Continuous automated solid coupling ultrasonic inspection system

Abstract

The application provides a continuous automatic solid coupling ultrasonic detection system, which comprises two workpiece clamping mechanisms with opposite action directions, contains workpiece transverse movement, carrier placement table and other structures, and can realize accurate butt joint clamping of the workpiece and the carrier; two turnover devices are used for carrier-workpiece state conversion; an X-direction transverse movement structure transports the carrier-workpiece in a vertical state; the solid coupling ultrasonic detection mechanism contains two solid coupling liquid reservoirs, can intercept and detect the carrier-workpiece; and the carrier conveying structure unidirectionally conveys the carrier. In addition, the system also comprises a workpiece placement table, a Y-direction movement platform, a positioning device and other structures. Through cooperation of various mechanisms, the system realizes an automatic process from clamping to detection of the workpiece, improves production efficiency, and improves stability and detection accuracy in the carrying and detection process through accurate butt joint clamping and design for enhancing stability, so as to ensure product quality.

Description

Technical Field

[0001] The invention relates to the field of ultrasonic testing technology, and in particular to a continuous automated solid-coupled ultrasonic testing system. Background Technology

[0002] In modern industrial production, continuous automated production systems play a crucial role in improving production efficiency, ensuring product quality, and reducing production costs. This is especially true in fields involving precision testing and assembly, such as the production of electronic components, precision mechanical parts, and new energy battery cells, where the requirements for automation systems are even more stringent. These production processes not only require efficient and precise material handling but also need to ensure the stability and accuracy of workpieces during handling to avoid processing errors and product defects caused by positional deviations or improper operation.

[0003] However, existing continuous automated production systems still face numerous technical challenges in practical applications. On the one hand, traditional workpiece clamping mechanisms are often simply designed, making it difficult to achieve precise docking and stable clamping between the workpiece and the carrier. This leads to workpiece displacement or detachment during handling, affecting subsequent processing and inspection accuracy. On the other hand, existing flipping devices often suffer from operational complexity and insufficient flexibility when changing workpiece states, making it difficult to meet the needs of multi-angle and multi-directional processing and inspection. Furthermore, in the solid-coupled ultrasonic testing stage, existing solid-coupled ultrasonic testing mechanisms often struggle to achieve continuous and efficient inspection of workpieces of different sizes and shapes.

[0004] In solid-coupled ultrasonic testing, the ultrasonic testing effect is easily affected by the solid coupling effect. This is because air can easily exist between the planar coupling layer and the workpiece contact surface, which reduces the solid coupling effect, resulting in poor ultrasonic testing signal and thus ultrasonic testing artifacts or misjudgments. To improve the solid coupling effect between the planar coupling layer and the workpiece, Chinese patent application CN118961892A proposes a solid-coupled ultrasonic testing device. It uses two solid coupling reservoir units, each with a solid coupling flexible layer on the workpiece contact surface. When the workpiece is not clamped, at least one solid coupling reservoir unit is tilted. When clamped, the two solid coupling reservoir units move towards each other and abut against each other. The tilted solid coupling reservoir unit returns to its normal position to achieve a tight fit between the solid coupling flexible layer and the workpiece. While this solution improves the solid coupling effect to some extent, it has significant limitations in application: its core relies on the multi-step linkage action of the solid coupling reservoir unit tilting, moving towards each other, and returning to center. The operation cycle is complex, and the entire clamping and testing process requires interrupting the workpiece conveying process. It can only be used for intermittent testing of a single workpiece and cannot meet the needs of continuous ultrasonic testing mechanisms for uninterrupted conveying and continuous through-process testing. It is difficult to meet the testing requirements of large-scale continuous production.

[0005] To address the aforementioned issues, developing a continuous automated system capable of efficiently and accurately performing workpiece handling, state transitions, and solid-coupled ultrasonic testing has become a pressing technical challenge in the current industrial production field.

[0006] Therefore, we propose a continuous automated solid-coupled ultrasonic testing system. Summary of the Invention

[0007] Therefore, it is necessary to address the problems in existing continuous automated production systems, such as inaccurate workpiece clamping, complex flipping operations, and poor solid coupling effect in the solid coupling ultrasonic testing process, which prevents uninterrupted transport and continuous through-feed testing. A continuous automated solid coupling ultrasonic testing system should be provided to enable the system to efficiently and accurately handle workpieces, achieve state transitions, and realize efficient solid coupling, thereby achieving uninterrupted transport and continuous through-feed testing, and improving production / testing efficiency and product quality.

[0008] This invention provides a continuous automated solid-coupled ultrasonic testing system, comprising: two workpiece clamping mechanisms spaced apart along the X-axis; each workpiece clamping mechanism includes a workpiece lateral movement structure, a carrier placement platform, and a carrier lateral movement structure distributed along the Y-axis; the workpiece lateral movement structure and the carrier lateral movement structure respectively clamp the workpiece and the carrier, and assemble or separate them on the carrier placement platform; the two workpiece clamping mechanisms move in opposite directions; two flipping devices connected within the workpiece clamping mechanisms are used to switch between the horizontal and vertical states of the carrier-workpiece; and an X-axis lateral movement structure, which moves along... Two flipping devices, distributed along the X-axis and spanning the docking point, are used for unidirectional transport of the vertical carrier-workpiece along the X-axis. A solid-coupled ultrasonic testing mechanism, situated between the two workpiece clamping mechanisms, includes two solid-coupled liquid reservoirs distributed along the Y-axis and a probe assembly. The two solid-coupled liquid reservoirs stop the carrier-workpiece on the X-axis transverse structure and perform solid-coupled testing via the probe assembly. A carrier transport structure, parallel to the X-axis transverse structure and located at the other end of the two carrier transverse structures along the Y-axis, is used for unidirectional transport of the carrier. Through the coordinated operation of these mechanisms, the system automates the workpiece process from clamping, flipping, transporting, to testing, truly achieving uninterrupted transport and continuous throughput testing, thus improving production and testing efficiency.

[0009] In other embodiments, the workpiece clamping mechanism further includes a workpiece placement stage and a carrier placement stage, which are respectively located on the projection path of the gripper assembly on the Z-axis. The workpiece placement stage is provided with a contoured groove for placing the workpiece. The carrier includes two stacked plates with a contoured through hole in the middle of the two plates that is identical to the contour of the workpiece. This design enables precise docking and clamping of the workpiece and the carrier, and improves the stability during the handling process.

[0010] In other embodiments, the workpiece traversing structure includes a first upright, a first sliding seat, and a first gripper assembly. The first sliding seat is connected to the first upright and moves along the Y-axis, and the first gripper assembly is connected to the first sliding seat and moves along the Z-axis. The carrier traversing structure is located between the workpiece traversing structure and the carrier conveying structure. The carrier traversing structure includes a second upright, a second sliding seat, and a second gripper assembly. The second sliding seat is connected to the second upright and moves along the Y-axis, and the second gripper assembly is connected to the second sliding seat and moves along the Z-axis. This structure enables flexible movement of the workpiece and carrier in the Y-axis and Z-axis directions, improving handling efficiency.

