsequent different spraying directions can be determined according to different spraying regions divided by the contour model, and different spraying directions and corresponding paths can be used to spray the surface of the workpiece to be detected.

[0035] For example, the spraying control unit can input the contour model into the trained region recognition model to obtain the plane region, the curved surface region and / or the complex structure region output by the region recognition model. The region recognition model can be a neural network model, the input contour model and the output spraying region of the contour model, and the spraying region includes the plane region, the curved surface region and / or the complex structure region. In addition, the region recognition model can also identify and output the type of the complex structure region, and the type of the complex structure region includes a groove or a protrusion. The spraying control unit can also be connected to a computer, and the spraying control unit displays the contour model on the computer. An operator divides the spraying region of the contour model based on the computer, so that the spraying control unit obtains the plane region, the curved surface region and / or the complex structure region of the contour model based on the input of the operator to the computer. In addition, the operator can also input the type of the complex structure region based on the computer, so that the spraying control unit obtains the type of the complex structure region based on the input of the operator to the computer. In this embodiment, the division of the spraying region of the contour model can also be realized by other ways, which is not limited here.

[0036] Optionally, after dividing the contour model into different spraying regions, the spraying control unit can determine the spraying direction suitable for different spraying regions by using different ways, and then use different spraying directions and corresponding paths to spray the surface of the workpiece to be detected.

[0037] In some embodiments, the spraying control unit determines a first spraying direction based on an average normal vector corresponding to the plane region for the plane region, and an included angle between the first spraying direction and the average normal vector is less than a preset included angle threshold.

[0038] The spraying control unit divides the curved surface region into a plurality of sub-regions according to the spraying width of the spraying control unit, selects a sample point according to the extreme value point of the curvature of each sub-region and a preset interval, performs interpolation processing on the normal vector at the sample point to obtain a continuous normal vector, and determines a continuous second spraying direction based on the continuous normal vector; and the included angle between the second spraying direction and the opposite direction of the corresponding normal vector is less than a preset included angle threshold.

[0039] In the embodiment, the spraying direction is the direction of the clamping spraying unit when spraying the workpiece to be detected. For a planar region, the spraying control unit calculates the average normal vector corresponding to the planar region, and determines the first spraying direction as a direction in which the included angle between the average normal vector and the opposite direction is less than a preset included angle threshold. The preset included angle threshold can be set according to actual needs, for example, it can be 5°. In this way, it is ensured that the spraying direction is as parallel as possible to the average normal vector of the planar region, that is, it is ensured that the clamping spraying unit sprays the surface region corresponding to the planar region on the workpiece to be detected as vertically as possible, so as to ensure the uniformity and comprehensiveness of the spraying on the surface of the workpiece to be detected.

[0040] Optionally, the spraying width of the clamping spraying unit refers to the effective width of the spray coverage area formed by the clamping spraying unit when spraying at a certain spraying distance (usually 15-30 cm). For a curved surface region, the spraying control unit divides the curved surface region into a plurality of sub-regions with the spraying width of the clamping spraying unit as the width, that is, the width of each sub-region is the spraying width. The spraying control unit selects the extreme value point of the curvature of each sub-region as a sample point, which can represent the change characteristics of the curved surface, and selects the sample points based on a preset interval, which can further represent the change characteristics of the curved surface and provide a plurality of sample points for subsequent interpolation processing to obtain a plurality of continuous normal vectors. Then, the spraying control unit calculates the normal vector at each sample point, and performs interpolation processing such as cubic spline interpolation processing on the plurality of normal vectors to obtain a plurality of continuous normal vectors.

[0041] Further, the spraying control unit determines a plurality of continuous second spraying directions corresponding to the plurality of continuous normal vectors, and the included angle between the second spraying direction and the opposite direction of the corresponding normal vector is less than a preset included angle threshold, for example, 5°. In this way, it is ensured that the clamping spraying unit sprays the surface region corresponding to the curved surface region on the workpiece to be detected as vertically as possible, so as to ensure the uniformity and comprehensiveness of the spraying on the surface of the workpiece to be detected.

[0042] In some embodiments, the spraying control unit further determines the type of the complex structure region, which includes a groove and a protrusion, and determines the spraying direction according to the type of the complex structure region and the normal direction; and the included angle between the spraying direction and the normal direction is a preset included angle.

[0043] As known from the foregoing, the spraying control unit can obtain the type of the complex structure region based on the region recognition model or the input of the operator to the computer. The normal direction can include a depth direction and a height direction. For a groove, the normal direction is the depth direction, which refers to a direction perpendicular from the opening of the groove (reference surface) to the bottom of the groove. For a protrusion, the normal direction is the height direction, which refers to a direction perpendicular from the reference surface of the protrusion to the top of the protrusion.

