Negative pressure triaxial automatic mobile non-destructive testing device and method

Abstract

The application discloses a kind of negative pressure three-axis automatic movement nondestructive testing device, including control system, XY moving assembly and scanning component.XY moving assembly contains X axis, Y axis and power component, X axis and Y axis are all by guiding guide rail and its two ends suction assembly constitute, suction assembly has the Z axis movement function of control vacuum chuck contact or separate from detection plane.Control system controls the suction assembly of X axis and Y axis to be alternately adsorbed in detection plane and keep still, while driving the shaft not adsorbed together or relative to power component moves, to realize the two-dimensional self-adapting step of device on detection plane.Scanning component carries probe and executes scanning along with device movement.The application further discloses a kind of negative pressure three-axis automatic movement nondestructive testing method.The application does not need external track, avoids workpiece surface damage by non-sliding step mode, and negative pressure adsorption makes it compatible with non-magnetic material, realizes to large plate high efficiency, high precision, full-automatic nondestructive testing.

Description

Technical Field

[0001] This invention belongs to the field of nondestructive testing technology, specifically a device for automatic scanning of large plates, and more particularly a negative pressure triaxial automatic moving nondestructive testing device and method based on the principle of negative pressure adsorption and alternating stepping. Background Technology

[0002] Composite material panels and large metal plates (such as steel plates and titanium alloy plates) may develop internal defects during manufacturing and in-service use. To ensure safety and reliability, comprehensive non-destructive testing is required. Currently, automated ultrasonic testing for such large plates mainly faces the following technical approaches and their inherent limitations:

[0003] The first category is large gantry or gate-type automated testing equipment. This type of equipment usually has high precision and good stability, but it is bulky, expensive to manufacture, requires a dedicated installation foundation and working space, and is difficult to move. It is mainly suitable for testing on production lines with fixed workstations and cannot be used in the field or in situations with limited space.

[0004] The second type is the magnetic crawling inspection cart. This type of device uses magnetic wheels to adhere to the surface of ferromagnetic workpieces for movement, making it relatively portable. However, it has significant drawbacks: First, its movement relies on continuous friction between the wheels and the workpiece surface, which can easily lead to a loss of positioning accuracy when turning or slipping, affecting the accuracy of the scanning data; second, prolonged friction can easily scratch or wear down the protective coating on the workpiece surface; and third, its adsorption method limits its application to ferromagnetic materials, making it unsuitable for non-magnetic materials such as composite materials, austenitic stainless steel, and titanium alloys.

[0005] The third category consists of scanners that require auxiliary tracks or reference standards. Some devices guide their movement by attaching flexible rack tracks, magnetic guides, or laser reference plates to the workpiece being inspected. While this method can improve the accuracy of linear or circular motion, it requires tedious track installation, calibration, and fixing before each inspection, significantly reducing inspection efficiency and increasing labor costs. Installing tracks on curved or vertical surfaces is particularly difficult. Furthermore, the installation accuracy and stability of the track itself directly limit the final scanning accuracy.

[0006] In particular, existing technologies face even greater challenges for vertically placed large plates and in-service equipment using non-magnetic materials. Large automated equipment cannot be used, magnetic attraction solutions fail, and solutions relying on auxiliary tracks suffer from inconvenient installation, poor stability, and easy damage to the workpiece surface. Currently, for such scenarios, a large amount of manual handheld probe scanning is still required, which has disadvantages such as low efficiency, high labor intensity, susceptibility of inspection quality to personnel experience, and poor data repeatability.

[0007] Therefore, the industry urgently needs an automated inspection device that combines portability, high precision, strong adaptability, and surface friendliness. An ideal device should be able to stably adhere to workpieces of various materials (including non-magnetic materials) in horizontal, vertical, and even upward orientations without relying on external tracks or damaging the workpiece surface. It should also achieve efficient and accurate two-dimensional full-coverage scanning to significantly improve inspection efficiency and reliability while reducing reliance on manual labor. Summary of the Invention

[0008] In view of this, the purpose of the present invention is to provide a negative pressure triaxial automatic moving non-destructive testing device and method, which can move stably on large horizontal and vertical plates without external tracks through negative pressure adsorption and alternating stepping drive technology, realize comprehensive non-destructive testing of large plates of any size, and has the advantages of avoiding damage to the surface coating of the workpiece and being compatible with non-magnetic material plates.

[0009] To achieve the above objectives, the present invention provides the following technical solution:

[0010] This invention first proposes a negative pressure triaxial automatic moving non-destructive testing device, including a control system, an XY moving component, and a scanning component;

[0011] The XY moving component includes an X-axis, a Y-axis, and a power component. The X-axis includes an X-direction guiding adsorption component, and the Y-axis includes a Y-direction guiding adsorption component.

[0012] The power assembly includes a mounting base, on which an X-axis drive assembly and a Y-axis drive assembly are provided. The X-axis guiding adsorption assembly includes an X-axis guide rail, with the mounting base slidingly engaged with the X-axis guide rail. The X-axis drive assembly is used to drive the mounting base to move along the X-axis guide rail. The Y-axis guiding adsorption assembly includes a Y-axis guide rail, with the mounting base slidingly engaged with the Y-axis guide rail. The Y-axis drive assembly is used to drive the mounting base to move along the Y-axis guide rail. Adsorption assemblies are provided at both ends of the X-axis guide rail and at both ends of the Y-axis guide rail. Each adsorption assembly is provided with a Z-axis movement assembly for controlling the adsorption upon contact with the detection plane or the release upon detachment from the detection plane.

[0013] The scanning assembly includes a scanning arm and a probe assembly, wherein the probe assembly is mounted on the scanning arm and can move along the scanning arm;

[0014] The control system is configured as follows:

[0015] The two adsorption components belonging to the Y-axis are controlled to adsorb onto the detection plane and remain stationary, while the two adsorption components belonging to the X-axis are controlled to release adsorption. If the X-axis drive component is activated, the X-axis moves along the X direction, and the power component remains stationary. If the Y-axis drive component is activated, the X-axis and the power component move together along the Y direction.

[0016] The two adsorption components belonging to the X-axis are controlled to adsorb onto the detection plane and remain stationary, while the two adsorption components belonging to the Y-axis are controlled to release adsorption. If the Y-axis drive component is activated, the Y-axis moves along the Y direction, and the power component remains stationary. If the X-axis drive component is activated, the Y-axis and the power component move together along the Y direction.

[0017] After the X-axis and Y-axis have moved to the set position, the probe assembly is controlled to move along the scanning arm to perform non-destructive testing on the detection plane.