[0011] In other embodiments, the workpiece includes a workpiece body and a sealing edge disposed circumferentially on the workpiece body and extending outward along the contour of the workpiece body. After the workpiece is assembled with the carrier, the workpiece body is embedded in the contoured through hole, and the carrier holds a portion of the sealing edge of the workpiece. The design of the workpiece body meets the specific performance and usage requirements of battery-type workpieces. The circumferential sealing edge protects the workpiece body from external environmental erosion and damage during production, transportation, and use. After the workpiece is assembled with the carrier, the workpiece body is embedded in the contoured through hole, and the carrier holds a portion of the sealing edge. This design not only enables precise positioning of the workpiece, ensuring accurate placement within the carrier, but also avoids damage to the workpiece body, improving product quality.

[0012] In other embodiments, the flipping device includes a rotating shaft that is inserted into a shaft hole on the side of the carrier placement platform near the workpiece transverse structure. Both ends of the rotating shaft are connected to rotating seats, and a gripper cylinder is connected to the rotating seat. Two retractable and opening grippers are provided at the driving end of the gripper cylinder. A linear drive device that extends and retracts along the Y-axis is connected to the rotating seat to realize the conversion between the horizontal and vertical states of the carrier-workpiece.

[0013] In other embodiments, the solid-coupled ultrasonic testing mechanism includes two opposing solid-coupled liquid reservoirs. Each solid-coupled liquid reservoir includes: a liquid tank, which is a box structure, with an opening on one end face in the Z-axis direction and a through hole on one end face in the Y-axis direction; a panel assembly, which is attached to the end face of the through hole in the liquid tank, the panel assembly including a first plate and a second plate that are attached to each other, the second plate covering the through hole, and a sealing element with the same outline as the through hole and embedded in the through hole is provided on the second plate; and multiple locking elements that connect the panel assembly and the liquid tank to each other; a second through hole is provided on the end face of the first plate that coincides with the through hole, and a flexible coupling layer is filled in the second through hole. The flexible coupling layer has a protrusion on the side away from the liquid tank. The liquid tank stores the coupling liquid, the panel assembly achieves sealing, the flexible coupling layer improves the solid coupling effect, and the locking elements ensure the stability of the overall structure, providing stable and reliable liquid coupling and solid coupling conditions for ultrasonic testing.

[0014] Furthermore, the raised structural design allows the contact point of the flexible coupling layer to diffuse from the center to both sides during the compression deformation process with the workpiece surface. This prevents air from being trapped between the workpiece surface and the interface of the flexible coupling layer, which helps to remove air from the contact surface between the flexible coupling layer and the workpiece. This allows the flexible coupling layer to better fit the workpiece through compression deformation, improving the solid coupling effect and thus improving the ultrasonic testing effect.

[0015] In other embodiments, the solid-coupled ultrasonic testing mechanism further includes a Y-axis moving platform with two opposing moving connecting plates, and the two solid-coupled liquid reservoirs are respectively connected to opposite end faces of the two connecting plates; a probe assembly including two ultrasonic probes, which extend into the liquid reservoir and are movable when the two solid-coupled liquid reservoirs are in the mating position; the probe assembly also includes a support frame with a movable sliding seat, the ultrasonic probes being connected to the sliding seat via connecting rods, and the sliding seat having an adjustment structure for adjusting the distance between the two ultrasonic probes to adapt to the testing requirements of different workpieces. This solid-coupled ultrasonic testing mechanism forms a testing area through two opposing solid-coupled liquid reservoirs. The Y-axis moving platform can flexibly adjust the distance between the two solid-coupled liquid reservoirs to adapt to the testing requirements of workpieces of different sizes. The probe assembly scans the workpiece, and the X-axis moving platform drives the combined workpieces sequentially through the testing area, achieving continuous testing and greatly improving testing efficiency. It is suitable for online testing in large-scale production.

[0016] In other embodiments, the X-axis lateral movement structure spans a support above the solid coupling reservoir along the X-axis, and the movement of the carrier-workpiece flows through the gap between the two solid coupling reservoirs. Projected in the X-direction, the flexible coupling layer is located on the movement path of the workpiece, and its contour is identical to that of the workpiece. This design ensures efficient transmission of ultrasonic energy through the flexible coupling layer, avoiding energy attenuation due to gaps. Because the protrusion matches the workpiece contour, it perfectly conforms to or matches the workpiece. Pressure can be applied to the workpiece through the protrusion, effectively squeezing out air between the interface at the moment of contact, reducing acoustic impedance discontinuities, and further improving the transmission efficiency of ultrasonic energy. The protrusion allows the flexible coupling layer and the workpiece to maintain good solid coupling, achieving effective transmission of ultrasonic energy.

[0017] In other embodiments, the solid-coupled ultrasonic testing mechanism further includes a positioning device comprising a cylinder with two opposing positioning pins connected to it. The two positioning pins are located on opposite sides of the workpiece, and positioning holes corresponding to the positioning pins are formed on the workpiece for precise positioning, ensuring the accuracy of the test. This precise positioning device ensures the accurate position of the workpiece within the testing area, improving the accuracy and reliability of the test.

[0018] In other embodiments, a mounting platform is also included, on which the workpiece clamping mechanism, flipping device, X-axis lateral movement structure, solid-coupled ultrasonic testing mechanism, and carrier conveying structure are connected to the same end face. This design makes the entire mechanism more compact and rational, improving its operational accuracy and stability. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the three-dimensional structure of the invention.

[0020] Figure 2 for Figure 2 Top view.

[0021] Figure 3 This is a three-dimensional structural diagram of the workpiece clamping mechanism of the present invention.

[0022] Figure 4 for Figure 3 Top view.

[0023] Figure 5 This is a schematic diagram of the connection structure of the workpiece transverse movement structure, the carrier transverse movement structure, the workpiece placement platform, and the carrier placement platform in this invention.

[0024] Figure 6 for Figure 5 The main view.

[0025] Figure 7 for Figure 6 A sectional view of section AA in the middle.

[0026] Figure 8 This is a front view of the flipping device in this invention.

[0027] Figure 9 for Figure 8 Sectional view of section BB.

[0028] Figure 10 This is a schematic diagram of the assembly structure of the carrier and the workpiece of the present invention.

[0029] Figure 11 for Figure 10 A sectional view of section CC.

[0030] Figure 12 This is an exploded view of the carrier and the workpiece in this invention.

[0031] Figure 13 This is a three-dimensional structural diagram of the solid-coupled ultrasonic testing mechanism of the present invention.