[0044] For example, the preset included angle includes a first included angle and a second included angle. The second included angle is smaller than the first included angle, and the first included angle is smaller than 90°.

[0045] The spraying control unit also determines, for the groove, a third spraying direction based on the depth direction of the groove. The included angle between the third spraying direction and the depth direction is the first included angle. The spraying control unit also determines, for the protrusion, a fourth spraying direction based on the height direction of the protrusion. The included angle between the fourth spraying direction and the height direction is the second included angle.

[0046] It should be noted that the groove or the protrusion in the embodiment is a groove or a protrusion on a plane. The second included angle and the first included angle are both smaller than 90°. This is because the spraying unit is tilted to increase the impact adhesion of the long-persistence detection liquid on the side wall of the groove or the protrusion, and to reduce the phenomenon of the long-persistence detection liquid bouncing caused by vertical spraying, so that the long-persistence detection liquid effectively covers the bottom corner and the side wall of the groove, and the long-persistence detection liquid can maximize the coverage of the protrusion. The second included angle is smaller than the first included angle because, for the groove, a more tilted spraying direction is beneficial to reducing the loss of bouncing and to covering the bottom corner and the side wall of the groove. For the protrusion, appropriately reducing the tilt of the spraying direction is beneficial to maximizing the coverage efficiency of the top of the protrusion. The specific settings of the first included angle and the second included angle can be determined according to actual conditions. For example, the first included angle can be set to 30°, and the second included angle can be set to 15°, or other values.

[0047] In some embodiments, the spraying control unit is further configured to: for a first surface region on the workpiece corresponding to the planar region, control the clamping spraying unit to spray the long-persistence detection liquid on the first surface region in a first spraying direction according to a “Z”-shaped path.

[0048] For a second surface region on the workpiece corresponding to the sub-region, control the clamping spraying unit to spray the long-persistence detection liquid on the second surface region in a continuous second spraying direction along the length direction of the second surface region.

[0049] For example, after determining the spraying direction, the spraying control unit controls the clamping spraying unit to spray the workpiece in the spraying direction and the corresponding path. The spraying mode of the “Z”-shaped path can ensure the uniformity and comprehensiveness of the spraying on the first surface region.

[0050] Optionally, the spraying control unit is further configured to determine, based on each sub-region in the profile model, a second surface region on the workpiece to be detected corresponding to the sub-region, and then control the clamping spraying unit to spray the long afterglow detection liquid along a second spraying direction corresponding to the second surface region in a length direction of the second surface region. As known from the foregoing, each sub-region is obtained by dividing the curved surface region in the width of the spraying width of the clamping spraying unit, and thus when the spraying control unit controls the clamping spraying unit to spray each second surface region, full spraying of each second surface region can be achieved, and the clamping spraying unit sprays in the continuous second spraying direction, which can ensure uniformity of spraying.

[0051] Here, the spraying control unit can use a space mapping technique to determine, based on the planar region of the profile model, a first surface region on the workpiece to be detected corresponding to the planar region, according to the coordinates of the profile model and the actual coordinates of the workpiece to be detected.

[0052] Similarly, in the embodiment, the surface region on the workpiece to be detected corresponding to the spraying region of the profile model can be determined using existing techniques, such as the space mapping technique based on the coordinates of the profile model and the actual coordinates of the workpiece to be detected, and the like, which will not be described herein again.

[0053] It should be noted that the spraying control unit can use existing techniques to control the clamping spraying unit to move along the corresponding path, such as using the space mapping technique and the path planning technique based on the coordinates of the profile model and the actual coordinates of the workpiece to be detected, the corresponding path of the surface region, and the preset spraying distance, and the like, which will not be described herein again.

[0054] In some embodiments, the spraying control unit is further configured to control the clamping spraying unit to spray the long afterglow detection liquid along a third spraying direction in a first direction for a third surface region on the workpiece to be detected corresponding to the groove, and control the clamping spraying unit to spray the long afterglow detection liquid along a direction perpendicular to the third spraying direction in a reverse direction of the first direction; the first direction is parallel to a length direction of the groove.

[0055] And control the clamping spraying unit to spray the long afterglow detection liquid along a fourth spraying direction in a second direction for a fourth surface region on the workpiece to be detected corresponding to the protrusion, and control the clamping spraying unit to spray the long afterglow detection liquid along a direction perpendicular to the fourth spraying direction in a reverse direction of the second direction; the second direction is parallel to a length direction of the protrusion.

[0056] The length direction of the groove refers to the main direction in which the groove extends, and is perpendicular to the depth direction of the groove. The third spraying direction can be in the same plane as the first direction and the depth direction of the groove, and the included angle between the third spraying direction and the first direction is less than 90°. In this way, when the spraying control unit controls the clamping spraying unit to spray the third surface area along the first direction in the third spraying direction, the clamping spraying unit itself is inclined to the movement direction of the clamping spraying unit, thereby improving the spraying uniformity and comprehensiveness of the bottom corner and the side wall of the groove.