[0018] Furthermore, the adsorption assembly includes a power docking seat and a suction cup mounting seat, and the Z-axis moving assembly includes a linear guide rail and a push cylinder disposed between the power docking seat and the suction cup mounting seat; the power docking seat and the suction cup mounting seat are slidably engaged through the linear guide rail, the cylinder body of the push cylinder is connected to the power docking seat, the piston rod of the push cylinder is connected to the suction cup mounting seat, and the push cylinder is used to drive the suction cup mounting seat to move relative to the power docking seat along the linear guide rail;

[0019] The power docking seat is connected to the corresponding X-axis guide rail or Y-axis guide rail; the bottom of the suction cup mounting seat is provided with at least one vacuum suction cup.

[0020] Furthermore, the power docking seat is provided with a limit switch sensing seat, and the limit switch sensing seat is equipped with a limit switch for detecting the positional distance of the corresponding adsorption component relative to the mounting seat.

[0021] Furthermore, a limiting seat for restricting the swing of the push cylinder is installed on the power docking seat.

[0022] Furthermore, the X-axis drive assembly includes an X-axis belt, an X-axis pulley, and an X-axis drive motor mounted on the mounting base. The X-axis pulley is connected to the output shaft of the X-axis drive motor and engages with the X-axis belt. The two ends of the X-axis belt are respectively fixed to the power docking seats of the two adsorption assemblies located at both ends of the X-axis guide rail.

[0023] The Y-axis drive assembly includes a Y-axis belt, a Y-axis pulley, and a Y-axis drive motor mounted on the mounting base. The Y-axis pulley is connected to the output shaft of the Y-axis drive motor and engages with the Y-axis belt. The two ends of the Y-axis belt are respectively fixed to the power docking seats of the two adsorption assemblies located at both ends of the Y-axis guide rail.

[0024] Furthermore, the mounting base is equipped with an X-axis belt tensioner that mates with the X-axis belt and a Y-axis belt tensioner that mates with the Y-axis belt.

[0025] Furthermore, the probe assembly includes a probe clamping bracket and a probe and encoder assembly mounted on the probe clamping bracket; the probe clamping bracket is mounted on the scanning arm, and the encoder assembly includes an encoder and a direction switching mechanism; the direction switching mechanism is used to switch the encoder direction, and:

[0026] When the encoder direction is switched to the X direction, it is used to detect the stepping distance of the X axis and the movement distance of the Y axis and the power assembly as a whole along the X direction.

[0027] When the encoder direction is switched to the Y direction, it is used to detect the scanning position of the probe moving along the scanning arm and to detect the movement distance of the Y axis moving along the Y direction or the movement distance of the X axis and the power assembly moving along the Y direction as a whole.

[0028] Furthermore, the control system includes:

[0029] The control box contains the control circuitry.

[0030] The control panel is electrically connected to the control circuit to input control commands;

[0031] At least one vacuum pump is used to provide negative pressure for the two adsorption components belonging to the X-axis and the two adsorption components belonging to the Y-axis;

[0032] At least two solenoid valves are used to switch the adsorption and release states of the corresponding adsorption components; one of the solenoid valves is disposed between the vacuum pump and the two adsorption components belonging to the X-axis, and the other solenoid valve is disposed between the vacuum pump and the two adsorption components belonging to the Y-axis.

[0033] A pressure gauge is used to monitor the pressure of the vacuum pump in real time.

[0034] The communication module is used to upload the scanning data of the probe assembly and receive the coordinates of the scanning area.

[0035] Batteries are used for power supply.

[0036] This invention also proposes a negative pressure triaxial automatic moving non-destructive testing method, comprising the following steps:

[0037] Step 1: Initial Positioning

[0038] The negative pressure triaxial automatic moving non-destructive testing device is placed on the detection plane, and the probe assembly is located at one end edge of the detection plane in the X direction and the first end edge in the Y direction; the probe assembly is located at one end of the scanning arm; the stepping direction of the X axis is set.

[0039] Step 2: X-axis stepping scan:

[0040] 21) The control system controls the two adsorption components belonging to the Y-axis to adsorb onto the detection plane and remain stationary, and controls the two adsorption components belonging to the X-axis to release adsorption;

[0041] 22) Control the probe assembly to move from one end of the scanning arm to the other end to perform a linear scan of the detection plane;

[0042] 23) The control system controls the X-axis drive component to start, driving the X-axis to move a set first distance along the stepping direction;

[0043] 24) Repeat steps 22) to 23), if the end of the X-axis opposite to the stepping direction has moved to the end of its stroke relative to the mounting base, and:

[0044] If the probe assembly does not reach the edge of the detection plane located at the other end of the stepping direction, proceed to step three;

[0045] If the probe assembly reaches the edge of the detection plane located at the other end of the stepping direction, then it is determined whether the probe assembly has reached the second edge of the detection plane in the Y direction: if yes, then the full plane scan of the detection plane is completed and the scan ends; if no, then proceed to step four.

[0046] Step 3: X-axis transposition:

[0047] The control system controls the two adsorption components belonging to the Y-axis to release adsorption, and controls the two adsorption components belonging to the X-axis to adsorb onto the detection plane and remain stationary; the control system controls the X-axis drive component to start, and the Y-axis and the power component move as a whole along the X-direction a set second distance; the X-axis stepping direction is set to be the same as before the transposition, and step two is executed;

[0048] Step 4: Y-axis transposition:

[0049] The control system controls the two adsorption components belonging to the Y-axis to release adsorption, and controls the two adsorption components belonging to the X-axis to adsorb onto the detection plane and remain stationary; the control system also controls the Y-axis drive component to start, moving the Y-axis a predetermined third distance along the Y-direction; and / or,

[0050] The control system controls the two adsorption components belonging to the Y-axis to adhere to the detection plane and remain stationary, and controls the two adsorption components belonging to the X-axis to release adsorption; the control system also controls the X-axis drive component to start, and the X-axis and the power component move together along the Y-direction by a set fourth distance.

[0051] Set the X-axis stepping direction to be opposite to the direction before performing the Y-axis movement and then execute step two.

[0052] Furthermore, in step 22), the control system controls the two adsorption components belonging to the Y-axis and the two adsorption components belonging to the X-axis to adsorb onto the detection plane and remain stationary, and then performs a linear scan on the detection plane.