[0032] Figure 14 This is a schematic diagram of the connection structure between the solid-coupled liquid reservoir and the carrier-workpiece in this invention.

[0033] Figure 15 This is an exploded view of the solid-coupled liquid reservoir in this invention.

[0034] Figure 16 This is an exploded view of the solid-coupled liquid reservoir in this invention from another perspective.

[0035] Figure 17 for Figure 15 The main view.

[0036] Figure 18 for Figure 17 A sectional view of section DD.

[0037] Figure 19 This is an exploded view of the positioning device in this invention.

[0038] in: 1000. Workpiece clamping mechanism; 1100. Workpiece lateral movement structure; 1110. First upright; 1120. First sliding seat; 1130. First gripper assembly; 1140. First linear drive device; 1200. Carrier lateral movement structure; 1210. Second upright; 1220. Second sliding seat; 1230. Second gripper assembly; 1300. Workpiece placement stage; 1310. Contouring groove; 1320. Sensor; 1400. Carrier placement stage; 1500. Carrier; 1510. Stacked pieces; 1520. Contouring through hole; 1600. Tilting device; 1610. Rotating shaft; 1620. Rotating seat; 1630. Gripper cylinder; 1640. Gripper; 1650. Second linear drive device; 1700. Workpiece; 1710. Workpiece body; 1720. Edge sealing; 2000, X-axis lateral displacement structure; 3000, Solid-coupled ultrasonic testing mechanism; 3100, Solid-coupled liquid reservoir; 3110, Liquid tank; 3111, Opening; 3112, First through hole; 3200, Panel assembly; 3210, First plate; 3211, Second through hole; 3212, Groove; 3220, Second plate; 3230, Sealing element; 3240, Connecting element; 3300, Locking element; 3400, Flexible coupling layer; 3410, Protrusion; 3500, Y-axis moving platform; 3510, Connecting plate; 3600, Probe assembly; 3610, Ultrasonic probe; 3620, Support frame; 3630, Sliding seat; 3700, Positioning device; 3710, Cylinder; 3720, Positioning plate; 3800, Sealing ring; 4000, Installation platform; 5000, Vehicle transport structure. Detailed Implementation

[0039] like Figures 1-19 As shown, this embodiment discloses a continuous automated solid-coupled ultrasonic testing system, including a workpiece clamping mechanism 1000, a flipping device 1600, an X-axis transverse movement structure 2000, a solid-coupled ultrasonic testing mechanism 3000, and a carrier conveying structure 5000. It can realize continuous work such as automatic clamping, flipping, conveying, and ultrasonic testing of battery cells, thereby improving testing efficiency.

[0040] Specifically, such as Figures 1-9 As shown, there are two workpiece clamping mechanisms 1000, which are spaced apart along the X-axis. Each workpiece clamping mechanism 1000 includes a workpiece transverse moving structure 1100, a carrier placement platform 1400, and a carrier transverse moving structure 1200 distributed along the Y-axis. The workpiece transverse moving structure 1100 and the carrier transverse moving structure 1200 respectively clamp the workpiece 1700 and the carrier 1500, and assemble or separate them on the carrier placement platform 1400. The two workpiece clamping mechanisms 1000 move in opposite directions.

[0041] Specifically, the workpiece clamping mechanism 1000 includes a workpiece transverse movement structure 1100, a workpiece placement stage 1300, a carrier placement stage 1400, and a carrier transverse movement structure 1200. Through the coordinated operation of these structures, precise clamping and efficient movement of workpieces are achieved during automated production and inspection processes, effectively improving production and inspection efficiency, reducing labor costs, and ensuring product quality stability.

[0042] Specifically, the workpiece transverse movement structure 1100 in this embodiment includes a first upright 1110, a first sliding seat 1120, and a first gripper assembly 1130. The first sliding seat 1120 is connected to the first upright 1110 and moves along the Y-axis, while the first gripper assembly 1130 is connected to the first sliding seat 1120 and moves along the Z-axis. The first upright 1110 is made of high-strength metal material, possessing good rigidity and stability, and can withstand various forces generated by the first sliding seat 1120 and the first gripper assembly 1130 during operation, ensuring the stability of the entire structure. The first sliding seat 1120 is connected to the first upright 1110 via a guide rail and slider structure. This connection method makes the movement of the first sliding seat 1120 in the Y-axis direction smoother and more precise. The first gripper assembly 1130 is mounted on the first sliding seat 1120 and can move along the Y-axis with the first sliding seat 1120. It can also move independently in the Z-axis direction, allowing the first gripper assembly 1130 to flexibly reach the designated position for accurate gripping and placement of the workpiece 1700. The first stand 1110 is equipped with a drive device for driving the first sliding seat 1120, which can be a conventional device such as a cylinder, electric cylinder, or lead screw. In actual operation, when workpiece 1700 needs to be gripped, the first sliding seat 1120 moves the first gripper assembly 1130 along the Y-axis above workpiece 1700. Then, the first gripper assembly 1130 descends in the Z-axis direction to grip workpiece 1700. Afterward, the first gripper assembly 1130 rises in the Z-axis direction and is then moved to the target position by the first sliding seat 1120, completing the workpiece 1700 handling task. The entire process is fast and accurate, greatly improving efficiency.

[0043] The workpiece placement stage 1300 and the carrier placement stage 1400 are located on the projection path of the first gripper assembly 1130 along the Z-axis. The fact that the workpiece placement stage 1300 and the carrier placement stage 1400 are on the projection path of the first gripper assembly 1130 along the Z-axis means that when the first gripper assembly 1130 moves in the Y-axis and Z-axis directions, it can directly reach above these two placement stages, facilitating the operation of the workpiece 1700 and the carrier 1500 placed on them. The workpiece placement stage 1300 is mainly used to place the workpiece 1700, while the carrier placement stage 1400 is specifically used to place the carrier 1500. The carrier 1500 plays a role in supporting and positioning the workpiece 1700 during the workpiece gripping, handling, and inspection process.

[0044] A contoured groove 1310 for placing workpiece 1700 is provided on the workpiece placement stage 1300. A carrier 1500 is placed on the carrier placement stage 1400, and the carrier 1500 includes two stacked plates 1510. A contoured through hole 1520, identical to the contour of workpiece 1700, is formed in the middle of the two stacked plates 1510. The contoured groove 1310 and the contoured through hole 1520 are located in the same Y-axis direction. The contoured groove 1310 on the workpiece placement stage 1300 is specifically designed for placing workpiece 1700, and its shape and size match workpiece 1700, ensuring accurate and stable placement of workpiece 1700 within the carrier 1500 and preventing displacement during subsequent handling and inspection. The carrier 1500 employs a two-stacked plate structure 1510, which increases the strength and stability of the carrier 1500 while also reducing its weight to some extent, facilitating handling and operation. The two stacked pieces 1510 have a contoured through-hole 1520 in the middle, which matches the outline of the workpiece 1700. The carrier 1500 can not only further precisely position the workpiece 1700, ensuring its accurate placement within the carrier 1500, but also perform specific post-processing operations, such as inspection, on the workpiece 1700 during subsequent handling and inspection, improving machining accuracy and efficiency. The contoured groove 1310 and the contoured through-hole 1520 are located on the same Y-axis during assembly. This design ensures that when the workpiece 1700 is placed into the carrier 1500, it can smoothly pass through the contoured through-hole 1520 into the contoured groove 1310. Furthermore, during subsequent handling and processing, the workpiece 1700 remains in the correct position without shifting, providing strong assurance for the stability of the entire handling and inspection process and product quality.