[0057] Subsequently, in order to ensure the comprehensiveness of spraying the third surface area and make the long-afterglow detection liquid cover the groove more comprehensively, the spraying control unit controls the clamping spraying unit to spray the third surface area along the reverse direction of the first direction in a direction perpendicular to the third spraying direction. Here, the direction perpendicular to the third spraying direction is also in the same plane as the first direction and the depth direction of the groove, so that the clamping spraying unit itself is still inclined to the movement direction of the clamping spraying unit, thereby ensuring the spraying uniformity and comprehensiveness of the bottom corner and the side wall of the groove. Meanwhile, the spraying control unit controls the clamping spraying unit to spray the groove along the first direction and the reverse direction of the first direction, which can improve the spraying uniformity and comprehensiveness of the groove and prevent spraying omission.

[0058] Optionally, the length direction of the protrusion refers to the main direction in which the protrusion extends, and is perpendicular to the height direction of the protrusion. The fourth spraying direction can be in the same plane as the second direction and the height direction of the protrusion, and the included angle between the fourth spraying direction and the second direction is less than 90°. In this way, when the spraying control unit controls the clamping spraying unit to spray the fourth surface area along the second direction in the fourth spraying direction, the clamping spraying unit itself is inclined to the movement direction of the clamping spraying unit, thereby improving the spraying uniformity and comprehensiveness of the top and the side wall of the protrusion.

[0059] Subsequently, in order to ensure the comprehensiveness of spraying the fourth surface area and make the long-afterglow detection liquid cover the protrusion more comprehensively, the spraying control unit controls the clamping spraying unit to spray the fourth surface area along the reverse direction of the second direction in a direction perpendicular to the fourth spraying direction. Here, the direction perpendicular to the fourth spraying direction is also in the same plane as the second direction and the height direction of the protrusion, so that the clamping spraying unit itself is still inclined to the movement direction of the clamping spraying unit, thereby ensuring the spraying uniformity and comprehensiveness of the top and the side wall of the protrusion. Meanwhile, the spraying control unit controls the clamping spraying unit to spray the protrusion along the second direction and the reverse direction of the second direction, which can improve the spraying uniformity and comprehensiveness of the protrusion and prevent spraying omission.

[0060] In the embodiment, the spraying control unit divides the profile model of the workpiece to be detected into spraying areas, and determines appropriate spraying directions according to characteristics of different areas, and then controls the clamping and spraying unit to spray the corresponding surface areas of the workpiece to be detected in the spraying directions combined with the corresponding spraying paths, so that the long-afterglow detection liquid can be uniformly and comprehensively sprayed on the surface of the workpiece to be detected.

[0061] In some embodiments, the long-afterglow detection liquid includes a long-afterglow permeation liquid and a cleaning liquid. The long-afterglow permeation liquid is prepared based on long-afterglow powder, distilled water, sodium hydroxide solution, dispersant and penetrant. In the preparation process, the long-afterglow powder, the distilled water and the sodium hydroxide solution are mixed to obtain a mixed solution, and the pH value of the mixed solution is within a preset pH value range. The mixed solution, the dispersant and the penetrant are mixed and stirred to obtain a stirred mixed solution as the long-afterglow permeation liquid.

[0062] The raw materials for preparing the long-afterglow powder include SrCl2, AlCl3, EuCl3 and DyCl3, and the molar ratio of SrCl2, AlCl3, EuCl3 and DyCl3 is 100:200:1:2.

[0063] The spraying control unit also controls the clamping and spraying unit to spray the long-afterglow permeation liquid on the workpiece to be detected in the spraying direction and the corresponding path, and controls the clamping and spraying unit to spray the cleaning liquid on the workpiece to be detected in the spraying direction and the corresponding path after a preset time period.

[0064] In the embodiment, the spraying control unit controls the clamping and spraying unit to first spray the long-afterglow permeation liquid on the workpiece to be detected. After a preset time period, the long-afterglow permeation liquid fully permeates into the defects on the surface of the workpiece to be detected, and then the clamping and spraying unit is controlled to spray the cleaning liquid on the workpiece to be detected to remove the excess permeation liquid on the surface of the workpiece to be detected. At this time, the long-afterglow permeation liquid permeated into the defects is retained in the defects due to capillary action. Subsequently, the position and size of the defects can be displayed by ultraviolet irradiation.

[0065] For example, the spraying control unit controls the clamping and spraying unit to spray the long-afterglow permeation liquid and the cleaning liquid on the workpiece to be detected in the same spraying direction and the corresponding path, so that the excess long-afterglow permeation liquid on the surface of the workpiece to be detected can be completely removed by the cleaning liquid, and the defect detection effect is improved.