[0053] This invention also proposes a negative pressure triaxial automatic moving non-destructive testing method, comprising the following steps:

[0054] Step 1: Initial Positioning

[0055] 11) The host computer is used to divide the detection plane into several square scanning areas, and the coordinates of each square scanning area are sent to the control system;

[0056] 12) Place the negative pressure triaxial automatic moving non-destructive testing device in one of the square scanning areas of the testing plane, and position the probe assembly at one end edge of the square scanning area in the X direction and the first end edge in the Y direction; position the probe assembly at one end of the scanning arm; set the stepping direction of the X axis;

[0057] Step 2: X-axis stepping scan:

[0058] 21) The control system controls the two adsorption components belonging to the Y-axis to adsorb onto the detection plane and remain stationary, and controls the two adsorption components belonging to the X-axis to release adsorption;

[0059] 22) Control the probe assembly to move from one end of the scanning arm to the other end to perform a linear scan of the detection plane;

[0060] 23) The control system controls the X-axis drive component to start, driving the X-axis to move a set first distance along the stepping direction;

[0061] 24) Repeat steps 22) to 23), if the end of the X-axis opposite to the stepping direction has moved to the end of its stroke relative to the mounting base, and:

[0062] If the probe assembly does not reach the edge of the square scanning area at the other end of the stepping direction, proceed to step three;

[0063] If the probe assembly reaches the other end edge of the square scanning area in the stepping direction, then determine whether the probe assembly has reached the second end edge of the square scanning area in the Y direction: if yes, then complete the scanning of the square scanning area, upload the scanning data and the current area scanning end status to the host computer, and execute step five; if no, then execute step four.

[0064] Step 3: X-axis transposition:

[0065] The control system controls the two adsorption components belonging to the Y-axis to release adsorption, and controls the two adsorption components belonging to the X-axis to adsorb onto the detection plane and remain stationary; the control system controls the X-axis drive component to start, and the Y-axis and the power component move as a whole along the X-direction a set second distance; the X-axis stepping direction is set to be the same as before the transposition, and step two is executed;

[0066] Step 4: Y-axis transposition:

[0067] The control system controls the two adsorption components belonging to the Y-axis to release adsorption, and controls the two adsorption components belonging to the X-axis to adsorb onto the detection plane and remain stationary; the control system also controls the Y-axis drive component to start, moving the Y-axis a predetermined third distance along the Y-direction; and / or,

[0068] The control system controls the two adsorption components belonging to the Y-axis to adhere to the detection plane and remain stationary, and controls the two adsorption components belonging to the X-axis to release adsorption; the control system also controls the X-axis drive component to start, and the X-axis and the power component move together along the Y-direction by a set fourth distance.

[0069] Set the X-axis stepping direction to be opposite to that before the swap, and then proceed to step two.

[0070] Step 5: Determine if all square scanning areas have been scanned: If yes, complete the full-plane scanning of the detection plane, and the host computer combines the scanning images of all square scanning areas into a full-plane scanning image of the detection plane, ending the scanning; if no, control the negative pressure triaxial automatic moving non-destructive testing device to move to one of the unscanned square scanning areas, upload the coordinates of the square scanning area and the current scanning start status of the area; and ensure that: the probe assembly is located at one end edge of the square scanning area in the X direction and the first end edge in the Y direction; the probe assembly is located at one end of the scanning arm; set the stepping direction of the X-axis, and execute Step 2.

[0071] Furthermore, in step 22), the control system controls the two adsorption components belonging to the Y-axis and the two adsorption components belonging to the X-axis to adsorb onto the detection plane and remain stationary, and then performs a linear scan on the detection plane.

[0072] The beneficial effects of this invention are as follows:

[0073] The negative pressure triaxial automatic moving non-destructive testing device of the present invention achieves significant technical effects by constructing a unique motion system consisting of independently adsorbable X-axis, Y-axis and power components, and equipped with specific control logic:

[0074] (1) Realize true trackless adaptive two-dimensional motion: This invention eliminates all external physical tracks or reference benchmarks. By controlling the alternating adsorption and release of the X-axis and Y-axis adsorption components and driving the corresponding axes to move, it can autonomously step on the detection plane, realizing adaptive two-dimensional full-coverage scanning without the need for any pre-installed auxiliary guiding mechanism, which greatly improves the convenience and efficiency of on-site applications.

[0075] (2) Fundamentally protect the workpiece surface and improve positioning accuracy: During the movement, one of the X-axis and Y-axis is a moving axis and the other is a fixed axis; taking the X-axis as the moving axis and the Y-axis as the fixed axis as an example, the adsorption component of the X-axis first releases the adsorption and detaches from the surface, and then moves under the constraint of the corresponding X-axis guide rail, and re-adsorbs after reaching the position; this non-sliding stepping mode of "pick up-move-put down" completely avoids the scratches or wear caused to the workpiece surface coating by continuous friction of traditional wheel or slider scanners; at the same time, the adsorption plane of the adsorption component of the fixed axis (such as the Y-axis) provides a stable moving reference, effectively preventing the accumulation of positioning errors caused by slippage, and ensuring the high accuracy of the scanning path;

[0076] (3) Breaking through material limitations and having a wide range of applications: The use of negative pressure adsorption instead of magnetic adsorption enables the device of this invention to act stably on non-ferromagnetic materials such as stainless steel, titanium alloy, and composite materials, solving the key bottleneck that magnetic adsorption equipment cannot be applied to such materials; combined with its trackless characteristics, it is particularly suitable for the detection of vertical surfaces, high-altitude work surfaces and in-service equipment.

[0077] (4) Self-consistent structure and optimized control logic: The scanning component is integrated on the XY moving component, so that the Z-axis moving component of the adsorption component works in coordination with the planar movement (X and Y axes) of the device; the control system achieves fully automatic, zigzag or similar path efficient scanning by coordinating adsorption, driving and scanning actions, which greatly reduces the intensity of manual operation and technical requirements.

[0078] In summary, this invention integrates the advantages of "no external track", "non-contact stepping", "universal material compatibility" and "automatic control", effectively solving the technical pain points of existing large-scale plate automated inspection equipment such as bulky equipment, workpiece damage, material limitations, and reliance on tooling, and has achieved positive and significant technical results. Attached Figure Description

[0079] To make the objectives, technical solutions, and beneficial effects of this invention clearer, the following figures are provided for illustration:

[0080] Figure 1 This is a schematic diagram of an embodiment of the negative pressure triaxial automatic moving non-destructive testing device of the present invention;

[0081] Figure 2 This is a structural diagram of the XY motion component;

[0082] Figure 3 This is an isometric view of the first aspect of the adsorption component;

[0083] Figure 4 This is an isometric view of the second aspect of the adsorption component;

[0084] Figure 5 Schematic diagram of the X-axis guide rail and the Y-axis guide rail;

[0085] Figure 6 This is a schematic diagram of the X-axis drive component and the Y-axis drive component;

[0086] Figure 7 This is a structural diagram of the scanning component;

[0087] Figure 8 Structural view of the control system;

[0088] Figure 9 This is a schematic diagram of the structure of a negative pressure triaxial automatic moving non-destructive testing device during initial positioning on the scanning area of ​​the detection plane or direction.