[0045] This embodiment also includes a carrier traversing structure 1200, located in the Y-axis direction of the workpiece traversing structure 1100. The carrier traversing structure 1200 includes a second upright 1210, a second sliding seat 1220, and a second gripper assembly 1230. The second sliding seat 1220 is connected to the second upright 1210 and moves along the Y-axis direction, while the second gripper assembly 1230 is connected to the second sliding seat 1220 and moves along the Z-axis. The carrier traversing structure 1200 and the workpiece traversing structure 1100 cooperate to complete the material handling task in the continuous automated solid-coupled ultrasonic testing system. The carrier traversing structure 1200 is located in the Y-axis direction of the workpiece traversing structure 1100. This layout allows the two structures to work independently yet collaboratively in space, avoiding mutual interference. The second upright 1210, serving as the supporting foundation of the carrier traversing structure 1200, is also made of high-strength materials, ensuring the stability of the entire structure. The second sliding block 1220, connected to the guide rail and slider on the second upright 1210, achieves smooth movement in the Y-axis direction with high precision, accurately transporting the carrier 1500 to the designated position. The second upright 1210 is equipped with a drive device for driving the second sliding block 1220, which can be a conventional device such as a cylinder, electric cylinder, or lead screw. The second gripper assembly 1230 is mounted on the second sliding block 1220 and can move along with it in the Y-axis direction, while also being able to move independently in the Z-axis direction. This design allows the second gripper assembly 1230 to flexibly grasp and place the carrier 1500.

[0046] In practical operation, when the carrier 1500 needs to be moved from one position to another, the second sliding seat 1220 drives the second gripper assembly 1230 to move along the Y-axis above the carrier 1500. Then, the second gripper assembly 1230 descends in the Z-axis direction to grip the carrier 1500. After that, the second gripper assembly 1230 rises in the Z-axis direction and is then moved to the target position by the second sliding seat 1220, completing the transportation task of the carrier 1500. In conjunction with the workpiece transverse moving structure 1100, the automated transportation of the workpiece 1700 and the carrier 1500 is realized, greatly improving efficiency.

[0047] In this embodiment, a first linear drive device 1140 for driving the movement of the second sliding seat 1220 is connected to the first upright 1110. The performance of the first linear drive device 1140, as the power source for driving the movement of the second sliding seat 1220, directly affects the operational efficiency of the carrier lateral movement structure 1200. Connecting the first linear drive device 1140 to the first upright 1110 fully utilizes the stable structure of the first upright 1110, providing stable support for the first linear drive device 1140. The first linear drive device 1140 can be of various types, such as an electric actuator or a cylinder, selected based on actual production needs and cost considerations. Its working principle is to convert electrical energy or pneumatic energy into mechanical energy to drive the second sliding seat 1220 to move linearly in the Y-axis direction. The first linear drive device 1140 has advantages such as high control precision, fast response speed, and stable operation. It can ensure that the second sliding seat 1220 moves accurately at a predetermined speed and displacement, thereby realizing the precise handling of the carrier 1500 and providing a strong guarantee for the stability and efficiency of the entire continuous automated solid-coupled ultrasonic testing system.

[0048] In this embodiment, the workpiece 1700 includes a workpiece body 1710 and a sealing edge 1720 disposed circumferentially on the workpiece body 1710 and extending outward along the contour of the workpiece body 1710. After the workpiece 1700 is assembled with the carrier 1500, the workpiece body 1710 is embedded into the contoured through hole 1520, and the sealing edge 1720 is clamped in the gap between the two carriers 1500. This structural design of the workpiece 1700 is to meet the specific performance and usage requirements of battery-type workpieces. The edge sealing 1720, which is set around the workpiece body 1710 and has the same outline as the workpiece body 1710, plays a role in protecting the workpiece body 1710 and preventing it from being corroded and damaged by the external environment during production, transportation and use. When the workpiece 1700 is assembled with the carrier 1500, the contoured through hole 1520 clamps part of the edge sealing 1720 of the workpiece 1700. This design can not only accurately position the workpiece 1700, but also ensure that the position of the workpiece 1700 within the carrier 1500 is accurate.

[0049] In this embodiment, the workpiece placement stage 1300 is provided with a contoured groove 1310 identical in shape to the workpiece 1700, and a sensor 1320 extending into the contoured groove 1310 is also provided on the workpiece placement stage 1300. The contoured groove 1310 and the workpiece 1700 have a very high degree of matching, ensuring that the workpiece 1700 accurately falls into the contoured groove 1310 during placement and fits tightly against the groove wall, thereby ensuring the stability and accuracy of the workpiece 1700's placement. This precise positioning method is crucial for subsequent operations, as it avoids errors caused by positional deviations of the workpiece 1700 in the continuous automated solid-coupled ultrasonic testing system. The sensor 1320 extending into the contoured groove 1310 plays a role in real-time monitoring of the workpiece 1700's placement. The sensor 1320 can be of various types, such as photoelectric sensors or pressure sensors, selected according to actual needs. When workpiece 1700 is correctly placed within the contour groove 1310, sensor 1320 detects its presence and transmits a signal to the control system. The control system then determines whether workpiece 1700 is properly positioned based on the received signal, thus deciding whether to proceed with subsequent operations. If workpiece 1700 is incorrectly placed or not placed at all, sensor 1320 will promptly issue an alarm signal to alert the operator, preventing production accidents and product quality issues caused by workpiece 1700 placement problems. This improves the automation level and reliability of the continuous automated solid-coupled ultrasonic testing system.

[0050] In this embodiment, the first gripper assembly 1130 adopts a suction cup gripper. The design of the first gripper assembly 1130 using a suction cup gripper is based on the characteristics of battery-type workpieces, especially pouch batteries, which are typically thin and light, and their surface aluminum-plastic film is easily damaged. Traditional mechanical grippers may damage the battery cells during the gripping process, affecting product quality. This gripping method is not only safe and reliable, reducing the increase in production costs caused by battery cell damage, but also improves gripping efficiency.