[0066] Optionally, in order to improve the detection performance of the long afterglow penetrating liquid in extreme temperature environment, improve the detection rate of micron-level defects, not be disturbed by special environments such as strong electromagnetic field, and better penetrate into porous materials or fiber structure, in the embodiment, first, a high-temperature calcination method is used to prepare the long afterglow powder, and the composition of the preparation raw material of the long afterglow powder and the molar ratio of each component are controlled. For example, the preparation raw material of the long afterglow powder includes SrCl2, AlCl3, EuCl3 and DyCl3, and the molar ratio of SrCl2, AlCl3, EuCl3 and DyCl3 is 100:200:1:2. Then, the long afterglow penetrating liquid is obtained based on the long afterglow powder, and the specific preparation process of the long afterglow penetrating liquid is as follows: Step 1, a high-temperature calcination method is used to prepare the long afterglow powder, and the preparation raw material is mixed according to the molar ratio of SrCl2:AlCl3:EuCl3:DyCl3=100:200:1:2. Then, the mixed preparation raw material is high-temperature calcined, and the calcination conditions are as follows: calcination temperature 1150℃±50℃, holding time 2 hours, and protective atmosphere argon. The particle size of the obtained long afterglow powder is uniform, and the particle size is controlled within 100nm.

[0067] Step 2, the prepared long afterglow powder and distilled water are added into a beaker to obtain a mixed solution, and the pH of the mixed solution is adjusted to 8-10 using a sodium hydroxide (NaOH) solution. The mass of the long afterglow powder can be 3.5g, and the volume of the distilled water can be 50mL.

[0068] Step 3, a dispersant and a penetrating agent are added into the beaker, for example, Nopco 5040 dispersant and penetrating agent JFC (fatty alcohol polyoxyethylene ether) are added, and the mixed solution is stirred uniformly on a magnetic stirrer, and the stirring conditions are as follows: magnetic stirring speed 800rpm, time 2.5 hours, and solution temperature maintained at 25℃, so as to prepare a uniform mixed solution, i.e. to obtain the long afterglow penetrating liquid. The volume of the Nopco 5040 dispersant and the penetrating agent JFC used can be 6mL and 5.5mL respectively.

[0069] Optionally, the cleaning liquid can be pure water or mineral water, and can also be a water solution without any special properties and not reacting with the long afterglow penetrating liquid according to the actual situation.

[0070] In the embodiment, the preset pH value range can be 8-10, which is a weak alkaline range. The pH value of the mixed solution is adjusted to the weak alkaline range by using a sodium hydroxide solution. In this way, in the weak alkaline environment, the charge state of the surface of the long afterglow powder changes, and the electrostatic repulsion between particles is enhanced, which helps to prevent the aggregation and precipitation of powder particles and improves the dispersion stability of the long afterglow powder in water. In addition, the weak alkaline environment with a pH value of 8-10 is conducive to the role of active groups of the dispersant molecules, thereby improving the dispersion efficiency.

[0071] The Nopco 5040 dispersant can prevent the long afterglow powder from aggregating, can form a protective layer on the surface of the powder particles, and can make the long afterglow powder remain in a uniformly dispersed state in water, thereby avoiding precipitation and stratification and improving the dispersion stability of the mixed solution. The penetrant JFC can reduce the surface tension of the mixed solution, enhance the wettability and penetration ability, and make the finally prepared long afterglow penetrant better penetrate into the porous material or fiber structure, while improving the solution flowability and facilitating subsequent process operation.

[0072] Optionally, in the embodiment, the preparation raw material of the long afterglow powder includes inorganic materials such as SrCl2, AlCl3, EuCl3, and DyCl3, and the molar ratio of SrCl2, AlCl3, EuCl3, and DyCl3 is 100:200:1:2. The long afterglow powder is prepared by using inorganic materials, so that the obtained long afterglow penetrant is not easily affected by the environment temperature, thereby improving the detection performance of the long afterglow penetrant in an extreme temperature environment and the interference ability of the long afterglow penetrant in a special environment such as a strong electromagnetic field. In the preparation process of the long afterglow powder, the particle size of the long afterglow powder is controlled to be in the nanometer level, which can improve the detection rate of the prepared long afterglow penetrant to the micron-level defects and improve the defect display effect.

[0073] In some embodiments, the spraying control unit also controls the clamping spraying unit to spray the long afterglow penetrant with the first preset viscosity on the surface area corresponding to the planar area and the curved surface area on the workpiece to be detected, and controls the clamping spraying unit to spray the long afterglow penetrant with the second preset viscosity on the surface area corresponding to the complex structure area on the workpiece to be detected. The first preset viscosity is greater than the second preset viscosity.