[0089] Figure 10 This is a schematic diagram of the probe assembly performing a single linear scan relative to its initial positioning state.

[0090] Figure 11 This is a schematic diagram of the structure after the X-axis has moved a set first distance along the stepping direction relative to the initial positioning state;

[0091] Figure 12 This is a schematic diagram of the probe assembly performing a linear scan again after stepping along the X-axis.

[0092] Figure 13 This is a schematic diagram of the structure when the end of the X-axis facing away from the stepping direction moves to the end of its stroke relative to the mounting base;

[0093] Figure 14 A schematic diagram of the structure after X-axis translation and transposition along the Y-axis;

[0094] Figure 15 Structural view after Y-axis translation of the X-axis and power components;

[0095] Figure 16 A view of the structure after Y-axis translation;

[0096] Figure 17 This is a structural view of the probe assembly when it has reached the second edge of the detection plane in the Y direction and completed a full-plane scan.

[0097] Figure 18 To scan the trajectory map.

[0098] Explanation of reference numerals in the attached figures:

[0099] (1) Explanation of reference numerals in the control system drawings:

[0100] 1-Control system; 31-Control panel; 32-Control box; 33-Battery; 34-Vacuum pump; 35-Solenoid valve; 36-Main housing;

[0101] (2) Explanation of the reference numerals in the XY motion component diagram;

[0102] 2- XY moving assembly; 38- X-axis; 39- Y-axis; 4- Adsorption assembly; 5- Power assembly; 6- Power docking seat; 7- Belt pressure block; 8- Limit switch sensor seat; 9- Vacuum suction cup; 10- Suction cup mounting seat; 11- Linear guide rail; 12- Push cylinder; 13- Negative pressure quick connector; 14- Limit seat; 15- Y-axis guide rail; 16- Y-axis belt; 17- X-axis guide rail; 18- X-axis belt; 19- Mounting seat; 20- X-axis drive motor; 21- Y-axis drive motor; 22- Y-axis belt tensioner; 23- Y-axis pulley; 24- X-axis pulley; 25- X-axis belt tensioner; 26- Docking seat;

[0103] (3) Explanation of the markings on the attached diagram of the scanning component:

[0104] 3- Scanning assembly; 27- Scanning arm; 28- Encoder assembly; 29- Probe holder; 30- Probe;

[0105] (4) Other annotations in the attached drawings:

[0106] 37 - Detection plane. Detailed Implementation

[0107] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0108] I. Negative pressure triaxial automatic moving non-destructive testing device.

[0109] like Figure 1 As shown, the negative pressure triaxial automatic moving non-destructive testing device of this embodiment includes a control system 1, an XY moving component 2, and a scanning component 3.

[0110] (1) Regarding the XY moving component 2.

[0111] like Figure 2 As shown, in this embodiment, the XY movement component 2 is the core of the device to realize planar motion, and it includes an X-axis 38, a Y-axis 39 and a power component 5.

[0112] Specifically, the power assembly 5 includes a mounting base 19, on which an X-axis drive assembly and a Y-axis drive assembly are mounted. For example... Figure 6 As shown, the X-axis drive assembly specifically includes an X-axis drive motor 20, an X-axis pulley 24 driven by the output shaft of the X-axis drive motor 20, an X-axis belt 18 adapted to the X-axis pulley 24, and an X-axis belt tensioner 25 for tensioning the X-axis belt 18. Similarly, the Y-axis drive assembly includes a Y-axis drive motor 21, a Y-axis pulley 23 driven by the output shaft of the Y-axis drive motor 21, a Y-axis belt 16 adapted to the Y-axis pulley 23, and a Y-axis belt tensioner 22 for tensioning the Y-axis belt 16.

[0113] Specifically, such as Figure 5 As shown, the X-axis 38 consists of an X-axis guide rail 17 and two adsorption components 4 fixed at both ends. The mounting base 19 is slidably engaged with the X-axis guide rail 17 via a slider. The two ends of the X-axis belt 18 are respectively fixed to the power docking seats 6 of the two adsorption components 4 located at both ends of the X-axis guide rail 17, so that the X-axis drive motor 20 can drive the mounting base 19 to move along the X-axis guide rail 17 via belt transmission. Specifically, the power docking seat 6 is provided with belt clamps 7, and the two ends of the X-axis belt 18 are respectively fixedly connected to the power docking seat 6 via corresponding belt clamps 7.

[0114] Similarly, such as Figure 5As shown, the Y-axis 39 consists of a Y-axis guide rail 15 and two adsorption components 4 fixed at both ends. The mounting base 19 is slidably engaged with the Y-axis guide rail 15 via a slider. The two ends of the Y-axis belt 16 are respectively fixed to the power docking seats 6 of the two adsorption components 4 located at both ends of the Y-axis guide rail 15, so that the Y-axis drive motor 21 can drive the mounting base 19 to move along the Y-axis guide rail 15 via belt transmission. Specifically, the power docking seat 6 is provided with belt clamps 7, and the two ends of the Y-axis belt 16 are respectively fixedly connected to the power docking seat 6 via corresponding belt clamps 7.

[0115] like Figure 3 As shown, in this embodiment, each adsorption component 4 includes a power docking seat 6, a suction cup mounting seat 10, and a Z-axis moving component located between the two. The power docking seat 6 is fixedly connected to the end of the corresponding guide rail (17 or 15). The Z-axis moving component includes a linear guide rail 11 and a push cylinder 12. The power docking seat 6 and the suction cup mounting seat 10 are slidably connected through the linear guide rail 11. The cylinder body of the push cylinder 12 is fixed on the power docking seat 6, and the end of its piston rod is connected to the suction cup mounting seat 10. Multiple vacuum suction cups 9 are installed at the bottom of the suction cup mounting seat 10. In this embodiment, five vacuum suction cups 9 are installed at the bottom of each suction cup mounting seat 10. By controlling the extension and retraction of the push cylinder 12, the suction cup mounting seat 10 and the vacuum suction cups 9 on it can be driven to approach or move away from the detection plane, thereby achieving adsorption contact or detachment release. To ensure the stable operation of the push cylinder 12, a limiting seat 14 is also provided on the power docking seat 6 to limit the swing of the push cylinder 12. In addition, the power docking seat 6 is provided with a limit switch sensing seat 8 for installing a limit switch. The limit switch is used to detect the position distance of the corresponding adsorption component 4 relative to the mounting seat 19, so as to determine the movement limit position of the corresponding X-axis 38 or Y-axis relative to the mounting seat 19.

[0116] (2) Regarding scanning component 3.