[0051] In this embodiment, there are two second uprights 1210, mirror-symmetrically positioned in the YZ plane. A second sliding seat 1220 is slidably connected to the two second uprights 1210. Two second gripper assemblies 1230, mirror-symmetrically positioned in the YZ plane, are connected to the second sliding seat 1220. Two chucks arranged side-by-side in the Y-axis direction are connected to the second gripper assemblies 1230. The precise guide rail and slider structure enables smooth and accurate movement in the Y-axis direction. The design of the two second gripper assemblies 1230, mirror-symmetrically positioned in the YZ plane, allows the second gripper assemblies 1230 to operate on two carriers 1500 simultaneously, improving handling efficiency. The two chucks, designed to be customized according to the shape and size of the carrier 1500, ensure a secure grip on the carrier 1500.

[0052] In actual operation, when it is necessary to move the carrier 1500, the second sliding seat 1220 drives the two second gripper assemblies 1230 to move along the Y-axis to above the carrier 1500. Then the second gripper assembly 1230 descends, the gripper grabs the carrier 1500, and then the second gripper assembly 1230 rises, and is then driven by the second sliding seat 1220 to move to the target position to complete the task of moving the carrier 1500.

[0053] like Figures 8-9 As shown, in this embodiment, there are two flipping devices 1600 connected to the workpiece clamping mechanism 1000, which are used to switch the horizontal and vertical states of the carrier 1500 and the workpiece 1700.

[0054] Specifically, in this embodiment, the flipping device 1600 includes a rotating shaft 1610, which is inserted into a shaft hole on the side of the carrier platform 1400 near the workpiece platform 1300. Rotating seats 1620 are connected to both ends of the rotating shaft 1610, and gripper cylinders 1630 are connected to the rotating seats 1620. Two retractable and opening grippers 1640 are provided at the driving end of the gripper cylinders 1630. A second linear drive device 1650 that extends and retracts along the Y-axis is connected to the rotating seats 1620. The introduction of the flipping device 1600 adds more flexibility to the continuous automated solid-coupled ultrasonic testing system. The rotating shaft 1610 is inserted into a shaft hole on the side of the carrier platform 1400 near the workpiece platform 1300. This connection method allows the rotating shaft 1610 to be stably fixed on the carrier platform 1400 and to rotate freely around the shaft hole. Rotating shaft 1610 has rotating seats 1620 connected to both ends. The rotating seats 1620 serve as the mounting base for the gripper cylinder 1630 and can rotate together with the rotating shaft 1610. The gripper cylinder 1630 is a pneumatic component that drives the grippers 1640 to retract and open, offering advantages such as fast response, high control precision, and adjustable clamping force. Two retractable grippers 1640 are installed at the drive end of the gripper cylinder 1630. Their shape and size are designed according to the characteristics of the carrier 1500 or workpiece 1700, ensuring a firm grip on the carrier 1500 or workpiece 1700. A second linear drive device 1650, extending and retracting along the Y-axis, is connected to the rotating seat 1620. The second linear drive device 1650 provides additional power to the tilting device 1600, enabling it to move a certain distance along the Y-axis, thereby expanding the operating range of the tilting device 1600.

[0055] In practical operation, when it is necessary to flip the carrier 1500 or the workpiece 1700, the second linear drive device 1650 drives the rotating seat 1620 to move to a suitable position in the Y-axis direction. Then, the gripper cylinder 1630 drives the gripper 1640 to grasp the carrier 1500 or the workpiece 1700. Next, the rotating shaft 1610 rotates, causing the carrier 1500 or the workpiece 1700 to flip. After the flipping operation is completed, the second linear drive device 1650 moves the carrier 1500 or the workpiece 1700 back to the designated position. This flipping device 1600 design enables the carrier 1500 and workpiece 1700 to be transported and inspected from multiple angles and directions as needed in the continuous automated solid-coupled ultrasonic testing system, improving the flexibility and product quality of the continuous automated solid-coupled ultrasonic testing system.

[0056] like Figures 1-2 as well as Figure 13As shown, in this embodiment, the X-axis transverse structure 2000 is distributed along the X-axis and spans and docks with two flipping devices 1600, which are used to unidirectionally transport the vertical carrier 1500 and workpiece 1700 along the X-axis.

[0057] like Figures 13-18 As shown, the solid-coupled ultrasonic testing mechanism 3000 is located between two workpiece clamping mechanisms 1000. The solid-coupled ultrasonic testing mechanism 3000 includes two solid-coupled liquid reservoirs 3100 distributed along the Y-axis and a probe assembly 3600. The two solid-coupled liquid reservoirs 3100 stop the carrier 1500-workpiece 1700 on the X-direction transverse structure 2000 and perform solid-coupled testing through the probe assembly 3600.

[0058] Specifically, this embodiment discloses a solid-state coupled ultrasonic testing mechanism 3000, which includes two solid-state coupled liquid reservoirs 3100 arranged opposite each other. The solid-state coupled ultrasonic testing mechanism 3000 also includes a Y-axis moving platform 3500, a probe assembly 3600, and an X-axis moving platform. The solid-state coupled ultrasonic testing mechanism 3000 is a device for continuous inspection of workpieces using ultrasonic waves. By arranging the two solid-state coupled liquid reservoirs 3100 opposite each other, a testing area can be formed, enabling continuous inspection of workpiece 1700. This design can improve inspection efficiency and is suitable for quality inspection in large-scale production scenarios. The solid-state coupled liquid reservoir 3100, as a core component, provides a good medium and coupling conditions for the transmission of ultrasonic waves, ensuring the accuracy and reliability of the inspection.

[0059] This embodiment discloses a solid coupling reservoir 3100, including a reservoir tank 3110, a panel assembly 3200, and a locking member 3300. The solid coupling reservoir 3100 is a device for storing coupling fluid and transmitting ultrasonic energy via coupling using a solid medium. The reservoir tank 3110 contains the coupling fluid; the panel assembly 3200 provides a seal to ensure no leakage of the coupling fluid; and the locking member 3300 securely connects the panel assembly 3200 to the reservoir tank 3110, ensuring the stability and sealing of the entire device.

[0060] In this embodiment, the liquid storage tank 3110 has a box-like structure. One end face of the liquid storage tank 3110 in the Z-axis direction has an opening 3111, and one end face in the Y-axis direction has a first through hole 3112. The box-like structure of the liquid storage tank 3110 provides high strength and stability, enabling it to withstand external forces. The liquid storage tank 3110 applies a uniform and perpendicular force to the flexible coupling layer 3400. The opening 3111 in the Z-axis direction facilitates the injection and discharge of the coupling fluid, as well as the insertion, removal, and movement of the ultrasonic probe. The first through hole 3112 in the Y-axis direction is for cooperation with the panel assembly 3200. This design ensures both the functional integrity of the liquid storage tank 3110 and facilitates connection and collaborative operation with other components.