[0074] Optionally, the first surface area and the second surface area are sprayed with the long afterglow penetrant with a higher viscosity, which can ensure that the penetrant stays on the plane and the curved surface for a sufficient time. The third surface area and the fourth surface area are sprayed with the long afterglow penetrant with a lower viscosity, because the long afterglow penetrant with a lower viscosity can more easily penetrate into the small defects and is also convenient for subsequent removal of the long afterglow penetrant from the complex structure area such as the groove and the protrusion.

[0075] In some embodiments, the non-destructive testing system can further comprise an irradiation detection unit. The irradiation detection unit is configured to irradiate the workpiece to be tested with ultraviolet light after spraying the long afterglow detection liquid, acquire a surface image of the workpiece to be tested after the ultraviolet light irradiation, and send the surface image to the spraying control unit.

[0076] The spraying control unit is further configured to determine whether the workpiece to be tested has defects based on the surface image.

[0077] In the embodiment, the spraying control unit controls the irradiation detection unit to perform ultraviolet light irradiation and acquire a surface image. Under the ultraviolet light irradiation, the long afterglow penetration liquid remaining in the defects emits fluorescence, and then the irradiation detection unit acquires a surface image of the workpiece to be tested after the ultraviolet light irradiation, and sends the surface image to the spraying control unit. The spraying control unit determines whether the workpiece to be tested has defects according to the received surface image, and determines the type of defects when defects exist.

[0078] Optionally, when the surface of the workpiece to be tested has defects, the defects penetrated by the long afterglow penetration liquid emit fluorescence under ultraviolet light irradiation, and the corresponding surface image shows fluorescence. The spraying control unit inputs the surface image into a trained detection model to obtain characteristic parameters of the defects such as shape, size, position and type output by the detection model. The detection model can be a neural network model, which inputs the surface image of the workpiece to be tested after ultraviolet light irradiation and outputs a detection result. The detection result is that there is no defect, or the detection result is that there is a defect, and the characteristic parameters of the defect such as shape, size, position and type.

[0079] The non-destructive testing system provided by the embodiments of the present application sets the spraying control unit to divide the contour model of the workpiece to be tested into spraying regions, so as to determine suitable spraying directions according to the characteristics of different types of regions. For a planar region or a curved surface region, the spraying direction is determined based on the normal vector of the planar region or the curved surface region. For a complex structure region, the spraying direction is determined according to the type of the complex structure region and the corresponding contour model, and then the gripping and spraying unit is controlled to spray the long afterglow detection liquid on the corresponding surface region of the workpiece to be tested in the above spraying direction combined with the corresponding spraying path, so as to ensure that the long afterglow detection liquid can be uniformly and comprehensively sprayed on the surface of the workpiece to be tested, and improve the accuracy of subsequent defect detection.

[0080] The non-destructive testing system can further comprise a rack body, and the gripping and spraying unit, the spraying control unit and the irradiation detection unit can be arranged inside the rack body. For the convenience of understanding the non-destructive testing system, the following embodiments are described in combination with Figures 2 to 4 The structure of the non-destructive testing system is described.

[0081] Reference is made to Figures 2 to 4In some embodiments, the spray-pickup unit 2 comprises a first mechanical arm mechanism 3, a lifting mechanism 4 and a second mechanical arm mechanism 5. The first mechanical arm mechanism 3 is used to pick up the workpiece to be detected to a preset position. The lifting mechanism 4 is used to lift the workpiece to be detected from the preset position to a target position. The second mechanical arm mechanism 5 is used to spray the long-persistence detection liquid to the workpiece to be detected at the target position in a spraying direction and a corresponding path.

[0082] Optionally, the first mechanical arm mechanism 3 and the lifting mechanism 4 can be arranged on the bottom plane of the rack body 1, and the second mechanical arm mechanism 5 can be arranged on the inner top plane of the rack body 1. The second mechanical arm mechanism 5 comprises a second mechanical arm 51.

[0083] In some embodiments, referring to Figure 2 , the end of the second mechanical arm 51 is provided with a first spraying device 511 and a second spraying device 512. The first spraying device 511 is used to spray the long-persistence penetration liquid to the workpiece to be detected. The second spraying device 512 is used to spray the cleaning liquid to the workpiece to be detected. Correspondingly, the non-destructive testing system can further comprise a first liquid bottle and a second liquid bottle (not shown in the figure) arranged on the bottom plane of the rack body 1. The first liquid bottle contains the long-persistence penetration liquid, which is used to provide the long-persistence penetration liquid for the first spraying device 511. The second liquid bottle contains the cleaning liquid, which is used to provide the cleaning liquid for the second spraying device 512.