[0117] like Figure 7 As shown, in this embodiment, the scanning component 3 is mounted on the X-axis 38 or Y-axis 39 via the docking seat 26. In this embodiment, the scanning component 3 is mounted on the X-axis 38. Specifically, the scanning component 3 includes a scanning arm 27 and a probe assembly that can move linearly along the scanning arm 27. In this embodiment, the scanning arm 27 is parallel to the Y-axis 39. The probe assembly includes a probe clamping bracket 29, a probe 30 mounted on the bracket, and an encoder assembly 28 for recording the movement position. The probe 30 can be various types of ultrasonic probes to meet the detection requirements of different materials.

[0118] In this embodiment, the encoder assembly 28 includes an encoder and a direction switching mechanism, which is used to switch the encoder direction. Specifically, when the encoder direction is switched to the X direction, it is used to detect the stepping distance of the X-axis 38 and the movement distance of the Y-axis 39 and the power assembly 5 as a whole along the X direction; when the encoder direction is switched to the Y direction, it is used to detect the scanning position of the probe 30 along the scanning arm 27 and the movement distance of the Y-axis 39 or the movement distance of the X-axis 38 and the power assembly 5 as a whole along the Y direction.

[0119] (3) Regarding the control system 1.

[0120] like Figure 8 As shown, in this embodiment, the control system 1 includes a main housing 36, which integrates a control box 32, a battery 33, a vacuum pump 34, solenoid valves 35, and a communication module. The control box 32 contains a control circuit. The control panel 31 serves as a human-machine interface and is electrically connected to the control box 32 for inputting commands. The battery 33 powers the entire device. The vacuum pump 34 generates negative pressure, and a pressure gauge is used to monitor the pressure of the vacuum pump 34 in real time. The communication module is used to upload scanning data from the probe assembly and receive the coordinates of the scanning area. At least two solenoid valves 35 are provided, one for controlling the opening and closing of the vacuum pipeline to the two adsorption components 4 on the X-axis 38, and the other for controlling the opening and closing of the vacuum pipeline to the two adsorption components 4 on the Y-axis 39, thereby achieving independent control of the adsorption state of each axis. Specifically, a negative pressure quick connector 13 is mounted on the suction cup mounting base 10, which is connected to multiple vacuum suction cups 9. The negative pressure quick connector 13 is connected to the vacuum pump 34 through a corresponding solenoid valve 35.

[0121] II. Negative Pressure Triaxial Automatic Moving Non-destructive Testing Method

[0122] The following detailed description, using the aforementioned negative pressure triaxial automatic moving non-destructive testing device as an example, illustrates the specific implementation of the negative pressure triaxial automatic moving non-destructive testing method of the present invention. Specifically, as shown... Figure 9-16 As shown, this is the process of performing full-coverage inspection on the inspection plane 37 of a large sheet metal workpiece. This process is completely executed automatically by the control system 1.

[0123] (1) The detection plane is scanned in one go.

[0124] The negative pressure triaxial automatic moving non-destructive testing method in this embodiment includes the following steps.

[0125] Step 1: Initial Positioning: Place the negative pressure triaxial automatic moving non-destructive testing device on the surface of the testing plane 37. For example... Figure 9As shown, the probe assembly is located at one end edge of the detection plane 37 in the X direction and the first end edge (left end) in the Y direction, and the probe 30 is located at the left end of the scanning arm 27. The initial stepping direction of the X-axis is set.

[0126] Step 2: X-axis stepping scan.

[0127] 21) Control the two adsorption components 4 of the Y-axis 39 to adsorb onto the detection plane 37 and keep them stationary by the control system 1, and control the two adsorption components 4 of the X-axis 38 to release adsorption.

[0128] 22) Switch the encoder direction to the Y direction, and control the probe assembly to move from one end of the scanning arm 27 to the other end to perform a linear scan of the detection plane. During this process, the Y-axis 39 remains fixed in place, providing a stable reference for the scan. Specifically, since the probe 30 is initially positioned at the left end of the scanning arm 27, during the first linear scan, the control system 1 controls the probe 30 to move along the scanning arm 27 from left to right to complete one line of detection, such as... Figure 9-10 As shown.

[0129] 23) X-axis stepping: After performing one linear scan, the encoder direction is switched to the X-axis, and the control system 1 controls the X-axis drive motor 20 to start. Since the Y-axis 39 is fixed in place, the adsorption component 4 of the X-axis 38 is in a released state, so the power component 5 remains stationary, and the X-axis 38 moves a set distance relative to the detection plane 37. After the X-axis completes the stepping movement, another linear scan is performed. At this time, the probe 30 is located on the right side of the scanning arm 27. Therefore, the control system 1 controls the probe 30 to move along the scanning arm 27 from right to left, completing one line of detection, such as... Figure 11-12 As shown.

[0130] 24) Repeat steps 22) to 23). If the end of the X-axis 38 facing away from the stepping direction (rear end) moves to the end of its stroke relative to the mounting base 19, and:

[0131] If the probe assembly does not reach the edge of the detection plane 37 located at the other end of the stepping direction, proceed to step three;

[0132] If the probe assembly reaches the edge of the detection plane 37 at the other end of the stepping direction, then it is determined whether the probe assembly has reached the second (right) edge of the detection plane 37 in the Y direction: if so, the full-plane scan of the detection plane is completed, the scan data is uploaded to the host computer, and the scan ends. Figure 17 If not, proceed to step four.

[0133] Step 3: X-axis translation: When the X-axis 38 reaches the end of its travel but has not yet scanned to the edge of the detection plane 37 on the other side of the stepping direction, X-axis translation is required. Figure 13 As shown. Control system 1 switches the adsorption state: the two adsorption components 4 on X-axis 38 are fixed in place, while the two adsorption components 4 on Y-axis 39 are released. Then, the X-axis drive motor 20 is started. At this time, X-axis 38 serves as a fixed reference, and Y-axis 39 and the power assembly 5 move the entire assembly along the X-direction (stepping direction) by a large, predetermined second distance. The X-axis stepping direction remains unchanged, as shown. Figure 14 As shown. Then, step two is executed repeatedly, continuing to scan the uncovered areas along the stepping direction.

[0134] Step 4: Y-axis movement and repositioning: When the probe 30 scans to the edge of the detection plane 37 at the other end of the stepping direction, but has not yet reached the second end (right end) edge of the detection plane 37 in the Y direction, Y-axis movement and repositioning are required.

[0135] The first method involves controlling the two adsorption components 4 on the X-axis 38 to adhere and fix the components, while releasing the two adsorption components on the Y-axis 39. The Y-axis drive motor 21 is then activated, causing the entire Y-axis 39 to move a set third distance along the Y direction (from left to right). Figure 12 As shown.