[0061] In this embodiment, the panel assembly 3200 is attached to the end face of the first through hole 3112 of the liquid storage tank 3110. The panel assembly 3200 includes a first plate 3210 and a second plate 3220 that are attached to each other. The second plate 3220 covers the first through hole 3112, and a sealing member 3230 with the same outline as the first through hole 3112 and embedded in the first through hole 3112 is provided on the second plate 3220. The first plate 3210 and the second plate 3220 are attached to each other to form an integral structure. The second plate 3220 covering the first through hole 3112 provides a preliminary sealing effect, preventing the coupling fluid from leaking from the first through hole 3112. The sealing member 3230 further enhances the sealing effect. It has the same outline as the first through hole 3112 and is embedded therein, which can fit tightly and effectively prevent the coupling fluid from penetrating.

[0062] In this embodiment, the first plate 3210 is made of metal, and the second plate 3220 is made of plastic or rubber. The first plate 3210 is made of metal mainly because metal has high strength, preventing the panel assembly 3200 from being deformed by compression. The second plate 3220 is made of plastic or rubber, which can improve the ultrasonic transmission performance of the panel assembly 3200. This is because the difference in acoustic impedance between the plastic or rubber second plate 3220 and the flexible coupling layer 3400 is small, reducing the reflection of ultrasonic waves at the interface between the second plate 3220 and the flexible coupling layer 3400, ensuring efficient transmission of ultrasonic signals, and thus improving the quality of ultrasonic detection signals.

[0063] In this embodiment, multiple locking components 3300 are used to connect the panel assembly 3200 and the liquid storage tank 3110. The use of multiple locking components 3300 ensures a secure and reliable connection between the panel assembly 3200 and the liquid storage tank 3110. During operation, the solid-coupled liquid storage tank 3100 needs to withstand external forces, such as a uniform and perpendicular force applied to the flexible coupling layer 3400 by the liquid storage tank 3110. If the connection is not secure, the panel assembly 3200 may loosen or even detach, affecting the normal operation of the solid-coupled liquid storage tank 3100. The evenly distributed multiple locking components 3300 tightly fix the panel assembly 3200 to the liquid storage tank 3110, enhancing the structural stability of the entire device, enabling it to withstand greater external forces, and ensuring long-term stable operation.

[0064] The first plate 3210 has a second through hole 3211 located in the same Y-axis direction as the first through hole 3112, and a flexible coupling layer 3400 is filled in the second through hole 3211. The flexible coupling layer 3400 has a protrusion 3410 on the side away from the liquid storage tank 3110. The opening of the second through hole 3211 and the filling of the flexible coupling layer 3400 on the first plate 3210 are the key design features of this solid-coupled liquid storage tank 3100. The flexible coupling layer 3400 can improve the solid coupling effect. When energy such as ultrasonic waves is transmitted to the flexible coupling layer 3400 through the liquid storage tank 3110, the flexible coupling layer 3400, due to its own flexibility, can deform under pressure and contact the surface of the workpiece 1700, thus achieving a good coupling effect.

[0065] The flexible coupling layer 3400 has a protrusion 3410 on the side away from the liquid storage tank 3110. In this embodiment, the protrusion 3410 of the flexible coupling layer 3400 is a curved protrusion (spherical or arc surface) or a dot-shaped protrusion (conical protrusion). The highest point of the protrusion 3410 in the direction away from the liquid storage tank 3110 of the flexible coupling layer 3400 is located at the center of the flexible coupling layer 3400, and it transitions evenly from the center of the flexible coupling layer 3400 to the surrounding area. The surface of the flexible coupling layer 3400 is provided with curved protrusions or dot-shaped protrusions. The protrusion structure has a shape that is high in the center and smoothly transitions evenly to the surrounding area. This design significantly improves acoustic-solid coupling efficiency. On the one hand, when the flexible coupling layer 3400 contacts the surface of the workpiece 1700 and deforms under pressure, the contact area expands from the center to the surrounding area, forming a physical process similar to squeezing out air bubbles, effectively expelling air between the contact interfaces. On the other hand, it can adaptively fit the workpiece 1700. The protruding center of the flexible coupling layer 3400 contacts the workpiece 1700 first. As the pressure increases, the flexible coupling layer deforms and tightly fits the surface of the workpiece 1700. This design is particularly suitable for curved workpieces 1700, which can eliminate contact gaps and significantly improve acoustic-solid coupling efficiency, thereby improving the accuracy and reliability of ultrasonic testing.

[0066] In this embodiment, the first plate 3210 has a groove 3212 on the side facing the liquid storage tank 3110, and the second plate 3220 is embedded in the groove 3212, with the end faces of the first plate 3210 and the second plate 3220 flush with the side facing the liquid storage tank 3110. The groove 3212 on the first plate 3210 and the second plate 3220 embedded within it further enhance the structural stability of the panel assembly 3200. The groove 3212 restricts the movement of the second plate 3220, preventing displacement during operation, thereby ensuring sealing performance and energy transfer stability. Simultaneously, the flush alignment of the end faces of the first plate 3210 and the second plate 3220 with the side facing the liquid storage tank 3110 allows for a tighter connection between the panel assembly 3200 and the liquid storage tank 3110, reducing gaps, preventing the accumulation of coupling fluid at the connection point, reducing the risk of leakage, and also improving the aesthetics and neatness of the entire device.

[0067] In this embodiment, the first plate 3210, the second plate 3220, and the sealing element 3230 are interconnected by a connector 3240. Sealing rings 3800 are provided between the sealing element 3230 and the first through hole 3112, and between the sealing element 3230 and the second plate 3220. Connecting the first plate 3210, the second plate 3220, and the sealing element 3230 via the connector 3240 allows the entire panel assembly 3200 to form an organic whole, enhancing structural stability and sealing. The connector 3240 can employ common connection methods such as bolts and screws, facilitating installation and disassembly, and simplifying equipment maintenance and repair. The sealing ring 3800 further improves the sealing performance. The sealing ring 3800 is set between the sealing element 3230 and the first through hole 3112 and between the sealing element 3230 and the second plate 3220. It can fill the tiny gaps, prevent the penetration of the coupling fluid, and ensure that the solid coupling reservoir 3100 will not leak under various working conditions, thus ensuring the normal operation of the equipment and the safety of the surrounding environment.

[0068] The Y-axis moving platform 3500 in this embodiment includes two opposing moving connecting plates 3510, and two solid-coupled liquid reservoirs 3100 are respectively connected to the two connecting plates 3510. The design of the Y-axis moving platform 3500 allows the two solid-coupled liquid reservoirs 3100 to move towards each other in the Y-axis direction, thereby adjusting the distance between the two solid-coupled liquid reservoirs 3100. In actual detection processes, objects of different sizes require different detection spaces. The Y-axis moving platform 3500 can flexibly adjust the distance between the two solid-coupled liquid reservoirs 3100 to adapt to the detection requirements of different objects. The function of the connecting plates 3510 is to transmit power to the solid-coupled liquid reservoirs 3100, enabling them to move smoothly, while ensuring the synchronicity of the movement of the two solid-coupled liquid reservoirs 3100, thus ensuring the stability of the detection area.