[0084] The second mechanical arm mechanism 5 can further comprise an I-shaped double-track sliding table 52 and a second rotating device (not shown in the figure). The I-shaped double-track sliding table 52 comprises a first X-axis sliding table 521, a second X-axis sliding table 522 and a Y-axis sliding table 523. The first X-axis sliding table 521 and the second X-axis sliding table 522 are arranged in parallel at a preset interval distance on the inner top plane of the rack body 1. The two ends of the Y-axis sliding table 523 are respectively slidingly arranged on the first X-axis sliding table 521 and the second X-axis sliding table 522, and the Y-axis sliding table 523 is perpendicular to the first X-axis sliding table 521. The second rotating device is slidingly arranged on the Y-axis sliding table 523, and the second mechanical arm 51 is arranged on the second rotating device. The second rotating device drives the second mechanical arm 51 to rotate.

[0085] In this way, the spraying control unit (not shown in the figure) can control the first spraying device 511 to spray the long-persistence permeating liquid to the workpiece to be detected in the spraying direction and the corresponding path, wherein the spraying control unit controls the Y-axis sliding table 523, the second rotating device and the second mechanical arm 51 to realize the spraying of the first spraying device 511 to the workpiece to be detected in the corresponding path. Similarly, the spraying control unit can also control the second spraying device 512 to spray the cleaning liquid to the workpiece to be detected in the spraying direction and the corresponding path, wherein the spraying control unit controls the Y-axis sliding table 523, the second rotating device and the second mechanical arm 51 to realize the spraying of the second spraying device 512 to the workpiece to be detected in the corresponding path, so as to realize the spraying of the long-persistence permeating liquid to the surface of the workpiece to be detected in a comprehensive, uniform and effective manner. As described in the foregoing embodiments, the above-mentioned path control, such as the specific control of the movement of the second mechanical arm mechanism 5, can be realized by using the prior art, and thus will not be described here again.

[0086] Optionally, the non-destructive testing system can further comprise a waste liquid storage box 6, which is used to recycle the waste liquid sprayed by the clamping and spraying unit 2 to the workpiece to be detected, so as to keep the non-destructive testing system clean.

[0087] In some embodiments, with reference to Figure 3 and Figure 4 , the first mechanical arm mechanism 3 can comprise a first linear sliding table 31, a first mechanical arm 32 and a first rotating device 33, the first linear sliding table 31 is arranged on the bottom plane of the rack body 1, the first rotating device 33 is slidingly arranged on the first linear sliding table 31, the first mechanical arm 32 is arranged on the first rotating device 33, and the first rotating device 33 drives the first mechanical arm 32 to rotate.

[0088] Optionally, the spraying control unit is further used to control the first mechanical arm mechanism 3 to clamp the workpiece to be detected to the preset position. Specifically, the spraying control unit controls the first rotating device 33 and the first mechanical arm 32 to clamp the workpiece to be detected to the preset position. The control method of clamping the workpiece to be detected to the preset position can be realized by using the prior art, such as using the space mapping technology and the path planning technology based on the initial position and the preset position of the workpiece to be detected, and thus will not be described here again.

[0089] In some embodiments, with reference to Figure 2 , the lifting mechanism 4 comprises a second linear sliding table 41, a third linear sliding table 42, a first support 43 and a second support 44 located on the same plane. The second linear sliding table 41 is arranged on the bottom plane of the rack body 1, the first end of the first support 43 is slidingly arranged on the second linear sliding table 41, and the first support 43 can also move up and down in the direction perpendicular to the second linear sliding table 41.

[0090] The third linear slide 42 is arranged on the inner side of the machine frame body 1, and is perpendicular to the second linear slide 41. The first end of the second support 44 is slidingly and rotatably arranged on the third linear slide 42. The second end of the first support 43 and the second end of the second support 44 are used to fix the workpiece to be detected, and to lift the workpiece to be detected from the preset position to the target position.

[0091] Optionally, the first linear slide 31, the second linear slide 41 and the third linear slide 42 can be ball linear slides.

[0092] Optionally, the lifting mechanism 4 can further comprise a lifting device (not shown in the figure), which is slidingly arranged on the second linear slide 41. The first end of the first support 43 is arranged on the lifting device. The lifting device drives the first support 43 to move up and down along a direction perpendicular to the second linear slide 41 (referred to as the A direction in FIG. 4). Here, the direction perpendicular to the second linear slide 41 is a direction perpendicular to the sliding direction of the second linear slide 41. Thus, the lifting device can realize the sliding of the first support 43 along the second linear slide 41, and the up-and-down movement of the first support 43 along the direction perpendicular to the second linear slide 41. Figure 2

[0093] The lifting mechanism 4 can further comprise a third rotating device (not shown in the figure), which is slidingly arranged on the third linear slide 42. The first end of the second support 44 is arranged on the third rotating device. The third rotating device drives the second support 44 to rotate. Thus, the third rotating device can realize the sliding of the second support 44 along the third linear slide 42, and the rotation of the second support 44.