[0136] The second method involves controlling the two adsorption components 4 on the X-axis 38 to adhere and fix the components, while releasing the two adsorption components on the Y-axis 39. The X-axis drive motor 20 is then activated, causing the Y-axis 39 and the power component 5 to move as a whole along the Y direction by a predetermined fourth distance.

[0137] like Figure 15-16 The diagram illustrates the structure after the X-axis and power component have undergone Y-axis movement and repositioning using the second method, followed by Y-axis movement and repositioning using the first method. In this embodiment, the first and second methods can be executed independently or in combination.

[0138] After the line break is completed, control system 1 reverses the X-axis stepping direction and then repeats step two. Specifically, in this embodiment, the scanning trajectory for scanning the detection plane is as follows: Figure 18 As shown.

[0139] In a preferred embodiment of this example, in step 22), the control system 1 controls the two adsorption components 4 belonging to the Y-axis 39 and the two adsorption components 4 belonging to the X-axis 38 to adsorb onto the detection plane and remain stationary before performing a linear scan on the detection plane. This further improves the stability during the scanning process.

[0140] (2) Scan the plane in sections.

[0141] The negative pressure triaxial automatic moving non-destructive testing method of this embodiment includes the following steps.

[0142] Step 1: Initial positioning.

[0143] 11) The host computer is used to divide the detection plane 37 into several square scanning areas, and the coordinates of each square scanning area are sent to the control system 1.

[0144] 12) Place the negative pressure triaxial automatic moving non-destructive testing device in one of the square scanning areas of the testing plane, and position the probe assembly at one end edge of the square scanning area in the X direction and the first end edge (left end) in the Y direction; position the probe assembly at one end of the scanning arm 27; set the stepping direction of the X axis (forward).

[0145] Step 2: X-axis stepping scan.

[0146] 21) Control the two adsorption components 4 of the Y-axis 39 to adsorb onto the detection plane 37 and keep them stationary by the control system 1, and control the two adsorption components 4 of the X-axis 38 to release adsorption.

[0147] 22) Switch the encoder direction to the Y direction, and control the probe assembly to move from one end of the scanning arm 27 to the other end to perform a linear scan on the detection plane. During this process, the Y-axis 39 remains fixed in place, providing a stable reference for the scan. Specifically, since the probe 30 is located at the left end of the scanning arm 27 during initial positioning, the control system 1 controls the probe 30 to move from left to right along the scanning arm 27 during the first linear scan to complete one line of detection.

[0148] 23) X-axis stepping: After performing one linear scan, the encoder direction is switched to the X-axis, and the control system 1 controls the X-axis drive motor 20 to start. Since the Y-axis 39 is fixed by adsorption, the adsorption component 4 of the X-axis 38 is in a released state, so the power component 5 remains stationary, and the X-axis 38 moves a set distance relative to the detection plane 37 along the X-axis in a stepping motion. After the X-axis completes the stepping motion, another linear scan is performed. At this time, the probe 30 is located on the right side of the scanning arm 27. Therefore, the control system 1 controls the probe 30 to move along the scanning arm 27 from right to left to complete one line of detection.

[0149] 24) Repeat steps 22) to 23). If the end of the X-axis 38 facing away from the stepping direction (rear end) moves to the end of its stroke relative to the mounting base 19, and:

[0150] If the probe assembly does not reach the edge of the square scanning area at the other end of the stepping direction, proceed to step three;

[0151] If the probe assembly reaches the edge of the square scanning area at the other end of the stepping movement direction, then determine whether the probe assembly has reached the second (right) edge of the square scanning area in the Y direction: if yes, then complete the scanning of the square scanning area, upload the scanning data and the current area's end scanning status to the host computer, and execute step five; if no, then execute step four.

[0152] Step 3: X-axis repositioning: When X-axis 38 reaches the end of its stroke but has not scanned the square scanning area at the other edge of the stepping direction, X-axis repositioning is required. Control system 1 switches the adsorption state: the two adsorption components 4 of X-axis 38 are fixed in place, and the two adsorption components 4 of Y-axis 39 are released. Then, the X-axis drive motor 20 is started. At this time, X-axis 38 serves as a fixed reference, and Y-axis 39 and the power component 5 will move as a whole along the X-direction (stepping direction) by a large, pre-set second distance, while the X-axis stepping direction remains unchanged. Then, step 2 is repeated to continue scanning the uncovered area along the stepping direction.

[0153] Step 4: Y-axis movement and transposition: When the probe 30 scans to the edge of the square scanning area at the other end of the stepping direction, but has not yet reached the second end (right end) edge of the square scanning area in the Y direction, Y-axis movement and transposition are required.

[0154] The first method involves controlling the two adsorption components 4 on the X-axis 38 to adsorb and fix the components, while releasing the two adsorption components on the Y-axis 39. The Y-axis drive motor 21 is then activated, causing the entire Y-axis 39 to move a set third distance along the Y direction (from left to right).

[0155] The second method involves controlling the two adsorption components 4 on the X-axis 38 to adhere and fix the components, while releasing the two adsorption components on the Y-axis 39. The X-axis drive motor 20 is then activated, causing the Y-axis 39 and the power component 5 to move as a whole along the Y direction by a predetermined fourth distance.

[0156] In this embodiment, the first method and the second method can be executed independently or in combination.

[0157] After the line break is completed, control system 1 reverses the stepping direction of the X-axis and then repeats step two.

[0158] Step 5: Determine if all square scanning areas have been scanned: If yes, complete the full-plane scanning of the detection plane, the scanning ends, and the host computer combines the scanning images of all square scanning areas into a full-plane scanning image of the detection plane; if no, control the negative pressure triaxial automatic moving non-destructive testing device to move to one of the unscanned square scanning areas, upload the coordinates of the square scanning area and the current scanning start status of the area; and ensure that: the probe assembly is located at one end edge of the square scanning area in the X direction and the first end edge in the Y direction; the probe assembly is located at one end of the scanning arm 27; set the stepping direction of the X-axis, and execute Step 2.

[0159] In a preferred embodiment of this example, in step 22), the control system 1 controls the two adsorption components 4 belonging to the Y-axis 39 and the two adsorption components 4 belonging to the X-axis 38 to adsorb onto the detection plane and remain stationary before performing a linear scan on the detection plane. This further improves the stability during the scanning process.

[0160] Specifically, because the probe assembly generates a large amount of cache during the scanning process, if the scanning area of ​​the detection plane 37 is too large, it will lead to insufficient cache space, causing the device to lag or even resulting in abnormal imaging. By dividing the detection plane 37 into several square scanning areas, and uploading the scanning data and clearing the cache after each square scanning area is completed, memory overflow can be effectively avoided. In this way, the host computer can obtain a complete large-area scanning image by stitching the scanning images of each square scanning area according to coordinates.