[0069] The probe assembly 3600 in this embodiment includes two ultrasonic probes 3610. When the two solid coupling reservoirs 3100 are in the contact position, the two ultrasonic probes 3610 extend into the solid coupling reservoirs 3100 and are movable. The two ultrasonic probes 3610 are used to emit ultrasonic waves and receive ultrasonic reflected signals and ultrasonic transmitted signals, respectively. When the two solid coupling reservoirs 3100 are in the contact position, the ultrasonic probes 3610 extend into the reservoir 3110, and the coupling liquid in the reservoir 3110 completely immerses the ultrasonic probes 3610, which can better achieve liquid coupling and improve the strength and quality of the detection signal. When the ultrasonic probes 3610 are single-element / non-array multi-element probes, the two ultrasonic probes 3610 move simultaneously along the X-axis and Z-axis directions. This design allows the ultrasonic probes 3610 to perform comprehensive scanning detection of the workpiece 1700, without missing any position points of the workpiece, obtaining more comprehensive information, and improving the accuracy and reliability of the detection.

[0070] It should be noted that the ultrasonic probe 3610 in the continuous ultrasonic testing mechanism can also be a linear array probe or a matrix array probe. When the ultrasonic probe 3610 is a linear array probe, the two ultrasonic probes 3610 only need to move along the X-axis or Z-axis to complete the full scanning inspection of the workpiece; when the ultrasonic probe 3610 is a matrix array probe, the two ultrasonic probes 3610 do not need to move.

[0071] As shown in the figure, the X-axis moving platform 2000 in this embodiment includes a platform support spanning above the solid coupling reservoir 3000 along the X-axis direction, and a carrier 1500-workpiece 1700 passing through the gap between two couplers is held on the X-axis moving platform 2000. The function of the X-axis moving platform 2000 is to move the carrier 1500-workpiece 1700 in the X-axis direction, so that the carrier 1500-workpiece 1700 can pass through the detection area between the two solid coupling reservoirs 3100 in sequence, realizing continuous detection. The platform support spanning above the solid coupling reservoir 3000 provides stable support for the movement of the carrier 1500-workpiece 1700. The carrier 1500-workpiece 1700 passing through the gap between the two couplers allows the surface of the workpiece 1700 to make full contact with the flexible coupling layer 3400, ensuring smooth detection. This design makes the detection process more automated and continuous, greatly improving detection efficiency, and is suitable for online detection in large-scale production.

[0072] In this embodiment, on the projection plane in the X direction, the protrusion 3410 on the flexible coupling layer 3400 is located on the moving path of the workpiece 1700. The protrusion 3410 has the same contour as the workpiece 1700, ensuring that the ultrasonic energy is efficiently conducted through the flexible coupling layer 3400 during ultrasonic transmission, avoiding energy attenuation caused by gaps. Since the protrusion 3410 has the same and matched contour as the workpiece 1700, the protrusion 3410 can apply local pressure to the workpiece 1700, effectively squeezing out the air between the two interfaces at the moment of contact, reducing acoustic impedance discontinuity, and further improving the ultrasonic energy transmission efficiency. The protrusion 3410 enables the flexible coupling layer 3400 and the workpiece 1700 to maintain a good solid coupling effect, realizing the effective transmission of ultrasonic energy.

[0073] In this embodiment, a positioning device 3700 is also included, comprising a cylinder 3710. Two opposing positioning plates 3720 are connected to the cylinder 3710. The two positioning plates 3720 are located on both sides of the carrier 1500-workpiece 1700, and a positioning pin is provided on the opposite side of each positioning plate 3720. Positioning holes corresponding to the positioning pins are provided on the carrier 1500. The function of the positioning device 3700 is to accurately position the carrier 1500-workpiece 1700 during the inspection process, ensuring that the carrier 1500-workpiece 1700 is accurately positioned within the inspection area. The cylinder 3710 provides power to move the two positioning plates 3720 towards each other, clamping the carrier 1500-workpiece 1700. The cooperation between the positioning pin and the positioning hole further improves the positioning accuracy. When the positioning pin is inserted into the positioning hole, it can accurately fix the carrier 1500 and the workpiece 1700 in the predetermined position, preventing them from moving or shifting during the inspection process, and ensuring the accuracy and reliability of the inspection.

[0074] In this embodiment, the probe assembly 3600 further includes a support frame 3620, on which a movable sliding seat 3630 is provided. Depending on the type of ultrasonic probe 3610, different movement methods are employed. The ultrasonic probe 3610 is connected to the sliding seat 3630 via a connecting rod, and the sliding seat 3630 is provided with an adjustment structure for adjusting the distance between the two ultrasonic probes 3610. The support frame 3620 provides a stable support structure for the sliding seat 3630 and the ultrasonic probe 3610, ensuring their stability during movement. If the ultrasonic probe 3610 is a single-element / non-array multi-element probe, the sliding seat 3630 can move along the X-axis and Z-axis directions. If the ultrasonic probe 3610 is a linear array probe, it only needs to move along the X-axis or Z-axis direction. The sliding seat 630 allows the ultrasonic probe 3610 to be flexibly adjusted to adapt to the detection requirements of workpieces 1700 of different shapes and sizes, as well as different detection cycles. The connecting rod connects the ultrasonic probe 3610 and the sliding seat 3630, serving to transmit power and fix the probe. The adjustable structure allows for easy adjustment of the distance between the two ultrasonic probes 3610, enabling optimization based on actual testing conditions and improving testing flexibility and accuracy. This probe assembly 3600 design allows the ultrasonic testing mechanism to perform more precise, continuous, and automated ultrasonic testing of the workpiece 1700, meeting the needs of different testing scenarios.

[0075] like Figures 1-3 As shown, in this embodiment, the vehicle conveying structure 5000 is parallel to the X-direction transverse structure 2000, and the vehicle conveying structure 5000 is located at the other end of the Y-axis direction of the two vehicle transverse structures 1200, for unidirectional conveying of the vehicle 1500.

[0076] In this embodiment, the carrier conveying structure 5000 includes a conveyor belt. The carrier 1500 is placed on the conveyor belt and moves to the projection path of the second gripper assembly 1230 on the Z-axis. With the continuous movement of the conveyor belt, the carrier 1500 can be smoothly transported from one process to another. The operating speed of the conveyor belt can be adjusted according to actual production needs to meet the requirements of different production rhythms. When the carrier 1500 is transported to the projection path of the second gripper assembly 1230 on the Z-axis, the second gripper assembly 1230 can accurately grasp the carrier 1500 for subsequent handling and inspection operations. This automated carrier conveying method reduces the labor intensity of manual handling, improves production and inspection efficiency, and also avoids problems such as collisions and damage that may occur during manual handling, ensuring the quality of the carrier 1500 and the workpiece 1700.