[0094] Optionally, the first support 43 can comprise a vertical rod 431 and a horizontal rod 432 perpendicular to each other. The second end of the horizontal rod 432 serves as the second end of the first support 43. The first end of the horizontal rod 432 is rotatably connected to the second end of the vertical rod 431. The first end of the vertical rod 431 serves as the first end of the first support 43. The first support 43 can further comprise a fourth rotating device (not shown in the figure). The first end of the horizontal rod 432 is rotatably connected to the second end of the vertical rod 431 through the fourth rotating device, so as to realize the rotation of the horizontal rod 432.

[0095] ​As known from the foregoing, the lifting mechanism 4 is configured to lift the workpiece to be detected from the preset position to the target position. Specifically, the second end of the first support 43 and the second end of the second support 44 are configured to fix the workpiece to be detected, and then the first support 43 and the second support 44 are configured to lift the workpiece to be detected to the target position. In addition, the horizontal rod 432 in the first support 43 and the second support 44 are further configured to drive the fixed workpiece to rotate, so as to facilitate the first spraying device 511 and the second spraying device 512 to spray the workpiece to be detected.

[0096] Optionally, the spraying control unit is further configured to control the lifting mechanism 4 to clamp the workpiece to be detected from the preset position to the target position. Specifically, the spraying control unit controls the lifting device and the third rotating device to fix the workpiece to be detected by the first support 43 and the second support 44, and to lift the workpiece to be detected to the target position. The spraying control unit controls the third rotating device and the fourth rotating device to rotate the fixed workpiece to be detected by the second support 44 and the horizontal rod 432 in the first support 43.

[0097] It should be noted that the rotating device involved in the embodiment can be provided with a motor to realize the corresponding rotating function. The lifting device involved can also be provided with a motor to realize the corresponding lifting function. Of course, the rotating device and the lifting device can also realize their respective functions by other means or structures, which are not limited here.

[0098] In some embodiments, referring to Figure 2 , the lifting mechanism 4 further comprises a first force sensor 45 and a second force sensor 46. The first force sensor 45 is arranged at the second end of the first support 43, and the second force sensor 46 is arranged at the second end of the second support 44. The first force sensor 45 is configured to obtain a first force applied by the first support 43 to the workpiece to be detected, and the second force sensor 46 is configured to obtain a second force applied by the second support 44 to the workpiece to be detected.

[0099] Correspondingly, the spraying control unit is further configured to obtain the first force and the second force, and determine whether the workpiece to be detected is deformed according to the first force and the second force. When the spraying control unit detects that the first force or the second force is greater than a preset force threshold, it is determined that the workpiece to be detected is deformed. When it is determined that the workpiece to be detected is deformed, the spraying control unit controls the lifting device and the third rotating device to stop sliding, so as to stop the first support 43 and the second support 44 from moving, thereby preventing the workpiece to be detected from being damaged.

[0100] In some embodiments, the irradiation detection unit (not shown in the figure) can include an ultraviolet irradiation device and an image acquisition device (not shown in the figure). Both the ultraviolet irradiation device and the image acquisition device can be arranged above the target position in the rack body 1. The ultraviolet irradiation device is used to irradiate the workpiece to be detected after spraying the long afterglow detection liquid with ultraviolet light, and the image acquisition device is used to acquire the surface image of the workpiece to be detected after ultraviolet light irradiation, and send the above-mentioned surface image to the spraying control unit.

[0101] Optionally, the spraying control unit can also be arranged above the target position in the rack body 1.

[0102] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described or recorded in a certain embodiment can be referred to the related description of other embodiments.

[0103] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some technical features. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A nondestructive testing system, characterized in that: include: Clamping spray unit and spray control unit; The clamping and spraying unit is used to clamp the workpiece to be inspected to a target position and spray a long afterglow detection liquid on the workpiece to be inspected; The spraying control unit is used to: obtain a contour model of the workpiece to be inspected, and divide the contour model into spraying areas, wherein the spraying areas include plane areas, curved surface areas, and / or complex structure areas, and the complex structure areas include grooves or protrusions; For the plane area or the curved surface area, the spraying direction of the clamping spraying unit is determined according to the normal vector of the plane area or the curved surface area; for the complex structure area, the spraying direction is determined according to the type of the complex structure area and the corresponding contour model; The clamping and spraying unit is controlled to spray the long afterglow detection liquid on the workpiece to be inspected in the spraying direction and along the corresponding path.