[0161] The above-described embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention. The scope of protection of the present invention is defined by the claims.

Claims

1. A negative pressure triaxial automatic mobile non-destructive testing device, characterized in that: The control system (1), the XY moving assembly (2) and the scanning assembly (3) are included. The XY moving assembly (2) includes an X-axis (38), a Y-axis (39) and a power assembly (5), the X-axis (38) includes an X-direction guiding and adsorbing assembly, and the Y-axis (39) includes a Y-direction guiding and adsorbing assembly. The power assembly (5) includes a mounting seat (19) provided with an X-direction driving assembly and a Y-direction driving assembly; the X-direction guiding and adsorbing assembly includes an X-axis guiding rail (17), the mounting seat (19) is in sliding fit with the X-axis guiding rail (17), and the X-direction driving assembly is used to drive the mounting seat (19) to move along the X-axis guiding rail (17); the Y-direction guiding and adsorbing assembly includes a Y-axis guiding rail (15), the mounting seat (19) is in sliding fit with the Y-axis guiding rail (15), and the Y-direction driving assembly is used to drive the mounting seat (19) to move along the Y-axis guiding rail (15), both ends of the X-axis guiding rail (17) and both ends of the Y-axis guiding rail (15) are respectively provided with an adsorbing assembly (4), and the adsorbing assembly (4) is provided with a Z-axis moving assembly used to control and detect the adsorption or release of the plane; The scanning assembly (3) includes a scanning arm (27) and a probe assembly, the scanning arm (27) is parallel to the Y-axis (39), and the probe assembly is installed on the scanning arm (27) and can move along the scanning arm (27); The control system (1) is configured to: control two adsorbing assemblies (4) belonging to the Y-axis (39) to adsorb to the detection plane and remain stationary, and control two adsorbing assemblies (4) belonging to the X-axis (38) to release the adsorption; if the X-direction driving assembly is controlled to start, the X-axis (38) moves along the X direction, and the power assembly (5) remains stationary; if the Y-direction driving assembly is controlled to start, the X-axis (38) and the power assembly (5) move along the Y direction as a whole; control two adsorbing assemblies (4) belonging to the X-axis (38) to adsorb to the detection plane and remain stationary, and control two adsorbing assemblies (4) belonging to the Y-axis (39) to release the adsorption; if the Y-direction driving assembly is controlled to start, the Y-axis (39) moves along the Y direction, and the power assembly (5) remains stationary; if the X-direction driving assembly is controlled to start, the Y-axis (39) and the power assembly (5) move along the Y direction as a whole; After the X-axis (38) and the Y-axis (39) move to the set position, the probe assembly is controlled to move along the scanning arm (27) to perform nondestructive detection on the detection plane; The adsorption assembly (4) comprises a power docking seat (6) and a suction cup mounting seat (10), and the Z-axis moving assembly comprises a linear guide rail (11) and a push cylinder (12) arranged between the power docking seat (6) and the suction cup mounting seat (10); the power docking seat (6) and the suction cup mounting seat (10) are slidably connected through the linear guide rail (11), the cylinder body of the push cylinder (12) is connected with the power docking seat (6), and the piston rod of the push cylinder (12) is connected with the suction cup mounting seat (10); the push cylinder (12) is used for driving the suction cup mounting seat (10) to move along the linear guide rail (11) relative to the power docking seat (6); The power docking seat (6) is connected with the corresponding X-axis guide rail (17) or Y-axis guide rail (15); and the bottom of the suction cup mounting seat (10) is provided with at least one vacuum suction cup (9); The probe assembly comprises a probe clamping support (29), and a probe (30) and an encoder assembly (28) mounted on the probe clamping support (29); the probe clamping support (29) is mounted on the scanning arm (27), and the encoder assembly (28) comprises an encoder and a direction switching mechanism; the direction switching mechanism is used for switching the direction of the encoder, and: When the direction of the encoder is switched to the X direction, the step moving distance of the X axis (38) is detected, and the moving distance of the Y axis (39) and the power assembly (5) as a whole along the X direction is detected; When the direction of the encoder is switched to the Y direction, the scanning position of the probe (30) moving along the scanning arm (27) is detected, and the moving distance of the Y axis (39) moving along the Y direction or the X axis (38) and the power assembly (5) as a whole moving along the Y direction is detected.

2. The negative pressure triaxial automatic mobile non-destructive testing device according to claim 1, wherein: A stroke switch sensing seat (8) is arranged on the power docking seat (6), and a stroke switch is mounted on the stroke switch sensing seat (8) and used for detecting the position distance of the corresponding adsorption assembly (4) relative to the mounting seat (19).

3. The negative pressure triaxial automatic mobile non-destructive testing device according to claim 1, wherein: The X-direction driving assembly comprises an X-axis belt (18), an X-axis belt pulley (24) and an X-axis driving motor (20) mounted on the mounting seat (19); the X-axis belt pulley (24) is in transmission connection with the output shaft of the X-axis driving motor (20) and cooperates with the X-axis belt (18); and the two ends of the X-axis belt (18) are fixed on the power docking seats (6) of the two adsorption assemblies (4) located at the two ends of the X-axis guide rail (17) respectively; The Y-direction driving assembly comprises a Y-axis belt (16), a Y-axis belt pulley (23) and a Y-axis driving motor (21) mounted on the mounting seat (19); the Y-axis belt pulley (23) is in transmission connection with the output shaft of the Y-axis driving motor (21) and cooperates with the Y-axis belt (16); and the two ends of the Y-axis belt (16) are fixed on the power docking seats (6) of the two adsorption assemblies (4) located at the two ends of the Y-axis guide rail (15) respectively; The mounting base (19) is provided with an X-axis belt tensioning wheel (25) matched with the X-axis belt (18) and a Y-axis belt tensioning wheel (22) matched with the Y-axis belt (16).

4. The negative pressure triaxial automatic mobile non-destructive testing device according to claim 1, wherein: The control system (1) comprises: a control box (32) in which a control circuit is arranged; a control panel (31) electrically connected with the control circuit to input control instructions; at least one vacuum pump (34) for providing negative pressure for two of the adsorption assemblies (4) belonging to the X-axis (38) and two of the adsorption assemblies (4) belonging to the Y-axis (39); at least two electromagnetic valves (35) for switching the adsorption and release states of the corresponding adsorption assemblies (4); one of the electromagnetic valves (35) is arranged between the vacuum pump (34) and the two adsorption assemblies (4) belonging to the X-axis (38), and the other electromagnetic valve (35) is arranged between the vacuum pump (34) and the two adsorption assemblies (4) belonging to the Y-axis (39); a pressure detection table for detecting the pressure of the vacuum pump (34) in real time; a communication module for uploading the scanning data of the probe assembly and receiving the scanning area range coordinates; a battery (33) for power supply.