[0077] In this embodiment, a mounting platform 4000 is also included. The workpiece clamping mechanism 1000, the flipping device 1600, the X-axis lateral movement structure 2000, the solid-coupled ultrasonic testing mechanism 3000, and the carrier conveying structure 5000 are connected to the same end face of the mounting platform 4000. This design makes the entire mechanism more compact and reasonable, and the relative positional relationship between the various components more stable, which is beneficial to improving the operating accuracy and stability of the entire mechanism.

[0078] The above description is an explanation of the invention, not a limitation thereof. The scope of the invention is defined in the claims. Within the scope of protection of the invention, any form of modification may be made.

Claims

1. A continuous automated solid-coupled ultrasonic testing system, characterized in that, include: The workpiece clamping mechanism comprises two parts, which are spaced apart along the X-axis. The workpiece clamping mechanism includes a workpiece transverse moving structure, a carrier placement platform, and a carrier transverse moving structure distributed along the Y-axis. The workpiece transverse moving structure and the carrier transverse moving structure clamp the workpiece and the carrier respectively, and assemble or separate them on the carrier placement platform. The two workpiece clamping mechanisms move in opposite directions. Two flipping devices are connected within the workpiece clamping mechanism to switch between the horizontal and vertical states of the carrier-workpiece. The X-axis transverse structure, which is distributed along the X-axis and spans two docking flipping devices, is used to unidirectionally transport the vertical carrier-workpiece along the X-axis. A solid-coupled ultrasonic testing mechanism is located between two workpiece clamping mechanisms. The solid-coupled ultrasonic testing mechanism includes two opposing solid coupling reservoirs distributed along the Y-axis and a probe assembly. The solid coupling reservoirs stop the carrier-workpiece on the X-axis transverse moving structure and perform solid coupling testing through the probe assembly. The solid-coupled liquid reservoir includes a liquid storage tank and a flexible coupling layer, wherein the flexible coupling layer has a protrusion on the side away from the liquid storage tank; The X-direction lateral movement structure spans the support above the solid coupling reservoir along the X-axis direction, and the carrier-workpiece moves through the gap between the two solid coupling reservoirs. In the X-direction projection plane, the protrusion of the flexible coupling layer is located on the movement path of the workpiece. A vehicle transport structure, which is parallel to the X-axis lateral movement structure and is located at the other end of the Y-axis direction of the two vehicle lateral movement structures, is used for unidirectional transport of vehicles.

2. The continuous automated solid-coupled ultrasonic testing system as described in claim 1, characterized in that: The workpiece clamping mechanism further includes a workpiece placement platform, which is provided with a contoured groove for placing the workpiece. The carrier includes two stacked plates, and the two stacked plates have a contoured through hole in the middle that is the same as the outline of the workpiece.

3. The continuous automated solid-coupled ultrasonic testing system as described in claim 2, characterized in that: The workpiece transverse movement structure includes a first upright, a first sliding seat, and a first gripper assembly. The first sliding seat is connected to the first upright and moves along the Y-axis, and the first gripper assembly is connected to the first sliding seat and moves along the Z-axis. The carrier traversing structure is located between the workpiece traversing structure and the carrier conveying structure. The carrier traversing structure includes a second upright, a second sliding seat, and a second gripper assembly. The second sliding seat is connected to the second upright and moves along the Y-axis, and the second gripper assembly is connected to the second sliding seat and moves along the Z-axis.

4. The continuous automated solid-coupled ultrasonic testing system as described in claim 3, characterized in that: The workpiece includes a workpiece body and a sealing edge disposed circumferentially on the workpiece body and extending outward along the contour of the workpiece body. After the workpiece is assembled with the carrier, the workpiece body is embedded into the contoured through hole, and the carrier holds part of the sealing edge of the workpiece.

5. The continuous automated solid-coupled ultrasonic testing system as described in claim 2, characterized in that: The flipping device includes a rotating shaft, which is inserted into a shaft hole on the side of the carrier placement platform near the workpiece transverse movement structure. Both ends of the rotating shaft are connected to rotating seats, and a gripper cylinder is connected to the rotating seat. Two retractable and opening grippers are provided at the driving end of the gripper cylinder. A linear drive device that extends and retracts along the Y-axis is connected to the rotating seat to realize the conversion between the horizontal and vertical states of the carrier-workpiece.

6. The continuous automated solid-coupled ultrasonic testing system as described in claim 1, characterized in that: The solid-coupled liquid reservoir includes: A liquid storage tank, which is a box structure, has an opening on one end face in the Z-axis direction and a first through hole on one end face in the Y-axis direction; A panel assembly is attached to the end face of the through hole of the liquid storage tank. The panel assembly includes a first plate and a second plate that are attached to each other. The second plate covers the first through hole, and a sealing element with the same outline as the first through hole and embedded in the first through hole is provided on the second plate. Multiple locking components connect the panel assembly to the liquid storage tank. The first plate has a second through hole in the same Y-axis direction as the first through hole, and a flexible coupling layer is filled in the second through hole.

7. The continuous automated solid-coupled ultrasonic testing system as described in claim 6, characterized in that: The solid-coupled ultrasonic testing mechanism also includes a Y-axis moving platform, which includes two opposing moving connecting plates, and the two solid-coupled liquid reservoirs are respectively connected to the two connecting plates. The probe assembly includes two ultrasonic probes that extend into the reservoir and are movable when the two solid-coupled liquid reservoirs are in the mating position. The probe assembly also includes a support frame, on which a movable sliding seat is provided. The ultrasonic probe is connected to the sliding seat via a connecting rod, and the sliding seat is provided with an adjustment structure for adjusting the distance between the two ultrasonic probes.

8. The continuous automated solid-coupled ultrasonic testing system as described in claim 6, characterized in that: The protrusion has the same contour as the workpiece.

9. The continuous automated solid-coupled ultrasonic testing system as described in claim 7, characterized in that: The solid-coupled ultrasonic testing mechanism also includes a positioning device, which includes a cylinder. Two opposing positioning pins are connected to the cylinder. The two positioning pins are located on both sides of the workpiece, and positioning holes corresponding to the positioning pins are opened on the workpiece for precise positioning of the workpiece to ensure the accuracy of the test.

10. The continuous automated solid-coupled ultrasonic testing system according to any one of claims 1-9, characterized in that: It also includes an installation platform, wherein the workpiece clamping mechanism, the flipping device, the X-axis transverse movement structure, the solid-coupled ultrasonic testing mechanism, and the carrier conveying structure are connected to the same end face of the installation platform.

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