2. The nondestructive testing system according to claim 1, characterized in that The spray control unit further determines a first spray direction for the planar area based on an average normal vector corresponding to the planar area; an angle between the first spray direction and a direction opposite to the average normal vector is less than a preset angle threshold; For the curved surface area, the curved surface area is divided into multiple sub-areas according to the spraying width of the clamping spraying unit. For each sub-area, sample points are selected according to the curvature extreme point of the sub-area and the preset interval, and the normal vectors at the sample points are interpolated to obtain continuous normal vectors. Based on the continuous normal vectors, a continuous second spraying direction is determined; the angle between the second spraying direction and the opposite direction of the corresponding normal vector is less than the preset angle threshold.

3. The nondestructive testing system according to claim 1, characterized in that The spray control unit further determines the type of the complex structure area; the type includes grooves and protrusions; The spraying direction is determined according to the type and normal direction of the complex structure area; the angle between the spraying direction and the normal direction is a preset angle.

4. The nondestructive testing system according to claim 3, characterized in that The preset angle includes a first angle and a second angle; the second angle is smaller than the first angle by less than 90°; the normal direction includes a depth direction and a height direction; The spray control unit further determines a third spray direction for the groove based on the depth direction of the groove; the angle between the third spray direction and the depth direction is the first angle; For the protrusion, a fourth spraying direction is determined based on the height direction of the protrusion; an angle between the fourth spraying direction and a direction opposite to the height direction is a second angle.

5. The nondestructive testing system according to claim 2, characterized in that: The spraying control unit is further configured to: control the clamping spraying unit to spray the long afterglow detection liquid on the first surface area of ​​the workpiece to be inspected corresponding to the plane area in the first spraying direction and along a "Z"-shaped path; For the second surface area corresponding to the sub-area on the workpiece to be inspected, the clamping and spraying unit is controlled to spray the long afterglow detection liquid on the second surface area along the length direction of the second surface area in a continuous second spraying direction.

6. The nondestructive testing system according to claim 4, characterized in that The spray control unit is further configured to: control the clamping spray unit to spray the long afterglow detection liquid in a third spraying direction along the first direction on a third surface area of ​​the workpiece to be inspected corresponding to the groove, and control the clamping spray unit to spray the long afterglow detection liquid in a direction perpendicular to the third spraying direction and in a direction opposite to the first direction; the first direction is parallel to the length direction of the groove; For the fourth surface area on the workpiece to be inspected corresponding to the protrusion, the clamping spraying unit is controlled to spray the long afterglow detection liquid along the second direction in a fourth spraying direction, and the clamping spraying unit is controlled to spray the long afterglow detection liquid in a direction perpendicular to the fourth spraying direction and in the opposite direction of the second direction; the second direction is parallel to the length direction of the protrusion.

7. The nondestructive testing system according to any one of claims 1 to 6, characterized in that: The long afterglow detection solution includes a long afterglow penetrant and a cleaning solution; The long afterglow penetrant is prepared based on long afterglow powder, distilled water, sodium hydroxide solution, a dispersant and a penetrant; wherein, during the preparation process, the long afterglow powder, the distilled water and the sodium hydroxide solution are mixed to obtain a mixed solution, and the pH value of the mixed solution is within a preset pH value range; the mixed solution, the dispersant and the penetrant are mixed and stirred to obtain the stirred mixed solution as the long afterglow penetrant; The spraying control unit also controls the clamping spraying unit to spray the long afterglow penetrant on the workpiece to be inspected in the spraying direction and corresponding path, and after a preset time period, controls the clamping spraying unit to spray the cleaning liquid on the workpiece to be inspected in the spraying direction and corresponding path.

8. The nondestructive testing system according to claim 7, characterized in that: The spraying control unit further controls the clamping spraying unit to spray a long afterglow penetrant having a first preset viscosity on the surface area of ​​the workpiece to be inspected corresponding to the flat area and the curved area; and controlling the clamping and spraying unit to spray a long afterglow penetrant of a second preset viscosity on a surface area of ​​the workpiece to be inspected corresponding to the complex structure area; The first preset viscosity is greater than the second preset viscosity.

9. The nondestructive testing system according to any one of claims 1 to 6, characterized in that: The system further includes an irradiation detection unit; The irradiation detection unit is used to irradiate the workpiece to be inspected with ultraviolet light after the long afterglow detection liquid is sprayed, obtain a surface image of the workpiece to be inspected after the ultraviolet light irradiation, and send the surface image to the spraying control unit; The spray control unit is further configured to determine whether the workpiece to be inspected has defects based on the surface image.

10. The nondestructive testing system according to any one of claims 1 to 6, characterized in that: The clamping and spraying unit includes a first robotic arm mechanism, a lifting mechanism, and a second robotic arm mechanism; The first robotic arm mechanism is used to clamp the workpiece to be inspected to a preset position; The lifting mechanism is used to lift the workpiece to be inspected from the preset position to the target position; The second robotic arm mechanism is used to spray the long afterglow detection liquid on the workpiece to be inspected in the spraying direction and corresponding path.

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