5. A method for negative pressure triaxial automatic mobile nondestructive testing using the negative pressure triaxial automatic mobile nondestructive testing device according to any one of claims 1 to 4, characterized by: The method comprises the following steps: Step one: initial positioning Place the negative pressure three-axis automatic moving nondestructive testing device on a detection plane, and make the probe assembly located at one end edge of the detection plane in the X direction and at the first end edge in the Y direction; the probe assembly is located at one end of the scanning arm (27); set the step moving direction of the X-axis; Step two: X-axis step scanning 21) Control the two adsorption assemblies (4) belonging to the Y-axis (39) to be adsorbed on the detection plane and remain stationary, and control the two adsorption assemblies (4) belonging to the X-axis (38) to be released; 22) Control the probe assembly to move from one end of the scanning arm (27) to the other end, and perform linear scanning on the detection plane; 23) Control the X-axis driving assembly to start, and drive the X-axis (38) to step move a set first distance in the step moving direction; 24) Circumferentially execute steps 22) to 23), if the end of the X-axis (38) away from the step moving direction moves to the end of the stroke compared with the mounting base (19), and: If the probe assembly does not reach the other end edge of the detection plane in the step moving direction, step three is executed; If the probe assembly reaches the other end edge of the detection plane in the step moving direction, it is further judged whether the probe assembly has reached the second end edge of the detection plane in the Y direction: if yes, the full plane scanning of the detection plane is completed, and the scanning is ended; if no, step four is executed; Step three: X-axis moving transposition By controlling system (1) control two adsorption components (4) belonging to Y axis (39) to release adsorption, control two adsorption components (4) belonging to X axis (38) to adsorb on detection plane and keep static; Control system (1) control X direction drive component to start, Y axis (39) and power component (5) move as a whole along X direction by a set second distance; Set the step moving direction of X axis same as before transposition, execute step two; Step four: Y direction moving transposition: By controlling system (1) control two adsorption components (4) belonging to Y axis (39) to release adsorption, control two adsorption components (4) belonging to X axis (38) to adsorb on detection plane and keep static; Control system (1) control Y direction drive component to start, Y axis (39) move along Y direction by a set third distance; And / or, By controlling system (1) control two adsorption components (4) belonging to Y axis (39) to adsorb on detection plane and keep static, control two adsorption components (4) belonging to X axis (38) to release adsorption; Control X direction drive component to start, X axis (38) and power component (5) move as a whole along Y direction by a set fourth distance; Set the step moving direction of X axis reverse to before transposition, execute step two.

6. The method of claim 5, wherein: In the step 22), by controlling system (1) control two adsorption components (4) belonging to Y axis (39) and two adsorption components (4) belonging to X axis (38) to adsorb on detection plane and keep static, then execute straight line scanning on detection plane.

7. A method for negative pressure triaxial automatic mobile nondestructive testing using the negative pressure triaxial automatic mobile nondestructive testing device according to any one of claims 1 to 4, characterized by: Including the following steps: Step one: initial positioning: 11) use upper computer to divide detection plane into several square scanning areas, and send the coordinates of each square scanning area to control system (1); 12) place the negative pressure three-axis automatic moving nondestructive testing device in one of the square scanning areas on the detection plane, and make the probe component located at one end edge of the square scanning area in X direction and at the first end edge in Y direction; The probe component is located at one end of the scanning arm (27); Set the step moving direction of X axis; Step two: X axis step scanning: 21) by controlling system (1) control two adsorption components (4) belonging to Y axis (39) to adsorb on detection plane and keep static, control two adsorption components (4) belonging to X axis (38) to release adsorption; 22) control the probe component to move from one end of the scanning arm (27) to the other end, and execute straight line scanning on the detection plane; 23) control system (1) control X direction drive component to start, drive X axis (38) to step move by a set first distance along the step moving direction; 24) execute step 22) to step 23) circularly, if one end of X axis (38) away from the step moving direction moves to the end of stroke compared with mounting seat (19), and: If the probe component does not reach the position of the other end edge of the square scanning area in the step moving direction, execute step three; If the probe assembly reaches the other end edge position of the square scanning area in the step moving direction, it is determined again whether the probe assembly has reached the second end edge of the square scanning area in the Y direction: if yes, the scanning of the square scanning area is completed, the scanning data and the current region end scanning state are uploaded to the upper computer, and step five is performed; if no, step four is performed; Step three: X direction moving and changing position: Through the control system (1), the two adsorption assemblies (4) belonging to the Y axis (39) are controlled to be released from adsorption, and the two adsorption assemblies (4) belonging to the X axis (38) are controlled to be adsorbed on the detection plane and kept stationary; the control system (1) controls the X direction driving assembly to start, and the Y axis (39) and the power assembly (5) move as a whole along the X direction by a set second distance; the step moving direction of the X axis is set to be the same as before the changing position, and step two is performed; Step four: Y direction moving and changing position: Through the control system (1), the two adsorption assemblies (4) belonging to the Y axis (39) are controlled to be released from adsorption, and the two adsorption assemblies (4) belonging to the X axis (38) are controlled to be adsorbed on the detection plane and kept stationary; the control system (1) controls the Y direction driving assembly to start, and the Y axis (39) moves along the Y direction by a set third distance; and / or, Through the control system (1), the two adsorption assemblies (4) belonging to the Y axis (39) are controlled to be adsorbed on the detection plane and kept stationary, and the two adsorption assemblies (4) belonging to the X axis (38) are controlled to be released from adsorption; the X direction driving assembly is started, and the X axis (38) and the power assembly (5) move as a whole along the Y direction by a set fourth distance; The step moving direction of the X axis is set to be opposite to that before the changing position, and step two is performed; Step five: it is determined whether all square scanning areas have been scanned: if yes, the full plane scanning of the detection plane is completed, the upper computer combines the scanning images of all square scanning areas into the full plane scanning image of the detection plane, and the scanning is completed; if no, the negative pressure three-axis automatic moving nondestructive testing device is controlled to move to one of the square scanning areas that have not been scanned, the coordinates of the square scanning area and the current region start scanning state are uploaded, and the probe assembly is located at one of the end edges of the square scanning area in the X direction and at the first end edge in the Y direction; the probe assembly is located at one of the end portions of the scanning arm (27); the step moving direction of the X axis is set, and step two is performed.

8. The method of claim 7, wherein: In the step 22), through the control system (1), the two adsorption assemblies (4) belonging to the Y axis (39) and the two adsorption assemblies (4) belonging to the X axis (38) are controlled to be adsorbed on the detection plane and kept stationary, and then linear scanning of the detection plane is performed.

Images